Dev

[llLeo306]

Summary by Sourcery

Refine the chassis power control module with Eigen-based math utilities, enhanced power distribution logic, and updated CI to build and test the module via the generic libxr-based Linux workflow.

New Features:

• Allow passing motor speed tracking error into PowerControl for both 3508 and 6020 motors to drive error-aware power allocation.
• Expose measured chassis power, capacitor energy, and SuperPower online status via new PowerControl accessors.

Enhancements:

• Replace custom matrix utilities with Eigen in both the PowerControl implementation and RLS estimator to simplify linear algebra handling.
• Adjust recursive least squares parameter bounds and initialization for more flexible online identification of motor power model coefficients.
• Rework power limiting for omni and helm chassis to mix demand-based and error-based power distribution with a reserved power margin.
• Simplify the current back-calculation helper used to meet a target power in the motor model.

Build:

• Replace the STM32 container-based BSP build in CI with a libxr/xrobot-driven Linux CMake build that links the module as part of a small test executable and adds required dependency modules (Referee, CMD, SuperPower).

CI:

• Rework the GitHub Actions workflow to use the docker-image-linux container, initialize an xrobot project layout, add this module and its dependencies, and build it with standard CMake on Linux.

[sourcery-ai]

Reviewer's Guide

Refactors the PowerControl module and its RLS helper to use Eigen instead of a custom matrix library, introduces error-aware power distribution logic for omni and helm chassis, relaxes/changes some power model parameters and current-solving logic, and replaces the STM32-based CI build with a generic Linux/libxr-based build pipeline.

Sequence diagram for chassis power control loop using PowerControl

sequenceDiagram
    participant ChassisController
    participant PowerControl
    participant SuperPower
    participant RLS as RLS_2

    ChassisController->>PowerControl: SetMotorData3508(currents_3508, speeds_3508, speed_errors_3508)
    ChassisController->>PowerControl: SetMotorData6020(currents_6020, speeds_6020, speed_errors_6020)

    ChassisController->>PowerControl: CalculatePowerControlParam()
    PowerControl->>SuperPower: GetChassisPower()
    SuperPower-->>PowerControl: measured_power
    PowerControl->>SuperPower: IsOnline()
    SuperPower-->>PowerControl: online_flag
    PowerControl->>RLS: Update(samples_3508_, residual)
    RLS-->>PowerControl: params_3508_
    PowerControl->>PowerControl: update k1_3508_, k2_3508_

    ChassisController->>PowerControl: OutputLimit(max_power)
    alt is_helm_ == false
        PowerControl->>PowerControl: OutputLimitOmni(max_power)
    else is_helm_ == true
        PowerControl->>PowerControl: OutputLimitHelm(max_power)
    end

    ChassisController->>PowerControl: GetPowerControlData()
    PowerControl-->>ChassisController: PowerControlData (new currents, is_power_limited)

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Updated class diagram for PowerControl and RLS

classDiagram
    class LibXR_Application {
    }

    class SuperPower {
      +float GetChassisPower()
      +float GetCapEnergy()
      +bool IsOnline()
    }

    class RLS_2 {
      <<template<2>>
      +uint32_t dimension_
      +float lambda_
      +float delta_
      +Eigen_Matrix_float_2_2 transmatrix_
      +ParamVector gainvector_
      +ParamVector paramsvector_
      +ParamVector defaultparamsvector_
      +RLS_2(float delta_, float lambda_)
      +void Reset()
      +const ParamVector& Update(const ParamVector& sample_vector, float actual_output)
      +void SetParamVector(const ParamVector& updated_params)
    }

    class PowerControl {
      +static int MAX_MOTOR_COUNT
      -LibXR_Mutex mutex_
      -SuperPower* superpower_
      -bool is_helm_
      -RLS_2 rls_
      -PowerControlData powercontrol_data_
      -float k3_chassis_
      -float error_confidence_
      -float sum_error_
      -float speed_error_3508_[MAX_MOTOR_COUNT]
      -float speed_error_6020_[MAX_MOTOR_COUNT]
      -int motor_count_3508_
      -int motor_count_6020_
      -float kt_3508_
      -float k1_3508_
      -float k2_3508_
      -Eigen_Matrix_float_2_1 samples_3508_
      -Eigen_Matrix_float_2_1 params_3508_
      -float output_current_3508_[MAX_MOTOR_COUNT]
      -float rotorspeed_rpm_3508_[MAX_MOTOR_COUNT]
      -float motor_power_3508_[MAX_MOTOR_COUNT]
      -float kt_6020_
      -float k1_6020_
      -float k2_6020_
      -float output_current_6020_[MAX_MOTOR_COUNT]
      -float rotorspeed_rpm_6020_[MAX_MOTOR_COUNT]
      -float motor_power_6020_[MAX_MOTOR_COUNT]
      -float measured_power_
      +PowerControl(LibXR_HardwareContainer& hw, LibXR_ApplicationManager& app, SuperPower* superpower, bool is_helm, float chassis_static_power_loss, int motor_count_3508, int motor_count_6020)
      +void SetMotorData3508(float* output_current, float* rotorspeed_rpm, float* speed_error)
      +void SetMotorData6020(float* output_current, float* rotorspeed_rpm, float* speed_error)
      +void CalculatePowerControlParam()
      +void OutputLimit(float max_power)
      +PowerControlData GetPowerControlData()
      +float GetMeasuredPower() const
      +float GetCapEnergy()
      +bool IsOnline()
      +void OnMonitor()
      -void OutputLimitOmni(float max_power)
      -void OutputLimitHelm(float max_power)
    }

    class PowerControlData {
      +float new_output_current_3508[POWER_CONTROL_MAX_MOTOR_COUNT]
      +float new_output_current_6020[POWER_CONTROL_MAX_MOTOR_COUNT]
      +bool is_power_limited
    }

    LibXR_Application <|-- PowerControl
    PowerControl --> SuperPower : uses
    PowerControl --> RLS_2 : uses
    PowerControl --> PowerControlData : aggregates

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File-Level Changes

Change	Details	Files
Refactor PowerControl to use Eigen, expose additional telemetry helpers, and implement error-weighted power distribution for both omni and helm modes.	Replace custom Matrixf usage with Eigen::Matrix for 2x1 parameter and sample vectors and update initialization/indexing syntax. Simplify solve_current_for_power to always compute quadratic roots, change handling of near-zero discriminant, and adjust current selection strategy. Add optional speed_error inputs to SetMotorData3508/6020 and store absolute tracking errors per motor. Modify OutputLimitOmni to reserve extra power margin, accumulate speed error, compute an error-based confidence factor, and mix error-based vs proportional power weights when distributing limited power among motors. Extend OutputLimitHelm to apply similar mixed error/proportional power distribution separately for 3508 and 6020 motor groups, while keeping the existing group-level power budgeting logic. Expose measured power, capacitor energy, and online status via new getters on PowerControl. Retune RLS-updated loss parameters k1_3508_/k2_3508_ with new minimum bounds and adjust residual logic slightly. Replace Matrix module dependency in manifest and includes with Eigen/Core, and add new error distribution threshold macros.	PowerControl.hpp
Port the RLS helper class from a FreeRTOS-specific implementation using a custom matrix library to a header-only Eigen-based implementation.	Remove FreeRTOS and custom matrix includes and assertions, making RLS.hpp platform-agnostic. Introduce a ParamVector alias using Eigen::Matrix<float, dim, 1> and use Eigen matrices for internal covariance and gain matrices. Rewrite Reset and Update to use Eigen operations and .transpose()/.operator()(row,col) access, preserving the underlying RLS algorithm. Adjust Update signature to take const ParamVector& and rename parameters to more conventional styles. Keep SetParamVector but update it to operate on Eigen vectors and store the provided parameters as both current and default values.	RLS.hpp
Replace the STM32/bsp-dev-c-based GitHub Actions workflow with a Linux/libxr-based xrobot module integration test build.	Change the build container to ghcr.io/xrobot-org/docker-image-linux:main and remove STM32 toolchain-specific environment and CMake configuration. Check out the module under a Modules/ subdirectory, create a minimal main.cpp and CMakeLists.txt that build an xr_test executable using libxr and the module. Clone libxr and check out additional required modules (Referee, CMD, SuperPower) into Modules/ to satisfy dependencies. Install Python-based xrobot tooling, run xrobot_setup/xrobot_init_mod, register standard helper modules and this module via xrobot_add_mod, and regenerate the xrobot main. Configure and build the project with standard CMake/make on Linux while preserving the tag-creation step for successful non-PR builds.	.github/workflows/build.yml
Minor documentation and build script touch-ups for the PowerControl module.	Retain and reformat README.md content without functional changes. Keep the module CMakeLists.txt structure intact, with a no-op formatting-only update.	README.md CMakeLists.txt

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[sourcery-ai]

Hey - I've left some high level feedback:

• The new implementation of solve_current_for_power removes the negative-delta/small-a guard but still calls sqrtf(delta) unconditionally and divides by 2*a, which can lead to NaNs or division-by-zero when delta < 0 or k1 ≈ 0; consider restoring/adjusting these checks and setting final_current consistently (the delta < 1e-9 branch currently computes x3 but never uses it).
• In OutputLimitOmni/OutputLimitHelm, constants like the extra power margin 3.0f and the thresholds ERROR_POWERDISTRIBUTION_SET/POP_POWERDISTRIBUTION are hard-coded; consider making them constexpr configuration parameters or clearly named class members so their intent and tunability are explicit.

Prompt for AI Agents

Please address the comments from this code review:

## Overall Comments
- The new implementation of `solve_current_for_power` removes the negative-`delta`/small-`a` guard but still calls `sqrtf(delta)` unconditionally and divides by `2*a`, which can lead to NaNs or division-by-zero when `delta < 0` or `k1 ≈ 0`; consider restoring/adjusting these checks and setting `final_current` consistently (the `delta < 1e-9` branch currently computes `x3` but never uses it).
- In `OutputLimitOmni`/`OutputLimitHelm`, constants like the extra power margin `3.0f` and the thresholds `ERROR_POWERDISTRIBUTION_SET`/`POP_POWERDISTRIBUTION` are hard-coded; consider making them `constexpr` configuration parameters or clearly named class members so their intent and tunability are explicit.

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