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Fix controller race condition #11

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merged 1 commit into from
May 6, 2024
Merged

Fix controller race condition #11

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29 changes: 18 additions & 11 deletions Src/firmware/mainf.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -69,7 +69,7 @@ static rcl_publisher_t param_trigger_pub;
static std::atomic_bool publish_param_trigger(true);

static bool mecanum_wheels = false;
static std::atomic_bool controller_replacement(false);
static std::atomic_bool controller_initialized(false);

static uint32_t reset_pointer_position;

Expand Down Expand Up @@ -133,14 +133,17 @@ static std::atomic_bool reload_parameters(false);
static void cmdVelCallback(const void* msgin) {
const geometry_msgs__msg__Twist* msg =
(const geometry_msgs__msg__Twist*)msgin;
controller->setSpeed(msg->linear.x, msg->linear.y, msg->angular.z);
if (controller_initialized)
controller->setSpeed(msg->linear.x, msg->linear.y, msg->angular.z);
}

static void resetOdometryCallback(const void* reqin, void* resin) {
std_srvs__srv__Trigger_Response* res =
(std_srvs__srv__Trigger_Response*)resin;
controller->resetOdom();
res->success = true;
if (controller_initialized) {
controller->resetOdom();
res->success = true;
}
}

static void resetBoardCallback(const void* reqin, void* resin) {
Expand Down Expand Up @@ -170,16 +173,20 @@ static void wheelCmdPWMDutyCallback(const void* msgin, void* context) {
const std_msgs__msg__Float32* msg = (std_msgs__msg__Float32*)msgin;
auto wheel = static_cast<
diff_drive_lib::WheelController<VELOCITY_ROLLING_WINDOW_SIZE>*>(context);
wheel->disable();
wheel->motor.setPWMDutyCycle(msg->data);
if (controller_initialized) {
wheel->disable();
wheel->motor.setPWMDutyCycle(msg->data);
}
}

static void wheelCmdVelCallback(const void* msgin, void* context) {
const std_msgs__msg__Float32* msg = (std_msgs__msg__Float32*)msgin;
auto wheel = static_cast<
diff_drive_lib::WheelController<VELOCITY_ROLLING_WINDOW_SIZE>*>(context);
wheel->enable();
wheel->setTargetVelocity(msg->data);
if (controller_initialized) {
wheel->enable();
wheel->setTargetVelocity(msg->data);
}
}

static void bootFirmwareCallback(const void* reqin, void* resin) {
Expand Down Expand Up @@ -421,9 +428,11 @@ void initController() {
ROBOT_CONFIG);
}
controller->init(params);
controller_initialized = true;
}

void finiController() {
controller_initialized = false;
if (mecanum_wheels) {
(void)!rcl_publisher_fini(&wheel_odom_mecanum_pub, &node);
} else {
Expand Down Expand Up @@ -500,10 +509,8 @@ void loop() {
if (reload_parameters.exchange(false)) {
params.update(&param_server);
if (params.mecanum_wheels != mecanum_wheels) {
controller_replacement = true;
finiController();
initController();
controller_replacement = false;
} else {
controller->updateParams(params);
}
Expand Down Expand Up @@ -598,7 +605,7 @@ void update() {
}
}

if (status != AgentStatus::AGENT_CONNECTED || controller_replacement) return;
if (status != AgentStatus::AGENT_CONNECTED || !controller_initialized) return;

controller->update(UPDATE_PERIOD);

Expand Down
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