* THE SOFTWARE.
*/
-//#include "main.h"
+#include "svnrevision.h"
#include <iostream>
#include <stdint.h>
-//#include <unistd.h>
-//#include "util/standalone_math.h"
-//#include "util/delegates/delegate.hpp"
#include <external_interface/pc/pc_os_model.h>
#include <external_interface/pc/pc_com_uart.h>
#include <external_interface/pc/pc_timer.h>
#include <QApplication>
#include <QInputDialog>
+using namespace std;
+
#if QT_VERSION < 0x040500
#define getInt QInputDialog::getInteger
#else // QT_VERSION > 0x040500
#define getInt QInputDialog::getInt
#endif // QT_VERSION
-
-using namespace std;
-
// UART port on which we communicate with the Roomba
char uart[] = "/dev/ttyUSB0";
typedef wiselib::RoombaModel<OsModel, RoombaUart> Roomba;
typedef wiselib::ControlledMotion<OsModel, Roomba> ControlledMotion;
+/**
+ * Global stuff we need
+ */
+OsModel::Os os;
+OsModel::Timer::self_t timer;
+Roomba roomba;
+RoombaUart roomba_uart(os);
+ControlledMotion ctrl_motion;
+char * roomba_id;
+char * ground_type;
+
+/**
+ * Sensor data we need, filled in callback
+ */
+struct SensorData {
+
+ SensorData() :
+ capacity(0), charge(0), charging(0), current(0), temperature(0),
+ voltage(0), abs_left_encoder_counts(0), abs_right_encoder_counts(0) {
+ }
+
+ uint16_t capacity, charge;
+ uint8_t charging;
+ int16_t current;
+ int8_t temperature;
+ uint16_t voltage;
+ /** absolute encoder counts; i.e. not overflown, but consecutive */
+ int abs_left_encoder_counts, abs_right_encoder_counts;
+} sensor_data;
+
+/**
+ * Returns the difference between two unsigned short values. The calculated
+ * value is always smaller or equal to 0x8000.
+ * This is useful if you have an overflowing counter and you want to determine
+ * when you have to "wrap over" the value.
+ */
+int nearest_diff(unsigned short last, unsigned short current) {
+ int d = current - last;
+ if(d < -0x8000) { // overflow in positive direction
+ d = (0x10000 - last + current);
+ }
+ if(d >= 0x8000) { // overflow in negative direction
+ d = -(0x10000 - current + last);
+ }
+}
+
+/**
+ * Callback that fills the sensor data when data is available
+ */
+struct DataAvailable {
+ int latest_encoder_left_, latest_encoder_right_;
+
+ DataAvailable() :
+ latest_encoder_left_(0), latest_encoder_right_(0) {
+ }
+
+ void cb(int state) {
+ if(state != Roomba::DATA_AVAILABLE) {
+ return;
+ }
+ sensor_data.capacity = roomba().capacity;
+ sensor_data.charge = roomba().charge;
+ sensor_data.charging = roomba().charging;
+ sensor_data.current = roomba().current;
+ sensor_data.voltage = roomba().voltage;
+ sensor_data.abs_left_encoder_counts += nearest_diff(latest_encoder_left_,
+ roomba().left_encoder_counts);
+ latest_encoder_left_ = roomba().left_encoder_counts;
+ sensor_data.abs_right_encoder_counts += nearest_diff(latest_encoder_right_,
+ roomba().right_encoder_counts);
+ latest_encoder_right_ = roomba().right_encoder_counts;
+ }
+} data_available;
+
/**
* return battery status as QString
*/
QString chargeText(Roomba& roomba) {
return QString("Battery: %1%\nPress Cancel to exit.\n\n").arg(int(float(
- roomba().charge) / float(roomba().capacity) * 100.0));
+ sensor_data.charge) / float(sensor_data.capacity) * 100.0));
}
/**
input_distance = getInt(0, "Input distance", chargeText(roomba)
+ "Input new distance in mm:", input_distance,
numeric_limits<int>::min(), numeric_limits<int>::max(), 1, &ok);
- if(ok) {
- // new turn velocity
- velocity = getInt(0, "Input velocity", chargeText(roomba)
- + "Input drive velocity in mm/sec:", velocity, -500, 500, 10, &ok);
- if(ok) {
- ctrl_motion.move_distance(input_distance, velocity);
- roomba.wait_for_stop();
- } else {
- break;
- }
- } else {
+ if(!ok) {
break;
}
+ // new velocity
+ velocity = getInt(0, "Input velocity", chargeText(roomba)
+ + "Input drive velocity in mm/sec:", velocity, -500, 500, 10, &ok);
+ if(!ok) {
+ break;
+ }
+ ctrl_motion.move_distance(input_distance, velocity);
+ roomba.wait_for_stop();
// measured deviation
deviation_x = getInt(0, "Input x deviation", chargeText(roomba)
+ "Input travelled distance on x axis in mm:", deviation_x,
numeric_limits<int>::min(), numeric_limits<int>::max(), 1, &ok);
- if(ok) {
- deviation_y = getInt(0, "Input y deviation", chargeText(roomba)
- + "Input travelled distance on y axis in mm:", deviation_y,
- numeric_limits<int>::min(), numeric_limits<int>::max(), 1, &ok);
- if(ok) {
- cout << "input_distance=" << input_distance << " velocity=" << velocity
- << " internal_distance=" << roomba.distance() << " deviation_x="
- << deviation_x << " deviation_y=" << deviation_y
- << " encoder_ticks_left=" << roomba().left_encoder_counts
- << " encoder_ticks_right=" << roomba().right_encoder_counts
- << " batt_charge=" << roomba().charge << " batt_capacity="
- << roomba().capacity << " batt_voltage=" << roomba().voltage
- << " batt_current=" << roomba().current << endl;
- } else {
- break;
- }
- } else {
+ if(!ok) {
+ break;
+ }
+ deviation_y = getInt(0, "Input y deviation", chargeText(roomba)
+ + "Input travelled distance on y axis in mm:", deviation_y,
+ numeric_limits<int>::min(), numeric_limits<int>::max(), 1, &ok);
+ if(!ok) {
break;
}
+ cout << "svn=" << SVNREVISION << " roomba_id=" << roomba_id
+ << " move=straight" << " ground_type=" << ground_type
+ << " input_distance=" << input_distance << " velocity=" << velocity
+ << " internal_distance=" << roomba.distance() << " deviation_x="
+ << deviation_x << " deviation_y=" << deviation_y
+ << " abs_encoder_ticks_left=" << sensor_data.abs_left_encoder_counts
+ << " abs_encoder_ticks_right=" << sensor_data.abs_right_encoder_counts
+ << " batt_charge=" << sensor_data.charge << " batt_capacity="
+ << sensor_data.capacity << " batt_voltage=" << sensor_data.voltage
+ << " batt_current=" << sensor_data.current << endl;
+
+ // reset, because we only need the difference between two drive commands
+ sensor_data.abs_left_encoder_counts = 0;
+ sensor_data.abs_right_encoder_counts = 0;
}
}
// new current angle
measured_angle = getInt(0, "Input measured angle", chargeText(roomba)
+ QString("Orientation should be %1 degree now.\n\n").arg((cur_angle
- + turn_angle) % 360) + "Input measured angle in degree the Roomba has "
+ + turn_angle) % 360) + "Input measured angle in degree the Roomba has "
"turned:", turn_angle, 0, numeric_limits<int>::max(), 1, &ok);
if(!ok) {
break;
}
- cout << "turn_angle=" << turn_angle << " measured_angle=" << measured_angle
- << " velocity=" << velocity << " internal_angle=" << roomba.angle()
- << " encoder_ticks_left=" << roomba().left_encoder_counts
- << " encoder_ticks_right=" << roomba().right_encoder_counts
- << " batt_charge=" << roomba().charge << " batt_capacity="
- << roomba().capacity << " batt_voltage=" << roomba().voltage
- << " batt_current=" << roomba().current << endl;
+ cout << "svn=" << SVNREVISION << " roomba_id=" << roomba_id
+ << " move=straight" << " ground_type=" << ground_type << "turn_angle="
+ << turn_angle << " measured_angle=" << measured_angle << " velocity="
+ << velocity << " internal_angle=" << roomba.angle()
+ << " abs_encoder_ticks_left=" << sensor_data.abs_left_encoder_counts
+ << " abs_encoder_ticks_right=" << sensor_data.abs_right_encoder_counts
+ << " batt_charge=" << sensor_data.charge << " batt_capacity="
+ << sensor_data.capacity << " batt_voltage=" << sensor_data.voltage
+ << " batt_current=" << sensor_data.current << endl;
+
+ // reset, because we only need the difference between two turns
+ sensor_data.abs_left_encoder_counts = 0;
+ sensor_data.abs_right_encoder_counts = 0;
// new orientation
cur_angle = (cur_angle + measured_angle) % 360;
-
}
}
*/
int main(int argc, char ** argv) {
- if(argc < 2) {
- cerr << "Usage: " << argv[0] << " --turn|-t|--drive|-d" << endl;
+ if(argc < 4) {
+ cerr << "Usage: " << argv[0]
+ << " --turn|-t|--drive|-d roomba-id ground-type" << endl;
exit(-1);
}
- OsModel::Os os;
- OsModel::Timer::self_t timer;
- Roomba roomba;
- RoombaUart roomba_uart(os);
- ControlledMotion ctrl_motion;
-
// init stuff
QApplication app(argc, argv);
roomba.init(roomba_uart, timer, Roomba::POSITION
| Roomba::BATTERY_AND_TEMPERATURE);
- cout << "Got roomba at " << roomba_uart.address() << endl;
+ cerr << "Got roomba at " << roomba_uart.address() << endl;
roomba.reset_distance();
roomba.reset_angle();
ctrl_motion.init(roomba);
+ // we do not want the probably corrupted data from roomba(), instead we fill
+ // our own values when data is available
+ roomba.register_state_callback<DataAvailable, &DataAvailable::cb> (
+ &data_available);
+
+ // fill it once
+ roomba.notify_state_receivers(Roomba::DATA_AVAILABLE);
+
// actual tests
+ roomba_id = argv[2];
+ ground_type = argv[3];
if(strcmp(argv[1], "--turn") == 0 || strcmp(argv[1], "-t") == 0) {
turn(roomba, ctrl_motion);
} else if(strcmp(argv[1], "--drive") == 0 || strcmp(argv[1], "-d") == 0) {
projects / bachelor-thesis / roomba_tests.git / blobdiff