- Added the robot ID as a configuration Parameter

- The robot now listens to its own address pipe
- Added reboot command

include/communication/communicationboundary/NRF24CommunicationBoundary.hpp

@@ -3,8 +3,7 @@
 #include <communication/communicationboundary/NRF24Configuration.hpp>
 
 #include <core/communication/BaseCommunicationBoundary.hpp>
-
-
+#include <core/PMSVSettings.hpp>
 
 
 /**
@@ -17,6 +16,8 @@ class NRF24CommunicationBoundary : public BaseCommunicationBoundary {
     /// Configuration of the NRF Boundary
     NRFConfiguration &config;
 
+    PMSVSettings &settings;
+
     /// The radio used to communicate with the other party
     RF24 nrfRadio;
 
@@ -29,7 +30,7 @@ public:
      *
      * @param _config Configuration to set up
      */
-    NRF24CommunicationBoundary(NRFConfiguration &_config);
+    NRF24CommunicationBoundary(NRFConfiguration &_config, PMSVSettings &settings);
 
     /**
      * Send a message over RF to the controller

include/core/communication/CommandRegistry.hpp

@@ -16,7 +16,7 @@ enum class CommandCategory : uint8_t {
  * Commands in the "General" category
  */
 enum GeneralCommand {
-    SET_COMMUNICATION_ACTIVEMODE = 0
+    REBOOT = 0
 };
 
 /**

include/core/util/ArraySize.hpp

+#include <cstddef>
+
+#pragma once
+template<typename T, unsigned int sz>
+inline size_t lengthof(T (&)[sz]) { return sz; }
\ No newline at end of file

src/communication/commandcontroller/CommandController_General.cpp

@@ -3,6 +3,10 @@
 
 
 Response CommandController_General::handle(const Command &cmd, ResponseCallback callback) {
+    switch(cmd.command_id) {
+        case REBOOT:
+            rstc_start_software_reset(RSTC);
+    }
     return {0, SuccessCode::UNKNOWN_COMMAND};
 }
 
@@ -14,8 +18,8 @@ CommandController_General::CommandController_General() {}
 
 std::pair<uint8_t, uint8_t> CommandController_General::getParameterLimits(uint8_t command_id) {
     switch (command_id) {
-        case SET_COMMUNICATION_ACTIVEMODE:
-            return {1, 1};
+        case REBOOT:
+            return {0, 0};
         default:
             return {255, 255};
     }

src/communication/method/NRF24CommunicationBoundary.cpp

 #include <communication/communicationboundary/NRF24CommunicationBoundary.hpp>
 
 
-NRF24CommunicationBoundary::NRF24CommunicationBoundary(NRFConfiguration &_config) : config(_config),
-                                                                                    nrfRadio(config.pin_ce, config.pin_csn) {
+NRF24CommunicationBoundary::NRF24CommunicationBoundary(NRFConfiguration &_config, PMSVSettings &settings)
+        : config(_config),
+          settings(settings), nrfRadio(config.pin_ce, config.pin_csn) {
     nrfRadio.begin();
     nrfRadio.setPALevel(config.palevel);
 
@@ -18,10 +19,15 @@ NRF24CommunicationBoundary::NRF24CommunicationBoundary(NRFConfiguration &_config
 
     nrfRadio.setChannel(config.channel);
 
-    nrfRadio.openReadingPipe(1, config.base_reading_pipe & ~0xFFu);
-    nrfRadio.openWritingPipe(config.base_writing_pipe & ~0xFFu);
+    const uint64_t base_address_mask = 0x000000FFu;
+
+    nrfRadio.openReadingPipe(1, config.base_reading_pipe & ~base_address_mask);
+    nrfRadio.openReadingPipe(2, (config.base_reading_pipe & ~base_address_mask) | settings.robot_id);
+    nrfRadio.openWritingPipe((config.base_writing_pipe & ~base_address_mask) | settings.robot_id);
 
     nrfRadio.powerUp();
+
+    nrfRadio.printDetails();
     nrfRadio.startListening();
 }
 

src/core/configuration/BaseConfigurationValue.cpp

@@ -37,13 +37,11 @@ void BaseConfigurationValue::print_info() {
 }
 
 void BaseConfigurationValue::store() {
-    Serial.println("storing");
     auto data = get();
     storage.write(ADDRESS_START, (uint8_t *) data.first, data.second);
 }
 
 void BaseConfigurationValue::load() {
-    Serial.println("loading");
 
     uint8_t *flash_data = storage.readAddress(ADDRESS_START);
     set(flash_data);

src/main.cpp

-
-
-
 #include <core/configuration/ConfigurationValue.hpp>
-
 #include <core/PMSVSettings.hpp>
 #include <communication/communicationboundary/NRF24Configuration.hpp>
 #include <movement/motorboundary/AccelStepperConfig.hpp>
@@ -15,6 +11,8 @@
 #include <communication/commandcontroller/CommandController_Action.hpp>
 #include <core/communication/CommunicationController.hpp>
 
+#include <core/util/ArraySize.hpp>
+
 #include <utility>
 
 #define R_SENSE 0.11f
@@ -22,13 +20,15 @@
 
 //##################################################################   Configuration ###################################
 PMSVSettings default_settings{
-        0,
+        0xE4,
         1.434684f,
         1.4545f,
         0,
         180
 };
 
+auto c_robot_id = registerConfig("ROBOT_ID", default_settings.robot_id);
+
 auto c_rot_per_mm = registerConfig("MOTOR_ROTATION_PER_MM_DISTANCE",
                                    default_settings.motor_rotation_degrees_per_mm_distance);
 auto c_mm_per_rot = registerConfig("MM_DISTANCE_PER_ROBOT_ROTATION",
@@ -94,6 +94,7 @@ auto c_RIGHTmotor_forward_direction = registerConfig("RIGHTMOTOR_FORWARD_DIRECTI
 
 
 std::reference_wrapper<BaseConfigurationValue> configurationValues[]{
+        c_robot_id,
         c_rot_per_mm,
         c_mm_per_rot,
         c_min_speed,
@@ -129,9 +130,9 @@ void setup() {
     Serial.begin(9600);
 
     //    Set up Boundaries
-    CommandController_Configuration flashCommandController{configurationValues, 23};
+    CommandController_Configuration flashCommandController{configurationValues, lengthof(configurationValues)};
 
-    NRF24CommunicationBoundary nrfBoundary{nrf_config};
+    NRF24CommunicationBoundary nrfBoundary{nrf_config, default_settings};
 
     MotorBoundary_AccelStepper leftMotor{leftMotorConfig};
 
@@ -153,8 +154,7 @@ void setup() {
     };
 
 
-    CommunicationController communicationController{nrfBoundary, commandControllers, 4};
-    Serial.println("Init done");
+    CommunicationController communicationController{nrfBoundary, commandControllers, lengthof(commandControllers)};
     volatile bool _true = true;
     while (_true) {
         movementController.update();