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.left >> 8;
 109         data[1] = orte_data->motion_speed.left & 0xff;
 110         data[2] = orte_data->motion_speed.right >> 8;
 111         data[3] = orte_data->motion_speed.right & 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);
 209                         orte->robot_bumpers.bumper_left_across = !!(frame.data[0] & CAN_BUMPER_LEFT_ACROSS);
 210                         orte->robot_bumpers.bumper_right = !!(frame.data[0] & CAN_BUMPER_RIGHT);
 211                         orte->robot_bumpers.bumper_right_across = !!(frame.data[0] & CAN_BUMPER_RIGHT_ACROSS);
 212                         orte->robot_bumpers.bumper_rear = !!(frame.data[0] & CAN_BUMPER_REAR);
 213                         ORTEPublicationSend(orte->publication_robot_switches);
 214                 break;
 215
 216                 /* positioning by odometry */
 217                 case CAN_ODO_DATA:
 218                         orte->odo_data.left =
 219                                         ((frame.data[0]<<24)|
 220                                          (frame.data[1]<<16)|
 221                                          (frame.data[2]<<8));
 222                         orte->odo_data.right =
 223                                         ((frame.data[3]<<24)|
 224                                          (frame.data[4]<<16)|
 225                                          (frame.data[5]<<8));
 226                         ORTEPublicationSend(orte->publication_odo_data);
 227                         break;
 228
 229                 /* positioning by odometry */
 230                 case CAN_MOTION_ODOMETRY_SIMPLE:
 231                         orte->motion_irc.right =
 232                                         ((frame.data[0]<<24)|
 233                                          (frame.data[1]<<16)|
 234                                          (frame.data[2]<<8));
 235                         orte->motion_irc.left =
 236                                         ((frame.data[3]<<24)|
 237                                          (frame.data[4]<<16)|
 238                                          (frame.data[5]<<8));
 239                         orte->motion_irc.seq = frame.data[6];
 240                         ORTEPublicationSend(orte->publication_motion_irc);
 241                         break;
 242
 243                 /* motion status */
 244                 case CAN_MOTION_STATUS:
 245                         orte->motion_status.err_right =
 246                                         (frame.data[0]<<8)|(frame.data[1]);
 247                         orte->motion_status.err_left =
 248                                         (frame.data[2]<<8)|(frame.data[3]);
 249                         if(++status_cnt == 2) { // h8eurobot sends duplicite can messages
 250                                 ORTEPublicationSend(orte->publication_motion_status);
 251                                 status_cnt = 0;
 252                         }
 253                         break;
 254                 case CAN_PWR_ADC1:
 255                         double volt33, voltBAT;
 256                         voltBAT = ((frame.data[0] << 24) | (frame.data[1] << 16) | \
 257                                  (frame.data[2] << 8) | (frame.data[3]))/10000.0;
 258                         volt33 = ((frame.data[4] << 24) | (frame.data[5] << 16) | \
 259                                  (frame.data[6] << 8) | (frame.data[7]))/10000.0;
 260                         orte->pwr_voltage.voltage33 = volt33;
 261                         orte->pwr_voltage.voltageBAT = voltBAT;
 262                         break;
 263
 264                 case CAN_PWR_ADC2:
 265                         double volt80, volt50;
 266                         volt50 = ((frame.data[0] << 24) | (frame.data[1] << 16) | \
 267                                  (frame.data[2] << 8) | (frame.data[3]))/10000.0;
 268                         volt80 = ((frame.data[4] << 24) | (frame.data[5] << 16) | \
 269                                  (frame.data[6] << 8) | (frame.data[7]))/10000.0;
 270                         orte->pwr_voltage.voltage80 = volt80;
 271                         orte->pwr_voltage.voltage50 = volt50;
 272
 273                         ORTEPublicationSend(orte->publication_pwr_voltage);
 274
 275                         break;
 276                 default:
 277                         //FIXME: add logging here (Filip)
 278 //                      printf("received CAN msg with unknown id: %x\n",frame.can_id);
 279                         break;
 280         }
 281 }
 282
 283 void rcv_pwr_ctrl_cb (const ORTERecvInfo *info, void *vinstance,
 284                         void *recvCallBackParam)
 285 {
 286         struct robottype_orte_data *orte_data = (struct robottype_orte_data *)recvCallBackParam;
 287
 288         switch (info->status) {
 289                 case NEW_DATA:
 290                         set_pwr_ctrl(orte_data);
 291                         break;
 292                 case DEADLINE:
 293                         //printf("ORTE deadline occurred - PWR_CTRL receive\n");
 294                         break;
 295         }
 296 }
 297
 298 void rcv_can_msg_cb (const ORTERecvInfo *info, void *vinstance,
 299                         void *recvCallBackParam)
 300 {
 301         struct robottype_orte_data *orte_data = (struct robottype_orte_data *)recvCallBackParam;
 302
 303         switch (info->status) {
 304                 case NEW_DATA:
 305                         send_can_msg(orte_data);
 306                         break;
 307                 case DEADLINE:
 308                         //printf("ORTE deadline occurred - PWR_CTRL receive\n");
 309                         break;
 310         }
 311 }
 312 void rcv_pwr_alert_cb (const ORTERecvInfo *info, void *vinstance,
 313                         void *recvCallBackParam)
 314 {
 315
 316         struct robottype_orte_data *orte_data = (struct robottype_orte_data *)recvCallBackParam;
 317         switch (info->status) {
 318                 case NEW_DATA:
 319                         set_pwr_alert(orte_data);
 320                         break;
 321                 case DEADLINE:
 322                         //printf("ORTE deadline occurred - PWR_CTRL receive\n");
 323                         break;
 324         }
 325 }
 326
 327 void rcv_motion_speed_cb(const ORTERecvInfo *info, void *vinstance,
 328                                 void *recvCallBackParam)
 329 {
 330         struct robottype_orte_data *orte_data = (struct robottype_orte_data *)recvCallBackParam;
 331
 332         switch (info->status) {
 333                 case NEW_DATA:
 334                         /* reversing motion direction, as it is different, than last year */
 335                         orte_data->motion_speed.left *= -1;
 336                         orte_data->motion_speed.right *=-1;
 337                         set_motor_speed(orte_data);
 338                         /*printf("motor cmd received\n");*/
 339                         break;
 340                 case DEADLINE:
 341                         //printf("motor cmd deadline occurred, stopping motors\n");
 342                         orte_data->motion_speed.left = 0;
 343                         orte_data->motion_speed.right = 0;
 344                         set_motor_speed(orte_data);
 345                         break;
 346         }
 347 }
 348
 349 void rcv_jaws_cmd_cb(const ORTERecvInfo *info, void *vinstance,
 350                       void *recvCallBackParam)
 351 {
 352         struct robottype_orte_data *orte_data = (struct robottype_orte_data *)recvCallBackParam;
 353
 354         switch (info->status) {
 355                 case NEW_DATA:
 356                         set_jaws_cmd(orte_data);
 357                         break;
 358                 case DEADLINE:
 359                         break;
 360         }
 361 }
 362
 363 void rcv_lift_cmd_cb(const ORTERecvInfo *info, void *vinstance,
 364                       void *recvCallBackParam)
 365 {
 366         struct robottype_orte_data *orte_data = (struct robottype_orte_data *)recvCallBackParam;
 367
 368         switch (info->status) {
 369                 case NEW_DATA:
 370                         set_lift_cmd(orte_data);
 371                         break;
 372                 case DEADLINE:
 373                         break;
 374 }
 375 }
 376
 377 int main(int argc, char *argv[])
 378 {
 379         int ret;
 380         int size;
 381
 382         struct robottype_orte_data orte;
 383         struct can_frame frame;
 384
 385         if (cand_init() < 0) {
 386                 printf("cand: init failed\n");
 387                 exit(1);
 388         } else {
 389                 printf("cand: init OK\n");
 390         }
 391
 392         orte.strength = 1;
 393
 394         /* orte initialization */
 395         if(robottype_roboorte_init(&orte)) {
 396                 printf("Roboorte initialization failed! Exiting...\n");
 397                 exit(-1);
 398         }
 399         else
 400                 printf("Roboorte OK\n");
 401
 402         /* creating publishers */
 403         robottype_publisher_pwr_voltage_create(&orte, NULL, NULL);
 404         robottype_publisher_motion_status_create(&orte, NULL, NULL);
 405         robottype_publisher_odo_data_create(&orte, NULL, NULL);
 406         robottype_publisher_motion_irc_create(&orte, NULL, NULL);
 407         robottype_publisher_robot_cmd_create(&orte, NULL, NULL);
 408         robottype_publisher_robot_switches_create(&orte, NULL, NULL);
 409         robottype_publisher_robot_bumpers_create(&orte, NULL, NULL);
 410         robottype_publisher_jaws_status_create(&orte, NULL, NULL);
 411         robottype_publisher_lift_status_create(&orte, NULL, NULL);
 412         printf("Publishers OK\n");
 413
 414         /* creating subscribers */
 415         robottype_subscriber_pwr_ctrl_create(&orte, rcv_pwr_ctrl_cb, &orte);
 416         robottype_subscriber_pwr_alert_create(&orte, rcv_pwr_alert_cb, &orte);
 417         robottype_subscriber_motion_speed_create(&orte, rcv_motion_speed_cb, &orte);
 418         robottype_subscriber_jaws_cmd_create(&orte, rcv_jaws_cmd_cb, &orte);
 419         robottype_subscriber_lift_cmd_create(&orte, rcv_lift_cmd_cb, &orte);
 420         robottype_subscriber_can_msg_create(&orte, rcv_can_msg_cb, &orte);
 421
 422
 423         printf("subscribers OK\n");
 424
 425         /* main loop */
 426         for(;;) {
 427                 struct pollfd pfd[1] = {{sock, POLLIN, 0}};
 428
 429                 ret = poll(pfd, 1, -1);
 430                 if (ret < 0) {
 431                         perror("cand: poll() error");
 432                         goto err;
 433                 }
 434
 435                 /* timeout expired, nothing to be done */
 436                 if (ret == 0)
 437                         continue;
 438
 439                 /* read data from SocketCAN */
 440                 size = read(sock, &frame, sizeof(struct can_frame));
 441
 442                 /* parse data */
 443                 if (size > 0)
 444                         cand_parse_frame(&orte, frame);
 445         }
 446         return EXIT_SUCCESS;
 447
 448 err:
 449         close(sock);
 450         return 1;
 451 }