compAIR/libcreate
compAIR/libcreate
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Add support for early model Roomba 400s and other robots using the original SCI protocol.

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This commit is contained in:
Ben Wolsieffer 2016-07-13 21:50:32 -04:00
parent c68a308c71
commit 618956e14c
18 changed files with 675 additions and 307 deletions
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3
CMakeLists.txt
View file

@ -13,8 +13,11 @@ include_directories(
add_library(create
src/create.cpp
src/serial.cpp
src/serial_stream.cpp
src/serial_query.cpp
src/data.cpp
src/packet.cpp
src/types.cpp
)
if(THREADS_HAVE_PTHREAD_ARG)

6
README.md
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@ -1,9 +1,13 @@
# libcreate
C++ library for interfacing with iRobot's [Create 1 and 2](http://www.irobot.com/About-iRobot/STEM/Create-2.aspx). This library forms the basis of the ROS driver in [create_autonomy](https://github.com/autonomylab/create_autonomy).
C++ library for interfacing with iRobot's [Create 1 and 2](http://www.irobot.com/About-iRobot/STEM/Create-2.aspx) as well as most models of Roombas. This library forms the basis of the ROS driver in [create_autonomy](https://github.com/autonomylab/create_autonomy).
* Documentation: TODO
* Code API: TODO
* Protocol documentation:
- [`V_1`](http://www.ecsl.cs.sunysb.edu/mint/Roomba_SCI_Spec_Manual.pdf) (Roomba 400 series )
- [`V_2`](http://www.irobot.com/filelibrary/pdfs/hrd/create/Create%20Open%20Interface_v2.pdf) (Create 1, Roomba 500 series)
- [`V_3`](https://cdn-shop.adafruit.com/datasheets/create_2_Open_Interface_Spec.pdf) (Create 2, Roomba 600-800 series)
* Author: [Jacob Perron](http://jacobperron.ca) ([Autonomy Lab](http://autonomylab.org), [Simon Fraser University](http://www.sfu.ca))
* Contributors: [Mani Monajjemi](http:mani.im), [Ben Wolsieffer](https://github.com/lopsided98)

2
examples/bumper_example.cpp
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@ -3,7 +3,7 @@
int main(int argc, char** argv) {
std::string port = "/dev/ttyUSB0";
int baud = 115200;
create::RobotModel model = create::CREATE_2;
create::RobotModel model = create::RobotModel::CREATE_2;
create::Create* robot = new create::Create(model);

4
examples/create_demo.cpp
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@ -5,10 +5,10 @@ create::Create* robot;
int main(int argc, char** argv) {
std::string port = "/dev/ttyUSB0";
int baud = 115200;
create::RobotModel model = create::CREATE_2;
create::RobotModel model = create::RobotModel::CREATE_2;
if (argc > 1 && std::string(argv[1]) == "create1") {
model = create::CREATE_1;
model = create::RobotModel::CREATE_1;
baud = 57600;
std::cout << "1st generation Create selected" << std::endl;
}

4
examples/odom_example.cpp
View file

@ -5,10 +5,10 @@ create::Create* robot;
int main(int argc, char** argv) {
std::string port = "/dev/ttyUSB0";
int baud = 115200;
create::RobotModel model = create::CREATE_2;
create::RobotModel model = create::RobotModel::CREATE_2;
if (argc > 1 && std::string(argv[1]) == "create1") {
model = create::CREATE_1;
model = create::RobotModel::CREATE_1;
baud = 57600;
std::cout << "1st generation Create selected" << std::endl;
}

22
include/create/create.h
View file

@ -37,7 +37,8 @@ POSSIBILITY OF SUCH DAMAGE.
#include <string>
#include <unistd.h>
#include "create/serial.h"
#include "create/serial_stream.h"
#include "create/serial_query.h"
#include "create/data.h"
#include "create/types.h"
#include "create/util.h"
@ -68,6 +69,8 @@ namespace create {
uint8_t powerLED;
uint8_t powerLEDIntensity;
CreateMode mode;
create::Pose pose;
create::Vel vel;
@ -80,6 +83,9 @@ namespace create {
Matrix poseCovar;
float requestedLeftVel;
float requestedRightVel;
void init();
// Add two matrices and handle overflow case
Matrix addMatrices(const Matrix &A, const Matrix &B) const;
@ -94,7 +100,7 @@ namespace create {
/* Default constructor.
* Does not attempt to establish serial connection to Create.
*/
Create(RobotModel = CREATE_2);
Create(RobotModel = RobotModel::CREATE_2);
/* Attempts to establish serial connection to Create.
* \param port of your computer that is connected to Create.
@ -102,7 +108,7 @@ namespace create {
* 115200 for Create 2 and 57600 for Create 1.
* \param model type of robot.
*/
Create(const std::string& port, const int& baud, RobotModel model = CREATE_2);
Create(const std::string& port, const int& baud, RobotModel model = RobotModel::CREATE_2);
~Create();
@ -152,21 +158,21 @@ namespace create {
* turn in place clockwise = -CREATE_2_IN_PLACE_RADIUS
* \return true if successful, false otherwise
*/
bool driveRadius(const float& velocity, const float& radius) const;
bool driveRadius(const float& velocity, const float& radius);
/* Set the velocities for the left and right wheels.
* \param leftWheel velocity in m/s.
* \param rightWheel veloctiy in m/s.
* \return true if successful, false otherwise
*/
bool driveWheels(const float& leftWheel, const float& rightWheel) const;
bool driveWheels(const float& leftWheel, const float& rightWheel);
/* Set the forward and angular velocity of Create.
* \param xVel in m/s
* \param angularVel in rads/s
* \return true if successful, false otherwise
*/
bool drive(const float& xVel, const float& angularVel) const;
bool drive(const float& xVel, const float& angularVel);
/* Set the power to the side brush motor.
* \param power is in the range [-1, 1]
@ -453,10 +459,12 @@ namespace create {
float getRightWheelDistance() const;
/* Get the requested velocity (in meters/sec) of the left wheel.
* This value is bounded at the maximum velocity of the robot model.
*/
float getRequestedLeftWheelVel() const;
/* Get the requested velocity (in meters/sec) of the right wheel.
* This value is bounded at the maximum velocity of the robot model.
*/
float getRequestedRightWheelVel() const;
@ -466,7 +474,7 @@ namespace create {
/* Get the current mode reported by Create.
*/
create::CreateMode getMode() const;
create::CreateMode getMode();
/* Get the estimated position of Create based on wheel encoders.
*/

2
include/create/data.h
View file

@ -48,7 +48,7 @@ namespace create {
std::vector<uint8_t> ids;
public:
Data(RobotModel = CREATE_2);
Data(ProtocolVersion version = V_3);
~Data();
bool isValidPacketID(const uint8_t id) const;

39
include/create/serial.h
View file

@ -47,39 +47,20 @@ POSSIBILITY OF SUCH DAMAGE.
namespace create {
class Serial {
private:
enum ReadState {
READ_HEADER,
READ_NBYTES,
READ_PACKET_ID,
READ_PACKET_BYTES,
READ_CHECKSUM
};
boost::shared_ptr<Data> data;
protected:
boost::asio::io_service io;
boost::asio::serial_port port;
private:
boost::thread ioThread;
boost::condition_variable dataReadyCond;
boost::mutex dataReadyMut;
ReadState readState;
bool dataReady;
bool isReading;
bool firstRead;
// These are for possible diagnostics
uint64_t corruptPackets;
uint64_t totalPackets;
// State machine variables
uint8_t headerByte;
uint8_t packetID;
uint8_t expectedNumBytes;
uint8_t byteRead;
uint16_t packetBytes;
uint8_t numBytesRead;
uint32_t byteSum;
uint8_t numDataBytesRead;
uint8_t expectedNumDataBytes;
// Callback executed when data arrives from Create
void onData(const boost::system::error_code& e, const std::size_t& size);
@ -88,11 +69,21 @@ namespace create {
// Start and stop reading data from Create
bool startReading();
void stopReading();
protected:
boost::shared_ptr<Data> data;
// These are for possible diagnostics
uint64_t corruptPackets;
uint64_t totalPackets;
virtual bool startSensorStream() = 0;
virtual void processByte(uint8_t byteRead) = 0;
// Notifies main thread that data is fresh and makes the user callback
void notifyDataReady();
public:
Serial(boost::shared_ptr<Data> data, const uint8_t& header = create::util::CREATE_2_HEADER);
Serial(boost::shared_ptr<Data> data);
~Serial();
bool connect(const std::string& port, const int& baud = 115200, boost::function<void()> cb = 0);
void disconnect();

76
include/create/serial_query.h Normal file
View file

@ -0,0 +1,76 @@
/**
Software License Agreement (BSD)
\file serial_query.h
\authors Jacob Perron <jperron@sfu.ca>
\authors Ben Wolsieffer <benwolsieffer@gmail.com>
\copyright Copyright (c) 2015, Autonomy Lab (Simon Fraser University), All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice,
this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of Autonomy Lab nor the names of its contributors may
be used to endorse or promote products derived from this software without
specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE.
*/
// Based on example from:
// https://github.com/labust/labust-ros-pkg/wiki/Create-a-Serial-Port-application
#ifndef CREATE_SERIAL_QUERY_H
#define CREATE_SERIAL_QUERY_H
#include <boost/asio.hpp>
#include <boost/thread.hpp>
#include <boost/thread/condition_variable.hpp>
#include <boost/function.hpp>
#include <boost/shared_ptr.hpp>
#include "create/data.h"
#include "create/types.h"
#include "create/util.h"
#include "create/serial.h"
namespace create {
class SerialQuery : public Serial {
private:
boost::asio::deadline_timer streamRecoveryTimer;
uint8_t packetID;
int8_t packetByte;
uint16_t packetData;
const uint8_t maxPacketID;
bool started;
void requestSensorData();
void restartSensorStream(const boost::system::error_code& err);
void flushInput();
protected:
bool startSensorStream();
void processByte(uint8_t byteRead);
public:
SerialQuery(boost::shared_ptr<Data> data);
};
} // namespace create
#endif // CREATE_SERIAL_H

81
include/create/serial_stream.h Normal file
View file

@ -0,0 +1,81 @@
/**
Software License Agreement (BSD)
\file serial_stream.h
\authors Jacob Perron <jperron@sfu.ca>
\copyright Copyright (c) 2015, Autonomy Lab (Simon Fraser University), All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice,
this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of Autonomy Lab nor the names of its contributors may
be used to endorse or promote products derived from this software without
specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE.
*/
// Based on example from:
// https://github.com/labust/labust-ros-pkg/wiki/Create-a-Serial-Port-application
#ifndef CREATE_SERIAL_STREAM_H
#define CREATE_SERIAL_STREAM_H
#include <boost/asio.hpp>
#include <boost/thread.hpp>
#include <boost/thread/condition_variable.hpp>
#include <boost/function.hpp>
#include <boost/shared_ptr.hpp>
#include "create/data.h"
#include "create/types.h"
#include "create/util.h"
#include "create/serial.h"
namespace create {
class SerialStream : public Serial {
private:
enum ReadState {
READ_HEADER,
READ_NBYTES,
READ_PACKET_ID,
READ_PACKET_BYTES,
READ_CHECKSUM
};
// State machine variables
ReadState readState;
uint8_t headerByte;
uint8_t packetID;
uint8_t expectedNumBytes;
uint16_t packetBytes;
uint8_t numBytesRead;
uint32_t byteSum;
uint8_t numDataBytesRead;
uint8_t expectedNumDataBytes;
protected:
bool startSensorStream();
void processByte(uint8_t byteRead);
public:
SerialStream(boost::shared_ptr<Data> data, const uint8_t& header = create::util::STREAM_HEADER);
};
} // namespace create
#endif // CREATE_SERIAL_H

50
include/create/types.h
View file

@ -33,11 +33,46 @@ POSSIBILITY OF SUCH DAMAGE.
#define CREATE_TYPES_H
#include <vector>
#include <stdint.h>
#include <string>
#include <stdexcept>
namespace create {
enum RobotModel {
CREATE_1 = 0, // Roomba 400 series
CREATE_2 // Roomba 600 series
enum ProtocolVersion {
V_1 = 1,
V_2 = 2,
V_3 = 4,
V_ALL = 0xFFFFFFFF
};
class RobotModel {
public:
bool operator==(RobotModel& other) const;
operator uint32_t() const;
uint32_t getId() const;
ProtocolVersion getVersion() const;
float getAxleLength() const;
unsigned int getBaud() const;
float getMaxVelocity() const;
float getWheelDiameter() const;
static RobotModel ROOMBA_400; // Roomba 400 series
static RobotModel CREATE_1; // Roomba 500 series
static RobotModel CREATE_2; // Roomba 600 series
private:
uint32_t id;
ProtocolVersion version;
float axleLength;
unsigned int baud;
float maxVelocity;
float wheelDiameter;
RobotModel(const ProtocolVersion version, const float axleLength, const unsigned int baud, const float maxVelocity = 0.5, const float wheelDiameter = 0.078);
static uint32_t nextId;
};
enum SensorPacketID {
@ -60,8 +95,8 @@ namespace create {
ID_CLIFF_RIGHT = 12,
ID_VIRTUAL_WALL = 13,
ID_OVERCURRENTS = 14,
ID_DIRT_DETECT = 15,
ID_UNUSED_1 = 16,
ID_DIRT_DETECT_LEFT = 15,
ID_DIRT_DETECT_RIGHT = 16,
ID_IR_OMNI = 17,
ID_IR_LEFT = 52,
ID_IR_RIGHT = 53,
@ -79,8 +114,8 @@ namespace create {
ID_CLIFF_FRONT_LEFT_SIGNAL = 29,
ID_CLIFF_FRONT_RIGHT_SIGNAL = 30,
ID_CLIFF_RIGHT_SIGNAL = 31,
ID_UNUSED_2 = 32,
ID_UNUSED_3 = 33,
ID_CARGO_BAY_DIGITAL_INPUTS = 32,
ID_CARGO_BAY_ANALOG_SIGNAL = 33,
ID_CHARGE_SOURCE = 34,
ID_OI_MODE = 35,
ID_SONG_NUM = 36,
@ -112,6 +147,7 @@ namespace create {
OC_RESET = 7,
OC_STOP = 173,
OC_BAUD = 129,
OC_CONTROL = 130,
OC_SAFE = 131,
OC_FULL = 132,
OC_CLEAN = 135,

17
include/create/util.h
View file

@ -40,17 +40,12 @@ POSSIBILITY OF SUCH DAMAGE.
namespace create {
namespace util {
static const float CREATE_1_AXLE_LENGTH = 0.26;
static const uint8_t CREATE_2_HEADER = 19;
static const float CREATE_2_AXLE_LENGTH = 0.235;
static const float CREATE_2_TICKS_PER_REV = 508.8;
static const uint32_t CREATE_2_MAX_ENCODER_TICKS = 65535;
static const float CREATE_2_WHEEL_DIAMETER = 0.078;
static const float CREATE_2_MAX_VEL = 0.5;
static const float CREATE_2_MAX_RADIUS = 2.0;
static const float CREATE_2_STRAIGHT_RADIUS = 32.768;
static const float CREATE_2_IN_PLACE_RADUIS = 0.001;
static const uint8_t STREAM_HEADER = 19;
static const float V_3_TICKS_PER_REV = 508.8;
static const uint32_t V_3_MAX_ENCODER_TICKS = 65535;
static const float MAX_RADIUS = 2.0;
static const float STRAIGHT_RADIUS = 32.768;
static const float IN_PLACE_RADIUS = 0.001;
static const float PI = 3.14159;
static const float TWO_PI = 6.28318;
static const float EPS = 0.0001;

261
src/create.cpp
View file

@ -8,7 +8,8 @@
#include "create/create.h"
#define GET_DATA(id) (data->getPacket(id)->getData())
#define BOUND(val,min,max) (val<min?val=min:(val>max?val=max:val=val))
#define BOUND_CONST(val,min,max) (val<min?min:(val>max?max:val))
#define BOUND(val,min,max) (val = BOUND_CONST(val,min,max))
namespace create {
@ -31,6 +32,7 @@ namespace create {
totalLeftDist = 0.0;
totalRightDist = 0.0;
firstOnData = true;
mode = MODE_OFF;
pose.x = 0;
pose.y = 0;
pose.yaw = 0;
@ -40,8 +42,14 @@ namespace create {
vel.yaw = 0;
vel.covariance = std::vector<float>(9, 0.0);
poseCovar = Matrix(3, 3, 0.0);
data = boost::shared_ptr<Data>(new Data(model));
serial = boost::make_shared<Serial>(data);
requestedLeftVel = 0;
requestedRightVel = 0;
data = boost::shared_ptr<Data>(new Data(model.getVersion()));
if (model.getVersion() == V_1) {
serial = boost::make_shared<SerialQuery>(data);
} else {
serial = boost::make_shared<SerialStream>(data);
}
}
Create::Create(RobotModel m) : model(m) {
@ -83,7 +91,7 @@ namespace create {
void Create::onData() {
if (firstOnData) {
if (model == CREATE_2) {
if (model.getVersion() >= V_3) {
// Initialize tick counts
prevTicksLeft = GET_DATA(ID_LEFT_ENC);
prevTicksRight = GET_DATA(ID_RIGHT_ENC);
@ -95,22 +103,45 @@ namespace create {
// Get current time
util::timestamp_t curTime = util::getTimestamp();
float dt = (curTime - prevOnDataTime) / 1000000.0;
float deltaDist, deltaX, deltaY, deltaYaw, leftWheelDist, rightWheelDist;
if (model == CREATE_1) {
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
* Angle returned is NOT correct if your robot is using older firmware: *
* http://answers.ros.org/question/31935/createroomba-odometry/ *
* TODO: Consider using velocity command as substitute for pose estimation. *
* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
deltaDist = ((int16_t) GET_DATA(ID_DISTANCE)) / 1000.0; //mm -> m
deltaYaw = ((int16_t) GET_DATA(ID_ANGLE)) * (util::PI / 180.0); // D2R
deltaX = deltaDist * cos( util::normalizeAngle(pose.yaw + deltaYaw) );
deltaY = deltaDist * sin( util::normalizeAngle(pose.yaw + deltaYaw) );
const float deltaYawWheelDist = (util::CREATE_1_AXLE_LENGTH / 2.0) * deltaYaw;
leftWheelDist = deltaDist - deltaYawWheelDist;
rightWheelDist = deltaDist + deltaYawWheelDist;
float deltaDist, deltaX, deltaY, deltaYaw, leftWheelDist, rightWheelDist, wheelDistDiff;
// Protocol versions 1 and 2 use distance and angle fields for odometry
int16_t angleField;
if (model.getVersion() <= V_2) {
// This is a standards compliant way of doing unsigned to signed conversion
uint16_t distanceRaw = GET_DATA(ID_DISTANCE);
int16_t distance;
std::memcpy(&distance, &distanceRaw, sizeof(distance));
deltaDist = distance / 1000.0; // mm -> m
// Angle is processed differently in versions 1 and 2
uint16_t angleRaw = GET_DATA(ID_ANGLE);
std::memcpy(&angleField, &angleRaw, sizeof(angleField));
}
else if (model == CREATE_2) {
if (model.getVersion() == V_1) {
wheelDistDiff = 2.0 * angleField / 1000.0;
leftWheelDist = deltaDist - (wheelDistDiff / 2.0);
rightWheelDist = deltaDist + (wheelDistDiff / 2.0);
deltaYaw = wheelDistDiff / model.getAxleLength();
} else if (model.getVersion() == V_2) {
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
* Certain older Creates have major problems with odometry *
* http://answers.ros.org/question/31935/createroomba-odometry/ *
* *
* All Creates have an issue with rounding of the angle field, which causes *
* major errors to accumulate in the odometry yaw. *
* http://wiki.tekkotsu.org/index.php/Create_Odometry_Bug *
* https://github.com/AutonomyLab/create_autonomy/issues/28 *
* *
* TODO: Consider using velocity command as substitute for pose estimation *
* to mitigate both of these problems. *
* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
deltaYaw = angleField * (util::PI / 180.0); // D2R
wheelDistDiff = model.getAxleLength() * deltaYaw;
leftWheelDist = deltaDist - (wheelDistDiff / 2.0);
rightWheelDist = deltaDist + (wheelDistDiff / 2.0);
} else if (model.getVersion() >= V_3) {
// Get cumulative ticks (wraps around at 65535)
uint16_t totalTicksLeft = GET_DATA(ID_LEFT_ENC);
uint16_t totalTicksRight = GET_DATA(ID_RIGHT_ENC);
@ -121,35 +152,33 @@ namespace create {
prevTicksRight = totalTicksRight;
// Handle wrap around
if (fabs(ticksLeft) > 0.9 * util::CREATE_2_MAX_ENCODER_TICKS) {
ticksLeft = (ticksLeft % util::CREATE_2_MAX_ENCODER_TICKS) + 1;
if (fabs(ticksLeft) > 0.9 * util::V_3_MAX_ENCODER_TICKS) {
ticksLeft = (ticksLeft % util::V_3_MAX_ENCODER_TICKS) + 1;
}
if (fabs(ticksRight) > 0.9 * util::CREATE_2_MAX_ENCODER_TICKS) {
ticksRight = (ticksRight % util::CREATE_2_MAX_ENCODER_TICKS) + 1;
if (fabs(ticksRight) > 0.9 * util::V_3_MAX_ENCODER_TICKS) {
ticksRight = (ticksRight % util::V_3_MAX_ENCODER_TICKS) + 1;
}
// Compute distance travelled by each wheel
leftWheelDist = (ticksLeft / util::CREATE_2_TICKS_PER_REV)
* util::CREATE_2_WHEEL_DIAMETER * util::PI;
rightWheelDist = (ticksRight / util::CREATE_2_TICKS_PER_REV)
* util::CREATE_2_WHEEL_DIAMETER * util::PI;
float wheelDistDiff = rightWheelDist - leftWheelDist;
leftWheelDist = (ticksLeft / util::V_3_TICKS_PER_REV)
* model.getWheelDiameter() * util::PI;
rightWheelDist = (ticksRight / util::V_3_TICKS_PER_REV)
* model.getWheelDiameter() * util::PI;
deltaDist = (rightWheelDist + leftWheelDist) / 2.0;
// Moving straight
if (fabs(wheelDistDiff) < util::EPS) {
deltaX = deltaDist * cos(pose.yaw);
deltaY = deltaDist * sin(pose.yaw);
deltaYaw = 0.0;
}
else {
float turnRadius = (util::CREATE_2_AXLE_LENGTH / 2.0) * (leftWheelDist + rightWheelDist) / wheelDistDiff;
deltaYaw = wheelDistDiff / util::CREATE_2_AXLE_LENGTH;
deltaX = turnRadius * (sin(pose.yaw + deltaYaw) - sin(pose.yaw));
deltaY = -turnRadius * (cos(pose.yaw + deltaYaw) - cos(pose.yaw));
}
} // if CREATE_2
wheelDistDiff = rightWheelDist - leftWheelDist;
deltaYaw = wheelDistDiff / model.getAxleLength();
}
// Moving straight
if (fabs(wheelDistDiff) < util::EPS) {
deltaX = deltaDist * cos(pose.yaw);
deltaY = deltaDist * sin(pose.yaw);
} else {
float turnRadius = (model.getAxleLength() / 2.0) * (leftWheelDist + rightWheelDist) / wheelDistDiff;
deltaX = turnRadius * (sin(pose.yaw + deltaYaw) - sin(pose.yaw));
deltaY = -turnRadius * (cos(pose.yaw + deltaYaw) - cos(pose.yaw));
}
totalLeftDist += leftWheelDist;
totalRightDist += rightWheelDist;
@ -158,8 +187,7 @@ namespace create {
vel.x = deltaDist / dt;
vel.y = 0.0;
vel.yaw = deltaYaw / dt;
}
else {
} else {
vel.x = 0.0;
vel.y = 0.0;
vel.yaw = 0.0;
@ -171,7 +199,7 @@ namespace create {
float kl = 1.0;
float cosYawAndHalfDelta = cos(pose.yaw + (deltaYaw / 2.0)); // deltaX?
float sinYawAndHalfDelta = sin(pose.yaw + (deltaYaw / 2.0)); // deltaY?
float distOverTwoWB = deltaDist / (util::CREATE_2_AXLE_LENGTH * 2.0);
float distOverTwoWB = deltaDist / (model.getAxleLength() * 2.0);
Matrix invCovar(2, 2);
invCovar(0, 0) = kr * fabs(rightWheelDist);
@ -184,8 +212,8 @@ namespace create {
Finc(0, 1) = (cosYawAndHalfDelta / 2.0) + (distOverTwoWB * sinYawAndHalfDelta);
Finc(1, 0) = (sinYawAndHalfDelta / 2.0) + (distOverTwoWB * cosYawAndHalfDelta);
Finc(1, 1) = (sinYawAndHalfDelta / 2.0) - (distOverTwoWB * cosYawAndHalfDelta);
Finc(2, 0) = (1.0 / util::CREATE_2_AXLE_LENGTH);
Finc(2, 1) = (-1.0 / util::CREATE_2_AXLE_LENGTH);
Finc(2, 0) = (1.0 / model.getAxleLength());
Finc(2, 1) = (-1.0 / model.getAxleLength());
Matrix FincT = boost::numeric::ublas::trans(Finc);
Matrix Fp(3, 3);
@ -271,24 +299,39 @@ namespace create {
//}
bool Create::setMode(const CreateMode& mode) {
if (model.getVersion() == V_1){
// Switch to safe mode (required for compatibility with V_1)
if (!(serial->sendOpcode(OC_START) && serial->sendOpcode(OC_CONTROL))) return false;
}
bool ret;
switch (mode) {
case MODE_OFF:
return serial->sendOpcode(OC_POWER);
if (model.getVersion() == V_2) {
CERR("[create::Create] ", "protocol version 2 does not support turning robot off");
ret = false;
} else {
ret = serial->sendOpcode(OC_POWER);
}
break;
case MODE_PASSIVE:
return serial->sendOpcode(OC_START);
ret = serial->sendOpcode(OC_START);
break;
case MODE_SAFE:
return serial->sendOpcode(OC_SAFE);
if (model.getVersion() > V_1) {
ret = serial->sendOpcode(OC_SAFE);
}
break;
case MODE_FULL:
return serial->sendOpcode(OC_FULL);
ret = serial->sendOpcode(OC_FULL);
break;
default:
CERR("[create::Create] ", "cannot set robot to mode '" << mode << "'");
break;
ret = false;
}
return false;
if (ret) {
this->mode = mode;
}
return ret;
}
bool Create::clean(const CleanMode& mode) {
@ -309,16 +352,18 @@ namespace create {
return serial->send(cmd, 4);
}
bool Create::driveRadius(const float& vel, const float& radius) const {
bool Create::driveRadius(const float& vel, const float& radius) {
// Bound velocity
float boundedVel = BOUND_CONST(vel, -model.getMaxVelocity(), model.getMaxVelocity());
// Expects each parameter as two bytes each and in millimeters
int16_t vel_mm = roundf(vel * 1000);
int16_t vel_mm = roundf(boundedVel * 1000);
int16_t radius_mm = roundf(radius * 1000);
BOUND(vel_mm, -util::CREATE_2_MAX_VEL * 1000, util::CREATE_2_MAX_VEL * 1000);
// Bound radius if not a special case
if (radius_mm != 32768 && radius_mm != 32767 &&
radius_mm != -1 && radius_mm != 1) {
BOUND(radius_mm, -util::CREATE_2_MAX_RADIUS, util::CREATE_2_MAX_RADIUS);
BOUND(radius_mm, -util::MAX_RADIUS * 1000, util::MAX_RADIUS * 1000);
}
uint8_t cmd[5] = { OC_DRIVE,
@ -331,25 +376,58 @@ namespace create {
return serial->send(cmd, 5);
}
bool Create::driveWheels(const float& leftVel, const float& rightVel) const {
int16_t leftCmd = roundf(leftVel * 1000);
int16_t rightCmd = roundf(rightVel * 1000);
BOUND(leftCmd, -util::CREATE_2_MAX_VEL * 1000, util::CREATE_2_MAX_VEL * 1000);
BOUND(rightCmd, -util::CREATE_2_MAX_VEL * 1000, util::CREATE_2_MAX_VEL * 1000);
bool Create::driveWheels(const float& leftVel, const float& rightVel) {
const float boundedLeftVel = BOUND_CONST(leftVel, -model.getMaxVelocity(), model.getMaxVelocity());
const float boundedRightVel = BOUND_CONST(rightVel, -model.getMaxVelocity(), model.getMaxVelocity());
requestedLeftVel = boundedLeftVel;
requestedRightVel = boundedRightVel;
if (model.getVersion() > V_1) {
int16_t leftCmd = roundf(boundedLeftVel * 1000);
int16_t rightCmd = roundf(boundedRightVel * 1000);
uint8_t cmd[5] = { OC_DRIVE_DIRECT,
rightCmd >> 8,
rightCmd & 0xff,
leftCmd >> 8,
leftCmd & 0xff
};
return serial->send(cmd, 5);
uint8_t cmd[5] = { OC_DRIVE_DIRECT,
rightCmd >> 8,
rightCmd & 0xff,
leftCmd >> 8,
leftCmd & 0xff
};
return serial->send(cmd, 5);
} else {
float radius;
// Prevent divide by zero when driving straight
if (boundedLeftVel != boundedRightVel) {
radius = -((model.getAxleLength() / 2.0) * (boundedLeftVel + boundedRightVel)) /
(boundedLeftVel - boundedRightVel);
} else {
radius = util::STRAIGHT_RADIUS;
}
float vel;
// Fix signs for spin in place
if (boundedLeftVel == -boundedRightVel || std::abs(roundf(radius * 1000)) <= 1) {
radius = util::IN_PLACE_RADIUS;
vel = boundedRightVel;
} else {
vel = (std::abs(boundedLeftVel) + std::abs(boundedRightVel)) / 2.0 * ((boundedLeftVel + boundedRightVel) > 0 ? 1.0 : -1.0);
}
// Radius turns have a maximum radius of 2.0 meters
// When the radius is > 2 but <= 10, use a 2 meter radius
// When it is > 10, drive straight
// TODO: alternate between these 2 meter radius and straight to
// fake a larger radius
if (radius > 10.0) {
radius = util::STRAIGHT_RADIUS;
}
return driveRadius(vel, radius);
}
}
bool Create::drive(const float& xVel, const float& angularVel) const {
bool Create::drive(const float& xVel, const float& angularVel) {
// Compute left and right wheel velocities
float leftVel = xVel - ((util::CREATE_2_AXLE_LENGTH / 2.0) * angularVel);
float rightVel = xVel + ((util::CREATE_2_AXLE_LENGTH / 2.0) * angularVel);
float leftVel = xVel - ((model.getAxleLength() / 2.0) * angularVel);
float rightVel = xVel + ((model.getAxleLength() / 2.0) * angularVel);
return driveWheels(leftVel, rightVel);
}
@ -552,8 +630,8 @@ namespace create {
}
uint8_t Create::getDirtDetect() const {
if (data->isValidPacketID(ID_DIRT_DETECT)) {
return GET_DATA(ID_DIRT_DETECT);
if (data->isValidPacketID(ID_DIRT_DETECT_LEFT)) {
return GET_DATA(ID_DIRT_DETECT_LEFT);
}
else {
CERR("[create::Create] ", "Dirt detector not supported!");
@ -869,47 +947,26 @@ namespace create {
}
float Create::getLeftWheelDistance() const {
return totalLeftDist;
return totalLeftDist;
}
float Create::getRightWheelDistance() const {
return totalRightDist;
return totalRightDist;
}
float Create::getRequestedLeftWheelVel() const {
if (data->isValidPacketID(ID_LEFT_VEL)) {
uint16_t uvel = GET_DATA(ID_LEFT_VEL);
int16_t vel;
std::memcpy(&vel, &uvel, sizeof(vel));
return (vel / 1000.0);
}
else {
CERR("[create::Create] ", "Left wheel velocity not supported!");
return 0;
}
return requestedLeftVel;
}
float Create::getRequestedRightWheelVel() const {
if (data->isValidPacketID(ID_RIGHT_VEL)) {
uint16_t uvel = GET_DATA(ID_RIGHT_VEL);
int16_t vel;
std::memcpy(&vel, &uvel, sizeof(vel));
return (vel / 1000.0);
}
else {
CERR("[create::Create] ", "Right wheel velocity not supported!");
return 0;
}
return requestedRightVel;
}
create::CreateMode Create::getMode() const {
create::CreateMode Create::getMode() {
if (data->isValidPacketID(ID_OI_MODE)) {
return (create::CreateMode) GET_DATA(ID_OI_MODE);
}
else {
CERR("[create::Create] ", "Querying Mode not supported!");
return create::MODE_UNAVAILABLE;
mode = (create::CreateMode) GET_DATA(ID_OI_MODE);
}
return mode;
}
Pose Create::getPose() const {

96
src/data.cpp
View file

@ -1,72 +1,50 @@
#include "create/data.h"
#define ADD_PACKET(id,nbytes,info) (packets[id]=boost::make_shared<Packet>(nbytes,info))
#define ADD_PACKET(id,nbytes,info,enabledVersion) if ((enabledVersion) & version) packets[id]=boost::make_shared<Packet>(nbytes,info)
namespace create {
Data::Data(RobotModel model) {
Data::Data(ProtocolVersion version) {
// Populate data map
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
* WARNING: Adding too many packets will flood the serial *
* buffer and corrupt the stream. *
* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
ADD_PACKET(ID_BUMP_WHEELDROP, 1, "bumps_wheeldrops");
ADD_PACKET(ID_WALL, 1, "wall");
ADD_PACKET(ID_CLIFF_LEFT, 1, "cliff_left");
ADD_PACKET(ID_CLIFF_FRONT_LEFT, 1, "cliff_front_left");
ADD_PACKET(ID_CLIFF_FRONT_RIGHT, 1, "cliff_front_right");
ADD_PACKET(ID_CLIFF_RIGHT, 1, "cliff_right");
ADD_PACKET(ID_IR_OMNI, 1, "ir_opcode");
ADD_PACKET(ID_BUTTONS, 1, "buttons");
ADD_PACKET(ID_CHARGE_STATE, 1, "charging_state");
ADD_PACKET(ID_VOLTAGE, 2, "voltage");
ADD_PACKET(ID_CURRENT, 2, "current");
ADD_PACKET(ID_TEMP, 1, "temperature");
ADD_PACKET(ID_CHARGE , 2, "battery_charge");
ADD_PACKET(ID_CAPACITY, 2, "battery_capacity");
ADD_PACKET(ID_VIRTUAL_WALL, 1, "virtual_wall");
ADD_PACKET(ID_OI_MODE, 1, "oi_mode");
ADD_PACKET(ID_RIGHT_VEL, 2, "velocity_right");
ADD_PACKET(ID_LEFT_VEL, 2, "velocity_left");
if (model == CREATE_1) {
ADD_PACKET(ID_DISTANCE, 2, "distance");
ADD_PACKET(ID_ANGLE, 2, "angle");
}
else if (model == CREATE_2) {
//ADD_PACKET(ID_OVERCURRENTS, 1, "overcurrents");
ADD_PACKET(ID_DIRT_DETECT, 1, "dirt_detect");
//ADD_PACKET(ID_UNUSED_1, 1, "unused 1");
//ADD_PACKET(ID_WALL_SIGNAL, 2, "wall_signal");
//ADD_PACKET(ID_CLIFF_LEFT_SIGNAL, 2, "cliff_left_signal");
//ADD_PACKET(ID_CLIFF_FRONT_LEFT_SIGNAL, 2, "cliff_front_left_signal");
//ADD_PACKET(ID_CLIFF_FRONT_RIGHT_SIGNAL, 2, "cliff_front_right_signal");
//ADD_PACKET(ID_CLIFF_RIGHT_SIGNAL, 2, "cliff_right_signal");
//ADD_PACKET(ID_UNUSED_2, 1, "unused 2");
//ADD_PACKET(ID_UNUSED_3, 2, "unused 3");
//ADD_PACKET(ID_CHARGE_SOURCE, 1, "charger_available");
//ADD_PACKET(ID_SONG_NUM, 1, "song_number");
//ADD_PACKET(ID_PLAYING, 1, "song_playing");
//ADD_PACKET(ID_NUM_STREAM_PACKETS, 1, "oi_stream_num_packets");
//ADD_PACKET(ID_VEL, 2, "velocity");
//ADD_PACKET(ID_RADIUS, 2, "radius");
ADD_PACKET(ID_LEFT_ENC, 2, "enc_counts_left");
ADD_PACKET(ID_RIGHT_ENC, 2, "enc_counts_right");
ADD_PACKET(ID_LIGHT, 1, "light_bumper");
ADD_PACKET(ID_LIGHT_LEFT, 2, "light_bumper_left");
ADD_PACKET(ID_LIGHT_FRONT_LEFT, 2, "light_bumper_front_left");
ADD_PACKET(ID_LIGHT_CENTER_LEFT, 2, "light_bumper_center_left");
ADD_PACKET(ID_LIGHT_CENTER_RIGHT, 2, "light_bumper_center_right");
ADD_PACKET(ID_LIGHT_FRONT_RIGHT, 2, "light_bumper_front_right");
ADD_PACKET(ID_LIGHT_RIGHT, 2, "light_bumper_right");
ADD_PACKET(ID_IR_LEFT, 1, "ir_opcode_left");
ADD_PACKET(ID_IR_RIGHT, 1, "ir_opcode_right");
//ADD_PACKET(ID_LEFT_MOTOR_CURRENT, 2, "left_motor_current");
//ADD_PACKET(ID_RIGHT_MOTOR_CURRENT, 2, "right_motor_current");
//ADD_PACKET(ID_MAIN_BRUSH_CURRENT, 2, "main_brush_current");
//ADD_PACKET(ID_SIDE_BRUSH_CURRENT, 2, "side_brush_current");
ADD_PACKET(ID_STASIS, 1, "stasis");
} // if CREATE_2
ADD_PACKET(ID_BUMP_WHEELDROP, 1, "bumps_wheeldrops", V_ALL);
ADD_PACKET(ID_WALL, 1, "wall", V_ALL);
ADD_PACKET(ID_CLIFF_LEFT, 1, "cliff_left", V_ALL);
ADD_PACKET(ID_CLIFF_FRONT_LEFT, 1, "cliff_front_left", V_ALL);
ADD_PACKET(ID_CLIFF_FRONT_RIGHT, 1, "cliff_front_right", V_ALL);
ADD_PACKET(ID_CLIFF_RIGHT, 1, "cliff_right", V_ALL);
ADD_PACKET(ID_VIRTUAL_WALL, 1, "virtual_wall", V_ALL);
ADD_PACKET(ID_OVERCURRENTS, 1, "overcurrents", V_1);
ADD_PACKET(ID_DIRT_DETECT_LEFT, 1, "dirt_detect_left", V_ALL);
ADD_PACKET(ID_DIRT_DETECT_RIGHT, 1, "dirt_detect_right", V_1);
ADD_PACKET(ID_IR_OMNI, 1, "ir_opcode", V_ALL);
ADD_PACKET(ID_BUTTONS, 1, "buttons", V_ALL);
ADD_PACKET(ID_DISTANCE, 2, "distance", V_1 | V_2);
ADD_PACKET(ID_ANGLE, 2, "angle", V_1 | V_2);
ADD_PACKET(ID_CHARGE_STATE, 1, "charging_state", V_ALL);
ADD_PACKET(ID_VOLTAGE, 2, "voltage", V_ALL);
ADD_PACKET(ID_CURRENT, 2, "current", V_ALL);
ADD_PACKET(ID_TEMP, 1, "temperature", V_ALL);
ADD_PACKET(ID_CHARGE , 2, "battery_charge", V_ALL);
ADD_PACKET(ID_CAPACITY, 2, "battery_capacity", V_ALL);
ADD_PACKET(ID_OI_MODE, 1, "oi_mode", V_2 | V_3);
ADD_PACKET(ID_LEFT_ENC, 2, "enc_counts_left", V_3);
ADD_PACKET(ID_RIGHT_ENC, 2, "enc_counts_right", V_3);
ADD_PACKET(ID_LEFT_ENC, 2, "enc_counts_left", V_3);
ADD_PACKET(ID_RIGHT_ENC, 2, "enc_counts_right", V_3);
ADD_PACKET(ID_LIGHT, 1, "light_bumper", V_3);
ADD_PACKET(ID_LIGHT_LEFT, 2, "light_bumper_left", V_3);
ADD_PACKET(ID_LIGHT_FRONT_LEFT, 2, "light_bumper_front_left", V_3);
ADD_PACKET(ID_LIGHT_CENTER_LEFT, 2, "light_bumper_center_left", V_3);
ADD_PACKET(ID_LIGHT_CENTER_RIGHT, 2, "light_bumper_center_right", V_3);
ADD_PACKET(ID_LIGHT_FRONT_RIGHT, 2, "light_bumper_front_right", V_3);
ADD_PACKET(ID_LIGHT_RIGHT, 2, "light_bumper_right", V_3);
ADD_PACKET(ID_IR_LEFT, 1, "ir_opcode_left", V_3);
ADD_PACKET(ID_IR_RIGHT, 1, "ir_opcode_right", V_3);
ADD_PACKET(ID_STASIS, 1, "stasis", V_3);
totalDataBytes = 0;
for (std::map<uint8_t, boost::shared_ptr<Packet> >::iterator it = packets.begin();

94
src/serial.cpp
View file

@ -5,11 +5,9 @@
namespace create {
Serial::Serial(boost::shared_ptr<Data> d, const uint8_t& header) :
Serial::Serial(boost::shared_ptr<Data> d) :
data(d),
headerByte(header),
port(io),
readState(READ_HEADER),
isReading(false),
dataReady(false),
corruptPackets(0),
@ -64,27 +62,10 @@ namespace create {
// Only allow once
if (isReading) return true;
// Request from Create that we want a stream containing all packets
uint8_t numPackets = data->getNumPackets();
std::vector<uint8_t> packetIDs = data->getPacketIDs();
uint8_t streamReq[2 + numPackets];
streamReq[0] = OC_STREAM;
streamReq[1] = numPackets;
int i = 2;
for (std::vector<uint8_t>::iterator it = packetIDs.begin(); it != packetIDs.end(); ++it) {
streamReq[i] = *it;
i++;
}
// Start OI
sendOpcode(OC_START);
// Start streaming data
send(streamReq, 2 + numPackets);
expectedNumBytes = data->getTotalDataBytes() + numPackets;
//TODO: handle boost exceptions
if (!startSensorStream()) return false;
io.reset();
@ -112,7 +93,7 @@ namespace create {
// Request data again
sendOpcode(OC_START);
send(streamReq, 2 + numPackets);
startSensorStream();
}
}
@ -158,74 +139,7 @@ namespace create {
// Should have read exactly one byte
if (size == 1) {
numBytesRead++;
byteSum += byteRead;
switch (readState) {
case READ_HEADER:
if (byteRead == headerByte) {
readState = READ_NBYTES;
byteSum = byteRead;
}
break;
case READ_NBYTES:
if (byteRead == expectedNumBytes) {
readState = READ_PACKET_ID;
numBytesRead = 0;
}
else {
//notifyDataReady();
readState = READ_HEADER;
}
break;
case READ_PACKET_ID:
packetID = byteRead;
if (data->isValidPacketID(packetID)) {
expectedNumDataBytes = data->getPacket(packetID)->nbytes;
assert(expectedNumDataBytes == 1 || expectedNumDataBytes == 2);
numDataBytesRead = 0;
packetBytes = 0;
readState = READ_PACKET_BYTES;
}
else {
//notifyDataReady();
readState = READ_HEADER;
}
break;
case READ_PACKET_BYTES:
numDataBytesRead++;
if (expectedNumDataBytes == 2 && numDataBytesRead == 1) {
// High byte first
packetBytes = (byteRead << 8) & 0xff00;
}
else {
// Low byte
packetBytes += byteRead;
}
if (numDataBytesRead >= expectedNumDataBytes) {
data->getPacket(packetID)->setTempData(packetBytes);
if (numBytesRead >= expectedNumBytes)
readState = READ_CHECKSUM;
else
readState = READ_PACKET_ID;
}
break;
case READ_CHECKSUM:
if ((byteSum & 0xFF) == 0) {
notifyDataReady();
}
else {
// Corrupt data
corruptPackets++;
}
totalPackets++;
// Start again
readState = READ_HEADER;
break;
} // end switch (readState)
processByte(byteRead);
} // end if (size == 1)
// Read the next byte

70
src/serial_query.cpp Normal file
View file

@ -0,0 +1,70 @@
#include <iostream>
#include "create/serial_query.h"
#include "create/types.h"
#define SENSORS_RESPONSE_LENGTH 20
namespace create {
SerialQuery::SerialQuery(boost::shared_ptr<Data> d) : Serial(d),
streamRecoveryTimer(io),
packetID(ID_BUMP_WHEELDROP),
packetByte(0),
packetData(0),
maxPacketID(ID_CAPACITY) {
}
bool SerialQuery::startSensorStream() {
if (!started) {
requestSensorData();
started = true;
}
return true;
}
void SerialQuery::requestSensorData() {
static const uint8_t requestPacket[2] = { OC_SENSORS, ID_GROUP_0 };
// Prevents previous packet from corrupting next one
flushInput();
send(requestPacket, 2);
// Automatically resend request if no response is received
streamRecoveryTimer.expires_from_now(boost::posix_time::milliseconds(50));
streamRecoveryTimer.async_wait(boost::bind(&SerialQuery::restartSensorStream, this, _1));
}
void SerialQuery::restartSensorStream(const boost::system::error_code& err) {
if (err != boost::asio::error::operation_aborted) {
if (packetID != ID_BUMP_WHEELDROP) {
++corruptPackets;
}
requestSensorData();
}
}
void SerialQuery::flushInput() {
// Only works with POSIX support
tcflush(port.lowest_layer().native(), TCIFLUSH);
}
void SerialQuery::processByte(uint8_t byteRead) {
packetData |= (static_cast<uint16_t>(byteRead) << (8 * packetByte));
if (packetByte > 0) {
--packetByte;
} else if (packetID < maxPacketID) {
// New packet
data->getPacket(packetID)->setTempData(packetData);
packetData = 0;
++packetID;
packetByte = data->getPacket(packetID)->nbytes - 1;
} else {
// Response finished
packetID = ID_BUMP_WHEELDROP;
packetByte = 0;
packetData = 0;
notifyDataReady();
requestSensorData();
}
}
} // namespace create

103
src/serial_stream.cpp Normal file
View file

@ -0,0 +1,103 @@
#include <iostream>
#include "create/serial_stream.h"
#include "create/types.h"
namespace create {
SerialStream::SerialStream(boost::shared_ptr<Data> d, const uint8_t& header) : Serial(d), headerByte(header){
}
bool SerialStream::startSensorStream() {
// Request from Create that we want a stream containing all packets
uint8_t numPackets = data->getNumPackets();
std::vector<uint8_t> packetIDs = data->getPacketIDs();
uint8_t streamReq[2 + numPackets];
streamReq[0] = OC_STREAM;
streamReq[1] = numPackets;
int i = 2;
for (std::vector<uint8_t>::iterator it = packetIDs.begin(); it != packetIDs.end(); ++it) {
streamReq[i] = *it;
i++;
}
// Start streaming data
send(streamReq, 2 + numPackets);
expectedNumBytes = data->getTotalDataBytes() + numPackets;
return true;
}
void SerialStream::processByte(uint8_t byteRead) {
numBytesRead++;
byteSum += byteRead;
switch (readState) {
case READ_HEADER:
if (byteRead == headerByte) {
readState = READ_NBYTES;
byteSum = byteRead;
}
break;
case READ_NBYTES:
if (byteRead == expectedNumBytes) {
readState = READ_PACKET_ID;
numBytesRead = 0;
}
else {
//notifyDataReady();
readState = READ_HEADER;
}
break;
case READ_PACKET_ID:
packetID = byteRead;
if (data->isValidPacketID(packetID)) {
expectedNumDataBytes = data->getPacket(packetID)->nbytes;
assert(expectedNumDataBytes == 1 || expectedNumDataBytes == 2);
numDataBytesRead = 0;
packetBytes = 0;
readState = READ_PACKET_BYTES;
}
else {
//notifyDataReady();
readState = READ_HEADER;
}
break;
case READ_PACKET_BYTES:
numDataBytesRead++;
if (expectedNumDataBytes == 2 && numDataBytesRead == 1) {
// High byte first
packetBytes = (byteRead << 8) & 0xff00;
}
else {
// Low byte
packetBytes += byteRead;
}
if (numDataBytesRead >= expectedNumDataBytes) {
data->getPacket(packetID)->setTempData(packetBytes);
if (numBytesRead >= expectedNumBytes)
readState = READ_CHECKSUM;
else
readState = READ_PACKET_ID;
}
break;
case READ_CHECKSUM:
if ((byteSum & 0xFF) == 0) {
notifyDataReady();
}
else {
// Corrupt data
corruptPackets++;
}
totalPackets++;
// Start again
readState = READ_HEADER;
break;
} // end switch (readState)
}
} // namespace create

52
src/types.cpp Normal file
View file

@ -0,0 +1,52 @@
#include "create/types.h"
namespace create {
RobotModel::RobotModel(const ProtocolVersion version, const float axleLength, const unsigned int baud, const float maxVelocity, const float wheelDiameter):
id(nextId),
version(version),
axleLength(axleLength),
baud(baud),
maxVelocity(maxVelocity),
wheelDiameter(wheelDiameter) {
nextId <<= 1;
}
bool RobotModel::operator ==(RobotModel& other) const {
return id == other.id;
}
RobotModel::operator uint32_t() const {
return id;
}
uint32_t RobotModel::getId() const {
return id;
}
ProtocolVersion RobotModel::getVersion() const {
return version;
}
float RobotModel::getAxleLength() const {
return axleLength;
}
unsigned int RobotModel::getBaud() const {
return baud;
}
float RobotModel::getMaxVelocity() const {
return maxVelocity;
}
float RobotModel::getWheelDiameter() const {
return wheelDiameter;
}
uint32_t RobotModel::nextId = 1;
RobotModel RobotModel::ROOMBA_400(V_1, 0.258, 57600);
RobotModel RobotModel::CREATE_1(V_2, 0.258, 57600);
RobotModel RobotModel::CREATE_2(V_3, 0.235, 115200);
}