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-rw-r--r--client/main.c19
-rw-r--r--client/serial.c10
-rw-r--r--client/ui_dirc.c7
-rw-r--r--robot/errcatch.c10
-rw-r--r--robot/hypervisor.c6
-rw-r--r--robot/mode_dirc.c13
-rw-r--r--robot/mode_dirc.h1
-rw-r--r--robot/sercomm.c20
-rw-r--r--robot/sim.h4
-rw-r--r--shared/consts.h2
-rw-r--r--shared/serial_parse.c2
11 files changed, 55 insertions, 39 deletions
diff --git a/client/main.c b/client/main.c
index 00f686a..b5af0e8 100644
--- a/client/main.c
+++ b/client/main.c
@@ -1,15 +1,13 @@
#include "main.h"
-#include "../shared/errcatch.h"
#include "../shared/consts.h"
+#include "../shared/errcatch.h"
+#include "commands.h"
#include "serial.h"
#include "setup.h"
-#include "ui.h"
#include "time.h"
-#include "commands.h"
+#include "ui.h"
-w2_s_client_state g_w2_state = {
- .ping_received = true
-};
+w2_s_client_state g_w2_state = {.ping_received = true};
int main(int argc, char **argv) {
w2_client_setup(argc, argv);
@@ -21,12 +19,13 @@ int main(int argc, char **argv) {
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;
+ 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;
+
+ 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/serial.c b/client/serial.c
index 743fe76..112fd81 100644
--- a/client/serial.c
+++ b/client/serial.c
@@ -2,10 +2,10 @@
#include "../shared/protocol.h"
#include "../shared/serial_parse.h"
+#include "commands.h"
#include "main.h"
#include "serial.h"
#include "time.h"
-#include "commands.h"
void w2_serial_main() {
int temp;
@@ -20,13 +20,11 @@ void w2_cmd_ping_rx(w2_s_bin *data) {
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;
+ 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_ping_tx(w2_s_bin *data) { w2_send_bin(data); }
void w2_cmd_expt_tx(w2_s_bin *data) {}
void w2_cmd_mode_tx(w2_s_bin *data) {
diff --git a/client/ui_dirc.c b/client/ui_dirc.c
index 675913a..ed69cd2 100644
--- a/client/ui_dirc.c
+++ b/client/ui_dirc.c
@@ -81,7 +81,9 @@ void w2_ui_dirc_paint(int left, int right) {
"\n"
" <q> <w> <e> forward\n"
" <a> <s> <d> backward\n"
- "left both right\n");
+ "left both right\n"
+ "\n"
+ "<space> send dirc mode command");
}
void w2_ui_dirc(bool first) {
@@ -96,6 +98,7 @@ void w2_ui_dirc(bool first) {
if (ch == 'd' || ch == 's') lb++;
if (ch == 'q' || ch == 'w') rf++;
if (ch == 'a' || ch == 's') rb++;
+ if (ch == ' ') w2_send_mode(W2_M_DIRC);
}
int drive_l = w2_dirc_motor_l(lf, lb);
@@ -104,6 +107,6 @@ 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/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
diff --git a/shared/consts.h b/shared/consts.h
index 3f792b4..cd6dff1 100644
--- a/shared/consts.h
+++ b/shared/consts.h
@@ -22,7 +22,7 @@
/** size of the serial communication buffer (in messages, not bytes) */
#define W2_SERCOMM_BUFFER_SIZE (16)
/** size of mode history buffer */
-#define W2_MODE_HISTORY_BUFFER_SIZE (4)
+#define W2_MODE_HISTORY_BUFFER_SIZE (8)
/** max logic module execution time in milliseconds */
#define W2_MAX_MODULE_CYCLE_MS (20)
diff --git a/shared/serial_parse.c b/shared/serial_parse.c
index 54b9ab5..d07c67f 100644
--- a/shared/serial_parse.c
+++ b/shared/serial_parse.c
@@ -51,7 +51,7 @@ void w2_cmd_handler(uint8_t data[W2_SERIAL_READ_BUFFER_SIZE], uint8_t data_lengt
w2_errcatch_throw(W2_E_WARN_SERIAL_NOISY);
} else {
#ifdef W2_SIM
- w2_sim_print_serial(copy);
+ if (DBG_ENABLE_SERIAL) w2_sim_print_serial(copy);
#endif
handler(copy);
}