State desync fr this time#196
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Doxygen warnings output: (if empty, there are no warnings). Please correct any warnings before merging. |
| if(estimated_state_map_interrupt_safe != nullptr) { | ||
| // copy the estimated state map to the local estimated state map | ||
| estimated_state_map_interrupt_safe->fill_state_array(comms_data.state); | ||
| comms_data.frame_count = counter; |
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This callback updates comms_data while the main loop could be copying it in send_to_comms().
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I believe that it is impossible for the send to comms to ever get a garbage value because setting an int is only 1 instruction, and either getting the old or new value is chill I think.
Co-authored-by: ericv555 <46249794+ericv555@users.noreply.github.com>
| @@ -78,4 +83,4 @@ void StereoCamTrigger::send_to_comms() const { | |||
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| sendable.data = comms_data; | |||
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| sendable.data = comms_data; | |
| noInterrupts(); | |
| sendable.data = comms_data; | |
| interrupts(); |
I would prevent interrupts from going off while comms_data is being copied. Otherwise, comms_data could be interrupted and modified in the middle of this copy.
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I believe that Rishi and I tried that but we got some weird slow loop times because of it and it seems to work ok without it, but we should probably look into it some more.
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I would try it again and make sure it is only that one line in it. The assignment to sendable shouldn't be more than 7 or 8 instructions, so it shouldn't cause a slowdown. If the send to comms line was in the noInterrupts it may cause a problem. If it doesnt work its no big deal though the assignment is so fast its probably really unlikely for the interrupt to go off during it.
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adds a counter that tracks the number of frames that have been triggered which is what we use to sync the robot state with a given camera frame.
Most of the code is actually a new comms packet that is used to test round trip latency of comms.