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 // UART port on which we communicate with the Roomba
  44 char uart[] = "/dev/ttyUSB0";
  45
  46 typedef wiselib::PCOsModel OsModel;
  47 typedef wiselib::StandaloneMath Math;
  48 typedef wiselib::PCComUartModel<OsModel, uart> RoombaUart;
  49 typedef wiselib::RoombaModel<OsModel, RoombaUart> Roomba;
  50 typedef wiselib::ControlledMotion<OsModel, Roomba> ControlledMotion;
  51
  52 /**
  53  * Global stuff we need
  54  */
  55 OsModel::Os os;
  56 OsModel::Timer::self_t timer;
  57 Roomba roomba;
  58 RoombaUart roomba_uart(os);
  59 ControlledMotion ctrl_motion;
  60 char * roomba_id;
  61 char * ground_type;
  62
  63 /**
  64  * Sensor data we need, filled in callback
  65  */
  66 struct SensorData {
  67
  68   SensorData() :
  69     capacity(0), charge(0), charging(0), current(0), temperature(0),
  70       voltage(0), diff_left_ticks(0), diff_right_ticks(0) {
  71   }
  72
  73   uint16_t capacity, charge;
  74   uint8_t charging;
  75   int16_t current;
  76   int8_t temperature;
  77   uint16_t voltage;
  78   /** raw encoder counts; i.e. overflown, not consecutive */
  79   int raw_left_ticks, raw_right_ticks;
  80   /** absolute encoder counts; i.e. not overflown, but consecutive */
  81   int diff_left_ticks, diff_right_ticks;
  82 } sensor_data;
  83
  84 /**
  85  * Returns the difference between two unsigned short values. The calculated
  86  * value is always smaller or equal to 0x8000.
  87  * This is useful if you have an overflowing counter and you want to determine
  88  * when you have to "wrap over" the value.
  89  */
  90 int nearestDiff(unsigned short last, unsigned short current) {
  91   int d = current - last;
  92   if(d < -0x8000) { // overflow in positive direction
  93     d = (0x10000 - last + current);
  94   }
  95   if(d >= 0x8000) { // overflow in negative direction
  96     d = -(0x10000 - current + last);
  97   }
  98 }
  99
 100 /**
 101  * Callback that fills the sensor data when data is available
 102  */
 103 struct DataAvailable {
 104   int latest_ticks_left_, latest_ticks_right_;
 105
 106   DataAvailable() :
 107     latest_ticks_left_(0), latest_ticks_right_(0) {
 108   }
 109
 110   void cb(int state) {
 111     if(state != Roomba::DATA_AVAILABLE) {
 112       return;
 113     }
 114     sensor_data.capacity = roomba().capacity;
 115     sensor_data.charge = roomba().charge;
 116     sensor_data.charging = roomba().charging;
 117     sensor_data.current = roomba().current;
 118     sensor_data.voltage = roomba().voltage;
 119     sensor_data.raw_left_ticks = roomba().left_encoder_counts;
 120     sensor_data.raw_right_ticks = roomba().right_encoder_counts;
 121     sensor_data.diff_left_ticks += nearestDiff(latest_ticks_left_,
 122       roomba().left_encoder_counts);
 123     latest_ticks_left_ = roomba().left_encoder_counts;
 124     sensor_data.diff_right_ticks += nearestDiff(latest_ticks_right_,
 125       roomba().right_encoder_counts);
 126     latest_ticks_right_ = roomba().right_encoder_counts;
 127   }
 128 } data_available;
 129
 130 /**
 131  * return battery status as QString
 132  */
 133 QString chargeText() {
 134   return QString("Battery: %1%\nPress Cancel to exit.\n\n").arg(int(float(
 135     sensor_data.charge) / float(sensor_data.capacity) * 100.0));
 136 }
 137
 138 /**
 139  * return log text for global values
 140  */
 141 QString logText() {
 142   return QString("svn=%1 roomba_id=%2 ground_type=%3 diff_left_ticks=%4 "
 143     "diff_right_ticks=%5 raw_ticks_left=%6 raw_ticks_right=%7 batt_charge=%8 "
 144     "batt_capacity=%9 batt_voltage=%10 batt_current=%11").arg(SVNREVISION).arg(
 145     roomba_id).arg(ground_type).arg(sensor_data.diff_left_ticks).arg(
 146     sensor_data.diff_right_ticks).arg(sensor_data.raw_left_ticks).arg(
 147     sensor_data.raw_right_ticks).arg(sensor_data.charge).arg(
 148     sensor_data.capacity).arg(sensor_data.voltage).arg(sensor_data.current);
 149 }
 150
 151 /**
 152  * drive iterations. logs values to stdout.
 153  */
 154 void drive(Roomba& roomba, ControlledMotion& ctrl_motion) {
 155   int input_distance = 0, deviation_x = 0, deviation_y = 0, velocity = 100;
 156   bool ok = false;
 157
 158   while(true) {
 159
 160     // new distance to drive
 161     input_distance = getInt(0, "Input distance", chargeText()
 162       + "Input new distance in mm:", input_distance,
 163       numeric_limits<int>::min(), numeric_limits<int>::max(), 1, &ok);
 164     if(!ok) {
 165       break;
 166     }
 167     // new velocity
 168     velocity = getInt(0, "Input velocity", chargeText()
 169       + "Input drive velocity in mm/sec:", velocity, -500, 500, 10, &ok);
 170     if(!ok) {
 171       break;
 172     }
 173     ctrl_motion.move_distance(input_distance, velocity);
 174     roomba.wait_for_stop();
 175
 176     // measured deviation
 177     deviation_x = getInt(0, "Input x deviation", chargeText()
 178       + "Input travelled distance on x axis in mm:", deviation_x,
 179       numeric_limits<int>::min(), numeric_limits<int>::max(), 1, &ok);
 180     if(!ok) {
 181       break;
 182     }
 183     deviation_y = getInt(0, "Input y deviation", chargeText()
 184       + "Input travelled distance on y axis in mm:", deviation_y,
 185       numeric_limits<int>::min(), numeric_limits<int>::max(), 1, &ok);
 186     if(!ok) {
 187       break;
 188     }
 189     cout << logText().toAscii().constData() << " move=straight input_distance="
 190       << input_distance << " velocity=" << velocity << " internal_distance="
 191       << roomba.distance() << " deviation_x=" << deviation_x << " deviation_y="
 192       << deviation_y << endl;
 193
 194     // reset, because we only need the difference between two drive commands
 195     sensor_data.diff_left_ticks = 0;
 196     sensor_data.diff_right_ticks = 0;
 197   }
 198 }
 199
 200 /**
 201  * turn iterations. logs values to stdout.
 202  */
 203 void turn(Roomba& roomba, ControlledMotion& ctrl_motion) {
 204   int cur_angle = 0, turn_angle = 0, measured_angle = 0, velocity = 100;
 205   bool ok = false;
 206
 207   // current angle
 208   cur_angle = getInt(0, "Input current orientation", chargeText()
 209     + "Input current orientation in degree:", cur_angle, 0, 359, 1, &ok);
 210   if(!ok) {
 211     return;
 212   }
 213
 214   while(true) {
 215     // new turn velocity
 216     velocity = getInt(0, "Input velocity", chargeText()
 217       + "Input turn velocity in mm/sec:", velocity, -500, 500, 10, &ok);
 218     if(!ok) {
 219       break;
 220     }
 221
 222     // angle to turn about
 223     turn_angle = getInt(0, "Input turn angle", chargeText()
 224       + "Input angle in degree to turn about:", turn_angle,
 225       numeric_limits<int>::min() + 360, numeric_limits<int>::max() - 360, 1,
 226       &ok);
 227     if(!ok) {
 228       break;
 229     }
 230
 231     ctrl_motion.turn_about(Math::degrees_to_radians(turn_angle), velocity);
 232     roomba.wait_for_stop();
 233
 234     // new current angle
 235     measured_angle = getInt(0, "Input measured angle", chargeText() + QString(
 236       "Orientation should be %1 degree now.\n\n").arg((cur_angle + turn_angle)
 237       % 360) + "Input measured angle in degree the Roomba has "
 238       "turned:", turn_angle, 0, numeric_limits<int>::max(), 1, &ok);
 239     if(!ok) {
 240       break;
 241     }
 242
 243     cout << logText().toAscii().constData() << " move=turn turn_angle="
 244       << turn_angle << " measured_angle=" << measured_angle << " velocity="
 245       << velocity << " internal_angle=" << roomba.angle() << endl;
 246
 247     // reset, because we only need the difference between two turns
 248     sensor_data.diff_left_ticks = 0;
 249     sensor_data.diff_right_ticks = 0;
 250
 251     // new orientation
 252     cur_angle = (cur_angle + measured_angle) % 360;
 253   }
 254 }
 255
 256 /**
 257  * main function
 258  */
 259 int main(int argc, char ** argv) {
 260
 261   if(argc < 4) {
 262     cerr << "Usage: " << argv[0]
 263       << " --turn|-t|--drive|-d roomba-id ground-type" << endl;
 264     exit(-1);
 265   }
 266
 267   // init stuff
 268   QApplication app(argc, argv);
 269
 270   roomba_uart.set_baudrate(19200);
 271   roomba_uart.enable_serial_comm();
 272   roomba.init(roomba_uart, timer, Roomba::POSITION
 273     | Roomba::BATTERY_AND_TEMPERATURE);
 274
 275   cerr << "Got roomba at " << roomba_uart.address() << endl;
 276
 277   roomba.reset_distance();
 278   roomba.reset_angle();
 279   ctrl_motion.init(roomba);
 280
 281   // we do not want the probably corrupted data from roomba(), instead we fill
 282   // our own values when data is available
 283   roomba.register_state_callback<DataAvailable, &DataAvailable::cb> (
 284     &data_available);
 285
 286   // fill it once
 287   roomba.notify_state_receivers(Roomba::DATA_AVAILABLE);
 288
 289   // actual tests
 290   roomba_id = argv[2];
 291   ground_type = argv[3];
 292   if(strcmp(argv[1], "--turn") == 0 || strcmp(argv[1], "-t") == 0) {
 293     turn(roomba, ctrl_motion);
 294   } else if(strcmp(argv[1], "--drive") == 0 || strcmp(argv[1], "-d") == 0) {
 295     drive(roomba, ctrl_motion);
 296   }
 297 }