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flag-checker.cpp
488 lines (428 loc) · 16.2 KB
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flag-checker.cpp
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/************************************************************************/
/* */
/* P R O J E K T A V A L O N */
/* */
/* flag-checker.cpp ALL GENERAL CONSTANTS. */
/* */
/* Last Change April 02, 2009; Stefan Wismer */
/* */
/************************************************************************/
/**
* This sets all the general flags based on the individual flags
*
**/
// General Project Constants
#include "avalon.h"
// General Things
#include <stdlib.h>
#include <stdio.h>
// General rtx-Things
#include <rtx/getopt.h>
#include <rtx/main.h>
#include <rtx/error.h>
#include <rtx/timer.h>
#include <rtx/thread.h>
#include <rtx/message.h>
#include <DDXStore.h>
#include <DDXVariable.h>
#include "flags.h"
/**
* Global variable for all DDX object
* */
DDXStore store;
DDXVariable dataFlags;
DDXVariable dataRcFlags;
DDXVariable dataSailorFlags;
DDXVariable dataNaviFlags;
DDXVariable skipperFlagData;
// DDXVariable errorFlagData;
/**
* Storage for the command line arguments
* */
const char * varname_flags = "flags";
const char * varname_rcflags = "rcflags";
const char * varname_sailorflags = "sailorflags";
const char * varname_naviflags = "naviflags";
const char * varname_skipperflags = "skipperflags";
// const char * varname_errorflags = "errorflags";
const char * producerHelpStr = "Flags-Checker who sets all the general Flags";
/**
* Command line arguments
* */
RtxGetopt producerOpts[] = {
{"flagsname", "Store Variable where the flags are",
{
{RTX_GETOPT_STR, &varname_flags, ""},
RTX_GETOPT_END_ARG
}
},
{"rcflagsname", "Store Variable where the RC-Flags are",
{
{RTX_GETOPT_STR, &varname_rcflags, ""},
RTX_GETOPT_END_ARG
}
},
{"sailorflags", "Store Variable where the Sailor-Flags are",
{
{RTX_GETOPT_STR, &varname_sailorflags, ""},
RTX_GETOPT_END_ARG
}
},
{"naviflags", "Store Variable where the Navi-Flags are",
{
{RTX_GETOPT_STR, &varname_naviflags, "NaviFlags"},
RTX_GETOPT_END_ARG
}
},
#if 0
{"errorflags", "Store Variable where the flags are",
{
{RTX_GETOPT_STR, &varname_errorflags, ""},
RTX_GETOPT_END_ARG
}
},
#endif
RTX_GETOPT_END
};
/**
* Working thread, wait the data, transform them and write them again
* */
void * translation_thread(void * dummy)
{
Flags flags;
rcFlags rcflags;
sailorFlags sailorflags;
NaviFlags naviflags;
SkipperFlags skipperflags;
// ErrorFlags errorflags;
/* Initialization */
dataFlags.t_readto(flags,0,0);
dataRcFlags.t_readto(rcflags,0,0);
dataSailorFlags.t_readto(sailorflags,0,0);
dataNaviFlags.t_readto(naviflags,0,0);
skipperFlagData.t_readto(skipperflags,0,0);
// errorFlagData.t_readto(errorflags,0,0);
// General Flags:
flags.man_in_charge = AV_FLAGS_MIC_REMOTECONTROL;
flags.state = AV_FLAGS_ST_IDLE;
flags.state_requested = 0;
flags.sail_direction = 0;
flags.sailor_no_tack_or_jibe = 0;
flags.joystick_timeout = 0;
flags.navi_state = AV_FLAGS_NAVI_IDLE;
flags.navi_index_call = 0;
flags.navi_index_answer = 0;
flags.autonom_navigation = 0;
flags.global_locator = AV_FLAGS_GLOBALSK_LOCATOR;
// RC-Flags:
rcflags.emergency_stop = 0;
rcflags.motion_stop = 0;
rcflags.joystick_timeout = 0;
rcflags.sailorstate_requested = 0;
rcflags.man_in_charge = AV_FLAGS_MIC_REMOTECONTROL;
rcflags.autonom_navigation = 0;
// Sailor Flags:
sailorflags.state = 0;
sailorflags.sail_direction = 0;
sailorflags.no_tack_or_jibe = 0;
// Navigation Flags:
//naviflags.navi_state = AV_FLAGS_NAVI_NORMALNAVIGATION; //shoudn't make a difference, gets filled further down!!
naviflags.navi_state = AV_FLAGS_NAVI_NEWCALCULATION; //shoudn't make a difference, gets filled further down!!
naviflags.navi_index_call = 0;
naviflags.navi_index_answer = 0;
naviflags.sail_reset_index = 0;
//Skipper Flags:
skipperflags.global_locator = AV_FLAGS_GLOBALSK_LOCATOR;
//Error Flags_
// errorflags.state = 0;
//writing to store the initialized flags:
// errorFlagData.t_writefrom(errorflags);
skipperFlagData.t_writefrom(skipperflags);
dataFlags.t_writefrom(flags);
dataRcFlags.t_writefrom(rcflags);
dataSailorFlags.t_writefrom(sailorflags);
dataNaviFlags.t_writefrom(naviflags);
while (1) {
// Read the next data available, or wait at most 5 seconds
if (1) {
dataFlags.t_readto(flags,10.0,1);
dataRcFlags.t_readto(rcflags,0,0);
dataSailorFlags.t_readto(sailorflags,0,0);
dataNaviFlags.t_readto(naviflags,0,0);
skipperFlagData.t_readto(skipperflags,0,0);
// Reset state_requested if state has been reached:
if(flags.state == flags.state_requested)
{
flags.state_requested = 0;
}
switch(rcflags.man_in_charge)
{
case AV_FLAGS_MIC_NOONE:
flags.man_in_charge = AV_FLAGS_MIC_NOONE;
break;
case AV_FLAGS_MIC_SAILOR:
flags.man_in_charge = AV_FLAGS_MIC_SAILOR;
break;
case AV_FLAGS_MIC_REMOTECONTROL:
flags.man_in_charge = AV_FLAGS_MIC_REMOTECONTROL;
break;
default:
flags.man_in_charge = AV_FLAGS_MIC_NOONE;
}
// Set joystick_timeout
if(rcflags.joystick_timeout == 0)
{
flags.joystick_timeout = 0;
}
else
{
flags.joystick_timeout = 1;
}
//write the naviflags.indexes to flags:
flags.navi_index_call = naviflags.navi_index_call;
flags.navi_index_answer = naviflags.navi_index_answer;
flags.sail_reset_index = naviflags.sail_reset_index;
switch(skipperflags.global_locator)
{
case AV_FLAGS_GLOBALSK_LOCATOR:
flags.global_locator = AV_FLAGS_GLOBALSK_LOCATOR;
break;
case AV_FLAGS_GLOBALSK_TRACKER:
flags.global_locator = AV_FLAGS_GLOBALSK_TRACKER;
break;
case AV_FLAGS_GLOBALSK_CLOSING:
flags.global_locator = AV_FLAGS_GLOBALSK_CLOSING;
break;
case AV_FLAGS_GLOBALSK_AVOIDANCE:
flags.global_locator = AV_FLAGS_GLOBALSK_AVOIDANCE;
break;
case AV_FLAGS_GLOBALSK_SURVIVE:
flags.global_locator = AV_FLAGS_GLOBALSK_SURVIVE;
break;
default:
flags.global_locator = AV_FLAGS_GLOBALSK_LOCATOR;
}
#if 0
switch(errorflags.state)
{
case 0:
flags.error_state = 0;
case AV_FLAGS_ERROR_IMU:
flags.error_state = AV_FLAGS_ERROR_IMU;
case AV_FLAGS_ERROR_SYSTEM_ID:
flags.error_state = AV_FLAGS_ERROR_SYSTEM_ID;
}
#endif
switch(rcflags.autonom_navigation)
{
case 0:
flags.autonom_navigation = 0;
break;
case 1:
flags.autonom_navigation = 1;
break;
default:
flags.autonom_navigation = 0;
}
// Process sailor state transitions (just a pro forma action)
switch(sailorflags.state)
{
case 0:
break; // stay in current state
case AV_FLAGS_ST_IDLE:
flags.state = AV_FLAGS_ST_IDLE;
break;
case AV_FLAGS_ST_DOCK:
flags.state = AV_FLAGS_ST_DOCK;
break;
case AV_FLAGS_ST_NORMALSAILING:
flags.state = AV_FLAGS_ST_NORMALSAILING;
break;
case AV_FLAGS_ST_TACK:
flags.state = AV_FLAGS_ST_TACK;
break;
case AV_FLAGS_ST_JIBE:
flags.state = AV_FLAGS_ST_JIBE;
break;
case AV_FLAGS_ST_UPWINDSAILING:
flags.state = AV_FLAGS_ST_UPWINDSAILING;
break;
case AV_FLAGS_ST_DOWNWINDSAILING:
flags.state = AV_FLAGS_ST_DOWNWINDSAILING;
break;
case AV_FLAGS_ST_MAXENERGYSAVING:
flags.state = AV_FLAGS_ST_MAXENERGYSAVING;
break;
case AV_FLAGS_ST_HEADINGCHANGE:
flags.state = AV_FLAGS_ST_HEADINGCHANGE;
break;
default:
rtx_message("sailor_transitions requested illegal state transition...");
}
// set sail_direction (just pro forma)
switch(sailorflags.sail_direction)
{
case AV_FLAGS_SAIL_DIR_NOPREFERENCE:
flags.sail_direction = AV_FLAGS_SAIL_DIR_NOPREFERENCE;
break;
case AV_FLAGS_SAIL_DIR_ZERO:
flags.sail_direction = AV_FLAGS_SAIL_DIR_ZERO;
break;
case AV_FLAGS_SAIL_DIR_FRONT:
flags.sail_direction = AV_FLAGS_SAIL_DIR_FRONT;
break;
default:
rtx_message("sailor_transitions requested illegal sail direction for HEADINGCHANGE...");
flags.sail_direction = AV_FLAGS_SAIL_DIR_NOPREFERENCE;
}
// Set no_tack_or_jibe (just pro forma)
switch(sailorflags.no_tack_or_jibe)
{
case 0:
flags.sailor_no_tack_or_jibe = 0;
break;
case 1:
flags.sailor_no_tack_or_jibe = 1;
break;
default:
rtx_message("sailorflags.no_tack_or_jibe has illegal state...");
flags.sailor_no_tack_or_jibe = 0;
}
// Process sailor state requests from Remote Control (just a pro forma action)
switch(rcflags.sailorstate_requested)
{
case 0:
break; // dont do anything
case AV_FLAGS_ST_IDLE:
flags.state_requested = AV_FLAGS_ST_IDLE;
break;
case AV_FLAGS_ST_DOCK:
flags.state_requested = AV_FLAGS_ST_DOCK;
break;
case AV_FLAGS_ST_NORMALSAILING:
flags.state_requested = AV_FLAGS_ST_NORMALSAILING;
break;
case AV_FLAGS_ST_TACK:
flags.state_requested = AV_FLAGS_ST_TACK;
break;
case AV_FLAGS_ST_JIBE:
flags.state_requested = AV_FLAGS_ST_JIBE;
break;
case AV_FLAGS_ST_UPWINDSAILING:
flags.state_requested = AV_FLAGS_ST_UPWINDSAILING;
break;
case AV_FLAGS_ST_DOWNWINDSAILING:
flags.state_requested = AV_FLAGS_ST_DOWNWINDSAILING;
break;
case AV_FLAGS_ST_MAXENERGYSAVING:
flags.state_requested = AV_FLAGS_ST_MAXENERGYSAVING;
break;
case AV_FLAGS_ST_HEADINGCHANGE:
flags.state_requested = AV_FLAGS_ST_HEADINGCHANGE;
break;
default:
rtx_message("remote control requested illegal state transition...");
}
switch(rcflags.autonom_navigation)
{
case 0:
{
flags.navi_state = AV_FLAGS_NAVI_IDLE;
break;
}
case 1:
{
//Navigator Calling:
switch(naviflags.navi_state)
{
case 0:
rtx_message("something wrong with the navi_state, should not go through");
break; // dont do anything
case AV_FLAGS_NAVI_IDLE: //notfall, this case should not get used!
flags.navi_state = AV_FLAGS_NAVI_IDLE;
break;
case AV_FLAGS_NAVI_NEWCALCULATION:
flags.navi_state = AV_FLAGS_NAVI_NEWCALCULATION;
break;
case AV_FLAGS_NAVI_NORMALNAVIGATION:
flags.navi_state = AV_FLAGS_NAVI_NORMALNAVIGATION;
break;
case AV_FLAGS_NAVI_GOAL_APPROACH:
flags.navi_state = AV_FLAGS_NAVI_GOAL_APPROACH;
break;
default:
flags.navi_state = AV_FLAGS_NAVI_IDLE;
rtx_message("navi-state requested illegal...");
}
break;
}
default:
flags.navi_state = AV_FLAGS_NAVI_IDLE;
}
// write flags data to store
dataFlags.t_writefrom(flags);
// Do not write to any other flags here. Only one program per
// flags-variable!!
} else if (dataFlags.hasTimedOut()) {
// Timeout.
// Inform user
rtx_message("Timeout while reading flags data");
}
else
{
// Something strange happend. Critical Error.
rtx_error("Critical error while reading data");
// Emergency-Stop
rtx_main_signal_shutdown();
}
rtx_timer_sleep(0.1);
}
return NULL;
}
// Error handling for C functions (return 0 on success)
#define DOC(c) {int ret = c;if (ret != 0) {rtx_error("Command "#c" failed with value %d",ret);return -1;}}
// Error handling for C++ function (return true on success)
#define DOB(c) if (!(c)) {rtx_error("Command "#c" failed");return -1;}
// Error handling for pointer-returning function (return NULL on failure)
#define DOP(c) if ((c)==NULL) {rtx_error("Command "#c" failed");return -1;}
int
main (int argc, const char * argv[])
{
RtxThread * th;
int ret;
// Process the command line
if ((ret = RTX_GETOPT_CMD (producerOpts, argc, argv, NULL, producerHelpStr)) == -1) {
RTX_GETOPT_PRINT (producerOpts, argv[0], NULL, producerHelpStr);
exit (1);
}
rtx_main_init ("Flag-checker", RTX_ERROR_STDERR);
// Open the store
DOB(store.open());
// Register the new Datatypes
DOC(DDX_STORE_REGISTER_TYPE (store.getId(), Flags));
DOC(DDX_STORE_REGISTER_TYPE (store.getId(), rcFlags));
DOC(DDX_STORE_REGISTER_TYPE (store.getId(), sailorFlags));
DOC(DDX_STORE_REGISTER_TYPE (store.getId(), NaviFlags));
DOC(DDX_STORE_REGISTER_TYPE (store.getId(), SkipperFlags));
// DOC(DDX_STORE_REGISTER_TYPE (store.getId(), ErrorFlags));
// Connect to variables, and create variables for the target-data
DOB(store.registerVariable(dataFlags, varname_flags, "Flags"));
DOB(store.registerVariable(dataRcFlags, varname_rcflags, "rcFlags"));
DOB(store.registerVariable(dataSailorFlags, varname_sailorflags, "sailorFlags"));
DOB(store.registerVariable(dataNaviFlags, varname_naviflags, "NaviFlags"));
DOB(store.registerVariable(skipperFlagData, varname_skipperflags, "SkipperFlags"));
// DOB(store.registerVariable(errorFlagData, varname_errorflags, "ErrorFlags"));
// Start the working thread
DOP(th = rtx_thread_create ("Flag Checker Thread", 0,
RTX_THREAD_SCHED_OTHER, RTX_THREAD_PRIO_MIN, 0,
RTX_THREAD_CANCEL_DEFERRED,
translation_thread, NULL,
NULL, NULL));
// Wait for Ctrl-C
DOC (rtx_main_wait_shutdown (0));
rtx_message_routine ("Ctrl-C detected. Shutting down Flag Checker...");
// Terminating the thread
rtx_thread_destroy_sync (th);
// The destructors will take care of cleaning up the memory
return (0);
}