compAIR/libcreate
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Fix bug: Too many packets requested corrupting serial buffer

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This commit is contained in:
jacobperron 2016-02-13 11:50:39 -08:00
parent 9cb3250268
commit fc1fb48930
3 changed files with 60 additions and 46 deletions
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66
src/data.cpp
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@ -6,57 +6,61 @@ namespace create {
Data::Data() {
// Populate data map
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
* WARNING: Adding too many packets will flood the serial *
* buffer and corrupt the stream. *
* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
ADD_PACKET(ID_BUMP_WHEELDROP, 1, "bumps_wheeldrops");
ADD_PACKET(ID_WALL, 1, "wall");
ADD_PACKET(ID_CLIFF_LEFT, 1, "cliff_left");
ADD_PACKET(ID_CLIFF_FRONT_LEFT, 1, "cliff_front_left");
ADD_PACKET(ID_CLIFF_FRONT_RIGHT, 1, "cliff_front_right");
ADD_PACKET(ID_CLIFF_RIGHT, 1, "cliff_right");
ADD_PACKET(ID_VIRTUAL_WALL, 1, "virtual_wall");
ADD_PACKET(ID_OVERCURRENTS, 1, "overcurrents");
//ADD_PACKET(ID_VIRTUAL_WALL, 1, "virtual_wall");
//ADD_PACKET(ID_OVERCURRENTS, 1, "overcurrents");
ADD_PACKET(ID_DIRT_DETECT, 1, "dirt_detect");
ADD_PACKET(ID_UNUSED_1, 1, "unused 1");
//ADD_PACKET(ID_UNUSED_1, 1, "unused 1");
ADD_PACKET(ID_IR_OMNI, 1, "ir_opcode");
ADD_PACKET(ID_BUTTONS, 1, "buttons");
ADD_PACKET(ID_DISTANCE, 2, "distance");
ADD_PACKET(ID_ANGLE, 2, "angle");
//ADD_PACKET(ID_DISTANCE, 2, "distance");
//ADD_PACKET(ID_ANGLE, 2, "angle");
ADD_PACKET(ID_CHARGE_STATE, 1, "charging_state");
ADD_PACKET(ID_VOLTAGE, 2, "voltage");
ADD_PACKET(ID_CURRENT, 2, "current");
ADD_PACKET(ID_TEMP, 1, "temperature");
ADD_PACKET(ID_CHARGE , 2, "battery_charge");
ADD_PACKET(ID_CAPACITY, 2, "battery_capacity");
ADD_PACKET(ID_WALL_SIGNAL, 2, "wall_signal");
ADD_PACKET(ID_CLIFF_LEFT_SIGNAL, 2, "cliff_left_signal");
ADD_PACKET(ID_CLIFF_FRONT_LEFT_SIGNAL, 2, "cliff_front_left_signal");
ADD_PACKET(ID_CLIFF_FRONT_RIGHT_SIGNAL, 2, "cliff_front_right_signal");
ADD_PACKET(ID_CLIFF_RIGHT_SIGNAL, 2, "cliff_right_signal");
ADD_PACKET(ID_UNUSED_2, 1, "unused 2");
ADD_PACKET(ID_UNUSED_3, 2, "unused 3");
ADD_PACKET(ID_CHARGE_SOURCE, 1, "charger_available");
ADD_PACKET(ID_IO_MODE, 1, "oi_mode");
ADD_PACKET(ID_SONG_NUM, 1, "song_number");
ADD_PACKET(ID_PLAYING, 1, "song_playing");
ADD_PACKET(ID_NUM_STREAM_PACKETS, 1, "oi_stream_num_packets");
ADD_PACKET(ID_VEL, 2, "velocity");
ADD_PACKET(ID_RADIUS, 2, "radius");
ADD_PACKET(ID_RIGHT_VEL, 2, "velocity_right");
ADD_PACKET(ID_LEFT_VEL, 2, "velocity_left");
//ADD_PACKET(ID_WALL_SIGNAL, 2, "wall_signal");
//ADD_PACKET(ID_CLIFF_LEFT_SIGNAL, 2, "cliff_left_signal");
//ADD_PACKET(ID_CLIFF_FRONT_LEFT_SIGNAL, 2, "cliff_front_left_signal");
//ADD_PACKET(ID_CLIFF_FRONT_RIGHT_SIGNAL, 2, "cliff_front_right_signal");
//ADD_PACKET(ID_CLIFF_RIGHT_SIGNAL, 2, "cliff_right_signal");
//ADD_PACKET(ID_UNUSED_2, 1, "unused 2");
//ADD_PACKET(ID_UNUSED_3, 2, "unused 3");
//ADD_PACKET(ID_CHARGE_SOURCE, 1, "charger_available");
//ADD_PACKET(ID_IO_MODE, 1, "oi_mode");
//ADD_PACKET(ID_SONG_NUM, 1, "song_number");
//ADD_PACKET(ID_PLAYING, 1, "song_playing");
//ADD_PACKET(ID_NUM_STREAM_PACKETS, 1, "oi_stream_num_packets");
//ADD_PACKET(ID_VEL, 2, "velocity");
//ADD_PACKET(ID_RADIUS, 2, "radius");
//ADD_PACKET(ID_RIGHT_VEL, 2, "velocity_right");
//ADD_PACKET(ID_LEFT_VEL, 2, "velocity_left");
ADD_PACKET(ID_LEFT_ENC, 2, "enc_counts_left");
ADD_PACKET(ID_RIGHT_ENC, 2, "enc_counts_right");
ADD_PACKET(ID_LIGHT, 1, "light_bumper");
ADD_PACKET(ID_LIGHT_LEFT, 2, "light_bumper_left");
ADD_PACKET(ID_LIGHT_FRONT_LEFT, 2, "light_bumper_front_left");
ADD_PACKET(ID_LIGHT_CENTER_LEFT, 2, "light_bumper_center_left");
ADD_PACKET(ID_LIGHT_CENTER_RIGHT, 2, "light_bumper_center_right");
ADD_PACKET(ID_LIGHT_FRONT_RIGHT, 2, "light_bumper_front_right");
ADD_PACKET(ID_LIGHT_RIGHT, 2, "light_bumper_right");
//ADD_PACKET(ID_LIGHT_LEFT, 2, "light_bumper_left");
//ADD_PACKET(ID_LIGHT_FRONT_LEFT, 2, "light_bumper_front_left");
//ADD_PACKET(ID_LIGHT_CENTER_LEFT, 2, "light_bumper_center_left");
//ADD_PACKET(ID_LIGHT_CENTER_RIGHT, 2, "light_bumper_center_right");
//ADD_PACKET(ID_LIGHT_FRONT_RIGHT, 2, "light_bumper_front_right");
//ADD_PACKET(ID_LIGHT_RIGHT, 2, "light_bumper_right");
ADD_PACKET(ID_IR_LEFT, 1, "ir_opcode_left");
ADD_PACKET(ID_IR_RIGHT, 1, "ir_opcode_right");
ADD_PACKET(ID_LEFT_MOTOR_CURRENT, 2, "left_motor_current");
ADD_PACKET(ID_RIGHT_MOTOR_CURRENT, 2, "right_motor_current");
ADD_PACKET(ID_MAIN_BRUSH_CURRENT, 2, "main_brush_current");
ADD_PACKET(ID_SIDE_BRUSH_CURRENT, 2, "side_brush_current");
//ADD_PACKET(ID_LEFT_MOTOR_CURRENT, 2, "left_motor_current");
//ADD_PACKET(ID_RIGHT_MOTOR_CURRENT, 2, "right_motor_current");
//ADD_PACKET(ID_MAIN_BRUSH_CURRENT, 2, "main_brush_current");
//ADD_PACKET(ID_SIDE_BRUSH_CURRENT, 2, "side_brush_current");
ADD_PACKET(ID_STASIS, 1, "stasis");
totalDataBytes = 0;