Merge pull request #173 from Luos-io/release/rc/2.3.0

Release Luos Engine 2.3.0
Luos-io · Mar 22, 2022 · 625d89e · 625d89e
2 parents e39f862 + cf6cbb8
commit 625d89e
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Showing 23 changed files with 437 additions and 85 deletions.
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -69,6 +69,7 @@ jobs:
           platformio run -d Projects/l0/Gate_SerialCom
           platformio run -d Projects/l0/Gpio
           platformio run -d Projects/l0/Imu
+          platformio run -d Projects/l0/Inspector_SerialCom
           platformio run -d Projects/l0/Led
           platformio run -d Projects/l0/Led_strip
           platformio run -d Projects/l0/Light_sensor
@@ -82,23 +83,30 @@ jobs:
           # arduino
           platformio run -d Projects/Arduino/Button
           platformio run -d Projects/Arduino/Gate_SerialCom
+          platformio run -d Projects/Arduino/Inspector_SerialCom
+
           # NUCLEO-L432KC
           platformio run -d Projects/NUCLEO-L432KC/Button
           platformio run -d Projects/NUCLEO-L432KC/Gate_SerialCom
+          platformio run -d Projects/NUCLEO-L432KC/Inspector_SerialCom
           platformio run -d Projects/NUCLEO-L432KC/Led
           # STM32F4-discovery
           platformio run -d Projects/STM32F4-discovery/Button
           platformio run -d Projects/STM32F4-discovery/Gate_SerialCom
+          platformio run -d Projects/NUCLEO-F401RE/Inspector_SerialCom
+
           # NUCLEO-F401RE
           platformio run -d Projects/NUCLEO-F401RE/Button
           platformio run -d Projects/NUCLEO-F401RE/Gate_SerialCom
+          platformio run -d Projects/NUCLEO-F410RB/Inspector_SerialCom
           platformio run -d Projects/NUCLEO-F401RE/Led
           # NUCLEO-F401RB
           platformio run -d Projects/NUCLEO-F410RB/Button
           platformio run -d Projects/NUCLEO-F410RB/Gate_SerialCom
           # NUCLEO-G431KB
           platformio run -d Projects/NUCLEO-G431KB/Button
           platformio run -d Projects/NUCLEO-G431KB/Gate_SerialCom
+          platformio run -d Projects/NUCLEO-G431KB/Inspector_SerialCom
 
       - name: Run PlatformIO Unit Tests
         env:
@@ -111,8 +119,10 @@ jobs:
           platformio run -t clean -c .\test\msg_alloc\config\platformio.ini
           platformio run -t clean -c .\test\luos\config\platformio.ini
           platformio run -t clean -c .\test\routing_table\config\platformio.ini
+          platformio run -t clean -c .\test\timestamp\config\platformio.ini
 
           # Run Unit tests
           platformio test -e native -c .\test\msg_alloc\config\platformio.ini     -f msg_alloc     --verbose
           platformio test -e native -c .\test\luos\config\platformio.ini          -f luos          --verbose
-          platformio test -e native -c .\test\routing_table\config\platformio.ini -f routing_table --verbose          
+          platformio test -e native -c .\test\routing_table\config\platformio.ini -f routing_table --verbose
+          platformio test -e native -c .\test\timestamp\config\platformio.ini     -f timestamp     --verbose
diff --git a/.github/workflows/dev-build.yml b/.github/workflows/dev-build.yml
@@ -92,6 +92,7 @@ jobs:
           platformio run -d Projects/l0/Gate_SerialCom
           platformio run -d Projects/l0/Gpio
           platformio run -d Projects/l0/Imu
+          platformio run -d Projects/l0/Inspector_SerialCom
           platformio run -d Projects/l0/Led
           platformio run -d Projects/l0/Led_strip
           platformio run -d Projects/l0/Light_sensor
@@ -102,26 +103,35 @@ jobs:
           platformio run -d Projects/l0/Stepper
           platformio run -d Projects/l0/Bike_alarm/Alarm_controller
           platformio run -d Projects/l0/Bike_alarm/Start_controller
+
           # arduino
           platformio run -d Projects/Arduino/Button
           platformio run -d Projects/Arduino/Gate_SerialCom
+          platformio run -d Projects/Arduino/Inspector_SerialCom
+
           # NUCLEO-L432KC
           platformio run -d Projects/NUCLEO-L432KC/Button
           platformio run -d Projects/NUCLEO-L432KC/Gate_SerialCom
+          platformio run -d Projects/NUCLEO-L432KC/Inspector_SerialCom
           platformio run -d Projects/NUCLEO-L432KC/Led
           # STM32F4-discovery
           platformio run -d Projects/STM32F4-discovery/Button
           platformio run -d Projects/STM32F4-discovery/Gate_SerialCom
+          platformio run -d Projects/NUCLEO-F401RE/Inspector_SerialCom
+
           # NUCLEO-F401RE
           platformio run -d Projects/NUCLEO-F401RE/Button
           platformio run -d Projects/NUCLEO-F401RE/Gate_SerialCom
+          platformio run -d Projects/NUCLEO-F410RB/Inspector_SerialCom
           platformio run -d Projects/NUCLEO-F401RE/Led
           # NUCLEO-F401RB
           platformio run -d Projects/NUCLEO-F410RB/Button
           platformio run -d Projects/NUCLEO-F410RB/Gate_SerialCom
+
           # NUCLEO-G431KB
           platformio run -d Projects/NUCLEO-G431KB/Button
           platformio run -d Projects/NUCLEO-G431KB/Gate_SerialCom
+          platformio run -d Projects/NUCLEO-G431KB/Inspector_SerialCom
 
       - name: Run PlatformIO Unit Tests
         env:
@@ -134,8 +144,10 @@ jobs:
           platformio run -t clean -c .\test\msg_alloc\config\platformio.ini
           platformio run -t clean -c .\test\luos\config\platformio.ini
           platformio run -t clean -c .\test\routing_table\config\platformio.ini
+          platformio run -t clean -c .\test\timestamp\config\platformio.ini
 
           # Run Unit tests
           platformio test -e native -c .\test\msg_alloc\config\platformio.ini     -f msg_alloc     --verbose
           platformio test -e native -c .\test\luos\config\platformio.ini          -f luos          --verbose
           platformio test -e native -c .\test\routing_table\config\platformio.ini -f routing_table --verbose
+          platformio test -e native -c .\test\timestamp\config\platformio.ini     -f timestamp     --verbose
diff --git a/Profiles/State/profile_state.c b/Profiles/State/profile_state.c
@@ -29,10 +29,13 @@ void ProfileState_Handler(service_t *service, msg_t *msg)
                 if (Timestamp_GetToken(&profile_state->state))
                 {
                     Timestamp_EncodeMsg(&pub_msg, &profile_state->state);
+                    Luos_SendTimestampMsg(service, &pub_msg);
+                }
+                else
+                {
+                    // send message on the network
+                    Luos_SendMsg(service, &pub_msg);
                 }
-
-                // send message on the network
-                Luos_SendMsg(service, &pub_msg);
             }
             break;
         case IO_STATE:

diff --git a/Robus/inc/robus_struct.h b/Robus/inc/robus_struct.h
@@ -65,7 +65,7 @@ typedef struct __attribute__((__packed__))
     {
         struct __attribute__((__packed__))
         {
-            uint16_t protocol : 4;    /*!< Protocol version. */
+            uint16_t config : 4;      /*!< Protocol version. */
             uint16_t target : 12;     /*!< Target address, it can be (ID, Multicast/Broadcast, Type). */
             uint16_t target_mode : 4; /*!< Select targeting mode (ID, ID+ACK, Multicast/Broadcast, Type). */
             uint16_t source : 12;     /*!< Source address, it can be (ID, Multicast/Broadcast, Type). */
@@ -157,6 +157,13 @@ typedef enum
     ROBUS_PROTOCOL_NB = 13,
 } robus_cmd_t;
 
+typedef enum
+{
+    // Protocol version
+    BASE_PROCOTOL = PROTOCOL_REVISION,
+    TIMESTAMP_PROTOCOL,
+} robus_protocol_t;
+
 typedef void (*RX_CB)(ll_service_t *ll_service, msg_t *msg);
 /*******************************************************************************
  * Variables

diff --git a/Robus/inc/timestamp.h b/Robus/inc/timestamp.h
@@ -16,7 +16,7 @@
  ******************************************************************************/
 typedef struct timestamp_token
 {
-    uint64_t timestamp;
+    int64_t timestamp;
     void *target;
     struct timestamp_token *next;
 } timestamp_token_t;
@@ -37,6 +37,7 @@ timestamp_token_t *Timestamp_GetToken(void *target);
 bool Timestamp_IsTimestampMsg(msg_t *msg);
 void Timestamp_TagMsg(msg_t *msg);
 void Timestamp_EncodeMsg(msg_t *msg, void *target);
-void Timestamp_DecodeMsg(msg_t *msg, uint64_t *timestamp);
+void Timestamp_DecodeMsg(msg_t *msg, int64_t *timestamp);
+void Timestamp_CreateEvent(int64_t, timestamp_token_t *, void *);
 
 #endif /* _TIMESTAMP_H_ */
diff --git a/Robus/src/reception.c b/Robus/src/reception.c
@@ -32,11 +32,11 @@
 /*******************************************************************************
  * Variables
  ******************************************************************************/
-uint16_t data_count             = 0;
-uint16_t data_size              = 0;
-uint16_t crc_val                = 0;
-static uint64_t ll_rx_timestamp = 0;
-uint16_t large_data_num         = 0;
+uint16_t data_count            = 0;
+uint16_t data_size             = 0;
+uint16_t crc_val               = 0;
+static int64_t ll_rx_timestamp = 0;
+uint16_t large_data_num        = 0;
 
 /*******************************************************************************
  * Function
@@ -92,7 +92,7 @@ void Recep_GetHeader(volatile uint8_t *data)
         case (sizeof(header_t)): // Process at the header
 #ifdef DEBUG
             printf("*******header data*******\n");
-            printf("protocol : 0x%04x\n", current_msg->header.protocol);       /*!< Protocol version. */
+            printf("protocol : 0x%04x\n", current_msg->header.config);         /*!< Protocol version. */
             printf("target : 0x%04x\n", current_msg->header.target);           /*!< Target address, it can be (ID, Multicast/Broadcast, Type). */
             printf("target_mode : 0x%04x\n", current_msg->header.target_mode); /*!< Select targeting mode (ID, ID+ACK, Multicast/Broadcast, Type). */
             printf("source : 0x%04x\n", current_msg->header.source);           /*!< Source address, it can be (ID, Multicast/Broadcast, Type). */
@@ -159,12 +159,12 @@ void Recep_GetData(volatile uint8_t *data)
             // if message is timestamped, update the timestamp
             if (Timestamp_IsTimestampMsg((msg_t *)current_msg))
             {
-                uint64_t latency = 0;
+                int64_t latency = 0;
                 // get timestamp in message stream
                 // timestamp is placed at the end of the payload, just before the crc.
-                memcpy(&latency, (msg_t *)&current_msg->data[current_msg->header.size - sizeof(uint64_t)], sizeof(uint64_t));
-                ll_rx_timestamp = (ll_rx_timestamp >= latency) ? ll_rx_timestamp - latency : 0;
-                memcpy((msg_t *)&current_msg->data[current_msg->header.size - sizeof(uint64_t)], &ll_rx_timestamp, sizeof(uint64_t));
+                memcpy(&latency, (msg_t *)&current_msg->data[current_msg->header.size - sizeof(int64_t)], sizeof(int64_t));
+                ll_rx_timestamp = (ll_rx_timestamp + latency > 0) ? ll_rx_timestamp + latency : 0;
+                memcpy((msg_t *)&current_msg->data[current_msg->header.size - sizeof(int64_t)], &ll_rx_timestamp, sizeof(int64_t));
             }
 
             if (Recep_IsAckNeeded())

diff --git a/Robus/src/robus.c b/Robus/src/robus.c
@@ -178,8 +178,6 @@ error_return_t Robus_SendMsg(ll_service_t *ll_service, msg_t *msg)
     }
 
     // ********** Prepare the message ********************
-    // Set protocol revision and source ID on the message
-    msg->header.protocol = PROTOCOL_REVISION;
     if (ll_service->id != 0)
     {
         msg->header.source = ll_service->id;
@@ -206,7 +204,7 @@ error_return_t Robus_SendMsg(ll_service_t *ll_service, msg_t *msg)
 
     if (Timestamp_IsTimestampMsg(msg))
     {
-        crc_max_index = full_size - (sizeof(uint64_t) + sizeof(uint8_t));
+        crc_max_index = full_size - sizeof(int64_t);
     }
     else
     {