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Improve fault tolerance of logic showing connected motors. #70

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Merged
merged 4 commits into from
Apr 27, 2022
Merged

Improve fault tolerance of logic showing connected motors. #70

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7ce2ba4
Instead of pinging every servo each second ping them sequentially.
aentinger Apr 27, 2022
47df148
Only signal missing servo after three consecutive lost pings.
aentinger Apr 27, 2022
8b27240
Run thread every 500 ms instead of every 1 second to account for incr…
aentinger Apr 27, 2022
37c8b3c
After two consecutive pings fail, we flag the issue with the user via…
aentinger Apr 27, 2022
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23 changes: 17 additions & 6 deletions src/Braccio++.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -342,15 +342,26 @@ void BraccioClass::setMotorConnectionStatus(int const id, bool const is_connecte

void BraccioClass::motorConnectedThreadFunc()
{
int next_id_to_be_pinged = SmartServoClass::MIN_MOTOR_ID;
int servo_missed_ping_cnt[SmartServoClass::NUM_MOTORS] = {0};

static int const MAX_MISSED_PING_CNT = 2;

for (;;)
{
if (isPingAllowed())
{
for (int id = SmartServoClass::MIN_MOTOR_ID; id <= SmartServoClass::MAX_MOTOR_ID; id++)
{
bool const is_connected = (_servos.ping(id) == 0);
setMotorConnectionStatus(id, is_connected);
}
bool const is_connected = (_servos.ping(next_id_to_be_pinged) == 0);

if (!is_connected) servo_missed_ping_cnt[SmartServoClass::idToArrayIndex(next_id_to_be_pinged)]++;
else servo_missed_ping_cnt[SmartServoClass::idToArrayIndex(next_id_to_be_pinged)] = 0;

if (servo_missed_ping_cnt[SmartServoClass::idToArrayIndex(next_id_to_be_pinged)] >= MAX_MISSED_PING_CNT)
setMotorConnectionStatus(next_id_to_be_pinged, false);
else
setMotorConnectionStatus(next_id_to_be_pinged, true);

next_id_to_be_pinged = (next_id_to_be_pinged < SmartServoClass::MAX_MOTOR_ID) ? next_id_to_be_pinged + 1 : SmartServoClass::MIN_MOTOR_ID;

for (int id = SmartServoClass::MIN_MOTOR_ID; id <= SmartServoClass::MAX_MOTOR_ID; id++) {
if (connected(id))
Expand All @@ -359,7 +370,7 @@ void BraccioClass::motorConnectedThreadFunc()
expander_setRed(id);
}
}
delay(1000);
delay(500);
}
}

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