The 3 ways that come to mind is changing a parameter but the parameter server is super not high performance and I will be querying this at well over 5 hz. Another option is to have the state be a latched topic but I'm unsure if this is actually any better performancewise. Finally, just have a service call that asks for the state of that component
I would add that typically in dataflow applications, 'state' is derived from data. "fan is on" is something that should either be directly represented by a dataflow, or be derived from one. Hence a topic. Latching such a topic is then just a minor optimisation.
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Thanks for the input! I did some rough testing and found that the CPU of publishing a state at 10 Hz vs 100 Hz to provide near real-time state information for other nodes works better than parameters (obviously) and slightly better than persistent services.
can you clarify this a bit? The type of information that you describe is definitely not something that should be stored on the parameter server. It's state info that encodes the state of one of your ..
A sensor or actuator, I agree. There's often times you have state about the state of a particular program (Is this thing active, what's the last person that called it, when did that happen). These are great small sized things that would make sense to be able to grab when needed...
and calling it a "parameter server" I agree, but equivalently if there's just a call response for the status of things registered, it is useful for high level applications. Other middlewares like zeromq allow for this, ROS's param server wasn't written with high rate access / modification in mind.
Hi Experts,
I am using lis2dw12 accelerometer connected to esp32s3 and recently have got a situation which is blocking for esp32s3 to read status registers of accelerometer when LIR =1 (latched mode). I put accelerometer on stationary mode and routing the intruppt to INT1 which resets my esp32. Interrupt is working fine but when I want to read tap_source or wakeup_source or in general ALL_INT_SRC ( not pulling them. only one time) to detect the reset reason on my esp32 side, It will be hanged sometimes until esp32 watchdog happens and from that point the status register are readable since i2c is reinitiated I guess. Whould you mind please help me to underestand why acccelerometer get frozen?
Here is my configurations:
Perfect. Are you sure that the i2c is ready to read the sensor, when the micro reboots? you need to understand what is the difference between the first read that does not return anything and the one after the watchdog triggers... you could try to read the whoami register to see if there are problems with that register or the whole sensor.
I have already tried reading whoamI and seems it get stuck reading from accelerometer while I am sure I2c is reinitiated after each reboot and ready to be used since there is and rtc module also reading from i2c and is functional( they dont have any interference).
It is worth mentioning it randomly happen and for example if you lift the senor and keep it face up for a while it likely stopps before reading form I2C process(like accelerometer is hanged somewhere, Write process is also not working). I even tried a loop to read status register after reboot to see if the value of flags change but they are somehow froozen sometimes. Is not it related to happening two WU_IA in a row before reading the wake_up source register or all_int_src register?
Interrupts routine is so short and fast. INT1 pin is connected to PWR_ON pin of ESP32S3 and As I said before reboot time take a couples of 10ms until we start to read from I2C. I insiste to say when LIR=0 every read from I2C , at the same API call level, will work but when LIR=1 esp32 watchdog reset happens. Could you please check the differences between this two working mode? I guess LIS2DW12 needs to write event flags in NVS which can leads to not being responding during that process or.....
However, can you provide us your project schematic (which ESP32 pin are you using to communicate with our sensor), and the line code in which you detect the interrupt event and the following few lines?
Hi Federica,
Sorry for my late response due to the holidays. I actually found the problem but I have no proper explanation for the reason of that. As I mentioned above I only try to put the accelerometer in the stationary after each esp32s3 power on. Accelerometer can wake up the esp32s3 since the INT pin is connected to esp_pwr_on pin( you can see in the schematic). The faulty scenario happens when I set accelerometer in stationary + latched mode enabled(LIR = 1).
Faulty scenario: while I bring the accelerometer out of latched mode (LIR=0) and wait for wakeup source register clean up through polling loop, If I shake the sensor during reconfiguration, it will finally come out of the polling loop and Accelerometer goes to latched mode again( here something happens) and I will not be able to read or write from/to accelerometer until shaking stops for next configuration.
Yea im happy to pull the had brake up to engage the switch input. it only takes a very small amount of travel and does not even start to engage the rear brakes in this small amount of travel. its very easy to feel the brake shoe engagement point and stay away from it.
Start with something like below. Add more retard and turn on the fuel trim table if you dont achieve the boost you want. Make the limit range smaller for a more aggressive limiter or bigger for a smoother limit.
In the example I gave above I have the retard mode set to degrees (not degrees absolute), so that "-30" means it will subtract 30deg from your normal commanded timing. So if you normally had 25deg at 5psi boost then your timing would be 5ATDC with launch enabled at the same pressure.
You can use the retard to influence the level of boost that is achieved during the latched launch limiting. More retard = higher boost. Positive fuel trim = more boost, more aggressive limiter = more boost.
Is it safe to say those guidelines regarding latched launch retard hold true when tuning normal launch control from a stop as well? Meaning would latched launch control and single launch control both call for a similar/same amount of retard and or fueling in those two different situations given you are comparing the same engine?
The same fundamentals apply but the strategy used will vary a lot depending on the car and discipline. Typically you will be more traction limited from a standing start than a rolling start so there will likely be set up differences, you may need lower boost, and/or lower RPM and/or a slower decay etc.
My truck is a '18 Cascadia. It keeps on thinking the hood isn't latched. I don't see any sensors in that area. Anyone know how I can fix this on my own? And when that happens, my dome light turns on, on it's own.....weird.
I don't see any wires leading out from the latches. As long as I can drive and keep making money, I'll bring it up when I have to go in for a scheduled service. I was already down because of my old truck.
The one time my truck briefly alarmed coolant level low.. it actually was, just barely. I was close to my home terminal in Iowa so I ran it through the shop. They topped it off but never really did figure out what happened to my coolant and it hasn't done it since, but rumor is the some of the new cascadias have had gasket problems/failures. So far so good and my engine oil never looks milky.
My air alarm sensor went bad. The crazy thing was alarming when my air pressure was perfectly fine (125 psi) and it would stop alarming when I stopped and set the brakes. We've had several new trucks with this same problem. They replaced the sensor and its been good ever since.
I've heard there's yet another recall for my truck.. something about the cab mounts and where its mounted the metal isn't thick enough (in the floor). Our front ends weren't torqued correctly at the factory and it all had to be retightened up by our shop. One recall after another it seems, so yeah I make sure I check my truck closely. I should about have most of the bugs worked out of it. I've got almost 110k miles on it which isn't bad considering it sat at a freightliner dealer for 3 weeks after it decided it wasn't going to shift anymore, a weeks vacation and 2 more weeks parked when my other half got critically ill and almost died, then another week in August when one of my daughters passed away, so the truck has been parked over 2 months since I got it at the end of last October.
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The pinky trigger acts similar to a shift button, and you can set it to latch or unlatch. Unlatched means you have to hold it down like a shift to do second functions, and latched means it will stick. And it won't unlatch even when I hit the "unlatch" option and the box is not longer checkmarked. I've tested this in games, on the desktop, and in the SST software. The unlatch feature only seems to work in the SST. I've been trying to set up my controls for the Su-25T in DCS World, so I can get back into simming and play A-10C eventually. But this issue is getting in the way. 152ee80cbc
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