amikhalev/uas-ugv
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some ugv comms improvements

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This commit is contained in:
Alex Mikhalev 2019-01-24 19:24:00 -08:00
parent fac5b63e62
commit 5bfb073e92
2 changed files with 15 additions and 14 deletions
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28
main/ugv_comms.cc
View File

@ -19,14 +19,19 @@ CommsClass::CommsClass()
ugv_state(messages::IDLE),
last_packet_tick(0),
last_packet_rssi(INT32_MIN),
last_packet_snr(INT8_MIN),
packet_num(0) {
last_packet_snr(INT8_MIN) {
mutex = xSemaphoreCreateMutex();
}
void CommsClass::Init() {
esp_err_t ret;
location.set_fix_quality(0);
location.set_latitude(43.65);
location.set_longitude(-116.20);
location.set_altitude(2730);
ugv_state = messages::UGV_State::IDLE;
#ifdef COMMS_SX127X
sx127x_config_t lora_config = sx127x_config_default();
lora_config.sck_io_num = (gpio_num_t)LORA_SCK;
@ -68,8 +73,6 @@ void CommsClass::Init() {
packet_len = -1;
#endif
packet_num = 0;
xTaskCreate(CommsClass::CommsTask, "ugv_comms", 2 * 1024, this, 2,
&task_handle);
}
@ -127,13 +130,8 @@ void CommsClass::RunTask() {
#endif
UGV_Message ugv_message;
UGV_Status *status = ugv_message.mutable_status();
Location * location = status->mutable_location();
location->set_fix_quality(0);
location->set_latitude(43.65);
location->set_longitude(-116.20);
location->set_altitude(2730);
status->set_state(UGV_State::IDLE);
std::string ugv_message_data;
UGV_Status *status = ugv_message.mutable_status();
while (true) {
TickType_t delay_ticks = next_send - current_tick;
@ -160,8 +158,12 @@ void CommsClass::RunTask() {
continue;
}
packet_num++;
ret = SendPacket(ugv_message);
Lock();
status->mutable_location()->CopyFrom(this->location);
status->set_state(this->ugv_state);
Unlock();
ugv_message.SerializeToString(&ugv_message_data);
ret = SendPacket(ugv_message_data);
if (ret != ESP_OK) {
ESP_LOGE(TAG, "error sending packet: %d", ret);
} else {

1
main/ugv_comms.hh
View File

@ -48,7 +48,6 @@ class CommsClass {
std::string packet_buf;
#endif
TaskHandle_t task_handle;
uint16_t packet_num;
void RunTask();