MorphGI / Mbed OS LoCoMoTE_MidLevel_7-0

Dependencies:   ros_lib_kinetic

HLComms.cpp@30:6c8eea90735e, 2019-02-15 (annotated)

Committer:
WD40andTape
Date:
Fri Feb 15 10:29:23 2019 +0000
Revision:
30:6c8eea90735e
Parent:
29:10a5cf37a875
Child:
31:08cb04eb75fc
Serial communication now tested, smooth and stable.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
WD40andTape 7:5b6a2cefbf3b 1 // HLComms.cpp
WD40andTape 7:5b6a2cefbf3b 2
WD40andTape 7:5b6a2cefbf3b 3 #include "HLComms.h"
WD40andTape 7:5b6a2cefbf3b 4
WD40andTape 28:8e0c502c1a50 5 HLComms::HLComms(unsigned short int freq_hz) : // Constructor
WD40andTape 28:8e0c502c1a50 6 newData(1),
WD40andTape 28:8e0c502c1a50 7 _freq_hz(freq_hz),
WD40andTape 28:8e0c502c1a50 8 _threadROS(osPriorityBelowNormal),
WD40andTape 28:8e0c502c1a50 9 _rosReady(1),
WD40andTape 28:8e0c502c1a50 10 _semSpin(1)
WD40andTape 28:8e0c502c1a50 11 {
WD40andTape 28:8e0c502c1a50 12 _threadROS.start(callback(this, &HLComms::ros_main));// Start ROS thread
WD40andTape 28:8e0c502c1a50 13 _rosReady.wait();
WD40andTape 7:5b6a2cefbf3b 14 }
WD40andTape 7:5b6a2cefbf3b 15
WD40andTape 28:8e0c502c1a50 16 /*HLComms::~HLComms(void) { // Destructor
WD40andTape 29:10a5cf37a875 17 delete *_text_pub;
WD40andTape 28:8e0c502c1a50 18 delete *_sensor_pub;
WD40andTape 28:8e0c502c1a50 19 delete *_duration_pub;
WD40andTape 28:8e0c502c1a50 20 }*/
WD40andTape 28:8e0c502c1a50 21
WD40andTape 28:8e0c502c1a50 22 // ROS
WD40andTape 28:8e0c502c1a50 23
WD40andTape 28:8e0c502c1a50 24 void HLComms::ros_main(void) {
WD40andTape 28:8e0c502c1a50 25 _nh.getHardware()->setBaud(BAUD_RATE);
WD40andTape 28:8e0c502c1a50 26 _nh.initNode();
WD40andTape 28:8e0c502c1a50 27 wait_ms(1000);
WD40andTape 28:8e0c502c1a50 28
WD40andTape 30:6c8eea90735e 29 //ros::Subscriber<std_msgs::Int16MultiArray,HLComms> demands_sub("ML_Demands", &HLComms::receive_demands, this);
WD40andTape 30:6c8eea90735e 30 ros::Subscriber<std_msgs::Float32MultiArray,HLComms> demands_sub("ML_Demands", &HLComms::receive_demands, this);
WD40andTape 28:8e0c502c1a50 31 _nh.subscribe(demands_sub);
WD40andTape 28:8e0c502c1a50 32
WD40andTape 29:10a5cf37a875 33 _text_pub = new ros::Publisher("ML_TextOut", &_text_msg);
WD40andTape 29:10a5cf37a875 34 _nh.advertise(*_text_pub);
WD40andTape 29:10a5cf37a875 35
WD40andTape 28:8e0c502c1a50 36 _sensor_msg.data_length = N_CHANNELS*2;
WD40andTape 28:8e0c502c1a50 37 _sensor_pub = new ros::Publisher("ML_Sensors", &_sensor_msg);
WD40andTape 28:8e0c502c1a50 38 _nh.advertise(*_sensor_pub);
WD40andTape 28:8e0c502c1a50 39
WD40andTape 28:8e0c502c1a50 40 _duration_pub = new ros::Publisher("ML_Duration", &_duration_msg);
WD40andTape 28:8e0c502c1a50 41 _nh.advertise(*_duration_pub);
WD40andTape 28:8e0c502c1a50 42
WD40andTape 28:8e0c502c1a50 43 wait_ms(1000);
WD40andTape 28:8e0c502c1a50 44 _rosReady.release();
WD40andTape 28:8e0c502c1a50 45
WD40andTape 28:8e0c502c1a50 46 Ticker spinTicker;
WD40andTape 28:8e0c502c1a50 47 spinTicker.attach(callback(this,&HLComms::releaseSemSpin), 1/(float)_freq_hz); // Set up HL comms to recur at fixed intervals
WD40andTape 28:8e0c502c1a50 48
WD40andTape 28:8e0c502c1a50 49 while (1) {
WD40andTape 28:8e0c502c1a50 50 _semSpin.wait();
WD40andTape 28:8e0c502c1a50 51 _nh.spinOnce();
WD40andTape 7:5b6a2cefbf3b 52 }
WD40andTape 7:5b6a2cefbf3b 53 }
WD40andTape 7:5b6a2cefbf3b 54
WD40andTape 28:8e0c502c1a50 55 void HLComms::releaseSemSpin(void) {
WD40andTape 28:8e0c502c1a50 56 _semSpin.release();
WD40andTape 9:cd3607ba5643 57 }
WD40andTape 9:cd3607ba5643 58
WD40andTape 28:8e0c502c1a50 59 // INPUT
WD40andTape 9:cd3607ba5643 60
WD40andTape 30:6c8eea90735e 61 /*void HLComms::receive_demands(const std_msgs::Int16MultiArray &demands_array) {
WD40andTape 28:8e0c502c1a50 62 struct demands_struct _protected_input;
WD40andTape 28:8e0c502c1a50 63 recv_mutex.lock();
WD40andTape 29:10a5cf37a875 64 for(int i=0; i<N_CHANNELS; i++) {
WD40andTape 30:6c8eea90735e 65 _protected_input.psi_mm[i] = ((MAX_ACTUATOR_LIMIT_MM+1.0)*((double)demands_array.data[i]/65535)-1.0);
WD40andTape 30:6c8eea90735e 66 if( _protected_input.psi_mm[i]<-0.5 ) {
WD40andTape 30:6c8eea90735e 67 _protected_input.psi_mm[i] = -1.0;
WD40andTape 30:6c8eea90735e 68 } else {
WD40andTape 30:6c8eea90735e 69 _protected_input.psi_mm[i] = min( max(_protected_input.psi_mm[i],0.0) , (double)MAX_ACTUATOR_LIMIT_MM );
WD40andTape 30:6c8eea90735e 70 }
WD40andTape 7:5b6a2cefbf3b 71 }
WD40andTape 29:10a5cf37a875 72 //!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
WD40andTape 29:10a5cf37a875 73 //short int demands_array_length = sizeof(demands_array.data)/sizeof(demands_array.data[0]);
WD40andTape 29:10a5cf37a875 74 //_protected_input.speed_mmps = demands_array.data[demands_array_length-1];
WD40andTape 30:6c8eea90735e 75 _protected_input.speed_mmps = MAX_SPEED_MMPS*((double)demands_array.data[9]/65535);
WD40andTape 29:10a5cf37a875 76 _protected_input.speed_mmps = min( max(_protected_input.speed_mmps,0.0) , (double)MAX_SPEED_MMPS );
WD40andTape 28:8e0c502c1a50 77 recv_mutex.unlock();
WD40andTape 28:8e0c502c1a50 78 _input = _protected_input;
WD40andTape 30:6c8eea90735e 79 //char array[20];
WD40andTape 30:6c8eea90735e 80 //sprintf(array, "Speed: %f", _input.speed_mmps);
WD40andTape 30:6c8eea90735e 81 //send_text_message(array);
WD40andTape 30:6c8eea90735e 82 newData.release();
WD40andTape 30:6c8eea90735e 83 }*/
WD40andTape 30:6c8eea90735e 84
WD40andTape 30:6c8eea90735e 85 void HLComms::receive_demands(const std_msgs::Float32MultiArray &demands_array) {
WD40andTape 30:6c8eea90735e 86 struct demands_struct _protected_input;
WD40andTape 30:6c8eea90735e 87 recv_mutex.lock();
WD40andTape 30:6c8eea90735e 88 for(int i=0; i<N_CHANNELS; i++) {
WD40andTape 30:6c8eea90735e 89 _protected_input.psi_mm[i] = (double)demands_array.data[i];
WD40andTape 30:6c8eea90735e 90 if( _protected_input.psi_mm[i]<-0.5 ) {
WD40andTape 30:6c8eea90735e 91 _protected_input.psi_mm[i] = -1.0;
WD40andTape 30:6c8eea90735e 92 } else {
WD40andTape 30:6c8eea90735e 93 _protected_input.psi_mm[i] = min( max(_protected_input.psi_mm[i],0.0) , (double)MAX_ACTUATOR_LIMIT_MM );
WD40andTape 30:6c8eea90735e 94 }
WD40andTape 30:6c8eea90735e 95 }
WD40andTape 30:6c8eea90735e 96 _protected_input.speed_mmps = (double)demands_array.data[9];
WD40andTape 30:6c8eea90735e 97 _protected_input.speed_mmps = min( max(_protected_input.speed_mmps,0.0) , (double)MAX_SPEED_MMPS );
WD40andTape 30:6c8eea90735e 98 recv_mutex.unlock();
WD40andTape 30:6c8eea90735e 99 _input = _protected_input;
WD40andTape 28:8e0c502c1a50 100 newData.release();
WD40andTape 17:bbaf3e8440ad 101 }
WD40andTape 17:bbaf3e8440ad 102
WD40andTape 28:8e0c502c1a50 103 demands_struct HLComms::get_demands(void) {
WD40andTape 28:8e0c502c1a50 104 return _input;
WD40andTape 28:8e0c502c1a50 105 }
WD40andTape 28:8e0c502c1a50 106
WD40andTape 28:8e0c502c1a50 107 // OUTPUT
WD40andTape 28:8e0c502c1a50 108
WD40andTape 29:10a5cf37a875 109 void HLComms::send_text_message(char text[]) {
WD40andTape 29:10a5cf37a875 110 _text_msg.data = text;
WD40andTape 29:10a5cf37a875 111 _text_pub->publish(&_text_msg);
WD40andTape 29:10a5cf37a875 112 }
WD40andTape 29:10a5cf37a875 113
WD40andTape 28:8e0c502c1a50 114 void HLComms::send_duration_message(double dblTime) {
WD40andTape 28:8e0c502c1a50 115 _duration_msg.data = dblTime;
WD40andTape 28:8e0c502c1a50 116 _duration_pub->publish(&_duration_msg);
WD40andTape 9:cd3607ba5643 117 }
WD40andTape 9:cd3607ba5643 118
WD40andTape 29:10a5cf37a875 119 void HLComms::send_sensor_message(unsigned int positions[], unsigned int pressures[]) {
WD40andTape 28:8e0c502c1a50 120 short int i_channel;
WD40andTape 28:8e0c502c1a50 121 for(short int i=0; i<N_CHANNELS*2; i++) {
WD40andTape 28:8e0c502c1a50 122 i_channel = i%N_CHANNELS;
WD40andTape 28:8e0c502c1a50 123 if(i<N_CHANNELS) {
WD40andTape 28:8e0c502c1a50 124 _sensor_msg.data[i] = positions[i_channel];
WD40andTape 28:8e0c502c1a50 125 } else {
WD40andTape 28:8e0c502c1a50 126 _sensor_msg.data[i] = pressures[i_channel];
WD40andTape 28:8e0c502c1a50 127 }
WD40andTape 28:8e0c502c1a50 128 }
WD40andTape 28:8e0c502c1a50 129 _sensor_pub->publish(&_sensor_msg);
WD40andTape 9:cd3607ba5643 130 }