Atlas2000
[Hardware Bases]

This module performs hardware access to the Atlas2000 robot. More...

Collaboration diagram for Atlas2000:

Data Structures
struct	robot_brake_toggle_message
	xxxxxxxxxx More...
struct	robot_motion_command_message
	xxxxxxxxxx More...
struct	robot_lights_command_message
	xxxxxxxxxx More...
struct	robot_vert_sign_command_message
	robot_vert_sign_command_message struct where is defined all 6 different signs. More...
struct	robot_status_message
	xxxxxxxxxx More...
struct	TYPE_vert_sign_console
struct	robot_reset_distance_traveled_message
	This is reset message for the traveled distance. More...
Files
file	atlas2000.cpp
	atlas2000.cpp file for this module. This is where main is defined and etc.
file	atlas2000_interface.cpp
	xxxx
file	atlas2000_interface.h
	Definition of the interface of the module base. This file specifies the interface to subscribe the messages of that module and to receive its data via ipc.
file	atlas2000_messages.h
	This file specifies the messages for this modules used to transmit xxxx data via ipc to other modules.xxxxxxxxxxxxxxxxx.
Defines
#define	bzero(b, len) (memset((b), '\0', (len)), (void) 0)
#define	RELEASE 0
#define	TABLESIZE 11
#define	ATLAS2000_RESET_OCCURRED_NAME "atlas2000_reset_occurred"
	Control message to pass to the process control module. Always capitals finishes with _RESET_OCCURRED_NAME and the value is small letters the same without the suffix name.
#define	ATLAS2000_RESET_COMMAND_NAME "atlas2000_reset_command"
	Control message to pass to the process control module. Always capitals finishes with _RESET_COMMAND_NAME and the value is small letters the same without the suffix name.
#define	ROBOT_BRAKE_TOGGLE_NAME (char*)"robot_brake_toggle"
#define	ROBOT_BRAKE_TOGGLE_FMT (char*)"{char,double,string}"
#define	ROBOT_MOTION_COMMAND_NAME (char*)"robot_motion_command"
#define	ROBOT_MOTION_COMMAND_FMT (char*)"{double,double,int,string}"
#define	ROBOT_RESET_DISTANCE_TRAVELED_NAME (char*)"robot_reset_distance_traveled_name"
#define	ROBOT_RESET_DISTANCE_TRAVELED_FMT (char*)"{int,double,string}"
#define	ROBOT_LIGHTS_COMMAND_NAME (char*)"robot_lights_command"
#define	ROBOT_LIGHTS_COMMAND_FMT (char*)"{double,int,int,int,int,int,string}"
#define	ROBOT_VERT_SIGN_COMMAND_NAME (char*)"robot_vert_sign_command"
#define	ROBOT_VERT_SIGN_COMMAND_FMT (char*)"{int,double,string}"
#define	ROBOT_STATUS_NAME (char*)"robot_status"
#define	ROBOT_STATUS_FMT (char*)"{double,int,double,int,int,int,int,int,int,int,double,double,string}"
#define	KEYBOARD 0
#define	MAX_CODE_LENGTH 5
#define	DEBUG 0
#define	SPEED_STEP 10
#define	DIR_STEP 1
Typedefs
typedef carmen_default_message	atlas2000_reset_occurred_message
typedef carmen_default_message	atlas2000_reset_command_message
typedef global_dummy_message	robot_reset_distance_traveled_message
Functions
static void	initialize_robot (void)
	initialize usb devices if not in dummy mode
void	atlas_motion_command (void)
	prepares a motion message, using a PWM table, and send message to PIC if not in dummy mode
void	atlas_lights_command (void)
	prepares a lights command message, using a byte table, and send message to PIC if not in dummy mode, more important, receive a message from the PIC regarding the cross sensor
void	safety_handler (void)
	this is a legacy function used to halt the robot if link with host was lost. should not be used
void	read_frequency_change_handler ()
	called when frequency of messaging changes, for now it olny prints a message
void	robot_subscribe_reset_distance_traveled (carmen_handler_t handler, carmen_subscribe_t subscribe_how)
	Subscrive distance_traveled resets.
void	robot_subscribe_motion_command (robot_motion_command_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how)
void	robot_subscribe_brake_toggle (robot_brake_toggle_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how)
void	robot_subscribe_lights_command (robot_lights_command_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how)
	subscribe function to receive lights activation commands
void	robot_subscribe_vert_sign_command (robot_vert_sign_command_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how)
	subscribe function to receive vertical signs activations commands
void	robot_subscribe_status (robot_status_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how)
void	robot_publish_reset_distance_traveled (void)
	This functions publishes reset distance traveled commands.
void	robot_publish_motion_command (robot_motion_command_message *msg)
void	robot_publish_brake_toggle (char toggle)
	function that publishes a toggle command for low level braking
void	robot_publish_lights_command (robot_lights_command_message *msg)
void	robot_publish_vert_sign_command (robot_vert_sign_command_message *msg)
	function that publishes vertecal sign command, to interface with robot lights
void	robot_publish_status (robot_motion_command_message motion, robot_lights_command_message lights, robot_vert_sign_command_message vert_sign, unsigned char cross_sensor, double distance_traveled, double real_velocity)
void	robot_reset (void)
double	fsgn (double val)
static void	catcher (int sig)
long	numChars (int sd)
void	print_all (void)
Variables
char *	COM_DEVICE_MOTORS
char *	COM_DEVICE_SENSORS
int	PortHandlerMotors
int	PortHandlerSensors
int	arguments
int	table_pwm_to_send [TABLESIZE] = {0 , 10 , 20 , 30 , 40 , 45 , 50 , 60, 70 , 80 ,90}
int	table_dir_angle [TABLESIZE] = {-11 , -8 , -4 , -2 , -1 , 0 , 1 , 3 , 5 , 8 , 11}
double	read_frequency
double	time_elapsed
double	maximum_dir
double	minimum_dir
unsigned char	cross_sensor
IPC_RETURN_TYPE	err
robot_motion_command_message	motion_command
robot_lights_command_message	lights_command
robot_vert_sign_command_message	vert_sign_command
TYPE_executionflags	flags
carmen_param_t	basesensor_params []
double	dir_step
static int	signalled
robot_status_message	bs
robot_motion_command_message	motion
robot_lights_command_message	lights
robot_vert_sign_command_message	vert_sign
int	maxspeed
double	maximum_dir
double	minimum_dir
char	TYPE_vert_sign_console::U
char	TYPE_vert_sign_console::H
char	TYPE_vert_sign_console::J
char	TYPE_vert_sign_console::N
char	TYPE_vert_sign_console::M
TYPE_vert_sign_console	vert_sign_console

Detailed Description

This module performs hardware access to the Atlas2000 robot.

Define Documentation

#define ATLAS2000_RESET_COMMAND_NAME "atlas2000_reset_command"

Control message to pass to the process control module. Always capitals finishes with _RESET_COMMAND_NAME and the value is small letters the same without the suffix name.

#define ATLAS2000_RESET_OCCURRED_NAME "atlas2000_reset_occurred"

Control message to pass to the process control module. Always capitals finishes with _RESET_OCCURRED_NAME and the value is small letters the same without the suffix name.

#define bzero	(	b,
		len		)	(memset((b), '\0', (len)), (void) 0)

Referenced by DES_set_new_baud(), InitDES_communication(), initialize_communications(), and initialize_robot().

#define DEBUG 0

Referenced by main().

#define DIR_STEP 1

#define KEYBOARD 0

Referenced by main().

#define MAX_CODE_LENGTH 5

Referenced by main().

#define RELEASE 0

#define ROBOT_BRAKE_TOGGLE_FMT (char*)"{char,double,string}"

#define ROBOT_BRAKE_TOGGLE_NAME (char*)"robot_brake_toggle"

#define ROBOT_LIGHTS_COMMAND_FMT (char*)"{double,int,int,int,int,int,string}"

Referenced by register_ipc_messages().

#define ROBOT_LIGHTS_COMMAND_NAME (char*)"robot_lights_command"

Referenced by register_ipc_messages().

#define ROBOT_MOTION_COMMAND_FMT (char*)"{double,double,int,string}"

Referenced by register_ipc_messages().

#define ROBOT_MOTION_COMMAND_NAME (char*)"robot_motion_command"

Referenced by register_ipc_messages().

#define ROBOT_RESET_DISTANCE_TRAVELED_FMT (char*)"{int,double,string}"

#define ROBOT_RESET_DISTANCE_TRAVELED_NAME (char*)"robot_reset_distance_traveled_name"

#define ROBOT_STATUS_FMT (char*)"{double,int,double,int,int,int,int,int,int,int,double,double,string}"

Referenced by main().

#define ROBOT_STATUS_NAME (char*)"robot_status"

Referenced by main().

#define ROBOT_VERT_SIGN_COMMAND_FMT (char*)"{int,double,string}"

#define ROBOT_VERT_SIGN_COMMAND_NAME (char*)"robot_vert_sign_command"

#define SPEED_STEP 10

Referenced by main().

#define TABLESIZE 11

Referenced by atlas_motion_command().

Typedef Documentation

typedef carmen_default_message atlas2000_reset_command_message

typedef carmen_default_message atlas2000_reset_occurred_message

typedef global_dummy_message robot_reset_distance_traveled_message

Function Documentation

void atlas_lights_command ( void )

prepares a lights command message, using a byte table, and send message to PIC if not in dummy mode, more important, receive a message from the PIC regarding the cross sensor

Returns:: nothing for now (should return an error code)

References cross_sensor, TYPE_executionflags::debug, TYPE_executionflags::dummy, robot_lights_command_message::headlights, i, msg, n, PortHandlerSensors, robot_lights_command_message::reverselights, robot_lights_command_message::taillights, robot_lights_command_message::turnleft, and robot_lights_command_message::turnright.

Referenced by main().

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void atlas_motion_command ( void )

prepares a motion message, using a PWM table, and send message to PIC if not in dummy mode

Returns:: nothing for now (should return an error code)

References TYPE_executionflags::debug, robot_motion_command_message::dir, dir, TYPE_executionflags::dummy, i, msg, n, PortHandlerMotors, robot_motion_command_message::speed, speed, table_dir_angle, table_pwm_to_send, and TABLESIZE.

Referenced by main().

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static void catcher ( int sig ) [static]

References signalled.

Referenced by main().

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double fsgn ( double val )

static void initialize_robot ( void ) [static]

initialize usb devices if not in dummy mode

Returns:: nothing for now

References bzero, COM_DEVICE_MOTORS, COM_DEVICE_SENSORS, TYPE_executionflags::dummy, PortHandlerMotors, PortHandlerSensors, and ret.

Referenced by main().

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long numChars ( int sd )

Referenced by main().

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void print_all ( void )

References robot_status_message::cross_sensor, robot_motion_command_message::dir, TYPE_vert_sign_console::H, robot_lights_command_message::headlights, TYPE_vert_sign_console::J, TYPE_vert_sign_console::M, TYPE_vert_sign_console::N, robot_lights_command_message::reverselights, robot_motion_command_message::speed, robot_lights_command_message::taillights, robot_lights_command_message::turnleft, robot_lights_command_message::turnright, TYPE_vert_sign_console::U, and TYPE_vert_sign_console::Y.

Referenced by main().

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void read_frequency_change_handler ( )

called when frequency of messaging changes, for now it olny prints a message

Returns:: nothing for now (should return an error code)

References TYPE_executionflags::debug, and read_frequency.

void robot_publish_brake_toggle ( char toggle )

function that publishes a toggle command for low level braking

Parameters:

toggle

flag that indicates to activate or not the low level braking

Returns:

Referenced by brake_toogle_computation(), and main().

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void robot_publish_lights_command ( robot_lights_command_message * msg )

Referenced by main(), and set_robot_lights().

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void robot_publish_motion_command ( robot_motion_command_message * msg )

Referenced by main(), and send_motion_msg_to_robot().

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void robot_publish_reset_distance_traveled ( void )

This functions publishes reset distance traveled commands.

Returns:

Referenced by main().

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void robot_publish_status	(	robot_motion_command_message	motion,
		robot_lights_command_message	lights,
		robot_vert_sign_command_message	vert_sign,
		unsigned char	cross_sensor,
		double	distance_traveled,
		double	real_velocity
	)

Referenced by main().

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void robot_publish_vert_sign_command ( robot_vert_sign_command_message * msg )

function that publishes vertecal sign command, to interface with robot lights

Parameters:

msg

- all params for signalize diferent vertical signs

Returns:

Referenced by main(), and optional_signs_computation().

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void robot_reset ( void )

void robot_subscribe_brake_toggle	(	robot_brake_toggle_message *	msg,
		carmen_handler_t	handler,
		carmen_subscribe_t	subscribe_how
	)

Referenced by main().

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void robot_subscribe_lights_command	(	robot_lights_command_message *	msg,
		carmen_handler_t	handler,
		carmen_subscribe_t	subscribe_how
	)

subscribe function to receive lights activation commands

Parameters:

	msg	pointer to store the published variable value
	handler	handler activated when a message is received
	subscribe_how	set the subscribe mode

Returns:

Referenced by main().

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void robot_subscribe_motion_command	(	robot_motion_command_message *	msg,
		carmen_handler_t	handler,
		carmen_subscribe_t	subscribe_how
	)

Referenced by main().

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void robot_subscribe_reset_distance_traveled	(	carmen_handler_t	handler,
		carmen_subscribe_t	subscribe_how
	)

Subscrive distance_traveled resets.

Parameters:

	msg	pointer to store the published variable value
	handler	handler activated when a message is received
	subscribe_how	set the subscribe mode

Returns:

Referenced by main().

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void robot_subscribe_status	(	robot_status_message *	msg,
		carmen_handler_t	handler,
		carmen_subscribe_t	subscribe_how
	)

Referenced by main(), and setup_messaging().

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void robot_subscribe_vert_sign_command	(	robot_vert_sign_command_message *	msg,
		carmen_handler_t	handler,
		carmen_subscribe_t	subscribe_how
	)

subscribe function to receive vertical signs activations commands

Parameters:

	msg	pointer to store the published variable value
	handler	handler activated when a message is received
	subscribe_how	set the subscribe mode

Returns:: void - .

Referenced by main().

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void safety_handler ( void )

this is a legacy function used to halt the robot if link with host was lost. should not be used

Returns:: nothing for now (should return an error code)

References robot_motion_command_message::timestamp.

Referenced by main().

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Variable Documentation

int arguments

carmen_param_t basesensor_params[]

Initial value:

 {

    {(char*)"base", (char*)"frequency", CARMEN_PARAM_DOUBLE, &read_frequency, 1, NULL},
    {(char*)"base", (char*)"comport_motors", CARMEN_PARAM_STRING, &COM_DEVICE_MOTORS, 0, NULL},
    {(char*)"base", (char*)"comport_sensors", CARMEN_PARAM_STRING, &COM_DEVICE_SENSORS, 0, NULL},
    {(char*)"base", (char*)"maximum_dir", CARMEN_PARAM_DOUBLE, &maximum_dir, 1, NULL},
    {(char*)"base", (char*)"minimum_dir", CARMEN_PARAM_DOUBLE, &minimum_dir, 1, NULL}}