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 using namespace std;
  37
  38 #if QT_VERSION < 0x040500
  39 #define getInt QInputDialog::getInteger
  40 #else // QT_VERSION > 0x040500
  41 #define getInt QInputDialog::getInt
  42 #endif // QT_VERSION
  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 char * roomba_id;
  62 char * ground_type;
  63
  64 /**
  65  * Sensor data we need, filled in callback
  66  */
  67 struct SensorData {
  68   uint16_t capacity, charge;
  69   uint8_t charging;
  70   int16_t current;
  71   int8_t temperature;
  72   uint16_t voltage;
  73   int16_t left_encoder_counts, right_encoder_counts;
  74 } sensor_data;
  75
  76 /**
  77  * Callback that fills the sensor data when data is available
  78  */
  79 struct DataAvailable {
  80   void cb(int state) {
  81     if(state != Roomba::DATA_AVAILABLE) {
  82       return;
  83     }
  84     sensor_data.capacity = roomba().capacity;
  85     sensor_data.charge = roomba().charge;
  86     sensor_data.charging = roomba().charging;
  87     sensor_data.current = roomba().current;
  88     sensor_data.voltage = roomba().voltage;
  89     sensor_data.left_encoder_counts = roomba().left_encoder_counts;
  90     sensor_data.right_encoder_counts = roomba().right_encoder_counts;
  91   }
  92 } data_available;
  93
  94 /**
  95  * return battery status as QString
  96  */
  97 QString chargeText(Roomba& roomba) {
  98   return QString("Battery: %1%\nPress Cancel to exit.\n\n").arg(int(float(
  99     sensor_data.charge) / float(sensor_data.capacity) * 100.0));
 100 }
 101
 102 /**
 103  * drive iterations. logs values to stdout.
 104  */
 105 void drive(Roomba& roomba, ControlledMotion& ctrl_motion) {
 106   int input_distance = 0, deviation_x = 0, deviation_y = 0, velocity = 100;
 107   bool ok = false;
 108
 109   while(true) {
 110
 111     // new distance to drive
 112     input_distance = getInt(0, "Input distance", chargeText(roomba)
 113       + "Input new distance in mm:", input_distance,
 114       numeric_limits<int>::min(), numeric_limits<int>::max(), 1, &ok);
 115     if(!ok) {
 116       break;
 117     }
 118     // new velocity
 119     velocity = getInt(0, "Input velocity", chargeText(roomba)
 120       + "Input drive velocity in mm/sec:", velocity, -500, 500, 10, &ok);
 121     if(!ok) {
 122       break;
 123     }
 124     ctrl_motion.move_distance(input_distance, velocity);
 125     roomba.wait_for_stop();
 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       break;
 133     }
 134     deviation_y = getInt(0, "Input y deviation", chargeText(roomba)
 135       + "Input travelled distance on y axis in mm:", deviation_y,
 136       numeric_limits<int>::min(), numeric_limits<int>::max(), 1, &ok);
 137     if(!ok) {
 138       break;
 139     }
 140     cout << "svn=" << SVNREVISION << " roomba_id=" << roomba_id
 141       << " move=straight" << " ground_type=" << ground_type
 142       << " input_distance=" << input_distance << " velocity=" << velocity
 143       << " internal_distance=" << roomba.distance() << " deviation_x="
 144       << deviation_x << " deviation_y=" << deviation_y
 145       << " encoder_ticks_left=" << sensor_data.left_encoder_counts
 146       << " encoder_ticks_right=" << sensor_data.right_encoder_counts
 147       << " batt_charge=" << sensor_data.charge << " batt_capacity="
 148       << sensor_data.capacity << " batt_voltage=" << sensor_data.voltage
 149       << " batt_current=" << sensor_data.current << endl;
 150   }
 151 }
 152
 153 /**
 154  * turn iterations. logs values to stdout.
 155  */
 156 void turn(Roomba& roomba, ControlledMotion& ctrl_motion) {
 157   int cur_angle = 0, turn_angle = 0, measured_angle = 0, velocity = 100;
 158   bool ok = false;
 159
 160   // current angle
 161   cur_angle = getInt(0, "Input current orientation", chargeText(roomba)
 162     + "Input current orientation in degree:", cur_angle, 0, 359, 1, &ok);
 163   if(!ok) {
 164     return;
 165   }
 166
 167   while(true) {
 168     // new turn velocity
 169     velocity = getInt(0, "Input velocity", chargeText(roomba)
 170       + "Input turn velocity in mm/sec:", velocity, -500, 500, 10, &ok);
 171     if(!ok) {
 172       break;
 173     }
 174
 175     // angle to turn about
 176     turn_angle = getInt(0, "Input turn angle", chargeText(roomba)
 177       + "Input angle in degree to turn about:", turn_angle,
 178       numeric_limits<int>::min() + 360, numeric_limits<int>::max() - 360, 1,
 179       &ok);
 180     if(!ok) {
 181       break;
 182     }
 183
 184     ctrl_motion.turn_about(Math::degrees_to_radians(turn_angle), velocity);
 185     roomba.wait_for_stop();
 186
 187     // new current angle
 188     measured_angle = getInt(0, "Input measured angle", chargeText(roomba)
 189       + QString("Orientation should be %1 degree now.\n\n").arg((cur_angle
 190         + turn_angle) % 360) + "Input measured angle in degree the Roomba has "
 191       "turned:", turn_angle, 0, numeric_limits<int>::max(), 1, &ok);
 192     if(!ok) {
 193       break;
 194     }
 195
 196     cout << "svn=" << SVNREVISION << " roomba_id=" << roomba_id
 197       << " move=straight" << " ground_type=" << ground_type << "turn_angle="
 198       << turn_angle << " measured_angle=" << measured_angle << " velocity="
 199       << velocity << " internal_angle=" << roomba.angle()
 200       << " encoder_ticks_left=" << sensor_data.left_encoder_counts
 201       << " encoder_ticks_right=" << sensor_data.right_encoder_counts
 202       << " batt_charge=" << sensor_data.charge << " batt_capacity="
 203       << sensor_data.capacity << " batt_voltage=" << sensor_data.voltage
 204       << " batt_current=" << sensor_data.current << endl;
 205
 206     // new orientation
 207     cur_angle = (cur_angle + measured_angle) % 360;
 208   }
 209 }
 210
 211 /**
 212  * main function
 213  */
 214 int main(int argc, char ** argv) {
 215
 216   if(argc < 4) {
 217     cerr << "Usage: " << argv[0]
 218       << " --turn|-t|--drive|-d roomba-id ground-type" << endl;
 219     exit(-1);
 220   }
 221
 222   // init stuff
 223   QApplication app(argc, argv);
 224
 225   roomba_uart.set_baudrate(19200);
 226   roomba_uart.enable_serial_comm();
 227   roomba.init(roomba_uart, timer, Roomba::POSITION
 228     | Roomba::BATTERY_AND_TEMPERATURE);
 229
 230   cerr << "Got roomba at " << roomba_uart.address() << endl;
 231
 232   roomba.reset_distance();
 233   roomba.reset_angle();
 234   ctrl_motion.init(roomba);
 235
 236   // we do not want the probably corrupted data from roomba(), instead we fill
 237   // our own values when data is available
 238   roomba.register_state_callback<DataAvailable, &DataAvailable::cb> (
 239     &data_available);
 240
 241   // fill it once
 242   roomba.notify_state_receivers(Roomba::DATA_AVAILABLE);
 243
 244   // actual tests
 245   roomba_id = argv[2];
 246   ground_type = argv[3];
 247   if(strcmp(argv[1], "--turn") == 0 || strcmp(argv[1], "-t") == 0) {
 248     turn(roomba, ctrl_motion);
 249   } else if(strcmp(argv[1], "--drive") == 0 || strcmp(argv[1], "-d") == 0) {
 250     drive(roomba, ctrl_motion);
 251   }
 252 }