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pbio/port_lump: Fix ColorLightMatrix by sending initial NACK. #309

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Merged
merged 2 commits into from
Jun 16, 2025
Merged

pbio/port_lump: Fix ColorLightMatrix by sending initial NACK. #309

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6c5c1f0
pbio/port_lump: Send keep-alive right away.
laurensvalk Jun 14, 2025
4a4714a
pbio/port_lump: Revert setting EV3 Color Sensor ambient mode.
laurensvalk Jun 16, 2025
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13 changes: 7 additions & 6 deletions lib/pbio/src/port_lump.c
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Original file line number Diff line number Diff line change
Expand Up @@ -881,8 +881,6 @@ pbio_error_t pbio_port_lump_sync_thread(pbio_os_state_t *state, pbio_port_lump_d
default_mode = LEGO_DEVICE_MODE_PUP_REL_MOTOR__POS;
} else if (lump_dev->type_id == LEGO_DEVICE_TYPE_ID_COLOR_DIST_SENSOR) {
default_mode = LEGO_DEVICE_MODE_PUP_COLOR_DISTANCE_SENSOR__RGB_I;
} else if (lump_dev->type_id == LEGO_DEVICE_TYPE_ID_EV3_COLOR_SENSOR) {
default_mode = LEGO_DEVICE_MODE_EV3_COLOR_SENSOR__AMBIENT;
}
if (default_mode) {
pbio_port_lump_request_mode(lump_dev, default_mode);
Expand Down Expand Up @@ -917,16 +915,19 @@ pbio_error_t pbio_port_lump_data_send_thread(pbio_os_state_t *state, pbio_port_l

PBIO_OS_ASYNC_BEGIN(state);

pbio_os_timer_set(timer, EV3_UART_DATA_KEEP_ALIVE_TIMEOUT);
// Some devices need the NACK keep-alive signal before doing anything, so
// initially set the timer to expire soon.
pbio_os_timer_set(timer, 1);

for (;;) {

PBIO_OS_AWAIT_UNTIL(state, pbio_os_timer_is_expired(timer) || lump_dev->mode_switch.requested || lump_dev->data_set->size > 0);

// Handle keep alive timeout
if (pbio_os_timer_is_expired(timer)) {
// make sure we are receiving data
if (!lump_dev->data_rec) {
// Make sure we are receiving data. The first time around, we allow
// not having any data yet.
if (!lump_dev->data_rec && timer->duration == EV3_UART_DATA_KEEP_ALIVE_TIMEOUT) {
debug_pr("No data since last keepalive\n");
lump_dev->status = PBDRV_LEGODEV_LUMP_STATUS_ERR;
return PBIO_ERROR_TIMEDOUT;
Expand Down Expand Up @@ -1011,7 +1012,7 @@ pbio_error_t pbio_port_lump_data_recv_thread(pbio_os_state_t *state, pbio_port_l

lump_dev->rx_msg_size = ev3_uart_get_msg_size(lump_dev->rx_msg[0]);
if (lump_dev->rx_msg_size < 3 || lump_dev->rx_msg_size > EV3_UART_MAX_MESSAGE_SIZE) {
debug_pr("Bad data message size %d\n", lump_dev->rx_msg_size);
debug_pr("Bad data message size\n");
continue;
}

Expand Down