00001 #ifdef PLATFORM_APERIOS
00002 #include <OPENR/core_macro.h>
00003 #include <OPENR/ObjcommTypes.h>
00004 #include <OPENR/OPENR.h>
00005 #include <OPENR/OPENRAPI.h>
00006 #include <OPENR/OPENRMessages.h>
00007 #include <OPENR/OPower.h>
00008 #endif
00009
00010 #include "WorldState.h"
00011 #include "Shared/get_time.h"
00012 #include "Events/EventRouter.h"
00013 #include "ERS210Info.h"
00014 #include "ERS220Info.h"
00015 #include "ERS7Info.h"
00016 #include "Shared/Config.h"
00017
00018 #define GETD(cpc) (((float)sensor.GetData(cpc)->frame[lastFrame].value) / 1.0E6f)
00019 #define GETB(cpc) ((bool)sensor.GetData(cpc)->frame[lastFrame].value)
00020 #define GETSENSOR(cpc) ((float)sensor.GetData(cpc)->frame[lastFrame].value)
00021 #define GETSIG(cpc) ((word)sensor.GetData(cpc)->frame[lastFrame].signal)
00022 #define GETDUTY(cpc) ((float)((OJointValue*)&sensor.GetData(cpc)->frame[lastFrame])->pwmDuty/512.0f)
00023
00024 const double WorldState::g=9.80665;
00025 const double WorldState::IROORDist = 900.0;
00026
00027 WorldState * state=NULL;
00028
00029 WorldState::WorldState()
00030 : alwaysGenerateStatus(false), vel_x(0), vel_y(0), vel_a(0), vel_time(0),
00031 robotStatus(0), batteryStatus(0),
00032 lastSensorUpdateTime(0), mainProfile(), motionProfile(),
00033 robotDesign(0), curtime(get_time())
00034 {
00035 for(unsigned int i=0; i< NumOutputs; i++)
00036 outputs[i]=0;
00037 for(unsigned int i=0; i< NumButtons; i++)
00038 buttons[i]=0;
00039 for(unsigned int i=0; i< NumSensors; i++)
00040 sensors[i]=0;
00041 for(unsigned int i=0; i< NumPIDJoints; i++)
00042 for(unsigned int j=0; j<3; j++)
00043 pids[i][j]=0;
00044 for(unsigned int i=0; i< NumPIDJoints; i++)
00045 pidduties[i]=0;
00046 memset(powerFlags,0,sizeof(unsigned int)*PowerSourceID::NumPowerSIDs);
00047 memset(button_times,0,sizeof(unsigned int)*NumButtons);
00048
00049 #ifdef PLATFORM_APERIOS
00050
00051 char robotDesignStr[orobotdesignNAME_MAX + 1];
00052 memset(robotDesignStr, 0, sizeof(robotDesignStr));
00053 if (OPENR::GetRobotDesign(robotDesignStr) != oSUCCESS) {
00054 cout << "OPENR::GetRobotDesign() failed." << endl;
00055 } else {
00056 if(strcmp(robotDesignStr,"ERS-210")==0)
00057 robotDesign=ERS210Mask;
00058 else if(strcmp(robotDesignStr,"ERS-220")==0)
00059 robotDesign=ERS220Mask;
00060 else if(strcmp(robotDesignStr,"ERS-7")==0)
00061 robotDesign=ERS7Mask;
00062 else {
00063 cout << "ERROR: Unrecognized model: "<<robotDesignStr<<"\nTrying ERS-210..."<<endl;
00064 robotDesign=ERS210Mask;
00065 }
00066 }
00067 #else
00068 # if TGT_ERS220
00069 robotDesign=ERS220Mask;
00070 # elif TGT_ERS210
00071 robotDesign=ERS210Mask;
00072 # elif TGT_ERS7
00073 robotDesign=ERS7Mask;
00074 # else //default case, ERS2xx
00075 # if TGT_ERS2xx==0
00076 # warning "TGT_<model> undefined - defaulting to TGT_ERS210"
00077 # else
00078 # warning "TGT_ERS2xx can't be determined on non-Aperios - defaulting to TGT_ERS210"
00079 # endif
00080 robotDesign=ERS210Mask;
00081 # endif //model selection
00082 #endif
00083 }
00084
00085 #ifdef PLATFORM_APERIOS
00086
00087
00088
00089 void WorldState::read(OSensorFrameVectorData& sensor, EventRouter* er) {
00090 curtime=get_time();
00091
00092 std::vector<EventBase*> evtBuf;
00093 unsigned int lastFrame=sensor.GetInfo(0)->numFrames-1;
00094
00095 if(robotDesign&ERS210Mask) {
00096 outputs[LFrLegOffset + RotatorOffset ] = GETD(ERS210Info::CPCJointLFRotator);
00097 outputs[LFrLegOffset + ElevatorOffset ] = GETD(ERS210Info::CPCJointLFElevator);
00098 outputs[LFrLegOffset + KneeOffset ] = GETD(ERS210Info::CPCJointLFKnee);
00099 pidduties[LFrLegOffset + RotatorOffset ] = GETDUTY(ERS210Info::CPCJointLFRotator);
00100 pidduties[LFrLegOffset + ElevatorOffset] = GETDUTY(ERS210Info::CPCJointLFElevator);
00101 pidduties[LFrLegOffset + KneeOffset ] = GETDUTY(ERS210Info::CPCJointLFKnee);
00102
00103 outputs[RFrLegOffset + RotatorOffset ] = GETD(ERS210Info::CPCJointRFRotator);
00104 outputs[RFrLegOffset + ElevatorOffset ] = GETD(ERS210Info::CPCJointRFElevator);
00105 outputs[RFrLegOffset + KneeOffset ] = GETD(ERS210Info::CPCJointRFKnee);
00106 pidduties[RFrLegOffset + RotatorOffset ] = GETDUTY(ERS210Info::CPCJointRFRotator);
00107 pidduties[RFrLegOffset + ElevatorOffset] = GETDUTY(ERS210Info::CPCJointRFElevator);
00108 pidduties[RFrLegOffset + KneeOffset ] = GETDUTY(ERS210Info::CPCJointRFKnee);
00109
00110 outputs[LBkLegOffset + RotatorOffset ] = GETD(ERS210Info::CPCJointLHRotator);
00111 outputs[LBkLegOffset + ElevatorOffset ] = GETD(ERS210Info::CPCJointLHElevator);
00112 outputs[LBkLegOffset + KneeOffset ] = GETD(ERS210Info::CPCJointLHKnee);
00113 pidduties[LBkLegOffset + RotatorOffset ] = GETDUTY(ERS210Info::CPCJointLHRotator);
00114 pidduties[LBkLegOffset + ElevatorOffset] = GETDUTY(ERS210Info::CPCJointLHElevator);
00115 pidduties[LBkLegOffset + KneeOffset ] = GETDUTY(ERS210Info::CPCJointLHKnee);
00116
00117 outputs[RBkLegOffset + RotatorOffset ] = GETD(ERS210Info::CPCJointRHRotator);
00118 outputs[RBkLegOffset + ElevatorOffset ] = GETD(ERS210Info::CPCJointRHElevator);
00119 outputs[RBkLegOffset + KneeOffset ] = GETD(ERS210Info::CPCJointRHKnee);
00120 pidduties[RBkLegOffset + RotatorOffset ] = GETDUTY(ERS210Info::CPCJointRHRotator);
00121 pidduties[RBkLegOffset + ElevatorOffset] = GETDUTY(ERS210Info::CPCJointRHElevator);
00122 pidduties[RBkLegOffset + KneeOffset ] = GETDUTY(ERS210Info::CPCJointRHKnee);
00123
00124
00125 outputs[HeadOffset+TiltOffset] = GETD(ERS210Info::CPCJointNeckTilt);
00126 outputs[HeadOffset+PanOffset ] = GETD(ERS210Info::CPCJointNeckPan);
00127 outputs[HeadOffset+RollOffset] = GETD(ERS210Info::CPCJointNeckRoll);
00128 pidduties[HeadOffset+TiltOffset] = GETDUTY(ERS210Info::CPCJointNeckTilt);
00129 pidduties[HeadOffset+PanOffset ] = GETDUTY(ERS210Info::CPCJointNeckPan);
00130 pidduties[HeadOffset+RollOffset] = GETDUTY(ERS210Info::CPCJointNeckRoll);
00131
00132 outputs[ERS210Info::TailOffset+TiltOffset] = GETD(ERS210Info::CPCJointTailTilt);
00133 outputs[ERS210Info::TailOffset+PanOffset] = GETD(ERS210Info::CPCJointTailPan);
00134 pidduties[ERS210Info::TailOffset+TiltOffset] = GETDUTY(ERS210Info::CPCJointTailTilt);
00135 pidduties[ERS210Info::TailOffset+PanOffset] = GETDUTY(ERS210Info::CPCJointTailPan);
00136
00137 outputs[ERS210Info::MouthOffset] = GETD(ERS210Info::CPCJointMouth);
00138 pidduties[ERS210Info::MouthOffset] = GETDUTY(ERS210Info::CPCJointMouth);
00139
00140
00141 chkEvent(evtBuf,LFrPawOffset,GETB(ERS210Info::CPCSensorLFPaw),"LFrPaw");
00142 chkEvent(evtBuf,RFrPawOffset,GETB(ERS210Info::CPCSensorRFPaw),"RFrPaw");
00143 chkEvent(evtBuf,LBkPawOffset,GETB(ERS210Info::CPCSensorLHPaw),"LBkPaw");
00144 chkEvent(evtBuf,RBkPawOffset,GETB(ERS210Info::CPCSensorRHPaw),"RBkPaw");
00145
00146
00147 chkEvent(evtBuf,ERS210Info::ChinButOffset, GETB(ERS210Info::CPCSensorChinSwitch),"ChinBut");
00148 chkEvent(evtBuf,ERS210Info::BackButOffset, GETB(ERS210Info::CPCSensorBackSwitch),"BackBut");
00149 chkEvent(evtBuf,ERS210Info::HeadFrButOffset,GETD(ERS210Info::CPCSensorHeadFrontPressure),"HeadFrBut");
00150 chkEvent(evtBuf,ERS210Info::HeadBkButOffset,GETD(ERS210Info::CPCSensorHeadBackPressure),"HeadBkBut");
00151
00152
00153 sensors[ERS210Info::IRDistOffset]=GETSENSOR(ERS210Info::CPCSensorPSD) / 1000.0f;
00154
00155
00156 sensors[BAccelOffset] = GETD(ERS210Info::CPCSensorAccelFB);
00157 sensors[LAccelOffset] = GETD(ERS210Info::CPCSensorAccelLR);
00158 sensors[DAccelOffset] = GETD(ERS210Info::CPCSensorAccelUD);
00159
00160 sensors[ERS210Info::ThermoOffset] = GETD(ERS210Info::CPCSensorThermoSensor);
00161 }
00162
00163
00164 if(robotDesign&ERS220Mask) {
00165 outputs[LFrLegOffset + RotatorOffset ] = GETD(ERS220Info::CPCJointLFRotator);
00166 outputs[LFrLegOffset + ElevatorOffset ] = GETD(ERS220Info::CPCJointLFElevator);
00167 outputs[LFrLegOffset + KneeOffset ] = GETD(ERS220Info::CPCJointLFKnee);
00168 pidduties[LFrLegOffset + RotatorOffset ] = GETDUTY(ERS220Info::CPCJointLFRotator);
00169 pidduties[LFrLegOffset + ElevatorOffset] = GETDUTY(ERS220Info::CPCJointLFElevator);
00170 pidduties[LFrLegOffset + KneeOffset ] = GETDUTY(ERS220Info::CPCJointLFKnee);
00171
00172 outputs[RFrLegOffset + RotatorOffset ] = GETD(ERS220Info::CPCJointRFRotator);
00173 outputs[RFrLegOffset + ElevatorOffset ] = GETD(ERS220Info::CPCJointRFElevator);
00174 outputs[RFrLegOffset + KneeOffset ] = GETD(ERS220Info::CPCJointRFKnee);
00175 pidduties[RFrLegOffset + RotatorOffset ] = GETDUTY(ERS220Info::CPCJointRFRotator);
00176 pidduties[RFrLegOffset + ElevatorOffset] = GETDUTY(ERS220Info::CPCJointRFElevator);
00177 pidduties[RFrLegOffset + KneeOffset ] = GETDUTY(ERS220Info::CPCJointRFKnee);
00178
00179 outputs[LBkLegOffset + RotatorOffset ] = GETD(ERS220Info::CPCJointLHRotator);
00180 outputs[LBkLegOffset + ElevatorOffset ] = GETD(ERS220Info::CPCJointLHElevator);
00181 outputs[LBkLegOffset + KneeOffset ] = GETD(ERS220Info::CPCJointLHKnee);
00182 pidduties[LBkLegOffset + RotatorOffset ] = GETDUTY(ERS220Info::CPCJointLHRotator);
00183 pidduties[LBkLegOffset + ElevatorOffset] = GETDUTY(ERS220Info::CPCJointLHElevator);
00184 pidduties[LBkLegOffset + KneeOffset ] = GETDUTY(ERS220Info::CPCJointLHKnee);
00185
00186 outputs[RBkLegOffset + RotatorOffset ] = GETD(ERS220Info::CPCJointRHRotator);
00187 outputs[RBkLegOffset + ElevatorOffset ] = GETD(ERS220Info::CPCJointRHElevator);
00188 outputs[RBkLegOffset + KneeOffset ] = GETD(ERS220Info::CPCJointRHKnee);
00189 pidduties[RBkLegOffset + RotatorOffset ] = GETDUTY(ERS220Info::CPCJointRHRotator);
00190 pidduties[RBkLegOffset + ElevatorOffset] = GETDUTY(ERS220Info::CPCJointRHElevator);
00191 pidduties[RBkLegOffset + KneeOffset ] = GETDUTY(ERS220Info::CPCJointRHKnee);
00192
00193
00194 outputs[HeadOffset+TiltOffset] = GETD(ERS220Info::CPCJointNeckTilt);
00195 outputs[HeadOffset+PanOffset ] = GETD(ERS220Info::CPCJointNeckPan);
00196 outputs[HeadOffset+RollOffset] = GETD(ERS220Info::CPCJointNeckRoll);
00197 pidduties[HeadOffset+TiltOffset] = GETDUTY(ERS220Info::CPCJointNeckTilt);
00198 pidduties[HeadOffset+PanOffset ] = GETDUTY(ERS220Info::CPCJointNeckPan);
00199 pidduties[HeadOffset+RollOffset] = GETDUTY(ERS220Info::CPCJointNeckRoll);
00200
00201 chkEvent(evtBuf, ERS220Info::TailLeftButOffset, GETB(ERS220Info::CPCSensorTailLeftSwitch), "LBkBut");
00202 chkEvent(evtBuf, ERS220Info::TailCenterButOffset, GETB(ERS220Info::CPCSensorTailCenterSwitch),"CBkBut");
00203 chkEvent(evtBuf, ERS220Info::TailRightButOffset, GETB(ERS220Info::CPCSensorTailRightSwitch), "RBkBut");
00204
00205
00206 chkEvent(evtBuf,LFrPawOffset,GETB(ERS220Info::CPCSensorLFPaw),"LFrPaw");
00207 chkEvent(evtBuf,RFrPawOffset,GETB(ERS220Info::CPCSensorRFPaw),"RFrPaw");
00208 chkEvent(evtBuf,LBkPawOffset,GETB(ERS220Info::CPCSensorLHPaw),"LBkPaw");
00209 chkEvent(evtBuf,RBkPawOffset,GETB(ERS220Info::CPCSensorRHPaw),"RBkPaw");
00210
00211
00212 chkEvent(evtBuf,ERS220Info::ChinButOffset, GETB(ERS220Info::CPCSensorChinSwitch),"ChinBut");
00213 chkEvent(evtBuf,ERS220Info::BackButOffset, GETB(ERS220Info::CPCSensorBackSwitch),"BackBut");
00214 chkEvent(evtBuf,ERS220Info::HeadFrButOffset,GETD(ERS220Info::CPCSensorHeadFrontPressure),"HeadFrBut");
00215 chkEvent(evtBuf,ERS220Info::HeadBkButOffset,GETD(ERS220Info::CPCSensorHeadBackPressure),"HeadBkBut");
00216
00217
00218 sensors[ERS220Info::IRDistOffset]=GETSENSOR(ERS220Info::CPCSensorPSD) / 1000.0f;
00219
00220
00221 sensors[BAccelOffset] = GETD(ERS220Info::CPCSensorAccelFB);
00222 sensors[LAccelOffset] = GETD(ERS220Info::CPCSensorAccelLR);
00223 sensors[DAccelOffset] = GETD(ERS220Info::CPCSensorAccelUD);
00224
00225 sensors[ERS220Info::ThermoOffset] = GETD(ERS220Info::CPCSensorThermoSensor);
00226 }
00227
00228
00229 if(robotDesign&ERS7Mask) {
00230 outputs[LFrLegOffset + RotatorOffset ] = GETD(ERS7Info::CPCJointLFRotator);
00231 outputs[LFrLegOffset + ElevatorOffset ] = GETD(ERS7Info::CPCJointLFElevator);
00232 outputs[LFrLegOffset + KneeOffset ] = GETD(ERS7Info::CPCJointLFKnee);
00233 pidduties[LFrLegOffset + RotatorOffset ] = GETDUTY(ERS7Info::CPCJointLFRotator);
00234 pidduties[LFrLegOffset + ElevatorOffset] = GETDUTY(ERS7Info::CPCJointLFElevator);
00235 pidduties[LFrLegOffset + KneeOffset ] = GETDUTY(ERS7Info::CPCJointLFKnee);
00236
00237 outputs[RFrLegOffset + RotatorOffset ] = GETD(ERS7Info::CPCJointRFRotator);
00238 outputs[RFrLegOffset + ElevatorOffset ] = GETD(ERS7Info::CPCJointRFElevator);
00239 outputs[RFrLegOffset + KneeOffset ] = GETD(ERS7Info::CPCJointRFKnee);
00240 pidduties[RFrLegOffset + RotatorOffset ] = GETDUTY(ERS7Info::CPCJointRFRotator);
00241 pidduties[RFrLegOffset + ElevatorOffset] = GETDUTY(ERS7Info::CPCJointRFElevator);
00242 pidduties[RFrLegOffset + KneeOffset ] = GETDUTY(ERS7Info::CPCJointRFKnee);
00243
00244 outputs[LBkLegOffset + RotatorOffset ] = GETD(ERS7Info::CPCJointLHRotator);
00245 outputs[LBkLegOffset + ElevatorOffset ] = GETD(ERS7Info::CPCJointLHElevator);
00246 outputs[LBkLegOffset + KneeOffset ] = GETD(ERS7Info::CPCJointLHKnee);
00247 pidduties[LBkLegOffset + RotatorOffset ] = GETDUTY(ERS7Info::CPCJointLHRotator);
00248 pidduties[LBkLegOffset + ElevatorOffset] = GETDUTY(ERS7Info::CPCJointLHElevator);
00249 pidduties[LBkLegOffset + KneeOffset ] = GETDUTY(ERS7Info::CPCJointLHKnee);
00250
00251 outputs[RBkLegOffset + RotatorOffset ] = GETD(ERS7Info::CPCJointRHRotator);
00252 outputs[RBkLegOffset + ElevatorOffset ] = GETD(ERS7Info::CPCJointRHElevator);
00253 outputs[RBkLegOffset + KneeOffset ] = GETD(ERS7Info::CPCJointRHKnee);
00254 pidduties[RBkLegOffset + RotatorOffset ] = GETDUTY(ERS7Info::CPCJointRHRotator);
00255 pidduties[RBkLegOffset + ElevatorOffset] = GETDUTY(ERS7Info::CPCJointRHElevator);
00256 pidduties[RBkLegOffset + KneeOffset ] = GETDUTY(ERS7Info::CPCJointRHKnee);
00257
00258
00259 outputs[HeadOffset+TiltOffset] = GETD(ERS7Info::CPCJointNeckTilt);
00260 outputs[HeadOffset+PanOffset ] = GETD(ERS7Info::CPCJointNeckPan);
00261 outputs[HeadOffset+RollOffset] = GETD(ERS7Info::CPCJointNeckNod);
00262 pidduties[HeadOffset+TiltOffset] = GETDUTY(ERS7Info::CPCJointNeckTilt);
00263 pidduties[HeadOffset+PanOffset ] = GETDUTY(ERS7Info::CPCJointNeckPan);
00264 pidduties[HeadOffset+RollOffset] = GETDUTY(ERS7Info::CPCJointNeckNod);
00265
00266 outputs[ERS7Info::TailOffset+TiltOffset] = GETD(ERS7Info::CPCJointTailTilt);
00267 outputs[ERS7Info::TailOffset+PanOffset] = GETD(ERS7Info::CPCJointTailPan);
00268 pidduties[ERS7Info::TailOffset+TiltOffset] = GETDUTY(ERS7Info::CPCJointTailTilt);
00269 pidduties[ERS7Info::TailOffset+PanOffset] = GETDUTY(ERS7Info::CPCJointTailPan);
00270
00271 outputs[ERS7Info::MouthOffset] = GETD(ERS7Info::CPCJointMouth);
00272 pidduties[ERS7Info::MouthOffset] = GETDUTY(ERS7Info::CPCJointMouth);
00273
00274
00275 chkEvent(evtBuf,LFrPawOffset,GETB(ERS7Info::CPCSwitchLFPaw),"LFrPaw");
00276 chkEvent(evtBuf,RFrPawOffset,GETB(ERS7Info::CPCSwitchRFPaw),"RFrPaw");
00277 chkEvent(evtBuf,LBkPawOffset,GETB(ERS7Info::CPCSwitchLHPaw),"LBkPaw");
00278 chkEvent(evtBuf,RBkPawOffset,GETB(ERS7Info::CPCSwitchRHPaw),"RBkPaw");
00279
00280
00281
00282 chkEvent(evtBuf, ERS7Info::ChinButOffset, GETSENSOR(ERS7Info::CPCSwitchChin), "ChinBut");
00283 chkEvent(evtBuf, ERS7Info::HeadButOffset, GETSENSOR(ERS7Info::CPCSensorHead)/120, "HeadBut");
00284 chkEvent(evtBuf, ERS7Info::FrontBackButOffset, GETSENSOR(ERS7Info::CPCSensorBackFront)/150, "BkFrBut");
00285 chkEvent(evtBuf, ERS7Info::MiddleBackButOffset, GETSENSOR(ERS7Info::CPCSensorBackMiddle)/150,"BkMdBut");
00286 chkEvent(evtBuf, ERS7Info::RearBackButOffset, GETSENSOR(ERS7Info::CPCSensorBackRear)/150, "BkRrBut");
00287 chkEvent(evtBuf, ERS7Info::WirelessSwOffset,GETSENSOR(ERS7Info::CPCSwitchWireless), "WirelessSw");
00288
00289
00290 sensors[ERS7Info::NearIRDistOffset] = GETSENSOR(ERS7Info::CPCSensorNearPSD) / 1000.0f;
00291 sensors[ERS7Info::FarIRDistOffset] = GETSENSOR(ERS7Info::CPCSensorFarPSD) / 1000.0f;
00292 sensors[ERS7Info::ChestIRDistOffset] = GETSENSOR(ERS7Info::CPCSensorChestPSD) / 1000.0f;
00293
00294
00295 sensors[BAccelOffset] = GETD(ERS7Info::CPCSensorAccelFB);
00296 sensors[LAccelOffset] = GETD(ERS7Info::CPCSensorAccelLR);
00297 sensors[DAccelOffset] = GETD(ERS7Info::CPCSensorAccelUD);
00298 }
00299
00300
00301 for(unsigned int i=0; i<NumPIDJoints; i++)
00302 outputs[PIDJointOffset+i]/=config->motion.calibration[i];
00303
00304 unsigned int dif=curtime-lastSensorUpdateTime;
00305 lastSensorUpdateTime=curtime;
00306 for(unsigned int i=0; i<evtBuf.size(); i++)
00307 er->postEvent(evtBuf[i]);
00308
00309 er->postEvent(EventBase::sensorEGID,SensorSourceID::UpdatedSID,EventBase::statusETID,dif);
00310 }
00311
00312
00313 void WorldState::read(const OPowerStatus& power, EventRouter* er) {
00314 std::string actnames[PowerSourceID::NumPowerSIDs];
00315 std::string denames[PowerSourceID::NumPowerSIDs];
00316 unsigned int actmasks[PowerSourceID::NumPowerSIDs];
00317 memset(actmasks,0,sizeof(unsigned int)*PowerSourceID::NumPowerSIDs);
00318
00319
00320 chkPowerEvent(PowerSourceID::PauseSID, power.robotStatus,orsbPAUSE, "Pause",actnames,denames,actmasks);
00321 chkPowerEvent(PowerSourceID::MotorPowerSID, power.robotStatus,orsbMOTOR_POWER, "MotorPower",actnames,denames,actmasks);
00322 chkPowerEvent(PowerSourceID::VibrationSID, power.robotStatus,orsbVIBRATION_DETECT, "Vibration",actnames,denames,actmasks);
00323 chkPowerEvent(PowerSourceID::ExternalPortSID, power.robotStatus,orsbEX_PORT_CONNECTED, "ExternalPort",actnames,denames,actmasks);
00324 chkPowerEvent(PowerSourceID::StationConnectSID, power.robotStatus,orsbSTATION_CONNECTED, "StationConnect",actnames,denames,actmasks);
00325 chkPowerEvent(PowerSourceID::ExternalPowerSID, power.robotStatus,orsbEX_POWER_CONNECTED, "ExternalPower",actnames,denames,actmasks);
00326 chkPowerEvent(PowerSourceID::BatteryConnectSID, power.robotStatus,orsbBATTERY_CONNECTED, "BatteryConnect",actnames,denames,actmasks);
00327 chkPowerEvent(PowerSourceID::ChargingSID, power.robotStatus,orsbBATTERY_CHARGING, "BatteryCharging",actnames,denames,actmasks);
00328 chkPowerEvent(PowerSourceID::BatteryFullSID, power.robotStatus,orsbBATTERY_CAPACITY_FULL, "BatteryFull",actnames,denames,actmasks);
00329 chkPowerEvent(PowerSourceID::LowPowerWarnSID, power.robotStatus,orsbBATTERY_CAPACITY_LOW, "BatteryLow",actnames,denames,actmasks);
00330 chkPowerEvent(PowerSourceID::OverChargedSID, power.robotStatus,orsbBATTERY_OVER_CURRENT, "BatteryOverCurrent",actnames,denames,actmasks);
00331 chkPowerEvent(PowerSourceID::OverheatingSID, power.robotStatus,orsbBATTERY_OVER_TEMP_DISCHARGING,"BatteryOverTempDischarge",actnames,denames,actmasks);
00332 chkPowerEvent(PowerSourceID::OverheatingSID, power.robotStatus,orsbBATTERY_OVER_TEMP_CHARGING, "BatteryOverTempCharge",actnames,denames,actmasks);
00333 chkPowerEvent(PowerSourceID::ErrorSID, power.robotStatus,orsbBATTERY_ERROR_OF_CHARGING, "BatteryChargeError",actnames,denames,actmasks);
00334 chkPowerEvent(PowerSourceID::ErrorSID, power.robotStatus,orsbERROR_OF_PLUNGER, "PlungerError",actnames,denames,actmasks);
00335 chkPowerEvent(PowerSourceID::PowerGoodSID, power.robotStatus,orsbOPEN_R_POWER_GOOD, "PowerGood",actnames,denames,actmasks);
00336 chkPowerEvent(PowerSourceID::ErrorSID, power.robotStatus,orsbERROR_OF_FAN, "FanError",actnames,denames,actmasks);
00337 chkPowerEvent(PowerSourceID::DataFromStationSID,power.robotStatus,orsbDATA_STREAM_FROM_STATION, "DataFromStation",actnames,denames,actmasks);
00338 chkPowerEvent(PowerSourceID::RegisterUpdateSID, power.robotStatus,orsbREGISTER_UPDATED_BY_STATION, "RegisterUpdate",actnames,denames,actmasks);
00339 chkPowerEvent(PowerSourceID::ErrorSID, power.robotStatus,orsbRTC_ERROR, "RTCError",actnames,denames,actmasks);
00340 chkPowerEvent(PowerSourceID::RTCSID, power.robotStatus,orsbRTC_OVERFLOW, "RTCOverflow",actnames,denames,actmasks);
00341 chkPowerEvent(PowerSourceID::RTCSID, power.robotStatus,orsbRTC_RESET, "RTCReset",actnames,denames,actmasks);
00342 chkPowerEvent(PowerSourceID::RTCSID, power.robotStatus,orsbRTC_SET, "RTCSet",actnames,denames,actmasks);
00343 chkPowerEvent(PowerSourceID::SpecialModeSID, power.robotStatus,orsbSPECIAL_MODE, "SpecialMode",actnames,denames,actmasks);
00344 chkPowerEvent(PowerSourceID::BMNDebugModeSID, power.robotStatus,orsbBMN_DEBUG_MODE, "BMNDebugMode",actnames,denames,actmasks);
00345 chkPowerEvent(PowerSourceID::ChargerStatusSID, power.robotStatus,orsbCHARGER_STATUS, "ChargerStatus",actnames,denames,actmasks);
00346 chkPowerEvent(PowerSourceID::PlungerSID, power.robotStatus,orsbPLUNGER, "Plunger",actnames,denames,actmasks);
00347 chkPowerEvent(PowerSourceID::SuspendedSID, power.robotStatus,orsbSUSPENDED, "Suspended",actnames,denames,actmasks);
00348
00349
00350 chkPowerEvent(PowerSourceID::ErrorSID, power.batteryStatus,obsbERROR_CODE_MASK, "BatteryError",actnames,denames,actmasks);
00351 chkPowerEvent(PowerSourceID::BatteryEmptySID, power.batteryStatus,obsbFULLY_DISCHARGED, "FullyDischarged",actnames,denames,actmasks);
00352 chkPowerEvent(PowerSourceID::BatteryFullSID, power.batteryStatus,obsbFULLY_CHARGED, "FullyCharged",actnames,denames,actmasks);
00353 chkPowerEvent(PowerSourceID::DischargingSID, power.batteryStatus,obsbDISCHARGING, "Discharging",actnames,denames,actmasks);
00354 chkPowerEvent(PowerSourceID::BatteryInitSID, power.batteryStatus,obsbINITIALIZED, "BatteryInit",actnames,denames,actmasks);
00355 chkPowerEvent(PowerSourceID::LowPowerWarnSID, power.batteryStatus,obsbREMAINING_TIME_ALARM, "RemainingTimeAlarm",actnames,denames,actmasks);
00356 chkPowerEvent(PowerSourceID::LowPowerWarnSID, power.batteryStatus,obsbREMAINING_CAPACITY_ALARM, "RemainingCapacityAlarm",actnames,denames,actmasks);
00357 chkPowerEvent(PowerSourceID::TermDischargeSID,power.batteryStatus,obsbTERMINATED_DISCHARGING_ALARM,"TermDischargeAlarm",actnames,denames,actmasks);
00358 chkPowerEvent(PowerSourceID::OverheatingSID, power.batteryStatus,obsbOVER_TEMP_ALARM, "OverTempAlarm",actnames,denames,actmasks);
00359 chkPowerEvent(PowerSourceID::TermChargeSID, power.batteryStatus,obsbTERMINATED_CHARGING_ALARM, "TermChargeAlarm",actnames,denames,actmasks);
00360 chkPowerEvent(PowerSourceID::OverChargedSID, power.batteryStatus,obsbOVER_CHARGED_ALARM, "OverChargeAlarm",actnames,denames,actmasks);
00361
00362 sensors[PowerRemainOffset] = power.remainingCapacity/100.0;
00363 sensors[PowerThermoOffset] = power.temperature/100.0;
00364 sensors[PowerCapacityOffset] = power.fullyChargedCapacity;
00365 sensors[PowerVoltageOffset] = power.voltage/1000.0;
00366 sensors[PowerCurrentOffset] = power.current;
00367
00368
00369 for(unsigned int i=0; i<PowerSourceID::NumPowerSIDs; i++) {
00370 if(actmasks[i]) {
00371 if(!powerFlags[i])
00372 er->postEvent(EventBase::powerEGID,i,EventBase::activateETID,0,actnames[i],1);
00373 else if(actmasks[i]!=powerFlags[i])
00374 er->postEvent(EventBase::powerEGID,i,EventBase::statusETID,0,actnames[i],1);
00375 } else {
00376 if(powerFlags[i])
00377 er->postEvent(EventBase::powerEGID,i,EventBase::deactivateETID,0,denames[i],0);
00378 }
00379 powerFlags[i]=actmasks[i];
00380 }
00381
00382 er->postEvent(EventBase::powerEGID,PowerSourceID::UpdatedSID,EventBase::statusETID,0);
00383 }
00384
00385 #endif //PLATFORM_APERIOS
00386
00387 void WorldState::chkEvent(std::vector<EventBase*>& evtBuf, unsigned int sid, float newval, const char* name) {
00388 if(newval>=0.1) {
00389 if(buttons[sid]<0.1) {
00390 evtBuf.push_back(new EventBase(EventBase::buttonEGID,sid,EventBase::activateETID,0,name,newval));
00391 button_times[sid]=curtime;
00392 } else if(alwaysGenerateStatus || buttons[sid]!=newval) {
00393 unsigned int dur=curtime-button_times[sid];
00394 evtBuf.push_back(new EventBase(EventBase::buttonEGID,sid,EventBase::statusETID,dur,name,newval));
00395 }
00396 } else {
00397 if(buttons[sid]>=0.1) {
00398 unsigned int dur=curtime-button_times[sid];
00399 button_times[sid]=0;
00400 evtBuf.push_back(new EventBase(EventBase::buttonEGID,sid,EventBase::deactivateETID,dur,name,0));
00401 }
00402 }
00403
00404 buttons[sid]=newval;
00405 }
00406
00407
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