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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 paramètres
+ loadConfig(config);
+ //Ouverture du port série
+ proto_.open(ttyName_);
+}
+
+/// Reset de l'AVR
+void Asserv::reset(void)
+{
+ // Reset AVR
+ proto_.send('z');
+ // Envoie des données de conf sur l'AVR
+ setFooting(footing_);
+ setEpsilon(epsilon_);
+ setKp(kp_);
+ setKi(ki_);
+ setKd(kd_);
+ setESat(eSat_);
+ setSpeedIntMax(speedIntMax_);
+ setDSample(dSample_);
+ setAccel(accel_);
+ setMaxSpeed(maxSLin_, maxSRot_);
+ setUseTazFSM(useTazFSM_);
+ setInvPwm(leftInvPwm_, rightInvPwm_);
+ statCounter(pCounter_);
+ statPosition(pPosition_);
+ statMotor(pMotor_);
+ statPwm(pPwm_);
+ statTiming(pTiming_);
+ statInPort(pStatInPort_);
+ statSharp(pStatInPort_);
+}
+
+/// Essaie de purger la liste d'émission et indique si elle est vide.
+bool Asserv::sync(void)
+{
+ return proto_.sync();
+}
+
+/// Attend que toute les émissions soit terminées
+bool Asserv::wait(int timeout)
+{
+ return proto_.wait(timeout);
+}
+
+/// Récupère le File Descriptor
+int Asserv::getFd(void)
+{
+ return proto_.getFd();
+}
+
+/// Commandes d'asservissement
+void Asserv::linearMove(double distance)
+{
+ // Conversion mm->PasW
+ int distPas = mm2pas(distance);
+ //log_ ("linearMove") << "avConv" << distance << "apConv" << distPas;
+ // On envoie la commande à l'AVR
+ proto_.send('l', "w", distPas);
+}
+
+void Asserv::angularMove(double angle)
+{
+ // Conversion radian->256ème
+ int a = radTo256(angle);
+ //log_ ("angularMove") << "avConv" << angle << "apConv" << a;
+ // Envopie vers avr
+ proto_.send('a',"b", a);
+}
+
+void Asserv::goToPosition(double xPos, double yPos)
+{
+ // Convertion mm->PasD
+ int x = mm2pas(xPos, true);
+ int y = mm2pas(yPos, true);
+ //log_ ("goToPosition") << "avConvX" << xPos << "apConvX" << x;
+ //log_ ("goToPosition") << "avConvY" << yPos << "apConvY" << y;
+ // Envoie vers l'AVR
+ proto_.send('g', "dd", x, y);
+}
+
+// XXX Vérifier la conversion ca me parais un peu petit
+void Asserv::fuckTheWall(double speed)
+{
+ // Conversion mm/s->Pas/Period
+ int v = mms2ppp(speed);
+ //log_ ("fuckTheWall") << "avConv" << speed << "apConv" << v;
+ // Envoie vers l'AVR
+ fuckTheWall(v);
+}
+
+void Asserv::fuckTheWall(int speed)
+{
+ //log_ ("fuckTheWall") << "avConv";
+ // Envoie vers l'AVR
+ proto_.send('f',"b", speed);
+}
+
+void Asserv::setSpeed(double xSpeed, double ySpeed)
+{
+ // Conversion mm/s->Pas/Period
+ int vx = mms2ppp(xSpeed);
+ int vy = mms2ppp(ySpeed);
+ //log_ ("setSpeed") << "avConvX" << xSpeed << "apConvX" << vx;
+ //log_ ("setSpeed") << "avConvY" << ySpeed << "apConvY" << vy;
+ // Envoie vers l'AVR
+ setSpeed(vx,vy);
+}
+
+void Asserv::setSpeed(int xSpeed, int ySpeed)
+{
+ //log_ ("setSpeed") << "avConvX" << xSpeed ;
+ //log_ ("setSpeed") << "avConvY" << ySpeed ;
+ // Envoie vers l'AVR
+ proto_.send('s',"bb", xSpeed, ySpeed);
+}
+
+void Asserv::setPwm(int xPwm, int yPwm)
+{
+ //log_ ("setPwm") << "avConvX" << xPwm;
+ //log_ ("setPwm") << "avConvY" << yPwm;
+ // Envoie sur l'AVR
+ proto_.send('w',"ww" ,xPwm, yPwm);
+}
+
+/// Informe l'AVR d'arréter de dire "j'ai fini"
+void Asserv::finishAck(void)
+{
+ proto_.send('F', "b", 2);
+}
+
+/// XXX Valeurs bizarres
+/// Statistiques
+void Asserv::statCounter(int period)
+{
+
+ pCounter_ = period;
+ // Convertion s->Period
+ //int p = s2period(period);
+ //log_ ("statCounter") << "avConv" << period << "apConv" << p;
+ // Envoie sur l'AVR
+ proto_.send('C', "b", period);
+}
+
+void Asserv::statPosition(int period)
+{
+ pPosition_ = period;
+ // Convertion s->Period
+ //int p = s2period(period);
+ // Envoie sur l'AVR
+ proto_.send('X', "b", period);
+}
+
+void Asserv::statMotor(int period)
+{
+ pMotor_ = period;
+ // Convertion s->Period
+ //int p = s2period(period);
+ // Envoie sur l'AVR
+ proto_.send('S', "b", period);
+}
+
+void Asserv::statPwm(int period)
+{
+ pPwm_ = period;
+ // Convertion s->Period
+ // int p = s2period(period);
+ // Envoie sur l'AVR
+ proto_.send('W', "b", period);
+}
+
+void Asserv::statTiming(int period)
+{
+ pTiming_ = period;
+ // Convertion s->Period
+ //int p = s2period(period);
+ // Envoie sur l'AVR
+ proto_.send('T', "b", period);
+}
+
+void Asserv::statInPort(int period)
+{
+ pStatInPort_ = period;
+ // Convertion s->Period
+ //int p = s2period(period);
+ // Envoie sur l'AVR
+ proto_.send('P', "b", period);
+}
+
+void Asserv::statSharp(int period)
+{
+ pSharp_ = period;
+ // Conversion s->period
+ //int p = s2period(period);
+ // Envoie sur l'AVR
+ proto_.send('H', "b", period);
+}
+
+/// Change les paramètres
+void Asserv::setXPos(double xPos)
+{
+ // Conversion mm->pas
+ int p = mm2pas(xPos, true);
+ // Envoie à l'AVR
+ proto_.send('p',"bd", 'x', p);
+}
+
+void Asserv::setYPos(double yPos)
+{
+ // Conversion mm->pas
+ int p = mm2pas(yPos, true);
+ // Envoie à l'AVR
+ proto_.send('p',"bd", 'y', p);
+}
+
+void Asserv::setAngle(double angle)
+{
+ // Envoie à l'AVR
+ proto_.send('p',"bd", 'a', static_cast<int>(angle / (2 * M_PI) * (1 << 24)));
+}
+
+void Asserv::setFooting(int16_t footing)
+{
+ footing_ = footing;
+ // Envoie à l'AVR
+ proto_.send('p',"bw", 'f', footing);
+}
+
+void Asserv::setEpsilon(double epsilon)
+{
+ epsilon_ = epsilon;
+ // Envoie à l'AVR
+ proto_.send('p',"bd", 'e', static_cast<int>(epsilon * 256));
+}
+
+void Asserv::setKp(int Kp)
+{
+ kp_ = Kp;
+ // Envoie à l'AVR
+ proto_.send('p',"bw", 'p', Kp);
+}
+
+void Asserv::setKi(int Ki)
+{
+ ki_ = Ki;
+ // Envoie à l'AVR
+ proto_.send('p',"bw", 'i', Ki);
+}
+
+void Asserv::setKd(int Kd)
+{
+ kd_ = Kd;
+ // Envoie à l'AVR
+ proto_.send('p',"bw", 'd', Kd);
+}
+
+void Asserv::setESat(int eSat)
+{
+ eSat_ = eSat;
+ // Envoie à l'AVR
+ proto_.send('p', "bw", 'E', eSat);
+}
+
+void Asserv::setSpeedIntMax(int maxInt)
+{
+ speedIntMax_ = maxInt;
+ proto_.send('p', "bW", 'I', maxInt);
+}
+
+void Asserv::setDSample (int dSample)
+{
+ dSample_ = dSample;
+ proto_.send('p', "bb", 's', dSample);
+}
+
+void Asserv::setAccel(int accel)
+{
+ accel_ = accel;
+ //log_ ("setAccel") << "avConv" << accel;
+ // envoie vers l'AVR
+ proto_.send('p',"bb", 'a', accel_);
+}
+
+/// Renvoie l'accélération en unité international (mm/s²)
+double Asserv::getAccel(void)
+{
+ return mmPpas_ / (sPperiod_ * sPperiod_) / accel_; // XXX Vérifier ca
+}
+
+/// Règle les vitesses maximum(lineaire et rotation)
+void Asserv::setMaxSpeed(int maxSLin, int maxSRot)
+{
+ maxSLin_ = (maxSLin > 0 ? maxSLin : maxSLin_);
+ maxSRot_ = (maxSRot > 0 ? maxSRot : maxSRot_);
+ // Envoie à l'AVR
+ proto_.send('p',"bbb", 'm', maxSLin_, maxSRot_);
+}
+
+int Asserv::getMaxLSpeed(void)
+{
+ return maxSLin_;
+}
+
+void Asserv::setUseTazFSM(bool use)
+{
+ useTazFSM_ = use;
+ // Envoie la commande à l'AVR
+ proto_.send('t', "b", use ? 1 : 0);
+}
+
+void Asserv::setInvPwm(bool leftInvPwm, bool rightInvPwm)
+{
+ leftInvPwm_ = leftInvPwm;
+ rightInvPwm_ = rightInvPwm;
+ // Envoie la commande à l'AVR
+ proto_.send('p', "bbb", 'w', leftInvPwm , rightInvPwm);
+}
+
+/// implémentation 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
+ receiver_.receivePosX(xPos * mmPpas_ / 256);
+ break;
+ case 'Y':
+ int yPos;
+ proto_.decode(frame, "D", yPos);
+ // Convertion Pas->mm
+ receiver_.receivePosY(yPos * mmPpas_ / 256);
+ break;
+ case 'A':
+ {
+ int aPos;
+ proto_.decode(frame, "D", aPos);
+ double aPosD = (aPos * (2 * M_PI) / (1 << 24));
+ receiver_.receivePosA(aPosD);
+ break;
+ }
+ case 'S':
+ int oldLSpeed, LSpeed, oldRSpeed, RSpeed;
+ proto_.decode(frame, "WWWW", oldLSpeed, LSpeed, oldRSpeed, RSpeed);
+ receiver_.receiveSpeedStat(oldLSpeed, LSpeed, oldRSpeed, RSpeed);
+ break;
+ case 'W':
+ int leftPwm, rightPwm;
+ proto_.decode(frame, "WW", leftPwm, rightPwm);
+ receiver_.receivePwm(leftPwm, rightPwm);
+ break;
+ case 'T':
+ {
+ 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(motorTimer4, motorTimer3, motorTimer2,
+ motorTimer1, motorTimer0);
+ break;
+ }
+ case 'P':
+ {
+ int statePIn;
+ proto_.decode(frame, "b", statePIn);
+ receiver_.receiveInPort(statePIn);
+ break;
+ }
+ case 'H':
+ {
+ int stateSharp0, stateSharp1, stateSharp2;
+ proto_.decode(frame, "www", stateSharp0, stateSharp1, stateSharp2);
+ receiver_.receiveSharp(stateSharp0, stateSharp1, stateSharp2);
+ break;
+ }
+ case 't':
+ {
+ int state, subState;
+ proto_.decode(frame, "bb", state, subState);
+ receiver_.receiveTazState(state, subState);
+ }
+ case 'F':
+ receiver_.done();
+ break;
+ }
+}
+
+/// Charge les données de la classe config
+void Asserv::loadConfig(const Config & config)
+{
+ ttyName_ = config.get<std::string>("asserv.tty");
+ footing_ = config.get<int>("asserv.footing");
+ epsilon_ = config.get<double>("asserv.epsilon");
+ accel_ = config.get<int>("asserv.accel");
+ kp_ = config.get<int>("asserv.kp");
+ ki_ = config.get<int>("asserv.ki");
+ kd_ = config.get<int>("asserv.kd");
+ eSat_ = config.get<int>("asserv.eSat");
+ speedIntMax_ = config.get<int>("asserv.speedIntMax");
+ dSample_ = config.get<int>("asserv.dSample");
+ maxSLin_ = config.get<int>("asserv.maxSLin");
+ maxSRot_ = config.get<int>("asserv.maxSRot");
+ useTazFSM_ = config.get<bool>("asserv.useTazFSM");
+ mmPpas_ = config.get<double>("asserv.mmPpas");
+ sPperiod_ = config.get<double>("asserv.sPperiod");
+ pwmMax_ = config.get<int>("asserv.pwmMax");
+ leftInvPwm_ = config.get<bool>("asserv.leftInvPwm");
+ rightInvPwm_ = config.get<bool>("asserv.rightInvPwm");
+ pCounter_ = 0;
+ pPosition_ = 0;
+ pMotor_ = 0;
+ pPwm_ = 0;
+ pTiming_ = 0;
+ pStatInPort_ = 32;
+ pSharp_ = 0;
+}
+
+int Asserv::mm2pas(double dist, bool format24eme)
+{
+ if(format24eme)
+ return static_cast<int>((dist/mmPpas_)*256);
+ else
+ return static_cast<int>(dist/mmPpas_);
+}
+
+int Asserv::radTo256(double angle, bool format24eme)
+{
+ if(angle < 0)
+ angle += 2 * M_PI;
+ if(format24eme)
+ return static_cast<int>((angle / (2 * M_PI)) * 256 * (1 << 24));
+ else
+ return static_cast<int>((angle / (2 * M_PI))* 256);
+}
+
+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_)));
+//}