Skip to content

CS-242-bugfixes #121

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 1 commit into from
Sep 30, 2025
Merged

CS-242-bugfixes #121

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
29 changes: 29 additions & 0 deletions candlelib/src/MD/MD_strings.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -114,6 +114,35 @@ namespace mab
return std::nullopt;
}
};
struct MDMainEncoderCalibrationModeValue_S
{
static inline const std::map<u32, std::string_view> fromNumericMap{{0, "FULL"},
{1, "NOPPDET"}};
static inline const std::map<std::string_view, u32> toNumericMap{{"FULL", 0},
{"NOPPDET", 1}};

static std::optional<u32> toNumeric(const std::string_view val)
{
if (std::isdigit(val[0]))
return std::stoi(val.data());
auto it = toNumericMap.find(val);
if (it != toNumericMap.end())
{
return it->second;
}
return std::nullopt;
}

static std::optional<std::string> toReadable(u32 val)
{
auto it = fromNumericMap.find(val);
if (it != fromNumericMap.end())
{
return std::string(it->second);
}
return std::nullopt;
}
};
struct MDAuxEncoderCalibrationModeValue_S
{
static inline const std::map<u32, std::string_view> fromNumericMap{{0, "FULL"},
Expand Down
65 changes: 62 additions & 3 deletions candletool/include/md_cfg_map.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -102,7 +102,11 @@ namespace mab
{0x015, MDCfgElement("motor", "torque constant c")},
{0x019, MDCfgElement("motor", "dynamic friction")},
{0x01A, MDCfgElement("motor", "static friction")},
{0x01E, MDCfgElement("motor", "calibration mode")},
{0x01E,
MDCfgElement("motor",
"calibration mode",
mainEncoderCalibrationModeToReadable,
mainEncoderCalibrationModeFromReadable)},
{0x808, MDCfgElement("motor", "shutdown temp")},
{0x600, MDCfgElement("motor", "reverse direction")},

Expand All @@ -116,7 +120,11 @@ namespace mab
"output encoder mode",
encoderModeToReadable,
encoderModeFromReadable)},
{0x026, MDCfgElement("output encoder", "output encoder calibration mode")},
{0x026,
MDCfgElement("output encoder",
"output encoder calibration mode",
auxEncoderCalibrationModeToReadable,
auxEncoderCalibrationModeFromReadable)},

// PID parameters
{0x030, MDCfgElement("position PID", "kp")},
Expand Down Expand Up @@ -180,6 +188,16 @@ namespace mab
static const std::function<std::optional<std::string>(const std::string_view)>
encoderFromReadable;

static const std::function<std::string(std::string_view)>
mainEncoderCalibrationModeToReadable;
static const std::function<std::optional<std::string>(const std::string_view)>
mainEncoderCalibrationModeFromReadable;

static const std::function<std::string(std::string_view)>
auxEncoderCalibrationModeToReadable;
static const std::function<std::optional<std::string>(const std::string_view)>
auxEncoderCalibrationModeFromReadable;

static const std::function<std::string(std::string_view)> encoderModeToReadable;
static const std::function<std::optional<std::string>(const std::string_view)>
encoderModeFromReadable;
Expand Down Expand Up @@ -208,11 +226,52 @@ namespace mab
return MDAuxEncoderValue_S::toReadable(std::stoll(value.data())).value_or("NOT FOUND");
};

// Special case for encoder mode
// Special case for main encoder calibration mode

inline const std::function<std::string(std::string_view)>
MDConfigMap::mainEncoderCalibrationModeToReadable =
[](const std::string_view value) -> std::string
{
std::string output = trim(value);
return MDMainEncoderCalibrationModeValue_S::toReadable(std::stoll(output))
.value_or("NOT FOUND");
};

inline const std::function<std::optional<std::string>(const std::string_view)>
MDConfigMap::mainEncoderCalibrationModeFromReadable =
[](const std::string_view value) -> std::optional<std::string>
{
std::string output = trim(value);
return std::to_string(
MDMainEncoderCalibrationModeValue_S::toNumeric(value.data()).value_or(0));
};

// Special case for aux encoder calibration mode

inline const std::function<std::string(std::string_view)>
MDConfigMap::auxEncoderCalibrationModeToReadable =
[](const std::string_view value) -> std::string
{
std::string output = trim(value);
return MDAuxEncoderCalibrationModeValue_S::toReadable(std::stoll(output))
.value_or("NOT FOUND");
};

inline const std::function<std::optional<std::string>(const std::string_view)>
MDConfigMap::auxEncoderCalibrationModeFromReadable =
[](const std::string_view value) -> std::optional<std::string>
{
std::string output = trim(value);
return std::to_string(
MDAuxEncoderCalibrationModeValue_S::toNumeric(value.data()).value_or(0));
};

// Special case for aux encoder mode
inline const std::function<std::string(std::string_view)> MDConfigMap::encoderModeToReadable =
[](const std::string_view value) -> std::string
{
std::string output = trim(value);
std::cout << "ENCODER MODE RAW: '" << output << "'" << std::endl;
return MDAuxEncoderModeValue_S::toReadable(std::stoll(output)).value_or("NOT FOUND");
};

Expand Down
17 changes: 13 additions & 4 deletions candletool/src/md_cli.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -675,6 +675,16 @@ namespace mab
auto fault = md->readRegisters(reg);
if (fault != MD::Error_t::OK)
m_logger.error("Error while reading register %s", reg.m_name.data());

if constexpr (std::is_integral_v<decltype(reg.value)>)
{
m_logger.debug(
"Read register %s, Value: %d", reg.m_name.data(), reg.value);
}
else
{
m_logger.debug("Read register %s", reg.m_name.data());
}
}
};

Expand Down Expand Up @@ -722,8 +732,8 @@ namespace mab
<< std::to_string(readableRegisters.motorShutdownTemp.value) << " *C"
<< std::endl;
m_logger << "- motor calibration mode: "
<< MDAuxEncoderCalibrationModeValue_S::toReadable(
readableRegisters.auxEncoderCalibrationMode.value)
<< MDMainEncoderCalibrationModeValue_S::toReadable(
readableRegisters.motorCalibrationMode.value)
.value_or("Unknown")
<< std::endl;
m_logger << "- motor torque constant: " << std::setprecision(4)
Expand Down Expand Up @@ -1102,8 +1112,7 @@ namespace mab
{
m_logger.error(
"Please provide version of fw or \"latest\" keyword in the argument!");
m_logger.error(
"For example candletool md update latest");
m_logger.error("For example candletool md update latest");
return;
}
std::string fallbackPath = ctx.packageEtcPath->generic_string();
Expand Down