From: Erik Andresen <erik@vontaene.de>
Date: Thu, 5 Sep 2013 19:49:21 +0000 (+0200)
Subject: include outputs in input message
X-Git-Url: https://defiant.homedns.org/gitweb/?a=commitdiff_plain;h=1fad18a34b96fb8a18c0d6516ec885dd712c5c3a;p=ros_roboint.git

include outputs in input message
---

diff --git a/msg/Inputs.msg b/msg/Inputs.msg
index fb54170..d525cfa 100644
--- a/msg/Inputs.msg
+++ b/msg/Inputs.msg
@@ -1,4 +1,5 @@
 bool[8] input
+int8[8] output
 int16 ax
 int16 ay
 int16 a1
diff --git a/scripts/robo_explorer.py b/scripts/robo_explorer.py
index 24584e7..514fe6d 100755
--- a/scripts/robo_explorer.py
+++ b/scripts/robo_explorer.py
@@ -16,7 +16,6 @@ class RoboExplorer:
 	def __init__(self):
 		rospy.init_node('robo_explorer')
 
-		self.speed = (0, 0)
 		self.x = 0
 		self.y = 0
 		self.alpha = 0
@@ -62,14 +61,15 @@ class RoboExplorer:
 		in_now = msg.input[:2]
 		if self.last_in is not None:
 			in_diff = [abs(a - b) for a, b in zip(in_now, self.last_in)] # get changed inputs
+			print "update", in_diff, msg.output
 			# fix in_diff from actual motor direction
-			if self.speed[0] < 0:
+			if msg.output[1] > 0: # left reverse
 				in_diff[0] = -in_diff[0]
-			elif self.speed[0] == 0:
+			elif msg.output[0] == 0 and msg.output[1] == 0: # left stop
 				in_diff[0] = 0
-			if self.speed[1] < 0:
+			if msg.output[3] > 0: # right reverse
 				in_diff[1] = -in_diff[1]
-			elif self.speed[1] == 0:
+			elif msg.output[2] == 0 and msg.output[3] == 0: # right stop
 				in_diff[1] = 0
 
 			dist_dir = (in_diff[1] - in_diff[0])*self.wheel_size*pi/8 # steps_changed in different direction => m
@@ -180,19 +180,17 @@ class RoboExplorer:
 		if speed_r < -7: speed_r = -7
 		elif speed_r > 7: speed_r = 7
 
-		#print "Speed wanted: %.2f m/s %.2f rad/s, set: %d %d" % (trans, rot, round(speed_l), round(speed_r))
+		print "Speed wanted: %.2f m/s %.2f rad/s, set: %d %d" % (trans, rot, round(speed_l), round(speed_r))
 
 		outmsg = Motor()
-		outmsg.num = 1
+		outmsg.num = 0
 		outmsg.speed = round(speed_l)
 		self.pub_motor.publish(outmsg)
 		
 		outmsg = Motor()
-		outmsg.num = 2
+		outmsg.num = 1
 		outmsg.speed = round(speed_r)
 		self.pub_motor.publish(outmsg)
 
-		self.speed = (speed_l, speed_r)
-
 if __name__ == '__main__':
 	RoboExplorer()
diff --git a/src/libft_adapter.cpp b/src/libft_adapter.cpp
index 588f11e..bacd2d7 100644
--- a/src/libft_adapter.cpp
+++ b/src/libft_adapter.cpp
@@ -1,4 +1,5 @@
 #include <stdlib.h>
+#include <pthread.h>
 #include "roboint.h"
 #include "ros/ros.h"
 #include "roboint/Output.h"
@@ -6,30 +7,28 @@
 #include "roboint/Inputs.h"
 
 
-FT_TRANSFER_AREA *transfer_area = NULL;
-
+static FT_TRANSFER_AREA *transfer_area = NULL;
+static char pwm[8] = {0};
+static char pwm_next[8] = {0};
+static pthread_mutex_t pwm_mutex = PTHREAD_MUTEX_INITIALIZER;
 
 void cb_set_output(const ::roboint::OutputConstPtr& msg) {
-	if (msg->speed == 0) {
-		transfer_area->M_Main &= ~(1<<(msg->num-1));
-	} else {
-		transfer_area->M_Main |= (1<<(msg->num-1));
-	}
-	transfer_area->MPWM_Main[msg->num-1] = msg->speed;
+	pthread_mutex_lock(&pwm_mutex);
+	pwm_next[msg->num] = msg->speed;
+	pthread_mutex_unlock(&pwm_mutex);
 }
 
 
 void cb_set_motor(const ::roboint::MotorConstPtr& msg) {
-	unsigned char iDirection = 0;
-	int speed = abs(msg->speed);
-
-	if (msg->speed > 0) iDirection = 0x1;
-	else if (msg->speed < 0) iDirection = 0x2;
-
-	transfer_area->M_Main &= ~(3<<(msg->num-1)*2);
-	transfer_area->M_Main |= iDirection<<(msg->num-1)*2;
-	transfer_area->MPWM_Main[(msg->num-1)*2] = speed;
-	transfer_area->MPWM_Main[(msg->num-1)*2 + 1] = speed;
+	pthread_mutex_lock(&pwm_mutex);
+	if (msg->speed > 0) {
+		pwm_next[msg->num*2] = msg->speed;
+		pwm_next[msg->num*2+1] = 0;
+	} else {
+		pwm_next[msg->num*2] = 0;
+		pwm_next[msg->num*2+1] = msg->speed;
+	}
+	pthread_mutex_unlock(&pwm_mutex);
 }
 
 
@@ -100,10 +99,22 @@ int main(int argc, char **argv)
 	while(ros::ok()) {
 		roboint::Inputs msg;
 
+		pthread_mutex_lock(&pwm_mutex);
 		sem_wait(&hFt->lock);
 		for (int i=0; i<=7; i++) {
 			msg.input[i] = (transfer_area->E_Main & (1<<i)) >> i;
 		}
+		for (int i=0; i<=7; i++) {
+			msg.output[i] = abs(pwm[i]);
+			pwm[i] = pwm_next[i];
+
+			if (pwm[i] == 0) {
+				transfer_area->M_Main &= ~(1<<(i));
+			} else {
+				transfer_area->M_Main |= (1<<(i));
+			}
+			transfer_area->MPWM_Main[i] = abs(pwm[i]);
+		}
 		msg.ax = transfer_area->AX;
 		msg.ay = transfer_area->AY;
 		msg.a1 = transfer_area->A1;
@@ -112,6 +123,7 @@ int main(int argc, char **argv)
 		msg.d1 = transfer_area->D1;
 		msg.d2 = transfer_area->D2;
 		sem_post(&hFt->lock);
+		pthread_mutex_unlock(&pwm_mutex);
 
 		/**
 		 * The publish() function is how you send messages. The parameter