include outputs in input message

diff --git a/msg/Inputs.msg b/msg/Inputs.msg
index fb541705c54b2500d1e3b9b8ffae4c22a04ae423..d525cfa14563583f3710a83a2efca9b3b0f0e9ef 100644 (file)
--- 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 24584e78a3443e82a900b530e0925f1d717a8095..514fe6dd04cdb9b1f81e26911d4b1e95dbf46955 100755 (executable)
--- 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 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