From c3497d491d6cfa36e4a1115246bb6b5af38a78e9 Mon Sep 17 00:00:00 2001
From: Federica Di Lauro <federicadilauro1998@gmail.com>
Date: Tue, 25 Feb 2020 11:36:20 +0100
Subject: [PATCH] organize subfolders

---
 otto_controller/.cproject                     |  2 +
 .../Core/Inc/communication_utils.h            | 37 ------------------
 otto_controller/Core/Src/main.cpp             | 39 ++++---------------
 .../joypad_bridge/scripts/serial_receiver.py  |  4 +-
 4 files changed, 11 insertions(+), 71 deletions(-)
 delete mode 100644 otto_controller/Core/Inc/communication_utils.h

diff --git a/otto_controller/.cproject b/otto_controller/.cproject
index 72fd203..bcf34be 100644
--- a/otto_controller/.cproject
+++ b/otto_controller/.cproject
@@ -45,6 +45,7 @@
 									<listOptionValue builtIn="false" value="../Core/Inc"/>
 									<listOptionValue builtIn="false" value="../Drivers/STM32F7xx_HAL_Driver/Inc"/>
 									<listOptionValue builtIn="false" value="../Drivers/STM32F7xx_HAL_Driver/Inc/Legacy"/>
+									<listOptionValue builtIn="false" value="../Core/Inc/protobuf"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="true" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.otherflags.978301265" name="Other flags" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.otherflags" useByScannerDiscovery="false" valueType="stringList"/>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.1784720711" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
@@ -58,6 +59,7 @@
 									<listOptionValue builtIn="false" value="../Core/Inc"/>
 									<listOptionValue builtIn="false" value="../Drivers/STM32F7xx_HAL_Driver/Inc"/>
 									<listOptionValue builtIn="false" value="../Drivers/STM32F7xx_HAL_Driver/Inc/Legacy"/>
+									<listOptionValue builtIn="false" value="../Core/Inc/protobuf"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.definedsymbols.1826209638" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
diff --git a/otto_controller/Core/Inc/communication_utils.h b/otto_controller/Core/Inc/communication_utils.h
deleted file mode 100644
index c2d4582..0000000
--- a/otto_controller/Core/Inc/communication_utils.h
+++ /dev/null
@@ -1,37 +0,0 @@
-// __attribute__((packed)) -> no padding bytes
-typedef struct __attribute__((packed)) {
-  float angular_velocity;
-  float linear_velocity;
-  float delta_time;
-} odometry_msg;
-
-typedef struct __attribute__((packed)) {
-  float linear_velocity;
-  float angular_velocity;
-} velocity_msg;
-
-typedef struct __attribute__((packed)) {
-  float pid_select;
-  float pid_setpoint_fixed;
-  float pid_setpoint_lin;
-  float pid_setpoint_ang;
-  float pid_kp;
-  float pid_ki;
-  float pid_kd;
-} pid_setup_msg;
-
-typedef struct __attribute__((packed)) {
-  float velocity;
-//  float millis;
-} plot_msg;
-
-typedef struct __attribute__((packed)){
-  int left_ticks;
-  int right_ticks;
-} ticks_msg;
-
-typedef struct __attribute__((packed)){
-  float left_vel;
-  float right_vel;
-} wheel_msg;
-
diff --git a/otto_controller/Core/Src/main.cpp b/otto_controller/Core/Src/main.cpp
index 8b2da4e..9037cd1 100644
--- a/otto_controller/Core/Src/main.cpp
+++ b/otto_controller/Core/Src/main.cpp
@@ -28,15 +28,14 @@
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
 
-#include "encoder.h"
-#include "odometry.h"
-#include "motor_controller.h"
-#include "pid.h"
-#include "communication_utils.h"
+#include "control/encoder.h"
+#include "control/odometry.h"
+#include "control/motor_controller.h"
+#include "control/pid.h"
 
-#include "pb_encode.h"
-#include "pb_decode.h"
-#include "otto_communication.pb.h"
+#include "protobuf/otto_communication.pb.h"
+#include "protobuf/pb_encode.h"
+#include "protobuf/pb_decode.h"
 
 /* USER CODE END Includes */
 
@@ -98,12 +97,6 @@ sleep2_Pin,
                            &htim4, TIM_CHANNEL_3);
 
 //Communication
-uint8_t *tx_buffer;
-uint8_t *rx_buffer;
-
-velocity_msg vel_msg;
-wheel_msg wheels_msg;
-
 int mode = 0;  //setup mode
 
 uint8_t proto_buffer_rx[50];
@@ -121,11 +114,6 @@ size_t status_msg_length;
 bool tx_status;
 float previous_tx_millis;
 
-//TEST variables
-long start_time;
-long end_time;
-int time_diff;
-
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
@@ -197,11 +185,7 @@ int main(void)
   left_motor.coast();
   right_motor.coast();
 
-  tx_buffer = (uint8_t*) &wheels_msg;
-  rx_buffer = (uint8_t*) &vel_msg;
-
-  //proto stuff
-
+  //protobuffer messages init
   vel_cmd = VelocityCommand_init_zero;
   status_msg = StatusMessage_init_zero;
 
@@ -334,9 +318,6 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
 }
 
 void HAL_UART_RxCpltCallback(UART_HandleTypeDef *UartHandle) {
-
-  start_time = HAL_GetTick();
-
 //  size_t buffer_size = sizeof(proto_buffer_rx);
 //  uint8_t buffer_copy[buffer_size];
 //  memcpy((void *) &buffer_copy, &proto_buffer_rx, buffer_size);
@@ -377,9 +358,6 @@ void HAL_UART_RxCpltCallback(UART_HandleTypeDef *UartHandle) {
 
   HAL_UART_Receive_DMA(&huart6, (uint8_t*) &proto_buffer_rx,
                        VelocityCommand_size);
-
-  end_time = HAL_GetTick();
-  time_diff = end_time - start_time;
 }
 
 void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
@@ -391,7 +369,6 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
       HAL_TIM_Base_Start_IT(&htim3);
 
     }
-
   }
 }
 /* USER CODE END 4 */
diff --git a/utils/catkin_ws/src/joypad_bridge/scripts/serial_receiver.py b/utils/catkin_ws/src/joypad_bridge/scripts/serial_receiver.py
index 196f594..c9e46f4 100755
--- a/utils/catkin_ws/src/joypad_bridge/scripts/serial_receiver.py
+++ b/utils/catkin_ws/src/joypad_bridge/scripts/serial_receiver.py
@@ -47,14 +47,12 @@ def serial_receiver():
     encoded_buffer = otto_status.SerializeToString()
 
     status_length = len(encoded_buffer)
-    print (status_length)
 
     odom_values = numpy.array([0,0,0]) #x, y, th
     icc_x = 0;current_time = rospy.Time.now()
-
     icc_y = 0;
     radius = 0;
-
+    
     while (not rospy.is_shutdown()):
         ser.reset_input_buffer()
         encoded_buffer = ser.read(status_length)
-- 
2.52.0