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Merge pull request #447 from madcowswe/ascii_cleanup

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Ascii Protocol Cleanup
This commit is contained in:
Oskar Weigl
2020-08-05 16:06:49 -07:00
committed by GitHub
parent 8ceeeb023d aaab9490df
commit c4459463b4
1 changed files with 290 additions and 188 deletions
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Firmware/communication/ascii_protocol.cpp
+290 -188
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@@ -31,6 +31,21 @@
static Introspectable root_obj = ODriveTypeInfo<ODrive>::make_introspectable(odrv);
/* Private function prototypes -----------------------------------------------*/
void cmd_set_position(char * pStr, StreamSink& response_channel, bool use_checksum);
void cmd_set_position_wl(char * pStr, StreamSink& response_channel, bool use_checksum);
void cmd_set_velocity(char * pStr, StreamSink& response_channel, bool use_checksum);
void cmd_set_torque(char * pStr, StreamSink& response_channel, bool use_checksum);
void cmd_set_trapezoid_trajectory(char * pStr, StreamSink& response_channel, bool use_checksum);
void cmd_get_feedback(char * pStr, StreamSink& response_channel, bool use_checksum);
void cmd_help(char * pStr, StreamSink& response_channel, bool use_checksum);
void cmd_info_dump(char * pStr, StreamSink& response_channel, bool use_checksum);
void cmd_system_ctrl(char * pStr, StreamSink& response_channel, bool use_checksum);
void cmd_read_property(char * pStr, StreamSink& response_channel, bool use_checksum);
void cmd_write_property(char * pStr, StreamSink& response_channel, bool use_checksum);
void cmd_update_axis_wdg(char * pStr, StreamSink& response_channel, bool use_checksum);
void cmd_unknown(char * pStr, StreamSink& response_channel, bool use_checksum);
/* Function implementations --------------------------------------------------*/
// @brief Sends a line on the specified output.
@@ -85,7 +100,7 @@ void ASCII_protocol_process_line(const uint8_t* buffer, size_t len, StreamSink&
bool use_checksum = (checksum_start < len);
if (use_checksum) {
unsigned int received_checksum;
int numscan = sscanf((const char *)cmd + checksum_start, "%u", &received_checksum);
int numscan = sscanf(&cmd[checksum_start], "%u", &received_checksum);
if ((numscan < 1) || (received_checksum != checksum))
return;
len = checksum_start - 1; // prune checksum and asterisk
@@ -94,196 +109,283 @@ void ASCII_protocol_process_line(const uint8_t* buffer, size_t len, StreamSink&
// check incoming packet type
if (cmd[0] == 'p') { // position control
unsigned motor_number;
float pos_setpoint, vel_feed_forward, torque_feed_forward;
int numscan = sscanf(cmd, "p %u %f %f %f", &motor_number, &pos_setpoint, &vel_feed_forward, &torque_feed_forward);
if (numscan < 2) {
respond(response_channel, use_checksum, "invalid command format");
} else if (motor_number >= AXIS_COUNT) {
respond(response_channel, use_checksum, "invalid motor %u", motor_number);
} else {
Axis* axis = axes[motor_number];
axis->controller_.config_.control_mode = Controller::CONTROL_MODE_POSITION_CONTROL;
axis->controller_.input_pos_ = pos_setpoint;
if (numscan >= 3)
axis->controller_.input_vel_ = vel_feed_forward;
if (numscan >= 4)
axis->controller_.input_torque_ = torque_feed_forward;
axis->controller_.input_pos_updated();
axis->watchdog_feed();
}
} else if (cmd[0] == 'q') { // position control with limits
unsigned motor_number;
float pos_setpoint, vel_limit, torque_lim;
int numscan = sscanf(cmd, "q %u %f %f %f", &motor_number, &pos_setpoint, &vel_limit, &torque_lim);
if (numscan < 2) {
respond(response_channel, use_checksum, "invalid command format");
} else if (motor_number >= AXIS_COUNT) {
respond(response_channel, use_checksum, "invalid motor %u", motor_number);
} else {
Axis* axis = axes[motor_number];
axis->controller_.config_.control_mode = Controller::CONTROL_MODE_POSITION_CONTROL;
axis->controller_.input_pos_ = pos_setpoint;
if (numscan >= 3)
axis->controller_.config_.vel_limit = vel_limit;
if (numscan >= 4)
axis->motor_.config_.torque_lim = torque_lim;
axis->controller_.input_pos_updated();
axis->watchdog_feed();
}
} else if (cmd[0] == 'v') { // velocity control
unsigned motor_number;
float vel_setpoint, torque_feed_forward;
int numscan = sscanf(cmd, "v %u %f %f", &motor_number, &vel_setpoint, &torque_feed_forward);
if (numscan < 2) {
respond(response_channel, use_checksum, "invalid command format");
} else if (motor_number >= AXIS_COUNT) {
respond(response_channel, use_checksum, "invalid motor %u", motor_number);
} else {
Axis* axis = axes[motor_number];
axis->controller_.config_.control_mode = Controller::CONTROL_MODE_VELOCITY_CONTROL;
axis->controller_.input_vel_ = vel_setpoint;
if (numscan >= 3)
axis->controller_.input_torque_ = torque_feed_forward;
axis->watchdog_feed();
}
} else if (cmd[0] == 'c') { // torque control
unsigned motor_number;
float torque_setpoint;
int numscan = sscanf(cmd, "c %u %f", &motor_number, &torque_setpoint);
if (numscan < 2) {
respond(response_channel, use_checksum, "invalid command format");
} else if (motor_number >= AXIS_COUNT) {
respond(response_channel, use_checksum, "invalid motor %u", motor_number);
} else {
Axis* axis = axes[motor_number];
axis->controller_.config_.control_mode = Controller::CONTROL_MODE_TORQUE_CONTROL;
axis->controller_.input_torque_ = torque_setpoint;
axis->watchdog_feed();
}
} else if (cmd[0] == 't') { // trapezoidal trajectory
unsigned motor_number;
float goal_point;
int numscan = sscanf(cmd, "t %u %f", &motor_number, &goal_point);
if (numscan < 2) {
respond(response_channel, use_checksum, "invalid command format");
} else if (motor_number >= AXIS_COUNT) {
respond(response_channel, use_checksum, "invalid motor %u", motor_number);
} else {
Axis* axis = axes[motor_number];
axis->controller_.config_.input_mode = Controller::INPUT_MODE_TRAP_TRAJ;
axis->controller_.config_.control_mode = Controller::CONTROL_MODE_POSITION_CONTROL;
axis->controller_.input_pos_ = goal_point;
axis->controller_.input_pos_updated();
axis->watchdog_feed();
}
} else if (cmd[0] == 'f') { // feedback
unsigned motor_number;
int numscan = sscanf(cmd, "f %u", &motor_number);
if (numscan < 1) {
respond(response_channel, use_checksum, "invalid command format");
} else if (motor_number >= AXIS_COUNT) {
respond(response_channel, use_checksum, "invalid motor %u", motor_number);
} else {
respond(response_channel, use_checksum, "%f %f",
(double)axes[motor_number]->encoder_.pos_estimate_,
(double)axes[motor_number]->encoder_.vel_estimate_);
}
} else if (cmd[0] == 'h') { // Help
respond(response_channel, use_checksum, "Please see documentation for more details");
respond(response_channel, use_checksum, "");
respond(response_channel, use_checksum, "Available commands syntax reference:");
respond(response_channel, use_checksum, "Position: q axis pos vel-lim I-lim");
respond(response_channel, use_checksum, "Position: p axis pos vel-ff I-ff");
respond(response_channel, use_checksum, "Velocity: v axis vel I-ff");
respond(response_channel, use_checksum, "Torque: c axis T");
respond(response_channel, use_checksum, "");
respond(response_channel, use_checksum, "Properties start at odrive root, such as axis0.requested_state");
respond(response_channel, use_checksum, "Read: r property");
respond(response_channel, use_checksum, "Write: w property value");
respond(response_channel, use_checksum, "");
respond(response_channel, use_checksum, "Save config: ss");
respond(response_channel, use_checksum, "Erase config: se");
respond(response_channel, use_checksum, "Reboot: sr");
} else if (cmd[0] == 'i'){ // Dump device info
// respond(response_channel, use_checksum, "Signature: %#x", STM_ID_GetSignature());
// respond(response_channel, use_checksum, "Revision: %#x", STM_ID_GetRevision());
// respond(response_channel, use_checksum, "Flash Size: %#x KiB", STM_ID_GetFlashSize());
respond(response_channel, use_checksum, "Hardware version: %d.%d-%dV", odrv.hw_version_major_, odrv.hw_version_minor_, odrv.hw_version_variant_);
respond(response_channel, use_checksum, "Firmware version: %d.%d.%d", odrv.fw_version_major_, odrv.fw_version_minor_, odrv.fw_version_revision_);
respond(response_channel, use_checksum, "Serial number: %s", serial_number_str);
} else if (cmd[0] == 's'){ // System
if(cmd[1] == 's') { // Save config
odrv.save_configuration();
} else if (cmd[1] == 'e'){ // Erase config
odrv.erase_configuration();
} else if (cmd[1] == 'r'){ // Reboot
odrv.reboot();
}
} else if (cmd[0] == 'r') { // read property
char name[MAX_LINE_LENGTH];
int numscan = sscanf(cmd, "r %255s", name);
if (numscan < 1) {
respond(response_channel, use_checksum, "invalid command format");
} else {
Introspectable property = root_obj.get_child(name, sizeof(name));
const StringConvertibleTypeInfo* type_info = dynamic_cast<const StringConvertibleTypeInfo*>(property.get_type_info());
if (!type_info) {
respond(response_channel, use_checksum, "invalid property");
} else {
char response[10];
bool success = type_info->get_string(property, response, sizeof(response));
if (!success)
respond(response_channel, use_checksum, "not implemented");
else
respond(response_channel, use_checksum, response);
}
}
} else if (cmd[0] == 'w') { // write property
char name[MAX_LINE_LENGTH];
char value[MAX_LINE_LENGTH];
int numscan = sscanf(cmd, "w %255s %255s", name, value);
if (numscan < 1) {
respond(response_channel, use_checksum, "invalid command format");
} else {
Introspectable property = root_obj.get_child(name, sizeof(name));
const StringConvertibleTypeInfo* type_info = dynamic_cast<const StringConvertibleTypeInfo*>(property.get_type_info());
if (!type_info) {
respond(response_channel, use_checksum, "invalid property");
} else {
bool success = type_info->set_string(property, value, sizeof(value));
if (!success)
respond(response_channel, use_checksum, "not implemented");
}
}
} else if (cmd[0] == 'u') { // Update axis watchdog.
unsigned motor_number;
int numscan = sscanf(cmd, "u %u", &motor_number);
if(numscan < 1){
respond(response_channel, use_checksum, "invalid command format");
} else if (motor_number >= AXIS_COUNT) {
respond(response_channel, use_checksum, "invalid motor %u", motor_number);
}else {
axes[motor_number]->watchdog_feed();
}
} else if (cmd[0] != 0) {
respond(response_channel, use_checksum, "unknown command");
switch(cmd[0]) {
case 'p': cmd_set_position(cmd, response_channel, use_checksum); break; // position control
case 'q': cmd_set_position_wl(cmd, response_channel, use_checksum); break; // position control with limits
case 'v': cmd_set_velocity(cmd, response_channel, use_checksum); break; // velocity control
case 'c': cmd_set_torque(cmd, response_channel, use_checksum); break; // current control
case 't': cmd_set_trapezoid_trajectory(cmd, response_channel, use_checksum); break; // trapezoidal trajectory
case 'f': cmd_get_feedback(cmd, response_channel, use_checksum); break; // feedback
case 'h': cmd_help(cmd, response_channel, use_checksum); break; // Help
case 'i': cmd_info_dump(cmd, response_channel, use_checksum); break; // Dump device info
case 's': cmd_system_ctrl(cmd, response_channel, use_checksum); break; // System
case 'r': cmd_read_property(cmd, response_channel, use_checksum); break; // read property
case 'w': cmd_write_property(cmd, response_channel, use_checksum); break; // write property
case 'u': cmd_update_axis_wdg(cmd, response_channel, use_checksum); break; // Update axis watchdog.
default : cmd_unknown(nullptr, response_channel, use_checksum); break;
}
}
// @brief Executes the set position command
// @param pStr buffer of ASCII encoded values
// @param response_channel reference to the stream to respond on
// @param use_checksum bool to indicate whether a checksum is required on response
void cmd_set_position(char * pStr, StreamSink& response_channel, bool use_checksum) {
unsigned motor_number;
float pos_setpoint, vel_feed_forward, torque_feed_forward;
int numscan = sscanf(pStr, "p %u %f %f %f", &motor_number, &pos_setpoint, &vel_feed_forward, &torque_feed_forward);
if (numscan < 2) {
respond(response_channel, use_checksum, "invalid command format");
} else if (motor_number >= AXIS_COUNT) {
respond(response_channel, use_checksum, "invalid motor %u", motor_number);
} else {
Axis* axis = axes[motor_number];
axis->controller_.config_.control_mode = Controller::CONTROL_MODE_POSITION_CONTROL;
axis->controller_.input_pos_ = pos_setpoint;
if (numscan >= 3)
axis->controller_.input_vel_ = vel_feed_forward;
if (numscan >= 4)
axis->controller_.input_torque_ = torque_feed_forward;
axis->controller_.input_pos_updated();
axis->watchdog_feed();
}
}
// @brief Executes the set position with current and velocity limit command
// @param pStr buffer of ASCII encoded values
// @param response_channel reference to the stream to respond on
// @param use_checksum bool to indicate whether a checksum is required on response
void cmd_set_position_wl(char * pStr, StreamSink& response_channel, bool use_checksum) {
unsigned motor_number;
float pos_setpoint, vel_limit, torque_lim;
int numscan = sscanf(pStr, "q %u %f %f %f", &motor_number, &pos_setpoint, &vel_limit, &torque_lim);
if (numscan < 2) {
respond(response_channel, use_checksum, "invalid command format");
} else if (motor_number >= AXIS_COUNT) {
respond(response_channel, use_checksum, "invalid motor %u", motor_number);
} else {
Axis* axis = axes[motor_number];
axis->controller_.config_.control_mode = Controller::CONTROL_MODE_POSITION_CONTROL;
axis->controller_.input_pos_ = pos_setpoint;
if (numscan >= 3)
axis->controller_.config_.vel_limit = vel_limit;
if (numscan >= 4)
axis->motor_.config_.torque_lim = torque_lim;
axis->controller_.input_pos_updated();
axis->watchdog_feed();
}
}
// @brief Executes the set velocity command
// @param pStr buffer of ASCII encoded values
// @param response_channel reference to the stream to respond on
// @param use_checksum bool to indicate whether a checksum is required on response
void cmd_set_velocity(char * pStr, StreamSink& response_channel, bool use_checksum) {
unsigned motor_number;
float vel_setpoint, torque_feed_forward;
int numscan = sscanf(pStr, "v %u %f %f", &motor_number, &vel_setpoint, &torque_feed_forward);
if (numscan < 2) {
respond(response_channel, use_checksum, "invalid command format");
} else if (motor_number >= AXIS_COUNT) {
respond(response_channel, use_checksum, "invalid motor %u", motor_number);
} else {
Axis* axis = axes[motor_number];
axis->controller_.config_.control_mode = Controller::CONTROL_MODE_VELOCITY_CONTROL;
axis->controller_.input_vel_ = vel_setpoint;
if (numscan >= 3)
axis->controller_.input_torque_ = torque_feed_forward;
axis->watchdog_feed();
}
}
// @brief Executes the set torque control command
// @param pStr buffer of ASCII encoded values
// @param response_channel reference to the stream to respond on
// @param use_checksum bool to indicate whether a checksum is required on response
void cmd_set_torque(char * pStr, StreamSink& response_channel, bool use_checksum) {
unsigned motor_number;
float torque_setpoint;
if (sscanf(pStr, "c %u %f", &motor_number, &torque_setpoint) < 2) {
respond(response_channel, use_checksum, "invalid command format");
} else if (motor_number >= AXIS_COUNT) {
respond(response_channel, use_checksum, "invalid motor %u", motor_number);
} else {
Axis* axis = axes[motor_number];
axis->controller_.config_.control_mode = Controller::CONTROL_MODE_TORQUE_CONTROL;
axis->controller_.input_torque_ = torque_setpoint;
axis->watchdog_feed();
}
}
// @brief Executes the set trapezoid trajectory command
// @param pStr buffer of ASCII encoded values
// @param response_channel reference to the stream to respond on
// @param use_checksum bool to indicate whether a checksum is required on response
void cmd_set_trapezoid_trajectory(char * pStr, StreamSink& response_channel, bool use_checksum) {
unsigned motor_number;
float goal_point;
if (sscanf(pStr, "t %u %f", &motor_number, &goal_point) < 2) {
respond(response_channel, use_checksum, "invalid command format");
} else if (motor_number >= AXIS_COUNT) {
respond(response_channel, use_checksum, "invalid motor %u", motor_number);
} else {
Axis* axis = axes[motor_number];
axis->controller_.config_.input_mode = Controller::INPUT_MODE_TRAP_TRAJ;
axis->controller_.config_.control_mode = Controller::CONTROL_MODE_POSITION_CONTROL;
axis->controller_.input_pos_ = goal_point;
axis->controller_.input_pos_updated();
axis->watchdog_feed();
}
}
// @brief Executes the get position and velocity feedback command
// @param pStr buffer of ASCII encoded values
// @param response_channel reference to the stream to respond on
// @param use_checksum bool to indicate whether a checksum is required on response
void cmd_get_feedback(char * pStr, StreamSink& response_channel, bool use_checksum) {
unsigned motor_number;
if (sscanf(pStr, "f %u", &motor_number) < 1) {
respond(response_channel, use_checksum, "invalid command format");
} else if (motor_number >= AXIS_COUNT) {
respond(response_channel, use_checksum, "invalid motor %u", motor_number);
} else {
Axis* axis = axes[motor_number];
respond(response_channel, use_checksum, "%f %f",
(double)axis->encoder_.pos_estimate_,
(double)axis->encoder_.vel_estimate_);
}
}
// @brief Shows help text
// @param pStr buffer of ASCII encoded values
// @param response_channel reference to the stream to respond on
// @param use_checksum bool to indicate whether a checksum is required on response
void cmd_help(char * pStr, StreamSink& response_channel, bool use_checksum) {
(void)pStr;
respond(response_channel, use_checksum, "Please see documentation for more details");
respond(response_channel, use_checksum, "");
respond(response_channel, use_checksum, "Available commands syntax reference:");
respond(response_channel, use_checksum, "Position: q axis pos vel-lim I-lim");
respond(response_channel, use_checksum, "Position: p axis pos vel-ff I-ff");
respond(response_channel, use_checksum, "Velocity: v axis vel I-ff");
respond(response_channel, use_checksum, "Torque: c axis T");
respond(response_channel, use_checksum, "");
respond(response_channel, use_checksum, "Properties start at odrive root, such as axis0.requested_state");
respond(response_channel, use_checksum, "Read: r property");
respond(response_channel, use_checksum, "Write: w property value");
respond(response_channel, use_checksum, "");
respond(response_channel, use_checksum, "Save config: ss");
respond(response_channel, use_checksum, "Erase config: se");
respond(response_channel, use_checksum, "Reboot: sr");
}
// @brief Gets the hardware, firmware and serial details
// @param pStr buffer of ASCII encoded values
// @param response_channel reference to the stream to respond on
// @param use_checksum bool to indicate whether a checksum is required on response
void cmd_info_dump(char * pStr, StreamSink& response_channel, bool use_checksum) {
// respond(response_channel, use_checksum, "Signature: %#x", STM_ID_GetSignature());
// respond(response_channel, use_checksum, "Revision: %#x", STM_ID_GetRevision());
// respond(response_channel, use_checksum, "Flash Size: %#x KiB", STM_ID_GetFlashSize());
respond(response_channel, use_checksum, "Hardware version: %d.%d-%dV", odrv.hw_version_major_, odrv.hw_version_minor_, odrv.hw_version_variant_);
respond(response_channel, use_checksum, "Firmware version: %d.%d.%d", odrv.fw_version_major_, odrv.fw_version_minor_, odrv.fw_version_revision_);
respond(response_channel, use_checksum, "Serial number: %s", serial_number_str);
}
// @brief Executes the system control command
// @param pStr buffer of ASCII encoded values
// @param response_channel reference to the stream to respond on
// @param use_checksum bool to indicate whether a checksum is required on response
void cmd_system_ctrl(char * pStr, StreamSink& response_channel, bool use_checksum) {
switch (pStr[1])
{
case 's': odrv.save_configuration(); break; // Save config
case 'e': odrv.erase_configuration(); break; // Erase config
case 'r': odrv.reboot(); break; // Reboot
default: /* default */ break;
}
}
// @brief Executes the read parameter command
// @param pStr buffer of ASCII encoded values
// @param response_channel reference to the stream to respond on
// @param use_checksum bool to indicate whether a checksum is required on response
void cmd_read_property(char * pStr, StreamSink& response_channel, bool use_checksum) {
char name[MAX_LINE_LENGTH];
if (sscanf(pStr, "r %255s", name) < 1) {
respond(response_channel, use_checksum, "invalid command format");
} else {
Introspectable property = root_obj.get_child(name, sizeof(name));
const StringConvertibleTypeInfo* type_info = dynamic_cast<const StringConvertibleTypeInfo*>(property.get_type_info());
if (!type_info) {
respond(response_channel, use_checksum, "invalid property");
} else {
char response[10];
bool success = type_info->get_string(property, response, sizeof(response));
respond(response_channel, use_checksum, success ? response : "not implemented");
}
}
}
// @brief Executes the set write position command
// @param pStr buffer of ASCII encoded values
// @param response_channel reference to the stream to respond on
// @param use_checksum bool to indicate whether a checksum is required on response
void cmd_write_property(char * pStr, StreamSink& response_channel, bool use_checksum) {
char name[MAX_LINE_LENGTH];
char value[MAX_LINE_LENGTH];
if (sscanf(pStr, "w %255s %255s", name, value) < 1) {
respond(response_channel, use_checksum, "invalid command format");
} else {
Introspectable property = root_obj.get_child(name, sizeof(name));
const StringConvertibleTypeInfo* type_info = dynamic_cast<const StringConvertibleTypeInfo*>(property.get_type_info());
if (!type_info) {
respond(response_channel, use_checksum, "invalid property");
} else {
bool success = type_info->set_string(property, value, sizeof(value));
if (!success) {
respond(response_channel, use_checksum, "not implemented");
}
}
}
}
// @brief Executes the motor watchdog update command
// @param pStr buffer of ASCII encoded values
// @param response_channel reference to the stream to respond on
// @param use_checksum bool to indicate whether a checksum is required on response
void cmd_update_axis_wdg(char * pStr, StreamSink& response_channel, bool use_checksum) {
unsigned motor_number;
if (sscanf(pStr, "u %u", &motor_number) < 1) {
respond(response_channel, use_checksum, "invalid command format");
} else if (motor_number >= AXIS_COUNT) {
respond(response_channel, use_checksum, "invalid motor %u", motor_number);
} else {
axes[motor_number]->watchdog_feed();
}
}
// @brief Sends the unknown command response
// @param pStr buffer of ASCII encoded values
// @param response_channel reference to the stream to respond on
// @param use_checksum bool to indicate whether a checksum is required on response
void cmd_unknown(char * pStr, StreamSink& response_channel, bool use_checksum) {
(void)pStr;
respond(response_channel, use_checksum, "unknown command");
}
// @brief Parses the received ASCII char stream
// @param buffer buffer of ASCII encoded values
// @param response_channel reference to the stream to respond on
// @param use_checksum bool to indicate whether a checksum is required on response
void ASCII_protocol_parse_stream(const uint8_t* buffer, size_t len, StreamSink& response_channel) {
static uint8_t parse_buffer[MAX_LINE_LENGTH];
static bool read_active = true;