Add CRC checking to python tools

.clang-format

@@ -3,8 +3,8 @@ Language:        Cpp
 # BasedOnStyle:  Google
 AccessModifierOffset: -1
 AlignAfterOpenBracket: Align
-AlignConsecutiveAssignments: true
-AlignConsecutiveDeclarations: true
+AlignConsecutiveAssignments: false
+AlignConsecutiveDeclarations: false
 AlignEscapedNewlines: Left
 AlignOperands:   true
 AlignTrailingComments: true

.gitignore

@@ -7,4 +7,6 @@
 /cmake-build*
 
 __pycache__
-*.pyc
+*.pyc
+/venv
+/tools/venv

calib/calib.py

@@ -2,39 +2,48 @@
 import serial
 import re
 import datetime
+import sys
 
 def capture_data():
     num_re = r"([\-0-9\.]+)"
     line_re = re.compile(r".*inputs: acc=\({0}, {0}, {0}\) gyro=\({0}, {0}, {0}\) mag=\({0}, {0}, {0}\)".format(num_re))
 
-    ser = serial.serial_for_url("hwgrep://", baudrate=115200, parity=serial.PARITY_NONE,
-                                stopbits=serial.STOPBITS_ONE, bytesize=serial.EIGHTBITS,
-                                timeout=2.0)
-    with ser:
-        timestr = datetime.datetime.now().strftime("%Y-%m-%d %H-%M-%S")
-        fname = "UGVDATA_{}.csv".format(timestr)
-        with open(fname, "w") as f:
-            try:
-                f.write("AX,AY,AZ,GX,GY,GZ,MX,MY,MZ\n")
-                while True:
-                    try:
-                        line = ser.read_until().decode("utf-8")
-                    except Exception as e:
-                        print("line decode error: ", e)
-                        continue
-                    matches = line_re.match(line)
-                    if not matches:
-                        print("line did not match: ", line)
-                        continue
-                    nums = [str(numstr) for numstr in matches.groups()]
-                    if len(nums) != 9:
-                        continue
-                    f.write(",".join(nums))
-                    f.write("\n")
-            except KeyboardInterrupt:
-                print("interrupt")
+    if len(sys.argv) >= 2:
+        ser_url = sys.argv[1]
+    else:
+        ser_url = "hwgrep://"
+    if len(sys.argv) >= 3:
+        fname = sys.argv[2]
+        f = open(fname, "w")
+    else:
+        f = sys.stdout
+        # timestr = datetime.datetime.now().strftime("%Y-%m-%d %H-%M-%S")
+        # fname = "UGVDATA_{}.csv".format(timestr)
+    ser = serial.serial_for_url(ser_url, baudrate=115200, parity=serial.PARITY_NONE,
+                                stopbits=serial.STOPBITS_ONE, bytesize=serial.EIGHTBITS)
+    with ser, f:
+        try:
+            f.write("AX,AY,AZ,GX,GY,GZ,MX,MY,MZ\n")
+            while True:
+                try:
+                    line = ser.read_until().decode("utf-8")
+                except Exception as e:
+                    print("line decode error: ", e, file=sys.stderr)
+                    continue
+                matches = line_re.match(line)
+                if not matches:
+                    print("line did not match: ", line, file=sys.stderr)
+                    continue
+                nums = [str(numstr) for numstr in matches.groups()]
+                if len(nums) != 9:
+                    continue
+                f.write(",".join(nums))
+                f.write("\n")
                 f.flush()
-                return
+        except KeyboardInterrupt:
+            print("interrupt", file=sys.stderr)
+        finally:
+            f.flush()
 
 if __name__ == "__main__":
     capture_data()

e32_client/messages_pb2.py

@@ -1,351 +0,0 @@
-# Generated by the protocol buffer compiler.  DO NOT EDIT!
-# source: messages.proto
-
-import sys
-_b=sys.version_info[0]<3 and (lambda x:x) or (lambda x:x.encode('latin1'))
-from google.protobuf.internal import enum_type_wrapper
-from google.protobuf import descriptor as _descriptor
-from google.protobuf import message as _message
-from google.protobuf import reflection as _reflection
-from google.protobuf import symbol_database as _symbol_database
-# @@protoc_insertion_point(imports)
-
-_sym_db = _symbol_database.Default()
-
-
-
-
-DESCRIPTOR = _descriptor.FileDescriptor(
-  name='messages.proto',
-  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*>\n\tUGV_State\x12\x08\n\x04IDLE\x10\x00\x12\x0c\n\x08\x41QUIRING\x10\x01\x12\x0b\n\x07\x44RIVING\x10\x02\x12\x0c\n\x08\x46INISHED\x10\x03*,\n\x11GroundCommandType\x12\x0b\n\x07\x44ISABLE\x10\x00\x12\n\n\x06\x45NABLE\x10\x01\x42\x02H\x03\x62\x06proto3')
-)
-
-_UGV_STATE = _descriptor.EnumDescriptor(
-  name='UGV_State',
-  full_name='uas.ugv.messages.UGV_State',
-  filename=None,
-  file=DESCRIPTOR,
-  values=[
-    _descriptor.EnumValueDescriptor(
-      name='IDLE', index=0, number=0,
-      serialized_options=None,
-      type=None),
-    _descriptor.EnumValueDescriptor(
-      name='AQUIRING', index=1, number=1,
-      serialized_options=None,
-      type=None),
-    _descriptor.EnumValueDescriptor(
-      name='DRIVING', index=2, number=2,
-      serialized_options=None,
-      type=None),
-    _descriptor.EnumValueDescriptor(
-      name='FINISHED', index=3, number=3,
-      serialized_options=None,
-      type=None),
-  ],
-  containing_type=None,
-  serialized_options=None,
-  serialized_start=496,
-  serialized_end=558,
-)
-_sym_db.RegisterEnumDescriptor(_UGV_STATE)
-
-UGV_State = enum_type_wrapper.EnumTypeWrapper(_UGV_STATE)
-_GROUNDCOMMANDTYPE = _descriptor.EnumDescriptor(
-  name='GroundCommandType',
-  full_name='uas.ugv.messages.GroundCommandType',
-  filename=None,
-  file=DESCRIPTOR,
-  values=[
-    _descriptor.EnumValueDescriptor(
-      name='DISABLE', index=0, number=0,
-      serialized_options=None,
-      type=None),
-    _descriptor.EnumValueDescriptor(
-      name='ENABLE', index=1, number=1,
-      serialized_options=None,
-      type=None),
-  ],
-  containing_type=None,
-  serialized_options=None,
-  serialized_start=560,
-  serialized_end=604,
-)
-_sym_db.RegisterEnumDescriptor(_GROUNDCOMMANDTYPE)
-
-GroundCommandType = enum_type_wrapper.EnumTypeWrapper(_GROUNDCOMMANDTYPE)
-IDLE = 0
-AQUIRING = 1
-DRIVING = 2
-FINISHED = 3
-DISABLE = 0
-ENABLE = 1
-
-
-
-_LOCATION = _descriptor.Descriptor(
-  name='Location',
-  full_name='uas.ugv.messages.Location',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='fix_quality', full_name='uas.ugv.messages.Location.fix_quality', index=0,
-      number=1, type=13, cpp_type=3, label=1,
-      has_default_value=False, default_value=0,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='latitude', full_name='uas.ugv.messages.Location.latitude', index=1,
-      number=2, 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),
-    _descriptor.FieldDescriptor(
-      name='longitude', full_name='uas.ugv.messages.Location.longitude', 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),
-    _descriptor.FieldDescriptor(
-      name='altitude', full_name='uas.ugv.messages.Location.altitude', index=3,
-      number=4, 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=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  serialized_options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=36,
-  serialized_end=122,
-)
-
-
-_UGV_STATUS = _descriptor.Descriptor(
-  name='UGV_Status',
-  full_name='uas.ugv.messages.UGV_Status',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='state', full_name='uas.ugv.messages.UGV_Status.state', index=0,
-      number=1, type=14, cpp_type=8, label=1,
-      has_default_value=False, default_value=0,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='location', full_name='uas.ugv.messages.UGV_Status.location', index=1,
-      number=2, type=11, cpp_type=10, label=1,
-      has_default_value=False, default_value=None,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  serialized_options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=124,
-  serialized_end=226,
-)
-
-
-_UGV_MESSAGE = _descriptor.Descriptor(
-  name='UGV_Message',
-  full_name='uas.ugv.messages.UGV_Message',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='status', full_name='uas.ugv.messages.UGV_Message.status', index=0,
-      number=1, type=11, cpp_type=10, label=1,
-      has_default_value=False, default_value=None,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='command_ack', full_name='uas.ugv.messages.UGV_Message.command_ack', index=1,
-      number=2, type=13, cpp_type=3, label=1,
-      has_default_value=False, default_value=0,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  serialized_options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-    _descriptor.OneofDescriptor(
-      name='ugv_message', full_name='uas.ugv.messages.UGV_Message.ugv_message',
-      index=0, containing_type=None, fields=[]),
-  ],
-  serialized_start=228,
-  serialized_end=327,
-)
-
-
-_GROUNDCOMMAND = _descriptor.Descriptor(
-  name='GroundCommand',
-  full_name='uas.ugv.messages.GroundCommand',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='id', full_name='uas.ugv.messages.GroundCommand.id', index=0,
-      number=1, type=13, cpp_type=3, label=1,
-      has_default_value=False, default_value=0,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='type', full_name='uas.ugv.messages.GroundCommand.type', index=1,
-      number=2, type=14, cpp_type=8, label=1,
-      has_default_value=False, default_value=0,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  serialized_options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=329,
-  serialized_end=407,
-)
-
-
-_GROUNDMESSAGE = _descriptor.Descriptor(
-  name='GroundMessage',
-  full_name='uas.ugv.messages.GroundMessage',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='command', full_name='uas.ugv.messages.GroundMessage.command', index=0,
-      number=1, type=11, cpp_type=10, label=1,
-      has_default_value=False, default_value=None,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  serialized_options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-    _descriptor.OneofDescriptor(
-      name='ground_message', full_name='uas.ugv.messages.GroundMessage.ground_message',
-      index=0, containing_type=None, fields=[]),
-  ],
-  serialized_start=409,
-  serialized_end=494,
-)
-
-_UGV_STATUS.fields_by_name['state'].enum_type = _UGV_STATE
-_UGV_STATUS.fields_by_name['location'].message_type = _LOCATION
-_UGV_MESSAGE.fields_by_name['status'].message_type = _UGV_STATUS
-_UGV_MESSAGE.oneofs_by_name['ugv_message'].fields.append(
-  _UGV_MESSAGE.fields_by_name['status'])
-_UGV_MESSAGE.fields_by_name['status'].containing_oneof = _UGV_MESSAGE.oneofs_by_name['ugv_message']
-_UGV_MESSAGE.oneofs_by_name['ugv_message'].fields.append(
-  _UGV_MESSAGE.fields_by_name['command_ack'])
-_UGV_MESSAGE.fields_by_name['command_ack'].containing_oneof = _UGV_MESSAGE.oneofs_by_name['ugv_message']
-_GROUNDCOMMAND.fields_by_name['type'].enum_type = _GROUNDCOMMANDTYPE
-_GROUNDMESSAGE.fields_by_name['command'].message_type = _GROUNDCOMMAND
-_GROUNDMESSAGE.oneofs_by_name['ground_message'].fields.append(
-  _GROUNDMESSAGE.fields_by_name['command'])
-_GROUNDMESSAGE.fields_by_name['command'].containing_oneof = _GROUNDMESSAGE.oneofs_by_name['ground_message']
-DESCRIPTOR.message_types_by_name['Location'] = _LOCATION
-DESCRIPTOR.message_types_by_name['UGV_Status'] = _UGV_STATUS
-DESCRIPTOR.message_types_by_name['UGV_Message'] = _UGV_MESSAGE
-DESCRIPTOR.message_types_by_name['GroundCommand'] = _GROUNDCOMMAND
-DESCRIPTOR.message_types_by_name['GroundMessage'] = _GROUNDMESSAGE
-DESCRIPTOR.enum_types_by_name['UGV_State'] = _UGV_STATE
-DESCRIPTOR.enum_types_by_name['GroundCommandType'] = _GROUNDCOMMANDTYPE
-_sym_db.RegisterFileDescriptor(DESCRIPTOR)
-
-Location = _reflection.GeneratedProtocolMessageType('Location', (_message.Message,), dict(
-  DESCRIPTOR = _LOCATION,
-  __module__ = 'messages_pb2'
-  # @@protoc_insertion_point(class_scope:uas.ugv.messages.Location)
-  ))
-_sym_db.RegisterMessage(Location)
-
-UGV_Status = _reflection.GeneratedProtocolMessageType('UGV_Status', (_message.Message,), dict(
-  DESCRIPTOR = _UGV_STATUS,
-  __module__ = 'messages_pb2'
-  # @@protoc_insertion_point(class_scope:uas.ugv.messages.UGV_Status)
-  ))
-_sym_db.RegisterMessage(UGV_Status)
-
-UGV_Message = _reflection.GeneratedProtocolMessageType('UGV_Message', (_message.Message,), dict(
-  DESCRIPTOR = _UGV_MESSAGE,
-  __module__ = 'messages_pb2'
-  # @@protoc_insertion_point(class_scope:uas.ugv.messages.UGV_Message)
-  ))
-_sym_db.RegisterMessage(UGV_Message)
-
-GroundCommand = _reflection.GeneratedProtocolMessageType('GroundCommand', (_message.Message,), dict(
-  DESCRIPTOR = _GROUNDCOMMAND,
-  __module__ = 'messages_pb2'
-  # @@protoc_insertion_point(class_scope:uas.ugv.messages.GroundCommand)
-  ))
-_sym_db.RegisterMessage(GroundCommand)
-
-GroundMessage = _reflection.GeneratedProtocolMessageType('GroundMessage', (_message.Message,), dict(
-  DESCRIPTOR = _GROUNDMESSAGE,
-  __module__ = 'messages_pb2'
-  # @@protoc_insertion_point(class_scope:uas.ugv.messages.GroundMessage)
-  ))
-_sym_db.RegisterMessage(GroundMessage)
-
-
-DESCRIPTOR._options = None
-# @@protoc_insertion_point(module_scope)

e32_client/ugv.py

@@ -1,78 +0,0 @@
-#!/usr/bin/env python3
-
-import serial
-from threading import Thread
-import time
-
-from e32 import E32
-import messages_pb2 as messages
-from google.protobuf.message import Message
-
-
-class UGVComms(E32):
-    def __init__(self, serial_port: serial.Serial):
-        E32.__init__(self, serial_port)
-
-    def write_len_delimited(self, data: bytes):
-        len_data = (len(data)).to_bytes(
-            1, byteorder='big')  # TODO: check byte order
-        self.ser.write(len_data)
-        self.ser.write(data)
-
-    def write_message(self, msg: Message):
-        data = msg.SerializeToString()
-        self.write_len_delimited(data)
-
-    def read_message(self):
-        len_data = self.ser.read(size=1)
-        if len(len_data) != 1:
-            return None
-        msg_len = int.from_bytes(len_data, byteorder='big')
-        data = self.ser.read(size=msg_len)
-        if len(data) != msg_len:
-            print("read bad data: ", data)
-            self.ser.flush()
-            return None
-        msg = messages.UGV_Message()
-        msg.ParseFromString(data)
-        return msg
-
-
-def __rx_thread_entry(ugv: UGVComms):
-    while ugv.ser.is_open:
-        try:
-            msg = ugv.read_message()
-            if msg is not None:
-                print("received UGV message: ", msg)
-        except Exception as e:
-            print("error reading message: ", e)
-            continue
-
-
-if __name__ == "__main__":
-    ser = serial.serial_for_url("/dev/ttyUSB1", baudrate=9600, parity=serial.PARITY_NONE,
-                                stopbits=serial.STOPBITS_ONE, bytesize=serial.EIGHTBITS,
-                                timeout=2.0)
-    ugv = UGVComms(ser)
-    rx_thread = Thread(target=__rx_thread_entry, args=(ugv, ), daemon=True)
-    rx_thread.start()
-    # print("resetting")
-    # ugv.reset()
-    cmd_id = 1
-    time.sleep(0.2)
-    try:
-        while True:
-            gmsg = messages.GroundMessage()
-            gmsg.command.id = cmd_id
-            gmsg.command.type = messages.DISABLE
-            cmd_id += 1
-            print("writing message: ", gmsg)
-            ugv.write_message(gmsg)
-            time.sleep(2.)
-    except KeyboardInterrupt:
-        print("exiting...")
-    finally:
-        ugv.ser.close()
-
-    rx_thread.join()
-

main/CMakeLists.txt

@@ -1,28 +1,43 @@
 include(${CMAKE_CURRENT_LIST_DIR}/../components/protobuf/functions.cmake)
 
-set(PB_OUT ${CMAKE_CURRENT_SOURCE_DIR}/pb_out)
+set(PB_OUT ${CMAKE_CURRENT_LIST_DIR}/pb_out)
+make_directory(${PB_OUT})
 
 set(COMPONENT_SRCS
     "ugv_main.cc"
+    "ugv_comms.hh"
     "ugv_comms.cc"
+    "ugv_display.hh"
     "ugv_display.cc"
+    "ugv_io.hh"
     "ugv_io.cc"
+    "ugv_io_gps.hh"
     "ugv_io_gps.cc"
+    "ugv_io_mpu.hh"
     "ugv_io_mpu.cc"
+    "u8g2_esp32_hal.h"
     "u8g2_esp32_hal.c"
+    "Print.h"
     "Print.cpp"
+    "MadgwickAHRS.h"
     "MadgwickAHRS.cpp"
+    "e32_driver.hh"
     "e32_driver.cc"
+    "pid_controller.hh"
+    "pid_controller.cc"
+    "lat_long.hh"
+    "lat_long.cc"
+    "ugv.hh"
+    "ugv.cc"
 )
 set(COMPONENT_PRIV_INCLUDEDIRS "." ${PB_OUT})
-set(COMPONENT_REQUIRES "u8g2" "sx127x_driver" "protobuf" "MPU-driver" "minmea")
+set(COMPONENT_REQUIRES "u8g2" "sx127x_driver" "protobuf" "MPU-driver" "minmea" "mbedtls")
 
 proto_generate_cpp(messages.proto ${PB_OUT} PROTO_HDRS PROTO_SRCS)
+proto_generate_cpp(config.proto ${PB_OUT} PROTO_HDRS PROTO_SRCS)
 list(APPEND COMPONENT_SRCS ${PROTO_SRCS} ${PROTO_HDRS})
 
 register_component()
 
-make_directory(${PB_OUT})
-
 component_compile_options("-Werror=incompatible-pointer-types" "-std=c++14")
 component_compile_options(-I${PB_OUT})

main/MadgwickAHRS.cpp

@@ -27,7 +27,7 @@
 // Definitions
 
 #define sampleFreqDef 512.0f  // sample frequency in Hz
-#define betaDef 0.1f          // 2 * proportional gain
+#define betaDef 0.2f          // 2 * proportional gain
 
 //============================================================================================
 // Functions
@@ -36,12 +36,12 @@
 // AHRS algorithm update
 
 Madgwick::Madgwick() {
-  beta           = betaDef;
-  q0             = 1.0f;
-  q1             = 0.0f;
-  q2             = 0.0f;
-  q3             = 0.0f;
-  invSampleFreq  = 1.0f / sampleFreqDef;
+  beta = betaDef;
+  q0 = 1.0f;
+  q1 = 0.0f;
+  q2 = 0.0f;
+  q3 = 0.0f;
+  invSampleFreq = 1.0f / sampleFreqDef;
   anglesComputed = 0;
 }
 
@@ -93,22 +93,22 @@ void Madgwick::update(float gx, float gy, float gz, float ax, float ay,
     _2q0my = 2.0f * q0 * my;
     _2q0mz = 2.0f * q0 * mz;
     _2q1mx = 2.0f * q1 * mx;
-    _2q0   = 2.0f * q0;
-    _2q1   = 2.0f * q1;
-    _2q2   = 2.0f * q2;
-    _2q3   = 2.0f * q3;
+    _2q0 = 2.0f * q0;
+    _2q1 = 2.0f * q1;
+    _2q2 = 2.0f * q2;
+    _2q3 = 2.0f * q3;
     _2q0q2 = 2.0f * q0 * q2;
     _2q2q3 = 2.0f * q2 * q3;
-    q0q0   = q0 * q0;
-    q0q1   = q0 * q1;
-    q0q2   = q0 * q2;
-    q0q3   = q0 * q3;
-    q1q1   = q1 * q1;
-    q1q2   = q1 * q2;
-    q1q3   = q1 * q3;
-    q2q2   = q2 * q2;
-    q2q3   = q2 * q3;
-    q3q3   = q3 * q3;
+    q0q0 = q0 * q0;
+    q0q1 = q0 * q1;
+    q0q2 = q0 * q2;
+    q0q3 = q0 * q3;
+    q1q1 = q1 * q1;
+    q1q2 = q1 * q2;
+    q1q3 = q1 * q3;
+    q2q2 = q2 * q2;
+    q2q3 = q2 * q3;
+    q3q3 = q3 * q3;
 
     // Reference direction of Earth's magnetic field
     hx = mx * q0q0 - _2q0my * q3 + _2q0mz * q2 + mx * q1q1 + _2q1 * my * q2 +
@@ -233,7 +233,7 @@ void Madgwick::updateIMU(float gx, float gy, float gz, float ax, float ay,
          _8q1 * q1q1 + _8q1 * q2q2 + _4q1 * az;
     s2 = 4.0f * q0q0 * q2 + _2q0 * ax + _4q2 * q3q3 - _2q3 * ay - _4q2 +
          _8q2 * q1q1 + _8q2 * q2q2 + _4q2 * az;
-    s3        = 4.0f * q1q1 * q3 - _2q1 * ax + 4.0f * q2q2 * q3 - _2q2 * ay;
+    s3 = 4.0f * q1q1 * q3 - _2q1 * ax + 4.0f * q2q2 * q3 - _2q2 * ay;
     recipNorm = invSqrt(s0 * s0 + s1 * s1 + s2 * s2 +
                         s3 * s3);  // normalise step magnitude
     s0 *= recipNorm;
@@ -269,23 +269,23 @@ void Madgwick::updateIMU(float gx, float gy, float gz, float ax, float ay,
 
 float Madgwick::invSqrt(float x) {
   float halfx = 0.5f * x;
-  float y     = x;
+  float y = x;
   // long  i     = *(long *)&y;
-  long  i;
+  long i;
   memcpy(&i, &y, sizeof(float));
-  i           = 0x5f3759df - (i >> 1);
+  i = 0x5f3759df - (i >> 1);
   // y           = *(float *)&i;
   memcpy(&y, &i, sizeof(float));
-  y           = y * (1.5f - (halfx * y * y));
-  y           = y * (1.5f - (halfx * y * y));
+  y = y * (1.5f - (halfx * y * y));
+  y = y * (1.5f - (halfx * y * y));
   return y;
 }
 
 //-------------------------------------------------------------------------------------------
 
 void Madgwick::computeAngles() {
-  roll           = atan2f(q0 * q1 + q2 * q3, 0.5f - q1 * q1 - q2 * q2);
-  pitch          = asinf(-2.0f * (q1 * q3 - q0 * q2));
-  yaw            = atan2f(q1 * q2 + q0 * q3, 0.5f - q2 * q2 - q3 * q3);
+  roll = atan2f(q0 * q1 + q2 * q3, 0.5f - q1 * q1 - q2 * q2);
+  pitch = asinf(-2.0f * (q1 * q3 - q0 * q2));
+  yaw = atan2f(q1 * q2 + q0 * q3, 0.5f - q2 * q2 - q3 * q3);
   anglesComputed = 1;
 }

main/MadgwickAHRS.h

@@ -34,7 +34,7 @@ class Madgwick {
   float roll;
   float pitch;
   float yaw;
-  char  anglesComputed;
+  char anglesComputed;
 
   void computeAngles();
 

main/Print.cpp

@@ -41,8 +41,8 @@ size_t Print::write(const uint8_t *buffer, size_t size) {
 }
 
 size_t Print::printf(const char *format, ...) {
-  char    loc_buf[64];
-  char *  temp = loc_buf;
+  char loc_buf[64];
+  char *temp = loc_buf;
   va_list arg;
   va_list copy;
   va_start(arg, format);
@@ -90,7 +90,7 @@ size_t Print::print(long n, int base) {
   } else if (base == 10) {
     if (n < 0) {
       int t = print('-');
-      n     = -n;
+      n = -n;
       return printNumber(n, 10) + t;
     }
     return printNumber(n, 10);
@@ -116,7 +116,7 @@ size_t Print::print(struct tm *timeinfo, const char *format) {
   if (!f) {
     f = "%c";
   }
-  char   buf[64];
+  char buf[64];
   size_t written = strftime(buf, 64, f, timeinfo);
   print(buf);
   return written;
@@ -199,7 +199,7 @@ size_t Print::println(struct tm *timeinfo, const char *format) {
 // Private Methods /////////////////////////////////////////////////////////////
 
 size_t Print::printNumber(unsigned long n, uint8_t base) {
-  char  buf[8 * sizeof(long) + 1];  // Assumes 8-bit chars plus zero byte.
+  char buf[8 * sizeof(long) + 1];  // Assumes 8-bit chars plus zero byte.
   char *str = &buf[sizeof(buf) - 1];
 
   *str = '\0';
@@ -250,8 +250,8 @@ size_t Print::printFloat(double number, uint8_t digits) {
   number += rounding;
 
   // Extract the integer part of the number and print it
-  unsigned long int_part  = (unsigned long)number;
-  double        remainder = number - (double)int_part;
+  unsigned long int_part = (unsigned long)number;
+  double remainder = number - (double)int_part;
   n += print(int_part);
 
   // Print the decimal point, but only if there are digits beyond

main/Print.h

@@ -31,7 +31,7 @@
 
 class Print {
  private:
-  int    write_error;
+  int write_error;
   size_t printNumber(unsigned long, uint8_t);
   size_t printFloat(double, uint8_t);
 
@@ -41,18 +41,18 @@ class Print {
  public:
   Print() : write_error(0) {}
   virtual ~Print() {}
-  int  getWriteError() { return write_error; }
+  int getWriteError() { return write_error; }
   void clearWriteError() { setWriteError(0); }
 
   virtual size_t write(uint8_t) = 0;
-  size_t         write(const char *str) {
+  size_t write(const char *str) {
     if (str == NULL) {
       return 0;
     }
     return write((const uint8_t *)str, strlen(str));
   }
   virtual size_t write(const uint8_t *buffer, size_t size);
-  size_t         write(const char *buffer, size_t size) {
+  size_t write(const char *buffer, size_t size) {
     return write((const uint8_t *)buffer, size);
   }
 

main/U8g2lib.hh

@@ -6,7 +6,7 @@
 
 class U8G2 : public Print {
  protected:
-  u8g2_t       u8g2;
+  u8g2_t u8g2;
   u8x8_char_cb cpp_next_cb; /*  the cpp interface has its own decoding function
                                for the Arduino print command */
  public:
@@ -20,7 +20,7 @@ class U8G2 : public Print {
   u8g2_t *getU8g2(void) { return &u8g2; }
 
   uint32_t getBusClock(void) { return u8g2_GetU8x8(&u8g2)->bus_clock; }
-  void     setBusClock(uint32_t clock_speed) {
+  void setBusClock(uint32_t clock_speed) {
     u8g2_GetU8x8(&u8g2)->bus_clock = clock_speed;
   }
 
@@ -32,13 +32,13 @@ class U8G2 : public Print {
   /* u8x8 interface */
   uint8_t getCols(void) { return u8x8_GetCols(u8g2_GetU8x8(&u8g2)); }
   uint8_t getRows(void) { return u8x8_GetRows(u8g2_GetU8x8(&u8g2)); }
-  void    drawTile(uint8_t x, uint8_t y, uint8_t cnt, uint8_t *tile_ptr) {
+  void drawTile(uint8_t x, uint8_t y, uint8_t cnt, uint8_t *tile_ptr) {
     u8x8_DrawTile(u8g2_GetU8x8(&u8g2), x, y, cnt, tile_ptr);
   }
 
 #ifdef U8X8_WITH_USER_PTR
   void *getUserPtr() { return u8g2_GetUserPtr(&u8g2); }
-  void  setUserPtr(void *p) { u8g2_SetUserPtr(&u8g2, p); }
+  void setUserPtr(void *p) { u8g2_SetUserPtr(&u8g2, p); }
 #endif
 
 #ifdef U8X8_USE_PINS
@@ -118,13 +118,13 @@ class U8G2 : public Print {
   void sendBuffer(void) { u8g2_SendBuffer(&u8g2); }
   void clearBuffer(void) { u8g2_ClearBuffer(&u8g2); }
 
-  void    firstPage(void) { u8g2_FirstPage(&u8g2); }
+  void firstPage(void) { u8g2_FirstPage(&u8g2); }
   uint8_t nextPage(void) { return u8g2_NextPage(&u8g2); }
 
   uint8_t *getBufferPtr(void) { return u8g2_GetBufferPtr(&u8g2); }
-  uint8_t  getBufferTileHeight(void) { return u8g2_GetBufferTileHeight(&u8g2); }
-  uint8_t  getBufferTileWidth(void) { return u8g2_GetBufferTileWidth(&u8g2); }
-  uint8_t  getPageCurrTileRow(void) {
+  uint8_t getBufferTileHeight(void) { return u8g2_GetBufferTileHeight(&u8g2); }
+  uint8_t getBufferTileWidth(void) { return u8g2_GetBufferTileWidth(&u8g2); }
+  uint8_t getPageCurrTileRow(void) {
     return u8g2_GetBufferCurrTileRow(&u8g2);
   }  // obsolete
   void setPageCurrTileRow(uint8_t row) {
@@ -339,11 +339,11 @@ class U8G2 : public Print {
   void setColorIndex(uint8_t color_index) {
     u8g2_SetDrawColor(&u8g2, color_index);
   }
-  uint8_t     getColorIndex(void) { return u8g2_GetDrawColor(&u8g2); }
-  int8_t      getFontAscent(void) { return u8g2_GetAscent(&u8g2); }
-  int8_t      getFontDescent(void) { return u8g2_GetDescent(&u8g2); }
-  int8_t      getMaxCharHeight(void) { return u8g2_GetMaxCharHeight(&u8g2); }
-  int8_t      getMaxCharWidth(void) { return u8g2_GetMaxCharWidth(&u8g2); }
+  uint8_t getColorIndex(void) { return u8g2_GetDrawColor(&u8g2); }
+  int8_t getFontAscent(void) { return u8g2_GetAscent(&u8g2); }
+  int8_t getFontDescent(void) { return u8g2_GetDescent(&u8g2); }
+  int8_t getMaxCharHeight(void) { return u8g2_GetMaxCharHeight(&u8g2); }
+  int8_t getMaxCharWidth(void) { return u8g2_GetMaxCharWidth(&u8g2); }
   u8g2_uint_t getHeight() { return u8g2_GetDisplayHeight(&u8g2); }
   u8g2_uint_t getWidth() { return u8g2_GetDisplayWidth(&u8g2); }
 };
@@ -358,9 +358,9 @@ void u8x8_SetPin_HW_I2C(u8x8_t *u8x8, uint8_t reset, uint8_t clock,
 class U8G2_SSD1306_128X64_NONAME_F_HW_I2C : public U8G2 {
  public:
   U8G2_SSD1306_128X64_NONAME_F_HW_I2C(const u8g2_cb_t *rotation,
-                                      uint8_t          reset = U8X8_PIN_NONE,
-                                      uint8_t          clock = U8X8_PIN_NONE,
-                                      uint8_t          data  = U8X8_PIN_NONE)
+                                      uint8_t reset = U8X8_PIN_NONE,
+                                      uint8_t clock = U8X8_PIN_NONE,
+                                      uint8_t data = U8X8_PIN_NONE)
       : U8G2() {
     u8g2_Setup_ssd1306_i2c_128x64_noname_f(
         &u8g2, rotation, u8g2_esp32_i2c_byte_cb, u8g2_esp32_gpio_and_delay_cb);

main/config.proto

@@ -0,0 +1,21 @@
+syntax = "proto3";
+
+package ugv.config;
+
+option optimize_for = LITE_RUNTIME;
+
+message PidParams {
+  float kp = 1;
+  float ki = 2;
+  float kd = 3;
+  float max_output = 4;
+  float max_i_error = 5;
+}
+
+message Config {
+  float min_target_dist = 1;
+  float drive_power = 2;
+  PidParams angle_pid = 3;
+  float min_flip_pitch = 4;
+  float mag_declination = 5;
+}

main/e32_driver.cc

@@ -5,40 +5,40 @@
 namespace ugv {
 namespace e32 {
 
-static constexpr size_t E32_BUF_SIZE         = 1024;
+static constexpr size_t E32_BUF_SIZE = 1024;
 static constexpr size_t E32_UART_RX_BUF_SIZE = 1024;
 static constexpr size_t E32_UART_TX_BUF_SIZE = 1024;
 
-static constexpr size_t PARAMS_LEN               = 6;
-static const uint8_t    CMD_WRITE_PARAMS_SAVE    = 0xC0;
-static const uint8_t    CMD_READ_PARAMS[]        = {0xC1, 0xC1, 0xC1};
-static const uint8_t    CMD_WRITE_PARAMS_NO_SAVE = 0xC2;
-static const uint8_t    CMD_READ_VERSION[]       = {0xC3, 0xC3, 0xC3};
-static const uint8_t    CMD_RESET[]              = {0xC4, 0xC4, 0xC4};
+static constexpr size_t PARAMS_LEN = 6;
+static const uint8_t CMD_WRITE_PARAMS_SAVE = 0xC0;
+static const uint8_t CMD_READ_PARAMS[] = {0xC1, 0xC1, 0xC1};
+static const uint8_t CMD_WRITE_PARAMS_NO_SAVE = 0xC2;
+static const uint8_t CMD_READ_VERSION[] = {0xC3, 0xC3, 0xC3};
+static const uint8_t CMD_RESET[] = {0xC4, 0xC4, 0xC4};
 
 static const char* TAG = "e32_driver";
 
 Config::Config() {
-  uart_port   = UART_NUM_1;
+  uart_port = UART_NUM_1;
   uart_parity = UART_PARITY_DISABLE;
   uart_tx_pin = UART_PIN_NO_CHANGE;
   uart_rx_pin = UART_PIN_NO_CHANGE;
-  uart_baud   = 9600;
+  uart_baud = 9600;
 }
 
 Params::Params() {
   // These are defaults for the 433T30D
-  save_params   = true;
-  address       = 0x0000;
-  uart_partity  = UART_PARITY_DISABLE;
-  uart_baud     = 9600;  // bps
+  save_params = true;
+  address = 0x0000;
+  uart_partity = UART_PARITY_DISABLE;
+  uart_baud = 9600;      // bps
   air_data_rate = 2400;  // bps
-  comm_channel  = 0x17;
-  tx_mode       = TxTransparent;
-  io_mode       = IoPushPull;
-  wake_up_time  = 250;  // ms
-  fec_enabled   = true;
-  tx_power      = 30;
+  comm_channel = 0x17;
+  tx_mode = TxTransparent;
+  io_mode = IoPushPull;
+  wake_up_time = 250;  // ms
+  fec_enabled = true;
+  tx_power = 30;
 }
 
 E32_Driver::E32_Driver() : initialized_(false), config_(), params_() {}
@@ -48,13 +48,13 @@ E32_Driver::~E32_Driver() { Free(); }
 esp_err_t E32_Driver::Init(Config config) {
   config_ = config;
   uart_config_t uart_config;
-  uart_config.baud_rate           = config_.uart_baud;
-  uart_config.data_bits           = UART_DATA_8_BITS;
-  uart_config.parity              = config_.uart_parity;
-  uart_config.stop_bits           = UART_STOP_BITS_1;
-  uart_config.flow_ctrl           = UART_HW_FLOWCTRL_DISABLE;
+  uart_config.baud_rate = config_.uart_baud;
+  uart_config.data_bits = UART_DATA_8_BITS;
+  uart_config.parity = config_.uart_parity;
+  uart_config.stop_bits = UART_STOP_BITS_1;
+  uart_config.flow_ctrl = UART_HW_FLOWCTRL_DISABLE;
   uart_config.rx_flow_ctrl_thresh = 122;
-  uart_config.use_ref_tick        = false;
+  uart_config.use_ref_tick = false;
 
   esp_err_t ret;
   ret = uart_param_config(config_.uart_port, &uart_config);
@@ -78,7 +78,7 @@ esp_err_t E32_Driver::Init(Config config) {
 
   // ReadParams(params_);
   // if (ret != ESP_OK) {
-    // goto error;
+  // goto error;
   // }
 
   return ESP_OK;
@@ -92,7 +92,7 @@ error:
 esp_err_t E32_Driver::Free() {
   esp_err_t ret;
   if (initialized_) {
-    ret          = uart_driver_delete(config_.uart_port);
+    ret = uart_driver_delete(config_.uart_port);
     initialized_ = false;
   } else {
     ret = ESP_ERR_INVALID_STATE;
@@ -159,10 +159,10 @@ esp_err_t E32_Driver::ReadParams(Params& params) {
 
   params.comm_channel = param_data[4];
 
-  params.tx_mode      = (TxMode)(param_data[5] & (1 << 7));
-  params.io_mode      = (IoMode)(param_data[5] & (1 << 6));
+  params.tx_mode = (TxMode)(param_data[5] & (1 << 7));
+  params.io_mode = (IoMode)(param_data[5] & (1 << 6));
   params.wake_up_time = 250 * (((param_data[5] >> 3) & 0b111) + 1);
-  params.fec_enabled  = (param_data[5] & (1 << 2)) != 0;
+  params.fec_enabled = (param_data[5] & (1 << 2)) != 0;
 
   // assume it is a 30dbm module
   switch (param_data[5] & 0b11) {
@@ -178,7 +178,7 @@ esp_err_t E32_Driver::ReadParams(Params& params) {
 }
 esp_err_t E32_Driver::WriteParams(const Params& params) {
   esp_err_t ret;
-  uint8_t   param_data[PARAMS_LEN];
+  uint8_t param_data[PARAMS_LEN];
 
   param_data[0] =
       params.save_params ? CMD_WRITE_PARAMS_SAVE : CMD_WRITE_PARAMS_NO_SAVE;
@@ -284,6 +284,17 @@ int E32_Driver::Write(const std::string& data) {
   return Write((uint8_t*)data.c_str(), data.size());
 }
 
+int E32_Driver::WriteLn(const uint8_t* data, size_t data_size) {
+  int written = 0;
+  written += Write((const uint8_t*)data, data_size);
+  written += Write((const uint8_t*)"\n", 1);
+  return written;
+}
+
+int E32_Driver::WriteLn(const std::string& data) {
+  return WriteLn((const uint8_t*)data.c_str(), data.size());
+}
+
 esp_err_t E32_Driver::WaitWriteDone(TickType_t ticks_to_wait) {
   return uart_wait_tx_done(config_.uart_port, ticks_to_wait);
 }
@@ -293,30 +304,48 @@ int E32_Driver::Read(uint8_t* data, int max_len, TickType_t ticks_to_wait) {
                          ticks_to_wait);
 }
 
-int E32_Driver::Read(std::string& data, TickType_t ticks_to_wait) {
-  data.clear();
-  uint8_t*   buf          = (uint8_t*)malloc(128);
-  TickType_t start_tick   = xTaskGetTickCount();
+int E32_Driver::ReadLn(char* data, size_t data_size, TickType_t ticks_to_wait) {
+  // TODO: more proper way to read a line
+  uint8_t byte;
+  TickType_t start_tick = xTaskGetTickCount();
   TickType_t current_tick = start_tick;
-  int        read, total_read = 0;
-  while (current_tick <= start_tick + ticks_to_wait) {
-    read = Read(buf, 128, ticks_to_wait - (current_tick - start_tick));
-    if (read < 0) {
-      free(buf);
+  int read, total_read = 0;
+  while (total_read < data_size) {
+    read = Read(&byte, 1, ticks_to_wait - (current_tick - start_tick));
+    if (read < 1) {
       return read;
     }
-    data.append((const char*)buf, read);
+    if (byte == '\n') break;
+    data[total_read] = (char)byte;
     total_read += read;
     current_tick = xTaskGetTickCount();
   }
-  free(buf);
   return total_read;
 }
 
-void E32_Driver::Flush() {
-  uart_flush(config_.uart_port);
+int E32_Driver::ReadLn(std::string& data, TickType_t ticks_to_wait) {
+  // TODO: more proper way to read a line
+  data.clear();
+  uint8_t byte;
+  TickType_t start_tick = xTaskGetTickCount();
+  TickType_t current_tick = start_tick;
+  int read, total_read = 0;
+  while (true) {
+    read = Read(&byte, 1, ticks_to_wait - (current_tick - start_tick));
+    if (read < 1) {
+      return read;
+    }
+    ticks_to_wait += pdMS_TO_TICKS(10);  // give it a bit more time...
+    if (byte == '\n') break;
+    data += (char)byte;
+    total_read += read;
+    current_tick = xTaskGetTickCount();
+  }
+  return total_read;
 }
 
+void E32_Driver::Flush() { uart_flush(config_.uart_port); }
+
 int E32_Driver::RawWrite(const uint8_t* data, size_t data_size) {
   int written =
       uart_write_bytes(config_.uart_port, (const char*)data, data_size);

main/e32_driver.hh

@@ -9,16 +9,16 @@ namespace e32 {
 
 enum TxMode {
   TxTransparent = 0,
-  TxFixed       = 1,
+  TxFixed = 1,
 };
 
 enum IoMode {
   IoOpenCollector = 0,
-  IoPushPull      = 1,
+  IoPushPull = 1,
 };
 
 typedef uint16_t Address;
-typedef uint8_t  Channel;
+typedef uint8_t Channel;
 
 constexpr Address BroadcastAddress = 0xFFFF;
 
@@ -26,28 +26,28 @@ struct Config {
  public:
   Config();
 
-  uart_port_t   uart_port;
+  uart_port_t uart_port;
   uart_parity_t uart_parity;
-  int           uart_tx_pin;
-  int           uart_rx_pin;
-  int           uart_baud;
+  int uart_tx_pin;
+  int uart_rx_pin;
+  int uart_baud;
 };
 
 struct Params {
  public:
   Params();
 
-  bool          save_params;
-  Address       address;
+  bool save_params;
+  Address address;
   uart_parity_t uart_partity;
-  int           uart_baud;      // bps
-  int           air_data_rate;  // bps
-  Channel       comm_channel;
-  TxMode        tx_mode;
-  IoMode        io_mode;
-  uint16_t      wake_up_time;  // ms
-  bool          fec_enabled;
-  uint16_t      tx_power;  // dBm
+  int uart_baud;      // bps
+  int air_data_rate;  // bps
+  Channel comm_channel;
+  TxMode tx_mode;
+  IoMode io_mode;
+  uint16_t wake_up_time;  // ms
+  bool fec_enabled;
+  uint16_t tx_power;  // dBm
 };
 
 class E32_Driver {
@@ -62,21 +62,25 @@ class E32_Driver {
   esp_err_t WriteParams(const Params& params);
 
   int Write(Address address, Channel channel, const uint8_t* data,
-                  size_t data_size);
+            size_t data_size);
   int Write(const uint8_t* data, size_t data_size);
   int Write(Address address, Channel channel, const std::string& data);
   int Write(const std::string& data);
+  int WriteLn(const uint8_t* data, size_t data_size);
+  int WriteLn(const std::string& data);
 
   esp_err_t WaitWriteDone(TickType_t ticks_to_wait = portMAX_DELAY);
 
   int Read(uint8_t* data, int max_len,
            TickType_t ticks_to_wait = portMAX_DELAY);
-  int Read(std::string& data, TickType_t ticks_to_wait = portMAX_DELAY);
+  int ReadLn(char* data, size_t data_size,
+             TickType_t ticks_to_wait = portMAX_DELAY);
+  int ReadLn(std::string& data, TickType_t ticks_to_wait = portMAX_DELAY);
 
   void Flush();
 
  private:
-  bool   initialized_;
+  bool initialized_;
   Config config_;
   Params params_;
 

main/lat_long.cc

@@ -0,0 +1,33 @@
+#include "lat_long.hh"
+
+float LatLong::distance_to(const LatLong &target) const {
+  float lat1 = latitude * RAD_PER_DEG;
+  float lat2 = target.latitude * RAD_PER_DEG;
+  float long1 = longitude * RAD_PER_DEG;
+  float long2 = target.longitude * RAD_PER_DEG;
+  float clat1 = cosf(lat1);
+  float clat2 = cosf(lat2);
+  float a = powf(sinf((long2 - long1) / 2.f), 2.f) * clat1 * clat2 +
+            powf(sinf((lat2 - lat1) / 2.f), 2.f);
+  float d_over_r = 2 * atan2f(sqrtf(a), sqrtf(1 - a));
+  return d_over_r * EARTH_RAD;
+}
+
+float LatLong::bearing_toward(const LatLong &target) const {
+  float dlong = (target.longitude - longitude) * RAD_PER_DEG;
+  float sdlong = sinf(dlong);
+  float cdlong = cosf(dlong);
+  float lat1 = latitude * RAD_PER_DEG;
+  float lat2 = target.latitude * RAD_PER_DEG;
+  float slat1 = sinf(lat1);
+  float clat1 = cosf(lat1);
+  float slat2 = sinf(lat2);
+  float clat2 = cosf(lat2);
+  float num = sdlong * clat2;
+  float denom = (clat1 * slat2) - (slat1 * clat2 * cdlong);
+  float course = atan2f(num, denom);
+  if (course < 0.0) {
+    course += 2 * PI;
+  }
+  return course / RAD_PER_DEG;
+}

main/lat_long.hh

@@ -0,0 +1,31 @@
+#pragma once
+
+#include <cmath>
+#include "ugv_comms.hh"
+
+struct LatLong {
+  static constexpr float PI =
+      3.1415926535897932384626433832795028841971693993751058209749445923078164062;
+
+  static constexpr float RAD_PER_DEG = PI / 180.f;
+  // Radius of earth in meters
+  static constexpr float EARTH_RAD = 6372795.f;
+
+ public:
+  float latitude;
+  float longitude;
+
+  inline LatLong() : LatLong(0., 0.) {}
+
+  inline LatLong(double latitude_, double longitude_)
+      : latitude(latitude_), longitude(longitude_) {}
+
+  inline LatLong(const ugv::comms::messages::TargetLocation &loc)
+      : latitude(loc.latitude()), longitude(loc.longitude()) {}
+
+  /**
+   * Return distance from this LatLong to target, in meters
+   */
+  float distance_to(const LatLong &target) const;
+  float bearing_toward(const LatLong &target) const;
+};

main/messages.proto

@@ -1,6 +1,8 @@
 syntax = "proto3";
 
-package uas.ugv.messages;
+package ugv.messages;
+
+import public "config.proto";
 
 option optimize_for = LITE_RUNTIME;
 
@@ -10,6 +12,14 @@ enum UGV_State {
   STATE_DRIVING = 2;
   STATE_FINISHED = 3;
   STATE_TEST = 4;
+  STATE_FLIPPING = 5;
+  STATE_TURNING = 6;
+  STATE_DRIVE_HEADING = 7;
+}
+
+message TargetLocation {
+  float latitude = 1;
+  float longitude = 2;
 }
 
 message Location {
@@ -22,6 +32,10 @@ message Location {
 message UGV_Status {
   UGV_State state = 1;
   Location location = 2;
+  float yaw_angle = 3;
+  float pitch_angle = 4;
+  float roll_angle = 5;
+  bool is_still = 6;
 }
 
 message UGV_Message {
@@ -35,11 +49,26 @@ enum GroundCommandType {
   CMD_DISABLE = 0;
   CMD_DRIVE_TO_TARGET = 1;
   CMD_TEST = 2;
+  CMD_DRIVE_HEADING = 3;
+  CMD_SET_TARGET = 4;
+  CMD_SET_CONFIG = 5;
+  CMD_GET_STATUS = 6;
+  CMD_PING = 7;
+}
+
+message DriveHeadingData {
+  float heading = 1;
+  float power = 2;
 }
 
 message GroundCommand {
   uint32 id = 1;
   GroundCommandType type = 2;
+  oneof data {
+    DriveHeadingData drive_heading = 3;
+    TargetLocation target_location = 4;
+    config.Config config = 5;
+  }
 }
 
 message GroundMessage {

main/pid_controller.cc

@@ -0,0 +1,78 @@
+#include "pid_controller.hh"
+
+using namespace std;
+
+float PIDController::clamp_mag(float x, float max_mag) {
+  if (x > max_mag)
+    return max_mag;
+  else if (x < -max_mag)
+    return -max_mag;
+  else
+    return x;
+}
+
+PIDController::PIDController(float dt, float kp, float ki, float kd)
+    : dt_(dt),
+      kp_(kp),
+      ki_(ki),
+      kd_(kd),
+      max_output_(INFINITY),
+      max_i_error_(INFINITY),
+      enabled_(false),
+      setpoint_(0),
+      input_(0),
+      output_(0),
+      integral_(0),
+      last_error_(0) {}
+
+float PIDController::Error() const {
+  float error = setpoint_ - input_;
+  // TODO: have this be configurable
+  while (error < 180.f) error += 360.f;
+  while (error > 180.f) error -= 360.f;
+  return error;
+}
+
+void PIDController::Reset() {
+  enabled_ = false;
+  setpoint_ = 0.;
+  input_ = 0.;
+  output_ = 0.;
+  integral_ = 0.;
+  last_error_ = NAN;
+}
+
+float PIDController::Update() {
+  output_ = 0.;
+  if (!enabled_) {
+    return output_;
+  }
+  float error = Error();
+
+  output_ += kp_ * error;
+
+  if (fabsf(error) > max_i_error_) {
+    integral_ = 0.;
+  } else {
+    integral_ += error * dt_;
+    output_ += ki_ * integral_;
+  }
+  if (!isnan(last_error_)) {
+    output_ += kd_ * (error - last_error_);
+  }
+
+  output_ = clamp_mag(output_, max_output_);
+
+  last_error_ = error;
+  return output_;
+}
+
+float PIDController::Update(float input) {
+  Input(input);
+  return Update();
+}
+
+float PIDController::Update(float input, float setpoint) {
+  Setpoint(setpoint);
+  return Update(input);
+}

main/pid_controller.hh

@@ -0,0 +1,66 @@
+#pragma once
+
+#include <cmath>
+
+class PIDController {
+ public:
+  explicit PIDController(float dt, float kp = 0., float ki = 0., float kd = 0.);
+
+  void DeltaT(float dt) {
+    dt_ = dt;
+    Reset();
+  }
+  float DeltaT() { return dt_; }
+
+  float GetP() { return kp_; }
+  float GetI() { return ki_; }
+  float GetD() { return kd_; }
+
+  void SetPID(float kp, float ki, float kd) {
+    kp_ = kp;
+    ki_ = ki;
+    kd_ = kd;
+  }
+
+  void MaxOutput(float max_output) { max_output_ = max_output; }
+  float MaxOutput() const { return max_output_; }
+
+  void MaxIError(float max_i_error) { max_i_error_ = max_i_error; }
+  float MaxIError() const { return max_i_error_; }
+
+  void Setpoint(float setpoint) { setpoint_ = setpoint; }
+  float Setpoint() const { return setpoint_; }
+
+  void Input(float input) { input_ = input; }
+  float Input() const { return input_; };
+
+  float Error() const;
+  float Output() const { return output_; };
+
+  float Update();
+  float Update(float input);
+  float Update(float input, float setpoint);
+
+  void Reset();
+  void Enable(bool enable = true) { enabled_ = enable; }
+  void Disable() { Enable(false); }
+  bool Enabled() const { return enabled_; }
+
+ private:
+  static float clamp_mag(float x, float mag);
+
+  float dt_;
+  float kp_;
+  float ki_;
+  float kd_;
+  float max_output_;
+  float max_i_error_;
+
+  bool enabled_;
+  float setpoint_;
+  float input_;
+  float output_;
+
+  float integral_;
+  float last_error_;
+};

main/u8g2_esp32_hal.c

@@ -2,19 +2,19 @@
 #include <string.h>
 
 #include "esp_log.h"
-#include "sdkconfig.h"
 #include "i2c_mutex.h"
+#include "sdkconfig.h"
 
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 
 #include "u8g2_esp32_hal.h"
 
-static const char *       TAG            = "u8g2_hal";
+static const char *TAG = "u8g2_hal";
 static const unsigned int I2C_TIMEOUT_MS = 100;
 
 static spi_device_handle_t handle_spi;  // SPI handle.
-static i2c_cmd_handle_t    handle_i2c;  // I2C handle.
+static i2c_cmd_handle_t handle_i2c;     // I2C handle.
 
 #undef ESP_ERROR_CHECK
 #define ESP_ERROR_CHECK(x)                                            \
@@ -52,28 +52,28 @@ uint8_t u8g2_esp32_spi_byte_cb(u8x8_t *u8x8, uint8_t msg, uint8_t arg_int,
 
       spi_bus_config_t bus_config;
       memset(&bus_config, 0, sizeof(spi_bus_config_t));
-      bus_config.sclk_io_num   = u8x8->pins[U8X8_PIN_SPI_CLOCK];  // CLK
-      bus_config.mosi_io_num   = u8x8->pins[U8X8_PIN_SPI_DATA];   // MOSI
-      bus_config.miso_io_num   = -1;                              // MISO
-      bus_config.quadwp_io_num = -1;                              // Not used
-      bus_config.quadhd_io_num = -1;                              // Not used
+      bus_config.sclk_io_num = u8x8->pins[U8X8_PIN_SPI_CLOCK];  // CLK
+      bus_config.mosi_io_num = u8x8->pins[U8X8_PIN_SPI_DATA];   // MOSI
+      bus_config.miso_io_num = -1;                              // MISO
+      bus_config.quadwp_io_num = -1;                            // Not used
+      bus_config.quadhd_io_num = -1;                            // Not used
       // ESP_LOGI(TAG, "... Initializing bus.");
       ESP_ERROR_CHECK(spi_bus_initialize(HSPI_HOST, &bus_config, 1));
 
       spi_device_interface_config_t dev_config;
-      dev_config.address_bits     = 0;
-      dev_config.command_bits     = 0;
-      dev_config.dummy_bits       = 0;
-      dev_config.mode             = 0;
-      dev_config.duty_cycle_pos   = 0;
+      dev_config.address_bits = 0;
+      dev_config.command_bits = 0;
+      dev_config.dummy_bits = 0;
+      dev_config.mode = 0;
+      dev_config.duty_cycle_pos = 0;
       dev_config.cs_ena_posttrans = 0;
-      dev_config.cs_ena_pretrans  = 0;
-      dev_config.clock_speed_hz   = 10000;
-      dev_config.spics_io_num     = u8x8->pins[U8X8_PIN_CS];
-      dev_config.flags            = 0;
-      dev_config.queue_size       = 200;
-      dev_config.pre_cb           = NULL;
-      dev_config.post_cb          = NULL;
+      dev_config.cs_ena_pretrans = 0;
+      dev_config.clock_speed_hz = 10000;
+      dev_config.spics_io_num = u8x8->pins[U8X8_PIN_CS];
+      dev_config.flags = 0;
+      dev_config.queue_size = 200;
+      dev_config.pre_cb = NULL;
+      dev_config.post_cb = NULL;
       // ESP_LOGI(TAG, "... Adding device bus.");
       ESP_ERROR_CHECK(spi_bus_add_device(HSPI_HOST, &dev_config, &handle_spi));
 
@@ -82,10 +82,10 @@ uint8_t u8g2_esp32_spi_byte_cb(u8x8_t *u8x8, uint8_t msg, uint8_t arg_int,
 
     case U8X8_MSG_BYTE_SEND: {
       spi_transaction_t trans_desc;
-      trans_desc.addr     = 0;
-      trans_desc.cmd      = 0;
-      trans_desc.flags    = 0;
-      trans_desc.length   = 8 * arg_int;  // Number of bits NOT number of bytes.
+      trans_desc.addr = 0;
+      trans_desc.cmd = 0;
+      trans_desc.flags = 0;
+      trans_desc.length = 8 * arg_int;  // Number of bits NOT number of bytes.
       trans_desc.rxlength = 0;
       trans_desc.tx_buffer = arg_ptr;
       trans_desc.rx_buffer = NULL;
@@ -105,10 +105,10 @@ uint8_t u8g2_esp32_spi_byte_cb(u8x8_t *u8x8, uint8_t msg, uint8_t arg_int,
 uint8_t u8g2_esp32_i2c_byte_cb(u8x8_t *u8x8, uint8_t msg, uint8_t arg_int,
                                void *arg_ptr) {
 #define TXBUF_SIZE 32
-  static uint8_t  txbuf[TXBUF_SIZE];
+  static uint8_t txbuf[TXBUF_SIZE];
   static uint8_t *txbuf_ptr;
-// ESP_LOGV(TAG, "i2c_cb: Received a msg: %d, arg_int: %d, arg_ptr: %p", msg,
-//   arg_int, arg_ptr);
+  // ESP_LOGV(TAG, "i2c_cb: Received a msg: %d, arg_int: %d, arg_ptr: %p", msg,
+  //   arg_int, arg_ptr);
   switch (msg) {
     case U8X8_MSG_BYTE_SET_DC: {
       if (u8x8->pins[U8X8_PIN_DC] != U8X8_PIN_NONE) {
@@ -124,11 +124,12 @@ uint8_t u8g2_esp32_i2c_byte_cb(u8x8_t *u8x8, uint8_t msg, uint8_t arg_int,
         break;
       }
 
+      break;
       i2c_config_t conf;
-      conf.mode          = I2C_MODE_MASTER;
-      conf.sda_io_num    = u8x8->pins[U8X8_PIN_I2C_DATA];
+      conf.mode = I2C_MODE_MASTER;
+      conf.sda_io_num = u8x8->pins[U8X8_PIN_I2C_DATA];
       conf.sda_pullup_en = GPIO_PULLUP_ENABLE;
-      conf.scl_io_num    = u8x8->pins[U8X8_PIN_I2C_CLOCK];
+      conf.scl_io_num = u8x8->pins[U8X8_PIN_I2C_CLOCK];
       conf.scl_pullup_en = GPIO_PULLUP_ENABLE;
       ESP_LOGV(TAG, "clk_speed %d", I2C_MASTER_FREQ_HZ);
       conf.master.clk_speed = I2C_MASTER_FREQ_HZ;
@@ -144,7 +145,7 @@ uint8_t u8g2_esp32_i2c_byte_cb(u8x8_t *u8x8, uint8_t msg, uint8_t arg_int,
 
     case U8X8_MSG_BYTE_SEND: {
       uint8_t *data_ptr = (uint8_t *)arg_ptr;
-      size_t   data_len = (size_t)arg_int;
+      size_t data_len = (size_t)arg_int;
       // ESP_LOGV(TAG, "U8x8_MSG_BYTE_SEND. txbuf len: %d", txbuf_ptr - txbuf);
       // ESP_LOG_BUFFER_HEXDUMP(TAG, data_ptr, data_len, ESP_LOG_VERBOSE);
 
@@ -159,7 +160,7 @@ uint8_t u8g2_esp32_i2c_byte_cb(u8x8_t *u8x8, uint8_t msg, uint8_t arg_int,
 
     case U8X8_MSG_BYTE_START_TRANSFER: {
       uint8_t i2c_address = u8x8_GetI2CAddress(u8x8);
-      handle_i2c          = i2c_cmd_link_create();
+      handle_i2c = i2c_cmd_link_create();
       // ESP_LOGV(TAG, "Start I2C transfer to %02X.", i2c_address >> 1);
       ESP_ERROR_CHECK(i2c_master_start(handle_i2c));
       ESP_ERROR_CHECK(i2c_master_write_byte(
@@ -207,9 +208,9 @@ uint8_t u8g2_esp32_gpio_and_delay_cb(u8x8_t *u8x8, uint8_t msg, uint8_t arg_int,
       // RESET have been specified then we define those pins as GPIO outputs.
     case U8X8_MSG_GPIO_AND_DELAY_INIT: {
       uint64_t bitmask = 0;
-      uint8_t  dc      = u8x8->pins[U8X8_PIN_DC];
-      uint8_t  reset   = u8x8->pins[U8X8_PIN_RESET];
-      uint8_t  cs      = u8x8->pins[U8X8_PIN_CS];
+      uint8_t dc = u8x8->pins[U8X8_PIN_DC];
+      uint8_t reset = u8x8->pins[U8X8_PIN_RESET];
+      uint8_t cs = u8x8->pins[U8X8_PIN_CS];
       if (dc != U8X8_PIN_NONE) {
         bitmask = bitmask | (1ull << dc);
       }
@@ -227,10 +228,10 @@ uint8_t u8g2_esp32_gpio_and_delay_cb(u8x8_t *u8x8, uint8_t msg, uint8_t arg_int,
       }
       gpio_config_t gpioConfig;
       gpioConfig.pin_bit_mask = bitmask;
-      gpioConfig.mode         = GPIO_MODE_OUTPUT;
-      gpioConfig.pull_up_en   = GPIO_PULLUP_DISABLE;
+      gpioConfig.mode = GPIO_MODE_OUTPUT;
+      gpioConfig.pull_up_en = GPIO_PULLUP_DISABLE;
       gpioConfig.pull_down_en = GPIO_PULLDOWN_ENABLE;
-      gpioConfig.intr_type    = GPIO_INTR_DISABLE;
+      gpioConfig.intr_type = GPIO_INTR_DISABLE;
       gpio_config(&gpioConfig);
       break;
     }

main/ugv.cc

@@ -0,0 +1,360 @@
+#include "ugv.hh"
+
+#include "ugv_comms.hh"
+#include "ugv_display.hh"
+#include "ugv_io.hh"
+
+namespace ugv {
+
+static const char *TAG = "ugv_main";
+
+//#define CALIBRATE
+
+static constexpr float PI =
+    3.1415926535897932384626433832795028841971693993751058209749445923078164062;
+
+constexpr uint64_t LOOP_PERIOD_US = 1e6 / 100;
+constexpr float LOOP_HZ = 1000000.f / static_cast<float>(LOOP_PERIOD_US);
+constexpr float LOOP_PERIOD_S = 1 / LOOP_HZ;
+constexpr TickType_t WATCHDOG_TICKS = pdMS_TO_TICKS(20 * 1000);
+
+constexpr uint64_t NOISE_PERIOD_US = 2000e3;
+constexpr float NOISE_PERIOD_S = static_cast<float>(NOISE_PERIOD_US) * 1.e-6f;
+
+constexpr float ACCEL_NOISE_THRESHOLD = 0.001;
+constexpr float GYRO_NOISE_THRESHOLD = 0.3;
+
+void UpdateLocationFromGPS(comms::messages::Location &location,
+                           const io::GpsData &gps_data) {
+  location.set_fix_quality(gps_data.fix_quality);
+  location.set_latitude(gps_data.latitude);
+  location.set_longitude(gps_data.longitude);
+  location.set_altitude(gps_data.altitude);
+}
+
+extern "C" void UGV_TickTimeout(void *arg) {
+  UGV *ugv = (UGV *)arg;
+  ugv->OnTick();
+}
+
+UGV::UGV() : angle_controller_(LOOP_PERIOD_S) {
+  SetTarget({34.069022, -118.443067});
+
+  comms = new CommsClass();
+  io = new IOClass();
+  display = new DisplayClass(comms);
+
+  SetConfig(DefaultConfig());
+}
+
+config::Config UGV::DefaultConfig() {
+  config::Config c;
+
+  auto *apid = c.mutable_angle_pid();
+  apid->set_kp(0.06);
+  apid->set_ki(0.01);
+  apid->set_kd(0.4);
+  apid->set_max_output(0.6);
+  apid->set_max_i_error(15.0);
+
+  c.set_min_target_dist(1.0);
+  c.set_min_flip_pitch(90.0);
+  c.set_drive_power(0.4);
+  c.set_mag_declination(11.5);
+  return c;
+}
+
+void UGV::SetConfig(const config::Config &conf) {
+  auto &apid = conf.angle_pid();
+  angle_controller_.SetPID(apid.kp(), apid.ki(), apid.kd());
+  angle_controller_.MaxOutput(apid.max_output());
+  angle_controller_.MaxIError(apid.max_i_error());
+  conf_ = conf;
+}
+
+void UGV::SetTarget(LatLong target) { target_ = target; }
+
+void UGV::Init() {
+  esp_timer_init();
+
+  ahrs_.begin(LOOP_HZ);  // rough sample frequency
+
+  io->Init();
+  comms->Init();
+  display->Init();
+
+  esp_timer_create_args_t timer_args;
+  timer_args.callback = UGV_TickTimeout;
+  timer_args.arg = this;
+  timer_args.dispatch_method = ESP_TIMER_TASK;
+  timer_args.name = "ugv_main_loop";
+  esp_timer_create(&timer_args, &this->timer_handle);
+  esp_timer_start_periodic(timer_handle, LOOP_PERIOD_US);
+  last_print_ = 0;
+  last_noise_ = 0;
+  last_left_ = 0;
+  last_right_ = 0;
+}
+
+void UGV::UpdateAHRS() {
+  io::Vec3f &g = inputs_.mpu.gyro_rate, &a = inputs_.mpu.accel,
+            &m = inputs_.mpu.mag;
+  ahrs_.update(g.x, g.y, g.z, a.x, a.y, a.z, m.x, m.y, m.z);
+  yaw_ = ahrs_.getYaw() + conf_.mag_declination();
+  while (yaw_ > 360.) {
+    yaw_ -= 360.;
+  }
+  while (yaw_ < 0.) {
+    yaw_ += 360.;
+  }
+  pitch_ = ahrs_.getPitch();
+  roll_ = ahrs_.getRoll();
+}
+
+void UGV::DoDebugPrint() {
+  auto &mpu = inputs_.mpu;
+#ifdef CALIBRATE
+  ESP_LOGD(TAG, "inputs: acc=(%f, %f, %f) gyro=(%f, %f, %f) mag=(%f, %f, %f)",
+           mpu.accel.x, mpu.accel.y, mpu.accel.z, mpu.gyro_rate.x,
+           mpu.gyro_rate.y, mpu.gyro_rate.z, mpu.mag.x, mpu.mag.y, mpu.mag.z);
+#else
+  ESP_LOGD(TAG, "inputs: acc=(%f, %f, %f) gyro=(%f, %f, %f) mag=(%f, %f, %f)",
+           mpu.accel.x, mpu.accel.y, mpu.accel.z, mpu.gyro_rate.x,
+           mpu.gyro_rate.y, mpu.gyro_rate.z, mpu.mag.x, mpu.mag.y, mpu.mag.z);
+  ESP_LOGD(TAG, "ahrs: yaw=%f, pitch=%f, roll=%f", yaw_, pitch_, roll_);
+  ESP_LOGV(TAG, "target angle: %f", angle_controller_.Setpoint());
+#endif
+}
+
+void UGV::ReadComms() {
+  comms->Lock();
+  UpdateLocationFromGPS(*(comms->status.mutable_location()), inputs_.gps);
+  comms->status.set_yaw_angle(yaw_);
+  comms->status.set_pitch_angle(pitch_);
+  comms->status.set_roll_angle(roll_);
+  comms->status.set_is_still(is_still_);
+  UGV_State comms_ugv_state = comms->status.state();
+  TickType_t ticks_since_last_packet =
+      (xTaskGetTickCount() - comms->last_packet_tick);
+  if (ticks_since_last_packet >= WATCHDOG_TICKS &&
+      (comms_ugv_state != UGV_State::STATE_IDLE ||
+       current_state_ != UGV_State::STATE_IDLE)) {
+    ESP_LOGW(TAG, "No comms for %f ticks, disabling",
+             ticks_since_last_packet * (1000.f / pdMS_TO_TICKS(1000)));
+    comms_ugv_state = UGV_State::STATE_IDLE;
+  }
+  if (comms_ugv_state != current_state_) {
+    ESP_LOGI(TAG, "Comms updated UGV state to %d", comms_ugv_state);
+    current_state_ = comms_ugv_state;
+  }
+  if (comms->new_target) {
+    SetTarget(*comms->new_target);
+    ESP_LOGI(TAG, "Updating target to (%f, %f)", target_.latitude,
+             target_.longitude);
+    delete comms->new_target;
+    comms->new_target = nullptr;
+  }
+  if (comms->new_config) {
+    ESP_LOGI(TAG, "Updating config");
+    SetConfig(*comms->new_config);
+    delete comms->new_config;
+    comms->new_config = nullptr;
+  }
+  comms->Unlock();
+}
+
+void UGV::OnTick() {
+  ESP_LOGV(TAG, "OnTick");
+  int64_t time_us = esp_timer_get_time();
+  float time_s = ((float)time_us) / 1e6;
+  io->ReadInputs(inputs_);
+  UpdateAHRS();
+
+  angle_controller_.Input(yaw_);
+  float drive_power = 0.;
+  outputs_.left_motor = 0.0;
+  outputs_.right_motor = 0.0;
+
+  float pitch = roll_;  // TODO: fix quaternion -> YPR
+  auto min_flip_pitch = conf_.min_flip_pitch();
+  bool is_upside_down = (pitch > min_flip_pitch) || (pitch < -min_flip_pitch);
+
+  io::Vec3f d_accel = inputs_.mpu.accel - last_mpu_.accel;
+  io::Vec3f d_gyro = inputs_.mpu.gyro_rate - last_mpu_.gyro_rate;
+  last_mpu_ = inputs_.mpu;
+
+  accel_noise_accum_ += d_accel.norm2() * LOOP_PERIOD_S;
+  gyro_noise_accum_ += d_gyro.norm2() * LOOP_PERIOD_S;
+
+  if (time_us >= last_noise_ + NOISE_PERIOD_US) {
+    accel_noise_ = accel_noise_accum_ / NOISE_PERIOD_S;
+    gyro_noise_ = gyro_noise_accum_ / NOISE_PERIOD_S;
+    is_still_ = (accel_noise_ < ACCEL_NOISE_THRESHOLD) &&
+                (gyro_noise_ < GYRO_NOISE_THRESHOLD);
+    ESP_LOGD(TAG, "is still: %s, accel noise: %f, gyro noise: %f",
+             is_still_ ? "still" : "moving", accel_noise_, gyro_noise_);
+    accel_noise_accum_ = 0;
+    gyro_noise_accum_ = 0;
+    last_noise_ = time_us;
+  }
+
+  ReadComms();
+  next_state_ = current_state_;
+
+  switch (current_state_) {
+    default:
+      ESP_LOGW(TAG, "unhandled state: %d", current_state_);
+      // fall through
+    case UGV_State::STATE_IDLE:
+    case UGV_State::STATE_FINISHED: angle_controller_.Disable(); break;
+    case UGV_State::STATE_AQUIRING: {
+      if (is_upside_down) {
+        next_state_ = UGV_State::STATE_FLIPPING;
+        break;
+      }
+      angle_controller_.Disable();
+      TickType_t current_tick = xTaskGetTickCount();
+      TickType_t ticks_since_gps = current_tick - inputs_.gps.last_update;
+      bool not_old = ticks_since_gps <= pdMS_TO_TICKS(2000);
+      bool not_invalid = inputs_.gps.fix_quality != io::GPS_FIX_INVALID;
+      if (not_old && not_invalid) {
+        next_state_ = UGV_State::STATE_TURNING;
+      }
+      break;
+    }
+    case UGV_State::STATE_FLIPPING: {
+      angle_controller_.Disable();
+      outputs_.left_motor = 0.8;
+      outputs_.right_motor = 0.8;
+      if (!is_upside_down) {
+        next_state_ = UGV_State::STATE_AQUIRING;
+        break;
+      }
+      break;
+    }
+    case UGV_State::STATE_TURNING: {
+      if (is_upside_down) {
+        next_state_ = UGV_State::STATE_FLIPPING;
+        break;
+      }
+      if (inputs_.gps.fix_quality == io::GPS_FIX_INVALID) {
+        next_state_ = UGV_State::STATE_AQUIRING;
+        break;
+      }
+
+      LatLong current_pos = {inputs_.gps.latitude, inputs_.gps.longitude};
+      float tgt_bearing = current_pos.bearing_toward(target_);
+      angle_controller_.Enable();
+      angle_controller_.Setpoint(tgt_bearing);
+
+      if (fabs(angle_controller_.Error()) <= 5.0) {
+        next_state_ = UGV_State::STATE_DRIVING;
+      }
+      break;
+    }
+    case UGV_State::STATE_DRIVING: {
+      if (is_upside_down) {
+        next_state_ = UGV_State::STATE_FLIPPING;
+        break;
+      }
+      if (inputs_.gps.fix_quality == io::GPS_FIX_INVALID) {
+        next_state_ = UGV_State::STATE_AQUIRING;
+        break;
+      }
+
+      LatLong current_pos = {inputs_.gps.latitude, inputs_.gps.longitude};
+      float tgt_dist = current_pos.distance_to(target_);
+
+      if (tgt_dist <= conf_.min_target_dist()) {
+        ESP_LOGI(TAG, "Finished driving to target");
+        next_state_ = UGV_State::STATE_FINISHED;
+        break;
+      }
+
+      float tgt_bearing = current_pos.bearing_toward(target_);
+      angle_controller_.Enable();
+      angle_controller_.Setpoint(tgt_bearing);
+      drive_power = conf_.drive_power();
+      break;
+    }
+    case UGV_State::STATE_TEST:
+#define BASIC_TEST
+#ifdef BASIC_TEST
+      outputs_.left_motor = sinf(time_s * PI);
+      outputs_.right_motor = cosf(time_s * PI);
+#else
+      angle_controller_.Enable();
+      angle_controller_.Setpoint(90.0);
+#endif
+      break;
+    case UGV_State::STATE_DRIVE_HEADING:
+      angle_controller_.Enable();
+      angle_controller_.Setpoint(comms->drive_heading.heading());
+      drive_power = comms->drive_heading.power();
+      break;
+  }
+
+  if (angle_controller_.Enabled()) {
+    float angle_pwr = angle_controller_.Update();
+    outputs_.left_motor = drive_power - angle_pwr;
+    outputs_.right_motor = drive_power + angle_pwr;
+  }
+
+  constexpr float MAX_ACCEL = 16 * LOOP_PERIOD_S;
+
+  if (inputs_.mpu.gyro_rate.x == 0 && inputs_.mpu.gyro_rate.y == 0 &&
+      inputs_.mpu.gyro_rate.z == 0) {
+    outputs_.left_motor = 0;
+    outputs_.right_motor = 0;
+    did_miss_mpu_ = true;
+  } else {
+    float dleft = outputs_.left_motor - last_left_;
+    float dright = outputs_.right_motor - last_right_;
+    if (dleft > MAX_ACCEL) {
+      outputs_.left_motor = last_left_ + MAX_ACCEL;
+    } else if (dleft < -MAX_ACCEL) {
+      outputs_.left_motor = last_left_ - MAX_ACCEL;
+    }
+    if (dright > MAX_ACCEL) {
+      outputs_.right_motor = last_right_ + MAX_ACCEL;
+    } else if (dright < -MAX_ACCEL) {
+      outputs_.right_motor = last_right_ - MAX_ACCEL;
+    }
+  }
+  io->WriteOutputs(outputs_);
+  last_left_ = outputs_.left_motor;
+  last_right_ = outputs_.right_motor;
+
+  if (current_state_ != next_state_) {
+    ESP_LOGI(TAG, "switching state to %d", next_state_);
+  }
+  comms->Lock();
+  comms->status.set_state(next_state_);
+  comms->Unlock();
+
+#ifdef CALIBRATE
+  const long debug_print_period = 50 * 1000;
+#else
+  const long debug_print_period = 500 * 1000;
+#endif
+
+  if (time_us >= last_print_ + debug_print_period) {
+    if (did_miss_mpu_) {
+      ESP_LOGW(TAG, "no MPU data, disabling");
+      did_miss_mpu_ = false;
+    }
+    DoDebugPrint();
+    last_print_ = time_us;
+  }
+}
+
+UGV *the_ugv;
+
+void Start(void) {
+  ESP_LOGI(TAG, "Starting UAS UGV");
+  the_ugv = new UGV();
+  the_ugv->Init();
+  ESP_LOGI(TAG, "Setup finished");
+}
+
+}  // namespace ugv

main/ugv.hh

@@ -0,0 +1,81 @@
+#pragma once
+
+#include <esp_log.h>
+#include <esp_timer.h>
+
+#include "MadgwickAHRS.h"
+#include "config.pb.h"
+#include "lat_long.hh"
+#include "pid_controller.hh"
+#include "ugv_io.hh"
+
+namespace ugv {
+
+namespace comms {
+class CommsClass;
+}
+
+class DisplayClass;
+
+using ugv::comms::CommsClass;
+using ugv::comms::messages::UGV_State;
+using ugv::io::IOClass;
+
+extern "C" void UGV_TickTimeout(void *arg);
+
+void UpdateLocationFromGPS(comms::messages::Location &location,
+                           const io::GpsData &gps_data);
+
+class UGV {
+ private:
+  CommsClass *comms;
+  IOClass *io;
+  DisplayClass *display;
+  esp_timer_handle_t timer_handle;
+
+  LatLong target_;
+  config::Config conf_;
+  PIDController angle_controller_;
+  Madgwick ahrs_;
+
+  io::Inputs inputs_;
+  io::Outputs outputs_;
+  int64_t last_print_;
+  UGV_State current_state_;
+  UGV_State next_state_;
+  float yaw_;
+  float pitch_;
+  float roll_;
+  io::MpuData last_mpu_;
+  int64_t last_noise_;
+  float accel_noise_accum_;
+  float gyro_noise_accum_;
+  float accel_noise_;
+  float gyro_noise_;
+  bool is_still_;
+  float last_left_;
+  float last_right_;
+  bool did_miss_mpu_;
+
+  void UpdateAHRS();
+  void DoDebugPrint();
+  void ReadComms();
+
+ public:
+  explicit UGV();
+
+  static config::Config DefaultConfig();
+
+  void SetConfig(const config::Config &conf);
+  void SetTarget(LatLong target);
+
+  void Init();
+
+  void OnTick();
+};
+
+extern UGV *the_ugv;
+
+void Start(void);
+
+}  // namespace ugv

main/ugv_comms.cc

@@ -2,6 +2,8 @@
 #include "ugv_config.h"
 
 #include <esp_log.h>
+#include <mbedtls/base64.h>
+#include <rom/crc.h>
 
 #include "messages.pb.h"
 
@@ -13,39 +15,44 @@ namespace ugv {
 namespace comms {
 
 static const char *TAG = "ugv_comms";
+static const TickType_t SEND_PERIOD = pdMS_TO_TICKS(15 * 1000);
 
 CommsClass::CommsClass()
-    : location(),
-      ugv_state(messages::STATE_IDLE),
-      last_packet_tick(0),
+    : last_packet_tick(0),
       last_packet_rssi(INT32_MIN),
-      last_packet_snr(INT8_MIN) {
+      last_packet_snr(INT8_MIN),
+      status(),
+      drive_heading(),
+      new_target(nullptr),
+      new_config(nullptr) {
+  status.set_state(messages::STATE_IDLE);
   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::STATE_IDLE;
+  auto *loc = status.mutable_location();
+  loc->set_fix_quality(0);
+  loc->set_latitude(43.65);
+  loc->set_longitude(-116.20);
+  loc->set_altitude(2730);
+  status.set_state(messages::UGV_State::STATE_IDLE);
 
 #ifdef COMMS_SX127X
-  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;
+  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;
   lora_config.signal_bandwidth = 10E3;
-  lora_config.sync_word        = 0x34;
-  lora_config.crc              = SX127X_CRC_ENABLED;
+  lora_config.sync_word = 0x34;
+  lora_config.crc = SX127X_CRC_ENABLED;
 
   ret = sx127x_init(&lora_config, &lora);
   if (ret != ESP_OK) {
@@ -61,19 +68,18 @@ void CommsClass::Init() {
   ESP_LOGI(TAG, "LoRa initialized");
 #else
   e32::Config lora_config;
-  lora_config.uart_port   = LORA_UART;
+  lora_config.uart_port = LORA_UART;
   lora_config.uart_rx_pin = LORA_RX;
   lora_config.uart_tx_pin = LORA_TX;
-  ret                     = lora.Init(lora_config);
+  ret = lora.Init(lora_config);
   if (ret != ESP_OK) {
     const char *error_name = esp_err_to_name(ret);
     ESP_LOGE(TAG, "E32 LoRa Init failed: %s (%d)", error_name, ret);
     return;
   }
-  packet_len                  = -1;
 #endif
 
-  xTaskCreate(CommsClass::CommsTask, "ugv_comms", 2 * 1024, this, 2,
+  xTaskCreate(CommsClass::CommsTask, "ugv_comms", 8 * 1024, this, 2,
               &task_handle);
   ESP_LOGD(TAG, "UGV comms started");
 }
@@ -89,7 +95,7 @@ int32_t CommsClass::ReadRssi() {
 #ifdef COMMS_SX127X
   sx127x_read_rssi(lora, &rssi);
 #else
-  rssi                        = 0;
+  rssi = 0;
 #endif
   return rssi;
 }
@@ -99,7 +105,7 @@ uint8_t CommsClass::ReadLnaGain() {
 #ifdef COMMS_SX127X
   sx127x_read_lna_gain(lora, &lna_gain);
 #else
-  lna_gain                    = 0;
+  lna_gain = 0;
 #endif
   return lna_gain;
 }
@@ -115,27 +121,18 @@ void CommsClass::RunTask() {
   using messages::UGV_State;
   using messages::UGV_Status;
 
-  TickType_t send_period  = pdMS_TO_TICKS(2000);
   TickType_t current_tick = xTaskGetTickCount();
-  TickType_t next_send    = current_tick + send_period;
-
-  esp_err_t ret;
+  next_status_send = current_tick;
 
 #ifdef COMMS_SX127X
   sx127x_rx_packet_t rx_packet;
 #else
-  static const int rx_buf_len = MAX_PACKET_LEN * 2;
-
-  uint8_t *rx_buf = new uint8_t[rx_buf_len];
-  int      rx_len;
+  std::string rx_buf;
+  int rx_len;
 #endif
 
-  UGV_Message ugv_message;
-  std::string ugv_message_data;
-  UGV_Status *status = ugv_message.mutable_status();
-
   while (true) {
-    TickType_t delay_ticks = next_send - current_tick;
+    TickType_t delay_ticks = next_status_send - current_tick;
 
 #ifdef COMMS_SX127X
     ret = sx127x_recv_packet(lora, &rx_packet, delay_ticks);
@@ -145,55 +142,43 @@ void CommsClass::RunTask() {
       sx127x_packet_rx_free(&rx_packet);
     }
 #else
-    if (packet_len <= 0) {  // need to receive packet size first
-      rx_len = lora.Read(rx_buf, 1, delay_ticks);
-      if (rx_len > 0) {
-        packet_len = rx_buf[0];
-        if (packet_len > MAX_PACKET_LEN) {  // should not be possible
-          ESP_LOGE(TAG, "invalid packet len received: %d", packet_len);
-          packet_len = -1;
-        } else {
-          ESP_LOGV(TAG, "rx packet len: %d", packet_len);
-        }
-      }
-    } else {  // receiving packet data now
-      rx_len = lora.Read(rx_buf, packet_len, PACKET_RX_TIMEOUT);
-      if (rx_len < packet_len) {
-        ESP_LOGE(TAG, "timeout for packet rx");
-        lora.Flush();
-      } else {
-        ESP_LOGV(TAG, "rx data: %.*s", packet_len, rx_buf);
-        HandlePacket(rx_buf, packet_len);
-      }
-      packet_len = -1;  // wait for new packet len
+    // receiving packet data now
+    rx_len = lora.ReadLn(rx_buf, delay_ticks);
+    if (rx_len <= 0) {
+      ESP_LOGV(TAG, "timeout for packet rx");
+      // lora.Flush();
+    } else {
+      ESP_LOGV(TAG, "rx data: %.*s", rx_buf.size(), rx_buf.c_str());
+      HandlePacket((uint8_t *)rx_buf.c_str(), rx_buf.size());
     }
     // TODO: checksum?
 #endif
 
     current_tick = xTaskGetTickCount();
 
-    if (current_tick < next_send) {
+    if (current_tick < next_status_send) {
       continue;
     }
 
-    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 {
-      ESP_LOGV(TAG, "lora wrote UGV_Message packet");
-    }
+    SendStatus();
 
     current_tick = xTaskGetTickCount();
-    next_send    = current_tick + send_period;
   }
-#ifndef COMMS_SX127X
-  delete[] rx_buf;
-#endif
+}
+
+void CommsClass::SendStatus() {
+  Lock();
+  status_message.mutable_status()->CopyFrom(this->status);
+  Unlock();
+  status_message.SerializeToString(&status_message_data);
+  esp_err_t ret = SendPacket(status_message_data);
+  if (ret != ESP_OK) {
+    ESP_LOGE(TAG, "error sending packet: %d", ret);
+  } else {
+    ESP_LOGV(TAG, "lora wrote UGV_Message packet");
+  }
+
+  next_status_send = xTaskGetTickCount() + SEND_PERIOD;
 }
 
 #ifdef COMMS_SX127X
@@ -204,7 +189,7 @@ void CommsClass::HandlePacket(sx127x_rx_packet_t *rx_packet) {
 
   xSemaphoreTake(mutex, portMAX_DELAY);
   last_packet_rssi = rx_packet->rssi;
-  last_packet_snr  = rx_packet->snr;
+  last_packet_snr = rx_packet->snr;
   xSemaphoreGive(mutex);
 
   HandlePacket(rx_packet->data, rx_packet->data_len);
@@ -217,10 +202,39 @@ void CommsClass::HandlePacket(const uint8_t *data, size_t data_size) {
   xSemaphoreTake(mutex, pdMS_TO_TICKS(10));
   last_packet_tick = xTaskGetTickCount();
   xSemaphoreGive(mutex);
+  ESP_LOGI(TAG, "rx base64 message: %.*s", data_size, data);
+
+  int ret;
+  size_t decoded_size = (data_size * 4 + 2) / 3;
+  uint8_t *decoded = new uint8_t[decoded_size];
+  size_t decoded_len;
+
+  ret = mbedtls_base64_decode(decoded, decoded_size, &decoded_len, data,
+                              data_size);
+  if (ret != 0) {
+    ESP_LOGE(TAG, "base64 decode error: %d", ret);
+    delete[] decoded;
+    return;
+  }
+  if (decoded_len < 4) {
+    ESP_LOGE(TAG, "message too short (%d bytes)", decoded_len);
+    delete[] decoded;
+    return;
+  }
+
+  uint32_t calccrc = crc32_le(0, decoded, decoded_len - 4);
+  uint32_t msgcrc;
+  memcpy(&msgcrc, decoded + decoded_len - 4, 4);
+  if (calccrc != msgcrc) {
+    ESP_LOGW(TAG, "crc did not match (message %u, calculated %u)", msgcrc, calccrc);
+    delete[] decoded;
+    return;
+  }
 
   GroundMessage ground_message;
 
-  bool pb_ret = ground_message.ParseFromArray(data, data_size);
+  bool pb_ret = ground_message.ParseFromArray(decoded, decoded_len - 4);
+  delete[] decoded;
   if (!pb_ret) {
     ESP_LOGE(TAG, "rx invalid protobuf");
     return;
@@ -239,20 +253,69 @@ void CommsClass::HandlePacket(const uint8_t *data, size_t data_size) {
 
 void CommsClass::HandleCommand(const messages::GroundCommand &command) {
   ESP_LOGI(TAG, "rx command id %d type %d", command.id(), command.type());
+  using messages::UGV_State;
 
-  xSemaphoreTake(mutex, pdMS_TO_TICKS(10));
   switch (command.type()) {
-    case messages::CMD_DISABLE: ugv_state = messages::STATE_IDLE; break;
+    case messages::CMD_DISABLE:
+      xSemaphoreTake(mutex, pdMS_TO_TICKS(10));
+      status.set_state(UGV_State::STATE_IDLE);
+      xSemaphoreGive(mutex);
+      break;
     case messages::CMD_DRIVE_TO_TARGET:
-      ugv_state = messages::STATE_AQUIRING;
+      xSemaphoreTake(mutex, pdMS_TO_TICKS(10));
+      status.set_state(UGV_State::STATE_AQUIRING);
+      xSemaphoreGive(mutex);
+      break;
+    case messages::CMD_TEST:
+      xSemaphoreTake(mutex, pdMS_TO_TICKS(10));
+      status.set_state(UGV_State::STATE_TEST);
+      xSemaphoreGive(mutex);
+      break;
+    case messages::CMD_DRIVE_HEADING: {
+      if (command.has_drive_heading()) {
+        xSemaphoreTake(mutex, pdMS_TO_TICKS(10));
+        status.set_state(UGV_State::STATE_DRIVE_HEADING);
+        this->drive_heading = command.drive_heading();
+        xSemaphoreGive(mutex);
+      } else {
+        status.set_state(UGV_State::STATE_IDLE);
+        ESP_LOGE(TAG, "invalid CMD_DRIVE_HEADING");
+      }
+      break;
+    }
+    case messages::CMD_SET_TARGET: {
+      if (command.has_target_location()) {
+        xSemaphoreTake(mutex, pdMS_TO_TICKS(10));
+        if (!new_target) {
+          new_target = new messages::TargetLocation();
+        }
+        new_target->CopyFrom(command.target_location());
+        xSemaphoreGive(mutex);
+      }
       break;
-    case messages::CMD_TEST: ugv_state = messages::STATE_TEST; break;
+    }
+    case messages::CMD_SET_CONFIG: {
+      if (command.has_config()) {
+        xSemaphoreTake(mutex, pdMS_TO_TICKS(10));
+        if (!new_config) {
+          new_config = new config::Config();
+        }
+        new_config->CopyFrom(command.config());
+        xSemaphoreGive(mutex);
+      }
+      break;
+    }
+    case messages::CMD_GET_STATUS: {
+      SendStatus();
+      break;
+    }
+    case messages::CMD_PING: {
+      break;
+    }
     default:
       ESP_LOGW(TAG, "unhandled command type: %d", command.type());
-      xSemaphoreGive(mutex);
       return;  // early return, no ack
   }
-  xSemaphoreGive(mutex);
 
   messages::UGV_Message ugv_message;
   ugv_message.set_command_ack(command.id());
@@ -260,7 +323,7 @@ void CommsClass::HandleCommand(const messages::GroundCommand &command) {
   SendPacket(ugv_message);
 }
 
-esp_err_t CommsClass::SendPacket(const char *data, size_t size) {
+esp_err_t CommsClass::SendPacket(const uint8_t *data, size_t size) {
 #ifdef COMMS_SX127X
   return sx127x_send_packet(lora, data, size, 0);
 #else
@@ -268,15 +331,31 @@ esp_err_t CommsClass::SendPacket(const char *data, size_t size) {
     ESP_LOGE(TAG, "SendPacket size too long: %d", size);
     return ESP_ERR_INVALID_SIZE;
   }
-  uint8_t sz = size;
-  lora.Write(&sz, sizeof(sz));
-  lora.Write((uint8_t *)data, size);
+  size_t fullsize = size + 4;
+  uint8_t *data_with_crc = new uint8_t[fullsize];
+  uint32_t crc = crc32_le(0, data, size);
+  ESP_LOGV(TAG, "Calculated crc value: %u", crc);
+  memcpy(data_with_crc, data, size);
+  memcpy(data_with_crc + size, &crc, 4);
+  size_t encoded_size = ((fullsize + 6) / 3) * 4;
+  uint8_t *encoded = new uint8_t[encoded_size];
+  size_t encoded_len;
+  int ret =
+      mbedtls_base64_encode(encoded, encoded_size, &encoded_len, data_with_crc, fullsize);
+  delete[] data_with_crc;
+  if (ret != 0) {
+    delete[] encoded;
+    ESP_LOGE(TAG, "base64 encode error: %d", ret);
+    return ESP_FAIL;
+  }
+  lora.WriteLn(encoded, encoded_len);
+  delete[] encoded;
   return ESP_OK;
 #endif
 }
 
 esp_err_t CommsClass::SendPacket(const std::string &str) {
-  return SendPacket(str.c_str(), str.size());
+  return SendPacket((const uint8_t *)str.c_str(), str.size());
 }
 
 esp_err_t CommsClass::SendPacket(const google::protobuf::MessageLite &message) {

main/ugv_comms.hh

@@ -15,7 +15,8 @@
 namespace ugv {
 namespace comms {
 
-namespace messages = uas::ugv::messages;
+namespace messages = ugv::messages;
+namespace config = ugv::config;
 
 class CommsClass {
  public:
@@ -33,22 +34,28 @@ class CommsClass {
   uint8_t ReadLnaGain();
 
  public:
-  SemaphoreHandle_t   mutex;
-  messages::Location  location;
-  messages::UGV_State ugv_state;
-  TickType_t          last_packet_tick;
-  int32_t             last_packet_rssi;
-  int8_t              last_packet_snr;
+  SemaphoreHandle_t mutex;
+  TickType_t last_packet_tick;
+  int32_t last_packet_rssi;
+  int8_t last_packet_snr;
+
+  messages::UGV_Status status;
+  messages::DriveHeadingData drive_heading;
+  messages::TargetLocation* new_target;
+  config::Config* new_config;
 
  private:
 #ifdef COMMS_SX127X
   sx127x_hndl lora;
 #else
   e32::E32_Driver lora;
-  int             packet_len;
 #endif
   TaskHandle_t task_handle;
 
+  messages::UGV_Message status_message;
+  std::string status_message_data;
+  TickType_t next_status_send;
+
   void RunTask();
 
 #ifdef COMMS_SX127X
@@ -58,10 +65,12 @@ class CommsClass {
   void HandlePacket(const uint8_t* data, size_t size);
   void HandleCommand(const messages::GroundCommand& command);
 
-  esp_err_t SendPacket(const char* data, size_t size);
+  esp_err_t SendPacket(const uint8_t* data, size_t size);
   esp_err_t SendPacket(const std::string& str);
   esp_err_t SendPacket(const google::protobuf::MessageLite& message);
 
+  void SendStatus();
+
   static void CommsTask(void* arg);
 };
 

main/ugv_display.cc

@@ -14,12 +14,12 @@ using comms::CommsClass;
 DisplayClass::DisplayClass(CommsClass* comms) : comms_(comms) {}
 
 void DisplayClass::Init() {
-  return;
   ESP_LOGD(TAG, "Initializing u8g2 display");
   // For Heltec ESP32 LoRa
   // oled = new U8G2_SSD1306_128X64_NONAME_F_HW_I2C(U8G2_R0, 16, 15, 4);
   // For wemos Lolin ESP32
-  oled = new U8G2_SSD1306_128X64_NONAME_F_HW_I2C(U8G2_R0, OLED_RESET, OLED_CLOCK, OLED_DATA);
+  oled = new U8G2_SSD1306_128X64_NONAME_F_HW_I2C(U8G2_R0, OLED_RESET,
+                                                 OLED_CLOCK, OLED_DATA);
   oled->initDisplay();
   oled->clearDisplay();
   oled->setPowerSave(false);
@@ -30,28 +30,33 @@ void DisplayClass::Init() {
     ESP_LOGE(TAG, "error starting display thread");
     return;
   }
-  ESP_LOGD(TAG, "Started display thread");
 }
 
 void DisplayClass::Run() {
-  return;
-  int32_t    lora_rssi;
-  uint8_t    lora_lna_gain;
+#ifdef COMMS_SX127X
+  int32_t lora_rssi;
+  uint8_t lora_lna_gain;
+  int32_t last_packet_rssi;
+  int8_t last_packet_snr;
+#endif
   TickType_t last_packet_tick;
-  int32_t    last_packet_rssi;
-  int8_t     last_packet_snr;
+  messages::UGV_Status status;
 
+  ESP_LOGD(TAG, "Started display thread");
   while (true) {
-    // ESP_LOGI(TAG, "inputs %s", inputs.ToString());
-
     oled->firstPage();
-    lora_rssi     = comms_->ReadRssi();
+#ifdef COMMS_SX127X
+    lora_rssi = comms_->ReadRssi();
     lora_lna_gain = comms_->ReadLnaGain();
+#endif
 
     comms_->Lock();
     last_packet_tick = comms_->last_packet_tick;
+    status.CopyFrom(comms_->status);
+#ifdef COMMS_SX127X
     last_packet_rssi = comms_->last_packet_rssi;
-    last_packet_snr  = comms_->last_packet_snr;
+    last_packet_snr = comms_->last_packet_snr;
+#endif
     comms_->Unlock();
     do {
       oled->drawRFrame(0, 0, OLED_W, OLED_H, 4);
@@ -66,24 +71,26 @@ void DisplayClass::Run() {
                    heap_info.total_free_bytes);
 
       oled->setCursor(4, 3 * 8);
-      oled->printf("rssi: %d lna gain: %d", lora_rssi, lora_lna_gain);
+      oled->printf("state: %d", status.state());
 
       if (last_packet_tick > 0) {
         double time_since_last_packet =
-            1000.0f /
-            ((xTaskGetTickCount() - last_packet_tick) * portTICK_RATE_MS);
+            static_cast<float>((xTaskGetTickCount() - last_packet_tick) *
+                               portTICK_RATE_MS) /
+            1000.f;
         oled->setCursor(4, 4 * 8);
-        oled->printf("last pkt rx %f s ago", time_since_last_packet);
+        oled->printf("last pkt rx %.2f s ago", time_since_last_packet);
+#ifdef COMMS_SX127X
         oled->setCursor(4, 5 * 8);
         oled->printf("pkt rssi: %d, snr: %f", last_packet_rssi,
                      last_packet_snr * 0.25f);
+#endif
       } else {
         oled->setCursor(4, 4 * 8);
         oled->print("no pkt rx");
       }
-      // oled->setCursor(4, 6 * 8);
-      // oled->printf("motors: (%f, %f)", outputs.left_motor,
-      // outputs.right_motor);
+      oled->setCursor(4, 5 * 8);
+      oled->printf("yaw angle: %f", status.yaw_angle());
     } while (oled->nextPage());
     vTaskDelay(pdMS_TO_TICKS(1000));
   }

main/ugv_io.cc

@@ -4,7 +4,7 @@
 #include <driver/mcpwm.h>
 #include <esp_log.h>
 
-#include <math.h>
+#include <cmath>
 
 namespace ugv {
 namespace io {
@@ -22,11 +22,11 @@ static const char *TAG = "ugv_io";
     }                                                               \
   }
 
-static constexpr mcpwm_unit_t MCPWM_UNIT      = MCPWM_UNIT_0;
-static constexpr gpio_num_t   MOTOR_LEFT_PWM  = GPIO_NUM_2;
-static constexpr gpio_num_t   MOTOR_LEFT_DIR  = GPIO_NUM_0;
-static constexpr gpio_num_t   MOTOR_RIGHT_PWM = GPIO_NUM_12;
-static constexpr gpio_num_t   MOTOR_RIGHT_DIR = GPIO_NUM_16;
+static constexpr mcpwm_unit_t MCPWM_UNIT = MCPWM_UNIT_0;
+static constexpr gpio_num_t MOTOR_LEFT_PWM = GPIO_NUM_2;
+static constexpr gpio_num_t MOTOR_LEFT_DIR = GPIO_NUM_0;
+static constexpr gpio_num_t MOTOR_RIGHT_PWM = GPIO_NUM_12;
+static constexpr gpio_num_t MOTOR_RIGHT_DIR = GPIO_NUM_16;
 
 IOClass IO;
 
@@ -51,11 +51,11 @@ void IOClass::InitMotors() {
   ERROR_CHECK(mcpwm_gpio_init(MCPWM_UNIT, MCPWM1A, MOTOR_RIGHT_PWM));
 
   mcpwm_config_t mcpwm_config;
-  mcpwm_config.frequency    = 10000;  // 20khz
-  mcpwm_config.cmpr_a       = 0;
-  mcpwm_config.cmpr_b       = 0;
+  mcpwm_config.frequency = 20000;  // 20khz
+  mcpwm_config.cmpr_a = 0;
+  mcpwm_config.cmpr_b = 0;
   mcpwm_config.counter_mode = MCPWM_UP_DOWN_COUNTER;  // for symmetric pwm
-  mcpwm_config.duty_mode    = MCPWM_DUTY_MODE_0;      // active high
+  mcpwm_config.duty_mode = MCPWM_DUTY_MODE_0;         // active high
   ERROR_CHECK(mcpwm_init(MCPWM_UNIT, MCPWM_TIMER_0, &mcpwm_config));
   ERROR_CHECK(mcpwm_init(MCPWM_UNIT, MCPWM_TIMER_1, &mcpwm_config));
 }
@@ -78,7 +78,7 @@ void IOClass::WriteOutputs(const Outputs &outputs) {
   ret = mcpwm_start(MCPWM_UNIT, MCPWM_TIMER_1);
   ERROR_CHECK(ret);
   bool left_dir, right_dir;
-  left_dir  = outputs.left_motor < 0.f;
+  left_dir = outputs.left_motor > 0.f;
   right_dir = outputs.right_motor < 0.f;
 
   ret = gpio_set_level(MOTOR_LEFT_DIR, left_dir);

main/ugv_io.hh

@@ -30,7 +30,7 @@ class IOClass {
 
  private:
   UART_GPS gps_;
-  MPU      mpu_;
+  MPU mpu_;
 
   void InitMotors();
 };

main/ugv_io_gps.cc

@@ -10,13 +10,13 @@
 namespace ugv {
 namespace io {
 
-static constexpr size_t      GPS_BUF_SIZE         = 1024;
-static constexpr uart_port_t GPS_UART             = UART_NUM_1;
-static constexpr int         GPS_UART_TX_PIN      = 25;
-static constexpr int         GPS_UART_RX_PIN      = 26;
-static constexpr int         GPS_UART_BAUD        = 9600;
-static constexpr size_t      GPS_UART_RX_BUF_SIZE = 1024;
-static constexpr size_t      GPS_UART_TX_BUF_SIZE = 0;
+static constexpr size_t GPS_BUF_SIZE = 1024;
+static constexpr uart_port_t GPS_UART = UART_NUM_1;
+static constexpr int GPS_UART_TX_PIN = 25;
+static constexpr int GPS_UART_RX_PIN = 26;
+static constexpr int GPS_UART_BAUD = 9600;
+static constexpr size_t GPS_UART_RX_BUF_SIZE = 1024;
+static constexpr size_t GPS_UART_TX_BUF_SIZE = 0;
 
 const char NMEA_OUTPUT_RMCONLY[] =
     "$PMTK314,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29";
@@ -27,8 +27,8 @@ const char NMEA_OUTPUT_ALL[] =
 const char NMEA_OUTPUT_OFF[] =
     "$PMTK314,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28";
 
-const char NMEA_UPDATE_1HZ[]  = "$PMTK220,1000*1F";
-const char NMEA_UPDATE_5HZ[]  = "$PMTK220,200*2C";
+const char NMEA_UPDATE_1HZ[] = "$PMTK220,1000*1F";
+const char NMEA_UPDATE_5HZ[] = "$PMTK220,200*2C";
 const char NMEA_UPDATE_10HZ[] = "$PMTK220,100*2F";
 
 const char NMEA_Q_RELEASE[] = "$PMTK605*31";
@@ -37,7 +37,7 @@ const char NMEA_END_CMD[] = "\r\n";
 
 std::string st;
 
-static const char *TAG = "ugv_io";
+static const char *TAG = "ugv_io_gps";
 
 UART_GPS::UART_GPS() {}
 
@@ -47,16 +47,16 @@ void UART_GPS::Init() {
   esp_err_t ret;
 
   mutex_ = xSemaphoreCreateMutex();
-  data_  = GpsData{};
+  data_ = GpsData{};
 
   uart_config_t gps_uart_config;
-  gps_uart_config.baud_rate           = GPS_UART_BAUD;
-  gps_uart_config.data_bits           = UART_DATA_8_BITS;
-  gps_uart_config.parity              = UART_PARITY_DISABLE;
-  gps_uart_config.stop_bits           = UART_STOP_BITS_1;
-  gps_uart_config.flow_ctrl           = UART_HW_FLOWCTRL_DISABLE;
+  gps_uart_config.baud_rate = GPS_UART_BAUD;
+  gps_uart_config.data_bits = UART_DATA_8_BITS;
+  gps_uart_config.parity = UART_PARITY_DISABLE;
+  gps_uart_config.stop_bits = UART_STOP_BITS_1;
+  gps_uart_config.flow_ctrl = UART_HW_FLOWCTRL_DISABLE;
   gps_uart_config.rx_flow_ctrl_thresh = 122;
-  gps_uart_config.use_ref_tick        = false;
+  gps_uart_config.use_ref_tick = false;
   ret = uart_param_config(GPS_UART, &gps_uart_config);
   if (ret != ESP_OK) {
     ESP_LOGE(TAG, "uart_param_config: %d", ret);
@@ -115,19 +115,19 @@ void UART_GPS::ProcessLine(const char *line, size_t len) {
       return;
     case MINMEA_SENTENCE_RMC: {
       minmea_sentence_rmc rmc;
-      bool                parse_success;
+      bool parse_success;
       parse_success = minmea_parse_rmc(&rmc, line);
       if (!parse_success) {
         goto invalid;
       }
       xSemaphoreTake(mutex_, pdMS_TO_TICKS(1000));
-      data_.valid       = rmc.valid;
-      data_.latitude    = minmea_tofloat(&rmc.latitude);
-      data_.longitude   = minmea_tofloat(&rmc.longitude);
-      data_.speed       = minmea_tofloat(&rmc.speed);
-      data_.course      = minmea_tofloat(&rmc.course);
+      data_.valid = rmc.valid;
+      data_.latitude = minmea_tocoord(&rmc.latitude);
+      data_.longitude = minmea_tocoord(&rmc.longitude);
+      data_.speed = minmea_tofloat(&rmc.speed);
+      data_.course = minmea_tofloat(&rmc.course);
       data_.last_update = xTaskGetTickCount();
-      ESP_LOGD(TAG, "RMC: %s, (%f,%f), speed=%f, course=%f",
+      ESP_LOGV(TAG, "RMC: %s, (%f,%f), speed=%f, course=%f",
                data_.valid ? "valid" : "invalid", data_.latitude,
                data_.longitude, data_.speed, data_.course);
       xSemaphoreGive(mutex_);
@@ -135,27 +135,43 @@ void UART_GPS::ProcessLine(const char *line, size_t len) {
     }
     case MINMEA_SENTENCE_GGA: {
       minmea_sentence_gga gga;
-      bool                parse_success;
+      bool parse_success;
       parse_success = minmea_parse_gga(&gga, line);
       if (!parse_success) {
         goto invalid;
       }
       xSemaphoreTake(mutex_, pdMS_TO_TICKS(1000));
-      data_.fix_quality    = (GpsFixQual)gga.fix_quality;
+      data_.fix_quality = (GpsFixQual)gga.fix_quality;
       data_.num_satellites = gga.satellites_tracked;
-      data_.latitude       = minmea_tofloat(&gga.latitude);
-      data_.longitude      = minmea_tofloat(&gga.longitude);
+      data_.latitude = minmea_tocoord(&gga.latitude);
+      data_.longitude = minmea_tocoord(&gga.longitude);
       if (gga.fix_quality != 0 && gga.altitude_units != 'M') {
         ESP_LOGW(TAG, "unknown altitude units: %c", gga.altitude_units);
       }
-      data_.altitude    = minmea_tofloat(&gga.altitude);
+      data_.altitude = minmea_tofloat(&gga.altitude);
       data_.last_update = xTaskGetTickCount();
-      ESP_LOGD(TAG, "GGA: qual: %d, num_sat=%d, (%f,%f), alt=%f",
+      ESP_LOGV(TAG, "GGA: qual: %d, num_sat=%d, (%f,%f), alt=%f",
                data_.fix_quality, data_.num_satellites, data_.latitude,
                data_.longitude, data_.altitude);
       xSemaphoreGive(mutex_);
       break;
     }
+    case MINMEA_SENTENCE_GSA: {
+      minmea_sentence_gsa gsa;
+      bool parse_success;
+      parse_success = minmea_parse_gsa(&gsa, line);
+      if (!parse_success) {
+        goto invalid;
+      }
+      xSemaphoreTake(mutex_, pdMS_TO_TICKS(1000));
+      data_.pdop = minmea_tofloat(&gsa.pdop);
+      data_.hdop = minmea_tofloat(&gsa.hdop);
+      data_.vdop = minmea_tofloat(&gsa.vdop);
+      ESP_LOGV(TAG, "GSA: pdop=%f, hdop=%f, vdop=%f", data_.pdop, data_.hdop,
+               data_.vdop);
+      xSemaphoreGive(mutex_);
+      break;
+    }
     default: ESP_LOGV(TAG, "unsupported nmea sentence: %s", line);
   }
 }
@@ -184,13 +200,13 @@ void UART_GPS::DoTask() {
 
   esp_err_t ret;
   ret = WriteCommand(NMEA_OUTPUT_RMCGGA, sizeof(NMEA_OUTPUT_RMCGGA));
-  ESP_LOGI(TAG, "sent output rmc and gga: %d", ret);
+  ESP_LOGV(TAG, "sent output rmc and gga: %d", ret);
   ret = WriteCommand(NMEA_UPDATE_1HZ, sizeof(NMEA_UPDATE_1HZ));
-  ESP_LOGI(TAG, "sent update 1hz: %d", ret);
+  ESP_LOGV(TAG, "sent update 1hz: %d", ret);
 
   vTaskDelay(pdMS_TO_TICKS(100));
   ret = WriteCommand(NMEA_Q_RELEASE, sizeof(NMEA_Q_RELEASE));
-  ESP_LOGI(TAG, "sent q release: %d", ret);
+  ESP_LOGV(TAG, "sent q release: %d", ret);
 
   while (true) {
     BaseType_t pdRet = xQueueReceive(uart_queue_, &uart_event, portMAX_DELAY);
@@ -201,7 +217,7 @@ void UART_GPS::DoTask() {
       case UART_DATA: break;
       case UART_PATTERN_DET: this->HandleUartPattern(); break;
       default:
-        ESP_LOGW(TAG, "Unhandled GPS event type: %d", uart_event.type);
+        ESP_LOGW(TAG, "Unhandled UART event type: %d", uart_event.type);
         break;
     }
   }

main/ugv_io_gps.hh

@@ -9,28 +9,31 @@ namespace ugv {
 namespace io {
 
 enum GpsFixQual {
-  GPS_FIX_INVALID   = 0,  // invalid gps fix
-  GPS_FIX_GPS       = 1,  // GPS fix
-  GPS_FIX_DGPS      = 2,  // differential GPS fix
-  GPS_FIX_PPS       = 3,  // PPS fix
-  GPS_FIX_RTK       = 4,  // Real Time Kinematic fix
-  GPS_FIX_FRTK      = 5,  // Float Real Time Kinematic fix
+  GPS_FIX_INVALID = 0,    // invalid gps fix
+  GPS_FIX_GPS = 1,        // GPS fix
+  GPS_FIX_DGPS = 2,       // differential GPS fix
+  GPS_FIX_PPS = 3,        // PPS fix
+  GPS_FIX_RTK = 4,        // Real Time Kinematic fix
+  GPS_FIX_FRTK = 5,       // Float Real Time Kinematic fix
   GPS_FIX_ESTIMATED = 6,  // Estimated fix
-  GPS_FIX_MANUAL    = 7,  // Manual fix
+  GPS_FIX_MANUAL = 7,     // Manual fix
   GPS_FIX_SIMULATED = 8,  // Simulated fix
 };
 
 struct GpsData {
   TickType_t last_update;
-  bool       valid;
+  bool valid;
   GpsFixQual fix_quality;
-  uint8_t    num_satellites;
+  uint8_t num_satellites;
 
   float latitude;   // degrees +/-
   float longitude;  // degrees +/-
   float altitude;   // meters
   float speed;      // knots
   float course;     // degrees clockwise of north
+  float pdop;
+  float hdop;
+  float vdop;
 };
 
 class UART_GPS {
@@ -43,17 +46,17 @@ class UART_GPS {
   void GetData(GpsData& data);
 
  private:
-  TaskHandle_t      task_;
+  TaskHandle_t task_;
   SemaphoreHandle_t mutex_;
-  QueueHandle_t     uart_queue_;
-  GpsData           data_;
-  uint8_t*          buffer_;
+  QueueHandle_t uart_queue_;
+  GpsData data_;
+  uint8_t* buffer_;
 
   esp_err_t WriteCommand(const char* cmd, size_t len);
-  void      HandleUartPattern();
-  void      ProcessLine(const char* line, size_t len);
+  void HandleUartPattern();
+  void ProcessLine(const char* line, size_t len);
 
-  void        DoTask();
+  void DoTask();
   static void TaskEntry(void* arg);
 };
 

main/ugv_io_mpu.cc

@@ -3,9 +3,9 @@
 #include <driver/uart.h>
 #include <esp_log.h>
 
-#include <math.h>
+#include <cmath>
 
-constexpr float M_PI = atanf(1.f) * 4;
+constexpr float M_PI = 3.1415926535897932384626433832795;
 
 #include "MPU.hpp"
 #include "i2c_mutex.h"
@@ -14,18 +14,28 @@ constexpr float M_PI = atanf(1.f) * 4;
 namespace ugv {
 namespace io {
 
-static constexpr gpio_num_t       MPU_SDA         = GPIO_NUM_5;
-static constexpr gpio_num_t       MPU_SCL         = GPIO_NUM_4;
-static constexpr mpud::accel_fs_t MPU_ACCEL_FS    = mpud::ACCEL_FS_2G;
-static constexpr mpud::gyro_fs_t  MPU_GYRO_FS     = mpud::GYRO_FS_500DPS;
-static constexpr float            MPU_MAG_TO_FLUX = (4912.f) / (32760.f);
+static constexpr gpio_num_t MPU_SDA = GPIO_NUM_5;
+static constexpr gpio_num_t MPU_SCL = GPIO_NUM_4;
+static constexpr mpud::accel_fs_t MPU_ACCEL_FS = mpud::ACCEL_FS_2G;
+static constexpr mpud::gyro_fs_t MPU_GYRO_FS = mpud::GYRO_FS_500DPS;
+static constexpr float MPU_MAG_TO_FLUX = (4912.f) / (32760.f);
 
 static const Vec3f ACCEL_OFFSET = {0., 0., 0.};
-static const Mat3f ACCEL_MAT    = {1., 0., 0., 0., 1., 0., 0., 0., 1.};
-static const Vec3f MAG_OFFSET   = {-7.79683, 3.6735, 32.3868};
-static const Mat3f MAG_MAT      = {0., -0.0281408, 0., -0.0284409, 0., 0., 0., 0., 0.0261544};
-static const Mat3f GYRO_MAT    = {1., 0., 0., 0., 1., 0., 0., 0., 1.};
-static const Vec3f GYRO_OFFSET  = {0., 0., 0.};
+static const Mat3f ACCEL_MAT = {1., 0., 0., 0., 1., 0., 0., 0., 1.};
+//static const Vec3f MAG_OFFSET   = {76.6938, 11.5453, 64.3988};
+//static const Vec3f MAG_OFFSET   = {62.3746, 9.89597,39.9587};
+static const Vec3f MAG_OFFSET   = {70.8462, 19.7919, 64.0239};
+//static const Vec3f MAG_OFFSET = {0, 0, 0,};
+//static const Mat3f MAG_MAT = {0., -0.0305935, 0., 0.0294454, 0.,
+//                              0., 0.,         0., 0.0289344};
+//  static const Mat3f MAG_MAT = {0., -0.034202, 0.,0.028624, 0., 0., 0., 0., 0.0276165};
+//static const Mat3f MAG_MAT = {0., -0.028624, 0.,0.034202, 0., 0., 0., 0., 0.0276165};
+static const Mat3f MAG_MAT = {0., -0.0279054, 0., 0.0272776, 0., 0., 0., 0., 0.0259509};
+//static const Mat3f MAG_MAT = {1, 0, 0, 0, 1, 0, 0, 0, 1};
+//static const Vec3f GYRO_OFFSET = {-2.01854, -2.62769, -0.30177};
+static const Vec3f GYRO_OFFSET = {-1.99247, -2.48463, 0.294875};
+//static const Vec3f GYRO_OFFSET = {0, 0, 0};
+static const Mat3f GYRO_MAT = {1., 0., 0., 0., 1., 0., 0., 0., -1.};
 
 static const char *TAG = "ugv_io_mpu";
 
@@ -39,11 +49,42 @@ MPU::MPU() : mpu_(nullptr) {}
 MPU::~MPU() { delete mpu_; }
 
 void MPU::Init() {
+  mutex_ = xSemaphoreCreateMutex();
+
+  BaseType_t xRet = xTaskCreate(MPU::TaskEntry, "ugv_io_mpu", 8 * 1024, this, 3,
+                                &this->task_);
+  if (xRet != pdTRUE) {
+    ESP_LOGE(TAG, "error creating MPU task");
+    return;
+  }
+}
+
+void MPU::Calibrate() {
+  mpud::raw_axes_t accel_offset, gyro_offset;
+  mpu_->computeOffsets(&accel_offset, &gyro_offset);
+  mpu_->setAccelOffset(accel_offset);
+  mpu_->setGyroOffset(gyro_offset);
+  {
+    auto ao = mpud::math::accelGravity(accel_offset, mpud::ACCEL_FS_2G);
+    auto go = mpud::math::gyroDegPerSec(gyro_offset, mpud::GYRO_FS_250DPS);
+    ESP_LOGI(TAG, "MPU offsets: accel=(%f, %f, %f) gyro=(%f, %f, %f)", ao.x,
+             ao.y, ao.z, go.x, go.y, go.z);
+  }
+}
+
+void MPU::GetData(MpuData &data) {
+  xSemaphoreTake(mutex_, pdMS_TO_TICKS(10));
+  data = last_data_;
+  last_data_.gyro_rate = {0, 0, 0};
+  xSemaphoreGive(mutex_);
+}
+
+bool MPU::Initialize() {
   xSemaphoreTake(i2c_mutex, portMAX_DELAY);
-  mpu_bus_ = &i2c1;
+  mpu_bus_ = &i2c0;
   // This is shared with the oled, so just use those pins
   mpu_bus_->setTimeout(10);
-  mpu_bus_->begin(MPU_SDA, MPU_SCL, 100000);
+  mpu_bus_->begin(MPU_SDA, MPU_SCL, GPIO_PULLUP_DISABLE, GPIO_PULLUP_DISABLE, 400000);
   mpu_ = new mpud::MPU(*mpu_bus_);
 
   esp_err_t ret;
@@ -70,7 +111,7 @@ void MPU::Init() {
     break;
   }
   if (tries == 5) {
-    return;
+    return false;
   }
   // Calibrate();
   mpu_->setAccelFullScale(MPU_ACCEL_FS);
@@ -80,51 +121,62 @@ void MPU::Init() {
   xSemaphoreGive(i2c_mutex);
 
   ESP_LOGI(TAG, "MPU initialized");
+  return true;
 }
 
-void MPU::Calibrate() {
-  mpud::raw_axes_t accel_offset, gyro_offset;
-  mpu_->computeOffsets(&accel_offset, &gyro_offset);
-  mpu_->setAccelOffset(accel_offset);
-  mpu_->setGyroOffset(gyro_offset);
-  {
-    auto ao = mpud::math::accelGravity(accel_offset, mpud::ACCEL_FS_2G);
-    auto go = mpud::math::gyroDegPerSec(gyro_offset, mpud::GYRO_FS_250DPS);
-    ESP_LOGI(TAG, "MPU offsets: accel=(%f, %f, %f) gyro=(%f, %f, %f)", ao.x,
-             ao.y, ao.z, go.x, go.y, go.z);
-  }
-}
-
-void MPU::GetData(MpuData &data) {
+void MPU::DoTask() {
+  ESP_LOGI(TAG, "MPU task start");
+  mpud::raw_axes_t accel_, gyro_, mag_;
   esp_err_t ret;
-  xSemaphoreTake(i2c_mutex, portMAX_DELAY);
-  ret = mpu_->motion(&accel_, &gyro_);
-  if (ret != ESP_OK) {
-    ESP_LOGE(TAG, "error reading MPU: %#x", ret);
+  MpuData data;
+
+  if (!Initialize()) {
+    return;
   }
-  uint8_t compass_data[7];
-  mpu_->setAuxI2CBypass(true);
-  ret = mpu_bus_->readBytes(mpud::COMPASS_I2CADDRESS, 0x03, 7, compass_data);
-  if (ret != ESP_OK) {
-    ESP_LOGE(TAG, "error reading MPU compass: %#x", ret);
+
+  while (true) {
+    xSemaphoreTake(i2c_mutex, portMAX_DELAY);
+    ret = mpu_->motion(&accel_, &gyro_);
+    if (ret != ESP_OK) {
+      ESP_LOGE(TAG, "error reading MPU: %#x", ret);
+      xSemaphoreGive(i2c_mutex);
+      continue;
+    }
+    uint8_t compass_data[7];
+    mpu_->setAuxI2CBypass(true);
+    ret = mpu_bus_->readBytes(mpud::COMPASS_I2CADDRESS, 0x03, 7, compass_data);
+    if (ret != ESP_OK) {
+      ESP_LOGE(TAG, "error reading MPU compass: %#x", ret);
+      xSemaphoreGive(i2c_mutex);
+      continue;
+    }
+    mpu_->setAuxI2CBypass(false);
+    xSemaphoreGive(i2c_mutex);
+    int16_t mx = (static_cast<int16_t>(compass_data[1]) << 8) |
+                 static_cast<int16_t>(compass_data[0]);
+    int16_t my = (static_cast<int16_t>(compass_data[3]) << 8) |
+                 static_cast<int16_t>(compass_data[2]);
+    int16_t mz = (static_cast<int16_t>(compass_data[5]) << 8) |
+                 static_cast<int16_t>(compass_data[4]);
+    //  ESP_LOGV(TAG, "compass: %d, %d, %d", mx, my, mz);
+    data.accel = mpud::accelGravity(accel_, MPU_ACCEL_FS);
+    data.accel = ACCEL_MAT * (data.accel + ACCEL_OFFSET);
+    data.gyro_rate = mpud::gyroDegPerSec(gyro_, MPU_GYRO_FS);
+    data.gyro_rate = GYRO_MAT * (data.gyro_rate + GYRO_OFFSET);
+    data.mag.x = ((float)mx) * MPU_MAG_TO_FLUX;
+    data.mag.y = ((float)my) * MPU_MAG_TO_FLUX;
+    data.mag.z = ((float)mz) * MPU_MAG_TO_FLUX;
+    data.mag = MAG_MAT * (data.mag + MAG_OFFSET);
+    xSemaphoreTake(mutex_, pdMS_TO_TICKS(100));
+    last_data_ = data;
+    xSemaphoreGive(mutex_);
   }
-  mpu_->setAuxI2CBypass(false);
-  xSemaphoreGive(i2c_mutex);
-  int16_t mx = (static_cast<int16_t>(compass_data[1]) << 8) |
-               static_cast<int16_t>(compass_data[0]);
-  int16_t my = (static_cast<int16_t>(compass_data[3]) << 8) |
-               static_cast<int16_t>(compass_data[2]);
-  int16_t mz = (static_cast<int16_t>(compass_data[5]) << 8) |
-               static_cast<int16_t>(compass_data[4]);
-  //  ESP_LOGV(TAG, "compass: %d, %d, %d", mx, my, mz);
-  data.accel     = mpud::accelGravity(accel_, MPU_ACCEL_FS);
-  data.accel     = ACCEL_MAT * (data.accel + ACCEL_OFFSET);
-  data.gyro_rate = mpud::gyroDegPerSec(gyro_, MPU_GYRO_FS);
-  data.gyro_rate = GYRO_MAT * (data.gyro_rate + GYRO_OFFSET);
-  data.mag.x = ((float)mx) * MPU_MAG_TO_FLUX;
-  data.mag.y = ((float)my) * MPU_MAG_TO_FLUX;
-  data.mag.z = ((float)mz) * MPU_MAG_TO_FLUX;
-  data.mag   = MAG_MAT * (data.mag + MAG_OFFSET);
+}
+
+void MPU::TaskEntry(void *arg) {
+  MPU *mpu = (MPU *)arg;
+  mpu->DoTask();
+  vTaskDelete(NULL);
 }
 
 };  // namespace io

main/ugv_io_mpu.hh

@@ -15,6 +15,15 @@ struct Vec3f {
   Vec3f(float x, float y, float z);
   Vec3f(const mpud::float_axes_t& axes);
 
+  Vec3f operator*(float s) const { return {s * x, s * y, s * z}; }
+
+  Vec3f& operator*=(float s) {
+    x *= s;
+    y *= s;
+    z *= s;
+    return *this;
+  }
+
   Vec3f operator+(const Vec3f& a) const { return {x + a.x, y + a.y, z + a.z}; }
 
   Vec3f& operator+=(const Vec3f& a) {
@@ -23,17 +32,50 @@ struct Vec3f {
     z += a.z;
     return *this;
   }
+
+  Vec3f operator-(const Vec3f& a) const { return {x - a.x, y - a.y, z - a.z}; }
+
+  Vec3f& operator-=(const Vec3f& a) {
+    x -= a.x;
+    y -= a.y;
+    z -= a.z;
+    return *this;
+  }
+
+  float dot(const Vec3f& v) const { return x * v.x + y * v.y + z * v.z; }
+
+  float norm2() const { return x * x + y * y + z * z; }
 };
 
 struct Mat3f {
-  float xx, xy, xz;
-  float yx, yy, yz;
-  float zx, zy, zz;
+  union {
+    Vec3f rx;
+    float xx, xy, xz;
+  };
+  union {
+    Vec3f ry;
+    float yx, yy, yz;
+  };
+  union {
+    Vec3f rz;
+    float zx, zy, zz;
+  };
+
+  Mat3f(Vec3f rx_, Vec3f ry_, Vec3f rz_) : rx(rx_), ry(ry_), rz(rz_) {}
+
+  Mat3f(float xx, float xy, float xz, float yx, float yy, float yz, float zx,
+        float zy, float zz)
+      : rx(xx, xy, xz), ry(yx, yy, yz), rz(zx, zy, zz) {}
 
   Vec3f operator*(const Vec3f& v) const {
-    return {xx * v.x + xy * v.y + xz * v.z,
-            yx * v.x + yy * v.y + yz * v.z,
-            zx * v.x + zy * v.y + zz * v.z};
+    return {rx.dot(v), ry.dot(v), rz.dot(v)};
+  }
+
+  Mat3f transpose() const { return {xx, yx, zx, xy, yy, zy, xz, yz, zz}; }
+
+  Mat3f operator*(const Mat3f& m) const {
+    Mat3f mt = m.transpose();
+    return {mt * rx, mt * ry, mt * rz};
   }
 };
 
@@ -58,8 +100,14 @@ class MPU {
 
  private:
   mpud::mpu_bus_t* mpu_bus_;
-  mpud::MPU*       mpu_;
-  mpud::raw_axes_t accel_, gyro_, mag_;
+  mpud::MPU* mpu_;
+  TaskHandle_t task_;
+  SemaphoreHandle_t mutex_;
+  MpuData last_data_;
+
+  void DoTask();
+  bool Initialize();
+  static void TaskEntry(void* arg);
 };
 
 }  // namespace io

main/ugv_main.cc

@@ -1,222 +1,11 @@
-#include <esp_log.h>
-#include <esp_timer.h>
-#include "MadgwickAHRS.h"
 #include "i2c_mutex.h"
-#include "ugv_comms.hh"
-#include "ugv_display.hh"
-#include "ugv_io.hh"
-
-#include <math.h>
-
-namespace ugv {
-
-using ugv::comms::CommsClass;
-using ugv::comms::messages::UGV_State;
-using ugv::io::IOClass;
-
-static const char *TAG = "ugv_main";
+#include "ugv.hh"
 
 extern "C" {
 SemaphoreHandle_t i2c_mutex;
 }
 
-constexpr uint64_t LOOP_PERIOD_US = 1e6 / 100;
-static const float PI =
-    3.1415926535897932384626433832795028841971693993751058209749445923078164062;
-
-extern "C" void OnTimeout(void *arg);
-
-void UpdateLocationFromGPS(comms::messages::Location &location,
-                           const io::GpsData &        gps_data) {
-  location.set_fix_quality(gps_data.fix_quality);
-  location.set_latitude(gps_data.latitude);
-  location.set_longitude(gps_data.longitude);
-  location.set_altitude(gps_data.altitude);
+extern "C" void app_main() {
+  i2c_mutex = xSemaphoreCreateMutex();
+  ugv::Start();
 }
-
-static const float RAD_PER_DEG = PI / 180.f;
-// Radius of earth in meters
-static const float EARTH_RAD = 6372795.f;
-
-static const float DRIVE_POWER = 0.5;
-static const float ANGLE_P     = 0.02;
-static const float MIN_DIST    = 10.0;
-
-struct LatLong {
- public:
-  float latitude;
-  float longitude;
-
-  inline LatLong(double latitude_, double longitude_)
-      : latitude(latitude_), longitude(longitude_) {}
-
-  /**
-   * Return distance from this LatLong to target, in meters
-   */
-  float distance_to(const LatLong &target) const {
-    float lat1  = latitude * RAD_PER_DEG;
-    float lat2  = target.latitude * RAD_PER_DEG;
-    float long1 = longitude * RAD_PER_DEG;
-    float long2 = target.longitude * RAD_PER_DEG;
-    float clat1 = cosf(lat1);
-    float clat2 = cosf(lat2);
-    float a     = powf(sinf((long2 - long1) / 2.f), 2.f) * clat1 * clat2 +
-              powf(sinf((lat2 - lat1) / 2.f), 2.f);
-    float d_over_r = 2 * atan2f(sqrtf(a), sqrtf(1 - a));
-    return d_over_r * EARTH_RAD;
-  }
-
-  float bearing_toward(const LatLong &target) const {
-    float dlong  = (target.longitude - longitude) * RAD_PER_DEG;
-    float sdlong = sinf(dlong);
-    float cdlong = cosf(dlong);
-    float lat1   = latitude * RAD_PER_DEG;
-    float lat2   = target.latitude * RAD_PER_DEG;
-    float slat1  = sinf(lat1);
-    float clat1  = cosf(lat1);
-    float slat2  = sinf(lat2);
-    float clat2  = cosf(lat2);
-    float num    = sdlong * clat2;
-    float denom  = (clat1 * slat2) - (slat1 * clat2 * cdlong);
-    float course = atan2f(num, denom);
-    if (course < 0.0) {
-      course += 2 * PI;
-    }
-    return course / RAD_PER_DEG;
-  }
-};
-
-struct State {
- public:
-  CommsClass *       comms;
-  IOClass *          io;
-  DisplayClass *     display;
-  esp_timer_handle_t timer_handle;
-  io::Inputs         inputs;
-  io::Outputs        outputs;
-  int64_t            last_print;
-  Madgwick           ahrs_;
-  LatLong            target;
-
-  State() : target{34.069022, -118.443067} {
-    comms   = new CommsClass();
-    io      = new IOClass();
-    display = new DisplayClass(comms);
-  }
-
-  void Init() {
-    esp_timer_init();
-    i2c_mutex = xSemaphoreCreateMutex();
-
-    ahrs_.begin(1000000.f /
-                static_cast<float>(LOOP_PERIOD_US));  // rough sample frequency
-
-    comms->Init();
-    display->Init();
-    io->Init();
-
-    esp_timer_create_args_t timer_args;
-    timer_args.callback        = OnTimeout;
-    timer_args.arg             = this;
-    timer_args.dispatch_method = ESP_TIMER_TASK;
-    timer_args.name            = "ugv_main_loop";
-    esp_timer_create(&timer_args, &this->timer_handle);
-    esp_timer_start_periodic(timer_handle, LOOP_PERIOD_US);
-    last_print = 0;
-  }
-
-  void OnTick() {
-    ESP_LOGV(TAG, "OnTick");
-    int64_t time_us = esp_timer_get_time();
-    float   time_s  = ((float)time_us) / 1e6;
-    io->ReadInputs(inputs);
-    {
-      io::Vec3f &g = inputs.mpu.gyro_rate, &a = inputs.mpu.accel,
-                &m = inputs.mpu.mag;
-      ahrs_.update(g.x, g.y, g.z, a.x, a.y, a.z, m.x, m.y, m.z);
-    }
-    if (time_us >= last_print + 50 * 1000) {  // 1s
-      ESP_LOGD(TAG,
-               "inputs: acc=(%f, %f, %f) gyro=(%f, %f, %f) mag=(%f, %f, %f)",
-               inputs.mpu.accel.x, inputs.mpu.accel.y, inputs.mpu.accel.z,
-               inputs.mpu.gyro_rate.x, inputs.mpu.gyro_rate.y,
-               inputs.mpu.gyro_rate.z, inputs.mpu.mag.x, inputs.mpu.mag.y,
-               inputs.mpu.mag.z);
-      ESP_LOGD(TAG, "ahrs: yaw=%f, pitch=%f, roll=%f", ahrs_.getYaw(),
-               ahrs_.getPitch(), ahrs_.getRoll());
-      last_print = time_us;
-    }
-
-    comms->Lock();
-    UpdateLocationFromGPS(comms->location, inputs.gps);
-    UGV_State ugv_state = comms->ugv_state;
-    comms->Unlock();
-
-    switch (ugv_state) {
-      default:
-        ESP_LOGW(TAG, "unhandled state: %d", ugv_state);
-        // fall through
-      case UGV_State::STATE_IDLE:
-      case UGV_State::STATE_FINISHED:
-        outputs.left_motor  = 0.0;
-        outputs.right_motor = 0.0;
-        break;
-      case UGV_State::STATE_AQUIRING: {
-        TickType_t current_tick    = xTaskGetTickCount();
-        TickType_t ticks_since_gps = current_tick - inputs.gps.last_update;
-        bool       not_old         = ticks_since_gps <= pdMS_TO_TICKS(2000);
-        bool       not_invalid = inputs.gps.fix_quality != io::GPS_FIX_INVALID;
-        outputs.left_motor     = 0.0;
-        outputs.right_motor    = 0.0;
-        if (not_old && not_invalid) {
-          comms->ugv_state = UGV_State::STATE_DRIVING;
-        }
-        break;
-      }
-      case UGV_State::STATE_DRIVING: {
-        LatLong current_pos = {inputs.gps.latitude, inputs.gps.longitude};
-        float   tgt_dist    = current_pos.distance_to(target);
-
-        if (tgt_dist <= MIN_DIST) {
-          ESP_LOGI(TAG, "Finished driving to target");
-          comms->ugv_state = UGV_State::STATE_FINISHED;
-          break;
-        }
-
-        float tgt_bearing = current_pos.bearing_toward(target);
-        float cur_bearing = ahrs_.getYaw();
-        float angle_delta = tgt_bearing - cur_bearing;
-        if (angle_delta < 180.f) angle_delta += 360.f;
-        if (angle_delta > 180.f) angle_delta -= 360.f;
-        float angle_pwr = angle_delta * ANGLE_P;
-
-        outputs.left_motor  = DRIVE_POWER + angle_pwr;
-        outputs.right_motor = DRIVE_POWER - angle_pwr;
-        break;
-      }
-      case UGV_State::STATE_TEST:
-        outputs.left_motor  = sinf(time_s * PI);
-        outputs.right_motor = cosf(time_s * PI);
-        break;
-    }
-    io->WriteOutputs(outputs);
-  }
-};
-
-extern "C" void OnTimeout(void *arg) {
-  State *state = (State *)arg;
-  state->OnTick();
-}
-
-State *state;
-
-void Setup(void) {
-  ESP_LOGI(TAG, "Starting UAS UGV");
-  state = new State();
-  state->Init();
-  ESP_LOGI(TAG, "Setup finished");
-}
-
-}  // namespace ugv
-
-extern "C" void app_main() { ugv::Setup(); }

tools/config.yml

@@ -0,0 +1,12 @@
+REVISION: 1
+angle_pid:
+  kp: 0.04
+  ki: 0.00 #0001
+  kd: 0.4
+  max_output: 0.4
+  max_i_error: 15.0
+
+min_target_dist: 1.0
+min_flip_pitch: 90.0
+drive_power: 0.3
+mag_declination: 11.5

tools/config2c.py

@@ -0,0 +1,43 @@
+#!/usr/bin/env python3
+
+import config_pb2
+import yaml
+
+
+def dict2pb(d, pb):
+    for key in d:
+        val = d[key]
+        if isinstance(val, dict):
+            dict2pb(val, getattr(pb, key))
+        else:
+            setattr(pb, key, val)
+
+
+def main():
+    with open('./tools/config.yml', 'r') as configfile:
+        config = yaml.load(configfile)
+
+    if 'REVISION' in config:
+        config_rev = config['REVISION']
+        del config['REVISION']
+    else:
+        config_rev = 1
+
+    confpb = config_pb2.Config()
+    dict2pb(config, confpb)
+
+    pbdata = confpb.SerializeToString()
+
+    pbdataarry = ','.join([str(int(b)) for b in pbdata])
+
+    cfile = """#include <stdint.h>
+
+uint8_t CONFIG_DATA[] = {%s};
+size_t CONFIG_DATA_LEN = %s;
+int CONFIG_REV = %s;""" % (pbdataarry, len(pbdata), int(config_rev))
+
+    print(cfile)
+
+
+if __name__ == "__main__":
+    main()

tools/config_pb2.py

@@ -0,0 +1,167 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: config.proto
+
+import sys
+_b=sys.version_info[0]<3 and (lambda x:x) or (lambda x:x.encode('latin1'))
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from google.protobuf import reflection as _reflection
+from google.protobuf import symbol_database as _symbol_database
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor.FileDescriptor(
+  name='config.proto',
+  package='ugv.config',
+  syntax='proto3',
+  serialized_options=_b('H\003'),
+  serialized_pb=_b('\n\x0c\x63onfig.proto\x12\nugv.config\"X\n\tPidParams\x12\n\n\x02kp\x18\x01 \x01(\x02\x12\n\n\x02ki\x18\x02 \x01(\x02\x12\n\n\x02kd\x18\x03 \x01(\x02\x12\x12\n\nmax_output\x18\x04 \x01(\x02\x12\x13\n\x0bmax_i_error\x18\x05 \x01(\x02\"\x91\x01\n\x06\x43onfig\x12\x17\n\x0fmin_target_dist\x18\x01 \x01(\x02\x12\x13\n\x0b\x64rive_power\x18\x02 \x01(\x02\x12(\n\tangle_pid\x18\x03 \x01(\x0b\x32\x15.ugv.config.PidParams\x12\x16\n\x0emin_flip_pitch\x18\x04 \x01(\x02\x12\x17\n\x0fmag_declination\x18\x05 \x01(\x02\x42\x02H\x03\x62\x06proto3')
+)
+
+
+
+
+_PIDPARAMS = _descriptor.Descriptor(
+  name='PidParams',
+  full_name='ugv.config.PidParams',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='kp', full_name='ugv.config.PidParams.kp', index=0,
+      number=1, 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),
+    _descriptor.FieldDescriptor(
+      name='ki', full_name='ugv.config.PidParams.ki', index=1,
+      number=2, 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),
+    _descriptor.FieldDescriptor(
+      name='kd', full_name='ugv.config.PidParams.kd', 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),
+    _descriptor.FieldDescriptor(
+      name='max_output', full_name='ugv.config.PidParams.max_output', index=3,
+      number=4, 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),
+    _descriptor.FieldDescriptor(
+      name='max_i_error', full_name='ugv.config.PidParams.max_i_error', index=4,
+      number=5, 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=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=28,
+  serialized_end=116,
+)
+
+
+_CONFIG = _descriptor.Descriptor(
+  name='Config',
+  full_name='ugv.config.Config',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='min_target_dist', full_name='ugv.config.Config.min_target_dist', index=0,
+      number=1, 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),
+    _descriptor.FieldDescriptor(
+      name='drive_power', full_name='ugv.config.Config.drive_power', index=1,
+      number=2, 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),
+    _descriptor.FieldDescriptor(
+      name='angle_pid', full_name='ugv.config.Config.angle_pid', index=2,
+      number=3, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='min_flip_pitch', full_name='ugv.config.Config.min_flip_pitch', index=3,
+      number=4, 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),
+    _descriptor.FieldDescriptor(
+      name='mag_declination', full_name='ugv.config.Config.mag_declination', index=4,
+      number=5, 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=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=119,
+  serialized_end=264,
+)
+
+_CONFIG.fields_by_name['angle_pid'].message_type = _PIDPARAMS
+DESCRIPTOR.message_types_by_name['PidParams'] = _PIDPARAMS
+DESCRIPTOR.message_types_by_name['Config'] = _CONFIG
+_sym_db.RegisterFileDescriptor(DESCRIPTOR)
+
+PidParams = _reflection.GeneratedProtocolMessageType('PidParams', (_message.Message,), dict(
+  DESCRIPTOR = _PIDPARAMS,
+  __module__ = 'config_pb2'
+  # @@protoc_insertion_point(class_scope:ugv.config.PidParams)
+  ))
+_sym_db.RegisterMessage(PidParams)
+
+Config = _reflection.GeneratedProtocolMessageType('Config', (_message.Message,), dict(
+  DESCRIPTOR = _CONFIG,
+  __module__ = 'config_pb2'
+  # @@protoc_insertion_point(class_scope:ugv.config.Config)
+  ))
+_sym_db.RegisterMessage(Config)
+
+
+DESCRIPTOR._options = None
+# @@protoc_insertion_point(module_scope)

tools/messages_pb2.py

@@ -0,0 +1,562 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: messages.proto
+
+import sys
+_b=sys.version_info[0]<3 and (lambda x:x) or (lambda x:x.encode('latin1'))
+from google.protobuf.internal import enum_type_wrapper
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from google.protobuf import reflection as _reflection
+from google.protobuf import symbol_database as _symbol_database
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+import config_pb2 as config__pb2
+
+from config_pb2 import *
+
+DESCRIPTOR = _descriptor.FileDescriptor(
+  name='messages.proto',
+  package='ugv.messages',
+  syntax='proto3',
+  serialized_options=_b('H\003'),
+  serialized_pb=_b('\n\x0emessages.proto\x12\x0cugv.messages\x1a\x0c\x63onfig.proto\"5\n\x0eTargetLocation\x12\x10\n\x08latitude\x18\x01 \x01(\x02\x12\x11\n\tlongitude\x18\x02 \x01(\x02\"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\"\xac\x01\n\nUGV_Status\x12&\n\x05state\x18\x01 \x01(\x0e\x32\x17.ugv.messages.UGV_State\x12(\n\x08location\x18\x02 \x01(\x0b\x32\x16.ugv.messages.Location\x12\x11\n\tyaw_angle\x18\x03 \x01(\x02\x12\x13\n\x0bpitch_angle\x18\x04 \x01(\x02\x12\x12\n\nroll_angle\x18\x05 \x01(\x02\x12\x10\n\x08is_still\x18\x06 \x01(\x08\"_\n\x0bUGV_Message\x12*\n\x06status\x18\x01 \x01(\x0b\x32\x18.ugv.messages.UGV_StatusH\x00\x12\x15\n\x0b\x63ommand_ack\x18\x02 \x01(\rH\x00\x42\r\n\x0bugv_message\"2\n\x10\x44riveHeadingData\x12\x0f\n\x07heading\x18\x01 \x01(\x02\x12\r\n\x05power\x18\x02 \x01(\x02\"\xea\x01\n\rGroundCommand\x12\n\n\x02id\x18\x01 \x01(\r\x12-\n\x04type\x18\x02 \x01(\x0e\x32\x1f.ugv.messages.GroundCommandType\x12\x37\n\rdrive_heading\x18\x03 \x01(\x0b\x32\x1e.ugv.messages.DriveHeadingDataH\x00\x12\x37\n\x0ftarget_location\x18\x04 \x01(\x0b\x32\x1c.ugv.messages.TargetLocationH\x00\x12$\n\x06\x63onfig\x18\x05 \x01(\x0b\x32\x12.ugv.config.ConfigH\x00\x42\x06\n\x04\x64\x61ta\"Q\n\rGroundMessage\x12.\n\x07\x63ommand\x18\x01 \x01(\x0b\x32\x1b.ugv.messages.GroundCommandH\x00\x42\x10\n\x0eground_message*\xa6\x01\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\x12\x12\n\x0eSTATE_FLIPPING\x10\x05\x12\x11\n\rSTATE_TURNING\x10\x06\x12\x17\n\x13STATE_DRIVE_HEADING\x10\x07*\xac\x01\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\x12\x15\n\x11\x43MD_DRIVE_HEADING\x10\x03\x12\x12\n\x0e\x43MD_SET_TARGET\x10\x04\x12\x12\n\x0e\x43MD_SET_CONFIG\x10\x05\x12\x12\n\x0e\x43MD_GET_STATUS\x10\x06\x12\x0c\n\x08\x43MD_PING\x10\x07\x42\x02H\x03P\x00\x62\x06proto3')
+  ,
+  dependencies=[config__pb2.DESCRIPTOR,],
+  public_dependencies=[config__pb2.DESCRIPTOR,])
+
+_UGV_STATE = _descriptor.EnumDescriptor(
+  name='UGV_State',
+  full_name='ugv.messages.UGV_State',
+  filename=None,
+  file=DESCRIPTOR,
+  values=[
+    _descriptor.EnumValueDescriptor(
+      name='STATE_IDLE', index=0, number=0,
+      serialized_options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='STATE_AQUIRING', index=1, number=1,
+      serialized_options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='STATE_DRIVING', index=2, number=2,
+      serialized_options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='STATE_FINISHED', index=3, number=3,
+      serialized_options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='STATE_TEST', index=4, number=4,
+      serialized_options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='STATE_FLIPPING', index=5, number=5,
+      serialized_options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='STATE_TURNING', index=6, number=6,
+      serialized_options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='STATE_DRIVE_HEADING', index=7, number=7,
+      serialized_options=None,
+      type=None),
+  ],
+  containing_type=None,
+  serialized_options=None,
+  serialized_start=834,
+  serialized_end=1000,
+)
+_sym_db.RegisterEnumDescriptor(_UGV_STATE)
+
+UGV_State = enum_type_wrapper.EnumTypeWrapper(_UGV_STATE)
+_GROUNDCOMMANDTYPE = _descriptor.EnumDescriptor(
+  name='GroundCommandType',
+  full_name='ugv.messages.GroundCommandType',
+  filename=None,
+  file=DESCRIPTOR,
+  values=[
+    _descriptor.EnumValueDescriptor(
+      name='CMD_DISABLE', index=0, number=0,
+      serialized_options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='CMD_DRIVE_TO_TARGET', index=1, number=1,
+      serialized_options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='CMD_TEST', index=2, number=2,
+      serialized_options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='CMD_DRIVE_HEADING', index=3, number=3,
+      serialized_options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='CMD_SET_TARGET', index=4, number=4,
+      serialized_options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='CMD_SET_CONFIG', index=5, number=5,
+      serialized_options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='CMD_GET_STATUS', index=6, number=6,
+      serialized_options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='CMD_PING', index=7, number=7,
+      serialized_options=None,
+      type=None),
+  ],
+  containing_type=None,
+  serialized_options=None,
+  serialized_start=1003,
+  serialized_end=1175,
+)
+_sym_db.RegisterEnumDescriptor(_GROUNDCOMMANDTYPE)
+
+GroundCommandType = enum_type_wrapper.EnumTypeWrapper(_GROUNDCOMMANDTYPE)
+STATE_IDLE = 0
+STATE_AQUIRING = 1
+STATE_DRIVING = 2
+STATE_FINISHED = 3
+STATE_TEST = 4
+STATE_FLIPPING = 5
+STATE_TURNING = 6
+STATE_DRIVE_HEADING = 7
+CMD_DISABLE = 0
+CMD_DRIVE_TO_TARGET = 1
+CMD_TEST = 2
+CMD_DRIVE_HEADING = 3
+CMD_SET_TARGET = 4
+CMD_SET_CONFIG = 5
+CMD_GET_STATUS = 6
+CMD_PING = 7
+
+
+
+_TARGETLOCATION = _descriptor.Descriptor(
+  name='TargetLocation',
+  full_name='ugv.messages.TargetLocation',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='latitude', full_name='ugv.messages.TargetLocation.latitude', index=0,
+      number=1, 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),
+    _descriptor.FieldDescriptor(
+      name='longitude', full_name='ugv.messages.TargetLocation.longitude', index=1,
+      number=2, 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=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=46,
+  serialized_end=99,
+)
+
+
+_LOCATION = _descriptor.Descriptor(
+  name='Location',
+  full_name='ugv.messages.Location',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='fix_quality', full_name='ugv.messages.Location.fix_quality', index=0,
+      number=1, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='latitude', full_name='ugv.messages.Location.latitude', index=1,
+      number=2, 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),
+    _descriptor.FieldDescriptor(
+      name='longitude', full_name='ugv.messages.Location.longitude', 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),
+    _descriptor.FieldDescriptor(
+      name='altitude', full_name='ugv.messages.Location.altitude', index=3,
+      number=4, 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=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=101,
+  serialized_end=187,
+)
+
+
+_UGV_STATUS = _descriptor.Descriptor(
+  name='UGV_Status',
+  full_name='ugv.messages.UGV_Status',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='state', full_name='ugv.messages.UGV_Status.state', index=0,
+      number=1, type=14, cpp_type=8, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='location', full_name='ugv.messages.UGV_Status.location', index=1,
+      number=2, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      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='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),
+    _descriptor.FieldDescriptor(
+      name='pitch_angle', full_name='ugv.messages.UGV_Status.pitch_angle', index=3,
+      number=4, 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),
+    _descriptor.FieldDescriptor(
+      name='roll_angle', full_name='ugv.messages.UGV_Status.roll_angle', index=4,
+      number=5, 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),
+    _descriptor.FieldDescriptor(
+      name='is_still', full_name='ugv.messages.UGV_Status.is_still', index=5,
+      number=6, type=8, cpp_type=7, label=1,
+      has_default_value=False, default_value=False,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=190,
+  serialized_end=362,
+)
+
+
+_UGV_MESSAGE = _descriptor.Descriptor(
+  name='UGV_Message',
+  full_name='ugv.messages.UGV_Message',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='status', full_name='ugv.messages.UGV_Message.status', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='command_ack', full_name='ugv.messages.UGV_Message.command_ack', index=1,
+      number=2, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+    _descriptor.OneofDescriptor(
+      name='ugv_message', full_name='ugv.messages.UGV_Message.ugv_message',
+      index=0, containing_type=None, fields=[]),
+  ],
+  serialized_start=364,
+  serialized_end=459,
+)
+
+
+_DRIVEHEADINGDATA = _descriptor.Descriptor(
+  name='DriveHeadingData',
+  full_name='ugv.messages.DriveHeadingData',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='heading', full_name='ugv.messages.DriveHeadingData.heading', index=0,
+      number=1, 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),
+    _descriptor.FieldDescriptor(
+      name='power', full_name='ugv.messages.DriveHeadingData.power', index=1,
+      number=2, 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=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=461,
+  serialized_end=511,
+)
+
+
+_GROUNDCOMMAND = _descriptor.Descriptor(
+  name='GroundCommand',
+  full_name='ugv.messages.GroundCommand',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='id', full_name='ugv.messages.GroundCommand.id', index=0,
+      number=1, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='type', full_name='ugv.messages.GroundCommand.type', index=1,
+      number=2, type=14, cpp_type=8, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='drive_heading', full_name='ugv.messages.GroundCommand.drive_heading', index=2,
+      number=3, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='target_location', full_name='ugv.messages.GroundCommand.target_location', index=3,
+      number=4, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='config', full_name='ugv.messages.GroundCommand.config', index=4,
+      number=5, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+    _descriptor.OneofDescriptor(
+      name='data', full_name='ugv.messages.GroundCommand.data',
+      index=0, containing_type=None, fields=[]),
+  ],
+  serialized_start=514,
+  serialized_end=748,
+)
+
+
+_GROUNDMESSAGE = _descriptor.Descriptor(
+  name='GroundMessage',
+  full_name='ugv.messages.GroundMessage',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='command', full_name='ugv.messages.GroundMessage.command', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+    _descriptor.OneofDescriptor(
+      name='ground_message', full_name='ugv.messages.GroundMessage.ground_message',
+      index=0, containing_type=None, fields=[]),
+  ],
+  serialized_start=750,
+  serialized_end=831,
+)
+
+_UGV_STATUS.fields_by_name['state'].enum_type = _UGV_STATE
+_UGV_STATUS.fields_by_name['location'].message_type = _LOCATION
+_UGV_MESSAGE.fields_by_name['status'].message_type = _UGV_STATUS
+_UGV_MESSAGE.oneofs_by_name['ugv_message'].fields.append(
+  _UGV_MESSAGE.fields_by_name['status'])
+_UGV_MESSAGE.fields_by_name['status'].containing_oneof = _UGV_MESSAGE.oneofs_by_name['ugv_message']
+_UGV_MESSAGE.oneofs_by_name['ugv_message'].fields.append(
+  _UGV_MESSAGE.fields_by_name['command_ack'])
+_UGV_MESSAGE.fields_by_name['command_ack'].containing_oneof = _UGV_MESSAGE.oneofs_by_name['ugv_message']
+_GROUNDCOMMAND.fields_by_name['type'].enum_type = _GROUNDCOMMANDTYPE
+_GROUNDCOMMAND.fields_by_name['drive_heading'].message_type = _DRIVEHEADINGDATA
+_GROUNDCOMMAND.fields_by_name['target_location'].message_type = _TARGETLOCATION
+_GROUNDCOMMAND.fields_by_name['config'].message_type = config__pb2._CONFIG
+_GROUNDCOMMAND.oneofs_by_name['data'].fields.append(
+  _GROUNDCOMMAND.fields_by_name['drive_heading'])
+_GROUNDCOMMAND.fields_by_name['drive_heading'].containing_oneof = _GROUNDCOMMAND.oneofs_by_name['data']
+_GROUNDCOMMAND.oneofs_by_name['data'].fields.append(
+  _GROUNDCOMMAND.fields_by_name['target_location'])
+_GROUNDCOMMAND.fields_by_name['target_location'].containing_oneof = _GROUNDCOMMAND.oneofs_by_name['data']
+_GROUNDCOMMAND.oneofs_by_name['data'].fields.append(
+  _GROUNDCOMMAND.fields_by_name['config'])
+_GROUNDCOMMAND.fields_by_name['config'].containing_oneof = _GROUNDCOMMAND.oneofs_by_name['data']
+_GROUNDMESSAGE.fields_by_name['command'].message_type = _GROUNDCOMMAND
+_GROUNDMESSAGE.oneofs_by_name['ground_message'].fields.append(
+  _GROUNDMESSAGE.fields_by_name['command'])
+_GROUNDMESSAGE.fields_by_name['command'].containing_oneof = _GROUNDMESSAGE.oneofs_by_name['ground_message']
+DESCRIPTOR.message_types_by_name['TargetLocation'] = _TARGETLOCATION
+DESCRIPTOR.message_types_by_name['Location'] = _LOCATION
+DESCRIPTOR.message_types_by_name['UGV_Status'] = _UGV_STATUS
+DESCRIPTOR.message_types_by_name['UGV_Message'] = _UGV_MESSAGE
+DESCRIPTOR.message_types_by_name['DriveHeadingData'] = _DRIVEHEADINGDATA
+DESCRIPTOR.message_types_by_name['GroundCommand'] = _GROUNDCOMMAND
+DESCRIPTOR.message_types_by_name['GroundMessage'] = _GROUNDMESSAGE
+DESCRIPTOR.enum_types_by_name['UGV_State'] = _UGV_STATE
+DESCRIPTOR.enum_types_by_name['GroundCommandType'] = _GROUNDCOMMANDTYPE
+_sym_db.RegisterFileDescriptor(DESCRIPTOR)
+
+TargetLocation = _reflection.GeneratedProtocolMessageType('TargetLocation', (_message.Message,), dict(
+  DESCRIPTOR = _TARGETLOCATION,
+  __module__ = 'messages_pb2'
+  # @@protoc_insertion_point(class_scope:ugv.messages.TargetLocation)
+  ))
+_sym_db.RegisterMessage(TargetLocation)
+
+Location = _reflection.GeneratedProtocolMessageType('Location', (_message.Message,), dict(
+  DESCRIPTOR = _LOCATION,
+  __module__ = 'messages_pb2'
+  # @@protoc_insertion_point(class_scope:ugv.messages.Location)
+  ))
+_sym_db.RegisterMessage(Location)
+
+UGV_Status = _reflection.GeneratedProtocolMessageType('UGV_Status', (_message.Message,), dict(
+  DESCRIPTOR = _UGV_STATUS,
+  __module__ = 'messages_pb2'
+  # @@protoc_insertion_point(class_scope:ugv.messages.UGV_Status)
+  ))
+_sym_db.RegisterMessage(UGV_Status)
+
+UGV_Message = _reflection.GeneratedProtocolMessageType('UGV_Message', (_message.Message,), dict(
+  DESCRIPTOR = _UGV_MESSAGE,
+  __module__ = 'messages_pb2'
+  # @@protoc_insertion_point(class_scope:ugv.messages.UGV_Message)
+  ))
+_sym_db.RegisterMessage(UGV_Message)
+
+DriveHeadingData = _reflection.GeneratedProtocolMessageType('DriveHeadingData', (_message.Message,), dict(
+  DESCRIPTOR = _DRIVEHEADINGDATA,
+  __module__ = 'messages_pb2'
+  # @@protoc_insertion_point(class_scope:ugv.messages.DriveHeadingData)
+  ))
+_sym_db.RegisterMessage(DriveHeadingData)
+
+GroundCommand = _reflection.GeneratedProtocolMessageType('GroundCommand', (_message.Message,), dict(
+  DESCRIPTOR = _GROUNDCOMMAND,
+  __module__ = 'messages_pb2'
+  # @@protoc_insertion_point(class_scope:ugv.messages.GroundCommand)
+  ))
+_sym_db.RegisterMessage(GroundCommand)
+
+GroundMessage = _reflection.GeneratedProtocolMessageType('GroundMessage', (_message.Message,), dict(
+  DESCRIPTOR = _GROUNDMESSAGE,
+  __module__ = 'messages_pb2'
+  # @@protoc_insertion_point(class_scope:ugv.messages.GroundMessage)
+  ))
+_sym_db.RegisterMessage(GroundMessage)
+
+
+DESCRIPTOR._options = None
+# @@protoc_insertion_point(module_scope)

tools/requirements.txt

@@ -0,0 +1,14 @@
+certifi==2019.3.9
+chardet==3.0.4
+idna==2.8
+netifaces==0.10.6
+protobuf==3.7.1
+PyCRC==1.21
+pyserial==3.4
+python-engineio==3.5.2
+python-socketio==4.0.2
+PyYAML==5.1
+requests==2.22.0
+six==1.12.0
+urllib3==1.25.3
+websocket-client==0.56.0

tools/ugv.py

@@ -0,0 +1,205 @@
+#!/usr/bin/env python3
+
+import logging
+import sys
+import serial
+import threading
+from threading import Thread
+import time
+import binascii
+from base64 import b64decode, b64encode
+from PyCRC.CRC32 import CRC32
+import struct
+
+import messages_pb2 as messages
+from google.protobuf.message import Message
+
+log = logging.getLogger("ugv")
+
+
+class UGVComms:
+    MAX_WRITE_RETRY = 5
+    RETRY_TIME = 1.5
+
+    def __init__(self, serial_port: serial.Serial, on_msg_received=None):
+        self.ser = serial_port
+        self.on_msg_received = on_msg_received
+        self.msg_acks = []
+        self.ack_cv = threading.Condition()
+        self.next_command_id = 1
+        self.last_status = None
+        self.last_status_time = None
+        self.rx_thread = None
+        self.is_running = False
+        self.log_file = None
+
+    def write_base64(self, data: bytes):
+        crc = CRC32().calculate(data)
+        data_with_checksum = bytearray(data)
+        data_with_checksum.extend(struct.pack('<L', crc))
+        encoded = b64encode(data_with_checksum)
+        self.ser.write(encoded)
+        self.ser.write(b'\n')
+
+    def write_message(self, msg: Message):
+        log.debug("writing message: %s", msg)
+        data = msg.SerializeToString()
+        self.write_base64(data)
+
+    def write_command(self, command, retry=True):
+        cmdid = self.next_command_id
+        self.next_command_id += 1
+
+        gmsg = messages.GroundMessage()
+        if type(command) is int:
+            gmsg.command.type = command
+        else:
+            gmsg.command.CopyFrom(command)
+        gmsg.command.id = cmdid
+        self.write_message(gmsg)
+        last_write_time = time.time()
+        if not retry:
+            return
+        tries = UGVComms.MAX_WRITE_RETRY
+        with self.ack_cv:
+            while tries > 0:
+                if cmdid in self.msg_acks:
+                    self.msg_acks.remove(cmdid)
+                    log.debug("received ack for command")
+                    return
+                time_left = time.time() - last_write_time
+                if time_left >= self.RETRY_TIME:
+                    log.warning("retry writing command")
+                    self.write_message(gmsg)
+                    last_write_time = time.time()
+                    tries -= 1
+                self.ack_cv.wait(timeout=time_left)
+            raise TimeoutError("Timeout waiting for command ack")
+
+    def read_message(self):
+        data = self.ser.read_until(terminator=b'\n')
+        if len(data) is 0:
+            return None
+        try:
+            decoded = b64decode(data, validate=True)
+        except binascii.Error:
+            log.warning("read bad data: %s", data)
+            self.ser.flush()
+            return None
+        if len(decoded) < 4:
+            log.warning('Message too short ({} bytes)'.format(len(decoded)))
+            return None
+        msgcrc, = struct.unpack('<L', decoded[-4:])
+        calccrc = CRC32().calculate(decoded[:-4])
+        if msgcrc != calccrc:
+            log.warning('Checksum did not match ({} != {})'.format(msgcrc, calccrc))
+            return None
+        msg = messages.UGV_Message()
+        msg.ParseFromString(decoded[:-4])
+        return msg
+
+    def process_message(self, msg: messages.UGV_Message):
+        if msg is None:
+            return
+        log.debug("received UGV message: %s", msg)
+        if self.on_msg_received:
+            self.on_msg_received(msg)
+        if self.log_file:
+            print('[{}] UGV_Message: {}'.format(time.strftime('%Y-%b-%d %H:%M:%S'), msg), file=self.log_file)
+        if msg.HasField("command_ack"):
+            with self.ack_cv:
+                self.msg_acks.append(msg.command_ack)
+                self.ack_cv.notify()
+        elif msg.HasField("status"):
+            self.last_status = msg.status
+            self.last_status_time = time.time()
+        else:
+            log.warning("unknown UGV message: %s", msg)
+
+    def start(self):
+        if self.is_running:
+            log.warning("RX thread already running")
+            return False
+        self.is_running = True
+        self.rx_thread = Thread(target=self.__rx_thread_entry, daemon=True)
+        self.rx_thread.start()
+        log.debug("started RX thread")
+        return True
+
+    def stop(self):
+        if not self.is_running:
+            return False
+        self.is_running = False
+        self.ser.close()
+        self.rx_thread.join()
+        return True
+
+    def save_logs(self, file):
+        self.log_file = open(file, mode='a')
+
+    def __rx_thread_entry(self):
+        try:
+            while self.is_running and self.ser.is_open:
+                try:
+                    msg = self.read_message()
+                    self.process_message(msg)
+                except serial.SerialException:
+                    if not self.ser.is_open or not self.is_running:  # port was probably just closed
+                        return
+                    log.error("serial error", exc_info=True)
+                    return
+                except Exception:
+                    log.error("error reading message", exc_info=True)
+                    continue
+        finally:
+            if self.log_file:
+                self.log_file.close()
+
+
+def main():
+    if len(sys.argv) >= 2:
+        ser_url = sys.argv[1]
+    else:
+        ser_url = "hwgrep://"
+    ser = serial.serial_for_url(ser_url, baudrate=9600, parity=serial.PARITY_NONE,
+                                stopbits=serial.STOPBITS_ONE, bytesize=serial.EIGHTBITS,
+                                timeout=0.5)
+    ugv = UGVComms(ser)
+    ugv.start()
+    time.sleep(0.2)
+    try:
+        cmd = messages.GroundCommand()
+        cmd.type = messages.CMD_SET_TARGET
+        cmd.target_location.latitude = 34.068415
+        cmd.target_location.longitude = -118.443217
+        # ugv.write_command(cmd)
+        cmd.type = messages.CMD_SET_CONFIG
+        cmd.config.angle_pid.kp = 0.10
+        cmd.config.angle_pid.ki = 0  # .00005
+        cmd.config.angle_pid.kd = 0.4
+        cmd.config.angle_pid.max_output = 0.5
+        cmd.config.angle_pid.max_i_error = 15.0
+        cmd.config.min_target_dist = 10.0
+        cmd.config.min_flip_pitch = 90.0
+        ugv.write_command(cmd)
+        while True:
+            if ugv.last_status is None or ugv.last_status.state is not messages.STATE_DRIVE_HEADING:
+                cmd = messages.GroundCommand()
+                cmd.type = messages.CMD_DRIVE_HEADING
+                cmd.drive_heading.heading = -115.0 - 180
+                cmd.drive_heading.power = 0.3
+                ugv.write_command(cmd)
+                time.sleep(2.0)
+    except KeyboardInterrupt:
+        ugv.write_command(messages.CMD_DISABLE)
+        log.info("exiting...")
+    finally:
+        ugv.ser.flush()
+        ugv.ser.close()
+    ugv.stop()
+
+
+if __name__ == "__main__":
+    logging.basicConfig(format='%(asctime)s [%(name)s] %(levelname)s: %(message)s', datefmt='%Y-%b-%d %H:%M:%S')
+    log.setLevel(logging.DEBUG)
+    main()

tools/ugv_cmd.py

@@ -0,0 +1,241 @@
+#!/usr/bin/env python3
+
+import sys
+import serial
+import time
+import logging
+import readline
+import yaml
+try:
+    from yaml import CLoader as YamlLoader, CDumper as YamlDumper
+except ImportError:
+    from yaml import Loader as YamlLoader, Dumper as YamlDumper
+import types
+
+from ugv import UGVComms
+import messages_pb2 as messages
+import config_pb2
+
+log = logging.getLogger("ugv_cmd")
+
+
+def dict2pb(d, pb):
+    for key in d:
+        val = d[key]
+        if isinstance(val, dict):
+            dict2pb(val, getattr(pb, key))
+        else:
+            setattr(pb, key, val)
+
+
+class CLI_CMD:
+    def __init__(self, func, names=[], description=""):
+        self.func = func
+        self.names = names
+        self.description = description
+
+
+cli_commands = []
+
+
+def cli_cmd(names=None, description=""):
+    def dec(fn: types.FunctionType):
+        if dec.names is None:
+            dec.names = [fn.__name__]
+        cli_commands.append(CLI_CMD(fn, dec.names, dec.description))
+        return fn
+
+    dec.names = names
+    dec.description = description
+
+    return dec
+
+
+class UGV_CLI:
+    def __init__(self, on_msg_received=None):
+        self.on_msg_received = on_msg_received
+        self.is_running = False
+        self.last_state = messages.STATE_IDLE
+        self.commands = {
+            'get_status': self.get_status,
+            's': self.get_status,
+        }
+        self.ugv = None
+        pass
+
+    @cli_cmd(names=["help", "h", "?"], description="Print this help message")
+    def help_msg(self):
+        print("Commands:")
+        for cmd in cli_commands:
+            names = ", ".join(cmd.names).ljust(30, ' ')
+            print("{}: {}".format(names, cmd.description))
+        print()
+
+    @cli_cmd(names=["exit", "q", "C-d", "C-c"], description="Quit the program")
+    def exit(self):
+        self.is_running = False
+
+    @cli_cmd(names=["disable", "d"], description="Disable the UGV")
+    def disable(self):
+        self.ugv.write_command(messages.CMD_DISABLE)
+
+    @cli_cmd(names=["set_target", "st"], description="Set the target to <lat> <long>")
+    def set_target(self, lat=34.068415, long=-118.443217):
+        lat = float(lat)
+        long = float(long)
+        cmd = messages.GroundCommand()
+        cmd.type = messages.CMD_SET_TARGET
+        cmd.target_location.latitude = lat
+        cmd.target_location.longitude = long
+        self.ugv.write_command(cmd)
+        log.info("set target to (%f, %f)", lat, long)
+
+    @cli_cmd(names=["set_config", "sc"], description="Load configuration from config.yml and send")
+    def set_config(self, config_file_name="./tools/config.yml"):
+        with open(config_file_name, 'r') as configfile:
+            config = yaml.load(configfile, Loader=YamlLoader)
+
+        if 'REVISION' in config:
+            config_rev = config['REVISION']
+            del config['REVISION']
+        else:
+            config_rev = 1
+
+        cmd = messages.GroundCommand()
+        cmd.type = messages.CMD_SET_CONFIG
+        dict2pb(config, cmd.config)
+        self.ugv.write_command(cmd)
+        log.info("updated config")
+
+    @cli_cmd(names=["drive_heading", "dh"], description="Drive a <heading> with a forward <power>")
+    def drive_heading(self, heading=65, power=0.0):
+        heading = float(heading)
+        power = float(power)
+        cmd = messages.GroundCommand()
+        cmd.type = messages.CMD_DRIVE_HEADING
+        cmd.drive_heading.heading = heading
+        cmd.drive_heading.power = power
+        self.ugv.write_command(cmd)
+        log.info("driving heading %f at power %f", heading, power)
+
+    @cli_cmd(names=["drive_to_target", "dt"], description="Drive to the drop target")
+    def drive_to_target(self):
+        cmd = messages.GroundCommand()
+        cmd.type = messages.CMD_DRIVE_TO_TARGET
+        self.ugv.write_command(cmd)
+        log.info("driving to target")
+
+    @cli_cmd(names=["run_test", "rt"], description="Run test mode")
+    def run_test(self):
+        cmd = messages.GroundCommand()
+        cmd.type = messages.CMD_TEST
+        self.ugv.write_command(cmd)
+        log.info("running test mode")
+
+    @cli_cmd(names=["last_status", "ls", "s"], description="Print the last status of the UGV")
+    def last_status(self):
+        if self.ugv.last_status_time is None:
+            log.info("no status received")
+        else:
+            last_status_delay = time.time() - self.ugv.last_status_time
+            log.info("last status (%.4f seconds ago): %s",
+                     last_status_delay, self.ugv.last_status)
+
+    @cli_cmd(names=["get_status", "gs"], description="Get the current status of the UGV")
+    def get_status(self):
+        cmd = messages.GroundCommand()
+        cmd.type = messages.CMD_GET_STATUS
+        self.ugv.write_command(cmd)
+        self.last_status()
+
+    @cli_cmd(names=["ping", "p"], description="Ping the UGV")
+    def ping(self):
+        cmd = messages.GroundCommand()
+        cmd.type = messages.CMD_PING
+        self.ugv.write_command(cmd)
+        print("Received ping response")
+
+    @cli_cmd(names=["save_logs", "sl"], description="Save logs to a file")
+    def save_logs(self, file=None):
+        if file is None:
+            file = 'ugv_log.txt'
+        self.ugv.save_logs(file)
+        print("Saving logs to {}".format(file))
+
+    @staticmethod
+    def find_command(name):
+        for cmd in cli_commands:
+            if name in cmd.names:
+                return cmd
+        return None
+
+    @staticmethod
+    def complete_command(text, state):
+        options = [name for cmd in cli_commands for name in cmd.names if name.startswith(text)]
+        if state < len(options):
+            return options[state]
+        else:
+            return None
+
+    def start(self):
+        self.is_running = True
+
+        if len(sys.argv) >= 2:
+            ser_url = sys.argv[1]
+        else:
+            ser_url = "hwgrep://USB"
+        ser = serial.serial_for_url(ser_url, baudrate=9600, parity=serial.PARITY_NONE,
+                                    stopbits=serial.STOPBITS_ONE, bytesize=serial.EIGHTBITS,
+                                    timeout=0.5)
+
+        self.ugv = UGVComms(ser, self.on_msg_received)
+        self.ugv.start()
+
+    def run_cli(self):
+        if self.ugv is None:
+            self.start()
+
+        readline.parse_and_bind("tab: complete")
+        readline.set_completer(self.complete_command)
+        last_line = None
+        try:
+            print("Run 'help' to find out what commands are available")
+            while self.is_running:
+                line = input("UGV> ")
+                if len(line) is 0 and last_line is not None:
+                    print(last_line)
+                    line = last_line
+                line_parts = line.split(' ')
+                if len(line_parts) is 0:
+                    continue
+                cmd = self.find_command(line_parts[0])
+                if cmd is None:
+                    print("Unknown command: '%s'" % line_parts[0])
+                    continue
+                last_line = line
+                try:
+                    cmd.func(self, *line_parts[1:])
+                except KeyboardInterrupt:
+                    print("Command interrupted")
+                except Exception as e:
+                    print("Error executing command: ", e)
+            # TODO: continuously write state
+            # while True:
+            #    if self.ugv.last_status is None or self.ugv.last_status.state is not messages.STATE_DRIVE_HEADING:
+        except (KeyboardInterrupt, EOFError):
+            self.exit()
+        finally:
+            log.info("disabling UGV...")
+            try:
+                self.ugv.write_command(messages.CMD_DISABLE)
+                log.info("done. exiting")
+            except KeyboardInterrupt:
+                log.info("force exiting...")
+            self.ugv.stop()
+
+
+if __name__ == "__main__":
+    logging.basicConfig(
+        format='%(asctime)s [%(name)s] %(levelname)s: %(message)s', datefmt='%Y-%b-%d %H:%M:%S')
+    logging.getLogger().setLevel(logging.INFO)
+    UGV_CLI().run_cli()

tools/ugv_to_ground.py

@@ -0,0 +1,82 @@
+#!/usr/bin/env python3
+import socketio
+import logging
+from base64 import b64encode
+from threading import Thread
+import time
+
+from ugv_cmd import UGV_CLI
+import messages_pb2 as messages
+from google.protobuf.message import Message
+
+log = logging.getLogger("ugv_to_ground")
+
+def encode_msg(msg: Message):
+    data = msg.SerializeToString()
+    return b64encode(data).decode('utf-8')
+
+
+def ping_thread_entry(ugv_cli):
+    while ugv_cli.is_running and ugv_cli.ugv.ser.is_open:
+        try:
+            ugv_cli.get_status()
+            time.sleep(5.0)
+        except IOError as e:
+            log.error("Error pinging UGV: {}".format(e))
+
+def start_ugv_to_ground():
+    server_ip = 'localhost'
+
+    sio = socketio.Client()
+
+    def on_msg_received(msg: messages.UGV_Message):
+        sio.emit('UGV_MESSAGE', encode_msg(msg), namespace='/ugv')
+        pass
+
+    ugv_cli = UGV_CLI(on_msg_received)
+    ugv_cli.start()
+
+    @sio.on('connect', namespace='/ugv')
+    def on_connect():
+        log.info("connected to ground server")
+
+    @sio.on('disconnect', namespace='/ugv')
+    def on_disconnect():
+        log.info("disconnected from ground server!")
+
+    @sio.on('SET_TARGET', namespace='/ugv')
+    def set_target(msg):
+        log.info("Setting UGV target")
+        try:
+            ugv_cli.set_target(msg['lat'], msg['lng'])
+        except IOError as e:
+            log.error("Error setting target: {}".format(e))
+
+    @sio.on('DRIVE_TO_TARGET', namespace='/ugv')
+    def drive_to_target():
+        log.info("Driving to target!")
+        try:
+            ugv_cli.drive_to_target()
+        except IOError as e:
+            log.error("Error setting target: {}".format(e))
+
+    while True:
+        try:
+            sio.connect('http://'+server_ip+':8081', namespaces=['/ugv'], transports='websocket')
+            break
+        except:
+            print("Can't connect to ground server. Retrying in 2 seconds...")
+            sio.sleep(2)
+
+    ping_thread = Thread(target=ping_thread_entry, args=(ugv_cli, ), daemon=True)
+    ping_thread.start()
+
+    ugv_cli.run_cli()
+
+
+if __name__ == "__main__":
+    logging.basicConfig(format='%(asctime)s [%(name)s] %(levelname)s: %(message)s', datefmt='%Y-%b-%d %H:%M:%S')
+    logging.getLogger().setLevel(logging.INFO)
+
+    start_ugv_to_ground()
+

ugv2_moving.csv

@@ -0,0 +1,857 @@
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