-/*
- * cand_eb2008.cc 08/04/08
- *
- * CAN daemon for the Eurobot 2008 competition.
- *
+/**
+ * @file cand.cc
+ * @date 08/04/08
+ *
+ * @brief CAN-ORTE bridge
+ *
* Copyright: (c) 2008 CTU Dragons
* CTU FEE - Department of Control Engineering
* License: GNU GPL v.2
#include <sys/socket.h>
#include <sys/ioctl.h>
#include <fcntl.h>
+#include <poll.h>
#include <af_can.h>
#include <canutils.h>
#include <can_msg_def.h>
#include <sharp.h>
#include <orte.h>
-#include <roboorte.h>
-#include <roboorte_generic.h>
+#include <roboorte_robottype.h>
#include <can_msg_masks.h>
#include "cand.h"
return 0;
}
-int set_pwr_ctrl(struct generic_orte_data *orte_data)
+int set_pwr_ctrl(struct robottype_orte_data *orte_data)
{
unsigned char data=0;
if(orte_data->pwr_ctrl.voltage33)
data |= CAN_PWR_CTRL_80_OFF;
can_send(CAN_PWR, 1, &data);
-// printf("sending PWR_CTRL: %d\n",data);
-
- /*for(int i=0; i<6; i++)
- printf("data %d = 0x%x\n", i, data[i]);*/
-
- return 0;
-}
-
-int set_pwr_alert(struct generic_orte_data *orte_data)
-{
- unsigned char data=0;
- data = orte_data->pwr_alert.value;
-
- can_send(CAN_PWR_ALERT, 1, &data);
-// printf("sending PWR_CTRL: %d\n",data);
-
- /*for(int i=0; i<6; i++)
- printf("data %d = 0x%x\n", i, data[i]);*/
return 0;
}
-int send_can_msg(struct generic_orte_data *orte_data)
+int send_can_msg(struct robottype_orte_data *orte_data)
{
- uint8_t data[8];
-
- data[0] = orte_data->can_msg.data1;
- data[1] = orte_data->can_msg.data2;
- data[2] = orte_data->can_msg.data3;
- data[3] = orte_data->can_msg.data4;
- data[4] = orte_data->can_msg.data5;
- data[5] = orte_data->can_msg.data6;
- data[6] = orte_data->can_msg.data7;
- data[7] = orte_data->can_msg.data8;
-
- can_send(orte_data->can_msg.id, orte_data->can_msg.len, data);
+ return can_send(orte_data->can_msg.id, orte_data->can_msg.len, orte_data->can_msg.data);
}
-int set_motor_speed(struct generic_orte_data *orte_data)
+int set_motor_speed(struct robottype_orte_data *orte_data)
{
unsigned char data[4];
data[3] = orte_data->motion_speed.left & 0xff;
can_send(CAN_MOTION_CMD, 4, data);
- /*printf("data: ");
- for (int i=0; i< 4; i++) {
- printf("%02x ",data[i]);
- }
- printf("\n");*/
-
return 0;
}
-int set_serva(struct eb2008_orte_data *orte_data)
+int set_jaws_cmd(struct robottype_orte_data *orte_data)
{
- unsigned char data[6];
-
- data[5] = orte_data->servos.reserve;
- data[4] = orte_data->servos.door_back;
- data[3] = orte_data->servos.door_top;
- data[2] = orte_data->servos.door_bottom;
- data[1] = orte_data->servos.brush_right;
- data[0] = orte_data->servos.brush_left;
- can_send(CAN_SERVO, 6, data);
-
-/* for(int i=0; i<6; i++)
- printf("data %d = 0x%x\n", i, data[i]);*/
-
- return 0;
-}
+ unsigned char data[3];
-int set_laser_cmd(struct eb2008_orte_data *orte_data)
-{
- unsigned char data[1];
+ data[0] = orte_data->jaws_cmd.req_pos.left >> 8;
+ data[1] = orte_data->jaws_cmd.req_pos.left & 0xff;
+ data[2] = orte_data->jaws_cmd.speed.left;
+ can_send(CAN_JAW_LEFT_CMD, 3, data);
- data[0] = orte_data->laser_cmd.speed;
- can_send(CAN_LAS_CMD, 1, data);
+ data[0] = orte_data->jaws_cmd.req_pos.right >> 8;
+ data[1] = orte_data->jaws_cmd.req_pos.right & 0xff;
+ data[2] = orte_data->jaws_cmd.speed.right;
+ can_send(CAN_JAW_RIGHT_CMD, 3, data);
return 0;
}
-int set_drives(struct eb2008_orte_data *orte_data)
+int set_lift_cmd(struct robottype_orte_data *orte_data)
{
unsigned char data[4];
- data[3] = orte_data->drives.carousel_pos;
- data[2] = orte_data->drives.bagr;
- data[1] = orte_data->drives.brush_right;
- data[0] = orte_data->drives.brush_left;
- can_send(CAN_DRIVES, 4, data);
+ data[0] = orte_data->lift_cmd.req_pos >> 8;
+ data[1] = orte_data->lift_cmd.req_pos & 0xff;
+ data[2] = orte_data->lift_cmd.speed;
+ data[3] = orte_data->lift_cmd.homing;
+ can_send(CAN_LIFT_CMD, 4, data);
-/* for(int i=0; i<6; i++)
- printf("data %d = 0x%x\n", i, data[i]);*/
-
- return 0;
+ return 0;
}
+
int can_send(canid_t id, unsigned char length, unsigned char *data)
{
struct can_frame frame;
- int size;
+ size_t size;
frame.can_id = id;
frame.can_dlc = length;
return 1;
}
- /*
- printf("write returned %d\n", size);
- printf("finnished can send\n");
- */
-
return 0;
}
/**
* Parse frame ID and react as required
*/
-int cand_parse_frame(struct eb2008_orte_data *orte_eb2008,
- struct generic_orte_data *orte_generic, struct can_frame frame)
+void cand_parse_frame(struct robottype_orte_data *orte, struct can_frame frame)
{
- int status_cnt = 0;
- int adc1_cnt = 0;
- int adc2_cnt = 0;
- int adc3_cnt = 0;
- int ir_cnt = 0;
- unsigned short *las_meas;
- int las_mi, las_di, las_bcnt;
- static unsigned short prev_meas;
- int i;
+ static int status_cnt = 0;
switch(frame.can_id) {
- /* voltage measurements from power board */
-
/* robot commands (start, ..) */
+ case CAN_JAW_LEFT_STATUS:
+ orte->jaws_status.act_pos.left = (frame.data[0] << 8) | frame.data[1];
+ orte->jaws_status.response.left = (frame.data[2] << 8) | frame.data[3];
+ orte->jaws_status.flags.left = frame.data[4];
+ ORTEPublicationSend(orte->publication_jaws_status);
+ break;
+ case CAN_JAW_RIGHT_STATUS:
+ orte->jaws_status.act_pos.right = (frame.data[0] << 8) | frame.data[1];
+ orte->jaws_status.response.right = (frame.data[2] << 8) | frame.data[3];
+ orte->jaws_status.flags.right = frame.data[4];
+ ORTEPublicationSend(orte->publication_jaws_status);
+ break;
+ case CAN_LIFT_STATUS:
+ orte->lift_status.act_pos = (frame.data[0] << 8) | frame.data[1];
+ orte->lift_status.response = (frame.data[2] << 8) | frame.data[3];
+ orte->lift_status.flags = frame.data[4];
+ ORTEPublicationSend(orte->publication_lift_status);
+ break;
case CAN_ROBOT_CMD:
- orte_generic->robot_cmd.start = frame.data[0];
- orte_generic->robot_cmd.stop = frame.data[1];
- ORTEPublicationSend(orte_generic->publication_robot_cmd);
+ orte->robot_cmd.start_condition = frame.data[0];
+ ORTEPublicationSend(orte->publication_robot_cmd);
+ break;
+ case CAN_ROBOT_SWITCHES:
+ orte->robot_switches.team_color = (frame.data[0] & CAN_SWITCH_COLOR) ? 1 : 0;
+ orte->robot_switches.strategy = (frame.data[0] & CAN_SWITCH_STRATEGY ? 1 : 0);
+ ORTEPublicationSend(orte->publication_robot_switches);
+ break;
+ case CAN_ROBOT_BUMPERS:
+ orte->robot_bumpers.bumper_left = (frame.data[0] & CAN_BUMPER_LEFT) ? 0 : 1;
+ orte->robot_bumpers.bumper_left_across = (frame.data[0] & CAN_BUMPER_LEFT_ACROSS) ? 0 : 1;
+ orte->robot_bumpers.bumper_right = (frame.data[0] & CAN_BUMPER_RIGHT) ? 0 : 1;
+ orte->robot_bumpers.bumper_right_across = (frame.data[0] & CAN_BUMPER_RIGHT_ACROSS) ? 0 : 1;
+ orte->robot_bumpers.bumper_rear_left = (frame.data[0] & CAN_BUMPER_REAR_LEFT) ? 0 : 1;
+ orte->robot_bumpers.bumper_rear_right = (frame.data[0] & CAN_BUMPER_REAR_RIGHT) ? 0 : 1;
+ ORTEPublicationSend(orte->publication_robot_bumpers);
+ break;
+
+ /* positioning by odometry */
+ case CAN_ODO_DATA:
+ orte->odo_data.right =
+ ((frame.data[0]<<24)|
+ (frame.data[1]<<16)|
+ (frame.data[2]<<8));
+ orte->odo_data.left =
+ ((frame.data[3]<<24)|
+ (frame.data[4]<<16)|
+ (frame.data[5]<<8));
+ ORTEPublicationSend(orte->publication_odo_data);
break;
/* positioning by odometry */
case CAN_MOTION_ODOMETRY_SIMPLE:
- orte_generic->motion_irc.right =
- ((frame.data[0]<<24)|(frame.data[1]<<16)|
- (frame.data[2]<<8)|(frame.data[3]));
- orte_generic->motion_irc.left =
- ((frame.data[4]<<24)|(frame.data[5]<<16)|
- (frame.data[6]<<8)|(frame.data[7]));
- ORTEPublicationSend(orte_generic->publication_motion_irc);
+ orte->motion_irc.left =
+ ((frame.data[0]<<24)|
+ (frame.data[1]<<16)|
+ (frame.data[2]<<8));
+ orte->motion_irc.right =
+ ((frame.data[3]<<24)|
+ (frame.data[4]<<16)|
+ (frame.data[5]<<8));
+ orte->motion_irc.seq = frame.data[6];
+ ORTEPublicationSend(orte->publication_motion_irc);
break;
/* motion status */
case CAN_MOTION_STATUS:
- orte_generic->motion_status.err_left =
+ orte->motion_status.err_left =
(frame.data[0]<<8)|(frame.data[1]);
- orte_generic->motion_status.err_right =
+ orte->motion_status.err_right =
(frame.data[2]<<8)|(frame.data[3]);
- if(++status_cnt == 5) {
- ORTEPublicationSend(orte_generic->publication_motion_status);
+ if(++status_cnt == 2) { // h8eurobot sends duplicite can messages
+ ORTEPublicationSend(orte->publication_motion_status);
status_cnt = 0;
}
break;
+ /* voltage measurements from power board */
case CAN_PWR_ADC1:
double volt33, voltBAT;
voltBAT = ((frame.data[0] << 24) | (frame.data[1] << 16) | \
(frame.data[2] << 8) | (frame.data[3]))/10000.0;
volt33 = ((frame.data[4] << 24) | (frame.data[5] << 16) | \
(frame.data[6] << 8) | (frame.data[7]))/10000.0;
- // printf("PWR_ADC1: 3,3V = %2.2f, BAT = %2.2f\n",volt33,voltBAT);
- orte_generic->pwr_voltage.voltage33 = volt33;
- orte_generic->pwr_voltage.voltageBAT = voltBAT;
+ orte->pwr_voltage.voltage33 = volt33;
+ orte->pwr_voltage.voltageBAT = voltBAT;
break;
case CAN_PWR_ADC2:
(frame.data[2] << 8) | (frame.data[3]))/10000.0;
volt80 = ((frame.data[4] << 24) | (frame.data[5] << 16) | \
(frame.data[6] << 8) | (frame.data[7]))/10000.0;
- // printf("PWR_ADC2: 8,0V = %2.2f, 5,0V = %2.2f\n",volt80,volt50);
- orte_generic->pwr_voltage.voltage80 = volt80;
- orte_generic->pwr_voltage.voltage50 = volt50;
+ orte->pwr_voltage.voltage80 = volt80;
+ orte->pwr_voltage.voltage50 = volt50;
- ORTEPublicationSend(orte_generic->publication_pwr_voltage);
+ ORTEPublicationSend(orte->publication_pwr_voltage);
break;
- case CAN_ADC_1:
- orte_eb2008->sharps.front_right = s_gp2y0a21_ir2mmLong((frame.data[0] << 8)| \
- (frame.data[1]))/1000.0;
- orte_eb2008->sharps.right = s_gp2y0a21_ir2mmLong((frame.data[2] << 8)| \
- (frame.data[3]))/1000.0;
- orte_eb2008->sharps.left = s_gp2y0a21_ir2mmLong((frame.data[4] << 8)| \
- (frame.data[5]))/1000.0;
- orte_eb2008->sharps.front_left = s_gp2y0a21_ir2mmLong((frame.data[6] << 8)| \
- (frame.data[7]))/1000.0;
- ORTEPublicationSend(orte_eb2008->publication_sharps);
- break;
- case CAN_ADC_2:
- orte_eb2008->sharps.back_left = s_gp2d120_ir2mmShort((frame.data[4] << 8)| \
- (frame.data[5]))/1000.0;
- orte_eb2008->sharps.back_right = s_gp2d120_ir2mmShort((frame.data[6] << 8)| \
- (frame.data[7]))/1000.0;
- ORTEPublicationSend(orte_eb2008->publication_sharps);
- break;
- /* laser data */
- case CAN_LAS1:
-// printf("CAN: ");
-// for (i=0; i<frame.can_dlc; i++) {
-// printf("0x%02x ", frame.data[i]);
-// }
-// printf("can_dlc=%d\n", frame.can_dlc);
- orte_eb2008->laser_meas.cnt = frame.data[1];
- las_bcnt = orte_eb2008->laser_meas.cnt;
- last_id = frame.data[0];
- las_di = 4;
- /* rotation period */
- orte_eb2008->laser_meas.period = (frame.data[2]<<8)|(frame.data[3]);
-// printf("CAN ID=0x%02x: cnt=%d period=%d measures: ",
-// frame.can_id, orte_eb2008->laser_meas.cnt, orte_eb2008->laser_meas.period);
-
- for (las_mi=0; las_mi<(frame.can_dlc-4)/2; las_mi++) {
- switch (las_mi) {
- case 0: las_meas = &orte_eb2008->laser_meas.measures0; break;
- case 1: las_meas = &orte_eb2008->laser_meas.measures1; break;
- default: break;
- }
- *las_meas =
- (frame.data[las_di++]<<8)|(frame.data[las_di++]);
-// printf("0x%02x 0x%02x %u ",
-// frame.data[las_di-2], frame.data[las_di-1], *las_meas);
- }
-// printf("\n");
- break;
- case CAN_LAS2:
- case CAN_LAS3:
- case CAN_LAS4:
-// printf("CAN: ");
-// for (i=0; i<frame.can_dlc; i++) {
-// printf("0x%02x ", frame.data[i]);
-// }
-// printf("can_dlc=%d\n", frame.can_dlc);
-// printf("CAN ID=0x%02x: cnt=%d period=%d measures: ",
-// frame.can_id, orte_eb2008->laser_meas.cnt, orte_eb2008->laser_meas.period);
- if (frame.data[0] != (last_id+(frame.can_id-CAN_LAS1)))
- break;
- las_di = 2;
- while (las_di < 8 && las_bcnt > 0) {
- switch (las_mi) {
- case 2: las_meas = &orte_eb2008->laser_meas.measures2; break;
- case 3: las_meas = &orte_eb2008->laser_meas.measures3; break;
- case 4: las_meas = &orte_eb2008->laser_meas.measures4; break;
- case 5: las_meas = &orte_eb2008->laser_meas.measures5; break;
- case 6: las_meas = &orte_eb2008->laser_meas.measures6; break;
- case 7: las_meas = &orte_eb2008->laser_meas.measures7; break;
- case 8: las_meas = &orte_eb2008->laser_meas.measures8; break;
- case 9: las_meas = &orte_eb2008->laser_meas.measures9; break;
- default: break;
- }
- *las_meas =
- (frame.data[las_di++]<<8)|(frame.data[las_di++]);
-// printf("0x%02x 0x%02x %u ",
-// frame.data[las_di-2], frame.data[las_di-1], *las_meas);
- las_mi++;
- las_bcnt--;
- }
- printf("\n");
- if (las_bcnt == 0) {
-// printf("ORTEPublicationSend()\n");
- ORTEPublicationSend(orte_eb2008->publication_laser_meas);
- }
- break;
+ case CAN_PWR_ALERT:
+ orte->pwr_alert.alert_33 = (frame.data[0] & CAN_PWR_ALERT_33 ? 1 : 0);
+ orte->pwr_alert.alert_50 = (frame.data[0] & CAN_PWR_ALERT_50 ? 1 : 0);
+ orte->pwr_alert.alert_80 = (frame.data[0] & CAN_PWR_ALERT_80 ? 1 : 0);
+ orte->pwr_alert.bat_full = (frame.data[0] & CAN_PWR_BATT_FULL ? 1 : 0);
+ orte->pwr_alert.bat_mean = (frame.data[0] & CAN_PWR_BATT_MEAN ? 1 : 0);
+ orte->pwr_alert.bat_low = (frame.data[0] & CAN_PWR_BATT_LOW ? 1 : 0);
+ orte->pwr_alert.bat_critical = (frame.data[0] & CAN_PWR_BATT_CRITICAL ? 1 : 0);
- case CAN_LAS_DATA:
- orte_eb2008->laser_data.period = (frame.data[0]<<8)|(frame.data[1]);
- orte_eb2008->laser_data.measure = (frame.data[2]<<8)|(frame.data[3]);
- if (prev_meas != orte_eb2008->laser_data.measure) {
- ORTEPublicationSend(orte_eb2008->publication_laser_data);
- prev_meas = orte_eb2008->laser_data.measure;
- }
- break;
-
- case CAN_CMU:
- orte_eb2008->cmu.color = frame.data[0];
- ORTEPublicationSend(orte_eb2008->publication_cmu);
- break;
-
- case CAN_BUMPER:
- orte_eb2008->bumper.left = frame.data[0] & LEFT_BUMPER;
- orte_eb2008->bumper.right = frame.data[0] & RIGHT_BUMPER;
- ORTEPublicationSend(orte_eb2008->publication_bumper);
- break;
+ ORTEPublicationSend(orte->publication_pwr_alert);
+ break;
default:
+ //FIXME: add logging here (Filip)
// printf("received CAN msg with unknown id: %x\n",frame.can_id);
break;
}
void rcv_pwr_ctrl_cb (const ORTERecvInfo *info, void *vinstance,
void *recvCallBackParam)
{
- struct generic_orte_data *orte_data = (struct generic_orte_data *)recvCallBackParam;
+ struct robottype_orte_data *orte_data = (struct robottype_orte_data *)recvCallBackParam;
switch (info->status) {
case NEW_DATA:
void rcv_can_msg_cb (const ORTERecvInfo *info, void *vinstance,
void *recvCallBackParam)
{
- struct generic_orte_data *orte_data = (struct generic_orte_data *)recvCallBackParam;
+ struct robottype_orte_data *orte_data = (struct robottype_orte_data *)recvCallBackParam;
switch (info->status) {
case NEW_DATA:
break;
}
}
-void rcv_pwr_alert_cb (const ORTERecvInfo *info, void *vinstance,
- void *recvCallBackParam)
-{
-
- struct generic_orte_data *orte_data = (struct generic_orte_data *)recvCallBackParam;
- switch (info->status) {
- case NEW_DATA:
- set_pwr_alert(orte_data);
- break;
- case DEADLINE:
- //printf("ORTE deadline occurred - PWR_CTRL receive\n");
- break;
- }
-}
void rcv_motion_speed_cb(const ORTERecvInfo *info, void *vinstance,
void *recvCallBackParam)
{
- struct generic_orte_data *orte_data = (struct generic_orte_data *)recvCallBackParam;
+ struct robottype_orte_data *orte_data = (struct robottype_orte_data *)recvCallBackParam;
switch (info->status) {
case NEW_DATA:
/* reversing motion direction, as it is different, than last year */
- orte_data->motion_speed.left *= -1;
- orte_data->motion_speed.right *=-1;
+ orte_data->motion_speed.left *= 1;
+ orte_data->motion_speed.right *= 1;
set_motor_speed(orte_data);
/*printf("motor cmd received\n");*/
break;
case DEADLINE:
- printf("motor cmd deadline occurred, stopping motors\n");
+ //printf("motor cmd deadline occurred, stopping motors\n");
orte_data->motion_speed.left = 0;
orte_data->motion_speed.right = 0;
set_motor_speed(orte_data);
}
}
-void rcv_servos_cb (const ORTERecvInfo *info, void *vinstance,
- void *recvCallBackParam)
+void rcv_jaws_cmd_cb(const ORTERecvInfo *info, void *vinstance,
+ void *recvCallBackParam)
{
- struct eb2008_orte_data *orte_data =
- (struct eb2008_orte_data *)recvCallBackParam;
+ struct robottype_orte_data *orte_data = (struct robottype_orte_data *)recvCallBackParam;
switch (info->status) {
case NEW_DATA:
- set_serva(orte_data);
+ set_jaws_cmd(orte_data);
break;
case DEADLINE:
-// printf("ORTE deadline occurred - servo receive\n");
break;
}
}
-void rcv_laser_cmd_cb (const ORTERecvInfo *info, void *vinstance,
- void *recvCallBackParam)
+void rcv_lift_cmd_cb(const ORTERecvInfo *info, void *vinstance,
+ void *recvCallBackParam)
{
- struct eb2008_orte_data *orte_data =
- (struct eb2008_orte_data *)recvCallBackParam;
+ struct robottype_orte_data *orte_data = (struct robottype_orte_data *)recvCallBackParam;
switch (info->status) {
- case NEW_DATA:
- set_laser_cmd(orte_data);
- break;
- case DEADLINE:
-// printf("ORTE deadline occurred - servo receive\n");
- break;
- }
+ case NEW_DATA:
+ set_lift_cmd(orte_data);
+ break;
+ case DEADLINE:
+ break;
}
-
-void rcv_drives_cb (const ORTERecvInfo *info, void *vinstance,
- void *recvCallBackParam)
-{
- struct eb2008_orte_data *orte_data = (struct eb2008_orte_data *)recvCallBackParam;
-
- switch (info->status) {
- case NEW_DATA:
- set_drives(orte_data);
- break;
- case DEADLINE:
-// printf("ORTE deadline occurred - drives receive\n");
- break;
- }
}
+struct robottype_orte_data orte;
+
int main(int argc, char *argv[])
{
- fd_set read_fd_set;
- struct timeval timeout;
int ret;
int size;
- int rv = 0;
- struct eb2008_orte_data orte_eb2008;
- struct generic_orte_data orte_generic;
struct can_frame frame;
if (cand_init() < 0) {
printf("cand: init OK\n");
}
- orte_generic.strength = 1;
- orte_eb2008.strength = 1;
-
/* orte initialization */
- generic_roboorte_init(&orte_generic);
- eb2008_roboorte_init(&orte_eb2008);
+ if(robottype_roboorte_init(&orte)) {
+ printf("Roboorte initialization failed! Exiting...\n");
+ exit(-1);
+ }
+ else
+ printf("Roboorte OK\n");
/* creating publishers */
- generic_publisher_pwr_voltage_create(&orte_generic, NULL, NULL);
- generic_publisher_motion_status_create(&orte_generic, NULL, NULL);
- generic_publisher_motion_irc_create(&orte_generic, NULL, NULL);
- generic_publisher_robot_cmd_create(&orte_generic, NULL, NULL);
- eb2008_publisher_laser_meas_create(&orte_eb2008, NULL, NULL);
- eb2008_publisher_laser_data_create(&orte_eb2008, NULL, NULL);
- eb2008_publisher_sharps_create(&orte_eb2008, NULL, NULL);
- eb2008_publisher_cmu_create(&orte_eb2008, NULL, NULL);
- eb2008_publisher_bumper_create(&orte_eb2008, NULL, NULL);
+ robottype_publisher_pwr_voltage_create(&orte, NULL, NULL);
+ robottype_publisher_motion_status_create(&orte, NULL, NULL);
+ robottype_publisher_odo_data_create(&orte, NULL, NULL);
+ robottype_publisher_motion_irc_create(&orte, NULL, NULL);
+ robottype_publisher_robot_cmd_create(&orte, NULL, NULL);
+ robottype_publisher_robot_switches_create(&orte, NULL, NULL);
+ robottype_publisher_robot_bumpers_create(&orte, NULL, NULL);
+ robottype_publisher_jaws_status_create(&orte, NULL, NULL);
+ robottype_publisher_lift_status_create(&orte, NULL, NULL);
+ printf("Publishers OK\n");
/* creating subscribers */
- generic_subscriber_pwr_ctrl_create(&orte_generic,
- rcv_pwr_ctrl_cb, &orte_generic);
- generic_subscriber_pwr_alert_create(&orte_generic,
- rcv_pwr_alert_cb, &orte_generic);
- generic_subscriber_motion_speed_create(&orte_generic,
- rcv_motion_speed_cb, &orte_generic);
- generic_subscriber_can_msg_create(&orte_generic,
- rcv_can_msg_cb, &orte_generic);
- eb2008_subscriber_servos_create(&orte_eb2008,
- rcv_servos_cb, &orte_eb2008);
- eb2008_subscriber_laser_cmd_create(&orte_eb2008,
- rcv_laser_cmd_cb, &orte_eb2008);
-
- eb2008_subscriber_drives_create(&orte_eb2008,
- rcv_drives_cb, &orte_eb2008);
+ robottype_subscriber_pwr_ctrl_create(&orte, rcv_pwr_ctrl_cb, &orte);
+ robottype_subscriber_motion_speed_create(&orte, rcv_motion_speed_cb, &orte);
+ robottype_subscriber_jaws_cmd_create(&orte, rcv_jaws_cmd_cb, &orte);
+ robottype_subscriber_lift_cmd_create(&orte, rcv_lift_cmd_cb, &orte);
+ robottype_subscriber_can_msg_create(&orte, rcv_can_msg_cb, &orte);
+
+
+ printf("subscribers OK\n");
+
/* main loop */
for(;;) {
- FD_ZERO(&read_fd_set);
- FD_SET(sock, &read_fd_set);
- timeout.tv_sec = 0;
- timeout.tv_usec = 10000;
+ struct pollfd pfd[1] = {{sock, POLLIN, 0}};
- ret = select(FD_SETSIZE, &read_fd_set, NULL, NULL, &timeout);
+ ret = poll(pfd, 1, -1);
if (ret < 0) {
- perror("cand: select() error");
+ perror("cand: poll() error");
goto err;
}
if (ret == 0)
continue;
- if (!FD_ISSET(sock, &read_fd_set))
- continue;
-
/* read data from SocketCAN */
size = read(sock, &frame, sizeof(struct can_frame));
/* parse data */
- cand_parse_frame(&orte_eb2008, &orte_generic, frame);
+ if (size > 0)
+ cand_parse_frame(&orte, frame);
}
+ return EXIT_SUCCESS;
err:
close(sock);
return 1;
-out:
- return EXIT_SUCCESS;
}
projects / eurobot / public.git / blobdiff