From c912f3edd803e4d8e6664e360590a0a538fbc7e5 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 26 Mar 2012 00:57:00 +0200 Subject: digital/io-hub/src/guybrush: initial guybrush almost empty program --- digital/io-hub/src/guybrush/main.c | 286 +++++++++++++++++++++++++++++++++++++ 1 file changed, 286 insertions(+) create mode 100644 digital/io-hub/src/guybrush/main.c (limited to 'digital/io-hub/src/guybrush/main.c') diff --git a/digital/io-hub/src/guybrush/main.c b/digital/io-hub/src/guybrush/main.c new file mode 100644 index 00000000..92f9c33b --- /dev/null +++ b/digital/io-hub/src/guybrush/main.c @@ -0,0 +1,286 @@ +/* main.c */ +/* guybrush - Eurobot 2012 AI. {{{ + * + * 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 "modules/utils/utils.h" +#include "modules/uart/uart.h" +#include "modules/proto/proto.h" + +#include "modules/devices/usdist/usdist.h" + +#include "timer.h" +#include "chrono.h" +#include "simu.host.h" + +#include "asserv.h" +#include "mimot.h" +#include "twi_master.h" + +#include "contact.h" +#include "radar.h" + +#define FSM_NAME AI +#include "fsm.h" +#ifdef HOST +# include +#endif +#include "fsm_queue.h" + +#include "path.h" +#include "move.h" + +#include "bot.h" + +#include "io.h" + +#ifndef HOST +# include +#endif + +/** Our color. */ +enum team_color_e team_color; + +/** Obstacles positions, updated using radar module. */ +vect_t main_obstacles_pos[2]; + +/** Number of obstacles in main_obstacles_pos. */ +uint8_t main_obstacles_nb; + +/** Asserv stats counters. */ +static uint8_t main_stats_asserv_, main_stats_asserv_cpt_; + +/** Contact stats counters. */ +static uint8_t main_stats_contact_, main_stats_contact_cpt_; + +/** US sensors stats counters. */ +static uint8_t main_stats_usdist_, main_stats_usdist_cpt_; + +/** Main initialisation. */ +static void +main_init (void) +{ +#ifndef HOST + /* Disable watchdog (enabled in bootloader). */ + MCUSR &= ~(1 << WDRF); + wdt_disable (); +#endif + /* Serial port */ + uart0_init (); + /* Enable interrupts */ + sei (); + /* Main timer */ + timer_init (); + timer_wait (); + /* TWI communications */ + asserv_init (); + mimot_init (); + twi_master_init (); + /* IO modules. */ + contact_init (); + usdist_init (); + /* AI modules. */ + path_init (); + /* Initialization done. */ + proto_send0 ('z'); +} + +/** Main events management. */ +void +main_event_to_fsm (void) +{ + /* If an event is handled, stop generating any other event, because a + * transition may have invalidated the current robot state. */ +#define FSM_HANDLE_E(fsm, event) \ + do { if (FSM_HANDLE (fsm, event)) return; } while (0) +#define FSM_HANDLE_VAR_E(fsm, event) \ + do { if (FSM_HANDLE_VAR (fsm, event)) return; } while (0) +#define FSM_HANDLE_TIMEOUT_E(fsm) \ + do { if (FSM_HANDLE_TIMEOUT (fsm)) return; } while (0) + /* Update FSM timeouts. */ + FSM_HANDLE_TIMEOUT_E (AI); + /* Motor status. */ + asserv_status_e robot_move_status, mimot_motor0_status, + mimot_motor1_status; + robot_move_status = asserv_move_cmd_status (); + mimot_motor0_status = mimot_motor0_cmd_status (); + mimot_motor1_status = mimot_motor1_cmd_status (); + if (robot_move_status == success) + FSM_HANDLE_E (AI, robot_move_success); + else if (robot_move_status == failure) + FSM_HANDLE_E (AI, robot_move_failure); + /* Jack. */ + if (!contact_get_jack ()) + FSM_HANDLE_E (AI, jack_inserted); + else + FSM_HANDLE_E (AI, jack_removed); + /* Events from the event queue. */ + if (fsm_queue_poll ()) + { + /* We must post the event at the end of this block because if it is + * handled, the function will return and every instruction after will + * never be executed. */ + uint8_t save_event = fsm_queue_pop_event (); + /* Post the event */ + FSM_HANDLE_VAR_E (AI, save_event); + } + /* Check obstables. */ + if (move_check_obstacles ()) + return; +} + +/** Main (and infinite) loop. */ +static void +main_loop (void) +{ + while (1) + { + /* Wait until next cycle. */ + timer_wait (); + /* Update chrono. */ + chrono_update (); + /* Is match over? */ + if (chrono_is_match_over ()) + { + /* End it and block here indefinitely. */ + chrono_end_match (42); + return; + } + /* Handle commands from UART. */ + while (uart0_poll ()) + proto_accept (uart0_getc ()); + /* Update IO modules. */ + contact_update (); + if (usdist_update ()) + { + position_t robot_pos; + asserv_get_position (&robot_pos); + main_obstacles_nb = radar_update (&robot_pos, main_obstacles_pos); + move_obstacles_update (); + simu_send_pos_report (main_obstacles_pos, main_obstacles_nb, 0); + } + /* Update AI modules. */ + path_decay (); + /* Only manage events if slaves are synchronised. */ + if (twi_master_sync ()) + main_event_to_fsm (); + /* Send stats if requested. */ + if (main_stats_asserv_ && !--main_stats_asserv_cpt_) + { + /* Get current position */ + position_t cur_pos; + asserv_get_position (&cur_pos); + /* Send stats */ + proto_send3w ('A', cur_pos.v.x, cur_pos.v.y, cur_pos.a); + /* Reset stats counter */ + main_stats_asserv_cpt_ = main_stats_asserv_; + } + if (main_stats_contact_ && !--main_stats_contact_cpt_) + { + proto_send1d ('P', contact_all () | (uint32_t) mimot_get_input () << 24); + main_stats_contact_cpt_ = main_stats_contact_; + } + if (main_stats_usdist_ && !--main_stats_usdist_cpt_) + { + proto_send4w ('U', usdist_mm[0], usdist_mm[1], usdist_mm[2], + usdist_mm[3]); + main_stats_usdist_cpt_ = main_stats_usdist_; + } + } +} + +/** Handle received commands. */ +void +proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) +{ +#define c(cmd, size) (cmd << 8 | size) + switch (c (cmd, size)) + { + case c ('z', 0): + /* Reset */ + utils_reset (); + break; + case c ('j', 0): + /* Simulate jack insertion. */ + fsm_queue_post_event (FSM_EVENT (AI, jack_inserted)); + break; + case c ('m', 5): + /* Go to position. + * - 2w: x, y. + * - 1b: backward. */ + { + vect_t position = { v8_to_v16 (args[0], args[1]), + v8_to_v16 (args[2], args[3]) }; + move_start_noangle (position, args[4], 0); + } + break; + case c ('w', 0): + /* Disable all motor control. */ + mimot_motor0_free (); + mimot_motor1_free (); + asserv_free_motor (); + break; + /* Stats commands. + * - b: interval between stats. */ + case c ('A', 1): + /* Position stats. */ + main_stats_asserv_ = main_stats_asserv_cpt_ = args[0]; + break; + case c ('P', 1): + /* Contact stats. */ + main_stats_contact_ = main_stats_contact_cpt_ = args[0]; + break; + case c ('U', 1): + /* US sensors stats. */ + main_stats_usdist_ = main_stats_usdist_cpt_ = args[0]; + break; + default: + /* Unknown commands */ + proto_send0 ('?'); + return; + } + /* When no error, acknowledge commands */ + proto_send (cmd, size, args); +#undef c +} + +int +main (int argc, char **argv) +{ +#ifdef HOST + /* Produce AVR's FSM headers. */ + int i; + if (argc > 1) + for (i = 1; i < argc; i++) + if (strcmp (argv[i], "--gen") == 0) + { + FSM_GENERATE (AVR, 0); + return 0; + } +#endif + avr_init (argc, argv); + main_init (); + main_loop (); + return 0; +} -- cgit v1.2.3