include outputs in input message

[ros_roboint.git] / src / libft_adapter.cpp

diff --git a/src/libft_adapter.cpp b/src/libft_adapter.cpp
index 588f11e8a338046b1fe2cb1c449925f91d4f2296..bacd2d7f79f033853b8f7e7faf38594c6e901426 100644 (file)
--- 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