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UDP implementation

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This commit is contained in:
Johnathon Slightham
2026-01-06 14:02:56 -05:00
parent fe2f396817
commit cc8b23cd45
12 changed files with 388 additions and 86 deletions
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14
main/LoopManager.cpp
View File

@@ -14,6 +14,7 @@
#define ACTUATOR_CMD_TAG 5
#define TOPOLOGY_CMD_TAG 6
#define METADATA_RX_TAG 7
#define METADATA_PERIOD_MS 1000
@@ -51,7 +52,18 @@
casted_orientations,
that->m_messaging_interface->get_connection_type(),
that->m_messaging_interface->get_leader());
that->m_messaging_interface->send(static_cast<char *>(data), size, PC_ADDR, TOPOLOGY_CMD_TAG, true);
that->m_messaging_interface->send(static_cast<char *>(data), size, PC_ADDR, TOPOLOGY_CMD_TAG, false);
vTaskDelay(METADATA_PERIOD_MS / portTICK_PERIOD_MS);
}
}
[[noreturn]] void LoopManager::metadata_rx_loop(char *args) {
const auto that = reinterpret_cast<LoopManager *>(args);
const auto buffer = std::make_unique<std::vector<char>>();
buffer->resize(512);
while (true) {
that->m_messaging_interface->recv(buffer->data(), 512, PC_ADDR, METADATA_RX_TAG);
}
}

23
main/control/ActuatorFactory.cpp
View File

@@ -9,15 +9,16 @@
#include "control/Servo1Actuator.h"
#include "flatbuffers_generated/RobotModule_generated.h"
std::unique_ptr<IActuator> ActuatorFactory::create_actuator(const ModuleType type) {
switch (type) {
case ModuleType_SERVO_1:
return std::make_unique<Servo1Actuator>();
case ModuleType_SERVO_2:
return std::make_unique<Servo1Actuator>();
case ModuleType_DC_MOTOR:
return std::make_unique<DCMotorActuator>();
default:
return nullptr;
}
std::unique_ptr<IActuator>
ActuatorFactory::create_actuator(const ModuleType type) {
switch (type) {
case ModuleType_SERVO_1:
return std::make_unique<Servo1Actuator>();
case ModuleType_SERVO_2:
return std::make_unique<Servo1Actuator>();
case ModuleType_DC_MOTOR:
return std::make_unique<DCMotorActuator>();
default:
return nullptr;
}
}

54
main/control/Servo1Actuator.cpp
View File

@@ -3,42 +3,46 @@
//
#include "control/Servo1Actuator.h"
#include "util/number_utils.h"
#include "driver/ledc.h"
#include "constants/module.h"
#include "AngleControlMessageBuilder.h"
#include "constants/module.h"
#include "driver/ledc.h"
#include "util/number_utils.h"
#define LOW_DUTY 200
#define HIGH_DUTY 1000
#define PWM_FREQ 50 // 4khz
Servo1Actuator::Servo1Actuator() {
ledc_timer_config_t ledc_timer = {
.speed_mode = LEDC_LOW_SPEED_MODE,
.duty_resolution = LEDC_TIMER_13_BIT,
.timer_num = LEDC_TIMER_0,
.freq_hz = PWM_FREQ,
.clk_cfg = LEDC_AUTO_CLK,
};
ESP_ERROR_CHECK(ledc_timer_config(&ledc_timer));
ledc_timer_config_t ledc_timer = {
.speed_mode = LEDC_LOW_SPEED_MODE,
.duty_resolution = LEDC_TIMER_13_BIT,
.timer_num = LEDC_TIMER_0,
.freq_hz = PWM_FREQ,
.clk_cfg = LEDC_AUTO_CLK,
};
ESP_ERROR_CHECK(ledc_timer_config(&ledc_timer));
ledc_channel_config_t ledc_channel = {
.gpio_num = SERVO_GPIO,
.speed_mode = LEDC_LOW_SPEED_MODE,
.channel = LEDC_CHANNEL_0,
.intr_type = LEDC_INTR_DISABLE,
.timer_sel = LEDC_TIMER_0,
.duty = (HIGH_DUTY + LOW_DUTY) / 2, // move motor to midpoint initially
.hpoint = 0,
};
ledc_channel_config_t ledc_channel = {
.gpio_num = SERVO_GPIO,
.speed_mode = LEDC_LOW_SPEED_MODE,
.channel = LEDC_CHANNEL_0,
.intr_type = LEDC_INTR_DISABLE,
.timer_sel = LEDC_TIMER_0,
.duty = (HIGH_DUTY + LOW_DUTY) / 2, // move motor to midpoint initially
.hpoint = 0,
};
ESP_ERROR_CHECK(ledc_channel_config(&ledc_channel));
ESP_ERROR_CHECK(ledc_channel_config(&ledc_channel));
}
void Servo1Actuator::actuate(uint8_t *cmd) {
const auto* angleControlCmd = Flatbuffers::AngleControlMessageBuilder::parse_angle_control_message(cmd);
const auto newDuty = util::mapRange<int32_t>(angleControlCmd->angle(), 0, 180, LOW_DUTY, HIGH_DUTY);
const auto *angleControlCmd =
Flatbuffers::AngleControlMessageBuilder::parse_angle_control_message(cmd);
const auto newDuty = util::mapRange<int32_t>(angleControlCmd->angle(), 0, 180,
LOW_DUTY, HIGH_DUTY);
ESP_ERROR_CHECK(ledc_set_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_0, newDuty));
ESP_ERROR_CHECK(ledc_update_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_0));
std::cout << "actuating to " << angleControlCmd->angle() << std::endl;
ESP_ERROR_CHECK(ledc_set_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_0, newDuty));
ESP_ERROR_CHECK(ledc_update_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_0));
}