battery_test.cc

   1 /**
   2  * @file battery_test.cc
   3  * @date 1 Dec 2010
   4  * @author Roland Hieber <rohieb@rohieb.name>
   5  *
   6  * Application that writes the Roomba's battery status to stdout repeatedly.
   7  *
   8  * Permission is hereby granted, free of charge, to any person obtaining
   9  * copy of this software and associated documentation files (the "Software"),
  10  * to deal in the Software without restriction, including without limitation
  11  * the rights to use, copy, modify, merge, publish, distribute, sublicense,
  12  * and/or sell copies of the Software, and to permit persons to whom the
  13  * Software is furnished to do so, subject to the following conditions:
  14  *
  15  * The above copyright notice and this permission notice shall be included in
  16  * all copies or substantial portions of the Software.
  17  *
  18  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  19  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  20  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
  21  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
  22  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
  23  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
  24  * THE SOFTWARE.
  25  */
  26
  27 #include <iostream>
  28 #include <stdint.h>
  29 #include <external_interface/pc/pc_os_model.h>
  30 #include <external_interface/pc/pc_com_uart.h>
  31 #include <external_interface/pc/pc_timer.h>
  32 #include <intermediate/robot/roomba/roomba.h>
  33 #include <intermediate/robot/controlled_motion.h>
  34
  35 using namespace std;
  36
  37 // UART port on which we communicate with the Roomba
  38 char uart[] = "/dev/ttyUSB0";
  39
  40 typedef wiselib::PCOsModel OsModel;
  41 typedef wiselib::StandaloneMath Math;
  42 typedef wiselib::PCComUartModel<OsModel, uart> RoombaUart;
  43 typedef wiselib::RoombaModel<OsModel, RoombaUart> Roomba;
  44 typedef wiselib::ControlledMotion<OsModel, Roomba> ControlledMotion;
  45
  46 /**
  47  * Global objects we need
  48  */
  49 OsModel::Os os;
  50 OsModel::Timer::self_t timer;
  51 Roomba roomba;
  52 RoombaUart roomba_uart(os);
  53 ControlledMotion ctrl_motion;
  54
  55 /**
  56  * Sensor data we need, filled in callback
  57  */
  58 struct SensorData {
  59   uint16_t capacity, charge;
  60   uint8_t charging;
  61   int16_t current;
  62   int8_t temperature;
  63   uint16_t voltage;
  64 } sensor_data;
  65
  66 /**
  67  * Callback that fills the sensor data when data is available
  68  */
  69 struct DataAvailable {
  70   void cb(int foo) {
  71     sensor_data.capacity = roomba().capacity;
  72     sensor_data.charge = roomba().charge;
  73     sensor_data.charging = roomba().charging;
  74     sensor_data.current = roomba().current;
  75     sensor_data.voltage = roomba().voltage;
  76   }
  77 } data_available;
  78
  79 /**
  80  * main function
  81  */
  82 int main(int argc, char ** argv) {
  83
  84   // init stuff
  85   roomba_uart.set_baudrate(19200);
  86   roomba_uart.enable_serial_comm();
  87   roomba.init(roomba_uart, timer, Roomba::BATTERY_AND_TEMPERATURE);
  88
  89   cerr << "Got roomba at " << roomba_uart.address() << endl;
  90
  91   roomba.reset_distance();
  92   roomba.reset_angle();
  93   ctrl_motion.init(roomba);
  94
  95   roomba.register_state_callback<DataAvailable, &DataAvailable::cb> (
  96     &data_available);
  97   roomba.notify_state_receivers(Roomba::DATA_AVAILABLE);
  98
  99   while(true) {
 100     cout << "batt_charge=" << sensor_data.charge << "\t batt_capacity="
 101       << sensor_data.capacity << "\t batt_voltage=" << sensor_data.voltage
 102       << "\t batt_current=" << sensor_data.current << endl;
 103     sleep(1000);
 104   }
 105 }