diff options
| -rw-r--r-- | client/commands.h | 2 | ||||
| -rw-r--r-- | client/i18n/en_us.h | 3 | ||||
| -rw-r--r-- | client/main.c | 19 | ||||
| -rw-r--r-- | client/main.h | 1 | ||||
| -rw-r--r-- | client/serial.c | 11 | ||||
| -rw-r--r-- | client/setup.c | 7 | ||||
| -rw-r--r-- | client/ui.c | 6 | ||||
| -rw-r--r-- | client/ui_dirc.c | 2 | ||||
| -rw-r--r-- | protocol.md | 8 | ||||
| -rw-r--r-- | robot/hypervisor.h | 13 | ||||
| -rw-r--r-- | robot/makefile | 2 | ||||
| -rw-r--r-- | robot/sercomm.c | 43 | ||||
| -rw-r--r-- | robot/sim.h | 2 | ||||
| -rw-r--r-- | shared/consts.h | 5 | ||||
| -rw-r--r-- | shared/errcatch.h | 2 |
15 files changed, 103 insertions, 23 deletions
diff --git a/client/commands.h b/client/commands.h index 5a12424..02ae313 100644 --- a/client/commands.h +++ b/client/commands.h @@ -4,6 +4,8 @@ #include "../shared/modes.h" #include "serial.h" +void w2_send_bin(w2_s_bin *data); + void w2_send_info(); void w2_send_ping(); void w2_send_mode(w2_e_mode mode); diff --git a/client/i18n/en_us.h b/client/i18n/en_us.h index 206e689..5547db5 100644 --- a/client/i18n/en_us.h +++ b/client/i18n/en_us.h @@ -1,5 +1,8 @@ #pragma once +#define W2_UI_CLI_USAGE "usage: %s <serial port>\n" +#define W2_UI_CLI_SERPORT_ERROR "serial port open fout\n" +#define W2_UI_CLI_INITSCR_FAIL "ncurses initscr() failed\n" #define W2_UI_CONN_STAT_CONNECTED "connected" #define W2_UI_CONN_STAT_DISCONNECTED "disconnected" #define W2_UI_CONN_STAT_PING "ping" diff --git a/client/main.c b/client/main.c index 8fe6d8e..00f686a 100644 --- a/client/main.c +++ b/client/main.c @@ -1,10 +1,15 @@ #include "main.h" #include "../shared/errcatch.h" +#include "../shared/consts.h" #include "serial.h" #include "setup.h" #include "ui.h" +#include "time.h" +#include "commands.h" -w2_s_client_state g_w2_state; +w2_s_client_state g_w2_state = { + .ping_received = true +}; int main(int argc, char **argv) { w2_client_setup(argc, argv); @@ -13,5 +18,17 @@ int main(int argc, char **argv) { w2_serial_main(); w2_errcatch_main(); w2_ui_main(); + + if (!g_w2_state.ping_received && w2_timer_end(W2_TIMER_PING) > W2_PING_TIMEOUT) { + g_w2_state.ping_timeout = true; + g_w2_state.connected = false; + w2_errcatch_throw(W2_E_WARN_PING_TIMEOUT); + } + + if ((g_w2_state.ping_received && w2_timer_end(W2_TIMER_PING) > W2_PING_FREQUENCY) || g_w2_state.ping_timeout) { + g_w2_state.ping_timeout = false; + g_w2_state.ping_received = false; + w2_send_ping(); + } } } diff --git a/client/main.h b/client/main.h index e581b3c..cc4c728 100644 --- a/client/main.h +++ b/client/main.h @@ -6,6 +6,7 @@ typedef struct { unsigned int ping; uint8_t ping_id; bool ping_received; + bool ping_timeout; bool connected; uint8_t battery_level; diff --git a/client/serial.c b/client/serial.c index e42bc0b..743fe76 100644 --- a/client/serial.c +++ b/client/serial.c @@ -5,19 +5,27 @@ #include "main.h" #include "serial.h" #include "time.h" +#include "commands.h" void w2_serial_main() { int temp; while ((temp = w2_serial_read()) != -1) w2_serial_parse(temp); } -void w2_cmd_ping_tx(w2_s_bin *data) { +void w2_cmd_ping_rx(w2_s_bin *data) { W2_CAST_BIN(w2_s_cmd_ping_tx, data, cast); if (g_w2_state.ping_received) return; if (g_w2_state.ping_id != cast->id) return; + g_w2_state.ping = w2_timer_end(W2_TIMER_PING); g_w2_state.ping_received = true; + g_w2_state.ping_timeout = false; + g_w2_state.connected = true; +} + +void w2_cmd_ping_tx(w2_s_bin *data) { + w2_send_bin(data); } void w2_cmd_expt_tx(w2_s_bin *data) {} @@ -33,7 +41,6 @@ void w2_cmd_info_tx(w2_s_bin *data) { memcpy(&g_w2_state.info, data->data, sizeof(w2_s_cmd_info_tx)); } -void w2_cmd_ping_rx(w2_s_bin *data) { return; } void w2_cmd_mode_rx(w2_s_bin *data) { return; } void w2_cmd_sped_rx(w2_s_bin *data) { return; } void w2_cmd_dirc_rx(w2_s_bin *data) { return; } diff --git a/client/setup.c b/client/setup.c index 50395e0..fd37c13 100644 --- a/client/setup.c +++ b/client/setup.c @@ -17,17 +17,17 @@ uint8_t g_w2_endianness; void w2_client_setup(int argc, char **argv) { if (argc < 2) { - printf("usage: %s <serial port>\n", argv[0]); + printf(W2_UI_CLI_USAGE, argv[0]); exit(1); } if (w2_serial_open(argv[1]) == 0) { - printf("serial port open fout\n"); + printf(W2_UI_CLI_SERPORT_ERROR); exit(1); } if ((g_w2_ui_win = initscr()) == NULL) { - printf("ncurses initscr() failed\n"); + printf(W2_UI_CLI_INITSCR_FAIL); exit(1); } noecho(); @@ -38,7 +38,6 @@ void w2_client_setup(int argc, char **argv) { w2_cmd_setup_handlers(); w2_send_info(); - w2_send_ping(); // check endianness g_w2_endianness = *_ptest; diff --git a/client/ui.c b/client/ui.c index e6e73f0..1cde52f 100644 --- a/client/ui.c +++ b/client/ui.c @@ -35,6 +35,12 @@ void w2_ui_paint() { void w2_ui_paint_statusbar() { char temp[g_w2_ui_width]; + + for (unsigned int i = 0; i < g_w2_ui_width; i++) temp[i] = ' '; + mvaddnstr(0, 0, temp, g_w2_ui_width); + mvaddnstr(1, 0, temp, g_w2_ui_width); + mvaddnstr(2, 0, temp, g_w2_ui_width); + sprintf(temp, "%s, %ims %s", g_w2_state.connected ? W2_UI_CONN_STAT_CONNECTED : W2_UI_CONN_STAT_DISCONNECTED, g_w2_state.ping, W2_UI_CONN_STAT_PING); diff --git a/client/ui_dirc.c b/client/ui_dirc.c index 2965169..675913a 100644 --- a/client/ui_dirc.c +++ b/client/ui_dirc.c @@ -104,6 +104,6 @@ void w2_ui_dirc(bool first) { drive_l += drive_r * W2_DIRC_STP; drive_r += drive_l * W2_DIRC_STP; - w2_send_dirc(drive_l, drive_r); + // w2_send_dirc(drive_l, drive_r); w2_ui_dirc_paint(drive_l, drive_r); } diff --git a/protocol.md b/protocol.md index 95ef835..9c45f56 100644 --- a/protocol.md +++ b/protocol.md @@ -66,9 +66,11 @@ in *both* the robot and client code `r <-- c` is referred to as `rx` and `r |`uint8_t`|opcode (`0x00 + 0` or `0x00 + 1`)| |`uint8_t`|ping id| -**ping** sends back an identical message either way with the direction bit -toggled. _ping id_ is a random 8-bit value that makes sure the same ping -doesn't keep bouncing back and forth indefinitely. +**ping** sends back an identical message either way with the **same** direction +bit. _ping id_ is a random 8-bit value that identifies the ping message. this +is the only command that makes either the robot or client send a message with +an opcode not matching the respective sender. the direction bit indicates which +device initiated the ping message. ### EXPT diff --git a/robot/hypervisor.h b/robot/hypervisor.h index 589d324..59398c6 100644 --- a/robot/hypervisor.h +++ b/robot/hypervisor.h @@ -4,9 +4,13 @@ #include <stdint.h> +#include "../shared/bool.h" + /** amount of parallel timers */ #define W2_HYPERVISOR_TIMER_COUNT (1) +#define W2_TIMER_PING (0) + extern uint64_t g_w2_hypervisor_cycles; extern uint64_t g_w2_hypervisor_uptime_ms; @@ -15,10 +19,16 @@ extern unsigned long g_w2_hypervisor_ema_errcatch_ms; extern unsigned long g_w2_hypervisor_ema_io_ms; extern unsigned long g_w2_hypervisor_ema_mode_ms; +extern unsigned int g_w2_ping_ms; +extern uint8_t g_w2_ping_id; +extern bool g_w2_ping_received; +extern bool g_w2_ping_timeout; +extern bool g_w2_connected; + /** * backbone of all other modules * - * stores global variables and controls when other modules run + * stores global state and controls when other modules run */ void w2_hypervisor_main(); @@ -26,3 +36,4 @@ void w2_hypervisor_main(); 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/makefile b/robot/makefile index 11e8509..ed700ae 100644 --- a/robot/makefile +++ b/robot/makefile @@ -6,7 +6,7 @@ MCU ?= atmega168 AVRDUDE_DEVICE ?= m168 PORT ?= /dev/ttyACM0 -SIM = true +# SIM = true CFLAGS=-g -Wall $(DEVICE_SPECIFIC_CFLAGS) -Os LDFLAGS=-Wl,-gc-sections -Wl,-relax diff --git a/robot/sercomm.c b/robot/sercomm.c index 519568d..afde48a 100644 --- a/robot/sercomm.c +++ b/robot/sercomm.c @@ -20,6 +20,12 @@ 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", ""); @@ -31,6 +37,27 @@ void w2_sercomm_main() { g_w2_serial_buffer_index = (g_w2_serial_buffer_index + 1) % W2_SERIAL_READ_BUFFER_SIZE; } + // check time-out + if (!g_w2_ping_received && w2_hypervisor_time_end(W2_TIMER_PING) > W2_PING_TIMEOUT) { + g_w2_ping_timeout = true; + 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) { + g_w2_ping_timeout = false; + g_w2_ping_received = false; + g_w2_ping_id = (uint8_t) rand(); + + W2_CREATE_MSG_BIN(w2_s_cmd_ping_tx, msg, bin); + msg->opcode = W2_CMD_PING | W2_CMDDIR_TX; + msg->id = g_w2_ping_id; + + w2_sercomm_append_msg(bin); + free(bin); + + w2_hypervisor_time_start(W2_TIMER_PING); + } + // send data while (g_w2_sercomm_offset != g_w2_sercomm_index) { w2_s_bin *data = g_w2_sercomm_buffer[g_w2_sercomm_offset]; @@ -62,15 +89,14 @@ void w2_sercomm_append_msg(w2_s_bin *data) { #pragma GCC diagnostic push #pragma GCC diagnostic ignored "-Warray-bounds" -void w2_cmd_ping_rx(w2_s_bin *data) { - W2_CAST_BIN(w2_s_cmd_ping_rx, data, req); - - W2_CREATE_MSG_BIN(w2_s_cmd_ping_tx, res_msg, res_bin); - res_msg->opcode = W2_CMD_PING | W2_CMDDIR_TX; - res_msg->id = req->id; +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; +} - w2_sercomm_append_msg(res_bin); - free(res_bin); +void w2_cmd_ping_rx(w2_s_bin *data) { + w2_sercomm_append_msg(data); } void w2_cmd_mode_rx(w2_s_bin *data) { @@ -150,7 +176,6 @@ void w2_cmd_cled_rx(w2_s_bin *data) { return; } #pragma GCC diagnostic pop -void w2_cmd_ping_tx(w2_s_bin *data) {} void w2_cmd_expt_tx(w2_s_bin *data) {} void w2_cmd_mode_tx(w2_s_bin *data) {} void w2_cmd_cord_tx(w2_s_bin *data) {} diff --git a/robot/sim.h b/robot/sim.h index 9d73585..14f0f74 100644 --- a/robot/sim.h +++ b/robot/sim.h @@ -16,7 +16,7 @@ #define DBG_ENABLE_CYCLEINFO (0) #define DBG_ENABLE_SERIAL (1) -#define DBG_CYCLE_DELAY (100e3) +#define DBG_CYCLE_DELAY (1e3) #define DBG_MAX_CYCLES (-1) // debug print options diff --git a/shared/consts.h b/shared/consts.h index cdd96b3..3f792b4 100644 --- a/shared/consts.h +++ b/shared/consts.h @@ -30,6 +30,11 @@ /** exponential moving average new measurement weight (double 0-1) */ #define W2_EMA_WEIGHT (0.10) +/** minimal time between pings */ +#define W2_PING_FREQUENCY (1e3) +/** max time between ping and answer */ +#define W2_PING_TIMEOUT (5e3) + /** front-facing distance sensor pinout */ #define W2_FRONT_SENSOR_PIN 5 /** battery voltage sensor pinout */ diff --git a/shared/errcatch.h b/shared/errcatch.h index 7f298c1..a56bc00 100644 --- a/shared/errcatch.h +++ b/shared/errcatch.h @@ -52,6 +52,8 @@ typedef enum { W2_E_WARN_SERIAL_NOISY = 0x09 | W2_E_TYPE_WARN, /** mode history index out of bounds */ W2_E_WARN_MODE_HISTORY_BUFFER_IOB = 0x0a | W2_E_TYPE_WARN, + /** ping timeout reached */ + W2_E_WARN_PING_TIMEOUT = 0x0b | W2_E_TYPE_WARN, } w2_e_errorcode; /** |