Replies: 6 comments
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Yep, exactly that. What are you trying to achieve with catching local err
if my_pid then
-- Note you need to do `pcall(func, args...)`, rather than `pcall(func(args...))`.
ok, err = pcall(parallel.waitForAny, receive_set, receive_get, pid_update, pairing)
speed.setTargetSpeed(0)
rs.setAnalogOutput(rs_direction,0)
else
ok, err = pcall(parallel.waitForAny, receive_get, pairing)
end
rednet.unhost(robot_name)
rednet.close()
print("Stopping...")
if not ok then printError(err)If you do want to only catch terminate events, the easier way is to write a custom coroutine manager that intercepts -- Create a coroutine which calls parallel.waitForAny with the respective tasks.
local co = coroutine.create(parallel.waitForAny)
local ok, result
if my_pid then
ok, result = coroutine.resume(co, receive_set, receive_get, pid_update, pairing)
else
ok, result = coroutine.resume(co, receive_get, pairing)
end
while coroutine.status(co) ~= "dead" do
local event = table.pack(os.pullEventRaw(result))
if event[1] == "terminate" then
-- Handle the terminate event and exit
if my_pid then
speed.setTargetSpeed(0)
rs.setAnalogOutput(rs_direction,0)
end
rednet.unhost(robot_name)
rednet.close()
break
elseif result == nil or event[1] == result then
-- Otherwise run the main tasks
ok, result = coroutine.resume(co, table.unpack(event, 1, event.n))
end
end
if not ok then printError(result) end |
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@SquidDev Managed to get terminate handling to work by just using pullEventRaw for everything, but I'm now also having issues with weird delays in execution. while true do
rednet.send(id,45,"pid_update")
sleep(0.1)
endand also setTargetSpeed and getLogicalPose are global thread functions local pid = require("pid")
local f = require("funcs")
local vectors = {vector.new(1,0,0),vector.new(0,1,0),vector.new(0,0,1)}
local function hinge_worker(robot_name, my_name, my_pid, axis_i, next_name, speed, bearing, rs_direction, rotation_invert, bearing_invert)
term.clear()
term.setCursorPos(1,1)
os.setComputerLabel(my_name)
peripheral.find("modem",rednet.open)
print("ID: " .. tostring(os.computerID()) .. ", Name: " .. my_name)
rednet.host(robot_name,my_name)
local next_id
if my_pid then
my_pid:step(0,0.1)
print("Searching for next hinge...")
repeat
next_id=rednet.lookup(robot_name,next_name,1)
until next_id
print("Found next hinge")
print("Leg pairing...")
repeat
rednet.send(next_id,nil,"pair_request")
local _ = rednet.receive("pair_confirm",1)
until _
print("Leg pairing completed")
end
local function handle_terminate()
if my_pid then
speed.setTargetSpeed(0)
rs.setAnalogOutput(rs_direction,0)
end
rednet.unhost(robot_name)
rednet.close()
end
local isOnSubgrid,pose = pcall(sublevel.getLogicalPose)
if not isOnSubgrid then
handle_terminate()
error("not on subgrid")
end
local function pid_update()
while true do
local pid_update_timer
local get_timer
local next_orientation
local pid_update_received = false
repeat
local event,p1,p2,p3 = os.pullEventRaw()
if event=="rednet_message" then
local sender_id, message, protocol = p1, p2, p3
if protocol=="pid_update" then
if pid_update_timer then os.cancelTimer(pid_update_timer) end
my_pid.sp=message
pid_update_timer = os.startTimer(0.15)
isOnSubgrid,pose=pcall(sublevel.getLogicalPose) --1. 0.05s (1 tick) delay), set pose
if not isOnSubgrid then
handle_terminate()
error("not on subgrid")
end
get_timer=os.startTimer(0.05)
rednet.send(next_id,nil,"get") --2. send message
pid_update_received=true
elseif protocol=="orientation" then
if get_timer then
os.cancelTimer(get_timer)
get_timer=nil
end
if not pid_update_received then
handle_terminate()
error("Orientation received before requested")
end
next_orientation=message
end
elseif event=="timer" then
if p1 ==get_timer then
handle_terminate()
error("No response to get message received")
elseif p1 ==pid_update_timer then
pid_update_timer=nil
print("Have received no pid updates, pausing")
speed.setTargetSpeed(0)
rs.setAnalogOutput(rs_direction,0)
end
elseif event=="terminate" then
handle_terminate()
error("terminated")
end
until next_orientation
next_orientation = quaternion.fromComponents(next_orientation.v.x,next_orientation.v.y,next_orientation.v.z,next_orientation.a)
local vec_i
if axis_i==3 then vec_i=1 else vec_i=axis_i+1 end
local axis, vec, next_vec = pose.orientation:mul(vectors[axis_i]),pose.orientation:mul(vectors[vec_i]),next_orientation:mul(vectors[vec_i])
next_vec=(next_vec-(axis*next_vec:dot(axis))):normalize()
local sublevel_angle =math.deg(f.vec_angle(vec,next_vec,axis))
local bearing_angle=bearing.getTargetAngle()*bearing_invert
local force = my_pid:step(sublevel_angle,0.1)
local step_target = sublevel_angle+force
print("Force" .. tostring(force))
local output = (step_target-bearing_angle)*160
output=output/6
-- if (math.abs(output)>0.2) and (math.abs(output)<1) then
-- output=(output>0) and 1 or -1
-- end
-- local angle_error = target-sublevel_angle
-- print("OUTPUT:"..f.fmt(output).." ANGLE:"..f.fmt(math.deg(sublevel_angle)).." ERROR:" ..f.fmt(math.deg(angle_error)))
-- local output = my_pid:step(bearing_angle,0.05)
local angle_error = my_pid.sp-sublevel_angle
if (math.abs(angle_error)>0.2) and (math.abs(output)>0) and (math.abs(output)<1) and (angle_error*output>0) then
output=(output>0) and 1 or -1
end
rs.setAnalogOutput(rs_direction,14)
speed.setTargetSpeed(output*rotation_invert)
end
end
local function receive()
while true do
local event,p1,p2,p3 = os.pullEventRaw()
-- local id, message = rednet.receive(robot_name)
if event == "rednet_message" then
local sender_id, message, protocol = p1, p2, p3
if protocol=="get" then --3. receive message
rednet.send(sender_id,pose.orientation,"orientation") --4. send response
elseif protocol=="pair_request" then
rednet.send(sender_id ,nil,"pair_confirm")
print("Answered")
end
elseif event == "terminate" then
handle_terminate()
error("Terminated")
end
end
end
local successful,_error
if my_pid then
successful,_error = pcall(parallel.waitForAny,receive,pid_update)
else
successful,_error = pcall(parallel.waitForAny,receive)
end
if not successful then print(_error) end
end
return {hinge_worker=hinge_worker}
-- while true do
-- local id, message = rednet.receive(my_name)
-- if message.type=="get" then
-- local my_message={}
-- my_message.on_sublevel=sublevel.isInPlotGrid()
-- if my_message.on_sublevel then my_message.orientation=sublevel.getLogicalPose().orientation end
-- if bearing then my_message.target_angle = bearing.getTargetAngleRad()*bearing_invert end
-- rednet.send(id,my_message,"reply")
-- print("recieved get")
-- elseif message.type=="set" and speed then
-- speed.setTargetSpeed(message.speed*rotation_invert)
-- rs.setAnalogOutput(rs_direction,message.rs)
-- print("recieved set: speed " .. tostring(message.speed*rotation_invert) .. ", rs " .. tostring(message.rs))
-- elseif message.type=="ping" then
-- rednet.send(id,nil,ping)
-- end
-- endLog: |
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Ok so I figured out the issue is that the main thread functions eat events like os.sleep does. Not sure how to actually solve this though |
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Tried rewriting it so that is not an issue. Still does the same thing - 4 ticks between executions when it should be 2, and random 2 tick delays in the log that I can't figure out the reason for. log.txt, starts receiving update messages at line 39, skips forward 2 ticks for no apparent resaon at line 71 rednet.open("top")
local lHip2 = rednet.lookup("0","l.hip.2")
local lHip3 = rednet.lookup("0","l.hip.3")
while true do
rednet.send(lHip2,45,"tick_update")
rednet.send(lHip3,nil,"tick_update")
sleep(0.1)
endUpdated main program local pid = require("pid")
local f = require("funcs")
local vectors = {vector.new(1,0,0),vector.new(0,1,0),vector.new(0,0,1)}
local function hinge_worker(robot_name, my_name, my_pid, axis_i, next_name, speed, bearing, rs_direction, rotation_invert, bearing_invert)
local start_time = os.epoch("utc")
local start_tick=os.clock()
local file = fs.open("log.txt","w")
file.writeLine("Time since start|Ticks since start: Log")
local function log(text,do_print)
if do_print then
print(text)
end
file.writeLine(string.format("%d",os.epoch("utc")-start_time)..string.format("|%d: ",(os.clock()-start_tick)*20)..text)
end
term.clear()
term.setCursorPos(1,1)
os.setComputerLabel(my_name)
peripheral.find("modem",rednet.open)
log("ID: " .. tostring(os.computerID()) .. ", Name: " .. my_name,true)
rednet.host(robot_name,my_name)
local next_id
if my_pid then
my_pid:step(0,0.1)
log("Searching for next hinge...",true)
repeat
next_id=rednet.lookup(robot_name,next_name,1)
until next_id
log("Found next hinge",true)
log("Leg pairing...",true)
repeat
rednet.send(next_id,nil,"pair_request")
local _ = rednet.receive("pair_reply",1)
until _
log("Leg pairing completed",true)
end
local function handle_terminate()
if my_pid then
speed.setTargetSpeed(0)
rs.setAnalogOutput(rs_direction,0)
end
rednet.unhost(robot_name)
rednet.close()
log("Terminating.")
end
local orientation
local function update_orientation()
local result = {pcall(sublevel.getLogicalPose)}
orientation= result[1] and result[2].orientation or nil
end
update_orientation()
local sublevel_angle
local tick_update_counter=0
local setpoint
local pause=false
local angle_request_timer
local function receive()
local tick_update_timer = os.startTimer(0.5)
log(string.format("Started tick update timer, ID %d",tick_update_timer))
while true do
log("receive pullEventRaw yielding")
local event,p1,p2,p3 = os.pullEventRaw()
log("receive pullEventRaw resumed," .. event ..",".. tostring(p1) ..",".. tostring(p3))
-- local id, message = rednet.receive(robot_name)
if event == "rednet_message" then
local sender_id, message, protocol = p1, p2, p3
if protocol == "tick_update" then -- tick update received
if tick_update_timer then os.cancelTimer(tick_update_timer) end
tick_update_timer = os.startTimer(0.5)
log(string.format("Restarted tick update timer, ID %d",tick_update_timer))
tick_update_counter=tick_update_counter+1
log(string.format("Tick update counter+1: %d",tick_update_counter))
setpoint=message
elseif protocol == "angle_request" then -- Should be received only after tick_update
--quaternion.identity() if message is nil
local prev_orientation = (message) and quaternion.fromComponents(message.v.x,message.v.y,message.v.z,message.a) or quaternion.identity()
local vec_i = (axis_i==3) and (1) or axis_i+1
local axis, vec, next_vec = prev_orientation:mul(vectors[axis_i]),prev_orientation:mul(vectors[vec_i]),orientation:mul(vectors[vec_i])
next_vec=(next_vec-(axis*next_vec:dot(axis))):normalize()
local sublevel_angle =math.deg(f.vec_angle(vec,next_vec,axis))
rednet.send(sender_id,sublevel_angle,"angle_reply") -- DEGREES
log("Answered angle_request/sent angle_reply")
elseif protocol == "angle_reply" then -- Should be received only after tick_update
os.cancelTimer(angle_request_timer)
angle_request_timer=nil
sublevel_angle=message
log("Received angle reply")
elseif protocol == "pair_request" then
rednet.send(sender_id,nil,"pair_reply")
log("Answered pair request")
end
elseif event == "timer" then
if p1==tick_update_timer then
log("Tick update timeout")
tick_update_timer=nil
pause=true
elseif p1==angle_request_timer then
handle_terminate()
error("Angle request timeout")
end
elseif event == "terminate" then
handle_terminate()
error("Terminated")
end
end
end
local function tick_update()
local last_time=os.clock()
while true do
if tick_update_counter>0 then
log("tick_update getLogicalPose yielding")
update_orientation() -- global thread function, 0.05 second/1 tick delay
log("tick_update getLogicalPose resumed")
if setpoint then
rednet.send(next_id, orientation, "angle_request")
if angle_request_timer then
handle_terminate()
error("Angle request timer already going!")
end
angle_request_timer=os.startTimer(0.05)
log(string.format("Started angle request timer, ID %d",angle_request_timer))
repeat
log ("tick_update coroutine.yield 1 yielding")
coroutine.yield()
log ("tick_update coroutine.yield 1 resumed")
until sublevel_angle
local delta_time=os.clock()-last_time
delta_time = (delta_time>0.2) and 0.2 or delta_time
last_time=os.clock()
log(string.format("Running pid update: delta %d",delta_time*20))
my_pid.sp=setpoint
local bearing_angle=bearing.getTargetAngle()*bearing_invert
local force = my_pid:step(sublevel_angle,delta_time)
local target_angle = sublevel_angle+force
local output = ((target_angle-bearing_angle)*(16/delta_time))/6
local angle_error = my_pid.sp-sublevel_angle
if (math.abs(angle_error)>0.2) and (math.abs(output)>0) and (math.abs(output)<1) and (angle_error*output>0) then
output=(output>0) and 1 or -1
end
log("tick_update setTargetSpeed yielding")
speed.setTargetSpeed(output*rotation_invert)
log("tick_update setTargetSpeed resumed")
rs.setAnalogOutput(rs_direction,14)
setpoint=nil
sublevel_angle=nil
end
log(string.format("Tick update counter-1: %d",tick_update_counter))
tick_update_counter=tick_update_counter-1
elseif pause==true then
pause=false
if my_pid then
log ("tick_update pause yielding")
speed.setTargetSpeed(0)
log("tick_update pause resumed")
rs.setAnalogOutput(rs_direction,0)
end
end
log ("tick_update coroutine.yield 2 yielding")
coroutine.yield()
log ("tick_update coroutine.yield 2 resumed")
end
end
local successful,_error = pcall(parallel.waitForAny,receive,tick_update)
if not successful then
log(_error,true)
end
file.close()
end
return {hinge_worker=hinge_worker} |
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So I think the delay here is because coroutine.yield only resumes when an event is in the queue? But the thing is if I use something like sleep then I just get delay from that instead, and if I add an event then immediately pull the event that does give me a proper 'instant yield' but I think it also interferes with the other function trying to pull actual events. |
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I think I finally got it. local pid = require("pid")
local f = require("funcs")
local vectors = {vector.new(1,0,0),vector.new(0,1,0),vector.new(0,0,1)}
local function hinge_worker(robot_name, my_name, my_pid, axis_i, next_name, speed, bearing, rs_direction, rotation_invert, bearing_invert)
local start_time = os.epoch("utc")
local start_tick=os.clock()
local file = fs.open("log.txt","w")
file.writeLine("Time since start|Ticks since start: Log")
local tick_update_running =false
local function log(text,do_print)
if do_print then
print(text)
end
local extra = tick_update_running and " " or ""
file.writeLine(extra..string.format("%d",f.round(os.epoch("utc")-start_time,0))..string.format("|%d: ",f.round((os.clock()-start_tick)*20,0))..text)
end
term.clear()
term.setCursorPos(1,1)
os.setComputerLabel(my_name)
peripheral.find("modem",rednet.open)
log("ID: " .. tostring(os.computerID()) .. ", Name: " .. my_name,true)
rednet.host(robot_name,my_name)
local next_id
if my_pid then
my_pid:step(0,0.1)
repeat
next_id=rednet.lookup(robot_name,next_name,1)
until next_id
repeat
rednet.send(next_id,nil,"pair_request")
local _ = rednet.receive("pair_reply",1)
until _
end
local function handle_terminate()
if my_pid then
speed.setTargetSpeed(0)
rs.setAnalogOutput(rs_direction,0)
end
rednet.unhost(robot_name)
rednet.close()
log("Terminating.")
end
local orientation
local function update_orientation()
local result = {pcall(sublevel.getLogicalPose)}
orientation= result[1] and result[2].orientation or nil
end
update_orientation()
local tick_update_queue={first=0,last=-1}
local pause=false
local angle_request_timer
local function receive()
local tick_update_timer = os.startTimer(0.5)
while true do
local event,p1,p2,p3 = os.pullEventRaw()
log("receive pulled event: ".. event)
if event == "rednet_message" then
local sender_id, message, protocol = p1, p2, p3
if protocol == "tick_update" then -- tick update received
tick_update_queue.last = tick_update_queue.last+1
tick_update_queue[tick_update_queue.last]=message
log(string.format(" received tick update, setpoint %s, queue length %.1f", tostring(message), tick_update_queue.last-tick_update_queue.first+1))
elseif protocol == "angle_request" then -- Should be received only after tick_update
--quaternion.identity() if message is nil
local prev_orientation = (message) and quaternion.fromComponents(message.v.x,message.v.y,message.v.z,message.a) or quaternion.identity()
local vec_i = (axis_i==3) and (1) or axis_i+1
local axis, vec, next_vec = prev_orientation:mul(vectors[axis_i]),prev_orientation:mul(vectors[vec_i]),orientation:mul(vectors[vec_i])
next_vec=(next_vec-(axis*next_vec:dot(axis))):normalize()
local sublevel_angle =math.deg(f.vec_angle(vec,next_vec,axis))
rednet.send(sender_id,sublevel_angle,"angle_reply") -- DEGREES
log(" Answered angle_request/sent angle_reply")
elseif protocol == "pair_request" then
rednet.send(sender_id,nil,"pair_reply")
end
elseif event == "timer" then
if p1==tick_update_timer then
log(" Tick update timeout")
tick_update_timer=nil
pause=true
elseif p1==angle_request_timer then
handle_terminate()
error(" Angle request timeout")
end
elseif event == "terminate" then
handle_terminate()
error("Terminated")
end
if not tick_update_running then
if not (tick_update_queue.first>tick_update_queue.last) then
pause=false
if tick_update_timer then os.cancelTimer(tick_update_timer) end
tick_update_timer = os.startTimer(0.5)
os.queueEvent("tick_update",tick_update_queue[tick_update_queue.first])
log(string.format(" queue tick_update event, setpoint %s, queue length %.1f",tostring(tick_update_queue[tick_update_queue.first]),tick_update_queue.last-tick_update_queue.first))
tick_update_queue[tick_update_queue.first]=nil
tick_update_queue.first=tick_update_queue.first+1
elseif pause then
log(" queue pause event")
os.queueEvent("pause")
pause=false
end
end
log("receive finished")
end
end
local function tick_update()
local last_time=os.clock()
while true do
local event,p1 = os.pullEventRaw()
log("tick_update pulled event: ".. event)
if event == "tick_update" then
local setpoint = p1
tick_update_running=true
local delta_time=f.round(os.clock()-last_time,2)
last_time=os.clock()
log(string.format(" Running tick update: delta %d ticks, setpoint %s",f.round(delta_time*20,0),tostring(setpoint)))
update_orientation() -- global thread function, 0.05 second/1 tick delay
log(" Updated orientation")
if setpoint then
if angle_request_timer then
handle_terminate()
error("Angle request timer already going!")
end
angle_request_timer=os.startTimer(0.05)
rednet.send(next_id, orientation, "angle_request")
local sublevel_angle
repeat
local event,p1,p2,p3 = os.pullEventRaw()
if event=="rednet_message" and p3 =="angle_reply" then
sublevel_angle=p2
end
until sublevel_angle
os.cancelTimer(angle_request_timer)
angle_request_timer=nil
my_pid.sp=setpoint
local bearing_angle=bearing.getTargetAngle()*bearing_invert
local force = my_pid:step(sublevel_angle,delta_time)
local target_angle = sublevel_angle+force
local output = ((target_angle-bearing_angle)*(16/delta_time))/6
local angle_error = my_pid.sp-sublevel_angle
if (math.abs(angle_error)>0.2) and (math.abs(output)>0) and (math.abs(output)<1) and (angle_error*output>0) then
output=(output>0) and 1 or -1
end
log(string.format(" Received sublevel angle %.2f, bearing angle %.2f, force %.2f, target_angle %.2f, output %.2f",sublevel_angle, bearing_angle, force, target_angle, output*rotation_invert))
speed.setTargetSpeed(output*rotation_invert)
rs.setAnalogOutput(rs_direction,14)
os.queueEvent("finished_update")
end
tick_update_running=false
elseif event == "pause" then
tick_update_running=true
if my_pid then
log (" Running pause")
speed.setTargetSpeed(0)
rs.setAnalogOutput(rs_direction,0)
end
tick_update_running=false
end
log("tick_update finished")
end
end
log("Starting...",true)
local successful,_error = pcall(parallel.waitForAny,receive,tick_update)
if not successful then
log(_error,true)
end
file.close()
end
return {hinge_worker=hinge_worker} |
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Using with Create & Computercraft:Sable
For some reason the terminate event handling in my program just isn't triggering at all. I suspect this is because I'm using yielding functions in other coroutines which use the normal version of pullEvent but I kind of have to? Is there any way to get around this?
Would greatly appreciate any help.
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