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CANJaguar waits in the constructor for initial status data

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The C++ and Java CANJaguar constructors now wait up to 50 ms for the status
data to arrive at least one time.  They break early if it arrives sooner.

This allows status getters to always work immediately after the object is
constructed.

Change-Id: I4a1f1538837c11b24d45e87251743b6c106ddefb
This commit is contained in:
thomasclark
2014-06-26 11:54:58 -04:00
parent 06f8ff9225
commit 1cafebc5a3
4 changed files with 104 additions and 14 deletions
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10
wpilibc/wpilibC++/include/CANJaguar.h
View File

@@ -196,6 +196,16 @@ protected:
uint32_t m_firmwareVersion;
uint8_t m_hardwareVersion;
// Which status values have we received at least once?
bool m_receivedBusVoltage;
bool m_receivedOutputVoltage;
bool m_receivedOutputCurrent;
bool m_receivedTemperature;
bool m_receivedPosition;
bool m_receivedSpeed;
bool m_receivedLimits;
bool m_receivedFaults;
void verify();
MotorSafetyHelper *m_safetyHelper;

47
wpilibc/wpilibC++/lib/CANJaguar.cpp
View File

@@ -30,6 +30,8 @@ constexpr double CANJaguar::kApproxBusVoltage;
static const int32_t kSendMessagePeriod = 20;
static const uint32_t kFullMessageIDMask = (CAN_MSGID_API_M | CAN_MSGID_MFR_M | CAN_MSGID_DTYPE_M);
static const int32_t kReceiveStatusAttempts = 5000;
static int32_t sendMessageHelper(uint32_t messageID, const uint8_t *data, uint8_t dataSize, int32_t period)
{
static const uint32_t kTrustedMessages[] = {
@@ -135,7 +137,41 @@ void CANJaguar::InitCANJaguar()
requestMessage(CAN_IS_FRAME_REMOTE | CAN_MSGID_API_FIRMVER);
requestMessage(LM_API_HWVER);
Wait(0.003);
m_receivedBusVoltage = false;
m_receivedOutputVoltage = false;
m_receivedOutputCurrent = false;
m_receivedTemperature = false;
m_receivedPosition = false;
m_receivedSpeed = false;
m_receivedLimits = false;
m_receivedFaults = false;
// Wait until we've gotten all of the status data at least once.
for(int i = 0; i < kReceiveStatusAttempts; i++)
{
Wait(0.001);
GetBusVoltage();
GetOutputVoltage();
GetOutputCurrent();
GetTemperature();
GetPosition();
GetSpeed();
GetForwardLimitOK();
GetFaults();
if(m_receivedBusVoltage &&
m_receivedOutputVoltage &&
m_receivedOutputCurrent &&
m_receivedTemperature &&
m_receivedPosition &&
m_receivedSpeed &&
m_receivedLimits &&
m_receivedFaults)
{
break;
}
}
if(getMessage(CAN_MSGID_API_FIRMVER, CAN_MSGID_FULL_M, dataBuffer, &dataSize))
m_firmwareVersion = unpackint32_t(dataBuffer);
@@ -1431,6 +1467,7 @@ float CANJaguar::GetBusVoltage()
if(getMessage(LM_API_STATUS_VOLTBUS, CAN_MSGID_FULL_M, dataBuffer, &dataSize))
{
m_busVoltage = unpackFXP8_8(dataBuffer);
m_receivedBusVoltage = true;
}
return m_busVoltage;
@@ -1449,6 +1486,7 @@ float CANJaguar::GetOutputVoltage()
if(getMessage(LM_API_STATUS_VOUT, CAN_MSGID_FULL_M, dataBuffer, &dataSize))
{
m_outputVoltage = unpackFXP8_8(dataBuffer);
m_receivedOutputVoltage = true;
}
return m_outputVoltage;
@@ -1467,6 +1505,7 @@ float CANJaguar::GetOutputCurrent()
if(getMessage(LM_API_STATUS_CURRENT, CAN_MSGID_FULL_M, dataBuffer, &dataSize))
{
m_outputCurrent = unpackFXP8_8(dataBuffer);
m_receivedOutputCurrent = true;
}
return m_outputCurrent;
@@ -1485,6 +1524,7 @@ float CANJaguar::GetTemperature()
if(getMessage(LM_API_STATUS_TEMP, CAN_MSGID_FULL_M, dataBuffer, &dataSize))
{
m_temperature = unpackFXP8_8(dataBuffer);
m_receivedTemperature = true;
}
return m_temperature;
@@ -1503,6 +1543,7 @@ double CANJaguar::GetPosition()
if(getMessage(LM_API_STATUS_POS, CAN_MSGID_FULL_M, dataBuffer, &dataSize))
{
m_position = unpackFXP16_16(dataBuffer);
m_receivedPosition = true;
}
return m_position;
@@ -1521,6 +1562,7 @@ double CANJaguar::GetSpeed()
if(getMessage(LM_API_STATUS_SPD, CAN_MSGID_FULL_M, dataBuffer, &dataSize))
{
m_speed = unpackFXP16_16(dataBuffer);
m_receivedSpeed = true;
}
return m_speed;
@@ -1539,6 +1581,7 @@ bool CANJaguar::GetForwardLimitOK()
if(getMessage(LM_API_STATUS_LIMIT, CAN_MSGID_FULL_M, dataBuffer, &dataSize))
{
m_limits = dataBuffer[0];
m_receivedLimits = true;
}
return m_limits & kForwardLimit;
@@ -1557,6 +1600,7 @@ bool CANJaguar::GetReverseLimitOK()
if(getMessage(LM_API_STATUS_LIMIT, CAN_MSGID_FULL_M, dataBuffer, &dataSize))
{
m_limits = dataBuffer[0];
m_receivedLimits = true;
}
return m_limits & kReverseLimit;
@@ -1575,6 +1619,7 @@ uint16_t CANJaguar::GetFaults()
if(getMessage(LM_API_STATUS_FAULT, CAN_MSGID_FULL_M, dataBuffer, &dataSize))
{
m_faults = unpackint16_t(dataBuffer);
m_receivedFaults = true;
}
return m_faults;

13
wpilibc/wpilibC++IntegrationTests/src/CANJaguarTest.cpp
View File

@@ -51,17 +51,6 @@ protected:
}
};
/*TEST_F(CANJaguarTest, QuickTest) {
m_jaguar->SetSpeedMode(CANJaguar::Encoder, 360, 0.0, 0.0, 0.0);
while(DriverStation::GetInstance()->IsEnabled()) {
std::cout << m_jaguar->GetPosition() << std::endl;
std::cout << m_jaguar->GetSpeed() << std::endl;
std::cout << m_jaguar->GetTemperature() << std::endl;
Wait(0.02);
}
}*/
/**
* Checks the default status data for reasonable values to confirm that we're
* really getting status data from the Jaguar.
@@ -78,7 +67,7 @@ TEST_F(CANJaguarTest, InitialStatus) {
EXPECT_FLOAT_EQ(m_jaguar->GetOutputCurrent(), 0.0)
<< "Output current is non-zero.";
EXPECT_NEAR(m_jaguar->GetTemperature(), kTempe, 5.0)
EXPECT_NEAR(m_jaguar->GetTemperature(), kExpectedTemperature, 5.0)
<< "Temperature is not a plausible value.";
EXPECT_EQ(m_jaguar->GetFaults(), 0)

48
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/CANJaguar.java
View File

@@ -140,7 +140,32 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
requestMessage(CANJNI.CAN_IS_FRAME_REMOTE | CANJNI.CAN_MSGID_API_FIRMVER);
requestMessage(CANJNI.LM_API_HWVER);
Timer.delay(0.003);
// Wait until we've gotten all of the status data at least once.
for(int i = 0; i < kReceiveStatusAttempts; i++)
{
Timer.delay(0.001);
getBusVoltage();
getOutputVoltage();
getOutputCurrent();
getTemperature();
getPosition();
getSpeed();
getForwardLimitOK();
getFaults();
if(m_receivedBusVoltage &&
m_receivedOutputVoltage &&
m_receivedOutputCurrent &&
m_receivedTemperature &&
m_receivedPosition &&
m_receivedSpeed &&
m_receivedLimits &&
m_receivedFaults)
{
break;
}
}
// Don't catch the CANMessageNotFoundException - we need to know the
// firmware version to continue.
@@ -1227,6 +1252,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
try {
getMessage(CANJNI.LM_API_STATUS_VOLTBUS, CANJNI.CAN_MSGID_FULL_M, data);
m_receivedBusVoltage = true;
m_busVoltage = unpackFXP8_8(data);
} catch(CANMessageNotFoundException e) {}
@@ -1243,6 +1269,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
try {
getMessage(CANJNI.LM_API_STATUS_VOUT, CANJNI.CAN_MSGID_FULL_M, data);
m_receivedOutputVoltage = true;
m_outputVoltage = unpackFXP8_8(data);
} catch(CANMessageNotFoundException e) {}
@@ -1259,6 +1286,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
try {
getMessage(CANJNI.LM_API_STATUS_CURRENT, CANJNI.CAN_MSGID_FULL_M, data);
m_receivedOutputCurrent = true;
m_outputCurrent = unpackFXP8_8(data);
} catch(CANMessageNotFoundException e) {}
@@ -1275,6 +1303,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
try {
getMessage(CANJNI.LM_API_STATUS_TEMP, CANJNI.CAN_MSGID_FULL_M, data);
m_receivedTemperature = true;
m_temperature = unpackFXP8_8(data);
} catch(CANMessageNotFoundException e) {}
@@ -1291,6 +1320,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
try {
getMessage(CANJNI.LM_API_STATUS_POS, CANJNI.CAN_MSGID_FULL_M, data);
m_receivedPosition = true;
m_position = unpackFXP16_16(data);
} catch(CANMessageNotFoundException e) {}
@@ -1307,6 +1337,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
try {
getMessage(CANJNI.LM_API_STATUS_SPD, CANJNI.CAN_MSGID_FULL_M, data);
m_receivedSpeed = true;
m_speed = unpackFXP16_16(data);
} catch(CANMessageNotFoundException e) {}
@@ -1323,6 +1354,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
try {
getMessage(CANJNI.LM_API_STATUS_LIMIT, CANJNI.CAN_MSGID_FULL_M, data);
m_receivedLimits = true;
m_limits = data[0];
} catch(CANMessageNotFoundException e) {}
@@ -1339,6 +1371,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
try {
getMessage(CANJNI.LM_API_STATUS_LIMIT, CANJNI.CAN_MSGID_FULL_M, data);
m_receivedLimits = true;
m_limits = data[0];
} catch(CANMessageNotFoundException e) {}
@@ -1359,6 +1392,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
try {
getMessage(CANJNI.LM_API_STATUS_FAULT, CANJNI.CAN_MSGID_FULL_M, data);
m_receivedFaults = true;
m_faults = unpackINT16(data);
} catch(CANMessageNotFoundException e) {}
@@ -1612,6 +1646,18 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
int m_firmwareVersion = 0;
byte m_hardwareVersion = (byte)0;
// Which status values have we received at least once?
boolean m_receivedBusVoltage = false;
boolean m_receivedOutputVoltage = false;
boolean m_receivedOutputCurrent = false;
boolean m_receivedTemperature = false;
boolean m_receivedPosition = false;
boolean m_receivedSpeed = false;
boolean m_receivedLimits = false;
boolean m_receivedFaults = false;
static final int kReceiveStatusAttempts = 50;
static void sendMessageHelper(int messageID, byte[] data, int dataSize, int period) throws CANMessageNotFoundException {
final int[] kTrustedMessages = {
CANJNI.LM_API_VOLT_T_EN, CANJNI.LM_API_VOLT_T_SET, CANJNI.LM_API_SPD_T_EN, CANJNI.LM_API_SPD_T_SET,