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Update with refactored and cleaned IFreader interface in embot::app::…
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…eth::encoder::experimental and added comments to structs
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@MSECode
MSECode committed Oct 9, 2024
1 parent e7e282c commit 32cfe01
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Showing 10 changed files with 75 additions and 113 deletions.
2 changes: 1 addition & 1 deletion emBODY/eBcode/arch-arm/board/ems004/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h
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Expand Up @@ -81,7 +81,7 @@ extern "C" {
#define EOMTHEEMSAPPLCFG_VERSION_MAJOR (VERSION_MAJOR_OFFSET+3)
// <o> minor <0-255>
// <o> minor <0-255>
#define EOMTHEEMSAPPLCFG_VERSION_MINOR 94
#define EOMTHEEMSAPPLCFG_VERSION_MINOR 194

// </h>version

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6 changes: 3 additions & 3 deletions emBODY/eBcode/arch-arm/board/ems004/appl/v2/src/eoappservices/EOtheEncoderReader.c
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Expand Up @@ -138,7 +138,7 @@
return eores_NOK_generic;
}

extern eOresult_t eo_encoderreader_GetRaw(EOtheEncoderReader *p, uint8_t jomo, eOencoderreader_RawValue_t *rv1, eOencoderreader_RawValue_t *rv2, eOencoderreader_RawValue_t *rv3)
extern eOresult_t eo_encoderreader_GetRaw(EOtheEncoderReader *p, uint8_t jomo, eOencoderreader_RawValuesOfJomo_t *rawValuesArray)
{
return eores_NOK_generic;
}
Expand Down Expand Up @@ -576,7 +576,7 @@ extern eOresult_t eo_encoderreader_Scale(EOtheEncoderReader* p, uint8_t jomo, eO
return r;
}

extern eOresult_t eo_encoderreader_GetRaw(EOtheEncoderReader *p, uint8_t jomo, eOencoderreader_RawValue_t *rv1, eOencoderreader_RawValue_t *rv2, eOencoderreader_RawValue_t *rv3)
extern eOresult_t eo_encoderreader_GetRaw(EOtheEncoderReader *p, uint8_t jomo, eOencoderreader_RawValuesOfJomo_t *rawValuesArray)
{
if(NULL == p)
{
Expand All @@ -593,7 +593,7 @@ extern eOresult_t eo_encoderreader_GetRaw(EOtheEncoderReader *p, uint8_t jomo, e
return(eores_NOK_generic);
}

eOresult_t res = eo_appEncReader_GetRawValue(s_eo_theencoderreader.reader, jomo, rv1, rv2, rv3);
eOresult_t res = eo_appEncReader_GetRawValue(s_eo_theencoderreader.reader, jomo, rawValuesArray);

return(res);
}
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20 changes: 18 additions & 2 deletions emBODY/eBcode/arch-arm/board/ems004/appl/v2/src/eoappservices/EOtheEncoderReader.h
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Expand Up @@ -107,11 +107,26 @@ typedef enum
eo_encreader_pos_none = 15
} eOencoderreader_Position_t;


// The following enum and structs are the correspondent to the the ones in
// embot::app::eth::encoder::experimental in embot_app_eth_Encoder.h

// enum for the maximum number of jomo components
enum { eOencoderreader_maxnumberofencoderperjomo = 3 };

// raw data for single component, raw value and diagnostic
typedef struct
{
int32_t val;
int32_t diagnInfo;
} eOencoderreader_RawValue_t;
} eOencoderreader_RawValueEncoder_t;

// struct for raw data and validity flag for entire jomo
typedef struct
{
eOencoderreader_RawValueEncoder_t rawvalues[eOencoderreader_maxnumberofencoderperjomo];
bool areValidReadings[eOencoderreader_maxnumberofencoderperjomo];
} eOencoderreader_RawValuesOfJomo_t;

// - declaration of extern public variables, ...deprecated: better using use _get/_set instead ------------------------
// empty-section
Expand Down Expand Up @@ -149,7 +164,8 @@ extern eOmc_encoder_t eo_encoderreader_GetType(EOtheEncoderReader* p, uint8_t jo

extern eOresult_t eo_encoderreader_Scale(EOtheEncoderReader* p, uint8_t jomo, eOencoderreader_Position_t position, eOencoderreader_Scaler *scaler);

extern eOresult_t eo_encoderreader_GetRaw(EOtheEncoderReader *p, uint8_t jomo, eOencoderreader_RawValue_t *rv1, eOencoderreader_RawValue_t *rv2, eOencoderreader_RawValue_t *rv3);
// Correlated to IFreader
extern eOresult_t eo_encoderreader_GetRaw(EOtheEncoderReader *p, uint8_t jomo, eOencoderreader_RawValuesOfJomo_t *rawValuesArray);

/** @}
end of group eo_EOtheEncoderReader
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12 changes: 5 additions & 7 deletions emBODY/eBcode/arch-arm/board/ems004/appl/v2/src/eoappservices/EOtheMotionController.c
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Expand Up @@ -1662,17 +1662,15 @@ static eOresult_t s_eo_motioncontrol_updatedPositionsFromEncoders(EOtheMotionCon
res = eores_NOK_generic;
}

embot::app::eth::encoder::experimental::RawValue valraw1 {};
embot::app::eth::encoder::experimental::RawValue valraw2 {};
embot::app::eth::encoder::experimental::RawValue valraw3 {};
embot::app::eth::encoder::experimental::RawValuesOfJomo rawValsArray = {};

embot::app::eth::theEncoderReader::getInstance().GetRaw(i, valraw1, valraw2, valraw3);
embot::app::eth::theEncoderReader::getInstance().GetRaw(i, rawValsArray);

if(NULL != (jstatus = eo_entities_GetJointStatus(eo_entities_GetHandle(), i)))
{
jstatus->addinfo.multienc[0] = valraw1.val;
jstatus->addinfo.multienc[1] = valraw2.val;
jstatus->addinfo.multienc[2] = valraw1.diagnInfo;
jstatus->addinfo.multienc[0] = rawValsArray.rawvalues[0].val;
jstatus->addinfo.multienc[1] = rawValsArray.rawvalues[1].val;
jstatus->addinfo.multienc[2] = rawValsArray.rawvalues[0].diagnInfo;

}
}
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44 changes: 7 additions & 37 deletions emBODY/eBcode/arch-arm/embobj/plus/board/EOappEncodersReader.c
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Expand Up @@ -970,10 +970,9 @@ extern eOresult_t eo_appEncReader_GetValue(EOappEncReader *p, uint8_t jomo, eOen

}

//TODO: fill the array with spiRawValue --> first siolution use sawtooth values
p->genericEncoderRawData[jomo][i].val = (int32_t)rawValue;
p->genericEncoderRawData[jomo][i].diagnInfo = (int32_t)rawdiagn;
// p->genericEncoderRawData[jomo][i].diagnInfo = 3;
// here we are filling the struct that contains all the raw data (value and diagnostic) with what received from the sensor
p->genericEncoderRawData[jomo].rawvalues[i].val = (int32_t)rawValue;
p->genericEncoderRawData[jomo].rawvalues[i].diagnInfo = (int32_t)rawdiagn;


// now we see if there is any diagnostics to send up. we eval the errortype
Expand Down Expand Up @@ -1065,45 +1064,16 @@ extern eObool_t eo_appEncReader_isReady(EOappEncReader *p)
return(ready);
}

extern eOresult_t eo_appEncReader_GetRawValue(EOappEncReader *p, uint8_t jomo, eOencoderreader_RawValue_t *rv1, eOencoderreader_RawValue_t *rv2, eOencoderreader_RawValue_t *rv3)
extern eOresult_t eo_appEncReader_GetRawValue(EOappEncReader *p, uint8_t jomo, eOencoderreader_RawValuesOfJomo_t *rawValuesArray)
{
//static int debug_counter = 0;
if((NULL == p) || (NULL == rv1) || (NULL == rv2) || (NULL == rv3))
static int debug_counter = 0;
if((NULL == p) || (NULL == rawValuesArray))
{
return(eores_NOK_nullpointer);
}

eOencoderreader_RawValue_t *encRawValuesVec[3] = {rv1, rv2, rv3};
memcpy(rawValuesArray, &(p->genericEncoderRawData[jomo]), sizeof(eOencoderreader_RawValuesOfJomo_t));

for(uint8_t i=0; i<3; i++)
{ // for each of the two encoders --> value1: joint enc, value2: motor enc, value3: diagn

// so far we assume no errors and we assign 0 to all values
encRawValuesVec[i]->val = p->genericEncoderRawData[jomo][i].val;
encRawValuesVec[i]->diagnInfo = p->genericEncoderRawData[jomo][i].diagnInfo;
} // for()

// // Debug code
// if(++debug_counter > 1000)
// {
// char info[128];
// snprintf(info, sizeof(info), "Diagn values are d1:%d, d2:%d, d3:%d", p->genericEncoderRawData[jomo][0].diagnInfo,
// p->genericEncoderRawData[jomo][1].diagnInfo,
// p->genericEncoderRawData[jomo][2].diagnInfo
// );
// eOerrmanDescriptor_t errdes = {0};

// errdes.code = eoerror_code_get(eoerror_category_Debug, eoerror_value_DEB_tag02);
// errdes.sourcedevice = 0;
// errdes.sourceaddress = 0;
// errdes.par16 = jomo;
// errdes.par64 = 0;
// eo_errman_Error(eo_errman_GetHandle(), eo_errortype_debug, info, NULL, &errdes);
//
// debug_counter = 0;
// }
// // ends here

// now the return value. we return always OK
return eores_OK;
}
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3 changes: 2 additions & 1 deletion emBODY/eBcode/arch-arm/embobj/plus/board/EOappEncodersReader.h
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Expand Up @@ -93,7 +93,8 @@ extern eOresult_t eo_appEncReader_UpdatedMaisConversionFactors(EOappEncReader *p
extern eOresult_t eo_appEncReader_UpdatedHallAdcConversionFactors(EOappEncReader *p, uint8_t jomo, float convFactor);
extern eOresult_t eo_appEncReader_UpdatedHallAdcOffset(EOappEncReader *p, uint8_t jomo, int32_t offset);

extern eOresult_t eo_appEncReader_GetRawValue(EOappEncReader *p, uint8_t jomo, eOencoderreader_RawValue_t *rv1, eOencoderreader_RawValue_t *rv2, eOencoderreader_RawValue_t *rv3);
// IFreader
extern eOresult_t eo_appEncReader_GetRawValue(EOappEncReader *p, uint8_t jomo, eOencoderreader_RawValuesOfJomo_t *rawValuesArray);

/** @}
end of group eo_app_encodersReader
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6 changes: 1 addition & 5 deletions emBODY/eBcode/arch-arm/embobj/plus/board/EOappEncodersReader_hid.h
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Expand Up @@ -126,8 +126,6 @@ typedef struct

} eOappEncReader_Aksim2_DiagnosticError_Counters_t;

enum { rawValue_numOfEncoders = 3 };

struct EOappEncReader_hid
{
eObool_t initted;
Expand All @@ -141,9 +139,7 @@ struct EOappEncReader_hid
eOappEncReader_hallAdc_conversionData_t hallAdcConversionData;
eo_appEncReader_amodiag_t amodiag;
eOappEncReader_Aksim2_DiagnosticError_Counters_t aksim2DiagnerrorCounters;

//array for raw values[eOappEncReader_encoders_maxnumberof] to be filled at eo_appEncReader_GetValue() call and given when eo_appEncReader_GetValueRaw is requested
eOencoderreader_RawValue_t genericEncoderRawData[eOappEncReader_jomos_maxnumberof][rawValue_numOfEncoders];
eOencoderreader_RawValuesOfJomo_t genericEncoderRawData[eOappEncReader_jomos_maxnumberof];
};


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61 changes: 25 additions & 36 deletions emBODY/eBcode/arch-arm/embot/app/eth/embot_app_eth_Encoder.h
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Expand Up @@ -200,55 +200,44 @@ namespace embot::app::eth::encoder::v1 {



// NOTE: Currently means 9th Oct 2024
// This is an experimental interface we are currently using for collecting the raw data from the joint encoder sensors
// Currently is used only for the joint encoder. It allows to stream to the higher sw level raw value (as ticks per revolution depending on the encoder resolution)
// and diagnostic raw value depending on what provided by the HAL of the sensor
namespace embot::app::eth::encoder::experimental {

// this is just an example of an experimental interface which can match the needs of the new sensors

enum class Error : uint8_t
{
NONE = 0,
SOME = 1,
OTHER = 2
};

// maybe in the future we want more than two encoders per joint-motor entity
enum class Position : uint8_t { one = 0, two = 1, three = 2, four = 3, every = 14, none = 15};
constexpr size_t maxPOSITIONs {4};

struct RawValueDiagnostic // do we need to use it in RawValue as datatype of diagnInfo
{
uint32_t info;
};
enum class Position : uint8_t { joint = 0, motor = 1, aux = 2}; // currently we are just looking at joint encoder
constexpr size_t maxPOSITIONs {3};

struct RawValue
// This struct defines a raw value and its raw diagnostic value for an encoder of any type
// It is totally generic, the only restriction is to cast eveything to int32_t values
struct RawValueEncoder
{ // the value w/ the diagnostic
int32_t val {0}; // i would set to uint32 since hal_spiencoder_position_t is uint32_t which is the datatype of the spi raw value coming from hal
int32_t val {0};
int32_t diagnInfo{0};
};

struct Value
{ // the value w/ a possible error
int64_t raw {0}; // to accomodate high resolution values
embot::app::eth::encoder::experimental::Error error {Error::NONE}; //
};

struct Target
// This struct defines the raw encoder data (raw value and diagnostic)
// and provides the possibility to add a validity flag to the readings
// for a jomo (which is thought as the combination of up to three encoders)
// idially joint and motor encoder and an auxiliary one if needed for a particulat setup
struct RawValuesOfJomo
{ // it tells which joint-motor pair + plus the posotion of the encoder
static constexpr size_t maxJOMOs {4};
uint8_t jomo {0};
Position pos {Position::one};

constexpr Target() = default;
constexpr Target(uint8_t j, Position p) : jomo(j), pos(p) {}

constexpr bool isvalid() { return (jomo < maxJOMOs) && (embot::core::tointegral(pos) < maxPOSITIONs); }
RawValueEncoder rawvalues[maxPOSITIONs];
bool areValidReadings[maxPOSITIONs];

constexpr RawValuesOfJomo() :
rawvalues{{0, 0}, {0, 0}, {0, 0}},
areValidReadings{false, false, false} {}
};

// Currently this struct provide the interface for reading the raw encoder data for a jomo
// or for a single component of the jomo. Only the first API is actually implemented in the code
struct IFreader
{
virtual bool read(const embot::app::eth::encoder::experimental::Target &target, embot::app::eth::encoder::experimental::Value &value) = 0;
//TBD: is it better define a vector of three???
virtual bool GetRaw(uint8_t jomo, embot::app::eth::encoder::experimental::RawValue &value1, embot::app::eth::encoder::experimental::RawValue &value2, embot::app::eth::encoder::experimental::RawValue &value3) = 0;
virtual bool GetRaw(uint8_t jomo, embot::app::eth::encoder::experimental::RawValuesOfJomo &rawValuesArray) = 0;
virtual bool GetRawSingle(uint8_t jomo, embot::app::eth::encoder::experimental::Position pos, embot::app::eth::encoder::experimental::RawValueEncoder &rawValue) = 0;

protected:
virtual ~IFreader() {}; // cannot delete from interface but only from derived object
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6 changes: 2 additions & 4 deletions emBODY/eBcode/arch-arm/embot/app/eth/embot_app_eth_theEncoderReader.h
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Expand Up @@ -56,11 +56,9 @@ namespace embot { namespace app { namespace eth {
bool Scale(const embot::app::eth::encoder::v1::Target &target, const embot::app::eth::encoder::v1::Scaler &scaler) override;

// experimental::IFreader
bool read(const embot::app::eth::encoder::experimental::Target &target, embot::app::eth::encoder::experimental::Value &value) override;
bool GetRaw(uint8_t jomo, embot::app::eth::encoder::experimental::RawValuesOfJomo &rawValuesArray) override;
bool GetRawSingle(uint8_t jomo, embot::app::eth::encoder::experimental::Position pos, embot::app::eth::encoder::experimental::RawValueEncoder &rawValue) override;

bool GetRaw(uint8_t jomo, embot::app::eth::encoder::experimental::RawValue &value1, embot::app::eth::encoder::experimental::RawValue &value2, embot::app::eth::encoder::experimental::RawValue &value3) override;

bool raw(uint8_t jomo, embot::app::eth::encoder::v1::Position pos, embot::app::eth::encoder::experimental::Value &value);

void log();

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28 changes: 11 additions & 17 deletions emBODY/eBcode/arch-arm/embot/app/eth/embot_app_eth_theEncoderReaderLegacy.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -44,9 +44,9 @@ struct embot::app::eth::theEncoderReader::Impl
bool Scale(const embot::app::eth::encoder::v1::Target &target, const embot::app::eth::encoder::v1::Scaler &scaler);

// advanced
bool read(const embot::app::eth::encoder::experimental::Target &target, embot::app::eth::encoder::experimental::Value &value);
bool GetRaw(uint8_t jomo, embot::app::eth::encoder::experimental::RawValuesOfJomo &rawValuesArray);
bool GetRawSingle(uint8_t jomo, embot::app::eth::encoder::experimental::Position pos, embot::app::eth::encoder::experimental::RawValueEncoder &rawValue);

bool GetRaw(uint8_t jomo, embot::app::eth::encoder::experimental::RawValue &value1, embot::app::eth::encoder::experimental::RawValue &value2, embot::app::eth::encoder::experimental::RawValue &value3);
};


Expand Down Expand Up @@ -114,21 +114,16 @@ bool embot::app::eth::theEncoderReader::Impl::Scale(const embot::app::eth::encod
return eores_OK == eo_encoderreader_Scale(eo_encoderreader_GetHandle(), target.jomo, static_cast<eOencoderreader_Position_t>(embot::core::tointegral(target.pos)), &sca);
}

bool embot::app::eth::theEncoderReader::Impl::read(const embot::app::eth::encoder::experimental::Target &target, embot::app::eth::encoder::experimental::Value &value)
bool embot::app::eth::theEncoderReader::Impl::GetRaw(uint8_t jomo, embot::app::eth::encoder::experimental::RawValuesOfJomo &rawValuesArray)
{
value.raw = 0x123456789A;
value.error = embot::app::eth::encoder::experimental::Error::NONE;
eOencoderreader_RawValuesOfJomo_t *rvja = reinterpret_cast<eOencoderreader_RawValuesOfJomo_t*>(&rawValuesArray);

return true;
return eores_OK == eo_encoderreader_GetRaw(eo_encoderreader_GetHandle(), jomo, rvja);
}

bool embot::app::eth::theEncoderReader::Impl::GetRaw(uint8_t jomo, embot::app::eth::encoder::experimental::RawValue &value1, embot::app::eth::encoder::experimental::RawValue &value2, embot::app::eth::encoder::experimental::RawValue &value3)
bool embot::app::eth::theEncoderReader::Impl::GetRawSingle(uint8_t jomo, embot::app::eth::encoder::experimental::Position pos, embot::app::eth::encoder::experimental::RawValueEncoder &rawValue)
{
eOencoderreader_RawValue_t *rv1 = reinterpret_cast<eOencoderreader_RawValue_t*>(&value1);
eOencoderreader_RawValue_t *rv2 = reinterpret_cast<eOencoderreader_RawValue_t*>(&value2);
eOencoderreader_RawValue_t *rv3 = reinterpret_cast<eOencoderreader_RawValue_t*>(&value3);

return eores_OK == eo_encoderreader_GetRaw(eo_encoderreader_GetHandle(), jomo, rv1, rv2, rv3);
return eores_OK;
}


Expand Down Expand Up @@ -205,16 +200,15 @@ bool embot::app::eth::theEncoderReader::Scale(const embot::app::eth::encoder::v1
return pImpl->Scale(target, scaler);
}

bool embot::app::eth::theEncoderReader::read(const embot::app::eth::encoder::experimental::Target &target, embot::app::eth::encoder::experimental::Value &value)
bool embot::app::eth::theEncoderReader::GetRaw(uint8_t jomo, embot::app::eth::encoder::experimental::RawValuesOfJomo &rawValuesArray)
{
return pImpl->read(target, value);
return pImpl->GetRaw(jomo, rawValuesArray);
}

bool embot::app::eth::theEncoderReader::GetRaw(uint8_t jomo, embot::app::eth::encoder::experimental::RawValue &value1, embot::app::eth::encoder::experimental::RawValue &value2, embot::app::eth::encoder::experimental::RawValue &value3)
bool embot::app::eth::theEncoderReader::GetRawSingle(uint8_t jomo, embot::app::eth::encoder::experimental::Position pos, embot::app::eth::encoder::experimental::RawValueEncoder &rawValue)
{
return pImpl->GetRaw(jomo, value1, value2, value3);
return pImpl->GetRawSingle(jomo, pos, rawValue);
}

// - end-of-file (leave a blank line after)----------------------------------------------------------------------------


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