Merge branch 'dev' of https://github.com/letsbuildrockets/ToF-CAN into dev

Author: ericsims

software/ToF-CAN-Java-FRC-V1.0.zip

@@ -1,19 +1,25 @@
-import org.letsbuildrocekts.libs.TimeOfFlightSensor;
+package frc.robot;
+
+import org.letsbuildrockets.libs.TimeOfFlightSensor;
+
 import edu.wpi.first.wpilibj.TimedRobot;
 
 public class Robot extends TimedRobot {
   private TimeOfFlightSensor tofsensor;
 
   @Override
   public void robotInit() {
-    tofsensor = new TimeOfFlightSensor(0x620);
+    tofsensor = new TimeOfFlightSensor(0x621);
+    System.out.println("ToF Sensor at " + String.format("0x%03x", tofsensor.getID()) + "! (with firmware version: " + tofsensor.getFirwareVersion().toString()+")");
   }
 
   @Override
   public void teleopPeriodic() {
-    if(tofsensor.inRange())
-      System.out.println("distance: " + tofsensor.getDistance());
-    else
+    if(tofsensor.inRange()) {
+      System.out.println("distance: " + tofsensor.getDistance()+ " " + tofsensor.getError());
+    } else {
       System.out.println("out of range");
+    }
   }
+
 }

software/ToF-CAN-Java-FRC-V1.1.zip

@@ -2,13 +2,16 @@
 
 import org.letsbuildrockets.libs.CustomCAN;
 import org.letsbuildrockets.libs.VersionNumber;
+
+import edu.wpi.first.hal.util.UncleanStatusException;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.hal.HAL;
 /**
  * TimeOfFlightSensor
  * V1.1
  */
 public class TimeOfFlightSensor {
 
-
     // Control Bytes
     private static final byte CTRL_SEND_ERROR = 1;
     private static final byte CTRL_SEND_DISTANCE = 2;
@@ -25,61 +28,77 @@ public class TimeOfFlightSensor {
     private static final byte ERROR_BAD_CTRL_BYTE = 5;
     private static final byte ERROR_NOT_ENOUGH_DATA_BYTES = 6;
 
+    // Required Firmware
+    private static final VersionNumber minVersion =  new VersionNumber(1,1);
 
-    int _ID, _distance, _error;
-    VersionNumber _firmwareVersion;
-    CustomCAN tofsensor;
-    static int TOFCount = 0;
+
+    protected int _ID, _distance, _error = -1;
+    protected Timer packetTimer;
+    protected VersionNumber _firmwareVersion;
+    protected CustomCAN tofsensor;
+    protected static int TOFCount = 0;
 
     public TimeOfFlightSensor(int ID) {
         tofsensor = new CustomCAN("TOF"+String.valueOf(TOFCount), ID);
+        _firmwareVersion = new VersionNumber(0, 0);
         _ID = ID;
         TOFCount++;
-        sendByte(CTRL_GET_FIRMWARE_VERSION);
-        readBuffer();
+        packetTimer = new Timer();
+        packetTimer.start();
+        getFirwareVersion();
+        if(_firmwareVersion.isOlderThan(minVersion))
+            HAL.sendError(true, -2, false, "LBR: Old Firmware! ToF sensor at " + String.format("0x%04x", _ID) + " is on firmware version " + _firmwareVersion.toString() + " but version " + minVersion.toString() + " is required. Upgrade ToF firmware, or downagrade the TimeOfFlight Java library!", "", "", false);    
     }
 
     private void readBuffer() {
         try {
             byte dat[] = tofsensor.readSafely();
             // for (byte byteme : dat) {
-                // System.out.printf("rec: 0x%02x\n", byteme);
+            //     System.out.printf("rec: 0x%02x\n", byteme);
             // }
             switch (dat[0]) {
                 case CTRL_SEND_ERROR:
                     if(dat.length == 2){
                         _error = dat[1];
+                        if(_error == ERROR_NONE || _error == ERROR_OUT_OF_RANGE)
+                            packetTimer.reset();
                     }
                     break;
                 case CTRL_SEND_DISTANCE:
-                    if(dat.length == 3) {
-                        _error = dat[0] & 0xFF;
+                    if(dat.length == 4) {
                         _distance = (dat[1]&0xFF) << 8 | (dat[2]&0xFF);
-                        // System.out.println("distance: " + _distance);
+                        _error = dat[3];
+                        //System.out.println("distance: " + _distance);
+                        packetTimer.reset();
                     }
                     break;
                 case CTRL_SEND_FIRMWARE_VERSION:
+                    //System.out.println("ok, we received a firmware number i think");
                     if(dat.length == 3){
-                        _firmwareVersion.major = dat[1];
-                        _firmwareVersion.minor = dat[2];
+                        _firmwareVersion = new VersionNumber(dat[1], dat[2]);
                     }
+                    packetTimer.reset();
                     break;
 
                 default:
                     break;
             }
         } catch (CANMessageUnavailableException e) {
             //System.out.println("CAN error "+e.getMessage());
+            if(packetTimer.hasPeriodPassed(5))
+                HAL.sendError(true, -1, false, "LBR: Unable to communicate with ToF sensor at " + String.format("0x%04x", _ID), "", e.getStackTrace().toString(), false);    
         }
     }
 
     private void sendByte(byte byteme) {
         byte dat[] = new byte[8];
         dat[0] = byteme;
+        try {
         tofsensor.writeSafely(dat);
+        } catch (UncleanStatusException e) { }
     }
 
-    public void setHarwareCANAddress(short newID) {
+    public void setHarwareCANAddress(int newID) {
         if(newID < 0x0620) {
             System.err.println("The new address for " + tofsensor.getName() + " must be >= 0x0620!");
             return;
@@ -96,23 +115,36 @@ public void setHarwareCANAddress(short newID) {
     }
 
     public VersionNumber getFirwareVersion() {
+        if(_firmwareVersion.major > 0) return _firmwareVersion;
         sendByte(CTRL_GET_FIRMWARE_VERSION);
-        readBuffer();
+        for(int i = 0; i < 100; i++) {
+            Timer.delay(0.01);
+            readBuffer();
+            if(_firmwareVersion.major > 0) return _firmwareVersion;
+        }
+        HAL.sendError(true, -1, false, "LBR: Unable to communicate with ToF sensor at " + String.format("0x%04x", _ID) + " Can't get firmware version!", "", "", false);    
         return _firmwareVersion;
     }
 
+    public int getID() {
+        return _ID;
+    }
+
     public int getDistance() {
-        readBuffer();
+        if(packetTimer.hasPeriodPassed(0.01))
+            readBuffer();
         return _distance;
     }
 
     public int getError() {
-        readBuffer();
+        if(packetTimer.hasPeriodPassed(0.01))
+            readBuffer();
         return _error;
     }
 
     public boolean inRange() {
-        readBuffer();
+        if(packetTimer.hasPeriodPassed(0.01))
+            readBuffer();
         return (_error == 0);
     }
 

software/java_frc/exampleRobot.java

@@ -11,4 +11,12 @@ public class VersionNumber {
         major = _major;
         minor = _minor;
     }
+
+    public boolean isOlderThan(VersionNumber req) {
+        return(major < req.major || (major == req.major && minor < req.minor));
+    }
+
+    public String toString() {
+        return String.format("%d.%d", major, minor);
+    }
 }