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tested timeout

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This commit is contained in:
Ruixiang Du
2020-09-15 11:00:16 +08:00
parent 0887261a99
commit a872dd0e0e
5 changed files with 119 additions and 109 deletions
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3
src/platforms/hunter_base.cpp
View File

@@ -17,7 +17,6 @@ namespace westonrobot {
void HunterBase::SendRobotCmd() {
static uint8_t cmd_count = 0;
SendMotionCmd(cmd_count++);
FeedCmdTimeoutWatchdog();
}
void HunterBase::SendMotionCmd(uint8_t count) {
@@ -81,6 +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) {

8
src/platforms/mobile_base.cpp
View File

@@ -74,14 +74,16 @@ void MobileBase::ControlLoop(int32_t 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();
if (enable_timeout_) {
++watchdog_counter_;
if (watchdog_counter_ < timeout_iter_num)
if (watchdog_counter_ < timeout_iter_num) {
SendRobotCmd();
else
++watchdog_counter_;
} else {
std::cout << "Warning: cmd timeout, not sent to robot" << std::endl;
}
} else {
SendRobotCmd();
}

7
src/platforms/scout_base.cpp
View File

@@ -18,7 +18,6 @@ void ScoutBase::SendRobotCmd() {
static uint8_t light_cmd_count = 0;
SendMotionCmd(cmd_count++);
if (light_ctrl_requested_) SendLightCmd(light_cmd_count++);
FeedCmdTimeoutWatchdog();
}
void ScoutBase::SendMotionCmd(uint8_t count) {
@@ -56,12 +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;
// 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;
// std::cout << "serial cmd sent" << std::endl;
}
}
@@ -161,6 +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) {