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// asserv.cc
// robert - programme du robot 2005 {{{
//
// Copyright (C) 2005 Nicolas Haller
//
// Robot APB Team/Efrei 2005.
//        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 "asserv.hh"

#include<cmath>

/// Constructeur
Asserv::Asserv (const Config & config, Receiver & receiver)
    :proto_(*this), receiver_(receiver), log_("asserv")
{
    // Rechargement des param�tres
    loadConfig(config);
    //Ouverture du port s�rie
    proto_.open(ttyName_);
    //Initialisation de l'AVR
    reset();
}

/// Reset de l'AVR
void Asserv::reset(void)
{
    // Reset AVR
    proto_.send('z');
    // Envoie des donn�es de conf sur l'AVR
    setFooting(footing_);
    setEpsilon(epsilon_);
    setAccel(accel_);
    setKp(kp_);
    setKi(ki_);
    setKd(kd_);
    setMaxSpeed(maxSpeed_);
}

/// Essaie de purger la liste d'�mission et indique si elle est vide.
bool Asserv::sync(void)
{
    return proto_.sync();
}

/// Attend que toute les �missions soit termin�es
bool Asserv::wait(int timeout)
{
    return proto_.wait(timeout);
}

/// Commandes d'asservissement
void Asserv::linearMove(double distance)
{
    // Conversion mm->PasW
    int distPas = mm2pasD(distance); 
    // On envoie la commande � l'AVR
    proto_.send('l', "w", distPas);
}

void Asserv::angularMove(double angle)
{
    // Conversion radian->256�me
    int a = radTo256(angle);
    // Envopie vers avr
    proto_.send('a',"b", a);
}

void Asserv::goToPosition(double xPos, double yPos)
{
    // Convertion mm->PasD
    int x = mm2pasD(xPos);
    int y = mm2pasD(yPos);
    // Envoie vers l'AVR
    proto_.send('g', "dd", x, y);
}

void Asserv::fuckTheWall(double speed)
{
    // Conversion mm/s->Pas/Period
    int v = mms2ppp(speed);
    // Envoie vers l'AVR
    proto_.send('f',"b", v);
}

void Asserv::setSpeed(double xSpeed, double ySpeed)
{
    // Conversion mm/s->Pas/Period
    int vx = mms2ppp(xSpeed);
    int vy = mms2ppp(ySpeed);
    // Envoie vers l'AVR
    proto_.send('s',"bb", vx, vy);
}

void Asserv::setPwm(double xPwm, double yPwm)
{
    // Conversion rCycl->Pwm
    int xp = rCycl2Pwm(xPwm);
    int yp = rCycl2Pwm(yPwm);
    // Envoie sur l'AVR
    proto_.send('w',"ww" ,xp, yp);
}

/// Informe l'AVR d'arr�ter de dire "j'ai fini"
void Asserv::finishAck(void)
{
    proto_.send('F', "b", 0);
}

/// Statistiques
void Asserv::statCounter(double period)
{
    pCounter_ = period;
    // Convertion s->Period
    int p = s2period(period);
    // Envoie sur l'AVR
    proto_.send('C', "b", p);
}

void Asserv::statPosition(double period)
{
    pPosition_ = period;
    // Convertion s->Period
    int p = s2period(period);
    // Envoie sur l'AVR
    proto_.send('X', "b", p);
}

void Asserv::statMotor(double period)
{
    pMotor_ = period;
    // Convertion s->Period
    int p = s2period(period);
    // Envoie sur l'AVR
    proto_.send('S', "b", p);
}

void Asserv::statPwm(double period)
{
    pPwm_ = period;
    // Convertion s->Period
    int p = s2period(period);
    // Envoie sur l'AVR
    proto_.send('W', "b", p);
}

void Asserv::statTiming(double period)
{
    pTiming_ = period;
    // Convertion s->Period
    int p = s2period(period);
    // Envoie sur l'AVR
    proto_.send('T', "b", p);
}

void Asserv::statInPort(double period)
{
    pStatInPort_ = period;
    // Convertion s->Period
    int p = s2period(period);
    // Envoie sur l'AVR
    proto_.send('P', "b", p);
}

/// Change les param�tres
void Asserv::setXPos(double xPos)
{
    // Conversion mm->pas
    int p = mm2pasD(xPos);
    // Envoie � l'AVR
    proto_.send('p',"bd", 'x', p);
}

void Asserv::setYPos(double yPos)
{
    // Conversion mm->pas
    int p = mm2pasD(yPos);
    // Envoie � l'AVR
    proto_.send('p',"bd", 'y', p);
}

void Asserv::setAngle(double angle)
{
    // Conversion mm->pas
    int a = mm2pasD(angle);
    // Envoie � l'AVR
    proto_.send('p',"bd", 'y', a);
}

void Asserv::setFooting(int16_t footing)
{
    footing_ = footing;
    // Envoie � l'AVR
    proto_.send('p',"bw", 'f', footing);
}

void Asserv::setEpsilon(double epsilon)
{
    epsilon_ = epsilon;
    // Envoie � l'AVR
    proto_.send('p',"bd", 'e', static_cast<int>(epsilon * 256));
}

void Asserv::setKp(double Kp)
{
    kp_ = Kp;
    // Envoie � l'AVR
    proto_.send('p',"bw", 'p', static_cast<int>(Kp * 256));
}

void Asserv::setKi(double Ki)
{
    ki_ = Ki;
    // Envoie � l'AVR
    proto_.send('p',"bw", 'i', static_cast<int>(Ki * 256));
}

void Asserv::setKd(double Kd)
{
    kd_ = Kd;
    // Envoie � l'AVR
    proto_.send('p',"bw", 'd', static_cast<int>(Kd * 256));
}

void Asserv::setSpeedIntMax(int16_t maxInt)
{
    proto_.send('p', "bW", 'a', maxInt);
}

void Asserv::setAccel(double accel)
{
    // Conversion mmps2ppperiod
    int a = mmps2ppperiod(accel);
    // envoie vers l'AVR
    proto_.send('p',"bb", 'a', a);
}

void Asserv::setMaxSpeed(double maxSpeed)
{
    // Conversion mm->ppp
    int p = mms2ppp(maxSpeed);
    // Envoie � l'AVR
    proto_.send('p',"bb", 'm', p);
}

/// impl�mentation du proto::Receiver
void Asserv::receive(char command, const Proto::Frame &frame)
{
    switch(command)
    {
	case 'C': //Compteurs des moteurs (uint16)
	    int lMotor;
	    int rMotor;
	    proto_.decode(frame, "ww", lMotor, rMotor);
	    receiver_.receiveCounter(lMotor, rMotor);
	    break;
	case 'X':
	    int xPos;
	    proto_.decode(frame, "D", xPos);
	    // Convertion Pas->mm
	    xPos *= static_cast<int>(mmPpas_);
	    receiver_.receivePosX(xPos);
	    break;
	case 'Y':
	    int yPos;
	    proto_.decode(frame, "D", yPos);
	    // Convertion Pas->mm
	    yPos *= static_cast<int>(mmPpas_);
	    receiver_.receivePosY(yPos);
	    break;
	case 'A':
	    int aPos;
	    proto_.decode(frame, "D", aPos);
	    aPos = static_cast<int>(aPos * (2 * M_PI));
	    aPos /= (1 << 24);
	    receiver_.receivePosA(aPos);
	    break;
	case 'S':
	    int oldLSpeed, LSpeed, oldRSpeed, RSpeed;
	    proto_.decode(frame, "WWWW", oldLSpeed, LSpeed, oldRSpeed, RSpeed);
	    receiver_.receiveMotor(oldLSpeed, LSpeed, oldRSpeed, RSpeed);
	    break;
	case 'W':
	    int leftPwm, rightPwm;
	    proto_.decode(frame, "WW", leftPwm, rightPwm);
	    receiver_.receivePwm(leftPwm / pwmMax_, rightPwm / pwmMax_);
	    break;
	case 'T':
	    {
		int motorTimer5 = static_cast<int>(frame.args[0]);
		int motorTimer4 = static_cast<int>(frame.args[1]);
		int motorTimer3 = static_cast<int>(frame.args[2]);
		int motorTimer2 = static_cast<int>(frame.args[3]);
		int motorTimer1 = static_cast<int>(frame.args[4]);
		int motorTimer0 = static_cast<int>(frame.args[5]);
		receiver_.receiveTiming(motorTimer5 * sPperiod_,
					motorTimer4 * sPperiod_,
					motorTimer3 * sPperiod_,
					motorTimer2 * sPperiod_,
					motorTimer1 * sPperiod_,
					motorTimer0 * sPperiod_);
		break;
	    }
	case 'P':
	    {
		int statePIn;
		proto_.decode(frame, "b", statePIn);
		receiver_.receiveInPort(statePIn);
		break;
	    }
	case 'F':
	    receiver_.jaifini();
	    break;
    }
}

/// Charge les donn�es de la classe config
void Asserv::loadConfig(const Config & config)
{
     footing_ = config.get<int16_t>("asserv.footing");
     epsilon_ = config.get<double>("asserv.epsilon");
     accel_ = config.get<double>("asserv.accel");
     kp_ = config.get<double>("asserv.kp");
     ki_ = config.get<double>("asserv.ki");
     kd_ = config.get<double>("asserv.kd");
     maxSpeed_ = config.get<double>("asserv.maxSpeed");
     pwmMax_ = config.get<double>("asserv.maxPwm");
}

int Asserv::mm2pasD(double dist)
{
    return static_cast<int>((dist/mmPpas_)*256);
}

int Asserv::radTo256(double angle, bool format24eme)
{
    if(format24eme)
	return static_cast<int>((angle / (2 * M_PI)) * (1 << 24));
    else
	return static_cast<int>(angle / (2 * M_PI));
}

int Asserv::mms2ppp(double vitesse)
{
    return static_cast<int>(vitesse*(sPperiod_/mmPpas_));
}

int Asserv::rCycl2Pwm(double rCycl)
{
    return static_cast<int>(rCycl*pwmMax_);
}

int Asserv::s2period(double period)
{
    return static_cast<int>(period/sPperiod_);
}

int Asserv::mmps2ppperiod(double accel)
{
    return static_cast<int>(1/(accel*(sPperiod_*sPperiod_/mmPpas_)));
}