#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_robottype.h>
#include <can_msg_masks.h>
#include "cand.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)
{
- 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 robottype_orte_data *orte_data)
return 0;
}
-/**
- * Sends #CAN_LIFT message.
- *
- * - data[1] = orte_data->lift.pos & 0xFF; // lower byte
- * - data[0] = orte_data->lift.pos >> 8; // upper byte
- */
-int set_lift(struct robottype_orte_data *orte_data)
-{
- unsigned char data[2];
-
- data[0] = orte_data->lift.pos >> 8;
- data[1] = orte_data->lift.pos & 0xFF;
- can_send(CAN_LIFT, sizeof(data), data);
-
- return 0;
-}
-
-/**
- * Sends #CAN_CHELAE message.
- *
- * - data[1] = orte_data->chelae.left;
- * - data[0] = orte_data->chelae.right;
- */
-int set_chelae(struct robottype_orte_data *orte_data)
-{
- unsigned char data[2];
-
- data[0] = orte_data->chelae.left;
- data[1] = orte_data->chelae.right;
- can_send(CAN_CHELAE, sizeof(data), data);
-
- return 0;
-}
-
-/**
- * Sends #CAN_BELTS message.
- *
- * - data[1] = orte_data->belts.left;
- * - data[0] = orte_data->belts.right;
- */
-int set_belts(struct robottype_orte_data *orte_data)
+int set_jaws_cmd(struct robottype_orte_data *orte_data)
{
- unsigned char data[2];
+ unsigned char data[3];
- data[0] = orte_data->belts.left;
- data[1] = orte_data->belts.right;
- can_send(CAN_BELTS, sizeof(data), data);
+ 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);
- return 0;
-}
-
-/**
- * Sends #CAN_HOLDER message.
- *
- * - data[0] = orte_data->holder.pos;
- */
-int set_holder(struct robottype_orte_data *orte_data)
-{
- unsigned char data = orte_data->holder.pos;
- can_send(CAN_HOLDER, sizeof(data), &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;
}
-/**
- * Sends #CAN_PUSHER message.
- *
- * - data[1] = orte_data->pusher.pos & 0xFF; // lower byte
- * - data[0] = orte_data->pusher.pos >> 8; // upper byte
- */
-int set_pusher(struct robottype_orte_data *orte_data)
+int set_lift_cmd(struct robottype_orte_data *orte_data)
{
- unsigned char data[2];
-
- data[0] = orte_data->pusher.pos >> 8;
- data[1] = orte_data->pusher.pos & 0xFF;
- can_send(CAN_PUSHER, sizeof(data), data);
-
- return 0;
-}
+ unsigned char data[4];
-/**
- * Sends #CAN_HOKUYO_PITCH message.
- *
- * - data = orte_data->pusher.pos
- */
-int set_hokuyo_pitch(struct robottype_orte_data *orte_data)
-{
- unsigned char data = orte_data->hokuyo_pitch.angle;
+ 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);
- can_send(CAN_HOKUYO_PITCH, sizeof(data), &data);
- 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;
/**
* Parse frame ID and react as required
*/
-int cand_parse_frame(struct robottype_orte_data *orte, 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->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;
-
- /* global sampling period -- time trigger */
- case CAN_CORR_TRIG:
- orte->corr_trig.seq = frame.data[0];
- ORTEPublicationSend(orte->publication_corr_trig);
+ 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;
- /* distances measured by ULoPoS */
- case CAN_CORR_DIST:
- orte->corr_distances.t1 = (frame.data[1]<<8)|(frame.data[0]);
- orte->corr_distances.t2 = (frame.data[3]<<8)|(frame.data[2]);
- orte->corr_distances.t3 = (frame.data[5]<<8)|(frame.data[4]);
- ORTEPublicationSend(orte->publication_corr_distances);
+ /* 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->motion_irc.right =
- ((frame.data[0]<<24)|(frame.data[1]<<16)|
- (frame.data[2]<<8)|(frame.data[3]));
- orte->motion_irc.left =
- ((frame.data[4]<<24)|(frame.data[5]<<16)|
- (frame.data[6]<<8)|(frame.data[7]));
+ 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->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_ADC_1: /* data from the sharp sensor measuring distance of the puck (column element) */
- //orte->puck_distance.distance = ((frame.data[0]<<8)|(frame.data[1]));
- orte->puck_distance.distance = puckSharp_ir2mm((frame.data[0]<<8)|(frame.data[1]))/1000.0;
- ORTEPublicationSend(orte->publication_puck_distance);
- break;
- /* laser data */
- case CAN_CMU:
- orte->cmu.color = frame.data[0];
- ORTEPublicationSend(orte->publication_cmu);
- 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;
}
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;
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_lift_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(orte_data);
- break;
- case DEADLINE:
-// printf("ORTE deadline occurred - lift receive\n");
- break;
- }
-}
-
-void rcv_chelae_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_chelae(orte_data);
- break;
- case DEADLINE:
-// printf("ORTE deadline occurred - chelae receive\n");
- break;
- }
-}
-
-void rcv_belts_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_belts(orte_data);
- break;
- case DEADLINE:
-// printf("ORTE deadline occurred - belts receive\n");
- break;
- }
-}
-
-void rcv_holder_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_holder(orte_data);
+ set_jaws_cmd(orte_data);
break;
case DEADLINE:
-// printf("ORTE deadline occurred - holder receive\n");
break;
}
}
-void rcv_pusher_cb (const ORTERecvInfo *info, void *vinstance,
- void *recvCallBackParam)
+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_pusher(orte_data);
- break;
- case DEADLINE:
-// printf("ORTE deadline occurred - pusher receive\n");
- break;
- }
+ case NEW_DATA:
+ set_lift_cmd(orte_data);
+ break;
+ case DEADLINE:
+ break;
}
-
-void rcv_hokuyo_pitch_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);
- break;
- case DEADLINE:
-// printf("ORTE deadline occurred - hokuyo pitch 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 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");
/* creating publishers */
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_cmu_create(&orte, NULL, NULL);
- robottype_publisher_corr_trig_create(&orte, NULL, NULL);
- robottype_publisher_corr_distances_create(&orte, NULL, NULL);
- robottype_publisher_puck_distance_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_lift_create(&orte, rcv_lift_cb, &orte);
- robottype_subscriber_chelae_create(&orte, rcv_chelae_cb, &orte);
- robottype_subscriber_belts_create(&orte, rcv_belts_cb, &orte);
- robottype_subscriber_holder_create(&orte, rcv_holder_cb, &orte);
- robottype_subscriber_pusher_create(&orte, rcv_pusher_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;
err:
close(sock);
return 1;
-out:
- return EXIT_SUCCESS;
}
projects / eurobot / public.git / blobdiff