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Merge branch 'main' of gitlab.enterpriselab.ch:adis_team_gueti_roaster/adis_hs2022_team_4 into main

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main
Jonas Arnold 4 years ago
parent aa391305f5 b96cd7582f
commit 1e9ee6aea3
12 changed files with 376 additions and 101 deletions
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  1. 123
      ADIS_Csharp/RaspiControl/Application.cs
  2. 21
      ADIS_Csharp/RaspiControl/ChallengeFactory.cs
  3. 5
      ADIS_Csharp/RaspiControl/Joystick.cs
  4. 37
      ADIS_Csharp/RaspiControl/NLog.config
  5. 100
      ADIS_Csharp/RaspiControl/Program.cs
  6. 10
      ADIS_Csharp/RaspiControl/RaspiControl.csproj
  7. 111
      ADIS_Csharp/RaspiControl/StateMachine.cs
  8. 53
      ADIS_Sumo/Sumo/Application.c
  9. 2
      ADIS_Sumo/Sumo/LineFollow.c
  10. 10
      ADIS_Sumo/Sumo/Maze.c
  11. 3
      ADIS_Sumo/Sumo/Maze.h
  12. 2
      ADIS_Sumo/Sumo/Reflectance.c

123
ADIS_Csharp/RaspiControl/Application.cs
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@ -0,0 +1,123 @@
using NLog.LayoutRenderers;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Text.Json;
using System.Threading.Tasks;
namespace RaspiControl {
internal class Application {
private ChallengeFactory? challenge;
private StateMachine sm;
private readonly NLog.Logger log;
public Application() {
this.log = NLog.LogManager.GetCurrentClassLogger();
this.sm = new StateMachine();
this.challenge = new ChallengeFactory();
this.challenge.PublisherSubscriber.ConnectionStateChanged += this.PublisherSubscriber_ConnectionStateChanged;
this.challenge.PublisherSubscriber.Connect("localhost", "ADIS", "TEST");
Joystick joystick = new Joystick();
joystick.JoystickChanged += Joystick_JoystickChanged;
}
public void Run() {
bool success = this.challenge.PublisherSubscriber.Connect("localhost", "ADIS", "TEST");
if (!success) {
throw new Exception("Could not connect to broker on localhost");
} else {
this.sm.MoveNext(Command.Connected);
this.log.Info($"Current State: {this.sm.CurrentState}");
}
}
private void PublisherSubscriber_ConnectionStateChanged(object? sender, bool e) {
if (e == false) {
this.log.Error("Connection to MQTT broker lost");
} else {
this.log.Info("Connected to MQTT broker");
}
}
private void smHandler() {
this.log.Info($"Current State: {this.sm.CurrentState}");
switch (this.sm.CurrentState) {
case ProcessState.Startup:
break;
case ProcessState.Init:
break;
case ProcessState.Ready:
// show sf redy
this.challenge.RobotStationary.SplitFlap.Display("REDY");
break;
case ProcessState.StartMoveManual:
// mode automatic:false
this.challenge.RobotStationary.SplitFlap.Display("WALD");
this.challenge.RobotMobile.Movement.SetMobilityMode(false);
this.challenge.RobotMobile.Movement.AddSpeed(NavigationConstants.SPEED_FORWARD);
this.sm.MoveNext(Command.none);
break;
case ProcessState.ResumeMoveManual:
this.challenge.RobotMobile.Movement.SetMobilityMode(false);
this.challenge.RobotMobile.Movement.AddSpeed(NavigationConstants.SPEED_FORWARD);
this.sm.MoveNext(Command.none);
break;
case ProcessState.MoveManual:
break;
case ProcessState.MoveManualF:
// move + 100
this.challenge.RobotMobile.Movement.AddSpeed(NavigationConstants.SPEED_FORWARD);
this.sm.MoveNext(Command.none);
break;
case ProcessState.MoveManualB:
// move -100
this.challenge.RobotMobile.Movement.AddSpeed(NavigationConstants.SPEED_BACKWARD);
this.sm.MoveNext(Command.none);
break;
case ProcessState.MoveManualL:
this.challenge.RobotMobile.Movement.Turn(NavigationConstants.TURN_ANGLE_LEFT);
this.sm.MoveNext(Command.none);
break;
case ProcessState.MoveManualR:
// turn right 30
this.challenge.RobotMobile.Movement.Turn(NavigationConstants.TURN_ANGLE_RIGHT);
this.sm.MoveNext(Command.none);
break;
case ProcessState.StopManual:
// stop
this.challenge.RobotMobile.Movement.Stop();
break;
case ProcessState.Auto:
break;
case ProcessState.Final:
break;
case ProcessState.Error:
break;
}
}
private void Joystick_JoystickChanged(object sender, JoystickEventArgs e) {
switch (e.Button) {
case JoystickButton.None:
break;
case JoystickButton.Left:
this.sm.MoveNext(Command.JoystickLeft);
break;
case JoystickButton.Right:
this.sm.MoveNext(Command.JoystickRight);
break;
case JoystickButton.Up:
this.sm.MoveNext(Command.JoystickUp);
break;
case JoystickButton.Down:
this.sm.MoveNext(Command.JoystickDown);
break;
case JoystickButton.Center:
this.sm.MoveNext(Command.JoystickCenter);
break;
}
this.smHandler();
}
}
}

21
ADIS_Csharp/RaspiControl/ChallengeFactory.cs
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@ -0,0 +1,21 @@
using RobotLib.Communication;
using RobotLib;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace RaspiControl {
internal class ChallengeFactory {
public MqttPublisherSubscriber PublisherSubscriber { get; }
public Robot RobotStationary { get; }
public Robot RobotMobile { get; }
public ChallengeFactory() {
this.PublisherSubscriber = MqttPublisherSubscriber.Instance;
this.RobotStationary = new Robot(this.PublisherSubscriber);
this.RobotMobile = new Robot(this.PublisherSubscriber);
}
}
}

5
ADIS_Csharp/RaspiControl/Joystick.cs
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@ -32,13 +32,14 @@ namespace RaspiControl {
public event EventHandler<JoystickEventArgs>? JoystickChanged;
private void OnJoystickChanged(JoystickButton state) {
Console.WriteLine($"Joystick was pushed: {state}");
this.log.Trace($"Joystick was pushed: {state}");
this.JoystickChanged?.Invoke(this, new JoystickEventArgs(state));
}
#endregion
private readonly NLog.Logger log;
public Joystick() {
Pi.Init<BootstrapWiringPi>();
this.log = NLog.LogManager.GetCurrentClassLogger();
foreach (var pin in inputPins) {
pin.PinMode = GpioPinDriveMode.Input;
}

37
ADIS_Csharp/RaspiControl/NLog.config
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@ -0,0 +1,37 @@
<?xml version="1.0" encoding="utf-8" ?>
<nlog xmlns="http://www.nlog-project.org/schemas/NLog.xsd"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
autoReload="true">
<targets>
<target xsi:type="File"
name="logfile"
fileName="${processname}_${date:format=yy-MM-dd}.log"
archiveEvery="Day"
archiveNumbering="Rolling"
maxArchiveFiles="14"
concurrentWrites="true"
keepFileOpen="true"
layout="${date:format=dd.MM.yy HH\:mm\:ss.fff} [${threadid}] ${level:uppercase=true:padding=-5} ${logger:shortName=false} - ${message}"
header="${processname} v.${assembly-version} started on ${date:format=dd.MM.yy HH\:mm\:ss}. Machine: ${machinename}. User: ${identity}"
footer="${processname} v.${assembly-version} stopped on ${date:format=dd.MM.yy HH\:mm\:ss}. Machine: ${machinename}. User: ${identity}"/>
<target xsi:type="NLogViewer"
name="viewer"
includeSourceInfo="true"
newLine="true"
address="tcp4://127.0.0.1:9999"/>
<target xsi:type="ColoredConsole"
name="console"
layout="${date:format=dd.MM.yy HH\:mm\:ss.fff} [${threadid}] ${level:uppercase=true:padding=-5} ${logger:shortName=false} - ${message}"
header="${processname} v.${assembly-version} started on ${date:format=dd.MM.yy HH\:mm\:ss}. Machine: ${machinename}. User: ${identity}"
footer="${processname} v.${assembly-version} stopped on ${date:format=dd.MM.yy HH\:mm\:ss}. Machine: ${machinename}. User: ${identity}"
/>
</targets>
<rules>
<logger name="*" minlevel="Trace" writeTo="console" />
<logger name="*" minlevel="Trace" writeTo="logfile" />
<logger name="*" minlevel="Trace" writeTo="viewer" />
</rules>
</nlog>

100
ADIS_Csharp/RaspiControl/Program.cs
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@ -5,108 +5,16 @@ using System.Text.Json;
namespace RaspiControl {
class Programm {
private static MqttClient client;
private static readonly NLog.Logger log = NLog.LogManager.GetCurrentClassLogger();
static void Main(string[] args) {
try {
client = new MqttClient("localhost");
client.MqttMsgPublishReceived += Client_MqttMsgPublishReceived;
string clientId = Guid.NewGuid().ToString();
client.Connect(clientId);
client.Subscribe(new string[] { MqttConstants.DEVICE_STATUS_APP_TOPIC }, new byte[] { MqttMsgBase.QOS_LEVEL_AT_MOST_ONCE });
Joystick joystick = new Joystick();
joystick.JoystickChanged += Joystick_JoystickChanged;
Application app = new Application();
app.Run();
} catch (Exception ex) {
Console.WriteLine(ex.Message);
log.Error(ex);
}
}
private static void Joystick_JoystickChanged(object sender, JoystickEventArgs e) {
switch (e.Button) {
case JoystickButton.None:
break;
case JoystickButton.Left:
client.Publish(MqttConstants.MOBILE_NAV_TURN_TOPIC, Encoding.UTF8.GetBytes($"{NavigationConstants.TURN_ANGLE_LEFT}"), MqttMsgBase.QOS_LEVEL_AT_MOST_ONCE, false);
break;
case JoystickButton.Right:
client.Publish(MqttConstants.MOBILE_NAV_TURN_TOPIC, Encoding.UTF8.GetBytes($"{NavigationConstants.TURN_ANGLE_RIGHT}"), MqttMsgBase.QOS_LEVEL_AT_MOST_ONCE, false);
break;
case JoystickButton.Up:
client.Publish(MqttConstants.MOBILE_NAV_MOVE_TOPIC, Encoding.UTF8.GetBytes($"{NavigationConstants.SPEED_FORWARD}"), MqttMsgBase.QOS_LEVEL_AT_MOST_ONCE, false);
break;
case JoystickButton.Down:
client.Publish(MqttConstants.MOBILE_NAV_MOVE_TOPIC, Encoding.UTF8.GetBytes($"{NavigationConstants.SPEED_BACKWARD}"), MqttMsgBase.QOS_LEVEL_AT_MOST_ONCE, false);
break;
case JoystickButton.Center:
client.Publish(MqttConstants.MOBILE_NAV_STOP_TOPIC, Encoding.UTF8.GetBytes($"{NavigationConstants.STOP}"), MqttMsgBase.QOS_LEVEL_EXACTLY_ONCE, false);
break;
}
}
private static void PublishSplitFlapDisplay(string message) {
string payload = JsonSerializer.Serialize<Dictionary<string, string>>(new Dictionary<string, string>() { { "message", message } });
client.Publish(MqttConstants.SPLITFLAP_DISPLAY_TOPIC, Encoding.UTF8.GetBytes(payload),MqttMsgBase.QOS_LEVEL_AT_MOST_ONCE,false);
}
private static void Client_MqttMsgPublishReceived(object sender, MqttMsgPublishEventArgs e) {
string deviceId = "";
Dictionary<string, object> data;
if (e.Topic.StartsWith(string.Join('/',MqttConstants.DEVICE_STATUS_APP_TOPIC.Split('/').Take(2)))) {
if(e.Topic.EndsWith(MqttConstants.DEVICE_STATUS_APP_TOPIC.Split('/').Last())) {
deviceId = deviceIdFromStatusTopic(e.Topic);
if(deviceId == "mobile") {
try {
data = getValueFromTopic(Encoding.UTF8.GetString(e.Message));
object value;
data.TryGetValue("state", out value);
if (value != null) {
APP_STATE appState = (APP_STATE)Convert.ToUInt16(value.ToString());
switch (appState) {
case APP_STATE.STARTUP:
Console.WriteLine("Startup");
client.Publish(MqttConstants.SPLITFLAP_INIT_TOPIC, new byte[] { }, MqttMsgBase.QOS_LEVEL_AT_MOST_ONCE, false);
break;
case APP_STATE.INIT:
Console.WriteLine("Init");
PublishSplitFlapDisplay("INIT");
break;
case APP_STATE.CALIBRATE:
break;
case APP_STATE.FOLLOW_LINE:
Console.WriteLine("Follow line");
PublishSplitFlapDisplay("AUTO");
break;
case APP_STATE.IDLE:
break;
case APP_STATE.FINAL:
break;
case APP_STATE.READY:
Console.WriteLine("ready");
PublishSplitFlapDisplay("REDY");
break;
default:
throw new ArgumentException();
}
}
} catch(Exception) {
Console.WriteLine($"Invalid payload received: {Encoding.UTF8.GetString(e.Message)}");
}
}
else {
Console.WriteLine($"on topic: {e.Topic} no key with state found! | {Encoding.UTF8.GetString(e.Message)}");
}
}
}
}
private static string deviceIdFromStatusTopic(string statusTopic) {
string[] topic = statusTopic.Split('/');
return topic[topic.Length - 2];
}
private static Dictionary<string, object> getValueFromTopic(string topic) {
return JsonSerializer.Deserialize<Dictionary<string, object>>(topic);
}
}
}

10
ADIS_Csharp/RaspiControl/RaspiControl.csproj
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@ -17,4 +17,14 @@
<PackageReference Include="Unosquare.WiringPi" Version="0.5.1" />
</ItemGroup>
<ItemGroup>
<ProjectReference Include="..\RobotLib\RobotLib.csproj" />
</ItemGroup>
<ItemGroup>
<None Update="NLog.config">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</None>
</ItemGroup>
</Project>

111
ADIS_Csharp/RaspiControl/StateMachine.cs
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@ -0,0 +1,111 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace RaspiControl {
public enum ProcessState {
Startup,
Init,
Ready,
StartMoveManual,
ResumeMoveManual,
MoveManual,
MoveManualF,
MoveManualB,
MoveManualL,
MoveManualR,
StopManual,
Auto,
Final,
Error
}
public enum Command {
Connected,
InitDone,
JoystickUp,
JoystickDown,
JoystickLeft,
JoystickRight,
JoystickCenter,
autoMode,
none
}
internal class StateMachine {
class StateTransition {
readonly ProcessState CurrentState;
readonly Command Command;
public StateTransition(ProcessState currentState, Command command) {
CurrentState = currentState;
Command = command;
}
public override int GetHashCode() {
return 17 + 31 * CurrentState.GetHashCode() + 31 * Command.GetHashCode();
}
public override bool Equals(object obj) {
StateTransition other = obj as StateTransition;
return other != null && this.CurrentState == other.CurrentState && this.Command == other.Command;
}
}
Dictionary<StateTransition, ProcessState> transitions;
public ProcessState CurrentState { get; private set; }
public StateMachine() {
CurrentState = ProcessState.Startup;
transitions = new Dictionary<StateTransition, ProcessState> {
{new StateTransition(ProcessState.Startup,Command.Connected), ProcessState.Init },
{new StateTransition(ProcessState.Init,Command.JoystickCenter), ProcessState.Ready },
{new StateTransition(ProcessState.Ready,Command.JoystickUp), ProcessState.StartMoveManual },
{new StateTransition(ProcessState.Ready,Command.JoystickDown), ProcessState.StartMoveManual },
{new StateTransition(ProcessState.Ready,Command.JoystickLeft), ProcessState.StartMoveManual },
{new StateTransition(ProcessState.Ready,Command.JoystickRight), ProcessState.StartMoveManual },
{new StateTransition(ProcessState.StartMoveManual,Command.none), ProcessState.MoveManual },
{new StateTransition(ProcessState.MoveManualF, Command.none), ProcessState.MoveManual },
{new StateTransition(ProcessState.MoveManualB, Command.none), ProcessState.MoveManual },
{new StateTransition(ProcessState.MoveManualL, Command.none), ProcessState.MoveManual },
{new StateTransition(ProcessState.MoveManualR, Command.none), ProcessState.MoveManual },
{new StateTransition(ProcessState.MoveManual, Command.JoystickUp), ProcessState.MoveManualF },
{new StateTransition(ProcessState.MoveManual, Command.JoystickDown), ProcessState.MoveManualB },
{new StateTransition(ProcessState.MoveManual, Command.JoystickLeft), ProcessState.MoveManualL },
{new StateTransition(ProcessState.MoveManual, Command.JoystickRight), ProcessState.MoveManualR },
{new StateTransition(ProcessState.MoveManual, Command.JoystickCenter), ProcessState.StopManual },
{new StateTransition(ProcessState.StopManual,Command.JoystickUp), ProcessState.ResumeMoveManual },
{new StateTransition(ProcessState.StopManual,Command.JoystickDown), ProcessState.ResumeMoveManual },
{new StateTransition(ProcessState.StopManual,Command.JoystickLeft), ProcessState.ResumeMoveManual },
{new StateTransition(ProcessState.StopManual,Command.JoystickRight), ProcessState.ResumeMoveManual },
{new StateTransition(ProcessState.ResumeMoveManual, Command.none),ProcessState.MoveManual },
{new StateTransition(ProcessState.MoveManual, Command.autoMode), ProcessState.Auto },
};
}
public ProcessState GetNext(Command command) {
StateTransition transition = new StateTransition(CurrentState, command);
ProcessState nextState;
if (!transitions.TryGetValue(transition, out nextState))
throw new Exception("Invalid transition: " + CurrentState + " -> " + command);
return nextState;
}
public ProcessState MoveNext(Command command) {
CurrentState = GetNext(command);
return CurrentState;
}
}
}

53
ADIS_Sumo/Sumo/Application.c
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@ -163,7 +163,9 @@ typedef enum {
#if PL_CONFIG_APP_SUMO
APP_STATE_RUN_SUMO, /* Sumo fight */
#endif
APP_STATE_IDLE
APP_STATE_IDLE,
APP_STATE_MANUAL_MOVE,
APP_STATE_AUTO,
} AppStateType;
static AppStateType appState = APP_STATE_STARTUP;
@ -211,6 +213,8 @@ static unsigned char *AppStateString(AppStateType state) {
static void StateMachine(bool buttonPress) {
#if PL_CONFIG_USE_LINE_SENSOR
static uint8_t cnt;
static uint8_t mazeFailure;
static uint8_t presentCnt;
#endif
// TODO: send appstate via Mqtt
switch (appState) {
@ -357,6 +361,43 @@ static void StateMachine(bool buttonPress) {
}
break;
#endif
case APP_STATE_MANUAL_MOVE:
if(REF_GetLineKind(REF_LINE_KIND_MODE_MAZE) == REF_LINE_STRAIGHT){
// send to mqtt AUTO
SHELL_SendString((unsigned char*)"AUTO!!!\r\n");
appState = APP_STATE_AUTO;
mazeFailure = 0;
MAZE_ResetPresentCount();
presentCnt = MAZE_GetPresentCount();
MAZE_ClearSolution();
LF_StartFollowing();
}
break;
case APP_STATE_AUTO:
if(!LF_IsFollowing() && MAZE_IsSolved()){
//done
SHELL_SendString((unsigned char*)"MAZE: done, stopped!!!\r\n");
appState = APP_STATE_IDLE;
}else if(!LF_IsFollowing() && !MAZE_IsSolved() && mazeFailure < 5){
// failed
mazeFailure++;
SHELL_SendString((unsigned char*)"MAZE: Failure, stopped OMG!!!\r\n");
MAZE_ClearSolution();
DRV_SetSpeed(0, 0);
DRV_SetMode(DRV_MODE_SPEED);
LF_StartFollowing();
}else if(!LF_IsFollowing() && !MAZE_IsSolved() && mazeFailure >= 5){
appState = APP_STATE_IDLE;
}
if(MAZE_GetPresentCount() != presentCnt){
presentCnt = MAZE_GetPresentCount();
//publish
uint8_t counter[5] = "";
McuUtility_Num8uToStr(counter, sizeof(counter), presentCnt);
SHELL_SendString((unsigned char*)counter);
SHELL_SendString((unsigned char*)"\r\n");
}
break;
default:
break;
} /* switch */
@ -456,6 +497,11 @@ static uint8_t AutoCalibrateReflectance(void) {
}
#endif
static uint8_t SetManualMode(){
appState = APP_STATE_MANUAL_MOVE;
return ERR_OK;
}
#if 0 /* do not use this any more, use proper debouncing! */
static void CheckButton(void) {
#if PL_HAS_USER_BUTTON
@ -1011,6 +1057,8 @@ static uint8_t APP_PrintHelp(const McuShell_StdIOType *io) {
#if PL_CONFIG_USE_LINE_SENSOR && PL_HAS_TURN
McuShell_SendHelpStr((unsigned char*)" autocalib", (unsigned char*)"Automatically calibrate line sensor\r\n", io->stdOut);
#endif
//app manualdrive
McuShell_SendHelpStr((unsigned char*)" manualdrive", (unsigned char*)"Robot can be driven manualy\r\n", io->stdOut);
return ERR_OK;
}
@ -1048,6 +1096,9 @@ uint8_t APP_ParseCommand(const unsigned char *cmd, bool *handled, const McuShell
} else if (McuUtility_strcmp((char*)cmd, (char*)McuShell_CMD_STATUS)==0 || McuUtility_strcmp((char*)cmd, (char*)"app status")==0) {
*handled = TRUE;
return APP_PrintStatus(io);
}else if(McuUtility_strcmp((char*)cmd, (char*)"app manualdrive")==0){
*handled = TRUE;
return SetManualMode();
#if PL_CONFIG_USE_LINE_SENSOR && PL_HAS_TURN
} else if (McuUtility_strcmp((char*)cmd, (char*)"app autocalib")==0) {
*handled = TRUE;

2
ADIS_Sumo/Sumo/LineFollow.c
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@ -306,7 +306,7 @@ static void StateMachine(void) {
#endif
//SHELL_SendString((unsigned char *)"MAZE: Going back to start...\r\n");
//LF_currState = STATE_FOLLOW_SEGMENT; /* go back to start */
MAZE_ClearSolution(); /* clear solution */
//MAZE_ClearSolution(); /* clear solution */
LF_currState = STATE_STOP;
break;
#endif

10
ADIS_Sumo/Sumo/Maze.c
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@ -51,6 +51,15 @@ static TURN_Kind path[MAZE_MAX_PATH];
static uint8_t pathLength;
static bool isSolved = FALSE;
static bool useLeftHandOnTheWallRule = TRUE;
static uint8_t presentCounter = 0;
uint8_t MAZE_ResetPresentCount(){
presentCounter = 0;
}
uint8_t MAZE_GetPresentCount(){
return presentCounter;
}
bool MAZE_IsLeftHandRule(void) {
return useLeftHandOnTheWallRule;
@ -207,6 +216,7 @@ uint8_t MAZE_EvaluteTurn(bool *finished, bool *deadEndGoBw) {
}
#endif
TURN_Turn(turn, NULL); /* make turn */
presentCounter++;
MAZE_AddPath(turn);
MAZE_SimplifyPath();
return ERR_OK; /* turn finished */

3
ADIS_Sumo/Sumo/Maze.h
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@ -11,6 +11,9 @@
#if PL_CONFIG_APP_LINE_MAZE
#include "Turn.h"
uint8_t MAZE_ResetPresentCount();
uint8_t MAZE_GetPresentCount();
/*!
* \brief Adds a new path while going forward through the maze
* \param kind New path to be added

2
ADIS_Sumo/Sumo/Reflectance.c
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@ -754,7 +754,7 @@ void REF_Init(void) {
};
REF_Sensor.isEnabled = true;
REF_Sensor.savePower = false; /* turn off, as this extends the ref sensor task time by around 200 us */
REF_Sensor.savePower = true; /* turn off, as this extends the ref sensor task time by around 200 us */
McuGPIO_GetDefaultConfig(&gpioConfig);
/* IR on/off: PTD1, high active */
gpioConfig.hw.gpio = GPIOD;

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