1.6.2

MarginallyClever · May 26, 2020 · 52b4aee · 52b4aee
1 parent a84f152
commit 52b4aee
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Showing 17 changed files with 271 additions and 121 deletions.
diff --git a/arduino/sixi-pid2/clock.cpp b/arduino/sixi-pid2/clock.cpp
@@ -34,7 +34,7 @@ void clockSetup() {
 
     CLOCK_ADJUST(interval);
 
-    if(true) {
+    if(false) {
       Serial.print(F("Hz="));              Serial.println(CLOCK_MAX_ISR_FREQUENCY);
       Serial.print(F("interval="));        Serial.println(interval);
       Serial.print(F("multiplier="));      Serial.println(isr_step_multiplier);

diff --git a/arduino/sixi-pid2/eeprom.cpp b/arduino/sixi-pid2/eeprom.cpp
@@ -185,22 +185,18 @@ void Eeprom::savePID() {
   int j=ADDR_PID;
 
   for(ALL_MOTORS(i)) {
-    writeFloat(j,motors[i].kp);
-    j+=4;
-    writeFloat(j,motors[i].ki);
-    j+=4;
-    writeFloat(j,motors[i].kd);
-    j+=4;
+    writeFloat(j,motors[i].kp);    j+=4;
+    writeFloat(j,motors[i].ki);    j+=4;
+    writeFloat(j,motors[i].kd);    j+=4;
   }
 }
 
 void Eeprom::loadPID() {
   int j=ADDR_PID;
   for(ALL_MOTORS(i)) {
 
-    motors[i].kp = readFloat(j);
-    motors[i].ki = readFloat(j+4);
-    motors[i].kd = readFloat(j+8);
-    j+=12;
+    motors[i].kp = readFloat(j);    j+=4;
+    motors[i].ki = readFloat(j);    j+=4;
+    motors[i].kd = readFloat(j);    j+=4;
   }
 }
diff --git a/arduino/sixi-pid2/motors.cpp b/arduino/sixi-pid2/motors.cpp
@@ -19,10 +19,15 @@ int stepsCount = 0;
 
 void StepperMotor::report() {
   Serial.println(letter);
+  Serial.print("\tpid=");  Serial.print(kp);
+  Serial.print(", ");      Serial.print(ki);
+  Serial.print(", ");      Serial.println(kd);
+  /*
   Serial.print("\tstepsTarget=");      Serial.println(stepsTarget);
   Serial.print("\tstepsNow=");         Serial.println(stepsNow);
   Serial.print("\terror=");            Serial.println(error);
   Serial.print("\tangleTarget=");      Serial.println(angleTarget);
+  //*/
 }
 
 

diff --git a/arduino/sixi-pid2/parser.cpp b/arduino/sixi-pid2/parser.cpp
@@ -142,6 +142,7 @@ void Parser::update() {
 
     if(sofar==51 && c=='E') {
       // message received
+      Serial.print("REC ");
 
       // echo confirmation
       if(MUST_ECHO) Serial.println(serialBuffer);
@@ -187,26 +188,27 @@ void Parser::update() {
         //Serial.println( RELATIVE_MOVES ? "REL" : "ABS" );
 
         CRITICAL_SECTION_START();
-        for (ALL_MOTORS(i)) {/*
-            Serial.println(motors[i].letter);
-            Serial.println(motors[i].velocity);
-            Serial.println(angles[i]);
-            Serial.println(motors[i].letter);
-            Serial.print("\tangleTarget0=");
-            Serial.println(motors[i].angleTarget);
-            Serial.print("\tstepsTarget0=");
-            Serial.println(motors[i].stepsTarget);
-            Serial.print("\tangleTarget1=");
+        for (ALL_MOTORS(i)) {
+            Serial.print(motors[i].letter);
+            Serial.print(motors[i].velocity);
+            Serial.print(' ');/*
             Serial.println(angles[i]);
-            Serial.print("\tstepsTarget1=");
-            Serial.println(steps[i]);
-            Serial.print("\tstepsNow=");
-            Serial.println(motors[i].stepsNow);
+            Serial.print("\tangleTarget0=");     Serial.println(motors[i].angleTarget);
+            Serial.print("\tstepsTarget0=");     Serial.println(motors[i].stepsTarget);
+            Serial.print("\tangleTarget1=");     Serial.println(angles[i]);
+            Serial.print("\tstepsTarget1=");     Serial.println(steps[i]);
+            Serial.print("\tstepsNow=");         Serial.println(motors[i].stepsNow);
           //*/
           motors[i].angleTarget = angles[i];
           motors[i].stepsTarget = steps[i];
         }
+        Serial.println();
         CRITICAL_SECTION_END();
+      } else {
+        Serial.print("CHECK BAD ");
+        Serial.print(checksum,HEX);
+        Serial.print("/");
+        Serial.println(serialBuffer[49]);
       }
       ready();
     } else if(sofar>51) {

diff --git a/arduino/sixi-pid2/sensors.cpp b/arduino/sixi-pid2/sensors.cpp
@@ -84,7 +84,7 @@ void SensorManager::setup() {
   }
 
   positionErrorFlags = 0;
-  //SET_BIT_ON(positionErrorFlags,POSITION_ERROR_FLAG_CONTINUOUS);// | POSITION_ERROR_FLAG_ESTOP;
+  SET_BIT_ON(positionErrorFlags,POSITION_ERROR_FLAG_CONTINUOUS);// | POSITION_ERROR_FLAG_ESTOP;
 
   // the first few reads will return junk so we force a couple empties here.
   update();

diff --git a/arduino/sixi-pid2/sixi-pid2.ino b/arduino/sixi-pid2/sixi-pid2.ino
@@ -12,11 +12,11 @@ uint8_t debugFlags;
 
 void reportAllMotors() {
   for(ALL_MOTORS(i)) {
-    motors[i].report();
+    motors[i].report();/*
     Serial.print("\tsensorHome=");
     Serial.println(sensorManager.sensors[i].angleHome);
     Serial.print("\tsensor=");
-    Serial.println(sensorManager.sensors[i].angle);
+    Serial.println(sensorManager.sensors[i].angle);//*/
   }
   Serial.println();
 }
@@ -39,7 +39,14 @@ void setup() {
   // make sure the starting target is the starting position (no move)
   parser.D18();
 
-  //reportAllMotors();
+  motors[0].setPID(1,0,0);
+  motors[1].setPID(0,0,0);
+  motors[2].setPID(1,0,0);
+  motors[3].setPID(0,0,0);
+  motors[4].setPID(0,0,0);
+  motors[5].setPID(0,0,0);
+
+  reportAllMotors();
   //clockISRProfile();
 
   clockSetup();

diff --git a/src/main/java/com/marginallyclever/communications/TransportLayer.java b/src/main/java/com/marginallyclever/communications/TransportLayer.java
@@ -1,7 +1,7 @@
 package com.marginallyclever.communications;
 
 /**
- * Lists available connections of a type (serial, ethernet, smoke signals, etc) and opens a connection of that type
+ * Lists available connections in a medium (serial, TCP/IP, smoke signals, etc) and opens a connection of that type
  *
  * @author Dan
  * @since v7.1.0.0

diff --git a/src/main/java/com/marginallyclever/communications/serial/SerialTransportLayerPanel.java b/src/main/java/com/marginallyclever/communications/serial/SerialTransportLayerPanel.java
@@ -20,7 +20,7 @@ public class SerialTransportLayerPanel extends TransportLayerPanel {
 	private JComboBox<String> connectionBaud;
 
 	private String lastConnectionPort="COM4";
-	private int lastConnectionBaud=115200;
+	private int lastConnectionBaud=57600;
 
 	public static final int [] COMMON_BAUD_RATES = {300,1200,2400,4800,9600,19200,38400,57600,74880,115200,230400,250000,500000,1000000,2000000};
 

diff --git a/src/main/java/com/marginallyclever/communications/tcp/TCPConnection.java b/src/main/java/com/marginallyclever/communications/tcp/TCPConnection.java
@@ -176,9 +176,7 @@ public void closeConnection() {
 		portOpened = false;
 	}
 
-	/**
-	 * Begins when Thread.start() is called in the constructor
-	 */
+	// Begins when Thread.start() is called in the constructor
 	public void run() {
 		StringBuilder input = new StringBuilder();
 

diff --git a/...d/entity/basicDataTypes/RemoteEntity.java → ...oteEntity/OneLineAtATimeRemoteEntity.java b/...d/entity/basicDataTypes/RemoteEntity.java → ...oteEntity/OneLineAtATimeRemoteEntity.java
@@ -1,4 +1,4 @@
-package com.marginallyclever.robotOverlord.entity.basicDataTypes;
+package com.marginallyclever.robotOverlord.entity.remoteEntity;
 
 import java.util.LinkedList;
 
@@ -11,15 +11,15 @@
 import com.marginallyclever.robotOverlord.swingInterface.view.ViewPanel;
 
 /**
- * Wraps all network connection stuff into a neat entity package.
+ * Wraps all network connection stuff into a neat entity package designed to send one \n terminated string at a time.
  * 
  * See also https://en.wikipedia.org/wiki/Messaging_pattern
  * 
  * @author Dan Royer
  * @since 1.6.0
  *
  */
-public class RemoteEntity extends StringEntity implements NetworkConnectionListener {
+public class OneLineAtATimeRemoteEntity extends StringEntity implements NetworkConnectionListener {
 
 /*
 	// pull the last connected port from prefs
@@ -60,7 +60,7 @@ public class NumberedCommand {
 	int nextNumberToSend=0;
 
 
-	public RemoteEntity() {
+	public OneLineAtATimeRemoteEntity() {
 		super();
 		setName("Connected to");
 		resetCommands();
@@ -138,12 +138,12 @@ public void sendMessage(String command) {
 		if(command.isEmpty()) return;
 
 		// add the number for error checking
-		//command = "N"+lastNumberAdded+" "+command;
+		command = "N"+lastNumberAdded+" "+command;
 		// add "there is a checksum" (*) + the checksum + end-of-line character
-		//command += StringHelper.generateChecksum(command) + "\n";
+		command += StringHelper.generateChecksum(command) + "\n";
 
-		//commands.add(new NumberedCommand(lastNumberAdded,command));
-		//lastNumberAdded++;
+		commands.add(new NumberedCommand(lastNumberAdded,command));
+		lastNumberAdded++;
 
 		sendQueuedMessage(command);
 	}

diff --git a/...main/java/com/marginallyclever/robotOverlord/entity/remoteEntity/RawByteRemoteEntity.java b/...main/java/com/marginallyclever/robotOverlord/entity/remoteEntity/RawByteRemoteEntity.java
@@ -0,0 +1,91 @@
+package com.marginallyclever.robotOverlord.entity.remoteEntity;
+
+import com.marginallyclever.communications.NetworkConnection;
+import com.marginallyclever.communications.NetworkConnectionListener;
+import com.marginallyclever.communications.NetworkConnectionManager;
+import com.marginallyclever.robotOverlord.log.Log;
+import com.marginallyclever.robotOverlord.swingInterface.view.ViewPanel;
+
+/**
+ * Wraps all network connection stuff into a neat entity package.
+ * 
+ * See also https://en.wikipedia.org/wiki/Messaging_pattern
+ * 
+ * @author Dan Royer
+ * @since 1.6.0
+ *
+ */
+public class RawByteRemoteEntity extends OneLineAtATimeRemoteEntity implements NetworkConnectionListener {
+	/**
+	 * 
+	 */
+	private static final long serialVersionUID = 1L;
+	public NetworkConnection connection;
+
+
+	public RawByteRemoteEntity() {
+		super();
+		setName("Connected to");
+	}
+
+	public void closeConnection() {
+		connection.closeConnection();
+		connection.removeListener(this);
+		connection=null;
+	}
+
+	public void openConnection() {
+		connection = NetworkConnectionManager.requestNewConnection(null);
+		if(connection!=null) {
+			connection.addListener(this);
+		}
+	}
+
+	@Override
+	public void update(double dt) {
+		if(connection!=null) {
+			connection.update();
+		}
+	}
+
+	@Override
+	public void lineError(NetworkConnection arg0, int lineNumber) {}
+
+	@Override
+	public void sendBufferEmpty(NetworkConnection arg0) {}
+
+	@Override
+	public void dataAvailable(NetworkConnection arg0, String data) {
+		setChanged();
+		notifyObservers(data);
+	}
+
+	public boolean isConnectionOpen() {
+		return (connection!=null) && (connection.isOpen());
+	}
+
+	/**
+	 * called by someone else to start the process of sending a message
+	 * @param command
+	 */
+	public void sendMessage(String command) {
+		if(!isConnectionOpen()) return;
+		if(command.isEmpty()) return;
+
+		sendQueuedMessage(command);
+	}
+
+	private void sendQueuedMessage(String command) {
+		if(command==null) return;
+		try {
+			connection.sendMessage(command);
+		} catch (Exception e) {
+			Log.error("RemoteEntity.sendQueuedMessage failed: "+e.getLocalizedMessage());
+		}
+	}
+
+	@Override
+	public void getView(ViewPanel view) {
+		super.getView(view);
+	}
+}