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authorNicolas Schodet2012-04-22 22:07:20 +0200
committerNicolas Schodet2012-04-22 22:07:20 +0200
commita750fc58646c6f1ab5319d9bcf786be7a525a77c (patch)
tree7a7b8d87481295f46611f44878a07265de8c546d /digital
parentcf31e4384e7b0fe3130b380f7e5440931d4a9fa0 (diff)
digital/{ai,beacon,io-hub}: add beacon simulation stub
Diffstat (limited to 'digital')
-rw-r--r--digital/ai/src/twi_master/beacon.c84
-rw-r--r--digital/ai/src/twi_master/beacon.h58
-rw-r--r--digital/ai/src/twi_master/twi_master.c6
-rw-r--r--digital/ai/tools/guybrush.py9
-rw-r--r--digital/ai/tools/test_simu.py3
-rw-r--r--digital/beacon/src/stub/Makefile12
-rw-r--r--digital/beacon/src/stub/avrconfig.h61
-rw-r--r--digital/beacon/src/stub/simu_stub.host.c126
-rw-r--r--digital/beacon/tools/beacon/__init__.py1
-rw-r--r--digital/beacon/tools/beacon/mex.py57
-rw-r--r--digital/io-hub/src/guybrush/Makefile2
-rw-r--r--digital/io-hub/src/guybrush/avrconfig.h8
-rw-r--r--digital/io-hub/src/guybrush/main.c4
-rw-r--r--digital/io-hub/src/robospierre/avrconfig.h4
-rw-r--r--digital/io/src/avrconfig.h2
15 files changed, 433 insertions, 4 deletions
diff --git a/digital/ai/src/twi_master/beacon.c b/digital/ai/src/twi_master/beacon.c
new file mode 100644
index 00000000..6f3a3b2b
--- /dev/null
+++ b/digital/ai/src/twi_master/beacon.c
@@ -0,0 +1,84 @@
+/* beacon.c */
+/* ai - Robot Artificial Intelligence. {{{
+ *
+ * Copyright (C) 2012 Nicolas Schodet
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+#include "common.h"
+#include "beacon.h"
+
+#include "twi_master.h"
+
+#include "modules/utils/byte.h"
+
+/** Global context. */
+struct beacon_t
+{
+ /** Obstacles position. */
+ vect_t position[AC_BEACON_POSITION_NB];
+ /** Obstacles trust. */
+ uint8_t trust[AC_BEACON_POSITION_NB];
+};
+struct beacon_t beacon;
+
+void
+beacon_init (void)
+{
+ uint8_t i;
+ for (i = 0; i < AC_BEACON_POSITION_NB; i++)
+ beacon.trust[i] = 0;
+}
+
+void
+beacon_status_cb (uint8_t *status)
+{
+ uint8_t i, index = 3;
+ for (i = 0; i < AC_BEACON_POSITION_NB; i++)
+ {
+ beacon.position[i].x = v8_to_v16 (status[index], status[index + 1]);
+ index += 2;
+ beacon.position[i].y = v8_to_v16 (status[index], status[index + 1]);
+ index += 2;
+ beacon.trust[i] = status[index];
+ index++;
+ }
+}
+
+void
+beacon_on (uint8_t on_off)
+{
+ uint8_t *buffer = twi_master_get_buffer (BEACON_SLAVE);
+ buffer[0] = on_off;
+ twi_master_send_buffer (1);
+}
+
+uint8_t
+beacon_get_position (uint8_t index, vect_t *position)
+{
+ if (index < AC_BEACON_POSITION_NB)
+ {
+ *position = beacon.position[index];
+ return beacon.trust[index];
+ }
+ else
+ return 0;
+}
+
diff --git a/digital/ai/src/twi_master/beacon.h b/digital/ai/src/twi_master/beacon.h
new file mode 100644
index 00000000..2ff4e635
--- /dev/null
+++ b/digital/ai/src/twi_master/beacon.h
@@ -0,0 +1,58 @@
+#ifndef beacon_h
+#define beacon_h
+/* beacon.h */
+/* ai - Robot Artificial Intelligence. {{{
+ *
+ * Copyright (C) 2012 Nicolas Schodet
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+#include "defs.h"
+
+/** Interface with beacon board using the TWI protocol. */
+
+/** Slave number in the twi_master list. */
+#define BEACON_SLAVE 2
+
+/** Beacon TWI address. */
+#define BEACON_TWI_ADDRESS 10
+
+/** Length of status buffer (not including CRC). */
+#define BEACON_STATUS_LENGTH (3 + 5 * AC_BEACON_POSITION_NB)
+
+/** Initialise module. */
+void
+beacon_init (void);
+
+/** Called when a new status buffer is received, update the beacon
+ * information. */
+void
+beacon_status_cb (uint8_t *status);
+
+/** Turn on (1) or off (0). */
+void
+beacon_on (uint8_t on_off);
+
+/** Get a detected position, return trust (0 for invalid, 100 for full
+ * trust). */
+uint8_t
+beacon_get_position (uint8_t index, vect_t *position);
+
+#endif /* beacon_h */
diff --git a/digital/ai/src/twi_master/twi_master.c b/digital/ai/src/twi_master/twi_master.c
index 90977fd3..ee401d7d 100644
--- a/digital/ai/src/twi_master/twi_master.c
+++ b/digital/ai/src/twi_master/twi_master.c
@@ -27,6 +27,9 @@
#include "asserv.h"
#include "mimot.h"
+#if AC_AI_TWI_MASTER_BEACON
+# include "beacon.h"
+#endif
#include "modules/twi/twi.h"
#include "modules/utils/utils.h"
@@ -100,6 +103,9 @@ struct twi_master_slave_t
static struct twi_master_slave_t twi_master_slaves[] = {
{ ASSERV_TWI_ADDRESS, 0, ASSERV_STATUS_LENGTH, asserv_status_cb },
{ MIMOT_TWI_ADDRESS, 0, MIMOT_STATUS_LENGTH, mimot_status_cb },
+#if AC_AI_TWI_MASTER_BEACON
+ { BEACON_TWI_ADDRESS, 0, BEACON_STATUS_LENGTH, beacon_status_cb },
+#endif
};
/** Send first pending message if available. */
diff --git a/digital/ai/tools/guybrush.py b/digital/ai/tools/guybrush.py
index 0600a494..340d7ef7 100644
--- a/digital/ai/tools/guybrush.py
+++ b/digital/ai/tools/guybrush.py
@@ -7,6 +7,7 @@ import io_hub.init
from proto.popen_io import PopenIO
import math
+import subprocess
class Robot:
"""Guybrush robot instance."""
@@ -23,24 +24,30 @@ class Robot:
True: (3000 - 250, 2000 - 250, math.radians (180))
}
- client_nb = 3
+ client_nb = 4
def __init__ (self, proto_time, instance = 'robot0'):
self.instance = instance
def proto (proto_class, cmd, init):
cmd = [ s.format (instance = instance) for s in cmd ]
return proto_class (PopenIO (cmd), proto_time, **init)
+ def prog (cmd):
+ cmd = [ s.format (instance = instance) for s in cmd ]
+ subprocess.Popen (cmd)
asserv_cmd = ('../../mimot/src/asserv/asserv.host',
'-i{instance}:asserv0', '-m9', 'guybrush')
mimot_cmd = ('../../mimot/src/dirty/dirty.host',
'-i{instance}:mimot0', '-m9', 'guybrush')
io_hub_cmd = ('../../io-hub/src/guybrush/io_hub.host',
'-i{instance}:io0')
+ beacon_stub_cmd = ('../../beacon/src/stub/simu_stub.host',
+ '-i{instance}:beacon0')
self.asserv = proto (asserv.Proto, asserv_cmd,
asserv.init.host['guybrush'])
self.mimot = proto (mimot.Proto, mimot_cmd,
mimot.init.host['guybrush'])
self.io = proto (io_hub.ProtoGuybrush, io_hub_cmd,
io_hub.init.host['guybrush'])
+ self.beacon_stub = prog (beacon_stub_cmd)
self.protos = (self.asserv, self.mimot, self.io)
diff --git a/digital/ai/tools/test_simu.py b/digital/ai/tools/test_simu.py
index fad3ac62..dc8b9481 100644
--- a/digital/ai/tools/test_simu.py
+++ b/digital/ai/tools/test_simu.py
@@ -93,6 +93,9 @@ class TestSimu (InterNode):
if color_switch_set_pos:
r.asserv.set_pos (*r.robot_start_pos[i])
r.model.color_switch.register (change_color)
+ # Beacon system.
+ if hasattr (r.link, 'beacon'):
+ r.link.beacon.position[0].register_to (self.obstacle)
def close (self):
self.forked_hub.kill ()
diff --git a/digital/beacon/src/stub/Makefile b/digital/beacon/src/stub/Makefile
new file mode 100644
index 00000000..2f97d775
--- /dev/null
+++ b/digital/beacon/src/stub/Makefile
@@ -0,0 +1,12 @@
+BASE = ../../../avr
+HOST_PROGS = simu_stub
+simu_stub_SOURCES = simu_stub.host.c
+MODULES = utils host twi
+CONFIGFILE = avrconfig.h
+# atmega8, atmega8535, atmega128...
+AVR_MCU = atmega128
+# -O2 : speed
+# -Os : size
+OPTIMIZE = -O2
+
+include $(BASE)/make/Makefile.gen
diff --git a/digital/beacon/src/stub/avrconfig.h b/digital/beacon/src/stub/avrconfig.h
new file mode 100644
index 00000000..e88759d5
--- /dev/null
+++ b/digital/beacon/src/stub/avrconfig.h
@@ -0,0 +1,61 @@
+#ifndef stub_avrconfig_h
+#define stub_avrconfig_h
+/* stub_avrconfig.h */
+/* lol - Laser Opponent Location finding system. {{{
+ *
+ * Copyright (C) 2012 Nicolas Schodet
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+
+/* Config for simu_stub. */
+
+/* twi - TWI module. */
+/** Driver to implement TWI: HARD, SOFT, or USI. */
+#define AC_TWI_DRIVER HARD
+/** Do not use interrupts. */
+#define AC_TWI_NO_INTERRUPT 0
+/** TWI frequency, should really be 100 kHz. */
+#define AC_TWI_FREQ 100000
+/** Enable slave part. */
+#define AC_TWI_SLAVE_ENABLE 1
+/** Enable master part. */
+#define AC_TWI_MASTER_ENABLE 0
+/** Use polled slave mode: received data is stored in a buffer which can be
+ * polled using twi_slave_poll. */
+#define AC_TWI_SLAVE_POLLED 1
+/** Slave reception callback to be defined by the user when not in polled
+ * mode. */
+#undef AC_TWI_SLAVE_RECV
+/** Master transfer completion callback, optionally defined by the user, called
+ * at end of master transfer. */
+#undef AC_TWI_MASTER_DONE
+/** Use internal pull up. */
+#define AC_TWI_PULL_UP 0
+/** Slave reception buffer size. */
+#define AC_TWI_SLAVE_RECV_BUFFER_SIZE 16
+/** Slave transmission buffer size. */
+#define AC_TWI_SLAVE_SEND_BUFFER_SIZE 16
+
+/* beacon. */
+/** TWI address. */
+#define AC_BEACON_TWI_ADDRESS 10
+
+#endif /* stub_avrconfig_h */
diff --git a/digital/beacon/src/stub/simu_stub.host.c b/digital/beacon/src/stub/simu_stub.host.c
new file mode 100644
index 00000000..cdbacaa3
--- /dev/null
+++ b/digital/beacon/src/stub/simu_stub.host.c
@@ -0,0 +1,126 @@
+/* simu_stub.c */
+/* lol - Laser Opponent Location finding system. {{{
+ *
+ * Copyright (C) 2012 Nicolas Schodet
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+#include "common.h"
+
+#include "modules/host/host.h"
+#include "modules/host/mex.h"
+#include "modules/twi/twi.h"
+#include "modules/utils/utils.h"
+#include "modules/utils/byte.h"
+#include "modules/utils/crc.h"
+
+/** This is a stub only used in simulation to bypass all beacon computations
+ * and directly provide a position via TWI. */
+
+struct position_t
+{
+ uint16_t x, y;
+};
+
+struct position_t simu_positions[2];
+
+uint8_t simu_seq;
+
+static void
+simu_twi_proto_poll (void)
+{
+ /* Do nothing interresting with the received value, but check it
+ * anyway. */
+ uint8_t recv_buf[AC_TWI_SLAVE_RECV_BUFFER_SIZE];
+ uint8_t recv_size;
+ while ((recv_size = twi_slave_poll (recv_buf, sizeof (recv_buf))))
+ {
+ if (crc_compute (recv_buf + 1, recv_size - 1) != recv_buf[0])
+ continue;
+ if (recv_buf[1] == simu_seq)
+ continue;
+ if (recv_size != 3)
+ continue;
+ simu_seq = recv_buf[1];
+ }
+}
+
+static void
+simu_twi_proto_update (void)
+{
+ /* Update TWI slave buffer after each position update. */
+ uint8_t status[4 + 5 * UTILS_COUNT (simu_positions)];
+ uint8_t i, index = 1;
+ status[index++] = 0;
+ status[index++] = 0;
+ status[index++] = simu_seq;
+ for (i = 0; i < UTILS_COUNT (simu_positions); i++)
+ {
+ status[index++] = v16_to_v8 (simu_positions[i].x, 1);
+ status[index++] = v16_to_v8 (simu_positions[i].x, 0);
+ status[index++] = v16_to_v8 (simu_positions[i].y, 1);
+ status[index++] = v16_to_v8 (simu_positions[i].y, 0);
+ status[index++] = simu_positions[i].x == (uint16_t) -1 ? 0 : 100;
+ }
+ status[0] = crc_compute (&status[1], sizeof (status) - 1);
+ twi_slave_update (status, sizeof (status));
+}
+
+static void
+simu_positions_handle (void *user, mex_msg_t *msg)
+{
+ uint8_t i;
+ struct position_t pos;
+ mex_msg_pop (msg, "BHH", &i, &pos.x, &pos.y);
+ simu_positions[i] = pos;
+ simu_twi_proto_update ();
+}
+
+static void
+simu_init (void)
+{
+ const char *mex_instance;
+ mex_node_connect ();
+ mex_instance = host_get_instance ("beacon0", 0);
+ uint8_t mtype = mex_node_reservef ("%s:position", mex_instance);
+ mex_node_register (mtype, simu_positions_handle, 0);
+ uint8_t i;
+ for (i = 0; i < UTILS_COUNT (simu_positions); i++)
+ {
+ simu_positions[i].x = (uint16_t) -1;
+ simu_positions[i].y = (uint16_t) -1;
+ }
+}
+
+int
+main (int argc, char ** argv)
+{
+ avr_init (argc, argv);
+ simu_init ();
+ twi_init (AC_BEACON_TWI_ADDRESS);
+ simu_twi_proto_update ();
+ while (1)
+ {
+ simu_twi_proto_poll ();
+ mex_node_wait_date (mex_node_date () + 1);
+ }
+ return 0;
+}
+
diff --git a/digital/beacon/tools/beacon/__init__.py b/digital/beacon/tools/beacon/__init__.py
new file mode 100644
index 00000000..af42b67b
--- /dev/null
+++ b/digital/beacon/tools/beacon/__init__.py
@@ -0,0 +1 @@
+from mex import Mex
diff --git a/digital/beacon/tools/beacon/mex.py b/digital/beacon/tools/beacon/mex.py
new file mode 100644
index 00000000..fcc27741
--- /dev/null
+++ b/digital/beacon/tools/beacon/mex.py
@@ -0,0 +1,57 @@
+# lol - Laser Opponent Location finding system. {{{
+#
+# Copyright (C) 2012 Nicolas Schodet
+#
+# APBTeam:
+# Web: http://apbteam.org/
+# Email: team AT apbteam DOT org
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software
+# Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+#
+# }}}
+"""Mex interface to simulated beacon."""
+
+import simu.mex.msg
+
+POSITION_NB = 2
+
+class Mex:
+ """Handle communications with stub."""
+
+ class Position:
+ """Send a position to the stub."""
+
+ def __init__ (self, node, instance, index):
+ self.__node = node
+ self.__mtype = node.reserve (instance + ':position')
+ self.__index = index
+ self.pos = None
+
+ def register_to (self, pos):
+ """Register to given observable position."""
+ assert self.pos is None
+ self.pos = pos
+ self.pos.register (self.__update)
+
+ def __update (self):
+ """Called on position update."""
+ if self.pos.pos is not None:
+ m = simu.mex.msg.Msg (self.__mtype)
+ m.push ('BHH', self.__index, int (self.pos.pos[0]), int (self.pos.pos[1]))
+ self.__node.send (m)
+
+ def __init__ (self, node, instance = 'beacon0'):
+ self.position = [ self.Position (node, instance, i)
+ for i in xrange (POSITION_NB) ]
diff --git a/digital/io-hub/src/guybrush/Makefile b/digital/io-hub/src/guybrush/Makefile
index 74423423..7a0e8bc2 100644
--- a/digital/io-hub/src/guybrush/Makefile
+++ b/digital/io-hub/src/guybrush/Makefile
@@ -8,7 +8,7 @@ io_hub_SOURCES = main.c top.c \
init.c fsm.host.c fsm_AI_gen.avr.c fsm_queue.c \
contact.avr.c contact.host.c \
output.c output.host.c \
- twi_master.c asserv.c mimot.c \
+ twi_master.c asserv.c mimot.c beacon.c \
chrono.c timer.avr.c simu.host.c
# Modules needed for IO.
MODULES = proto uart twi utils \
diff --git a/digital/io-hub/src/guybrush/avrconfig.h b/digital/io-hub/src/guybrush/avrconfig.h
index 7aba16dc..d846fe6a 100644
--- a/digital/io-hub/src/guybrush/avrconfig.h
+++ b/digital/io-hub/src/guybrush/avrconfig.h
@@ -128,9 +128,15 @@
/* io-hub - io/ai board. */
/** TWI address of the io board. */
-#define AC_IO_TWI_ADDRESS 10
+#define AC_IO_TWI_ADDRESS 8
/** PWM setting. */
#undef AC_IOHUB_PWM
+/** Use beacon board. */
+#define AC_AI_TWI_MASTER_BEACON 1
+
+/* beacon. */
+/** Number of beacon positions. */
+#define AC_BEACON_POSITION_NB 2
/* asserv. */
/** Number of auxiliary motors. */
diff --git a/digital/io-hub/src/guybrush/main.c b/digital/io-hub/src/guybrush/main.c
index 924f77e1..c7ef204a 100644
--- a/digital/io-hub/src/guybrush/main.c
+++ b/digital/io-hub/src/guybrush/main.c
@@ -36,6 +36,7 @@
#include "asserv.h"
#include "mimot.h"
+#include "beacon.h"
#include "twi_master.h"
#include "contact.h"
@@ -97,6 +98,9 @@ main_init (void)
/* TWI communications */
asserv_init ();
mimot_init ();
+#if AC_AI_TWI_MASTER_BEACON
+ beacon_init ();
+#endif
twi_master_init ();
/* IO modules. */
contact_init ();
diff --git a/digital/io-hub/src/robospierre/avrconfig.h b/digital/io-hub/src/robospierre/avrconfig.h
index fdd682d0..648c7438 100644
--- a/digital/io-hub/src/robospierre/avrconfig.h
+++ b/digital/io-hub/src/robospierre/avrconfig.h
@@ -128,7 +128,7 @@
/* io-hub - io/ai board. */
/** TWI address of the io board. */
-#define AC_IO_TWI_ADDRESS 10
+#define AC_IO_TWI_ADDRESS 8
/** PWM setting. */
#define AC_IOHUB_PWM \
PWM (1, A, B, 5, D, 4) \
@@ -137,6 +137,8 @@
PWM (3, A, C, 6, C, 7) \
PWM (3, B, C, 5, C, 3) \
PWM (3, C, C, 4, C, 2)
+/** Use beacon board. */
+#define AC_AI_TWI_MASTER_BEACON 0
/* asserv. */
/** Number of auxiliary motors. */
diff --git a/digital/io/src/avrconfig.h b/digital/io/src/avrconfig.h
index 2ad8c129..053b9b56 100644
--- a/digital/io/src/avrconfig.h
+++ b/digital/io/src/avrconfig.h
@@ -137,6 +137,8 @@
/* io - io/ai board. */
/** TWI address of the io board. */
#define AC_IO_TWI_ADDRESS 2
+/** Use beacon board. */
+#define AC_AI_TWI_MASTER_BEACON 0
/* asserv. */
/** Number of auxiliary motors. */