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WorldState.cc

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00001 #ifdef PLATFORM_APERIOS
00002 #include <OPENR/core_macro.h>
00003 #include <OPENR/ObjcommTypes.h>
00004 #include <OPENR/OPENR.h>
00005 #include <OPENR/OPENRAPI.h>
00006 #include <OPENR/OPENRMessages.h>
00007 #include <OPENR/OPower.h>
00008 #endif
00009 
00010 #include "WorldState.h"
00011 #include "Shared/get_time.h"
00012 #include "Events/EventRouter.h"
00013 #include "ERS210Info.h"
00014 #include "ERS220Info.h"
00015 #include "ERS7Info.h"
00016 
00017 #define GETD(cpc) (((float)sensor.GetData(cpc)->frame[lastFrame].value) / 1.0E6f) //!< returns value from OPEN-R, converted from micro in int to base in float
00018 #define GETB(cpc) ((bool)sensor.GetData(cpc)->frame[lastFrame].value) //!< returns value from OPEN-R, as bool
00019 #define GETSENSOR(cpc) ((float)sensor.GetData(cpc)->frame[lastFrame].value) //!< return value from OPEN-R, as int
00020 #define GETSIG(cpc) ((word)sensor.GetData(cpc)->frame[lastFrame].signal) //!< returns signal from OPEN-R as word
00021 #define GETDUTY(cpc) ((float)((OJointValue*)&sensor.GetData(cpc)->frame[lastFrame])->pwmDuty/512.0f) //!< returns duty cycle from OPEN-R as float; -1 (full reverse) to 0 (idle) to 1 (full forward)
00022 
00023 const double WorldState::g=9.80665;
00024 const double WorldState::IROORDist = 900.0;
00025 
00026 WorldState * state=NULL;
00027 
00028 WorldState::WorldState()
00029   : alwaysGenerateStatus(false), vel_x(0), vel_y(0), vel_a(0), vel_time(0),
00030     robotStatus(0), batteryStatus(0),
00031     lastSensorUpdateTime(0), mainProfile(), motionProfile(),
00032     robotDesign(0), curtime(get_time())
00033 {
00034   for(unsigned int i=0; i< NumOutputs; i++)
00035     outputs[i]=0;
00036   for(unsigned int i=0; i< NumButtons; i++)
00037     buttons[i]=0;
00038   for(unsigned int i=0; i< NumSensors; i++)
00039     sensors[i]=0;
00040   for(unsigned int i=0; i< NumPIDJoints; i++)
00041     for(unsigned int j=0; j<3; j++)
00042       pids[i][j]=0;
00043   for(unsigned int i=0; i< NumPIDJoints; i++)
00044     pidduties[i]=0;
00045   memset(powerFlags,0,sizeof(unsigned int)*PowerSourceID::NumPowerSIDs);
00046   memset(button_times,0,sizeof(unsigned int)*NumButtons);
00047 
00048   //Thanks Daishi:
00049   char robotDesignStr[orobotdesignNAME_MAX];
00050   memset(robotDesignStr, 0, sizeof(robotDesignStr));
00051   if (OPENR::GetRobotDesign(robotDesignStr) != oSUCCESS) {
00052     cout << "OPENR::GetRobotDesign() failed." << endl;
00053   } else {
00054     if(strcmp(robotDesignStr,"ERS-210")==0)
00055       robotDesign=ERS210Mask;
00056     else if(strcmp(robotDesignStr,"ERS-220")==0)
00057       robotDesign=ERS220Mask;
00058     else if(strcmp(robotDesignStr,"ERS-7")==0)
00059       robotDesign=ERS7Mask;
00060     else {
00061       cout << "ERROR: Unrecognized model: "<<robotDesignStr<<"\nTrying ERS-210..."<<endl;
00062       robotDesign=ERS210Mask;
00063     }
00064   }
00065 }
00066 
00067 #ifdef PLATFORM_APERIOS
00068 
00069 /*! This will cause events to be posted
00070  *  @todo change to use most recent instead of oldest - is a buffer! */
00071 void WorldState::read(OSensorFrameVectorData& sensor, EventRouter* er) {
00072   curtime=get_time();
00073 
00074   unsigned int lastFrame=sensor.GetInfo(0)->numFrames-1;
00075 
00076   if(robotDesign&ERS210Mask) {
00077     outputs[LFrLegOffset + RotatorOffset   ] = GETD(ERS210Info::CPCJointLFRotator);
00078     outputs[LFrLegOffset + ElevatorOffset  ] = GETD(ERS210Info::CPCJointLFElevator);
00079     outputs[LFrLegOffset + KneeOffset      ] = GETD(ERS210Info::CPCJointLFKnee);
00080     pidduties[LFrLegOffset + RotatorOffset ] = GETDUTY(ERS210Info::CPCJointLFRotator);
00081     pidduties[LFrLegOffset + ElevatorOffset] = GETDUTY(ERS210Info::CPCJointLFElevator);
00082     pidduties[LFrLegOffset + KneeOffset    ] = GETDUTY(ERS210Info::CPCJointLFKnee);
00083   
00084     outputs[RFrLegOffset + RotatorOffset   ] = GETD(ERS210Info::CPCJointRFRotator);
00085     outputs[RFrLegOffset + ElevatorOffset  ] = GETD(ERS210Info::CPCJointRFElevator);
00086     outputs[RFrLegOffset + KneeOffset      ] = GETD(ERS210Info::CPCJointRFKnee);
00087     pidduties[RFrLegOffset + RotatorOffset ] = GETDUTY(ERS210Info::CPCJointRFRotator);
00088     pidduties[RFrLegOffset + ElevatorOffset] = GETDUTY(ERS210Info::CPCJointRFElevator);
00089     pidduties[RFrLegOffset + KneeOffset    ] = GETDUTY(ERS210Info::CPCJointRFKnee);
00090 
00091     outputs[LBkLegOffset + RotatorOffset   ] = GETD(ERS210Info::CPCJointLHRotator);
00092     outputs[LBkLegOffset + ElevatorOffset  ] = GETD(ERS210Info::CPCJointLHElevator);
00093     outputs[LBkLegOffset + KneeOffset      ] = GETD(ERS210Info::CPCJointLHKnee);
00094     pidduties[LBkLegOffset + RotatorOffset ] = GETDUTY(ERS210Info::CPCJointLHRotator);
00095     pidduties[LBkLegOffset + ElevatorOffset] = GETDUTY(ERS210Info::CPCJointLHElevator);
00096     pidduties[LBkLegOffset + KneeOffset    ] = GETDUTY(ERS210Info::CPCJointLHKnee);
00097 
00098     outputs[RBkLegOffset + RotatorOffset   ] = GETD(ERS210Info::CPCJointRHRotator);
00099     outputs[RBkLegOffset + ElevatorOffset  ] = GETD(ERS210Info::CPCJointRHElevator);
00100     outputs[RBkLegOffset + KneeOffset      ] = GETD(ERS210Info::CPCJointRHKnee);
00101     pidduties[RBkLegOffset + RotatorOffset ] = GETDUTY(ERS210Info::CPCJointRHRotator);
00102     pidduties[RBkLegOffset + ElevatorOffset] = GETDUTY(ERS210Info::CPCJointRHElevator);
00103     pidduties[RBkLegOffset + KneeOffset    ] = GETDUTY(ERS210Info::CPCJointRHKnee);
00104 
00105     // Get head tilt,pan,roll joint angles
00106     outputs[HeadOffset+TiltOffset] = GETD(ERS210Info::CPCJointNeckTilt);
00107     outputs[HeadOffset+PanOffset ] = GETD(ERS210Info::CPCJointNeckPan);
00108     outputs[HeadOffset+RollOffset] = GETD(ERS210Info::CPCJointNeckRoll);
00109     pidduties[HeadOffset+TiltOffset] = GETDUTY(ERS210Info::CPCJointNeckTilt);
00110     pidduties[HeadOffset+PanOffset ] = GETDUTY(ERS210Info::CPCJointNeckPan);
00111     pidduties[HeadOffset+RollOffset] = GETDUTY(ERS210Info::CPCJointNeckRoll);
00112 
00113     outputs[ERS210Info::TailOffset+TiltOffset] = GETD(ERS210Info::CPCJointTailTilt);
00114     outputs[ERS210Info::TailOffset+PanOffset]  = GETD(ERS210Info::CPCJointTailPan);
00115     pidduties[ERS210Info::TailOffset+TiltOffset] = GETDUTY(ERS210Info::CPCJointTailTilt);
00116     pidduties[ERS210Info::TailOffset+PanOffset]  = GETDUTY(ERS210Info::CPCJointTailPan);
00117     
00118     outputs[ERS210Info::MouthOffset] = GETD(ERS210Info::CPCJointMouth);
00119     pidduties[ERS210Info::MouthOffset] = GETDUTY(ERS210Info::CPCJointMouth);
00120 
00121     // Get foot switches
00122     chkEvent(er,LFrPawOffset,GETB(ERS210Info::CPCSensorLFPaw),"LFrPaw");
00123     chkEvent(er,RFrPawOffset,GETB(ERS210Info::CPCSensorRFPaw),"RFrPaw");
00124     chkEvent(er,LBkPawOffset,GETB(ERS210Info::CPCSensorLHPaw),"LBkPaw");
00125     chkEvent(er,RBkPawOffset,GETB(ERS210Info::CPCSensorRHPaw),"RBkPaw");
00126 
00127     // Get buttons
00128     chkEvent(er,ERS210Info::ChinButOffset,  GETB(ERS210Info::CPCSensorChinSwitch),"ChinBut");
00129     chkEvent(er,ERS210Info::BackButOffset,  GETB(ERS210Info::CPCSensorBackSwitch),"BackBut");
00130     chkEvent(er,ERS210Info::HeadFrButOffset,GETD(ERS210Info::CPCSensorHeadFrontPressure),"HeadFrBut");
00131     chkEvent(er,ERS210Info::HeadBkButOffset,GETD(ERS210Info::CPCSensorHeadBackPressure),"HeadBkBut");
00132 
00133     // Get IR distance sensor
00134     sensors[ERS210Info::IRDistOffset]=GETSENSOR(ERS210Info::CPCSensorPSD) / 1000.0f;
00135 
00136     // Get acceleration sensors
00137     sensors[BAccelOffset] = GETD(ERS210Info::CPCSensorAccelFB);
00138     sensors[LAccelOffset] = GETD(ERS210Info::CPCSensorAccelLR);
00139     sensors[DAccelOffset] = GETD(ERS210Info::CPCSensorAccelUD);
00140 
00141     sensors[ERS210Info::ThermoOffset] = GETD(ERS210Info::CPCSensorThermoSensor);
00142   }
00143 
00144   // (ERS-220 only)
00145   if(robotDesign&ERS220Mask) {
00146     outputs[LFrLegOffset + RotatorOffset   ] = GETD(ERS220Info::CPCJointLFRotator);
00147     outputs[LFrLegOffset + ElevatorOffset  ] = GETD(ERS220Info::CPCJointLFElevator);
00148     outputs[LFrLegOffset + KneeOffset      ] = GETD(ERS220Info::CPCJointLFKnee);
00149     pidduties[LFrLegOffset + RotatorOffset ] = GETDUTY(ERS220Info::CPCJointLFRotator);
00150     pidduties[LFrLegOffset + ElevatorOffset] = GETDUTY(ERS220Info::CPCJointLFElevator);
00151     pidduties[LFrLegOffset + KneeOffset    ] = GETDUTY(ERS220Info::CPCJointLFKnee);
00152   
00153     outputs[RFrLegOffset + RotatorOffset   ] = GETD(ERS220Info::CPCJointRFRotator);
00154     outputs[RFrLegOffset + ElevatorOffset  ] = GETD(ERS220Info::CPCJointRFElevator);
00155     outputs[RFrLegOffset + KneeOffset      ] = GETD(ERS220Info::CPCJointRFKnee);
00156     pidduties[RFrLegOffset + RotatorOffset ] = GETDUTY(ERS220Info::CPCJointRFRotator);
00157     pidduties[RFrLegOffset + ElevatorOffset] = GETDUTY(ERS220Info::CPCJointRFElevator);
00158     pidduties[RFrLegOffset + KneeOffset    ] = GETDUTY(ERS220Info::CPCJointRFKnee);
00159   
00160     outputs[LBkLegOffset + RotatorOffset   ] = GETD(ERS220Info::CPCJointLHRotator);
00161     outputs[LBkLegOffset + ElevatorOffset  ] = GETD(ERS220Info::CPCJointLHElevator);
00162     outputs[LBkLegOffset + KneeOffset      ] = GETD(ERS220Info::CPCJointLHKnee);
00163     pidduties[LBkLegOffset + RotatorOffset ] = GETDUTY(ERS220Info::CPCJointLHRotator);
00164     pidduties[LBkLegOffset + ElevatorOffset] = GETDUTY(ERS220Info::CPCJointLHElevator);
00165     pidduties[LBkLegOffset + KneeOffset    ] = GETDUTY(ERS220Info::CPCJointLHKnee);
00166 
00167     outputs[RBkLegOffset + RotatorOffset   ] = GETD(ERS220Info::CPCJointRHRotator);
00168     outputs[RBkLegOffset + ElevatorOffset  ] = GETD(ERS220Info::CPCJointRHElevator);
00169     outputs[RBkLegOffset + KneeOffset      ] = GETD(ERS220Info::CPCJointRHKnee);
00170     pidduties[RBkLegOffset + RotatorOffset ] = GETDUTY(ERS220Info::CPCJointRHRotator);
00171     pidduties[RBkLegOffset + ElevatorOffset] = GETDUTY(ERS220Info::CPCJointRHElevator);
00172     pidduties[RBkLegOffset + KneeOffset    ] = GETDUTY(ERS220Info::CPCJointRHKnee);
00173 
00174     // Get head tilt,pan,roll joint angles
00175     outputs[HeadOffset+TiltOffset] = GETD(ERS220Info::CPCJointNeckTilt);
00176     outputs[HeadOffset+PanOffset ] = GETD(ERS220Info::CPCJointNeckPan);
00177     outputs[HeadOffset+RollOffset] = GETD(ERS220Info::CPCJointNeckRoll);
00178     pidduties[HeadOffset+TiltOffset] = GETDUTY(ERS220Info::CPCJointNeckTilt);
00179     pidduties[HeadOffset+PanOffset ] = GETDUTY(ERS220Info::CPCJointNeckPan);
00180     pidduties[HeadOffset+RollOffset] = GETDUTY(ERS220Info::CPCJointNeckRoll);
00181 
00182     chkEvent(er, ERS220Info::TailLeftButOffset, GETB(ERS220Info::CPCSensorTailLeftSwitch),  "LBkBut");
00183     chkEvent(er, ERS220Info::TailCenterButOffset, GETB(ERS220Info::CPCSensorTailCenterSwitch),"CBkBut");
00184     chkEvent(er, ERS220Info::TailRightButOffset, GETB(ERS220Info::CPCSensorTailRightSwitch), "RBkBut");
00185 
00186     // Get foot switches
00187     chkEvent(er,LFrPawOffset,GETB(ERS220Info::CPCSensorLFPaw),"LFrPaw");
00188     chkEvent(er,RFrPawOffset,GETB(ERS220Info::CPCSensorRFPaw),"RFrPaw");
00189     chkEvent(er,LBkPawOffset,GETB(ERS220Info::CPCSensorLHPaw),"LBkPaw");
00190     chkEvent(er,RBkPawOffset,GETB(ERS220Info::CPCSensorRHPaw),"RBkPaw");
00191 
00192     // Get buttons
00193     chkEvent(er,ERS220Info::ChinButOffset,  GETB(ERS220Info::CPCSensorChinSwitch),"ChinBut");
00194     chkEvent(er,ERS220Info::BackButOffset,  GETB(ERS220Info::CPCSensorBackSwitch),"BackBut");
00195     chkEvent(er,ERS220Info::HeadFrButOffset,GETD(ERS220Info::CPCSensorHeadFrontPressure),"HeadFrBut");
00196     chkEvent(er,ERS220Info::HeadBkButOffset,GETD(ERS220Info::CPCSensorHeadBackPressure),"HeadBkBut");
00197 
00198     // Get IR distance sensor
00199     sensors[ERS220Info::IRDistOffset]=GETSENSOR(ERS220Info::CPCSensorPSD) / 1000.0f;
00200 
00201     // Get acceleration sensors
00202     sensors[BAccelOffset] = GETD(ERS220Info::CPCSensorAccelFB);
00203     sensors[LAccelOffset] = GETD(ERS220Info::CPCSensorAccelLR);
00204     sensors[DAccelOffset] = GETD(ERS220Info::CPCSensorAccelUD);
00205 
00206     sensors[ERS220Info::ThermoOffset] = GETD(ERS220Info::CPCSensorThermoSensor);
00207   }
00208 
00209   // (ERS-7 only)
00210   if(robotDesign&ERS7Mask) {
00211     outputs[LFrLegOffset + RotatorOffset   ] = GETD(ERS7Info::CPCJointLFRotator);
00212     outputs[LFrLegOffset + ElevatorOffset  ] = GETD(ERS7Info::CPCJointLFElevator);
00213     outputs[LFrLegOffset + KneeOffset      ] = GETD(ERS7Info::CPCJointLFKnee);
00214     pidduties[LFrLegOffset + RotatorOffset ] = GETDUTY(ERS7Info::CPCJointLFRotator);
00215     pidduties[LFrLegOffset + ElevatorOffset] = GETDUTY(ERS7Info::CPCJointLFElevator);
00216     pidduties[LFrLegOffset + KneeOffset    ] = GETDUTY(ERS7Info::CPCJointLFKnee);
00217   
00218     outputs[RFrLegOffset + RotatorOffset   ] = GETD(ERS7Info::CPCJointRFRotator);
00219     outputs[RFrLegOffset + ElevatorOffset  ] = GETD(ERS7Info::CPCJointRFElevator);
00220     outputs[RFrLegOffset + KneeOffset      ] = GETD(ERS7Info::CPCJointRFKnee);
00221     pidduties[RFrLegOffset + RotatorOffset ] = GETDUTY(ERS7Info::CPCJointRFRotator);
00222     pidduties[RFrLegOffset + ElevatorOffset] = GETDUTY(ERS7Info::CPCJointRFElevator);
00223     pidduties[RFrLegOffset + KneeOffset    ] = GETDUTY(ERS7Info::CPCJointRFKnee);
00224   
00225     outputs[LBkLegOffset + RotatorOffset   ] = GETD(ERS7Info::CPCJointLHRotator);
00226     outputs[LBkLegOffset + ElevatorOffset  ] = GETD(ERS7Info::CPCJointLHElevator);
00227     outputs[LBkLegOffset + KneeOffset      ] = GETD(ERS7Info::CPCJointLHKnee);
00228     pidduties[LBkLegOffset + RotatorOffset ] = GETDUTY(ERS7Info::CPCJointLHRotator);
00229     pidduties[LBkLegOffset + ElevatorOffset] = GETDUTY(ERS7Info::CPCJointLHElevator);
00230     pidduties[LBkLegOffset + KneeOffset    ] = GETDUTY(ERS7Info::CPCJointLHKnee);
00231 
00232     outputs[RBkLegOffset + RotatorOffset   ] = GETD(ERS7Info::CPCJointRHRotator);
00233     outputs[RBkLegOffset + ElevatorOffset  ] = GETD(ERS7Info::CPCJointRHElevator);
00234     outputs[RBkLegOffset + KneeOffset      ] = GETD(ERS7Info::CPCJointRHKnee);
00235     pidduties[RBkLegOffset + RotatorOffset ] = GETDUTY(ERS7Info::CPCJointRHRotator);
00236     pidduties[RBkLegOffset + ElevatorOffset] = GETDUTY(ERS7Info::CPCJointRHElevator);
00237     pidduties[RBkLegOffset + KneeOffset    ] = GETDUTY(ERS7Info::CPCJointRHKnee);
00238 
00239     // Get head tilt,pan,nod joint angles
00240     outputs[HeadOffset+TiltOffset] = GETD(ERS7Info::CPCJointNeckTilt);
00241     outputs[HeadOffset+PanOffset ] = GETD(ERS7Info::CPCJointNeckPan);
00242     outputs[HeadOffset+RollOffset] = GETD(ERS7Info::CPCJointNeckNod);
00243     pidduties[HeadOffset+TiltOffset] = GETDUTY(ERS7Info::CPCJointNeckTilt);
00244     pidduties[HeadOffset+PanOffset ] = GETDUTY(ERS7Info::CPCJointNeckPan);
00245     pidduties[HeadOffset+RollOffset] = GETDUTY(ERS7Info::CPCJointNeckNod);
00246 
00247     outputs[ERS7Info::TailOffset+TiltOffset] = GETD(ERS7Info::CPCJointTailTilt);
00248     outputs[ERS7Info::TailOffset+PanOffset]  = GETD(ERS7Info::CPCJointTailPan);
00249     pidduties[ERS7Info::TailOffset+TiltOffset] = GETDUTY(ERS7Info::CPCJointTailTilt);
00250     pidduties[ERS7Info::TailOffset+PanOffset]  = GETDUTY(ERS7Info::CPCJointTailPan);
00251     
00252     outputs[ERS7Info::MouthOffset] = GETD(ERS7Info::CPCJointMouth);
00253     pidduties[ERS7Info::MouthOffset] = GETDUTY(ERS7Info::CPCJointMouth);
00254 
00255     // Get foot switches
00256     chkEvent(er,LFrPawOffset,GETB(ERS7Info::CPCSwitchLFPaw),"LFrPaw");
00257     chkEvent(er,RFrPawOffset,GETB(ERS7Info::CPCSwitchRFPaw),"RFrPaw");
00258     chkEvent(er,LBkPawOffset,GETB(ERS7Info::CPCSwitchLHPaw),"LBkPaw");
00259     chkEvent(er,RBkPawOffset,GETB(ERS7Info::CPCSwitchRHPaw),"RBkPaw");
00260 
00261     // Get buttons/switches
00262     // the sensors are scaled to be relatively similar to the pressure values given by the head on the 210
00263     chkEvent(er, ERS7Info::ChinButOffset,       GETSENSOR(ERS7Info::CPCSwitchChin),      "ChinBut");
00264     chkEvent(er, ERS7Info::HeadButOffset,       GETSENSOR(ERS7Info::CPCSensorHead)/120,      "HeadBut");
00265     chkEvent(er, ERS7Info::FrontBackButOffset,  GETSENSOR(ERS7Info::CPCSensorBackFront)/150, "BkFrBut");
00266     chkEvent(er, ERS7Info::MiddleBackButOffset, GETSENSOR(ERS7Info::CPCSensorBackMiddle)/150,"BkMdBut");
00267     chkEvent(er, ERS7Info::RearBackButOffset,   GETSENSOR(ERS7Info::CPCSensorBackRear)/150,  "BkRrBut");
00268     chkEvent(er, ERS7Info::WirelessSwOffset,GETSENSOR(ERS7Info::CPCSwitchWireless),  "WirelessSw");
00269 
00270     // Get IR distance sensor
00271     sensors[ERS7Info::NearIRDistOffset] = GETSENSOR(ERS7Info::CPCSensorNearPSD) / 1000.0f;
00272     sensors[ERS7Info::FarIRDistOffset] = GETSENSOR(ERS7Info::CPCSensorFarPSD) / 1000.0f;
00273     sensors[ERS7Info::ChestIRDistOffset] = GETSENSOR(ERS7Info::CPCSensorChestPSD) / 1000.0f;
00274 
00275     // Get acceleration sensors
00276     sensors[BAccelOffset] = GETD(ERS7Info::CPCSensorAccelFB);
00277     sensors[LAccelOffset] = GETD(ERS7Info::CPCSensorAccelLR);
00278     sensors[DAccelOffset] = GETD(ERS7Info::CPCSensorAccelUD);
00279   }
00280 
00281   unsigned int dif=curtime-lastSensorUpdateTime;
00282   lastSensorUpdateTime=curtime;
00283   er->postEvent(EventBase::sensorEGID,SensorSourceID::UpdatedSID,EventBase::statusETID,dif);
00284 }
00285 
00286 /*! This will cause events to be posted */
00287 void WorldState::read(const OPowerStatus& power, EventRouter* er) {
00288   std::string actnames[PowerSourceID::NumPowerSIDs];
00289   std::string denames[PowerSourceID::NumPowerSIDs];
00290   unsigned int actmasks[PowerSourceID::NumPowerSIDs];
00291   memset(actmasks,0,sizeof(unsigned int)*PowerSourceID::NumPowerSIDs);
00292 
00293   //RobotStatus
00294   chkPowerEvent(PowerSourceID::PauseSID,          power.robotStatus,orsbPAUSE,                        "Pause",actnames,denames,actmasks);
00295   chkPowerEvent(PowerSourceID::MotorPowerSID,     power.robotStatus,orsbMOTOR_POWER,                  "MotorPower",actnames,denames,actmasks);
00296   chkPowerEvent(PowerSourceID::VibrationSID,      power.robotStatus,orsbVIBRATION_DETECT,             "Vibration",actnames,denames,actmasks);
00297   chkPowerEvent(PowerSourceID::ExternalPortSID,   power.robotStatus,orsbEX_PORT_CONNECTED,            "ExternalPort",actnames,denames,actmasks);
00298   chkPowerEvent(PowerSourceID::StationConnectSID, power.robotStatus,orsbSTATION_CONNECTED,            "StationConnect",actnames,denames,actmasks);
00299   chkPowerEvent(PowerSourceID::ExternalPowerSID,  power.robotStatus,orsbEX_POWER_CONNECTED,           "ExternalPower",actnames,denames,actmasks);
00300   chkPowerEvent(PowerSourceID::BatteryConnectSID, power.robotStatus,orsbBATTERY_CONNECTED,            "BatteryConnect",actnames,denames,actmasks);
00301   chkPowerEvent(PowerSourceID::ChargingSID,       power.robotStatus,orsbBATTERY_CHARGING,             "BatteryCharging",actnames,denames,actmasks);
00302   chkPowerEvent(PowerSourceID::BatteryFullSID,    power.robotStatus,orsbBATTERY_CAPACITY_FULL,        "BatteryFull",actnames,denames,actmasks);
00303   chkPowerEvent(PowerSourceID::LowPowerWarnSID,   power.robotStatus,orsbBATTERY_CAPACITY_LOW,         "BatteryLow",actnames,denames,actmasks);
00304   chkPowerEvent(PowerSourceID::OverChargedSID,    power.robotStatus,orsbBATTERY_OVER_CURRENT,         "BatteryOverCurrent",actnames,denames,actmasks);
00305   chkPowerEvent(PowerSourceID::OverheatingSID,    power.robotStatus,orsbBATTERY_OVER_TEMP_DISCHARGING,"BatteryOverTempDischarge",actnames,denames,actmasks);
00306   chkPowerEvent(PowerSourceID::OverheatingSID,    power.robotStatus,orsbBATTERY_OVER_TEMP_CHARGING,   "BatteryOverTempCharge",actnames,denames,actmasks);
00307   chkPowerEvent(PowerSourceID::ErrorSID,          power.robotStatus,orsbBATTERY_ERROR_OF_CHARGING,    "BatteryChargeError",actnames,denames,actmasks);
00308   chkPowerEvent(PowerSourceID::ErrorSID,          power.robotStatus,orsbERROR_OF_PLUNGER,             "PlungerError",actnames,denames,actmasks);
00309   chkPowerEvent(PowerSourceID::PowerGoodSID,      power.robotStatus,orsbOPEN_R_POWER_GOOD,            "PowerGood",actnames,denames,actmasks);
00310   chkPowerEvent(PowerSourceID::ErrorSID,          power.robotStatus,orsbERROR_OF_FAN,                 "FanError",actnames,denames,actmasks);
00311   chkPowerEvent(PowerSourceID::DataFromStationSID,power.robotStatus,orsbDATA_STREAM_FROM_STATION,     "DataFromStation",actnames,denames,actmasks);
00312   chkPowerEvent(PowerSourceID::RegisterUpdateSID, power.robotStatus,orsbREGISTER_UPDATED_BY_STATION,  "RegisterUpdate",actnames,denames,actmasks);
00313   chkPowerEvent(PowerSourceID::ErrorSID,          power.robotStatus,orsbRTC_ERROR,                    "RTCError",actnames,denames,actmasks);
00314   chkPowerEvent(PowerSourceID::RTCSID,            power.robotStatus,orsbRTC_OVERFLOW,                 "RTCOverflow",actnames,denames,actmasks);
00315   chkPowerEvent(PowerSourceID::RTCSID,            power.robotStatus,orsbRTC_RESET,                    "RTCReset",actnames,denames,actmasks);
00316   chkPowerEvent(PowerSourceID::RTCSID,            power.robotStatus,orsbRTC_SET,                      "RTCSet",actnames,denames,actmasks);
00317   chkPowerEvent(PowerSourceID::SpecialModeSID,    power.robotStatus,orsbSPECIAL_MODE,                 "SpecialMode",actnames,denames,actmasks);
00318   chkPowerEvent(PowerSourceID::BMNDebugModeSID,   power.robotStatus,orsbBMN_DEBUG_MODE,               "BMNDebugMode",actnames,denames,actmasks);
00319   chkPowerEvent(PowerSourceID::ChargerStatusSID,  power.robotStatus,orsbCHARGER_STATUS,               "ChargerStatus",actnames,denames,actmasks);
00320   chkPowerEvent(PowerSourceID::PlungerSID,        power.robotStatus,orsbPLUNGER,                      "Plunger",actnames,denames,actmasks);
00321   chkPowerEvent(PowerSourceID::SuspendedSID,      power.robotStatus,orsbSUSPENDED,                    "Suspended",actnames,denames,actmasks);
00322 
00323   //BatteryStatus
00324   chkPowerEvent(PowerSourceID::ErrorSID,        power.batteryStatus,obsbERROR_CODE_MASK,             "BatteryError",actnames,denames,actmasks);
00325   chkPowerEvent(PowerSourceID::BatteryEmptySID, power.batteryStatus,obsbFULLY_DISCHARGED,            "FullyDischarged",actnames,denames,actmasks);
00326   chkPowerEvent(PowerSourceID::BatteryFullSID,  power.batteryStatus,obsbFULLY_CHARGED,               "FullyCharged",actnames,denames,actmasks);
00327   chkPowerEvent(PowerSourceID::DischargingSID,  power.batteryStatus,obsbDISCHARGING,                 "Discharging",actnames,denames,actmasks);
00328   chkPowerEvent(PowerSourceID::BatteryInitSID,  power.batteryStatus,obsbINITIALIZED,                 "BatteryInit",actnames,denames,actmasks);
00329   chkPowerEvent(PowerSourceID::LowPowerWarnSID, power.batteryStatus,obsbREMAINING_TIME_ALARM,        "RemainingTimeAlarm",actnames,denames,actmasks);
00330   chkPowerEvent(PowerSourceID::LowPowerWarnSID, power.batteryStatus,obsbREMAINING_CAPACITY_ALARM,    "RemainingCapacityAlarm",actnames,denames,actmasks);
00331   chkPowerEvent(PowerSourceID::TermDischargeSID,power.batteryStatus,obsbTERMINATED_DISCHARGING_ALARM,"TermDischargeAlarm",actnames,denames,actmasks);
00332   chkPowerEvent(PowerSourceID::OverheatingSID,  power.batteryStatus,obsbOVER_TEMP_ALARM,             "OverTempAlarm",actnames,denames,actmasks);
00333   chkPowerEvent(PowerSourceID::TermChargeSID,   power.batteryStatus,obsbTERMINATED_CHARGING_ALARM,   "TermChargeAlarm",actnames,denames,actmasks);
00334   chkPowerEvent(PowerSourceID::OverChargedSID,  power.batteryStatus,obsbOVER_CHARGED_ALARM,          "OverChargeAlarm",actnames,denames,actmasks);
00335   
00336   sensors[PowerRemainOffset] = power.remainingCapacity/100.0;
00337   sensors[PowerThermoOffset] = power.temperature/100.0;
00338   sensors[PowerCapacityOffset] = power.fullyChargedCapacity;
00339   sensors[PowerVoltageOffset] = power.voltage/1000.0;
00340   sensors[PowerCurrentOffset] = power.current;
00341 
00342   //only generate status events when a change happens
00343   for(unsigned int i=0; i<PowerSourceID::NumPowerSIDs; i++) {
00344     if(actmasks[i]) { //now on
00345       if(!powerFlags[i]) //was off: activation
00346         er->postEvent(EventBase::powerEGID,i,EventBase::activateETID,0,actnames[i],1);
00347       else if(actmasks[i]!=powerFlags[i]) //already on - change? : status
00348         er->postEvent(EventBase::powerEGID,i,EventBase::statusETID,0,actnames[i],1);
00349     } else { // now off
00350       if(powerFlags[i]) //was on: deactivation
00351         er->postEvent(EventBase::powerEGID,i,EventBase::deactivateETID,0,denames[i],0);
00352     }
00353     powerFlags[i]=actmasks[i];
00354   }
00355 
00356   er->postEvent(EventBase::powerEGID,PowerSourceID::UpdatedSID,EventBase::statusETID,0);
00357 }
00358 
00359 #endif //PLATFORM_APERIOS
00360 
00361 void WorldState::chkEvent(EventRouter* er, unsigned int sid, float newval, const char* name) {
00362   if(newval>=0.1) { //now on
00363     if(buttons[sid]<0.1) { //was off: activation
00364       er->postEvent(EventBase::buttonEGID,sid,EventBase::activateETID,0,name,newval);
00365       button_times[sid]=curtime;
00366     } else if(alwaysGenerateStatus || buttons[sid]!=newval) { //already on - always or change? : status
00367       unsigned int dur=curtime-button_times[sid];
00368       er->postEvent(EventBase::buttonEGID,sid,EventBase::statusETID,dur,name,newval);
00369     }
00370   } else { //now off
00371     if(buttons[sid]>=0.1) { //was on: deactivation
00372       unsigned int dur=curtime-button_times[sid];
00373       button_times[sid]=0;
00374       er->postEvent(EventBase::buttonEGID,sid,EventBase::deactivateETID,dur,name,0);
00375     }
00376   }
00377   //update value
00378   buttons[sid]=newval;
00379 }
00380 
00381 /*! @file
00382  * @brief Implements WorldState, maintains information about the robot's environment, namely sensors and power status
00383  * @author ejt (Creator)
00384  *
00385  * $Author: ejt $
00386  * $Name: tekkotsu-2_1 $
00387  * $Revision: 1.22 $
00388  * $State: Exp $
00389  * $Date: 2004/01/19 20:36:48 $
00390  */

Tekkotsu v2.1
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