void mainBoardCommonAddDevices(RobotConfig* robotConfig) {
// SYSTEM & DEBUG
addLocalDevice(getSystemDeviceInterface(), getSystemDeviceDescriptor());
addLocalDevice(getLogDeviceInterface(), getLogDeviceDescriptor());
addLocalDevice(getSerialDebugDeviceInterface(), getSerialDebugDeviceDescriptor());
addLocalDevice(getTimerDeviceInterface(), getTimerDeviceDescriptor());
addLocalDevice(getDataDispatcherDeviceInterface(), getDataDispatcherDeviceDescriptor());
addLocalDevice(getI2cCommonDebugDeviceInterface(), getI2cCommonDebugDeviceDescriptor());
addLocalDevice(getI2cMasterDebugDeviceInterface(), getI2cMasterDebugDeviceDescriptor());
// COMMON DEVICES
addLocalDevice(getServoDeviceInterface(), getServoDeviceDescriptor(&servoList));
addLocalDevice(getEepromDeviceInterface(), getEepromDeviceDescriptor(&eeprom));
addLocalDevice(getClockDeviceInterface(), getClockDeviceDescriptor(&clock));
addLocalDevice(getTemperatureSensorDeviceInterface(), getTemperatureSensorDeviceDescriptor(&temperature));
// addLocalDevice(getCurrentSensorDeviceInterface(), getCurrentSensorDeviceDescriptor(¤t));
addLocalDevice(getADCDeviceInterface(), getADCDeviceDescriptor());
// ACCELEROMETER
// addLocalDevice(getAccelerometerDeviceInterface(), getAccelerometerDeviceDescriptor(&accelerometer));
// ROBOT CONFIG
addLocalDevice(getRobotConfigDeviceInterface(), getRobotConfigDeviceDescriptor(robotConfig));
}
void runMechanicalBoard1PC(bool singleMode) {
singleModeActivated = singleMode;
setBoardName(MECHANICAL_BOARD_1_PC_NAME);
setConsoleSizeAndBuffer(CONSOLE_CHARS_WIDTH, CONSOLE_CHARS_HEIGHT, CONSOLE_BUFFER_WIDTH, CONSOLE_BUFFER_HEIGHT);
moveConsole(HALF_SCREEN_WIDTH, CONSOLE_HEIGHT / 2, HALF_SCREEN_WIDTH, CONSOLE_HEIGHT / 2);
// We use http://patorjk.com/software/taag/#p=display&v=2&f=Jerusalem&t=MECA%20%20%201%20%20%20PC
// with Font : Jerusalem
printf(" __ __ _____ ____ _ _ ____ ____\r\n");
printf("| \\/ | ____ / ___| / \\ / | | _ \\ / ___|\r\n");
printf("| |\\/| | _|| | / _ \\ | | | |_) | |\r\n");
printf("| | | | |__| |___ / ___ \\ | | | __/| |___\r\n");
printf("|_| |_| _____\\____/ _ / \\_\\ |_| |_| \\____ |\r\n");
initLogs(LOG_LEVEL_DEBUG, (LogHandler(*)[]) &logHandlerListArray, MECHANICAL_BOARD_1_PC_LOG_HANDLER_LIST_LENGTH, LOG_HANDLER_CATEGORY_ALL_MASK);
initConsoleInputStream(&consoleInputStream);
initConsoleOutputStream(&consoleOutputStream);
addConsoleLogHandler(LOG_LEVEL_DEBUG, LOG_HANDLER_CATEGORY_ALL_MASK);
initSerialLinkList((SerialLink(*)[]) &serialLinkListArray, MECHANICAL_BOARD_1_PC_SERIAL_LINK_LIST_LENGTH);
initTimerList((Timer(*)[]) &timerListArray, MECHANICAL_BOARD_1_PC_TIMER_LENGTH);
initBuffer(&consoleInputBuffer, (char(*)[]) &consoleInputBufferArray, MECHANICAL_BOARD_1_PC_CONSOLE_INPUT_BUFFER_LENGTH, "inputConsoleBuffer", "IN");
initBuffer(&consoleOutputBuffer, (char(*)[]) &consoleOutputBufferArray, MECHANICAL_BOARD_1_PC_CONSOLE_OUTPUT_BUFFER_LENGTH, "outputConsoleBuffer", "IN");
// Dispatchers
initDriverDataDispatcherList((DriverDataDispatcher(*)[]) &driverDataDispatcherListArray, MECHANICAL_BOARD_1_PC_DATA_DISPATCHER_LIST_LENGTH);
addLocalDriverDataDispatcher();
if (!singleModeActivated) {
// I2c
initI2cBusList((I2cBus(*)[]) &i2cBusListArray, MECHANICAL_BOARD_1_PC_I2C_BUS_LIST_LENGTH);
mechanical1I2cBus = addI2cBus(I2C_BUS_TYPE_SLAVE, I2C_BUS_PORT_1);
initI2cBusConnectionList((I2cBusConnection(*)[]) &i2cBusConnectionListArray, MECHANICAL_BOARD_1_PC_I2C_BUS_CONNECTION_LIST_LENGTH);
mechanical1I2cBusConnection = addI2cBusConnection(mechanical1I2cBus, MECHANICAL_BOARD_1_I2C_ADDRESS, false);
mechanical1I2cBusConnection->i2cBus = mechanical1I2cBus;
mechanical1I2cBusConnectionPc.i2cPipeMasterName = MAIN_BOARD_TO_MECA1_BOARD_PC_PIPE_I2C_MASTER_NAME;
mechanical1I2cBusConnectionPc.i2cPipeSlaveName = MECHANICAL_BOARD_1_PC_PIPE_I2C_SLAVE_NAME;
mechanical1I2cBusConnection->object = &mechanical1I2cBusConnectionPc;
openSlaveI2cStreamLink(&i2cSlaveStreamLink,
&i2cSlaveInputBuffer,
(char(*)[]) &i2cSlaveInputBufferArray,
MECHANICAL_BOARD_1_PC_IN_BUFFER_LENGTH,
&i2cSlaveOutputBuffer,
(char(*)[]) &i2cSlaveOutputBufferArray,
MECHANICAL_BOARD_1_PC_OUT_BUFFER_LENGTH,
mechanical1I2cBusConnection
);
// I2C Debug
initI2CDebugBuffers(&i2cSlaveDebugInputBuffer,
(char(*)[]) &i2cSlaveDebugInputBufferArray,
MECHANICAL_BOARD_1_PC_I2C_DEBUG_SLAVE_IN_BUFFER_LENGTH,
&i2cSlaveDebugOutputBuffer,
(char(*)[]) &i2cSlaveDebugOutputBufferArray,
MECHANICAL_BOARD_1_PC_I2C_DEBUG_SLAVE_OUT_BUFFER_LENGTH);
}
// Eeprom
initEepromPc(&eeprom, "MECHANICAL_BOARD_1_PC_EEPROM");
// Battery
initBattery(&battery, getBatteryVoltage);
// Clock
initSoftClock(&clock);
// HBridge Fake Motor MD22
initDualHBridgeMotorPc(&md22);
// 2018
// IO Expander
initIOExpanderList(&ioExpanderList, (IOExpander(*)[]) &ioExpanderArray, MECHANICAL_BOARD_1_PC_IO_EXPANDER_LIST_LENGTH);
initIOExpanderPc(getIOExpanderByIndex(&ioExpanderList, MECHANICAL_BOARD_1_PC_IO_EXPANDER_LAUNCHER_INDEX), &ioExpanderValue0);
IOExpander* launcherIoExpander = getIOExpanderByIndex(&ioExpanderList, MECHANICAL_BOARD_1_PC_IO_EXPANDER_LAUNCHER_INDEX);
// TODO : Add tof !
// initLauncher2018(&launcher2018, launcherIoExpander, &relay, &md22, NULL);
// Relay
initRelayPc(&relay, &relayValue);
// Devices
initDeviceList((Device(*)[]) &deviceListArray, MECHANICAL_BOARD_1_PC_DEVICE_LIST_LENGTH);
addLocalDevice(getTestDeviceInterface(), getTestDeviceDescriptor());
addLocalDevice(getTimerDeviceInterface(), getTimerDeviceDescriptor());
addLocalDevice(getI2cCommonDebugDeviceInterface(), getI2cCommonDebugDeviceDescriptor());
addLocalDevice(getI2cSlaveDebugDeviceInterface(), getI2cSlaveDebugDeviceDescriptor(mechanical1I2cBusConnection));
addLocalDevice(getSystemDeviceInterface(), getSystemDeviceDescriptor());
addLocalDevice(getLogDeviceInterface(), getLogDeviceDescriptor());
addLocalDevice(getEepromDeviceInterface(), getEepromDeviceDescriptor(&eeprom));
addLocalDevice(getClockDeviceInterface(), getClockDeviceDescriptor(&clock));
// 2018
addLocalDevice(getIOExpanderDeviceInterface(), getIOExpanderDeviceDescriptor(&ioExpanderList));
addLocalDevice(getRelayDeviceInterface(), getRelayDeviceDescriptor(&relay));
addLocalDevice(getMD22DeviceInterface(), getMD22DeviceDescriptor(&md22));
initDevices();
startTimerList(true);
setDebugI2cEnabled(false);
while (1) {
mechanicalBoard1PcWaitForInstruction();
}
}
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
}
/**
* @private
*/
void initMainBoardDevicesDescriptor() {
initDeviceList(&deviceListArray, MAIN_BOARD_DEVICE_LENGTH);
// SYSTEM & DEBUG
addLocalDevice(getSystemDeviceInterface(), getSystemDeviceDescriptor());
addLocalDevice(getLogDeviceInterface(), getLogDeviceDescriptor());
addLocalDevice(getSerialDebugDeviceInterface(), getSerialDebugDeviceDescriptor());
addLocalDevice(getTimerDeviceInterface(), getTimerDeviceDescriptor());
addLocalDevice(getTest2DeviceInterface(), getTest2DeviceDescriptor());
addLocalDevice(getDataDispatcherDeviceInterface(), getDataDispatcherDeviceDescriptor());
addLocalDevice(getI2cMasterDebugDeviceInterface(), getI2cMasterDebugDeviceDescriptor());
// LOCAL
addLocalDevice(getLCDDeviceInterface(), getLCDDeviceDescriptor());
addLocalDevice(getRobotConfigDeviceInterface(), getRobotConfigDeviceDescriptor(&robotConfig));
initStartMatch(&startMatch, isMatchStarted32, mainBoardWaitForInstruction, &eeprom);
addLocalDevice(getStartMatchDeviceInterface(), getStartMatchDeviceDescriptor(&startMatch));
addLocalDevice(getEndMatchDetectorDeviceInterface(), getEndMatchDetectorDeviceDescriptor());
addLocalDevice(getEepromDeviceInterface(), getEepromDeviceDescriptor(&eeprom));
addLocalDevice(getClockDeviceInterface(), getClockDeviceDescriptor(&clock));
addLocalDevice(getADCDeviceInterface(), getADCDeviceDescriptor());
addLocalDevice(getServoDeviceInterface(), getServoDeviceDescriptor());
addLocalDevice(getLedDeviceInterface(), getLedDeviceDescriptor());
addLocalDevice(getTestDeviceInterface(), getTestDeviceDescriptor());
/*
addLocalDevice(getSonarDeviceInterface(), getSonarDeviceDescriptor(&i2cBus));
addLocalDevice(getRobotSonarDetectorDeviceInterface(), getRobotSonarDetectorDeviceDescriptor(&i2cBus));
addLocalDevice(getTemperatureSensorDeviceInterface(), getTemperatureSensorDeviceDescriptor(&i2cBus));
*/
// Mechanical Board 2->I2C
// Device* armDevice = addI2cRemoteDevice(getArm2012DeviceInterface(), MECHANICAL_BOARD_2_I2C_ADDRESS);
// Device* infraredDetectorDevice = addI2cRemoteDevice(getRobotInfraredDetectorDeviceInterface(), MECHANICAL_BOARD_2_I2C_ADDRESS);
// addI2cRemoteDevice(getServoDeviceInterface(), MECHANICAL_BOARD_2_I2C_ADDRESS);
// addUartRemoteDevice(getRobotInfraredDetectorDeviceInterface(), SERIAL_PORT_MECA2);
// Motor Board->I2C
/*
addI2cRemoteDevice(getTestDeviceInterface(), MOTOR_BOARD_I2C_ADDRESS);
addI2cRemoteDevice(getMotorDeviceInterface(), MOTOR_BOARD_I2C_ADDRESS);
addI2cRemoteDevice(getCodersDeviceInterface(), MOTOR_BOARD_I2C_ADDRESS);
addI2cRemoteDevice(getPIDDeviceInterface(), MOTOR_BOARD_I2C_ADDRESS);
addI2cRemoteDevice(getTrajectoryDeviceInterface(), MOTOR_BOARD_I2C_ADDRESS);
addI2cRemoteDevice(getMotionDeviceInterface(), MOTOR_BOARD_I2C_ADDRESS);
*/
// MOTOR BOARD -> UART
// addUartRemoteDevice(getTestDeviceInterface(), SERIAL_PORT_MOTOR);
addUartRemoteDevice(getMotorDeviceInterface(), SERIAL_PORT_MOTOR);
addUartRemoteDevice(getCodersDeviceInterface(), SERIAL_PORT_MOTOR);
addUartRemoteDevice(getPIDDeviceInterface(), SERIAL_PORT_MOTOR);
addUartRemoteDevice(getTrajectoryDeviceInterface(), SERIAL_PORT_MOTOR);
addUartRemoteDevice(getMotionDeviceInterface(), SERIAL_PORT_MOTOR);
addUartRemoteDevice(getRobotKinematicsDeviceInterface(), SERIAL_PORT_MOTOR);
// Beacon Receiver Board->I2C
// addI2cRemoteDevice(getBeaconReceiverDeviceInterface(), BEACON_RECEIVER_I2C_ADDRESS);
// Strategy Board->I2C
// addI2cRemoteDevice(getStrategyDeviceInterface(), STRATEGY_BOARD_I2C_ADDRESS);
// Air Conditioning Board
addI2cRemoteDevice(getAirConditioningDeviceInterface(), AIR_CONDITIONING_BOARD_I2C_ADDRESS);
// Init the devices
initDevices();
// Manage the callback notification
// trajectoryDevice->deviceHandleCallbackRawData = &mainBoardCallbackRawData;
// testDevice.deviceHandleCallbackRawData = &mainBoardCallbackRawData;
// motionDevice->deviceHandleCallbackRawData = &mainBoardCallbackRawData;
// infraredDetectorDevice->deviceHandleCallbackRawData = &mainBoardCallbackRawData;
}