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-rw-r--r--digital/io-hub/src/apbirthday/Makefile2
-rw-r--r--digital/io-hub/src/apbirthday/robot.cc31
-rw-r--r--digital/io-hub/src/apbirthday/robot.hh12
3 files changed, 43 insertions, 2 deletions
diff --git a/digital/io-hub/src/apbirthday/Makefile b/digital/io-hub/src/apbirthday/Makefile
index d0567efd..96766788 100644
--- a/digital/io-hub/src/apbirthday/Makefile
+++ b/digital/io-hub/src/apbirthday/Makefile
@@ -3,7 +3,7 @@ BASE = ../../../ucoolib
TARGETS = host stm32f4
PROGS = apbirthday
apbirthday_SOURCES = main.cc robot.cc hardware.host.cc hardware.stm32.cc \
- i2c_queue.cc asserv.cc \
+ i2c_queue.cc asserv.cc chrono.host.cc chrono.stm32.cc \
top.cc init.cc move.cc \
angfsm.host.c angfsm_gen_arm_AI.arm.c fsm_queue.cc \
$(AVR_SOURCES)
diff --git a/digital/io-hub/src/apbirthday/robot.cc b/digital/io-hub/src/apbirthday/robot.cc
index cfdc0c19..1873c7f2 100644
--- a/digital/io-hub/src/apbirthday/robot.cc
+++ b/digital/io-hub/src/apbirthday/robot.cc
@@ -35,7 +35,10 @@ Robot::Robot ()
asserv (main_i2c_queue_, BOT_SCALE),
dev_proto (*this, hardware.dev_uart),
zb_proto (*this, hardware.zb_uart),
- usb_proto (*this, hardware.usb)
+ usb_proto (*this, hardware.usb),
+ chrono (90000 - 1000),
+ stats_proto_ (0),
+ stats_chrono_ (false), stats_chrono_last_s_ (-1)
{
robot = this;
}
@@ -56,6 +59,8 @@ Robot::main_loop ()
dev_proto.accept ();
zb_proto.accept ();
usb_proto.accept ();
+ // Send stats.
+ proto_stats ();
}
}
@@ -115,6 +120,14 @@ Robot::proto_handle (ucoo::Proto &proto, char cmd, const uint8_t *args, int size
asserv.goto_xy (pos, Asserv::DirectionConsign (args[4]));
}
break;
+ case c ('C', 1):
+ // Chrono stats.
+ // 1B: start chrono if non-zero.
+ stats_chrono_ = true;
+ if (args[0])
+ chrono.start ();
+ stats_proto_ = &proto;
+ break;
default:
proto.send ('?');
return;
@@ -123,3 +136,19 @@ Robot::proto_handle (ucoo::Proto &proto, char cmd, const uint8_t *args, int size
proto.send_buf (cmd, args, size);
}
+void
+Robot::proto_stats ()
+{
+ if (!stats_proto_)
+ return;
+ if (stats_chrono_)
+ {
+ int s = chrono.remaining_time_ms () / 1000;
+ if (s != stats_chrono_last_s_)
+ {
+ stats_proto_->send ('C', "b", s);
+ stats_chrono_last_s_ = s;
+ }
+ }
+}
+
diff --git a/digital/io-hub/src/apbirthday/robot.hh b/digital/io-hub/src/apbirthday/robot.hh
index 1c6af976..08cb9cf6 100644
--- a/digital/io-hub/src/apbirthday/robot.hh
+++ b/digital/io-hub/src/apbirthday/robot.hh
@@ -26,6 +26,7 @@
#include "hardware.hh"
#include "asserv.hh"
#include "fsm_queue.hh"
+#include "chrono.hh"
#include "ucoolib/base/proto/proto.hh"
@@ -41,6 +42,8 @@ class Robot : public ucoo::Proto::Handler
bool fsm_gen_event ();
/// Receive proto messages.
void proto_handle (ucoo::Proto &proto, char cmd, const uint8_t *args, int size);
+ /// Send stats.
+ void proto_stats ();
public:
/// Public access to hardware class.
Hardware hardware;
@@ -56,6 +59,15 @@ class Robot : public ucoo::Proto::Handler
public:
/// Public access to deferred events FSM queue.
FsmQueue fsm_queue;
+ /// Public access to chrono.
+ Chrono chrono;
+ private:
+ /// Proto used for stats.
+ ucoo::Proto *stats_proto_;
+ /// Enable chrono stats.
+ bool stats_chrono_;
+ /// Last stated second.
+ int stats_chrono_last_s_;
};
/// Global instance pointer.