Support for DX200 controllers #49

gavanderhoorn · 2023-06-02T10:01:21Z

Edit 2: current status:

all identified outstanding issues appear to have been resolved (IP address issues: Support for DX200 controllers #49 (comment))
testing with Humble shows MotoROS2 is functional on DX200 (Support for DX200 controllers #49 (comment), Support for DX200 controllers #49 (review))
Success with Foxy has also been reported (Support for DX200 controllers #49 (comment))

Remaining TODO:

clean up commit history

Edit: current status:

Humble and Foxy builds appear to work on DX200, but
IP addresses with last octet >= 128 will result in a Must Enable ETHERNET function (ie: Alarm 8011) to be raised. Anything with last octet < 128 is expected to work (as a work-around): Support for DX200 controllers #49 (comment): this should no longer be a problem.

Available test builds:

Humble: Support for DX200 controllers #49 (comment)
Foxy: Support for DX200 controllers #49 (comment)

This is for #18.

A draft currently, but first steps towards full DX200 support.

src/MotoROS2_AllControllers.vcxproj.filters

src/ConfigFile.c

src/CtrlGroup.c

README.md

gavanderhoorn · 2023-08-11T10:58:39Z

While I can't test it, I agree with @ted-miller this is in quite an OK shape.

I'll spend some time fixing up the commit history and then we should be good to merge.

Note: this just prevents GCC from immediately exiting, more changes are needed to make MotoROS2 compatible with DX200 platforms.

Co-authored-by: Ted Miller <[email protected]>

DX200 doesn't have this function, so we have to provide a custom implementation. For YRC just forward the call.

A platform-specific mpCtrlGrpNo2GrpId(..) wrapper.

gavanderhoorn · 2023-08-14T06:06:04Z

Candidate commit history: main...gavanderhoorn:motoros2:dx200_support-squashed.

@ted-miller: I believe those commits succinctly show which changes were/are needed to get the YRC version working on DX2 without including all the fixups and experiments we needed to get to this point.

If you agree with the proposed set of commits, I'll force push it here (ie: overwrite the current dx200_support branch).

Co-authored-by: G.A. vd. Hoorn <[email protected]>

At least in code touched by adding DX200 support. Always check older platforms first. Always explicitly check supported platforms (avoid inverse checks). Always use 'if defined' instead of 'if' (the latter is deprecated).

ted-miller · 2023-08-14T17:07:01Z

Your branch looks good. Go ahead and push/merge it.

gavanderhoorn · 2023-08-14T17:29:05Z

Going to need a final review (again).

We could then merge this, deal with some of the other outstanding PRs and decide whether that'd be sufficient for 0.1.1.

We could also decide to go for 0.2.0, seeing as DX200 support is a bit of a milestone (also: 0.2.0 matches nicely with DX200, but that's minor).

ted-miller · 2023-08-14T18:00:51Z

We could then merge this, deal with some of the other outstanding PRs and decide whether that'd be sufficient for 0.1.1

See #120

gavanderhoorn · 2023-08-14T18:43:16Z

Thanks for the work @ted-miller 👍

Thanks for testing early builds and putting up with our mistakes @acbuynak and @smith-doug 👍

gavanderhoorn added this to the 0.1.1 milestone Jun 2, 2023

gavanderhoorn linked an issue Jun 2, 2023 that may be closed by this pull request

Add support for DX200 #18

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