triton-ai / go-kart-real-time-controller

Go-Kart Real-Time Controller

Navigation

This repository is organized as follows:

• ROS2 contains the gokart packet library and ROS2 driver
• PCB contains Altium PCB design files
• MCU contains microcontroller codes (depricated, moved to a separate repository)

Documentations

• Getting started with packet communication library
• Packet API documentation

go-kart-real-time-controller's Issues

Packet API

What

To start on both the high-level and low level communication, we need:

1. Define a series of struct/class to contain all the control, and feedback messages to be transmitted on the comm
2. Define a serialization scheme for encoding/decoding the message into std::vector<uint8_t>, which can be easily transfered on any kind of comm: serial, CAN, ethernet.
3. Provide a factory library for both MCU and onboard PC to encode and decode packets.
4. Profile the serialization/deserialization to meet the control loop requirement.

Factory can't read one byte at

@HaoruXue suggests the reason probably is: "I suspect some vector iteration boundary condition may be broken with one byte"

The code where the issue appeared:
`void thread_comm_function()
{
auto packet_sub = myGkcPacketSubscriber();
packet_sub.set_actuator(&act);
auto factory = tritonai::gkc::GkcPacketFactory(&packet_sub, tritonai::gkc::GkcPacketUtils::debug_cout);
int bytes_read;

/*std::vector<uint8_t> recv_buffer(1, 0);
while (1)
{
    bytes_read = rs232.read(recv_buffer.data(), 1); //it reads one byte at a time
    if (bytes_read < 0)
        ;//error
    factory.Receive(recv_buffer);
}*/
std::vector<uint8_t> recv_buffer(2, 0);
while (1)
{
    for (int i = 0; i < 2; i++)
    {
        bytes_read = rs232.read(&(recv_buffer.data()[i]), 1); //it reads one byte at a 
        if (bytes_read < 0)
            ;//error
    }
    factory.Receive(recv_buffer);
}

}`

The commented version (1 byte) at a time doesn't work. But 2 bytes at a time and 3 bytes at a time work.