#include <sys/socket.h>
#include <sys/ioctl.h>
#include <fcntl.h>
+#include <poll.h>
#include <af_can.h>
#include <canutils.h>
return 0;
}
-int set_pwr_alert(struct robottype_orte_data *orte_data)
-{
- unsigned char data=0;
- data = orte_data->pwr_alert.value;
-
- can_send(CAN_PWR_ALERT, 1, &data);
-
- return 0;
-}
-
int send_can_msg(struct robottype_orte_data *orte_data)
{
return can_send(orte_data->can_msg.id, orte_data->can_msg.len, orte_data->can_msg.data);
return 0;
}
-/**
- * Sends #CAN_HOKUYO_PITCH message.
- *
- * - data = orte_data->pusher.pos
- */
-int set_hokuyo_pitch(struct robottype_orte_data *orte_data)
+int set_jaws_cmd(struct robottype_orte_data *orte_data)
{
- unsigned char data = orte_data->hokuyo_pitch.angle;
+ unsigned char data[3];
+
+ 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->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);
- can_send(CAN_HOKUYO_PITCH, sizeof(data), &data);
return 0;
}
+int set_lift_cmd(struct robottype_orte_data *orte_data)
+{
+ unsigned char data[4];
+
+ 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);
+
+ return 0;
+}
int can_send(canid_t id, unsigned char length, unsigned char *data)
{
*/
void cand_parse_frame(struct robottype_orte_data *orte, struct can_frame frame)
{
- int status_cnt = 0;
+ 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->robot_cmd.start = frame.data[0];
- orte->robot_cmd.stop = frame.data[1];
+ 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.left =
+ orte->odo_data.right =
((frame.data[0]<<24)|
(frame.data[1]<<16)|
(frame.data[2]<<8));
- orte->odo_data.right =
+ orte->odo_data.left =
((frame.data[3]<<24)|
(frame.data[4]<<16)|
(frame.data[5]<<8));
/* positioning by odometry */
case CAN_MOTION_ODOMETRY_SIMPLE:
- orte->motion_irc.right =
+ orte->motion_irc.left =
((frame.data[0]<<24)|
(frame.data[1]<<16)|
(frame.data[2]<<8));
- orte->motion_irc.left =
+ orte->motion_irc.right =
((frame.data[3]<<24)|
(frame.data[4]<<16)|
(frame.data[5]<<8));
/* motion status */
case CAN_MOTION_STATUS:
- orte->motion_status.err_left =
+ orte->motion_status.err_left =
(frame.data[0]<<8)|(frame.data[1]);
- orte->motion_status.err_right =
+ orte->motion_status.err_right =
(frame.data[2]<<8)|(frame.data[3]);
- if(++status_cnt == 5) {
+ 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) | \
ORTEPublicationSend(orte->publication_pwr_voltage);
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);
+
+ 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_alert_cb (const ORTERecvInfo *info, void *vinstance,
- void *recvCallBackParam)
-{
-
- struct robottype_orte_data *orte_data = (struct robottype_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)
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;
}
}
-void rcv_hokuyo_pitch_cb (const ORTERecvInfo *info, void *vinstance,
- void *recvCallBackParam)
+void rcv_jaws_cmd_cb(const ORTERecvInfo *info, void *vinstance,
+ void *recvCallBackParam)
{
struct robottype_orte_data *orte_data = (struct robottype_orte_data *)recvCallBackParam;
switch (info->status) {
case NEW_DATA:
- set_hokuyo_pitch(orte_data);
+ set_jaws_cmd(orte_data);
break;
case DEADLINE:
-// printf("ORTE deadline occurred - hokuyo pitch receive\n");
break;
}
}
+void rcv_lift_cmd_cb(const ORTERecvInfo *info, void *vinstance,
+ void *recvCallBackParam)
+{
+ struct robottype_orte_data *orte_data = (struct robottype_orte_data *)recvCallBackParam;
+
+ switch (info->status) {
+ case NEW_DATA:
+ set_lift_cmd(orte_data);
+ break;
+ case DEADLINE:
+ break;
+}
+}
+
+struct robottype_orte_data orte;
int main(int argc, char *argv[])
{
- fd_set read_fd_set;
- struct timeval timeout;
int ret;
int size;
- struct robottype_orte_data orte;
struct can_frame frame;
if (cand_init() < 0) {
printf("cand: init OK\n");
}
- orte.strength = 1;
-
/* orte initialization */
if(robottype_roboorte_init(&orte)) {
printf("Roboorte initialization failed! Exiting...\n");
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_actuator_status_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 */
robottype_subscriber_pwr_ctrl_create(&orte, rcv_pwr_ctrl_cb, &orte);
- robottype_subscriber_pwr_alert_create(&orte, rcv_pwr_alert_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);
- robottype_subscriber_hokuyo_pitch_create(&orte, rcv_hokuyo_pitch_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, frame);
+ if (size > 0)
+ cand_parse_frame(&orte, frame);
}
return EXIT_SUCCESS;
projects / eurobot / public.git / blobdiff