Fixes before pool test

osu-uwrt · May 17, 2023 · 773db48 · 773db48
1 parent b8dde64
commit 773db48
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Showing 5 changed files with 16 additions and 15 deletions.
diff --git a/lib/driver_status_strip/status_strip.c b/lib/driver_status_strip/status_strip.c
@@ -226,15 +226,15 @@ bool __time_critical_func(status_strip_refresh)(__unused repeating_timer_t *rt)
                 }
             }
 
-            // Finally update the front set of LEDs
+            // Finally update the rear set of LEDs
             if (inst->first_pixel_is_rear) {
-                inst->end_cmd.data = command.data;
-                inst->middle_cmd.data = flash_command.data;
-            }
-            else {
                 inst->middle_cmd.data = command.data;
                 inst->end_cmd.data = flash_command.data;
             }
+            else {
+                inst->end_cmd.data = command.data;
+                inst->middle_cmd.data = flash_command.data;
+            }
         }
         else {
             inst->end_cmd.data = command.data;

diff --git a/lib/micro_ros_pico/microros_static_library/library_generation/colcon.meta b/lib/micro_ros_pico/microros_static_library/library_generation/colcon.meta
@@ -36,8 +36,8 @@
                 "-DUCLIENT_PROFILE_SERIAL=OFF",
                 "-DUCLIENT_PROFILE_STREAM_FRAMING=ON",
                 "-DUCLIENT_PROFILE_CUSTOM_TRANSPORT=ON",
-                "-DUCLIENT_MIN_SESSION_CONNECTION_INTERVAL=30",
-                "-DUCLIENT_MIN_SESSION_CONNECTION_ATTEMPTS=1"
+                "-DUCLIENT_MIN_SESSION_CONNECTION_INTERVAL=300",
+                "-DUCLIENT_MIN_SESSION_CONNECTION_ATTEMPTS=3"
             ]
         },
         "rmw_microxrcedds": {

diff --git a/lib/micro_ros_pico/microros_static_library/library_generation/library_generation.sh b/lib/micro_ros_pico/microros_static_library/library_generation/library_generation.sh
@@ -32,8 +32,8 @@ pushd firmware/mcu_ws > /dev/null
         vcs import --input extra_packages.repos
     popd > /dev/null
 
-    # Workaround: The software team enjoys pain. 
-    git clone -b actuators-msgs https://github.com/osu-uwrt/riptide_core
+    # Workaround: The software team enjoys pain.
+    git clone https://github.com/osu-uwrt/riptide_core
     cp -R riptide_core/riptide_msgs ros2/riptide_msgs
     rm -rf riptide_core
 

diff --git a/talos/CameraCageBB/src/ros.c b/talos/CameraCageBB/src/ros.c
@@ -130,16 +130,17 @@ static void physkill_notify_subscription_callback(const void * msgin)
 }
 
 static alarm_id_t toggle_pwr_alarm_id = 0;
+static bool toggle_state = false;
 
-static int64_t set_computer_power(__unused alarm_id_t alarm, void * data){
-    bool state = (bool) data;
-    gpio_put(ORIN_SW_PIN, state);
+static int64_t set_computer_power(__unused alarm_id_t alarm, __unused void * data){
+    gpio_put(ORIN_SW_PIN, toggle_state);
 
-    if (state) {
+    if (toggle_state) {
         toggle_pwr_alarm_id = 0;
         return 0; // Don't reschedule if turning on
     } else {
-        return 1000 * 1000;   // Turn off for 1 second
+        toggle_state = !toggle_state;
+        return 5000 * 1000;   // Turn off for 5 seconds
     }
 }
 
@@ -150,6 +151,7 @@ static void elec_command_subscription_callback(const void * msgin){
             LOG_WARN("Attempting to request multiple cycles in a row");
         }
         else {
+            toggle_state = false;
             toggle_pwr_alarm_id = add_alarm_in_ms(10, &set_computer_power, (void *) false,  true);
             if (toggle_pwr_alarm_id < 0) {
                 toggle_pwr_alarm_id = 0;

diff --git a/talos/PowerBoard/src/ros.c b/talos/PowerBoard/src/ros.c
@@ -7,7 +7,6 @@
 #include <rclc/rclc.h>
 #include <rclc/executor.h>
 #include <riptide_msgs2/msg/firmware_status.h>
-#include <riptide_msgs2/msg/robot_state.h>
 #include <riptide_msgs2/msg/kill_switch_report.h>
 #include <riptide_msgs2/msg/electrical_readings.h>
 #include <riptide_msgs2/msg/electrical_command.h>