Merge pull request #45 from elektrofuzzis/dev

Dev

.github/workflows/build-firmware.yml

@@ -0,0 +1,43 @@
+name: PlatformIO CI
+'on':
+  push:
+    branches:
+      - "master"
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        targets:
+          - firmware-cam
+          - firmware-control
+          - firmware-duino
+          - firmware-jst
+          - firmware-pwrdrive
+          - firmware-rs
+          - firmware-xl
+    steps:
+      - uses: actions/checkout@v3
+      - uses: actions/cache@v3
+        with:
+          path: |
+            ~/.cache/pip
+            ~/.platformio/.cache
+          key: '${{ runner.os }}-${{ matrix.targets }}-pio'
+      - uses: actions/setup-python@v4
+        with:
+          python-version: '3.12'
+      - name: Install PlatformIO Core
+        run: pip install --upgrade platformio
+      - name: Copy target-specific files
+        run: cd ./src/${{ matrix.targets }} && cp platformio.ini ../ftswarm-core && cp src/main.cpp ../ftswarm-core/src
+      - name: Download dependencies
+        run: cd ./src/ftswarm-core && pio pkg install
+      - name: Build firmware
+        run: cd ./src/ftswarm-core && pio run
+      - name: Upload firmware
+        uses: actions/upload-artifact@v4
+        with:
+          name: firmware-${{ matrix.targets }}
+          path: ./src/ftswarm-core/.pio/build/${{ matrix.targets }}/firmware.bin

src/arduino/library-template/library.json

@@ -18,7 +18,7 @@
         "type": "git",
         "url": "https://github.com/elektrofuzzis/ftSwarm"
     },
-    "version": "0.5.3",
+    "version": "0.6.0",
     "license": "MIT",
     "homepage": "https://elektrofuzzis.githib.io/ftSwarm",
     "frameworks": "arduino",

src/arduino/library-template/library.properties

@@ -1,5 +1,5 @@
 name=ftSwarm
-version=0.5.3
+version=0.6.0
 author=Christian Bergschneider, Stefan Fuss
 maintainer=elektrofuzzis <elektofuzzis@gmx.de>
 sentence=Interface libray to built robotics swarms with ftSwarm/ESP32

src/ftswarm-cam/library.json

@@ -1,6 +1,6 @@
 {
     "name": "ftswarm-cam",
-    "version": "0.5.3",
+    "version": "0.6.0",
     "description": "The goal of the ftSwarm project is to build small networked controllers for DIY and toy applications. Since they are networked with each other, they can act like a swarm. For example, they can act as several independent robots to solve a task together. In larger models, the controllers can be installed at different positions close to actuators and sensors - together they control the complete model.\n\n This is the library for ftSwarmCAM-type controllers",
     "keywords": "ftswarm, swarm, network, controller, fischertechnik, robot, model, actuator, sensor",
     "repository": {
@@ -10,7 +10,7 @@
     "license": "MIT",
     "homepage": "https://elektrofuzzis.github.io/en/index.html#top",
     "dependencies": {
-        "Elektrofuzzis/ftswarm-core": "0.5.3"
+        "Elektrofuzzis/ftswarm-core": "symlink://../ftswarm-core"
     },
     "frameworks": "arduino",
     "platforms": "espressif32"

src/ftswarm-control/library.json

@@ -1,6 +1,6 @@
 {
     "name": "ftswarm-control",
-    "version": "0.5.3",
+    "version": "0.6.0",
     "description": "The goal of the ftSwarm project is to build small networked controllers for DIY and toy applications. Since they are networked with each other, they can act like a swarm. For example, they can act as several independent robots to solve a task together. In larger models, the controllers can be installed at different positions close to actuators and sensors - together they control the complete model.\n\n This is the library for ftSwarmControl-type controllers",
     "keywords": "ftswarm, swarm, network, controller, fischertechnik, robot, model, actuator, sensor",
     "repository": {
@@ -10,7 +10,7 @@
     "license": "MIT",
     "homepage": "https://elektrofuzzis.github.io/en/index.html#top",
     "dependencies": {
-        "Elektrofuzzis/ftswarm-core": "0.5.3"
+        "Elektrofuzzis/ftswarm-core": "symlink://../ftswarm-core"
     },
     "frameworks": "arduino",
     "platforms": "espressif32"

src/ftswarm-core/include/SwOS.h

@@ -18,7 +18,7 @@
 #define MAXIDENTIFIER 32
 #define MAXACTORS 8
 #define MAXINPUTS 8
-#define SWOSVERSION "0.5.4"
+#define SWOSVERSION "0.6.0"
 
 #include <stdint.h>
 #include <cstddef>
@@ -41,22 +41,29 @@
 // max I2C Register
 #define MAXI2CREGISTERS 8
 
-// max # of controlers in swarm
+// max # of controllers in swarm
 #define MAXCTRL 32
 
 typedef uint16_t FtSwarmSerialNumber_t;
 typedef uint8_t  FtSwarmPort_t;
 
+// some delays
+#define shortDelay()  vTaskDelay( 25 / portTICK_PERIOD_MS )
+#define longDelay()   vTaskDelay( 1000 / portTICK_PERIOD_MS )
+
 // **** enumerations ****
 
+// error types
+typedef enum { SWOS_OK, SWOS_TIMEOUT, SWOS_DENY } SwOSError_t;
+
 // communication
 typedef enum { swarmComWifi = 1, swarmComRS485 = 2, swarmComBoth= 3 } FtSwarmCommunication_t; 
 
 // IO types
 typedef enum { FTSWARM_UNDEF = -1, FTSWARM_INPUT, FTSWARM_DIGITALINPUT, FTSWARM_ANALOGINPUT, FTSWARM_ACTOR, FTSWARM_BUTTON, FTSWARM_JOYSTICK, FTSWARM_PIXEL, FTSWARM_SERVO,  FTSWARM_OLED, FTSWARM_GYRO, FTSWARM_HC165, FTSWARM_I2C, FTSWARM_CAM, FTSWARM_COUNTERINPUT, FTSWARM_FREQUENCYINPUT, FTSWARM_MAXIOTYPE } FtSwarmIOType_t ;
 
-// controler types
-typedef enum { FTSWARM_NOCTRL = -1, FTSWARM = 0, FTSWARMCONTROL, FTSWARMCAM, FTSWARMPWRDRIVE, FTSWARMDUINO } FtSwarmControler_t;
+// controller types
+typedef enum { FTSWARM_NOCTRL = -1, FTSWARM = 0, FTSWARMCONTROL, FTSWARMCAM, FTSWARMPWRDRIVE, FTSWARMDUINO } FtSwarmController_t;
 
 // sensor types
 typedef enum { FTSWARM_DIGITAL, FTSWARM_ANALOG, FTSWARM_SWITCH, FTSWARM_REEDSWITCH, FTSWARM_LIGHTBARRIER, FTSWARM_VOLTMETER, FTSWARM_OHMMETER, FTSWARM_THERMOMETER, FTSWARM_LDR, FTSWARM_TRAILSENSOR, FTSWARM_COLORSENSOR, FTSWARM_ULTRASONIC, FTSWARM_CAMSENSOR, FTSWARM_COUNTER, FTSWARM_ROTARYENCODER, FTSWARM_FREQUENCYMETER, FTSWARM_MAXSENSOR } FtSwarmSensor_t;
@@ -74,7 +81,8 @@ typedef enum {
   FTSWARMRS_2V1,
   FTSWARMCAM_2V11,
   FTSWARMDUINO_1V141,
-  FTSWARMPWRDRIVE_1V141 } FtSwarmVersion_t;
+  FTSWARMPWRDRIVE_1V141,
+  FTSWARMXL_1V00 } FtSwarmVersion_t;
 
 // how to move
 typedef enum { FTSWARM_COAST, FTSWARM_BRAKE, FTSWARM_ON, FTSWARM_MAXMOTION } FtSwarmMotion_t;
@@ -102,7 +110,7 @@ typedef enum {
     Black      = 0x000000
 } FtSwarmColor;
 
-#define MAXSPEED256  256 
+#define MAXSPEED256  255 
 #define MAXSPEED4096 4095 
 
 // **** port definitions ****
@@ -197,7 +205,7 @@ class FtSwarmInput : public FtSwarmIO {
 // **** input / actor classes to use in your sketch ****
 
 class FtSwarmDigitalInput : public FtSwarmInput {
-  // digital inputs. ports A1..A4, all controler types
+  // digital inputs. ports A1..A4, all controller types
 
   protected:
     FtSwarmDigitalInput( FtSwarmSerialNumber_t serialNumber, FtSwarmPort_t port, FtSwarmSensor_t sensorType, bool normallyOpen = true);
@@ -217,22 +225,22 @@ class FtSwarmDigitalInput : public FtSwarmInput {
 };
 
 class FtSwarmSwitch : public FtSwarmDigitalInput {
-  // all kind of mechanical switches, A1..A4 all controlers
+  // all kind of mechanical switches, A1..A4 all controllers
   // fischertechnik switches: 1-3 is normally open, 1-2 is normally closed
   public:
     FtSwarmSwitch( FtSwarmSerialNumber_t serialNumber, FtSwarmPort_t port, bool normallyOpen = true);
     FtSwarmSwitch( const char *name, bool normallyOpen = true );
 };
 
 class FtSwarmReedSwitch : public FtSwarmDigitalInput {
-  // reed switches, A1..A4 all controlers
+  // reed switches, A1..A4 all controllers
   public:
     FtSwarmReedSwitch( FtSwarmSerialNumber_t serialNumber, FtSwarmPort_t port, bool normallyOpen = true);
     FtSwarmReedSwitch( const char *name, bool normallyOpen = true);
 };
 
 class FtSwarmLightBarrier: public FtSwarmDigitalInput {
-  // photo transistor as light barrier, A1..A4 all controlers
+  // photo transistor as light barrier, A1..A4 all controllers
   public:
     FtSwarmLightBarrier( FtSwarmSerialNumber_t serialNumber, FtSwarmPort_t port, bool normallyOpen = true);
     FtSwarmLightBarrier( const char *name, bool normallyOpen = true);
@@ -346,21 +354,21 @@ class FtSwarmLDR : public FtSwarmAnalogInput {
 class FtSwarmActor : public FtSwarmIO {
   // an actor base class, don't use this class at all
   protected:
-    FtSwarmActor( FtSwarmSerialNumber_t serialNumber, FtSwarmPort_t port, FtSwarmActor_t actorType );
-    FtSwarmActor( const char *name, FtSwarmActor_t actorType );
+    FtSwarmActor( FtSwarmSerialNumber_t serialNumber, FtSwarmPort_t port, FtSwarmActor_t actorType, bool highResolution );
+    FtSwarmActor( const char *name, FtSwarmActor_t actorType, bool highResolution );
 };
 
 
 class FtSwarmMotor : public FtSwarmActor {
   // general motor class, use this class for (old) gray motors, mini motors, XS motors
   // M1..M2 all contollers - keep power budget in mind!
   protected:
-    FtSwarmMotor( FtSwarmSerialNumber_t serialNumber, FtSwarmPort_t port, FtSwarmActor_t actorType );
-    FtSwarmMotor( const char *name, FtSwarmActor_t actorType );
+    FtSwarmMotor( FtSwarmSerialNumber_t serialNumber, FtSwarmPort_t port, FtSwarmActor_t actorType, bool highResolution );
+    FtSwarmMotor( const char *name, FtSwarmActor_t actorType, bool highResolution );
   public:
-    FtSwarmMotor( FtSwarmSerialNumber_t serialNumber, FtSwarmPort_t port ):FtSwarmMotor( serialNumber, port, FTSWARM_MOTOR ) {};
-    FtSwarmMotor( const char *name ):FtSwarmMotor( name, FTSWARM_MOTOR ) {};    
-    void     setSpeed( int16_t speed );                                // speed +/- 255 or +/-4095 dependend on speedRange, speed 0 motor stopss
+    FtSwarmMotor( FtSwarmSerialNumber_t serialNumber, FtSwarmPort_t port, bool highResolution = false ):FtSwarmMotor( serialNumber, port, FTSWARM_MOTOR, highResolution ) {};
+    FtSwarmMotor( const char *name, bool highResolution = false ):FtSwarmMotor( name, FTSWARM_MOTOR, highResolution ) {};  
+    void     setSpeed( int16_t speed );                                // speed +/- 255 or +/-4095 dependend on resolution, speed 0 motor stopss
     uint16_t getSpeed();                                               // actual speed
     void     setAcceleration( uint32_t rampUpT,  uint32_t rampUpY );  
     void     getAcceleration( uint32_t *rampUpT, uint32_t *rampUpY );
@@ -371,12 +379,12 @@ class FtSwarmTractorMotor : public FtSwarmMotor {
   // tractor & XM motor
   // M1..M2 all contollers - keep power budget in mind!
   protected:
-    FtSwarmTractorMotor( FtSwarmSerialNumber_t serialNumber, FtSwarmPort_t port, FtSwarmActor_t actorType );
-    FtSwarmTractorMotor( const char * name, FtSwarmActor_t actorType );
+    FtSwarmTractorMotor( FtSwarmSerialNumber_t serialNumber, FtSwarmPort_t port, FtSwarmActor_t actorType, bool highResolution );
+    FtSwarmTractorMotor( const char * name, FtSwarmActor_t actorType, bool highResolution );
 
   public:
-    FtSwarmTractorMotor( FtSwarmSerialNumber_t serialNumber, FtSwarmPort_t port );
-    FtSwarmTractorMotor( const char * name );
+    FtSwarmTractorMotor( FtSwarmSerialNumber_t serialNumber, FtSwarmPort_t port, bool highResolution = false );
+    FtSwarmTractorMotor( const char * name, bool highResolution = false );
 
     // FtSwarmTractor has different options for stopping motor:
     virtual void setMotionType( FtSwarmMotion_t motionType );
@@ -389,17 +397,17 @@ class FtSwarmXMMotor : public FtSwarmTractorMotor {
   // xm motor
   // M1..M2 all contollers - keep power budget in mind!
   public:
-    FtSwarmXMMotor( FtSwarmSerialNumber_t serialNumber, FtSwarmPort_t port);
-    FtSwarmXMMotor( const char * name );
+    FtSwarmXMMotor( FtSwarmSerialNumber_t serialNumber, FtSwarmPort_t port, bool highResolution = false);
+    FtSwarmXMMotor( const char * name, bool highResolution = false );
 };
 
 class FtSwarmEncoderMotor : public FtSwarmTractorMotor {
   // encoder motor
   // M1..M2 all contollers - keep power budget in mind!
   // TODO: implement encoder input
   public:
-    FtSwarmEncoderMotor( FtSwarmSerialNumber_t serialNumber, FtSwarmPort_t port );
-    FtSwarmEncoderMotor( const char * name );
+    FtSwarmEncoderMotor( FtSwarmSerialNumber_t serialNumber, FtSwarmPort_t port, bool highResolution = false );
+    FtSwarmEncoderMotor( const char * name, bool highResolution = false );
 };
 
 class FtSwarmStepperMotor : public FtSwarmTractorMotor {
@@ -595,10 +603,10 @@ class FtSwarm {
 
   public:
     FtSwarmSerialNumber_t begin( bool verbose = false );   // start my swarm
-    void setReadDelay( uint16_t readDelay );               // set delay between two measures
     void halt( void );                                     // stop all actors
     bool waitOnUserEvent( int parameter[10], TickType_t xTicksToWait = 512 );
     bool sendEventData( uint8_t *buffer, size_t size );
+    bool IOAvaliable( const char *name ) { return false; };
 };
 
 // There is one only

src/ftswarm-core/include/SwOSCLI.h

@@ -93,7 +93,7 @@ class SwOSCLI {
     void executePixelCmd( void );
     void executeI2CCmd( void );
     void executeIOCommand( void );
-    void executeControlerCmd( void );
+    void executeControllerCmd( void );
     bool eval( void );
     void help( void );
     void startCLI( bool noEcho );

src/ftswarm-core/include/SwOSCom.h

@@ -1,7 +1,7 @@
 /*
  * SwOSCom.h
  *
- * Communication between your controlers
+ * Communication between your controllers
  * 
  * (C) 2021/22 Christian Bergschneider & Stefan Fuss
  *
@@ -20,13 +20,13 @@
 
 #define ESPNOW_MAXDELAY     128
 #define DEFAULTSECRET       0x2506
-#define VERSIONDATA         6
+#define VERSIONDATA         7
 #define MAXALIAS            5
 #define MAXUSEREVENTPAYLOAD 128
 
 typedef enum {
   CMD_SWARMJOIN,              // I want to join a swarm
-  CMD_SWARMJOINACK,           // Acknowledge on join swarm
+  CMD_ACK,                    // Acknowledge a cmd
   CMD_SWARMLEAVE,             // leave swarm
   CMD_ANYBODYOUTTHERE,        // Broadcast to get known by everybody 
   CMD_GOTYOU,                 // anybody's reply on ANYBODYOUTTHERE
@@ -78,9 +78,9 @@ struct registerControl_t {
 } __attribute__((packed));
 
 struct registerCmd_t { 
-  FtSwarmControler_t ctrlType; 
+  FtSwarmController_t ctrlType; 
   FtSwarmVersion_t versionCPU; 
-  bool IAmAKelda; 
+  bool IAmKelda; 
   FtSwarmExtMode_t extentionPort;
   uint8_t leds;
 } __attribute__((packed));
@@ -95,14 +95,15 @@ struct SwOSDatagram_t {
   SwOSCommand_t         cmd;
   union {
     registerCmd_t registerCmd;
-    struct { uint16_t pin; uint16_t swarmSecret; char swarmName[MAXIDENTIFIER]; } joinCmd;
+    struct { uint16_t pin; uint16_t swarmSecret; char swarmName[MAXIDENTIFIER]; bool IAmKelda; } joinCmd;
+    struct { SwOSCommand_t cmd; SwOSError_t error; uint16_t secret; } ackCmd;
     struct { uint32_t inputValue[MAXINPUTS]; int16_t LR[2]; int16_t FB[2]; uint8_t hc165;} stateCmd;
     struct { bool isHoming[4]; bool isRunning[4]; uint32_t inputValue[5]; long distance[4]; long position[4];} stepperStateCmd;
     struct { uint8_t index; FtSwarmSensor_t sensorType; bool normallyOpen; } sensorCmd __attribute__((packed));
     struct { uint8_t index; int16_t offset; int16_t position; } servoCmd;
     struct { uint8_t index; FtSwarmMotion_t motionType; int16_t speed;  uint32_t rampUpT; uint32_t rampUpY; } actorSpeedCmd;
     struct { uint8_t index; long paraml; bool paramb; } actorStepperCmd;
-    struct { uint8_t index; FtSwarmActor_t actorType; } actorTypeCmd;
+    struct { uint8_t index; FtSwarmActor_t actorType; bool highResolution; } actorTypeCmd;
     struct { uint8_t index; uint8_t brightness; uint32_t color; } ledCmd;
     struct { Alias_t alias[MAXALIAS]; } aliasCmd;
     struct { uint8_t reg; uint8_t value; } I2CRegisterCmd;