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- /*
- * Copyright (C) 2018 dimercur
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- */
-
- #include "comrobot.h"
-
- #include <stdio.h>
- #include <stdlib.h>
- #include <unistd.h>
- #include <fcntl.h>
- #include <termios.h>
-
- #include <string>
- #include <stdexcept>
-
- #ifdef __FOR_PC__
- #define USART_FILENAME "/dev/ttyUSB0"
- #else
- #define USART_FILENAME "/dev/ttyS0"
- #endif /* __FOR_PC__ */
-
- /*
- * Constants to be used for communicating with robot. Contains command tag
- */
- typedef enum {
- LABEL_ANGLE_POSITION = 'p',
- LABEL_ANGULAR_SPEED = 's',
- LABEL_BATTERY_LEVEL = 'b',
- LABEL_BETA_ANGLE = 'v',
- LABEL_USER_PRESENCE = 'u',
-
- LABEL_TORQUE = 'c',
- LABEL_EMERGENCY_STOP = 'a'
- } LabelRobot;
-
- /**
- * Open serial link with robot
- * @return File descriptor
- * @throw std::runtime_error if it fails
- */
- int ComRobot::Open() {
- fd = open(USART_FILENAME, O_RDWR | O_NOCTTY /*| O_NDELAY*/); //Open in blocking read/write mode
- if (fd == -1) {
- //ERROR - CAN'T OPEN SERIAL PORT
- throw std::runtime_error{"Error - Unable to open UART " + string(USART_FILENAME) + ". Ensure it is not in use by another application"};
- exit(EXIT_FAILURE);
- }
-
- //Configuration of the serial port 115 520 Bauds
- struct termios options;
- tcgetattr(fd, &options);
- options.c_cflag = B115200 | CS8 | CLOCAL | CREAD; //<Set baud rate
- options.c_iflag = IGNPAR; // ignores bytes with bad parity
- options.c_oflag = 0;
- options.c_lflag = 0;
- tcflush(fd, TCIFLUSH);
- tcsetattr(fd, TCSANOW, &options);
-
- return fd;
- }
-
- /**
- * Close serial link
- * @return Success if above 0, failure if below 0
- */
- int ComRobot::Close() {
- return close(fd);
- }
-
- /**
- * Get a message from robot
- * @return Message currently received
- * @attention A message object is created (new) when receiving data from robot. You MUST remember to destroy is (delete) after use
- * @attention Read method is blocking until a message is received
- * @warning Read is not thread safe : Do not call it in multiple tasks simultaneously
- */
- Message* ComRobot::Read() {
- int rxLength;
- unsigned char rxBuffer[6];
- unsigned char receivedChar;
- bool messageComplete = false;
- Message *msg;
- unsigned int i;
-
- /* Call pre method for read */
- Read_Pre();
-
- /* a message is composed of 7 bytes.
- the byte 0 should always be '<'
- the byte 1 should be an ascii char that is the label. It define what the data represent
- the bytes 2 to 5 are the float value
- the byte 6 should always be a '\n'
- */
- while (messageComplete == false) {
- rxLength = read(this->fd, (void*) &receivedChar, 1); //Filestream, buffer to store in, number of bytes to read (max)
- //printf ("W=%02X ", receivedChar);
-
- if (rxLength <= -1) {
- this->lostCom = true;
- printf("Warning: communication lost in ComStm32::Read\n");
- msg = new Message();
-
- return msg;
- } else if (rxLength == 0) {
- // nothing to do
- } else if (receivedChar == '<') { // start of frame received
- i = 0;
-
- do {
- rxLength = read(this->fd, (void*) &rxBuffer[i], 6 - i); //Filestream, buffer to store in, number of bytes to read (max)
-
- if (rxLength >= 0)
- i = i + rxLength;
- else {
- printf("Error while reading (%i)", rxLength);
-
- return NULL;
- }
- } while (i < 6);
-
- if (rxBuffer[5] == '\n') {
- messageComplete = true;
- }
- }
- }
-
- /* Treatment of received message */
- msg = CharToMessage(rxBuffer);
-
- /* Call Post method for read */
- Read_Post();
-
- return msg;
- }
-
- /**
- * Convert an array of char to its message representation (when receiving data from stm32)
- * @param bytes Array of char
- * @return Message corresponding to received array of char
- */
- Message* ComRobot::CharToMessage(unsigned char *bytes) {
- Message *msg = __null;
- MessageFloat *msgf;
- MessageBool *msgb;
-
- switch (bytes[0]) {
- case LABEL_ANGLE_POSITION:
- msgf = new MessageFloat();
- msgf->SetID(MESSAGE_ANGLE_POSITION);
- msgf->SetValue(CharToFloat(&bytes[1]));
- msg = (Message*) msgf;
-
- break;
- case LABEL_ANGULAR_SPEED:
- msgf = new MessageFloat();
- msgf->SetID(MESSAGE_ANGULAR_SPEED);
- msgf->SetValue(CharToFloat(&bytes[1]));
- msg = (Message*) msgf;
-
- break;
- case LABEL_BATTERY_LEVEL:
- msgf = new MessageFloat();
- msgf->SetID(MESSAGE_BATTERY);
- msgf->SetValue(CharToFloat(&bytes[1]));
- msg = (Message*) msgf;
-
- break;
- case LABEL_BETA_ANGLE:
- msgf = new MessageFloat();
- msgf->SetID(MESSAGE_BETA);
- msgf->SetValue(CharToFloat(&bytes[1]));
- msg = (Message*) msgf;
-
- break;
- case LABEL_USER_PRESENCE:
- msgb = new MessageBool();
- msgb->SetID(MESSAGE_USER_PRESENCE);
- msgb->SetState(CharToBool(&bytes[1]));
- msg = (Message*) msgb;
-
- break;
- default:
- printf("Unknown message received from robot (%i)\n", bytes[0]);
- fflush(stdout);
- msg = new Message();
- }
-
- if (msg == NULL) {
- printf("Message is null (%02X)\n", bytes[0]);
- fflush(stdout);
- msg = new Message();
- }
-
- return msg;
- }
-
- /**
- * Convert an array of char to float
- * @param bytes Array of char, containing a binary image of a float
- * @return Float value
- */
- float ComRobot::CharToFloat(unsigned char *bytes) {
- unsigned long value;
-
- union {
- unsigned char buffer[4];
- float f;
- } convert;
-
- convert.buffer[0] = bytes[0];
- convert.buffer[1] = bytes[1];
- convert.buffer[2] = bytes[2];
- convert.buffer[3] = bytes[3];
-
- //value = (bytes[3] << 24) | (bytes[2] << 16) | (bytes[1] << 8) | (bytes[0]);
-
- return convert.f;
- }
-
- /**
- * Convert an array of char to integer
- * @param bytes Array of char, containing a binary image of an integer
- * @return Integer value
- */
- unsigned int ComRobot::CharToInt(unsigned char *bytes) {
- unsigned long value;
-
- value = (bytes[3] << 24) | (bytes[2] << 16) | (bytes[1] << 8) | (bytes[0]);
-
- return (unsigned int) value;
- }
-
- /**
- * Convert an array of char to boolean
- * @param bytes Array of char, containing a binary image of a boolean
- * @return Boolean value
- */
- bool ComRobot::CharToBool(unsigned char *bytes) {
- unsigned long value;
-
- value = (bytes[3] << 24) | (bytes[2] << 16) | (bytes[1] << 8) | (bytes[0]);
-
- if (value == 0) return false;
-
- else return true;
- }
-
- /**
- * Send a message to robot
- * @param msg Message to send to robot
- * @return 1 if success, 0 otherwise
- * @attention Message is destroyed (delete) after being sent. You do not need to delete it yourself
- * @attention Write is blocking until message is written into buffer (linux side)
- * @warning Write is not thread save : check that multiple tasks can't access this method simultaneously
- */
- int ComRobot::Write(Message* msg) {
- unsigned char buffer[7];
- int ret_val = 0;
-
- MessageToChar(msg, buffer);
-
- Write_Pre();
-
- if (this->fd != -1) {
- int count = write(this->fd, &buffer[0], 7); //Filestream, bytes to write, number of bytes to write
- if (count < 0) {
- printf("Warning: UART TX error in ComStm32::Write\n");
- } else {
- ret_val = 1;
- }
- }
-
- // deallocation of msg
- delete(msg);
-
- Write_Post();
-
- return ret_val;
- }
-
- /**
- * Convert a message to its array of char representation (for sending command to stm32)
- * @param msg Message to be sent to robot
- * @param buffer Array of char, image of message to send
- */
- void ComRobot::MessageToChar(Message *msg, unsigned char *buffer) {
- float val_f;
- int val_i;
- unsigned char *b;
-
- buffer[0] = '<';
- buffer[6] = '\n';
-
- switch (msg->GetID()) {
- case MESSAGE_TORQUE:
- buffer[1] = LABEL_TORQUE;
- val_f = ((MessageFloat*) msg)->GetValue();
- b = (unsigned char *) &val_f;
-
- break;
- case MESSAGE_EMERGENCY_STOP:
- buffer[1] = LABEL_EMERGENCY_STOP;
- if (((MessageBool*) msg)->GetState())
- val_i = 1;
- else
- val_i = 0;
- b = (unsigned char *) &val_i;
-
- break;
- default:
- printf("Invalid message to send");
- val_i = 0;
- b = (unsigned char *) &val_i;
- }
-
- buffer[2] = b[0];
- buffer[3] = b[1];
- buffer[4] = b[2];
- buffer[5] = b[3];
- }
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