Merge branch 'master' of https://gitlab.com/westonrobot/core/wrp_sdk

apps/scout_demo/scout_demo.cpp

@@ -1,9 +1,9 @@
-/* 
+/*
  * demo_scout_can.cpp
- * 
+ *
  * Created on: Jun 12, 2019 05:03
- * Description: 
+ * Description:
- * 
+ *
  * Copyright (c) 2019 Ruixiang Du (rdu)
  */
 
@@ -11,106 +11,112 @@
 
 using namespace westonrobot;
 
-int main(int argc, char **argv)
+int main(int argc, char **argv) {
-{
+  std::string device_name;
-    std::string device_name;
+  int32_t baud_rate = 0;
-    int32_t baud_rate = 0;
 
-    if (argc == 2)
+  if (argc == 2) {
-    {
+    device_name = {argv[1]};
-        device_name = {argv[1]};
+    std::cout << "Specified CAN: " << device_name << std::endl;
-        std::cout << "Specified CAN: " << device_name << std::endl;
+  } else if (argc == 3) {
-    }
+    device_name = {argv[1]};
-    else if (argc == 3)
+    baud_rate = std::stol(argv[2]);
-    {
+    std::cout << "Specified serial: " << device_name << "@" << baud_rate
-        device_name = {argv[1]};
+              << std::endl;
-        baud_rate = std::stol(argv[2]);
+  } else {
-        std::cout << "Specified serial: " << device_name << "@" << baud_rate << std::endl;
+    std::cout << "Usage: app_scout_demo <interface>" << std::endl
-    }
+              << "Example 1: ./app_scout_demo can0" << std::endl
-    else
+              << "Example 2: ./app_scout_demo /dev/ttyUSB0 115200" << std::endl;
-    {
+    return -1;
-        std::cout << "Usage: app_scout_demo <interface>" << std::endl
+  }
-                  << "Example 1: ./app_scout_demo can0" << std::endl
+
-                  << "Example 2: ./app_scout_demo /dev/ttyUSB0 115200" << std::endl;
+  ScoutBase scout;
-        return -1;
+  scout.Connect(device_name, baud_rate);
+
+//   // light control
+//   std::cout << "Light: const off" << std::endl;
+//   scout.SetLightCommand({ScoutLightCmd::LightMode::CONST_OFF, 0,
+//                          ScoutLightCmd::LightMode::CONST_OFF, 0});
+//   sleep(3);
+//   std::cout << "Light: const on" << std::endl;
+//   scout.SetLightCommand({ScoutLightCmd::LightMode::CONST_ON, 0,
+//                          ScoutLightCmd::LightMode::CONST_ON, 0});
+//   sleep(3);
+//   std::cout << "Light: breath" << std::endl;
+//   scout.SetLightCommand({ScoutLightCmd::LightMode::BREATH, 0,
+//                          ScoutLightCmd::LightMode::BREATH, 0});
+//   sleep(3);
+//   std::cout << "Light: custom 90-80" << std::endl;
+//   scout.SetLightCommand({ScoutLightCmd::LightMode::CUSTOM, 90,
+//                          ScoutLightCmd::LightMode::CUSTOM, 80});
+//   sleep(3);
+//   std::cout << "Light: diabled cmd control" << std::endl;
+//   scout.DisableLightCmdControl();
+
+  int count = 0;
+  while (true) {
+    // motion control
+    // if (count < 5)
+    // {
+    //     std::cout << "Motor: 0.2, 0" << std::endl;
+    //     scout.SetMotionCommand(0.2, 0.0);
+    // }
+    // else if (count < 10)
+    // {
+    // std::cout << "Motor: 0.8, 0" << std::endl;
+    // scout.SetMotionCommand(0.8, 0.0);
+    // }
+    // else if (count < 15)
+    // {
+    //     std::cout << "Motor: 1.5, 0" << std::endl;
+    //     scout.SetMotionCommand(1.5, 0.0);
+    // }
+    // else if (count < 20)
+    // {
+    //     std::cout << "Motor: 1.0, 0.5" << std::endl;
+    //     scout.SetMotionCommand(1.0, 0.5);
+    // }
+    // else if (count < 25)
+    // {
+    //     std::cout << "Motor: 0.0, 0" << std::endl;
+    //     scout.SetMotionCommand(0.0, 0.0);
+    // }
+    // else if (count < 30)
+    // {
+    //     std::cout << "Motor: -0.5, 0" << std::endl;
+    //     scout.SetMotionCommand(-0.5, 0.0);
+    // }
+    // else if (count < 35)
+    // {
+    //     std::cout << "Motor: -1.0, -0.5" << std::endl;
+    //     scout.SetMotionCommand(-1.0, -0.5);
+    // }
+    // else if (count < 40)
+    // {
+    //     std::cout << "Motor: 0.0, 0, Light: breath" << std::endl;
+    //     scout.SetMotionCommand(0.0, 0.0);
+    //     scout.SetLightCommand({ScoutLightCmd::LightMode::BREATH, 0,
+    //     ScoutLightCmd::LightMode::BREATH, 0});
+    // }
+    if (count < 100) {
+      std::cout << "Motor: 0.2, 0" << std::endl;
+      scout.SetMotionCommand(0.2, 0.0);
     }
 
-    ScoutBase scout;
+    auto state = scout.GetScoutState();
-    scout.Connect(device_name, baud_rate);
+    std::cout << "-------------------------------" << std::endl;
+    std::cout << "count: " << count << std::endl;
+    std::cout << "control mode: " << static_cast<int>(state.control_mode)
+              << " , base state: " << static_cast<int>(state.base_state)
+              << std::endl;
+    std::cout << "battery voltage: " << state.battery_voltage << std::endl;
+    std::cout << "velocity (linear, angular): " << state.linear_velocity << ", "
+              << state.angular_velocity << std::endl;
+    std::cout << "-------------------------------" << std::endl;
 
-    // light control
+    usleep(20000);
-    std::cout << "Light: const off" << std::endl;
+    ++count;
-    scout.SetLightCommand({ScoutLightCmd::LightMode::CONST_OFF, 0, ScoutLightCmd::LightMode::CONST_OFF, 0});
+  }
-    sleep(3);
-    std::cout << "Light: const on" << std::endl;
-    scout.SetLightCommand({ScoutLightCmd::LightMode::CONST_ON, 0, ScoutLightCmd::LightMode::CONST_ON, 0});
-    sleep(3);
-    std::cout << "Light: breath" << std::endl;
-    scout.SetLightCommand({ScoutLightCmd::LightMode::BREATH, 0, ScoutLightCmd::LightMode::BREATH, 0});
-    sleep(3);
-    std::cout << "Light: custom 90-80" << std::endl;
-    scout.SetLightCommand({ScoutLightCmd::LightMode::CUSTOM, 90, ScoutLightCmd::LightMode::CUSTOM, 80});
-    sleep(3);
-    std::cout << "Light: diabled cmd control" << std::endl;
-    scout.DisableLightCmdControl();
 
-    int count = 0;
+  return 0;
-    while (true)
-    {
-        // motion control
-        if (count < 5)
-        {
-            std::cout << "Motor: 0.2, 0" << std::endl;
-            scout.SetMotionCommand(0.2, 0.0);
-        }
-        else if (count < 10)
-        {
-        std::cout << "Motor: 0.8, 0" << std::endl;
-        scout.SetMotionCommand(0.8, 0.0);
-        }
-        else if (count < 15)
-        {
-            std::cout << "Motor: 1.5, 0" << std::endl;
-            scout.SetMotionCommand(1.5, 0.0);
-        }
-        else if (count < 20)
-        {
-            std::cout << "Motor: 1.0, 0.5" << std::endl;
-            scout.SetMotionCommand(1.0, 0.5);
-        }
-        else if (count < 25)
-        {
-            std::cout << "Motor: 0.0, 0" << std::endl;
-            scout.SetMotionCommand(0.0, 0.0);
-        }
-        else if (count < 30)
-        {
-            std::cout << "Motor: -0.5, 0" << std::endl;
-            scout.SetMotionCommand(-0.5, 0.0);
-        }
-        else if (count < 35)
-        {
-            std::cout << "Motor: -1.0, -0.5" << std::endl;
-            scout.SetMotionCommand(-1.0, -0.5);
-        }
-        else if (count < 40)
-        {
-            std::cout << "Motor: 0.0, 0, Light: breath" << std::endl;
-            scout.SetMotionCommand(0.0, 0.0);
-            scout.SetLightCommand({ScoutLightCmd::LightMode::BREATH, 0, ScoutLightCmd::LightMode::BREATH, 0});
-        }
-
-        auto state = scout.GetScoutState();
-        std::cout << "-------------------------------" << std::endl;
-        std::cout << "count: " << count << std::endl;
-        std::cout << "control mode: " << static_cast<int>(state.control_mode) << " , base state: " << static_cast<int>(state.base_state) << std::endl;
-        std::cout << "battery voltage: " << state.battery_voltage << std::endl;
-        std::cout << "velocity (linear, angular): " << state.linear_velocity << ", " << state.angular_velocity << std::endl;
-        std::cout << "-------------------------------" << std::endl;
-
-        sleep(1);
-        ++count;
-    }
-
-    return 0;
 }

apps/scout_monitor/src/ncolors.cpp

@@ -54,6 +54,8 @@ short CursorColor(int fg)
         return (COLOR_YELLOW);
     case 7: /* 111 */
         return (COLOR_WHITE);
+    default:
+        return COLOR_BLACK;
     }
 }
 } // namespace

include/wrp_sdk/asyncio/async_serial.hpp

@@ -23,7 +23,7 @@ class AsyncSerial : public AsyncListener,
                     public std::enable_shared_from_this<AsyncSerial> {
  public:
   using ReceiveCallback =
-      std::function<void(uint8_t *data, size_t len, const size_t bufsize)>;
+      std::function<void(uint8_t *data, const size_t bufsize, size_t len)>;
 
  public:
   AsyncSerial(std::string port_name, uint32_t baud_rate = 115200);
@@ -56,7 +56,7 @@ class AsyncSerial : public AsyncListener,
   bool tx_in_progress_ = false;
 
   bool SetupPort();
-  void DefaultReceiveCallback(uint8_t *data, size_t len, const size_t bufsize);
+  void DefaultReceiveCallback(uint8_t *data, const size_t bufsize, size_t len);
   void ReadFromPort();
   void WriteToPort(bool check_if_busy);
 };

include/wrp_sdk/platforms/common/mobile_base.hpp

@@ -31,6 +31,8 @@ class MobileBase {
   MobileBase(const MobileBase &hunter) = delete;
   MobileBase &operator=(const MobileBase &hunter) = delete;
 
+  void SetCmdTimeout(bool enable, uint32_t timeout_ms = 100);
+
   // connect to roboot from CAN or serial
   void Connect(std::string dev_name, int32_t baud_rate = 0);
 
@@ -50,6 +52,12 @@ class MobileBase {
   std::shared_ptr<AsyncCAN> can_if_;
   std::shared_ptr<AsyncSerial> serial_if_;
 
+  // timeout to be implemented in each vehicle
+  bool enable_timeout_ = true;
+  uint32_t timeout_ms_ = 500;
+  uint32_t watchdog_counter_ = 0;
+  void FeedCmdTimeoutWatchdog() { watchdog_counter_ = 0; };
+
   // command thread
   std::thread cmd_thread_;
   int32_t cmd_thread_period_ms_ = 10;

src/asyncio/async_can.cpp

@@ -107,7 +107,7 @@ void AsyncCAN::SendFrame(const can_frame &frame) {
       asio::buffer(&frame, sizeof(frame)),
       [](asio::error_code error, size_t bytes_transferred) {
         if (error) {
-          std::cerr << "Failed to send CAN frame";
+          std::cerr << "Failed to send CAN frame" << std::endl;
         }
         // std::cout << "frame sent" << std::endl;
       });

src/asyncio/async_serial.cpp

@@ -80,8 +80,8 @@ void AsyncSerial::StopService() {
   port_opened_ = false;
 }
 
-void AsyncSerial::DefaultReceiveCallback(uint8_t *data, size_t len,
+void AsyncSerial::DefaultReceiveCallback(uint8_t *data, const size_t bufsize,
-                                         const size_t bufsize) {}
+                                         size_t len) {}
 
 void AsyncSerial::ReadFromPort() {
   auto sthis = shared_from_this();
@@ -93,9 +93,13 @@ void AsyncSerial::ReadFromPort() {
           return;
         }
 
-        if (sthis->rcv_cb_ != nullptr)
+        if (sthis->rcv_cb_ != nullptr) {
-          sthis->rcv_cb_(sthis->rx_buf_.data(), bytes_transferred,
+          sthis->rcv_cb_(sthis->rx_buf_.data(), sthis->rx_buf_.size(),
-                         sthis->rx_buf_.size());
+                         bytes_transferred);
+        } else {
+          sthis->DefaultReceiveCallback(
+              sthis->rx_buf_.data(), sthis->rx_buf_.size(), bytes_transferred);
+        }
         sthis->ReadFromPort();
       });
 }

src/platforms/hunter_base.cpp

@@ -80,6 +80,8 @@ void HunterBase::SetMotionCommand(
   current_motion_cmd_.angular_velocity = static_cast<int8_t>(
       steering_angle / HunterMotionCmd::max_steering_angle * 100.0);
   current_motion_cmd_.fault_clear_flag = fault_clr_flag;
+
+  FeedCmdTimeoutWatchdog();
 }
 
 void HunterBase::ParseCANFrame(can_frame *rx_frame) {

src/platforms/mobile_base.cpp

@@ -34,6 +34,7 @@ void MobileBase::Connect(std::string dev_name, int32_t baud_rate) {
 }
 
 void MobileBase::Disconnect() {
+  if (can_connected_) can_if_->StopService();
   if (serial_connected_ && serial_if_->IsOpened()) {
     serial_if_->StopService();
   }
@@ -43,7 +44,7 @@ void MobileBase::ConfigureCAN(const std::string &can_if_name) {
   can_if_ = std::make_shared<AsyncCAN>(can_if_name);
   can_if_->SetReceiveCallback(
       std::bind(&MobileBase::ParseCANFrame, this, std::placeholders::_1));
-  serial_if_->StartListening();
+  can_if_->StartListening();
   can_connected_ = true;
 }
 
@@ -66,9 +67,26 @@ void MobileBase::StartCmdThread() {
 void MobileBase::ControlLoop(int32_t period_ms) {
   StopWatch ctrl_sw;
   bool print_loop_freq = false;
+  uint32_t timeout_iter_num;
+
+  if (enable_timeout_) {
+    if (timeout_ms_ < period_ms) timeout_ms_ = period_ms;
+    timeout_iter_num = static_cast<uint32_t>(timeout_ms_ / period_ms);
+    std::cout << "Timeout iteration number: " << timeout_iter_num << std::endl;
+  }
+
   while (true) {
     ctrl_sw.tic();
-    SendRobotCmd();
+    if (enable_timeout_) {
+      if (watchdog_counter_ < timeout_iter_num) {
+        SendRobotCmd();
+        ++watchdog_counter_;
+      } else {
+        std::cout << "Warning: cmd timeout, old cmd not sent to robot" << std::endl;
+      }
+    } else {
+      SendRobotCmd();
+    }
     ctrl_sw.sleep_until_ms(period_ms);
     if (print_loop_freq)
       std::cout << "control loop frequency: " << 1.0 / ctrl_sw.toc()

src/platforms/scout_base.cpp

@@ -55,10 +55,12 @@ void ScoutBase::SendMotionCmd(uint8_t count) {
     can_frame m_frame;
     EncodeScoutMsgToCAN(&m_msg, &m_frame);
     can_if_->SendFrame(m_frame);
+    // std::cout << "CAN cmd sent" << std::endl;
   } else {
     // send to serial port
     EncodeScoutMsgToUART(&m_msg, tx_buffer_, &tx_cmd_len_);
     serial_if_->SendBytes(tx_buffer_, tx_cmd_len_);
+    // std::cout << "serial cmd sent" << std::endl;
   }
 }
 
@@ -158,6 +160,8 @@ void ScoutBase::SetMotionCommand(
   current_motion_cmd_.angular_velocity = static_cast<int8_t>(
       angular_vel / ScoutMotionCmd::max_angular_velocity * 100.0);
   current_motion_cmd_.fault_clear_flag = fault_clr_flag;
+
+  FeedCmdTimeoutWatchdog();
 }
 
 void ScoutBase::SetLightCommand(ScoutLightCmd cmd) {