src/cand/cand.cc

   1 /**
   2  * @file   cand.cc
   3  * @date   08/04/08
   4  *
   5  * @brief  CAN-ORTE bridge
   6  *
   7  * Copyright: (c) 2008 CTU Dragons
   8  *            CTU FEE - Department of Control Engineering
   9  * License: GNU GPL v.2
  10  */
  11
  12 #ifdef HAVE_CONFIG_H
  13 #include <config.h>
  14 #endif
  15
  16 #include <cstring>
  17 #include <iostream>
  18 #include <cstdlib>
  19 #include <sys/socket.h>
  20 #include <sys/ioctl.h>
  21 #include <fcntl.h>
  22 #include <poll.h>
  23
  24 #include <af_can.h>
  25 #include <canutils.h>
  26
  27 #include <can_ids.h>
  28 #include <can_msg_masks.h>
  29 #include <can_msg_def.h>
  30 #include <sharp.h>
  31 #include <orte.h>
  32 #include <roboorte_robottype.h>
  33 #include <can_msg_masks.h>
  34 #include "cand.h"
  35
  36 int cand_init()
  37 {
  38         if ((sock = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
  39                 perror("cand: unable to create a socket");
  40                 return -1;
  41         }
  42
  43         can_addr.can_family = AF_CAN;
  44         std::strcpy(can_ifreq.ifr_name, "can0");
  45
  46         if (ioctl(sock, SIOCGIFINDEX, &can_ifreq) < 0) {
  47                 perror("cand: SIOCGIFINDEX");
  48                 return -2;
  49         }
  50
  51         can_addr.can_ifindex = can_ifreq.ifr_ifindex;
  52
  53         if (!can_addr.can_ifindex) {
  54                 perror("cand: invalid socket interface");
  55                 return -3;
  56         }
  57
  58         if (bind(sock, (struct sockaddr *)&can_addr, sizeof(can_addr)) < 0) {
  59                 perror("cand: unable to bind");
  60                 return -4;
  61         }
  62
  63         return 0;
  64 }
  65
  66 int set_pwr_ctrl(struct robottype_orte_data *orte_data)
  67 {
  68         unsigned char data=0;
  69         if(orte_data->pwr_ctrl.voltage33)
  70                 data |= CAN_PWR_CTRL_33_ON;
  71         else
  72                 data |= CAN_PWR_CTRL_33_OFF;
  73
  74         if(orte_data->pwr_ctrl.voltage50)
  75                 data |= CAN_PWR_CTRL_50_ON;
  76         else
  77                 data |= CAN_PWR_CTRL_50_OFF;
  78
  79         if(orte_data->pwr_ctrl.voltage80)
  80                 data |= CAN_PWR_CTRL_80_ON;
  81         else
  82                 data |= CAN_PWR_CTRL_80_OFF;
  83
  84         can_send(CAN_PWR, 1, &data);
  85
  86         return 0;
  87 }
  88
  89 int set_pwr_alert(struct robottype_orte_data *orte_data)
  90 {
  91         unsigned char data=0;
  92         data = orte_data->pwr_alert.value;
  93
  94         can_send(CAN_PWR_ALERT, 1, &data);
  95
  96         return 0;
  97 }
  98
  99 int send_can_msg(struct robottype_orte_data *orte_data)
 100 {
 101         return can_send(orte_data->can_msg.id, orte_data->can_msg.len, orte_data->can_msg.data);
 102 }
 103
 104 int set_motor_speed(struct robottype_orte_data *orte_data)
 105 {
 106         unsigned char data[4];
 107
 108         data[0] = orte_data->motion_speed.right >> 8;
 109         data[1] = orte_data->motion_speed.right & 0xff;
 110         data[2] = orte_data->motion_speed.left >> 8;
 111         data[3] = orte_data->motion_speed.left & 0xff;
 112         can_send(CAN_MOTION_CMD, 4, data);
 113
 114         return 0;
 115 }
 116
 117 int set_vidle_cmd(uint16_t req_pos)
 118 {
 119         unsigned char data[2];
 120
 121         data[0] = req_pos >> 8 && 0xff;
 122         data[1] = req_pos & 0xff;
 123         can_send(CAN_VIDLE_CMD, 2, data);
 124
 125         return 0;
 126 }
 127
 128 /**
 129  * Sends #CAN_HOKUYO_PITCH message.
 130  *
 131  * - data = orte_data->pusher.pos
 132  */
 133 int set_hokuyo_pitch(struct robottype_orte_data *orte_data)
 134 {
 135         unsigned char data = orte_data->hokuyo_pitch.angle;
 136
 137         can_send(CAN_HOKUYO_PITCH, sizeof(data), &data);
 138         return 0;
 139 }
 140
 141
 142 int can_send(canid_t id, unsigned char length, unsigned char *data)
 143 {
 144         struct can_frame frame;
 145         size_t size;
 146
 147         frame.can_id = id;
 148         frame.can_dlc = length;
 149
 150         for(int i=0; i<length; i++)
 151                 frame.data[i] = data[i];
 152
 153         if ((size = write(sock, &frame, sizeof(struct can_frame))) < 0) {
 154                 perror("cand: can send: write()");
 155                 return -1;
 156         } else if (size < sizeof(struct can_frame)) {
 157                 perror("cand: can send: incomplete CAN frame\n");
 158                 return 1;
 159         }
 160
 161         return 0;
 162 }
 163
 164 /**
 165  * Parse frame ID and react as required
 166  */
 167 void cand_parse_frame(struct robottype_orte_data *orte, struct can_frame frame)
 168 {
 169         static int status_cnt = 0;
 170
 171         switch(frame.can_id) {
 172                 /* voltage measurements from power board */
 173
 174                 /* robot commands (start, ..) */
 175                 case CAN_VIDLE_STATUS:
 176                         orte->vidle_status.act_pos = (frame.data[0] << 8) | frame.data[1];
 177                         orte->vidle_status.response = (frame.data[2] << 8) | frame.data[3];
 178                         orte->vidle_status.flags = frame.data[5];
 179                         ORTEPublicationSend(orte->publication_vidle_status);
 180                         break;
 181                 case CAN_ROBOT_CMD:
 182                         orte->robot_cmd.start_condition = frame.data[0];
 183                         ORTEPublicationSend(orte->publication_robot_cmd);
 184                         break;
 185
 186                 /* positioning by odometry */
 187                 case CAN_ODO_DATA:
 188                         orte->odo_data.left =
 189                                         ((frame.data[0]<<24)|
 190                                          (frame.data[1]<<16)|
 191                                          (frame.data[2]<<8));
 192                         orte->odo_data.right =
 193                                         ((frame.data[3]<<24)|
 194                                          (frame.data[4]<<16)|
 195                                          (frame.data[5]<<8));
 196                         ORTEPublicationSend(orte->publication_odo_data);
 197                         break;
 198
 199                 /* positioning by odometry */
 200                 case CAN_MOTION_ODOMETRY_SIMPLE:
 201                         orte->motion_irc.right =
 202                                         ((frame.data[0]<<24)|
 203                                          (frame.data[1]<<16)|
 204                                          (frame.data[2]<<8));
 205                         orte->motion_irc.left =
 206                                         ((frame.data[3]<<24)|
 207                                          (frame.data[4]<<16)|
 208                                          (frame.data[5]<<8));
 209                         orte->motion_irc.seq = frame.data[6];
 210                         ORTEPublicationSend(orte->publication_motion_irc);
 211                         break;
 212
 213                 /* motion status */
 214                 case CAN_MOTION_STATUS:
 215                         orte->motion_status.err_left =
 216                                         (frame.data[0]<<8)|(frame.data[1]);
 217                         orte->motion_status.err_right =
 218                                         (frame.data[2]<<8)|(frame.data[3]);
 219                         if(++status_cnt == 2) { // h8eurobot sends duplicite can messages
 220                                 ORTEPublicationSend(orte->publication_motion_status);
 221                                 status_cnt = 0;
 222                         }
 223                         break;
 224                 case CAN_PWR_ADC1:
 225                         double volt33, voltBAT;
 226                         voltBAT = ((frame.data[0] << 24) | (frame.data[1] << 16) | \
 227                                  (frame.data[2] << 8) | (frame.data[3]))/10000.0;
 228                         volt33 = ((frame.data[4] << 24) | (frame.data[5] << 16) | \
 229                                  (frame.data[6] << 8) | (frame.data[7]))/10000.0;
 230                         orte->pwr_voltage.voltage33 = volt33;
 231                         orte->pwr_voltage.voltageBAT = voltBAT;
 232                         break;
 233
 234                 case CAN_PWR_ADC2:
 235                         double volt80, volt50;
 236                         volt50 = ((frame.data[0] << 24) | (frame.data[1] << 16) | \
 237                                  (frame.data[2] << 8) | (frame.data[3]))/10000.0;
 238                         volt80 = ((frame.data[4] << 24) | (frame.data[5] << 16) | \
 239                                  (frame.data[6] << 8) | (frame.data[7]))/10000.0;
 240                         orte->pwr_voltage.voltage80 = volt80;
 241                         orte->pwr_voltage.voltage50 = volt50;
 242
 243                         ORTEPublicationSend(orte->publication_pwr_voltage);
 244
 245                         break;
 246                 default:
 247                         //FIXME: add logging here (Filip)
 248 //                      printf("received CAN msg with unknown id: %x\n",frame.can_id);
 249                         break;
 250         }
 251 }
 252
 253 void rcv_pwr_ctrl_cb (const ORTERecvInfo *info, void *vinstance,
 254                         void *recvCallBackParam)
 255 {
 256         struct robottype_orte_data *orte_data = (struct robottype_orte_data *)recvCallBackParam;
 257
 258         switch (info->status) {
 259                 case NEW_DATA:
 260                         set_pwr_ctrl(orte_data);
 261                         break;
 262                 case DEADLINE:
 263                         //printf("ORTE deadline occurred - PWR_CTRL receive\n");
 264                         break;
 265         }
 266 }
 267
 268 void rcv_can_msg_cb (const ORTERecvInfo *info, void *vinstance,
 269                         void *recvCallBackParam)
 270 {
 271         struct robottype_orte_data *orte_data = (struct robottype_orte_data *)recvCallBackParam;
 272
 273         switch (info->status) {
 274                 case NEW_DATA:
 275                         send_can_msg(orte_data);
 276                         break;
 277                 case DEADLINE:
 278                         //printf("ORTE deadline occurred - PWR_CTRL receive\n");
 279                         break;
 280         }
 281 }
 282 void rcv_pwr_alert_cb (const ORTERecvInfo *info, void *vinstance,
 283                         void *recvCallBackParam)
 284 {
 285
 286         struct robottype_orte_data *orte_data = (struct robottype_orte_data *)recvCallBackParam;
 287         switch (info->status) {
 288                 case NEW_DATA:
 289                         set_pwr_alert(orte_data);
 290                         break;
 291                 case DEADLINE:
 292                         //printf("ORTE deadline occurred - PWR_CTRL receive\n");
 293                         break;
 294         }
 295 }
 296
 297 void rcv_motion_speed_cb(const ORTERecvInfo *info, void *vinstance,
 298                                 void *recvCallBackParam)
 299 {
 300         struct robottype_orte_data *orte_data = (struct robottype_orte_data *)recvCallBackParam;
 301
 302         switch (info->status) {
 303                 case NEW_DATA:
 304                         /* reversing motion direction, as it is different, than last year */
 305                         orte_data->motion_speed.left *= -1;
 306                         orte_data->motion_speed.right *=-1;
 307                         set_motor_speed(orte_data);
 308                         /*printf("motor cmd received\n");*/
 309                         break;
 310                 case DEADLINE:
 311                         //printf("motor cmd deadline occurred, stopping motors\n");
 312                         orte_data->motion_speed.left = 0;
 313                         orte_data->motion_speed.right = 0;
 314                         set_motor_speed(orte_data);
 315                         break;
 316         }
 317 }
 318
 319 void rcv_vidle_cmd_cb(const ORTERecvInfo *info, void *vinstance,
 320                       void *recvCallBackParam)
 321 {
 322         struct vidle_cmd_type *vidle_cmd = (struct vidle_cmd_type *)vinstance;
 323
 324         switch (info->status) {
 325                 case NEW_DATA:
 326                         set_vidle_cmd(vidle_cmd->req_pos);
 327                         break;
 328                 case DEADLINE:
 329                         break;
 330         }
 331 }
 332
 333 void rcv_hokuyo_pitch_cb (const ORTERecvInfo *info, void *vinstance,
 334                         void *recvCallBackParam)
 335 {
 336         struct robottype_orte_data *orte_data = (struct robottype_orte_data *)recvCallBackParam;
 337
 338         switch (info->status) {
 339                 case NEW_DATA:
 340                         set_hokuyo_pitch(orte_data);
 341                         break;
 342                 case DEADLINE:
 343 //                      printf("ORTE deadline occurred - hokuyo pitch receive\n");
 344                         break;
 345         }
 346 }
 347
 348
 349 int main(int argc, char *argv[])
 350 {
 351         int ret;
 352         int size;
 353
 354         struct robottype_orte_data orte;
 355         struct can_frame frame;
 356
 357         if (cand_init() < 0) {
 358                 printf("cand: init failed\n");
 359                 exit(1);
 360         } else {
 361                 printf("cand: init OK\n");
 362         }
 363
 364         orte.strength = 1;
 365
 366         /* orte initialization */
 367         if(robottype_roboorte_init(&orte)) {
 368                 printf("Roboorte initialization failed! Exiting...\n");
 369                 exit(-1);
 370         }
 371         else
 372                 printf("Roboorte OK\n");
 373
 374         /* creating publishers */
 375         robottype_publisher_pwr_voltage_create(&orte, NULL, NULL);
 376         robottype_publisher_motion_status_create(&orte, NULL, NULL);
 377         robottype_publisher_odo_data_create(&orte, NULL, NULL);
 378         robottype_publisher_motion_irc_create(&orte, NULL, NULL);
 379         robottype_publisher_robot_cmd_create(&orte, NULL, NULL);
 380         robottype_publisher_vidle_status_create(&orte, NULL, NULL);
 381         printf("Publishers OK\n");
 382
 383         /* creating subscribers */
 384         robottype_subscriber_pwr_ctrl_create(&orte, rcv_pwr_ctrl_cb, &orte);
 385         robottype_subscriber_pwr_alert_create(&orte, rcv_pwr_alert_cb, &orte);
 386         robottype_subscriber_motion_speed_create(&orte, rcv_motion_speed_cb, &orte);
 387         robottype_subscriber_vidle_cmd_create(&orte,    rcv_vidle_cmd_cb, &orte);
 388         robottype_subscriber_can_msg_create(&orte, rcv_can_msg_cb, &orte);
 389
 390
 391         printf("subscribers OK\n");
 392
 393         /* main loop */
 394         for(;;) {
 395                 struct pollfd pfd[1] = {{sock, POLLIN, 0}};
 396
 397                 ret = poll(pfd, 1, -1);
 398                 if (ret < 0) {
 399                         perror("cand: poll() error");
 400                         goto err;
 401                 }
 402
 403                 /* timeout expired, nothing to be done */
 404                 if (ret == 0)
 405                         continue;
 406
 407                 /* read data from SocketCAN */
 408                 size = read(sock, &frame, sizeof(struct can_frame));
 409
 410                 /* parse data */
 411                 if (size > 0)
 412                         cand_parse_frame(&orte, frame);
 413         }
 414         return EXIT_SUCCESS;
 415
 416 err:
 417         close(sock);
 418         return 1;
 419 }