segwayrmp.h

/*
 *  Player - One Hell of a Robot Server
 *  Copyright (C) 2003  John Sweeney & Brian Gerkey
 *
 *  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 2 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, write to the Free Software
 *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA
 *
 */

#include "canio.h"
#if defined HAVE_CANLIB
#include "canio_kvaser.h"
#endif

#include "usb_packet.h"
#include <libplayercore/playercore.h>

#ifndef BusType
typedef enum { UNKNOWN, RS232, CANBUS, USB } BusType;
#endif

#define SPEEDTHRESH 0.01

// Forward declarations
class rmp_frame_t;


// Driver for robotic Segway
class SegwayRMP : public ThreadedDriver
{
public:
        // Constructors etc
        SegwayRMP(ConfigFile* cf, int section);
        ~SegwayRMP();

        // Setup/shutdown routines.
        virtual int MainSetup();
        virtual void MainQuit();
        virtual int ProcessMessage(QueuePointer & resp_queue,
                        player_msghdr * hdr,
                        void * data);
        int CanBusSetup();

        int USBSetup();

protected:

        // Supported interfaces
        // Position2d device
        player_devaddr_t position_id;
        player_position2d_data_t position_data;

        // Position3d device
        player_devaddr_t position3d_id;
        player_position3d_data_t position3d_data;

        // Main Battery device
        player_devaddr_t power_base_id;
        player_power_data_t power_base_data;

        // UI Battery device
        player_devaddr_t power_ui_id;
        player_power_data_t power_ui_data;

private:

        BusType bus_type;
        const char* portname;
        const char* caniotype;
        const char* usb_device;

        int timeout_counter;

        float max_xspeed, max_yawspeed;

        bool firstread;

        DualCANIO *canio;
        USBIO *usbio;

        float curr_xspeed, curr_yawspeed;
        float last_xspeed, last_yawspeed;

        // Flag to override the default update of 20Hz
        bool speed_change;

        // Flag set if motors can be enabled (i.e., enable them to be
        // enabled).  Set by a config request.
        bool motor_allow_enable;

        // Flag set if motors are currently enabled
        bool motor_enabled;

        // For handling rollover
        uint32_t last_raw_yaw, last_raw_left, last_raw_right, last_raw_foreaft;

        // Odometry calculation
        double odom_x, odom_y, odom_yaw;

        // helper to handle config requests
        int HandlePositionConfig(QueuePointer &resp_queue, uint32_t subtype, void* data, size_t len);

        // helper to handle config requests
        int HandlePosition3DConfig(QueuePointer &resp_queue, uint32_t subtype, void* data, size_t len);

        // helper to read a cycle of data from the RMP
        int Read();
        int CanBusRead();
        int USBRead();

        // Calculate the difference between two raw counter values, taking care
        // of rollover.
        int Diff(uint32_t from, uint32_t to, bool first);

        // helper to write a packet
        int Write(CanPacket& pkt);

        // Main function for device thread.
        virtual void Main();

        // helper to create a status command packet from the given args
        void MakeStatusCommand(CanPacket* pkt, uint16_t cmd, uint16_t val);

        // helper to take a player command and turn it into a CAN command packet
        void MakeVelocityCommand(CanPacket* pkt, int32_t xspeed, int32_t yawspeed);

        void MakeShutdownCommand(CanPacket* pkt);

        void UpdateData(rmp_frame_t *);
};