root / scout_avr / src / main.cpp @ ca9f6bd5
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#if 1 /////////////////////////////////////////////// |
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#include "ros.h" |
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#include "bom.h" |
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#include "range.h" |
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#include <std_msgs/Int16.h> |
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#include <util/delay.h> |
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ros::Publisher *pbom_pub; |
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void debug(const char *str) |
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{ |
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} |
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void callback(const std_msgs::Int16& msg) |
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{ |
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} |
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int main()
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{ |
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char i, id;
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ros::NodeHandle nh; |
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bom::bom bom_msg; |
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ros::Subscriber<std_msgs::Int16> test_in("test_in", callback);
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ros::Publisher bom_pub("bom", &bom_msg);
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pbom_pub = &bom_pub; |
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nh.initNode(); |
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range_init(); |
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bom_init(); |
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nh.subscribe(test_in); |
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nh.advertise(bom_pub); |
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id = 0;
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while (1) |
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{ |
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id++; |
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if (id == 0x40) { |
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id = 0;
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} |
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set_robot_id(id); |
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bom_send(id & 1);
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for (i = 0; i < 4; i++) { |
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int msg = bom_get(i);
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if (msg != BOM_NO_DATA) {
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bom_msg.sender = bom_msg_get_robot_id(msg); |
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bom_msg.send_dir = bom_msg_get_dir(msg); |
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bom_msg.recv_dir = i; |
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bom_pub.publish(&bom_msg); |
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} |
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} |
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nh.spinOnce(); |
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_delay_ms(500);
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} |
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return 0; |
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} |
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#else /////////////////////////////////////////////// |
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extern "C" |
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{ |
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#include <stdlib.h> |
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#include <string.h> |
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#include <avr/io.h> |
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#include <util/delay.h> |
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} |
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#include "Atmega128rfa1.h" |
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#include "range.h" |
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#include "bom.h" |
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Atmega128rfa1 avr; |
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void debug(const char *str) |
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{ |
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avr.puts(str); |
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} |
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|
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int main()
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{ |
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char buf[20]; |
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int i;
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char id = 0; |
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unsigned long now, next = 0; |
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avr.init(); |
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range_init(); |
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bom_init(); |
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avr.puts("Hello!\r\n");
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while (1) |
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{ |
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now = avr.time(); |
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if (now > next) {
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next = now + 500;
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/*ultoa(now, buf, 10);
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avr.puts(buf);
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avr.puts("\r\n");*/
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id++; |
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if (id == 0x40) { |
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id = 0;
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} |
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set_robot_id(id); |
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/*utoa(range_get(0), buf, 10);
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avr.puts("Range: ");
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avr.puts(buf);
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avr.puts(", ");
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utoa(range_get(1), buf, 10);
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avr.puts(buf);*/
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for (i = 0; i < 4; i++) { |
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bom_send(i); |
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int msg = bom_get(i);
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if (msg != BOM_NO_DATA) {
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avr.puts("BOM ");
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itoa(i, buf, 10);
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avr.puts(buf); |
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avr.puts(": ");
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itoa(bom_msg_get_robot_id(msg), buf, 10);
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avr.puts(buf); |
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avr.puts(" (");
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itoa(bom_msg_get_dir(msg), buf, 10);
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avr.puts(buf); |
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avr.puts(")\r\n");
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} |
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} |
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} |
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} |
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return 0; |
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} |
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#endif ////////////////////////////////////////////// |