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-rw-r--r--robot/-0
-rw-r--r--robot/hypervisor.c21
-rw-r--r--robot/hypervisor.h8
-rw-r--r--robot/readme.md2
-rw-r--r--robot/sercomm.c21
-rw-r--r--robot/sim.c4
-rw-r--r--robot/sim.h6
-rw-r--r--shared/consts.h15
-rw-r--r--shared/errors.h2
-rw-r--r--shared/protocol.c19
10 files changed, 62 insertions, 36 deletions
diff --git a/robot/- b/robot/-
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/robot/-
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 b5dc0ab..589d324 100644
--- a/robot/hypervisor.h
+++ b/robot/hypervisor.h
@@ -4,6 +4,9 @@
#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;
@@ -18,3 +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/readme.md b/robot/readme.md
index 0c8f626..168be02 100644
--- a/robot/readme.md
+++ b/robot/readme.md
@@ -43,7 +43,7 @@ organizational and form more of a software 'skeleton', while the 'maze' and
Maze ─┤
Warehouse ─┤
Emergency stop ─┤
- *modes* -> Line finding ─┤
+ *logic modes* -> Line finding ─┤
Charge station ─┤
Direct control ─┤
Wet floor ─┤
diff --git a/robot/sercomm.c b/robot/sercomm.c
index 2736030..83d6419 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"
@@ -51,6 +52,26 @@ 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);
diff --git a/robot/sim.c b/robot/sim.c
index ba9aa4a..4efdc4d 100644
--- a/robot/sim.c
+++ b/robot/sim.c
@@ -105,7 +105,7 @@ void serial_send(char* message, unsigned int length) {
}
void serial_receive_ring(char* buffer, unsigned char size) {
- simprintfunc("serial_receive_ring", "0x%016llx, %u", (uint64_t) buffer, size);
+ simprintfunc("serial_receive_ring", PTR_FMT ", %u", (uint64_t) buffer, size);
}
unsigned char serial_get_received_bytes() {
@@ -170,7 +170,7 @@ unsigned char get_single_debounced_button_press(unsigned char buttons) {
}
void qtr_read(unsigned int* sensor_values, unsigned char read_mode) {
- simprintfunc("qtr_read", "0x%016llx, %s", (uint64_t) sensor_values, read_mode == QTR_EMITTERS_ON ? "QTR_EMITTERS_ON" : "???");
+ simprintfunc("qtr_read", PTR_FMT ", %s", (uint64_t) sensor_values, read_mode == QTR_EMITTERS_ON ? "QTR_EMITTERS_ON" : "???");
sensor_values[0] = 0;
sensor_values[1] = 0;
sensor_values[2] = 0;
diff --git a/robot/sim.h b/robot/sim.h
index 76b57f8..aa587cd 100644
--- a/robot/sim.h
+++ b/robot/sim.h
@@ -54,6 +54,12 @@ extern bool g_w2_sim_headless;
COL_CYN name COL_RST "(" COL_YEL fmt COL_RST ")\n", ##__VA_ARGS__); }
#define simwarn(message, ...) if (DBG_ENABLE_SIMWARN) { simprintf(COL_YEL "[WARN] " COL_RST message, ##__VA_ARGS__); }
#define siminfo(message, ...) if (DBG_ENABLE_SIMINFO) { simprintf(COL_MAG "[INFO] " COL_RST message, ##__VA_ARGS__); }
+#ifdef W2_HOST_LINUX
+#define PTR_FMT "0x%016lx"
+#endif
+#ifdef W2_HOST_WIN32
+#define PTR_FMT "0x%016llx"
+#endif
#define BUTTON_A 0
#define BUTTON_B 1
diff --git a/shared/consts.h b/shared/consts.h
index 50b16b9..cdd96b3 100644
--- a/shared/consts.h
+++ b/shared/consts.h
@@ -12,21 +12,24 @@
#warning "host operating system unknown"
#endif
-/** max logic module execution time in milliseconds */
-#define W2_MAX_MODULE_CYCLE_MS (20)
/** 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 */
diff --git a/shared/errors.h b/shared/errors.h
index 4c9f7c8..344a506 100644
--- a/shared/errors.h
+++ b/shared/errors.h
@@ -45,8 +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/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);
-}