summaryrefslogtreecommitdiffhomepage
path: root/digital/io-hub/src/apbirthday/robot.hh
blob: 0b585b6dd58b96f2a4c126cefb82624fd6462e20 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
#ifndef robot_hh
#define robot_hh
// io-hub - Modular Input/Output. {{{
//
// Copyright (C) 2013 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 "hardware.hh"
#include "asserv.hh"
#include "lcd.hh"
#include "beacon.hh"
#ifdef TARGET_host
# include "potentiometer.host.hh"
#else
# include "potentiometer.stm32.hh"
#endif
#include "fsm_queue.hh"
#include "chrono.hh"
#include "pressure.hh"
#include "debounce.hh"
#include "outputs.hh"
#include "radar_2013.hh"
#include "obstacles.hh"
#include "move.hh"
#include "path_2013.hh"
#include "strat.hh"
#include "candles.hh"
#include "gifts.hh"
#include "drinks.hh"
#include "plate.hh"
#include "cannon.hh"
#include "rgb.hh"

#include "ucoolib/base/proto/proto.hh"
#include "ucoolib/dev/usdist/usdist.hh"

/// Main robot superclass.
class Robot : public ucoo::Proto::Handler
{
  public:
    /// Initialise robot singleton.
    Robot ();
    /// Main program loop.
    void main_loop ();
    /// Generate events for the FSM.
    bool fsm_gen_event ();
    /// Generate events for the FSM for demo mode.
    bool demo_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 ();
    /// Transition callback.
    static void trans_callback (int state, int event, int output_state,
                                int branch);
  public:
    /// Public access to hardware class.
    Hardware hardware;
  private:
    /// I2C queues.
    I2cQueue main_i2c_queue_, secondary_i2c_queue_, zb_i2c_queue_;
  public:
    /// Public access to asserv class.
    Asserv asserv;
    /// Public access to mimot class.
    Mimot mimot;
    /// Public access to potentiometer class.
#ifdef TARGET_host
    PotentiometerHost pot_regul;
#else
    Potentiometer pot_regul;
#endif
    /// Public access to LCD class.
    LCD lcd;
    /// Public access to beacon class.
    Beacon beacon;
  private:
    /// Proto associated to each serial interface.
    ucoo::Proto dev_proto, zb_proto, usb_proto;
  public:
    /// Public access to deferred events FSM queue.
    FsmQueue fsm_queue;
    /// Public access to chrono.
    Chrono chrono;
    /// Public access to pressure handling.
    Pressure pressure;
    /// Jack debouncing.
    Debounce jack;
    /// Demo mode flag.
    bool demo;
  private:
    /// US distance sensors controller.
    ucoo::UsDistControl usdist_control_;
    /// US distance sensors.
    ucoo::UsDist usdist0_, usdist1_, usdist2_, usdist3_;
    /// Radar.
    Radar2013 radar_;
  public:
    /// Obstacle database.
    Obstacles obstacles;
    /// Path finding.
    Path_2013 path;
    /// Move FSM.
    Move move;
    /// Strategy.
    Strat strat;
    /// Candles.
    Candles candles;
    /// Gifts.
    Gifts gifts;
    /// Drinks.
    Drinks drinks;
    /// Plate.
    Plate plate;
    /// Cannon
    Cannon cannon;
    /// RGB
    Rgb rgb;
  private:
    /// FSM debug mode.
    enum FsmDebugState
    {
        /// Not debugging, running.
        FSM_DEBUG_RUN,
        /// Will stop after next transition.
        FSM_DEBUG_STEP,
        /// Stopped, waiting for orders.
        FSM_DEBUG_STOP,
    };
    FsmDebugState fsm_debug_state_;
    /// All inputs.
    ucoo::Io *inputs_[Hardware::inputs_nb];
    /// All outputs.
    ucoo::Io *outputs_[Hardware::outputs_nb];
    /// Handle set of outputs.
    Outputs outputs_set_;
    /// Proto used for stats.
    ucoo::Proto *stats_proto_;
    /// Asserv stats interval and counter.
    int stats_asserv_, stats_asserv_cpt_;
    /// Beacon stats interval and counter.
    int stats_beacon_, stats_beacon_cpt_;
    /// Enable chrono stats.
    bool stats_chrono_;
    /// Last stated second.
    int stats_chrono_last_s_;
    /// Input stats interval and counter.
    int stats_inputs_, stats_inputs_cpt_;
    /// US distance sensors stats interval and counter.
    int stats_usdist_, stats_usdist_cpt_;
    /// Cake distance sensors stats interval and counter.
    int stats_cake_, stats_cake_cpt_;
    /// Pressure stats interval and counter.
    int stats_pressure_, stats_pressure_cpt_;
    /// RGB stats interval, counter and type.
    int stats_rgb_, stats_rgb_cpt_, stats_rgb_type_;
    /// LCD position counter.
    int lcd_send_position_cpt_;
};

/// Global instance pointer.
extern Robot *robot;

#endif // robot_hh