From 34c4c1a7145c8c224392ca36f70225bf00b418fd Mon Sep 17 00:00:00 2001 From: Dimitri Sokolyuk Date: Mon, 11 Dec 2017 23:04:52 +0100 Subject: ... --- elegoo.pb.go | 99 +++++++++++++++++++++++++----------------------------- elegoo.proto | 13 ++++--- elegoo/elegoo.ino | 21 ++++-------- elegoo/elegoo.pb.c | 19 +++++------ elegoo/elegoo.pb.h | 42 +++++++++++------------ fsm.go | 4 +-- 6 files changed, 88 insertions(+), 110 deletions(-) diff --git a/elegoo.pb.go b/elegoo.pb.go index 9450be6..847e356 100644 --- a/elegoo.pb.go +++ b/elegoo.pb.go @@ -33,8 +33,9 @@ var _ = math.Inf const _ = proto.ProtoPackageIsVersion2 // please upgrade the proto package type Speed struct { - L int32 `protobuf:"zigzag32,1,opt,name=L" json:"L,omitempty"` - R int32 `protobuf:"zigzag32,2,opt,name=R" json:"R,omitempty"` + L int32 `protobuf:"zigzag32,1,opt,name=L" json:"L,omitempty"` + R int32 `protobuf:"zigzag32,2,opt,name=R" json:"R,omitempty"` + StopAfter uint32 `protobuf:"varint,3,opt,name=StopAfter" json:"StopAfter,omitempty"` } func (m *Speed) Reset() { *m = Speed{} } @@ -56,11 +57,16 @@ func (m *Speed) GetR() int32 { return 0 } +func (m *Speed) GetStopAfter() uint32 { + if m != nil { + return m.StopAfter + } + return 0 +} + type Command struct { - Speed *Speed `protobuf:"bytes,1,opt,name=Speed" json:"Speed,omitempty"` - Stop bool `protobuf:"varint,3,opt,name=Stop" json:"Stop,omitempty"` - Look uint32 `protobuf:"varint,4,opt,name=Look" json:"Look,omitempty"` - StopAfter uint32 `protobuf:"varint,5,opt,name=StopAfter" json:"StopAfter,omitempty"` + Speed *Speed `protobuf:"bytes,1,opt,name=Speed" json:"Speed,omitempty"` + Look int32 `protobuf:"zigzag32,2,opt,name=Look" json:"Look,omitempty"` } func (m *Command) Reset() { *m = Command{} } @@ -75,27 +81,13 @@ func (m *Command) GetSpeed() *Speed { return nil } -func (m *Command) GetStop() bool { - if m != nil { - return m.Stop - } - return false -} - -func (m *Command) GetLook() uint32 { +func (m *Command) GetLook() int32 { if m != nil { return m.Look } return 0 } -func (m *Command) GetStopAfter() uint32 { - if m != nil { - return m.StopAfter - } - return 0 -} - type UltraSonic struct { Distance uint32 `protobuf:"varint,1,opt,name=Distance" json:"Distance,omitempty"` Direction int32 `protobuf:"zigzag32,2,opt,name=Direction" json:"Direction,omitempty"` @@ -169,10 +161,10 @@ func (m *RemoteControl) GetKey() uint32 { } type Event struct { - Head *UltraSonic `protobuf:"bytes,1,opt,name=Head" json:"Head,omitempty"` - Sensor *InfraRed `protobuf:"bytes,2,opt,name=Sensor" json:"Sensor,omitempty"` - Remote *RemoteControl `protobuf:"bytes,3,opt,name=Remote" json:"Remote,omitempty"` - TimeStamp uint32 `protobuf:"varint,4,opt,name=TimeStamp" json:"TimeStamp,omitempty"` + TimeStamp uint32 `protobuf:"varint,1,opt,name=TimeStamp" json:"TimeStamp,omitempty"` + Head *UltraSonic `protobuf:"bytes,2,opt,name=Head" json:"Head,omitempty"` + Sensor *InfraRed `protobuf:"bytes,3,opt,name=Sensor" json:"Sensor,omitempty"` + Remote *RemoteControl `protobuf:"bytes,4,opt,name=Remote" json:"Remote,omitempty"` } func (m *Event) Reset() { *m = Event{} } @@ -180,6 +172,13 @@ func (m *Event) String() string { return proto.CompactTextString(m) } func (*Event) ProtoMessage() {} func (*Event) Descriptor() ([]byte, []int) { return fileDescriptor0, []int{5} } +func (m *Event) GetTimeStamp() uint32 { + if m != nil { + return m.TimeStamp + } + return 0 +} + func (m *Event) GetHead() *UltraSonic { if m != nil { return m.Head @@ -201,13 +200,6 @@ func (m *Event) GetRemote() *RemoteControl { return nil } -func (m *Event) GetTimeStamp() uint32 { - if m != nil { - return m.TimeStamp - } - return 0 -} - func init() { proto.RegisterType((*Speed)(nil), "elegoo.Speed") proto.RegisterType((*Command)(nil), "elegoo.Command") @@ -220,26 +212,25 @@ func init() { func init() { proto.RegisterFile("elegoo.proto", fileDescriptor0) } var fileDescriptor0 = []byte{ - // 323 bytes of a gzipped FileDescriptorProto - 0x1f, 0x8b, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0xff, 0x54, 0x51, 0xc1, 0x4a, 0xc3, 0x40, - 0x10, 0x65, 0x6d, 0x1a, 0xe3, 0xb4, 0x81, 0xba, 0x20, 0x04, 0xf1, 0x50, 0x23, 0x48, 0x2e, 0xf6, - 0x50, 0xfd, 0x01, 0x4d, 0x15, 0xc5, 0x9c, 0x26, 0x7a, 0xf1, 0x16, 0xdb, 0xa9, 0x04, 0x9b, 0x9d, - 0xb0, 0x5d, 0x04, 0x7f, 0xc8, 0xef, 0x94, 0xdd, 0x6c, 0x0c, 0xde, 0xe6, 0xbd, 0x79, 0x99, 0xf7, - 0xf2, 0x16, 0xa6, 0xb4, 0xa3, 0x0f, 0xe6, 0x45, 0xab, 0xd9, 0xb0, 0x0c, 0x3b, 0x94, 0x5e, 0xc0, - 0xb8, 0x6c, 0x89, 0x36, 0x72, 0x0a, 0xa2, 0x48, 0xc4, 0x5c, 0x64, 0xc7, 0x28, 0x0a, 0x8b, 0x30, - 0x39, 0xe8, 0x10, 0xa6, 0x06, 0x0e, 0x73, 0x6e, 0x9a, 0x4a, 0x6d, 0x64, 0xaf, 0x77, 0xd2, 0xc9, - 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0x4b, 0xdd, 0x50, 0x69, 0xaa, 0xa6, 0xf5, 0x15, 0x0f, 0xc4, 0x5d, 0xf8, 0x16, 0x34, 0x55, 0xad, - 0xde, 0x43, 0xf7, 0xf6, 0xd7, 0xbf, 0x01, 0x00, 0x00, 0xff, 0xff, 0x01, 0x9b, 0xf8, 0x59, 0x0b, - 0x02, 0x00, 0x00, + // 315 bytes of a gzipped FileDescriptorProto + 0x1f, 0x8b, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0xff, 0x54, 0x51, 0x5d, 0x4b, 0xc3, 0x30, + 0x14, 0x25, 0xae, 0xab, 0xf5, 0x6e, 0x85, 0x19, 0x10, 0x8a, 0xf8, 0x30, 0x2b, 0xc8, 0x5e, 0xdc, + 0xc3, 0xf4, 0x0f, 0x6c, 0x9d, 0xa2, 0xd8, 0xa7, 0x5b, 0x7d, 0xf1, 0x2d, 0x6e, 0x77, 0x52, 0x5c, + 0x73, 0x4b, 0x17, 0x04, 0xff, 0x90, 0xbf, 0x53, 0x9a, 0xa4, 0x16, 0xdf, 0x72, 0x4e, 0x4e, 0xcf, + 0x47, 0x0a, 0x63, 0xda, 0xd3, 0x07, 0xf3, 0xbc, 0x6e, 0xd8, 0xb0, 0x0c, 0x1d, 0x4a, 0x97, 0x30, + 0x2c, 0x6a, 0xa2, 0xad, 0x1c, 0x83, 0xc8, 0x13, 0x31, 0x15, 0xb3, 0x53, 0x14, 0x79, 0x8b, 0x30, + 0x39, 0x72, 0x08, 0xe5, 0x05, 0x9c, 0x14, 0x86, 0xeb, 0xe5, 0xce, 0x50, 0x93, 0x0c, 0xa6, 0x62, + 0x16, 0x63, 0x4f, 0xa4, 0x2b, 0x38, 0xce, 0xb8, 0xaa, 0x94, 0xde, 0xca, 0x2b, 0xef, 0x66, 0x8d, + 0x46, 0x8b, 0x78, 0xee, 0x33, 0x2d, 0x89, 0x3e, 0x49, 0x42, 0x90, 0x33, 0x7f, 0x7a, 0x7b, 0x7b, + 0x4e, 0x1f, 0x00, 0x5e, 0xf7, 0xa6, 0x51, 0x05, 0xeb, 0x72, 0x23, 0xcf, 0x21, 0x5a, 0x97, 0x07, + 0xa3, 0xf4, 0x86, 0xac, 0x53, 0x8c, 0x7f, 0xb8, 0xed, 0xb2, 0x2e, 0x1b, 0xda, 0x98, 0x92, 0xb5, + 0xb7, 0xe8, 0x89, 0xf4, 0x0e, 0xa2, 0x27, 0xbd, 0x6b, 0x14, 0xba, 0x45, 0x68, 0x3f, 0x8f, 0xda, + 0x0d, 0x63, 0x10, 0x99, 0xd5, 0x47, 0x28, 0x32, 0xb7, 0x76, 0xe0, 0x50, 0x9e, 0x5e, 0x42, 0x8c, + 0x54, 0xb1, 0xa1, 0x8c, 0xb5, 0x69, 0x78, 0x2f, 0x27, 0x30, 0x78, 0xa6, 0x6f, 0x9f, 0xdd, 0x1e, + 0xd3, 0x1f, 0x01, 0xc3, 0xfb, 0x2f, 0xd2, 0xa6, 0x2d, 0xf0, 0x52, 0x56, 0x54, 0x18, 0x55, 0xd5, + 0x5e, 0xd1, 0x13, 0xf2, 0x1a, 0x82, 0x47, 0x52, 0x5b, 0x9b, 0x34, 0x5a, 0xc8, 0xee, 0x01, 0xfa, + 0x71, 0x68, 0xef, 0xe5, 0x0c, 0xc2, 0x82, 0xf4, 0x81, 0xdd, 0x7b, 0x8e, 0x16, 0x93, 0x4e, 0xd9, + 0xd5, 0x47, 0x7f, 0x2f, 0x6f, 0x20, 0x74, 0xe5, 0x92, 0xc0, 0x2a, 0xcf, 0x3a, 0xe5, 0xbf, 0xca, + 0xe8, 0x45, 0xab, 0xf0, 0x2d, 0xa8, 0x54, 0xa9, 0xdf, 0x43, 0xfb, 0x9f, 0x6f, 0x7f, 0x03, 0x00, + 0x00, 0xff, 0xff, 0xc8, 0x54, 0x2f, 0x04, 0xf7, 0x01, 0x00, 0x00, } diff --git a/elegoo.proto b/elegoo.proto index ab54a1b..9049893 100644 --- a/elegoo.proto +++ b/elegoo.proto @@ -7,13 +7,12 @@ option go_package = "main"; message Speed { sint32 L = 1; // -255 .. + 255 sint32 R = 2; // -255 .. + 255 + uint32 StopAfter = 3; // milliseconds } message Command { Speed Speed = 1; - bool Stop = 3; - uint32 Look = 4; // deg: 0 right .. 180 left - uint32 StopAfter = 5; // milliseconds + sint32 Look = 2; // deg: -90 right .. +90 left } message UltraSonic { @@ -32,8 +31,8 @@ message RemoteControl { } message Event { - UltraSonic Head = 1; - InfraRed Sensor = 2; - RemoteControl Remote = 3; - uint32 TimeStamp = 4; // milliseconds + uint32 TimeStamp = 1; // milliseconds + UltraSonic Head = 2; + InfraRed Sensor = 3; + RemoteControl Remote = 4; } diff --git a/elegoo/elegoo.ino b/elegoo/elegoo.ino index 7b866e2..6d72cd7 100644 --- a/elegoo/elegoo.ino +++ b/elegoo/elegoo.ino @@ -56,21 +56,12 @@ void onPacket(const uint8_t* buf, size_t size) { pb_istream_t istream = pb_istream_from_buffer(buf, size); pb_decode_delimited(&istream, elegoo_Command_fields, &cmd); - if (cmd.Speed.R > 0) { - motorR(cmd.Speed.R); - } - if (cmd.Speed.L > 0) { - motorL(cmd.Speed.L); - } - if (cmd.Stop) { - stop(); - } - if (cmd.Look > 0) { - servo.write(cmd.Look); - } - if (cmd.StopAfter > 0) { - timer.after(cmd.StopAfter, stop); + motorR(cmd.Speed.R); + motorL(cmd.Speed.L); + if (cmd.Speed.StopAfter > 0) { + timer.after(cmd.Speed.StopAfter, stop); } + servo.write(cmd.Look + 90); } void events() { @@ -79,7 +70,7 @@ void events() { elegoo_Event evt = elegoo_Event_init_zero; evt.Head.Distance = readDistance(); - evt.Head.Direction = servo.read(); + evt.Head.Direction = servo.read() - 90; evt.Sensor.R = digitalRead(SR); evt.Sensor.C = digitalRead(SC); diff --git a/elegoo/elegoo.pb.c b/elegoo/elegoo.pb.c index d25b96a..5d9bceb 100644 --- a/elegoo/elegoo.pb.c +++ b/elegoo/elegoo.pb.c @@ -1,5 +1,5 @@ /* Automatically generated nanopb constant definitions */ -/* Generated by nanopb-0.3.9 at Mon Dec 11 22:33:35 2017. */ +/* Generated by nanopb-0.3.9 at Mon Dec 11 23:03:25 2017. */ #include "elegoo.pb.h" @@ -10,17 +10,16 @@ -const pb_field_t elegoo_Speed_fields[3] = { +const pb_field_t elegoo_Speed_fields[4] = { PB_FIELD( 1, SINT32 , SINGULAR, STATIC , FIRST, elegoo_Speed, L, L, 0), PB_FIELD( 2, SINT32 , SINGULAR, STATIC , OTHER, elegoo_Speed, R, L, 0), + PB_FIELD( 3, UINT32 , SINGULAR, STATIC , OTHER, elegoo_Speed, StopAfter, R, 0), PB_LAST_FIELD }; -const pb_field_t elegoo_Command_fields[5] = { +const pb_field_t elegoo_Command_fields[3] = { PB_FIELD( 1, MESSAGE , SINGULAR, STATIC , FIRST, elegoo_Command, Speed, Speed, &elegoo_Speed_fields), - PB_FIELD( 3, BOOL , SINGULAR, STATIC , OTHER, elegoo_Command, Stop, Speed, 0), - PB_FIELD( 4, UINT32 , SINGULAR, STATIC , OTHER, elegoo_Command, Look, Stop, 0), - PB_FIELD( 5, UINT32 , SINGULAR, STATIC , OTHER, elegoo_Command, StopAfter, Look, 0), + PB_FIELD( 2, SINT32 , SINGULAR, STATIC , OTHER, elegoo_Command, Look, Speed, 0), PB_LAST_FIELD }; @@ -43,10 +42,10 @@ const pb_field_t elegoo_RemoteControl_fields[2] = { }; const pb_field_t elegoo_Event_fields[5] = { - PB_FIELD( 1, MESSAGE , SINGULAR, STATIC , FIRST, elegoo_Event, Head, Head, &elegoo_UltraSonic_fields), - PB_FIELD( 2, MESSAGE , SINGULAR, STATIC , OTHER, elegoo_Event, Sensor, Head, &elegoo_InfraRed_fields), - PB_FIELD( 3, MESSAGE , SINGULAR, STATIC , OTHER, elegoo_Event, Remote, Sensor, &elegoo_RemoteControl_fields), - PB_FIELD( 4, UINT32 , SINGULAR, STATIC , OTHER, elegoo_Event, TimeStamp, Remote, 0), + PB_FIELD( 1, UINT32 , SINGULAR, STATIC , FIRST, elegoo_Event, TimeStamp, TimeStamp, 0), + PB_FIELD( 2, MESSAGE , SINGULAR, STATIC , OTHER, elegoo_Event, Head, TimeStamp, &elegoo_UltraSonic_fields), + PB_FIELD( 3, MESSAGE , SINGULAR, STATIC , OTHER, elegoo_Event, Sensor, Head, &elegoo_InfraRed_fields), + PB_FIELD( 4, MESSAGE , SINGULAR, STATIC , OTHER, elegoo_Event, Remote, Sensor, &elegoo_RemoteControl_fields), PB_LAST_FIELD }; diff --git a/elegoo/elegoo.pb.h b/elegoo/elegoo.pb.h index 7581dcd..baff818 100644 --- a/elegoo/elegoo.pb.h +++ b/elegoo/elegoo.pb.h @@ -1,5 +1,5 @@ /* Automatically generated nanopb header */ -/* Generated by nanopb-0.3.9 at Mon Dec 11 22:33:35 2017. */ +/* Generated by nanopb-0.3.9 at Mon Dec 11 23:03:25 2017. */ #ifndef PB_ELEGOO_ELEGOO_PB_H_INCLUDED #define PB_ELEGOO_ELEGOO_PB_H_INCLUDED @@ -30,6 +30,7 @@ typedef struct _elegoo_RemoteControl { typedef struct _elegoo_Speed { int32_t L; int32_t R; + uint32_t StopAfter; /* @@protoc_insertion_point(struct:elegoo_Speed) */ } elegoo_Speed; @@ -41,35 +42,33 @@ typedef struct _elegoo_UltraSonic { typedef struct _elegoo_Command { elegoo_Speed Speed; - bool Stop; - uint32_t Look; - uint32_t StopAfter; + int32_t Look; /* @@protoc_insertion_point(struct:elegoo_Command) */ } elegoo_Command; typedef struct _elegoo_Event { + uint32_t TimeStamp; elegoo_UltraSonic Head; elegoo_InfraRed Sensor; elegoo_RemoteControl Remote; - uint32_t TimeStamp; /* @@protoc_insertion_point(struct:elegoo_Event) */ } elegoo_Event; /* Default values for struct fields */ /* Initializer values for message structs */ -#define elegoo_Speed_init_default {0, 0} -#define elegoo_Command_init_default {elegoo_Speed_init_default, 0, 0, 0} +#define elegoo_Speed_init_default {0, 0, 0} +#define elegoo_Command_init_default {elegoo_Speed_init_default, 0} #define elegoo_UltraSonic_init_default {0, 0} #define elegoo_InfraRed_init_default {0, 0, 0} #define elegoo_RemoteControl_init_default {0} -#define elegoo_Event_init_default {elegoo_UltraSonic_init_default, elegoo_InfraRed_init_default, elegoo_RemoteControl_init_default, 0} -#define elegoo_Speed_init_zero {0, 0} -#define elegoo_Command_init_zero {elegoo_Speed_init_zero, 0, 0, 0} +#define elegoo_Event_init_default {0, elegoo_UltraSonic_init_default, elegoo_InfraRed_init_default, elegoo_RemoteControl_init_default} +#define elegoo_Speed_init_zero {0, 0, 0} +#define elegoo_Command_init_zero {elegoo_Speed_init_zero, 0} #define elegoo_UltraSonic_init_zero {0, 0} #define elegoo_InfraRed_init_zero {0, 0, 0} #define elegoo_RemoteControl_init_zero {0} -#define elegoo_Event_init_zero {elegoo_UltraSonic_init_zero, elegoo_InfraRed_init_zero, elegoo_RemoteControl_init_zero, 0} +#define elegoo_Event_init_zero {0, elegoo_UltraSonic_init_zero, elegoo_InfraRed_init_zero, elegoo_RemoteControl_init_zero} /* Field tags (for use in manual encoding/decoding) */ #define elegoo_InfraRed_R_tag 1 @@ -78,28 +77,27 @@ typedef struct _elegoo_Event { #define elegoo_RemoteControl_Key_tag 1 #define elegoo_Speed_L_tag 1 #define elegoo_Speed_R_tag 2 +#define elegoo_Speed_StopAfter_tag 3 #define elegoo_UltraSonic_Distance_tag 1 #define elegoo_UltraSonic_Direction_tag 2 #define elegoo_Command_Speed_tag 1 -#define elegoo_Command_Stop_tag 3 -#define elegoo_Command_Look_tag 4 -#define elegoo_Command_StopAfter_tag 5 -#define elegoo_Event_Head_tag 1 -#define elegoo_Event_Sensor_tag 2 -#define elegoo_Event_Remote_tag 3 -#define elegoo_Event_TimeStamp_tag 4 +#define elegoo_Command_Look_tag 2 +#define elegoo_Event_TimeStamp_tag 1 +#define elegoo_Event_Head_tag 2 +#define elegoo_Event_Sensor_tag 3 +#define elegoo_Event_Remote_tag 4 /* Struct field encoding specification for nanopb */ -extern const pb_field_t elegoo_Speed_fields[3]; -extern const pb_field_t elegoo_Command_fields[5]; +extern const pb_field_t elegoo_Speed_fields[4]; +extern const pb_field_t elegoo_Command_fields[3]; extern const pb_field_t elegoo_UltraSonic_fields[3]; extern const pb_field_t elegoo_InfraRed_fields[4]; extern const pb_field_t elegoo_RemoteControl_fields[2]; extern const pb_field_t elegoo_Event_fields[5]; /* Maximum encoded size of messages (where known) */ -#define elegoo_Speed_size 12 -#define elegoo_Command_size 28 +#define elegoo_Speed_size 18 +#define elegoo_Command_size 26 #define elegoo_UltraSonic_size 12 #define elegoo_InfraRed_size 6 #define elegoo_RemoteControl_size 6 diff --git a/fsm.go b/fsm.go index dfe04a5..9565d5b 100644 --- a/fsm.go +++ b/fsm.go @@ -53,7 +53,7 @@ func (f *FSM) Start() { } func (f *FSM) initalState() stateFn { - f.commands <- &Command{Look: 90} + f.commands <- &Command{Look: 0} return f.readDistance } @@ -72,6 +72,6 @@ func (f *FSM) moveAhead() stateFn { } func (f *FSM) stop() stateFn { - f.commands <- &Command{Stop: true} + f.commands <- &Command{} return f.readDistance } -- cgit v1.2.3