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 send_can_msg(struct robottype_orte_data *orte_data)
  90 {
  91         return can_send(orte_data->can_msg.id, orte_data->can_msg.len, orte_data->can_msg.data);
  92 }
  93
  94 int set_motor_speed(struct robottype_orte_data *orte_data)
  95 {
  96         unsigned char data[4];
  97
  98         data[0] = orte_data->motion_speed.right >> 8;
  99         data[1] = orte_data->motion_speed.right & 0xff;
 100         data[2] = orte_data->motion_speed.left >> 8;
 101         data[3] = orte_data->motion_speed.left & 0xff;
 102         can_send(CAN_MOTION_CMD, 4, data);
 103
 104         return 0;
 105 }
 106
 107 int set_jaws_cmd(struct robottype_orte_data *orte_data)
 108 {
 109         unsigned char data[3];
 110
 111         data[0] = orte_data->jaws_cmd.req_pos.left >> 8;
 112         data[1] = orte_data->jaws_cmd.req_pos.left & 0xff;
 113         data[2] = orte_data->jaws_cmd.speed.left;
 114         can_send(CAN_JAW_LEFT_CMD, 3, data);
 115
 116         data[0] = orte_data->jaws_cmd.req_pos.right >> 8;
 117         data[1] = orte_data->jaws_cmd.req_pos.right & 0xff;
 118         data[2] = orte_data->jaws_cmd.speed.right;
 119         can_send(CAN_JAW_RIGHT_CMD, 3, data);
 120
 121         return 0;
 122 }
 123
 124 int set_lift_cmd(struct robottype_orte_data *orte_data)
 125 {
 126         unsigned char data[4];
 127
 128         data[0] = orte_data->lift_cmd.req_pos >> 8;
 129         data[1] = orte_data->lift_cmd.req_pos & 0xff;
 130         data[2] = orte_data->lift_cmd.speed;
 131         data[3] = orte_data->lift_cmd.homing;
 132         can_send(CAN_LIFT_CMD, 4, data);
 133
 134         return 0;
 135 }
 136
 137 int can_send(canid_t id, unsigned char length, unsigned char *data)
 138 {
 139         struct can_frame frame;
 140         size_t size;
 141
 142         frame.can_id = id;
 143         frame.can_dlc = length;
 144
 145         for(int i=0; i<length; i++)
 146                 frame.data[i] = data[i];
 147
 148         if ((size = write(sock, &frame, sizeof(struct can_frame))) < 0) {
 149                 perror("cand: can send: write()");
 150                 return -1;
 151         } else if (size < sizeof(struct can_frame)) {
 152                 perror("cand: can send: incomplete CAN frame\n");
 153                 return 1;
 154         }
 155
 156         return 0;
 157 }
 158
 159 /**
 160  * Parse frame ID and react as required
 161  */
 162 void cand_parse_frame(struct robottype_orte_data *orte, struct can_frame frame)
 163 {
 164         static int status_cnt = 0;
 165
 166         switch(frame.can_id) {
 167                 /* robot commands (start, ..) */
 168                 case CAN_JAW_LEFT_STATUS:
 169                         orte->jaws_status.act_pos.left = (frame.data[0] << 8) | frame.data[1];
 170                         orte->jaws_status.response.left = (frame.data[2] << 8) | frame.data[3];
 171                         orte->jaws_status.flags.left = frame.data[4];
 172                         ORTEPublicationSend(orte->publication_jaws_status);
 173                         break;
 174                 case CAN_JAW_RIGHT_STATUS:
 175                         orte->jaws_status.act_pos.right = (frame.data[0] << 8) | frame.data[1];
 176                         orte->jaws_status.response.right = (frame.data[2] << 8) | frame.data[3];
 177                         orte->jaws_status.flags.right = frame.data[4];
 178                         ORTEPublicationSend(orte->publication_jaws_status);
 179                 break;
 180                 case CAN_LIFT_STATUS:
 181                         orte->lift_status.act_pos = (frame.data[0] << 8) | frame.data[1];
 182                         orte->lift_status.response = (frame.data[2] << 8) | frame.data[3];
 183                         orte->lift_status.flags = frame.data[4];
 184                         ORTEPublicationSend(orte->publication_lift_status);
 185                 break;
 186                 case CAN_ROBOT_CMD:
 187                         orte->robot_cmd.start_condition = frame.data[0];
 188                         ORTEPublicationSend(orte->publication_robot_cmd);
 189                         break;
 190                 case CAN_ROBOT_SWITCHES:
 191                         orte->robot_switches.team_color = (frame.data[0] & CAN_SWITCH_COLOR) ? 1 : 0;
 192                         orte->robot_switches.strategy = (frame.data[0] & CAN_SWITCH_STRATEGY ? 1 : 0);
 193                         ORTEPublicationSend(orte->publication_robot_switches);
 194                         break;
 195                 case CAN_ROBOT_BUMPERS:
 196                         orte->robot_bumpers.bumper_left = (frame.data[0] & CAN_BUMPER_LEFT) ? 0 : 1;
 197                         orte->robot_bumpers.bumper_left_across = (frame.data[0] & CAN_BUMPER_LEFT_ACROSS) ? 0 : 1;
 198                         orte->robot_bumpers.bumper_right = (frame.data[0] & CAN_BUMPER_RIGHT) ? 0 : 1;
 199                         orte->robot_bumpers.bumper_right_across = (frame.data[0] & CAN_BUMPER_RIGHT_ACROSS) ? 0 : 1;
 200                         orte->robot_bumpers.bumper_rear_left = (frame.data[0] & CAN_BUMPER_REAR_LEFT) ? 0 : 1;
 201                         orte->robot_bumpers.bumper_rear_right = (frame.data[0] & CAN_BUMPER_REAR_RIGHT) ? 0 : 1;
 202                         ORTEPublicationSend(orte->publication_robot_bumpers);
 203                 break;
 204
 205                 /* positioning by odometry */
 206                 case CAN_ODO_DATA:
 207                         orte->odo_data.right =
 208                                         ((frame.data[0]<<24)|
 209                                          (frame.data[1]<<16)|
 210                                          (frame.data[2]<<8));
 211                         orte->odo_data.left =
 212                                         ((frame.data[3]<<24)|
 213                                          (frame.data[4]<<16)|
 214                                          (frame.data[5]<<8));
 215                         ORTEPublicationSend(orte->publication_odo_data);
 216                         break;
 217
 218                 /* positioning by odometry */
 219                 case CAN_MOTION_ODOMETRY_SIMPLE:
 220                         orte->motion_irc.left =
 221                                         ((frame.data[0]<<24)|
 222                                          (frame.data[1]<<16)|
 223                                          (frame.data[2]<<8));
 224                         orte->motion_irc.right =
 225                                         ((frame.data[3]<<24)|
 226                                          (frame.data[4]<<16)|
 227                                          (frame.data[5]<<8));
 228                         orte->motion_irc.seq = frame.data[6];
 229                         ORTEPublicationSend(orte->publication_motion_irc);
 230                         break;
 231
 232                 /* motion status */
 233                 case CAN_MOTION_STATUS:
 234                         orte->motion_status.err_left =
 235                                         (frame.data[0]<<8)|(frame.data[1]);
 236                         orte->motion_status.err_right =
 237                                         (frame.data[2]<<8)|(frame.data[3]);
 238                         if(++status_cnt == 2) { // h8eurobot sends duplicite can messages
 239                                 ORTEPublicationSend(orte->publication_motion_status);
 240                                 status_cnt = 0;
 241                         }
 242                         break;
 243                 /* voltage measurements from power board */
 244                 case CAN_PWR_ADC1:
 245                         double volt33, voltBAT;
 246                         voltBAT = ((frame.data[0] << 24) | (frame.data[1] << 16) | \
 247                                  (frame.data[2] << 8) | (frame.data[3]))/10000.0;
 248                         volt33 = ((frame.data[4] << 24) | (frame.data[5] << 16) | \
 249                                  (frame.data[6] << 8) | (frame.data[7]))/10000.0;
 250                         orte->pwr_voltage.voltage33 = volt33;
 251                         orte->pwr_voltage.voltageBAT = voltBAT;
 252                         break;
 253
 254                 case CAN_PWR_ADC2:
 255                         double volt80, volt50;
 256                         volt50 = ((frame.data[0] << 24) | (frame.data[1] << 16) | \
 257                                  (frame.data[2] << 8) | (frame.data[3]))/10000.0;
 258                         volt80 = ((frame.data[4] << 24) | (frame.data[5] << 16) | \
 259                                  (frame.data[6] << 8) | (frame.data[7]))/10000.0;
 260                         orte->pwr_voltage.voltage80 = volt80;
 261                         orte->pwr_voltage.voltage50 = volt50;
 262
 263                         ORTEPublicationSend(orte->publication_pwr_voltage);
 264
 265                         break;
 266
 267                 case CAN_PWR_ALERT:
 268                         orte->pwr_alert.alert_33 = (frame.data[0] & CAN_PWR_ALERT_33 ? 1 : 0);
 269                         orte->pwr_alert.alert_50 = (frame.data[0] & CAN_PWR_ALERT_50 ? 1 : 0);
 270                         orte->pwr_alert.alert_80 = (frame.data[0] & CAN_PWR_ALERT_80 ? 1 : 0);
 271                         orte->pwr_alert.bat_full = (frame.data[0] & CAN_PWR_BATT_FULL ? 1 : 0);
 272                         orte->pwr_alert.bat_mean = (frame.data[0] & CAN_PWR_BATT_MEAN ? 1 : 0);
 273                         orte->pwr_alert.bat_low = (frame.data[0] & CAN_PWR_BATT_LOW ? 1 : 0);
 274                         orte->pwr_alert.bat_critical = (frame.data[0] & CAN_PWR_BATT_CRITICAL ? 1 : 0);
 275
 276                         ORTEPublicationSend(orte->publication_pwr_alert);
 277                         break;
 278
 279                 default:
 280                         //FIXME: add logging here (Filip)
 281 //                      printf("received CAN msg with unknown id: %x\n",frame.can_id);
 282                         break;
 283         }
 284 }
 285
 286 void rcv_pwr_ctrl_cb (const ORTERecvInfo *info, void *vinstance,
 287                         void *recvCallBackParam)
 288 {
 289         struct robottype_orte_data *orte_data = (struct robottype_orte_data *)recvCallBackParam;
 290
 291         switch (info->status) {
 292                 case NEW_DATA:
 293                         set_pwr_ctrl(orte_data);
 294                         break;
 295                 case DEADLINE:
 296                         //printf("ORTE deadline occurred - PWR_CTRL receive\n");
 297                         break;
 298         }
 299 }
 300
 301 void rcv_can_msg_cb (const ORTERecvInfo *info, void *vinstance,
 302                         void *recvCallBackParam)
 303 {
 304         struct robottype_orte_data *orte_data = (struct robottype_orte_data *)recvCallBackParam;
 305
 306         switch (info->status) {
 307                 case NEW_DATA:
 308                         send_can_msg(orte_data);
 309                         break;
 310                 case DEADLINE:
 311                         //printf("ORTE deadline occurred - PWR_CTRL receive\n");
 312                         break;
 313         }
 314 }
 315
 316 void rcv_motion_speed_cb(const ORTERecvInfo *info, void *vinstance,
 317                                 void *recvCallBackParam)
 318 {
 319         struct robottype_orte_data *orte_data = (struct robottype_orte_data *)recvCallBackParam;
 320
 321         switch (info->status) {
 322                 case NEW_DATA:
 323                         /* reversing motion direction, as it is different, than last year */
 324                         orte_data->motion_speed.left *= 1;
 325                         orte_data->motion_speed.right *= 1;
 326                         set_motor_speed(orte_data);
 327                         /*printf("motor cmd received\n");*/
 328                         break;
 329                 case DEADLINE:
 330                         //printf("motor cmd deadline occurred, stopping motors\n");
 331                         orte_data->motion_speed.left = 0;
 332                         orte_data->motion_speed.right = 0;
 333                         set_motor_speed(orte_data);
 334                         break;
 335         }
 336 }
 337
 338 void rcv_jaws_cmd_cb(const ORTERecvInfo *info, void *vinstance,
 339                       void *recvCallBackParam)
 340 {
 341         struct robottype_orte_data *orte_data = (struct robottype_orte_data *)recvCallBackParam;
 342
 343         switch (info->status) {
 344                 case NEW_DATA:
 345                         set_jaws_cmd(orte_data);
 346                         break;
 347                 case DEADLINE:
 348                         break;
 349         }
 350 }
 351
 352 void rcv_lift_cmd_cb(const ORTERecvInfo *info, void *vinstance,
 353                       void *recvCallBackParam)
 354 {
 355         struct robottype_orte_data *orte_data = (struct robottype_orte_data *)recvCallBackParam;
 356
 357         switch (info->status) {
 358                 case NEW_DATA:
 359                         set_lift_cmd(orte_data);
 360                         break;
 361                 case DEADLINE:
 362                         break;
 363 }
 364 }
 365
 366 int main(int argc, char *argv[])
 367 {
 368         int ret;
 369         int size;
 370
 371         struct robottype_orte_data orte;
 372         struct can_frame frame;
 373
 374         if (cand_init() < 0) {
 375                 printf("cand: init failed\n");
 376                 exit(1);
 377         } else {
 378                 printf("cand: init OK\n");
 379         }
 380
 381         orte.strength = 1;
 382
 383         /* orte initialization */
 384         if(robottype_roboorte_init(&orte)) {
 385                 printf("Roboorte initialization failed! Exiting...\n");
 386                 exit(-1);
 387         }
 388         else
 389                 printf("Roboorte OK\n");
 390
 391         /* creating publishers */
 392         robottype_publisher_pwr_voltage_create(&orte, NULL, NULL);
 393         robottype_publisher_motion_status_create(&orte, NULL, NULL);
 394         robottype_publisher_odo_data_create(&orte, NULL, NULL);
 395         robottype_publisher_motion_irc_create(&orte, NULL, NULL);
 396         robottype_publisher_robot_cmd_create(&orte, NULL, NULL);
 397         robottype_publisher_robot_switches_create(&orte, NULL, NULL);
 398         robottype_publisher_robot_bumpers_create(&orte, NULL, NULL);
 399         robottype_publisher_jaws_status_create(&orte, NULL, NULL);
 400         robottype_publisher_lift_status_create(&orte, NULL, NULL);
 401         printf("Publishers OK\n");
 402
 403         /* creating subscribers */
 404         robottype_subscriber_pwr_ctrl_create(&orte, rcv_pwr_ctrl_cb, &orte);
 405         robottype_subscriber_motion_speed_create(&orte, rcv_motion_speed_cb, &orte);
 406         robottype_subscriber_jaws_cmd_create(&orte, rcv_jaws_cmd_cb, &orte);
 407         robottype_subscriber_lift_cmd_create(&orte, rcv_lift_cmd_cb, &orte);
 408         robottype_subscriber_can_msg_create(&orte, rcv_can_msg_cb, &orte);
 409
 410
 411         printf("subscribers OK\n");
 412
 413         /* main loop */
 414         for(;;) {
 415                 struct pollfd pfd[1] = {{sock, POLLIN, 0}};
 416
 417                 ret = poll(pfd, 1, -1);
 418                 if (ret < 0) {
 419                         perror("cand: poll() error");
 420                         goto err;
 421                 }
 422
 423                 /* timeout expired, nothing to be done */
 424                 if (ret == 0)
 425                         continue;
 426
 427                 /* read data from SocketCAN */
 428                 size = read(sock, &frame, sizeof(struct can_frame));
 429
 430                 /* parse data */
 431                 if (size > 0)
 432                         cand_parse_frame(&orte, frame);
 433         }
 434         return EXIT_SUCCESS;
 435
 436 err:
 437         close(sock);
 438         return 1;
 439 }