Diff: orion_main.cpp

Revision:

23:6806c3bacf58

Parent:

21:7cd86bea7f83

Child:

25:3a82f868c101

--- a/orion_main.cpp	Thu Feb 08 06:28:37 2018 +0000
+++ b/orion_main.cpp	Tue Mar 13 10:07:17 2018 +0000
@@ -71,14 +71,13 @@
 //-------------
 
 //** Communications **
-nRF24NetworkHandler comm;  //nRF24 radio and network layer handler function
-uint8_t dataSend_flag; //flag to indicate data is ready to be transmitted
-uint8_t comm_status[3]; //[2] comm status, [0] decoded tx status, [1] rx status,
+//nRF24NetworkHandler comm;  //nRF24 radio and network layer handler function
+//uint8_t dataSend_flag; //flag to indicate data is ready to be transmitted
+//uint8_t comm_status[3]; //[2] comm status, [0] decoded tx status, [1] rx status,
 
-cmdParser wirelessCmd;
+//cmdParser wirelessCmd;
 
-/* THREAD */
-void comm_thread(void const *n);
+
 /*   **   */
 //-------------
 
@@ -92,7 +91,7 @@
 
 //** Trajectory tracking **
 purePursuit purePursuit;
-kinematics kinematics;
+//kinematics kinematics;
 
 float purePursuit_velocity, purePursuit_omega, purePursuit_gamma;
 //waypoints tored in format: x_coordinate,y_coordinate,speed_%,heading_toFace
@@ -124,8 +123,8 @@
 
 //** Attitude control **
 attitudeControl attitudeControl;
-pidAttitudeControl pidPitchControl;
-pidAttitudeControl pidRollControl;
+//pidAttitudeControl pidPitchControl;
+//pidAttitudeControl pidRollControl;
 
 float pidAttCntrl_correction[2]; //0-pitch control , 1- roll control
 
@@ -134,18 +133,13 @@
 /*   **   */
 //-------------
 
-//** Camera **
-camera camera;  //camera driver
-uint8_t cameraFlag; //flag to enable camera: 0 - off, 1 - frequency controlled, 2 - permanantly on
 
-/* THREAD */
-void cameraControl_thread(void const *n);
 /*   **   */
 //-------------
 
-//** Robot data recorder **
-RDR virgoRDR;
-uint8_t recordFlag; //flag to enable / disable recording: 0 - off, 1 - frequency controlled
+////** Robot data recorder **
+//RDR virgoRDR;
+//uint8_t recordFlag; //flag to enable / disable recording: 0 - off, 1 - frequency controlled
 
 /* THREAD */
 
@@ -198,18 +192,6 @@
     Thread WaypointCmdUpdate_function(waypointCmd_thread, NULL, osPriorityNormal);
     Debug.printf("* Waypoint commander routine started *\n");
 
-    //** start comm loop as a thread **
-    Thread Comm_function(comm_thread, NULL, osPriorityNormal, 1024);
-    Debug.printf("* Communications loop started *\n");
-
-    //** start camera control loop as a thread **
-    Thread CameraControl_function(cameraControl_thread, NULL, osPriorityNormal);
-    Debug.printf("* Camera control loop started *\n");
-
-    //** Start data recorder as Thread **
-    //Thread dataRecorder_function(dataRecorder_thread, NULL, osPriorityNormal);
-    //Debug.printf("* Data Recorder routine started *\n");
-
     //** start Debug print loop as a thread **
     Thread PrintLoop_function(print_thread, NULL, osPriorityNormal, 1024);
     Debug.printf("* Print loop started *\n\n\n");
@@ -445,145 +427,11 @@
     }
 }
 
-/**
- * nRF network communications as an individual thread
- */
-void comm_thread(void const *n)
-{
-    comm.init(); //initialize communications unit
-    Thread::wait(1000); //wait for a bit for radio to complete setup
-    dataSend_flag=0;
 
-    float data[2];
-    wirelessCmd.sendData(0x00, RE_CurrentPose, 0, 0);
-    //wirelessCmd.sendCmd(0x00, getCurrentPosition, 0);
-
-    while(true) {
-        dataSend_flag =1;
-
-        if((dataSend_flag == 1) && (comm.tx_ready == 1)) {
-
-            comm.DataOut.addr = 0; //send to node address
-
-            comm.DataOut.parameter[0] = 1; //parameter def 0
-            comm.DataOut.parameter[1] = 2; //parameter def 1
-
-            comm.DataOut.dataLen = 20; //length of data to be sent
-
-            comm.DataOut.data[0] = imuTime;                             //timestamp
-            comm.DataOut.data[1] = imu.Pose[0];                         //euler x / pitch angle
-            comm.DataOut.data[2] = imu.Pose[1];                         //euler x / roll angle
-            comm.DataOut.data[3] = imu.Pose[2];                         //euler z / yaw angle
-            comm.DataOut.data[4] = imu.AngVel[0];                       //euler x / pitch velocity
-            comm.DataOut.data[5] = imu.AngVel[1];                       //euler y / roll velocity
-            comm.DataOut.data[6] = imu.AngVel[2];                       //euler z / yaw velocity
-            comm.DataOut.data[7] = imu.LinAcc[0];                       //x acc
-            comm.DataOut.data[8] = imu.LinAcc[1];                       //y acc
-            comm.DataOut.data[9] = imu.LinAcc[2];                       //z acc
-            comm.DataOut.data[10] = localization.position[0];           //localization position x
-            comm.DataOut.data[11] = localization.position[1];           //localization position y
-            comm.DataOut.data[12] = odometry.revolutions[0] * 2*M_PI;   //left wheel position
-            comm.DataOut.data[13] = odometry.revolutions[1] * 2*M_PI;   //right wheel position
-            comm.DataOut.data[14] = odometry.rpm[0] * 2*M_PI / 60;      //left wheel velocity
-            comm.DataOut.data[15] = odometry.rpm[1] * 2*M_PI / 60;      //right wheel velocity
-            comm.DataOut.data[16] = pwm_cmd[0] * 100.0;                 //left wheel PWM %
-            comm.DataOut.data[17] = pwm_cmd[1] * 100.0;                 //right wheel PWM %
-            comm.DataOut.data[18] = rpm_compensated[0] * 2*M_PI / 60;   //compensated left wheel velocity command
-            comm.DataOut.data[19] = rpm_compensated[1] * 2*M_PI / 60;   //compensated right wheel velocity command
-
-
-            comm_status[2] = comm.send();
-            comm_status[0] = (comm_status[2] & 0b0001);
-            comm_status[1] = (comm_status[2] & 0b0010) >> 1;
-
-            if(comm_status[0] == 1) dataSend_flag = 0; //if send succeeded, set dataSend_flag to 0
-        }
-
-        else {
-            comm_status[2] = comm.update();
-
-            comm_status[0] = (comm_status[2] & 0b0001);
-            comm_status[1] = (comm_status[2] & 0b0010) >> 1;
-
-            if(comm_status[1] == 1) {
-                //wirelessCmd.parseCmd(comm.DataIn.addr, comm.DataIn.parameter, comm.DataIn.data, comm.DataIn.dataLen);
-                if(go_cmd == 0) {
-                    if(comm.DataIn.parameter[1] == 0x10) go_cmd=1;
-                }
-            }
 
 
-        }
-
-        comm_status[0] = (comm_status[2] & 0b0001);
-        comm_status[1] = (comm_status[2] & 0b0010) >> 1;
-
-        Thread::wait(1); //slow down loop a bit so that CPU usage doesnt shoot up unnecessarily
-    }
-}
 
 
-/**
- * CameraControl loop as an individual thread
- */
-void cameraControl_thread(void const *n)
-{
-    cameraFlag=2;
-    camera.setFrequency(camera_CaptureTimeS*1.0, camera_cycleMinutes*60.0);
-
-    while(true) {
-        if(cameraFlag == 0) {
-            camera.setState(0);
-        }
-
-        if(cameraFlag == 1) {
-            camera.updateState();
-            camera.setState(camera.camFlag);
-        }
-
-        if(cameraFlag == 2) {
-            camera.setState(1);
-        }
-
-        Thread::wait(100); //proocess thread every 100ms
-    }
-}
-
-/**
- * Data recorder loop as an individual thread
- */
-void dataRecorder_thread(void const *n)
-{
-    virgoRDR.set_size(2);
-
-    while(0) {
-        if(recordFlag == 1) {
-            virgoRDR.record(imuTime, 0);
-            virgoRDR.record(imu.Pose[0], 1);
-            virgoRDR.record(imu.Pose[1], 2);
-            virgoRDR.record(imu.Pose[2], 3);
-            virgoRDR.record(imu.AngVel[0], 4);
-            virgoRDR.record(imu.AngVel[1], 5);
-            virgoRDR.record(imu.AngVel[2], 6);
-            virgoRDR.record(localization.position[0], 7);
-            virgoRDR.record(localization.position[1], 8);
-            virgoRDR.record(odometry.revolutions[0] * 2*M_PI, 9);
-            virgoRDR.record(odometry.revolutions[1] * 2*M_PI, 10);
-            virgoRDR.record(odometry.rpm[0], 11);
-            virgoRDR.record(odometry.rpm[1], 12);
-            virgoRDR.record(rpm_cmd[0], 13);
-            virgoRDR.record(rpm_cmd[1], 14);
-
-            virgoRDR.increment_row();
-
-            //virgoRDR.size(); //to find number of rows in data recorder
-            //virgoRDR.current_row(); //current row being recorded to
-            //data[row][col]; //access stored data
-        }
-
-        Thread::wait(DataRecorder_PeriodMS); //proocess thread every 100ms
-    }
-}
 
 /**
  * Debug data print loop as an individual thread
@@ -632,7 +480,7 @@
         //Debug.printf("PID_L: P %0.3f, I %0.3f, D %0.3f, Ff %0.3f, Summ %0.3f\n\e[K", PID_L.PIDFf_terms[0], PID_L.PIDFf_terms[1], PID_L.PIDFf_terms[2], PID_L.PIDFf_terms[3], PID_L.Summ_term);
         //Debug.printf("PID_R: P %0.3f, I %0.3f, D %0.3f, Ff %0.3f, Summ %0.3f\n\e[K", PID_R.PIDFf_terms[0], PID_R.PIDFf_terms[1], PID_R.PIDFf_terms[2], PID_R.PIDFf_terms[3], PID_R.Summ_term);
 
-        Debug.printf("Comm Status: Tx %d, Rx %d, Overall %d, comm.tx_ready %d\n\e[K", comm_status[0], comm_status[1], comm_status[2], comm.tx_ready);
+
         //Debug.printf("Comm Status: %d\n\e[K", comm_status[0]);
         
         Thread::wait(PrintLoop_PeriodMS);