Telemetry modules #1835

gautierhattenberger · 2016-08-06T12:25:15Z

Convert telemetry subsystems to modules.

needs hardware testing
hard fault recovery need telemetry modules init

The second point is not done yet since modules init are part of the global AP thread. Should I just call all modules init (and downlink init) or change the modules generator to be able to group functions (will be useful when converting FBW subsystems to modules) ?

only wrappers (replace makefiles) at this stage

hard-fault recovery is an issue since downlink should be initialized even if AP is not

PPRZLINK should be used now

in particular drop audio_telemetry code

podhrmic · 2016-08-06T15:10:59Z

@gautierhattenberger IMHO it would make sense if each of the modules had their own thread with a separate recovery mechanism (since eventually everything will be a module).

Should we also mutex critical resources in the telemetry modules? Because I could imagine that now you can easily have multiple telemetries running at the same time - so access to lets say state variables etc. should be protected, right?

gautierhattenberger · 2016-08-07T21:27:51Z

Not sure it is really needed to have each module in a thread, but we can definitely group them (already have some sort of tasks: navigation, control, safety, payload, ...).
Regarding the access of shared resources, we need to discuss that a little bit (and probably not in this thread). I already asked if state interface for instance should be protected in a transparent way like what you did in your branch, or if anyone using it should request for a mutex to use it (second option being more efficient but ask for a lot of work). At least the current implementation allows multiple threads to send messages other the telemetry system (it already the case with AP and FBW).

My real concern is more about the practical implementation and naming:

should we have all the functions (init, periodic, event) of a module in the same "thread" or should we specify this for all functions independently.
mix the two options: a global value can be defined, overwritten by local ones if needed
what is the best name: process (not nice, but we already use this key word in other config files), thread (not really better I think, can be misleading if bare metal version is used), task (I would choose this one), group (not really nice and too generic). Any better idea ?

gautierhattenberger · 2016-08-07T21:33:45Z

see #243

podhrmic · 2016-08-08T16:12:27Z

Just quickly about the mutexes - the current solution (protect the state interface) is IMHO the way to go (at least for now).

About your questions:

should we have all the functions (init, periodic, event) of a module in the same "thread" or should we specify this for all functions independently.

I would put it all in the same "thread" - like you start a thread, and it initializes what it needs. Should be easier to use and more error-proof.

mix the two options: a global value can be defined, overwritten by local ones if needed

Can you give an example? I am not sure if I fully follow.

what is the best name: process (not nice, but we already use this key word in other config files), thread (not really better I think, can be misleading if bare metal version is used), task (I would choose this one), group (not really nice and too generic). Any better idea ?

Task +1

flixr · 2016-08-08T16:46:48Z

For most modules it probably doesn't make sense to give them their own thread...

Task is probably an OK name

The previous names can be used to call functions from all tasks. This is a simple solution to fix hard-fault recovery (datalink modules init). It can be extended to other modules but probably need some more work.

gautierhattenberger · 2016-08-16T15:18:12Z

Tested and working on:

sim and nps
pprz and xbee on STM32F4
ardrone2

anyone for testing superbit and bluegiga ?

podhrmic · 2016-08-16T16:30:46Z

I can test Lisa F1 today (transparent), although I don't expect any problems here.

flixr · 2016-08-19T19:06:29Z

Tested and working:

transparent and transparent_usb on LisaMX (STM32F4)
transparent on LisaM 1.0 (STM32F1) (usb_serial does not work on v1.0, but should work on later versions)

flixr · 2016-08-19T19:09:30Z

@fvantienen @kirkscheper could you test superbitrf and bluegiga?

kirkscheper · 2016-08-19T19:24:56Z

I am on vacation :) also I've been working on an old master on a big
project, will update and test when I am back.

Kirk

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flixr · 2016-09-17T19:01:33Z

@kirkscheper have you had a chance to test bluegiga yet?

flixr

LGTM

kirkscheper · 2016-09-17T19:33:20Z

No, can test it on Monday though, that ks for the reminder.

Kirk

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kirkscheper · 2016-09-20T11:20:12Z

Bluegiga doesn't work with this branch but actually it doesn't currently work with master either. I have been using a branch based on an older master so haven't noticed this. I don't receive any downlink messages... Have there been any changes to SPI lately?

gautierhattenberger · 2016-09-20T11:22:18Z

I don't think so. Can you give us the reference of the working version ?

kirkscheper · 2016-09-20T11:38:01Z

I am trying some older versions so see where it breaks. get back to you soon

kirkscheper · 2016-09-20T12:29:38Z

First break happens at commit Coverity fixes (#1838) b68d166. An error in that commit prevents correct messages from being interpreted by the GCS. I still receive some downlink data though.

When the imu refactor is commited however with [imu] convert imu subsystems to modules (#1788) 17d3277 the downlink is totally broken.

gautierhattenberger · 2016-09-20T12:46:39Z

Regarding the fix b68d166 can you try to revert the line 238 in bluegiga.c (although it should be more dangerous).
For the imu modules, it is really not related to datalink stuff, that's really strange.

kirkscheper · 2016-09-20T12:48:07Z

The imu update does play around with spi and i2c defaults though. I am guessing it has something to do with that.

kirkscheper · 2016-09-20T12:54:08Z

One difference is that the new lisa s imu defines ASPRIN_2_I2C and USE_I2C while the old one didn't. The ap_srcs.list doesn't define those two at all. Any chance that might have any effect?

kirkscheper · 2016-09-20T12:57:28Z

ok, on a hunch I removed those definitions from master and it works again...

kirkscheper · 2016-09-20T13:05:27Z

Same fix fixes this PR so it seems like this refactor also works for Bluegiga.

gautierhattenberger · 2016-09-20T13:09:55Z

can you try to add case="upper|lower" to the lines configuring the SPI and I2C dev in the file imu_lisa_s_v1.0.xml ?

kirkscheper · 2016-09-20T13:15:30Z

Nope, doesn't work.

gautierhattenberger · 2016-09-20T13:47:20Z

do you have your patch in a branch somewhere ?

kirkscheper · 2016-09-20T14:08:46Z

https://github.com/kirkscheper/paparazzi/tree/bluegiga_fix

Its is strange the i2c definition was not in the previous xml for aspirin or lisa/s

this was produce a strange side effect on bluegiga module (#1835)

gautierhattenberger · 2016-09-20T15:26:26Z

@kirkscheper can you test the patch of #1858 ?

flixr · 2016-09-26T18:40:58Z

so I guess this is good to merge now?

gautierhattenberger · 2016-09-26T19:16:13Z

It seems to work. I have only one concern: it is changing a little bit the module generator to have functions split in different "task". This part have not been tested a lot so far. Even if it should be fine, I initially planed to keep this for after the release. If you think it is fine, feel free to merge it.

merge master and update after changes from #1879

flixr · 2016-10-02T10:53:10Z

Maybe needs a quick re-test after latest changes?

gautierhattenberger · 2016-10-03T09:29:24Z

re-tested with pprz and xbee over model, and pprz over udp (and it is still working)

fix conflict

gautierhattenberger · 2016-10-07T11:59:32Z

can I merge this one ?

flixr · 2016-10-07T12:07:00Z

LGTM

dewagter · 2016-10-07T12:17:40Z

Nice work, thanks!

gautierhattenberger added 5 commits August 4, 2016 22:58

[modules] convert telemetry subsystems to modules

e398c61

only wrappers (replace makefiles) at this stage

[modules] add init and event functions to modules

68cb8df

hard-fault recovery is an issue since downlink should be initialized even if AP is not

[datalink] remove old datalink lib export

f106ac2

PPRZLINK should be used now

[datalink] some cleaning

c085e27

in particular drop audio_telemetry code

[datalink] fix failing conf, especially test progs

f84fcd0

gautierhattenberger added Airborne Module labels Aug 6, 2016

gautierhattenberger added 4 commits August 12, 2016 23:56

[modules] generate modules functions grouped into tasks

f5c3add

The previous names can be used to call functions from all tasks. This is a simple solution to fix hard-fault recovery (datalink modules init). It can be extended to other modules but probably need some more work.

[modules] no real needs to protect generated functions

84b69fa

Merge remote-tracking branch 'paparazzi/master' into telemetry_modules

9f9caa1

update pprzlink

56ae661

flixr approved these changes Sep 17, 2016

View reviewed changes

flixr mentioned this pull request Sep 20, 2016

convert subsystems to modules #1475

Closed

12 tasks

gautierhattenberger added a commit that referenced this pull request Sep 20, 2016

[fix] remove unused i2c dev from aspirin_2 and lisa_s conf

604a0df

this was produce a strange side effect on bluegiga module (#1835)

gautierhattenberger mentioned this pull request Sep 20, 2016

[fix] remove unused i2c dev from aspirin_2 and lisa_s conf #1858

Merged

Merge branch 'master' into telemetry_modules

94df636

merge master and update after changes from #1879

gautierhattenberger mentioned this pull request Oct 7, 2016

[fbw_gps] GPS in FBW/FTD (e.g. geofencing) #1876

Merged

gautierhattenberger added 2 commits October 7, 2016 12:00

Merge remote-tracking branch 'paparazzi/master' into telemetry_modules

5f53aad

fix conflict

convert some airframes to modules

3548d1b

gautierhattenberger merged commit 4316871 into master Oct 7, 2016

gautierhattenberger deleted the telemetry_modules branch October 7, 2016 12:35

flixr mentioned this pull request Oct 13, 2016

Video thread(s) not running in latest master #1899

Closed

dewagter mentioned this pull request Nov 3, 2016

[intermcu][datalink] fix #1929

Merged

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Telemetry modules #1835

Telemetry modules #1835

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Telemetry modules #1835

Telemetry modules #1835

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