dirc working

14 files changed, 118 insertions, 52 deletions

diff --git a/client/commands.c b/client/commands.c
index 1ab79fb..62867dd 100644
--- a/client/commands.c
+++ b/client/commands.c
@@ -14,26 +14,41 @@ void w2_send_bin(w2_s_bin *data) {
 	}
 }
 
-w2_s_bin *w2_send_info() {
-	size_t msg_size		  = sizeof(w2_s_cmd_info_rx);
-	w2_s_cmd_info_rx *msg = malloc(msg_size);
-	msg->opcode			  = W2_CMD_INFO | W2_CMDDIR_RX;
-	w2_s_bin *msg_bin	  = w2_bin_s_alloc(msg_size, (uint8_t *)msg);
+void w2_send_info() {
+	W2_CREATE_MSG_BIN(w2_s_cmd_info_rx, msg, msg_bin);
+	msg->opcode = W2_CMD_INFO | W2_CMDDIR_RX;
+
 	w2_send_bin(msg_bin);
-	free(msg);
 	free(msg_bin);
 }
 
-w2_s_bin *w2_send_ping() {
-	g_w2_state.ping_id	  = (uint8_t)rand();
-	size_t msg_size		  = sizeof(w2_s_cmd_ping_rx);
-	w2_s_cmd_ping_rx *msg = malloc(msg_size);
-	msg->opcode			  = W2_CMD_PING | W2_CMDDIR_RX;
-	msg->id				  = g_w2_state.ping_id;
-	w2_s_bin *msg_bin	  = w2_bin_s_alloc(msg_size, (uint8_t *)msg);
+void w2_send_ping() {
+	g_w2_state.ping_id = (uint8_t)rand();
+	W2_CREATE_MSG_BIN(w2_s_cmd_ping_rx, msg, msg_bin);
+	msg->opcode = W2_CMD_PING | W2_CMDDIR_RX;
+	msg->id		= g_w2_state.ping_id;
+
 	w2_send_bin(msg_bin);
-	free(msg);
 	free(msg_bin);
 
 	w2_timer_start(W2_TIMER_PING);
 }
+
+void w2_send_mode(w2_e_mode mode) {
+	W2_CREATE_MSG_BIN(w2_s_cmd_mode_rx, msg, msg_bin);
+	msg->opcode = W2_CMD_MODE | W2_CMDDIR_RX;
+	msg->mode	= mode;
+
+	w2_send_bin(msg_bin);
+	free(msg_bin);
+}
+
+void w2_send_dirc(int left, int right) {
+	W2_CREATE_MSG_BIN(w2_s_cmd_dirc_rx, msg, msg_bin);
+	msg->opcode = W2_CMD_DIRC | W2_CMDDIR_RX;
+	msg->left	= w2_bin_hton16((uint16_t)left);
+	msg->right	= w2_bin_hton16((uint16_t)right);
+
+	w2_send_bin(msg_bin);
+	free(msg_bin);
+}
diff --git a/client/commands.h b/client/commands.h
index 949360e..6768ea1 100644
--- a/client/commands.h
+++ b/client/commands.h
@@ -1,7 +1,10 @@
 #pragma once
 
 #include "../shared/bin.h"
+#include "../shared/modes.h"
 #include "serial.h"
 
-w2_s_bin *w2_send_info();
-w2_s_bin *w2_send_ping();
+void w2_send_info();
+void w2_send_ping();
+void w2_send_mode(w2_e_mode mode);
+void w2_send_dirc(int left, int right);
diff --git a/client/ui.c b/client/ui.c
index ca96efb..e6e73f0 100644
--- a/client/ui.c
+++ b/client/ui.c
@@ -11,9 +11,10 @@
 #include "ui.h"
 
 WINDOW *g_w2_ui_win;
-unsigned int g_w2_ui_width	  = 0;
-unsigned int g_w2_ui_height	  = 0;
-void (*g_w2_ui_current_tab)() = &w2_ui_dirc;
+unsigned int g_w2_ui_width				= 0;
+unsigned int g_w2_ui_height				= 0;
+void (*g_w2_ui_current_tab)(bool first) = &w2_ui_dirc;
+void (*g_w2_ui_last_tab)(bool first)	= NULL;
 
 void w2_ui_main() {
 	g_w2_ui_width  = getmaxx(g_w2_ui_win);
@@ -25,7 +26,8 @@ void w2_ui_main() {
 void w2_ui_paint() {
 	w2_ui_paint_statusbar();
 	if (w2_timer_end(W2_TIMER_UPDATE) >= (1000 / W2_UI_UPDATE_FPS)) {
-		(*g_w2_ui_current_tab)();
+		(*g_w2_ui_current_tab)(g_w2_ui_last_tab != g_w2_ui_current_tab);
+		g_w2_ui_last_tab = g_w2_ui_current_tab;
 		w2_timer_start(W2_TIMER_UPDATE);
 	}
 	refresh();
diff --git a/client/ui.h b/client/ui.h
index f749fa0..0d375de 100644
--- a/client/ui.h
+++ b/client/ui.h
@@ -8,7 +8,7 @@
 extern WINDOW *g_w2_ui_win;
 extern unsigned int g_w2_ui_width;
 extern unsigned int g_w2_ui_height;
-extern void (*g_w2_ui_current_tab)();
+extern void (*g_w2_ui_current_tab)(bool first);
 
 /** update terminal props */
 void w2_ui_update();
@@ -24,4 +24,4 @@ void w2_ui_paint_statusbar();
 /** draw tab bar */
 void w2_ui_paint_tabbar();
 
-void w2_ui_dirc();
+void w2_ui_dirc(bool first);
diff --git a/client/ui_dirc.c b/client/ui_dirc.c
index 118a3ea..7720a4c 100644
--- a/client/ui_dirc.c
+++ b/client/ui_dirc.c
@@ -1,21 +1,18 @@
+#include "../shared/protocol.h"
 #include "../shared/util.h"
+#include "commands.h"
 #include "ui.h"
 
-void w2_ui_bar_graph(unsigned int percent) {
-	unsigned int width = g_w2_ui_width - 7;
-	char bar[width];
-	for (unsigned int i = 0; i < width - 2; i++) {
-		bar[i + 1] = i > (width - 2) * percent / 100 ? ' ' : '*';
-	}
-	bar[0]		   = '|';
-	bar[width - 1] = '|';
-	mvaddnstr(4, 7, bar, width);
-}
-
+/** decay modifier */
 #define W2_DIRC_MOD ((double)0.95)
-#define W2_DIRC_ADD ((double)13.0)
-#define W2_DIRC_PAD ((double)1.10)
-#define W2_DIRC_SPL ((unsigned int)20)
+/** add value per key press */
+#define W2_DIRC_ADD ((double)17.0)
+/** padding */
+#define W2_DIRC_PAD ((double)3.00)
+/** average samples */
+#define W2_DIRC_SPL ((unsigned int)14)
+/** steering padding */
+#define W2_DIRC_STP ((double)0.2)
 
 int w2_avg(int *samples, unsigned int sample_count) {
 	double total = 0;
@@ -45,7 +42,50 @@ int w2_avg(int *samples, unsigned int sample_count) {
 W2_DIRC_MOTOR_DRIVER(l);
 W2_DIRC_MOTOR_DRIVER(r);
 
-void w2_ui_dirc() {
+void w2_ui_dirc_init() { w2_send_mode(W2_M_DIRC); }
+
+void w2_ui_bar_graph(unsigned int y, unsigned int x, unsigned int width, double value) {
+	char temp[width];
+	temp[0]			= '|';
+	temp[width - 1] = '|';
+	for (unsigned int i = 0; i < width - 2; i++) temp[i + 1] = i < width * value ? '*' : ' ';
+
+	mvaddnstr(y, x, temp, width);
+}
+
+void w2_ui_bar_graph_pm(unsigned int y, unsigned int x, unsigned int width, double value) {
+	char temp[width];
+	temp[0]			= '|';
+	temp[width - 1] = '|';
+	width -= 2;
+	unsigned int hw = width / 2;
+	if (value >= 0) {
+		for (unsigned int i = 0; i < width; i++)
+			temp[i + 1] = i < hw ? ' ' : (i - hw) < (hw * value) ? '*' : ' ';
+	} else {
+		for (unsigned int i = 0; i < width; i++)
+			temp[i + 1] = i < hw ? ' ' : (i - hw) < (hw * value) ? '*' : ' ';
+	}
+
+	mvaddnstr(y, x, temp, width);
+}
+
+void w2_ui_dirc_paint(int left, int right) {
+	mvaddstr(4, 0, "left drive:  ");
+	w2_ui_bar_graph_pm(4, 13, g_w2_ui_width - 14, (double)left / 255);
+	mvaddstr(5, 0, "right drive: ");
+	w2_ui_bar_graph_pm(5, 13, g_w2_ui_width - 14, (double)right / 255);
+
+	mvaddstr(7, 0,
+			 "             controls:\n"
+			 "\n"
+			 " <q>      <w>       <e>   forward\n"
+			 " <a>      <s>       <d>   backward\n"
+			 "left     both      right\n");
+}
+
+void w2_ui_dirc(bool first) {
+	if (first) w2_ui_dirc_init();
 	int ch			= 0;
 	unsigned int lb = 0;
 	unsigned int lf = 0;
@@ -61,7 +101,9 @@ void w2_ui_dirc() {
 	int drive_l = w2_dirc_motor_l(lf, lb);
 	int drive_r = w2_dirc_motor_r(rf, rb);
 
-	char temp[32] = {0};
-	sprintf(temp, "l: %04i, r: %04i", drive_l, drive_r);
-	mvaddstr(4, 0, temp);
+	drive_l += drive_r * W2_DIRC_STP;
+	drive_r += drive_l * W2_DIRC_STP;
+
+	w2_send_dirc(drive_l, drive_r);
+	w2_ui_dirc_paint(drive_l, drive_r);
 }
diff --git a/robot/hypervisor.c b/robot/hypervisor.c
index 4f994a8..478d3a5 100644
--- a/robot/hypervisor.c
+++ b/robot/hypervisor.c
@@ -27,7 +27,7 @@ void w2_hypervisor_main() {
 	unsigned long sercomm_time = get_ms();
 	w2_errcatch_main();
 	unsigned long errcatch_time = get_ms() - sercomm_time;
-	w2_io_main();
+	// w2_io_main();
 	unsigned long io_time = get_ms() - errcatch_time;
 	w2_modes_main();
 	unsigned long mode_time = get_ms() - io_time;
diff --git a/robot/main.c b/robot/main.c
index b0302bd..2f15e97 100644
--- a/robot/main.c
+++ b/robot/main.c
@@ -5,7 +5,6 @@
 #include "sim.h"
 #endif
 
-#include <unistd.h>
 int main() {
 #ifdef W2_SIM
 	w2_sim_setup();
diff --git a/robot/mode_dirc.c b/robot/mode_dirc.c
index 9ed9fef..5988816 100644
--- a/robot/mode_dirc.c
+++ b/robot/mode_dirc.c
@@ -1,10 +1,13 @@
 #include "mode_dirc.h"
 #include "io.h"
 
+#include "orangutan_shim.h"
+
 int16_t g_w2_mode_dirc_motor_l = 0;
 int16_t g_w2_mode_dirc_motor_r = 0;
 
 void w2_mode_dirc() {
+	set_motors(g_w2_mode_dirc_motor_l, g_w2_mode_dirc_motor_r);
 	g_w2_io.motor_left.speed  = g_w2_mode_dirc_motor_l;
 	g_w2_io.motor_right.speed = g_w2_mode_dirc_motor_r;
 }
diff --git a/robot/modes.c b/robot/modes.c
index f73a809..7decf47 100644
--- a/robot/modes.c
+++ b/robot/modes.c
@@ -46,13 +46,11 @@ void w2_modes_switch(w2_e_mode new_mode, bool replace) {
 	}
 
 	// forward mode change to sercomm
-	size_t msg_size		  = sizeof(w2_s_cmd_mode_tx);
-	w2_s_cmd_mode_tx *msg = malloc(msg_size);
-	msg->opcode			  = W2_CMD_MODE | W2_CMDDIR_TX;
-	msg->mode			  = (uint8_t)new_mode;
-	w2_s_bin *msg_bin	  = w2_bin_s_alloc(msg_size, (uint8_t *)msg);
+	W2_CREATE_MSG_BIN(w2_s_cmd_mode_tx, msg, msg_bin);
+	msg->opcode = W2_CMD_MODE | W2_CMDDIR_TX;
+	msg->mode	= new_mode;
+
 	w2_sercomm_append_msg(msg_bin);
-	free(msg);
 	free(msg_bin);
 }
 
diff --git a/robot/sercomm.c b/robot/sercomm.c
index deef39f..519568d 100644
--- a/robot/sercomm.c
+++ b/robot/sercomm.c
@@ -37,10 +37,11 @@ void w2_sercomm_main() {
 #ifdef W2_SIM
 		w2_sim_print_serial(data);
 #endif
-		serial_send("\xff", 1);
+		serial_send_blocking("\xff", 1);
 		for (uint8_t i = 0; i < data->bytes; i++) {
 			uint8_t byte = data->data[i];
-			byte == 0xff ? serial_send("\xff\xff", 2) : serial_send((char *)&byte, 1);
+			byte == 0xff ? serial_send_blocking("\xff\xff", 2)
+						 : serial_send_blocking((char *)&byte, 1);
 		}
 		g_w2_sercomm_offset = (g_w2_sercomm_offset + 1) % W2_SERCOMM_BUFFER_SIZE;
 	}
diff --git a/robot/sim.c b/robot/sim.c
index 5956fbb..9cce12f 100644
--- a/robot/sim.c
+++ b/robot/sim.c
@@ -74,7 +74,7 @@ void serial_set_baud_rate(unsigned int rate) {
 	simprintfunc("serial_set_baud_rate", "%u", rate);
 }
 
-void serial_send(char* message, unsigned int length) {
+void serial_send_blocking(char* message, unsigned int length) {
 	for (unsigned int byte = 0; byte < length; byte++)
 		putc(message[byte] & 0xff, stdout);
 	fflush(stdout);
diff --git a/robot/sim.h b/robot/sim.h
index 9e250da..9d73585 100644
--- a/robot/sim.h
+++ b/robot/sim.h
@@ -71,7 +71,7 @@ void green_led(unsigned char on); // NOLINT
 void clear(); // NOLINT
 void play(const char *melody); // NOLINT
 void serial_set_baud_rate(unsigned int rate); // NOLINT
-void serial_send(char *message, unsigned int length); // NOLINT
+void serial_send_blocking(char *message, unsigned int length); // NOLINT
 void serial_receive_ring(char *buffer, unsigned char size); // NOLINT
 unsigned char serial_get_received_bytes(); // NOLINT
 void set_motors(int left, int right); // NOLINT
diff --git a/shared/util.c b/shared/util.c
index 55f3491..68503e8 100644
--- a/shared/util.c
+++ b/shared/util.c
@@ -4,3 +4,5 @@ unsigned long w2_util_exp_mov_avg(unsigned long current_avg, unsigned long new_m
 	return (unsigned long)((((double)(current_avg)) * ((double)(1.f - W2_EMA_WEIGHT))) +
 						   (((double)(new_meas)) * ((double)(W2_EMA_WEIGHT))));
 }
+
+int w2_sign(int n) { return (n > 0) - (n < 0); }
diff --git a/shared/util.h b/shared/util.h
index 465e043..230c3e4 100644
--- a/shared/util.h
+++ b/shared/util.h
@@ -7,3 +7,4 @@
 #define W2_RANGE(min, val, max) W2_MIN(max, W2_MAX(val, min))
 
 unsigned long w2_util_exp_mov_avg(unsigned long current_avg, unsigned long new_meas);
+int w2_sign(int n);