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-rw-r--r--.gitignore1
-rw-r--r--.vscode/c_cpp_properties.json21
-rw-r--r--.vscode/tasks.json43
-rw-r--r--Doxyfile21
-rw-r--r--client/makefile2
-rw-r--r--client/readme.md70
-rw-r--r--makefile5
-rw-r--r--noob_hoek.md72
-rw-r--r--protocol.md4
-rw-r--r--readme.md186
-rw-r--r--robot/-0
-rw-r--r--robot/errcatch.h2
-rw-r--r--robot/hypervisor.c21
-rw-r--r--robot/hypervisor.h10
-rw-r--r--robot/io.h8
-rw-r--r--robot/main.h2
-rw-r--r--robot/makefile17
-rw-r--r--robot/mode_chrg.h2
-rw-r--r--robot/mode_dirc.h2
-rw-r--r--robot/mode_grid.h2
-rw-r--r--robot/mode_halt.h2
-rw-r--r--robot/mode_lcal.h2
-rw-r--r--robot/mode_maze.h2
-rw-r--r--robot/mode_scal.h2
-rw-r--r--robot/mode_spin.h2
-rw-r--r--robot/modes.h2
-rw-r--r--robot/orangutan_shim.h2
-rw-r--r--robot/readme.md49
-rw-r--r--robot/sercomm.c56
-rw-r--r--robot/sercomm.h2
-rw-r--r--robot/setup.c3
-rw-r--r--robot/setup.h2
-rw-r--r--robot/sim.c16
-rw-r--r--robot/sim.h2
-rw-r--r--robot/tests/dirc.binbin6 -> 7 bytes
-rw-r--r--robot/tests/ping.binbin3 -> 4 bytes
-rw-r--r--scripts/install-mingw-packages.sh2
-rwxr-xr-xscripts/install-sdk.sh2
-rw-r--r--scripts/patch-may-26.sh4
-rw-r--r--scripts/readme.md14
-rw-r--r--shared/bin.h3
-rw-r--r--shared/bool.h9
-rw-r--r--shared/consts.h24
-rw-r--r--shared/errors.h4
-rw-r--r--shared/io.h59
-rw-r--r--shared/makefile4
-rw-r--r--shared/os.mk12
-rw-r--r--shared/protocol.c19
-rw-r--r--shared/protocol.h60
-rw-r--r--shared/semver.h2
-rw-r--r--shared/serial_parse.c23
-rw-r--r--shared/serial_parse.h13
-rw-r--r--shared/util.h2
53 files changed, 547 insertions, 344 deletions
diff --git a/.gitignore b/.gitignore
index d493881..74f4594 100644
--- a/.gitignore
+++ b/.gitignore
@@ -8,3 +8,4 @@ client/main
.cache
*.log
scripts/InstallationLog.txt
+docs/
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
new file mode 100644
index 0000000..0415e98
--- /dev/null
+++ b/.vscode/c_cpp_properties.json
@@ -0,0 +1,21 @@
+{
+ "configurations": [
+ {
+ "name": "Win32",
+ "includePath": [
+ "${workspaceFolder}/**",
+ "C:/msys64/mingw64/avr/include"
+ ],
+ "defines": [
+ "_DEBUG",
+ "UNICODE",
+ "_UNICODE"
+ ],
+ "compilerPath": "C:\\msys64\\mingw64\\bin\\gcc.exe",
+ "cStandard": "gnu17",
+ "cppStandard": "gnu++17",
+ "intelliSenseMode": "windows-gcc-x64"
+ }
+ ],
+ "version": 4
+} \ No newline at end of file
diff --git a/.vscode/tasks.json b/.vscode/tasks.json
index 251c67d..52ccd17 100644
--- a/.vscode/tasks.json
+++ b/.vscode/tasks.json
@@ -1,8 +1,12 @@
{
"version": "2.0.0",
- "command": "C:/msys64/usr/bin/sh.exe",
- "options": { "cwd": "${workspaceFolder}" },
- "args": [ "-c" ],
+ "options": {
+ "cwd": "${workspaceFolder}",
+ "shell": {
+ "executable": "C:/msys64/msys2_shell.cmd",
+ "args": [ "-defterm", "-no-start", "-mingw64", "-shell", "sh", "-here", "-c" ],
+ }
+ },
"tasks": [
{
"label": "build client",
@@ -10,8 +14,9 @@
"isDefault": false,
"kind": "build"
},
- "args": [ "make", "-C", "client" ],
- "command": "",
+ "command": "make",
+ "args": [ "" ],
+ "options": { "cwd": "${workspaceFolder}/client" },
"type": "shell"
},
{
@@ -20,8 +25,9 @@
"isDefault": false,
"kind": "build"
},
- "args": [ "make", "-C", "robot" ],
- "command": "",
+ "options": { "cwd": "${workspaceFolder}/robot" },
+ "command": "make",
+ "args": [ "" ],
"type": "shell"
},
{
@@ -30,8 +36,9 @@
"isDefault": false,
"kind": "test"
},
- "args": [ "make", "flash", "-C", "robot" ],
- "command": "",
+ "options": { "cwd": "${workspaceFolder}/robot" },
+ "command": "make flash",
+ "args": [ "" ],
"type": "shell"
},
{
@@ -40,8 +47,8 @@
"isDefault": false,
"kind": "none"
},
- "args": [ "make", "clean" ],
- "command": "",
+ "command": "make clean",
+ "args": [ "" ],
"type": "shell"
},
{
@@ -50,8 +57,18 @@
"isDefault": false,
"kind": "none"
},
- "args": [ "make", "format" ],
- "command": "",
+ "command": "make format",
+ "args": [ "" ],
+ "type": "shell"
+ },
+ {
+ "label": "generate compilation db (needed for autocomplete)",
+ "group": {
+ "isDefault": false,
+ "kind": "build"
+ },
+ "command": "make compile_commands",
+ "args": [ "" ],
"type": "shell"
},
]
diff --git a/Doxyfile b/Doxyfile
new file mode 100644
index 0000000..8c225e9
--- /dev/null
+++ b/Doxyfile
@@ -0,0 +1,21 @@
+DOXYFILE_ENCODING = UTF-8
+PROJECT_NAME = "wall-e2"
+# PROJECT_NUMBER =
+PROJECT_BRIEF = Project RobotRun software
+OUTPUT_DIRECTORY = docs/
+CREATE_SUBDIRS = NO
+ALLOW_UNICODE_NAMES = NO
+OUTPUT_LANGUAGE = English
+TAB_SIZE = 4
+FILE_PATTERNS = *.c \
+ *.h \
+ *.md
+RECURSIVE = YES
+USE_MDFILE_AS_MAINPAGE = ./readme.md
+SOURCE_BROWSER = YES
+INLINE_SOURCES = YES
+STRIP_CODE_COMMENTS = NO
+REFERENCED_BY_RELATION = YES
+REFERENCES_RELATION = YES
+CALL_GRAPH = YES
+# INPUT = robot/
diff --git a/client/makefile b/client/makefile
index 4cca15a..f79dd11 100644
--- a/client/makefile
+++ b/client/makefile
@@ -25,5 +25,5 @@ format:
clang-tidy --fix-errors $(SOURCES) $(HEADERS)
compile_commands: clean
- bear -- make
+ compiledb make
diff --git a/client/readme.md b/client/readme.md
index 990504d..8b4baee 100644
--- a/client/readme.md
+++ b/client/readme.md
@@ -10,46 +10,50 @@ this page is WIP
|-|-|-|-|-|
|view warnings / errors|
|direct control|
+|configure map|
+|input orders|
|enable/disable emergency mode|
-
-
-
-
+|enable/disable sensor calibration mode|
+|enable/disable wet floor mode|
+|read sensor values|
+|set display contents|optional
+|play music|optional
+|control leds|optional
## interface
the client is a user-facing application that allows control and monitoring of
-the robot in various ways. it primarily works in a command-line way, with the
-user typing commands that get translated to protocol messages, and sent to the
-robot. to start the interface, the user should run `./main <com-port> [command]
-[args]`. by not specifying a command, the interactive shell is launched which
-looks like this (and it's supposed to be in dutch):
+the robot in various ways. it primarily works in a bios-like way, with the user
+having access to multiple tabs containing options or custom interface elements.
+
+to start the interface, the user should run `./main <com-port>`. the interface
+could look something like this (with colored text for element seperation):
```
verbonden, 2ms ping (0.0.2-11-g92c394b) batterij 100%
[huidige logica-modus] 0 waarschuwingen, 0 foutmeldingen
+ [info] logs direct aansturen kaart orders modus instellen sensor...
--------------------------------------------------------------------------------
-
-
-
-
-
-
-
-
-
-
-
-
-
welkom in de wall-e2 console applicatie! deze client is versie
0.0.2-11-g92c394b
-typ 'help' om alle commando's te zien in een lijst, of 'doei' om deze
-applicatie weer te sluiten.
+deze applicatie functioneert op een soortgelijke manier als een BIOS. hier is
+een lijst met besturingscommando's:
+
+<links>/<rechts>, <h>/<l> tabblad wisselen
+<omlaag>/<omhoog>, <j>/<k> optie selecteren
+<enter>, <i> optie aanpassen
+<home>, <g> terug naar boven scrollen
+<end>, <G> naar einde van pagina scrollen
+<escape> terug
+<q> console applicatie sluiten
+
+sneltoetsen:
+<N> info <o> orders
+<S> logs <M> modus instellen
+<d> direct aansturen <m> kaart
-w2>
```
the top status bar is always supposed to be visible, and is sort of inspired by
@@ -59,10 +63,13 @@ though it doesn't matter if it's very primitive.
going from top-left in reading order the status bar contains: connection
status, ping time, robot version number, robot battery info, current logic
-mode, warnings and critical exceptions. the version number is aligned to the
-terminal center, and the battery and warning counters are aligned right. when a
-connection hasn't been established between the robot and client, the fields
-containing robot info should dissapear.
+mode, warnings and critical exceptions, and lastly a tab bar. the version
+number is aligned to the terminal center, and the battery and warning counters
+are aligned right. when a connection hasn't been established between the robot
+and client, the fields containing robot info should dissapear. the tab bar
+scrolls horizontally, and tab names should in addition to a single space
+seperator, keep spaces before and after to fit square brackets indicating tab
+selection status.
## code structure
@@ -71,12 +78,13 @@ modules are executed after each other:
- serial read
- stdin read (user input)
-- optional control mode handling
+- status bar paint
+- current tab paint
## notes on ascii escape codes
- color codes
- terminal echo codes
- how to read terminal (re)size
-- cursor movement
+- cursor movement(?)
diff --git a/makefile b/makefile
index 7795106..832bde9 100644
--- a/makefile
+++ b/makefile
@@ -5,4 +5,7 @@ all clean format compile_commands: $(SUBDIRS) FORCE
$(SUBDIRS): FORCE
$(MAKE) -C $@ $(MAKECMDGOALS)
-FORCE: \ No newline at end of file
+FORCE:
+
+docs:
+ doxygen
diff --git a/noob_hoek.md b/noob_hoek.md
new file mode 100644
index 0000000..ea02bb2
--- /dev/null
+++ b/noob_hoek.md
@@ -0,0 +1,72 @@
+## noob hoek
+
+hier wat korte uitleg over dingen die niet zijn uitgelegd in vorige blokken van
+de opleiding:
+
+### make
+
+make is een los build-systeem. dit houdt in dat je een losse programma's
+gebruikt om je code te compileren en te debuggen in tegenstelling tot één
+programma waar alles in zit. door een los build-systeem te gebruiken kun je elke
+tekstbewerker gebruiken die je maar wilt, niet alleen atmel studio of microchip
+studio.
+
+make wordt geconfigureerd via een _makefile_. hier staat in hoe je code
+gecompileerd moet worden. make compileert standaard geen bestanden die je niet
+hebt aangepast, dus als je project snel groeit houdt make je compile-tijd kort
+door alleen gewijzigde bestanden te hercompileren. hier zijn wat standaard make
+commando's die voor dit project in zowel de robot map als de client map zullen
+werken:
+
+```sh
+make # alle (gewijzigde) bestanden compileren
+make clean # rommel opschonen uit je werkmap (.o bestanden, etc.)
+make format # alle bronbestanden (.c, .h) formatten
+```
+
+als je deze commando's niet wil onthouden heb ik (loek) ook een visual studio
+configuratie gemaakt die automatisch laadt wanneer je de projectmap opent. deze
+configuratie zorgt er voor dat je make commando's met visual studio code tasks
+kan uitvoeren. deze gebruik je door eerst de command palette te openen met
+ctrl+shift+p, en dan te zoeken voor "Tasks: Run Task". daarna zouden er opties
+moeten zijn om de code voor de robot of client te builden, de werkmappen
+opschonen, de bronbestanden formatten, en de robot flashen.
+
+### git
+
+git is het versiebeheersysteem dat we in dit project gaan gebruiken. een project
+in git wordt ook soms een _repository_ genoemd. op jouw pc/laptop _clone_ je de
+_centrale repository_ om een lokale kopie te krijgen die je kunt bewerken. git
+houdt elke 'versie' bij van je project in zogehete _commits_. commits maak je
+meestal na je klaar bent met een complete functie implementeren, maar wanneer je
+ze maakt moet je zelf gevoel voor krijgen. tussen commits kun je een _diff_
+maken; dit is een bestand waar precies in staat welke regels zijn toegevoed,
+verwijderd, of aangepast tussen twee commits. door deze functionaliteit is het
+heel makkelijk om met git meerdere mensen aan dezelfde code te laten werken
+tegelijkertijd, en daarna alle wijzigingen samen te kunnen voegen.
+
+voor gemak werkt iedereen op zijn eigen _branch_, met hun eigen naam. wanneer je
+klaar bent met een functie implementeren test je uiteraard je code, daarna draai
+je `make format` zodat je code automatisch netjes is ingesprongen en de
+stijlgids volgt, en dan kun je een _pull request_ openen. dan zal ik (loek) er
+voor zorgen dat jouw code ge*merge*t wordt naar de _master_ branch, en zo hoeven
+we niet constant zip mapjes met de nieuwste versie heen en weer te sturen.
+
+wanneer je een commit maakt, staat deze alleen op je eigen laptop/pc. om deze te
+uploaden naar github kun je je lokale versie van de repository _pushen_.
+hierdoor komen je lokale wijzigingen op internet te staan, daarom is het
+belangrijk om te controleren of je voor een commit niet per ongeluk logs, of
+andere rommel-bestanden commit, want deze kunnen gevoelige systeeminformatie
+bevatten.
+
+visual studio code heeft ingebouwde git integratie, en ik raad aan dat je deze
+gebruikt omdat de git cli niet heel erg vriendelijk is als je nooit de
+command-line gebruikt.
+[hier](https://docs.microsoft.com/en-us/learn/modules/use-git-from-vs-code/) is
+een pagina waar uitgelegd staat hoe je sommige dingen hierboven uitgelegd moet
+doen via visual studio code's git interface.
+
+[dit](https://www.youtube.com/watch?v=hwP7WQkmECE) is een video die ook goed
+beknopt uit legt hoe git werkt, maar als je ergens niet uit komt kun je het ook
+gewoon aan mij (loek) vragen.
+
diff --git a/protocol.md b/protocol.md
index 7c7c843..bc6a8c0 100644
--- a/protocol.md
+++ b/protocol.md
@@ -39,7 +39,7 @@ readability.
|`0x08`|[DIRC](#dirc)|yes|`r <-- c`|<u>dir</u>ect <u>c</u>ontrol
|`0x0a`|[CORD](#cord)|no|`r <=> c`|<u>co</u>o<u>rd</u>inate
|`0x0c`|[BOMD](#bomd)|no|`r <=> c`|<u>b</u>ack<u>o</u>rder <u>m</u>o<u>d</u>ify
-|`0x0e`|[SRES](#sres)|no|`r <-- c`|<u>s</u>oft <u>res</u>et
+|`0x0e`|[SRES](#sres)|yes|`r <-- c`|<u>s</u>oft <u>res</u>et
|`0x10`|[MCFG](#mcfg)|no|`r <-- c`|<u>m</u>ap <u>c</u>on<u>f</u>i<u>g</u>
|`0x12`|[SENS](#sens)|yes|`r <-> c`|<u>sens</u>or data
|`0x14`|[INFO](#info)|yes|`r <-> c`|<u>info</u>
@@ -223,7 +223,7 @@ _status_ is one of:
_type_ is one of:
- 0: reinitialize all global state
-- 1: reset emergency mode
+- 1: go to previous mode
### MCFG
diff --git a/readme.md b/readme.md
index 5157e8f..b579e5b 100644
--- a/readme.md
+++ b/readme.md
@@ -1,151 +1,55 @@
# project robotrun software
-- [link naar robot productpagina](https://www.pololu.com/product/975/resources)
-- [link naar wixel productpagina](https://www.pololu.com/product/1336/resources)
+- [robot product page](https://www.pololu.com/product/975/resources)
+- [wixel product page](https://www.pololu.com/product/1336/resources)
-het project is opgedeeld in twee submappen, een voor de code die op de robot
-zelf draait, en een programma dat op een computer draait en de robot kan
-aansturen.
+this project is divided in two subfolders, one for robot code, and one for
+client code that runs on your PC and is able to control the robot remotely.
-voor de client worden sommige externe libraries gebruikt, hier is een lijst met
-gebruikte externe libraries:
+## toolchain installation on windows
-|naam|doel|
-|-|-|
-|[yan9a/serial](https://github.com/yan9a/serial)|cross-compatibiliteit voor seriële poorten lezen/schrijven voor windows en linux|
+> look in the scripts/ subdirectory if you're concerned about what these
+> commands do
-## samenvatting werking
-
-hoop onder constructie
-
-~Globaal gezien draait de robot altijd in een van twee 'standen'. De eerste
-stand is voor het doolhof-gedeelte van de kaart, en de tweede is voor het
-warenhuis-gedeelte. Tijdens de assessment kan het zijn dat de robot opgetild
-wordt en ergens anders wordt neergezet in het doolhof gedeelte, en hier moet de
-robot tegen kunnen. Om het doolhof op te lossen wordt of de rechterhandregel of
-de linkerhandregel gebruikt, zodat de robot altijd een uitgang van het doolhof
-kan vinden, zonder dat de robot zijn eigen positie binnen het doolhof hoeft te
-weten, of überhaupt bewust hoeft te zijn van de lay-out van het doolhof zelf.
-De overgang tussen het doolhof en het warenhuis wordt aangegeven met een soort
-zebrapad die dezelfde breedte als de rest van de lijnen heeft.~ Vooraf wordt
-via de client aangegeven aan de robot hoe groot het warenhuis is, en waar de
-in- en uitgangen van het warenhuis zitten, zodat de robot zelfstandig naar het
-afleverpunt en het oplaadstation kan rijden zodra alle bestellingen opgehaald
-zijn. De volgende specificaties moeten nog exact afgesproken worden voordat er
-een kaart gemaakt kan worden:
-
-- breedte van de lijn
-- tegelgrootte (binnen warenhuis)
-- exacte afmetingen van, en de hoeveelheid van de strepen in het zebrapad
-
-De lijnen van het doolhof hoeven niet te voldoen aan de tegelgrootte, maar de
-in- en uitgangen moeten wel een rechte overloop hebben op het
-warenhuis-gedeelte.
-
-## de kaart
-
-voor de kaart worden de volgende afmetingen aangehouden:
-
-- 3/4" (~19mm) breedte
-- gebogen lijnen niet scherper dan een radius van 3" (~750mm)
-- het oplaadstation is een zwarte stip met een diameter van 3" (~750mm)
-- paginamarge en minimale ruimte tussen lijnen van 3" (~750mm)
-- (binnen grid) tegelgrootte van 8" (~20cm)
-
-## noob hoek
-
-hier wat korte uitleg over dingen die niet zijn uitgelegd in vorige blokken van
-de opleiding:
-
-### make
-
-make is een los build-systeem. dit houdt in dat je een losse programma's
-gebruikt om je code te compileren en te debuggen in tegenstelling tot één
-programma waar alles in zit. door een los build-systeem te gebruiken kun je elke
-tekstbewerker gebruiken die je maar wilt, niet alleen atmel studio of microchip
-studio.
-
-make wordt geconfigureerd via een _makefile_. hier staat in hoe je code
-gecompileerd moet worden. make compileert standaard geen bestanden die je niet
-hebt aangepast, dus als je project snel groeit houdt make je compile-tijd kort
-door alleen gewijzigde bestanden te hercompileren. hier zijn wat standaard make
-commando's die voor dit project in zowel de robot map als de client map zullen
-werken:
-
-```sh
-make # alle (gewijzigde) bestanden compileren
-make clean # rommel opschonen uit je werkmap (.o bestanden, etc.)
-make format # alle bronbestanden (.c, .h) formatten
-```
-
-als je deze commando's niet wil onthouden heb ik (loek) ook een visual studio
-configuratie gemaakt die automatisch laadt wanneer je de projectmap opent. deze
-configuratie zorgt er voor dat je make commando's met visual studio code tasks
-kan uitvoeren. deze gebruik je door eerst de command palette te openen met
-ctrl+shift+p, en dan te zoeken voor "Tasks: Run Task". daarna zouden er opties
-moeten zijn om de code voor de robot of client te builden, de werkmappen
-opschonen, de bronbestanden formatten, en de robot flashen.
-
-### git
-
-git is het versiebeheersysteem dat we in dit project gaan gebruiken. een project
-in git wordt ook soms een _repository_ genoemd. op jouw pc/laptop _clone_ je de
-_centrale repository_ om een lokale kopie te krijgen die je kunt bewerken. git
-houdt elke 'versie' bij van je project in zogehete _commits_. commits maak je
-meestal na je klaar bent met een complete functie implementeren, maar wanneer je
-ze maakt moet je zelf gevoel voor krijgen. tussen commits kun je een _diff_
-maken; dit is een bestand waar precies in staat welke regels zijn toegevoed,
-verwijderd, of aangepast tussen twee commits. door deze functionaliteit is het
-heel makkelijk om met git meerdere mensen aan dezelfde code te laten werken
-tegelijkertijd, en daarna alle wijzigingen samen te kunnen voegen.
-
-voor gemak werkt iedereen op zijn eigen _branch_, met hun eigen naam. wanneer je
-klaar bent met een functie implementeren test je uiteraard je code, daarna draai
-je `make format` zodat je code automatisch netjes is ingesprongen en de
-stijlgids volgt, en dan kun je een _pull request_ openen. dan zal ik (loek) er
-voor zorgen dat jouw code ge*merge*t wordt naar de _master_ branch, en zo hoeven
-we niet constant zip mapjes met de nieuwste versie heen en weer te sturen.
-
-wanneer je een commit maakt, staat deze alleen op je eigen laptop/pc. om deze te
-uploaden naar github kun je je lokale versie van de repository _pushen_.
-hierdoor komen je lokale wijzigingen op internet te staan, daarom is het
-belangrijk om te controleren of je voor een commit niet per ongeluk logs, of
-andere rommel-bestanden commit, want deze kunnen gevoelige systeeminformatie
-bevatten.
-
-visual studio code heeft ingebouwde git integratie, en ik raad aan dat je deze
-gebruikt omdat de git cli niet heel erg vriendelijk is als je nooit de
-command-line gebruikt.
-[hier](https://docs.microsoft.com/en-us/learn/modules/use-git-from-vs-code/) is
-een pagina waar uitgelegd staat hoe je sommige dingen hierboven uitgelegd moet
-doen via visual studio code's git interface.
-
-[dit](https://www.youtube.com/watch?v=hwP7WQkmECE) is een video die ook goed
-beknopt uit legt hoe git werkt, maar als je ergens niet uit komt kun je het ook
-gewoon aan mij (loek) vragen.
-
-## installatie programmeer dingen op windows
-
-1. open een normaal powershell venster (geen administrator!)
-2. kopiëer het volgende commando (druk op het kopiëer-icoontje rechts als je
- met je muis over het commando staat):
+1. open een regular powershell window (no administrator!)
+2. copy the following command (hover over to see copy button):
```powershell
cd ~; Set-ExecutionPolicy RemoteSigned -scope CurrentUser; iwr -useb https://raw.githubusercontent.com/lonkaars/wall-e2/master/scripts/bootstrap.ps1 | iex
```
-3. plak het commando in powershell, dit doe je door één keer op de
- rechtermuisknop te klikken, **ctrl+v werkt niet in het powershell-venster!**
-4. ram op enter
-5. typ een letter 'y' en druk daarna weer op enter
-6. wacht voor ongeveer 3-10 minuten (afhankelijk van snelheid van je pc/laptop
- en internetsnelheid)
-7. het is klaar wanneer er een windows verkenner venster opent met de
- projectbestanden er in, nu kun je het powershell-venster weer sluiten
-
-nu ben je klaar om aan het project te werken! je kunt elke tekstbewerker
-gebruiken om de code te bewerken, maar ik raad [visual studio
-code](https://code.visualstudio.com) aan als je geen voorkeur hebt.
+3. paste the command by right-clicking or pressing
+ <kbd>shift</kbd>+<kbd>insert</kbd> **ctrl+v doesn't work in the powershell
+ window**
+4. press <kbd>enter</kbd>, then <kbd>y</kbd>, then <kbd>enter</kbd> again.
+5. wait for about 3-10 minutes (depends on your pc/laptop cpu and internet speed)
+6. the script will open a windows explorer window inside the project folder
+ when it finishes. the powershell window can be closed when it's done.
+
+now you're ready to edit this project! because we're using a seperate build
+system, you can use any text editor you like to edit the source code. i
+recommend [visual studio code](https://code.visualstudio.com) if you don't have
+a preferred text editor.
+
+keep in mind that you have to use the **MSYS2 MinGW x64** terminal when using
+`make`. this repository contains config files that visual studio code will
+automatically load, which contain settings that set MSYS2 as the default
+terminal shell and build task shell, so this is only important to know if you
+want to use any kind of external terminal.
+
+## map
+
+[link to the map design file (figma)](https://www.figma.com/file/fPlfOqtEvQYVA9TYWNjz1i/kaart)
+
+the map uses the following dimensions:
+
+- a0 paper size
+- 3/4" (~19mm) line width
+- curved lines may not have a corner radius tighter than 3" (~750mm)
+- the charging station is a black dot with a diameter of 3" (~750mm)
+- page margin and minimum line margin of 3" (~750mm)
+- (in grid) tile size of 8" (~20cm)
+- 'crosswalk' has 2 dashes with a length of 3/8" (~10mm)
+- 'crosswalk' dashes have a margin of 3/8" (~10mm)
+
+the lines inside the maze don't have to conform to the grid tile size, but the
+entrance(s)/exit(s) have to connect in a straight line to the grid.
-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
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
Binary files differ
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
Binary files differ
diff --git a/scripts/install-mingw-packages.sh b/scripts/install-mingw-packages.sh
index c847e4e..fd82909 100644
--- a/scripts/install-mingw-packages.sh
+++ b/scripts/install-mingw-packages.sh
@@ -1,2 +1,2 @@
#!/bin/sh
-pacman --noconfirm -Sy make git unzip mingw-w64-x86_64-avr-toolchain mingw-w64-x86_64-toolchain mingw-w64-clang-x86_64-clang mingw-w64-x86_64-avrdude
+pacman --noconfirm -Sy make git unzip mingw-w64-x86_64-avr-toolchain mingw-w64-x86_64-toolchain mingw-w64-clang-x86_64-clang mingw-w64-x86_64-avrdude python3 python3-pip
diff --git a/scripts/install-sdk.sh b/scripts/install-sdk.sh
index 4773186..0cc651a 100755
--- a/scripts/install-sdk.sh
+++ b/scripts/install-sdk.sh
@@ -36,3 +36,5 @@ fi
cd ..
rm -rf temp
+
+pip3 install compiledb
diff --git a/scripts/patch-may-26.sh b/scripts/patch-may-26.sh
new file mode 100644
index 0000000..d5b41c7
--- /dev/null
+++ b/scripts/patch-may-26.sh
@@ -0,0 +1,4 @@
+#!/bin/sh
+
+pacman --noconfirm -Sy python3 python3-pip
+pip3 install compiledb
diff --git a/scripts/readme.md b/scripts/readme.md
new file mode 100644
index 0000000..58f0a2c
--- /dev/null
+++ b/scripts/readme.md
@@ -0,0 +1,14 @@
+# scripts
+
+this directory contains scripts for installing necessary build tools for
+compiling and uploading code to the robot/client.
+
+|file|description|
+|-|-|
+|`bootstrap.ps1`|download msys2 installer, install msys2, download and run `install-mingw-packages.sh`, clone the repository using git, run `install-sdk.sh`, start windows explorer in the project folder.|
+|`install-mingw-packages.sh`|install required packages (`make`, `git`, `avr-gcc-toolchain`, `python3`, `pip3`, `avrdude`, `clangd`, `clang-tidy`, `clang-format`)|
+|`install-sdk.sh`|install pololu c/c++ sdk, install wixel command-line tools (if on linux), install `compiledb` using `pip3`|
+|`patch-may-26.sh`|patch|
+
+i'm aware the powershell script is ugly, i don't like windows
+
diff --git a/shared/bin.h b/shared/bin.h
index af3a249..48485c8 100644
--- a/shared/bin.h
+++ b/shared/bin.h
@@ -1,4 +1,7 @@
#pragma once
+
+/** @file bin.h */
+
/**
* helper file for binary data
*
diff --git a/shared/bool.h b/shared/bool.h
new file mode 100644
index 0000000..9ea97f7
--- /dev/null
+++ b/shared/bool.h
@@ -0,0 +1,9 @@
+#pragma once
+
+#include <stdint.h>
+
+/** @file bool.h */
+
+typedef uint8_t bool;
+#define false 0 /* NOLINT */
+#define true 1 /* NOLINT */
diff --git a/shared/consts.h b/shared/consts.h
index c65e50f..cdd96b3 100644
--- a/shared/consts.h
+++ b/shared/consts.h
@@ -1,28 +1,38 @@
#pragma once
+/** @file consts.h */
+
#ifndef W2_BUILD_STR
// is defined by CFLAGS += -DW2_BUILD_STR in makefile
#define W2_BUILD_STR ("????????")
#endif
-/** max logic module execution time in milliseconds */
-#define W2_MAX_MODULE_CYCLE_MS (20)
+#if !defined W2_HOST_WIN32 && !defined W2_HOST_LINUX
+#define W2_HOST_UNKNOWN
+#warning "host operating system unknown"
+#endif
+
/** serial baud rate (bit/s) */
#define W2_SERIAL_BAUD (9600)
+/** size of input (receive) buffer (in bytes) */
+#define W2_SERIAL_READ_BUFFER_SIZE (255)
+
/** size of the error handling buffer (in errors, not bytes) */
#define W2_ERROR_BUFFER_SIZE (16)
/** size of the serial communication buffer (in messages, not bytes) */
#define W2_SERCOMM_BUFFER_SIZE (16)
-/** size of input (receive) buffer (in bytes) */
-#define W2_SERIAL_READ_BUFFER_SIZE (255)
-/** exponential moving average new measurement weight (double 0-1) */
-#define W2_EMA_WEIGHT (0.10)
/** size of mode history buffer */
#define W2_MODE_HISTORY_BUFFER_SIZE (4)
+/** max logic module execution time in milliseconds */
+#define W2_MAX_MODULE_CYCLE_MS (20)
+
+/** exponential moving average new measurement weight (double 0-1) */
+#define W2_EMA_WEIGHT (0.10)
+
/** front-facing distance sensor pinout */
#define W2_FRONT_SENSOR_PIN 5
/** battery voltage sensor pinout */
#define W2_BATTERY_PIN 6
/** side-facing distance sensor pinout */
-#define W2_SIDE_SENSOR_PIN 7 \ No newline at end of file
+#define W2_SIDE_SENSOR_PIN 7
diff --git a/shared/errors.h b/shared/errors.h
index ac8e95f..344a506 100644
--- a/shared/errors.h
+++ b/shared/errors.h
@@ -1,5 +1,7 @@
#pragma once
+/** @file errors.h */
+
#include <stdint.h>
#define W2_E_TYPE_MASK (0b11 << 6)
@@ -43,8 +45,6 @@ typedef enum {
W2_E_WARN_SERCOMM_BUFFER_FULL = 0x06 | W2_E_TYPE_WARN,
/** semver minor version doesn't match */
W2_E_WARN_VERSION_INCOMPATIBLE = 0x07 | W2_E_TYPE_WARN,
- /** serial byte took to long to receive */
- W2_E_WARN_SERIAL_TIMEOUT = 0x08 | W2_E_TYPE_WARN,
/** unknown message encountered (noisy channel?) */
W2_E_WARN_SERIAL_NOISY = 0x09 | W2_E_TYPE_WARN,
/** mode history index out of bounds */
diff --git a/shared/io.h b/shared/io.h
new file mode 100644
index 0000000..584ad1e
--- /dev/null
+++ b/shared/io.h
@@ -0,0 +1,59 @@
+#pragma once
+
+#include <stdio.h>
+
+#include "bool.h"
+
+#pragma pack(push, 1)
+
+/** momentary button input struct */
+typedef struct {
+ bool pressed;
+} w2_s_i_push;
+
+/** qtr contrast sensor input struct */
+typedef struct {
+ uint16_t range;
+} w2_s_i_contrast;
+
+/** distance sensor input struct */
+typedef struct {
+ uint16_t detection;
+} w2_s_i_distance;
+
+/** battery input struct */
+typedef struct {
+ uint16_t charge_level;
+} w2_s_i_battery;
+
+/** motor output struct */
+typedef struct {
+ int16_t speed;
+} w2_s_o_motor;
+
+/** underside led output struct */
+typedef struct {
+ bool on;
+} w2_s_o_led;
+
+/** lcd output struct */
+typedef struct {
+ char text[16];
+} w2_s_o_display;
+
+/** struct containing all i/o */
+typedef struct {
+ w2_s_i_push button[5];
+ w2_s_i_contrast qtr[5];
+ w2_s_i_distance front_distance;
+ w2_s_i_distance side_distance;
+ w2_s_i_battery battery;
+
+ w2_s_o_motor motor_left;
+ w2_s_o_motor motor_right;
+ w2_s_o_led led_red;
+ w2_s_o_led led_green;
+ w2_s_o_display lcd;
+} w2_s_io_all;
+
+#pragma pack(pop)
diff --git a/shared/makefile b/shared/makefile
index cfdf8ac..e5a6ff6 100644
--- a/shared/makefile
+++ b/shared/makefile
@@ -1,5 +1,9 @@
SOURCES += $(wildcard ../shared/*.c)
HEADERS += $(wildcard ../shared/*.h)
+# debug build info string
+BUILD_STR=$(shell git update-index -q --refresh; git describe --tags --dirty='*' --broken='x' | cut -c1-20)
+CFLAGS += -DW2_BUILD_STR=\"$(BUILD_STR)\"
+
clean::
rm -f ../shared/*.o
diff --git a/shared/os.mk b/shared/os.mk
new file mode 100644
index 0000000..e4ede42
--- /dev/null
+++ b/shared/os.mk
@@ -0,0 +1,12 @@
+# os info
+OS=$(strip $(shell uname -o))
+ifeq ($(OS),GNU/Linux)
+CFLAGS += -DW2_HOST_LINUX
+LINUX := true
+TARGET := a.out
+endif
+ifeq ($(OS),Msys)
+CFLAGS += -DW2_HOST_WIN32
+WIN32 := true
+TARGET := a.exe
+endif \ No newline at end of file
diff --git a/shared/protocol.c b/shared/protocol.c
index fcc9fa4..9be1d31 100644
--- a/shared/protocol.c
+++ b/shared/protocol.c
@@ -74,22 +74,3 @@ size_t w2_cmd_expt_tx_sizeof(w2_s_bin *data) {
size_t w2_cmd_mcfg_rx_sizeof(w2_s_bin *data) {
return W2_DYN_MEMBER_SIZEOF(w2_s_cmd_mcfg_rx, 3, w2_s_cmd_mcfg_feature);
}
-
-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
- } else {
-#ifdef W2_SIM
- w2_sim_print_serial(copy);
-#endif
- handler(copy);
- }
-
- free(copy);
-}
diff --git a/shared/protocol.h b/shared/protocol.h
index 7aa5e9f..93e53f4 100644
--- a/shared/protocol.h
+++ b/shared/protocol.h
@@ -1,14 +1,14 @@
#pragma once
+/** @file protocol.h */
+
#include <stdint.h>
#include <stdlib.h>
#include "bin.h"
+#include "bool.h"
#include "consts.h"
-
-typedef uint8_t bool;
-#define false 0 /* NOLINT */
-#define true 1 /* NOLINT */
+#include "io.h"
#define W2_SERIAL_START_BYTE 0xff
@@ -52,56 +52,6 @@ typedef enum {
#pragma pack(push, 1)
-/** momentary button input struct */
-typedef struct {
- bool pressed;
-} w2_s_i_push;
-
-/** qtr contrast sensor input struct */
-typedef struct {
- uint16_t range;
-} w2_s_i_contrast;
-
-/** distance sensor input struct */
-typedef struct {
- uint16_t detection;
-} w2_s_i_distance;
-
-/** battery input struct */
-typedef struct {
- uint16_t charge_level;
-} w2_s_i_battery;
-
-/** motor output struct */
-typedef struct {
- int16_t speed;
-} w2_s_o_motor;
-
-/** underside led output struct */
-typedef struct {
- bool on;
-} w2_s_o_led;
-
-/** lcd output struct */
-typedef struct {
- char text[16];
-} w2_s_o_display;
-
-/** struct containing all i/o */
-typedef struct {
- w2_s_i_push button[5];
- w2_s_i_contrast qtr[5];
- w2_s_i_distance front_distance;
- w2_s_i_distance side_distance;
- w2_s_i_battery battery;
-
- w2_s_o_motor motor_left;
- w2_s_o_motor motor_right;
- w2_s_o_led led_red;
- w2_s_o_led led_green;
- w2_s_o_display lcd;
-} w2_s_io_all;
-
typedef struct {
uint8_t opcode;
uint8_t id;
@@ -164,6 +114,8 @@ typedef struct {
uint8_t status;
} w2_s_cmd_bomd_tx;
+#define W2_CMD_SRES_RX_TYPE_REINITGS 0
+#define W2_CMD_SRES_RX_TYPE_PREVMODE 1
typedef struct {
uint8_t opcode;
uint8_t type;
diff --git a/shared/semver.h b/shared/semver.h
index a99ae61..6a1da79 100644
--- a/shared/semver.h
+++ b/shared/semver.h
@@ -1,5 +1,7 @@
#pragma once
+/** @file semver.h */
+
#include <stdint.h>
typedef struct {
diff --git a/shared/serial_parse.c b/shared/serial_parse.c
index 3bc8e3b..b1b4f50 100644
--- a/shared/serial_parse.c
+++ b/shared/serial_parse.c
@@ -3,8 +3,7 @@
#include "consts.h"
#include "serial_parse.h"
-// TODO: give this function last time of byte, and measure if >5ms, throw warning
-void w2_serial_parse(uint8_t byte) {
+bool w2_serial_parse(uint8_t byte) {
static uint8_t current_message[W2_SERIAL_READ_BUFFER_SIZE] = {0};
static uint8_t current_message_index = 0;
static uint8_t complete_message_length = 2;
@@ -14,18 +13,14 @@ void w2_serial_parse(uint8_t byte) {
if (byte == W2_SERIAL_START_BYTE) {
attentive = !attentive;
- // if (attentive && listening) {
- // current_message[current_message_index++] = byte;
- // }
- } else {
- // activate listen after non-0xff byte after 0xff
- if (attentive && !listening) {
- attentive = false;
- listening = true;
- }
+ if (attentive && listening) return W2_SERIAL_READ_SUCCESS;
+ } else if (attentive) {
+ attentive = false;
+ listening = !listening;
+ if (!listening) return W2_SERIAL_READ_FAILURE;
}
- if (!listening) return;
+ if (!listening) return W2_SERIAL_READ_SUCCESS;
current_message[current_message_index++] = byte;
complete_message_length = w2_cmd_sizeof(current_message, current_message_index);
@@ -38,6 +33,8 @@ void w2_serial_parse(uint8_t byte) {
complete_message_length = 1;
attentive = false;
listening = false;
- return;
+ return W2_SERIAL_READ_SUCCESS;
}
+
+ return W2_SERIAL_READ_SUCCESS;
}
diff --git a/shared/serial_parse.h b/shared/serial_parse.h
index a1c8fb9..0816ea1 100644
--- a/shared/serial_parse.h
+++ b/shared/serial_parse.h
@@ -1,8 +1,17 @@
#pragma once
+/** @file serial_parse.h */
+
#include <stdint.h>
+#include "bool.h"
#include "protocol.h"
-/** parse serial data byte by byte */
-void w2_serial_parse(uint8_t byte);
+#define W2_SERIAL_READ_SUCCESS true
+#define W2_SERIAL_READ_FAILURE false
+
+/**
+ * parse serial data byte by byte
+ * @return true if read success, false if read fails
+ */
+bool w2_serial_parse(uint8_t byte);
diff --git a/shared/util.h b/shared/util.h
index 9e4d8ac..465e043 100644
--- a/shared/util.h
+++ b/shared/util.h
@@ -1,5 +1,7 @@
#pragma once
+/** @file util.h */
+
#define W2_MIN(a, b) (((a) < (b)) ? (a) : (b))
#define W2_MAX(a, b) (((a) > (b)) ? (a) : (b))
#define W2_RANGE(min, val, max) W2_MIN(max, W2_MAX(val, min))