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Firmware config message #253

Merged
merged 9 commits into from Jan 31, 2022
Merged

Firmware config message #253

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baa877c
add config msg to firmware + clean-up
thias15 Jan 29, 2022
e4bf5cf
process config msg
thias15 Jan 29, 2022
5fa79d6
robot_type CAPS
thias15 Jan 29, 2022
ea53c18
update firmware
thias15 Jan 30, 2022
5bc3e9f
voltage limits + fixes
thias15 Jan 30, 2022
873c87d
sonar fix + formatting
thias15 Jan 30, 2022
1a6a8c1
arduino auto format
thias15 Jan 30, 2022
c9db74e
oled fix
thias15 Jan 31, 2022
6306e68
remove limits dependency
thias15 Jan 31, 2022
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2 changes: 1 addition & 1 deletion android/app/src/main/java/org/openbot/autopilot/AutopilotFragment.java
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Expand Up @@ -289,7 +289,7 @@ protected void processUSBData(String data) {
getString(
R.string.speedInfo,
String.format(
Locale.US, "%3.0f,%3.0f", vehicle.getLeftWheelRPM(), vehicle.getRightWheelRPM())));
Locale.US, "%3.0f,%3.0f", vehicle.getLeftWheelRpm(), vehicle.getRightWheelRpm())));
}

@Override
Expand Down
27 changes: 25 additions & 2 deletions android/app/src/main/java/org/openbot/common/ControlsFragment.java
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Expand Up @@ -111,9 +111,31 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
String body = data.substring(1);

switch (header) {
case 'f':
vehicle.processVehicleConfig(body);
break;
case 'v':
if (FormatUtils.isNumeric(body)) {
vehicle.setBatteryVoltage(Float.parseFloat(body));
} else {
String[] msgParts = body.split(":");
switch (msgParts[0]) {
case "min":
vehicle.setMinMotorVoltage(Float.parseFloat(msgParts[1]));
case "low":
vehicle.setLowBatteryVoltage(Float.parseFloat(msgParts[1]));
break;
case "max":
vehicle.setMaxBatteryVoltage(Float.parseFloat(msgParts[1]));
break;
default:
Toast.makeText(
requireContext().getApplicationContext(),
"Invalid voltage message received!",
Toast.LENGTH_SHORT)
.show();
break;
}
}
break;
case 's':
Expand All @@ -126,8 +148,8 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
if (itemList.length == 2
&& FormatUtils.isNumeric(itemList[0])
&& FormatUtils.isNumeric(itemList[1])) {
vehicle.setLeftWheelTicks(Float.parseFloat(itemList[0]));
vehicle.setRightWheelTicks(Float.parseFloat(itemList[1]));
vehicle.setLeftWheelRpm(Float.parseFloat(itemList[0]));
vehicle.setRightWheelRpm(Float.parseFloat(itemList[1]));
}
break;
case 'b':
Expand All @@ -139,6 +161,7 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
});

handlePhoneControllerEvents();
vehicle.requestVehicleConfig();
}

private void processKeyEvent(KeyEvent keyCode) {
Expand Down
13 changes: 9 additions & 4 deletions android/app/src/main/java/org/openbot/logging/LoggerFragment.java
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Expand Up @@ -43,6 +43,7 @@
import org.openbot.utils.ConnectionUtils;
import org.openbot.utils.Constants;
import org.openbot.utils.Enums;
import org.openbot.utils.FormatUtils;
import org.openbot.utils.PermissionUtils;
import org.zeroturnaround.zip.ZipUtil;
import org.zeroturnaround.zip.commons.FileUtils;
Expand Down Expand Up @@ -350,10 +351,14 @@ protected void processUSBData(String data) {

switch (header) {
case 'v':
type = SensorService.MSG_VOLTAGE;
if (FormatUtils.isNumeric(body)) {
type = SensorService.MSG_VOLTAGE;
}
break;
case 's':
type = SensorService.MSG_SONAR;
if (FormatUtils.isNumeric(body)) {
type = SensorService.MSG_SONAR;
}
break;
case 'w':
type = SensorService.MSG_WHEELS;
Expand All @@ -363,8 +368,8 @@ protected void processUSBData(String data) {
String.format(
Locale.US,
"%3.0f,%3.0f",
vehicle.getLeftWheelRPM(),
vehicle.getRightWheelRPM())));
vehicle.getLeftWheelRpm(),
vehicle.getRightWheelRpm())));
break;
case 'b':
type = SensorService.MSG_BUMPER;
Expand Down
2 changes: 1 addition & 1 deletion android/app/src/main/java/org/openbot/objectNav/ObjectNavFragment.java
View file
Open in desktop
Expand Up @@ -338,7 +338,7 @@ protected void processUSBData(String data) {
getString(
R.string.speedInfo,
String.format(
Locale.US, "%3.0f,%3.0f", vehicle.getLeftWheelRPM(), vehicle.getRightWheelRPM())));
Locale.US, "%3.0f,%3.0f", vehicle.getLeftWheelRpm(), vehicle.getRightWheelRpm())));
}

@Override
Expand Down
33 changes: 28 additions & 5 deletions android/app/src/main/java/org/openbot/original/CameraActivity.java
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Expand Up @@ -367,8 +367,10 @@ public void onReceive(Context context, Intent intent) {
char header = data.charAt(0);
String body = data.substring(1);
int type = -1;

switch (header) {
case 'f':
vehicle.processVehicleConfig(body);
break;
case 'v':
if (FormatUtils.isNumeric(body)) {
type = SensorService.MSG_VOLTAGE;
Expand All @@ -378,6 +380,26 @@ public void onReceive(Context context, Intent intent) {
voltageTextView.setText(
String.format(Locale.US, "%2.1f V", vehicle.getBatteryVoltage()));
});
} else {
String[] msgParts = body.split(":");
switch (msgParts[0]) {
case "min":
vehicle.setMinMotorVoltage(Float.parseFloat(msgParts[1]));
break;
case "low":
vehicle.setLowBatteryVoltage(Float.parseFloat(msgParts[1]));
break;
case "max":
vehicle.setMaxBatteryVoltage(Float.parseFloat(msgParts[1]));
break;
default:
Toast.makeText(
getApplicationContext(),
"Invalid voltage message received!",
Toast.LENGTH_SHORT)
.show();
break;
}
}
break;
case 's':
Expand All @@ -397,16 +419,16 @@ public void onReceive(Context context, Intent intent) {
&& FormatUtils.isNumeric(itemList[0])
&& FormatUtils.isNumeric(itemList[1])) {
type = SensorService.MSG_WHEELS;
vehicle.setLeftWheelTicks(Float.parseFloat(itemList[0]));
vehicle.setRightWheelTicks(Float.parseFloat(itemList[1]));
vehicle.setLeftWheelRpm(Float.parseFloat(itemList[0]));
vehicle.setRightWheelRpm(Float.parseFloat(itemList[1]));
runOnUiThread(
() -> {
speedTextView.setText(
String.format(
Locale.US,
"%3.0f,%3.0f rpm",
vehicle.getLeftWheelRPM(),
vehicle.getRightWheelRPM()));
vehicle.getLeftWheelRpm(),
vehicle.getRightWheelRpm()));
});
}
break;
Expand All @@ -426,6 +448,7 @@ public void onReceive(Context context, Intent intent) {
localIntentFilter.addAction(Constants.USB_ACTION_DATA_RECEIVED);
localBroadcastManager = LocalBroadcastManager.getInstance(this);
localBroadcastManager.registerReceiver(localBroadcastReceiver, localIntentFilter);
vehicle.requestVehicleConfig();
}

@SuppressLint("SetTextI18n")
Expand Down
2 changes: 1 addition & 1 deletion android/app/src/main/java/org/openbot/robot/FreeRoamFragment.java
View file
Open in desktop
Expand Up @@ -106,7 +106,7 @@ protected void processUSBData(String data) {
getString(
R.string.speedInfo,
String.format(
Locale.US, "%3.0f,%3.0f", vehicle.getLeftWheelRPM(), vehicle.getRightWheelRPM())));
Locale.US, "%3.0f,%3.0f", vehicle.getLeftWheelRpm(), vehicle.getRightWheelRpm())));

binding.voltageInfo.setText(
getString(
Expand Down