demo project
Dependencies: AX-12A Dynamixel mbed iothub_client EthernetInterface NTPClient ConfigFile SDFileSystem iothub_amqp_transport mbed-rtos proton-c-mbed wolfSSL
ArmController.cpp@9:a0fb6c370dbb, 2015-12-31 (annotated)
- Committer:
- henryrawas
- Date:
- Thu Dec 31 20:02:58 2015 +0000
- Revision:
- 9:a0fb6c370dbb
- Parent:
- 8:d98e2dec0f40
- Child:
- 10:9b21566a5ddb
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
henryrawas | 7:6723f6887d00 | 1 | #include "mbed.h" |
henryrawas | 7:6723f6887d00 | 2 | #include "rtos.h" |
henryrawas | 7:6723f6887d00 | 3 | |
henryrawas | 7:6723f6887d00 | 4 | #include "EthernetInterface.h" |
henryrawas | 7:6723f6887d00 | 5 | #include "mbed/logging.h" |
henryrawas | 7:6723f6887d00 | 6 | #include "mbed/mbedtime.h" |
henryrawas | 7:6723f6887d00 | 7 | #include <NTPClient.h> |
henryrawas | 7:6723f6887d00 | 8 | #include <DynamixelBus.h> |
henryrawas | 7:6723f6887d00 | 9 | #include <AX12.h> |
henryrawas | 7:6723f6887d00 | 10 | #include <Terminal.h> |
henryrawas | 7:6723f6887d00 | 11 | #include <vector> |
henryrawas | 7:6723f6887d00 | 12 | #include <RobotArm.h> |
henryrawas | 7:6723f6887d00 | 13 | #include <MeasureBuf.h> |
henryrawas | 7:6723f6887d00 | 14 | #include <IothubRobotArm.h> |
henryrawas | 7:6723f6887d00 | 15 | #include <ActionBuf.h> |
henryrawas | 7:6723f6887d00 | 16 | #include <Sequences.h> |
henryrawas | 7:6723f6887d00 | 17 | |
henryrawas | 7:6723f6887d00 | 18 | using namespace std; |
henryrawas | 7:6723f6887d00 | 19 | |
henryrawas | 9:a0fb6c370dbb | 20 | vector<float> initPositions; |
henryrawas | 9:a0fb6c370dbb | 21 | |
henryrawas | 9:a0fb6c370dbb | 22 | |
henryrawas | 9:a0fb6c370dbb | 23 | enum MainStates |
henryrawas | 9:a0fb6c370dbb | 24 | { |
henryrawas | 9:a0fb6c370dbb | 25 | MS_Idle = 0x0, |
henryrawas | 9:a0fb6c370dbb | 26 | MS_Running = 0x1, |
henryrawas | 9:a0fb6c370dbb | 27 | MS_Paused = 0x2, |
henryrawas | 9:a0fb6c370dbb | 28 | MS_Stopping = 0x3, |
henryrawas | 9:a0fb6c370dbb | 29 | MS_Error = 0x4, |
henryrawas | 9:a0fb6c370dbb | 30 | MS_CancelOne = 0x5, |
henryrawas | 9:a0fb6c370dbb | 31 | MS_CancelAll = 0x6, |
henryrawas | 9:a0fb6c370dbb | 32 | MS_CancelToM = 0x7 |
henryrawas | 9:a0fb6c370dbb | 33 | }; |
henryrawas | 9:a0fb6c370dbb | 34 | |
henryrawas | 9:a0fb6c370dbb | 35 | Queue<vector<ActionSequence>, 16> SequenceQ; |
henryrawas | 9:a0fb6c370dbb | 36 | volatile MainStates MainState; |
henryrawas | 9:a0fb6c370dbb | 37 | bool RunInSequence; |
henryrawas | 9:a0fb6c370dbb | 38 | bool RunInMoveStep; |
henryrawas | 9:a0fb6c370dbb | 39 | bool RunInDelay; |
henryrawas | 9:a0fb6c370dbb | 40 | void* CancelToMatch; |
henryrawas | 9:a0fb6c370dbb | 41 | |
henryrawas | 9:a0fb6c370dbb | 42 | osThreadId mainTid; |
henryrawas | 9:a0fb6c370dbb | 43 | |
henryrawas | 9:a0fb6c370dbb | 44 | |
henryrawas | 8:d98e2dec0f40 | 45 | void DispMeasure(char* label, int partSize, vector<float>& vals) |
henryrawas | 8:d98e2dec0f40 | 46 | { |
henryrawas | 8:d98e2dec0f40 | 47 | printf("%s: ", label); |
henryrawas | 8:d98e2dec0f40 | 48 | for (int ix = 0; ix < partSize; ix++) |
henryrawas | 8:d98e2dec0f40 | 49 | { |
henryrawas | 8:d98e2dec0f40 | 50 | printf("%d:%f ", ix, vals[ix]); |
henryrawas | 8:d98e2dec0f40 | 51 | } |
henryrawas | 8:d98e2dec0f40 | 52 | printf("\r\n"); |
henryrawas | 8:d98e2dec0f40 | 53 | |
henryrawas | 8:d98e2dec0f40 | 54 | } |
henryrawas | 7:6723f6887d00 | 55 | |
henryrawas | 7:6723f6887d00 | 56 | |
henryrawas | 7:6723f6887d00 | 57 | void PushAlert(int severity, char* msg, char* atype) |
henryrawas | 7:6723f6887d00 | 58 | { |
henryrawas | 7:6723f6887d00 | 59 | Alert alert; |
henryrawas | 7:6723f6887d00 | 60 | time_t seconds = time(NULL); |
henryrawas | 7:6723f6887d00 | 61 | |
henryrawas | 7:6723f6887d00 | 62 | alert.SetAlert(severity, seconds, msg, atype); |
henryrawas | 7:6723f6887d00 | 63 | AlertBuf.push(alert); |
henryrawas | 8:d98e2dec0f40 | 64 | SendIothubData(); |
henryrawas | 7:6723f6887d00 | 65 | } |
henryrawas | 7:6723f6887d00 | 66 | |
henryrawas | 7:6723f6887d00 | 67 | void PushPositionAlert(int severity, int partIx, float pos) |
henryrawas | 7:6723f6887d00 | 68 | { |
henryrawas | 7:6723f6887d00 | 69 | Alert alert; |
henryrawas | 7:6723f6887d00 | 70 | time_t seconds = time(NULL); |
henryrawas | 7:6723f6887d00 | 71 | |
henryrawas | 7:6723f6887d00 | 72 | alert.SetPositionAlert(severity, seconds, partIx, pos); |
henryrawas | 7:6723f6887d00 | 73 | AlertBuf.push(alert); |
henryrawas | 8:d98e2dec0f40 | 74 | SendIothubData(); |
henryrawas | 7:6723f6887d00 | 75 | } |
henryrawas | 7:6723f6887d00 | 76 | |
henryrawas | 8:d98e2dec0f40 | 77 | void PushHardwareAlert(int severity, int partIx, int code) |
henryrawas | 8:d98e2dec0f40 | 78 | { |
henryrawas | 8:d98e2dec0f40 | 79 | Alert alert; |
henryrawas | 8:d98e2dec0f40 | 80 | time_t seconds = time(NULL); |
henryrawas | 8:d98e2dec0f40 | 81 | |
henryrawas | 8:d98e2dec0f40 | 82 | alert.SetHardwareAlert(severity, seconds, partIx, code); |
henryrawas | 8:d98e2dec0f40 | 83 | AlertBuf.push(alert); |
henryrawas | 8:d98e2dec0f40 | 84 | SendIothubData(); |
henryrawas | 8:d98e2dec0f40 | 85 | } |
henryrawas | 7:6723f6887d00 | 86 | |
henryrawas | 8:d98e2dec0f40 | 87 | void PushTemperatureAlert(int severity, int partIx, float temp) |
henryrawas | 8:d98e2dec0f40 | 88 | { |
henryrawas | 8:d98e2dec0f40 | 89 | Alert alert; |
henryrawas | 8:d98e2dec0f40 | 90 | time_t seconds = time(NULL); |
henryrawas | 8:d98e2dec0f40 | 91 | |
henryrawas | 8:d98e2dec0f40 | 92 | alert.SetTemperatureAlert(severity, seconds, partIx, temp); |
henryrawas | 8:d98e2dec0f40 | 93 | AlertBuf.push(alert); |
henryrawas | 8:d98e2dec0f40 | 94 | SendIothubData(); |
henryrawas | 8:d98e2dec0f40 | 95 | } |
henryrawas | 7:6723f6887d00 | 96 | |
henryrawas | 8:d98e2dec0f40 | 97 | // send alert if temperature is above 69C and return true |
henryrawas | 8:d98e2dec0f40 | 98 | #define MaxTemp 69 |
henryrawas | 8:d98e2dec0f40 | 99 | bool TestTemperature(vector<float>& vals) |
henryrawas | 8:d98e2dec0f40 | 100 | { |
henryrawas | 8:d98e2dec0f40 | 101 | bool err = false; |
henryrawas | 8:d98e2dec0f40 | 102 | |
henryrawas | 8:d98e2dec0f40 | 103 | for (int ix = 0; ix < vals.size(); ix++) |
henryrawas | 8:d98e2dec0f40 | 104 | { |
henryrawas | 8:d98e2dec0f40 | 105 | if (vals[ix] > MaxTemp) |
henryrawas | 8:d98e2dec0f40 | 106 | { |
henryrawas | 8:d98e2dec0f40 | 107 | printf("Temperature threshold exceeded for part %d, temp %f \r\n", ix, vals[ix]); |
henryrawas | 8:d98e2dec0f40 | 108 | PushTemperatureAlert(AS_Error, ix, vals[ix]); |
henryrawas | 8:d98e2dec0f40 | 109 | MainState = MS_Error; |
henryrawas | 8:d98e2dec0f40 | 110 | err = true; |
henryrawas | 8:d98e2dec0f40 | 111 | } |
henryrawas | 8:d98e2dec0f40 | 112 | } |
henryrawas | 8:d98e2dec0f40 | 113 | return err; |
henryrawas | 8:d98e2dec0f40 | 114 | } |
henryrawas | 8:d98e2dec0f40 | 115 | |
henryrawas | 9:a0fb6c370dbb | 116 | void PushMeasurements(MeasureGroup measureGroup, int partSize, RobotArm robotArm) |
henryrawas | 9:a0fb6c370dbb | 117 | { |
henryrawas | 9:a0fb6c370dbb | 118 | vector<float> lastVals; |
henryrawas | 9:a0fb6c370dbb | 119 | time_t seconds = time(NULL); |
henryrawas | 9:a0fb6c370dbb | 120 | bool ok = true; |
henryrawas | 9:a0fb6c370dbb | 121 | |
henryrawas | 9:a0fb6c370dbb | 122 | ok = robotArm.GetArmMeasure(NM_Temperature, lastVals); |
henryrawas | 9:a0fb6c370dbb | 123 | DispMeasure("Temperatures", partSize, lastVals); |
henryrawas | 9:a0fb6c370dbb | 124 | measureGroup.SetMeasure(NM_Temperature, seconds, lastVals); |
henryrawas | 9:a0fb6c370dbb | 125 | MeasureBuf.push(measureGroup); |
henryrawas | 9:a0fb6c370dbb | 126 | |
henryrawas | 9:a0fb6c370dbb | 127 | if (ok) |
henryrawas | 9:a0fb6c370dbb | 128 | { |
henryrawas | 9:a0fb6c370dbb | 129 | ok = robotArm.GetArmMeasure(NM_Voltage, lastVals); |
henryrawas | 9:a0fb6c370dbb | 130 | DispMeasure("Voltage", partSize, lastVals); |
henryrawas | 9:a0fb6c370dbb | 131 | measureGroup.SetMeasure(NM_Voltage, seconds, lastVals); |
henryrawas | 9:a0fb6c370dbb | 132 | MeasureBuf.push(measureGroup); |
henryrawas | 9:a0fb6c370dbb | 133 | } |
henryrawas | 9:a0fb6c370dbb | 134 | |
henryrawas | 9:a0fb6c370dbb | 135 | if (ok) |
henryrawas | 9:a0fb6c370dbb | 136 | { |
henryrawas | 9:a0fb6c370dbb | 137 | ok = robotArm.GetArmMeasure(NM_Degrees, lastVals); |
henryrawas | 9:a0fb6c370dbb | 138 | DispMeasure("Rotation", partSize, lastVals); |
henryrawas | 9:a0fb6c370dbb | 139 | measureGroup.SetMeasure(NM_Degrees, seconds, lastVals); |
henryrawas | 9:a0fb6c370dbb | 140 | MeasureBuf.push(measureGroup); |
henryrawas | 9:a0fb6c370dbb | 141 | } |
henryrawas | 9:a0fb6c370dbb | 142 | |
henryrawas | 9:a0fb6c370dbb | 143 | // robotArm.GetArmMeasure(NM_Load, lastVals); |
henryrawas | 9:a0fb6c370dbb | 144 | // DispMeasure("Load", partSize, lastVals); |
henryrawas | 9:a0fb6c370dbb | 145 | // measureGroup.SetMeasure(NM_Load, seconds, lastVals); |
henryrawas | 9:a0fb6c370dbb | 146 | // MeasureBuf.push(measureGroup); |
henryrawas | 9:a0fb6c370dbb | 147 | |
henryrawas | 9:a0fb6c370dbb | 148 | SendIothubData(); |
henryrawas | 9:a0fb6c370dbb | 149 | |
henryrawas | 9:a0fb6c370dbb | 150 | if (!ok) |
henryrawas | 9:a0fb6c370dbb | 151 | { |
henryrawas | 9:a0fb6c370dbb | 152 | // report HW error |
henryrawas | 9:a0fb6c370dbb | 153 | int partix = robotArm.GetLastErrorPart(); |
henryrawas | 9:a0fb6c370dbb | 154 | int errCode = robotArm.GetLastError(); |
henryrawas | 9:a0fb6c370dbb | 155 | printf("Hardware error detected part %d, code %d \r\n", partix, errCode); |
henryrawas | 9:a0fb6c370dbb | 156 | PushHardwareAlert(AS_Error, partix, errCode); |
henryrawas | 9:a0fb6c370dbb | 157 | MainState = MS_Error; |
henryrawas | 9:a0fb6c370dbb | 158 | } |
henryrawas | 9:a0fb6c370dbb | 159 | } |
henryrawas | 8:d98e2dec0f40 | 160 | |
henryrawas | 7:6723f6887d00 | 161 | void ControlArm(const char* cmd) |
henryrawas | 7:6723f6887d00 | 162 | { |
henryrawas | 7:6723f6887d00 | 163 | if (strncmp(cmd, "pause", 5) == 0) |
henryrawas | 7:6723f6887d00 | 164 | { |
henryrawas | 8:d98e2dec0f40 | 165 | printf("Pause cmd\r\n"); |
henryrawas | 7:6723f6887d00 | 166 | MainState = MS_Paused; |
henryrawas | 7:6723f6887d00 | 167 | osSignalSet(mainTid, AS_Action); |
henryrawas | 7:6723f6887d00 | 168 | } |
henryrawas | 7:6723f6887d00 | 169 | else if (strncmp(cmd, "resume", 6) == 0) |
henryrawas | 7:6723f6887d00 | 170 | { |
henryrawas | 8:d98e2dec0f40 | 171 | printf("Resume cmd\r\n"); |
henryrawas | 7:6723f6887d00 | 172 | MainState = MS_Running; |
henryrawas | 7:6723f6887d00 | 173 | osSignalSet(mainTid, AS_Action); |
henryrawas | 7:6723f6887d00 | 174 | } |
henryrawas | 7:6723f6887d00 | 175 | else if (strncmp(cmd, "runupdown", 9) == 0) |
henryrawas | 7:6723f6887d00 | 176 | { |
henryrawas | 8:d98e2dec0f40 | 177 | printf("Runupdown cmd\r\n"); |
henryrawas | 7:6723f6887d00 | 178 | MainState = MS_CancelToM; |
henryrawas | 7:6723f6887d00 | 179 | CancelToMatch = &UpDownSeq; |
henryrawas | 7:6723f6887d00 | 180 | SequenceQ.put(&UpDownSeq); |
henryrawas | 7:6723f6887d00 | 181 | osSignalSet(mainTid, AS_Action); |
henryrawas | 7:6723f6887d00 | 182 | } |
henryrawas | 7:6723f6887d00 | 183 | else if (strncmp(cmd, "runuptwist", 10) == 0) |
henryrawas | 7:6723f6887d00 | 184 | { |
henryrawas | 8:d98e2dec0f40 | 185 | printf("Runuptwist cmd\r\n"); |
henryrawas | 7:6723f6887d00 | 186 | MainState = MS_CancelToM; |
henryrawas | 7:6723f6887d00 | 187 | CancelToMatch = &UpTwistSeq; |
henryrawas | 7:6723f6887d00 | 188 | SequenceQ.put(&UpTwistSeq); |
henryrawas | 7:6723f6887d00 | 189 | osSignalSet(mainTid, AS_Action); |
henryrawas | 7:6723f6887d00 | 190 | } |
henryrawas | 7:6723f6887d00 | 191 | else if (strncmp(cmd, "runhome", 10) == 0) |
henryrawas | 7:6723f6887d00 | 192 | { |
henryrawas | 8:d98e2dec0f40 | 193 | printf("Runhome cmd\r\n"); |
henryrawas | 7:6723f6887d00 | 194 | MainState = MS_CancelToM; |
henryrawas | 7:6723f6887d00 | 195 | CancelToMatch = &StartSeq; |
henryrawas | 7:6723f6887d00 | 196 | SequenceQ.put(&StartSeq); |
henryrawas | 7:6723f6887d00 | 197 | osSignalSet(mainTid, AS_Action); |
henryrawas | 7:6723f6887d00 | 198 | } |
henryrawas | 7:6723f6887d00 | 199 | else if (strncmp(cmd, "runwave", 10) == 0) |
henryrawas | 7:6723f6887d00 | 200 | { |
henryrawas | 8:d98e2dec0f40 | 201 | printf("Runwave cmd\r\n"); |
henryrawas | 7:6723f6887d00 | 202 | MainState = MS_CancelToM; |
henryrawas | 7:6723f6887d00 | 203 | CancelToMatch = &WaveSeq; |
henryrawas | 7:6723f6887d00 | 204 | SequenceQ.put(&WaveSeq); |
henryrawas | 7:6723f6887d00 | 205 | osSignalSet(mainTid, AS_Action); |
henryrawas | 7:6723f6887d00 | 206 | } |
henryrawas | 8:d98e2dec0f40 | 207 | else if (strncmp(cmd, "runtaps1", 10) == 0) |
henryrawas | 8:d98e2dec0f40 | 208 | { |
henryrawas | 8:d98e2dec0f40 | 209 | printf("Runtaps1cmd\r\n"); |
henryrawas | 8:d98e2dec0f40 | 210 | MainState = MS_CancelToM; |
henryrawas | 8:d98e2dec0f40 | 211 | CancelToMatch = &TapsSeq; |
henryrawas | 8:d98e2dec0f40 | 212 | SequenceQ.put(&TapsSeq); |
henryrawas | 8:d98e2dec0f40 | 213 | osSignalSet(mainTid, AS_Action); |
henryrawas | 8:d98e2dec0f40 | 214 | } |
henryrawas | 7:6723f6887d00 | 215 | else if (strncmp(cmd, "cancelone", 9) == 0) |
henryrawas | 7:6723f6887d00 | 216 | { |
henryrawas | 8:d98e2dec0f40 | 217 | printf("CancelOne cmd\r\n"); |
henryrawas | 7:6723f6887d00 | 218 | MainState = MS_CancelOne; |
henryrawas | 7:6723f6887d00 | 219 | osSignalSet(mainTid, AS_Action); |
henryrawas | 7:6723f6887d00 | 220 | } |
henryrawas | 7:6723f6887d00 | 221 | } |
henryrawas | 7:6723f6887d00 | 222 | |
henryrawas | 7:6723f6887d00 | 223 | // run sequence thread timer routine |
henryrawas | 7:6723f6887d00 | 224 | void NextSeq(void const * tid) |
henryrawas | 7:6723f6887d00 | 225 | { |
henryrawas | 7:6723f6887d00 | 226 | RunInDelay = false; |
henryrawas | 7:6723f6887d00 | 227 | osSignalSet((osThreadId)tid, AS_Action); |
henryrawas | 7:6723f6887d00 | 228 | } |
henryrawas | 7:6723f6887d00 | 229 | |
henryrawas | 7:6723f6887d00 | 230 | void RunController() |
henryrawas | 7:6723f6887d00 | 231 | { |
henryrawas | 7:6723f6887d00 | 232 | // init robot arm |
henryrawas | 7:6723f6887d00 | 233 | RobotArm robotArm; |
henryrawas | 7:6723f6887d00 | 234 | |
henryrawas | 7:6723f6887d00 | 235 | int partSize = robotArm.GetNumParts(); |
henryrawas | 7:6723f6887d00 | 236 | |
henryrawas | 7:6723f6887d00 | 237 | |
henryrawas | 7:6723f6887d00 | 238 | // set running state |
henryrawas | 7:6723f6887d00 | 239 | MainState = MS_Idle; |
henryrawas | 7:6723f6887d00 | 240 | RunInSequence = false; |
henryrawas | 7:6723f6887d00 | 241 | RunInMoveStep = false; |
henryrawas | 7:6723f6887d00 | 242 | RunInDelay = false; |
henryrawas | 7:6723f6887d00 | 243 | |
henryrawas | 7:6723f6887d00 | 244 | // get initial positions |
henryrawas | 7:6723f6887d00 | 245 | MeasureGroup measureGroup; |
henryrawas | 7:6723f6887d00 | 246 | robotArm.GetArmPositions(initPositions); |
henryrawas | 7:6723f6887d00 | 247 | |
henryrawas | 7:6723f6887d00 | 248 | vector<float> lastVals; |
henryrawas | 7:6723f6887d00 | 249 | |
henryrawas | 7:6723f6887d00 | 250 | // do inital status report |
henryrawas | 7:6723f6887d00 | 251 | PushMeasurements(measureGroup, partSize, robotArm); |
henryrawas | 7:6723f6887d00 | 252 | |
henryrawas | 7:6723f6887d00 | 253 | // Prepare main thread |
henryrawas | 7:6723f6887d00 | 254 | mainTid = osThreadGetId(); |
henryrawas | 7:6723f6887d00 | 255 | int32_t signals = AS_Action; |
henryrawas | 7:6723f6887d00 | 256 | |
henryrawas | 7:6723f6887d00 | 257 | // create sequences |
henryrawas | 7:6723f6887d00 | 258 | MakeSequences(partSize, initPositions); |
henryrawas | 7:6723f6887d00 | 259 | |
henryrawas | 7:6723f6887d00 | 260 | // add to queue |
henryrawas | 7:6723f6887d00 | 261 | SequenceQ.put(&StartSeq); |
henryrawas | 7:6723f6887d00 | 262 | |
henryrawas | 7:6723f6887d00 | 263 | // state for sequence |
henryrawas | 7:6723f6887d00 | 264 | vector<ActionSequence> *curseq = NULL; |
henryrawas | 7:6723f6887d00 | 265 | int curseqIx = 0; |
henryrawas | 7:6723f6887d00 | 266 | |
henryrawas | 7:6723f6887d00 | 267 | // signal to run the default action for demo |
henryrawas | 7:6723f6887d00 | 268 | osSignalSet(mainTid, AS_Action); |
henryrawas | 7:6723f6887d00 | 269 | |
henryrawas | 7:6723f6887d00 | 270 | RtosTimer delayTimer(NextSeq, osTimerOnce, (void *)osThreadGetId()); |
henryrawas | 7:6723f6887d00 | 271 | |
henryrawas | 7:6723f6887d00 | 272 | MainState = MS_Running; |
henryrawas | 7:6723f6887d00 | 273 | |
henryrawas | 7:6723f6887d00 | 274 | while( true ) |
henryrawas | 7:6723f6887d00 | 275 | { |
henryrawas | 7:6723f6887d00 | 276 | osEvent mainEvent = osSignalWait(signals, osWaitForever); |
henryrawas | 7:6723f6887d00 | 277 | |
henryrawas | 7:6723f6887d00 | 278 | switch (MainState) |
henryrawas | 7:6723f6887d00 | 279 | { |
henryrawas | 7:6723f6887d00 | 280 | case MS_Idle: |
henryrawas | 7:6723f6887d00 | 281 | break; |
henryrawas | 7:6723f6887d00 | 282 | |
henryrawas | 7:6723f6887d00 | 283 | case MS_Paused: |
henryrawas | 8:d98e2dec0f40 | 284 | printf("Paused\r\n"); |
henryrawas | 7:6723f6887d00 | 285 | break; |
henryrawas | 7:6723f6887d00 | 286 | |
henryrawas | 7:6723f6887d00 | 287 | case MS_Stopping: |
henryrawas | 8:d98e2dec0f40 | 288 | printf("Stopping\r\n"); |
henryrawas | 7:6723f6887d00 | 289 | break; |
henryrawas | 7:6723f6887d00 | 290 | |
henryrawas | 7:6723f6887d00 | 291 | case MS_Error: |
henryrawas | 8:d98e2dec0f40 | 292 | printf("Error\r\n"); |
henryrawas | 7:6723f6887d00 | 293 | break; |
henryrawas | 7:6723f6887d00 | 294 | |
henryrawas | 7:6723f6887d00 | 295 | case MS_CancelOne: |
henryrawas | 8:d98e2dec0f40 | 296 | printf("Cancel sequence\r\n"); |
henryrawas | 7:6723f6887d00 | 297 | RunInSequence = false; |
henryrawas | 7:6723f6887d00 | 298 | RunInMoveStep = false; |
henryrawas | 7:6723f6887d00 | 299 | if (RunInDelay) |
henryrawas | 7:6723f6887d00 | 300 | { |
henryrawas | 7:6723f6887d00 | 301 | RunInDelay = false; |
henryrawas | 7:6723f6887d00 | 302 | delayTimer.stop(); |
henryrawas | 7:6723f6887d00 | 303 | } |
henryrawas | 7:6723f6887d00 | 304 | MainState = MS_Running; |
henryrawas | 7:6723f6887d00 | 305 | osSignalSet(mainTid, AS_Action); |
henryrawas | 7:6723f6887d00 | 306 | break; |
henryrawas | 7:6723f6887d00 | 307 | |
henryrawas | 7:6723f6887d00 | 308 | case MS_CancelAll: |
henryrawas | 7:6723f6887d00 | 309 | RunInSequence = false; |
henryrawas | 7:6723f6887d00 | 310 | RunInMoveStep = false; |
henryrawas | 7:6723f6887d00 | 311 | if (RunInDelay) |
henryrawas | 7:6723f6887d00 | 312 | { |
henryrawas | 7:6723f6887d00 | 313 | RunInDelay = false; |
henryrawas | 7:6723f6887d00 | 314 | delayTimer.stop(); |
henryrawas | 7:6723f6887d00 | 315 | } |
henryrawas | 7:6723f6887d00 | 316 | while (1) { |
henryrawas | 7:6723f6887d00 | 317 | osEvent evt = SequenceQ.get(0); |
henryrawas | 7:6723f6887d00 | 318 | if (evt.status != osEventMessage) |
henryrawas | 7:6723f6887d00 | 319 | break; |
henryrawas | 7:6723f6887d00 | 320 | } |
henryrawas | 7:6723f6887d00 | 321 | MainState = MS_Running; |
henryrawas | 7:6723f6887d00 | 322 | break; |
henryrawas | 7:6723f6887d00 | 323 | |
henryrawas | 7:6723f6887d00 | 324 | case MS_CancelToM: |
henryrawas | 7:6723f6887d00 | 325 | RunInSequence = false; |
henryrawas | 7:6723f6887d00 | 326 | RunInMoveStep = false; |
henryrawas | 7:6723f6887d00 | 327 | if (RunInDelay) |
henryrawas | 7:6723f6887d00 | 328 | { |
henryrawas | 7:6723f6887d00 | 329 | RunInDelay = false; |
henryrawas | 7:6723f6887d00 | 330 | delayTimer.stop(); |
henryrawas | 7:6723f6887d00 | 331 | } |
henryrawas | 7:6723f6887d00 | 332 | while (1) { |
henryrawas | 7:6723f6887d00 | 333 | osEvent evt = SequenceQ.get(0); |
henryrawas | 7:6723f6887d00 | 334 | if (evt.status != osEventMessage) |
henryrawas | 7:6723f6887d00 | 335 | break; |
henryrawas | 7:6723f6887d00 | 336 | else if (evt.value.p == CancelToMatch) |
henryrawas | 7:6723f6887d00 | 337 | { |
henryrawas | 7:6723f6887d00 | 338 | curseq = (vector<ActionSequence> *)evt.value.p; |
henryrawas | 7:6723f6887d00 | 339 | curseqIx = 0; |
henryrawas | 7:6723f6887d00 | 340 | RunInSequence = true; |
henryrawas | 7:6723f6887d00 | 341 | } |
henryrawas | 7:6723f6887d00 | 342 | } |
henryrawas | 7:6723f6887d00 | 343 | MainState = MS_Running; |
henryrawas | 7:6723f6887d00 | 344 | osSignalSet(mainTid, AS_Action); |
henryrawas | 7:6723f6887d00 | 345 | break; |
henryrawas | 7:6723f6887d00 | 346 | |
henryrawas | 7:6723f6887d00 | 347 | case MS_Running: |
henryrawas | 7:6723f6887d00 | 348 | if (RunInDelay) |
henryrawas | 7:6723f6887d00 | 349 | { |
henryrawas | 7:6723f6887d00 | 350 | // waiting for timer to fire. do nothing |
henryrawas | 7:6723f6887d00 | 351 | break; |
henryrawas | 7:6723f6887d00 | 352 | } |
henryrawas | 7:6723f6887d00 | 353 | if (!RunInSequence) |
henryrawas | 7:6723f6887d00 | 354 | { |
henryrawas | 7:6723f6887d00 | 355 | osEvent evt = SequenceQ.get(0); |
henryrawas | 7:6723f6887d00 | 356 | if (evt.status == osEventMessage) |
henryrawas | 7:6723f6887d00 | 357 | { |
henryrawas | 8:d98e2dec0f40 | 358 | printf("New Seq \r\n"); |
henryrawas | 7:6723f6887d00 | 359 | curseq = (vector<ActionSequence> *)evt.value.p; |
henryrawas | 7:6723f6887d00 | 360 | curseqIx = 0; |
henryrawas | 7:6723f6887d00 | 361 | RunInSequence = true; |
henryrawas | 7:6723f6887d00 | 362 | RunInMoveStep = false; |
henryrawas | 7:6723f6887d00 | 363 | } |
henryrawas | 7:6723f6887d00 | 364 | } |
henryrawas | 7:6723f6887d00 | 365 | |
henryrawas | 7:6723f6887d00 | 366 | if (RunInSequence) |
henryrawas | 7:6723f6887d00 | 367 | { |
henryrawas | 7:6723f6887d00 | 368 | if (RunInMoveStep) |
henryrawas | 7:6723f6887d00 | 369 | { |
henryrawas | 7:6723f6887d00 | 370 | if (!robotArm.MoveArmPositionTest()) |
henryrawas | 7:6723f6887d00 | 371 | { |
henryrawas | 7:6723f6887d00 | 372 | // report position error |
henryrawas | 7:6723f6887d00 | 373 | int ix = robotArm.GetLastErrorPart(); |
henryrawas | 7:6723f6887d00 | 374 | float diff = robotArm.GetLastPosDiff(); |
henryrawas | 8:d98e2dec0f40 | 375 | printf("Position error detected part %d, diff %f \r\n", ix, diff); |
henryrawas | 7:6723f6887d00 | 376 | PushPositionAlert(AS_Error, ix, diff); |
henryrawas | 7:6723f6887d00 | 377 | MainState = MS_Error; |
henryrawas | 7:6723f6887d00 | 378 | break; |
henryrawas | 7:6723f6887d00 | 379 | } |
henryrawas | 7:6723f6887d00 | 380 | if (robotArm.MoveArmPositionsHasNext()) |
henryrawas | 7:6723f6887d00 | 381 | { |
henryrawas | 7:6723f6887d00 | 382 | int delaystep = 0; |
henryrawas | 7:6723f6887d00 | 383 | bool ok = robotArm.MoveArmPositionsNext(); |
henryrawas | 7:6723f6887d00 | 384 | if (ok) |
henryrawas | 7:6723f6887d00 | 385 | { |
henryrawas | 7:6723f6887d00 | 386 | robotArm.MoveArmPositionsDelay(delaystep); |
henryrawas | 7:6723f6887d00 | 387 | if (delaystep > 0) |
henryrawas | 7:6723f6887d00 | 388 | { |
henryrawas | 7:6723f6887d00 | 389 | RunInDelay = true; |
henryrawas | 7:6723f6887d00 | 390 | delayTimer.start(delaystep); |
henryrawas | 7:6723f6887d00 | 391 | } |
henryrawas | 7:6723f6887d00 | 392 | else |
henryrawas | 7:6723f6887d00 | 393 | { |
henryrawas | 7:6723f6887d00 | 394 | osSignalSet(mainTid, AS_Action); |
henryrawas | 7:6723f6887d00 | 395 | } |
henryrawas | 7:6723f6887d00 | 396 | } |
henryrawas | 7:6723f6887d00 | 397 | else |
henryrawas | 7:6723f6887d00 | 398 | { |
henryrawas | 7:6723f6887d00 | 399 | // report HW error |
henryrawas | 8:d98e2dec0f40 | 400 | int partix = robotArm.GetLastErrorPart(); |
henryrawas | 8:d98e2dec0f40 | 401 | int errCode = robotArm.GetLastError(); |
henryrawas | 8:d98e2dec0f40 | 402 | printf("Hardware error detected part %d, code %d \r\n", partix, errCode); |
henryrawas | 8:d98e2dec0f40 | 403 | PushHardwareAlert(AS_Error, partix, errCode); |
henryrawas | 7:6723f6887d00 | 404 | MainState = MS_Error; |
henryrawas | 8:d98e2dec0f40 | 405 | break; |
henryrawas | 7:6723f6887d00 | 406 | } |
henryrawas | 7:6723f6887d00 | 407 | } |
henryrawas | 7:6723f6887d00 | 408 | else |
henryrawas | 7:6723f6887d00 | 409 | { |
henryrawas | 8:d98e2dec0f40 | 410 | printf("No more Step\r\n"); |
henryrawas | 7:6723f6887d00 | 411 | RunInMoveStep = false; |
henryrawas | 7:6723f6887d00 | 412 | } |
henryrawas | 7:6723f6887d00 | 413 | } |
henryrawas | 7:6723f6887d00 | 414 | if (!RunInMoveStep) |
henryrawas | 7:6723f6887d00 | 415 | { |
henryrawas | 8:d98e2dec0f40 | 416 | printf("Next Seq %d\r\n", curseqIx); |
henryrawas | 7:6723f6887d00 | 417 | |
henryrawas | 7:6723f6887d00 | 418 | if (curseq != NULL) |
henryrawas | 7:6723f6887d00 | 419 | { |
henryrawas | 7:6723f6887d00 | 420 | if (curseqIx >= curseq->size()) |
henryrawas | 7:6723f6887d00 | 421 | { |
henryrawas | 7:6723f6887d00 | 422 | RunInSequence = false; |
henryrawas | 7:6723f6887d00 | 423 | break; |
henryrawas | 7:6723f6887d00 | 424 | } |
henryrawas | 7:6723f6887d00 | 425 | |
henryrawas | 7:6723f6887d00 | 426 | ActionSequence aseq = (*curseq)[curseqIx]; |
henryrawas | 7:6723f6887d00 | 427 | curseqIx++; |
henryrawas | 7:6723f6887d00 | 428 | |
henryrawas | 7:6723f6887d00 | 429 | switch (aseq.ActionType) |
henryrawas | 7:6723f6887d00 | 430 | { |
henryrawas | 7:6723f6887d00 | 431 | case SA_SetGoal: |
henryrawas | 8:d98e2dec0f40 | 432 | printf(" - Move arm start\r\n"); |
henryrawas | 8:d98e2dec0f40 | 433 | robotArm.MoveArmPositionsStart(aseq.GoalVals, aseq.Param); |
henryrawas | 8:d98e2dec0f40 | 434 | RunInMoveStep = true; |
henryrawas | 8:d98e2dec0f40 | 435 | osSignalSet(mainTid, AS_Action); |
henryrawas | 7:6723f6887d00 | 436 | break; |
henryrawas | 7:6723f6887d00 | 437 | case SA_Delay: |
henryrawas | 8:d98e2dec0f40 | 438 | printf(" - Delay\r\n"); |
henryrawas | 7:6723f6887d00 | 439 | RunInDelay = true; |
henryrawas | 8:d98e2dec0f40 | 440 | delayTimer.start(aseq.Param); |
henryrawas | 7:6723f6887d00 | 441 | break; |
henryrawas | 7:6723f6887d00 | 442 | |
henryrawas | 7:6723f6887d00 | 443 | case SA_Status: |
henryrawas | 8:d98e2dec0f40 | 444 | printf(" - Status\r\n"); |
henryrawas | 8:d98e2dec0f40 | 445 | |
henryrawas | 7:6723f6887d00 | 446 | PushMeasurements(measureGroup, partSize, robotArm); |
henryrawas | 8:d98e2dec0f40 | 447 | |
henryrawas | 8:d98e2dec0f40 | 448 | robotArm.GetArmLastMeasure(NM_Temperature, lastVals); |
henryrawas | 8:d98e2dec0f40 | 449 | TestTemperature(lastVals); |
henryrawas | 8:d98e2dec0f40 | 450 | |
henryrawas | 7:6723f6887d00 | 451 | osSignalSet(mainTid, AS_Action); |
henryrawas | 7:6723f6887d00 | 452 | break; |
henryrawas | 7:6723f6887d00 | 453 | case SA_Repeat: |
henryrawas | 8:d98e2dec0f40 | 454 | printf(" - Repeat\r\n"); |
henryrawas | 8:d98e2dec0f40 | 455 | curseqIx = aseq.Param; |
henryrawas | 7:6723f6887d00 | 456 | osSignalSet(mainTid, AS_Action); |
henryrawas | 7:6723f6887d00 | 457 | break; |
henryrawas | 7:6723f6887d00 | 458 | |
henryrawas | 7:6723f6887d00 | 459 | } |
henryrawas | 7:6723f6887d00 | 460 | } |
henryrawas | 7:6723f6887d00 | 461 | } |
henryrawas | 7:6723f6887d00 | 462 | |
henryrawas | 7:6723f6887d00 | 463 | } |
henryrawas | 7:6723f6887d00 | 464 | break; |
henryrawas | 7:6723f6887d00 | 465 | } |
henryrawas | 7:6723f6887d00 | 466 | |
henryrawas | 7:6723f6887d00 | 467 | } |
henryrawas | 7:6723f6887d00 | 468 | } |
henryrawas | 7:6723f6887d00 | 469 |