Merge branch 'lonkaars:master' into master

26 files changed, 153 insertions, 57 deletions

diff --git a/robot/- b/robot/-
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/robot/-
diff --git a/robot/errcatch.h b/robot/errcatch.h
index 836da1b..add4ece 100644
--- a/robot/errcatch.h
+++ b/robot/errcatch.h
@@ -1,5 +1,7 @@
 #pragma once
 
+/** @file errcatch.h */
+
 #include <stdint.h>
 
 #include "../shared/consts.h"
diff --git a/robot/hypervisor.c b/robot/hypervisor.c
index 0baa406..1fd3ac2 100644
--- a/robot/hypervisor.c
+++ b/robot/hypervisor.c
@@ -6,12 +6,13 @@
 #include "orangutan_shim.h"
 #include "sercomm.h"
 
-uint64_t g_w2_hypervisor_cycles				  = 0;
-uint64_t g_w2_hypervisor_uptime_ms			  = 0;
-unsigned long g_w2_hypervisor_ema_sercomm_ms  = 0;
-unsigned long g_w2_hypervisor_ema_errcatch_ms = 0;
-unsigned long g_w2_hypervisor_ema_io_ms		  = 0;
-unsigned long g_w2_hypervisor_ema_mode_ms	  = 0;
+uint64_t g_w2_hypervisor_cycles							   = 0;
+uint64_t g_w2_hypervisor_uptime_ms						   = 0;
+unsigned long g_w2_hypervisor_ema_sercomm_ms			   = 0;
+unsigned long g_w2_hypervisor_ema_errcatch_ms			   = 0;
+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};
 
 void w2_hypervisor_main() {
 #ifdef W2_SIM
@@ -51,3 +52,11 @@ void w2_hypervisor_main() {
 
 	g_w2_hypervisor_cycles++;
 }
+
+void w2_hypervisor_time_start(uint8_t label) {
+	g_w2_hypervisor_timers[label] = g_w2_hypervisor_uptime_ms;
+}
+
+uint64_t w2_hypervisor_time_end(uint8_t label) {
+	return g_w2_hypervisor_uptime_ms - g_w2_hypervisor_timers[label];
+}
diff --git a/robot/hypervisor.h b/robot/hypervisor.h
index 5008c8f..589d324 100644
--- a/robot/hypervisor.h
+++ b/robot/hypervisor.h
@@ -1,7 +1,12 @@
 #pragma once
 
+/** @file hypervisor.h */
+
 #include <stdint.h>
 
+/** amount of parallel timers */
+#define W2_HYPERVISOR_TIMER_COUNT (1)
+
 extern uint64_t g_w2_hypervisor_cycles;
 extern uint64_t g_w2_hypervisor_uptime_ms;
 
@@ -16,3 +21,8 @@ extern unsigned long g_w2_hypervisor_ema_mode_ms;
  * stores global variables and controls when other modules run
  */
 void w2_hypervisor_main();
+
+/** start timer with label `label` */
+void w2_hypervisor_time_start(uint8_t label);
+/** stop timer with label `label` */
+uint64_t w2_hypervisor_time_end(uint8_t label);
diff --git a/robot/io.h b/robot/io.h
index 3d91799..64ce293 100644
--- a/robot/io.h
+++ b/robot/io.h
@@ -1,9 +1,11 @@
 #pragma once
 
-#include "../shared/protocol.h"
+/** @file io.h */
 
-/** i/o module main */
+#include "../shared/io.h"
+
+/** @brief i/o module main */
 void w2_io_main();
 
-/** global struct containing all i/o */
+/** @brief global struct containing all i/o */
 extern w2_s_io_all g_w2_io;
diff --git a/robot/main.h b/robot/main.h
index 5b0a1b2..58f849b 100644
--- a/robot/main.h
+++ b/robot/main.h
@@ -1,4 +1,6 @@
 #pragma once
 
+/** @file main.h */
+
 /** program entrypoint */
 int main();
diff --git a/robot/makefile b/robot/makefile
index 4039ae3..f65552a 100644
--- a/robot/makefile
+++ b/robot/makefile
@@ -6,18 +6,19 @@ MCU ?= atmega168
 AVRDUDE_DEVICE ?= m168
 
 PORT ?= /dev/ttyACM0
+# SIM = true
 
 CFLAGS=-g -Wall $(DEVICE_SPECIFIC_CFLAGS) -Os
 LDFLAGS=-Wl,-gc-sections -Wl,-relax
 
-all: $(if $(SIM), a.out, out.hex)
+include ../shared/os.mk
+all: $(if $(SIM), $(TARGET), out.hex)
 
 SOURCES := $(filter-out sim.c, $(wildcard *.c))
 HEADERS := $(filter-out sim.h, $(wildcard *.h))
 include ../shared/makefile
 
 # simulation
-# SIM = true
 CFLAGS += $(if $(SIM), -DW2_SIM, -mcall-prologues -mmcu=$(MCU))
 LDFLAGS += $(if $(SIM), , -lpololu_$(DEVICE))
 PREFIX := $(if $(SIM), , avr-)
@@ -30,20 +31,16 @@ AVRDUDE=avrdude
 CC=$(PREFIX)gcc
 OBJ2HEX=$(PREFIX)objcopy
 
-# debug build info string
-BUILD_STR=$(shell git update-index -q --refresh; git describe --tags --dirty='*' --broken='x' | cut -c1-20)
-CFLAGS += -DW2_BUILD_STR=\"$(BUILD_STR)\"
-
 clean::
-	rm -f *.o out.hex a.out
+	rm -f *.o out.hex $(TARGET)
 
-a.out: $(OBJECTS)
+$(TARGET): $(OBJECTS)
 	$(CC) $(OBJECTS) $(CFLAGS) $(LDFLAGS)
 
 .o:
 	$(CC) -c $(CFLAGS) $<
 
-out.hex: a.out
+out.hex: $(TARGET)
 	$(OBJ2HEX) -R .eeprom -O ihex $< $@
 	$(info build $(BUILD_STR) complete)
 
@@ -57,4 +54,4 @@ format:
 	clang-tidy --fix-errors $(SOURCES) $(HEADERS)
 
 compile_commands: clean
-	bear -- make
+	compiledb make
diff --git a/robot/mode_chrg.h b/robot/mode_chrg.h
index d9b5cc0..a870e58 100644
--- a/robot/mode_chrg.h
+++ b/robot/mode_chrg.h
@@ -1,5 +1,7 @@
 #pragma once
 
+/** @file mode_chrg.h */
+
 /**
  * charge station mode
  *
diff --git a/robot/mode_dirc.h b/robot/mode_dirc.h
index 5b9bbf4..12c967a 100644
--- a/robot/mode_dirc.h
+++ b/robot/mode_dirc.h
@@ -1,5 +1,7 @@
 #pragma once
 
+/** @file mode_dirc.h */
+
 #include <stdint.h>
 
 extern int16_t g_w2_mode_dirc_motor_l;
diff --git a/robot/mode_grid.h b/robot/mode_grid.h
index fcf9100..55093ad 100644
--- a/robot/mode_grid.h
+++ b/robot/mode_grid.h
@@ -1,5 +1,7 @@
 #pragma once
 
+/** @file mode_grid.h */
+
 /**
  * warehouse mode
  *
diff --git a/robot/mode_halt.h b/robot/mode_halt.h
index d92905e..b5ac11f 100644
--- a/robot/mode_halt.h
+++ b/robot/mode_halt.h
@@ -1,5 +1,7 @@
 #pragma once
 
+/** @file mode_halt.h */
+
 /**
  * halt (emergency) mode
  *
diff --git a/robot/mode_lcal.h b/robot/mode_lcal.h
index dd373f0..5a43701 100644
--- a/robot/mode_lcal.h
+++ b/robot/mode_lcal.h
@@ -1,5 +1,7 @@
 #pragma once
 
+/** @file mode_lcal.h */
+
 /**
  * calibration mode
  *
diff --git a/robot/mode_maze.h b/robot/mode_maze.h
index b97ad5c..6d481c1 100644
--- a/robot/mode_maze.h
+++ b/robot/mode_maze.h
@@ -1,5 +1,7 @@
 #pragma once
 
+/** @file mode_maze.h */
+
 /**
  * maze mode
  *
diff --git a/robot/mode_scal.h b/robot/mode_scal.h
index 4f1f04d..c427d4b 100644
--- a/robot/mode_scal.h
+++ b/robot/mode_scal.h
@@ -1,5 +1,7 @@
 #pragma once
 
+/** @file mode_scal.h */
+
 /**
  * sensor calibration mode
  *
diff --git a/robot/mode_spin.h b/robot/mode_spin.h
index 926137e..1f721dc 100644
--- a/robot/mode_spin.h
+++ b/robot/mode_spin.h
@@ -1,5 +1,7 @@
 #pragma once
 
+/** @file mode_spin.h */
+
 /**
  * wet floor simulation
  *
diff --git a/robot/modes.h b/robot/modes.h
index 3423a0f..122be4a 100644
--- a/robot/modes.h
+++ b/robot/modes.h
@@ -1,5 +1,7 @@
 #pragma once
 
+/** @file modes.h */
+
 #include "../shared/consts.h"
 
 #include "mode_chrg.h"
diff --git a/robot/orangutan_shim.h b/robot/orangutan_shim.h
index 10420bd..cbb0995 100644
--- a/robot/orangutan_shim.h
+++ b/robot/orangutan_shim.h
@@ -1,5 +1,7 @@
 #pragma once
 
+/** @file orangutan_shim.h */
+
 #ifdef W2_SIM
 #include "sim.h"
 #else
diff --git a/robot/readme.md b/robot/readme.md
index b27c06f..e6ab294 100644
--- a/robot/readme.md
+++ b/robot/readme.md
@@ -39,10 +39,15 @@ organizational and form more of a software 'skeleton', while the 'maze' and
 ┌────────┴───────┐┌─────────┴────────┐┌────────┴─────────┐┌─────┴──────┐
 │ Error handling ││ I/O Read & Write ││ PC communication ││ Mode logic │
 └────────────────┘└──────────────────┘└──────────────────┘└─────┬──────┘
-                      ┌──────────┬──────────────┬───────────────┤
-                  ┌───┴──┐┌──────┴────┐┌────────┴───────┐┌──────┴──────┐
-      *modes* ->  │ Maze ││ Warehouse ││ Emergency stop ││ Calibration │
-                  └──────┘└───────────┘└────────────────┘└─────────────┘
+                                                                │
+                                                          Maze ─┤
+                                                     Warehouse ─┤
+                                                Emergency stop ─┤
+                        *logic modes* ->          Line finding ─┤
+                                                Charge station ─┤
+                                                Direct control ─┤
+                                                     Wet floor ─┤
+                                            Sensor calibration ─┘
 ```
 
 this diagram roughly describes how different parts of the robot software are
@@ -64,7 +69,7 @@ what they're supposed to do:
 |emergency stop    |`mode_halt  `|may 31|Fiona| stops all execution until emergency mode is reset by software or user|
 |line finding      |`mode_lcal  `|may 31|Fiona| find line by turning on own axis if lost|
 |charge station    |`mode_chrg  `|may 31|Fiona| go to the charging station transition in the grid, and continue until a black circle is found|
-|direct control    |`mode_dirc  `|may 31|Loek| respond to [DIRC](../protocol.md#DIRC) commands|
+|direct control    |`mode_dirc  `|done|Loek| respond to [DIRC](../protocol.md#DIRC) commands|
 |wet floor         |`mode_spin  `|may 31|Fiona| spin uncontrollably (simulating wet floor??)|
 |sensor calibration|`mode_scal  `|may 31|Jorn & Abdullaahi| calibrate underside uv sensors|
 
@@ -72,15 +77,15 @@ what they're supposed to do:
 
 this list will probably get updated from time to time:
 
-- modules shouldn't create any global state variables, they should use `static`
-  variables instead.
-- modules are run cyclically, so they shouldn't take more than
+- logic modules shouldn't create any global state variables if possible, they
+  should use `static` variables instead
+- logic modules are run cyclically, so they shouldn't take more than
   `W2_MAX_MODULE_CYCLE_MS` to execute (this is an arbitrary number, and may be
-  changed).
+  changed)
 - documentation comments should follow the [javadoc-style doxygen
   format](https://wiki.scilab.org/Doxygen%20documentation%20Examples) and be
-  placed in header (.h) files if possible. this only applies to public members
-  (e.g. no local variables or module-internal code).
+  placed in header (.h) files. this only applies to public members (e.g. no
+  local variables or module-internal code)
 - code style is mostly handled by `clang-format` and `clang-tidy`, but you
   should still follow these naming conventions (`<angle brackets>` indicate
   placeholders):
@@ -93,32 +98,30 @@ this list will probably get updated from time to time:
   |enum|`w2_e_<name>`|`w2_e_errorcodes`; `w2_e_serial_commands`|
   
   this again only applies to public members. local variables should still have
-  short descriptive names, but shouldn't be prefixed with `w2_*`.
+  short descriptive names, but shouldn't be prefixed with `w2_*`
 - arbitrary numbers should be aliased to `#define` statements or `enum`s if
-  part of a series.
+  part of a series
 - general constants should be placed in `consts.h`
 - don't import `<pololu/orangutan.h>` directly, instead use
   `"orangutan_shim.h"` to keep code compatible with the simulator
 - don't use `<stdbool.h>`, instead use `"../shared/protocol.h"`. this makes
   sure that `bool` values are equal to `uint8_t`. they're functionally
-  identical.
+  identical
 
 ## todo
 
 global todo:
 
-- [ ] start robot in calibration mode
 - [ ] assume robot starts in maze
-- [ ] 'crosswalk' transition detection in seperate file (used by grid and maze
-  mode)
+- [ ] 'crosswalk' transition detection and line following in seperate file
+  (used by grid, maze, and charge mode)
 - [ ] client software architecture
-- [x] mode 'return' buffer
-- [x] clear global timer at start of cycle instead of just for mode selection
-  module (for last ping time measurement)
-- [ ] calibrate (line-detecting) light sensors in setup.c, or manually by
-  placing the robot and pressing a button (maybe make this a seperate mode)
-- [ ] create labeled timer functions like nodejs `console.time()` and
+- [ ] enter mode_scal by placing the robot on a white surface and pressing a
+  button
+- [x] create labeled timer functions like nodejs `console.time()` and
   `console.timeEnd()` (use for serial read timeout constraint)
+- [x] `serial_parse` doesn't properly handle escaped `0xff` bytes in listen
+  mode
 
 ### hypervisor
 
diff --git a/robot/sercomm.c b/robot/sercomm.c
index 2736030..07c4bd8 100644
--- a/robot/sercomm.c
+++ b/robot/sercomm.c
@@ -3,6 +3,7 @@
 
 #include "../shared/bin.h"
 #include "../shared/serial_parse.h"
+#include "errcatch.h"
 #include "hypervisor.h"
 #include "io.h"
 #include "mode_dirc.h"
@@ -25,16 +26,22 @@ void w2_sercomm_main() {
 #endif
 	// read and parse data
 	while (serial_get_received_bytes() != g_w2_serial_buffer_index) {
-		w2_serial_parse(g_w2_serial_buffer[g_w2_serial_buffer_index]);
+		if (!w2_serial_parse(g_w2_serial_buffer[g_w2_serial_buffer_index]))
+			w2_errcatch_throw(W2_E_WARN_SERIAL_NOISY);
 		g_w2_serial_buffer_index = (g_w2_serial_buffer_index + 1) % W2_SERIAL_READ_BUFFER_SIZE;
 	}
 
 	// send data
 	while (g_w2_sercomm_offset != g_w2_sercomm_index) {
-		w2_s_bin *data	= g_w2_sercomm_buffer[g_w2_sercomm_offset];
-		char *data_cast = malloc(data->bytes);
-		memcpy(data_cast, data->data, data->bytes);
-		serial_send(data_cast, data->bytes);
+		w2_s_bin *data = g_w2_sercomm_buffer[g_w2_sercomm_offset];
+#ifdef W2_SIM
+		w2_sim_print_serial(data);
+#endif
+		serial_send("\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);
+		}
 		g_w2_sercomm_offset = (g_w2_sercomm_offset + 1) % W2_SERCOMM_BUFFER_SIZE;
 	}
 }
@@ -51,6 +58,26 @@ void w2_sercomm_append_msg(w2_s_bin *data) {
 	g_w2_sercomm_index = next_index;
 }
 
+void w2_cmd_handler(uint8_t data[W2_SERIAL_READ_BUFFER_SIZE], uint8_t data_length) {
+	w2_s_bin *copy				= w2_bin_s_alloc(data_length, data);
+	void (*handler)(w2_s_bin *) = g_w2_cmd_handlers[data[0]];
+
+	if (handler == NULL) {
+#ifdef W2_SIM
+		// TODO throw warning
+		simwarn("unknown serial message with code 0x%02x\n", data[0]);
+#endif
+		w2_errcatch_throw(W2_E_WARN_SERIAL_NOISY);
+	} else {
+#ifdef W2_SIM
+		w2_sim_print_serial(copy);
+#endif
+		handler(copy);
+	}
+
+	free(copy);
+}
+
 void w2_cmd_ping_rx(w2_s_bin *data) {
 	w2_s_cmd_ping_rx *message = malloc(w2_cmd_sizeof(data->data, data->bytes));
 	memcpy(message, data->data, data->bytes);
@@ -90,7 +117,24 @@ void w2_cmd_cord_rx(w2_s_bin *data) { return; }
 
 void w2_cmd_bomd_rx(w2_s_bin *data) { return; }
 
-void w2_cmd_sres_rx(w2_s_bin *data) { return; }
+void w2_cmd_sres_rx(w2_s_bin *data) {
+	w2_s_cmd_sres_rx *message = malloc(w2_cmd_sizeof(data->data, data->bytes));
+	memcpy(message, data->data, data->bytes);
+
+	switch (message->type) {
+		case W2_CMD_SRES_RX_TYPE_REINITGS: {
+			// TODO: soft-reset
+			break;
+		}
+		case W2_CMD_SRES_RX_TYPE_PREVMODE: {
+			w2_modes_call(W2_M_PREV);
+			break;
+		}
+		default: {
+			w2_errcatch_throw(W2_E_WARN_SERIAL_NOISY);
+		}
+	}
+}
 
 void w2_cmd_mcfg_rx(w2_s_bin *data) { return; }
 
diff --git a/robot/sercomm.h b/robot/sercomm.h
index b1f69c7..13625c0 100644
--- a/robot/sercomm.h
+++ b/robot/sercomm.h
@@ -1,5 +1,7 @@
 #pragma once
 
+/** @file sercomm.h */
+
 #include "../shared/bin.h"
 #include "../shared/consts.h"
 #include "../shared/protocol.h"
diff --git a/robot/setup.c b/robot/setup.c
index 2c426a3..95b201e 100644
--- a/robot/setup.c
+++ b/robot/setup.c
@@ -28,7 +28,8 @@ void w2_setup_main() {
 	time_reset();
 
 	// set default mode
-	w2_modes_swap(W2_M_HALT);
+	w2_modes_swap(W2_M_MAZE);
+	w2_modes_call(W2_M_HALT);
 
 	// indicate startup done
 	play("L50 c>c");
diff --git a/robot/setup.h b/robot/setup.h
index 17ac78d..450e102 100644
--- a/robot/setup.h
+++ b/robot/setup.h
@@ -1,5 +1,7 @@
 #pragma once
 
+/** @file setup.h */
+
 /**
  * runs once at startup, plays beep when setup finishes
  *
diff --git a/robot/sim.c b/robot/sim.c
index 0f1c7e6..6283694 100644
--- a/robot/sim.c
+++ b/robot/sim.c
@@ -2,8 +2,8 @@
 #include <time.h>
 #include <string.h>
 #include <stdint.h>
-#include <termios.h>
 #include <unistd.h>
+#include <termios.h>
 
 #include "sim.h"
 #include "../shared/consts.h"
@@ -38,15 +38,20 @@ static const char* const W2_CMD_DIRECTIONS[] = {
 
 void time_reset() {
 	simprintfunc("time_reset", "");
+#ifdef W2_HOST_LINUX
 	clock_gettime(CLOCK_MONOTONIC, &reference_time);
+#endif
 }
 
 unsigned long get_ms() {
 	simprintfunc("get_ms", "");
+#ifdef W2_HOST_LINUX
 	struct timespec elapsed;
 	clock_gettime(CLOCK_MONOTONIC, &elapsed);
 	return ((elapsed.tv_sec * 1000) + (elapsed.tv_nsec / 1000000)) -
 		((reference_time.tv_sec * 1000) + (reference_time.tv_nsec / 1000000));
+#endif
+	return 0;
 }
 
 void red_led(unsigned char on) {
@@ -76,16 +81,11 @@ void serial_send(char* message, unsigned int length) {
 		return;
 	}
 
-	if (DBG_ENABLE_PRINTFUNC) simprintfunc("serial_send", "<see below>, %u", length);
-
-	if (!DBG_ENABLE_SERIAL) return;
-	w2_s_bin *bin = w2_bin_s_alloc(length, (uint8_t*) message);
-	w2_sim_print_serial(bin);
-	free(bin);
+	if (DBG_ENABLE_PRINTFUNC) simprintfunc("serial_send", "<%u byte%s>", length, length == 1 ? "" : "s");
 }
 
 void serial_receive_ring(char* buffer, unsigned char size) {
-	simprintfunc("serial_receive_ring", "0x%016lx, %u", (unsigned long) buffer, size);
+	simprintfunc("serial_receive_ring", "0x%016lx, %u", (uint64_t) buffer, size);
 }
 
 unsigned char serial_get_received_bytes() {
diff --git a/robot/sim.h b/robot/sim.h
index ab1cd77..249414d 100644
--- a/robot/sim.h
+++ b/robot/sim.h
@@ -1,5 +1,7 @@
 #pragma once
 
+/** @file sim.h */
+
 #include <stdio.h>
 #include <stdlib.h>
 #include <unistd.h>
diff --git a/robot/tests/dirc.bin b/robot/tests/dirc.bin
index 1aea35c..8d141e8 100644
--- a/robot/tests/dirc.bin
+++ b/robot/tests/dirc.bin
diff --git a/robot/tests/ping.bin b/robot/tests/ping.bin
index 456804e..2bbe45e 100644
--- a/robot/tests/ping.bin
+++ b/robot/tests/ping.bin