"invalid token" errors when using steering with Bluetooth

[rodja]

It seems that zauberzeug/field_friend#147 is caused by some kind of issue in Lizard. When I send steering commands I can see that the App successfully sends a wheels.speed(0.0000,0.0000) command, but the wheels keep on spinning:

Screen.Recording.2024-08-26.at.08.33.59-small.mp4

I noticed that there are numerous error messages invalid token at range 0 1 "w"@74 appearing in the serial log while steering. They do not show if the robot is idle and the app does not send anything.

[Johannes-Thiel]

it could be that the robot stops because of this line in the startup of the robot.
when core.last_message_age > 1000 then wheels.speed(0, 0); end
This will stop the robot, if the core does not get a command in 1000 milli seconds.

[JensOgorek]

To me, it looks like the message is not received correctly, instead of "wheels.speed(0.000, 0.000)" it just reads the "w" as a full message.

[rodja]

Yes @JensOgorek. But why? The full text is send via mobile to Bluetooth. Is the error in the lizards bluetooth code? Or in the parsing?

[JensOgorek]

I would say it's most likely with the Bluetooth itself. I will try to check out what exactly is going on with the communication.

Edit: Checked out how this works together with rosys.

[JensOgorek]

Ok, I checked if there was an error within the Bluetooth connection or something, but that is not the issue. It works without any errors in my (limited -> No Can/Odrives here) testing. I also did add an extra output in the Bluetooth module to see if the received messages are broken or something, but this worked flawless.

The error itself will be created with a faulty input to owl_tree_create_from_string so basically inside the owl tree.

[JensOgorek]

We could not reproduce this with ESP32 or a Robot Brain. Maybe @rodja check if you can break it again with idf 5.3.1 update