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+/* main.c */
+/* guybrush - Eurobot 2012 AI. {{{
+ *
+ * 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/utils/utils.h"
+#include "modules/uart/uart.h"
+#include "modules/proto/proto.h"
+
+#include "modules/devices/usdist/usdist.h"
+
+#include "timer.h"
+#include "chrono.h"
+#include "simu.host.h"
+
+#include "asserv.h"
+#include "mimot.h"
+#include "twi_master.h"
+
+#include "contact.h"
+#include "radar.h"
+
+#define FSM_NAME AI
+#include "fsm.h"
+#ifdef HOST
+# include <string.h>
+#endif
+#include "fsm_queue.h"
+
+#include "path.h"
+#include "move.h"
+
+#include "bot.h"
+
+#include "io.h"
+
+#ifndef HOST
+# include <avr/wdt.h>
+#endif
+
+/** Our color. */
+enum team_color_e team_color;
+
+/** Obstacles positions, updated using radar module. */
+vect_t main_obstacles_pos[2];
+
+/** Number of obstacles in main_obstacles_pos. */
+uint8_t main_obstacles_nb;
+
+/** Asserv stats counters. */
+static uint8_t main_stats_asserv_, main_stats_asserv_cpt_;
+
+/** Contact stats counters. */
+static uint8_t main_stats_contact_, main_stats_contact_cpt_;
+
+/** US sensors stats counters. */
+static uint8_t main_stats_usdist_, main_stats_usdist_cpt_;
+
+/** Main initialisation. */
+static void
+main_init (void)
+{
+#ifndef HOST
+ /* Disable watchdog (enabled in bootloader). */
+ MCUSR &= ~(1 << WDRF);
+ wdt_disable ();
+#endif
+ /* Serial port */
+ uart0_init ();
+ /* Enable interrupts */
+ sei ();
+ /* Main timer */
+ timer_init ();
+ timer_wait ();
+ /* TWI communications */
+ asserv_init ();
+ mimot_init ();
+ twi_master_init ();
+ /* IO modules. */
+ contact_init ();
+ usdist_init ();
+ /* AI modules. */
+ path_init ();
+ /* Initialization done. */
+ proto_send0 ('z');
+}
+
+/** Main events management. */
+void
+main_event_to_fsm (void)
+{
+ /* If an event is handled, stop generating any other event, because a
+ * transition may have invalidated the current robot state. */
+#define FSM_HANDLE_E(fsm, event) \
+ do { if (FSM_HANDLE (fsm, event)) return; } while (0)
+#define FSM_HANDLE_VAR_E(fsm, event) \
+ do { if (FSM_HANDLE_VAR (fsm, event)) return; } while (0)
+#define FSM_HANDLE_TIMEOUT_E(fsm) \
+ do { if (FSM_HANDLE_TIMEOUT (fsm)) return; } while (0)
+ /* Update FSM timeouts. */
+ FSM_HANDLE_TIMEOUT_E (AI);
+ /* Motor status. */
+ asserv_status_e robot_move_status, mimot_motor0_status,
+ mimot_motor1_status;
+ robot_move_status = asserv_move_cmd_status ();
+ mimot_motor0_status = mimot_motor0_cmd_status ();
+ mimot_motor1_status = mimot_motor1_cmd_status ();
+ if (robot_move_status == success)
+ FSM_HANDLE_E (AI, robot_move_success);
+ else if (robot_move_status == failure)
+ FSM_HANDLE_E (AI, robot_move_failure);
+ /* Jack. */
+ if (!contact_get_jack ())
+ FSM_HANDLE_E (AI, jack_inserted);
+ else
+ FSM_HANDLE_E (AI, jack_removed);
+ /* Events from the event queue. */
+ if (fsm_queue_poll ())
+ {
+ /* We must post the event at the end of this block because if it is
+ * handled, the function will return and every instruction after will
+ * never be executed. */
+ uint8_t save_event = fsm_queue_pop_event ();
+ /* Post the event */
+ FSM_HANDLE_VAR_E (AI, save_event);
+ }
+ /* Check obstables. */
+ if (move_check_obstacles ())
+ return;
+}
+
+/** Main (and infinite) loop. */
+static void
+main_loop (void)
+{
+ while (1)
+ {
+ /* Wait until next cycle. */
+ timer_wait ();
+ /* Update chrono. */
+ chrono_update ();
+ /* Is match over? */
+ if (chrono_is_match_over ())
+ {
+ /* End it and block here indefinitely. */
+ chrono_end_match (42);
+ return;
+ }
+ /* Handle commands from UART. */
+ while (uart0_poll ())
+ proto_accept (uart0_getc ());
+ /* Update IO modules. */
+ contact_update ();
+ if (usdist_update ())
+ {
+ position_t robot_pos;
+ asserv_get_position (&robot_pos);
+ main_obstacles_nb = radar_update (&robot_pos, main_obstacles_pos);
+ move_obstacles_update ();
+ simu_send_pos_report (main_obstacles_pos, main_obstacles_nb, 0);
+ }
+ /* Update AI modules. */
+ path_decay ();
+ /* Only manage events if slaves are synchronised. */
+ if (twi_master_sync ())
+ main_event_to_fsm ();
+ /* Send stats if requested. */
+ if (main_stats_asserv_ && !--main_stats_asserv_cpt_)
+ {
+ /* Get current position */
+ position_t cur_pos;
+ asserv_get_position (&cur_pos);
+ /* Send stats */
+ proto_send3w ('A', cur_pos.v.x, cur_pos.v.y, cur_pos.a);
+ /* Reset stats counter */
+ main_stats_asserv_cpt_ = main_stats_asserv_;
+ }
+ if (main_stats_contact_ && !--main_stats_contact_cpt_)
+ {
+ proto_send1d ('P', contact_all () | (uint32_t) mimot_get_input () << 24);
+ main_stats_contact_cpt_ = main_stats_contact_;
+ }
+ if (main_stats_usdist_ && !--main_stats_usdist_cpt_)
+ {
+ proto_send4w ('U', usdist_mm[0], usdist_mm[1], usdist_mm[2],
+ usdist_mm[3]);
+ main_stats_usdist_cpt_ = main_stats_usdist_;
+ }
+ }
+}
+
+/** Handle received commands. */
+void
+proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
+{
+#define c(cmd, size) (cmd << 8 | size)
+ switch (c (cmd, size))
+ {
+ case c ('z', 0):
+ /* Reset */
+ utils_reset ();
+ break;
+ case c ('j', 0):
+ /* Simulate jack insertion. */
+ fsm_queue_post_event (FSM_EVENT (AI, jack_inserted));
+ break;
+ case c ('m', 5):
+ /* Go to position.
+ * - 2w: x, y.
+ * - 1b: backward. */
+ {
+ vect_t position = { v8_to_v16 (args[0], args[1]),
+ v8_to_v16 (args[2], args[3]) };
+ move_start_noangle (position, args[4], 0);
+ }
+ break;
+ case c ('w', 0):
+ /* Disable all motor control. */
+ mimot_motor0_free ();
+ mimot_motor1_free ();
+ asserv_free_motor ();
+ break;
+ /* Stats commands.
+ * - b: interval between stats. */
+ case c ('A', 1):
+ /* Position stats. */
+ main_stats_asserv_ = main_stats_asserv_cpt_ = args[0];
+ break;
+ case c ('P', 1):
+ /* Contact stats. */
+ main_stats_contact_ = main_stats_contact_cpt_ = args[0];
+ break;
+ case c ('U', 1):
+ /* US sensors stats. */
+ main_stats_usdist_ = main_stats_usdist_cpt_ = args[0];
+ break;
+ default:
+ /* Unknown commands */
+ proto_send0 ('?');
+ return;
+ }
+ /* When no error, acknowledge commands */
+ proto_send (cmd, size, args);
+#undef c
+}
+
+int
+main (int argc, char **argv)
+{
+#ifdef HOST
+ /* Produce AVR's FSM headers. */
+ int i;
+ if (argc > 1)
+ for (i = 1; i < argc; i++)
+ if (strcmp (argv[i], "--gen") == 0)
+ {
+ FSM_GENERATE (AVR, 0);
+ return 0;
+ }
+#endif
+ avr_init (argc, argv);
+ main_init ();
+ main_loop ();
+ return 0;
+}