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Merge branch 'dev' of https://github.com/MissouriMRDT/RoveComm into dev
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@antrob25
antrob25 committed Feb 22, 2022
2 parents 02a8ccd + 9c805ed commit 8215b9e
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Showing 2 changed files with 82 additions and 60 deletions.
20 changes: 15 additions & 5 deletions src/RoveCommManifest.h
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Original file line number Diff line number Diff line change
Expand Up @@ -577,12 +577,22 @@ enum MULTIMEDIABOARD_DISPLAYSTATE {TELEOP,AUTONOMY,REACHED_GOAL};
#define RC_AUTONOMYBOARD_DISABLEAUTONOMY_DATA_TYPE uint8_t

//[Lat, Lon]
#define RC_AUTONOMYBOARD_ADDWAYPOINTS_DATA_ID 11002
#define RC_AUTONOMYBOARD_ADDWAYPOINTS_DATA_COUNT 2
#define RC_AUTONOMYBOARD_ADDWAYPOINTS_DATA_TYPE double
#define RC_AUTONOMYBOARD_ADDPOSITIONLEG_DATA_ID 11002
#define RC_AUTONOMYBOARD_ADDPOSITIONLEG_DATA_COUNT 2
#define RC_AUTONOMYBOARD_ADDPOSITIONLEG_DATA_TYPE double

//[Lat, Lon]
#define RC_AUTONOMYBOARD_ADDMARKERLEG_DATA_ID 11003
#define RC_AUTONOMYBOARD_ADDMARKERLEG_DATA_COUNT 2
#define RC_AUTONOMYBOARD_ADDMARKERLEG_DATA_TYPE double

//[Lat, Lon]
#define RC_AUTONOMYBOARD_ADDGATELEG_DATA_ID 11004
#define RC_AUTONOMYBOARD_ADDGATELEG_DATA_COUNT 2
#define RC_AUTONOMYBOARD_ADDGATELEG_DATA_TYPE double

//
#define RC_AUTONOMYBOARD_CLEARWAYPOINTS_DATA_ID 11003
#define RC_AUTONOMYBOARD_CLEARWAYPOINTS_DATA_ID 11005
#define RC_AUTONOMYBOARD_CLEARWAYPOINTS_DATA_COUNT 1
#define RC_AUTONOMYBOARD_CLEARWAYPOINTS_DATA_TYPE uint8_t

Expand Down Expand Up @@ -629,4 +639,4 @@ enum MULTIMEDIABOARD_DISPLAYSTATE {TELEOP,AUTONOMY,REACHED_GOAL};
#define RC_HEATERBOARD_OVERHEAT_DATA_COUNT 1
#define RC_HEATERBOARD_OVERHEAT_DATA_TYPE uint8_t

#endif // RoveCommManifest_h
#endif // RoveCommManifest_h
122 changes: 67 additions & 55 deletions src/manifest.json
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Original file line number Diff line number Diff line change
Expand Up @@ -61,7 +61,7 @@
"Ip": "192.168.1.133",
"Port": 11003,
"Commands": {
"BMSStop": {
"BMSStop": {
"dataId": 2000,
"dataType": "UINT8_T",
"dataCount": 1,
Expand All @@ -73,25 +73,25 @@
"dataId": 2100,
"dataType": "FLOAT_T",
"dataCount": 1,
"comments": "[Main] (A)"
"comments": "Total Current"
},
"PackV_Meas": {
"dataId": 2101,
"dataType": "FLOAT_T",
"dataCount": 1,
"comments": "[Pack_Out] (V)"
"comments": "Pack Voltage"
},
"CellV_Meas": {
"dataId": 2102,
"dataType": "FLOAT_T",
"dataCount": 8,
"comments": "[C1-G, C2-1, C3-2, C4-3, C5-4, C6-5, C7-6, C8-7] (V)"
"comments": "C1-G, C2-1, C3-2, C4-3, C5-4, C6-5, C7-6, C8-7"
},
"Temp_Meas": {
"dataId": 2103,
"dataType": "FLOAT_T",
"dataCount": 1,
"comments": "[Temp] (degC)"
"comments": "Temperature"
}
},
"Error": {
Expand Down Expand Up @@ -129,75 +129,75 @@
"dataId": 3000,
"dataType": "UINT8_T",
"dataCount": 1,
"comments": "[(0-Disable, 1-Enable)], [M1, M2, M3, M4, M5, M6 Spare (Bitmask)]"
"comments": "M1, M2, M3, M4, M5, M6, Spare"
},
"TwelveVActBusEnable": {
"dataId": 3001,
"dataType": "UINT8_T",
"dataCount": 1,
"comments": "[(0-Disable, 1-Enable)], [Gimbal-Act, Aux1(Aux_Logic on Board), Aux2(Spare on Board), Multimedia, Aux-Logic(Science-Act on board) (Bitmask)]"
"comments": "Gimbal-Act, Aux_Logic (Aux1), Spare (Aux2), Multimedia, Science-Act (AuxLogic)"
},
"TwelveVLogicBusEnable": {
"dataId": 3002,
"dataType": "UINT8_T",
"dataCount": 1,
"comments": "[(0-Disable, 1-Enable)], [Gimbal-Log, Drive-Log, NetworkSwitch, Nav, Cam1, Cam2, BBB, Spare(Science-Sensor on board) (Bitmask)]"
"comments": "Gimbal-Log, Drive-Log, NetworkSwitch, Nav, Cam1, Cam2, BBB, Science-Sensor (Spare)"
},
"ThirtyVBusEnable": {
"ThirtyVBusEnable": {
"dataId": 3003,
"dataType": "UINT8_T",
"dataCount": 1,
"comments": "[(0-Disable, 1-Enable)], [POE, TwelveVolt, Aux, Spare (Bitmask)]"
"comments": "POE, TwelveVolt, Aux, Spare"
}
},
"Telemetry": {
"MotorBusEnabled": {
"dataId": 3100,
"dataType": "UINT8_T",
"dataCount": 1,
"comments": "[(0-Disabled, 1-Enabled)], [M1, M2, M3, M4, M5, M6 Spare (Bitmask)]"
"comments": "M1, M2, M3, M4, M5, M6, Spare"
},
"TwelveVActBusEnabled": {
"dataId": 3101,
"dataType": "UINT8_T",
"dataCount": 1,
"comments": "[(0-Disabled, 1-Enabled)], [Gimbal-Act, Aux1(Aux_Logic on Board), Aux2(Spare on Board), Multimedia, Aux-Logic(Science-Act on board) (Bitmask)]"
"comments": "Gimbal-Act, Aux_Logic (Aux1), Spare (Aux2), Multimedia, Science-Act (AuxLogic)"
},
"TwelveVLogicBusEnabled": {
"dataId": 3102,
"dataType": "UINT8_T",
"dataCount": 1,
"comments": "[(0-Disabled, 1-Enabled)], [Gimbal-Log, Drive-Log, NetworkSwitch, Nav, Cam1, Cam2, BBB, Spare(Science-Sensor on board) (Bitmask)]"
"comments": "Gimbal-Log, Drive-Log, NetworkSwitch, Nav, Cam1, Cam2, BBB, Science-Sensor (Spare)"
},
"ThirtyVEnabled": {
"dataId": 3103,
"dataType": "UINT8_T",
"dataCount": 1,
"comments": "[(0-Disabled, 1-Enabled)], [POE, TwelveVolt, Aux, Spare (Bitmask)]"
"comments": "POE, TwelveVolt, Aux, Spare"
},
"MotorBusCurrent": {
"dataId": 3104,
"dataType": "FLOAT_T",
"dataCount": 7,
"comments": "[M1, M2, M3, M4, M5, M6, Spare] (A)"
"comments": "M1, M2, M3, M4, M5, M6, Spare"
},
"TwelveVActBusCurrent": {
"dataId": 3105,
"dataType": "FLOAT_T",
"dataCount": 5,
"comments": "[Gimbal-Act, Aux1(Aux_Logic on Board), Aux2(Spare on Board), Multimedia, Aux-Logic(Science-Act on board)] (A)"
"comments": "Gimbal-Act, Aux_Logic (Aux1), Spare (Aux2), Multimedia, Science-Act (AuxLogic)"
},
"TwelveVLogicBusCurrent": {
"dataId": 3106,
"dataType": "FLOAT_T",
"dataCount": 8,
"comments": "[Gimbal-Log, Drive-Log, NetworkSwitch, Nav, Cam1, Cam2, BBB, Spare(Science-Sensor on board)] (A)"
"comments": "Gimbal-Log, Drive-Log, NetworkSwitch, Nav, Cam1, Cam2, BBB, Science-Sensor (Spare)"
},
"ThirtyVBusCurrent": {
"dataId": 3107,
"dataType": "FLOAT_T",
"dataCount": 4,
"comments": "[POE, TwelveVolt, Aux, Spare] (A)"
"comments": "POE, TwelveVolt, Aux, Spare"
}
},
"Error": {
Expand Down Expand Up @@ -281,39 +281,39 @@
}
},
"Gimbal": {
"Ip": "192.168.1.135",
"Port": 11005,
"Commands": {
"LeftDriveGimbalIncrement": {
"dataId": 6000,
"dataType": "INT16_T",
"dataCount": 2,
"comments": "[Pan, Tilt](degrees 0-180)"
},
"RightDriveGimbalIncrement": {
"dataId": 6001,
"dataType": "INT16_T",
"dataCount": 2,
"comments": "[Pan, Tilt](degrees 0-180)"
},
"LeftMainGimbalIncrement": {
"dataId": 6002,
"dataType": "INT16_T",
"dataCount": 2,
"comments": "[Pan, Tilt](degrees 0-180)"
},
"RightMainGimbalIncrement": {
"dataId": 6003,
"dataType": "INT16_T",
"dataCount": 2,
"comments": "[Pan, Tilt](degrees 0-180)"
},
"InitiateTestRoutine": {
"dataId": 6004,
"dataType": "UINT8_T",
"dataCount": 1,
"comments": ""
}
"Ip": "192.168.1.135",
"Port": 11005,
"Commands": {
"LeftDriveGimbalIncrement": {
"dataId": 6000,
"dataType": "INT16_T",
"dataCount": 2,
"comments": "[Pan, Tilt](degrees 0-180)"
},
"RightDriveGimbalIncrement": {
"dataId": 6001,
"dataType": "INT16_T",
"dataCount": 2,
"comments": "[Pan, Tilt](degrees 0-180)"
},
"LeftMainGimbalIncrement": {
"dataId": 6002,
"dataType": "INT16_T",
"dataCount": 2,
"comments": "[Pan, Tilt](degrees 0-180)"
},
"RightMainGimbalIncrement": {
"dataId": 6003,
"dataType": "INT16_T",
"dataCount": 2,
"comments": "[Pan, Tilt](degrees 0-180)"
},
"InitiateTestRoutine": {
"dataId": 6004,
"dataType": "UINT8_T",
"dataCount": 1,
"comments": ""
}
},
"Telemetry": {},
"Error": {}
Expand Down Expand Up @@ -349,7 +349,7 @@
},
"Telemetry": {},
"Error": {},
"Enums":{
"Enums": {
"DISPLAYSTATE": {
"Teleop": 0,
"Autonomy": 1,
Expand Down Expand Up @@ -624,14 +624,26 @@
"dataCount": 1,
"comments": ""
},
"AddWaypoints": {
"AddPositionLeg": {
"dataId": 11002,
"dataType": "DOUBLE_T",
"dataCount": 2,
"comments": "[Lat, Lon]"
},
"ClearWaypoints": {
"AddMarkerLeg": {
"dataId": 11003,
"dataType": "DOUBLE_T",
"dataCount": 2,
"comments": "[Lat, Lon]"
},
"AddGateLeg": {
"dataId": 11004,
"dataType": "DOUBLE_T",
"dataCount": 2,
"comments": "[Lat, Lon]"
},
"ClearWaypoints": {
"dataId": 11005,
"dataType": "UINT8_T",
"dataCount": 1,
"comments": ""
Expand Down Expand Up @@ -731,4 +743,4 @@
"Rover2_4GHzRocket": { "Ip": "192.168.1.86" },
"GrandStream": { "Ip": "192.168.1.226" }
}
}
}

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