root / scout_avr / src / main.cpp @ 64aea12e
History | View | Annotate | Download (4.76 KB)
1 |
#if 1 /////////////////////////////////////////////// |
---|---|
2 |
|
3 |
#include "ros.h" |
4 |
#include "bom.h" |
5 |
#include "range.h" |
6 |
#include "stepper.h" |
7 |
#include <std_msgs/Int16.h> // TODO remove |
8 |
#include <bom/bom.h> |
9 |
#include <sonar/sonar_distance.h> |
10 |
#include <sonar/sonar_toggle.h> |
11 |
#include <sonar/sonar_set_scan.h> |
12 |
#include <util/delay.h> |
13 |
|
14 |
/* Period of main loop in ms */
|
15 |
#define MAINLOOP_PERIOD 100//50 |
16 |
|
17 |
char range_enabled = 0; |
18 |
|
19 |
void debug(const char *str) |
20 |
{ |
21 |
} |
22 |
|
23 |
void callback(const std_msgs::Int16& msg) |
24 |
{ |
25 |
} |
26 |
|
27 |
/* dammit, Priya, this capitalization just looks ridiculous */
|
28 |
void range_toggle_cb(const sonar::sonar_toggleRequest& req, |
29 |
sonar::sonar_toggleResponse& resp) |
30 |
{ |
31 |
range_enabled = req.set_on; |
32 |
if (range_enabled)
|
33 |
step_enable(); |
34 |
else
|
35 |
step_disable(); |
36 |
resp.ack = true;
|
37 |
} |
38 |
|
39 |
void range_set_scan_cb(const sonar::sonar_set_scanRequest& req, |
40 |
sonar::sonar_set_scanResponse& resp) |
41 |
{ |
42 |
step_sweep_bounds(req.stop_l, req.stop_r); |
43 |
resp.ack = true;
|
44 |
} |
45 |
|
46 |
int main()
|
47 |
{ |
48 |
unsigned long now, next; |
49 |
unsigned int ranges[2]; |
50 |
char i, id;
|
51 |
|
52 |
ros::NodeHandle nh; |
53 |
nh.initNode(); |
54 |
|
55 |
/* To be removed later; just an example of a subscirber */
|
56 |
ros::Subscriber<std_msgs::Int16> test_in("test_in", callback);
|
57 |
nh.subscribe(test_in); |
58 |
|
59 |
/* Stepper */
|
60 |
// TODO ROS messages to set bounds
|
61 |
step_init(); |
62 |
step_dir(1);
|
63 |
step_set_size(STEP_WHOLE); |
64 |
step_sweep_bounds(-26, 26); |
65 |
|
66 |
/* Range */
|
67 |
range_init(); |
68 |
sonar::sonar_distance range_msg; |
69 |
ros::Publisher range_pub("sonar_distance", &range_msg);
|
70 |
ros::ServiceServer |
71 |
<sonar::sonar_toggleRequest, sonar::sonar_toggleResponse> |
72 |
range_toggle("sonar_toggle", range_toggle_cb);
|
73 |
ros::ServiceServer |
74 |
<sonar::sonar_set_scanRequest, sonar::sonar_set_scanResponse> |
75 |
range_set_scan("sonar_set_scan", range_set_scan_cb);
|
76 |
nh.advertise(range_pub); |
77 |
nh.advertiseService(range_toggle); |
78 |
nh.advertiseService(range_set_scan); |
79 |
|
80 |
/* BOM */
|
81 |
bom_init(); |
82 |
bom::bom bom_msg; |
83 |
ros::Publisher bom_pub("bom", &bom_msg);
|
84 |
nh.advertise(bom_pub); |
85 |
|
86 |
id = 0;
|
87 |
next = 0;
|
88 |
while (1) |
89 |
{ |
90 |
nh.spinOnce(); |
91 |
|
92 |
/* Skip loop if the loop period hasn't passed yet */
|
93 |
/* TODO if we need more exact timing, we can enter a tight loop when now
|
94 |
* gets close to next, and avoid the uncertainty of nh.spinOnce() */
|
95 |
now = nh.getHardware()->time(); |
96 |
if (now < next) {
|
97 |
continue;
|
98 |
} |
99 |
next = now + MAINLOOP_PERIOD; |
100 |
|
101 |
/* Temporary, for BOM testing */
|
102 |
id++; |
103 |
if (id == 0x40) { |
104 |
id = 0;
|
105 |
} |
106 |
set_robot_id(id); |
107 |
bom_send(id & 1);
|
108 |
|
109 |
/* BOM */
|
110 |
for (i = 0; i < 4; i++) { |
111 |
int msg = bom_get(i);
|
112 |
if (msg != BOM_NO_DATA) {
|
113 |
bom_msg.sender = bom_msg_get_robot_id(msg); |
114 |
bom_msg.send_dir = bom_msg_get_dir(msg); |
115 |
bom_msg.recv_dir = i; |
116 |
bom_pub.publish(&bom_msg); |
117 |
} |
118 |
} |
119 |
|
120 |
/* Stepper / range sensor */
|
121 |
if (range_enabled) {
|
122 |
step_sweep(); |
123 |
range_measure(ranges); |
124 |
range_msg.header.stamp = nh.now(); |
125 |
range_msg.header.seq++; |
126 |
range_msg.pos = 0; // TODO fill this |
127 |
range_msg.distance0 = ranges[0];
|
128 |
range_msg.distance1 = ranges[1];
|
129 |
range_pub.publish(&range_msg); |
130 |
} |
131 |
|
132 |
} |
133 |
|
134 |
return 0; |
135 |
} |
136 |
|
137 |
#else /////////////////////////////////////////////// |
138 |
|
139 |
extern "C" |
140 |
{ |
141 |
#include <stdlib.h> |
142 |
#include <string.h> |
143 |
#include <avr/io.h> |
144 |
#include <util/delay.h> |
145 |
} |
146 |
|
147 |
#include "Atmega128rfa1.h" |
148 |
#include "range.h" |
149 |
#include "bom.h" |
150 |
#include "stepper.h" |
151 |
|
152 |
Atmega128rfa1 avr; |
153 |
|
154 |
void debug(const char *str) |
155 |
{ |
156 |
avr.puts(str); |
157 |
} |
158 |
|
159 |
int main()
|
160 |
{ |
161 |
char buf[20]; |
162 |
//int i;
|
163 |
//char id = 0;
|
164 |
/*unsigned long now, next = 0;
|
165 |
unsigned int ranges[2];*/
|
166 |
avr.init(); |
167 |
range_init(); |
168 |
bom_init(); |
169 |
func step_sweep_cb = step_init(10);
|
170 |
step_sweep_bounds(-26, 26); |
171 |
step_dir(1);
|
172 |
step_sweep_speed(50);
|
173 |
PORTF |= _BV(PF4); |
174 |
_delay_ms(500);
|
175 |
PORTF = (PORTF & ~_BV(PF4)) | _BV(PF5); |
176 |
_delay_ms(500);
|
177 |
PORTF &= ~_BV(PF5); |
178 |
while (1) |
179 |
{ |
180 |
step_sweep_cb(); |
181 |
_delay_ms(10);
|
182 |
/*now = avr.time();
|
183 |
if (now > next) {
|
184 |
next = now + 500;*/
|
185 |
/*ultoa(now, buf, 10);
|
186 |
avr.puts(buf);
|
187 |
avr.puts("\r\n");*/
|
188 |
/*id++;
|
189 |
if (id == 0x40) {
|
190 |
id = 0;
|
191 |
}
|
192 |
set_robot_id(id);*/
|
193 |
/*range_measure(ranges);
|
194 |
utoa(ranges[0], buf, 10);
|
195 |
avr.puts("Range: ");
|
196 |
avr.puts(buf);
|
197 |
avr.puts(", ");
|
198 |
utoa(ranges[1], buf, 10);
|
199 |
avr.puts(buf);
|
200 |
avr.puts("\r\n");*/
|
201 |
/*for (i = 0; i < 4; i++) {
|
202 |
bom_send(i);
|
203 |
int msg = bom_get(i);
|
204 |
if (msg != BOM_NO_DATA) {
|
205 |
avr.puts("BOM ");
|
206 |
itoa(i, buf, 10);
|
207 |
avr.puts(buf);
|
208 |
avr.puts(": ");
|
209 |
itoa(bom_msg_get_robot_id(msg), buf, 10);
|
210 |
avr.puts(buf);
|
211 |
avr.puts(" (");
|
212 |
itoa(bom_msg_get_dir(msg), buf, 10);
|
213 |
avr.puts(buf);
|
214 |
avr.puts(")\r\n");
|
215 |
}
|
216 |
}*/
|
217 |
//}
|
218 |
} |
219 |
return 0; |
220 |
} |
221 |
|
222 |
#endif ////////////////////////////////////////////// |