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Merge "CANJaguar waits in the constructor for initial status data"

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This commit is contained in:
Brad Miller (WPI)
2014-06-26 09:28:33 -07:00
committed by Gerrit Code Review
parent 6273a407ef 1cafebc5a3
commit 606eaa67b9
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,