-
Notifications
You must be signed in to change notification settings - Fork 0
/
main_fsm.c
355 lines (324 loc) · 12 KB
/
main_fsm.c
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
#include <stdio.h>
#include <fcntl.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/select.h>
#include <sys/ioctl.h>
#include <termios.h>
#include <stdlib.h>
#include <linux/limits.h>
#include <unistd.h>
#include <signal.h>
#include <strings.h>
#include <string.h>
#include <ctype.h>
#include <time.h>
#include "def.h"
#include "serial_protocol.h"
#include "stepper_motor.h"
#include "util.h"
#define BAUDRATE B921600
#define DEFAULT_UART_DEVICE "/dev/ttyUSB0"
#define BUF_SIZE PATH_MAX
#define MIN_TEST_PERIOD 400
#define RUNIN_MAX_DEG 90
motor_t *hori = &pseudo_hori;
motor_t *vert = &pseudo_vert;
#define SENSORS_ENABLED (SENSOR_ACCELEROMETER|SENSOR_GYROSCOPE|SENSOR_MAGNETIC)
cmd_short_t cmd_ping = { DEV_ADDR, SENDER_UART, CMD_PING };
cmd_short_t cmd_read_pres_string = { DEV_ADDR, SENDER_UART, CMD_READ_PRES_STRING };
cmd_short_t cmd_check_mode_support = { DEV_ADDR, SENDER_UART, CMD_CHECK_MODE_SUPPORT };
cmd_short_t cmd_stop_data_streaming = { DEV_ADDR, SENDER_UART, CMD_STOP_DATA_STREAMING };
cmd_start_data_streaming_t cmd_start_data_streaming = { DEV_ADDR, SENDER_UART, CMD_START_DATA_STREAMING, SENSORS_ENABLED, 100 };
cmd_motor_stop_t cmd_motor_stop_hori = { DEV_ADDR, SENDER_UART, CMD_MOTOR_STOP, ID_HORI, 0, 0 };
cmd_motor_stop_t cmd_motor_stop_vert = { DEV_ADDR, SENDER_UART, CMD_MOTOR_STOP, ID_VERT, 0, 0 };
cmd_short_t cmd_lsm6ds0_init = { DEV_ADDR, SENDER_UART, CMD_LSM6DS0_INIT };
cmd_short_t cmd_lis3mdl_init = { DEV_ADDR, SENDER_UART, CMD_LIS3MDL_INIT };
// finite-state-machine
typedef enum {
FSM_INIT,
FSM_FLUSH,
FSM_PING,
FSM_CHECK_PRESENTATION,
FSM_CHECK_MODE,
FSM_INIT_SENSORS,
FSM_START_DATA_STREAMING,
FSM_INTERACTIVE,
FSM_IDLE,
FSM_RUNIN,
} fsm_demo;
int uart_fd;
struct termios oldtio_uart, oldtio_stdin;
void stdin_nonblock(void) {
struct termios tio;
tcgetattr( STDIN_FILENO, &oldtio_stdin );
tcgetattr( STDIN_FILENO, &tio );
tio.c_lflag &= ~ICANON;
tcsetattr( STDIN_FILENO, TCSANOW, &tio );
}
void uart_init( int uart_fd ) {
struct termios newtio_uart;
tcgetattr( uart_fd, &oldtio_uart );
bzero( &newtio_uart, sizeof(newtio_uart) );
tcgetattr( uart_fd, &newtio_uart );
cfsetospeed( &newtio_uart, BAUDRATE );
cfsetispeed( &newtio_uart, BAUDRATE );
newtio_uart.c_cflag &= ~(CSIZE | PARENB | PARODD | CSTOPB);
newtio_uart.c_cflag |= CS8 | CLOCAL | CREAD;
newtio_uart.c_oflag = 0;
newtio_uart.c_lflag = 0;
newtio_uart.c_iflag &= ~(IXON | IXOFF | IXANY | ICRNL | INLCR);
newtio_uart.c_cc[VMIN] = 1; // block read mode until n chars received
newtio_uart.c_cc[VTIME] = 1; // inter-character timer in 0.1 secs
tcflush( uart_fd, TCIOFLUSH );
if( tcsetattr( uart_fd, TCSAFLUSH, &newtio_uart )<0 )
perror( "tcsetattr" );
}
void ctrl_break( int dummy ) {
exit( -1 );
}
void restore( void ) {
fprintf( stderr, "clean up...\n" );
tcflush( uart_fd, TCIFLUSH );
serial_send_command( uart_fd, &cmd_stop_data_streaming, sizeof(cmd_stop_data_streaming) );
usleep(10000);
tcflush( uart_fd, TCIOFLUSH );
tcsetattr( uart_fd, TCSANOW, &oldtio_uart );
tcsetattr( uart_fd, TCSANOW, &oldtio_stdin );
close(uart_fd);
}
int main( int argc, char *argv[] ) {
char *uart_device;
uint8_t buf[BUF_SIZE+1];
int nread;
fd_set fds;
fsm_demo fsm_state = FSM_INIT;
srand( time(NULL) );
if( argc==2 )
uart_device = argv[1];
else
uart_device = (char*) DEFAULT_UART_DEVICE;
// open uart device
uart_fd = open( uart_device, O_RDWR | O_NOCTTY );
if( uart_fd<0 ) {
perror( uart_device );
exit( -1 );
}
uart_init( uart_fd );
// register clean up callback
signal( SIGINT, ctrl_break );
stdin_nonblock();
atexit( restore );
// main loop
while(1) {
int retval;
switch( fsm_state ) {
case FSM_INIT: {
tcflush( uart_fd, TCIOFLUSH );
serial_send_command( uart_fd, &cmd_stop_data_streaming, sizeof(cmd_stop_data_streaming) );
serial_send_command( uart_fd, &cmd_stop_data_streaming, sizeof(cmd_stop_data_streaming) );
serial_send_command( uart_fd, &cmd_motor_stop_hori, sizeof(cmd_motor_stop_t) );
serial_send_command( uart_fd, &cmd_motor_stop_vert, sizeof(cmd_motor_stop_t) );
fsm_state = FSM_FLUSH;
continue;
}
case FSM_FLUSH: {
int nbytes;
usleep(10000);
ioctl( uart_fd, FIONREAD, &nbytes );
if( !nbytes ) {
fsm_state = FSM_PING;
continue;
} else
break;
}
case FSM_PING:
printf( "ping...\n" );
serial_send_command( uart_fd, &cmd_ping, sizeof(cmd_ping) );
break;
case FSM_CHECK_PRESENTATION:
printf( "check presentation string...\n" );
serial_send_command( uart_fd, &cmd_read_pres_string, sizeof(cmd_read_pres_string) );
break;
case FSM_CHECK_MODE:
printf( "check mode...\n" );
serial_send_command( uart_fd, &cmd_check_mode_support, sizeof(cmd_check_mode_support) );
break;
case FSM_INIT_SENSORS:
printf( "init sensors...\n" );
if( SENSORS_ENABLED ) {
if( SENSORS_ENABLED & (SENSOR_ACCELEROMETER|SENSOR_GYROSCOPE) )
serial_send_command( uart_fd, &cmd_lsm6ds0_init, sizeof(cmd_short_t) );
if( SENSORS_ENABLED & SENSOR_MAGNETIC )
serial_send_command( uart_fd, &cmd_lis3mdl_init, sizeof(cmd_short_t) );
usleep(1000);
break;
}
case FSM_START_DATA_STREAMING:
printf( "start data streaming...\n" );
serial_send_command( uart_fd, &cmd_start_data_streaming, sizeof(cmd_start_data_streaming) );
break;
case FSM_INTERACTIVE:
printf( "> " );
fflush( stdout );
break;
case FSM_IDLE:
break;
case FSM_RUNIN:
break;
default:
fprintf( stderr, "Unknown FSM state %d\n", fsm_state );
exit(-2);
}
FD_ZERO( &fds );
FD_SET( uart_fd, &fds );
FD_SET( STDIN_FILENO, &fds );
retval = select( uart_fd+1, &fds, NULL, NULL, NULL );
if( retval<0 ) {
perror( "select" );
} else if( retval==0 ) {
fprintf( stderr, "select return 0\n" );
exit(-1);
}
// handle uart event
if( FD_ISSET( uart_fd, &fds ) ) {
nread = serial_read_message( uart_fd, buf, BUF_SIZE );
if( nread>0 ) {
dump( stdout, buf, nread );
if( fsm_state==FSM_INIT || fsm_state==FSM_FLUSH ) {
// do nothing
} else if( buf[0]==SENDER_UART && buf[1]==DEV_ADDR ) {
switch( buf[2] ) {
case CMD_PING|CMD_REPLY_ADD:
fsm_state = FSM_CHECK_PRESENTATION;
break;
case CMD_READ_PRES_STRING|CMD_REPLY_ADD:
if( strncmp( (char*)buf+3, PRESENTATION_STRING, sizeof(PRESENTATION_STRING) )==0 ) {
printf( "prenstation string not match\n" );
exit( -1 );
}
fsm_state = FSM_CHECK_MODE;
break;
case CMD_CHECK_MODE_SUPPORT|CMD_REPLY_ADD:
fsm_state = FSM_INIT_SENSORS;
break;
case CMD_LIS3MDL_INIT|CMD_REPLY_ADD:
case CMD_LSM6DS0_INIT|CMD_REPLY_ADD:
fsm_state = FSM_START_DATA_STREAMING;
break;
case CMD_START_DATA_STREAMING:
if( SENSORS_ENABLED& SENSOR_ACCELEROMETER )
printf( "accelerometer: x=%2d, y=%2d, z=%2d\n", deserialize(buf+15,4), deserialize(buf+19,4), deserialize(buf+23,4) );
if( SENSORS_ENABLED & SENSOR_GYROSCOPE )
printf( "gyroscope: x=%2d, y=%2d, z=%2d\n", deserialize(buf+27,4), deserialize(buf+31,4), deserialize(buf+35,4) );
if( SENSORS_ENABLED & SENSOR_MAGNETIC )
printf( "magnetic: x=%2d, y=%2d, z=%2d\n", deserialize(buf+39,4), deserialize(buf+43,4), deserialize(buf+47,4) );
break;
case CMD_START_DATA_STREAMING|CMD_REPLY_ADD:
case CMD_MOTOR_TEST|CMD_REPLY_ADD:
fsm_state = FSM_INTERACTIVE;
break;
case CMD_MOTOR_DRIVE|CMD_REPLY_ADD:
printf( "motor drive %s\n", buf[3]==0 ? "failed" : "successful" );
if( fsm_state!=FSM_RUNIN )
fsm_state = FSM_INTERACTIVE;
break;
case CMD_MOTOR_GET_STATE|CMD_REPLY_ADD:
printf( "steps left = %d\n", deserialize( buf+3, 2 ) );
fsm_state = FSM_INTERACTIVE;
break;
case CMD_MOTOR_STOP|CMD_REPLY_ADD:
case CMD_MOTOR_STOP: {
uint16_t real_steps = deserialize( buf+4, 2 );
if( real_steps )
printf( "receive motor stop async event, id=%d, real_steps = %d\n", buf[3], real_steps );
if( fsm_state==FSM_RUNIN ) {
cmd_motor_drive_t cmd;
motor_t *m = buf[3]==ID_HORI ? hori : vert;
serial_send_command( uart_fd, motor_gen_cmd_motor_drive_rpm( m, &cmd, rand()%2 ? CW : CCW, rand()%RUNIN_MAX_DEG+1, 1, 12.5, 100 ), sizeof(cmd_motor_drive_t) );
} else
fsm_state = FSM_INTERACTIVE;
break;
}
case CMD_MOTOR_REPORT_SENSOR|CMD_REPLY_ADD:
printf( "receive motor sensor async event, id = %d, sensor = %d, steps = %d\n", buf[3], buf[4], deserialize( buf+5, 2 ) );
fsm_state = FSM_INTERACTIVE;
break;
default:
printf( "unknown response cmd %02x\n", buf[2] );
break;
}
}
} else if( nread==-1 ) {
// read()<0 error
} else if( nread==-2 ) {
// USB disconnect
exit(-1);
} else if( nread==-3 ) {
// resync or checksum error
}
}
// handle keystoke event
if( FD_ISSET( STDIN_FILENO, &fds ) ) {
cmd_motor_drive_t cmd;
#if 0
int ch = tolower( getchar() );
#else
uint8_t ch;
if( !read( STDIN_FILENO, &ch, sizeof(uint8_t) ) )
continue;
ch = tolower( ch );
#endif
if( !isalnum(ch) )
continue;
putchar( '\n' );
if( ch=='1' ) {
serial_send_command( uart_fd, motor_gen_cmd_motor_drive_rpm( hori, &cmd, CW, 90, 1, 12.5, 100 ), sizeof(cmd_motor_drive_t) );
} else if( ch=='2' ) {
serial_send_command( uart_fd, motor_gen_cmd_motor_drive_rpm( hori, &cmd, CCW, 90, 2, 15, 100 ), sizeof(cmd_motor_drive_t) );
} else if( ch=='3' ) {
serial_send_command( uart_fd, motor_gen_cmd_motor_drive_rpm( hori, &cmd, CW, 90, 3, 20, 100 ), sizeof(cmd_motor_drive_t) );
} else if( ch=='4' ) {
serial_send_command( uart_fd, motor_gen_cmd_motor_drive_rpm( hori, &cmd, CCW, 90, 4, 25, 100 ), sizeof(cmd_motor_drive_t) );
} else if( ch=='a' ) {
serial_send_command( uart_fd, motor_gen_cmd_motor_drive_rpm( vert, &cmd, CW, 30, 1, 12.5/2, 100 ), sizeof(cmd_motor_drive_t) );
} else if( ch=='b' ) {
serial_send_command( uart_fd, motor_gen_cmd_motor_drive_rpm( vert, &cmd, CCW, 30, 2, 15/2, 100 ), sizeof(cmd_motor_drive_t) );
} else if( ch=='c' ) {
serial_send_command( uart_fd, motor_gen_cmd_motor_drive_rpm( vert, &cmd, CW, 30, 3, 20/2, 100 ), sizeof(cmd_motor_drive_t) );
} else if( ch=='d' ) {
serial_send_command( uart_fd, motor_gen_cmd_motor_drive_rpm( vert, &cmd, CCW, 30, 4, 25/2, 100 ), sizeof(cmd_motor_drive_t) );
} else if( ch=='x' ) {
serial_send_command( uart_fd, motor_gen_cmd_motor_drive_rpm( hori, &cmd, CW, 90, 1, 1, 0 ), sizeof(cmd_motor_drive_t) );
} else if( ch=='z' ) {
serial_send_command( uart_fd, motor_gen_cmd_motor_drive( hori, &cmd, CCW, motor_deg2step(hori,90), 1000, MIN_TEST_PERIOD, 4 ), sizeof(cmd_motor_drive_t) );
} else if( ch=='s' ) {
serial_send_command( uart_fd, &cmd_motor_stop_hori, sizeof(cmd_motor_stop_t) );
serial_send_command( uart_fd, &cmd_motor_stop_vert, sizeof(cmd_motor_stop_t) );
} else if( ch=='r' ) {
serial_send_command( uart_fd, motor_gen_cmd_motor_drive_rpm( hori, &cmd, rand()%2 ? CW : CCW, rand()%RUNIN_MAX_DEG+1, 1, 12.5, 100 ), sizeof(cmd_motor_drive_t) );
serial_send_command( uart_fd, motor_gen_cmd_motor_drive_rpm( vert, &cmd, rand()%2 ? CW : CCW, rand()%RUNIN_MAX_DEG+1, 1, 12.5, 100 ), sizeof(cmd_motor_drive_t) );
fsm_state = FSM_RUNIN;
continue;
} else if( ch=='t' ) {
cmd_motor_test_t cmd;
cmd = (cmd_motor_test_t) { DEV_ADDR, SENDER_UART, CMD_MOTOR_TEST, ID_HORI, 0, 0 };
serial_send_command( uart_fd, &cmd, sizeof(cmd_motor_test_t) );
cmd = (cmd_motor_test_t) { DEV_ADDR, SENDER_UART, CMD_MOTOR_TEST, ID_HORI, 0, 1 };
serial_send_command( uart_fd, &cmd, sizeof(cmd_motor_test_t) );
} else if( ch=='g' ) {
cmd_motor_get_state_t cmd;
cmd = (cmd_motor_get_state_t) { DEV_ADDR, SENDER_UART, CMD_MOTOR_GET_STATE, ID_HORI };
serial_send_command( uart_fd, &cmd, sizeof(cmd_motor_get_state_t) );
} else if( ch=='q' ) {
break;
} else {
printf( "unknown command\n" );
fsm_state = FSM_INTERACTIVE;
continue;
}
fsm_state = FSM_IDLE;
}
}
return 0;
}