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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>

/// 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 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;
}

/// Lit une entr�e.
unsigned int
GpioServoPp::get (int n)
{
    return get (n, 1);
}

/// Pr�-lit plusieurs entr�es.
bool
GpioServoPp::preget (int n, int nb)
{
    int date = Date::getInstance ().start ();
    if (lastInputRecv_ + inputValidityTimeout_ > date)
      {
	// Donn�e pr�te.
	return true;
      }
    else
      {
	// Donn�e p�rim�e.
	// 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;
	  }
      }
}

/// Pr�-lit une entr�e.
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;
}