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_jaws_cmd(struct robottype_orte_data *orte_data)
 118 {
 119         unsigned char data[3];
 120
 121         data[0] = orte_data->jaws_cmd.req_pos.left >> 8;
 122         data[1] = orte_data->jaws_cmd.req_pos.left & 0xff;
 123         data[2] = orte_data->jaws_cmd.speed.left;
 124         can_send(CAN_JAW_LEFT_CMD, 3, data);
 125
 126         data[0] = orte_data->jaws_cmd.req_pos.right >> 8;
 127         data[1] = orte_data->jaws_cmd.req_pos.right & 0xff;
 128         data[2] = orte_data->jaws_cmd.speed.right;
 129         can_send(CAN_JAW_RIGHT_CMD, 3, data);
 130
 131         return 0;
 132 }
 133
 134 int set_lift_cmd(struct robottype_orte_data *orte_data)
 135 {
 136         unsigned char data[4];
 137
 138         data[0] = orte_data->lift_cmd.req_pos >> 8;
 139         data[1] = orte_data->lift_cmd.req_pos & 0xff;
 140         data[2] = orte_data->lift_cmd.speed;
 141         data[3] = orte_data->lift_cmd.homing;
 142         can_send(CAN_LIFT_CMD, 4, data);
 143
 144         return 0;
 145 }
 146
 147 int can_send(canid_t id, unsigned char length, unsigned char *data)
 148 {
 149         struct can_frame frame;
 150         size_t size;
 151
 152         frame.can_id = id;
 153         frame.can_dlc = length;
 154
 155         for(int i=0; i<length; i++)
 156                 frame.data[i] = data[i];
 157
 158         if ((size = write(sock, &frame, sizeof(struct can_frame))) < 0) {
 159                 perror("cand: can send: write()");
 160                 return -1;
 161         } else if (size < sizeof(struct can_frame)) {
 162                 perror("cand: can send: incomplete CAN frame\n");
 163                 return 1;
 164         }
 165
 166         return 0;
 167 }
 168
 169 /**
 170  * Parse frame ID and react as required
 171  */
 172 void cand_parse_frame(struct robottype_orte_data *orte, struct can_frame frame)
 173 {
 174         static int status_cnt = 0;
 175
 176         switch(frame.can_id) {
 177                 /* voltage measurements from power board */
 178
 179                 /* robot commands (start, ..) */
 180                 case CAN_JAW_LEFT_STATUS:
 181                         orte->jaws_status.act_pos.left = (frame.data[0] << 8) | frame.data[1];
 182                         orte->jaws_status.response.left = (frame.data[2] << 8) | frame.data[3];
 183                         orte->jaws_status.flags.left = frame.data[4];
 184                         ORTEPublicationSend(orte->publication_jaws_status);
 185                         break;
 186                 case CAN_JAW_RIGHT_STATUS:
 187                         orte->jaws_status.act_pos.right = (frame.data[0] << 8) | frame.data[1];
 188                         orte->jaws_status.response.right = (frame.data[2] << 8) | frame.data[3];
 189                         orte->jaws_status.flags.right = frame.data[4];
 190                         ORTEPublicationSend(orte->publication_jaws_status);
 191                 break;
 192                 case CAN_LIFT_STATUS:
 193                         orte->lift_status.act_pos = (frame.data[0] << 8) | frame.data[1];
 194                         orte->lift_status.response = (frame.data[2] << 8) | frame.data[3];
 195                         orte->lift_status.flags = frame.data[4];
 196                         ORTEPublicationSend(orte->publication_lift_status);
 197                 break;
 198                 case CAN_ROBOT_CMD:
 199                         orte->robot_cmd.start_condition = frame.data[0];
 200                         ORTEPublicationSend(orte->publication_robot_cmd);
 201                         break;
 202                 case CAN_ROBOT_SWITCHES:
 203                         orte->robot_switches.team_color = (frame.data[0] & CAN_SWITCH_COLOR) ? 1 : 0;
 204                         orte->robot_switches.strategy = !!(frame.data[0] & CAN_SWITCH_STRATEGY);
 205                         ORTEPublicationSend(orte->publication_robot_switches);
 206                         break;
 207                 case CAN_ROBOT_BUMPERS:
 208                         orte->robot_bumpers.bumper_left = (frame.data[0] & CAN_BUMPER_LEFT) ? 0 : 1;
 209                         orte->robot_bumpers.bumper_left_across = (frame.data[0] & CAN_BUMPER_LEFT_ACROSS) ? 0 : 1;
 210                         orte->robot_bumpers.bumper_right = (frame.data[0] & CAN_BUMPER_RIGHT) ? 0 : 1;
 211                         orte->robot_bumpers.bumper_right_across = (frame.data[0] & CAN_BUMPER_RIGHT_ACROSS) ? 0 : 1;
 212                         orte->robot_bumpers.bumper_rear_left = (frame.data[0] & CAN_BUMPER_REAR_LEFT) ? 0 : 1;
 213                         orte->robot_bumpers.bumper_rear_right = (frame.data[0] & CAN_BUMPER_REAR_RIGHT) ? 0 : 1;
 214                         ORTEPublicationSend(orte->publication_robot_bumpers);
 215                 break;
 216
 217                 /* positioning by odometry */
 218                 case CAN_ODO_DATA:
 219                         orte->odo_data.right =
 220                                         ((frame.data[0]<<24)|
 221                                          (frame.data[1]<<16)|
 222                                          (frame.data[2]<<8));
 223                         orte->odo_data.left =
 224                                         ((frame.data[3]<<24)|
 225                                          (frame.data[4]<<16)|
 226                                          (frame.data[5]<<8));
 227                         ORTEPublicationSend(orte->publication_odo_data);
 228                         break;
 229
 230                 /* positioning by odometry */
 231                 case CAN_MOTION_ODOMETRY_SIMPLE:
 232                         orte->motion_irc.left =
 233                                         ((frame.data[0]<<24)|
 234                                          (frame.data[1]<<16)|
 235                                          (frame.data[2]<<8));
 236                         orte->motion_irc.right =
 237                                         ((frame.data[3]<<24)|
 238                                          (frame.data[4]<<16)|
 239                                          (frame.data[5]<<8));
 240                         orte->motion_irc.seq = frame.data[6];
 241                         ORTEPublicationSend(orte->publication_motion_irc);
 242                         break;
 243
 244                 /* motion status */
 245                 case CAN_MOTION_STATUS:
 246                         orte->motion_status.err_left =
 247                                         (frame.data[0]<<8)|(frame.data[1]);
 248                         orte->motion_status.err_right =
 249                                         (frame.data[2]<<8)|(frame.data[3]);
 250                         if(++status_cnt == 2) { // h8eurobot sends duplicite can messages
 251                                 ORTEPublicationSend(orte->publication_motion_status);
 252                                 status_cnt = 0;
 253                         }
 254                         break;
 255                 case CAN_PWR_ADC1:
 256                         double volt33, voltBAT;
 257                         voltBAT = ((frame.data[0] << 24) | (frame.data[1] << 16) | \
 258                                  (frame.data[2] << 8) | (frame.data[3]))/10000.0;
 259                         volt33 = ((frame.data[4] << 24) | (frame.data[5] << 16) | \
 260                                  (frame.data[6] << 8) | (frame.data[7]))/10000.0;
 261                         orte->pwr_voltage.voltage33 = volt33;
 262                         orte->pwr_voltage.voltageBAT = voltBAT;
 263                         break;
 264
 265                 case CAN_PWR_ADC2:
 266                         double volt80, volt50;
 267                         volt50 = ((frame.data[0] << 24) | (frame.data[1] << 16) | \
 268                                  (frame.data[2] << 8) | (frame.data[3]))/10000.0;
 269                         volt80 = ((frame.data[4] << 24) | (frame.data[5] << 16) | \
 270                                  (frame.data[6] << 8) | (frame.data[7]))/10000.0;
 271                         orte->pwr_voltage.voltage80 = volt80;
 272                         orte->pwr_voltage.voltage50 = volt50;
 273
 274                         ORTEPublicationSend(orte->publication_pwr_voltage);
 275
 276                         break;
 277                 default:
 278                         //FIXME: add logging here (Filip)
 279 //                      printf("received CAN msg with unknown id: %x\n",frame.can_id);
 280                         break;
 281         }
 282 }
 283
 284 void rcv_pwr_ctrl_cb (const ORTERecvInfo *info, void *vinstance,
 285                         void *recvCallBackParam)
 286 {
 287         struct robottype_orte_data *orte_data = (struct robottype_orte_data *)recvCallBackParam;
 288
 289         switch (info->status) {
 290                 case NEW_DATA:
 291                         set_pwr_ctrl(orte_data);
 292                         break;
 293                 case DEADLINE:
 294                         //printf("ORTE deadline occurred - PWR_CTRL receive\n");
 295                         break;
 296         }
 297 }
 298
 299 void rcv_can_msg_cb (const ORTERecvInfo *info, void *vinstance,
 300                         void *recvCallBackParam)
 301 {
 302         struct robottype_orte_data *orte_data = (struct robottype_orte_data *)recvCallBackParam;
 303
 304         switch (info->status) {
 305                 case NEW_DATA:
 306                         send_can_msg(orte_data);
 307                         break;
 308                 case DEADLINE:
 309                         //printf("ORTE deadline occurred - PWR_CTRL receive\n");
 310                         break;
 311         }
 312 }
 313 void rcv_pwr_alert_cb (const ORTERecvInfo *info, void *vinstance,
 314                         void *recvCallBackParam)
 315 {
 316
 317         struct robottype_orte_data *orte_data = (struct robottype_orte_data *)recvCallBackParam;
 318         switch (info->status) {
 319                 case NEW_DATA:
 320                         set_pwr_alert(orte_data);
 321                         break;
 322                 case DEADLINE:
 323                         //printf("ORTE deadline occurred - PWR_CTRL receive\n");
 324                         break;
 325         }
 326 }
 327
 328 void rcv_motion_speed_cb(const ORTERecvInfo *info, void *vinstance,
 329                                 void *recvCallBackParam)
 330 {
 331         struct robottype_orte_data *orte_data = (struct robottype_orte_data *)recvCallBackParam;
 332
 333         switch (info->status) {
 334                 case NEW_DATA:
 335                         /* reversing motion direction, as it is different, than last year */
 336                         orte_data->motion_speed.left *= 1;
 337                         orte_data->motion_speed.right *= 1;
 338                         set_motor_speed(orte_data);
 339                         /*printf("motor cmd received\n");*/
 340                         break;
 341                 case DEADLINE:
 342                         //printf("motor cmd deadline occurred, stopping motors\n");
 343                         orte_data->motion_speed.left = 0;
 344                         orte_data->motion_speed.right = 0;
 345                         set_motor_speed(orte_data);
 346                         break;
 347         }
 348 }
 349
 350 void rcv_jaws_cmd_cb(const ORTERecvInfo *info, void *vinstance,
 351                       void *recvCallBackParam)
 352 {
 353         struct robottype_orte_data *orte_data = (struct robottype_orte_data *)recvCallBackParam;
 354
 355         switch (info->status) {
 356                 case NEW_DATA:
 357                         set_jaws_cmd(orte_data);
 358                         break;
 359                 case DEADLINE:
 360                         break;
 361         }
 362 }
 363
 364 void rcv_lift_cmd_cb(const ORTERecvInfo *info, void *vinstance,
 365                       void *recvCallBackParam)
 366 {
 367         struct robottype_orte_data *orte_data = (struct robottype_orte_data *)recvCallBackParam;
 368
 369         switch (info->status) {
 370                 case NEW_DATA:
 371                         set_lift_cmd(orte_data);
 372                         break;
 373                 case DEADLINE:
 374                         break;
 375 }
 376 }
 377
 378 int main(int argc, char *argv[])
 379 {
 380         int ret;
 381         int size;
 382
 383         struct robottype_orte_data orte;
 384         struct can_frame frame;
 385
 386         if (cand_init() < 0) {
 387                 printf("cand: init failed\n");
 388                 exit(1);
 389         } else {
 390                 printf("cand: init OK\n");
 391         }
 392
 393         orte.strength = 1;
 394
 395         /* orte initialization */
 396         if(robottype_roboorte_init(&orte)) {
 397                 printf("Roboorte initialization failed! Exiting...\n");
 398                 exit(-1);
 399         }
 400         else
 401                 printf("Roboorte OK\n");
 402
 403         /* creating publishers */
 404         robottype_publisher_pwr_voltage_create(&orte, NULL, NULL);
 405         robottype_publisher_motion_status_create(&orte, NULL, NULL);
 406         robottype_publisher_odo_data_create(&orte, NULL, NULL);
 407         robottype_publisher_motion_irc_create(&orte, NULL, NULL);
 408         robottype_publisher_robot_cmd_create(&orte, NULL, NULL);
 409         robottype_publisher_robot_switches_create(&orte, NULL, NULL);
 410         robottype_publisher_robot_bumpers_create(&orte, NULL, NULL);
 411         robottype_publisher_jaws_status_create(&orte, NULL, NULL);
 412         robottype_publisher_lift_status_create(&orte, NULL, NULL);
 413         printf("Publishers OK\n");
 414
 415         /* creating subscribers */
 416         robottype_subscriber_pwr_ctrl_create(&orte, rcv_pwr_ctrl_cb, &orte);
 417         robottype_subscriber_pwr_alert_create(&orte, rcv_pwr_alert_cb, &orte);
 418         robottype_subscriber_motion_speed_create(&orte, rcv_motion_speed_cb, &orte);
 419         robottype_subscriber_jaws_cmd_create(&orte, rcv_jaws_cmd_cb, &orte);
 420         robottype_subscriber_lift_cmd_create(&orte, rcv_lift_cmd_cb, &orte);
 421         robottype_subscriber_can_msg_create(&orte, rcv_can_msg_cb, &orte);
 422
 423
 424         printf("subscribers OK\n");
 425
 426         /* main loop */
 427         for(;;) {
 428                 struct pollfd pfd[1] = {{sock, POLLIN, 0}};
 429
 430                 ret = poll(pfd, 1, -1);
 431                 if (ret < 0) {
 432                         perror("cand: poll() error");
 433                         goto err;
 434                 }
 435
 436                 /* timeout expired, nothing to be done */
 437                 if (ret == 0)
 438                         continue;
 439
 440                 /* read data from SocketCAN */
 441                 size = read(sock, &frame, sizeof(struct can_frame));
 442
 443                 /* parse data */
 444                 if (size > 0)
 445                         cand_parse_frame(&orte, frame);
 446         }
 447         return EXIT_SUCCESS;
 448
 449 err:
 450         close(sock);
 451         return 1;
 452 }