root / scout_avr / src / main.cpp @ 066b08bb
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1 | 6e7f0a98 | Tom Mullins | #if 1 /////////////////////////////////////////////// |
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2 | 807483bf | Tom Mullins | |
3 | 49090532 | Tom Mullins | #include "ros.h" |
4 | 6e7f0a98 | Tom Mullins | #include "bom.h" |
5 | 47e26dee | Tom Mullins | #include "range.h" |
6 | 6c9146d5 | Tom Mullins | #include "stepper.h" |
7 | 066b08bb | Tom Mullins | #include "orb.h" |
8 | 6c9146d5 | Tom Mullins | #include <std_msgs/Int16.h> // TODO remove |
9 | #include <bom/bom.h> |
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10 | #include <sonar/sonar_distance.h> |
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11 | #include <sonar/sonar_toggle.h> |
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12 | #include <sonar/sonar_set_scan.h> |
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13 | 066b08bb | Tom Mullins | #include <headlights/set_headlights.h> |
14 | 47e26dee | Tom Mullins | #include <util/delay.h> |
15 | 88fb3a79 | Tom Mullins | |
16 | 6c9146d5 | Tom Mullins | /* Period of main loop in ms */
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17 | 2853d46b | Tom Mullins | #define MAINLOOP_PERIOD 100//50 |
18 | 6c9146d5 | Tom Mullins | |
19 | char range_enabled = 0; |
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20 | 49090532 | Tom Mullins | |
21 | 812788aa | Tom Mullins | void debug(const char *str) |
22 | { |
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23 | 31f4a032 | Tom Mullins | } |
24 | |||
25 | 066b08bb | Tom Mullins | void orb_callback(const headlights::set_headlights& msg) |
26 | 49090532 | Tom Mullins | { |
27 | 066b08bb | Tom Mullins | orb_set0(msg.left_red, msg.left_green, msg.left_blue); |
28 | orb_set1(msg.right_red, msg.right_green, msg.right_blue); |
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29 | 49090532 | Tom Mullins | } |
30 | |||
31 | 6c9146d5 | Tom Mullins | /* dammit, Priya, this capitalization just looks ridiculous */
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32 | void range_toggle_cb(const sonar::sonar_toggleRequest& req, |
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33 | sonar::sonar_toggleResponse& resp) |
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34 | { |
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35 | range_enabled = req.set_on; |
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36 | 64aea12e | Tom Mullins | if (range_enabled)
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37 | step_enable(); |
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38 | else
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39 | step_disable(); |
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40 | 6c9146d5 | Tom Mullins | resp.ack = true;
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41 | } |
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42 | |||
43 | void range_set_scan_cb(const sonar::sonar_set_scanRequest& req, |
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44 | sonar::sonar_set_scanResponse& resp) |
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45 | { |
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46 | step_sweep_bounds(req.stop_l, req.stop_r); |
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47 | resp.ack = true;
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48 | } |
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49 | |||
50 | 49090532 | Tom Mullins | int main()
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51 | 88fb3a79 | Tom Mullins | { |
52 | 6c9146d5 | Tom Mullins | unsigned long now, next; |
53 | unsigned int ranges[2]; |
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54 | 6e7f0a98 | Tom Mullins | char i, id;
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55 | 6c9146d5 | Tom Mullins | |
56 | 88fb3a79 | Tom Mullins | ros::NodeHandle nh; |
57 | 6c9146d5 | Tom Mullins | nh.initNode(); |
58 | 49090532 | Tom Mullins | |
59 | 2853d46b | Tom Mullins | /* Stepper */
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60 | // TODO ROS messages to set bounds
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61 | step_init(); |
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62 | step_dir(1);
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63 | step_set_size(STEP_WHOLE); |
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64 | step_sweep_bounds(-26, 26); |
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65 | |||
66 | 6c9146d5 | Tom Mullins | /* Range */
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67 | 47e26dee | Tom Mullins | range_init(); |
68 | 6c9146d5 | Tom Mullins | sonar::sonar_distance range_msg; |
69 | 86b48573 | Tom Mullins | ros::Publisher range_pub("sonar_distance", &range_msg);
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70 | 6c9146d5 | Tom Mullins | ros::ServiceServer |
71 | <sonar::sonar_toggleRequest, sonar::sonar_toggleResponse> |
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72 | range_toggle("sonar_toggle", range_toggle_cb);
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73 | ros::ServiceServer |
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74 | <sonar::sonar_set_scanRequest, sonar::sonar_set_scanResponse> |
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75 | range_set_scan("sonar_set_scan", range_set_scan_cb);
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76 | 86b48573 | Tom Mullins | nh.advertise(range_pub); |
77 | 958699af | Tom Mullins | nh.advertiseService(range_toggle); |
78 | nh.advertiseService(range_set_scan); |
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79 | 6c9146d5 | Tom Mullins | |
80 | /* BOM */
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81 | 47e26dee | Tom Mullins | bom_init(); |
82 | 6c9146d5 | Tom Mullins | bom::bom bom_msg; |
83 | ros::Publisher bom_pub("bom", &bom_msg);
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84 | 6e7f0a98 | Tom Mullins | nh.advertise(bom_pub); |
85 | 88fb3a79 | Tom Mullins | |
86 | 066b08bb | Tom Mullins | /* Headlights (aka Orbs) */
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87 | orb_init(); |
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88 | ros::Subscriber<headlights::set_headlights> orb_sub("set_headlights",
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89 | orb_callback); |
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90 | nh.subscribe(orb_sub); |
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91 | |||
92 | 6e7f0a98 | Tom Mullins | id = 0;
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93 | 6c9146d5 | Tom Mullins | next = 0;
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94 | 88fb3a79 | Tom Mullins | while (1) |
95 | { |
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96 | 6c9146d5 | Tom Mullins | nh.spinOnce(); |
97 | |||
98 | /* Skip loop if the loop period hasn't passed yet */
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99 | /* TODO if we need more exact timing, we can enter a tight loop when now
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100 | * gets close to next, and avoid the uncertainty of nh.spinOnce() */
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101 | now = nh.getHardware()->time(); |
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102 | if (now < next) {
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103 | continue;
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104 | } |
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105 | next = now + MAINLOOP_PERIOD; |
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106 | |||
107 | /* Temporary, for BOM testing */
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108 | 6e7f0a98 | Tom Mullins | id++; |
109 | if (id == 0x40) { |
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110 | id = 0;
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111 | } |
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112 | set_robot_id(id); |
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113 | 066b08bb | Tom Mullins | bom_send(0);
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114 | 6c9146d5 | Tom Mullins | |
115 | /* BOM */
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116 | 6e7f0a98 | Tom Mullins | for (i = 0; i < 4; i++) { |
117 | int msg = bom_get(i);
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118 | if (msg != BOM_NO_DATA) {
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119 | bom_msg.sender = bom_msg_get_robot_id(msg); |
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120 | bom_msg.send_dir = bom_msg_get_dir(msg); |
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121 | bom_msg.recv_dir = i; |
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122 | bom_pub.publish(&bom_msg); |
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123 | } |
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124 | } |
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125 | 47e26dee | Tom Mullins | |
126 | 6c9146d5 | Tom Mullins | /* Stepper / range sensor */
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127 | 2853d46b | Tom Mullins | if (range_enabled) {
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128 | step_sweep(); |
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129 | range_measure(ranges); |
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130 | range_msg.header.stamp = nh.now(); |
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131 | range_msg.header.seq++; |
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132 | range_msg.pos = 0; // TODO fill this |
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133 | range_msg.distance0 = ranges[0];
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134 | range_msg.distance1 = ranges[1];
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135 | range_pub.publish(&range_msg); |
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136 | } |
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137 | 6c9146d5 | Tom Mullins | |
138 | 88fb3a79 | Tom Mullins | } |
139 | |||
140 | return 0; |
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141 | 49090532 | Tom Mullins | } |
142 | 88fb3a79 | Tom Mullins | |
143 | 807483bf | Tom Mullins | #else /////////////////////////////////////////////// |
144 | |||
145 | extern "C" |
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146 | 88fb3a79 | Tom Mullins | { |
147 | #include <stdlib.h> |
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148 | #include <string.h> |
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149 | fd73d758 | Tom Mullins | #include <avr/io.h> |
150 | #include <util/delay.h> |
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151 | 88fb3a79 | Tom Mullins | } |
152 | |||
153 | 49090532 | Tom Mullins | #include "Atmega128rfa1.h" |
154 | 1c3c96ce | Tom Mullins | #include "range.h" |
155 | f115416e | Tom Mullins | #include "bom.h" |
156 | 6c9146d5 | Tom Mullins | #include "stepper.h" |
157 | 49090532 | Tom Mullins | |
158 | 31f4a032 | Tom Mullins | Atmega128rfa1 avr; |
159 | |||
160 | 812788aa | Tom Mullins | void debug(const char *str) |
161 | { |
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162 | 31f4a032 | Tom Mullins | avr.puts(str); |
163 | } |
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164 | |||
165 | 88fb3a79 | Tom Mullins | int main()
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166 | { |
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167 | 1c3c96ce | Tom Mullins | char buf[20]; |
168 | 86b48573 | Tom Mullins | //int i;
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169 | //char id = 0;
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170 | 2853d46b | Tom Mullins | /*unsigned long now, next = 0;
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171 | unsigned int ranges[2];*/
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172 | 88fb3a79 | Tom Mullins | avr.init(); |
173 | 1c3c96ce | Tom Mullins | range_init(); |
174 | f115416e | Tom Mullins | bom_init(); |
175 | 2853d46b | Tom Mullins | func step_sweep_cb = step_init(10);
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176 | 6c9146d5 | Tom Mullins | step_sweep_bounds(-26, 26); |
177 | step_dir(1);
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178 | 2853d46b | Tom Mullins | step_sweep_speed(50);
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179 | PORTF |= _BV(PF4); |
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180 | _delay_ms(500);
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181 | PORTF = (PORTF & ~_BV(PF4)) | _BV(PF5); |
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182 | _delay_ms(500);
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183 | PORTF &= ~_BV(PF5); |
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184 | 88fb3a79 | Tom Mullins | while (1) |
185 | { |
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186 | 2853d46b | Tom Mullins | step_sweep_cb(); |
187 | _delay_ms(10);
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188 | /*now = avr.time();
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189 | 49090532 | Tom Mullins | if (now > next) {
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190 | 2853d46b | Tom Mullins | next = now + 500;*/
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191 | fd73d758 | Tom Mullins | /*ultoa(now, buf, 10);
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192 | 812788aa | Tom Mullins | avr.puts(buf);
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193 | fd73d758 | Tom Mullins | avr.puts("\r\n");*/
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194 | 6c9146d5 | Tom Mullins | /*id++;
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195 | 31f4a032 | Tom Mullins | if (id == 0x40) {
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196 | id = 0;
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197 | }
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198 | 6c9146d5 | Tom Mullins | set_robot_id(id);*/
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199 | 2853d46b | Tom Mullins | /*range_measure(ranges);
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200 | 86b48573 | Tom Mullins | utoa(ranges[0], buf, 10);
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201 | f115416e | Tom Mullins | avr.puts("Range: ");
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202 | avr.puts(buf);
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203 | avr.puts(", ");
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204 | 86b48573 | Tom Mullins | utoa(ranges[1], buf, 10);
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205 | avr.puts(buf);
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206 | 2853d46b | Tom Mullins | avr.puts("\r\n");*/
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207 | 6c9146d5 | Tom Mullins | /*for (i = 0; i < 4; i++) {
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208 | f115416e | Tom Mullins | bom_send(i);
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209 | int msg = bom_get(i);
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210 | if (msg != BOM_NO_DATA) {
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211 | avr.puts("BOM ");
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212 | itoa(i, buf, 10);
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213 | avr.puts(buf);
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214 | avr.puts(": ");
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215 | 31f4a032 | Tom Mullins | itoa(bom_msg_get_robot_id(msg), buf, 10);
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216 | avr.puts(buf);
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217 | avr.puts(" (");
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218 | itoa(bom_msg_get_dir(msg), buf, 10);
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219 | f115416e | Tom Mullins | avr.puts(buf);
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220 | 31f4a032 | Tom Mullins | avr.puts(")\r\n");
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221 | f115416e | Tom Mullins | }
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222 | 6c9146d5 | Tom Mullins | }*/
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223 | 2853d46b | Tom Mullins | //}
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224 | 88fb3a79 | Tom Mullins | } |
225 | return 0; |
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226 | cf115e3d | Tom Mullins | } |
227 | 807483bf | Tom Mullins | |
228 | #endif ////////////////////////////////////////////// |