412 lines
13 KiB
C++
412 lines
13 KiB
C++
/*
|
|
* 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 __SIMULATION__
|
|
#include <sys/socket.h>
|
|
#include <netinet/in.h>
|
|
#include <arpa/inet.h>
|
|
int sock = 0;
|
|
#define PORT 6699
|
|
#endif
|
|
|
|
#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
|
|
*/
|
|
const char LABEL_ROBOT_PING = 'p';
|
|
const char LABEL_ROBOT_RESET = 'r';
|
|
const char LABEL_ROBOT_START_WITH_WD = 'W';
|
|
const char LABEL_ROBOT_START_WITHOUT_WD = 'u';
|
|
const char LABEL_ROBOT_RELOAD_WD = 'w';
|
|
const char LABEL_ROBOT_MOVE = 'M';
|
|
const char LABEL_ROBOT_TURN = 'T';
|
|
const char LABEL_ROBOT_GET_BATTERY = 'v';
|
|
const char LABEL_ROBOT_GET_STATE = 'b';
|
|
const char LABEL_ROBOT_POWEROFF = 'z';
|
|
|
|
const char LABEL_ROBOT_OK = 'O';
|
|
const char LABEL_ROBOT_ERROR = 'E';
|
|
const char LABEL_ROBOT_UNKNOWN_COMMAND = 'C';
|
|
|
|
const char LABEL_ROBOT_SEPARATOR_CHAR = '=';
|
|
const char LABEL_ROBOT_ENDING_CHAR = 0x0D; // carriage return (\\r)
|
|
|
|
/**
|
|
* Open serial link with robot
|
|
* @return File descriptor
|
|
* @throw std::runtime_error if it fails
|
|
*/
|
|
int ComRobot::Open() {
|
|
return this->Open(USART_FILENAME);
|
|
}
|
|
|
|
/**
|
|
* Open serial link with robot
|
|
* @param usart Filename of usart to open
|
|
* @return File descriptor
|
|
* @throw std::runtime_error if it fails
|
|
*/
|
|
int ComRobot::Open(string usart) {
|
|
struct termios options;
|
|
|
|
#ifdef __SIMULATION__
|
|
|
|
struct sockaddr_in serv_addr;
|
|
if ((sock = socket(AF_INET, SOCK_STREAM, 0)) < 0) {
|
|
printf("\n Socket creation error \n");
|
|
return -1;
|
|
}
|
|
struct timeval tv;
|
|
tv.tv_sec = 0;
|
|
tv.tv_usec = 80000;
|
|
setsockopt(sock, SOL_SOCKET, SO_RCVTIMEO, (const char*) &tv, sizeof tv);
|
|
|
|
serv_addr.sin_family = AF_INET;
|
|
serv_addr.sin_port = htons(PORT);
|
|
|
|
// Convert IPv4 and IPv6 addresses from text to binary form
|
|
if (inet_pton(AF_INET, "127.0.0.1", &serv_addr.sin_addr) <= 0) {
|
|
printf("\nInvalid address/ Address not supported \n");
|
|
return -1;
|
|
}
|
|
|
|
if (connect(sock, (struct sockaddr *) &serv_addr, sizeof (serv_addr)) < 0) {
|
|
return -1;
|
|
}
|
|
return 1;
|
|
#else
|
|
|
|
fd = open(usart.c_str(), O_RDWR | O_NOCTTY /*| O_NDELAY*/); //Open in blocking read/write mode
|
|
if (fd == -1) {
|
|
cerr << "[" << __PRETTY_FUNCTION__ << "] Unable to open UART (" << usart << "). Ensure it is not in use by another application" << endl << flush;
|
|
throw std::runtime_error{"Unable to open UART"};
|
|
exit(EXIT_FAILURE);
|
|
} else {
|
|
fcntl(fd, F_SETFL, 0);
|
|
tcgetattr(fd, &options);
|
|
options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
|
|
cfsetospeed(&options, B9600);
|
|
cfsetispeed(&options, B9600);
|
|
options.c_cc[VMIN] = 0;
|
|
options.c_cc[VTIME] = 1; /* Timeout of 100 ms per character */
|
|
tcsetattr(fd, TCSANOW, &options);
|
|
}
|
|
|
|
return fd;
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* Close serial link
|
|
* @return Success if above 0, failure if below 0
|
|
*/
|
|
int ComRobot::Close() {
|
|
return close(fd);
|
|
}
|
|
|
|
/**
|
|
* 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
|
|
*/
|
|
Message *ComRobot::Write(Message* msg) {
|
|
Message *msgAnswer;
|
|
string s;
|
|
|
|
if (this->fd != -1) {
|
|
|
|
Write_Pre();
|
|
|
|
s = MessageToString(msg);
|
|
#ifdef __SIMULATION__
|
|
|
|
char buffer[1024] = {0};
|
|
cout << "[" << __PRETTY_FUNCTION__ << "] Send command: " << s << endl << flush;
|
|
send(sock, s.c_str(), s.length(), 0);
|
|
|
|
int valread = read(sock, buffer, 1024);
|
|
if (valread < 0) {
|
|
msgAnswer = new Message(MESSAGE_ANSWER_ROBOT_TIMEOUT);
|
|
} else {
|
|
string s(&buffer[0], valread);
|
|
msgAnswer = StringToMessage(s);
|
|
//msgAnswer = new Message(MESSAGE_ANSWER_ACK);
|
|
}
|
|
cout << "response: " << buffer << ", id: " << msgAnswer->GetID() << endl;
|
|
#else
|
|
AddChecksum(s);
|
|
|
|
//cout << "[" <<__PRETTY_FUNCTION__<<"] Send command: "<<s<<endl<<flush;
|
|
int count = write(this->fd, s.c_str(), s.length()); //Filestream, bytes to write, number of bytes to write
|
|
|
|
if (count < 0) {
|
|
cerr << "[" << __PRETTY_FUNCTION__ << "] UART TX error (" << to_string(count) << ")" << endl << flush;
|
|
msgAnswer = new Message(MESSAGE_ANSWER_COM_ERROR);
|
|
} else { /* write successfull, read answer from robot */
|
|
|
|
try {
|
|
s = Read();
|
|
//cout << "Answer = "<<s<<endl<<flush;
|
|
|
|
if (VerifyChecksum(s)) {
|
|
msgAnswer = StringToMessage(s);
|
|
} else msgAnswer = new Message(MESSAGE_ANSWER_ROBOT_UNKNOWN_COMMAND);
|
|
|
|
} catch (std::runtime_error &e) {
|
|
s = string(e.what());
|
|
|
|
if (s.find("imeout")) { // timeout detecté
|
|
msgAnswer = new Message(MESSAGE_ANSWER_ROBOT_TIMEOUT);
|
|
} else {
|
|
msgAnswer = new Message(MESSAGE_ANSWER_COM_ERROR);
|
|
}
|
|
}
|
|
}
|
|
#endif
|
|
} else {
|
|
cerr << __PRETTY_FUNCTION__ << ": Com port not open" << endl << flush;
|
|
throw std::runtime_error{"Com port not open"};
|
|
}
|
|
|
|
// deallocation of msg
|
|
delete(msg);
|
|
|
|
return msgAnswer;
|
|
}
|
|
|
|
/**
|
|
* 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
|
|
*/
|
|
string ComRobot::Read() {
|
|
string s;
|
|
int rxLength;
|
|
unsigned char receivedChar;
|
|
|
|
do {
|
|
rxLength = read(this->fd, (void*) &receivedChar, 1); //Filestream, buffer to store in, number of bytes to read (max)
|
|
if (rxLength == 0) { // timeout
|
|
// try again
|
|
rxLength = read(this->fd, (void*) &receivedChar, 1); //Filestream, buffer to store in, number of bytes to read (max)
|
|
if (rxLength == 0) { // re-timeout: it sucks !
|
|
throw std::runtime_error{"ComRobot::Read: Timeout when reading from com port"};
|
|
}
|
|
} else if (rxLength < 0) { // big pb !
|
|
throw std::runtime_error{"ComRobot::Read: Unknown problem when reading from com port"};
|
|
} else { // everything ok
|
|
if ((receivedChar != '\r') && (receivedChar != '\n')) s += receivedChar;
|
|
}
|
|
} while ((receivedChar != '\r') && (receivedChar != '\n'));
|
|
|
|
return s;
|
|
}
|
|
|
|
Message *ComRobot::SendCommand(Message* msg, MessageID answerID, int maxRetries) {
|
|
int counter = maxRetries;
|
|
Message *msgSend;
|
|
Message *msgRcv;
|
|
Message *msgTmp;
|
|
|
|
do {
|
|
msgSend = msg->Copy();
|
|
cout << "S => " << msgSend->ToString() << endl << flush;
|
|
msgTmp = Write(msgSend);
|
|
cout << "R <= " << msgTmp->ToString() << endl << flush;
|
|
|
|
if (msgTmp->CompareID(answerID)) counter = 0;
|
|
else counter--;
|
|
|
|
if (counter == 0) msgRcv = msgTmp->Copy();
|
|
|
|
delete(msgTmp);
|
|
} while (counter);
|
|
|
|
delete (msg);
|
|
|
|
return msgRcv;
|
|
}
|
|
|
|
/**
|
|
* 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::StringToMessage(string s) {
|
|
Message *msg;
|
|
|
|
switch (s[0]) {
|
|
case LABEL_ROBOT_OK:
|
|
msg = new Message(MESSAGE_ANSWER_ACK);
|
|
break;
|
|
case LABEL_ROBOT_ERROR:
|
|
msg = new Message(MESSAGE_ANSWER_ROBOT_ERROR);
|
|
break;
|
|
case LABEL_ROBOT_UNKNOWN_COMMAND:
|
|
msg = new Message(MESSAGE_ANSWER_ROBOT_UNKNOWN_COMMAND);
|
|
break;
|
|
case '0':
|
|
msg = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_EMPTY);
|
|
break;
|
|
case '1':
|
|
msg = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_LOW);
|
|
break;
|
|
case '2':
|
|
msg = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_FULL);
|
|
break;
|
|
default:
|
|
msg = new Message(MESSAGE_ANSWER_ROBOT_ERROR);
|
|
cerr << "[" << __PRETTY_FUNCTION__ << "] Unknown message received from robot (" << s << ")" << endl << flush;
|
|
}
|
|
|
|
return msg;
|
|
}
|
|
|
|
/**
|
|
* 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
|
|
*/
|
|
string ComRobot::MessageToString(Message *msg) {
|
|
string s;
|
|
|
|
float val_f;
|
|
int val_i;
|
|
unsigned char *b;
|
|
|
|
switch (msg->GetID()) {
|
|
case MESSAGE_ROBOT_PING:
|
|
s += LABEL_ROBOT_PING;
|
|
break;
|
|
case MESSAGE_ROBOT_RESET:
|
|
s += LABEL_ROBOT_RESET;
|
|
break;
|
|
case MESSAGE_ROBOT_POWEROFF:
|
|
s += LABEL_ROBOT_POWEROFF;
|
|
break;
|
|
case MESSAGE_ROBOT_START_WITHOUT_WD:
|
|
s += LABEL_ROBOT_START_WITHOUT_WD;
|
|
break;
|
|
case MESSAGE_ROBOT_START_WITH_WD:
|
|
s += LABEL_ROBOT_START_WITH_WD;
|
|
break;
|
|
case MESSAGE_ROBOT_RELOAD_WD:
|
|
s += LABEL_ROBOT_RELOAD_WD;
|
|
break;
|
|
case MESSAGE_ROBOT_BATTERY_GET:
|
|
s += LABEL_ROBOT_GET_BATTERY;
|
|
break;
|
|
case MESSAGE_ROBOT_STATE_GET:
|
|
s += LABEL_ROBOT_GET_STATE;
|
|
break;
|
|
case MESSAGE_ROBOT_GO_FORWARD:
|
|
s += LABEL_ROBOT_MOVE;
|
|
s += LABEL_ROBOT_SEPARATOR_CHAR;
|
|
s.append(to_string(500000));
|
|
break;
|
|
case MESSAGE_ROBOT_GO_BACKWARD:
|
|
s += LABEL_ROBOT_MOVE;
|
|
s += LABEL_ROBOT_SEPARATOR_CHAR;
|
|
s.append(to_string(-500000));
|
|
break;
|
|
case MESSAGE_ROBOT_GO_LEFT:
|
|
s += LABEL_ROBOT_TURN;
|
|
s += LABEL_ROBOT_SEPARATOR_CHAR;
|
|
s.append(to_string(-500000));
|
|
break;
|
|
case MESSAGE_ROBOT_GO_RIGHT:
|
|
s += LABEL_ROBOT_TURN;
|
|
s += LABEL_ROBOT_SEPARATOR_CHAR;
|
|
s.append(to_string(500000));
|
|
break;
|
|
case MESSAGE_ROBOT_STOP:
|
|
s += LABEL_ROBOT_MOVE;
|
|
s += LABEL_ROBOT_SEPARATOR_CHAR;
|
|
s.append(to_string(0));
|
|
break;
|
|
case MESSAGE_ROBOT_MOVE:
|
|
s += LABEL_ROBOT_MOVE;
|
|
s += LABEL_ROBOT_SEPARATOR_CHAR;
|
|
s.append(to_string(((MessageInt*) msg)->GetValue()));
|
|
break;
|
|
case MESSAGE_ROBOT_TURN:
|
|
s += LABEL_ROBOT_TURN;
|
|
s += LABEL_ROBOT_SEPARATOR_CHAR;
|
|
s.append(to_string(((MessageInt*) msg)->GetValue()));
|
|
break;
|
|
default:
|
|
cerr << "[" << __PRETTY_FUNCTION__ << "] Invalid message for robot (" << msg->ToString() << ")" << endl << flush;
|
|
throw std::runtime_error{"Invalid message"};
|
|
}
|
|
|
|
return s;
|
|
}
|
|
|
|
/**
|
|
* Add a checksum and carriage return to a command string
|
|
* @param[in,out] s String containing command for robot, without ending char (carriage return)
|
|
*/
|
|
void ComRobot::AddChecksum(string &s) {
|
|
unsigned char checksum = 0;
|
|
|
|
for (string::iterator it = s.begin(); it != s.end(); ++it) {
|
|
checksum ^= (unsigned char) *it;
|
|
}
|
|
|
|
s += (char) checksum; // Add calculated checksum
|
|
s += (char) LABEL_ROBOT_ENDING_CHAR;
|
|
}
|
|
|
|
/**
|
|
* Verify if checksum of an incoming answer from robot is valid,
|
|
* then remove checksum from incoming answer (if checksum is ok)
|
|
* @param[in,out] s String containing incoming answer from robot
|
|
* @return true is checksum is valid, false otherwise.
|
|
*/
|
|
bool ComRobot::VerifyChecksum(string &s) {
|
|
unsigned char checksum = 0;
|
|
|
|
for (string::iterator it = s.begin(); it != s.end(); ++it) {
|
|
checksum ^= (unsigned char) *it;
|
|
}
|
|
|
|
if (checksum == 0) { // checksum is ok, remove last char of string (checksum)
|
|
s.pop_back(); // remove last char
|
|
return true;
|
|
} else return false;
|
|
}
|