report yaw angle change

e32_client/messages_pb2.py

@@ -21,7 +21,7 @@ DESCRIPTOR = _descriptor.FileDescriptor(
   package='uas.ugv.messages',
   syntax='proto3',
   serialized_options=_b('H\003'),
-  serialized_pb=_b('\n\x0emessages.proto\x12\x10uas.ugv.messages\"V\n\x08Location\x12\x13\n\x0b\x66ix_quality\x18\x01 \x01(\r\x12\x10\n\x08latitude\x18\x02 \x01(\x02\x12\x11\n\tlongitude\x18\x03 \x01(\x02\x12\x10\n\x08\x61ltitude\x18\x04 \x01(\x02\"f\n\nUGV_Status\x12*\n\x05state\x18\x01 \x01(\x0e\x32\x1b.uas.ugv.messages.UGV_State\x12,\n\x08location\x18\x02 \x01(\x0b\x32\x1a.uas.ugv.messages.Location\"c\n\x0bUGV_Message\x12.\n\x06status\x18\x01 \x01(\x0b\x32\x1c.uas.ugv.messages.UGV_StatusH\x00\x12\x15\n\x0b\x63ommand_ack\x18\x02 \x01(\rH\x00\x42\r\n\x0bugv_message\"N\n\rGroundCommand\x12\n\n\x02id\x18\x01 \x01(\r\x12\x31\n\x04type\x18\x02 \x01(\x0e\x32#.uas.ugv.messages.GroundCommandType\"U\n\rGroundMessage\x12\x32\n\x07\x63ommand\x18\x01 \x01(\x0b\x32\x1f.uas.ugv.messages.GroundCommandH\x00\x42\x10\n\x0eground_message*f\n\tUGV_State\x12\x0e\n\nSTATE_IDLE\x10\x00\x12\x12\n\x0eSTATE_AQUIRING\x10\x01\x12\x11\n\rSTATE_DRIVING\x10\x02\x12\x12\n\x0eSTATE_FINISHED\x10\x03\x12\x0e\n\nSTATE_TEST\x10\x04*K\n\x11GroundCommandType\x12\x0f\n\x0b\x43MD_DISABLE\x10\x00\x12\x17\n\x13\x43MD_DRIVE_TO_TARGET\x10\x01\x12\x0c\n\x08\x43MD_TEST\x10\x02\x42\x02H\x03\x62\x06proto3')
+  serialized_pb=_b('\n\x0emessages.proto\x12\x10uas.ugv.messages\"V\n\x08Location\x12\x13\n\x0b\x66ix_quality\x18\x01 \x01(\r\x12\x10\n\x08latitude\x18\x02 \x01(\x02\x12\x11\n\tlongitude\x18\x03 \x01(\x02\x12\x10\n\x08\x61ltitude\x18\x04 \x01(\x02\"y\n\nUGV_Status\x12*\n\x05state\x18\x01 \x01(\x0e\x32\x1b.uas.ugv.messages.UGV_State\x12,\n\x08location\x18\x02 \x01(\x0b\x32\x1a.uas.ugv.messages.Location\x12\x11\n\tyaw_angle\x18\x03 \x01(\x02\"c\n\x0bUGV_Message\x12.\n\x06status\x18\x01 \x01(\x0b\x32\x1c.uas.ugv.messages.UGV_StatusH\x00\x12\x15\n\x0b\x63ommand_ack\x18\x02 \x01(\rH\x00\x42\r\n\x0bugv_message\"N\n\rGroundCommand\x12\n\n\x02id\x18\x01 \x01(\r\x12\x31\n\x04type\x18\x02 \x01(\x0e\x32#.uas.ugv.messages.GroundCommandType\"U\n\rGroundMessage\x12\x32\n\x07\x63ommand\x18\x01 \x01(\x0b\x32\x1f.uas.ugv.messages.GroundCommandH\x00\x42\x10\n\x0eground_message*f\n\tUGV_State\x12\x0e\n\nSTATE_IDLE\x10\x00\x12\x12\n\x0eSTATE_AQUIRING\x10\x01\x12\x11\n\rSTATE_DRIVING\x10\x02\x12\x12\n\x0eSTATE_FINISHED\x10\x03\x12\x0e\n\nSTATE_TEST\x10\x04*K\n\x11GroundCommandType\x12\x0f\n\x0b\x43MD_DISABLE\x10\x00\x12\x17\n\x13\x43MD_DRIVE_TO_TARGET\x10\x01\x12\x0c\n\x08\x43MD_TEST\x10\x02\x42\x02H\x03\x62\x06proto3')
 )
 
 _UGV_STATE = _descriptor.EnumDescriptor(
@@ -53,8 +53,8 @@ _UGV_STATE = _descriptor.EnumDescriptor(
   ],
   containing_type=None,
   serialized_options=None,
-  serialized_start=496,
-  serialized_end=598,
+  serialized_start=515,
+  serialized_end=617,
 )
 _sym_db.RegisterEnumDescriptor(_UGV_STATE)
 
@@ -80,8 +80,8 @@ _GROUNDCOMMANDTYPE = _descriptor.EnumDescriptor(
   ],
   containing_type=None,
   serialized_options=None,
-  serialized_start=600,
-  serialized_end=675,
+  serialized_start=619,
+  serialized_end=694,
 )
 _sym_db.RegisterEnumDescriptor(_GROUNDCOMMANDTYPE)
 
@@ -170,6 +170,13 @@ _UGV_STATUS = _descriptor.Descriptor(
       message_type=None, enum_type=None, containing_type=None,
       is_extension=False, extension_scope=None,
       serialized_options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='yaw_angle', full_name='uas.ugv.messages.UGV_Status.yaw_angle', index=2,
+      number=3, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR),
   ],
   extensions=[
   ],
@@ -183,7 +190,7 @@ _UGV_STATUS = _descriptor.Descriptor(
   oneofs=[
   ],
   serialized_start=124,
-  serialized_end=226,
+  serialized_end=245,
 )
 
 
@@ -223,8 +230,8 @@ _UGV_MESSAGE = _descriptor.Descriptor(
       name='ugv_message', full_name='uas.ugv.messages.UGV_Message.ugv_message',
       index=0, containing_type=None, fields=[]),
   ],
-  serialized_start=228,
-  serialized_end=327,
+  serialized_start=247,
+  serialized_end=346,
 )
 
 
@@ -261,8 +268,8 @@ _GROUNDCOMMAND = _descriptor.Descriptor(
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=329,
-  serialized_end=407,
+  serialized_start=348,
+  serialized_end=426,
 )
 
 
@@ -295,8 +302,8 @@ _GROUNDMESSAGE = _descriptor.Descriptor(
       name='ground_message', full_name='uas.ugv.messages.GroundMessage.ground_message',
       index=0, containing_type=None, fields=[]),
   ],
-  serialized_start=409,
-  serialized_end=494,
+  serialized_start=428,
+  serialized_end=513,
 )
 
 _UGV_STATUS.fields_by_name['state'].enum_type = _UGV_STATE

main/messages.proto

@@ -22,6 +22,7 @@ message Location {
 message UGV_Status {
   UGV_State state = 1;
   Location location = 2;
+  float yaw_angle = 3;
 }
 
 message UGV_Message {

main/ugv_comms.cc

@@ -178,6 +178,7 @@ void CommsClass::RunTask() {
 
     Lock();
     status->mutable_location()->CopyFrom(this->location);
+    status->set_yaw_angle(this->yaw_angle);
     status->set_state(this->ugv_state);
     Unlock();
     ugv_message.SerializeToString(&ugv_message_data);

main/ugv_comms.hh

@@ -19,7 +19,7 @@ namespace messages = uas::ugv::messages;
 
 class CommsClass {
  public:
-  static constexpr int MAX_PACKET_LEN = 128;
+  static constexpr int        MAX_PACKET_LEN    = 128;
   static constexpr TickType_t PACKET_RX_TIMEOUT = pdMS_TO_TICKS(200);
 
   CommsClass();
@@ -35,6 +35,7 @@ class CommsClass {
  public:
   SemaphoreHandle_t   mutex;
   messages::Location  location;
+  float               yaw_angle;
   messages::UGV_State ugv_state;
   TickType_t          last_packet_tick;
   int32_t             last_packet_rssi;