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Avoid re-sending old position commands #26

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wants to merge 27 commits into from
Closed

Avoid re-sending old position commands #26

wants to merge 27 commits into from

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stephane-caron
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Closes #2

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coveralls commented May 16, 2023 •
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Pull Request Test Coverage Report for Build 6658868626

  • 43 of 98 (43.88%) changed or added relevant lines in 5 files are covered.
  • 2 unchanged lines in 1 file lost coverage.
  • Overall coverage decreased (-2.1%) to 85.743%
Changes Missing Coverage Covered Lines Changed/Added Lines %
vulp/actuation/BulletInterface.cpp 3 5 60.0%
vulp/spine/Spine.cpp 13 27 48.15%
vulp/actuation/moteus/Mode.h 0 39 0.0%
Files with Coverage Reduction New Missed Lines %
vulp/actuation/BulletInterface.cpp 2 70.53%
Totals Coverage Status
Change from base Build 6613734786: -2.1%
Covered Lines: 1696
Relevant Lines: 1978
💛 - Coveralls

@stephane-caron stephane-caron force-pushed the fix/no_resend branch 6 times, most recently from 44a25ea to 1d9a9b0 Compare May 23, 2023 16:59
@stephane-caron stephane-caron mentioned this pull request May 23, 2023
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stephane-caron commented May 23, 2023 •
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Some progress today:

  • Validate in simulation
  • Add CI tests
  • Run with mock spine
  • Run with pi3hat spine
  • Compare before/after performance on pi3hat spine

Leaving things at upkie/upkie#47 for tonight.

@stephane-caron stephane-caron force-pushed the fix/no_resend branch 3 times, most recently from 1286744 to c159f01 Compare May 25, 2023 12:36
@stephane-caron stephane-caron force-pushed the fix/no_resend branch 2 times, most recently from 52ab4eb to f4ba70d Compare June 8, 2023 16:03
@stephane-caron stephane-caron force-pushed the fix/no_resend branch 2 times, most recently from fa9c669 to bca8917 Compare August 24, 2023 09:16
@stephane-caron stephane-caron force-pushed the fix/no_resend branch 2 times, most recently from 9b5f630 to bc1de50 Compare October 5, 2023 12:27
@stephane-caron stephane-caron force-pushed the fix/no_resend branch 2 times, most recently from 716f4b5 to 03fcd4e Compare November 1, 2023 13:21
@stephane-caron stephane-caron force-pushed the fix/no_resend branch 2 times, most recently from a5a2ab6 to 6e23798 Compare November 14, 2023 18:24
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coveralls commented Nov 14, 2023 •
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Pull Request Test Coverage Report for Build 8112891856

Details

  • 44 of 98 (44.9%) changed or added relevant lines in 5 files are covered.
  • No unchanged relevant lines lost coverage.
  • Overall coverage decreased (-2.1%) to 87.282%
Changes Missing Coverage Covered Lines Changed/Added Lines %
vulp/actuation/BulletInterface.cpp 4 5 80.0%
vulp/spine/Spine.cpp 13 27 48.15%
vulp/actuation/moteus/Mode.h 0 39 0.0%
Totals Coverage Status
Change from base Build 8087490278: -2.1%
Covered Lines: 1805
Relevant Lines: 2068
💛 - Coveralls

@stephane-caron stephane-caron force-pushed the fix/no_resend branch 2 times, most recently from c363b19 to 101936b Compare January 5, 2024 16:21
@stephane-caron
WIP: Introduce Mode::kPositionContinue
6d08595
@stephane-caron
Don't emit a position command under kPositionContinue
d3bda60
@stephane-caron
Remove TODO that is documented in a project issue
f74c37f
@stephane-caron
Handle kPositionContinue in Bullet interface
0409456
@stephane-caron
WIP: Experiment with alternative Bullet change set
0a28833
@stephane-caron
Revert "WIP: Experiment with alternative Bullet change set"
80d352a 
This reverts commit 5941b96.
@stephane-caron
WIP: Disable position-continue commands for testing
c93ba9f
@stephane-caron
WIP: Try something else to test diff in qual behavior
fa411d7
@stephane-caron
WIP: Other variant of the test
8f48966 
This should be equivalent to the behavior from `main` in the Bullet
interface.
@stephane-caron
WIP: Log command modes in BulletInterface
1b150ac
@stephane-caron
Log more and switch back to correct mode update
4d26370
@stephane-caron
WIP: Iterate on same test
711b0c5
@stephane-caron
WIP: Check if reply mode has an incidence
31d7c75
@stephane-caron
Rule out assumption, stashed for tonight
070c4fa
@stephane-caron
One last test...
9370a56
@stephane-caron
Log command mode in failed assumption
e8ed905
@stephane-caron
Commands only switch to pos-continue mode from pos mode
44f3423
@stephane-caron
WIP: What else?
6daa570
@stephane-caron
Add unit tests for position-continue commands
48057c1
@stephane-caron
Rename function to continue_position_commands
d6743ee
@stephane-caron
Fix unit test
28a95ff
@stephane-caron
Document all moteus modes
8fc6c4c
@stephane-caron
Convert moteus mode to string
c3d816d
@stephane-caron
Spine: check servo replies upon reception
86c2fa4 
Also report unusual modes
@stephane-caron
Clean up Bullet debug instruction
d4958a2
@stephane-caron
Clean up spine debug instructions
85bccb5
@stephane-caron
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Closing this PR as stale. Better restart from scratch if the need for this improvement comes back stronger at some point in the future.

@stephane-caron stephane-caron deleted the fix/no_resend branch May 1, 2024 17:28
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Re-sending of previous commands
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@stephane-caron @coveralls