void runMotorBoardPC(bool singleMode) {
singleModeActivated = singleMode;
setBoardName(MOTOR_BOARD_PC_NAME);
moveConsole(HALF_SCREEN_WIDTH, 0, HALF_SCREEN_WIDTH, CONSOLE_HEIGHT);
// We use http://patorjk.com/software/taag/#p=testall&v=2&f=Acrobatic&t=MOTOR%20BOARD%20PC
// with Font : Jerusalem
printf(" __ __ ___ _____ ___ ____ ____ ___ _ ____ ____ ____ ____\r\n");
printf("| \\/ |/ _ |_ _/ _ \\| _ \\ | __ ) / _ \\ / \\ | _ \\| _ \\ | _ \\ / ___|\r\n");
printf("| |\\/| | | | || || | | | |_) | | _ \\| | | |/ _ \\ | |_) | | | | | |_) | | \r\n");
printf("| | | | |_| || || |_| | _ < | |_) | |_| / ___ \\| _ <| |_| | | __/| |___ \r\n");
printf("|_| |_|\\___/ |_| \\___/|_| \\_\\ |____/ \\___/_/ \\_|_| \\_|____/ |_| \\____|\r\n");
printf("\r\n");
initLogs(DEBUG, (LogHandler(*)[]) &logHandlerListArray, MOTOR_BOARD_PC_LOG_HANDLER_LIST_LENGTH, LOG_HANDLER_CATEGORY_ALL_MASK);
initConsoleInputStream(&consoleInputStream);
initConsoleOutputStream(&consoleOutputStream);
addConsoleLogHandler(DEBUG, LOG_HANDLER_CATEGORY_ALL_MASK);
appendStringCRLF(getDebugOutputStreamLogger(), getBoardName());
initTimerList((Timer(*)[]) &timerListArray, MOTOR_BOARD_PC_TIMER_LENGTH);
initBuffer(&consoleInputBuffer, (char(*)[]) &consoleInputBufferArray, MOTOR_BOARD_PC_CONSOLE_INPUT_BUFFER_LENGTH, "inputConsoleBuffer", "IN");
initBuffer(&consoleOutputBuffer, (char(*)[]) &consoleOutputBufferArray, MOTOR_BOARD_PC_CONSOLE_OUTPUT_BUFFER_LENGTH, "outputConsoleBuffer", "IN");
// Dispatchers
initDriverDataDispatcherList((DriverDataDispatcher(*)[]) &driverDataDispatcherListArray, MOTOR_BOARD_PC_DATA_DISPATCHER_LIST_LENGTH);
addLocalDriverDataDispatcher();
if (!singleModeActivated) {
initI2cBus(&motorI2cBus, I2C_BUS_TYPE_SLAVE, I2C_BUS_PORT_1);
initI2cBusConnection(&motorI2cBusConnection, &motorI2cBus, MOTOR_BOARD_PC_I2C_ADDRESS);
openSlaveI2cStreamLink(&i2cSlaveStreamLink,
&i2cSlaveInputBuffer,
(char(*)[]) &i2cSlaveInputBufferArray,
MOTOR_BOARD_PC_IN_BUFFER_LENGTH,
&i2cSlaveOutputBuffer,
(char(*)[]) &i2cSlaveOutputBufferArray,
MOTOR_BOARD_PC_OUT_BUFFER_LENGTH,
&motorI2cBusConnection
);
// I2C Debug
initI2CDebugBuffers(&i2cSlaveDebugInputBuffer,
(char(*)[]) &i2cSlaveDebugInputBufferArray,
MOTOR_BOARD_PC_I2C_DEBUG_SLAVE_IN_BUFFER_LENGTH,
&i2cSlaveDebugOutputBuffer,
(char(*)[]) &i2cSlaveDebugOutputBufferArray,
MOTOR_BOARD_PC_I2C_DEBUG_SLAVE_OUT_BUFFER_LENGTH);
}
// Eeprom
initEepromPc(&eeprom, "TODO");
// Battery
initBattery(&battery, getBatteryVoltage);
// Clock
initSoftClock(&clock);
// Devices
initDeviceList((Device(*)[]) &deviceListArray, MOTOR_BOARD_PC_DEVICE_LIST_LENGTH);
addLocalDevice(getTestDeviceInterface(), getTestDeviceDescriptor());
addLocalDevice(getI2cSlaveDebugDeviceInterface(), getI2cSlaveDebugDeviceDescriptor(&motorI2cBusConnection));
addLocalDevice(getSystemDeviceInterface(), getSystemDeviceDescriptor());
addLocalDevice(getMotorDeviceInterface(), getMotorDeviceDescriptor());
addLocalDevice(getEepromDeviceInterface(), getEepromDeviceDescriptor(&eeprom));
addLocalDevice(getBatteryDeviceInterface(), getBatteryDeviceDescriptor(&battery));
addLocalDevice(getClockDeviceInterface(), getClockDeviceDescriptor(&clock));
addLocalDevice(getRobotKinematicsDeviceInterface(), getRobotKinematicsDeviceDescriptor(&eeprom));
addLocalDevice(getPIDDeviceInterface(), getPIDDeviceDescriptor(&eeprom, true));
addLocalDevice(getMotorDeviceInterface(), getMotorDeviceDescriptor());
addLocalDevice(getCodersDeviceInterface(), getCodersDeviceDescriptor());
addLocalDevice(getTrajectoryDeviceInterface(), getTrajectoryDeviceDescriptor());
addLocalDevice(getMotionDeviceInterface(), getMotionDeviceDescriptor(&eeprom, true));
addLocalDevice(getMotionSimulationDeviceInterface(), getMotionSimulationDeviceDescriptor());
initDevices();
startTimerList();
setDebugI2cEnabled(false);
while (1) {
motorBoardWaitForInstruction();
}
}
void runMainBoardPC(bool connectToRobotManagerMode) {
connectToRobotManager = connectToRobotManagerMode;
setBoardName(MAIN_BOARD_PC_NAME);
moveConsole(0, 0, HALF_SCREEN_WIDTH, CONSOLE_HEIGHT);
// We use http://patorjk.com/software/taag/#p=testall&v=2&f=Acrobatic&t=MOTOR%20BOARD%20PC
// with Font : Jerusalem
printf(" __ __ _ ___ _ _ ____ ___ _ ____ ____ ____ ____ \r\n");
printf("| \\/ | / \\ |_ _| \\ | | | __ ) / _ \\ / \\ | _ \\| _ \\ | _ \\ / ___|\r\n");
printf("| |\\/| | / _ \\ | || \\| | | _ \\| | | |/ _ \\ | |_) | | | | | |_) | | \r\n");
printf("| | | |/ ___ \\ | || |\\ | | |_) | |_| / ___ \\| _ <| |_| | | __/| |___ \r\n");
printf("|_| |_/_/ \\_|___|_| \\_| |____/ \\___/_/ \\_|_| \\_|____/ |_| \\____|\r\n");
printf("\r\n");
initLogs(DEBUG, (LogHandler(*)[]) &logHandlerListArray, MAIN_BOARD_PC_LOG_HANDLER_LIST_LENGTH, LOG_HANDLER_CATEGORY_ALL_MASK);
initConsoleInputStream(&consoleInputStream);
initConsoleOutputStream(&consoleOutputStream);
addConsoleLogHandler(DEBUG, LOG_HANDLER_CATEGORY_ALL_MASK);
appendStringCRLF(getDebugOutputStreamLogger(), getBoardName());
initTimerList((Timer(*)[]) &timerListArray, MAIN_BOARD_PC_TIMER_LENGTH);
initBuffer(&consoleInputBuffer, (char(*)[]) &consoleInputBufferArray, MAIN_BOARD_PC_CONSOLE_INPUT_BUFFER_LENGTH, "inputConsoleBuffer", "IN");
initBuffer(&consoleOutputBuffer, (char(*)[]) &consoleOutputBufferArray, MAIN_BOARD_PC_CONSOLE_OUTPUT_BUFFER_LENGTH, "outputConsoleBuffer", "IN");
// Dispatchers
initDriverDataDispatcherList((DriverDataDispatcher(*)[]) &driverDataDispatcherListArray, MAIN_BOARD_PC_DATA_DISPATCHER_LIST_LENGTH);
addLocalDriverDataDispatcher();
initI2cBus(&motorBoardI2cBus, I2C_BUS_TYPE_MASTER, I2C_BUS_PORT_1);
initI2cBusConnection(&motorBoardI2cBusConnection, &motorBoardI2cBus, MOTOR_BOARD_PC_I2C_ADDRESS);
addI2CDriverDataDispatcher("MOTOR_BOARD_DISPATCHER",
&motorBoardInputBuffer,
(char(*)[]) &motorBoardInputBufferArray,
MAIN_BOARD_PC_DATA_MOTOR_BOARD_DISPATCHER_BUFFER_LENGTH,
&motorBoardOutputStream,
&motorBoardInputStream,
&motorBoardI2cBusConnection
);
if (connectToRobotManager) {
// Open the serial Link between RobotManager (C# Project) and the MainBoardPc
openSerialLink(&robotManagerSerialStreamLink,
&robotManagerInputBuffer,
(char(*)[]) &robotManagerInputBufferArray,
ROBOT_MANAGER_INPUT_BUFFER_LENGTH,
&robotManagerOutputBuffer,
(char(*)[]) &robotManagerOutputBufferArray,
ROBOT_MANAGER_OUTPUT_BUFFER_LENGTH,
&robotManagerOutputStream,
SERIAL_PORT_ROBOT_MANAGER,
0);
}
// CONFIG
initRobotConfigPc(&robotConfig);
// EEPROM
initEepromPc(&eeprom, "TODO");
initEepromFile(&eeprom);
// Clock
initPcClock(&clock);
// Temperature
initTemperaturePc(&temperature);
// I2C Debug
initI2CDebugBuffers(&i2cMasterDebugInputBuffer,
(char(*)[]) &i2cMasterDebugInputBufferArray,
MAIN_BOARD_PC_I2C_DEBUG_MASTER_IN_BUFFER_LENGTH,
&i2cMasterDebugOutputBuffer,
(char(*)[]) &i2cMasterDebugOutputBufferArray,
MAIN_BOARD_PC_I2C_DEBUG_MASTER_OUT_BUFFER_LENGTH);
// Init the drivers
initDrivers(&driverRequestBuffer, (char(*)[]) &driverRequestBufferArray, MAIN_BOARD_PC_REQUEST_DRIVER_BUFFER_LENGTH,
&driverResponseBuffer, (char(*)[]) &driverResponseBufferArray, MAIN_BOARD_PC_RESPONSE_DRIVER_BUFFER_LENGTH);
// Get test driver for debug purpose
addDriver(testDriverGetDescriptor(), TRANSMIT_LOCAL);
// Devices
initDeviceList((Device(*)[]) &deviceListArray, MAIN_BOARD_PC_DEVICE_LIST_LENGTH);
// addLocalDevice(getTestDeviceInterface(), getTestDeviceDescriptor());
testDevice = addI2cRemoteDevice(getTestDeviceInterface(), MOTOR_BOARD_PC_I2C_ADDRESS);
testDevice->deviceHandleNotification = mainBoardDeviceHandleNotification;
// LOCAL BOARD
addLocalDevice(getADCDeviceInterface(), getADCDeviceDescriptor());
addLocalDevice(getStrategyDeviceInterface(), getStrategyDeviceDescriptor());
addLocalDevice(getSystemDeviceInterface(), getSystemDeviceDescriptor());
addLocalDevice(getRobotConfigDeviceInterface(), getRobotConfigDeviceDescriptor(&robotConfig));
addLocalDevice(getI2cMasterDebugDeviceInterface(), getI2cMasterDebugDeviceDescriptor());
addLocalDevice(getDataDispatcherDeviceInterface(), getDataDispatcherDeviceDescriptor());
addLocalDevice(getServoDeviceInterface(), getServoDeviceDescriptor());
addLocalDevice(getTimerDeviceInterface(), getTimerDeviceDescriptor());
addLocalDevice(getClockDeviceInterface(), getClockDeviceDescriptor(&clock));
// addLocalDevice(getFileDeviceInterface(), getFileDeviceDescriptor());
addLocalDevice(getEepromDeviceInterface(), getEepromDeviceDescriptor(&eeprom));
addLocalDevice(getLogDeviceInterface(), getLogDeviceDescriptor());
addLocalDevice(getLCDDeviceInterface(), getLCDDeviceDescriptor());
addLocalDevice(getTemperatureSensorDeviceInterface(), getTemperatureSensorDeviceDescriptor(&temperature));
addLocalDevice(getNavigationDeviceInterface(), getNavigationDeviceDescriptor());
initStartMatch(&startMatch, isMatchStartedPc, mainBoardPcWaitForInstruction, &eeprom);
addLocalDevice(getStartMatchDeviceInterface(), getStartMatchDeviceDescriptor(&startMatch));
// MOTOR BOARD
addI2cRemoteDevice(getBatteryDeviceInterface(), MOTOR_BOARD_PC_I2C_ADDRESS);
// addI2cRemoteDevice(getEepromDeviceInterface(), MOTOR_BOARD_PC_I2C_ADDRESS);
addI2cRemoteDevice(getPIDDeviceInterface(), MOTOR_BOARD_PC_I2C_ADDRESS);
addI2cRemoteDevice(getMotorDeviceInterface(), MOTOR_BOARD_PC_I2C_ADDRESS);
addI2cRemoteDevice(getCodersDeviceInterface(), MOTOR_BOARD_PC_I2C_ADDRESS);
addI2cRemoteDevice(getTrajectoryDeviceInterface(), MOTOR_BOARD_PC_I2C_ADDRESS);
addI2cRemoteDevice(getMotionDeviceInterface(), MOTOR_BOARD_PC_I2C_ADDRESS);
addI2cRemoteDevice(getRobotKinematicsDeviceInterface(), MOTOR_BOARD_PC_I2C_ADDRESS);
addI2cRemoteDevice(getMotionSimulationDeviceInterface(), MOTOR_BOARD_PC_I2C_ADDRESS);
initDevices();
delaymSec(100);
setDebugI2cEnabled(false);
// Ping
if (!pingDriverDataDispatcherList()) {
printf("PING PROBLEM !");
}
// Set Clock for Motor Board !
// Read Clock
ClockData* clockData = clock.readClock(&clock);
// TODO : Change Dispatcher Index ...
writeDateRemoteClockData(clockData, 0x01);
writeHourRemoteClockData(clockData, 0x01);
// testDriverIntensive(100);
startTimerList();
while (1) {
mainBoardPcWaitForInstruction(&startMatch);
}
// TODO : ShowEnd
}