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saved work on cmd timeout, not finished yet

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This commit is contained in:
Ruixiang Du
2020-09-14 18:45:08 +08:00
parent f7a4736644
commit 8ba694b894
2 changed files with 8 additions and 1 deletions
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8
include/wrp_sdk/platforms/common/mobile_base.hpp
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@@ -31,6 +31,8 @@ class MobileBase {
MobileBase(const MobileBase &hunter) = delete; MobileBase(const MobileBase &hunter) = delete;
MobileBase &operator=(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 // connect to roboot from CAN or serial
void Connect(std::string dev_name, int32_t baud_rate = 0); 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<AsyncCAN> can_if_;
std::shared_ptr<AsyncSerial> serial_if_; std::shared_ptr<AsyncSerial> serial_if_;
// timeout to be implemented in each vehicle
bool enable_timeout_ = true;
uint32_t timeout_ms_ = 100;
uint32_t watchdog_counter_ = 0;
virtual void CheckCmdTimeout();
// command thread // command thread
std::thread cmd_thread_; std::thread cmd_thread_;
int32_t cmd_thread_period_ms_ = 10; int32_t cmd_thread_period_ms_ = 10;

1
src/platforms/mobile_base.cpp
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@@ -67,7 +67,6 @@ void MobileBase::StartCmdThread() {
void MobileBase::ControlLoop(int32_t period_ms) { void MobileBase::ControlLoop(int32_t period_ms) {
StopWatch ctrl_sw; StopWatch ctrl_sw;
bool print_loop_freq = false; bool print_loop_freq = false;
static uint32_t iter_cnt = 0;
while (true) { while (true) {
ctrl_sw.tic(); ctrl_sw.tic();
SendRobotCmd(); SendRobotCmd();