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
00017 #define GETD(cpc) (((float)sensor.GetData(cpc)->frame[lastFrame].value) / 1.0E6f)
00018 #define GETB(cpc) ((bool)sensor.GetData(cpc)->frame[lastFrame].value)
00019 #define GETSENSOR(cpc) ((float)sensor.GetData(cpc)->frame[lastFrame].value)
00020 #define GETSIG(cpc) ((word)sensor.GetData(cpc)->frame[lastFrame].signal)
00021 #define GETDUTY(cpc) ((float)((OJointValue*)&sensor.GetData(cpc)->frame[lastFrame])->pwmDuty/512.0f)
00022
00023 const double WorldState::g=9.80665;
00024 const double WorldState::IROORDist = 900.0;
00025
00026 WorldState * state=NULL;
00027
00028 WorldState::WorldState()
00029 : alwaysGenerateStatus(false), vel_x(0), vel_y(0), vel_a(0), vel_time(0),
00030 robotStatus(0), batteryStatus(0),
00031 lastSensorUpdateTime(0), mainProfile(), motionProfile(),
00032 robotDesign(0), curtime(get_time())
00033 {
00034 for(unsigned int i=0; i< NumOutputs; i++)
00035 outputs[i]=0;
00036 for(unsigned int i=0; i< NumButtons; i++)
00037 buttons[i]=0;
00038 for(unsigned int i=0; i< NumSensors; i++)
00039 sensors[i]=0;
00040 for(unsigned int i=0; i< NumPIDJoints; i++)
00041 for(unsigned int j=0; j<3; j++)
00042 pids[i][j]=0;
00043 for(unsigned int i=0; i< NumPIDJoints; i++)
00044 pidduties[i]=0;
00045 memset(powerFlags,0,sizeof(unsigned int)*PowerSourceID::NumPowerSIDs);
00046 memset(button_times,0,sizeof(unsigned int)*NumButtons);
00047
00048 #ifdef PLATFORM_APERIOS
00049
00050 char robotDesignStr[orobotdesignNAME_MAX];
00051 memset(robotDesignStr, 0, sizeof(robotDesignStr));
00052 if (OPENR::GetRobotDesign(robotDesignStr) != oSUCCESS) {
00053 cout << "OPENR::GetRobotDesign() failed." << endl;
00054 } else {
00055 if(strcmp(robotDesignStr,"ERS-210")==0)
00056 robotDesign=ERS210Mask;
00057 else if(strcmp(robotDesignStr,"ERS-220")==0)
00058 robotDesign=ERS220Mask;
00059 else if(strcmp(robotDesignStr,"ERS-7")==0)
00060 robotDesign=ERS7Mask;
00061 else {
00062 cout << "ERROR: Unrecognized model: "<<robotDesignStr<<"\nTrying ERS-210..."<<endl;
00063 robotDesign=ERS210Mask;
00064 }
00065 }
00066 #else
00067 # if TGT_ERS220
00068 robotDesign=ERS220Mask;
00069 # elif TGT_ERS210
00070 robotDesign=ERS210Mask;
00071 # elif TGT_ERS7
00072 robotDesign=ERS7Mask;
00073 # else //default case, ERS2xx
00074 # if TGT_ERS2xx==0
00075 # warning "TGT_<model> undefined - defaulting to TGT_ERS210"
00076 # else
00077 # warning "TGT_ERS2xx can't be determined on non-Aperios - defaulting to TGT_ERS210"
00078 # endif
00079 robotDesign=ERS210Mask;
00080 # endif //model selection
00081 #endif
00082 }
00083
00084 #ifdef PLATFORM_APERIOS
00085
00086
00087
00088 void WorldState::read(OSensorFrameVectorData& sensor, EventRouter* er) {
00089 curtime=get_time();
00090
00091 std::vector<EventBase*> evtBuf;
00092 unsigned int lastFrame=sensor.GetInfo(0)->numFrames-1;
00093
00094 if(robotDesign&ERS210Mask) {
00095 outputs[LFrLegOffset + RotatorOffset ] = GETD(ERS210Info::CPCJointLFRotator);
00096 outputs[LFrLegOffset + ElevatorOffset ] = GETD(ERS210Info::CPCJointLFElevator);
00097 outputs[LFrLegOffset + KneeOffset ] = GETD(ERS210Info::CPCJointLFKnee);
00098 pidduties[LFrLegOffset + RotatorOffset ] = GETDUTY(ERS210Info::CPCJointLFRotator);
00099 pidduties[LFrLegOffset + ElevatorOffset] = GETDUTY(ERS210Info::CPCJointLFElevator);
00100 pidduties[LFrLegOffset + KneeOffset ] = GETDUTY(ERS210Info::CPCJointLFKnee);
00101
00102 outputs[RFrLegOffset + RotatorOffset ] = GETD(ERS210Info::CPCJointRFRotator);
00103 outputs[RFrLegOffset + ElevatorOffset ] = GETD(ERS210Info::CPCJointRFElevator);
00104 outputs[RFrLegOffset + KneeOffset ] = GETD(ERS210Info::CPCJointRFKnee);
00105 pidduties[RFrLegOffset + RotatorOffset ] = GETDUTY(ERS210Info::CPCJointRFRotator);
00106 pidduties[RFrLegOffset + ElevatorOffset] = GETDUTY(ERS210Info::CPCJointRFElevator);
00107 pidduties[RFrLegOffset + KneeOffset ] = GETDUTY(ERS210Info::CPCJointRFKnee);
00108
00109 outputs[LBkLegOffset + RotatorOffset ] = GETD(ERS210Info::CPCJointLHRotator);
00110 outputs[LBkLegOffset + ElevatorOffset ] = GETD(ERS210Info::CPCJointLHElevator);
00111 outputs[LBkLegOffset + KneeOffset ] = GETD(ERS210Info::CPCJointLHKnee);
00112 pidduties[LBkLegOffset + RotatorOffset ] = GETDUTY(ERS210Info::CPCJointLHRotator);
00113 pidduties[LBkLegOffset + ElevatorOffset] = GETDUTY(ERS210Info::CPCJointLHElevator);
00114 pidduties[LBkLegOffset + KneeOffset ] = GETDUTY(ERS210Info::CPCJointLHKnee);
00115
00116 outputs[RBkLegOffset + RotatorOffset ] = GETD(ERS210Info::CPCJointRHRotator);
00117 outputs[RBkLegOffset + ElevatorOffset ] = GETD(ERS210Info::CPCJointRHElevator);
00118 outputs[RBkLegOffset + KneeOffset ] = GETD(ERS210Info::CPCJointRHKnee);
00119 pidduties[RBkLegOffset + RotatorOffset ] = GETDUTY(ERS210Info::CPCJointRHRotator);
00120 pidduties[RBkLegOffset + ElevatorOffset] = GETDUTY(ERS210Info::CPCJointRHElevator);
00121 pidduties[RBkLegOffset + KneeOffset ] = GETDUTY(ERS210Info::CPCJointRHKnee);
00122
00123
00124 outputs[HeadOffset+TiltOffset] = GETD(ERS210Info::CPCJointNeckTilt);
00125 outputs[HeadOffset+PanOffset ] = GETD(ERS210Info::CPCJointNeckPan);
00126 outputs[HeadOffset+RollOffset] = GETD(ERS210Info::CPCJointNeckRoll);
00127 pidduties[HeadOffset+TiltOffset] = GETDUTY(ERS210Info::CPCJointNeckTilt);
00128 pidduties[HeadOffset+PanOffset ] = GETDUTY(ERS210Info::CPCJointNeckPan);
00129 pidduties[HeadOffset+RollOffset] = GETDUTY(ERS210Info::CPCJointNeckRoll);
00130
00131 outputs[ERS210Info::TailOffset+TiltOffset] = GETD(ERS210Info::CPCJointTailTilt);
00132 outputs[ERS210Info::TailOffset+PanOffset] = GETD(ERS210Info::CPCJointTailPan);
00133 pidduties[ERS210Info::TailOffset+TiltOffset] = GETDUTY(ERS210Info::CPCJointTailTilt);
00134 pidduties[ERS210Info::TailOffset+PanOffset] = GETDUTY(ERS210Info::CPCJointTailPan);
00135
00136 outputs[ERS210Info::MouthOffset] = GETD(ERS210Info::CPCJointMouth);
00137 pidduties[ERS210Info::MouthOffset] = GETDUTY(ERS210Info::CPCJointMouth);
00138
00139
00140 chkEvent(evtBuf,LFrPawOffset,GETB(ERS210Info::CPCSensorLFPaw),"LFrPaw");
00141 chkEvent(evtBuf,RFrPawOffset,GETB(ERS210Info::CPCSensorRFPaw),"RFrPaw");
00142 chkEvent(evtBuf,LBkPawOffset,GETB(ERS210Info::CPCSensorLHPaw),"LBkPaw");
00143 chkEvent(evtBuf,RBkPawOffset,GETB(ERS210Info::CPCSensorRHPaw),"RBkPaw");
00144
00145
00146 chkEvent(evtBuf,ERS210Info::ChinButOffset, GETB(ERS210Info::CPCSensorChinSwitch),"ChinBut");
00147 chkEvent(evtBuf,ERS210Info::BackButOffset, GETB(ERS210Info::CPCSensorBackSwitch),"BackBut");
00148 chkEvent(evtBuf,ERS210Info::HeadFrButOffset,GETD(ERS210Info::CPCSensorHeadFrontPressure),"HeadFrBut");
00149 chkEvent(evtBuf,ERS210Info::HeadBkButOffset,GETD(ERS210Info::CPCSensorHeadBackPressure),"HeadBkBut");
00150
00151
00152 sensors[ERS210Info::IRDistOffset]=GETSENSOR(ERS210Info::CPCSensorPSD) / 1000.0f;
00153
00154
00155 sensors[BAccelOffset] = GETD(ERS210Info::CPCSensorAccelFB);
00156 sensors[LAccelOffset] = GETD(ERS210Info::CPCSensorAccelLR);
00157 sensors[DAccelOffset] = GETD(ERS210Info::CPCSensorAccelUD);
00158
00159 sensors[ERS210Info::ThermoOffset] = GETD(ERS210Info::CPCSensorThermoSensor);
00160 }
00161
00162
00163 if(robotDesign&ERS220Mask) {
00164 outputs[LFrLegOffset + RotatorOffset ] = GETD(ERS220Info::CPCJointLFRotator);
00165 outputs[LFrLegOffset + ElevatorOffset ] = GETD(ERS220Info::CPCJointLFElevator);
00166 outputs[LFrLegOffset + KneeOffset ] = GETD(ERS220Info::CPCJointLFKnee);
00167 pidduties[LFrLegOffset + RotatorOffset ] = GETDUTY(ERS220Info::CPCJointLFRotator);
00168 pidduties[LFrLegOffset + ElevatorOffset] = GETDUTY(ERS220Info::CPCJointLFElevator);
00169 pidduties[LFrLegOffset + KneeOffset ] = GETDUTY(ERS220Info::CPCJointLFKnee);
00170
00171 outputs[RFrLegOffset + RotatorOffset ] = GETD(ERS220Info::CPCJointRFRotator);
00172 outputs[RFrLegOffset + ElevatorOffset ] = GETD(ERS220Info::CPCJointRFElevator);
00173 outputs[RFrLegOffset + KneeOffset ] = GETD(ERS220Info::CPCJointRFKnee);
00174 pidduties[RFrLegOffset + RotatorOffset ] = GETDUTY(ERS220Info::CPCJointRFRotator);
00175 pidduties[RFrLegOffset + ElevatorOffset] = GETDUTY(ERS220Info::CPCJointRFElevator);
00176 pidduties[RFrLegOffset + KneeOffset ] = GETDUTY(ERS220Info::CPCJointRFKnee);
00177
00178 outputs[LBkLegOffset + RotatorOffset ] = GETD(ERS220Info::CPCJointLHRotator);
00179 outputs[LBkLegOffset + ElevatorOffset ] = GETD(ERS220Info::CPCJointLHElevator);
00180 outputs[LBkLegOffset + KneeOffset ] = GETD(ERS220Info::CPCJointLHKnee);
00181 pidduties[LBkLegOffset + RotatorOffset ] = GETDUTY(ERS220Info::CPCJointLHRotator);
00182 pidduties[LBkLegOffset + ElevatorOffset] = GETDUTY(ERS220Info::CPCJointLHElevator);
00183 pidduties[LBkLegOffset + KneeOffset ] = GETDUTY(ERS220Info::CPCJointLHKnee);
00184
00185 outputs[RBkLegOffset + RotatorOffset ] = GETD(ERS220Info::CPCJointRHRotator);
00186 outputs[RBkLegOffset + ElevatorOffset ] = GETD(ERS220Info::CPCJointRHElevator);
00187 outputs[RBkLegOffset + KneeOffset ] = GETD(ERS220Info::CPCJointRHKnee);
00188 pidduties[RBkLegOffset + RotatorOffset ] = GETDUTY(ERS220Info::CPCJointRHRotator);
00189 pidduties[RBkLegOffset + ElevatorOffset] = GETDUTY(ERS220Info::CPCJointRHElevator);
00190 pidduties[RBkLegOffset + KneeOffset ] = GETDUTY(ERS220Info::CPCJointRHKnee);
00191
00192
00193 outputs[HeadOffset+TiltOffset] = GETD(ERS220Info::CPCJointNeckTilt);
00194 outputs[HeadOffset+PanOffset ] = GETD(ERS220Info::CPCJointNeckPan);
00195 outputs[HeadOffset+RollOffset] = GETD(ERS220Info::CPCJointNeckRoll);
00196 pidduties[HeadOffset+TiltOffset] = GETDUTY(ERS220Info::CPCJointNeckTilt);
00197 pidduties[HeadOffset+PanOffset ] = GETDUTY(ERS220Info::CPCJointNeckPan);
00198 pidduties[HeadOffset+RollOffset] = GETDUTY(ERS220Info::CPCJointNeckRoll);
00199
00200 chkEvent(evtBuf, ERS220Info::TailLeftButOffset, GETB(ERS220Info::CPCSensorTailLeftSwitch), "LBkBut");
00201 chkEvent(evtBuf, ERS220Info::TailCenterButOffset, GETB(ERS220Info::CPCSensorTailCenterSwitch),"CBkBut");
00202 chkEvent(evtBuf, ERS220Info::TailRightButOffset, GETB(ERS220Info::CPCSensorTailRightSwitch), "RBkBut");
00203
00204
00205 chkEvent(evtBuf,LFrPawOffset,GETB(ERS220Info::CPCSensorLFPaw),"LFrPaw");
00206 chkEvent(evtBuf,RFrPawOffset,GETB(ERS220Info::CPCSensorRFPaw),"RFrPaw");
00207 chkEvent(evtBuf,LBkPawOffset,GETB(ERS220Info::CPCSensorLHPaw),"LBkPaw");
00208 chkEvent(evtBuf,RBkPawOffset,GETB(ERS220Info::CPCSensorRHPaw),"RBkPaw");
00209
00210
00211 chkEvent(evtBuf,ERS220Info::ChinButOffset, GETB(ERS220Info::CPCSensorChinSwitch),"ChinBut");
00212 chkEvent(evtBuf,ERS220Info::BackButOffset, GETB(ERS220Info::CPCSensorBackSwitch),"BackBut");
00213 chkEvent(evtBuf,ERS220Info::HeadFrButOffset,GETD(ERS220Info::CPCSensorHeadFrontPressure),"HeadFrBut");
00214 chkEvent(evtBuf,ERS220Info::HeadBkButOffset,GETD(ERS220Info::CPCSensorHeadBackPressure),"HeadBkBut");
00215
00216
00217 sensors[ERS220Info::IRDistOffset]=GETSENSOR(ERS220Info::CPCSensorPSD) / 1000.0f;
00218
00219
00220 sensors[BAccelOffset] = GETD(ERS220Info::CPCSensorAccelFB);
00221 sensors[LAccelOffset] = GETD(ERS220Info::CPCSensorAccelLR);
00222 sensors[DAccelOffset] = GETD(ERS220Info::CPCSensorAccelUD);
00223
00224 sensors[ERS220Info::ThermoOffset] = GETD(ERS220Info::CPCSensorThermoSensor);
00225 }
00226
00227
00228 if(robotDesign&ERS7Mask) {
00229 outputs[LFrLegOffset + RotatorOffset ] = GETD(ERS7Info::CPCJointLFRotator);
00230 outputs[LFrLegOffset + ElevatorOffset ] = GETD(ERS7Info::CPCJointLFElevator);
00231 outputs[LFrLegOffset + KneeOffset ] = GETD(ERS7Info::CPCJointLFKnee);
00232 pidduties[LFrLegOffset + RotatorOffset ] = GETDUTY(ERS7Info::CPCJointLFRotator);
00233 pidduties[LFrLegOffset + ElevatorOffset] = GETDUTY(ERS7Info::CPCJointLFElevator);
00234 pidduties[LFrLegOffset + KneeOffset ] = GETDUTY(ERS7Info::CPCJointLFKnee);
00235
00236 outputs[RFrLegOffset + RotatorOffset ] = GETD(ERS7Info::CPCJointRFRotator);
00237 outputs[RFrLegOffset + ElevatorOffset ] = GETD(ERS7Info::CPCJointRFElevator);
00238 outputs[RFrLegOffset + KneeOffset ] = GETD(ERS7Info::CPCJointRFKnee);
00239 pidduties[RFrLegOffset + RotatorOffset ] = GETDUTY(ERS7Info::CPCJointRFRotator);
00240 pidduties[RFrLegOffset + ElevatorOffset] = GETDUTY(ERS7Info::CPCJointRFElevator);
00241 pidduties[RFrLegOffset + KneeOffset ] = GETDUTY(ERS7Info::CPCJointRFKnee);
00242
00243 outputs[LBkLegOffset + RotatorOffset ] = GETD(ERS7Info::CPCJointLHRotator);
00244 outputs[LBkLegOffset + ElevatorOffset ] = GETD(ERS7Info::CPCJointLHElevator);
00245 outputs[LBkLegOffset + KneeOffset ] = GETD(ERS7Info::CPCJointLHKnee);
00246 pidduties[LBkLegOffset + RotatorOffset ] = GETDUTY(ERS7Info::CPCJointLHRotator);
00247 pidduties[LBkLegOffset + ElevatorOffset] = GETDUTY(ERS7Info::CPCJointLHElevator);
00248 pidduties[LBkLegOffset + KneeOffset ] = GETDUTY(ERS7Info::CPCJointLHKnee);
00249
00250 outputs[RBkLegOffset + RotatorOffset ] = GETD(ERS7Info::CPCJointRHRotator);
00251 outputs[RBkLegOffset + ElevatorOffset ] = GETD(ERS7Info::CPCJointRHElevator);
00252 outputs[RBkLegOffset + KneeOffset ] = GETD(ERS7Info::CPCJointRHKnee);
00253 pidduties[RBkLegOffset + RotatorOffset ] = GETDUTY(ERS7Info::CPCJointRHRotator);
00254 pidduties[RBkLegOffset + ElevatorOffset] = GETDUTY(ERS7Info::CPCJointRHElevator);
00255 pidduties[RBkLegOffset + KneeOffset ] = GETDUTY(ERS7Info::CPCJointRHKnee);
00256
00257
00258 outputs[HeadOffset+TiltOffset] = GETD(ERS7Info::CPCJointNeckTilt);
00259 outputs[HeadOffset+PanOffset ] = GETD(ERS7Info::CPCJointNeckPan);
00260 outputs[HeadOffset+RollOffset] = GETD(ERS7Info::CPCJointNeckNod);
00261 pidduties[HeadOffset+TiltOffset] = GETDUTY(ERS7Info::CPCJointNeckTilt);
00262 pidduties[HeadOffset+PanOffset ] = GETDUTY(ERS7Info::CPCJointNeckPan);
00263 pidduties[HeadOffset+RollOffset] = GETDUTY(ERS7Info::CPCJointNeckNod);
00264
00265 outputs[ERS7Info::TailOffset+TiltOffset] = GETD(ERS7Info::CPCJointTailTilt);
00266 outputs[ERS7Info::TailOffset+PanOffset] = GETD(ERS7Info::CPCJointTailPan);
00267 pidduties[ERS7Info::TailOffset+TiltOffset] = GETDUTY(ERS7Info::CPCJointTailTilt);
00268 pidduties[ERS7Info::TailOffset+PanOffset] = GETDUTY(ERS7Info::CPCJointTailPan);
00269
00270 outputs[ERS7Info::MouthOffset] = GETD(ERS7Info::CPCJointMouth);
00271 pidduties[ERS7Info::MouthOffset] = GETDUTY(ERS7Info::CPCJointMouth);
00272
00273
00274 chkEvent(evtBuf,LFrPawOffset,GETB(ERS7Info::CPCSwitchLFPaw),"LFrPaw");
00275 chkEvent(evtBuf,RFrPawOffset,GETB(ERS7Info::CPCSwitchRFPaw),"RFrPaw");
00276 chkEvent(evtBuf,LBkPawOffset,GETB(ERS7Info::CPCSwitchLHPaw),"LBkPaw");
00277 chkEvent(evtBuf,RBkPawOffset,GETB(ERS7Info::CPCSwitchRHPaw),"RBkPaw");
00278
00279
00280
00281 chkEvent(evtBuf, ERS7Info::ChinButOffset, GETSENSOR(ERS7Info::CPCSwitchChin), "ChinBut");
00282 chkEvent(evtBuf, ERS7Info::HeadButOffset, GETSENSOR(ERS7Info::CPCSensorHead)/120, "HeadBut");
00283 chkEvent(evtBuf, ERS7Info::FrontBackButOffset, GETSENSOR(ERS7Info::CPCSensorBackFront)/150, "BkFrBut");
00284 chkEvent(evtBuf, ERS7Info::MiddleBackButOffset, GETSENSOR(ERS7Info::CPCSensorBackMiddle)/150,"BkMdBut");
00285 chkEvent(evtBuf, ERS7Info::RearBackButOffset, GETSENSOR(ERS7Info::CPCSensorBackRear)/150, "BkRrBut");
00286 chkEvent(evtBuf, ERS7Info::WirelessSwOffset,GETSENSOR(ERS7Info::CPCSwitchWireless), "WirelessSw");
00287
00288
00289 sensors[ERS7Info::NearIRDistOffset] = GETSENSOR(ERS7Info::CPCSensorNearPSD) / 1000.0f;
00290 sensors[ERS7Info::FarIRDistOffset] = GETSENSOR(ERS7Info::CPCSensorFarPSD) / 1000.0f;
00291 sensors[ERS7Info::ChestIRDistOffset] = GETSENSOR(ERS7Info::CPCSensorChestPSD) / 1000.0f;
00292
00293
00294 sensors[BAccelOffset] = GETD(ERS7Info::CPCSensorAccelFB);
00295 sensors[LAccelOffset] = GETD(ERS7Info::CPCSensorAccelLR);
00296 sensors[DAccelOffset] = GETD(ERS7Info::CPCSensorAccelUD);
00297 }
00298
00299 unsigned int dif=curtime-lastSensorUpdateTime;
00300 lastSensorUpdateTime=curtime;
00301 for(unsigned int i=0; i<evtBuf.size(); i++)
00302 er->postEvent(evtBuf[i]);
00303
00304 er->postEvent(EventBase::sensorEGID,SensorSourceID::UpdatedSID,EventBase::statusETID,dif);
00305 }
00306
00307
00308 void WorldState::read(const OPowerStatus& power, EventRouter* er) {
00309 std::string actnames[PowerSourceID::NumPowerSIDs];
00310 std::string denames[PowerSourceID::NumPowerSIDs];
00311 unsigned int actmasks[PowerSourceID::NumPowerSIDs];
00312 memset(actmasks,0,sizeof(unsigned int)*PowerSourceID::NumPowerSIDs);
00313
00314
00315 chkPowerEvent(PowerSourceID::PauseSID, power.robotStatus,orsbPAUSE, "Pause",actnames,denames,actmasks);
00316 chkPowerEvent(PowerSourceID::MotorPowerSID, power.robotStatus,orsbMOTOR_POWER, "MotorPower",actnames,denames,actmasks);
00317 chkPowerEvent(PowerSourceID::VibrationSID, power.robotStatus,orsbVIBRATION_DETECT, "Vibration",actnames,denames,actmasks);
00318 chkPowerEvent(PowerSourceID::ExternalPortSID, power.robotStatus,orsbEX_PORT_CONNECTED, "ExternalPort",actnames,denames,actmasks);
00319 chkPowerEvent(PowerSourceID::StationConnectSID, power.robotStatus,orsbSTATION_CONNECTED, "StationConnect",actnames,denames,actmasks);
00320 chkPowerEvent(PowerSourceID::ExternalPowerSID, power.robotStatus,orsbEX_POWER_CONNECTED, "ExternalPower",actnames,denames,actmasks);
00321 chkPowerEvent(PowerSourceID::BatteryConnectSID, power.robotStatus,orsbBATTERY_CONNECTED, "BatteryConnect",actnames,denames,actmasks);
00322 chkPowerEvent(PowerSourceID::ChargingSID, power.robotStatus,orsbBATTERY_CHARGING, "BatteryCharging",actnames,denames,actmasks);
00323 chkPowerEvent(PowerSourceID::BatteryFullSID, power.robotStatus,orsbBATTERY_CAPACITY_FULL, "BatteryFull",actnames,denames,actmasks);
00324 chkPowerEvent(PowerSourceID::LowPowerWarnSID, power.robotStatus,orsbBATTERY_CAPACITY_LOW, "BatteryLow",actnames,denames,actmasks);
00325 chkPowerEvent(PowerSourceID::OverChargedSID, power.robotStatus,orsbBATTERY_OVER_CURRENT, "BatteryOverCurrent",actnames,denames,actmasks);
00326 chkPowerEvent(PowerSourceID::OverheatingSID, power.robotStatus,orsbBATTERY_OVER_TEMP_DISCHARGING,"BatteryOverTempDischarge",actnames,denames,actmasks);
00327 chkPowerEvent(PowerSourceID::OverheatingSID, power.robotStatus,orsbBATTERY_OVER_TEMP_CHARGING, "BatteryOverTempCharge",actnames,denames,actmasks);
00328 chkPowerEvent(PowerSourceID::ErrorSID, power.robotStatus,orsbBATTERY_ERROR_OF_CHARGING, "BatteryChargeError",actnames,denames,actmasks);
00329 chkPowerEvent(PowerSourceID::ErrorSID, power.robotStatus,orsbERROR_OF_PLUNGER, "PlungerError",actnames,denames,actmasks);
00330 chkPowerEvent(PowerSourceID::PowerGoodSID, power.robotStatus,orsbOPEN_R_POWER_GOOD, "PowerGood",actnames,denames,actmasks);
00331 chkPowerEvent(PowerSourceID::ErrorSID, power.robotStatus,orsbERROR_OF_FAN, "FanError",actnames,denames,actmasks);
00332 chkPowerEvent(PowerSourceID::DataFromStationSID,power.robotStatus,orsbDATA_STREAM_FROM_STATION, "DataFromStation",actnames,denames,actmasks);
00333 chkPowerEvent(PowerSourceID::RegisterUpdateSID, power.robotStatus,orsbREGISTER_UPDATED_BY_STATION, "RegisterUpdate",actnames,denames,actmasks);
00334 chkPowerEvent(PowerSourceID::ErrorSID, power.robotStatus,orsbRTC_ERROR, "RTCError",actnames,denames,actmasks);
00335 chkPowerEvent(PowerSourceID::RTCSID, power.robotStatus,orsbRTC_OVERFLOW, "RTCOverflow",actnames,denames,actmasks);
00336 chkPowerEvent(PowerSourceID::RTCSID, power.robotStatus,orsbRTC_RESET, "RTCReset",actnames,denames,actmasks);
00337 chkPowerEvent(PowerSourceID::RTCSID, power.robotStatus,orsbRTC_SET, "RTCSet",actnames,denames,actmasks);
00338 chkPowerEvent(PowerSourceID::SpecialModeSID, power.robotStatus,orsbSPECIAL_MODE, "SpecialMode",actnames,denames,actmasks);
00339 chkPowerEvent(PowerSourceID::BMNDebugModeSID, power.robotStatus,orsbBMN_DEBUG_MODE, "BMNDebugMode",actnames,denames,actmasks);
00340 chkPowerEvent(PowerSourceID::ChargerStatusSID, power.robotStatus,orsbCHARGER_STATUS, "ChargerStatus",actnames,denames,actmasks);
00341 chkPowerEvent(PowerSourceID::PlungerSID, power.robotStatus,orsbPLUNGER, "Plunger",actnames,denames,actmasks);
00342 chkPowerEvent(PowerSourceID::SuspendedSID, power.robotStatus,orsbSUSPENDED, "Suspended",actnames,denames,actmasks);
00343
00344
00345 chkPowerEvent(PowerSourceID::ErrorSID, power.batteryStatus,obsbERROR_CODE_MASK, "BatteryError",actnames,denames,actmasks);
00346 chkPowerEvent(PowerSourceID::BatteryEmptySID, power.batteryStatus,obsbFULLY_DISCHARGED, "FullyDischarged",actnames,denames,actmasks);
00347 chkPowerEvent(PowerSourceID::BatteryFullSID, power.batteryStatus,obsbFULLY_CHARGED, "FullyCharged",actnames,denames,actmasks);
00348 chkPowerEvent(PowerSourceID::DischargingSID, power.batteryStatus,obsbDISCHARGING, "Discharging",actnames,denames,actmasks);
00349 chkPowerEvent(PowerSourceID::BatteryInitSID, power.batteryStatus,obsbINITIALIZED, "BatteryInit",actnames,denames,actmasks);
00350 chkPowerEvent(PowerSourceID::LowPowerWarnSID, power.batteryStatus,obsbREMAINING_TIME_ALARM, "RemainingTimeAlarm",actnames,denames,actmasks);
00351 chkPowerEvent(PowerSourceID::LowPowerWarnSID, power.batteryStatus,obsbREMAINING_CAPACITY_ALARM, "RemainingCapacityAlarm",actnames,denames,actmasks);
00352 chkPowerEvent(PowerSourceID::TermDischargeSID,power.batteryStatus,obsbTERMINATED_DISCHARGING_ALARM,"TermDischargeAlarm",actnames,denames,actmasks);
00353 chkPowerEvent(PowerSourceID::OverheatingSID, power.batteryStatus,obsbOVER_TEMP_ALARM, "OverTempAlarm",actnames,denames,actmasks);
00354 chkPowerEvent(PowerSourceID::TermChargeSID, power.batteryStatus,obsbTERMINATED_CHARGING_ALARM, "TermChargeAlarm",actnames,denames,actmasks);
00355 chkPowerEvent(PowerSourceID::OverChargedSID, power.batteryStatus,obsbOVER_CHARGED_ALARM, "OverChargeAlarm",actnames,denames,actmasks);
00356
00357 sensors[PowerRemainOffset] = power.remainingCapacity/100.0;
00358 sensors[PowerThermoOffset] = power.temperature/100.0;
00359 sensors[PowerCapacityOffset] = power.fullyChargedCapacity;
00360 sensors[PowerVoltageOffset] = power.voltage/1000.0;
00361 sensors[PowerCurrentOffset] = power.current;
00362
00363
00364 for(unsigned int i=0; i<PowerSourceID::NumPowerSIDs; i++) {
00365 if(actmasks[i]) {
00366 if(!powerFlags[i])
00367 er->postEvent(EventBase::powerEGID,i,EventBase::activateETID,0,actnames[i],1);
00368 else if(actmasks[i]!=powerFlags[i])
00369 er->postEvent(EventBase::powerEGID,i,EventBase::statusETID,0,actnames[i],1);
00370 } else {
00371 if(powerFlags[i])
00372 er->postEvent(EventBase::powerEGID,i,EventBase::deactivateETID,0,denames[i],0);
00373 }
00374 powerFlags[i]=actmasks[i];
00375 }
00376
00377 er->postEvent(EventBase::powerEGID,PowerSourceID::UpdatedSID,EventBase::statusETID,0);
00378 }
00379
00380 #endif //PLATFORM_APERIOS
00381
00382 void WorldState::chkEvent(std::vector<EventBase*>& evtBuf, unsigned int sid, float newval, const char* name) {
00383 if(newval>=0.1) {
00384 if(buttons[sid]<0.1) {
00385 evtBuf.push_back(new EventBase(EventBase::buttonEGID,sid,EventBase::activateETID,0,name,newval));
00386 button_times[sid]=curtime;
00387 } else if(alwaysGenerateStatus || buttons[sid]!=newval) {
00388 unsigned int dur=curtime-button_times[sid];
00389 evtBuf.push_back(new EventBase(EventBase::buttonEGID,sid,EventBase::statusETID,dur,name,newval));
00390 }
00391 } else {
00392 if(buttons[sid]>=0.1) {
00393 unsigned int dur=curtime-button_times[sid];
00394 button_times[sid]=0;
00395 evtBuf.push_back(new EventBase(EventBase::buttonEGID,sid,EventBase::deactivateETID,dur,name,0));
00396 }
00397 }
00398
00399 buttons[sid]=newval;
00400 }
00401
00402
00403
00404
00405
00406
00407
00408
00409
00410
00411