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2023 competition changes
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David
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Sep 20, 2023
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,54 @@ | ||
| #include "include/can_wrap.hpp" | ||
| #include "include/candata.h" | ||
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| #include <iomanip> | ||
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| int main() | ||
| { | ||
| float f = 0.0E-1f; | ||
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| std::cout << std::fixed << f << "\n"; | ||
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| return 0; | ||
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| const std::string device = "vcan0"; | ||
| const int canSocket = can::connect( device ); | ||
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| while( true ) | ||
| { | ||
| try | ||
| { | ||
| const can_frame frame = can::read( canSocket ); | ||
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| if( frame.can_id == CANDATA_VCU2_AI_STATUS_FRAME_ID ) | ||
| { | ||
| candata_vcu2_ai_status_t data; | ||
| candata_vcu2_ai_status_unpack( &data, frame.data, frame.can_dlc ); | ||
| std::cout << "status: " << | ||
| candata_vcu2_ai_status_as_state_decode( data.as_state ) << "\n"; | ||
| } | ||
| else if( frame.can_id == CANDATA_VCU2_AI_BRAKE_FRAME_ID ) | ||
| { | ||
| candata_vcu2_ai_brake_t data; | ||
| candata_vcu2_ai_brake_unpack( &data, frame.data, frame.can_dlc ); | ||
| std::cout << "brake: " << std::fixed << std::setprecision( 10 ) << | ||
| candata_vcu2_ai_brake_hyd_press_f_pct_decode( data.hyd_press_f_pct ) << " " << | ||
| candata_vcu2_ai_brake_hyd_press_r_pct_decode( data.hyd_press_r_pct ) << "\n"; | ||
| } | ||
| else if( frame.can_id == CANDATA_VCU2_AI_DRIVE_F_FRAME_ID ) | ||
| { | ||
| candata_vcu2_ai_drive_f_t data; | ||
| candata_vcu2_ai_drive_f_unpack( &data, frame.data, frame.can_dlc ); | ||
| std::cout << "axle: " << | ||
| candata_vcu2_ai_drive_f_front_axle_trq_decode( data.front_axle_trq ) << "\n"; | ||
| } | ||
| // std::cout << "status frame" << "\n"; | ||
| } | ||
| catch( const can::error& ) | ||
| { | ||
| // no more frames to read | ||
| } | ||
| } | ||
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| return 0; | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,114 @@ | ||
| #include <stdio.h> | ||
| #include <stdlib.h> | ||
| #include <string.h> | ||
| #include <unistd.h> | ||
| #include <fcntl.h> | ||
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| #include <iomanip> | ||
| #include <iostream> | ||
| #include <map> | ||
| #include <string> | ||
| #include <thread> | ||
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| #include "simple_adas.hpp" | ||
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| int main( int argc, char* argv[] ) | ||
| { | ||
| adas_api::SimpleAdas adas { argc >= 2 ? argv[1] : "can0" }; // was "vcan0" | ||
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| bool running = true; | ||
| std::mutex adasMutex; | ||
| std::thread processThread( [&]() | ||
| { | ||
| while( running ) | ||
| { | ||
| adasMutex.lock(); | ||
| adas.read(); | ||
| adas.write(); | ||
| adasMutex.unlock(); | ||
| std::this_thread::sleep_for( std::chrono::milliseconds(5) ); | ||
| } | ||
| } ); | ||
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| enum States | ||
| { | ||
| IDLE, | ||
| START, | ||
| LEFT, | ||
| RIGHT, | ||
| CENTER, | ||
| INCREMENT, | ||
| DONE | ||
| } state = IDLE; | ||
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| using clock = std::chrono::steady_clock; | ||
| clock::time_point timer; | ||
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| const auto timeout = std::chrono::seconds( 3 ); | ||
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| int count = 0; | ||
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| while( true ) | ||
| { | ||
| States prev = state; | ||
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| if( !adas.go() ) state = IDLE; | ||
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| switch( state ) | ||
| { | ||
| case IDLE: | ||
| if( adas.go() ) | ||
| state = START; | ||
| break; | ||
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| case START: | ||
| adas.set_rpm( 100 ); | ||
| adas.set_brakes( 0 ); | ||
| state = LEFT; | ||
| break; | ||
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| case LEFT: | ||
| if( clock::now() - timer >= timeout ) | ||
| state = RIGHT; | ||
| adas.set_angle( 20.f ); | ||
| break; | ||
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| case RIGHT: | ||
| if( clock::now() - timer >= timeout ) | ||
| state = CENTER; | ||
| adas.set_angle( -20.f ); | ||
| break; | ||
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| case CENTER: | ||
| if( clock::now() - timer >= timeout ) | ||
| state = INCREMENT; | ||
| adas.set_angle( 0.f ); | ||
| break; | ||
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| case INCREMENT: | ||
| count += 1; | ||
| if( count < 20 ) | ||
| state = IDLE; | ||
| else | ||
| state = DONE; | ||
| break; | ||
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| case DONE: | ||
| adas.finish(); | ||
| break; | ||
| } | ||
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| if( state != prev ) | ||
| timer = clock::now(); | ||
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| adas.read(); | ||
| adas.write(); | ||
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| std::this_thread::sleep_for( std::chrono::milliseconds(10) ); | ||
| } | ||
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| running = false; | ||
| processThread.join(); | ||
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| return 0; | ||
| } |
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