Struct SharedRobotData

pub struct SharedRobotData<R: RobotBehavior + ?Sized> {

    pub name: RobotName,
    pub robot_definition: RobotDefinition<3>,
    pub created_at: R::Instant,
    pub enable_imu: AtomicBool,
    pub enable_extra_imu_data: AtomicBool,
    pub enable_dists: AtomicBool,
    pub enable_battery_monitor: AtomicBool,
    pub enable_display: AtomicBool,
    pub enable_gamepad: AtomicBool,
    pub display_loop_interval: AtomicU64,
    pub sensors: Watch<CriticalSectionRawMutex, SensorData, 2>,
    pub network_status: Watch<CriticalSectionRawMutex, (NetworkStatus, Option<[u8; 4]>), 2>,
    pub config: Watch<CriticalSectionRawMutex, FrequentServerToRobot, 2>,
    pub motor_control: Watch<CriticalSectionRawMutex, MotorControlStatus, 2>,
    pub utilization: [AtomicF32; 3],
    pub sig_motor_speeds: [AtomicF32; 3],
    pub sig_angle: Signal<CriticalSectionRawMutex, Result<f32, <R::Peripherals as RobotPeripheralsBehavior>::Error>>,
    pub sig_extra_imu_data: Signal<CriticalSectionRawMutex, ExtraImuData>,
    pub sig_distances: [Signal<CriticalSectionRawMutex, Result<Option<f32>, <R::Peripherals as RobotPeripheralsBehavior>::Error>>; 4],
    pub sig_battery: Signal<CriticalSectionRawMutex, Result<f32, <R::Peripherals as RobotPeripheralsBehavior>::Error>>,
    pub buttons: [AtomicBool; 6],
    pub defmt_logs: Pipe<CriticalSectionRawMutex, ROBOT_LOGS_BUFFER>,
    pub extra_opts: ExtraOptsAtomicTypes,
    pub extra_indicators: ExtraOptsAtomicTypes,
}

Each robot should have exactly one. Some fields are managed by core_pb, but (when noted) implementations are responsible for updating values

Fields

name: RobotName

Robot’s name, to distinguish it from other robots, is provided on startup

robot_definition: RobotDefinition<3>

The robot’s physical characteristics

created_at: R::Instant

An instant representing the time the shared struct was created

enable_imu: AtomicBool

enable_extra_imu_data: AtomicBool

enable_dists: AtomicBool

enable_battery_monitor: AtomicBool

enable_display: AtomicBool

enable_gamepad: AtomicBool

display_loop_interval: AtomicU64

sensors: Watch<CriticalSectionRawMutex, SensorData, 2>

Information gathered by the peripherals task will be posted here for network and motors

network_status: Watch<CriticalSectionRawMutex, (NetworkStatus, Option<[u8; 4]>), 2>

The current network status, updated by network task

config: Watch<CriticalSectionRawMutex, FrequentServerToRobot, 2>

Configuration from the server that may change frequently, updated by network task

Note: some fields are loaded into other atomic primitives

motor_control: Watch<CriticalSectionRawMutex, MotorControlStatus, 2>

Motor control status, updated by motors task

utilization: [AtomicF32; 3]

Utilization percentage for the three tasks

sig_motor_speeds: [AtomicF32; 3]

Estimated motor speeds

It is the responsibility of the implementation to update this field.

sig_angle: Signal<CriticalSectionRawMutex, Result<f32, <R::Peripherals as RobotPeripheralsBehavior>::Error>>

An estimation of the absolute orientation of the robot

It is the responsibility of the implementation to update this field.

sig_extra_imu_data: Signal<CriticalSectionRawMutex, ExtraImuData>

Individual IMU sensor information

It is the responsibility of the implementation to update this field.

sig_distances: [Signal<CriticalSectionRawMutex, Result<Option<f32>, <R::Peripherals as RobotPeripheralsBehavior>::Error>>; 4]

Readings from the distance sensors, in order of angle 0, 90, 180, 270

It is the responsibility of the implementation to update this field.

• Err(_) indicates that something is wrong with the sensor and the reading can’t be trusted
• Ok(None) indicates that the sensor is working, but didn’t detect any object in its range
• Ok(x) indicates an object x grid units in front of the sensor

sig_battery: Signal<CriticalSectionRawMutex, Result<f32, <R::Peripherals as RobotPeripheralsBehavior>::Error>>

The battery level of the robot, in volts

It is the responsibility of the implementation to update this field.

buttons: [AtomicBool; 6]

defmt_logs: Pipe<CriticalSectionRawMutex, ROBOT_LOGS_BUFFER>

Logging bytes from defmt

It is the responsibility of the implementation to update this field.

extra_opts: ExtraOptsAtomicTypes

extra_indicators: ExtraOptsAtomicTypes

Implementations

impl<R: RobotBehavior> SharedRobotData<R>

pub fn new(name: RobotName) -> Self

pub fn get_extra_bool_opt(&self, index: usize) -> Option<bool>

👎Deprecated: Extra options should only be used for temporary testing

pub fn get_extra_f32_opt(&self, index: usize) -> Option<f32>

👎Deprecated: Extra options should only be used for temporary testing

pub fn get_extra_i8_opt(&self, index: usize) -> Option<i8>

👎Deprecated: Extra options should only be used for temporary testing

pub fn get_extra_i32_opt(&self, index: usize) -> Option<i32>

👎Deprecated: Extra options should only be used for temporary testing

pub fn set_extra_bool_indicator(&self, index: usize, value: bool)

👎Deprecated: Extra indicators should only be used for temporary testing

pub fn set_extra_f32_indicator(&self, index: usize, value: f32)

👎Deprecated: Extra indicators should only be used for temporary testing

pub fn set_extra_i8_indicator(&self, index: usize, value: i8)

👎Deprecated: Extra indicators should only be used for temporary testing

pub fn set_extra_i32_indicator(&self, index: usize, value: i32)

👎Deprecated: Extra indicators should only be used for temporary testing