I am trying to use an mbed LPC1768 to interface with a uCAM-III camera module. This requires following a specific transfer of bytes between the mbed and the camera to sync correctly. The datasheet specifies that this can take up to 60 times to happen correctly.
I'm using the library found on this page https://os.mbed.com/users/ms523/notebook/ucam-development/ to help with the syncing process. It doesn't seem to sync correctly though and I get a reponse timeout found in the Get_Reponse function. I added some printf to help with debugging and discovered that it will run the sync attempt once, return to the start of the loop, execute the first printf statement there but then stop. And I cannot figure out why that is.
This is the response I get on the terminal. Even though there is no code between the Trying to sync time %i and Sending sync chars to uCAM it doesn't run the 2nd time around the loop and just stops. No more lines are printed after this.
Trying to sync time 0
Sending sync chars to uCAM
Response Timeout
Sync failed - trying again
Trying to sync time 1
int uCam::Sync()
{
// This will give 60 attempts to sync with the uCam module
for (int i=0; i<60; i++) {
printf("\n\rTrying to sync time %i ", i);
// Send out the sync command
printf("\n\rSending sync chars to uCAM");
for (int j=0; j<6; j++) {
_uCam.putc(SYNC[j]);
}
// Check if the response was an ACK
if (Get_Response(_ACK,SYNC[1])) {
printf("\n\rRecevied ACK");
// It was an ACK so now get the next response - it should be a sync
if (Get_Response(_SYNC,0x00)) {
printf("\n\rGot ACK");
// We need a small delay (1ms) from receiving the SYNC response and sending an ACK in return
wait(0.001);
printf("\n\rSending ACK for ACK");
for (int k=0; k<6; k++) {
_uCam.putc(ACK[k]);
}
// Everything is now complete so return true
printf("\n\rSynced");
return(1);
}
}
// Wait a while and try again
printf("\n\rSync failed - trying again");
}
printf("\n\rExiting sync function");
// Something went wrong so return false
return(0);
}
Related
I am testing application's latency during UDP communication on windows 10.
I tried to send a message every 1 second and receive a response sent immediately from the remote.
Send thread
It works every 1 second.
auto start = std::chrono::system_clock::now();
unsigned int count = 1;
while (destroyFlag.load(std::memory_order_acquire) == false)
{
if (isReady() == false)
{
break;
}
/*to do*/
worker_();
std::this_thread::sleep_until(start + std::chrono::milliseconds(interval_)* count++);
}
worker_()
Send thread call this. just send message and make log string.
socket_.send(address_);
logger_.log("," + std::string("Send") + "\n");
Receiver
When message arrives, it creates a receive log string and flushes it to a file.
auto& queueData = socket_.getQueue();
while (queueData.size() > 0)
{
auto str = queueData.dequeue();
logger_.log(",Receive" + str + "\n");
logger_.flush();
}
I've been testing it overnight and I can't figure out why I got this result.
chart for microseconds
x-axis : Hour_Minute_second
y-axis : microseconds
For a few hours it seemed to work as expected. But after that, the time gradually changed and went to a different time zone.
Does anyone know why this is happening?
std::chrono::steady_clock is working.
It made my charts straight.
And another way, turn off the windows automatically time synchronize.
I developed a little application that read data from a sensor, store them in SPIFFS memory of my wemos D1 mini (esp8266) and then create a JSON Document and send it via MQTT to my topic. The problem is that as long as I send a JSON Doc with 10 object everything works great, but when I increase the size of the doc over 10 object nothing works. Eventually I need to send a JSON doc with 100 object inside.
What have I already done?
I'm using PubSubClient and I already set the MAX_PACKET_SIZE to the correct value
Using arduinojson assistant I found out the size of my JSON Document (8192 bytes)
I tried to use mqtt.fx to test if the problem was the esp8266 or the mqtt broker. Using mqtt.fx I'm able to send a JSON doc with 100 objects
As soon as I increase the size of the JSON doc I get a wdt error from the serial monitor of my arduino IDE.
I search the internet for wdt error but I don't get what they are and how to solve my problem
Last things I already tried to show on the serial monitor the file.txt in the SPIFFS where I store the data and I can store and then read the 100 object
So in the end I think it's an esp8266 problem and not PubSubClient or MQTT. Am I right?
Does anyone of you here ever encountered this problem before or have some other test I can run?
I search the internet for wdt error but I don't get what they are and how to solve my problem
WDT stands for a Watch Dog Timer. https://os.mbed.com/cookbook/WatchDog-Timer#:~:text=A%20watchdog%20timer%20(WDT)%20is,a%20software%20or%20hardware%20fault.
A watchdog timer (WDT) is a hardware timer that automatically generates a system reset if the main program neglects to periodically service it. It is often used to automatically reset an embedded device that hangs because of a software or hardware fault. Some systems may also refer to it as a computer operating properly (COP) timer. Many microcontrollers including the mbed processor have watchdog timer hardware.
Let's paint a better picture with an example. Let's say that you setup a WDT with a time of 10 seconds. Then the WDT starts counting down from 10 seconds. If it reaches 0 the processor will reset. "Feeding" the WDT will reset the countdown to the original value in this case 10 seconds. So if the WDT has counted down to 4 seconds remaining and you feed it, it resets the countdown back to 10 and starts counting down again.
Does anyone of you here ever encountered this problem before or have some other test I can run?
It looks to me like sending a larger JSON object takes a longer period of time than what the WDT is set for. One possibility would be to break up the JSON object into multiple pieces and send it in smaller chunks instead of one large one. This way the time between WDT "feedings" is reduced. I have no idea if this would be possible for you to change. But this should at least give you a better idea of what's happening.
OK in the end the problem was that sending a large JsonDocument triggered the WDT and the only way I found to overcome this problem was, as suggested by adamvz, to create a main file with all the 100 object, then call a function to split that file in 10 smaller one and send each of them over the internet through an HTTP request or Mosquitto.
Supposing you already created the main file in the spiffs memory, then:
This to split the main file:
void WritePacks() {
sourceFile = LittleFS.open("/file.txt", "r");
if (!sourceFile) {
Serial.println(F("Error: file.txt open failed"));
} else {
Serial.println("File open w/ success");
for (byte idx = 0; idx < outputCount; idx++) {
String aLine;
aLine.reserve(capacity);
if (sourceFile.available() == 0) break;
destinationFile = LittleFS.open(outputFileNames[idx], "w");
if (!destinationFile) {
Serial.print(F("can't open destination "));
Serial.println(outputFileNames[idx]);
break;
} else {
int lineCount = 0;
while (sourceFile.available() && (lineCount <= 10)) {
aLine = sourceFile.readStringUntil('\n');
destinationFile.println(aLine); // double check if the '\n' is in the String or not (--> print or println accordingly)
lineCount++;
}
outputIndex = idx;
Serial.println(outputIndex);
destinationFile.close();
}
} // end for
sourceFile.close();
}
}//end WritePacks
This to publish:
//------ HTTP Publish ------
void httpPublish(){
const char * outputFileNames[] = {"/out1.txt", "/out2.txt", "/out3.txt", "/out4.txt", "/out5.txt", "/out6.txt", "/out7.txt", "/out8.txt", "/out9.txt", "/out10.txt"};
const byte outputCount = sizeof outputFileNames / sizeof outputFileNames[0];
byte outputIndex = 0;
File sourceFile;
File destinationFile;
//Serial.println(capacity);
for (byte idx = 0; idx < outputCount; idx++) {
DynamicJsonDocument doc(capacity);
DynamicJsonDocument globalDoc(capacity);
StaticJsonDocument <1024> localDoc;
String aLine;
aLine.reserve(capacity);
destinationFile = LittleFS.open(outputFileNames[idx], "r");
if (!destinationFile) {
Serial.print(F("can't open destination "));
Serial.println(outputFileNames[idx]);
break;
} else {
Serial.print("Reading: ");
Serial.println(outputFileNames[idx]);
//int lineCount = 0;
while (destinationFile.available()) {
aLine = destinationFile.readStringUntil('\n');
DeserializationError error = deserializeJson(localDoc, aLine);
if (!error) globalDoc.add(localDoc);
else{ Serial.println("Error Writing All files");}
}//while
JsonObject Info = doc.createNestedObject("Info");
Info["Battery"] = battery;
Info["ID"] = id;
Info["Latitudine"] = latitudine;
Info["Longitudine"] = longitudine;
JsonArray Data = doc.createNestedArray("Data");
Data.add(globalDoc);
HTTPClient http;
//Send request
http.begin("yourURL");
char buffer[capacity];
size_t n = serializeJson(doc, buffer);
http.POST(buffer);
Serial.println(buffer);
http.end();
destinationFile.close();
}
}// end for
}//end httpPublish
I am using CodeBlocks with MinGW compiler and wxWidgets library.
I am writing a program that read some data from the microcontroller, by sending messages (using index and subindex) and getting response messages with said data.
My plan was to send messages one-by-one and waiting for response message using __atomic int variables__ to check when I get response message.
This is my function for sending a message:
typedef std::chrono::high_resolution_clock Clock;
void sendSDO(int index, int subindex)
{
int nSent = 0;
atomic_index.store(index);
atomic_subindex.store(subindex);
canOpenClient->SDORead(index, subindex);
auto start = Clock::now();
nSentMessages++;
nSent++;
Sleep(10);
while ((atomic_index.load() != 0) && (atomic_subindex.load() != 0))
{
auto t = chrono::duration_cast<chrono::milliseconds>(Clock::now() - start);
if(t.count() > 20)
{
if (nSent > 5)
{
MainFrame->printTxt("[LOG] response not received\n");
return;
}
atomic_index.store(index);
atomic_subindex.store(subindex);
canOpenClient->SDORead(index, subindex);
nSentMessages++;
nSent++;
start = Clock::now();
}
}
}
Pseudocode is set atomic int to index and subindex of what I want value I want to read from microcontroller, then send message to it SDORead(), and if no response was received in 20 ms, send the message again, up to 5 times.
For receiving messages, I have a __separate thread__ with a callback function which is called when I get response message from the controller:
void notifyEvent(unsigned char ev_type)
{
SDO_msg_t msg;
msg = canOpenClient->Cmd_CustomMessageGet(); //get response message
if(ev_type == CO_EVENT_SDO_READ)
{
if ((msg.index == atomic_index.load()) && (msg.subindex == atomic_subindex.load()))
{
//does stuff, like saves message data to set container
atomic_index.store(0);
atomic_subindex.store(0);
}
}
if (message data not in container)
printf("not in container!")
}
Here I set the same atomic int values to 0, when the correct response message is received, and save response message data
I also have variables nSentMessages and nReceivedMessages, which hold the number of messages sent and messages received. I check at the end if these values are the same. Normally, I wouldn't need this (since I wait for every response), I put it there as an extra safety measure.
Now onto the problem:
1) My problem is in callback function notifyEvent(), where I presumably save response message data to a container, but I still sometimes get "not in container!" from that if statement and I don't know why. (My container is just normal set set<EDSobject, cmp> container, it's not atomic or anything, since I know there won't be reads/writes to it at the same time from different threads.)
2) If you check my function sendSDO(), there is a line Sleep(10). The program works ok with it, but if I remove it, the program returns a different value for nSentMessages and nReceivedMessages - 576 and 575. This happens every time I run the program and I don't understand why.
Trying to send serial messages using Arduino Uno and standard IDE. Ran into issue parsing the serial message sent to the device.
See that if I include this line Serial.println("Serial.available() = " + String(Serial.available())); I will be able to read the rest of the message. If this is commented out I will only see the first letter of the message and skip over the rest. Attached image of output that I'm seeing with and without the added line of code.
// the setup routine runs once when you press reset:
void setup() {
// initialize serial communication at 9600 bits per second:
Serial.begin(9600);
while (!Serial) {} // wait for serial to be initialized
Serial.println("Setup called. Serial port ready.");
Serial.println("Waiting for time sync message...");
while (!Serial.available()) {}
processSyncMessage();
}
void processSyncMessage() {
// parse first letter of message
char messageHeader = (char) Serial.read();
switch (messageHeader) {
case TIME_HEADER:
// do processing
break;
default:
Serial.println("Unknown message sent with header: " + String(messageHeader));
// must include this line in order to see the entire message sent
// just calling a println or a Serial.available() doesn't work ????
Serial.println("Serial.available() = " + String(Serial.available()));
Serial.println("---start of message");
for (int r = 0; r != -1; r = Serial.read()) {
Serial.print((char) r);
}
Serial.println();
Serial.println("---end of message");
break;
}
}
Missing Buffer
With printout
Is this somehow related to a buffer? Can I flush it somehow with fflush(SOME_SECRET_BUFFER)?
have you tried Serial.readString() to parse the entire missing characters?
Serial data is transmitted and received one character at a time. At 9600 baud, the transmission rate is approximately one character per millisecond.
The code assumes that once the first character has arrived, all of them have. This is not the case. The addition of the println consumes CPU time, and therefore has the effect of adding a delay. This delay allows the rest of the original message to be received.
A receive function with an appropriate timeout for your application is needed here.
I'm trying to synchronise 4 clients to one server. I want to send a message to the server when the client is ready to move on, then the server counts how many requests it gets and sends a message back to the clients to say it's ready.
What I've done so far is use REQ/REP:
while(1){
int responses = 0;
while(responses<numberOfCameras){
for(int i=0; i<numberOfCameras;i++){
cout<<"waiting"<<endl;
if(sockets[i]->recv(requests[i], ZMQ_NOBLOCK)){
responses ++;
cout<<"rx"<<endl;
}
}
}
for(int i=0; i<numberOfCameras;i++){
cout<<"tx"<<endl;
sockets[i]->send("k",1);
cout<<"Sent"<<endl;
}
}
With more than one camera, this produces the expected error:
Operation cannot be accomplished in current state
Because it cannot do anything until it's replied to the REQ, right?
How can I modify this to work with multiple clients?
EDIT:
I have attempted to implement a less strict REQ REP with PUSH PULL. The meat is:
Server:
while(1){
int responses = 0;
while(responses<numberOfCameras){
for(int i=0; i<numberOfCameras;i++){
cout<<"waiting"<<endl;
if(REQSockets[i]->recv(requests[i], ZMQ_NOBLOCK)){
responses ++;
cout<<"rx"<<endl;
}
}
}
boost::this_thread::sleep(boost::posix_time::milliseconds(200));
for(int i=0; i<numberOfCameras;i++){
cout<<"tx"<<endl;
REPSockets[i]->send("k",1);
cout<<"Sent"<<endl;
}
boost::this_thread::sleep(boost::posix_time::milliseconds(200));
}
Clients:
for (;;) {
std::cout << "Requesting permission to capture"<< std::endl;
REQSocket.send ("?", 1);
// Get the reply.
zmq::message_t reply;
REPSocket.recv (&reply);
std::cout << "Grabbed a frame" << std::endl;
boost::this_thread::sleep(boost::posix_time::seconds(2));
}
I have outputted all of the ports and addresses to check that they're set right.
The server program hangs with the output:
...
waiting
rx
tx
This means that the program is hanging on the send, but I can't see for the life of me why
EDIT 2:
I have made a github repo with a compilable example and linux makefile and converted to use REP REQ again. The issue is that the client doesn't accept the message from the server, but again, I don't know why.
The answer was to use two REP REQ sockets as in edit 2. I had made a stupid typo for "REQ" instead of "REP" in one of the variable usages and hadn't noticed. I was therefore connecting and then binding the same socket.
I will leave the github repo up as I think the question is long enough already.