Upgrade SerialMuxProt Channels

README.md

@@ -106,6 +106,7 @@ In a similar way, not providing a WiFi configuration will force the target into
 | RemoteControl | No | Yes | RemoteControl | Yes |
 | SensorFusion | No | Yes | SensorFusion | Yes |
 | Test | Yes | No | N/A | No |
+| Turtle | No | Yes | RemoteControl | Yes (ROS2 + Micro-ROS Agent) |
 
 # Documentation
 

lib/APPTurtle/src/App.cpp

@@ -275,7 +275,8 @@ bool App::setupSerialMuxProtServer()
     bool isSuccessful = false;
 
     m_serialMuxProtChannelIdStatus = m_smpServer.createChannel(STATUS_CHANNEL_NAME, STATUS_CHANNEL_DLC);
-    m_serialMuxProtChannelIdTurtle = m_smpServer.createChannel(TURTLE_CHANNEL_NAME, TURTLE_CHANNEL_DLC);
+    m_serialMuxProtChannelIdTurtle =
+        m_smpServer.createChannel(ROBOT_SPEED_SETPOINT_CHANNEL_NAME, ROBOT_SPEED_SETPOINT_CHANNEL_DLC);
 
     if ((0U == m_serialMuxProtChannelIdStatus) || (0U == m_serialMuxProtChannelIdTurtle))
     {
@@ -295,7 +296,7 @@ void App::handleTurtle()
     /* Check for new data. */
     if (true == m_isNewTurtleSpeedSetpoint)
     {
-        TurtleSpeed   payload;
+        RobotSpeed    payload;
         const int32_t MILLI_CONVERSION_FACTOR = 1000;
         int32_t       linearSpeed = m_turtleSpeedSetpoint.linear.x * MILLI_CONVERSION_FACTOR; /* Linear speed in mm/s */
         int32_t angularSpeed = m_turtleSpeedSetpoint.angular.z * MILLI_CONVERSION_FACTOR; /* Angular speed in mrad/s */
@@ -318,7 +319,7 @@ void App::handleTurtle()
 
     if (true == m_turtleMovementTimer.isTimeout())
     {
-        TurtleSpeed payload;
+        RobotSpeed payload;
         payload.linearCenter = 0;
         payload.angular      = 0;
 

lib/APPTurtle/src/SerialMuxChannels.h

@@ -63,10 +63,16 @@
 #define COMMAND_RESPONSE_CHANNEL_DLC (sizeof(CommandResponse))
 
 /** Name of Channel to send Motor Speed Setpoints to. */
-#define SPEED_SETPOINT_CHANNEL_NAME "SPEED_SET"
+#define MOTOR_SPEED_SETPOINT_CHANNEL_NAME "MOTOR_SET"
 
-/** DLC of Speedometer Channel */
-#define SPEED_SETPOINT_CHANNEL_DLC (sizeof(SpeedData))
+/** DLC of Motor Speed Setpoint Channel */
+#define MOTOR_SPEED_SETPOINT_CHANNEL_DLC (sizeof(MotorSpeed))
+
+/** Name of the Channel to send Robot Speed Setpoints to. */
+#define ROBOT_SPEED_SETPOINT_CHANNEL_NAME "ROBOT_SET"
+
+/** DLC of Robot Speed Setpoint Channel */
+#define ROBOT_SPEED_SETPOINT_CHANNEL_DLC (sizeof(RobotSpeed))
 
 /** Name of Channel to send Current Vehicle Data to. */
 #define CURRENT_VEHICLE_DATA_CHANNEL_NAME "CURR_DATA"
@@ -86,12 +92,6 @@
 /** DLC of Line Sensor Channel */
 #define LINE_SENSOR_CHANNEL_DLC (sizeof(LineSensorData))
 
-/** Name of the Channel to send Turtle Speeds. */
-#define TURTLE_CHANNEL_NAME "TURTLE"
-
-/** DLC of Turtle Channel */
-#define TURTLE_CHANNEL_DLC (sizeof(TurtleSpeed))
-
 /******************************************************************************
  * Types and Classes
  *****************************************************************************/
@@ -183,13 +183,19 @@ typedef struct _CommandResponse
     };
 } __attribute__((packed)) CommandResponse;
 
-/** Struct of the "Speed" channel payload. */
-typedef struct _SpeedData
+/** Struct of the "Motor Speed Setpoints" channel payload. */
+typedef struct _MotorSpeed
+{
+    int32_t left;  /**< Left motor speed [mm/s] */
+    int32_t right; /**< Right motor speed [mm/s] */
+} __attribute__((packed)) MotorSpeed;
+
+/** Struct of the "Robot Speed Setpoints" channel payload. */
+typedef struct _RobotSpeed
 {
-    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;
+    int32_t linearCenter; /**< Linear speed of the vehicle center. [mm/s] */
+    int32_t angular;      /**< Angular speed. [mrad/s] */
+} __attribute__((packed)) RobotSpeed;
 
 /** Struct of the "Current Vehicle Data" channel payload. */
 typedef struct _VehicleData
@@ -215,13 +221,6 @@ typedef struct _LineSensorData
     uint16_t lineSensorData[5U]; /**< Line sensor data [digits] normalized to max 1000 digits. */
 } __attribute__((packed)) LineSensorData;
 
-/** Struct of the "Turtle" channel payload. */
-typedef struct _TurtleSpeed
-{
-    int32_t linearCenter; /**< Linear speed of the vehicle center. [mm/s] */
-    int32_t angular;      /**< Angular speed. [mrad/s] */
-} __attribute__((packed)) TurtleSpeed;
-
 /******************************************************************************
  * Functions
  *****************************************************************************/

lib/RemoteControl/src/App.cpp

@@ -160,7 +160,7 @@ void App::setup()
             /* Setup SerialMuxProt Channels */
             m_serialMuxProtChannelIdRemoteCtrl = m_smpServer.createChannel(COMMAND_CHANNEL_NAME, COMMAND_CHANNEL_DLC);
             m_serialMuxProtChannelIdMotorSpeeds =
-                m_smpServer.createChannel(SPEED_SETPOINT_CHANNEL_NAME, SPEED_SETPOINT_CHANNEL_DLC);
+                m_smpServer.createChannel(MOTOR_SPEED_SETPOINT_CHANNEL_NAME, MOTOR_SPEED_SETPOINT_CHANNEL_DLC);
             m_smpServer.subscribeToChannel(COMMAND_RESPONSE_CHANNEL_NAME, App_cmdRspChannelCallback);
             m_smpServer.subscribeToChannel(LINE_SENSOR_CHANNEL_NAME, App_lineSensorChannelCallback);
             m_smpServer.subscribeToChannel(CURRENT_VEHICLE_DATA_CHANNEL_NAME, App_currentVehicleChannelCallback);
@@ -369,7 +369,7 @@ void App::motorSpeedsTopicCallback(const String& payload)
 
         if ((false == leftSpeed.isNull()) && (false == rightSpeed.isNull()))
         {
-            SpeedData motorSetpoints;
+            MotorSpeed motorSetpoints;
             motorSetpoints.left  = leftSpeed.as<int32_t>();
             motorSetpoints.right = rightSpeed.as<int32_t>();
 

lib/RemoteControl/src/SerialMuxChannels.h

@@ -63,10 +63,16 @@
 #define COMMAND_RESPONSE_CHANNEL_DLC (sizeof(CommandResponse))
 
 /** Name of Channel to send Motor Speed Setpoints to. */
-#define SPEED_SETPOINT_CHANNEL_NAME "SPEED_SET"
+#define MOTOR_SPEED_SETPOINT_CHANNEL_NAME "MOTOR_SET"
 
-/** DLC of Speedometer Channel */
-#define SPEED_SETPOINT_CHANNEL_DLC (sizeof(SpeedData))
+/** DLC of Motor Speed Setpoint Channel */
+#define MOTOR_SPEED_SETPOINT_CHANNEL_DLC (sizeof(MotorSpeed))
+
+/** Name of the Channel to send Robot Speed Setpoints to. */
+#define ROBOT_SPEED_SETPOINT_CHANNEL_NAME "ROBOT_SET"
+
+/** DLC of Robot Speed Setpoint Channel */
+#define ROBOT_SPEED_SETPOINT_CHANNEL_DLC (sizeof(RobotSpeed))
 
 /** Name of Channel to send Current Vehicle Data to. */
 #define CURRENT_VEHICLE_DATA_CHANNEL_NAME "CURR_DATA"
@@ -177,13 +183,19 @@ typedef struct _CommandResponse
     };
 } __attribute__((packed)) CommandResponse;
 
-/** Struct of the "Speed" channel payload. */
-typedef struct _SpeedData
+/** Struct of the "Motor Speed Setpoints" channel payload. */
+typedef struct _MotorSpeed
+{
+    int32_t left;  /**< Left motor speed [mm/s] */
+    int32_t right; /**< Right motor speed [mm/s] */
+} __attribute__((packed)) MotorSpeed;
+
+/** Struct of the "Robot Speed Setpoints" channel payload. */
+typedef struct _RobotSpeed
 {
-    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;
+    int32_t linearCenter; /**< Linear speed of the vehicle center. [mm/s] */
+    int32_t angular;      /**< Angular speed. [mrad/s] */
+} __attribute__((packed)) RobotSpeed;
 
 /** Struct of the "Current Vehicle Data" channel payload. */
 typedef struct _VehicleData

platformio.ini

@@ -218,7 +218,6 @@ lib_deps =
     Utilities
     bblanchon/ArduinoJson @ ^6.21.3
     gabryelreyes/SerialMuxProt @ ^2.0.0
-    libmicroros
 lib_ignore =
     ConvoyLeader
     ConvoyFollower
@@ -398,6 +397,7 @@ lib_deps =
 lib_ignore =
     ${target:esp32.lib_ignore}
     ${app:Turtle.lib_ignore}
+    libmicroros
 extra_scripts =
     ${target:esp32.extra_scripts}