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space-concordia-robotics / robotics-prototype

Teleoperated Mars rover with autonomous capabilities intended for robotics competitions.
https://spaceconcordia.github.io/robotics.html
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Pds1 comms 519 #520

Closed MewtR closed 2 years ago

MewtR commented 3 years ago

Assignee Section

Description

This PR makes the old PDS use the new comms library.

Steps for Testing

Note: You need an ATmega328p to run the tests. I used and Arduino Nano.

  1. Use the CMakeLists.txt provided in robot/rover/PDS to compile the old pds.
  2. Upload it to your device.
  3. Make sure you have a way to view your devices output. For example tail -f technique from the sending bytes section.
  4. Send raw bytes corresponding to a command. Refer to here for available commands
  5. You should printed statements corresponding to the command you issued.

Additional info

copied from here

It's not trivial to use the Arduino IDE for the testing steps above so I had to do everything from the commandline. Here's how:

Compiling

Use the provided CMakelists.txt. These generate elf files

Uploading

The arduino ide will only upload a binary it compiled itself so we need to manually upload with avrdude. My command looked like the following avrdude -C/home/bionic/arduino-1.8.12/hardware/tools/avr/etc/avrdude.conf -v -patmega328p -carduino -P/dev/ttyUSB0 -b57600 -D -Uflash:w:bin/PDS2.elf:e. Just remember to change the device from /dev/ttyUSB0 to whatever your device is and the path to avrdude.conf to the path on your system. Also put the path to your elf file in the last part : -Uflash:w:<path/to/elf.elf>:e

Sending bytes

The Arduino IDE's serial monitor only allows you to send ascii as far as I can tell. So I used python to send in raw bytes. Basically in one terminal you should have tail -f <device> so for example tail -f /dev/ttyUSB0. In another terminal you can run something like: python3 -c "import sys; sys.stdout.buffer.write(b'\x36\x00\x02\x00\x02\x06\x64\x00')" > /dev/ttyUSB0 and you should see any results in the first terminal. If you don't see anything despite having some prints. Try sending data via the Arduino IDE's serial monitor first and then retry this method.

closes #519

The approval from all software team leads is necessary before merging.

Reviewer Section

Aside from local testing and the General Integration Test it is implied that static analysis should be included in the verification process.

For Pull Requests that do not include code changes, it is not required to perform the tests above.

VimFreeman commented 2 years ago

Closing bc we are working on PDS2 and not using PDS1