Try to fix various communication errors

.clang-format

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

.gitignore

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

Dockerfile

@@ -9,13 +9,7 @@ flex \
 bison \
 gperf \
 python \
-python-pip \
-python-setuptools \
 python-serial \
-python-future \
-python-cryptography \
-python-pyparsing \
-python-pyelftools \
 cmake \
 ninja-build \
 g++ \
@@ -28,9 +22,7 @@ RUN wget https://dl.espressif.com/dl/xtensa-esp32-elf-linux64-1.22.0-80-g6c4433a
 -O xtensa-esp32-elf.tar.gz
 RUN tar --extract --verbose --file xtensa-esp32-elf.tar.gz && rm xtensa-esp32-elf.tar.gz
 
-RUN git clone --branch v3.2 --depth 1 --recursive https://github.com/espressif/esp-idf.git
+RUN git clone --branch v3.1.1 --depth 1 --recursive https://github.com/espressif/esp-idf.git
 
 ENV PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/esp/xtensa-esp32-elf/bin \
 IDF_PATH=/esp/esp-idf
-
-RUN python2.7 -m pip install --user -r $IDF_PATH/requirements.txt

calib/calib.py

@@ -1,49 +0,0 @@
-#!/usr/bin/env python3
-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))
-
-    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()
-        except KeyboardInterrupt:
-            print("interrupt", file=sys.stderr)
-        finally:
-            f.flush()
-
-if __name__ == "__main__":
-    capture_data()

calib/plot.sh

@@ -1,12 +0,0 @@
-#!/usr/bin/env bash
-
-file=$1
-
-gnuplot -persist <<EOF
-  set datafile separator ","
-  set xzeroaxis
-  set yzeroaxis
-  set style data points
-  set pointsize 0.5
-  plot "$file" using 7:8 with points title "X-Y", "$file" using 8:9 with points title "Y-Z", "$file" using 9:7 with points title "Z-X"
-EOF

components/MPU-driver

@@ -1 +1 @@
-Subproject commit c82b00502eb4c101a3f6b8134cd9b4a13f88e016
+Subproject commit ccc440bfd1c37f53ee275c1b7abac085677b5cc9

e32_client/messages_pb2.py

@@ -0,0 +1,351 @@
+# 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

@@ -0,0 +1,77 @@
+#!/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:
+            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("loop://", 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

@@ -1,43 +1,28 @@
 include(${CMAKE_CURRENT_LIST_DIR}/../components/protobuf/functions.cmake)
 
-set(PB_OUT ${CMAKE_CURRENT_LIST_DIR}/pb_out)
+set(PB_OUT ${CMAKE_CURRENT_SOURCE_DIR}/pb_out)
-make_directory(${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" "mbedtls")
+set(COMPONENT_REQUIRES "u8g2" "sx127x_driver" "protobuf" "MPU-driver" "minmea")
 
 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 0.2f          // 2 * proportional gain
+#define betaDef 0.1f          // 2 * proportional gain
 
 //============================================================================================
 // Functions
@@ -36,12 +36,12 @@
 // AHRS algorithm update
 
 Madgwick::Madgwick() {
-  beta = betaDef;
+  beta           = betaDef;
-  q0 = 1.0f;
+  q0             = 1.0f;
-  q1 = 0.0f;
+  q1             = 0.0f;
-  q2 = 0.0f;
+  q2             = 0.0f;
-  q3 = 0.0f;
+  q3             = 0.0f;
-  invSampleFreq = 1.0f / sampleFreqDef;
+  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;
+    _2q0   = 2.0f * q0;
-    _2q1 = 2.0f * q1;
+    _2q1   = 2.0f * q1;
-    _2q2 = 2.0f * q2;
+    _2q2   = 2.0f * q2;
-    _2q3 = 2.0f * q3;
+    _2q3   = 2.0f * q3;
     _2q0q2 = 2.0f * q0 * q2;
     _2q2q3 = 2.0f * q2 * q3;
-    q0q0 = q0 * q0;
+    q0q0   = q0 * q0;
-    q0q1 = q0 * q1;
+    q0q1   = q0 * q1;
-    q0q2 = q0 * q2;
+    q0q2   = q0 * q2;
-    q0q3 = q0 * q3;
+    q0q3   = q0 * q3;
-    q1q1 = q1 * q1;
+    q1q1   = q1 * q1;
-    q1q2 = q1 * q2;
+    q1q2   = q1 * q2;
-    q1q3 = q1 * q3;
+    q1q3   = q1 * q3;
-    q2q2 = q2 * q2;
+    q2q2   = q2 * q2;
-    q2q3 = q2 * q3;
+    q2q3   = q2 * q3;
-    q3q3 = q3 * 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);
+  roll           = atan2f(q0 * q1 + q2 * q3, 0.5f - q1 * q1 - q2 * q2);
-  pitch = asinf(-2.0f * (q1 * q3 - q0 * q2));
+  pitch          = asinf(-2.0f * (q1 * q3 - q0 * q2));
-  yaw = atan2f(q1 * q2 + q0 * q3, 0.5f - q2 * q2 - q3 * q3);
+  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    loc_buf[64];
-  char *temp = loc_buf;
+  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;
+  unsigned long int_part  = (unsigned long)number;
-  double remainder = number - (double)int_part;
+  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  getBufferTileHeight(void) { return u8g2_GetBufferTileHeight(&u8g2); }
-  uint8_t getBufferTileWidth(void) { return u8g2_GetBufferTileWidth(&u8g2); }
+  uint8_t  getBufferTileWidth(void) { return u8g2_GetBufferTileWidth(&u8g2); }
-  uint8_t getPageCurrTileRow(void) {
+  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); }
+  uint8_t     getColorIndex(void) { return u8g2_GetDrawColor(&u8g2); }
-  int8_t getFontAscent(void) { return u8g2_GetAscent(&u8g2); }
+  int8_t      getFontAscent(void) { return u8g2_GetAscent(&u8g2); }
-  int8_t getFontDescent(void) { return u8g2_GetDescent(&u8g2); }
+  int8_t      getFontDescent(void) { return u8g2_GetDescent(&u8g2); }
-  int8_t getMaxCharHeight(void) { return u8g2_GetMaxCharHeight(&u8g2); }
+  int8_t      getMaxCharHeight(void) { return u8g2_GetMaxCharHeight(&u8g2); }
-  int8_t getMaxCharWidth(void) { return u8g2_GetMaxCharWidth(&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          reset = U8X8_PIN_NONE,
-                                      uint8_t clock = U8X8_PIN_NONE,
+                                      uint8_t          clock = U8X8_PIN_NONE,
-                                      uint8_t data = 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

@@ -1,21 +0,0 @@
-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 constexpr size_t PARAMS_LEN               = 6;
-static const uint8_t CMD_WRITE_PARAMS_SAVE = 0xC0;
+static const uint8_t    CMD_WRITE_PARAMS_SAVE    = 0xC0;
-static const uint8_t CMD_READ_PARAMS[] = {0xC1, 0xC1, 0xC1};
+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_WRITE_PARAMS_NO_SAVE = 0xC2;
-static const uint8_t CMD_READ_VERSION[] = {0xC3, 0xC3, 0xC3};
+static const uint8_t    CMD_READ_VERSION[]       = {0xC3, 0xC3, 0xC3};
-static const uint8_t CMD_RESET[] = {0xC4, 0xC4, 0xC4};
+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;
+  save_params   = true;
-  address = 0x0000;
+  address       = 0x0000;
-  uart_partity = UART_PARITY_DISABLE;
+  uart_partity  = UART_PARITY_DISABLE;
-  uart_baud = 9600;      // bps
+  uart_baud     = 9600;  // bps
   air_data_rate = 2400;  // bps
-  comm_channel = 0x17;
+  comm_channel  = 0x17;
-  tx_mode = TxTransparent;
+  tx_mode       = TxTransparent;
-  io_mode = IoPushPull;
+  io_mode       = IoPushPull;
-  wake_up_time = 250;  // ms
+  wake_up_time  = 250;  // ms
-  fec_enabled = true;
+  fec_enabled   = true;
-  tx_power = 30;
+  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.baud_rate           = config_.uart_baud;
-  uart_config.data_bits = UART_DATA_8_BITS;
+  uart_config.data_bits           = UART_DATA_8_BITS;
-  uart_config.parity = config_.uart_parity;
+  uart_config.parity              = config_.uart_parity;
-  uart_config.stop_bits = UART_STOP_BITS_1;
+  uart_config.stop_bits           = UART_STOP_BITS_1;
-  uart_config.flow_ctrl = UART_HW_FLOWCTRL_DISABLE;
+  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.tx_mode      = (TxMode)(param_data[5] & (1 << 7));
-  params.io_mode = (IoMode)(param_data[5] & (1 << 6));
+  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;
@@ -284,17 +284,6 @@ 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);
 }
@@ -304,47 +293,29 @@ int E32_Driver::Read(uint8_t* data, int max_len, TickType_t ticks_to_wait) {
                          ticks_to_wait);
 }
 
-int E32_Driver::ReadLn(char* data, size_t data_size, TickType_t ticks_to_wait) {
+int E32_Driver::Read(std::string& data, 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 (total_read < data_size) {
-    read = Read(&byte, 1, ticks_to_wait - (current_tick - start_tick));
-    if (read < 1) {
-      return read;
-    }
-    if (byte == '\n') break;
-    data[total_read] = (char)byte;
-    total_read += read;
-    current_tick = xTaskGetTickCount();
-  }
-  return total_read;
-}
-
-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;
+  uint8_t*   buf          = (uint8_t*)malloc(128);
-  TickType_t start_tick = xTaskGetTickCount();
+  TickType_t start_tick   = xTaskGetTickCount();
   TickType_t current_tick = start_tick;
-  int read, total_read = 0;
+  int        read, total_read = 0;
-  while (true) {
+  while (current_tick <= start_tick + ticks_to_wait) {
-    read = Read(&byte, 1, ticks_to_wait - (current_tick - start_tick));
+    read = Read(buf, 128, ticks_to_wait - (current_tick - start_tick));
-    if (read < 1) {
+    if (read < 0) {
+      free(buf);
       return read;
     }
-    ticks_to_wait += pdMS_TO_TICKS(10);  // give it a bit more time...
+    data.append((const char*)buf, read);
-    if (byte == '\n') break;
-    data += (char)byte;
     total_read += read;
     current_tick = xTaskGetTickCount();
   }
+  free(buf);
   return total_read;
 }
 
-void E32_Driver::Flush() { uart_flush(config_.uart_port); }
+void E32_Driver::Flush() {
+  uart_flush(config_.uart_port);
+}
 
 int E32_Driver::RawWrite(const uint8_t* data, size_t data_size) {
   int written =

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_tx_pin;
-  int uart_rx_pin;
+  int           uart_rx_pin;
-  int uart_baud;
+  int           uart_baud;
 };
 
 struct Params {
  public:
   Params();
 
-  bool save_params;
+  bool          save_params;
-  Address address;
+  Address       address;
   uart_parity_t uart_partity;
-  int uart_baud;      // bps
+  int           uart_baud;      // bps
-  int air_data_rate;  // bps
+  int           air_data_rate;  // bps
-  Channel comm_channel;
+  Channel       comm_channel;
-  TxMode tx_mode;
+  TxMode        tx_mode;
-  IoMode io_mode;
+  IoMode        io_mode;
-  uint16_t wake_up_time;  // ms
+  uint16_t      wake_up_time;  // ms
-  bool fec_enabled;
+  bool          fec_enabled;
-  uint16_t tx_power;  // dBm
+  uint16_t      tx_power;  // dBm
 };
 
 class E32_Driver {
@@ -62,25 +62,21 @@ 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 ReadLn(char* data, size_t data_size,
+  int Read(std::string& data, TickType_t ticks_to_wait = portMAX_DELAY);
-             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

@@ -1,33 +0,0 @@
-#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

@@ -1,31 +0,0 @@
-#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

@@ -1,25 +1,14 @@
 syntax = "proto3";
 
-package ugv.messages;
+package uas.ugv.messages;
-
-import public "config.proto";
 
 option optimize_for = LITE_RUNTIME;
 
 enum UGV_State {
-  STATE_IDLE = 0;
+  IDLE = 0;
-  STATE_AQUIRING = 1;
+  AQUIRING = 1;
-  STATE_DRIVING = 2;
+  DRIVING = 2;
-  STATE_FINISHED = 3;
+  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 {
@@ -32,10 +21,6 @@ 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 {
@@ -46,29 +31,13 @@ message UGV_Message {
 }
 
 enum GroundCommandType {
-  CMD_DISABLE = 0;
+  DISABLE = 0;
-  CMD_DRIVE_TO_TARGET = 1;
+  ENABLE = 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

@@ -1,78 +0,0 @@
-#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

@@ -1,66 +0,0 @@
-#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 "i2c_mutex.h"
 #include "sdkconfig.h"
+#include "i2c_mutex.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.sclk_io_num   = u8x8->pins[U8X8_PIN_SPI_CLOCK];  // CLK
-      bus_config.mosi_io_num = u8x8->pins[U8X8_PIN_SPI_DATA];   // MOSI
+      bus_config.mosi_io_num   = u8x8->pins[U8X8_PIN_SPI_DATA];   // MOSI
-      bus_config.miso_io_num = -1;                              // MISO
+      bus_config.miso_io_num   = -1;                              // MISO
-      bus_config.quadwp_io_num = -1;                            // Not used
+      bus_config.quadwp_io_num = -1;                              // Not used
-      bus_config.quadhd_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.address_bits     = 0;
-      dev_config.command_bits = 0;
+      dev_config.command_bits     = 0;
-      dev_config.dummy_bits = 0;
+      dev_config.dummy_bits       = 0;
-      dev_config.mode = 0;
+      dev_config.mode             = 0;
-      dev_config.duty_cycle_pos = 0;
+      dev_config.duty_cycle_pos   = 0;
       dev_config.cs_ena_posttrans = 0;
-      dev_config.cs_ena_pretrans = 0;
+      dev_config.cs_ena_pretrans  = 0;
-      dev_config.clock_speed_hz = 10000;
+      dev_config.clock_speed_hz   = 5000;//10000;
-      dev_config.spics_io_num = u8x8->pins[U8X8_PIN_CS];
+      dev_config.spics_io_num     = u8x8->pins[U8X8_PIN_CS];
-      dev_config.flags = 0;
+      dev_config.flags            = 0;
-      dev_config.queue_size = 200;
+      dev_config.queue_size       = 200;
-      dev_config.pre_cb = NULL;
+      dev_config.pre_cb           = NULL;
-      dev_config.post_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.addr     = 0;
-      trans_desc.cmd = 0;
+      trans_desc.cmd      = 0;
-      trans_desc.flags = 0;
+      trans_desc.flags    = 0;
-      trans_desc.length = 8 * arg_int;  // Number of bits NOT number of bytes.
+      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,
+// ESP_LOGV(TAG, "i2c_cb: Received a msg: %d, arg_int: %d, arg_ptr: %p", msg,
-  //   arg_int, arg_ptr);
+//   arg_int, arg_ptr);
   switch (msg) {
     case U8X8_MSG_BYTE_SET_DC: {
       if (u8x8->pins[U8X8_PIN_DC] != U8X8_PIN_NONE) {
@@ -124,12 +124,11 @@ 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.mode          = I2C_MODE_MASTER;
-      conf.sda_io_num = u8x8->pins[U8X8_PIN_I2C_DATA];
+      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;
@@ -145,7 +144,7 @@ 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);
 
@@ -160,7 +159,7 @@ 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(
@@ -208,9 +207,9 @@ 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  dc      = u8x8->pins[U8X8_PIN_DC];
-      uint8_t reset = u8x8->pins[U8X8_PIN_RESET];
+      uint8_t  reset   = u8x8->pins[U8X8_PIN_RESET];
-      uint8_t cs = u8x8->pins[U8X8_PIN_CS];
+      uint8_t  cs      = u8x8->pins[U8X8_PIN_CS];
       if (dc != U8X8_PIN_NONE) {
         bitmask = bitmask | (1ull << dc);
       }
@@ -228,10 +227,10 @@ 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.mode         = GPIO_MODE_OUTPUT;
-      gpioConfig.pull_up_en = GPIO_PULLUP_DISABLE;
+      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

@@ -1,360 +0,0 @@
-#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

@@ -1,81 +0,0 @@
-#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

@@ -2,8 +2,6 @@
 #include "ugv_config.h"
 
 #include <esp_log.h>
-#include <mbedtls/base64.h>
-#include <rom/crc.h>
 
 #include "messages.pb.h"
 
@@ -15,44 +13,39 @@ namespace ugv {
 namespace comms {
 
 static const char *TAG = "ugv_comms";
-static const TickType_t SEND_PERIOD = pdMS_TO_TICKS(15 * 1000);
 
 CommsClass::CommsClass()
-    : last_packet_tick(0),
+    : location(),
+      ugv_state(messages::IDLE),
+      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;
 
-  auto *loc = status.mutable_location();
+  location.set_fix_quality(0);
-  loc->set_fix_quality(0);
+  location.set_latitude(43.65);
-  loc->set_latitude(43.65);
+  location.set_longitude(-116.20);
-  loc->set_longitude(-116.20);
+  location.set_altitude(2730);
-  loc->set_altitude(2730);
+  ugv_state = messages::UGV_State::IDLE;
-  status.set_state(messages::UGV_State::STATE_IDLE);
 
 #ifdef COMMS_SX127X
-  sx127x_config_t lora_config = sx127x_config_default();
+  sx127x_config_t lora_config  = sx127x_config_default();
-  lora_config.sck_io_num = (gpio_num_t)LORA_SCK;
+  lora_config.sck_io_num       = (gpio_num_t)LORA_SCK;
-  lora_config.miso_io_num = (gpio_num_t)LORA_MISO;
+  lora_config.miso_io_num      = (gpio_num_t)LORA_MISO;
-  lora_config.mosi_io_num = (gpio_num_t)LORA_MOSI;
+  lora_config.mosi_io_num      = (gpio_num_t)LORA_MOSI;
-  lora_config.cs_io_num = (gpio_num_t)LORA_CS;
+  lora_config.cs_io_num        = (gpio_num_t)LORA_CS;
-  lora_config.rst_io_num = (gpio_num_t)LORA_RST;
+  lora_config.rst_io_num       = (gpio_num_t)LORA_RST;
-  lora_config.irq_io_num = (gpio_num_t)LORA_IRQ;
+  lora_config.irq_io_num       = (gpio_num_t)LORA_IRQ;
-  lora_config.frequency = LORA_FREQ;
+  lora_config.frequency        = LORA_FREQ;
-  lora_config.tx_power = 17;
+  lora_config.tx_power         = 17;
   lora_config.spreading_factor = 12;
   lora_config.signal_bandwidth = 10E3;
-  lora_config.sync_word = 0x34;
+  lora_config.sync_word        = 0x34;
-  lora_config.crc = SX127X_CRC_ENABLED;
+  lora_config.crc              = SX127X_CRC_ENABLED;
 
   ret = sx127x_init(&lora_config, &lora);
   if (ret != ESP_OK) {
@@ -68,20 +61,20 @@ void CommsClass::Init() {
   ESP_LOGI(TAG, "LoRa initialized");
 #else
   e32::Config lora_config;
-  lora_config.uart_port = LORA_UART;
+  lora_config.uart_port   = UART_NUM_2;
-  lora_config.uart_rx_pin = LORA_RX;
+  lora_config.uart_rx_pin = 13;
-  lora_config.uart_tx_pin = LORA_TX;
+  lora_config.uart_tx_pin = 15;
-  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", 8 * 1024, this, 2,
+  xTaskCreate(CommsClass::CommsTask, "ugv_comms", 2 * 1024, this, 2,
               &task_handle);
-  ESP_LOGD(TAG, "UGV comms started");
 }
 
 void CommsClass::Lock(TickType_t ticks_to_wait) {
@@ -95,7 +88,7 @@ int32_t CommsClass::ReadRssi() {
 #ifdef COMMS_SX127X
   sx127x_read_rssi(lora, &rssi);
 #else
-  rssi = 0;
+  rssi                        = 0;
 #endif
   return rssi;
 }
@@ -105,7 +98,7 @@ 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;
 }
@@ -121,18 +114,28 @@ void CommsClass::RunTask() {
   using messages::UGV_State;
   using messages::UGV_Status;
 
+  TickType_t send_period  = pdMS_TO_TICKS(2000);
   TickType_t current_tick = xTaskGetTickCount();
-  next_status_send = current_tick;
+  TickType_t next_send    = current_tick + send_period;
+
+  esp_err_t ret;
 
 #ifdef COMMS_SX127X
   sx127x_rx_packet_t rx_packet;
 #else
-  std::string rx_buf;
+  static const int rx_buf_len = MAX_PACKET_LEN * 2;
-  int rx_len;
+
+  uint8_t *rx_buf = new uint8_t[rx_buf_len];
+  int      rx_len;
+  lora.Flush();
 #endif
 
+  UGV_Message ugv_message;
+  std::string ugv_message_data;
+  UGV_Status *status = ugv_message.mutable_status();
+
   while (true) {
-    TickType_t delay_ticks = next_status_send - current_tick;
+    TickType_t delay_ticks = next_send - current_tick;
 
 #ifdef COMMS_SX127X
     ret = sx127x_recv_packet(lora, &rx_packet, delay_ticks);
@@ -142,43 +145,55 @@ void CommsClass::RunTask() {
       sx127x_packet_rx_free(&rx_packet);
     }
 #else
-    // receiving packet data now
+    if (packet_len <= 0) { // need to receive packet size first
-    rx_len = lora.ReadLn(rx_buf, delay_ticks);
+      rx_len = lora.Read(rx_buf, 1, delay_ticks);
-    if (rx_len <= 0) {
+      if (rx_len > 0) {
-      ESP_LOGV(TAG, "timeout for packet rx");
+        packet_len = rx_buf[0];
-      // lora.Flush();
+        if (packet_len > MAX_PACKET_LEN) { // should not be possible
-    } else {
+          ESP_LOGE(TAG, "invalid packet len received: %d", packet_len);
-      ESP_LOGV(TAG, "rx data: %.*s", rx_buf.size(), rx_buf.c_str());
+          packet_len = -1;
-      HandlePacket((uint8_t *)rx_buf.c_str(), rx_buf.size());
+        } 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
     }
     // TODO: checksum?
 #endif
 
     current_tick = xTaskGetTickCount();
 
-    if (current_tick < next_status_send) {
+    if (current_tick < next_send) {
       continue;
     }
 
-    SendStatus();
+    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");
+    }
 
     current_tick = xTaskGetTickCount();
+    next_send    = current_tick + send_period;
   }
-}
+#ifndef COMMS_SX127X
-
+  delete[] rx_buf;
-void CommsClass::SendStatus() {
+#endif
-  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
@@ -189,7 +204,7 @@ 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);
@@ -202,39 +217,10 @@ 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(decoded, decoded_len - 4);
+  bool pb_ret = ground_message.ParseFromArray(data, data_size);
-  delete[] decoded;
   if (!pb_ret) {
     ESP_LOGE(TAG, "rx invalid protobuf");
     return;
@@ -253,69 +239,7 @@ 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;
+  // TODO: handle command
-
-  switch (command.type()) {
-    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:
-      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_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());
-      return;  // early return, no ack
-  }
 
   messages::UGV_Message ugv_message;
   ugv_message.set_command_ack(command.id());
@@ -323,7 +247,7 @@ void CommsClass::HandleCommand(const messages::GroundCommand &command) {
   SendPacket(ugv_message);
 }
 
-esp_err_t CommsClass::SendPacket(const uint8_t *data, size_t size) {
+esp_err_t CommsClass::SendPacket(const char *data, size_t size) {
 #ifdef COMMS_SX127X
   return sx127x_send_packet(lora, data, size, 0);
 #else
@@ -331,31 +255,15 @@ esp_err_t CommsClass::SendPacket(const uint8_t *data, size_t size) {
     ESP_LOGE(TAG, "SendPacket size too long: %d", size);
     return ESP_ERR_INVALID_SIZE;
   }
-  size_t fullsize = size + 4;
+  uint8_t sz = size;
-  uint8_t *data_with_crc = new uint8_t[fullsize];
+  lora.Write(&sz, sizeof(sz));
-  uint32_t crc = crc32_le(0, data, size);
+  lora.Write((uint8_t *)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((const uint8_t *)str.c_str(), str.size());
+  return SendPacket(str.c_str(), str.size());
 }
 
 esp_err_t CommsClass::SendPacket(const google::protobuf::MessageLite &message) {

main/ugv_comms.hh

@@ -15,8 +15,7 @@
 namespace ugv {
 namespace comms {
 
-namespace messages = ugv::messages;
+namespace messages = uas::ugv::messages;
-namespace config = ugv::config;
 
 class CommsClass {
  public:
@@ -34,28 +33,22 @@ class CommsClass {
   uint8_t ReadLnaGain();
 
  public:
-  SemaphoreHandle_t mutex;
+  SemaphoreHandle_t   mutex;
-  TickType_t last_packet_tick;
+  messages::Location  location;
-  int32_t last_packet_rssi;
+  messages::UGV_State ugv_state;
-  int8_t last_packet_snr;
+  TickType_t          last_packet_tick;
-
+  int32_t             last_packet_rssi;
-  messages::UGV_Status status;
+  int8_t              last_packet_snr;
-  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
@@ -65,12 +58,10 @@ class CommsClass {
   void HandlePacket(const uint8_t* data, size_t size);
   void HandleCommand(const messages::GroundCommand& command);
 
-  esp_err_t SendPacket(const uint8_t* data, size_t size);
+  esp_err_t SendPacket(const char* 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_config.h

@@ -7,14 +7,7 @@
 
 #define LORA_FREQ (433E6)
 
-#define LORA_UART UART_NUM_2
-#define LORA_RX 13
-#define LORA_TX 15
-
 #define OLED_H 64
 #define OLED_W 128
-#define OLED_RESET U8X8_PIN_NONE
-#define OLED_CLOCK 4
-#define OLED_DATA 5
 
 #define GPS_UART UART_NUM_1

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 = new U8G2_SSD1306_128X64_NONAME_F_HW_I2C(U8G2_R0, U8X8_PIN_NONE, 4, 5);
-                                                 OLED_CLOCK, OLED_DATA);
   oled->initDisplay();
   oled->clearDisplay();
   oled->setPowerSave(false);
@@ -30,33 +30,27 @@ void DisplayClass::Init() {
     ESP_LOGE(TAG, "error starting display thread");
     return;
   }
+  ESP_LOGD(TAG, "Started display thread");
 }
 
 void DisplayClass::Run() {
-#ifdef COMMS_SX127X
+  int32_t    lora_rssi;
-  int32_t lora_rssi;
+  uint8_t    lora_lna_gain;
-  uint8_t lora_lna_gain;
-  int32_t last_packet_rssi;
-  int8_t last_packet_snr;
-#endif
   TickType_t last_packet_tick;
-  messages::UGV_Status status;
+  int32_t    last_packet_rssi;
+  int8_t     last_packet_snr;
 
-  ESP_LOGD(TAG, "Started display thread");
   while (true) {
+    // ESP_LOGI(TAG, "inputs %s", inputs.ToString());
+
     oled->firstPage();
-#ifdef COMMS_SX127X
+    lora_rssi     = comms_->ReadRssi();
-    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);
@@ -71,26 +65,24 @@ void DisplayClass::Run() {
                    heap_info.total_free_bytes);
 
       oled->setCursor(4, 3 * 8);
-      oled->printf("state: %d", status.state());
+      oled->printf("rssi: %d lna gain: %d", lora_rssi, lora_lna_gain);
 
       if (last_packet_tick > 0) {
         double time_since_last_packet =
-            static_cast<float>((xTaskGetTickCount() - last_packet_tick) *
+            1000.0f /
-                               portTICK_RATE_MS) /
+            ((xTaskGetTickCount() - last_packet_tick) * portTICK_RATE_MS);
-            1000.f;
         oled->setCursor(4, 4 * 8);
-        oled->printf("last pkt rx %.2f s ago", time_since_last_packet);
+        oled->printf("last pkt rx %f 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, 5 * 8);
+      // oled->setCursor(4, 6 * 8);
-      oled->printf("yaw angle: %f", status.yaw_angle());
+      // oled->printf("motors: (%f, %f)", outputs.left_motor,
+      // outputs.right_motor);
     } 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 <cmath>
+#include <math.h>
 
 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 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_PWM  = GPIO_NUM_0;
-static constexpr gpio_num_t MOTOR_LEFT_DIR = GPIO_NUM_0;
+static constexpr gpio_num_t   MOTOR_LEFT_DIR  = GPIO_NUM_2;
-static constexpr gpio_num_t MOTOR_RIGHT_PWM = GPIO_NUM_12;
+static constexpr gpio_num_t   MOTOR_RIGHT_PWM = GPIO_NUM_12;
-static constexpr gpio_num_t MOTOR_RIGHT_DIR = GPIO_NUM_16;
+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 = 20000;  // 20khz
+  mcpwm_config.frequency    = 10000;  // 20khz
-  mcpwm_config.cmpr_a = 0;
+  mcpwm_config.cmpr_a       = 0;
-  mcpwm_config.cmpr_b = 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 size_t      GPS_BUF_SIZE         = 1024;
-static constexpr uart_port_t GPS_UART = UART_NUM_1;
+static constexpr uart_port_t GPS_UART             = UART_NUM_1;
-static constexpr int GPS_UART_TX_PIN = 25;
+static constexpr int         GPS_UART_TX_PIN      = /*25*/5;
-static constexpr int GPS_UART_RX_PIN = 26;
+static constexpr int         GPS_UART_RX_PIN      = /*26*/4;
-static constexpr int GPS_UART_BAUD = 9600;
+static constexpr int         GPS_UART_BAUD        = 9600;
-static constexpr size_t GPS_UART_RX_BUF_SIZE = 1024;
+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_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[] = "$PMTK220,1000*1F";
+const char NMEA_UPDATE_1HZ[]  = "$PMTK220,1000*1F";
-const char NMEA_UPDATE_5HZ[] = "$PMTK220,200*2C";
+const char NMEA_UPDATE_5HZ[]  = "$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_gps";
+static const char *TAG = "ugv_io";
 
 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.baud_rate           = GPS_UART_BAUD;
-  gps_uart_config.data_bits = UART_DATA_8_BITS;
+  gps_uart_config.data_bits           = UART_DATA_8_BITS;
-  gps_uart_config.parity = UART_PARITY_DISABLE;
+  gps_uart_config.parity              = UART_PARITY_DISABLE;
-  gps_uart_config.stop_bits = UART_STOP_BITS_1;
+  gps_uart_config.stop_bits           = UART_STOP_BITS_1;
-  gps_uart_config.flow_ctrl = UART_HW_FLOWCTRL_DISABLE;
+  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_.valid       = rmc.valid;
-      data_.latitude = minmea_tocoord(&rmc.latitude);
+      data_.latitude    = minmea_tofloat(&rmc.latitude);
-      data_.longitude = minmea_tocoord(&rmc.longitude);
+      data_.longitude   = minmea_tofloat(&rmc.longitude);
-      data_.speed = minmea_tofloat(&rmc.speed);
+      data_.speed       = minmea_tofloat(&rmc.speed);
-      data_.course = minmea_tofloat(&rmc.course);
+      data_.course      = minmea_tofloat(&rmc.course);
       data_.last_update = xTaskGetTickCount();
-      ESP_LOGV(TAG, "RMC: %s, (%f,%f), speed=%f, course=%f",
+      ESP_LOGD(TAG, "RMC: %s, (%f,%f), speed=%f, course=%f",
                data_.valid ? "valid" : "invalid", data_.latitude,
                data_.longitude, data_.speed, data_.course);
       xSemaphoreGive(mutex_);
@@ -135,43 +135,27 @@ 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_tocoord(&gga.latitude);
+      data_.latitude       = minmea_tofloat(&gga.latitude);
-      data_.longitude = minmea_tocoord(&gga.longitude);
+      data_.longitude      = minmea_tofloat(&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_LOGV(TAG, "GGA: qual: %d, num_sat=%d, (%f,%f), alt=%f",
+      ESP_LOGD(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);
   }
 }
@@ -200,13 +184,13 @@ void UART_GPS::DoTask() {
 
   esp_err_t ret;
   ret = WriteCommand(NMEA_OUTPUT_RMCGGA, sizeof(NMEA_OUTPUT_RMCGGA));
-  ESP_LOGV(TAG, "sent output rmc and gga: %d", ret);
+  ESP_LOGI(TAG, "sent output rmc and gga: %d", ret);
   ret = WriteCommand(NMEA_UPDATE_1HZ, sizeof(NMEA_UPDATE_1HZ));
-  ESP_LOGV(TAG, "sent update 1hz: %d", ret);
+  ESP_LOGI(TAG, "sent update 1hz: %d", ret);
 
   vTaskDelay(pdMS_TO_TICKS(100));
   ret = WriteCommand(NMEA_Q_RELEASE, sizeof(NMEA_Q_RELEASE));
-  ESP_LOGV(TAG, "sent q release: %d", ret);
+  ESP_LOGI(TAG, "sent q release: %d", ret);
 
   while (true) {
     BaseType_t pdRet = xQueueReceive(uart_queue_, &uart_event, portMAX_DELAY);
@@ -217,7 +201,7 @@ void UART_GPS::DoTask() {
       case UART_DATA: break;
       case UART_PATTERN_DET: this->HandleUartPattern(); break;
       default:
-        ESP_LOGW(TAG, "Unhandled UART event type: %d", uart_event.type);
+        ESP_LOGW(TAG, "Unhandled GPS event type: %d", uart_event.type);
         break;
     }
   }

main/ugv_io_gps.hh

@@ -9,31 +9,28 @@ namespace ugv {
 namespace io {
 
 enum GpsFixQual {
-  GPS_FIX_INVALID = 0,    // invalid gps fix
+  GPS_FIX_INVALID   = 0,  // invalid gps fix
-  GPS_FIX_GPS = 1,        // GPS fix
+  GPS_FIX_GPS       = 1,  // GPS fix
-  GPS_FIX_DGPS = 2,       // differential GPS fix
+  GPS_FIX_DGPS      = 2,  // differential GPS fix
-  GPS_FIX_PPS = 3,        // PPS fix
+  GPS_FIX_PPS       = 3,  // PPS fix
-  GPS_FIX_RTK = 4,        // Real Time Kinematic fix
+  GPS_FIX_RTK       = 4,  // Real Time Kinematic fix
-  GPS_FIX_FRTK = 5,       // Float 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 {
@@ -46,17 +43,17 @@ class UART_GPS {
   void GetData(GpsData& data);
 
  private:
-  TaskHandle_t task_;
+  TaskHandle_t      task_;
   SemaphoreHandle_t mutex_;
-  QueueHandle_t uart_queue_;
+  QueueHandle_t     uart_queue_;
-  GpsData data_;
+  GpsData           data_;
-  uint8_t* buffer_;
+  uint8_t*          buffer_;
 
   esp_err_t WriteCommand(const char* cmd, size_t len);
-  void HandleUartPattern();
+  void      HandleUartPattern();
-  void ProcessLine(const char* line, size_t len);
+  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 <cmath>
+#include <math.h>
 
-constexpr float M_PI = 3.1415926535897932384626433832795;
+constexpr float M_PI = atanf(1.f) * 4;
 
 #include "MPU.hpp"
 #include "i2c_mutex.h"
@@ -14,28 +14,11 @@ constexpr float M_PI = 3.1415926535897932384626433832795;
 namespace ugv {
 namespace io {
 
-static constexpr gpio_num_t MPU_SDA = GPIO_NUM_5;
+static constexpr gpio_num_t       MPU_SDA         = GPIO_NUM_25;
-static constexpr gpio_num_t MPU_SCL = GPIO_NUM_4;
+static constexpr gpio_num_t       MPU_SCL         = GPIO_NUM_26;
-static constexpr mpud::accel_fs_t MPU_ACCEL_FS = mpud::ACCEL_FS_2G;
+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 mpud::gyro_fs_t  MPU_GYRO_FS     = mpud::GYRO_FS_500DPS;
-static constexpr float MPU_MAG_TO_FLUX = (4912.f) / (32760.f);
+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   = {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";
 
@@ -49,14 +32,38 @@ MPU::MPU() : mpu_(nullptr) {}
 MPU::~MPU() { delete mpu_; }
 
 void MPU::Init() {
-  mutex_ = xSemaphoreCreateMutex();
+  xSemaphoreTake(i2c_mutex, portMAX_DELAY);
+  mpu_bus_ = &i2c1;
+  // This is shared with the oled, so just use those pins
+   mpu_bus_->begin(MPU_SDA, MPU_SCL, GPIO_PULLUP_ENABLE, GPIO_PULLUP_ENABLE, 100000);
+  mpu_ = new mpud::MPU(*mpu_bus_);
 
-  BaseType_t xRet = xTaskCreate(MPU::TaskEntry, "ugv_io_mpu", 8 * 1024, this, 3,
+  esp_err_t ret;
-                                &this->task_);
+  mpu_->setAuxI2CBypass(false);
-  if (xRet != pdTRUE) {
+  ret = mpu_->testConnection();
-    ESP_LOGE(TAG, "error creating MPU task");
+  if (ret != ESP_OK) {
+    uint8_t wai = mpu_->whoAmI();
+    ESP_LOGE(TAG, "MPU not connected (whoAmI: %d)", wai);
     return;
   }
+  ret = mpu_->compassTestConnection();
+  if (ret != ESP_OK) {
+    uint8_t wai = mpu_->compassWhoAmI();
+    ESP_LOGW(TAG, "MPU compass not connected (whoAmI: %d)", wai);
+  }
+  ret = mpu_->initialize();
+  if (ret != ESP_OK) {
+    ESP_LOGE(TAG, "MPU initialization error");
+    return;
+  }
+  Calibrate();
+  mpu_->setAccelFullScale(MPU_ACCEL_FS);
+  mpu_->setGyroFullScale(MPU_GYRO_FS);
+  // force magnetometer into continuous mode
+  mpu_->compassWriteByte(0x0A, 0x12);
+  xSemaphoreGive(i2c_mutex);
+
+  ESP_LOGI(TAG, "MPU initialized");
 }
 
 void MPU::Calibrate() {
@@ -73,110 +80,29 @@ void MPU::Calibrate() {
 }
 
 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_ = &i2c0;
-  // This is shared with the oled, so just use those pins
-  mpu_bus_->setTimeout(10);
-  mpu_bus_->begin(MPU_SDA, MPU_SCL, GPIO_PULLUP_DISABLE, GPIO_PULLUP_DISABLE, 400000);
-  mpu_ = new mpud::MPU(*mpu_bus_);
-
   esp_err_t ret;
-  int tries = 0;
+  if (!xSemaphoreTake(i2c_mutex, pdMS_TO_TICKS(10))) return;
-  for (; tries < 5; ++tries) {
+  ret = mpu_->motion(&accel_, &gyro_);
-    mpu_->getInterruptStatus();
+  uint8_t compass_data[7];
-    ret = mpu_->testConnection();
+  mpu_->setAuxI2CBypass(true);
-    if (ret != ESP_OK) {
+  mpu_bus_->readBytes(mpud::COMPASS_I2CADDRESS, 0x03, 7, compass_data);
-      uint8_t wai = mpu_->whoAmI();
+  mpu_->setAuxI2CBypass(false);
-      ESP_LOGE(TAG, "MPU not connected (whoAmI: %#x)", wai);
-      vTaskDelay(pdMS_TO_TICKS(100));
-      continue;
-    }
-    ret = mpu_->compassTestConnection();
-    if (ret != ESP_OK) {
-      uint8_t wai = mpu_->compassWhoAmI();
-      ESP_LOGW(TAG, "MPU compass not connected (whoAmI: %#x)", wai);
-    }
-    ret = mpu_->initialize();
-    if (ret != ESP_OK) {
-      ESP_LOGE(TAG, "MPU initialization error");
-      continue;
-    }
-    break;
-  }
-  if (tries == 5) {
-    return false;
-  }
-  // Calibrate();
-  mpu_->setAccelFullScale(MPU_ACCEL_FS);
-  mpu_->setGyroFullScale(MPU_GYRO_FS);
-  // force magnetometer into continuous mode
-  mpu_->compassWriteByte(0x0A, 0x12);
   xSemaphoreGive(i2c_mutex);
-
+  if (ret != ESP_OK) {
-  ESP_LOGI(TAG, "MPU initialized");
+    ESP_LOGE(TAG, "error reading MPU");
-  return true;
-}
-
-void MPU::DoTask() {
-  ESP_LOGI(TAG, "MPU task start");
-  mpud::raw_axes_t accel_, gyro_, mag_;
-  esp_err_t ret;
-  MpuData data;
-
-  if (!Initialize()) {
-    return;
   }
-
+  int16_t mx = (static_cast<int16_t>(compass_data[1]) << 8) |
-  while (true) {
+               static_cast<int16_t>(compass_data[0]);
-    xSemaphoreTake(i2c_mutex, portMAX_DELAY);
+  int16_t my = (static_cast<int16_t>(compass_data[3]) << 8) |
-    ret = mpu_->motion(&accel_, &gyro_);
+               static_cast<int16_t>(compass_data[2]);
-    if (ret != ESP_OK) {
+  int16_t mz = (static_cast<int16_t>(compass_data[5]) << 8) |
-      ESP_LOGE(TAG, "error reading MPU: %#x", ret);
+               static_cast<int16_t>(compass_data[4]);
-      xSemaphoreGive(i2c_mutex);
+  //  ESP_LOGV(TAG, "compass: %d, %d, %d", mx, my, mz);
-      continue;
+  data.accel     = mpud::accelGravity(accel_, MPU_ACCEL_FS);
-    }
+  data.gyro_rate = mpud::gyroDegPerSec(gyro_, MPU_GYRO_FS);
-    uint8_t compass_data[7];
+  data.mag.x     = ((float)mx) * MPU_MAG_TO_FLUX;
-    mpu_->setAuxI2CBypass(true);
+  data.mag.y     = ((float)my) * MPU_MAG_TO_FLUX;
-    ret = mpu_bus_->readBytes(mpud::COMPASS_I2CADDRESS, 0x03, 7, compass_data);
+  data.mag.z     = ((float)mz) * MPU_MAG_TO_FLUX;
-    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_);
-  }
-}
-
-void MPU::TaskEntry(void *arg) {
-  MPU *mpu = (MPU *)arg;
-  mpu->DoTask();
-  vTaskDelete(NULL);
 }
 
 };  // namespace io

main/ugv_io_mpu.hh

@@ -13,70 +13,7 @@ struct Vec3f {
 
   Vec3f();
   Vec3f(float x, float y, float z);
-  Vec3f(const mpud::float_axes_t& axes);
+  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) {
-    x += a.x;
-    y += a.y;
-    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 {
-  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 {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};
-  }
 };
 
 struct MpuData {
@@ -96,18 +33,12 @@ class MPU {
   void Init();
   void Calibrate();
 
-  void GetData(MpuData& data);
+  void GetData(MpuData &data);
 
  private:
-  mpud::mpu_bus_t* mpu_bus_;
+  mpud::mpu_bus_t *mpu_bus_;
-  mpud::MPU* mpu_;
+  mpud::MPU *      mpu_;
-  TaskHandle_t task_;
+  mpud::raw_axes_t accel_, gyro_, mag_;
-  SemaphoreHandle_t mutex_;
-  MpuData last_data_;
-
-  void DoTask();
-  bool Initialize();
-  static void TaskEntry(void* arg);
 };
 
 }  // namespace io

main/ugv_main.cc

@@ -1,11 +1,108 @@
+#include <esp_log.h>
+#include <esp_timer.h>
+#include "MadgwickAHRS.h"
 #include "i2c_mutex.h"
-#include "ugv.hh"
+#include "ugv_comms.hh"
+#include "ugv_display.hh"
+#include "ugv_io.hh"
+
+#include <math.h>
+
+namespace ugv {
+
+using ugv::comms::CommsClass;
+using ugv::io::IOClass;
+
+static const char *TAG = "ugv_main";
 
 extern "C" {
 SemaphoreHandle_t i2c_mutex;
 }
 
-extern "C" void app_main() {
+constexpr uint64_t LOOP_PERIOD_US = 1e6 / 10;
-  i2c_mutex = xSemaphoreCreateMutex();
+static const float PI             = atanf(1.0) * 4.0;
-  ugv::Start();
+
+extern "C" void OnTimeout(void *arg);
+
+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_;
+
+  State() {
+    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);
+    outputs.left_motor  = sinf(time_s * PI);
+    outputs.right_motor = cosf(time_s * PI);
+    io->WriteOutputs(outputs);
+    {
+      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 + 500 * 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;
+    }
+  }
+};
+
+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

@@ -1,12 +0,0 @@
-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

@@ -1,43 +0,0 @@
-#!/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

@@ -1,167 +0,0 @@
-# -*- 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

@@ -1,562 +0,0 @@
-# -*- 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

@@ -1,14 +0,0 @@
-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

@@ -1,205 +0,0 @@
-#!/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

@@ -1,241 +0,0 @@
-#!/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

@@ -1,82 +0,0 @@
-#!/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

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