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uas-ugv
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start using regular protobuf instead of nanopb 

Fix using full version of protobuf

fix issue with lora config defaults

fix a few things in cmake files

fix cmake flags

minor protobuf build fixes
regular-protobuf
Alex Mikhalev 6 years ago
parent
91b017c27d
commit
611bade298
8 changed files with 127 additions and 60 deletions
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  1. 3
      .gitmodules
  2. 7
      components/nanopb/functions.cmake
  3. 35
      components/protobuf/CMakeLists.txt
  4. 22
      components/protobuf/functions.cmake
  5. 20
      main/CMakeLists.txt
  6. 2
      main/messages.proto
  7. 84
      main/ugv_comms.cc
  8. 14
      main/ugv_comms.h

3
.gitmodules vendored
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@ -13,3 +13,6 @@ @@ -13,3 +13,6 @@
[submodule "components/minmea/minmea"]
path = components/minmea/minmea
url = https://github.com/kosma/minmea.git
[submodule "components/protobuf/protobuf"]
path = components/protobuf/protobuf
url = https://github.com/protocolbuffers/protobuf.git

7
components/nanopb/functions.cmake
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@ -9,8 +9,8 @@ function(nanopb_generate PROTO_FILE PB_OUT HDR_VAR SRC_VAR) @@ -9,8 +9,8 @@ function(nanopb_generate PROTO_FILE PB_OUT HDR_VAR SRC_VAR)
set(${HDR_VAR} ${${HDR_VAR}} ${PROTO_HDR} PARENT_SCOPE)
set(${SRC_VAR} ${${SRC_VAR}} ${PROTO_SRC} PARENT_SCOPE)
if(NOT CMAKE_SCRIPT_MODE_FILE)
add_custom_command(OUTPUT ${PROTO_HDR} ${PROTO_SRC}
COMMAND protoc
add_custom_command(OUTPUT ${PROTO_HDR} ${PROTO_SRC}
COMMAND protoc
--plugin=protoc-gen-nanopb=${NANOPB_PLUGIN}
--nanopb_out=${PB_OUT}
--proto_path ${PROTO_FILE_DIR}
@ -18,7 +18,6 @@ function(nanopb_generate PROTO_FILE PB_OUT HDR_VAR SRC_VAR) @@ -18,7 +18,6 @@ function(nanopb_generate PROTO_FILE PB_OUT HDR_VAR SRC_VAR)
DEPENDS ${PROTO_FILE_PATH}
COMMENT "Generating nanopb sources for ${PROTO_FILE}")
set_property(SOURCE ${PROTO_HDR} ${PROTO_SRC} PROPERTY GENERATED TRUE)
set_property(DIRECTORY . APPEND PROPERTY ADDITIONAL_MAKE_CLEAN_FILES ${PROTO_HDR} ${PROTO_SRC})
endif()
list(APPEND ADDITIONAL_MAKE_CLEAN_FILES ${PROTO_HDR} ${PROTO_SRC})
endfunction()

35
components/protobuf/CMakeLists.txt
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@ -0,0 +1,35 @@ @@ -0,0 +1,35 @@
set(protobuf_source_dir ${CMAKE_CURRENT_LIST_DIR}/protobuf)
set(libprotobuf_lite_files
${protobuf_source_dir}/src/google/protobuf/arena.cc
${protobuf_source_dir}/src/google/protobuf/arenastring.cc
${protobuf_source_dir}/src/google/protobuf/extension_set.cc
${protobuf_source_dir}/src/google/protobuf/generated_message_util.cc
${protobuf_source_dir}/src/google/protobuf/io/coded_stream.cc
${protobuf_source_dir}/src/google/protobuf/io/zero_copy_stream.cc
${protobuf_source_dir}/src/google/protobuf/io/zero_copy_stream_impl_lite.cc
${protobuf_source_dir}/src/google/protobuf/message_lite.cc
${protobuf_source_dir}/src/google/protobuf/repeated_field.cc
${protobuf_source_dir}/src/google/protobuf/stubs/atomicops_internals_x86_gcc.cc
${protobuf_source_dir}/src/google/protobuf/stubs/atomicops_internals_x86_msvc.cc
${protobuf_source_dir}/src/google/protobuf/stubs/bytestream.cc
${protobuf_source_dir}/src/google/protobuf/stubs/common.cc
${protobuf_source_dir}/src/google/protobuf/stubs/int128.cc
${protobuf_source_dir}/src/google/protobuf/stubs/once.cc
${protobuf_source_dir}/src/google/protobuf/stubs/status.cc
${protobuf_source_dir}/src/google/protobuf/stubs/statusor.cc
${protobuf_source_dir}/src/google/protobuf/stubs/stringpiece.cc
${protobuf_source_dir}/src/google/protobuf/stubs/stringprintf.cc
${protobuf_source_dir}/src/google/protobuf/stubs/structurally_valid.cc
${protobuf_source_dir}/src/google/protobuf/stubs/strutil.cc
${protobuf_source_dir}/src/google/protobuf/stubs/time.cc
${protobuf_source_dir}/src/google/protobuf/wire_format_lite.cc
)
set(COMPONENT_SRCS ${libprotobuf_lite_files})
set(COMPONENT_ADD_INCLUDEDIRS ${protobuf_source_dir}/src)
register_component()
component_compile_options(PUBLIC -DGOOGLE_PROTOBUF_NO_RTTI -Wno-error=maybe-uninitialized
PRIVATE -DHAVE_PTHREAD)

22
components/protobuf/functions.cmake
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@ -0,0 +1,22 @@ @@ -0,0 +1,22 @@
find_program(PROTOC protoc)
function(proto_generate_cpp PROTO_FILE PB_OUT HDR_VAR SRC_VAR)
get_filename_component(PROTO_FILE_NAME ${PROTO_FILE} NAME_WE)
get_filename_component(PROTO_FILE_PATH ${PROTO_FILE} ABSOLUTE BASE_DIR ${CMAKE_CURRENT_SOURCE_DIR})
get_filename_component(PROTO_FILE_DIR ${PROTO_FILE_PATH} DIRECTORY)
set(PROTO_HDR "${PB_OUT}/${PROTO_FILE_NAME}.pb.h")
set(PROTO_SRC "${PB_OUT}/${PROTO_FILE_NAME}.pb.cc")
set(${HDR_VAR} ${${HDR_VAR}} ${PROTO_HDR} PARENT_SCOPE)
set(${SRC_VAR} ${${SRC_VAR}} ${PROTO_SRC} PARENT_SCOPE)
if(NOT CMAKE_SCRIPT_MODE_FILE)
add_custom_command(OUTPUT ${PROTO_HDR} ${PROTO_SRC}
COMMAND ${PROTOC}
--cpp_out=${PB_OUT}
--proto_path ${PROTO_FILE_DIR}
${PROTO_FILE_PATH}
DEPENDS ${PROTO_FILE_PATH}
COMMENT "Generating nanopb sources for ${PROTO_FILE}")
set_property(SOURCE ${PROTO_HDR} ${PROTO_SRC} PROPERTY GENERATED TRUE)
set_property(DIRECTORY . APPEND PROPERTY ADDITIONAL_MAKE_CLEAN_FILES ${PROTO_HDR} ${PROTO_SRC})
endif()
endfunction()

20
main/CMakeLists.txt
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@ -1,21 +1,25 @@ @@ -1,21 +1,25 @@
include(${CMAKE_CURRENT_LIST_DIR}/../components/nanopb/functions.cmake)
include(${CMAKE_CURRENT_LIST_DIR}/../components/protobuf/functions.cmake)
set(PB_OUT ${CMAKE_CURRENT_SOURCE_DIR}/pb_out)
make_directory(${PB_OUT})
nanopb_generate(messages.proto ${PB_OUT} PROTO_HDRS PROTO_SRCS)
list(APPEND COMPONENT_SRCS "ugv_main.cc"
"ugv_comms.c"
set(COMPONENT_SRCS
"ugv_main.cc"
"ugv_comms.cc"
"ugv_io.cc"
"ugv_io_gps.cc"
"ugv_io_mpu.cc"
"u8g2_esp32_hal.c"
"Print.cpp"
${PROTO_SRCS})
)
set(COMPONENT_PRIV_INCLUDEDIRS "." ${PB_OUT})
set(COMPONENT_REQUIRES "u8g2" "sx127x_driver" "nanopb" "MPU-driver" "minmea")
set(COMPONENT_REQUIRES "u8g2" "sx127x_driver" "protobuf" "MPU-driver" "minmea")
proto_generate_cpp(messages.proto ${PB_OUT} PROTO_HDRS PROTO_SRCS)
list(APPEND COMPONENT_SRCS ${PROTO_SRCS} ${PROTO_HDRS})
register_component()
make_directory(${PB_OUT})
component_compile_options("-Werror=incompatible-pointer-types")
component_compile_options(-I${PB_OUT})

2
main/messages.proto
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@ -2,6 +2,8 @@ syntax = "proto3"; @@ -2,6 +2,8 @@ syntax = "proto3";
package uas.ugv;
option optimize_for = LITE_RUNTIME;
enum UGV_State {
IDLE = 0;
AQUIRING = 1;

84
main/ugv_comms.c → main/ugv_comms.cc
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@ -2,11 +2,11 @@ @@ -2,11 +2,11 @@
#include "ugv_config.h"
#include <esp_log.h>
#include <pb_decode.h>
#include <pb_encode.h>
#include "messages.pb.h"
ugv_comms_state_t ugv_comms_state;
static const char *TAG = "ugv_comms";
static void ugv_comms_task(void *arg);
@ -15,21 +15,21 @@ static uint16_t packet_num; @@ -15,21 +15,21 @@ static uint16_t packet_num;
static void ugv_comms_task(void *arg);
static void ugv_comms_handle_packet(ugv_comms_state_t * st,
sx127x_rx_packet_t *rx_packet);
static void ugv_comms_handle_command(ugv_comms_state_t * st,
uas_ugv_GroundCommand *command);
static void ugv_comms_handle_command(ugv_comms_state_t * st,
const uas::ugv::GroundCommand *command);
void ugv_comms_init() {
ugv_comms_state_t *st = &ugv_comms_state;
st->mutex = xSemaphoreCreateMutex();
sx127x_config_t lora_config = SX127X_CONFIG_DEFAULT;
lora_config.sck_io_num = LORA_SCK;
lora_config.miso_io_num = LORA_MISO;
lora_config.mosi_io_num = LORA_MOSI;
lora_config.cs_io_num = LORA_CS;
lora_config.rst_io_num = LORA_RST;
lora_config.irq_io_num = LORA_IRQ;
sx127x_config_t lora_config = sx127x_config_default();
lora_config.sck_io_num = (gpio_num_t)LORA_SCK;
lora_config.miso_io_num = (gpio_num_t)LORA_MISO;
lora_config.mosi_io_num = (gpio_num_t)LORA_MOSI;
lora_config.cs_io_num = (gpio_num_t)LORA_CS;
lora_config.rst_io_num = (gpio_num_t)LORA_RST;
lora_config.irq_io_num = (gpio_num_t)LORA_IRQ;
lora_config.frequency = LORA_FREQ;
lora_config.tx_power = 17;
lora_config.spreading_factor = 12;
@ -37,10 +37,11 @@ void ugv_comms_init() { @@ -37,10 +37,11 @@ void ugv_comms_init() {
lora_config.sync_word = 0x34;
lora_config.crc = SX127X_CRC_ENABLED;
esp_err_t ret;
uas_ugv_Location loc = uas_ugv_Location_init_default;
esp_err_t ret;
uas::ugv::Location loc;
memcpy(&st->location, &loc, sizeof(loc));
st->ugv_state = uas_ugv_UGV_State_IDLE;
st->ugv_state = uas::ugv::UGV_State::IDLE;
st->last_packet_tick = 0;
st->last_packet_rssi = INT32_MIN;
st->last_packet_snr = INT8_MIN;
@ -73,13 +74,14 @@ static void ugv_comms_task(void *param) { @@ -73,13 +74,14 @@ static void ugv_comms_task(void *param) {
esp_err_t ret;
sx127x_rx_packet_t rx_packet;
uas_ugv_UGV_Message ugv_message = uas_ugv_UGV_Message_init_default;
ugv_message.which_ugv_message = uas_ugv_UGV_Message_status_tag;
ugv_message.ugv_message.status.location.fix_quality = 0;
ugv_message.ugv_message.status.location.latitude = 43.65;
ugv_message.ugv_message.status.location.longitude = -116.20;
ugv_message.ugv_message.status.location.altitude = 2730;
ugv_message.ugv_message.status.state = uas_ugv_UGV_State_IDLE;
uas::ugv::UGV_Message ugv_message;
uas::ugv::UGV_Status *status = ugv_message.mutable_status();
uas::ugv::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(uas::ugv::UGV_State::IDLE);
while (true) {
TickType_t delay_ticks = next_send - current_tick;
@ -97,9 +99,12 @@ static void ugv_comms_task(void *param) { @@ -97,9 +99,12 @@ static void ugv_comms_task(void *param) {
}
packet_num++;
ret = sx127x_send_packet_pb(st->lora, uas_ugv_UGV_Message_fields,
&ugv_message,
0); // 0 means error if queue full
auto str = ugv_message.SerializeAsString();
ret = sx127x_send_packet(st->lora, str.c_str(), str.size(),
0); // 0 means error if queue full
// ret = sx127x_send_packet_pb(st->lora, uas_ugv_UGV_Message_fields,
// &ugv_message,
// 0); // 0 means error if queue full
if (ret != ESP_OK) {
ESP_LOGE(TAG, "error sending packet: %d", ret);
} else {
@ -123,37 +128,34 @@ static void ugv_comms_handle_packet(ugv_comms_state_t * st, @@ -123,37 +128,34 @@ static void ugv_comms_handle_packet(ugv_comms_state_t * st,
st->last_packet_snr = rx_packet->snr;
xSemaphoreGive(st->mutex);
uas_ugv_GroundMessage ground_message = uas_ugv_GroundMessage_init_default;
pb_istream_t istream;
bool pb_ret;
uas::ugv::GroundMessage ground_message;
bool pb_ret;
istream =
pb_istream_from_buffer((pb_byte_t *)rx_packet->data, rx_packet->data_len);
pb_ret = pb_decode(&istream, uas_ugv_GroundMessage_fields, &ground_message);
pb_ret = ground_message.ParseFromArray(rx_packet->data, rx_packet->data_len);
if (!pb_ret) {
ESP_LOGE(TAG, "rx invalid protobuf");
return;
}
switch (ground_message.which_ground_message) {
case uas_ugv_GroundMessage_command_tag:
ugv_comms_handle_command(st, &ground_message.ground_message.command);
switch (ground_message.ground_message_case()) {
case uas::ugv::GroundMessage::kCommand:
ugv_comms_handle_command(st, &ground_message.command());
break;
default:
ESP_LOGE(TAG, "invalid ground message: %d",
ground_message.which_ground_message);
ground_message.ground_message_case());
break;
}
}
static void ugv_comms_handle_command(ugv_comms_state_t * st,
uas_ugv_GroundCommand *command) {
ESP_LOGI(TAG, "rx command id %d type %d", command->id, command->type);
static void ugv_comms_handle_command(ugv_comms_state_t * st,
const uas::ugv::GroundCommand *command) {
ESP_LOGI(TAG, "rx command id %d type %d", command->id(), command->type());
// TODO: handle command
uas_ugv_UGV_Message ugv_message = uas_ugv_UGV_Message_init_default;
ugv_message.which_ugv_message = uas_ugv_UGV_Message_command_ack_tag;
ugv_message.ugv_message.command_ack = command->id;
uas::ugv::UGV_Message ugv_message;
ugv_message.set_command_ack(command->id());
sx127x_send_packet_pb(st->lora, uas_ugv_UGV_Message_fields, &ugv_message, 0);
std::string str = ugv_message.SerializeAsString();
sx127x_send_packet(st->lora, str.c_str(), str.size(), 0);
}

14
main/ugv_comms.h
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@ -15,15 +15,15 @@ typedef struct ugv_comms_state_s { @@ -15,15 +15,15 @@ typedef struct ugv_comms_state_s {
sx127x_hndl lora;
TaskHandle_t task_handle;
SemaphoreHandle_t mutex;
uas_ugv_Location location;
uas_ugv_UGV_State ugv_state;
TickType_t last_packet_tick;
int32_t last_packet_rssi;
int8_t last_packet_snr;
SemaphoreHandle_t mutex;
uas::ugv::Location location;
uas::ugv::UGV_State ugv_state;
TickType_t last_packet_tick;
int32_t last_packet_rssi;
int8_t last_packet_snr;
} ugv_comms_state_t;
ugv_comms_state_t ugv_comms_state;
extern ugv_comms_state_t ugv_comms_state;
void ugv_comms_init();

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