main.cc

   1 /**
   2  * @file main.cc
   3  * @date 27 Nov 2010
   4  * Copyright © 2010 Roland Hieber
   5  *
   6  * Permission is hereby granted, free of charge, to any person obtaining
   7  * copy of this software and associated documentation files (the "Software"),
   8  * to deal in the Software without restriction, including without limitation
   9  * the rights to use, copy, modify, merge, publish, distribute, sublicense,
  10  * and/or sell copies of the Software, and to permit persons to whom the
  11  * Software is furnished to do so, subject to the following conditions:
  12  *
  13  * The above copyright notice and this permission notice shall be included in
  14  * all copies or substantial portions of the Software.
  15  *
  16  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  17  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  18  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
  19  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
  20  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
  21  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
  22  * THE SOFTWARE.
  23  */
  24
  25 #include "svnrevision.h"
  26 #include <iostream>
  27 #include <stdint.h>
  28 #include <external_interface/pc/pc_os_model.h>
  29 #include <external_interface/pc/pc_com_uart.h>
  30 #include <external_interface/pc/pc_timer.h>
  31 #include <intermediate/robot/roomba/roomba.h>
  32 #include <intermediate/robot/controlled_motion.h>
  33 #include <QApplication>
  34 #include <QInputDialog>
  35
  36 #if QT_VERSION < 0x040500
  37 #define getInt QInputDialog::getInteger
  38 #else // QT_VERSION > 0x040500
  39 #define getInt QInputDialog::getInt
  40 #endif // QT_VERSION
  41
  42 using namespace std;
  43
  44 // UART port on which we communicate with the Roomba
  45 char uart[] = "/dev/ttyUSB0";
  46
  47 typedef wiselib::PCOsModel OsModel;
  48 typedef wiselib::StandaloneMath Math;
  49 typedef wiselib::PCComUartModel<OsModel, uart> RoombaUart;
  50 typedef wiselib::RoombaModel<OsModel, RoombaUart> Roomba;
  51 typedef wiselib::ControlledMotion<OsModel, Roomba> ControlledMotion;
  52
  53 /**
  54  * Global stuff we need
  55  */
  56 OsModel::Os os;
  57 OsModel::Timer::self_t timer;
  58 Roomba roomba;
  59 RoombaUart roomba_uart(os);
  60 ControlledMotion ctrl_motion;
  61
  62 /**
  63  * Sensor data we need, filled in callback
  64  */
  65 struct SensorData {
  66   uint16_t capacity, charge;
  67   uint8_t charging;
  68   int16_t current;
  69   int8_t temperature;
  70   uint16_t voltage;
  71   int16_t left_encoder_counts, right_encoder_counts;
  72 } sensor_data;
  73
  74 /**
  75  * Callback that fills the sensor data when data is available
  76  */
  77 struct DataAvailable {
  78   void cb(int state) {
  79     if(state != Roomba::DATA_AVAILABLE) {
  80       return;
  81     }
  82     sensor_data.capacity = roomba().capacity;
  83     sensor_data.charge = roomba().charge;
  84     sensor_data.charging = roomba().charging;
  85     sensor_data.current = roomba().current;
  86     sensor_data.voltage = roomba().voltage;
  87     sensor_data.left_encoder_counts = roomba().left_encoder_counts;
  88     sensor_data.right_encoder_counts = roomba().right_encoder_counts;
  89   }
  90 } data_available;
  91
  92 /**
  93  * return battery status as QString
  94  */
  95 QString chargeText(Roomba& roomba) {
  96   return QString("Battery: %1%\nPress Cancel to exit.\n\n").arg(int(float(
  97     sensor_data.charge) / float(sensor_data.capacity) * 100.0));
  98 }
  99
 100 /**
 101  * drive iterations. logs values to stdout.
 102  */
 103 void drive(Roomba& roomba, ControlledMotion& ctrl_motion) {
 104   int input_distance = 0, deviation_x = 0, deviation_y = 0, velocity = 100;
 105   bool ok = false;
 106
 107   while(true) {
 108
 109     // new distance to drive
 110     input_distance = getInt(0, "Input distance", chargeText(roomba)
 111       + "Input new distance in mm:", input_distance,
 112       numeric_limits<int>::min(), numeric_limits<int>::max(), 1, &ok);
 113     if(ok) {
 114       // new turn velocity
 115       velocity = getInt(0, "Input velocity", chargeText(roomba)
 116         + "Input drive velocity in mm/sec:", velocity, -500, 500, 10, &ok);
 117       if(ok) {
 118         ctrl_motion.move_distance(input_distance, velocity);
 119         roomba.wait_for_stop();
 120       } else {
 121         break;
 122       }
 123     } else {
 124       break;
 125     }
 126
 127     // measured deviation
 128     deviation_x = getInt(0, "Input x deviation", chargeText(roomba)
 129       + "Input travelled distance on x axis in mm:", deviation_x,
 130       numeric_limits<int>::min(), numeric_limits<int>::max(), 1, &ok);
 131     if(ok) {
 132       deviation_y = getInt(0, "Input y deviation", chargeText(roomba)
 133         + "Input travelled distance on y axis in mm:", deviation_y,
 134         numeric_limits<int>::min(), numeric_limits<int>::max(), 1, &ok);
 135       if(ok) {
 136         cout << "svn=" << SVNREVISION << " input_distance=" << input_distance
 137           << " velocity=" << velocity << " internal_distance="
 138           << roomba.distance() << " deviation_x=" << deviation_x
 139           << " deviation_y=" << deviation_y << " encoder_ticks_left="
 140           << sensor_data.left_encoder_counts << " encoder_ticks_right="
 141           << sensor_data.right_encoder_counts << " batt_charge="
 142           << sensor_data.charge << " batt_capacity=" << sensor_data.capacity
 143           << " batt_voltage=" << sensor_data.voltage << " batt_current="
 144           << sensor_data.current << endl;
 145       } else {
 146         break;
 147       }
 148     } else {
 149       break;
 150     }
 151   }
 152 }
 153
 154 /**
 155  * turn iterations. logs values to stdout.
 156  */
 157 void turn(Roomba& roomba, ControlledMotion& ctrl_motion) {
 158   int cur_angle = 0, turn_angle = 0, measured_angle = 0, velocity = 100;
 159   bool ok = false;
 160
 161   // current angle
 162   cur_angle = getInt(0, "Input current orientation", chargeText(roomba)
 163     + "Input current orientation in degree:", cur_angle, 0, 359, 1, &ok);
 164   if(!ok) {
 165     return;
 166   }
 167
 168   while(true) {
 169     // new turn velocity
 170     velocity = getInt(0, "Input velocity", chargeText(roomba)
 171       + "Input turn velocity in mm/sec:", velocity, -500, 500, 10, &ok);
 172     if(!ok) {
 173       break;
 174     }
 175
 176     // angle to turn about
 177     turn_angle = getInt(0, "Input turn angle", chargeText(roomba)
 178       + "Input angle in degree to turn about:", turn_angle,
 179       numeric_limits<int>::min() + 360, numeric_limits<int>::max() - 360, 1,
 180       &ok);
 181     if(!ok) {
 182       break;
 183     }
 184
 185     ctrl_motion.turn_about(Math::degrees_to_radians(turn_angle), velocity);
 186     roomba.wait_for_stop();
 187
 188     // new current angle
 189     measured_angle = getInt(0, "Input measured angle", chargeText(roomba)
 190       + QString("Orientation should be %1 degree now.\n\n").arg((cur_angle
 191       + turn_angle) % 360) + "Input measured angle in degree the Roomba has "
 192       "turned:", turn_angle, 0, numeric_limits<int>::max(), 1, &ok);
 193     if(!ok) {
 194       break;
 195     }
 196
 197     cout << "turn_angle=" << turn_angle << " measured_angle=" << measured_angle
 198       << " velocity=" << velocity << " internal_angle=" << roomba.angle()
 199       << " encoder_ticks_left=" << sensor_data.left_encoder_counts
 200       << " encoder_ticks_right=" << sensor_data.right_encoder_counts
 201       << " batt_charge=" << sensor_data.charge << " batt_capacity="
 202       << sensor_data.capacity << " batt_voltage=" << sensor_data.voltage
 203       << " batt_current=" << sensor_data.current << endl;
 204
 205     // new orientation
 206     cur_angle = (cur_angle + measured_angle) % 360;
 207
 208   }
 209 }
 210
 211 /**
 212  * main function
 213  */
 214 int main(int argc, char ** argv) {
 215
 216   if(argc < 2) {
 217     cerr << "Usage: " << argv[0] << " --turn|-t|--drive|-d" << endl;
 218     exit(-1);
 219   }
 220
 221   // init stuff
 222   QApplication app(argc, argv);
 223
 224   roomba_uart.set_baudrate(19200);
 225   roomba_uart.enable_serial_comm();
 226   roomba.init(roomba_uart, timer, Roomba::POSITION
 227     | Roomba::BATTERY_AND_TEMPERATURE);
 228
 229   cerr << "Got roomba at " << roomba_uart.address() << endl;
 230
 231   roomba.reset_distance();
 232   roomba.reset_angle();
 233   ctrl_motion.init(roomba);
 234
 235   // we do not want the probably corrupted data from roomba(), instead we fill
 236   // our own values when data is available
 237   roomba.register_state_callback<DataAvailable, &DataAvailable::cb> (
 238     &data_available);
 239
 240   // fill it once
 241   roomba.notify_state_receivers(Roomba::DATA_AVAILABLE);
 242
 243   // actual tests
 244   if(strcmp(argv[1], "--turn") == 0 || strcmp(argv[1], "-t") == 0) {
 245     turn(roomba, ctrl_motion);
 246   } else if(strcmp(argv[1], "--drive") == 0 || strcmp(argv[1], "-d") == 0) {
 247     drive(roomba, ctrl_motion);
 248   }
 249 }