diff options
| -rw-r--r-- | readme.md | 7 | ||||
| -rw-r--r-- | robot/consts.h | 5 | ||||
| -rw-r--r-- | robot/errcatch.c | 58 | ||||
| -rw-r--r-- | robot/errcatch.h | 29 | ||||
| -rw-r--r-- | robot/hypervisor.c | 26 | ||||
| -rw-r--r-- | robot/makefile | 28 | ||||
| -rw-r--r-- | robot/orangutan_shim.h | 7 | ||||
| -rw-r--r-- | robot/readme.md | 29 | ||||
| -rw-r--r-- | robot/setup.c | 2 | ||||
| -rw-r--r-- | robot/sim.c | 64 | ||||
| -rw-r--r-- | robot/sim.h | 40 |
11 files changed, 268 insertions, 27 deletions
@@ -16,11 +16,12 @@ gebruikte externe libraries: ## git test :tada: -- [ ] abdullaahi +- [x] abdullaahi - [x] fiona - [x] jorn - [x] loek + ## samenvatting werking hoop onder constructie @@ -155,3 +156,7 @@ let wel op dat je **MSYS2 MinGW x64** moet gebruiken als terminal wanneer je `make` wil gebruiken. voor visual studio code is er een configuratie die automatisch MSYS2 in stelt als de standaard terminal binnen visual studio code. als je een losse terminal wil gebruiken moet je hier dus wel op letten + +test + + diff --git a/robot/consts.h b/robot/consts.h index 1195422..a81908d 100644 --- a/robot/consts.h +++ b/robot/consts.h @@ -1,17 +1,19 @@ #pragma once #ifndef W2_BUILD_STR -// should be defined with -DBUILD_STR in makefile +// is defined by CFLAGS += -DW2_BUILD_STR in makefile #define W2_BUILD_STR ("????????") #endif #define W2_MAX_MODULE_CYCLE_MS (20) #define W2_SERIAL_BAUD (9600) +#define W2_ERROR_BUFFER_SIZE (16) #define W2_ERR_TYPE_CRIT (0b00 << 6) #define W2_ERR_TYPE_WARN (0b01 << 6) #define W2_ERR_TYPE_INFO (0b10 << 6) #define W2_ERR_TYPE_VERB (0b11 << 6) +#define W2_ERR_TYPE_MASK (0b11 << 6) /** * enum storing all error codes @@ -30,4 +32,5 @@ enum w2_e_errorcodes { W2_ERR_BATTERY_LOW = 0x00 | W2_ERR_TYPE_WARN, W2_ERR_OBSTACLE_DETECTED = 0x01 | W2_ERR_TYPE_WARN, W2_ERR_CYCLE_EXPIRED = 0x02 | W2_ERR_TYPE_WARN, + W2_ERR_UNCAUGHT_ERROR = 0x03 | W2_ERR_TYPE_WARN, }; diff --git a/robot/errcatch.c b/robot/errcatch.c index 5b42bb4..d5ad320 100644 --- a/robot/errcatch.c +++ b/robot/errcatch.c @@ -1,7 +1,61 @@ +#include <stdio.h> +#include <stdlib.h> +#include <string.h> + +#include "consts.h" #include "errcatch.h" +#include "halt.h" +#include "modes.h" +#include "orangutan_shim.h" + +w2_s_error g_w2_error_buffer[W2_ERROR_BUFFER_SIZE] = {}; +uint8_t g_w2_error_index = 0; +uint8_t g_w2_error_offset = 0; -void w2_errcatch_main() {} +void w2_errcatch_main() { + while (g_w2_error_index != g_w2_error_offset) { + w2_s_error *error = &g_w2_error_buffer[g_w2_error_offset]; + w2_errcatch_handle_error(error); + free(error); + g_w2_error_offset = (g_w2_error_offset + 1) % W2_ERROR_BUFFER_SIZE; + } +} -void w2_errcatch_throw_msg(enum w2_e_errorcodes code, uint16_t length, const char *message) {} +w2_s_error *w2_alloc_error(enum w2_e_errorcodes code, uint16_t length, const char *message) { + w2_s_error *error = calloc(sizeof(w2_s_error) + length, 1); + memcpy(error, &(w2_s_error const){.code = code, .message_length = length}, sizeof(w2_s_error)); + strncpy(error->message, message, length); + + return error; +} void w2_errcatch_throw(enum w2_e_errorcodes code) { w2_errcatch_throw_msg(code, 0, ""); } +void w2_errcatch_throw_msg(enum w2_e_errorcodes code, uint16_t length, const char *message) { + w2_s_error error = *w2_alloc_error(code, length, message); + g_w2_error_buffer[g_w2_error_index] = error; + g_w2_error_index = (g_w2_error_index + 1) % W2_ERROR_BUFFER_SIZE; +} + +void w2_errcatch_handle_error(w2_s_error *error) { + uint8_t severity = error->code & W2_ERR_TYPE_MASK; + + // trigger emergency mode for critical errors + if ((severity ^ W2_ERR_TYPE_CRIT) == 0) g_w2_current_mode = &w2_mode_halt; + + // TODO: handle more error types + switch (error->code) { + case W2_ERR_UNCAUGHT_ERROR: { + break; + } + default: { + w2_errcatch_throw(W2_ERR_UNCAUGHT_ERROR); +#ifdef W2_SIM + simwarn("Uncaught/unhandled error found with code 0x%02x", error->code); +#endif + } + } + + // TODO: forward error to sercomm + + return; +} diff --git a/robot/errcatch.h b/robot/errcatch.h index 48e2a75..2297886 100644 --- a/robot/errcatch.h +++ b/robot/errcatch.h @@ -4,11 +4,40 @@ #include "consts.h" +/** + * error struct + * + * holds an error with type `code`, and an optional `message` with length + * `message_length` + */ +typedef struct { + enum w2_e_errorcodes code; + uint8_t message_length; + char message[]; +} w2_s_error; + +/** error ring buffer */ +extern w2_s_error g_w2_error_buffer[W2_ERROR_BUFFER_SIZE]; +/** stores head of ring buffer */ +extern uint8_t g_w2_error_index; +/** stores start of ring buffer */ +extern uint8_t g_w2_error_offset; + /** error-handler module main */ void w2_errcatch_main(); +/** handle error */ +void w2_errcatch_handle_error(w2_s_error *error); + /** append error to error buffer */ void w2_errcatch_throw(enum w2_e_errorcodes code); /** append error to error buffer (with debug message) */ void w2_errcatch_throw_msg(enum w2_e_errorcodes code, uint16_t length, const char *message); + +/** + * allocate and initialize error struct + * + * TODO: doesn't handle null pointers from calloc + */ +w2_s_error *w2_alloc_error(enum w2_e_errorcodes code, uint16_t length, const char *message); diff --git a/robot/hypervisor.c b/robot/hypervisor.c index 381d9af..6b32776 100644 --- a/robot/hypervisor.c +++ b/robot/hypervisor.c @@ -1,19 +1,31 @@ -#include <pololu/orangutan.h> - +#include "hypervisor.h" #include "consts.h" #include "errcatch.h" -#include "hypervisor.h" #include "io.h" #include "modes.h" +#include "orangutan_shim.h" #include "sercomm.h" void w2_hypervisor_main() { + time_reset(); + w2_sercomm_main(); + unsigned long sercomm_time = get_ms(); w2_errcatch_main(); + unsigned long errcatch_time = get_ms() - sercomm_time; w2_io_main(); - - time_reset(); + unsigned long io_time = get_ms() - errcatch_time; w2_modes_main(); - unsigned long elapsed_ms = get_ms(); - if (elapsed_ms > W2_MAX_MODULE_CYCLE_MS) w2_errcatch_throw(W2_ERR_CYCLE_EXPIRED); + unsigned long mode_time = get_ms() - io_time; + +#ifdef W2_SIM + siminfo("sercomm: %lums\n", sercomm_time); + siminfo("errcatch: %lums\n", errcatch_time); + siminfo("io: %lums\n", io_time); + siminfo("mode: %lums\n", mode_time); + + usleep(100e3); +#endif + + if (mode_time > W2_MAX_MODULE_CYCLE_MS) w2_errcatch_throw(W2_ERR_CYCLE_EXPIRED); } diff --git a/robot/makefile b/robot/makefile index 598e0fa..6f50519 100644 --- a/robot/makefile +++ b/robot/makefile @@ -5,23 +5,33 @@ DEVICE ?= atmega168 MCU ?= atmega168 AVRDUDE_DEVICE ?= m168 -CFLAGS=-g -Wall -mcall-prologues -mmcu=$(MCU) $(DEVICE_SPECIFIC_CFLAGS) -Os -LDFLAGS=-Wl,-gc-sections -lpololu_$(DEVICE) -Wl,-relax - PORT ?= /dev/ttyACM0 -SOURCES := $(wildcard *.c) -HEADERS := $(wildcard *.h) +CFLAGS=-g -Wall $(DEVICE_SPECIFIC_CFLAGS) -Os +LDFLAGS=-Wl,-gc-sections -Wl,-relax + +SOURCES := $(filter-out sim.c, $(wildcard *.c)) +HEADERS := $(filter-out sim.h, $(wildcard *.h)) + +# simulation +# SIM = true +CFLAGS += $(if $(SIM), -DW2_SIM, -mcall-prologues -mmcu=$(MCU)) +LDFLAGS += $(if $(SIM), , -lpololu_$(DEVICE)) +PREFIX := $(if $(SIM), , avr-) +SOURCES += $(if $(SIM), sim.c, ) +HEADERS += $(if $(SIM), sim.h, ) + OBJECTS := $(patsubst %.c,%.o, $(SOURCES)) AVRDUDE=avrdude -CC=avr-gcc -OBJ2HEX=avr-objcopy +CC=$(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)" -all: out.hex +all: $(if $(SIM), a.out, out.hex) clean: rm -f *.o out.hex a.out compile_commands.json @@ -40,6 +50,8 @@ flash: out.hex $(AVRDUDE) -p $(AVRDUDE_DEVICE) -c avrisp2 -P $(PORT) -U flash:w:out.hex format: + $(eval SOURCES := $(filter-out sim.c, $(SOURCES))) + $(eval HEADERS := $(filter-out sim.h, $(HEADERS))) clang-format -i $(SOURCES) $(HEADERS) clang-tidy --fix-errors $(SOURCES) $(HEADERS) diff --git a/robot/orangutan_shim.h b/robot/orangutan_shim.h new file mode 100644 index 0000000..de57c98 --- /dev/null +++ b/robot/orangutan_shim.h @@ -0,0 +1,7 @@ +#pragma once + +#ifdef W2_SIM +#include "sim.h" +#else +#include <pololu/orangutan.h> +#endif diff --git a/robot/readme.md b/robot/readme.md index 0f70f31..4a7aca3 100644 --- a/robot/readme.md +++ b/robot/readme.md @@ -17,6 +17,13 @@ device manager on windows, or by running `ls /dev/ttyACM*` on linux. once the com port is configured, run `make flash` to upload the executable and automatically reboot the robot. +another fun option in the makefile is the SIM mode. by uncommenting the line `# +SIM = true`, the robot code can be compiled for desktop debugging instead. all +used pololu functions must be manually implemented in sim.c for this to work, +but it allows easier debugging. *it's important that the `orangutan_shim.h` +header is used instead of including `<pololu/orangutan.h>` directly for this to +keep working!* + ## module hierarchy the software is divided into seperate 'modules' for organizational, @@ -86,6 +93,8 @@ this list will probably get updated from time to time: - arbitrary numbers should be aliased to `#define` statements or `enum`s if 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 ## todo @@ -120,19 +129,25 @@ to act on accordingly. the error handling module (a) provides functions for other modules to report errors, and (b) handles errors accordingly. -- [ ] create an error `struct` that holds: - - [ ] error code - - [ ] message length - - [ ] message contents -- [ ] create a global error ring buffer with an appropriate size that holds +- [x] create an error `struct` that holds: + - [x] error code + - [x] message length + - [x] message contents +- [x] create a global error ring buffer with an appropriate size that holds error messages - [ ] handle errors in the error buffer, referencing the functional specification for details on what the robot should do to resolve each kind of error - [ ] forward error codes to the pc-communication module -empty function declarations are in place for providing other modules an error -reporting function. +~empty function declarations are in place for providing other modules an error +reporting function.~ + +this module is as good as finished but full functionality is currently +dependent on: + +- [ ] pc communication +- [ ] other mode implementations ### i/o read & write diff --git a/robot/setup.c b/robot/setup.c index 10001c7..c74cca9 100644 --- a/robot/setup.c +++ b/robot/setup.c @@ -1,9 +1,9 @@ -#include <pololu/orangutan.h> #include <stdlib.h> #include "consts.h" #include "halt.h" #include "modes.h" +#include "orangutan_shim.h" #include "setup.h" void w2_setup_main() { diff --git a/robot/sim.c b/robot/sim.c new file mode 100644 index 0000000..6bd5838 --- /dev/null +++ b/robot/sim.c @@ -0,0 +1,64 @@ +#include <stdio.h> +#include <time.h> +#include <string.h> + +#include "sim.h" + +struct timespec reference_time; // NOLINT + +void time_reset() { + simprintfunc("time_reset", ""); + clock_gettime(CLOCK_MONOTONIC, &reference_time); + return; +} + +unsigned long get_ms() { + simprintfunc("get_ms", ""); + 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)); +} + +void red_led(unsigned char on) { + simprintfunc("red_led", "%i", on); + return; +} + +void green_led(unsigned char on) { + simprintfunc("green_led", "%i", on); + return; +} + +void clear() { + simprintfunc("clear", ""); + return; +} + +void play(const char* melody) { + simprintfunc("play", "\"%s\"", melody); + return; +} + +void serial_set_baud_rate(unsigned int rate) { + simprintfunc("serial_set_baud_rate", "%u", rate); + return; +} + +void serial_send(char* message, unsigned int length) { + simprintfunc("serial_send", "<see below>, %u", length); + unsigned int bytes = 0; + simprintf(""); + for (unsigned int byte = 0; byte < length; byte++) { + if (bytes > DBG_BYTES_PER_LINE) { + bytes = 0; + printf("\n"); + simprintf(""); + } + printf("%02x ", message[byte]); + bytes++; + } + printf("\n"); + return; +} + diff --git a/robot/sim.h b/robot/sim.h new file mode 100644 index 0000000..15a1b4b --- /dev/null +++ b/robot/sim.h @@ -0,0 +1,40 @@ +#pragma once + +#include <stdio.h> +#include <stdlib.h> +#include <unistd.h> + +// debug print options +#define DBG_BYTES_PER_LINE 16 + +// debug colors +#define COL_BLK "\e[0;30m" +#define COL_RED "\e[0;31m" +#define COL_GRN "\e[0;32m" +#define COL_YEL "\e[0;33m" +#define COL_BLU "\e[0;34m" +#define COL_MAG "\e[0;35m" +#define COL_CYN "\e[0;36m" +#define COL_WHT "\e[0;37m" +#define COL_RST "\e[0m" + +// debug stdout print macros +#define simprintf(message, ...) printf(COL_RED "[SIM] " COL_RST message, ##__VA_ARGS__) +#define simprint(message) simprintf(message "\n") +#define simprintfunc(name, fmt, ...) simprintf(COL_BLU "[FUNC] " \ + COL_CYN name COL_RST "(" COL_YEL fmt COL_RST ")\n", ##__VA_ARGS__) +#define simwarn(message, ...) simprintf(COL_YEL "[WARN] " COL_RST message, ##__VA_ARGS__) +#define siminfo(message, ...) simprintf(COL_MAG "[INFO] " COL_RST message, ##__VA_ARGS__) + +/** + * simulates pololu library functions for local testing + * NOLINT is so clang-tidy doesn't correct function names + */ +void time_reset(); // NOLINT +unsigned long get_ms(); // NOLINT +void red_led(unsigned char on); // NOLINT +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 |