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// 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>
#include <stdexcept>

/// Constructeur.
GpioServoPp::GpioServoPp (void)
    : outputs_ (0), inputs_ (0),
      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 ();
      }
    // Ouvre le port s�rie.
    serial_.open (ttyname_, ttyspeed_);
    for (int i = 0; i < nbServo_; ++i)
	servoPos_[i] = 0;
    // Construit la table des noms.
    names_["o0"] = 0;
    names_["o1"] = 1;
    names_["o2"] = 2;
    names_["o3"] = 3;
    names_["o4"] = 4;
    names_["o5"] = 5;
    names_["i0"] = 6;
    names_["i1"] = 7;
    names_["i2"] = 8;
    names_["i3"] = 9;
    names_["i4"] = 10;
    names_["i5"] = 11;
    names_["i6"] = 12;
    names_["i7"] = 13;
}

/// 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 0x" << std::hex << outputs_ << std::dec <<
	std::endl;
}

/// Lit plusieurs entr�es.
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;
}

/// Bouge un servo de DIFF.
void
GpioServoPp::move (int n, int diff)
{
    n %= nbServo_;
    servoPos_[n] += diff;
    int v = n << 6 | servoPos_[n];
    serial_.putchar (v);
    log_ (Log::debug) << "send 0x" << std::hex << v << std::dec << std::endl;
}

/// Bouge un servo en position POS.
void
GpioServoPp::moveTo (int n, int pos)
{
    n %= nbServo_;
    servoPos_[n] = pos;
    int v = n << 6 | servoPos_[n];
    serial_.putchar (v);
    log_ (Log::debug) << "send 0x" << std::hex << v << std::dec << std::endl;
}

/// Met � jour.
void
GpioServoPp::update (void)
{
    int c;
    while ((c = serial_.getchar ()) != -1)
      {
	log_ (Log::verydebug) << "recv 0x" << std::hex << c << std::dec <<
	    std::endl;
	switch (c & 0x0f)
	  {
	  case 0x0:
	    inputs_ = (inputs_ & 0x0f) | (c & 0xf0);
	    log_ (Log::debug) << "comp " << (c >> 4) << std::endl;
	    break;
	  case 0x7:
	    inputs_ = (inputs_ & 0xf0) | (c >> 4);
	    log_ (Log::debug) << "digi " << (c >> 4) << std::endl;
	    break;
	  case 0x1:
	  case 0x2:
	  case 0x3:
	  case 0x4:
	  case 0x9:
	  case 0xa:
	  case 0xb:
	  case 0xc:
	      {
		int n = (c & 0x07) - 1;
		anaInput_[n] = c >> 3;
		log_ (Log::debug) << "ana " << n << ' ' << (c >> 3) <<
		    std::endl;
		break;
	      }
	  default:
	    log_ (Log::debug) << "other";
	    break;
	  }
      }
}

/// R�cup�re le nombre d'entr�es/sorties.
int
GpioServoPp::getNbIo (void)
{
    return nbOutputs_ + nbInputs_;
}

/// R�cup�re une entr�e/sortie par son nom.
int
GpioServoPp::getByName (const std::string &name) const
{
    Names::const_iterator i = names_.find (name);
    if (i != names_.end ())
	return i->second;
    else
	return -1;
}

/// R�cup�re la valeure d'une entr�e analogique.
unsigned int
GpioServoPp::getAna (int n)
{
    return anaInput_[n];
}

/// R�cup�re le nombre d'entr�es analogiques.
int
GpioServoPp::getNbAna (void) const
{
    return nbAnaInputs_;
}