Changeset 678

Timestamp:

07/15/09 19:49:46 (4 years ago)

Author:

atorf

Message:

Fighting bugs in MotorControl:

• Added MATLAB remote debug logging server
• GUI needed (no multitasking in MATLAB )
• Bug doesn't occur with remote logging

Location:

branches/atorf/NXC/MotorControl2

Files:

• Controller.nxc (modified) (2 diffs)
• ControllerCore.nxc (modified) (10 diffs)
• DebugLoggingServer.m (added)
• GUI_DebugLoggingServer.fig (added)
• GUI_DebugLoggingServer.m (added)
• MotorControl20.nxc (modified) (3 diffs)

branches/atorf/NXC/MotorControl2/Controller.nxc

@@ -107 +107 @@
 //#define ENABLEDEBUGGING_LCD
 //#define ENABLEDEBUGGING_WAITAFTERLCD
-#define ENABLEDEBUGGING_LCD_SLOW_ANTIBUG
+//#define ENABLEDEBUGGING_LCD_SLOW_ANTIBUG
 //#define ENABLEDEBUGGING_REMOTE
 //#define ENABLEDEBUGGING_ACOUSTIC
 //#define ENABLEDEBUGGING_ACOUSTICPROTOCOL
 //#define ENABLEDEBUGGING_OLDLCDTIMING
+//#define ENABLEDEBUGGING_REMOTELOGGING
 // ---------------------------------
 
@@ -121 +122 @@
 #endif
 
+
+#ifdef ENABLEDEBUGGING_REMOTELOGGING
+    //long debugStartTick = CurrentTick();
+    long remoteDebugMsgCounter = 0;
+    safecall void SendDebugMessage(const byte &port, const string msg) {
+        //string time = NumToStr(CurrentTick() - FirstTick());
+        string p    = NumToStr(port);
+        string n    = NumToStr(remoteDebugMsgCounter);
+        //string data = StrCat(time, "|", n, "|", p, ":", msg);
+        string data = StrCat(n, "|", p, ":", msg);
+        remoteDebugMsgCounter++;
+
+        SendMessage(DEBUG_OUTBOX, data);
+    }//end void
+#endif
 
 

branches/atorf/NXC/MotorControl2/ControllerCore.nxc

@@ -247 +247 @@
 #ifdef ENABLEDEBUGGING_ACOUSTIC
     PlayTone(300,100);
+#endif
+
+#ifdef ENABLEDEBUGGING_REMOTELOGGING
+    SendDebugMessage(port, "Entering main loop");
 #endif
 
@@ -452 +456 @@
                 TextOut(0, DebugLinePos[port], "BRAKING:top        ");
             #endif
+            #ifdef ENABLEDEBUGGING_REMOTELOGGING
+                SendDebugMessage(port, "Braking: Beginning");
+            #endif
 
             #ifdef ENABLEDEBUGGING_REMOTE
@@ -471 +478 @@
                 TextOut(0, DebugLinePos[port], "BRAKING:speed/err        ");
             #endif
+            //#ifdef ENABLEDEBUGGING_REMOTELOGGING
+            //    SendDebugMessage(port, "Braking: IdealSpeed / error calced");
+            //#endif
 
 
@@ -502 +512 @@
             #endif
 
+            //#ifdef ENABLEDEBUGGING_REMOTELOGGING
+            //    SendDebugMessage(port, "Braking: PID calc done, clipping power");
+            //#endif
+
 
             // downscaling
@@ -516 +530 @@
                 TextOut(0, DebugLinePos[port], "BRAKING:PwrCalced        ");
             #endif
+            #ifdef ENABLEDEBUGGING_REMOTELOGGING
+                SendDebugMessage(port, "Braking: Setting new power");
+            #endif
+
 
             
@@ -604 +622 @@
             TextOut(0, DebugLinePos2[port], "              ");
         #endif
+        #ifdef ENABLEDEBUGGING_REMOTELOGGING
+            SendDebugMessage(port, "Wait-loop done");
+        #endif
 
 //    * if SPECIAL ENDGAME BRAKING
@@ -616 +637 @@
                 SendMessage(OUTBOX, "-300|0|0");
             #endif// - - - - - - - - - -
+            #ifdef ENABLEDEBUGGING_REMOTELOGGING
+                SendDebugMessage(port, "Endgame begins");
+            #endif
 
 
@@ -676 +700 @@
             #endif
             
+            #ifdef ENABLEDEBUGGING_REMOTELOGGING
+                if (endgameSuccessful) {
+                    SendDebugMessage(port, "Endgame successful");
+                } else {
+                    SendDebugMessage(port, "Endgame timed out");
+                }//end if
+            #endif
+            
             // and this control process is finally over!
             break;
@@ -701 +733 @@
     // mess up our current motor state, maybe that's not too bad...
 
+    #ifdef ENABLEDEBUGGING_REMOTELOGGING
+        SendDebugMessage(port, "Waiting for Motorstop");
+    #endif
 
     WaitUntilMotorStopped(port);
@@ -716 +751 @@
     Wait(3);
     
+    
+    #ifdef ENABLEDEBUGGING_REMOTELOGGING
+        SendDebugMessage(port, "Finished!");
+    #endif
+
     #ifdef ENABLEDEBUGGING_REMOTE
         SendMessage(OUTBOX, "-480|0|0");
     #endif// - - - - - - - - - -
-    
-    
+
     
 // --- Display Debug Info if necessary

branches/atorf/NXC/MotorControl2/MotorControl20.nxc

@@ -36 +36 @@
 #define PROGRAM_VERSION "2.0"
 
-#define INBOX 1
-#define OUTBOX 0
+#define INBOX           1
+#define OUTBOX          0
+#define DEBUG_OUTBOX    2
 
 // Protocol constants
@@ -134 +135 @@
     
     #ifdef ENABLEDEBUGGING_LCD_SLOW_ANTIBUG
-        TextOut(0, LCD_LINE8, "SLOW ANTIBUG ON  ", true);
+      TextOut(0, LCD_LINE8, "SLOW ANTIBUG ON  ", true);
     #endif// - - - - - - -
     
 }//end void
-
-
-
 
 
@@ -413 +411 @@
         ReceiveRemoteString(OUTBOX, true, in);
     }//end while
-
-
+    #ifdef ENABLEDEBUGGING_REMOTELOGGING
+        in = "...";
+        while(StrLen(in) > 0) {
+            ReceiveRemoteString(DEBUG_OUTBOX, true, in);
+        }//end while
+    #endif
+
+    in = "";
+
+
+    #ifdef ENABLEDEBUGGING_REMOTELOGGING
+        SendDebugMessage(99, "Remote logging enabled!");
+    #endif
 
     while(true){