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[Krobot-commits] [SCM] krobot branch, master, updated. 06a1b0b57845e008428267506e5d70a34da92261
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From: Xavier L. <Ba...@us...> - 2013-04-18 15:21:12
|
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- Log -----------------------------------------------------------------
commit 06a1b0b57845e008428267506e5d70a34da92261
Author: Xavier Lagorce <Xav...@cr...>
Date: Thu Apr 18 17:24:27 2013 +0200
[SensorActuator] Take into account new simulation mode message
commit 68147d413ca6994b81ac03b00beac5a52c77c325
Author: Xavier Lagorce <Xav...@cr...>
Date: Thu Apr 18 17:11:10 2013 +0200
[ControllerMotorSTM32] Take into account new simulation mode message
commit 2366595d8df4e04ad9ff413a31af4cc705f1fc30
Author: Xavier Lagorce <Xav...@cr...>
Date: Thu Apr 18 16:55:27 2013 +0200
[info/krobot-simulator] Changed mode message to include more simulation modes
-----------------------------------------------------------------------
Changes:
diff --git a/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/can_messages.h b/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/can_messages.h
index 156bf47..0b2cc5d 100644
--- a/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/can_messages.h
+++ b/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/can_messages.h
@@ -31,7 +31,7 @@
#define CAN_MSG_TURN 202 // turn_can_msg_t
#define CAN_MSG_ODOMETRY_SET 203 // odometry_can_msg_t
#define CAN_MSG_STOP 204 // stop_can_msg_t
-#define CAN_MSG_CONTROLLER_MODE 205 // controller_mode_can_msg_t
+#define CAN_MSG_SIMULATION_MODE 205 // simulation_mode_can_msg_t
#define CAN_MSG_BEZIER_ADD 206 // bezier_can_msg_t
#define CAN_MSG_BEZIER_LIMITS 207 // bezier_limits_can_msg_t
#define CAN_MSG_MOTOR_COMMAND 208 // motor_command_can_msg_t
@@ -42,6 +42,13 @@
#define CAN_MSG_DRIVE_TORQUE_LIMIT 213 // drive_torque_limit_can_msg_t
/* +-----------------------------------------------------------------+
+ | Constants for messages |
+ +-----------------------------------------------------------------+ */
+#define SIMULATION_MODE_NO 0
+#define SIMULATION_MODE_NORMAL 1
+#define SIMULATION_MODE_HIL 2
+
+/* +-----------------------------------------------------------------+
| CAN messages data structures |
+-----------------------------------------------------------------+ */
@@ -148,10 +155,10 @@ typedef struct {
float rot_acc __attribute__((__packed__)); // Rotational acceleration for braking
} stop_msg_t;
-// Select robot mode (normal or HIL)
+// Select robot mode (normal, simulation or HIL)
typedef struct {
uint8_t mode;
-} controller_mode_msg_t;
+} simulation_mode_msg_t;
// Command the speed of a particular motor
typedef struct {
@@ -239,9 +246,9 @@ typedef union {
} stop_can_msg_t;
typedef union {
- controller_mode_msg_t data;
+ simulation_mode_msg_t data;
uint32_t data32[2];
-} controller_mode_can_msg_t;
+} simulation_mode_can_msg_t;
typedef union {
motor_command_msg_t data;
diff --git a/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/can_monitor.c b/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/can_monitor.c
index 3d83b64..ee2d2b1 100644
--- a/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/can_monitor.c
+++ b/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/can_monitor.c
@@ -10,9 +10,10 @@
#include "can_monitor.h"
#include "hw/hw_led.h"
-#define ROBOT_MODE_NORMAL 0
-#define ROBOT_MODE_HIL 1
-#define ROBOT_MODE_FAULT 2
+#define ROBOT_MODE_NORMAL 0
+#define ROBOT_MODE_HIL 1
+#define ROBOT_MODE_FAULT 2
+#define ROBOT_MODE_SIMULATION 3
#define CONTROL_ODOMETRY 0
@@ -89,9 +90,9 @@ static void NORETURN canMonitor_process(void) {
txm.eid = CAN_MSG_ENCODERS34;
can_transmit(CAND1, &txm, ms_to_ticks(10));*/
- // Sending odometry data if not in HIL mode or motor commands if in HIL mode
- if (mode != ROBOT_MODE_HIL ||
- (mode == ROBOT_MODE_FAULT && old_mode == ROBOT_MODE_HIL)) {
+ // Sending odometry data if not in simulation mode or motor commands if in HIL mode
+ if (mode != ROBOT_MODE_HIL || mode != ROBOT_MODE_SIMULATION ||
+ (mode == ROBOT_MODE_FAULT && (old_mode == ROBOT_MODE_HIL || old_mode == ROBOT_MODE_SIMULATION))) {
odo_getState(0, &odometry);
msg_odo.data.x = (int16_t)(odometry.x * 1000.0);
msg_odo.data.y = (int16_t)(odometry.y * 1000.0);
@@ -121,7 +122,7 @@ static void NORETURN canMonitor_process(void) {
txm.data32[1] = msg_odo.data32[1];
txm.eid = CAN_MSG_ODOMETRY_INDEP;
can_transmit(CAND1, &txm, ms_to_ticks(10));
- } else {
+ } else if (mode == ROBOT_MODE_HIL || (mode == ROBOT_MODE_FAULT && old_mode == ROBOT_MODE_HIL)){
// Sending MOTOR3 data
msg_mot.data.position = mc_getPosition(MOTOR3);
msg_mot.data.speed = mc_getSpeed(MOTOR3);
@@ -146,6 +147,7 @@ static void NORETURN canMonitor_process(void) {
timer_add(&timer_can);
// Sending ghost state
+ if (mode != ROBOT_MODE_SIMULATION || (mode == ROBOT_MODE_FAULT && old_mode != ROBOT_MODE_SIMULATION))
msg_ghost.data.state = dd_get_ghost_state(&odometry, &u);
msg_ghost.data.x = (int16_t)(odometry.x * 1000.0);
msg_ghost.data.y = (int16_t)(odometry.y * 1000.0);
@@ -313,12 +315,20 @@ static void NORETURN canMonitorListen_process(void) {
case CAN_MSG_CONTROLLER_MODE:
controller_mode_msg.data32[0] = frame.data32[0];
controller_mode_msg.data32[1] = frame.data32[0];
- if (controller_mode_msg.data.mode == 1) {
+ switch (controller_mode_msg.data.mode) {
+ case SIMULATION_MODE_NORMAL:
+ mc_change_mode(MOTOR3, CONTROLLER_MODE_HIL);
+ mc_change_mode(MOTOR4, CONTROLLER_MODE_HIL);
+ odo_disable(CONTROL_ODOMETRY);
+ mode = ROBOT_MODE_SIMULATION;
+ break;
+ case SIMULATION_MODE_HIL:
mc_change_mode(MOTOR3, CONTROLLER_MODE_HIL);
mc_change_mode(MOTOR4, CONTROLLER_MODE_HIL);
odo_disable(CONTROL_ODOMETRY);
mode = ROBOT_MODE_HIL;
- } else {
+ break;
+ default:
mc_change_mode(MOTOR3, CONTROLLER_MODE_NORMAL);
mc_change_mode(MOTOR4, CONTROLLER_MODE_NORMAL);
odo_restart(CONTROL_ODOMETRY);
diff --git a/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/can/can_messages.h b/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/can/can_messages.h
index 48c3b90..057833f 100644
--- a/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/can/can_messages.h
+++ b/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/can/can_messages.h
@@ -59,6 +59,13 @@
//#define CAN_AX12_RESET 344 // Not used anymore
#define CAN_AX12_SET_TORQUE_ENABLE 345 // ax12_set_torque_enable
+// Simulation control
+#define CAN_MSG_SIMULATION_MODE 205 // simulation mode
+#define SIMULATION_MODE_NO 0
+#define SIMULATION_MODE_NORMAL 1
+#define SIMULATION_MODE_HIL 2
+
+
/****************************************************************************/
/**
@@ -159,6 +166,13 @@ struct ax12_set_torque_enable_pkt {
uint8_t enable;
};
+/**
+ * Simulation mode control
+ */
+struct simulation_mode_pkt {
+ uint8_t mode;
+} __attribute__((packed));
+
/****************************************************************************/
/**
@@ -220,4 +234,9 @@ typedef union {
uint32_t d[2];
} ax12_set_torque_enable;
+typedef union {
+ struct simulation_mode_pkt p;
+ uint32_t d[2];
+} simulation_mode;
+
#endif
diff --git a/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/can/can_monitor.c b/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/can/can_monitor.c
index f8cf675..3f3e670 100644
--- a/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/can/can_monitor.c
+++ b/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/can/can_monitor.c
@@ -73,6 +73,9 @@ static void NORETURN can_sender_process(void) {
ax12_state ax12_st;
+ simulation_mode sim_mode_msg;
+ uint8_t sim_mode = SIMULATION_MODE_NO;
+
int i = 0;
/* Initialize can frame */
@@ -86,51 +89,53 @@ static void NORETURN can_sender_process(void) {
for (;;) {
timer_add(&timer_send);
- /* Beacon */
- get_beacon_positions(&pos, &pos_ll);
+ if (sim_mode == SIMULATION_MODE_NO) {
+ /* Beacon */
+ get_beacon_positions(&pos, &pos_ll);
- SET_PACKET(f, CAN_BEACON_POSITION, pos);
- can_transmit(CAND1, &f, ms_to_ticks(10));
+ SET_PACKET(f, CAN_BEACON_POSITION, pos);
+ can_transmit(CAND1, &f, ms_to_ticks(10));
- SET_PACKET(f, CAN_BEACON_LOWLEVEL_POSITION, pos_ll);
- can_transmit(CAND1, &f, ms_to_ticks(10));
+ SET_PACKET(f, CAN_BEACON_LOWLEVEL_POSITION, pos_ll);
+ can_transmit(CAND1, &f, ms_to_ticks(10));
- /* Switches */
+ /* Switches */
- get_switch_status(&st1, &st2);
+ get_switch_status(&st1, &st2);
- SET_PACKET(f, CAN_SWITCH_STATUS_1, st1);
- can_transmit(CAND1, &f, ms_to_ticks(10));
+ SET_PACKET(f, CAN_SWITCH_STATUS_1, st1);
+ can_transmit(CAND1, &f, ms_to_ticks(10));
- SET_PACKET(f, CAN_SWITCH_STATUS_2, st2);
- can_transmit(CAND1, &f, ms_to_ticks(10));
+ SET_PACKET(f, CAN_SWITCH_STATUS_2, st2);
+ can_transmit(CAND1, &f, ms_to_ticks(10));
- /* ADC */
+ /* ADC */
- get_adc_values(&adc1, &adc2);
+ get_adc_values(&adc1, &adc2);
- SET_PACKET(f, CAN_ADC_VALUES_1, adc1);
- can_transmit(CAND1, &f, ms_to_ticks(10));
+ SET_PACKET(f, CAN_ADC_VALUES_1, adc1);
+ can_transmit(CAND1, &f, ms_to_ticks(10));
- SET_PACKET(f, CAN_ADC_VALUES_2, adc2);
- can_transmit(CAND1, &f, ms_to_ticks(10));
+ SET_PACKET(f, CAN_ADC_VALUES_2, adc2);
+ can_transmit(CAND1, &f, ms_to_ticks(10));
- /* Battery monitoring */
+ /* Battery monitoring */
- if (get_battery_monitoring(&battery1, &battery2) == 0) {
+ if (get_battery_monitoring(&battery1, &battery2) == 0) {
- SET_PACKET(f, CAN_BATTERY_STATUS_1, battery1);
- can_transmit(CAND1, &f, ms_to_ticks(10));
+ SET_PACKET(f, CAN_BATTERY_STATUS_1, battery1);
+ can_transmit(CAND1, &f, ms_to_ticks(10));
- SET_PACKET(f, CAN_BATTERY_STATUS_2, battery2);
- can_transmit(CAND1, &f, ms_to_ticks(10));
- }
+ SET_PACKET(f, CAN_BATTERY_STATUS_2, battery2);
+ can_transmit(CAND1, &f, ms_to_ticks(10));
+ }
- /* AX-12 */
+ /* AX-12 */
- while (ax12_dequeue_state(&ax12_st) == 0) {
- SET_PACKET(f, CAN_AX12_STATE, ax12_st);
- can_transmit(CAND1, &f, ms_to_ticks(10));
+ while (ax12_dequeue_state(&ax12_st) == 0) {
+ SET_PACKET(f, CAN_AX12_STATE, ax12_st);
+ can_transmit(CAND1, &f, ms_to_ticks(10));
+ }
}
if (i)
@@ -158,46 +163,58 @@ static void NORETURN can_receiver_process(void) {
if (!ret || f.ide != 1)
continue;
- switch (f.eid) {
+ // These messages are to be interpreted only when not in simulation mode
+ if (sim_mode == SIMULATION_MODE_NO) {
+ switch (f.eid) {
case CAN_SWITCH_SET:
do {
- GET_PACKET(switch_request, req, f);
- set_switch(&req);
+ GET_PACKET(switch_request, req, f);
+ set_switch(&req);
} while (0);
break;
case CAN_AX12_REQUEST_STATE:
do {
- struct ax12_hl_command hlc;
- GET_PACKET(ax12_request_state, ax12_req, f);
- hlc.command = AX12_HL_GET_STATE;
- hlc.address = ax12_req.p.address;
- ax12_queue_command(&hlc);
+ struct ax12_hl_command hlc;
+ GET_PACKET(ax12_request_state, ax12_req, f);
+ hlc.command = AX12_HL_GET_STATE;
+ hlc.address = ax12_req.p.address;
+ ax12_queue_command(&hlc);
} while (0);
break;
case CAN_AX12_GOTO:
do {
- struct ax12_hl_command hlc;
- GET_PACKET(ax12_goto, ax12_g, f);
- hlc.command = AX12_HL_GOTO;
- hlc.address = ax12_g.p.address;
- hlc.args[0] = ax12_g.p.position;
- hlc.args[1] = ax12_g.p.speed;
- ax12_queue_command(&hlc);
+ struct ax12_hl_command hlc;
+ GET_PACKET(ax12_goto, ax12_g, f);
+ hlc.command = AX12_HL_GOTO;
+ hlc.address = ax12_g.p.address;
+ hlc.args[0] = ax12_g.p.position;
+ hlc.args[1] = ax12_g.p.speed;
+ ax12_queue_command(&hlc);
} while (0);
break;
case CAN_AX12_SET_TORQUE_ENABLE:
do {
- struct ax12_hl_command hlc;
- GET_PACKET(ax12_set_torque_enable, ax12_ste, f);
- hlc.command = AX12_HL_SET_TORQUE_ENABLE;
- hlc.address = ax12_ste.p.address;
- hlc.args[0] = ax12_ste.p.enable;
- ax12_queue_command(&hlc);
+ struct ax12_hl_command hlc;
+ GET_PACKET(ax12_set_torque_enable, ax12_ste, f);
+ hlc.command = AX12_HL_SET_TORQUE_ENABLE;
+ hlc.address = ax12_ste.p.address;
+ hlc.args[0] = ax12_ste.p.enable;
+ ax12_queue_command(&hlc);
} while (0);
break;
default:
break;
+ }
+ }
+ // General messages
+ switch (f.eid) {
+ case CAN_MSG_SIMULATIOn_MODE:
+ do {
+ GET_PACKET(simulation_mode, sim_mode_msg, f);
+ sim_mode = sim_mode_msg.mode;
+ } while (0);
+ break;
}
}
diff --git a/info/control2011/src/lib/krobot_message.ml b/info/control2011/src/lib/krobot_message.ml
index 85a32c6..358c399 100644
--- a/info/control2011/src/lib/krobot_message.ml
+++ b/info/control2011/src/lib/krobot_message.ml
@@ -18,6 +18,8 @@ open Lwt_react
type direction = Forward | Backward
+type simulation_mode = Sim_no | Sim_normal | Sim_HIL
+
type t =
| Battery1_voltages of float * float * float * float
| Battery2_voltages of float * float * float * float
@@ -54,7 +56,7 @@ type t =
| Odometry_ghost of float * float * float * int * bool
| Set_odometry of float * float * float
| Set_odometry_indep of float * float * float
- | Set_controller_mode of bool
+ | Set_simulation_mode of simulation_mode
| Elevator of float * float
| Req_motor_status
| Unknown of frame
@@ -67,6 +69,11 @@ let string_of_direction = function
| Forward -> "Forward"
| Backward -> "Backward"
+let string_of_simulation_mode = function
+ | Sim_no -> "Normal mode"
+ | Sim_normal -> "Simulation mode"
+ | Sim_HIL -> "HIL mode"
+
let to_string = function
| Battery1_voltages(elem1, elem2, elem3, elem4) ->
sprintf
@@ -222,10 +229,10 @@ let to_string = function
sprintf
"Set_odometry_indep(%f, %f, %f)"
x y theta
- | Set_controller_mode b ->
+ | Set_simulation_mode m ->
sprintf
- "Set_controller_mode(%B)"
- b
+ "Set_simulation_mode(%s)"
+ (string_of_simulation_mode m)
| Elevator(p1, p2) ->
sprintf
"Elevator(%f, %f)"
@@ -641,13 +648,16 @@ let encode = function
~remote:false
~format:F29bits
~data
- | Set_controller_mode b ->
+ | Set_simulation_mode m ->
frame
~identifier:205
~kind:Data
~remote:false
~format:F29bits
- ~data:(if b then "\x01" else "\x00")
+ ~data:(match m with
+ | Sim_no -> "\x00"
+ | Sim_normal -> "\x01"
+ | Sim_HIL -> "\x02")
| Elevator(p1, p2) ->
let data = String.create 8 in
put_float32 data 0 p1;
@@ -761,8 +771,9 @@ let decode frame =
(get_float32 frame.data 0,
get_float32 frame.data 4)
| 205 ->
- Set_controller_mode
- (get_uint8 frame.data 0 <> 0)
+ Set_simulation_mode
+ (let v = get_uint8 frame.data 0 in
+ if v == 1 then Sim_normal else if v == 2 then Sim_HIL else Sim_no)
| 206 ->
let x, y, d1, d2, theta, v = decode_bezier frame.data in
Motor_bezier(float x /. 1000.,
diff --git a/info/control2011/src/lib/krobot_message.mli b/info/control2011/src/lib/krobot_message.mli
index f55a58f..5486768 100644
--- a/info/control2011/src/lib/krobot_message.mli
+++ b/info/control2011/src/lib/krobot_message.mli
@@ -12,6 +12,9 @@
type direction = Forward | Backward
(** Type of directions. *)
+type simulation_mode = Sim_no | Sim_normal | Sim_HIL
+ (** Type of simulation. *)
+
(** Type of messages. *)
type t =
| Battery1_voltages of float * float * float * float
@@ -117,8 +120,8 @@ type t =
| Set_odometry_indep of float * float * float
(** [set_odometry_ident(x, y, theta)] sets the parameters of the
independant odometry to the given ones. *)
- | Set_controller_mode of bool
- (** Put the card into simulation mode or not. *)
+ | Set_simulation_mode of simulation_mode
+ (** Put the cards into a given simulation mode. *)
| Elevator of float * float
(** Set the position of the elevators, between 0 and 1. Negative
positions are ignored. *)
diff --git a/info/control2011/src/tools/krobot_simulator.ml b/info/control2011/src/tools/krobot_simulator.ml
index 2ba335f..ce5ab48 100644
--- a/info/control2011/src/tools/krobot_simulator.ml
+++ b/info/control2011/src/tools/krobot_simulator.ml
@@ -27,12 +27,19 @@ let fork = ref true
let hil = ref false
let sensors_emu = ref true
let robot_sim = ref true
+let go_normal = ref false
+let go_simu = ref false
+let go_hil = ref false
let options = Arg.align [
"-no-fork", Arg.Clear fork, " Run in foreground";
"-no-sensor", Arg.Clear sensors_emu, " Don't emulate sensor inputs";
"-no-simulation", Arg.Clear robot_sim, " Don't simulate the robot";
"-hil", Arg.Set hil, " Run in hardware in the loop mode";
+ "-go-normal", Arg.Set go_normal, " Put the card in normal mode and exit";
+ "-go-simulation", Arg.Set go_simu, " Put the cards in simulation mode and exit";
+ "-go-normal", Arg.Set go_normal, " Put the cards in normal mode and exit";
+ "-go-hil", Arg.Set go_hil, " Put the cards in hardware in the loop mode and exit";
]
let usage = "\
@@ -500,6 +507,17 @@ lwt () =
(* Open the krobot bus. *)
lwt bus = Krobot_bus.get () in
+ if (!go_hil or !go_simu or !go_normal) then begin
+ if !go_normal then
+ ignore(Krobot_message.send bus (Unix.gettimeofday (), Set_simulation_mode Sim_no))
+ else if !go_hil then
+ ignore(Krobot_message.send bus (Unix.gettimeofday (), Set_simulation_mode Sim_HIL))
+ else if !go_simu then
+ ignore(Krobot_message.send bus (Unix.gettimeofday (), Set_simulation_mode Sim_normal))
+ else
+ exit 0
+ end;
+
(* Fork if not prevented. *)
if !fork then Krobot_daemon.daemonize bus;
@@ -531,13 +549,19 @@ lwt () =
} in
sim := Some local_sim;
+ (* Set the correct simulation mode *)
+ if !robot_sim || !sensors_emu then
+ (if !hil then
+ ignore(Krobot_message.send bus (Unix.gettimeofday (), Set_simulation_mode Sim_HIL))
+ else
+ ignore(Krobot_message.send bus (Unix.gettimeofday (), Set_simulation_mode Sim_normal))
+ );
+ (* Launch robot simulation *)
if !robot_sim then begin
- (* Set the motor_controller card in HIL mode if necessary *)
- if !hil then
- ignore (Krobot_message.send bus (Unix.gettimeofday (), Set_controller_mode true)) ;
ignore(send_CAN_messages local_sim bus);
ignore(loop bus local_sim)
end;
+ (* Launch sensor simulation *)
if !sensors_emu then begin
ignore(loop_urg local_sim bus)
end;
diff --git a/info/control2011/src/tools/krobot_viewer.ml b/info/control2011/src/tools/krobot_viewer.ml
index 564a27c..140b292 100644
--- a/info/control2011/src/tools/krobot_viewer.ml
+++ b/info/control2011/src/tools/krobot_viewer.ml
@@ -614,11 +614,10 @@ let handle_message viewer (timestamp, message) =
viewer.ui#beacon_period#set_text (string_of_int period);
queue_draw viewer
- | Set_controller_mode hil ->
- if hil then
- viewer.ui#menu_mode_hil#set_active true
- else
- viewer.ui#menu_mode_normal#set_active true
+ | Set_simulation_mode m ->
+ match m with
+ | Sim_HIL -> viewer.ui#menu_mode_hil#set_active true
+ | _ -> viewer.ui#menu_mode_normal#set_active true
| _ ->
()
@@ -830,7 +829,7 @@ lwt () =
ignore (
Krobot_message.send bus
(Unix.gettimeofday (),
- Set_controller_mode false)
+ Set_simulation_mode Sim_no)
);
false));
@@ -841,7 +840,7 @@ lwt () =
ignore_result (
Krobot_message.send bus
(Unix.gettimeofday (),
- Set_controller_mode true)
+ Set_simulation_mode Sim_HIL)
);
false));
hooks/post-receive
--
krobot
|
