Prepare v2.0.1

.github/workflows/main.yml

@@ -4,8 +4,6 @@ name: main
 on:
   push:
     branches: [ '**' ]
-  pull_request:
-    branches: [ main ]
   release:
     # A release, pre-release, or draft of a release is published.
     types: [ published ]
@@ -23,6 +21,20 @@ jobs:
     - run: echo "The job was automatically triggered by a ${{ github.event_name }} event."
     - run: echo "The name of the branch is ${{ github.ref }} and the repository is ${{ github.repository }}."
 
+    - name: Checkout repository
+      uses: actions/checkout@v4
+
+    - name: Set up Python
+      uses: actions/setup-python@v5
+      with:
+        python-version: '3.9'
+        cache: 'pip'
+        cache-dependency-path: .github/workflows/requirements.txt
+
+    - name: Install dependencies
+      run: |
+        pip install -r .github/workflows/requirements.txt
+
   # Build all targets
   build:
     # The type of runner that the job will run on.
@@ -37,29 +49,16 @@ jobs:
     - name: Checkout repository
       uses: actions/checkout@v4
 
-    - name: Cache pip
-      uses: actions/cache@v4
-      with:
-        path: ~/.cache/pip
-        key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
-        restore-keys: |
-          ${{ runner.os }}-pip-
-
-    - name: Cache PlatformIO
-      uses: actions/cache@v4
-      with:
-        path: ~/.platformio
-        key: ${{ runner.os }}-${{ hashFiles('**/lockfiles') }}
-
     - name: Set up Python
       uses: actions/setup-python@v5
       with:
         python-version: '3.9'
+        cache: 'pip'
+        cache-dependency-path: .github/workflows/requirements.txt
 
-    - name: Install PlatformIO
+    - name: Install dependencies
       run: |
-        python -m pip install --upgrade pip
-        pip install --upgrade platformio
+        pip install -r .github/workflows/requirements.txt
 
     - name: Compile ${{ matrix.environment }} firmware
       run: platformio run --environment ${{ matrix.environment }}
@@ -77,29 +76,16 @@ jobs:
     - name: Checkout repository
       uses: actions/checkout@v4
 
-    - name: Cache pip
-      uses: actions/cache@v4
-      with:
-        path: ~/.cache/pip
-        key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
-        restore-keys: |
-          ${{ runner.os }}-pip-
-
-    - name: Cache PlatformIO
-      uses: actions/cache@v4
-      with:
-        path: ~/.platformio
-        key: ${{ runner.os }}-${{ hashFiles('**/lockfiles') }}
-
     - name: Set up Python
       uses: actions/setup-python@v5
       with:
         python-version: '3.9'
+        cache: 'pip'
+        cache-dependency-path: .github/workflows/requirements.txt
 
-    - name: Install PlatformIO
+    - name: Install dependencies
       run: |
-        python -m pip install --upgrade pip
-        pip install --upgrade platformio
+        pip install -r .github/workflows/requirements.txt
 
     - name: Perform static checks on ${{ matrix.environment }}
       run: platformio check --environment ${{ matrix.environment }} --fail-on-defect=medium --fail-on-defect=high
@@ -114,29 +100,16 @@ jobs:
     - name: Checkout repository
       uses: actions/checkout@v4
 
-    - name: Cache pip
-      uses: actions/cache@v4
-      with:
-        path: ~/.cache/pip
-        key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
-        restore-keys: |
-          ${{ runner.os }}-pip-
-
-    - name: Cache PlatformIO
-      uses: actions/cache@v4
-      with:
-        path: ~/.platformio
-        key: ${{ runner.os }}-${{ hashFiles('**/lockfiles') }}
-
     - name: Set up Python
       uses: actions/setup-python@v5
       with:
         python-version: '3.9'
+        cache: 'pip'
+        cache-dependency-path: .github/workflows/requirements.txt
 
-    - name: Install PlatformIO
+    - name: Install dependencies
       run: |
-        python -m pip install --upgrade pip
-        pip install --upgrade platformio
+        pip install -r .github/workflows/requirements.txt
 
     - name: Run tests on native environment
       run: platformio test --environment TestSim -vvv
@@ -154,29 +127,16 @@ jobs:
     - name: Checkout repository
       uses: actions/checkout@v4
 
-    - name: Cache pip
-      uses: actions/cache@v4
-      with:
-        path: ~/.cache/pip
-        key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
-        restore-keys: |
-          ${{ runner.os }}-pip-
-
-    - name: Cache PlatformIO
-      uses: actions/cache@v4
-      with:
-        path: ~/.platformio
-        key: ${{ runner.os }}-${{ hashFiles('**/lockfiles') }}
-
     - name: Set up Python
       uses: actions/setup-python@v5
       with:
         python-version: '3.9'
-
-    - name: Install PlatformIO
+        cache: 'pip'
+        cache-dependency-path: .github/workflows/requirements.txt
+
+    - name: Install dependencies
       run: |
-        python -m pip install --upgrade pip
-        pip install --upgrade platformio
+        pip install -r .github/workflows/requirements.txt
 
     - name: Set up graphviz
       uses: ts-graphviz/setup-graphviz@v2
@@ -189,4 +149,30 @@ jobs:
 
     - name: Print doxygen warnings
       if: ${{ failure() }}
-      run: cat ./doc/doxygen/doxygen_warnings.txt
+      run: cat ./doc/doxygen/doxygen_warnings.txt
+
+  # Lint Python code
+  lint:
+    # The type of runner that the job will run on.
+    runs-on: ubuntu-latest
+    needs: intro
+
+    # Steps represent a sequence of tasks that will be executed as part of the job.
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.9'
+          cache: 'pip'
+          cache-dependency-path: .github/workflows/requirements.txt
+
+      - name: Install dependencies
+        run: |
+          pip install -r .github/workflows/requirements.txt
+
+      - name: Analysing the code with pylint
+        run: |
+          pylint ./webots/controllers/*/*.py

.github/workflows/requirements.txt

@@ -0,0 +1,3 @@
+platformio==6.1.15
+pylint==3.2.6
+SerialMuxProt @ git+https://github.com/gabryelreyes/SerialMuxProt.git@10270033b0eb5e19cae39c35978745a778eb6acc#subdirectory=python/SerialMuxProt

.gitignore

@@ -8,4 +8,5 @@ lib/Webots
 *.wbproj
 webots/worlds/*.jpg
 doc/doxygen/*/*
-__pycache__
+__pycache__
+tmp/

doc/architecture/README.md

@@ -58,6 +58,48 @@ The following applications are supported:
 
 ![differentialDrive](http://www.plantuml.com/plantuml/proxy?cache=no&src=https://raw.githubusercontent.com/BlueAndi/RadonUlzer/main/doc/architecture/uml/LogicalView/DifferentialDrive.plantuml)
 
+Robot angular speed vs wheel linear speed\
+$v [\frac{mm}{s}] = \frac{w_r [\frac{rad}{s}] \cdot W [mm]}{2}$
+
+* $v$: The linear speed of one wheel relative to the other $[\frac{mm}{s}]$.
+* $w_r$: The robot's angular speed $[\frac{rad}{s}]$.
+* $W$: The robot's wheel base $[mm]$.
+* $v_L = -v_R$ by rotation about midpoint of the wheel axis.
+
+Linear speed left\
+$v_L [\frac{mm}{s}] = -\frac{w_r [\frac{rad}{s}] \cdot W [mm]}{2}$
+
+Linear speed right\
+$v_R [\frac{mm}{s}] = \frac{w_r [\frac{rad}{s}] \cdot W [mm]}{2}$
+
+Consider encoder steps per m\
+$v [\frac{steps}{s}] = \frac{w_r [\frac{rad}{s}] \cdot W [mm]}{2} \cdot \frac{ENC [\frac{steps}{m}]}{1000}$
+
+* $v$: The linear speed of one wheel relative to the other $[\frac{steps}{s}]$.
+* $w_r$: The robot's angular speed $[\frac{rad}{s}]$.
+* $W$: The robot's wheel base $[mm]$.
+* $ENC$: The number of encoder steps per m $[\frac{steps}{m}]$.
+
+Linear speed left\
+$v_L [\frac{steps}{s}] = -\frac{w_r [\frac{rad}{s}] \cdot W [mm]}{2} \cdot \frac{ENC [\frac{steps}{m}]}{1000}$
+
+Linear speed right\
+$v_R [\frac{steps}{s}] = \frac{w_r [\frac{rad}{s}] \cdot W [mm]}{2} \cdot \frac{ENC [\frac{steps}{m}]}{1000}$
+
+Consider robot linear speed center\
+Linear speed left\
+$v_L [\frac{steps}{s}] = \frac{v_{Linear}}{2} [\frac{steps}{s}] -\frac{w_r [\frac{rad}{s}] \cdot W [mm]}{2} \cdot \frac{ENC [\frac{steps}{m}]}{1000}$
+
+Linear speed right\
+$v_R [\frac{steps}{s}] = \frac{v_{Linear}}{2} [\frac{steps}{s}] + \frac{w_r [\frac{rad}{s}] \cdot W [mm]}{2} \cdot \frac{ENC [\frac{steps}{m}]}{1000}$
+
+Consider angular speed in mrad per s\
+Linear speed left\
+$v_L [\frac{steps}{s}] = \frac{v_{Linear}}{2} [\frac{steps}{s}] -\frac{w_r [\frac{mrad}{s}] \cdot W [mm]}{2 \cdot 1000} \cdot \frac{ENC [\frac{steps}{m}]}{1000}$
+
+Linear speed right\
+$v_R [\frac{steps}{s}] = \frac{v_{Linear}}{2} [\frac{steps}{s}] + \frac{w_r [\frac{mrad}{s}] \cdot W [mm]}{2 \cdot 1000} \cdot \frac{ENC [\frac{steps}{m}]}{1000}$
+
 #### Odometry
 
 ![odometry](http://www.plantuml.com/plantuml/proxy?cache=no&src=https://raw.githubusercontent.com/BlueAndi/RadonUlzer/main/doc/architecture/uml/LogicalView/Odometry.plantuml)

doc/architecture/uml/LogicalView/Service.plantuml

@@ -36,7 +36,7 @@ package "Service" as serviceLayer {
         on the track.
     end note
 
-    class MovAvg < T, length > <<service>>
+    class MovAvg < T, U, length > <<service>>
 
     note top of MovAvg
         Moving average filter which can be

lib/APPCalib/src/MotorSpeedCalibrationState.cpp

@@ -227,8 +227,7 @@ void MotorSpeedCalibrationState::finishCalibration(StateMachine& sm)
     }
     else
     {
-        int32_t maxSpeed32 =
-            static_cast<int32_t>(maxSpeed) * 1000 / static_cast<int32_t>(RobotConstants::ENCODER_STEPS_PER_M);
+        int32_t maxSpeed32 = Util::stepsPerSecondToMillimetersPerSecond(maxSpeed);
 
         LOG_INFO_VAL("Calibrated max. speed (steps/s): ", maxSpeed);
         LOG_INFO_VAL("Calibrated max. speed (mm/s): ", maxSpeed32);

lib/APPConvoyFollower/src/App.cpp

@@ -42,6 +42,7 @@
 #include <DifferentialDrive.h>
 #include <Odometry.h>
 #include <Logging.h>
+#include <Util.h>
 
 /******************************************************************************
  * Compiler Switches
@@ -189,7 +190,8 @@ void App::handleRemoteCommand(const Command& cmd)
         break;
 
     case SMPChannelPayload::CmdId::CMD_ID_GET_MAX_SPEED:
-        rsp.maxMotorSpeed = Board::getInstance().getSettings().getMaxSpeed();
+        rsp.maxMotorSpeed =
+            Util::stepsPerSecondToMillimetersPerSecond(Board::getInstance().getSettings().getMaxSpeed());
         break;
 
     case SMPChannelPayload::CmdId::CMD_ID_SET_INIT_POS:
@@ -252,6 +254,9 @@ void App::reportVehicleData()
     uint8_t            averageCounts = 0U;
     uint8_t            leftCounts    = 0U;
     uint8_t            rightCounts   = 0U;
+    int16_t            leftSpeed     = speedometer.getLinearSpeedLeft();
+    int16_t            rightSpeed    = speedometer.getLinearSpeedRight();
+    int16_t            centerSpeed   = speedometer.getLinearSpeedCenter();
 
     proximitySensors.read();
     leftCounts  = proximitySensors.countsFrontWithLeftLeds();
@@ -265,9 +270,9 @@ void App::reportVehicleData()
     payload.xPos        = xPos;
     payload.yPos        = yPos;
     payload.orientation = odometry.getOrientation();
-    payload.left        = speedometer.getLinearSpeedLeft();
-    payload.right       = speedometer.getLinearSpeedRight();
-    payload.center      = speedometer.getLinearSpeedCenter();
+    payload.left        = Util::stepsPerSecondToMillimetersPerSecond(leftSpeed);
+    payload.right       = Util::stepsPerSecondToMillimetersPerSecond(rightSpeed);
+    payload.center      = Util::stepsPerSecondToMillimetersPerSecond(centerSpeed);
     payload.proximity   = static_cast<SMPChannelPayload::Range>(averageCounts);
 
     /* Ignoring return value, as error handling is not available. */
@@ -359,7 +364,9 @@ void App_motorSpeedSetpointsChannelCallback(const uint8_t* payload, const uint8_
     if ((nullptr != payload) && (SPEED_SETPOINT_CHANNEL_DLC == payloadSize))
     {
         const SpeedData* motorSpeedData = reinterpret_cast<const SpeedData*>(payload);
-        DrivingState::getInstance().setTargetSpeeds(motorSpeedData->left, motorSpeedData->right);
+        int16_t          leftSpeed      = Util::millimetersPerSecondToStepsPerSecond(motorSpeedData->left);
+        int16_t          rightSpeed     = Util::millimetersPerSecondToStepsPerSecond(motorSpeedData->right);
+        DrivingState::getInstance().setTargetSpeeds(leftSpeed, rightSpeed);
     }
 }
 

lib/APPConvoyFollower/src/App.h

@@ -171,7 +171,7 @@ class App
     /**
      * Moving average filter for proximity sensors.
      */
-    MovAvg<uint8_t, MOVAVG_PROXIMITY_SENSOR_NUM_MEASUREMENTS> m_movAvgProximitySensor;
+    MovAvg<uint8_t, uint16_t, MOVAVG_PROXIMITY_SENSOR_NUM_MEASUREMENTS> m_movAvgProximitySensor;
 
     /**
      * Report the current vehicle data.

lib/APPConvoyFollower/src/SerialMuxChannels.h

@@ -169,16 +169,16 @@ typedef struct _CommandResponse
     /** Response Payload. */
     union
     {
-        int16_t maxMotorSpeed; /**< Max speed [steps/s]. */
+        int32_t maxMotorSpeed; /**< Max speed [mm/s]. */
     };
 } __attribute__((packed)) CommandResponse;
 
 /** Struct of the "Speed" channel payload. */
 typedef struct _SpeedData
 {
-    int16_t left;   /**< Left motor speed [steps/s] */
-    int16_t right;  /**< Right motor speed [steps/s] */
-    int16_t center; /**< Center motor speed [steps/s] */
+    int32_t left;   /**< Left motor speed [mm/s] */
+    int32_t right;  /**< Right motor speed [mm/s] */
+    int32_t center; /**< Center motor speed [mm/s] */
 } __attribute__((packed)) SpeedData;
 
 /** Struct of the "Current Vehicle Data" channel payload. */
@@ -187,9 +187,9 @@ typedef struct _VehicleData
     int32_t                  xPos;        /**< X position [mm]. */
     int32_t                  yPos;        /**< Y position [mm]. */
     int32_t                  orientation; /**< Orientation [mrad]. */
-    int16_t                  left;        /**< Left motor speed [steps/s]. */
-    int16_t                  right;       /**< Right motor speed [steps/s]. */
-    int16_t                  center;      /**< Center speed [steps/s]. */
+    int32_t                  left;        /**< Left motor speed [mm/s]. */
+    int32_t                  right;       /**< Right motor speed [mm/s]. */
+    int32_t                  center;      /**< Center speed [mm/s]. */
     SMPChannelPayload::Range proximity;   /**< Range at which object is found [range]. */
 } __attribute__((packed)) VehicleData;