Dynamic Traction Demonstration State Machine #123

SnickeyX · 2022-03-09T14:00:42Z

Description

Implementing demo_state_machine. Added missing instances of kPreReady in main.cpp under Brakes and fake_trajectory.cpp under Sensors.

Adding gtests
Acceleration Time
Braking Command
Add UI

codecov-commenter · 2022-03-09T15:26:24Z

Codecov Report

Merging #123 (d4cd484) into master (516a539) will increase coverage by 2.58%.
The diff coverage is 94.70%.

@@            Coverage Diff             @@
##           master     #123      +/-   ##
==========================================
+ Coverage   38.20%   40.78%   +2.58%     
==========================================
  Files          69       73       +4     
  Lines        3942     4129     +187     
==========================================
+ Hits         1506     1684     +178     
- Misses       2436     2445       +9

Impacted Files	Coverage Δ
src/data/data.hpp	`100.00% <ø> (ø)`
src/propulsion/fake_controller.cpp	`0.00% <0.00%> (ø)`
src/state_machine/state.cpp	`97.87% <ø> (ø)`
src/utils/system.cpp	`55.30% <56.25%> (+0.05%)`	⬆️
src/demo_state_machine/state.cpp	`97.84% <97.84%> (ø)`
src/demo_state_machine/main.cpp	`100.00% <100.00%> (ø)`
src/demo_state_machine/state.hpp	`100.00% <100.00%> (ø)`
src/demo_state_machine/transitions.cpp	`100.00% <100.00%> (ø)`
src/utils/io/gpio.cpp	`28.65% <100.00%> (ø)`
src/utils/timer.cpp	`26.66% <100.00%> (+5.23%)`	⬆️

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SnickeyX · 2022-03-10T12:54:52Z

@MiltFra its not complete yet, just wanted to check if what I've done so far is okay

mifrandir

Looking good so far.

src/demo_state_machine/main.cpp

src/demo_state_machine/transitions.cpp

src/demo_state_machine/transitions.hpp

SnickeyX · 2022-04-13T20:43:31Z

demo UI does not work atm, still working on it

src/demo_state_machine/UI.cpp

mifrandir · 2022-05-06T21:24:53Z

@kshxtij please ping me once you have thoroughly reviewed this.

src/demo_state_machine/UI.cpp

maxguy2001 · 2022-05-18T22:11:21Z

src/demo_state_machine/state.cpp

+
+#include <chrono>
+
+namespace hyped {


namespace hyped::demo_state_machine ?

maxguy2001 · 2022-05-18T22:16:27Z

src/demo_state_machine/state.cpp

+
+  const uint64_t time_now    = utils::Timer::getTimeMicros();
+  const int64_t time_elapsed = time_now - instance_.acceleration_start_;
+


If these are both timestamps, why are they different types?

getTimeMacros() gives a uint64_t so I have to use it, but for time_elapsed we need to worry about it being signed (positive specifically) coz negative time difference should not happen and we should know that's the case

maxguy2001 · 2022-05-18T22:26:53Z

src/demo_state_machine/transitions.cpp

+// Navigation Data Events
+//--------------------------------------------------------------------------------------
+
+bool checkEnteredBrakingZone(utils::Logger &log, const data::Navigation &nav_data)


Do we need this in the demo state machine?

nope, will remove

maxguy2001 · 2022-05-18T22:28:25Z

src/demo_state_machine/transitions.cpp

+
+bool checkPodStopped(utils::Logger &log, const data::Navigation &nav_data)
+{
+  if (nav_data.velocity > 0) return false;


I'm not 100% sure it will be exactly zero since it is type float. Maybe we could use a small number as a tolerance?

maxguy2001 · 2022-05-18T22:28:56Z

src/demo_state_machine/transitions.hpp

+
+namespace hyped {
+
+namespace demo_state_machine {


namespace hyped::demo_state_machine?

syntactic difference, will change it still

maxguy2001 · 2022-05-18T22:30:37Z

src/demo_state_machine/transitions.cpp

+  return true;
+}
+
+bool checkReachedMaxVelocity(utils::Logger &log, const data::Navigation &nav_data)


Do we need this? I thought the pod wasn't really moving in demo?

nope, will remove

maxguy2001 · 2022-05-18T22:34:33Z

src/utils/io/gpio.cpp

@@ -123,7 +123,7 @@ void Gpio::uninitialise()
 void Gpio::exportGPIO()
 {
  if (!initialised_) {
-    log_.error("servise has not been initialised");
+    log_.error("service has not been initialised");


demo-sandbox

7e4715f

SnickeyX changed the title ~~demo-sandbox~~ STM-demo-sandbox Mar 9, 2022

SnickeyX self-assigned this Mar 9, 2022

SnickeyX added the state-machine label Mar 9, 2022

added seperate gtests

99c984b

SnickeyX requested a review from mifrandir March 10, 2022 12:54

mifrandir changed the title ~~STM-demo-sandbox~~ Dynamic Traction Demonstration State Machine Mar 12, 2022

mifrandir approved these changes Mar 12, 2022

View reviewed changes

gtest error fixing push

3dfb835

SnickeyX requested review from kshxtij and TomLonergan03 as code owners March 17, 2022 12:39

SnickeyX added 2 commits March 17, 2022 14:08

final touches

c7b65d6

final touches v2.0

4c31618

SnickeyX requested a review from mifrandir March 17, 2022 17:38

mifrandir requested a review from adenhaus March 17, 2022 18:26

added braking command

872260e

adenhaus approved these changes Mar 24, 2022

View reviewed changes

maxguy2001 reviewed Mar 24, 2022

View reviewed changes

src/demo_state_machine/main.cpp Outdated Show resolved Hide resolved

removed unnecessary includes

1808cfe

mifrandir requested changes Mar 24, 2022

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src/demo_state_machine/transitions.cpp Outdated Show resolved Hide resolved

src/demo_state_machine/transitions.hpp Show resolved Hide resolved

mifrandir added the moderate label Mar 25, 2022

SnickeyX added 2 commits March 28, 2022 11:50

timestamp in struct

0d1e216

delta time to int64_t

c4c7aa7

kshxtij approved these changes Mar 28, 2022

View reviewed changes

fixed gtests

59eaf72

mifrandir requested a review from maxguy2001 March 28, 2022 22:22

SnickeyX added 2 commits March 31, 2022 19:57

Werror pain dealt with

80e34e0

Merge branch 'master' into stm-demo

8dbcb53

SnickeyX added 2 commits April 11, 2022 15:04

demo stm now good with master changes

d331a6a

helpme

6983211

mifrandir reviewed Apr 14, 2022

View reviewed changes

src/demo_state_machine/UI.cpp Outdated Show resolved Hide resolved

little refactoring

bdf4213

mifrandir reviewed Apr 15, 2022

View reviewed changes

src/demo_state_machine/UI.cpp Outdated Show resolved Hide resolved

SnickeyX added 5 commits April 16, 2022 22:08

fixed const placement

0f4d2a0

make kshitij sad

aec927e

removed the telemetry thread

941389a

Merge branch 'master' into stm-demo

252580b

Navigation is no more

77a8a41

SnickeyX requested review from kshxtij and mifrandir May 5, 2022 13:21

mifrandir reviewed May 6, 2022

View reviewed changes

src/demo_state_machine/UI.cpp Outdated Show resolved Hide resolved

renamed UI files

54e05c6

maxguy2001 requested changes May 18, 2022

View reviewed changes

SnickeyX added 3 commits May 20, 2022 22:02

Added tel stop command

d9e9cda

adding sugar to syntax

fc68ecc

added stop command to ui

d4cd484

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Dynamic Traction Demonstration State Machine #123

Dynamic Traction Demonstration State Machine #123

SnickeyX commented Mar 9, 2022 •

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maxguy2001 May 18, 2022


		const uint64_t time_now = utils::Timer::getTimeMicros();
		const int64_t time_elapsed = time_now - instance_.acceleration_start_;


		#include <chrono>

		namespace hyped {


		namespace hyped {

		namespace demo_state_machine {

Dynamic Traction Demonstration State Machine #123

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Dynamic Traction Demonstration State Machine #123

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SnickeyX commented Mar 9, 2022 •

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