summaryrefslogtreecommitdiff
path: root/digital/io-hub/src/apbirthday/robot.cc
blob: 25ea7059ec8655b582dfdbcf7171bf7325667bbe (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
// io-hub - Modular Input/Output. {{{
//
// Copyright (C) 2013 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 "robot.hh"

#include "bot.hh"

#include "ucoolib/arch/arch.hh"
#include "ucoolib/utils/bytes.hh"

Robot *robot;

Robot::Robot ()
    : main_i2c_queue_ (hardware.main_i2c),
      asserv (main_i2c_queue_, BOT_SCALE),
      dev_proto (*this, hardware.dev_uart),
      zb_proto (*this, hardware.zb_uart),
      usb_proto (*this, hardware.usb),
      chrono (90000 - 1000),
      outputs_set_ (outputs_, lengthof (outputs_)),
      stats_proto_ (0),
      stats_chrono_ (false), stats_chrono_last_s_ (-1),
      stats_inputs_ (0)
{
    robot = this;
    unsigned i = 0;
    inputs_[i++] = &hardware.raw_jack;
    inputs_[i++] = &hardware.ihm_color;
    inputs_[i++] = &hardware.ihm_strat;
    inputs_[i++] = &hardware.ihm_robot_nb;
    inputs_[i++] = &hardware.ihm_lol;
    inputs_[i++] = &hardware.ihm_emerg_stop;
    inputs_[i++] = &hardware.glass_contact;
    inputs_[i++] = &hardware.cherry_plate_left_contact;
    inputs_[i++] = &hardware.cherry_plate_right_contact;
    ucoo::assert (i == lengthof (inputs_));
    i = 0;
    outputs_[i++] = &hardware.cherry_bad_out;
    outputs_[i++] = &hardware.cherry_bad_in;
    outputs_[i++] = &hardware.cherry_plate_up;
    outputs_[i++] = &hardware.cherry_plate_down;
    outputs_[i++] = &hardware.cherry_plate_clamp;
    outputs_[i++] = &hardware.cake_arm_out;
    outputs_[i++] = &hardware.cake_arm_in;
    outputs_[i++] = &hardware.cake_push_far_out;
    outputs_[i++] = &hardware.cake_push_far_in;
    outputs_[i++] = &hardware.cake_push_near_out;
    outputs_[i++] = &hardware.cake_push_near_in;
    outputs_[i++] = &hardware.glass_lower_clamp_close;
    outputs_[i++] = &hardware.glass_lower_clamp_open;
    outputs_[i++] = &hardware.glass_upper_clamp_close;
    outputs_[i++] = &hardware.glass_upper_clamp_open;
    outputs_[i++] = &hardware.glass_upper_clamp_up;
    outputs_[i++] = &hardware.glass_upper_clamp_down;
    outputs_[i++] = &hardware.gift_out;
    outputs_[i++] = &hardware.gift_in;
    outputs_[i++] = &hardware.ballon_funny_action;
    outputs_[i++] = &hardware.pneum_open;
    ucoo::assert (i == lengthof (outputs_));
    for (i = 0; i < lengthof (outputs_); i++)
        outputs_[i]->output ();
}

void
Robot::main_loop ()
{
    while (1)
    {
        // Wait until next cycle.
        hardware.wait ();
        outputs_set_.update ();
        // Handle communications.
        bool sync = main_i2c_queue_.sync ();
        // Handle events if synchronised.
        if (sync)
            fsm_gen_event ();
        // Handle commands.
        dev_proto.accept ();
        zb_proto.accept ();
        usb_proto.accept ();
        // Handle zb programmation.
        hardware.zb_handle ();
        // Send stats.
        proto_stats ();
    }
}

bool
Robot::fsm_gen_event ()
{
    // If an event is handled, stop generating any other event, because a
    // transition may have invalidated the current robot state.
#define fsm_handle_and_return(event) \
    do { if (ANGFSM_HANDLE (AI, event)) return true; } while (0)
    // FSM timeouts.
    if (FSM_HANDLE_TIMEOUT (AI))
        return true;
    // Motor status.
    Motor::Status robot_move_status;
    robot_move_status = asserv.get_status ();
    if (robot_move_status == Motor::SUCCESS)
        fsm_handle_and_return (robot_move_success);
    else if (robot_move_status == Motor::FAILURE)
        fsm_handle_and_return (robot_move_failure);
    // Jack. TODO: bounce filter.
    if (!hardware.raw_jack.get ())
        fsm_handle_and_return (jack_inserted);
    else
        fsm_handle_and_return (jack_removed);
    // FSM queue.
    if (fsm_queue.poll ())
    {
        FsmQueue::Event event = fsm_queue.pop ();
        if (ANGFSM_HANDLE_VAR (AI, event))
            return true;
    }
    return false;
}

void
Robot::proto_handle (ucoo::Proto &proto, char cmd, const uint8_t *args, int size)
{
#define c(cmd, size) ((cmd) << 8 | (size))
    switch (c (cmd, size))
    {
    case c ('z', 0):
        // Reset.
        ucoo::arch_reset ();
        break;
    case c ('m', 5):
        // Go to position.
        // 2H: x, y.
        // 1B: direction_consign.
        {
            vect_t pos = {
                (int16_t) ucoo::bytes_pack (args[0], args[1]),
                (int16_t) ucoo::bytes_pack (args[2], args[3]),
            };
            asserv.stop ();
            // TODO: use move FSM.
            asserv.goto_xy (pos, Asserv::DirectionConsign (args[4]));
        }
        break;
      case c ('o', 5):
	// Set/clear/toggle outputs.
	// - 1d: mask.
	// - 1b: 00 to clear, 01 to set, 02 to toggle.
        {
            uint32_t mask =
                ucoo::bytes_pack (args[0], args[1], args[2], args[3]);
            if (args[4] < 3)
                outputs_set_.command (Outputs::Command (args[4]), mask);
            else
            {
                proto.send ('?');
                return;
            }
        }
	break;
      case c ('o', 6):
	// Toggle outputs for a short time.
	// - 1d: mask.
	// - 1w: duration.
        {
            uint32_t mask =
                ucoo::bytes_pack (args[0], args[1], args[2], args[3]);
            outputs_set_.command (Outputs::TOGGLE, mask);
            outputs_set_.command_later (Outputs::TOGGLE, mask,
                                        ucoo::bytes_pack (args[4], args[5]));
        }
	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;
    case c ('I', 1):
        // Input stats.
        // 1B: stat interval.
        stats_inputs_cpt_ = stats_inputs_ = args[0];
        stats_proto_ = &proto;
        break;
    default:
        proto.send ('?');
        return;
    }
    // Acknowledge.
    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;
        }
    }
    if (stats_inputs_ && !--stats_inputs_cpt_)
    {
        uint32_t inputs = 0;
        for (unsigned int i = 0; i < lengthof (inputs_); i++)
        {
            if (inputs_[i]->get ())
                inputs |= 1 << i;
        }
        stats_proto_->send ('I', "L", inputs);
        stats_inputs_cpt_ = stats_inputs_;
    }
}