Added the capra_micro_comm_py package as a 'dependency' (I'll talk ab…

…out it in the pull request)

src/rove_control_board/api/api.h

@@ -2,21 +2,22 @@
 /* This was generated by capra_micro_comm.
 * DO NOT EDIT
 */
+
 #include <capra_comm.h>
 
-// --- ENUMS ---
+
 // --- STRUCTS ---
 struct Void
 {
     euint8_t pad0;
 };
 static_assert(sizeof(Void) == 1);
 
-struct Bool
+struct Bool_
 {
     eboolean_t b;
 };
-static_assert(sizeof(Bool) == 1);
+static_assert(sizeof(Bool_) == 1);
 
 struct Byte
 {
@@ -73,37 +74,95 @@ struct Vector2D
 };
 static_assert(sizeof(Vector2D) == 8);
 
-struct State
+struct Status
 {
-    eboolean_t state;
+    euint16_t statusCode;
 };
-static_assert(sizeof(State) == 1);
+static_assert(sizeof(Status) == 2);
 
-struct Status
+struct RGB
 {
-    euint8_t statusCode;
+    euint8_t r;
+    euint8_t g;
+    euint8_t b;
 };
-static_assert(sizeof(Status) == 1);
+static_assert(sizeof(RGB) == 3);
 
-struct RGB
+struct LED
 {
-    efloat_t r;
-    efloat_t g;
-    efloat_t b;
+    euint16_t i;
+    RGB c;
+    euint8_t pad0;
 };
-static_assert(sizeof(RGB) == 12);
+static_assert(sizeof(LED) == 6);
+
+struct Report
+{
+    Vector2D pos;
+    Status status;
+    euint8_t pad0;
+    euint8_t pad1;
+};
+static_assert(sizeof(Report) == 12);
+
+struct Bounds
+{
+    efloat_t lower;
+    efloat_t upper;
+};
+static_assert(sizeof(Bounds) == 8);
+
+struct PIDConfig
+{
+    efloat_t p;
+    efloat_t i;
+    efloat_t d;
+    Bounds bounds;
+};
+static_assert(sizeof(PIDConfig) == 20);
+
+struct Config
+{
+    PIDConfig horizPID;
+    PIDConfig vertiPID;
+};
+static_assert(sizeof(Config) == 40);
 
 // --- COMMANDS ---
-Void ledOn(Void);
+Bool_ setLedColor(LED);
+static_assert((sizeof(LED)+1) == 7);
+
+Bool_ setFrontLedState(Bool_);
+static_assert((sizeof(Bool_)+1) == 2);
+
+Bool_ setBackLedState(Bool_);
+static_assert((sizeof(Bool_)+1) == 2);
+
+Bool_ setTPVPosition(Vector2D);
+static_assert((sizeof(Vector2D)+1) == 9);
+
+Vector2D getTPVPosition(Void);
 static_assert((sizeof(Void)+1) == 2);
 
-Void ledOff(Void);
+Bool_ setTPVSpeed(Vector2D);
+static_assert((sizeof(Vector2D)+1) == 9);
+
+Report getReport(Void);
 static_assert((sizeof(Void)+1) == 2);
 
+Bool_ setConfig(Config);
+static_assert((sizeof(Config)+1) == 41);
+
 BaseFunction_ptr commands[] = {
-    new Function<Void, Void>(&ledOn),
-    new Function<Void, Void>(&ledOff),
+    new Function<Bool_, LED>(&setLedColor),
+    new Function<Bool_, Bool_>(&setFrontLedState),
+    new Function<Bool_, Bool_>(&setBackLedState),
+    new Function<Bool_, Vector2D>(&setTPVPosition),
+    new Function<Vector2D, Void>(&getTPVPosition),
+    new Function<Bool_, Vector2D>(&setTPVSpeed),
+    new Function<Report, Void>(&getReport),
+    new Function<Bool_, Config>(&setConfig),
 };
-#define COMMANDS_COUNT 2
-#define MAX_DECODED_SIZE 13
-#define MAX_ENCODED_SIZE 21
+#define COMMANDS_COUNT 8
+#define MAX_DECODED_SIZE 41
+#define MAX_ENCODED_SIZE 57

src/rove_control_board/api/common.h

@@ -0,0 +1,108 @@
+#pragma once
+
+#include <inttypes.h>
+
+#ifndef CMD_BUFF_SIZE
+#define CMD_BUFF_SIZE 64
+#endif // CMD_BUFF_SIZE
+
+// Define types with known lengths for encoding
+#ifdef ARDUINO
+using euint8_t      = uint8_t;
+using eint8_t       = int8_t;
+using euint16_t     = uint16_t;
+using eint16_t      = int16_t;
+using euint32_t     = uint32_t;
+using eint32_t      = int32_t;
+using euint64_t     = uint64_t;
+using eint64_t      = int64_t;
+using efloat_t      = float;
+using eboolean_t    = bool;
+
+#include <Arduino.h>
+
+class EmptyStream : public Stream
+{
+public:
+    int available() override { return 0; }
+    int read() override { return 0; }
+    int peek() override { return 0; }
+    void flush() override { }
+    size_t write(uint8_t) override { return 0; }
+    void begin(int) {};
+    operator bool() {return true;}
+};
+
+#ifndef SAM
+    extern EmptyStream debug = EmptyStream();
+    extern Serial_& comm = Serial
+#else
+    extern Serial_& debug;
+    extern UARTClass& comm;
+#endif
+
+#define DebugVar(var) { debug.print(#var); debug.print(": "); debug.print(var); }
+#define DebugVarln(var) { debug.print(#var); debug.print(": "); debug.println(var); }
+#define Debug(...) debug.print(__VA_ARGS__)
+#define Debugln(...) debug.println(__VA_ARGS__)
+
+
+inline void debugByte(uint8_t b)
+{
+    debug.print(b, 2);
+    debug.print('|');
+}
+
+inline void debugBytes(uint8_t* b, size_t count)
+{
+    for (uint8_t* bb = b; bb < b + count; ++bb)
+    {
+        debug.print(*bb, 2);
+        debug.print('|');
+    }
+    debug.println();
+    for (uint8_t* bb = b; bb < b + count; ++bb)
+    {
+        debug.print(*bb, 16);
+        debug.print('|');
+    }
+    debug.println();
+}
+#else 
+using euint8_t      = uint8_t;
+using eint8_t       = int8_t;
+using euint16_t     = uint16_t;
+using eint16_t      = int16_t;
+using euint32_t     = uint32_t;
+using eint32_t      = int32_t;
+using euint64_t     = uint64_t;
+using eint64_t      = int64_t;
+using efloat_t      = float;
+using eboolean_t    = bool;
+
+
+#define DebugVar(var)
+#define DebugVarln(var)
+#define Debug(...)
+#define Debugln(...)
+#define debugByte(b)
+#define debugBytes(b, c)
+#endif // ARDUINO
+
+
+
+// Verify type lengths
+static_assert(sizeof(uint8_t)       == 1);
+
+static_assert(sizeof(euint8_t)      == 1);
+static_assert(sizeof(eint8_t)       == 1);
+static_assert(sizeof(euint16_t)     == 2);
+static_assert(sizeof(eint16_t)      == 2);
+static_assert(sizeof(euint32_t)     == 4);
+static_assert(sizeof(eint32_t)      == 4);
+static_assert(sizeof(euint64_t)     == 8);
+static_assert(sizeof(eint64_t)      == 8);
+static_assert(sizeof(efloat_t)      == 4);
+static_assert(sizeof(eboolean_t)    == 1);
+
+

src/rove_control_board/rove_control_board/api.py

@@ -1,39 +1,95 @@
-from rove_control_board.capra_micro_comm import BinaryData, SerialCommandManager, Void, CommandManager
+from typing import NoReturn
+import capra_micro_comm_py as comm
 
-manager = SerialCommandManager()
+manager = comm.SerialCommandManager()
 
 @manager.struct('ff')
-class Vector2D(BinaryData):
+class Vector2D(comm.BinaryData):
     def __init__(self, x:float=0, y:float=0):
         super().__init__(x=x, y=y)
         self.x:float
         self.y:float
 
-@manager.struct('?')
-class State(BinaryData):
-    def __init__(self, state:bool=False):
-        super().__init__(state=state)
-        self.state:bool
-
-@manager.struct('B')
-class Status(BinaryData):
+@manager.struct('H')
+class Status(comm.BinaryData):
     def __init__(self, statusCode:int = 0):
         super().__init__(statusCode=statusCode)
         self.statusCode:int
 
-@manager.struct('fff')
-class RGB(BinaryData):
-    def __init__(self, r:float=0,g:float=0,b:float=0):
+@manager.struct('BBB')
+class RGB(comm.BinaryData):
+    def __init__(self, r:int=0,g:int=0,b:int=0):
         super().__init__(r=r,g=g,b=b)
-        self.r:float
-        self.g:float
-        self.b:float
+        self.r:int
+        self.g:int
+        self.b:int
+
+@manager.struct('H_x')
+class LED(comm.BinaryData):
+    def __init__(self, i:int=0, c:RGB=RGB(0,0,0)):
+        super().__init__(i=i, c=c)
+
+
+@manager.struct('__xx')
+class Report(comm.BinaryData):
+    def __init__(self, pos:Vector2D=Vector2D(), status:Status=Status()):
+        super().__init__(pos=pos, status=status)
+        self.pos:Vector2D
+        self.status:Status
+
+@manager.struct('ff')
+class Bounds(comm.BinaryData):
+    def __init__(self, lower:float=0, upper:float=0):
+        super().__init__(lower=lower, upper=upper)
+        self.lower:float
+        self.upper:float
+
+@manager.struct('fff_')
+class PIDConfig(comm.BinaryData):
+    def __init__(self, p:float=1, i:float=0, d:float=0, bounds:Bounds=Bounds()):
+        super().__init__(p=p,i=i,d=d, bounds=bounds)
+        self.p:float
+        self.i:float
+        self.d:float
+        self.bounds:Bounds
+
+@manager.struct('__')
+class Config(comm.BinaryData):
+    def __init__(self, horizPID:PIDConfig=PIDConfig(),vertiPID:PIDConfig=PIDConfig()):
+        super().__init__(horizPID=horizPID, vertiPID=vertiPID)
+        self.horizPID:PIDConfig
+        self.vertiPID:PIDConfig
+
+@manager.command(LED, comm.Bool_)
+def setLedColor(led:LED) -> comm.Bool_:
+    pass
+
+@manager.command(comm.Bool_, comm.Bool_)
+def setFrontLedState(state:comm.Bool_) -> comm.Bool_:
+    pass
+
+@manager.command(comm.Bool_, comm.Bool_)
+def setBackLedState(state:comm.Bool_) -> comm.Bool_:
+    pass
+
+@manager.command(Vector2D, comm.Bool_)
+def setTPVPosition(pos:Vector2D) -> comm.Bool_:
+    pass
+
+@manager.command(comm.Void, Vector2D)
+def getTPVPosition() -> Vector2D:
+    pass
+
+@manager.command(Vector2D, comm.Bool_)
+def setTPVSpeed(speed:Vector2D) -> comm.Bool_:
+    pass
+
+@manager.command(comm.Void, Report)
+def getReport() -> Report:
+    pass
 
-@manager.command(Void, Void)
-def ledOn():
-    print("on")
+@manager.command(Config, comm.Bool_)
+def setConfig(config:Config) -> comm.Bool_:
+    pass
 
-@manager.command(Void, Void)
-def ledOff():
-    print("off")