[Draft]: Feature/ack #27
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…to test first. Works fine when programmer is connected at least
…re halt. State estimation can continue even in halt
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Ah shit I accidentally pulled in tons of stuff from the logging PR as well.... |
…ocontroller4.0 into feature/ack
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@emielsteerneman how relevant is this PR still? Should this be looked into? |
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Is this still relevant? If not, then I suggest to mark this PR as closed |
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Again, NOT READY FOR MERGE!! Let's wait for after Spain. Just looking for feedback.
This PR introduces packets that are assured to be delivered to the "other side". Basically, it adds a number to each message and waits for confirmation from the other side. If that confirmation isn't received fast enough, it retransmits the message.
It can be used for receiving and transmitting critical data such as settings for PID / wheels / XSens or whatever, or used to transmit data back with the ensure that everything will arrive (not useful for actual matches, but for debugging).
It goes together with this REM branch and this Basestation branch. The basestation branch is purely for testRobot.py. The actual basestation code still has to be written for this.