完善调试控制逻辑

sfxfs · Oct 27, 2023 · 5fc0a64 · 5fc0a64
1 parent 980af8d
commit 5fc0a64
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Showing 12 changed files with 44 additions and 19 deletions.
diff --git a/protocols/jsonrpc-c.c b/protocols/jsonrpc-c.c
@@ -508,9 +508,9 @@ static int __jrpc_server_start(struct jrpc_server *server) {
 }
 
 int jrpc_server_init_with_ev_loop(struct jrpc_server *server, 
-        int port_number, struct ev_loop *loop) {
+        int port_number, struct ev_loop *loop_ptr) {
 	memset(server, 0, sizeof(struct jrpc_server));
-	server->loop = loop;
+	server->loop = loop_ptr;
 	server->port_number = port_number;
 	char * debug_level_env = getenv("JRPC_DEBUG");
 	if (debug_level_env == NULL)

diff --git a/user/config/config.c b/user/config/config.c
@@ -130,7 +130,7 @@ cJSON *rov_config_read_from_file_return_cjson()
 int rov_config_read_from_file(struct rov_info* info)
 {
     cJSON *params = rov_config_read_from_file_return_cjson();
-    if (params != NULL) // propeller_parameters 非空，解析
+    if (params != NULL) // 非空，解析
     {
         propeller_params_read(info, cJSON_GetObjectItem(params, "propeller_params"));
         dev_ctl_params_read(info, cJSON_GetObjectItem(params, "dev_params"));

diff --git a/user/config/parameters/dev_ctl.c b/user/config/parameters/dev_ctl.c
@@ -57,6 +57,10 @@ void dev_ctl_params_init(pwmDev_attr_t *params)
     params->step = 50;
 }
 
+/**
+ * @brief 所有PWM设备参数初始化
+ * @param params 结构体参数
+ */
 void dev_ctl_params_all_init(device_t *params)
 {
     dev_ctl_params_init(&params->light);

diff --git a/user/config/parameters/propeller.c b/user/config/parameters/propeller.c
@@ -16,11 +16,11 @@ cJSON* propeller_params_add_to_root(propeller_attr_t *params)
     if (node == NULL)
         return NULL;
 
-    cJSON_AddItemToObject(node, "reversed", params->reversed == 1 ? cJSON_CreateTrue() : cJSON_CreateFalse());
-    cJSON_AddItemToObject(node, "enabled", params->enabled == 1 ? cJSON_CreateTrue() : cJSON_CreateFalse());
+    cJSON_AddItemToObject(node, "reversed", params->reversed == true ? cJSON_CreateTrue() : cJSON_CreateFalse());
+    cJSON_AddItemToObject(node, "enabled", params->enabled == true ? cJSON_CreateTrue() : cJSON_CreateFalse());
     cJSON_AddNumberToObject(node, "channel", params->channel);
-    cJSON_AddNumberToObject(node, "deadzone_lower", params->deadzone_lower);
     cJSON_AddNumberToObject(node, "deadzone_upper", params->deadzone_upper);
+    cJSON_AddNumberToObject(node, "deadzone_lower", params->deadzone_lower);
     cJSON_AddNumberToObject(node, "power_positive", params->power_positive);
     cJSON_AddNumberToObject(node, "power_negative", params->power_negative);
 
@@ -68,19 +68,23 @@ void propeller_params_init_freq(uint16_t *params)
 
 /**
  * @brief 单个推进器参数初始化
- * @param params propeller_parameters结构体参数
+ * @param params propeller_attr_t 结构体参数
  */
 void propeller_params_init(propeller_attr_t *params)
 {
-    params->enabled = 1;
-    params->reversed = 0;
+    params->enabled = true;
+    params->reversed = false;
     params->channel = 0;
     params->deadzone_upper = 25;
     params->deadzone_lower = -25;
     params->power_positive = 0.4;
     params->power_negative = 0.4;
 }
 
+/**
+ * @brief 所有推进器参数初始化
+ * @param params propeller_attr_t 结构体参数
+ */
 void propeller_params_all_init(propeller_t *params)
 {
     propeller_params_init_freq(&params->pwm_freq_calibration);

diff --git a/user/control/control.c b/user/control/control.c
@@ -22,7 +22,14 @@ void *control_thread(void *arg)
     {
         pthread_mutex_lock(&info->system.device.power_output_mtx);
         pthread_cond_wait(&info->system.server.recv_cmd_cond, &info->system.device.power_output_mtx);
-        rov_manual_control(info);
+        if (info->control.flag.debug_mode == false)
+        {
+            rov_manual_control(info);
+        }
+        else
+        {
+            rov_debug_control(info);
+        }
         pthread_mutex_unlock(&info->system.device.power_output_mtx);
     }
     return NULL;

diff --git a/user/control/ctrlPart/manual_ctl.c b/user/control/ctrlPart/manual_ctl.c
@@ -60,3 +60,12 @@ void rov_manual_control(rov_info_t *info)
         CALL_FOR_ALL_PROPELLER(PROPELLER_VALUE_WRITE)
     #undef PROPELLER_VALUE_WRITE
 }
+
+void rov_debug_control(rov_info_t *info)
+{
+    #define PROPELLER_VALUE_WRITE(which) \
+        info->propeller.which.power_cur = (float)info->propeller.which.power_debug / 500.0f;
+
+        CALL_FOR_ALL_PROPELLER(PROPELLER_VALUE_WRITE)
+    #undef PROPELLER_VALUE_WRITE
+}
diff --git a/user/control/ctrlPart/manual_ctl.h b/user/control/ctrlPart/manual_ctl.h
@@ -4,5 +4,6 @@
 #include "data_define.h"
 
 void rov_manual_control(rov_info_t *info);
+void rov_debug_control(rov_info_t *info);
 
 #endif
diff --git a/user/data-type/control.h b/user/data-type/control.h
@@ -7,6 +7,7 @@
 struct status_flag
 {
     bool lose_clt;
+    bool debug_mode;
 };
 
 struct pid_scale_attr

diff --git a/user/device/device.c b/user/device/device.c
@@ -30,7 +30,7 @@
 static void write_to_propeller(propeller_t *param)
 {
     #define PWM_COTROLLER_WRITE(propeller) \
-        pwm_controller_write(param->propeller.channel, 0.0f, 7.5 + constrain(2.5 * param->propeller.power_cur, -2.5, 2.5));\
+        pwm_controller_write(param->propeller.channel, 0.0f, 7.5f + constrain(2.5f * param->propeller.power_cur, -2.5f, 2.5f));\
         param->propeller.power_last = param->propeller.power_cur;\
         param->propeller.power_cur = 0;
 
@@ -50,7 +50,6 @@ void *propeller_thread(void *arg)
     for (int i = 0; i < 16; i++)
         pwm_controller_write(i, 0, 0);
 
-
     for (;;)
     {
         pthread_mutex_lock(&info->system.device.power_output_mtx);

diff --git a/user/main.c b/user/main.c
@@ -21,7 +21,7 @@ int main(int argc, char **argv)
     if (geteuid() != 0)
     {
         printf("please run as root...\n");
-        exit(0);
+        exit(EXIT_SUCCESS);
     }
 
     signal(SIGINT, exit_uvm);
@@ -30,7 +30,7 @@ int main(int argc, char **argv)
     if (debug_env == NULL) {
         pid_t pid = fork();
         if (pid > 0) {
-            exit(1);    // 退出父进程
+            exit(EXIT_SUCCESS);    // 退出父进程
         } else if (pid == 0) {
             setsid();   // 创建守护进程
             umask(0);

diff --git a/user/main_app.c b/user/main_app.c
@@ -45,21 +45,21 @@ void uvm_init(bool debug_mode)
     }
 
     if (rov_config_init(&uvmInfo) < 0)
-        exit(-1);
+        exit(EXIT_FAILURE);
 
     if (jsonrpc_server_run(&uvmInfo) < 0)
-        exit(-1);
+        exit(EXIT_FAILURE);
 
     if (rov_device_run(&uvmInfo) < 0)
     {
         jsonrpc_server_stop();
-        exit(-1);
+        exit(EXIT_FAILURE);
     }
 
     if (rov_control_run(&uvmInfo) < 0)
     {
         uvm_deinit();
-        exit(-1);
+        exit(EXIT_FAILURE);
     }
 }
 

diff --git a/user/server/handler/debug.c b/user/server/handler/debug.c
@@ -18,7 +18,7 @@ cJSON *set_debug_mode_enabled_handler(jrpc_context *ctx, cJSON *params, cJSON *i
 {
     if (params == NULL)
         return cJSON_CreateNull();
-
+    ((struct status_flag *)ctx->data)->debug_mode = params->child->valueint;
     return cJSON_CreateNull();
 }