ndirect.c

卡内基梅隆大学（CMU）开发的移动机器人控制开发软件包。可对多种机器人进行控制

 * ALGORITHM:    ---
 * RETURN:       static int 
 * SIDE EFFECT:  
 * CALLS:        
 * CALLED BY:    
 ***************/
static int voltPackageProcess ( unsigned char *inbuf, 
			        unsigned char *voltCPU,
			        unsigned char *voltMotor)
{
  int i = 0;

  /* read the raw voltages out of the buffer */
  *voltCPU   = *(inbuf + i++);
  *voltMotor = *(inbuf + i++);
  
  return ( i );
}

/*****************************
 *                           *
 * Robot Interface Functions *
 *                           *
 *****************************/

/*
 * dummy function to maintain compatibility with Nclient
 *
 * create_robot - requests the server to create a robot with
 *                id = robot_id and establishes a connection with
 *                the robot. This function is disabled in this
 *                version of the software.
 * 
 * parameters:
 *    long robot_id -- id of the robot to be created. The robot
 *                     will be referred to by this id. If a process
 *                     wants to talk (connect) to a robot, it must
 *                     know its id.
 */
int create_robot ( long robot_id )
{
  Robot_id = robot_id;
  return ( TRUE );
}

/* Helper function for connect_robot */
static char *convertAddr ( char *name, char *addr )
{
  int addrInt[10];

  sscanf(name, "%d.%d.%d.%d", 
	 &(addrInt[0]), &(addrInt[1]), &(addrInt[2]), &(addrInt[3]));
  addr[0] = addrInt[0];
  addr[1] = addrInt[1];
  addr[2] = addrInt[2];
  addr[3] = addrInt[3];
  return ( addr );
}

int open_serial(char *port, unsigned short baud)
{
  struct termios info;  

  if (Fd != -1)
    close(Fd);
  if ((Fd=open(port, O_RDWR|O_NONBLOCK)) < 0)
    {
      perror("Error opening serial port");
      return 0;
    }
  
  if (tcgetattr(Fd, &info) < 0) 
    {
      perror("Error using TCGETS in ioctl.");
      close(Fd);
      Fd = -1;
      return 0;
    }
  
  /* restore old values to unhang the bastard, if hung */
  info.c_iflag=1280;
  info.c_oflag=5;
  info.c_cflag=3261;
  info.c_lflag=35387;
  
  if (tcsetattr(Fd, TCSANOW, &info) < 0) 
    { 
      perror("Error using TCSETS in ioctl.");
      close(Fd);
      Fd = -1;
      return 0;
    } 
  close(Fd);
  
  if ((Fd = open(port, O_RDWR)) == -1) {
    perror("Error opening serial port");
    errorp = SERIAL_OPEN_ERROR;
    return(FALSE);
  }
  
  if (tcgetattr(Fd,&info) < 0) {
    perror("Error using TCGETS in ioctl.");
    errorp = SERIAL_OPEN_ERROR;
    close(Fd);
    Fd = -1;
    return(FALSE);
  }
  
  if (baud != 4800 && baud != 9600 && baud != 19200 && baud != 38400)
  {
    if (baud != 0)
    {
      fprintf(stderr, "Invalid baud rate %d, using %d\n", baud,
              DEFAULT_SERIAL_BAUD);
    }
    baud = DEFAULT_SERIAL_BAUD;
  }
  
  info.c_iflag = 0;
  info.c_oflag = 0;
  info.c_lflag = 0;
  switch (baud) { /* serial port rate */
  case 4800:
    info.c_cflag = B4800 | CS8 | CREAD | CLOCAL;
    break;
  case 9600:
    info.c_cflag = B9600 | CS8 | CREAD | CLOCAL;
    break;
  case 19200:
    info.c_cflag = B19200 | CS8 | CREAD | CLOCAL;
    break;
  case 38400:
    info.c_cflag = B38400 | CS8 | CREAD | CLOCAL;
    break;
  default:
    break;
  }
  /* set time out on serial read */
#if 1
  info.c_cc[VMIN] = 0;
  info.c_cc[VTIME] = 10;
#endif 
  wait_time = NORMAL_TIMEOUT;
  if (tcsetattr(Fd,TCSANOW,&info) < 0) { 
    perror("Error using TCSETS in ioctl.");
    errorp = SERIAL_OPEN_ERROR;
    close(Fd);
    Fd = -1;
    return(FALSE);
  }
  
  printf("Robot <-> Host serial communication setup\n");
  printf("(%d baud using %s)\n", baud, port);
  return(TRUE);

}

/*
 * connect_robot - requests the server to connect to the robot
 *                 with id = robot_id. In order to talk to the server,
 *                 the SERVER_MACHINE_NAME and SERV_TCP_PORT must be
 *                 set properly. If a robot with robot_id exists,
 *                 a connection is established with that robot. If
 *                 no robot exists with robot_id, no connection is
 *                 established. In this single robot version, the robot_id
 *                 is unimportant. You can call connect_robot with any
 *                 robot_id, it will connect to the robot.
 *
 * parameters:
 *    long robot_id -- robot's id. In this multiple robot version, in order
 *                     to connect to a robot, you must know it's id.
 *         model    -- robot type: 0 = Nomad 200, 1 = Nomad 150, 2 = Scout
 *         *dev     -- hostname for TCP, device file for serial ("/dev/" prefix
 *                     or ":" suffix means serial)
 *         conn     -- TCP port for TCP, baud rate for serial
 */
int connect_robot(long robot_id, ...)
{
  static char first = 1;
  struct hostent *hp;
  struct sockaddr_in serv_addr;
  int ret, retlen, i;
  unsigned char ir_mask[16],sn_mask[16],cf_mask[4],vl_mask[3];
  unsigned char cp_mask,bp_mask,ls_mask,pos_mask, byte;
  char addr[10];

  va_list args;
  
  if (first)
  {
    fprintf(stderr, "Ndirect version 2.6.13\n");
    fprintf(stderr, "Copyright 1991-1998, Nomadic Technologies, Inc.\n");
    first = 0;
  }
  
  va_start(args, robot_id);
  model = va_arg(args, int);
  device = va_arg(args, char *);
  conn_value = va_arg(args, int);
  if (strncmp(device, "/dev", 4) != 0 && device[strlen(device)-1] != ':')
  {
    connect_type = 2;
  }
  va_end(args);
  
  if (connect_type == 1) 
  {
    open_serial(device, conn_value);
    
    /* Send init_sensors to make sure that server and robot are synchronized */
    if (model == MODEL_N200)
    {
      init_sensors();
    }
    else
    {
      usedSmask[0] = 0;
      /* IR */
      for (i = 1; i < 17; i++)
	usedSmask[i] = 0;
      /* Sonar */
      for (i = 17; i < 33; i++)
	usedSmask[i] = 1;
      /* Bumper */
      usedSmask[33] = 1;
      /* Conf */
      for (i = 34; i < 38; i++)
	usedSmask[i] = 1;
      /* Velocity */
      for (i = 38; i < 41; i++)
	usedSmask[i] = 1;
      /* Motor */
      usedSmask[41] = 1;
      /* Laser */
      usedSmask[42] = 0;
      /* Compass */
      usedSmask[43] = 1;
    }
  } else {
    if (device[0] == 0)
      device = "localhost";
    if ( ((hp = gethostbyname(device)) == NULL))
    {
      convertAddr(device, addr);
      if (addr[0] != 0 || addr[1] != 0 || addr[2] != 0 || addr[3] != 0)
      {
	memset((char *) &serv_addr, 0, sizeof(serv_addr));
	memcpy((char *) &(serv_addr.sin_addr), addr, 4);
      }
      else
      {
	fprintf(stderr, "Machine %s not valid.\n", device);
	return FALSE;
      }
    }
    else
    {
      memset((char *) &serv_addr, 0, sizeof(serv_addr));
      memcpy((char *) &(serv_addr.sin_addr), hp->h_addr, hp->h_length);
    }
    
    serv_addr.sin_family = AF_INET;            /* address family */
    
    /* TCP port number */
    if (conn_value == 0)
    {
      conn_value = DEFAULT_ROBOT_TCP_PORT;
    }
    serv_addr.sin_port = htons(conn_value);
    
    if ((Fd = socket(AF_INET, SOCK_STREAM, 0)) < 0) {
      fprintf(stderr, "Error: in open_socket_to_send_data, socket failed.\n");
      return FALSE;
    }
    fcntl(Fd, F_SETFL, O_NDELAY);
    if (connect(Fd, (struct sockaddr *) &serv_addr, sizeof(serv_addr)) < 0) {
      if (errno == EINPROGRESS) {
        fd_set          lfdvar;
        struct timeval  timeout;
        
        FD_ZERO(&lfdvar);
        FD_SET(Fd, &lfdvar);
        
        timeout.tv_sec = (long)CONNECT_TIMEOUT;
        timeout.tv_usec = (long)0;
        
        if (select(Fd+1, NULL, &lfdvar, NULL, &timeout) == 0) {
          fprintf(stderr, "Error: connect timed out.\n");
          close(Fd);
	  Fd = -1;
          return FALSE;
        } else {
	  errno = 0;
	  retlen = 4;
	  if (getsockopt(Fd, SOL_SOCKET, SO_ERROR, (char *)&ret, (unsigned int *) &retlen) == 0)
	  {
	    if (ret != 0)
	      errno = ret;
	    if (errno != 0)
	    {
	      perror("Error: connect failed");
	      close(Fd);
	      Fd = -1;
	      return FALSE;
	    }
	  }
	}
      } else {
        perror("Error: connect failed");
        close(Fd);
	Fd = -1;
        return FALSE;
      }
    }
    
    wait_time = NORMAL_TIMEOUT;
    
    printf("Robot <-> Host TCP/IP communication setup\n");
    printf("(machine %s on port %d)\n", device, conn_value);
    
    /* Read configuration data */
    if (model == MODEL_N200)
    {
      byte = GETC(Fd, connect_type);
      ir_mask[ 0] = byte & (1 << 0) ? 1 : 0;
      ir_mask[ 1] = byte & (1 << 1) ? 1 : 0;
      ir_mask[ 2] = byte & (1 << 2) ? 1 : 0;
      ir_mask[ 3] = byte & (1 << 3) ? 1 : 0;
      ir_mask[ 4] = byte & (1 << 4) ? 1 : 0;
      ir_mask[ 5] = byte & (1 << 5) ? 1 : 0;
      ir_mask[ 6] = byte & (1 << 6) ? 1 : 0;
      ir_mask[ 7] = byte & (1 << 7) ? 1 : 0;
      byte = GETC(Fd, connect_type);
      ir_mask[ 8] = byte & (1 << 0) ? 1 : 0;
      ir_mask[ 9] = byte & (1 << 1) ? 1 : 0;
      ir_mask[10] = byte & (1 << 2) ? 1 : 0;
      ir_mask[11] = byte & (1 << 3) ? 1 : 0;
      ir_mask[12] = byte & (1 << 4) ? 1 : 0;
      ir_mask[13] = byte & (1 << 5) ? 1 : 0;
      ir_mask[14] = byte & (1 << 6) ? 1 : 0;
      ir_mask[15] = byte & (1 << 7) ? 1 : 0;
      byte = GETC(Fd, connect_type);
      sn_mask[ 0] = byte & (1 << 0) ? 1 : 0;
      sn_mask[ 1] = byte & (1 << 1) ? 1 : 0;
      sn_mask[ 2] = byte & (1 << 2) ? 1 : 0;
      sn_mask[ 3] = byte & (1 << 3) ? 1 : 0;
      sn_mask[ 4] = byte & (1 << 4) ? 1 : 0;
      sn_mask[ 5] = byte & (1 << 5) ? 1 : 0;
      sn_mask[ 6] = byte & (1 << 6) ? 1 : 0;
      sn_mask[ 7] = byte & (1 << 7) ? 1 : 0;
      byte = GETC(Fd, connect_type);
      sn_mask[ 8] = byte & (1 << 0) ? 1 : 0;
      sn_mask[ 9] = byte & (1 << 1) ? 1 : 0;
      sn_mask[10] = byte & (1 << 2) ? 1 : 0;
      sn_mask[11] = byte & (1 << 3) ? 1 : 0;
      sn_mask[12] = byte & (1 << 4) ? 1 : 0;
      sn_mask[13] = byte & (1 << 5) ? 1 : 0;
      sn_mask[14] = byte & (1 << 6) ? 1 : 0;
      sn_mask[15] = byte & (1 << 7) ? 1 : 0;
      byte = GETC(Fd, connect_type);
      bp_mask    = byte & (1 << 0) ? 1 : 0;
      cf_mask[0] = byte & (1 << 1) ? 1 : 0;
      cf_mask[1] = byte & (1 << 2) ? 1 : 0;
      cf_mask[2] = byte & (1 << 3) ? 1 : 0;
      cf_mask[3] = byte & (1 << 4) ? 1 : 0;
      vl_mask[0] = byte & (1 << 5) ? 1 : 0;
      vl_mask[1] = byte & (1 << 6) ? 1 : 0;
      vl_mask[2] = byte & (1 << 7) ? 1 : 0;
      byte = GETC(Fd, connect_type);
      cp_mask = byte & 1;
      byte = GETC(Fd, connect_type);
      ls_mask = byte & 1;
      pos_mask = byte >> 1;
      
      usedSmask[0] = pos_mask;
      for (i = 0; i < 16; i++)
	usedSmask[i+1] = ir_mask[i];
      for (i = 0; i < 16; i++)
	usedSmask[i+17] = sn_mask[i];
      usedSmask[33] = bp_mask;
      for (i = 0; i < 4; i++)
	usedSmask[i+34] = cf_mask[i];
      for (i = 0; i < 3; i++)
	usedSmask[i+38] = vl_mask[i];
      usedSmask[42] = ls_mask;
      usedSmask[43] = cp_mask;
      
      /* get laser mode, num_points, processing */
      byte = GETC(Fd, connect_type);
      laser_mode = byte;
      byte = GETC(Fd, connect_type);
      byte = GETC(Fd, connect_type);
      byte = GETC(Fd, connect_type);
    }
    else
    {
      usedSmask[0] = 0;
      /* IR */
      for (i = 1; i < 17; i++)
	usedSmask[i] = 0;
      /* Sonar */
      for (i = 17; i < 33; i++)
	usedSmask[i] = 1;
      /* Bumper */
      usedSmask[33] = 1;
      /* Conf */
      for (i = 34; i < 38; i++)
	usedSmask[i] = 1;
      /* Velocity */
      for (i = 38; i < 41; i++)
	usedSmask[i] = 1;
      /* Motor */
      usedSmask[41] = 1;
      /* Laser */
      usedSmask[42] = 0;
      /* Compass */
      usedSmask[43] = 1;
    }
  }
  
  return TRUE;
}

/*
 * dummy function to maintain compatibility with Nclient
 *
 * disconnect_robot - requests the server to close the connect with robot
 *                    with id = robot_id. 
 *
 * parameters:
 *    long robot_id -- robot's id. In order to disconnect a robot, you
 *                     must know it's id.
 */
int disconnect_robot(long robot_id __attribute__ ((unused)))
{
  Robot_id = -1;
  return ( TRUE );
}

/* 
 * ac - sets accelerations of the robot. Currently it has no effect in 
 *      simulation mode.
 *
 * parameters:
 *    int t_ac, s_ac, r_ac -- the translation, steering, and turret
 *                            accelerations. t_ac is in 1/10 inch/sec^2
 *                            s_ac and r_ac are in 1/10 degree/sec^2.
 */
int ac(int t_ac, int s_ac, int r_ac)
{
  unsigned char outbuf[BUFSIZE];
  
  stuff_three_unsigned_int(8, AC, t_ac, s_ac, r_ac, outbuf);
  return(Comm_Robot(Fd, outbuf));  
}

/*
 * sp - sets speeds of the robot, this function will not cause the robot to
 *      move. However, the set speed will be used when executing a pr()
 *      or a pa().
 *
 * parameters:
 *    int t_sp, s_sp, r_sp -- the translation, steering, and turret
 *                            speeds. t_sp is in 1/10 inch/sec and
 *                            s_sp and r_sp are in 1/10 degree/sec.
 */
int sp(int t_sp, int s_sp, int r_sp)
{
  unsigned char outbuf[BUFSIZE];
  
  stuff_three_unsigned_int(8, SP, t_sp, s_sp, r_sp, outbuf);
  return(Comm_Robot(Fd, outbuf));
}

/*
 * pr - moves the motors of the robot by a relative distance, using the speeds
 *      set by sp(). The three parameters specify the relative distances for
 *      the three motors: translation, steering, and turret. All the three
 *      motors move concurrently if the speeds are not set to zero and the 
 *      distances to be traveled are non-zero. Depending on the timeout 
 *      period set (by function conf_tm(timeout)), the motion may 
 *      terminate before the robot has moved the specified distances
 *
 * parameters: