Ti comm dev #17

ihagedo · 2021-02-27T10:24:26Z

What is a quick description of the change?

Merging finished serial comm modules into the master.

Is this fixing an issue?

#21

Were any issues created as a result of this change?

None.

Are there more details that are relevant?

Fixed library dependency issues and created a better modularized code for debugging.

Future fixes include packet depreciation over time for echo call-back functionality.

Check lists (check x in [ ] of list items)

Test written/updating
Tests passing
Coding style (indentation, etc)

Any additional comments?

…-Purdue/AMP-v1 into isaac_dev

…ts-Purdue/AMP-v1 into ti_comm_dev Reset origin

…ion. SERIAL_TEST is for scaled up testing.

clean attributes

updating isaac-dev

cleaned up ECU file

removed object file

remove object file

uncommented declarations

zghera

After trying the install, I ran across a couple of things that we should probably chat offline about before I do any more reviews. While the submodules init seemed to work fine, the autogen.sh did not. I also ran catkinmake to see what would happen and ended up getting some import errors for libserialport. I looked around and also saw that the CMakeLists.txt config does not look updated.

Updated the instructions after our conversation. While the install of libserialport seemed to work fine, there are still two issues that we know of

When changing the references of libserialport in CMakiLists.txt to the new folder, there are now errors that result when catkinmake-ing due to warnings in some of the included files.
The ti_comm node does not show up in the node graph.

Isaac and Zach are currently looking into issues 1 and 2, respectively.

zghera · 2021-02-27T17:18:37Z

.gitattributes

@@ -0,0 +1 @@
+


What is the purpose of this empty file?

zghera · 2021-02-27T17:33:51Z

README.md

+At the top of each branch your want to build the library for you should run the following command and then refer to the readme in src/ti_comm/src
+```
+git submodule update --init --recursive
+```


Suggested change

At the top of each branch your want to build the library for you should run the following command and then refer to the readme in src/ti_comm/src

```

git submodule update --init --recursive

```

The serial communication node relies on a serial communication library that needs to be built each time you check out a new branch (including master when initially cloning the repo). To properly build the library, run the following commands from the top of the repo directory:

1. `git submodule update --init --recursive`

2. `cd src/ti_comm/src/libserialport`

3. `./autogen.sh`

4. `sudo apt-get install autoconf`

5. `./configure`

6. `make`

7. `sudo make install`

8. Add it to your LD_LIBRARY_PATH with `export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib"`

I would encourage you to make a bash alias/function so you don't have to run all of these commands on the creation of every new branch.

zghera · 2021-02-27T17:34:34Z

src/ti_comm/src/README.md

@@ -0,0 +1,10 @@
+How to Build Libserialport


Remove this file as a whole if you agree with the suggestion to move its contents t the top-level README

zghera · 2021-02-28T21:47:47Z

After trying the install, I ran across a couple of things that we should probably chat offline about before I do any more reviews. While the submodules init seemed to work fine, the autogen.sh did not. I also ran catkinmake to see what would happen and ended up getting some import errors for libserialport. I looked around and also saw that the CMakeLists.txt config does not look updated.

Updated the instructions after our conversation. While the install of libserialport seemed to work fine, there are still two issues that we know of

When changing the references of libserialport in CMakiLists.txt to the new folder, there are now errors that result when catkinmake-ing due to warnings in some of the included files.

The ti_comm node does not show up in the node graph.

Isaac and Zach are currently looking into issues 1 and 2, respectively.

Update on issue 2 here: When reverting to the old CMakeLists.txt file (build the liberialport.0.1.0 lib not the new one), the ti_comm ROS node did not show up because of a memory error when running the node (see below). This is possible due to the imports in amp_serial_jetson.cpp not using the correct libserialport imports or something similar. So it is evident that issue 1 listed above (warnings when changing CMakeLists.txt to correct libserialport files) must be solved before anything else.

...
process[ti_comm_node-5]: started with pid [59575]
Error: Failed: OS error code: 2, message: 'No such file or directory'
*** Error in `/home/zghera/Documents/AMP-v1/devel/lib/ti_comm/ti_comm_node': free(): invalid pointer: 0x00000000006304c0 ***
======= Backtrace: =========
/lib/x86_64-linux-gnu/libc.so.6(+0x777f5)[0x7f1760cda7f5]
/lib/x86_64-linux-gnu/libc.so.6(process[map_server-6]: started with pid [59582]
+0x8038a)[0x7f1760ce338a]
/lib/x86_64-linux-gnu/libc.so.6(cfree+0x4c)[0x7f1760ce758c]
/home/zghera/Documents/AMP-v1/devel/lib/ti_comm/ti_comm_node(sp_free_config+0x6b)[0x422b8b]
/home/zghera/Documents/AMP-v1/devel/lib/ti_comm/ti_comm_node(_Z11end_program14amp_err_code_t+0x15)[0x41758d]
/home/zghera/Documents/AMP-v1/devel/lib/ti_comm/ti_comm_node(_Z5check9sp_return14amp_err_code_t+0x7f)[0x417631]
/home/zghera/Documents/AMP-v1/devel/lib/ti_comm/ti_comm_node(_Z28amp_serial_jetson_initializeP7sp_port+0x4c)[0x416dfc]
/home/zghera/Documents/AMP-v1/devel/lib/ti_comm/ti_comm_node(main+0x91)[0x416901]
/lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0xf0)[0x7f1760c83840]
/home/zghera/Documents/AMP-v1/devel/lib/ti_comm/ti_comm_node(_start+0x29)[0x416639]
======= Memory map: ========
00400000-00430000 r-xp 00000000 08:01 1179153                            /home/zghera/Documents/AMP-v1/devel/lib/ti_comm/ti_comm_node
0062f000-00630000 r--p 0002f000 08:01 1179153                            /home/zghera/Documents/AMP-v1/devel/lib/ti_comm/ti_comm_node
00630000-00631000 rw-p 00030000 08:01 1179153                            /home/zghera/Documents/AMP-v1/devel/lib/ti_comm/ti_comm_node
00bf7000-00c29000 rw-p 00000000 00:00 0                                  [heap]
7f1754000000-7f1754021000 rw-p 00000000 00:00 0 
... lots more stuff ...
ffffffffff600000-ffffffffff601000 r-xp 00000000 00:00 0                  [vsyscall]
process[rviz-8]: started with pid [59602]
[ INFO] [1614548600.821921476]: Loading map from image "/home/zghera/Documents/AMP-v1/src/kart_2dnav/maps/autocross.png"
[ INFO] [1614548601.878863044]: Requesting the map...
[ WARN] [1614548601.891817468]: Request for map failed; trying again...
[ti_comm_node-5] process has died [pid 59575, exit code -6, cmd /home/zghera/Documents/AMP-v1/devel/lib/ti_comm/ti_comm_node __name:=ti_comm_node __log:=/home/zghera/.ros/log/f798fab4-7a0d-11eb-a03a-000c29203ca9/ti_comm_node-5.log].
log file: /home/zghera/.ros/log/f798fab4-7a0d-11eb-a03a-000c29203ca9/ti_comm_node-5*.log
...

Also added some additional comments.

…e/AMP_ASSv1 into ti_comm_dev

This fixes the issue with memcpy call on control packet by changin control packet v_speed and v_angle from int to char in amp_serial_jetson.h. Previously this caused an issue where serial packet looked in msg[0] and msg[1] bytes to get the values of speed and angle, but the control packet was an 8 byte struct of 2 integers which caused msg[0] and msg[1] to be the values of the first int in the struct.

ihagedo and others added 24 commits October 26, 2020 18:21

modified sizes of objects

2a64324

Modify makefile and SERIAL_TEST to try to find issue with makefile.

cb14716

bag test

301dc54

deleted outdated file

7c0a32e

added bagfile test

a210a2b

Merge branch 'isaac_dev' of https://github.com/Autonomous-Motorsports…

15a8da1

…-Purdue/AMP-v1 into isaac_dev

added bagfile test data

d10c1ff

Merge branch 'isaac_dev' of https://github.com/Autonomous-Motorsports…

d09125d

…-Purdue/AMP-v1 into isaac_dev

serial comm

60bcc09

Merge branch 'ti_comm_dev' of https://github.com/Autonomous-Motorspor…

158bb48

…ts-Purdue/AMP-v1 into ti_comm_dev Reset origin

Serial Communiction files updated. ECU_TEST works well with debug opt…

7bd98b1

…ion. SERIAL_TEST is for scaled up testing.

Update .gitattributes

6a3331c

clean attributes

cleaning lfs

379d173

added libserialport submodule

5397dc0

added readme

4055ea4

Update README.md

6fd1038

Merge pull request #14 from Autonomous-Motorsports-Purdue/master

86a0c0e

updating isaac-dev

fixed structural issues for packet

8450f33

Merge branch 'isaac_dev' into ti_comm_dev

03b1c91

Update amp_serial_jetson_ECU_TEST.cpp

d802305

cleaned up ECU file

Delete amp_serial_jetson_ECU_TEST.o

8add71c

removed object file

Delete amp_serial_jetson

c93c273

remove object file

Delete amp_serial_jetson_SERIAL_TEST.o

9ed89b1

remove object file

Update amp_serial_jetson.h

3cde596

uncommented declarations

ihagedo requested review from gfaout and zghera February 27, 2021 10:24

zghera reviewed Feb 27, 2021

View reviewed changes

zghera assigned ihagedo Sep 27, 2021

added number parameters

e7c275e

bitmaks force-pushed the ti_comm_dev branch from 86efbcb to 9c50ea5 Compare January 23, 2022 19:52

Added includes for SERIAL_TEST

27c88aa

bitmaks force-pushed the ti_comm_dev branch from 9c50ea5 to 86efbcb Compare January 23, 2022 20:30

Isaac Hagedorn and others added 7 commits January 23, 2022 20:32

segrated old and new lib, resolved new lib build issues

73632e0

restructuring ti_comm/src

0ef4c58

Add libserialport patch for linux configs

39092fd

Fix patch whitespacing issue

06b75c8

Add build script

bf52685

Modified build.sh to create libserialport obj files.

bd3067a

Recognize if patch has been applied in build.sh

ae501bf

zghera marked this pull request as draft January 31, 2022 17:02

bitmaks and others added 3 commits February 1, 2022 15:36

FIx scriptDir error on linux

0421949

Fix typo

6f3e346

Change shell to bash so source works.

07232ea

Also added some additional comments.

zghera force-pushed the ti_comm_dev branch from a28ef7a to 07232ea Compare February 6, 2022 17:16

bitmaks force-pushed the ti_comm_dev branch from 953e147 to 07232ea Compare February 6, 2022 18:47

Don't fetch libserialport if patch has been applied

6d8fbc7

bitmaks force-pushed the ti_comm_dev branch from 5b1aace to f925a3f Compare February 20, 2022 18:41

Gitignore MacOS trash and debug files

0f613ca

bitmaks force-pushed the ti_comm_dev branch from f925a3f to 0f613ca Compare February 20, 2022 18:42

ihagedo and others added 5 commits February 20, 2022 13:55

fixed ECU

f87eca5

Merge branch 'ti_comm_dev' of github.com:Autonomous-Motorsports-Purdu…

a2216e6

…e/AMP_ASSv1 into ti_comm_dev

added micro sleep

adeee69

Make control pkt use unsigned not signed char

a01c81d

bitmaks force-pushed the ti_comm_dev branch from 0be57a2 to a01c81d Compare April 4, 2022 05:42

bitmaks and others added 4 commits April 10, 2022 13:37

Add debug messages to serial and ecu test

7bd6bfe

serial test work

0368eb4

Update amp_serial_jetson (please work)

ec65cf8

Debugging 0 serial packets. ti_comm node is crapping out now.

0bc09d4

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Ti comm dev #17

Ti comm dev #17

ihagedo commented Feb 27, 2021 •

edited by zghera

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zghera left a comment •

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zghera Feb 27, 2021

zghera Feb 27, 2021 •

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zghera Feb 27, 2021

zghera commented Feb 28, 2021 •

edited

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-At the top of each branch your want to build the library for you should run the following command and then refer to the readme in src/ti_comm/src
-```
-git submodule update --init --recursive
-```
+The serial communication node relies on a serial communication library that needs to be built each time you check out a new branch (including master when initially cloning the repo). To properly build the library, run the following commands from the top of the repo directory:
+. `git submodule update --init --recursive`
+. `cd src/ti_comm/src/libserialport`
+. `./autogen.sh`
+. `sudo apt-get install autoconf`
+. `./configure`
+. `make`
+. `sudo make install`
+. Add it to your LD_LIBRARY_PATH with `export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib"`
+I would encourage you to make a bash alias/function so you don't have to run all of these commands on the creation of every new branch.

Ti comm dev #17

Are you sure you want to change the base?

Ti comm dev #17

Conversation

ihagedo commented Feb 27, 2021 • edited by zghera Loading

What is a quick description of the change?

Is this fixing an issue?

Were any issues created as a result of this change?

Are there more details that are relevant?

Check lists (check x in [ ] of list items)

Any additional comments?

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zghera Feb 27, 2021

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zghera commented Feb 28, 2021 • edited Loading

ihagedo commented Feb 27, 2021 •

edited by zghera

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