Libhal 2.0 port science (#114)

* 🚧 working on porting to 2.0, started base file structure * started porting to libhal prebuilts * working on port * Nearly finished up the init platform. Will work on mc next * ✨ finished the initalizing platform * ✨ 🚧 finished converting all the basic logic to libhal2.0 * :constructions: nealy finished mission control implementation * 🚧 finished adding mission control just need to fix errors * This is before I switch all of the pairs to using pointers * ✨ finished switching the servos over to offset homing * ✨ finished changing from shared pointers to regular pointers, then allowing for multiple legs to be used in the control loop * updated the mission control * ✨ changed homing function to be a template function so it no longer needs pairs when passing in legs. * ✨ switched away from int to size_t * ✨ finished switching from templates * ✨updated code to use homing structs instead of passing in seperate magnets, homed booleans, and servos while matching them * 🐛finished testing and slight bug fixing * fixed arm to build succesfully * untested stuff to get commands * fixing bugs drive esp * :bandaid: fixed project name in cmake * 🚧 finished testing for the day * Fixed main part of code * found issue with version numbers * 🚧 ✨ got code to cycle through but the floats are outputting weird numbers. Need to test in person * ✨ reverted back to using hardware and not print implementations * ✨ added floating point support in cmake * builds lmao * Parsing commands currently works, just need to work out a bug which closes the connection * buildable * . * angles change * bug found where subtracting in offset servo instead of adding * debugging offsets with servos * changed order of legs in drive * 🚧 finished testing for the day * Fixed main part of code * . * found issue with version numbers * bug found where subtracting in offset servo instead of adding * 🚧 ✨ got code to cycle through but the floats are outputting weird numbers. Need to test in person * tmp * ✨ added floating point support in cmake * building debug on ubuntu22.04 * ✨ reverted back to using hardware and not print implementations * changed max rmp to 2 * Parsing commands currently works, just need to work out a bug which closes the connection * esp not updating * 10/16 * added static to socket config in lpc * 10/17 * 10/17 * esp works now * fuck lerp * 👽 Libhal 2.0 update for arm - Arm switched from drc to mc_x - updated esp8266_mission_control.cpp to maintain content length * 👽 ported arms esp over to drives * 🚧 fixed bugs, now need to revert parse commands * ✨ brought in old drive parse commands and fixed it, code now compiles * 🚑 Fixed homing - Fixed homing issue - Fixed parsing changes - Imported arm esp algorithm * ✨ fully finished converting arm and drive to libhal 2.0, arm was working but I slowed down the rate at which we querried the server and decreaded the delay in arm from 10->6ms * 🔥 removed all of the old code * beginning lpc4078 port * target platform builds * added platform-implementation files * demos * science on libhal 2.0 has been updated * deleted one of the flatform files cuz not required * scd40.hpp and scd40.cpp transfered * transfer scd40.cpp * transfer scd40.hpp * fix no return for read of scd40 * It works, trust me * finished scd40 file transfer * git scd40.cpp indentaiton * fix scd40 namespace * add member variables for scd40 * fix member variable names for scd40 * create starter demo * scd40 demo * get_co2 method * get_RH method * get_RH and get_temp * Revert "get_co2 method" This reverts commit 75b7bd0. * ✨ update cmakelists to add sources * scd40 demo * print statments added to scd40_demo.cpp * :rotatiing_light: fixed errors and added buffer reading * ♻️ have get functions call the get buffer functions * start color sensor * Created sht21 driver skeleton * Implemented sht21 driver * correct where get_RH_buffer() reads in the buffer * fix demo print and change to table * fix conan libhal version * remove call to removed method * read returns a struct for data * remove individual data read methods in scd40.hpp * implementation of color sensor done, demo and testing requried * values change but they don't seem accurate, validity of sensor needs to be tested through arduino * Rename scd40 Adresses * Reimplement scd40 stop * Add scd40 Settting Addresses * Fixed scd40_demo to use struct * Add crc fuction in scd40.hpp * Adapt CRC code from data sheet * Finished basic setting functions have not tested set_settings * added soil_sensor_demo to science demos cmake * Created soil sensor demo * Added untested warnings * Fixed default parameters and scaling factors for sensor functions * deleeted extra files and color sensor works kind of, will need to buy another sensor to cross reference * Seprate scd40 crc method into generate and validate * Chages finally committed * Gave option to set some of the settings * Create blank perstaltic-pump.cpp & .hpp * data type of settings and read_data channged from double to float * Created Light Strip Driver * Create led strip driver * Updated driver with lights array seperated --------- Co-authored-by: Coreyboy1820 <[email protected]> Co-authored-by: corey <[email protected]> Co-authored-by: FluffyFTW <[email protected]> Co-authored-by: Kirthika Ashokkumar <[email protected]> Co-authored-by: MichaelYKersey <[email protected]> Co-authored-by: Andrew Lin <[email protected]>
SJSURoboticsTeam · Jan 30, 2024 · 474c4cf · 474c4cf
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diff --git a/code/science/implementations/scd40.cpp b/code/science/implementations/scd40.cpp
@@ -0,0 +1,19 @@
+#pragma once
+
+#include <libhal-util/i2c.hpp>
+#include <libhal-util/serial.hpp>
+#include "scd40.hpp"
+
+scd40::create(hal::i2c& p_i2c, hal::steady_clock& clock){
+    scd40 scd40 = scd40(p_i2c, clock);
+    HAL_CHECK(scd40.start())
+
+}
+
+scd40::start(){}
+
+scd40::get_CO2{}
+
+scd40::get_RH(){}
+
+scd40::get_temp(){}
diff --git a/drive/implementations/command_lerper.hpp b/drive/implementations/command_lerper.hpp
@@ -0,0 +1,22 @@
+#pragma once
+
+#include "../dto/drive.hpp"
+
+namespace sjsu::drive {
+class command_lerper
+{
+public:
+  int lerp(int speed)
+  {
+    previous_speed =
+      static_cast<int>(std::lerp(static_cast<float>(previous_speed),
+                                 static_cast<float>(speed),
+                                 speed_lerp));
+    return previous_speed;
+  }
+
+private:
+  static constexpr float speed_lerp = 0.1f;
+  float previous_speed = 0;  // don't touch mode or wheel orientation logic
+};
+}  // namespace Drive
diff --git a/drive/implementations/mode_switcher.hpp b/drive/implementations/mode_switcher.hpp
@@ -0,0 +1,66 @@
+#pragma once
+
+#include "../dto/drive.hpp"
+#include "../dto/motor_feedback.hpp"
+#include "../platform-implementations/mission_control.hpp"
+
+namespace sjsu::drive {
+class mode_switch
+{
+public:
+  // Should handle all the logic for switching to new steer mode
+  mission_control::mc_commands switch_steer_mode(
+    mission_control::mc_commands commands,
+    tri_wheel_router_arguments previous_arguments,
+    motor_feedback current_motor_feedback,
+    hal::serial& terminal)
+  {
+    bool hubs_stopped((previous_arguments.left.speed >= -0.01f &&
+                       previous_arguments.left.speed <= 0.01f) &&
+                      (previous_arguments.right.speed >= -0.01f &&
+                       previous_arguments.right.speed <= 0.01f) &&
+                      (previous_arguments.back.speed >= -0.01f &&
+                       previous_arguments.back.speed <= 0.01f));
+
+    bool steers_stopped((current_motor_feedback.left_steer_speed >= -0.01f &&
+                         current_motor_feedback.left_steer_speed <= 0.01f) &&
+                        (current_motor_feedback.right_steer_speed >= -0.01f &&
+                         current_motor_feedback.right_steer_speed <= 0.01f) &&
+                        (current_motor_feedback.back_steer_speed >= -0.01f &&
+                         current_motor_feedback.back_steer_speed <= 0.01f));
+
+    if (previous_mode_ != commands.mode) {
+      in_the_middle_of_switching_modes_ = true;
+      skip_once_ = true;
+    }
+
+    if (in_the_middle_of_switching_modes_) {
+      commands.speed = 0;
+      if (!hubs_stopped) {
+        commands.mode = previous_mode_;
+        return commands;
+      }  // hubs must be stopped to pass here
+
+      else if (!skip_once_ && steers_stopped) {
+        in_the_middle_of_switching_modes_ = false;
+        skip_once_ = true;
+      }  // only once steer motors have stopped moving after hubs stopped will
+         // we exit switching modes
+      previous_mode_ = commands.mode;
+      skip_once_ = false;
+    }
+
+    return commands;
+  }
+
+private:
+
+  char previous_mode_ =
+    'H';  // This is H for homing when the rover turns on, it makes sure that we
+          // don't switch to drive mode and allow commands to be parsed through
+  bool in_the_middle_of_switching_modes_ = true;
+  bool skip_once_ = true;
+
+};
+
+}  // namespace Drive
diff --git a/drive/implementations/serial.hpp b/drive/implementations/serial.hpp
@@ -0,0 +1,22 @@
+#pragma once
+
+#include <libhal/serial.hpp>
+
+#include <string_view>
+
+namespace Drive {
+inline hal::result<std::string_view> get_commands(hal::serial& terminal)
+{
+  std::array<hal::byte, 8192> buffer{};
+  auto received = HAL_CHECK(terminal.read(buffer)).data;
+  if (received.size() != 0) {
+    auto response = std::string_view(
+      reinterpret_cast<const char*>(received.data()), received.size());
+    hal::print<200>(
+      terminal, "%.*s", static_cast<int>(response.size()), response.data());
+    return response;
+  } else {
+    return std::string_view("");
+  }
+}
+}  // namespace Drive
diff --git a/science/CMakeLists.txt b/science/CMakeLists.txt
@@ -1,20 +1,7 @@
-# Copyright 2023 Google LLC
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-# http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
 
 cmake_minimum_required(VERSION 3.20)
 
-project(starter_project.elf VERSION 0.0.1 LANGUAGES CXX)
+project(science VERSION 0.0.1 LANGUAGES CXX)
 
 set(platform_library $ENV{LIBHAL_PLATFORM_LIBRARY})
 set(platform $ENV{LIBHAL_PLATFORM})
@@ -26,15 +13,21 @@ endif()
 
 find_package(libhal-${platform_library} REQUIRED CONFIG)
 find_package(libhal-util REQUIRED CONFIG)
+find_package(libhal-esp8266 REQUIRED CONFIG)
 
 add_executable(${PROJECT_NAME}
     main.cpp
-    application.cpp
+    applications/application.cpp
     platforms/${platform}.cpp)
 target_include_directories(${PROJECT_NAME} PUBLIC .)
 target_compile_features(${PROJECT_NAME} PRIVATE cxx_std_20)
+target_link_options(${PROJECT_NAME} PRIVATE
+--oslib=semihost --crt0=minimal)
 target_link_libraries(${PROJECT_NAME} PRIVATE
     libhal::${platform_library}
-    libhal::util)
+    libhal::util
+    libhal::esp8266)
 
+# target_link_options(${PROJECT_NAME} INTERFACE "LINKER:--no-warn-rwx-segments")
 libhal_post_build(${PROJECT_NAME})
+
diff --git a/science/application.cpp b/science/application.cpp
diff --git a/science/application.hpp b/science/application.hpp
diff --git a/science/conanfile.py b/science/conanfile.py
@@ -28,11 +28,13 @@ def build_requirements(self):
 
     def requirements(self):
         # Application requirements
-        self.requires("libhal-util/[^3.0.0]")
         self.requires("libhal/[^2.0.3]")
+        self.requires("libhal-util/[^3.0.1]")
+        self.requires("libhal-esp8266/[^2.0.1]")
+
         # List of supported platforms
         if str(self.options.platform).startswith("lpc40"):
-            self.requires("libhal-lpc40/[^2.0.0]")
+            self.requires("libhal-lpc40/[^2.1.2]")
         else:
             raise ConanInvalidConfiguration(
                 f"The platform '{str(self.options.platform)}' is not"

diff --git a/science/demos/CMakeLists.txt b/science/demos/CMakeLists.txt
@@ -20,9 +20,16 @@ libhal_build_demos(
   DEMOS
   co2_demo
   pressure_sensor_demo
-
+  soil_sensor_demo
+  scd40_demo
+  color_sensor_demo
+  led_strip_demo
+
   SOURCES
+  ../platform-implementations/scd40.cpp
   ../platform-implementations/pressure_sensor_bme680.cpp
+  ../platform-implementations/soil_sensor_sht21.cpp
+  ../platform-implementations/color_sensor_opt4048.cpp
 
   PACKAGES
   libhal-lpc40

diff --git a/science/demos/applications/co2_demo.cpp b/science/demos/applications/co2_demo.cpp
@@ -0,0 +1,33 @@
+#include <libhal-armcortex/dwt_counter.hpp>
+#include <libhal-armcortex/startup.hpp>
+#include <libhal-armcortex/system_control.hpp>
+#include <libhal-util/serial.hpp>
+#include <libhal-util/steady_clock.hpp>
+#include <libhal/units.hpp>
+
+#include "../../platform-implementations/co2_sensor_sc40.cpp"
+#include "../hardware_map.hpp"
+
+using namespace hal::literals;
+using namespace std::chrono_literals;
+namespace sjsu::science {
+
+hal::status application(application_framework& p_framework)
+{
+  // configure drivers
+  auto& i2c2 = *p_framework.i2c;
+  auto& clock = *p_framework.steady_clock;
+  auto& terminal = *p_framework.terminal;
+
+  auto co2_sensor = HAL_CHECK(science::co2_sensor::create(i2c2, clock));
+
+  while (true) {
+    hal::delay(clock, 500ms);
+    auto co2_level = HAL_CHECK(co2_sensor.read_co2());
+    hal::print<64>(terminal, "C02: %d\n", co2_level);
+    hal::delay(clock, 1ms);
+  }
+
+  return hal::success();
+}
+}  // namespace sjsu::science
diff --git a/science/demos/applications/color_sensor_demo.cpp b/science/demos/applications/color_sensor_demo.cpp
@@ -0,0 +1,54 @@
+#include <libhal-armcortex/dwt_counter.hpp>
+#include <libhal-armcortex/startup.hpp>
+#include <libhal-armcortex/system_control.hpp>
+#include <libhal-util/serial.hpp>
+#include <libhal-util/steady_clock.hpp>
+#include <libhal/units.hpp>
+
+#include "../../platform-implementations/color_sensor_opt4048.hpp"
+#include "../hardware_map.hpp"
+
+using namespace hal::literals;
+using namespace std::chrono_literals;
+
+hal::status probe_bus(hal::i2c& i2c, hal::serial& console) {
+  hal::print(console, "\n\nProbing i2c2\n");
+  for(hal::byte addr = 0x08; addr < 0x78; addr++) {
+    if (hal::probe(i2c, addr)) {
+      hal::print<8>(console, "0x%02X  ", addr);
+    }else{
+      hal::print(console, " --   ");
+    }
+    if(addr % 8 == 7) {
+      hal::print(console, "\n");
+    }
+  }
+  hal::print(console, "\n");
+
+  return hal::success();
+}
+
+namespace sjsu::science {
+
+hal::status application(application_framework& p_framework)
+{
+  // configure drivers
+  auto& i2c2 = *p_framework.i2c;
+  auto& clock = *p_framework.steady_clock;
+  auto& terminal = *p_framework.terminal;
+
+  hal::print(terminal, "hi\n");
+  HAL_CHECK(probe_bus(i2c2, terminal));
+
+  //create the stuff here
+  auto color_sensor = HAL_CHECK(science::opt4048::create(i2c2, clock, terminal));
+  while(true){
+    hal::print(terminal, "\nnew measurement\n");
+    auto readings = HAL_CHECK(color_sensor.get_data());
+    hal::print<40>(terminal, "R: %f\t G: %f\t B: %f\n", readings.r, readings.g, readings.b);
+    hal::delay(clock, 50ms);
+  }
+
+  return hal::success();
+}
+}  // namespace sjsu::science