summaryrefslogtreecommitdiff
path: root/2004
diff options
context:
space:
mode:
Diffstat (limited to '2004')
-rw-r--r--2004/i/nono/src/io/Makefile.defs9
-rw-r--r--2004/i/nono/src/io/gpio.cc104
-rw-r--r--2004/i/nono/src/io/gpio.h58
-rw-r--r--2004/i/nono/src/io/gpio_servo_pp.cc175
-rw-r--r--2004/i/nono/src/io/gpio_servo_pp.h84
-rw-r--r--2004/i/nono/src/io/servo.h39
-rw-r--r--2004/i/nono/src/io/test_io.cc107
7 files changed, 576 insertions, 0 deletions
diff --git a/2004/i/nono/src/io/Makefile.defs b/2004/i/nono/src/io/Makefile.defs
new file mode 100644
index 0000000..6927dc0
--- /dev/null
+++ b/2004/i/nono/src/io/Makefile.defs
@@ -0,0 +1,9 @@
+TARGETS += test_io
+LIBS += io.a
+test_io_SOURCES = test_io.cc io.a date.a serial.a
+io_a_SOURCES = gpio.cc gpio_servo_pp.cc
+
+test_io: $(test_io_SOURCES:%.cc=%.o)
+
+io.a: ${io_a_SOURCES:%.cc=io.a(%.o)}
+
diff --git a/2004/i/nono/src/io/gpio.cc b/2004/i/nono/src/io/gpio.cc
new file mode 100644
index 0000000..172394d
--- /dev/null
+++ b/2004/i/nono/src/io/gpio.cc
@@ -0,0 +1,104 @@
+// gpio.cc
+// nono - programme du robot 2004. {{{
+//
+// Copyright (C) 2004 Nicolas Schodet
+//
+// Robot APB Team/Efrei 2004.
+// Web: http://assos.efrei.fr/robot/
+// Email: robot AT efrei DOT fr
+//
+// 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 "gpio.h"
+
+/// Destructeur.
+Gpio::~Gpio (void)
+{
+}
+
+/// Change plusieurs sorties.
+void
+Gpio::set (int n, unsigned int bits, int nb)
+{
+ for (int i = 0; i < nb; ++i)
+ {
+ set (n + i, bits & 1);
+ bits >>= 1;
+ }
+}
+
+/// Change une sortie.
+void
+Gpio::set (int n, unsigned int bit)
+{
+}
+
+/// Lit plusieurs entrées.
+unsigned int
+Gpio::get (int n, int nb)
+{
+ unsigned int bits = 0;
+ for (int i = nb - 1; i >= 0; --i)
+ {
+ bits <<= 1;
+ bits |= get (n + i) & 1;
+ }
+ return bits;
+}
+
+/// Lit une entrée.
+unsigned int
+Gpio::get (int n)
+{
+ return 0;
+}
+
+/// Pré-lit plusieurs entrées.
+bool
+Gpio::preget (int n, int nb)
+{
+ bool ok = true;
+ for (int i = nb - 1; i >= 0; --i)
+ {
+ ok &= preget (n + i);
+ }
+ return ok;
+}
+
+/// Pré-lit une entrée.
+bool
+Gpio::preget (int n)
+{
+ return true;
+}
+
+/// Change la direction de plusieurs I/O.
+void
+Gpio::dir (int n, unsigned int bits, int nb)
+{
+ for (int i = 0; i < nb; ++i)
+ {
+ dir (n + i, bits & 1);
+ bits >>= 1;
+ }
+}
+
+/// Change la direction d'un I/O (1 pour I, 0 pour O).
+void
+Gpio::dir (int n, unsigned int bit)
+{
+}
+
diff --git a/2004/i/nono/src/io/gpio.h b/2004/i/nono/src/io/gpio.h
new file mode 100644
index 0000000..ecc63f0
--- /dev/null
+++ b/2004/i/nono/src/io/gpio.h
@@ -0,0 +1,58 @@
+#ifndef gpio_h
+#define gpio_h
+// gpio.h
+// nono - programme du robot 2004. {{{
+//
+// Copyright (C) 2004 Nicolas Schodet
+//
+// Robot APB Team/Efrei 2004.
+// Web: http://assos.efrei.fr/robot/
+// Email: robot AT efrei DOT fr
+//
+// 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.
+//
+// }}}
+
+/// General Purpose Input/Output.
+class Gpio
+{
+ public:
+ /// Destructeur.
+ virtual ~Gpio (void);
+ /// Change plusieurs sorties.
+ virtual void set (int n, unsigned int bits, int nb);
+ /// Change une sortie.
+ virtual void set (int n, unsigned int bit);
+ /// Racourci pour mettre à 1.
+ void set (int n)
+ { set (n, 1); }
+ /// Racourci pour mettre à 0.
+ void reset (int n)
+ { set (n, 0); }
+ /// Lit plusieurs entrées.
+ virtual unsigned int get (int n, int nb);
+ /// Lit une entrée.
+ virtual unsigned int get (int n);
+ /// Pré-lit plusieurs entrées.
+ virtual bool preget (int n, int nb);
+ /// Pré-lit une entrée.
+ virtual bool preget (int n);
+ /// Change la direction de plusieurs I/O.
+ virtual void dir (int n, unsigned int bits, int nb);
+ /// Change la direction d'un I/O (1 pour I, 0 pour O).
+ virtual void dir (int n, unsigned int bit);
+};
+
+#endif // gpio_h
diff --git a/2004/i/nono/src/io/gpio_servo_pp.cc b/2004/i/nono/src/io/gpio_servo_pp.cc
new file mode 100644
index 0000000..36f9334
--- /dev/null
+++ b/2004/i/nono/src/io/gpio_servo_pp.cc
@@ -0,0 +1,175 @@
+// gpio_servo_pp.cc
+// nono - programme du robot 2004. {{{
+//
+// Copyright (C) 2004 Nicolas Schodet
+//
+// Robot APB Team/Efrei 2004.
+// Web: http://assos.efrei.fr/robot/
+// Email: robot AT efrei DOT fr
+//
+// 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 "gpio_servo_pp.h"
+#include "config/config.h"
+
+#include <iomanip>
+
+/// Constructeur.
+GpioServoPp::GpioServoPp (void)
+ : outputs_ (0), inputs_ (0), lastInputRequestSend_ (-10000),
+ lastInputRecv_ (-10000), serial_ (true), ttyspeed_ (0),
+ log_ ("io", "pp")
+{
+ Config rc ("rc/gpio_servo_pp");
+ while (!rc.eof ())
+ {
+ if (!(
+ rc.get ("tty", ttyname_) ||
+ rc.get ("ttyspeed", ttyspeed_) ||
+ ))
+ rc.noId ();
+ }
+ serial_.open (ttyname_, ttyspeed_);
+ for (int i = 0; i < nbServo_; ++i)
+ servoPos_[i] = 0;
+}
+
+/// Destructeur.
+GpioServoPp::~GpioServoPp (void)
+{
+}
+
+/// Change plusieurs sorties.
+void
+GpioServoPp::set (int n, unsigned int bits, int nb)
+{
+ if (n < 0 || n + nb > nbOutputs_)
+ throw std::out_of_range ("GpioServoPp::set: Out of range.");
+ unsigned int mask = (1 << nb) - 1;
+ bits <<= n;
+ outputs_ = (outputs_ & ~mask) | (bits & mask) | 0x80;
+ serial.putchar (outputs_);
+ log_ (Log::debug) << "send " << std::hex << outputs_ << std::dec <<
+ std::endl;
+}
+
+/// Change une sortie.
+void
+GpioServoPp::set (int n, unsigned int bit)
+{
+ set (n, bit, 1);
+}
+
+/// Lit plusieurs entrées.
+unsigned int
+GpioServoPp::get (int n, int nb)
+{
+ if (n < nbOutputs_ || n + nb > nbOutputs_ + nbInputs_)
+ throw std::out_of_range ("GpioServoPp::get: Out of range.");
+ unsigned int mask = 1 << (nb) - 1;
+ unsigned int bits = (inputs_ >> (n - nbOutputs_)) & mask;
+ return bits;
+}
+
+/// Lit une entrée.
+unsigned int
+GpioServoPp::get (int n)
+{
+ return get (n, 1);
+}
+
+/// Pré-lit plusieurs entrées.
+bool
+GpioServoPp::preget (int n, int nb)
+{
+ int date = Date::getInstance ().start ();
+ if (lastInputRecv_ + inputValidityTimeout_ > date)
+ {
+ // Donnée prête.
+ return true;
+ }
+ else
+ {
+ // Donnée périmée.
+ // Lit tout ce qui arrive du port serie.
+ int c;
+ while ((c = serial_.getchar ()) != -1)
+ {
+ log_ (Log::debug) << "recv " << std::hex << c << std::dec <<
+ std::endl;
+ inputs_ = c;
+ lastInputRecv_ = date;
+ }
+ // Si le dernier envois est assez recent, on garde ce qu'on a recu.
+ if (lastInputRequestSend_ + inputRequestTimeout_ > date)
+ {
+ return true;
+ }
+ else
+ {
+ lastInputRecv_ = -10000;
+ lastInputRequestSend_ = date;
+ serial_.putchar (0xff);
+ log_ (Log::debug) << "recv " << std::hex << 0xff << std::dec <<
+ std::endl;
+ return false;
+ }
+ }
+}
+
+/// Pré-lit une entrée.
+bool
+GpioServoPp::preget (int n)
+{
+ return preget (n, 1);
+}
+
+/// Change la direction de plusieurs I/O.
+void
+GpioServoPp::dir (int n, unsigned int bits, int nb)
+{
+ throw std::invalid_argument ("GpioServoPp::dir: Operation not supported");
+}
+
+/// Change la direction d'un I/O (1 pour I, 0 pour O).
+void
+GpioServoPp::dir (int n, unsigned int bit)
+{
+ dir (n, bit, 1);
+}
+
+/// Bouge un servo de DIFF.
+void
+GpioServoPp::move (int n, int diff)
+{
+ n %= servoPos_;
+ servoPos_[n] += diff;
+ int v = n << 7 | servoPos_[n];
+ serial.putchar (v);
+ log_ (Log::debug) << "send " << std::hex << v << std::dec << std::endl;
+}
+
+/// Bouge un servo en position POS.
+void
+GpioServoPp::moveTo (int n, int pos)
+{
+ n %= servoPos_;
+ servoPos_[n] = pos;
+ int v = n << 7 | servoPos_[n];
+ serial.putchar (v);
+ log_ (Log::debug) << "send " << std::hex << v << std::dec << std::endl;
+}
+
diff --git a/2004/i/nono/src/io/gpio_servo_pp.h b/2004/i/nono/src/io/gpio_servo_pp.h
new file mode 100644
index 0000000..5ece61f
--- /dev/null
+++ b/2004/i/nono/src/io/gpio_servo_pp.h
@@ -0,0 +1,84 @@
+#ifndef gpio_servo_pp_h
+#define gpio_servo_pp_h
+// gpio_servo_pp.h
+// nono - programme du robot 2004. {{{
+//
+// Copyright (C) 2004 Nicolas Schodet
+//
+// Robot APB Team/Efrei 2004.
+// Web: http://assos.efrei.fr/robot/
+// Email: robot AT efrei DOT fr
+//
+// 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 "gpio.h"
+#include "servo.h"
+#include "serial/serial.h"
+#include "logger/log.h"
+
+#include <string>
+
+/// Classe pour la gestion de la carte servo à Pierre Prot.
+class GpioServoPp : public Gpio, public Servo
+{
+ /// Nombre d'entrées/sorties.
+ static const int nbInputs_ = 6, nbOutputs_ = 6, nbServo_ = 2;
+ /// Sorties courantes.
+ unsigned int outputs_;
+ /// Dernière valeurs d'entrées.
+ unsigned int inputs_;
+ /// Timeouts.
+ static const int inputRequestTimeout_ = 100, inputValidityTimeout_ = 100;
+ /// Date du dernier envois.
+ int lastInputRequestSend_;
+ /// Date de la dernière reception.
+ int lastInputRecv_;
+ /// Position des servos.
+ int servoPos_[nbServo_];
+ // Ligne série.
+ Serial serial_;
+ std::string ttyname_;
+ int ttyspeed_;
+ // Logger.
+ Log log_;
+ public:
+ /// Constructeur.
+ GpioServoPp (void);
+ /// Destructeur.
+ ~GpioServoPp (void);
+ /// Change plusieurs sorties.
+ void set (int n, unsigned int bits, int nb);
+ /// Change une sortie.
+ void set (int n, unsigned int bit);
+ /// Lit plusieurs entrées.
+ unsigned int get (int n, int nb);
+ /// Lit une entrée.
+ unsigned int get (int n);
+ /// Pré-lit plusieurs entrées.
+ bool preget (int n, int nb);
+ /// Pré-lit une entrée.
+ bool preget (int n);
+ /// Change la direction de plusieurs I/O.
+ void dir (int n, unsigned int bits, int nb);
+ /// Change la direction d'un I/O (1 pour I, 0 pour O).
+ void dir (int n, unsigned int bit);
+ /// Bouge un servo de DIFF.
+ void move (int n, int diff);
+ /// Bouge un servo en position POS.
+ void moveTo (int n, int pos);
+};
+
+#endif // gpio_servo_pp_h
diff --git a/2004/i/nono/src/io/servo.h b/2004/i/nono/src/io/servo.h
new file mode 100644
index 0000000..08c63cf
--- /dev/null
+++ b/2004/i/nono/src/io/servo.h
@@ -0,0 +1,39 @@
+#ifndef servo_h
+#define servo_h
+// servo.h
+// nono - programme du robot 2004. {{{
+//
+// Copyright (C) 2004 Nicolas Schodet
+//
+// Robot APB Team/Efrei 2004.
+// Web: http://assos.efrei.fr/robot/
+// Email: robot AT efrei DOT fr
+//
+// 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.
+//
+// }}}
+
+/// Classe d'interfacage servo.
+class Servo
+{
+ public:
+ /// Destructeur.
+ virtual ~Servo (void) { }
+ /// Bouge un servo de DIFF.
+ virtual void move (int n, int diff) = 0;
+ /// Bouge un servo en position POS.
+ virtual void moveTo (int n, int pos) = 0;
+};
+#endif // servo_h
diff --git a/2004/i/nono/src/io/test_io.cc b/2004/i/nono/src/io/test_io.cc
new file mode 100644
index 0000000..8b01554
--- /dev/null
+++ b/2004/i/nono/src/io/test_io.cc
@@ -0,0 +1,107 @@
+// test_io.cc
+// nono - programme du robot 2004. {{{
+//
+// Copyright (C) 2004 Nicolas Schodet
+//
+// Robot APB Team/Efrei 2004.
+// Web: http://assos.efrei.fr/robot/
+// Email: robot AT efrei DOT fr
+//
+// 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 "gpio_servo_pp.h"
+#include "servo.h"
+#include "date/date.h"
+
+#include <stdexcept>
+#include <iostream>
+
+void
+syntax (void)
+{
+ std::cout <<
+ "test_io - teste les entrées/sorties.\n"
+ " s <n> <bits> <nb> set des sorties.\n"
+ " g <n> <nb> get des entrées.\n"
+ " <timeout> attend un certain temps (qui augmente avec timeout)\n"
+ " ? cet ecran d'aide" << std::endl;
+}
+
+int
+main (int argc, char **argv)
+{
+ try
+ {
+ GpioServoPp gspp;
+ int i = 1;
+ while (i < argc)
+ {
+ switch (argv[i][0])
+ {
+ case 's':
+ i++;
+ int n, bits, nb;
+ if (i >= argc) break;
+ n = atoi (argv[i++]);
+ if (i >= argc) break;
+ bits = atoi (argv[i++]);
+ if (i >= argc) break;
+ nb = atoi (argv[i++]);
+ std::cout << "set " << n << ' ' << std::hex << bits <<
+ std::dec << ' ' << nb << std::endl;
+ gspp.set (n, bits, nb);
+ break;
+ case 'g':
+ i++;
+ int n, bits, nb;
+ if (i >= argc) break;
+ n = atoi (argv[i++]);
+ if (i >= argc) break;
+ nb = atoi (argv[i++]);
+ for (int i = 0; i < 20; ++i)
+ {
+ std::cout << "preget " << n << ' ' << nb << std::endl;
+ if (gspp.preget (n, nb))
+ {
+ bits = gspp.get (n, nb);
+ std::cout << "get " << std::hex << bits << std::dec <<
+ std::endl;
+ break;
+ }
+ Date::wait (50);
+ }
+ break;
+ default:
+ int s;
+ s = atoi (argv[i++]);
+ if (s == 0)
+ {
+ syntax ();
+ return 1;
+ }
+ cout << "test: sleep " << s << endl;
+ Date::wait (s * 1000);
+ break;
+ }
+ }
+ return 0;
+ }
+ catch (const std::exception &e)
+ {
+ std::cerr << e.what () << std::endl;
+ return 1;
+ }
+}