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-rw-r--r--digital/io-hub/src/robospierre/Makefile1
-rw-r--r--digital/io-hub/src/robospierre/codebar.avr.c64
-rw-r--r--digital/io-hub/src/robospierre/codebar.h36
-rw-r--r--digital/io-hub/src/robospierre/codebar.host.c56
-rw-r--r--digital/io-hub/src/robospierre/main.c15
-rw-r--r--digital/io-hub/src/robospierre/pawn_sensor.c5
6 files changed, 176 insertions, 1 deletions
diff --git a/digital/io-hub/src/robospierre/Makefile b/digital/io-hub/src/robospierre/Makefile
index 714541dc..88e6c79e 100644
--- a/digital/io-hub/src/robospierre/Makefile
+++ b/digital/io-hub/src/robospierre/Makefile
@@ -6,6 +6,7 @@ HOST_PROGS = test_element
# Sources to compile.
io_hub_SOURCES = main.c top.c \
clamp.c logistic.c element.c pawn_sensor.c \
+ codebar.avr.c codebar.host.c \
radar_defs.c radar.c path.c move.c \
init.c fsm.host.c fsm_AI_gen.avr.c fsm_queue.c \
pwm.avr.c pwm.host.c \
diff --git a/digital/io-hub/src/robospierre/codebar.avr.c b/digital/io-hub/src/robospierre/codebar.avr.c
new file mode 100644
index 00000000..d2609012
--- /dev/null
+++ b/digital/io-hub/src/robospierre/codebar.avr.c
@@ -0,0 +1,64 @@
+/* codebar.avr.c */
+/* robospierre - Eurobot 2011 AI. {{{
+ *
+ * Copyright (C) 2011 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 "codebar.h"
+
+#include "defs.h"
+
+#include "modules/twi/twi.h"
+#include "modules/utils/utils.h"
+#include "modules/utils/crc.h"
+#include "modules/utils/byte.h"
+
+#define CODEBAR_ADDRESS 0x20
+#define CODEBAR_STATUS_LENGTH 7
+
+void
+codebar_init (void)
+{
+}
+
+uint8_t
+codebar_get (uint8_t direction)
+{
+ uint8_t buffer[CODEBAR_STATUS_LENGTH];
+ /* Read status. */
+ twi_master_recv (CODEBAR_ADDRESS, buffer, sizeof (buffer));
+ uint8_t ret = twi_master_wait ();
+ if (ret != CODEBAR_STATUS_LENGTH)
+ return 0;
+ uint8_t crc = crc_compute (buffer + 1, CODEBAR_STATUS_LENGTH - 1);
+ if (crc != buffer[0])
+ return 0;
+ /* Get data. */
+ uint8_t offset = direction == DIRECTION_FORWARD ? 1 : 4;
+ uint16_t age = v8_to_v16 (buffer[offset], buffer[offset + 1]);
+ uint16_t type = buffer[offset + 2];
+ if (age > 225)
+ return 0;
+ else
+ return type;
+}
+
diff --git a/digital/io-hub/src/robospierre/codebar.h b/digital/io-hub/src/robospierre/codebar.h
new file mode 100644
index 00000000..d334f131
--- /dev/null
+++ b/digital/io-hub/src/robospierre/codebar.h
@@ -0,0 +1,36 @@
+#ifndef codebar_h
+#define codebar_h
+/* codebar.h */
+/* robospierre - Eurobot 2011 AI. {{{
+ *
+ * Copyright (C) 2011 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.
+ *
+ * }}} */
+
+/** Initialise module. */
+void
+codebar_init (void);
+
+/** Get element type on the specified direction. */
+uint8_t
+codebar_get (uint8_t direction);
+
+#endif /* codebar_h */
diff --git a/digital/io-hub/src/robospierre/codebar.host.c b/digital/io-hub/src/robospierre/codebar.host.c
new file mode 100644
index 00000000..68ced300
--- /dev/null
+++ b/digital/io-hub/src/robospierre/codebar.host.c
@@ -0,0 +1,56 @@
+/* codebar.host.c */
+/* robospierre - Eurobot 2011 AI. {{{
+ *
+ * Copyright (C) 2011 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 "codebar.h"
+#include "defs.h"
+
+#include "modules/host/host.h"
+#include "modules/host/mex.h"
+
+uint8_t codebar_front, codebar_back;
+
+static void
+codebar_handle (void *user, mex_msg_t *msg)
+{
+ mex_msg_pop (msg, "BB", &codebar_front, &codebar_back);
+}
+
+void
+codebar_init (void)
+{
+ const char *mex_instance = host_get_instance ("io-hub0", 0);
+ uint8_t mtype = mex_node_reservef ("%s:codebar", mex_instance);
+ mex_node_register (mtype, codebar_handle, 0);
+}
+
+uint8_t
+codebar_get (uint8_t direction)
+{
+ if (direction == DIRECTION_FORWARD)
+ return codebar_front;
+ else
+ return codebar_back;
+}
+
diff --git a/digital/io-hub/src/robospierre/main.c b/digital/io-hub/src/robospierre/main.c
index 79c0fe2a..42a2809a 100644
--- a/digital/io-hub/src/robospierre/main.c
+++ b/digital/io-hub/src/robospierre/main.c
@@ -40,6 +40,7 @@
#include "pwm.h"
#include "contact.h"
+#include "codebar.h"
#include "radar.h"
#define FSM_NAME AI
@@ -77,6 +78,9 @@ static uint8_t main_stats_asserv_, main_stats_asserv_cpt_;
/** Contact stats counters. */
static uint8_t main_stats_contact_, main_stats_contact_cpt_;
+/** Codebar stats counters. */
+static uint8_t main_stats_codebar_, main_stats_codebar_cpt_;
+
/** US sensors stats counters. */
static uint8_t main_stats_usdist_, main_stats_usdist_cpt_;
@@ -103,6 +107,7 @@ main_init (void)
/* IO modules. */
pwm_init ();
contact_init ();
+ codebar_init ();
usdist_init ();
/* AI modules. */
clamp_init ();
@@ -223,6 +228,12 @@ main_loop (void)
proto_send1d ('P', contact_all ());
main_stats_contact_cpt_ = main_stats_contact_;
}
+ if (main_stats_codebar_ && !--main_stats_codebar_cpt_)
+ {
+ proto_send2b ('B', codebar_get (DIRECTION_FORWARD),
+ codebar_get (DIRECTION_BACKWARD));
+ main_stats_codebar_cpt_ = main_stats_codebar_;
+ }
if (main_stats_usdist_ && !--main_stats_usdist_cpt_)
{
proto_send4w ('U', usdist_mm[0], usdist_mm[1], usdist_mm[2],
@@ -331,6 +342,10 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
/* Contact stats. */
main_stats_contact_ = main_stats_contact_cpt_ = args[0];
break;
+ case c ('B', 1):
+ /* Codebar stats. */
+ main_stats_codebar_ = main_stats_codebar_cpt_ = args[0];
+ break;
case c ('U', 1):
/* US sensors stats. */
main_stats_usdist_ = main_stats_usdist_cpt_ = args[0];
diff --git a/digital/io-hub/src/robospierre/pawn_sensor.c b/digital/io-hub/src/robospierre/pawn_sensor.c
index be6f3c87..cb4cfe4a 100644
--- a/digital/io-hub/src/robospierre/pawn_sensor.c
+++ b/digital/io-hub/src/robospierre/pawn_sensor.c
@@ -31,6 +31,7 @@
#include "element.h"
#include "clamp.h"
#include "bot.h"
+#include "codebar.h"
#include "modules/utils/utils.h"
#include "modules/math/geometry/distance.h"
@@ -53,7 +54,9 @@ struct pawn_sensor_t pawn_sensor_front, pawn_sensor_back;
static uint8_t
pawn_sensor_get_type (uint8_t direction)
{
- uint8_t element_type = IO_GET (CONTACT_STRAT) ? ELEMENT_PAWN : ELEMENT_KING;
+ uint8_t element_type = codebar_get (direction);
+ if (!element_type)
+ element_type = ELEMENT_PAWN;
return element_type;
}