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-rw-r--r--digital/ai/src/twi_master/beacon.c84
-rw-r--r--digital/ai/src/twi_master/beacon.h58
-rw-r--r--digital/ai/src/twi_master/twi_master.c6
-rw-r--r--digital/ai/tools/guybrush.py9
-rw-r--r--digital/ai/tools/test_simu.py3
5 files changed, 159 insertions, 1 deletions
diff --git a/digital/ai/src/twi_master/beacon.c b/digital/ai/src/twi_master/beacon.c
new file mode 100644
index 00000000..6f3a3b2b
--- /dev/null
+++ b/digital/ai/src/twi_master/beacon.c
@@ -0,0 +1,84 @@
+/* beacon.c */
+/* ai - Robot Artificial Intelligence. {{{
+ *
+ * Copyright (C) 2012 Nicolas Schodet
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * 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 "common.h"
+#include "beacon.h"
+
+#include "twi_master.h"
+
+#include "modules/utils/byte.h"
+
+/** Global context. */
+struct beacon_t
+{
+ /** Obstacles position. */
+ vect_t position[AC_BEACON_POSITION_NB];
+ /** Obstacles trust. */
+ uint8_t trust[AC_BEACON_POSITION_NB];
+};
+struct beacon_t beacon;
+
+void
+beacon_init (void)
+{
+ uint8_t i;
+ for (i = 0; i < AC_BEACON_POSITION_NB; i++)
+ beacon.trust[i] = 0;
+}
+
+void
+beacon_status_cb (uint8_t *status)
+{
+ uint8_t i, index = 3;
+ for (i = 0; i < AC_BEACON_POSITION_NB; i++)
+ {
+ beacon.position[i].x = v8_to_v16 (status[index], status[index + 1]);
+ index += 2;
+ beacon.position[i].y = v8_to_v16 (status[index], status[index + 1]);
+ index += 2;
+ beacon.trust[i] = status[index];
+ index++;
+ }
+}
+
+void
+beacon_on (uint8_t on_off)
+{
+ uint8_t *buffer = twi_master_get_buffer (BEACON_SLAVE);
+ buffer[0] = on_off;
+ twi_master_send_buffer (1);
+}
+
+uint8_t
+beacon_get_position (uint8_t index, vect_t *position)
+{
+ if (index < AC_BEACON_POSITION_NB)
+ {
+ *position = beacon.position[index];
+ return beacon.trust[index];
+ }
+ else
+ return 0;
+}
+
diff --git a/digital/ai/src/twi_master/beacon.h b/digital/ai/src/twi_master/beacon.h
new file mode 100644
index 00000000..2ff4e635
--- /dev/null
+++ b/digital/ai/src/twi_master/beacon.h
@@ -0,0 +1,58 @@
+#ifndef beacon_h
+#define beacon_h
+/* beacon.h */
+/* ai - Robot Artificial Intelligence. {{{
+ *
+ * Copyright (C) 2012 Nicolas Schodet
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * 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 "defs.h"
+
+/** Interface with beacon board using the TWI protocol. */
+
+/** Slave number in the twi_master list. */
+#define BEACON_SLAVE 2
+
+/** Beacon TWI address. */
+#define BEACON_TWI_ADDRESS 10
+
+/** Length of status buffer (not including CRC). */
+#define BEACON_STATUS_LENGTH (3 + 5 * AC_BEACON_POSITION_NB)
+
+/** Initialise module. */
+void
+beacon_init (void);
+
+/** Called when a new status buffer is received, update the beacon
+ * information. */
+void
+beacon_status_cb (uint8_t *status);
+
+/** Turn on (1) or off (0). */
+void
+beacon_on (uint8_t on_off);
+
+/** Get a detected position, return trust (0 for invalid, 100 for full
+ * trust). */
+uint8_t
+beacon_get_position (uint8_t index, vect_t *position);
+
+#endif /* beacon_h */
diff --git a/digital/ai/src/twi_master/twi_master.c b/digital/ai/src/twi_master/twi_master.c
index 90977fd3..ee401d7d 100644
--- a/digital/ai/src/twi_master/twi_master.c
+++ b/digital/ai/src/twi_master/twi_master.c
@@ -27,6 +27,9 @@
#include "asserv.h"
#include "mimot.h"
+#if AC_AI_TWI_MASTER_BEACON
+# include "beacon.h"
+#endif
#include "modules/twi/twi.h"
#include "modules/utils/utils.h"
@@ -100,6 +103,9 @@ struct twi_master_slave_t
static struct twi_master_slave_t twi_master_slaves[] = {
{ ASSERV_TWI_ADDRESS, 0, ASSERV_STATUS_LENGTH, asserv_status_cb },
{ MIMOT_TWI_ADDRESS, 0, MIMOT_STATUS_LENGTH, mimot_status_cb },
+#if AC_AI_TWI_MASTER_BEACON
+ { BEACON_TWI_ADDRESS, 0, BEACON_STATUS_LENGTH, beacon_status_cb },
+#endif
};
/** Send first pending message if available. */
diff --git a/digital/ai/tools/guybrush.py b/digital/ai/tools/guybrush.py
index 0600a494..340d7ef7 100644
--- a/digital/ai/tools/guybrush.py
+++ b/digital/ai/tools/guybrush.py
@@ -7,6 +7,7 @@ import io_hub.init
from proto.popen_io import PopenIO
import math
+import subprocess
class Robot:
"""Guybrush robot instance."""
@@ -23,24 +24,30 @@ class Robot:
True: (3000 - 250, 2000 - 250, math.radians (180))
}
- client_nb = 3
+ client_nb = 4
def __init__ (self, proto_time, instance = 'robot0'):
self.instance = instance
def proto (proto_class, cmd, init):
cmd = [ s.format (instance = instance) for s in cmd ]
return proto_class (PopenIO (cmd), proto_time, **init)
+ def prog (cmd):
+ cmd = [ s.format (instance = instance) for s in cmd ]
+ subprocess.Popen (cmd)
asserv_cmd = ('../../mimot/src/asserv/asserv.host',
'-i{instance}:asserv0', '-m9', 'guybrush')
mimot_cmd = ('../../mimot/src/dirty/dirty.host',
'-i{instance}:mimot0', '-m9', 'guybrush')
io_hub_cmd = ('../../io-hub/src/guybrush/io_hub.host',
'-i{instance}:io0')
+ beacon_stub_cmd = ('../../beacon/src/stub/simu_stub.host',
+ '-i{instance}:beacon0')
self.asserv = proto (asserv.Proto, asserv_cmd,
asserv.init.host['guybrush'])
self.mimot = proto (mimot.Proto, mimot_cmd,
mimot.init.host['guybrush'])
self.io = proto (io_hub.ProtoGuybrush, io_hub_cmd,
io_hub.init.host['guybrush'])
+ self.beacon_stub = prog (beacon_stub_cmd)
self.protos = (self.asserv, self.mimot, self.io)
diff --git a/digital/ai/tools/test_simu.py b/digital/ai/tools/test_simu.py
index fad3ac62..dc8b9481 100644
--- a/digital/ai/tools/test_simu.py
+++ b/digital/ai/tools/test_simu.py
@@ -93,6 +93,9 @@ class TestSimu (InterNode):
if color_switch_set_pos:
r.asserv.set_pos (*r.robot_start_pos[i])
r.model.color_switch.register (change_color)
+ # Beacon system.
+ if hasattr (r.link, 'beacon'):
+ r.link.beacon.position[0].register_to (self.obstacle)
def close (self):
self.forked_hub.kill ()