File content as of revision 1:2720d0e8b2f1:

#include "mbed.h"
#include "platform/mbed_thread.h"
#include "i2cmaster.h"
#include "mecanum_interface.hpp"
#include "imu_interface.hpp"
#include "mecanum_controller.hpp"
#include "waypoint_generator.hpp"
#include "ususama_serial.h"
#include "ususama_controller.hpp"
#include <vector>
#include <list>


i2c master(p28, p27);
MecanumI2C mecanum(&master);
PMSUInterface pmsu(p9, p10);
MecanumController ususama(&mecanum, &pmsu);

int32_t Register[12] = {};
UsusamaSerial pc(USBTX, USBRX, Register, 115200);
UsusamaController commander(&pc);
BusOut leds(LED1, LED2, LED3, LED4);

Thread thread_read2pc;
Thread thread_write2pc;


void mecanum_test()
{
    ususama.ControllVelocity(Vel2D(0.1, 0.0, 0.0));
    thread_sleep_for(1000);
    ususama.ControllVelocity(Vel2D(0.0, 0.0, 0.0));
}

void imu_test()
{
    for(int i = 0; i < 1000; i++)
    {
        printf("%d\r\n", (int)(pmsu.GetYawRadians() * RAD_TO_DEG));
    }
}

void read_pc_thread()
{
    while (true) {
        commander.receive_pc_process();
        leds = commander.getReferencePose().x;
        ThisThread::sleep_for(53);
    }
}

void write_pc_thread()
{
    Pose2D current_pose(0,0,0);
    while (true) {
        current_pose = ususama.GetPose();
        commander.write_robot_state(current_pose.x, current_pose.y, current_pose.theta);
        ThisThread::sleep_for(47);
    }
}


int main()
{
    std::list<std::unique_ptr<Pose2D>> ref_pose_list;
    ref_pose_list.push_back(std::make_unique<Pose2D>(0.0, 0.8, 0.0));
    ref_pose_list.push_back(std::make_unique<Pose2D>(0.0, 0.0, 0.0));
    //ref_pose_list.push_back(std::make_unique<Pose2D>(0.0, 0.5, 0));
    //ref_pose_list.push_back(std::make_unique<Pose2D>(0.0, 0.0, -1.57));
    auto ref_pose_itr = ref_pose_list.begin();
    
    // theta...
    WaypointGenerator<Pose2D> way_generator( Pose2D(0, 0, 0), *(*ref_pose_itr), Pose2D(0.01, 0.01, 0.01), 5.0);
    int i_way = 0;
    Timer t_way;
    t_way.start();
    
    thread_read2pc.start(read_pc_thread);
    thread_write2pc.start(write_pc_thread);
    
    while(1)
    {
        // todo: read using timer
        thread_sleep_for(10);
        
        
        UsusamaProtocol::MoveCommand_t ref_pose = commander.getReferencePose();
        
        
        ususama.ComputePose();
        ususama.ControlPosition( way_generator.GetPose(i_way) );
        
        if(way_generator.GetPose(i_way).time_stamp < t_way.read())
        {
            i_way++;
        }
        
        if( ususama.IsReferencePose( *(*ref_pose_itr) ) )
        {
            //printf("goal\r\n");
            
            ref_pose_itr++;
            if(ref_pose_itr == ref_pose_list.end())
            {
                ref_pose_itr = ref_pose_list.begin();
            }
            
            // update waypoint
            //printf("generate new waypoint...");
            way_generator = WaypointGenerator<Pose2D>( ususama.GetPose(), *(*ref_pose_itr), Pose2D(0.01, 0.01, 0.005), 5.0);
            //printf("has finished\r\n");
            
            i_way = 0;
            t_way.reset();
            t_way.start();
        }
    }
}