diff --git a/components/dataLink/DataLinkManager.cpp b/components/dataLink/DataLinkManager.cpp index d613db0..0c596c5 100644 --- a/components/dataLink/DataLinkManager.cpp +++ b/components/dataLink/DataLinkManager.cpp @@ -176,7 +176,7 @@ esp_err_t DataLinkManager::send(uint8_t dest_board, uint8_t* data, uint16_t data } }; - // ESP_LOGI(DEBUG_LINK_TAG, "Sending %d bytes", offset); + ESP_LOGI(DEBUG_LINK_TAG, "Sending %d bytes", offset); // print_buffer_binary(send_data, frame_size); uint8_t channel_to_route = MAX_CHANNELS; @@ -192,7 +192,7 @@ esp_err_t DataLinkManager::send(uint8_t dest_board, uint8_t* data, uint16_t data ESP_LOGE(DEBUG_LINK_TAG, "Failed to find entry for %d", new_frame.receiver_id); return ESP_FAIL; } - // ESP_LOGI(DEBUG_LINK_TAG, "Sending message to %d", new_frame.receiver_id); + ESP_LOGI(DEBUG_LINK_TAG, "Sending message to %d", new_frame.receiver_id); phys_comms->send(send_data, offset, &config, channel_to_route); } @@ -271,6 +271,10 @@ esp_err_t DataLinkManager::receive(uint8_t* data, size_t data_len, size_t* recv_ return ESP_FAIL; } + if (*recv_len < CONTROL_FRAME_OVERHEAD) { + return ESP_FAIL; + } + uint8_t* message = (uint8_t*)pvPortMalloc(CONTROL_FRAME_OVERHEAD + MAX_CONTROL_DATA_LEN); if (message == nullptr){ ESP_LOGE(DEBUG_LINK_TAG, "Failed to malloc for receive"); @@ -286,7 +290,7 @@ esp_err_t DataLinkManager::receive(uint8_t* data, size_t data_len, size_t* recv_ } *recv_len = message_size; memcpy(data, message, message_size); - // ESP_LOGI(DEBUG_LINK_TAG, "Received frame of type 0x%X destined for board %d", GET_TYPE(header.type_flag), header.receiver_id); + ESP_LOGI(DEBUG_LINK_TAG, "Received frame of type 0x%X destined for board %d", GET_TYPE(header.type_flag), header.receiver_id); //check for a rip frame if (static_cast(GET_TYPE(header.type_flag)) == FrameType::RIP_TABLE_CONTROL){ @@ -295,7 +299,7 @@ esp_err_t DataLinkManager::receive(uint8_t* data, size_t data_len, size_t* recv_ for (size_t i = 0; i < message_size-1; i+=2){ uint8_t board_id = message[i]; uint8_t hops = message[i+1]; - // ESP_LOGI(DEBUG_LINK_TAG, "Received: board_id %d and number of hops %d on channel %d", board_id, hops, curr_channel); + ESP_LOGI(DEBUG_LINK_TAG, "Received: board_id %d and number of hops %d on channel %d", board_id, hops, curr_channel); RIPRow* entry = nullptr; @@ -689,7 +693,7 @@ esp_err_t DataLinkManager::send_rip_frame(bool broadcast, uint8_t dest_id){ if (broadcast){ res = send(BROADCAST_ADDR, rip_message, message_idx, FrameType::RIP_TABLE_CONTROL, 0); } else { - // ESP_LOGI(DEBUG_LINK_TAG, "replying to discovery request to board %d", dest_id); + ESP_LOGI(DEBUG_LINK_TAG, "replying to discovery request to board %d", dest_id); res = send(dest_id, rip_message, message_idx, FrameType::RIP_TABLE_CONTROL, FLAG_DISCOVERY); } if (res != ESP_OK){ @@ -838,7 +842,7 @@ esp_err_t DataLinkManager::get_network_toplogy(RIPRow_public_matrix* matrix, siz while(true){ bool dummy; xQueueReceive(link_layer_obj->manual_broadcasts, &dummy, pdMS_TO_TICKS(RIP_BROADCAST_INTERVAL)); //wait up to RIP_BROADCAST_INTERVAL ms - // ESP_LOGI(DEBUG_LINK_TAG, "Broadcasting table..."); //debug + ESP_LOGI(DEBUG_LINK_TAG, "Broadcasting table..."); //debug res = link_layer_obj->send_rip_frame(true, 0); if (res != ESP_OK){ ESP_LOGE(DEBUG_LINK_TAG, "Failed to broadcast rip frame"); diff --git a/components/flatbuffers/include/flatbuffers_generated/RobotModule_generated.h b/components/flatbuffers/include/flatbuffers_generated/RobotModule_generated.h index 012ce86..087e271 100644 --- a/components/flatbuffers/include/flatbuffers_generated/RobotModule_generated.h +++ b/components/flatbuffers/include/flatbuffers_generated/RobotModule_generated.h @@ -7,11 +7,11 @@ #include "flatbuffers/flatbuffers.h" // Ensure the included flatbuffers.h is the same version as when this file was -// generated, otherwise it may not be compatible. -//static_assert(FLATBUFFERS_VERSION_MAJOR == 25 && -// FLATBUFFERS_VERSION_MINOR == 2 && -// FLATBUFFERS_VERSION_REVISION == 10, -// "Non-compatible flatbuffers version included"); +// // generated, otherwise it may not be compatible. +// static_assert(FLATBUFFERS_VERSION_MAJOR == 25 && +// FLATBUFFERS_VERSION_MINOR == 2 && +// FLATBUFFERS_VERSION_REVISION == 10, +// "Non-compatible flatbuffers version included"); struct MotorState; struct MotorStateBuilder; @@ -24,33 +24,36 @@ enum ModuleType : int8_t { ModuleType_SERVO_1 = 1, ModuleType_DC_MOTOR = 2, ModuleType_BATTERY = 3, + ModuleType_SERVO_2 = 4, ModuleType_MIN = ModuleType_SPLITTER, - ModuleType_MAX = ModuleType_BATTERY + ModuleType_MAX = ModuleType_SERVO_2 }; -inline const ModuleType (&EnumValuesModuleType())[4] { +inline const ModuleType (&EnumValuesModuleType())[5] { static const ModuleType values[] = { ModuleType_SPLITTER, ModuleType_SERVO_1, ModuleType_DC_MOTOR, - ModuleType_BATTERY + ModuleType_BATTERY, + ModuleType_SERVO_2 }; return values; } inline const char * const *EnumNamesModuleType() { - static const char * const names[5] = { + static const char * const names[6] = { "SPLITTER", "SERVO_1", "DC_MOTOR", "BATTERY", + "SERVO_2", nullptr }; return names; } inline const char *EnumNameModuleType(ModuleType e) { - if (::flatbuffers::IsOutRange(e, ModuleType_SPLITTER, ModuleType_BATTERY)) return ""; + if (::flatbuffers::IsOutRange(e, ModuleType_SPLITTER, ModuleType_SERVO_2)) return ""; const size_t index = static_cast(e); return EnumNamesModuleType()[index]; } diff --git a/components/rmt/RMTManager.cpp b/components/rmt/RMTManager.cpp index 23d2008..d73c1cd 100644 --- a/components/rmt/RMTManager.cpp +++ b/components/rmt/RMTManager.cpp @@ -642,7 +642,7 @@ int RMTManager::convert_symbols_to_char(rmt_symbol_word_t* symbols, size_t num, } i++; } - printf("output_index %d\n", output_index); + // printf("output_index %d\n", output_index); return (int)output_index; } diff --git a/components/rmt/include/RMTManager.h b/components/rmt/include/RMTManager.h index 06197b0..d901cb2 100644 --- a/components/rmt/include/RMTManager.h +++ b/components/rmt/include/RMTManager.h @@ -114,7 +114,7 @@ class RMTManager{ //rx_receive_config rmt_receive_config_t receive_config = { - .signal_range_min_ns = 100, + .signal_range_min_ns = 200, .signal_range_max_ns = 200 * 1000, .flags = { .en_partial_rx = true diff --git a/components/rpc/CommunicationRouter.cpp b/components/rpc/CommunicationRouter.cpp index 99689a2..3717aa2 100644 --- a/components/rpc/CommunicationRouter.cpp +++ b/components/rpc/CommunicationRouter.cpp @@ -137,11 +137,11 @@ std::pair, std::vector> CommunicationRouter::g } } - // if (const auto id = connected_module_ids[0]; 0 == id) { - // connected_module_orientations[0] = Orientation_Deg0; - // } else { + if (const auto id = connected_module_ids[0]; 0 == id) { + connected_module_orientations[0] = Orientation_Deg0; + } else { connected_module_orientations[0] = OrientationDetection::get_orientation(0); - // } + } return { connected_module_ids, connected_module_orientations }; } diff --git a/main/control/ActuatorFactory.cpp b/main/control/ActuatorFactory.cpp index 989fb6a..e4358db 100644 --- a/main/control/ActuatorFactory.cpp +++ b/main/control/ActuatorFactory.cpp @@ -15,6 +15,8 @@ std::unique_ptr ActuatorFactory::create_actuator(const ModuleType typ switch (type) { case ModuleType_SERVO_1: return std::make_unique(); + case ModuleType_SERVO_2: + return std::make_unique(); case ModuleType_DC_MOTOR: return std::make_unique(); default: