Bulk OTa

examples/rpc_call/conanfile.txt

@@ -1,8 +1,8 @@
 [requires]
-libcontrol/1.0.0
+libcontrol/1.0.3
 flatbuffers/24.12.23
 spdlog/1.16.0
-librpc/1.1.7
+librpc/1.1.8
 
 [generators]
 CMakeDeps

examples/rpc_call/main.cpp

@@ -3,6 +3,7 @@
 #include <cstring>
 #include <format>
 #include <iostream>
+#include <random>
 #include <thread>
 #include <vector>
 
@@ -10,19 +11,27 @@
 #include "rpc/RemoteManagement.h"
 
 void progress_monitor_task(std::shared_ptr<RemoteManagement> rm, uint8_t module_id) {
+    std::random_device dev;
+    std::mt19937 rng(dev());
+    std::uniform_int_distribution<std::mt19937::result_type> dist6(10, 100);
+
+    std::cout << dist6(rng) << std::endl;
     while (true) {
-        std::this_thread::sleep_for(std::chrono::seconds(5));
+        std::this_thread::sleep_for(std::chrono::milliseconds(5000 + dist6(rng)));
-        std::cout << "Module " << (int)module_id << ": " << rm->ota_progress() * 100 << "% complete\n";
+        std::cout << "Module " << (int)module_id << ": " << rm->ota_progress() * 100 << "% complete"
-        if (rm->ota_progress() >= 1.0) return;
+                  << std::endl;
+        if (rm->ota_progress() >= 1.0)
+            return;
     }
 }
 
-void task(std::shared_ptr<RobotController> controller, uint8_t module_id, const std::string& filepath) {
+void task(std::shared_ptr<RobotController> controller, uint8_t module_id,
+          const std::string &filepath) {
     auto rm = std::make_shared<RemoteManagement>(module_id, filepath, controller);
     std::thread t(progress_monitor_task, rm, module_id);
     rm->perform_ota();
     t.join();
-    std::cout << "Done updating " << (int)module_id << "\n";
+    std::cout << "Done updating " << (int)module_id << std::endl;
 }
 
 int main() {
@@ -31,10 +40,12 @@ int main() {
     std::this_thread::sleep_for(std::chrono::seconds(5));
 
     std::vector<uint8_t> to_update{};
-    for (const auto& maybe_module : robot_controller->getModules()) {
+    for (const auto &maybe_module : robot_controller->getModules()) {
         if (const auto &module = maybe_module.lock()) {
-            if (module->get_leader() != module->get_device_id()) { continue; }
+            if (module->get_leader() != module->get_device_id()) {
-            std::cout << "Updating module " << (int)module->get_device_id();
+                continue;
+            }
+            std::cout << "Updating module " << (int)module->get_device_id() << std::endl;
             to_update.emplace_back(module->get_device_id());
         }
     }
@@ -44,8 +55,7 @@ int main() {
         return 0;
     }
 
-    std::string filename =
+    std::string filename = "/home/jslightham/Documents/capstone/firmware/build/firmware.bin";
-            "/Users/jslightham/Documents/Classes/capstone/firmware/build/firmware.bin";
     std::vector<std::thread> threads;
     for (int i = 0; i < to_update.size(); i++) {
         threads.emplace_back(task, robot_controller, to_update[i], filename);

examples/rpc_call/rpc/RemoteManagement.cpp

@@ -23,7 +23,7 @@ bool RemoteManagement::perform_ota() {
     m_file.seekg(0, std::ios::end);
     std::streamsize total_size = m_file.tellg();
     m_file.seekg(0, std::ios::beg);
-    m_total_packets = total_size/OTA_CHUNK_SIZE;
+    m_total_packets = total_size / OTA_CHUNK_SIZE;
     // std::cout << "Total number of chunks: " << total_size/OTA_CHUNK_SIZE << std::endl;
 
     while (m_file) {
@@ -62,11 +62,15 @@ void RemoteManagement::restart() {
 
 bool RemoteManagement::start_ota() {
     // std::cout << "Starting OTA" << std::endl;
-    const auto maybe = m_robot_controller->remote_call(4, m_module_id, {});
+    int attempts = 0;
-    if (maybe) {
+    while (attempts < MAX_PACKET_TX_ATTEMPTS) {
-        // std::cout << "Got valid response" << std::endl;
+        const auto maybe = m_robot_controller->remote_call(4, m_module_id, {});
-        m_sequence_num = 1;
+        if (maybe) {
-        return (*maybe)->at(0) > 0;
+            // std::cout << "Got valid response" << std::endl;
+            m_sequence_num = 1;
+            return (*maybe)->at(0) > 0;
+        }
+        attempts++;
     }
     return false;
 }

examples/servo/conanfile.txt

@@ -1,8 +1,8 @@
 [requires]
-libcontrol/1.0.0
+libcontrol/1.0.3
 flatbuffers/24.12.23
 spdlog/1.16.0
-librpc/1.1.7
+librpc/1.1.8
 
 [generators]
 CMakeDeps

examples/servo/main.cpp

@@ -24,17 +24,20 @@ int main() {
         std::cout << "Found " << controller->getModules().size() << " modules" << std::endl;
         for (const auto &maybe_module : controller->getModules()) {
             if (const auto &module = maybe_module.lock()) {
-                if (module->get_type() == ModuleType_DC_MOTOR) {
+                if (module->get_type() == ModuleType_SERVO_2 ||
+                    module->get_type() == ModuleType_SERVO_1) {
+                    std::cout << "Actuating " << (int)module->get_device_id() << " leader "
+                              << (int)module->get_leader() << std::endl;
                     int randomNumber = dist(gen);
                     if (module->get_position() > 90) {
-                        module->actuate(70 - randomNumber);
+                        module->actuate(50 - randomNumber);
                     } else {
-                        module->actuate(110 + randomNumber);
+                        module->actuate(150 + randomNumber);
                     }
+                    std::this_thread::sleep_for(std::chrono::milliseconds(250));
                 }
             }
         }
-        std::this_thread::sleep_for(std::chrono::milliseconds(100));
     }
 
     return 0;

include/actuators/Actuator.h

@@ -10,13 +10,13 @@
 
 class Actuator : public Module {
   public:
-    explicit Actuator(uint8_t device_id) : Module(device_id) {};
+    explicit Actuator(uint8_t device_id) : Module(device_id){};
 
-    Actuator(uint8_t device_id, ModuleType module_type) : Module(device_id, module_type) {};
+    Actuator(uint8_t device_id, ModuleType module_type) : Module(device_id, module_type){};
 
     Actuator(uint8_t device_id, ModuleType module_type, Messaging::ConnectionType connection_type,
              uint8_t leader)
-        : Module(device_id, module_type, connection_type, leader) {};
+        : Module(device_id, module_type, connection_type, leader){};
 
   protected:
     virtual std::vector<uint8_t> get_actuation_message() = 0;

include/actuators/PositionalActuator1D.h

@@ -16,7 +16,7 @@ class PositionalActuator1D final : public Actuator {
   public:
     PositionalActuator1D(uint8_t device_id, ModuleType type)
         : Actuator(device_id, type),
-          m_acm_builder(std::make_unique<Flatbuffers::AngleControlMessageBuilder>()) {};
+          m_acm_builder(std::make_unique<Flatbuffers::AngleControlMessageBuilder>()){};
 
     double get_position() override;
     void actuate(double position) override;