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