Updates from UxVCtrl V404

.github/workflows/github-actions.yml

@@ -14,20 +14,20 @@ jobs:
       shell: cmd
 
  j2:
-    name: Windows MinGW 8.1.0 x64
-    runs-on: windows-2019
+    name: Windows MinGW 11.2.0 x64
+    runs-on: windows-2022
     steps: 
     - uses: actions/checkout@v3
     - run: cmake -G "MSYS Makefiles" -D CMAKE_BUILD_TYPE=Release . && cmake --build . --parallel
       shell: bash
 
  j3:
-    name: Windows MinGW 8.1.0 x86
-    runs-on: windows-2019
+    name: Windows MinGW 11.2.0 x86
+    runs-on: windows-2022
     steps: 
     - uses: actions/checkout@v3
     - run: |
-        choco install -y -r --no-progress mingw --version=8.1.0 --force --x86
+        choco install -y -r --no-progress mingw --version=11.2.0.07112021 --force --x86
         choco install -y -r --no-progress make --force --x86
         echo C:\ProgramData\chocolatey\lib\mingw\tools\install\mingw32\bin>>%GITHUB_PATH%
       shell: cmd
@@ -43,8 +43,8 @@ jobs:
 #    - run: cmake -D CMAKE_BUILD_TYPE=Release . && cmake --build . --parallel
 
  j5:
-    name: Ubuntu 18.04
-    runs-on: ubuntu-18.04
+    name: Ubuntu 22.04
+    runs-on: ubuntu-22.04
     steps: 
     - uses: actions/checkout@v3
     - run: cmake  . && cmake --build .
@@ -72,13 +72,13 @@ jobs:
     - run: make && make clean && cmake -D CMAKE_BUILD_TYPE=Release . && cmake --build .
 
  j9:
-    name: Ubuntu 20.04 Qt
-    runs-on: ubuntu-20.04
+    name: Ubuntu 22.04 Qt
+    runs-on: ubuntu-22.04
     steps: 
     - uses: actions/checkout@v3
     - run: |
         sudo apt-get -q update || true # Allowed to fail...
-        sudo apt-get -y install qt5-default
+        sudo apt-get -y install qtbase5-dev qtchooser
     - run: qmake && make
 
  j10:

OSCore.h

@@ -55,19 +55,23 @@ _ Mac OS : __APPLE__
 
 _ Windows CE : WINCE
 
+See also https://sourceforge.net/p/predef/wiki/Architectures/.
+
 */
 
 #ifdef _WIN32
-// Set the default target Windows version to Windows XP, unless we use Borland C++ Builder 5
-// for which it is set to Windows 2000.
+// Set the default target Windows version to at least Windows XP, unless we use
+// Borland C++ Builder 5 for which it is set to Windows 2000.
 #	ifdef __BORLANDC__
-#		ifndef _WIN32_WINNT
+#		if !defined(_WIN32_WINNT) || (_WIN32_WINNT < 0x0500)
+#			undef _WIN32_WINNT
 #			define _WIN32_WINNT 0x0500
-#		endif // _WIN32_WINNT
+#		endif // !defined(_WIN32_WINNT) || (_WIN32_WINNT < 0x0500)
 #	else
-#		ifndef _WIN32_WINNT
+#		if !defined(_WIN32_WINNT) || (_WIN32_WINNT < 0x0501)
+#			undef _WIN32_WINNT
 #			define _WIN32_WINNT 0x0501
-#		endif // _WIN32_WINNT
+#		endif // !defined(_WIN32_WINNT) || (_WIN32_WINNT < 0x0501)
 #	endif // __BORLANDC__
 #endif // _WIN32
 
@@ -147,6 +151,7 @@ _ Windows CE : WINCE
 // To fix...
 
 #pragma GCC diagnostic ignored "-Wwrite-strings"
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
 //#if (((__GNUC__ == 4) && (__GNUC_MINOR__ >= 6)) || (__GNUC__ > 4))
 //#pragma GCC diagnostic push
 //#endif // (((__GNUC__ == 4) && (__GNUC_MINOR__ >= 6)) || (__GNUC__ > 4))

P33x.h

@@ -60,12 +60,12 @@ inline int InitP33x(P33X* pP33x)
 	uint8 writebuf[4];
 	uint8 crc_h = 0;
 	uint8 crc_l = 0;
-	int devclass = 0;
-	int group = 0;
-	int year = 0;
-	int week = 0;
-	int buf = 0;
-	int stat = 0;
+	//int devclass = 0;
+	//int group = 0;
+	//int year = 0;
+	//int week = 0;
+	//int buf = 0;
+	//int stat = 0;
 
 	writebuf[0] = (uint8)0xfa; // device address = 250
 	writebuf[1] = (uint8)0x30; // function 48
@@ -114,12 +114,12 @@ inline int InitP33x(P33X* pP33x)
 		return EXIT_FAILURE;	
 	}
 
-	devclass = readbuf[2];
-	group = readbuf[3];
-	year = readbuf[4];
-	week = readbuf[5];
-	buf = readbuf[6];
-	stat = readbuf[7];
+	//devclass = readbuf[2];
+	//group = readbuf[3];
+	//year = readbuf[4];
+	//week = readbuf[5];
+	//buf = readbuf[6];
+	//stat = readbuf[7];
 
 	//PRINT_DEBUG_MESSAGE_OSUTILS(("Device ID : %d.%d\n", devclass, group));
 	//PRINT_DEBUG_MESSAGE_OSUTILS(("Firmware version : %d.%d\n", year, week));
@@ -144,7 +144,7 @@ inline int ReadChannelP33x(P33X* pP33x, uint8 Channel, float* pValue)
 	uint8 crc_h = 0;
 	uint8 crc_l = 0;
 	uFloat_P33X value;
-	int stat = 0;
+	//int stat = 0;
 
 	writebuf[0] = (uint8)0xfa; // device address = 250
 	writebuf[1] = (uint8)0x49; // function 73
@@ -198,7 +198,7 @@ inline int ReadChannelP33x(P33X* pP33x, uint8 Channel, float* pValue)
 	value.c[2] = readbuf[3];
 	value.c[1] = readbuf[4];
 	value.c[0] = readbuf[5];
-	stat = readbuf[6];
+	//stat = readbuf[6];
 
 	*pValue = value.v;
 

ReadMe.txt

@@ -7,20 +7,20 @@ Hardware-CPP
 
 Change the device path and other parameters in the configuration files if necessary and comment/uncomment lines in Main.cpp depending on the device you wish to test. Mind the line endings in the configuration files depending on the OS (use e.g. the command dos2unix *.txt to convert line endings for Linux)!
 
-Hardware support : 
-- Hokuyo : Hokuyo URG-04LX-UG01 laser telemeter.
-- IM483I : Intelligent Motion Systems IM483I step motor controller.
-- MDM : Tritech Micron Data Modem (or other kinds of simple RS232 modems).
-- MES : Tritech Micron Echosounder.
-- MT : Xsens MTi, MTi-G AHRS.
-- NMEADevice (superseded by ublox) : GPS, Furuno WS200 weather station.
-- P33x : Keller pressure sensor PAA-33x.
-- PathfinderDVL : TRDI Pathfinder DVL.
-- Pololu : Pololu Mini Maestro 6, 18, 24 servo controllers, Pololu Jrk (preliminary support).
-- RazorAHRS : SparkFun 9DOF Razor IMU (flash firmware from https://github.com/lebarsfa/razor-9dof-ahrs if needed).
-- RPLIDAR : RPLIDAR A1, A2, A3 laser telemeters.
-- Seanet : Tritech Micron Sonar, Tritech MiniKing Sonar.
-- SSC-32 : Lynxmotion SSC-32, SSC-32u servo controllers.
-- ublox : ublox GPS, Furuno WS200 weather station, or other NMEA-compatible devices with supported NMEA sentences.
+Hardware support: 
+- Hokuyo: Hokuyo URG-04LX-UG01 laser telemeter.
+- IM483I: Intelligent Motion Systems IM483I step motor controller.
+- MDM: Tritech Micron Data Modem (or other kinds of simple RS232 modems).
+- MES: Tritech Micron Echosounder.
+- MT: Xsens MTi, MTi-G AHRS.
+- NMEADevice (superseded by ublox): GPS, Furuno WS200 weather station.
+- P33x: Keller pressure sensor PAA-33x.
+- PathfinderDVL: TRDI Pathfinder DVL.
+- Pololu: Pololu Mini Maestro 6, 18, 24 servo controllers, Pololu Jrk (preliminary support).
+- RazorAHRS: SparkFun 9DOF Razor IMU (flash firmware from https://github.com/lebarsfa/razor-9dof-ahrs if needed).
+- RPLIDAR: RPLIDAR A1, A2, A3 laser telemeters.
+- Seanet: Tritech Micron Sonar, Tritech MiniKing Sonar.
+- SSC-32: Lynxmotion SSC-32, SSC-32u servo controllers.
+- ublox: ublox GPS, Furuno WS200 weather station, or other NMEA-compatible devices with supported NMEA sentences.
 
 See also https://github.com/ENSTABretagneRobotics/Hardware-MATLAB, https://github.com/ENSTABretagneRobotics/Hardware-Python , https://github.com/ENSTABretagneRobotics/Hardware-Java , https://github.com/ENSTABretagneRobotics/Android .

Roboteq.h

@@ -620,11 +620,10 @@ inline int GetValueRoboteq(ROBOTEQ* pRoboteq, int operatingItem, int index, int*
 
 /*
 Set selected PWM channels.
-For example, if a servomotor is connected to channel 2, set pws[2] to 1500 to put it at a neutral state, 1000 in 
-one side or 2000 in the other side, and set selectedchannels[2] to 1. The channel needs to be configured as servo 
-output in Maestro Control Center. If it is configured as digital output, bit = (pws[2] >= 1500)? 1 : 0;.
+For example, if a motor is connected to channel 2, set pws[2] to 1500 to put it at a neutral state, 1000 in 
+one direction or 2000 in the other direction, and set selectedchannels[2] to 1.
 
-ROBOTEQ* pRoboteq : (INOUT) Valid pointer to a structure corresponding to a Roboteq Maestro.
+ROBOTEQ* pRoboteq : (INOUT) Valid pointer to a structure corresponding to a Roboteq.
 int* selectedchannels : (IN) Valid pointer to a table of NB_CHANNELS_PWM_ROBOTEQ elements to indicate which channels 
 should be considered in pws (0 to ignore the channel or 1 to select it).
 int* pws : (IN) Valid pointer to a table of NB_CHANNELS_PWM_ROBOTEQ elements with the desired pulse width for each 
@@ -670,7 +669,7 @@ inline int SetAllPWMsRoboteq(ROBOTEQ* pRoboteq, int* selectedchannels, int* pws)
 
 		//printf("%d %d %d %d %d\n", channel, pws_tmp[channel], pRoboteq->LastPWs[channel], abs(pws_tmp[channel]-pRoboteq->LastPWs[channel]), pRoboteq->ThresholdPWs[channel]);
 
-		res = (res || SetCommandRoboteq(pRoboteq, _GO_ROBOTEQ, channel+1, (pws_tmp[channel]-DEFAULT_MID_PW_ROBOTEQ)*(DEFAULT_MAX_PW_ROBOTEQ-DEFAULT_MIN_PW_ROBOTEQ)/1000));
+		res = (res || SetCommandRoboteq(pRoboteq, _GO_ROBOTEQ, channel+1, 2*(pws_tmp[channel]-DEFAULT_MID_PW_ROBOTEQ)*(DEFAULT_MAX_PW_ROBOTEQ-DEFAULT_MIN_PW_ROBOTEQ)/1000));
 
 		nbselectedchannels++;
 	}
@@ -696,7 +695,7 @@ inline int SetAllPWMsRoboteq(ROBOTEQ* pRoboteq, int* selectedchannels, int* pws)
 /*
 Set rightthrusterchan and leftthrusterchan PWM channels as thrusters inputs.
 
-ROBOTEQ* pRoboteq : (INOUT) Valid pointer to a structure corresponding to a Roboteq Maestro.
+ROBOTEQ* pRoboteq : (INOUT) Valid pointer to a structure corresponding to a Roboteq.
 double urt : (IN) Desired right thruster input (in [-1;1]).
 double ult : (IN) Desired left thruster input (in [-1;1]).
 
@@ -723,6 +722,96 @@ inline int SetThrustersRoboteq(ROBOTEQ* pRoboteq, double urt, double ult)
 	return SetAllPWMsRoboteq(pRoboteq, selectedchannels, pws);
 }
 
+/*
+Set 1 actuator
+
+ROBOTEQ* pRoboteq : (INOUT) Valid pointer to a structure corresponding to a Roboteq.
+double u_1 : (IN) Desired actuator input (in [-1;1]).
+
+Return : EXIT_SUCCESS or EXIT_FAILURE if there is an error.
+*/
+inline int Set1ActuatorRoboteq(ROBOTEQ* pRoboteq, double u_1)
+{
+	int selectedchannels[NB_CHANNELS_PWM_ROBOTEQ];
+	int pws[NB_CHANNELS_PWM_ROBOTEQ];
+
+	memset(selectedchannels, 0, sizeof(selectedchannels));
+	memset(pws, 0, sizeof(pws));
+
+	// Convert u (in [-1;1]) into Roboteq pulse width (in us).
+	pws[0] = DEFAULT_MID_PW_ROBOTEQ+(int)(u_1*(DEFAULT_MAX_PW_ROBOTEQ-DEFAULT_MIN_PW_ROBOTEQ)/2.0);
+
+	pws[0] = max(min(pws[0], DEFAULT_MAX_PW_ROBOTEQ), DEFAULT_MIN_PW_ROBOTEQ);
+
+	selectedchannels[0] = 1;
+
+	return SetAllPWMsRoboteq(pRoboteq, selectedchannels, pws);
+}
+
+/*
+Set 2 actuators. Warning: not all Roboteq boards can handle 2 actuators.
+
+ROBOTEQ* pRoboteq : (INOUT) Valid pointer to a structure corresponding to a Roboteq.
+double u_1 : (IN) Desired actuator input (in [-1;1]).
+double u_2 : (IN) Desired actuator input (in [-1;1]).
+
+Return : EXIT_SUCCESS or EXIT_FAILURE if there is an error.
+*/
+inline int Set2ActuatorsRoboteq(ROBOTEQ* pRoboteq, double u_1, double u_2)
+{
+	int selectedchannels[NB_CHANNELS_PWM_ROBOTEQ];
+	int pws[NB_CHANNELS_PWM_ROBOTEQ];
+
+	memset(selectedchannels, 0, sizeof(selectedchannels));
+	memset(pws, 0, sizeof(pws));
+
+	// Convert u (in [-1;1]) into Roboteq pulse width (in us).
+	pws[0] = DEFAULT_MID_PW_ROBOTEQ+(int)(u_1*(DEFAULT_MAX_PW_ROBOTEQ-DEFAULT_MIN_PW_ROBOTEQ)/2.0);
+	pws[1] = DEFAULT_MID_PW_ROBOTEQ+(int)(u_2*(DEFAULT_MAX_PW_ROBOTEQ-DEFAULT_MIN_PW_ROBOTEQ)/2.0);
+
+	pws[0] = max(min(pws[0], DEFAULT_MAX_PW_ROBOTEQ), DEFAULT_MIN_PW_ROBOTEQ);
+	pws[1] = max(min(pws[1], DEFAULT_MAX_PW_ROBOTEQ), DEFAULT_MIN_PW_ROBOTEQ);
+
+	selectedchannels[0] = 1;
+	selectedchannels[1] = 1;
+
+	return SetAllPWMsRoboteq(pRoboteq, selectedchannels, pws);
+}
+
+/*
+Set 3 actuators. Warning: not all Roboteq boards can handle 3 actuators.
+
+ROBOTEQ* pRoboteq : (INOUT) Valid pointer to a structure corresponding to a Roboteq.
+double u_1 : (IN) Desired actuator input (in [-1;1]).
+double u_2 : (IN) Desired actuator input (in [-1;1]).
+double u_3 : (IN) Desired actuator input (in [-1;1]).
+
+Return : EXIT_SUCCESS or EXIT_FAILURE if there is an error.
+*/
+inline int Set3ActuatorsRoboteq(ROBOTEQ* pRoboteq, double u_1, double u_2, double u_3)
+{
+	int selectedchannels[NB_CHANNELS_PWM_ROBOTEQ];
+	int pws[NB_CHANNELS_PWM_ROBOTEQ];
+
+	memset(selectedchannels, 0, sizeof(selectedchannels));
+	memset(pws, 0, sizeof(pws));
+
+	// Convert u (in [-1;1]) into Roboteq pulse width (in us).
+	pws[0] = DEFAULT_MID_PW_ROBOTEQ+(int)(u_1*(DEFAULT_MAX_PW_ROBOTEQ-DEFAULT_MIN_PW_ROBOTEQ)/2.0);
+	pws[1] = DEFAULT_MID_PW_ROBOTEQ+(int)(u_2*(DEFAULT_MAX_PW_ROBOTEQ-DEFAULT_MIN_PW_ROBOTEQ)/2.0);
+	pws[2] = DEFAULT_MID_PW_ROBOTEQ+(int)(u_3*(DEFAULT_MAX_PW_ROBOTEQ-DEFAULT_MIN_PW_ROBOTEQ)/2.0);
+
+	pws[0] = max(min(pws[0], DEFAULT_MAX_PW_ROBOTEQ), DEFAULT_MIN_PW_ROBOTEQ);
+	pws[1] = max(min(pws[1], DEFAULT_MAX_PW_ROBOTEQ), DEFAULT_MIN_PW_ROBOTEQ);
+	pws[2] = max(min(pws[2], DEFAULT_MAX_PW_ROBOTEQ), DEFAULT_MIN_PW_ROBOTEQ);
+
+	selectedchannels[0] = 1;
+	selectedchannels[1] = 1;
+	selectedchannels[2] = 1;
+
+	return SetAllPWMsRoboteq(pRoboteq, selectedchannels, pws);
+}
+
 // ROBOTEQ must be initialized to 0 before (e.g. ROBOTEQ roboteq; memset(&roboteq, 0, sizeof(ROBOTEQ));)!
 inline int ConnectRoboteq(ROBOTEQ* pRoboteq, char* szCfgFilePath)
 {