Added serial monitor and data generator scripts (#9)

BinghamtonRover · May 9, 2024 · 54713fe · 54713fe
1 parent 898ad39
commit 54713fe
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Showing 4 changed files with 121 additions and 35 deletions.
diff --git a/bin/data.dart b/bin/data.dart
@@ -0,0 +1,63 @@
+import "dart:math";
+
+import "package:burt_network/burt_network.dart";
+import "package:subsystems/subsystems.dart";
+
+class SwingingIterator implements Iterator<double> {
+  final double min;
+  final double max;
+  final double increment;
+  SwingingIterator(this.min, this.max, this.increment) : current = min;
+
+  bool forward = true;
+  @override double current;
+
+  @override
+  bool moveNext() {
+    if (current >= max && forward) forward = false;
+    if (current <= min && !forward) forward = true;
+    if (forward) {
+      current += increment;
+    } else {
+      current -= increment;
+    }
+    return true;
+  }
+}
+
+Future<void> main() async {
+  final server = SubsystemsServer(port: 8001);
+  await server.init();
+  final throttle = SwingingIterator(0, 1, 0.01);
+  final voltage = SwingingIterator(24, 30, 0.1);
+  final current = SwingingIterator(0, 30, 0.1);
+  final motor = SwingingIterator(0, pi, 0.01);
+  final motor2 = SwingingIterator(0, 2*pi, 0.05);
+  while (true) {
+    throttle.moveNext();
+    voltage.moveNext();
+    current.moveNext();
+    motor.moveNext();
+    motor2.moveNext();
+    final data = DriveData(
+      left: 1, 
+      setLeft: true, 
+      right: -1, 
+      setRight: true, 
+      throttle: throttle.current, 
+      setThrottle: true, 
+      batteryVoltage: voltage.current, 
+      batteryCurrent: current.current,
+    ); 
+    server.sendMessage(data);
+    final data2 = ArmData(
+      base: MotorData(angle: motor2.current), 
+      shoulder: MotorData(angle: motor.current), 
+      elbow: MotorData(angle: motor.current),
+    );
+    server.sendMessage(data2);
+    final data3 = GripperData(lift: MotorData(angle: motor.current));
+    server.sendMessage(data3);
+    await Future<void>.delayed(const Duration(milliseconds: 10));
+  }
+}
diff --git a/bin/serial.dart b/bin/serial.dart
@@ -1,3 +1,4 @@
+import "dart:io";
 import "dart:typed_data";
 import "package:burt_network/burt_network.dart";
 import "package:libserialport/libserialport.dart";
@@ -6,41 +7,67 @@ final logger = BurtLogger();
 
 bool ascii = false;
 
-void main(List<String> args) async {
-	if (args.isEmpty) {
-		logger.info("Ports: ${SerialPort.availablePorts}");
-		return;
-	} else if (args.contains("-h") || args.contains("--help")) {
-		logger.info("Usage: dart run -r :serial [port] [-a | --ascii]");
-		return;
-	}
-	var port = args.first;
-	if (!port.startsWith("/dev")) port = "/dev/$port";
-	if (args.contains("-a") || args.contains("--ascii")) {
-		logger.info("Running in ASCII mode");
-		ascii = true;
-	}
-	logger.info("Connecting to $port...");
-	final device = SerialDevice(
-		portName: port, 
-		readInterval: const Duration(milliseconds: 100),
+Future<void> listenToDevice(String port) async {
+  logger.info("Connecting to $port...");
+  final device = SerialDevice(
+    portName: port, 
+    readInterval: const Duration(milliseconds: 100),
+    logger: logger,
+  );
+  if (!await device.init()) {
+    logger.critical("Could not connect to $port");
+    return;
+  }
+  logger.info("Connected. Listening...");
+  device.stream.listen(process);
+  device.startListening();
+}
+
+Future<void> listenToFirmware(String port) async {
+  logger.info("Connecting to $port...");
+  final device = BurtFirmwareSerial(
+    port: port, 
     logger: logger,
-	);
-	if (!await device.init()) {
+  );
+  if (!await device.init()) {
     logger.critical("Could not connect to $port");
     return;
   }
-	logger.info("Connected. Listening...");
-	device.stream.listen(process);
-	device.startListening();
+  logger.info("Connected? ${device.isReady}. Listening...");
+  device.stream?.listen(process);
+}
+
+void main(List<String> args) async {
+  if (args.isEmpty) {
+    logger.info("Ports: ${SerialPort.availablePorts}");
+    return;
+  } else if (args.contains("-h") || args.contains("--help")) {
+    logger.info("Usage: dart run -r :serial [port] [-a | --ascii]");
+    return;
+  }
+  var port = args.first;
+  if (!Platform.isWindows && !port.startsWith("/dev")) port = "/dev/$port";
+  if (args.contains("-a") || args.contains("--ascii")) {
+    logger.info("Running in ASCII mode");
+    ascii = true;
+  }
+  if (args.contains("-f") || args.contains("--firmware")) {
+    await listenToFirmware(port);
+  } else {
+    await listenToDevice(port);
+  }
 }
 
 void process(Uint8List buffer) {
-	if (ascii) {
-		final s = String.fromCharCodes(buffer).trim();
-		logger.debug("Got string: $s");	
-	} else {
-		final data = DriveData.fromBuffer(buffer);
-		logger.debug("Got data: ${data.toProto3Json()}");
-	}
+  if (ascii) {
+    final s = String.fromCharCodes(buffer).trim();
+    logger.debug("Got string: $s");	
+  } else {
+    try {
+      final data = ScienceData.fromBuffer(buffer);
+      logger.debug("Got data: ${data.toProto3Json()}");
+    } catch (error) {
+      logger.error("Could not decode DriveData: $error\n  Buffer: $buffer");
+    }
+  }
 }
diff --git a/lib/src/messages/can.dart b/lib/src/messages/can.dart
@@ -15,7 +15,6 @@ import "service.dart";
 
 /// Maps CAN IDs to [WrappedMessage.name] for data messages.
 final Map<int, String> dataCanIDs = {
-	0x13: ElectricalData().messageName,
 	0x14: DriveData().messageName,
 	0x15: ArmData().messageName,
 	0x16: GripperData().messageName,
@@ -28,7 +27,6 @@ final Map<String, int> commandCanIDs = {
 	GripperCommand().messageName: 0x33,
 	ScienceCommand().messageName: 0x43,
 	DriveCommand().messageName: 0x53,
-	ElectricalCommand().messageName: 0x63,
 };
 
 /// Manages a CAN socket on the subsystems program.

diff --git a/lib/src/messages/serial.dart b/lib/src/messages/serial.dart
@@ -13,8 +13,7 @@ import "service.dart";
 final nameToDevice = <String, Device>{
   ArmCommand().messageName: Device.ARM,
   GripperCommand().messageName: Device.GRIPPER,
-  ElectricalCommand().messageName: Device.ELECTRICAL,
-  DriveCommand().messageName: Device.ELECTRICAL,
+  DriveCommand().messageName: Device.DRIVE,
   ScienceCommand().messageName: Device.SCIENCE,
 };
 
@@ -79,7 +78,6 @@ class SerialService extends MessageService {
     final name = switch (serial.device) {
       Device.ARM => ArmData().messageName,
       Device.DRIVE => DriveData().messageName,
-      Device.ELECTRICAL => ElectricalData().messageName,
       Device.GRIPPER => GripperData().messageName,
       Device.SCIENCE => ScienceData().messageName,
       _ => null,