From 06baa6c156dba0be37a21bddee96994a2c44f5bd Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 23 Mar 2013 12:27:37 +0100 Subject: digital/io-hub/src/apbirthday: add chrono --- digital/io-hub/src/apbirthday/Makefile | 2 +- digital/io-hub/src/apbirthday/robot.cc | 31 ++++++++++++++++++++++++++++++- digital/io-hub/src/apbirthday/robot.hh | 12 ++++++++++++ 3 files changed, 43 insertions(+), 2 deletions(-) (limited to 'digital/io-hub/src/apbirthday') diff --git a/digital/io-hub/src/apbirthday/Makefile b/digital/io-hub/src/apbirthday/Makefile index d0567efd..96766788 100644 --- a/digital/io-hub/src/apbirthday/Makefile +++ b/digital/io-hub/src/apbirthday/Makefile @@ -3,7 +3,7 @@ BASE = ../../../ucoolib TARGETS = host stm32f4 PROGS = apbirthday apbirthday_SOURCES = main.cc robot.cc hardware.host.cc hardware.stm32.cc \ - i2c_queue.cc asserv.cc \ + i2c_queue.cc asserv.cc chrono.host.cc chrono.stm32.cc \ top.cc init.cc move.cc \ angfsm.host.c angfsm_gen_arm_AI.arm.c fsm_queue.cc \ $(AVR_SOURCES) diff --git a/digital/io-hub/src/apbirthday/robot.cc b/digital/io-hub/src/apbirthday/robot.cc index cfdc0c19..1873c7f2 100644 --- a/digital/io-hub/src/apbirthday/robot.cc +++ b/digital/io-hub/src/apbirthday/robot.cc @@ -35,7 +35,10 @@ Robot::Robot () asserv (main_i2c_queue_, BOT_SCALE), dev_proto (*this, hardware.dev_uart), zb_proto (*this, hardware.zb_uart), - usb_proto (*this, hardware.usb) + usb_proto (*this, hardware.usb), + chrono (90000 - 1000), + stats_proto_ (0), + stats_chrono_ (false), stats_chrono_last_s_ (-1) { robot = this; } @@ -56,6 +59,8 @@ Robot::main_loop () dev_proto.accept (); zb_proto.accept (); usb_proto.accept (); + // Send stats. + proto_stats (); } } @@ -115,6 +120,14 @@ Robot::proto_handle (ucoo::Proto &proto, char cmd, const uint8_t *args, int size asserv.goto_xy (pos, Asserv::DirectionConsign (args[4])); } break; + case c ('C', 1): + // Chrono stats. + // 1B: start chrono if non-zero. + stats_chrono_ = true; + if (args[0]) + chrono.start (); + stats_proto_ = &proto; + break; default: proto.send ('?'); return; @@ -123,3 +136,19 @@ Robot::proto_handle (ucoo::Proto &proto, char cmd, const uint8_t *args, int size proto.send_buf (cmd, args, size); } +void +Robot::proto_stats () +{ + if (!stats_proto_) + return; + if (stats_chrono_) + { + int s = chrono.remaining_time_ms () / 1000; + if (s != stats_chrono_last_s_) + { + stats_proto_->send ('C', "b", s); + stats_chrono_last_s_ = s; + } + } +} + diff --git a/digital/io-hub/src/apbirthday/robot.hh b/digital/io-hub/src/apbirthday/robot.hh index 1c6af976..08cb9cf6 100644 --- a/digital/io-hub/src/apbirthday/robot.hh +++ b/digital/io-hub/src/apbirthday/robot.hh @@ -26,6 +26,7 @@ #include "hardware.hh" #include "asserv.hh" #include "fsm_queue.hh" +#include "chrono.hh" #include "ucoolib/base/proto/proto.hh" @@ -41,6 +42,8 @@ class Robot : public ucoo::Proto::Handler bool fsm_gen_event (); /// Receive proto messages. void proto_handle (ucoo::Proto &proto, char cmd, const uint8_t *args, int size); + /// Send stats. + void proto_stats (); public: /// Public access to hardware class. Hardware hardware; @@ -56,6 +59,15 @@ class Robot : public ucoo::Proto::Handler public: /// Public access to deferred events FSM queue. FsmQueue fsm_queue; + /// Public access to chrono. + Chrono chrono; + private: + /// Proto used for stats. + ucoo::Proto *stats_proto_; + /// Enable chrono stats. + bool stats_chrono_; + /// Last stated second. + int stats_chrono_last_s_; }; /// Global instance pointer. -- cgit v1.2.3