[WIP] stop on connection lost in dirc

6 files changed, 35 insertions, 19 deletions

diff --git a/robot/errcatch.c b/robot/errcatch.c
index 0f809f9..77fcfd3 100644
--- a/robot/errcatch.c
+++ b/robot/errcatch.c
@@ -19,21 +19,21 @@ void w2_errcatch_handle_error(w2_s_error *error) {
 		default: {
 			g_w2_error_uncaught = true;
 #ifdef W2_SIM
-			simwarn("Uncaught/unhandled error found with code 0x%02x\n", error->code);
+			simwarn("Uncaught/unhandled error found with code 0x%02x", error->code);
+			if (error->message_length > 0) fprintf(stderr, " and message \"%.*s\"", error->message_length, error->message);
+			fprintf(stderr, "\n");
 #endif
 		}
 	}
 
 	// forward error to sercomm
-	size_t msg_size		  = sizeof(w2_s_cmd_expt_tx) + sizeof(uint8_t) * error->message_length;
-	w2_s_cmd_expt_tx *msg = malloc(msg_size);
+	W2_CREATE_MSG_SIZE_BIN(w2_s_cmd_expt_tx, sizeof(w2_s_cmd_expt_tx) + sizeof(uint8_t) * error->message_length, msg, msg_bin);
 	msg->opcode			  = W2_CMD_EXPT | W2_CMDDIR_TX;
 	msg->error			  = error->code;
 	msg->length			  = error->message_length;
 	memcpy(msg->message, error->message, error->message_length);
-	w2_s_bin *msg_bin = w2_bin_s_alloc(msg_size, (uint8_t *)msg);
+
 	w2_sercomm_append_msg(msg_bin);
-	free(msg);
 	free(msg_bin);
 
 	return;
diff --git a/robot/hypervisor.c b/robot/hypervisor.c
index 478d3a5..efdceec 100644
--- a/robot/hypervisor.c
+++ b/robot/hypervisor.c
@@ -14,6 +14,12 @@ unsigned long g_w2_hypervisor_ema_io_ms					   = 0;
 unsigned long g_w2_hypervisor_ema_mode_ms				   = 0;
 uint64_t g_w2_hypervisor_timers[W2_HYPERVISOR_TIMER_COUNT] = {0};
 
+unsigned int g_w2_ping_ms = 0;
+uint8_t g_w2_ping_id = 0;
+bool g_w2_ping_received = true;
+bool g_w2_ping_timeout = false;
+bool g_w2_connected = false;
+
 void w2_hypervisor_main() {
 #ifdef W2_SIM
 	w2_sim_cycle_begin();
diff --git a/robot/mode_dirc.c b/robot/mode_dirc.c
index 5988816..397d44d 100644
--- a/robot/mode_dirc.c
+++ b/robot/mode_dirc.c
@@ -1,13 +1,18 @@
 #include "mode_dirc.h"
 #include "io.h"
-
+#include "hypervisor.h"
+#include "modes.h"
+#include "../shared/util.h"
 #include "orangutan_shim.h"
 
 int16_t g_w2_mode_dirc_motor_l = 0;
 int16_t g_w2_mode_dirc_motor_r = 0;
+double g_w2_mode_dirc_power = 1.0;
 
 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;
+	// if (g_w2_connected) g_w2_mode_dirc_power = 1.0;
+	// else g_w2_mode_dirc_power = W2_MAX(0, g_w2_mode_dirc_power - 0.01);
+
+	// if (g_w2_mode_dirc_power == 0.0) w2_modes_call(W2_M_HALT);
+	set_motors(g_w2_mode_dirc_motor_l * g_w2_mode_dirc_power, g_w2_mode_dirc_motor_r * g_w2_mode_dirc_power);
 }
diff --git a/robot/mode_dirc.h b/robot/mode_dirc.h
index 12c967a..bf02270 100644
--- a/robot/mode_dirc.h
+++ b/robot/mode_dirc.h
@@ -6,6 +6,7 @@
 
 extern int16_t g_w2_mode_dirc_motor_l;
 extern int16_t g_w2_mode_dirc_motor_r;
+extern double g_w2_mode_dirc_power;
 
 /**
  * direct control mode
diff --git a/robot/sercomm.c b/robot/sercomm.c
index afde48a..6e191d2 100644
--- a/robot/sercomm.c
+++ b/robot/sercomm.c
@@ -20,12 +20,6 @@ char g_w2_serial_buffer[W2_SERIAL_READ_BUFFER_SIZE] = {0};
 uint8_t g_w2_serial_buffer_index					= 0;
 uint8_t g_w2_serial_buffer_head						= 0;
 
-unsigned int g_w2_ping_ms = 0;
-uint8_t g_w2_ping_id = 0;
-bool g_w2_ping_received = true;
-bool g_w2_ping_timeout = false;
-bool g_w2_connected = false;
-
 void w2_sercomm_main() {
 #ifdef W2_SIM
 	simprintfunc("w2_sercomm_main", "");
@@ -40,10 +34,11 @@ void w2_sercomm_main() {
 	// check time-out
 	if (!g_w2_ping_received && w2_hypervisor_time_end(W2_TIMER_PING) > W2_PING_TIMEOUT) {
 		g_w2_ping_timeout = true;
+		g_w2_connected = false;
 		w2_errcatch_throw(W2_E_WARN_PING_TIMEOUT);
 	}
 	// send ping every W2_TIMER_PING ms
-	if ((g_w2_ping_received && w2_hypervisor_time_end(W2_TIMER_PING) > 1000) || g_w2_ping_timeout) {
+	if ((g_w2_ping_received && w2_hypervisor_time_end(W2_TIMER_PING) > W2_PING_FREQUENCY) || g_w2_ping_timeout) {
 		g_w2_ping_timeout = false;
 		g_w2_ping_received = false;
 		g_w2_ping_id = (uint8_t) rand();
@@ -62,7 +57,7 @@ void w2_sercomm_main() {
 	while (g_w2_sercomm_offset != g_w2_sercomm_index) {
 		w2_s_bin *data = g_w2_sercomm_buffer[g_w2_sercomm_offset];
 #ifdef W2_SIM
-		w2_sim_print_serial(data);
+		if (DBG_ENABLE_SERIAL) w2_sim_print_serial(data);
 #endif
 		serial_send_blocking("\xff", 1);
 		for (uint8_t i = 0; i < data->bytes; i++) {
@@ -89,10 +84,19 @@ void w2_sercomm_append_msg(w2_s_bin *data) {
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Warray-bounds"
 
+#include <stdlib.h>
+#include <string.h>
+
+
 void w2_cmd_ping_tx(w2_s_bin *data) {
 	g_w2_ping_ms = w2_hypervisor_time_end(W2_TIMER_PING);
 	g_w2_ping_received = true;
 	g_w2_ping_timeout = false;
+	g_w2_connected = true;
+
+	char buf[32];
+	sprintf(buf, "rec: %i, tim: %i, con: %i", g_w2_ping_received, g_w2_ping_timeout, g_w2_connected);
+	w2_errcatch_throw_msg(0x69, strlen(buf), buf);
 }
 
 void w2_cmd_ping_rx(w2_s_bin *data) {
diff --git a/robot/sim.h b/robot/sim.h
index 14f0f74..7d7c091 100644
--- a/robot/sim.h
+++ b/robot/sim.h
@@ -14,9 +14,9 @@
 #define DBG_ENABLE_SIMWARN (1)
 #define DBG_ENABLE_SIMINFO (1)
 #define DBG_ENABLE_CYCLEINFO (0)
-#define DBG_ENABLE_SERIAL (1)
+#define DBG_ENABLE_SERIAL (0)
 
-#define DBG_CYCLE_DELAY (1e3)
+#define DBG_CYCLE_DELAY (10e3)
 #define DBG_MAX_CYCLES (-1)
 
 // debug print options