mirror of
https://github.com/westonrobot/ugv_sdk
synced 2023-04-08 06:32:14 +08:00
updated scout base to use class MobileBase
This commit is contained in:
Ruixiang Du
@@ -36,10 +36,6 @@ class HunterBase : public MobileBase {
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HunterMotionCmd::FaultClearFlag::NO_FAULT);
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private:
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// serial port related variables
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uint8_t tx_cmd_len_;
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uint8_t tx_buffer_[HUNTER_CMD_BUF_LEN];
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// cmd/status update related variables
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std::mutex hunter_state_mutex_;
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std::mutex motion_cmd_mutex_;
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@@ -16,40 +16,24 @@
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#include <mutex>
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#include <functional>
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#include "wrp_sdk/asyncio/async_can.hpp"
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#include "wrp_sdk/asyncio/async_serial.hpp"
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#include "wrp_sdk/platforms/common/mobile_base.hpp"
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#include "wrp_sdk/platforms/scout/scout_protocol.h"
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#include "wrp_sdk/platforms/scout/scout_can_parser.h"
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#include "wrp_sdk/platforms/scout/scout_uart_parser.h"
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#include "wrp_sdk/platforms/scout/scout_types.hpp"
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namespace westonrobot
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{
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class ScoutBase
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{
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namespace westonrobot {
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class ScoutBase : public MobileBase {
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public:
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ScoutBase() = default;
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~ScoutBase();
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// do not allow copy
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ScoutBase(const ScoutBase &scout) = delete;
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ScoutBase &operator=(const ScoutBase &scout) = delete;
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ScoutBase() : MobileBase(){};
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~ScoutBase() = default;
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public:
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// connect to roboot from CAN or serial
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void Connect(std::string dev_name, int32_t baud_rate = 0);
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// disconnect from roboot, only valid for serial port
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void Disconnect();
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// cmd thread runs at 100Hz (10ms) by default
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void SetCmdThreadPeriodMs(int32_t period_ms) { cmd_thread_period_ms_ = period_ms; };
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// motion control
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void SetMotionCommand(double linear_vel, double angular_vel,
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ScoutMotionCmd::FaultClearFlag fault_clr_flag = ScoutMotionCmd::FaultClearFlag::NO_FAULT);
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ScoutMotionCmd::FaultClearFlag fault_clr_flag =
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ScoutMotionCmd::FaultClearFlag::NO_FAULT);
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// light control
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void SetLightCommand(ScoutLightCmd cmd);
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@@ -59,15 +43,7 @@ public:
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ScoutState GetScoutState();
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private:
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// hardware communication interface
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std::shared_ptr<ASyncCAN> can_if_;
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std::shared_ptr<ASyncSerial> serial_if_;
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// CAN priority higher than serial if both connected
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bool can_connected_ = false;
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bool serial_connected_ = false;
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// serial port related variables
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// serial port buffer
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uint8_t tx_cmd_len_;
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uint8_t tx_buffer_[SCOUT_CMD_BUF_LEN];
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@@ -88,22 +64,18 @@ private:
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bool light_ctrl_requested_ = false;
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// internal functions
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void ConfigureCANBus(const std::string &can_if_name = "can1");
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void ConfigureSerial(const std::string uart_name = "/dev/ttyUSB0", int32_t baud_rate = 115200);
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void StartCmdThread();
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void ControlLoop(int32_t period_ms);
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void SendRobotCmd() override;
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void ParseCANFrame(can_frame *rx_frame);
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void ParseUARTBuffer(uint8_t *buf, const size_t bufsize,
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size_t bytes_received);
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void SendMotionCmd(uint8_t count);
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void SendLightCmd(uint8_t count);
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void ParseCANFrame(can_frame *rx_frame);
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void ParseUARTBuffer(uint8_t *buf, const size_t bufsize, size_t bytes_received);
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void NewStatusMsgReceivedCallback(const ScoutMessage &msg);
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public:
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static void UpdateScoutState(const ScoutMessage &status_msg, ScoutState &state);
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static void UpdateScoutState(const ScoutMessage &status_msg,
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ScoutState &state);
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};
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} // namespace westonrobot
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@@ -12,76 +12,15 @@
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#include "stopwatch.h"
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namespace westonrobot
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{
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ScoutBase::~ScoutBase()
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{
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if (serial_connected_)
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serial_if_->close();
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if (cmd_thread_.joinable())
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cmd_thread_.join();
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namespace westonrobot {
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void ScoutBase::SendRobotCmd() {
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static uint8_t cmd_count = 0;
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static uint8_t light_cmd_count = 0;
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SendMotionCmd(cmd_count++);
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if (light_ctrl_requested_) SendLightCmd(light_cmd_count++);
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}
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void ScoutBase::Connect(std::string dev_name, int32_t baud_rate)
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{
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if (baud_rate == 0)
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{
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ConfigureCANBus(dev_name);
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}
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else
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{
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ConfigureSerial(dev_name, baud_rate);
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if (!serial_connected_)
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std::cerr << "ERROR: Failed to connect to serial port" << std::endl;
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}
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}
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void ScoutBase::Disconnect()
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{
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if (serial_connected_)
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{
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if (serial_if_->is_open())
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serial_if_->close();
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}
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}
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void ScoutBase::ConfigureCANBus(const std::string &can_if_name)
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{
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can_if_ = std::make_shared<ASyncCAN>(can_if_name);
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can_if_->set_receive_callback(std::bind(&ScoutBase::ParseCANFrame, this, std::placeholders::_1));
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can_connected_ = true;
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}
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void ScoutBase::ConfigureSerial(const std::string uart_name, int32_t baud_rate)
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{
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serial_if_ = std::make_shared<ASyncSerial>(uart_name, baud_rate);
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serial_if_->open();
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if (serial_if_->is_open())
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serial_connected_ = true;
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serial_if_->set_receive_callback(std::bind(&ScoutBase::ParseUARTBuffer, this,
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std::placeholders::_1,
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std::placeholders::_2,
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std::placeholders::_3));
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}
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void ScoutBase::StartCmdThread()
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{
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current_motion_cmd_.linear_velocity = 0;
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current_motion_cmd_.angular_velocity = 0;
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current_motion_cmd_.fault_clear_flag = ScoutMotionCmd::FaultClearFlag::NO_FAULT;
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cmd_thread_ = std::thread(std::bind(&ScoutBase::ControlLoop, this, cmd_thread_period_ms_));
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cmd_thread_started_ = true;
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}
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void ScoutBase::SendMotionCmd(uint8_t count)
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{
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void ScoutBase::SendMotionCmd(uint8_t count) {
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// motion control message
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ScoutMessage m_msg;
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m_msg.type = ScoutMotionControlMsg;
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@@ -92,9 +31,12 @@ void ScoutBase::SendMotionCmd(uint8_t count)
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m_msg.body.motion_control_msg.data.cmd.control_mode = CTRL_MODE_CMD_UART;
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motion_cmd_mutex_.lock();
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m_msg.body.motion_control_msg.data.cmd.fault_clear_flag = static_cast<uint8_t>(current_motion_cmd_.fault_clear_flag);
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m_msg.body.motion_control_msg.data.cmd.linear_velocity_cmd = current_motion_cmd_.linear_velocity;
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m_msg.body.motion_control_msg.data.cmd.angular_velocity_cmd = current_motion_cmd_.angular_velocity;
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m_msg.body.motion_control_msg.data.cmd.fault_clear_flag =
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static_cast<uint8_t>(current_motion_cmd_.fault_clear_flag);
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m_msg.body.motion_control_msg.data.cmd.linear_velocity_cmd =
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current_motion_cmd_.linear_velocity;
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m_msg.body.motion_control_msg.data.cmd.angular_velocity_cmd =
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current_motion_cmd_.angular_velocity;
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motion_cmd_mutex_.unlock();
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m_msg.body.motion_control_msg.data.cmd.reserved0 = 0;
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@@ -102,50 +44,55 @@ void ScoutBase::SendMotionCmd(uint8_t count)
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m_msg.body.motion_control_msg.data.cmd.count = count;
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if (can_connected_)
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m_msg.body.motion_control_msg.data.cmd.checksum = CalcScoutCANChecksum(CAN_MSG_MOTION_CONTROL_CMD_ID, m_msg.body.motion_control_msg.data.raw, 8);
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// serial_connected_: checksum will be calculated later when packed into a complete serial frame
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m_msg.body.motion_control_msg.data.cmd.checksum =
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CalcScoutCANChecksum(CAN_MSG_MOTION_CONTROL_CMD_ID,
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m_msg.body.motion_control_msg.data.raw, 8);
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// serial_connected_: checksum will be calculated later when packed into a
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// complete serial frame
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if (can_connected_)
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{
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if (can_connected_) {
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// send to can bus
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can_frame m_frame;
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EncodeScoutMsgToCAN(&m_msg, &m_frame);
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can_if_->send_frame(m_frame);
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}
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else
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{
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} else {
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// send to serial port
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EncodeScoutMsgToUART(&m_msg, tx_buffer_, &tx_cmd_len_);
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serial_if_->send_bytes(tx_buffer_, tx_cmd_len_);
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}
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}
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void ScoutBase::SendLightCmd(uint8_t count)
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{
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void ScoutBase::SendLightCmd(uint8_t count) {
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ScoutMessage l_msg;
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l_msg.type = ScoutLightControlMsg;
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light_cmd_mutex_.lock();
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if (light_ctrl_enabled_)
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{
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if (light_ctrl_enabled_) {
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l_msg.body.light_control_msg.data.cmd.light_ctrl_enable = LIGHT_ENABLE_CTRL;
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l_msg.body.light_control_msg.data.cmd.front_light_mode = static_cast<uint8_t>(current_light_cmd_.front_mode);
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l_msg.body.light_control_msg.data.cmd.front_light_custom = current_light_cmd_.front_custom_value;
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l_msg.body.light_control_msg.data.cmd.rear_light_mode = static_cast<uint8_t>(current_light_cmd_.rear_mode);
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l_msg.body.light_control_msg.data.cmd.rear_light_custom = current_light_cmd_.rear_custom_value;
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l_msg.body.light_control_msg.data.cmd.front_light_mode =
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static_cast<uint8_t>(current_light_cmd_.front_mode);
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l_msg.body.light_control_msg.data.cmd.front_light_custom =
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current_light_cmd_.front_custom_value;
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l_msg.body.light_control_msg.data.cmd.rear_light_mode =
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static_cast<uint8_t>(current_light_cmd_.rear_mode);
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l_msg.body.light_control_msg.data.cmd.rear_light_custom =
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current_light_cmd_.rear_custom_value;
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// std::cout << "cmd: " << l_msg.data.cmd.front_light_mode << " , " << l_msg.data.cmd.front_light_custom << " , "
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// << l_msg.data.cmd.rear_light_mode << " , " << l_msg.data.cmd.rear_light_custom << std::endl;
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// std::cout << "cmd: " << l_msg.data.cmd.front_light_mode << " , " <<
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// l_msg.data.cmd.front_light_custom << " , "
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// << l_msg.data.cmd.rear_light_mode << " , " <<
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// l_msg.data.cmd.rear_light_custom << std::endl;
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// std::cout << "light cmd generated" << std::endl;
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}
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else
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{
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l_msg.body.light_control_msg.data.cmd.light_ctrl_enable = LIGHT_DISABLE_CTRL;
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} else {
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l_msg.body.light_control_msg.data.cmd.light_ctrl_enable =
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LIGHT_DISABLE_CTRL;
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l_msg.body.light_control_msg.data.cmd.front_light_mode = LIGHT_MODE_CONST_OFF;
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l_msg.body.light_control_msg.data.cmd.front_light_mode =
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LIGHT_MODE_CONST_OFF;
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l_msg.body.light_control_msg.data.cmd.front_light_custom = 0;
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l_msg.body.light_control_msg.data.cmd.rear_light_mode = LIGHT_MODE_CONST_OFF;
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l_msg.body.light_control_msg.data.cmd.rear_light_mode =
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LIGHT_MODE_CONST_OFF;
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l_msg.body.light_control_msg.data.cmd.rear_light_custom = 0;
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}
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light_ctrl_requested_ = false;
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@@ -155,26 +102,27 @@ void ScoutBase::SendLightCmd(uint8_t count)
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l_msg.body.light_control_msg.data.cmd.count = count;
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if (can_connected_)
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l_msg.body.light_control_msg.data.cmd.checksum = CalcScoutCANChecksum(CAN_MSG_LIGHT_CONTROL_CMD_ID, l_msg.body.light_control_msg.data.raw, 8);
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// serial_connected_: checksum will be calculated later when packed into a complete serial frame
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l_msg.body.light_control_msg.data.cmd.checksum = CalcScoutCANChecksum(
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CAN_MSG_LIGHT_CONTROL_CMD_ID, l_msg.body.light_control_msg.data.raw, 8);
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// serial_connected_: checksum will be calculated later when packed into a
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// complete serial frame
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if (can_connected_)
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{
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if (can_connected_) {
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// send to can bus
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can_frame l_frame;
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EncodeScoutMsgToCAN(&l_msg, &l_frame);
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can_if_->send_frame(l_frame);
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}
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else
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{
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} else {
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// send to serial port
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EncodeScoutMsgToUART(&l_msg, tx_buffer_, &tx_cmd_len_);
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serial_if_->send_bytes(tx_buffer_, tx_cmd_len_);
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}
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// std::cout << "cmd: " << static_cast<int>(l_msg.data.cmd.front_light_mode) << " , " << static_cast<int>(l_msg.data.cmd.front_light_custom) << " , "
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// << static_cast<int>(l_msg.data.cmd.rear_light_mode) << " , " << static_cast<int>(l_msg.data.cmd.rear_light_custom) << std::endl;
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// std::cout << "cmd: " << static_cast<int>(l_msg.data.cmd.front_light_mode)
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// << " , " << static_cast<int>(l_msg.data.cmd.front_light_custom) << " , "
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// << static_cast<int>(l_msg.data.cmd.rear_light_mode) << " , " <<
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// static_cast<int>(l_msg.data.cmd.rear_light_custom) << std::endl;
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// std::cout << "can: ";
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// for (int i = 0; i < 8; ++i)
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// std::cout << static_cast<int>(l_frame.data[i]) << " ";
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@@ -184,38 +132,16 @@ void ScoutBase::SendLightCmd(uint8_t count)
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// std::cout << std::endl;
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}
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void ScoutBase::ControlLoop(int32_t period_ms)
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{
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StopWatch ctrl_sw;
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uint8_t cmd_count = 0;
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uint8_t light_cmd_count = 0;
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while (true)
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{
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ctrl_sw.tic();
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// motion control message
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SendMotionCmd(cmd_count++);
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// check if there is request for light control
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if (light_ctrl_requested_)
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SendLightCmd(light_cmd_count++);
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ctrl_sw.sleep_until_ms(period_ms);
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// std::cout << "control loop update frequency: " << 1.0 / ctrl_sw.toc() << std::endl;
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}
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}
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ScoutState ScoutBase::GetScoutState()
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{
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ScoutState ScoutBase::GetScoutState() {
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std::lock_guard<std::mutex> guard(scout_state_mutex_);
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return scout_state_;
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}
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void ScoutBase::SetMotionCommand(double linear_vel, double angular_vel, ScoutMotionCmd::FaultClearFlag fault_clr_flag)
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{
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void ScoutBase::SetMotionCommand(
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double linear_vel, double angular_vel,
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ScoutMotionCmd::FaultClearFlag fault_clr_flag) {
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// make sure cmd thread is started before attempting to send commands
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if (!cmd_thread_started_)
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StartCmdThread();
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if (!cmd_thread_started_) StartCmdThread();
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if (linear_vel < ScoutMotionCmd::min_linear_velocity)
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linear_vel = ScoutMotionCmd::min_linear_velocity;
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@@ -227,15 +153,15 @@ void ScoutBase::SetMotionCommand(double linear_vel, double angular_vel, ScoutMot
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angular_vel = ScoutMotionCmd::max_angular_velocity;
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std::lock_guard<std::mutex> guard(motion_cmd_mutex_);
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current_motion_cmd_.linear_velocity = static_cast<int8_t>(linear_vel / ScoutMotionCmd::max_linear_velocity * 100.0);
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current_motion_cmd_.angular_velocity = static_cast<int8_t>(angular_vel / ScoutMotionCmd::max_angular_velocity * 100.0);
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current_motion_cmd_.linear_velocity = static_cast<int8_t>(
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linear_vel / ScoutMotionCmd::max_linear_velocity * 100.0);
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current_motion_cmd_.angular_velocity = static_cast<int8_t>(
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angular_vel / ScoutMotionCmd::max_angular_velocity * 100.0);
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current_motion_cmd_.fault_clear_flag = fault_clr_flag;
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}
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void ScoutBase::SetLightCommand(ScoutLightCmd cmd)
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{
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if (!cmd_thread_started_)
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StartCmdThread();
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void ScoutBase::SetLightCommand(ScoutLightCmd cmd) {
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if (!cmd_thread_started_) StartCmdThread();
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std::lock_guard<std::mutex> guard(light_cmd_mutex_);
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current_light_cmd_ = cmd;
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@@ -243,19 +169,19 @@ void ScoutBase::SetLightCommand(ScoutLightCmd cmd)
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light_ctrl_requested_ = true;
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}
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void ScoutBase::DisableLightCmdControl()
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{
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void ScoutBase::DisableLightCmdControl() {
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std::lock_guard<std::mutex> guard(light_cmd_mutex_);
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light_ctrl_enabled_ = false;
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light_ctrl_requested_ = true;
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}
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||||
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||||
void ScoutBase::ParseCANFrame(can_frame *rx_frame)
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{
|
||||
void ScoutBase::ParseCANFrame(can_frame *rx_frame) {
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||||
// validate checksum, discard frame if fails
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||||
if (!rx_frame->data[7] == CalcScoutCANChecksum(rx_frame->can_id, rx_frame->data, rx_frame->can_dlc))
|
||||
{
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std::cerr << "ERROR: checksum mismatch, discard frame with id " << rx_frame->can_id << std::endl;
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||||
if (!rx_frame->data[7] == CalcScoutCANChecksum(rx_frame->can_id,
|
||||
rx_frame->data,
|
||||
rx_frame->can_dlc)) {
|
||||
std::cerr << "ERROR: checksum mismatch, discard frame with id "
|
||||
<< rx_frame->can_id << std::endl;
|
||||
return;
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||||
}
|
||||
|
||||
@@ -265,40 +191,45 @@ void ScoutBase::ParseCANFrame(can_frame *rx_frame)
|
||||
NewStatusMsgReceivedCallback(status_msg);
|
||||
}
|
||||
|
||||
void ScoutBase::ParseUARTBuffer(uint8_t *buf, const size_t bufsize, size_t bytes_received)
|
||||
{
|
||||
void ScoutBase::ParseUARTBuffer(uint8_t *buf, const size_t bufsize,
|
||||
size_t bytes_received) {
|
||||
// std::cout << "bytes received from serial: " << bytes_received << std::endl;
|
||||
// serial_parser_.PrintStatistics();
|
||||
// serial_parser_.ParseBuffer(buf, bytes_received);
|
||||
ScoutMessage status_msg;
|
||||
for (int i = 0; i < bytes_received; ++i)
|
||||
{
|
||||
for (int i = 0; i < bytes_received; ++i) {
|
||||
if (DecodeScoutMsgFromUART(buf[i], &status_msg))
|
||||
NewStatusMsgReceivedCallback(status_msg);
|
||||
}
|
||||
}
|
||||
|
||||
void ScoutBase::NewStatusMsgReceivedCallback(const ScoutMessage &msg)
|
||||
{
|
||||
void ScoutBase::NewStatusMsgReceivedCallback(const ScoutMessage &msg) {
|
||||
// std::cout << "new status msg received" << std::endl;
|
||||
std::lock_guard<std::mutex> guard(scout_state_mutex_);
|
||||
UpdateScoutState(msg, scout_state_);
|
||||
}
|
||||
|
||||
void ScoutBase::UpdateScoutState(const ScoutMessage &status_msg, ScoutState &state)
|
||||
{
|
||||
switch (status_msg.type)
|
||||
{
|
||||
case ScoutMotionStatusMsg:
|
||||
{
|
||||
void ScoutBase::UpdateScoutState(const ScoutMessage &status_msg,
|
||||
ScoutState &state) {
|
||||
switch (status_msg.type) {
|
||||
case ScoutMotionStatusMsg: {
|
||||
// std::cout << "motion control feedback received" << std::endl;
|
||||
const MotionStatusMessage &msg = status_msg.body.motion_status_msg;
|
||||
state.linear_velocity = static_cast<int16_t>(static_cast<uint16_t>(msg.data.status.linear_velocity.low_byte) | static_cast<uint16_t>(msg.data.status.linear_velocity.high_byte) << 8) / 1000.0;
|
||||
state.angular_velocity = static_cast<int16_t>(static_cast<uint16_t>(msg.data.status.angular_velocity.low_byte) | static_cast<uint16_t>(msg.data.status.angular_velocity.high_byte) << 8) / 1000.0;
|
||||
state.linear_velocity =
|
||||
static_cast<int16_t>(
|
||||
static_cast<uint16_t>(msg.data.status.linear_velocity.low_byte) |
|
||||
static_cast<uint16_t>(msg.data.status.linear_velocity.high_byte)
|
||||
<< 8) /
|
||||
1000.0;
|
||||
state.angular_velocity =
|
||||
static_cast<int16_t>(
|
||||
static_cast<uint16_t>(msg.data.status.angular_velocity.low_byte) |
|
||||
static_cast<uint16_t>(msg.data.status.angular_velocity.high_byte)
|
||||
<< 8) /
|
||||
1000.0;
|
||||
break;
|
||||
}
|
||||
case ScoutLightStatusMsg:
|
||||
{
|
||||
case ScoutLightStatusMsg: {
|
||||
// std::cout << "light control feedback received" << std::endl;
|
||||
const LightStatusMessage &msg = status_msg.body.light_status_msg;
|
||||
if (msg.data.status.light_ctrl_enable == LIGHT_DISABLE_CTRL)
|
||||
@@ -311,25 +242,37 @@ void ScoutBase::UpdateScoutState(const ScoutMessage &status_msg, ScoutState &sta
|
||||
state.rear_light_state.custom_value = msg.data.status.rear_light_custom;
|
||||
break;
|
||||
}
|
||||
case ScoutSystemStatusMsg:
|
||||
{
|
||||
case ScoutSystemStatusMsg: {
|
||||
// std::cout << "system status feedback received" << std::endl;
|
||||
const SystemStatusMessage &msg = status_msg.body.system_status_msg;
|
||||
state.control_mode = msg.data.status.control_mode;
|
||||
state.base_state = msg.data.status.base_state;
|
||||
state.battery_voltage = (static_cast<uint16_t>(msg.data.status.battery_voltage.low_byte) | static_cast<uint16_t>(msg.data.status.battery_voltage.high_byte) << 8) / 10.0;
|
||||
state.fault_code = (static_cast<uint16_t>(msg.data.status.fault_code.low_byte) | static_cast<uint16_t>(msg.data.status.fault_code.high_byte) << 8);
|
||||
state.battery_voltage =
|
||||
(static_cast<uint16_t>(msg.data.status.battery_voltage.low_byte) |
|
||||
static_cast<uint16_t>(msg.data.status.battery_voltage.high_byte)
|
||||
<< 8) /
|
||||
10.0;
|
||||
state.fault_code =
|
||||
(static_cast<uint16_t>(msg.data.status.fault_code.low_byte) |
|
||||
static_cast<uint16_t>(msg.data.status.fault_code.high_byte) << 8);
|
||||
break;
|
||||
}
|
||||
case ScoutMotorDriverStatusMsg:
|
||||
{
|
||||
case ScoutMotorDriverStatusMsg: {
|
||||
// std::cout << "motor 1 driver feedback received" << std::endl;
|
||||
const MotorDriverStatusMessage &msg = status_msg.body.motor_driver_status_msg;
|
||||
for (int i = 0; i < ScoutState::motor_num; ++i)
|
||||
{
|
||||
state.motor_states[status_msg.body.motor_driver_status_msg.motor_id].current = (static_cast<uint16_t>(msg.data.status.current.low_byte) | static_cast<uint16_t>(msg.data.status.current.high_byte) << 8) / 10.0;
|
||||
state.motor_states[status_msg.body.motor_driver_status_msg.motor_id].rpm = static_cast<int16_t>(static_cast<uint16_t>(msg.data.status.rpm.low_byte) | static_cast<uint16_t>(msg.data.status.rpm.high_byte) << 8);
|
||||
state.motor_states[status_msg.body.motor_driver_status_msg.motor_id].temperature = msg.data.status.temperature;
|
||||
const MotorDriverStatusMessage &msg =
|
||||
status_msg.body.motor_driver_status_msg;
|
||||
for (int i = 0; i < ScoutState::motor_num; ++i) {
|
||||
state.motor_states[status_msg.body.motor_driver_status_msg.motor_id]
|
||||
.current =
|
||||
(static_cast<uint16_t>(msg.data.status.current.low_byte) |
|
||||
static_cast<uint16_t>(msg.data.status.current.high_byte) << 8) /
|
||||
10.0;
|
||||
state.motor_states[status_msg.body.motor_driver_status_msg.motor_id]
|
||||
.rpm = static_cast<int16_t>(
|
||||
static_cast<uint16_t>(msg.data.status.rpm.low_byte) |
|
||||
static_cast<uint16_t>(msg.data.status.rpm.high_byte) << 8);
|
||||
state.motor_states[status_msg.body.motor_driver_status_msg.motor_id]
|
||||
.temperature = msg.data.status.temperature;
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user