Merge "make the claw and fridge tests use standard infrastructure"
diff --git a/aos/linux_code/ipc_lib/queue.cc b/aos/linux_code/ipc_lib/queue.cc
index 9219192..81ad51b 100644
--- a/aos/linux_code/ipc_lib/queue.cc
+++ b/aos/linux_code/ipc_lib/queue.cc
@@ -169,7 +169,7 @@
MessageHeader *header = __atomic_load_n(&free_messages_, __ATOMIC_RELAXED);
do {
if (__builtin_expect(header == nullptr, 0)) {
- LOG(FATAL, "overused pool of queue %p\n", this);
+ LOG(FATAL, "overused pool of queue %p (%s)\n", this, name_);
}
} while (__builtin_expect(
!__atomic_compare_exchange_n(&free_messages_, &header, header->next, true,
@@ -193,7 +193,8 @@
"need to revalidate size/alignent assumptions");
if (queue_length < 1) {
- LOG(FATAL, "queue length %d needs to be at least 1\n", queue_length);
+ LOG(FATAL, "queue length %d of %s needs to be at least 1\n", queue_length,
+ name_);
}
const size_t name_size = strlen(name) + 1;
diff --git a/frc971/wpilib/encoder_and_potentiometer.cc b/frc971/wpilib/encoder_and_potentiometer.cc
new file mode 100644
index 0000000..800c49b
--- /dev/null
+++ b/frc971/wpilib/encoder_and_potentiometer.cc
@@ -0,0 +1,57 @@
+#include "frc971/wpilib/encoder_and_potentiometer.h"
+
+#include "aos/linux_code/init.h"
+#include "aos/common/logging/logging.h"
+
+namespace frc971 {
+namespace wpilib {
+
+void DMAEncoderAndPotentiometer::UpdateFromSample(const DMASample &sample) {
+ if (index_last_value_) {
+ // It was already true last time, so check if it's reset back to false yet.
+ index_last_value_ = sample.Get(index_.get());
+ } else if (sample.Get(index_.get())) {
+ // This sample is posedge, so record all the values.
+ index_last_value_ = true;
+ ++index_posedge_count_;
+ last_encoder_value_ = sample.GetRaw(encoder_.get());
+ last_potentiometer_voltage_ = sample.GetVoltage(potentiometer_.get());
+ }
+}
+
+void InterruptEncoderAndPotentiometer::Start() {
+ CHECK_NE(nullptr, encoder_);
+ CHECK_NE(nullptr, index_);
+ CHECK_NE(nullptr, potentiometer_);
+ CHECK_NE(0, priority_);
+ thread_ = ::std::thread(::std::ref(*this));
+}
+
+void InterruptEncoderAndPotentiometer::operator()() {
+ ::aos::SetCurrentThreadName("IntEncPot_" +
+ ::std::to_string(potentiometer_->GetChannel()));
+
+ index_->RequestInterrupts();
+ index_->SetUpSourceEdge(true, false);
+
+ ::aos::SetCurrentThreadRealtimePriority(priority_);
+
+ InterruptableSensorBase::WaitResult result = InterruptableSensorBase::kBoth;
+ while (run_) {
+ result = index_->WaitForInterrupt(
+ 0.1, result != InterruptableSensorBase::kTimeout);
+ if (result == InterruptableSensorBase::kTimeout) {
+ continue;
+ }
+
+ {
+ ::aos::MutexLocker locker(&mutex_);
+ last_potentiometer_voltage_ = potentiometer_->GetVoltage();
+ last_encoder_value_ = encoder_->GetRaw();
+ ++index_posedge_count_;
+ }
+ }
+}
+
+} // namespace wpilib
+} // namespace frc971
diff --git a/frc971/wpilib/encoder_and_potentiometer.h b/frc971/wpilib/encoder_and_potentiometer.h
new file mode 100644
index 0000000..82fa9a8
--- /dev/null
+++ b/frc971/wpilib/encoder_and_potentiometer.h
@@ -0,0 +1,169 @@
+#ifndef FRC971_ENCODER_AND_POTENTIOMETER_H_
+#define FRC971_ENCODER_AND_POTENTIOMETER_H_
+
+#include <atomic>
+#include <thread>
+
+#include "aos/common/macros.h"
+#include "aos/common/mutex.h"
+
+#include "Encoder.h"
+#include "DigitalSource.h"
+#include "AnalogInput.h"
+#include "dma.h"
+
+#include "frc971/wpilib/dma_edge_counting.h"
+
+namespace frc971 {
+namespace wpilib {
+
+// Latches values from an encoder and potentiometer on positive edges from
+// another input using an interrupt.
+class InterruptEncoderAndPotentiometer {
+ public:
+ // priority is the priority the thread will run at.
+ InterruptEncoderAndPotentiometer(int priority) : priority_(priority) {}
+
+ // Starts the thread running so it can receive interrupts.
+ void Start();
+
+ // Tells the thread to stop running and then waits for it to finish.
+ void Stop() {
+ run_ = false;
+ thread_.join();
+ }
+
+ // Loops until Stop() is called, reading interrupts.
+ // Designed to be called by ::std::thread internally.
+ void operator()();
+
+ // Returns the mutex which must be held while calling index_posedge_count(),
+ // last_encoder_value(), and last_potentiometer_voltage().
+ // Holding this mutex will increase the handling latency.
+ ::aos::Mutex *mutex() { return &mutex_; }
+
+ void set_encoder(::std::unique_ptr<Encoder> encoder) {
+ encoder_ = ::std::move(encoder);
+ }
+ Encoder *encoder() const { return encoder_.get(); }
+
+ void set_index(::std::unique_ptr<DigitalSource> index) {
+ index_ = ::std::move(index);
+ }
+ DigitalSource *index() const { return index_.get(); }
+
+ void set_potentiometer(::std::unique_ptr<AnalogInput> potentiometer) {
+ potentiometer_ = ::std::move(potentiometer);
+ }
+ AnalogInput *potentiometer() const { return potentiometer_.get(); }
+
+ // Returns the number of poseges that have happened on the index input.
+ // mutex() must be held while calling this.
+ uint32_t index_posedge_count() const { return index_posedge_count_; }
+ // Returns the value of the encoder at the last index posedge.
+ // mutex() must be held while calling this.
+ int32_t last_encoder_value() const { return last_encoder_value_; }
+ // Returns the voltage of the potentiometer at the last index posedge.
+ // mutex() must be held while calling this.
+ float last_potentiometer_voltage() const {
+ return last_potentiometer_voltage_;
+ }
+
+ private:
+ ::std::unique_ptr<Encoder> encoder_;
+ ::std::unique_ptr<DigitalSource> index_;
+ ::std::unique_ptr<AnalogInput> potentiometer_;
+
+ int32_t last_encoder_value_{0};
+ float last_potentiometer_voltage_{0.0f};
+ uint32_t index_posedge_count_{0};
+
+ ::aos::Mutex mutex_;
+
+ const int priority_;
+
+ ::std::atomic<bool> run_{true};
+ ::std::thread thread_;
+
+ DISALLOW_COPY_AND_ASSIGN(InterruptEncoderAndPotentiometer);
+};
+
+// Latches values from an encoder and potentiometer on positive edges from
+// another input using DMA.
+class DMAEncoderAndPotentiometer : public DMASampleHandlerInterface {
+ public:
+ DMAEncoderAndPotentiometer() {}
+
+ void set_encoder(::std::unique_ptr<Encoder> encoder) {
+ encoder_ = ::std::move(encoder);
+ }
+ Encoder *encoder() const { return encoder_.get(); }
+
+ void set_index(::std::unique_ptr<DigitalSource> index) {
+ index_ = ::std::move(index);
+ }
+ DigitalSource *index() const { return index_.get(); }
+
+ void set_potentiometer(::std::unique_ptr<AnalogInput> potentiometer) {
+ potentiometer_ = ::std::move(potentiometer);
+ }
+ AnalogInput *potentiometer() const { return potentiometer_.get(); }
+
+ // Returns the most recent polled value of the encoder.
+ uint32_t polled_encoder_value() const { return polled_encoder_value_; }
+ // Returns the most recent polled voltage of the potentiometer.
+ float polled_potentiometer_voltage() const {
+ return polled_potentiometer_voltage_;
+ }
+
+ // Returns the number of poseges that have happened on the index input.
+ uint32_t index_posedge_count() const { return index_posedge_count_; }
+ // Returns the value of the encoder at the last index posedge.
+ int32_t last_encoder_value() const { return last_encoder_value_; }
+ // Returns the voltage of the potentiometer at the last index posedge.
+ float last_potentiometer_voltage() const {
+ return last_potentiometer_voltage_;
+ }
+
+ virtual void UpdateFromSample(const DMASample &sample) override;
+
+ virtual void PollFromSample(const DMASample &sample) override {
+ polled_encoder_value_ = sample.GetRaw(encoder_.get());
+ polled_potentiometer_voltage_ = sample.GetVoltage(potentiometer_.get());
+ }
+
+ virtual void UpdatePolledValue() override {
+ polled_encoder_value_ = encoder_->GetRaw();
+ polled_potentiometer_voltage_ = potentiometer_->GetVoltage();
+ }
+
+ virtual void AddToDMA(DMA *dma) override {
+ dma->Add(encoder_.get());
+ dma->Add(index_.get());
+ dma->Add(potentiometer_.get());
+ dma->SetExternalTrigger(index_.get(), true, false);
+ }
+
+ private:
+ ::std::unique_ptr<Encoder> encoder_;
+ ::std::unique_ptr<DigitalSource> index_;
+ ::std::unique_ptr<AnalogInput> potentiometer_;
+
+ int32_t polled_encoder_value_ = 0;
+ float polled_potentiometer_voltage_ = 0.0f;
+
+ int32_t last_encoder_value_ = 0;
+ float last_potentiometer_voltage_ = 0.0f;
+
+ uint32_t index_posedge_count_ = 0;
+
+ // Whether or not it was triggered in the last sample.
+ bool index_last_value_ = false;
+
+ DISALLOW_COPY_AND_ASSIGN(DMAEncoderAndPotentiometer);
+};
+
+} // namespace wpilib
+} // namespace frc971
+
+#endif // FRC971_ENCODER_AND_POTENTIOMETER_H_
diff --git a/frc971/wpilib/wpilib.gyp b/frc971/wpilib/wpilib.gyp
index 14da17a..b1dcd7e 100644
--- a/frc971/wpilib/wpilib.gyp
+++ b/frc971/wpilib/wpilib.gyp
@@ -17,7 +17,6 @@
'<(AOS)/common/controls/controls.gyp:control_loop',
'<(AOS)/common/controls/controls.gyp:sensor_generation',
'<(AOS)/common/util/util.gyp:log_interval',
- '../frc971.gyp:constants',
'<(AOS)/common/common.gyp:time',
'<(AOS)/common/logging/logging.gyp:queue_logging',
'<(AOS)/common/controls/controls.gyp:output_check',
@@ -30,6 +29,27 @@
'gyro_sender',
'dma_edge_counting',
'interrupt_edge_counting',
+ 'encoder_and_potentiometer',
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:queues',
+ ],
+ },
+ {
+ 'target_name': 'encoder_and_potentiometer',
+ 'type': 'static_library',
+ 'sources': [
+ 'encoder_and_potentiometer.cc',
+ ],
+ 'dependencies': [
+ '<(EXTERNALS):WPILib',
+ 'dma_edge_counting',
+ '<(AOS)/linux_code/linux_code.gyp:init',
+ '<(AOS)/build/aos.gyp:logging',
+ '<(AOS)/common/common.gyp:mutex',
+ ],
+ 'export_dependent_settings': [
+ '<(EXTERNALS):WPILib',
+ 'dma_edge_counting',
+ '<(AOS)/common/common.gyp:mutex',
],
},
{
diff --git a/frc971/wpilib/wpilib_interface.cc b/frc971/wpilib/wpilib_interface.cc
index b82e2b5..554993a 100644
--- a/frc971/wpilib/wpilib_interface.cc
+++ b/frc971/wpilib/wpilib_interface.cc
@@ -19,11 +19,10 @@
#include "aos/common/stl_mutex.h"
#include "aos/linux_code/init.h"
+#include "frc971/control_loops/control_loops.q.h"
#include "frc971/control_loops/drivetrain/drivetrain.q.h"
#include "frc971/control_loops/fridge/fridge.q.h"
#include "frc971/control_loops/claw/claw.q.h"
-#include "frc971/constants.h"
-#include "frc971/shifter_hall_effect.h"
#include "frc971/wpilib/hall_effect.h"
#include "frc971/wpilib/joystick_sender.h"
@@ -33,6 +32,7 @@
#include "frc971/wpilib/gyro_sender.h"
#include "frc971/wpilib/dma_edge_counting.h"
#include "frc971/wpilib/interrupt_edge_counting.h"
+#include "frc971/wpilib/encoder_and_potentiometer.h"
#include "Encoder.h"
#include "Talon.h"
@@ -40,6 +40,7 @@
#include "AnalogInput.h"
#include "Compressor.h"
#include "RobotBase.h"
+#include "dma.h"
#ifndef M_PI
#define M_PI 3.14159265358979323846
@@ -47,7 +48,8 @@
using ::aos::util::SimpleLogInterval;
using ::frc971::control_loops::drivetrain_queue;
-using ::aos::util::WrappingCounter;
+using ::frc971::control_loops::fridge_queue;
+using ::frc971::control_loops::claw_queue;
namespace frc971 {
namespace wpilib {
@@ -68,8 +70,8 @@
(2 * M_PI /*radians*/);
}
-double arm_pot_translate(int32_t in) {
- return static_cast<double>(in) /
+double arm_pot_translate(double voltage) {
+ return voltage /
(14.0 / 17.0 /*output sprockets*/) *
(5.0 /*volts*/ / 5.0 /*turns*/) *
(2 * M_PI /*radians*/);
@@ -82,8 +84,8 @@
(32 * 5 / 2.54 / 10 /*pulley circumference (in)*/);
}
-double elevator_pot_translate(int32_t in) {
- return static_cast<double>(in) /
+double elevator_pot_translate(double voltage) {
+ return voltage /
(32 * 5 / 2.54 / 10 /*pulley circumference (in)*/) *
(5.0 /*volts*/ / 5.0 /*turns*/);
}
@@ -95,17 +97,99 @@
(2 * M_PI /*radians*/);
}
-double claw_pot_translate(int32_t in) {
- return static_cast<double>(in) /
+double claw_pot_translate(double voltage) {
+ return voltage /
(16.0 / 72.0 /*output sprockets*/) *
(5.0 /*volts*/ / 5.0 /*turns*/) *
(2 * M_PI /*radians*/);
}
+static const double kMaximumEncoderPulsesPerSecond =
+ 19500.0 /* free speed RPM */ * 12.0 / 56.0 /* belt reduction */ /
+ 60.0 /* seconds / minute */ * 256.0 /* CPR */ *
+ 4.0 /* index pulse = 1/4 cycle */;
+
class SensorReader {
public:
SensorReader() {
- filter_.SetPeriodNanoSeconds(100000);
+ // Set it to filter out anything shorter than 1/4 of the minimum pulse width
+ // we should ever see.
+ filter_.SetPeriodNanoSeconds(
+ static_cast<int>(1 / 4.0 / kMaximumEncoderPulsesPerSecond * 1e9 + 0.5));
+ }
+
+ void set_arm_left_encoder(::std::unique_ptr<Encoder> encoder) {
+ filter_.Add(encoder.get());
+ arm_left_encoder_.set_encoder(::std::move(encoder));
+ }
+
+ void set_arm_left_index(::std::unique_ptr<DigitalSource> index) {
+ filter_.Add(index.get());
+ arm_left_encoder_.set_index(::std::move(index));
+ }
+
+ void set_arm_left_potentiometer(
+ ::std::unique_ptr<AnalogInput> potentiometer) {
+ arm_left_encoder_.set_potentiometer(::std::move(potentiometer));
+ }
+
+ void set_arm_right_encoder(::std::unique_ptr<Encoder> encoder) {
+ filter_.Add(encoder.get());
+ arm_right_encoder_.set_encoder(::std::move(encoder));
+ }
+
+ void set_arm_right_index(::std::unique_ptr<DigitalSource> index) {
+ filter_.Add(index.get());
+ arm_right_encoder_.set_index(::std::move(index));
+ }
+
+ void set_arm_right_potentiometer(
+ ::std::unique_ptr<AnalogInput> potentiometer) {
+ arm_right_encoder_.set_potentiometer(::std::move(potentiometer));
+ }
+
+ void set_elevator_left_encoder(::std::unique_ptr<Encoder> encoder) {
+ filter_.Add(encoder.get());
+ elevator_left_encoder_.set_encoder(::std::move(encoder));
+ }
+
+ void set_elevator_left_index(::std::unique_ptr<DigitalSource> index) {
+ filter_.Add(index.get());
+ elevator_left_encoder_.set_index(::std::move(index));
+ }
+
+ void set_elevator_left_potentiometer(
+ ::std::unique_ptr<AnalogInput> potentiometer) {
+ elevator_left_encoder_.set_potentiometer(::std::move(potentiometer));
+ }
+
+ void set_elevator_right_encoder(::std::unique_ptr<Encoder> encoder) {
+ filter_.Add(encoder.get());
+ elevator_right_encoder_.set_encoder(::std::move(encoder));
+ }
+
+ void set_elevator_right_index(::std::unique_ptr<DigitalSource> index) {
+ filter_.Add(index.get());
+ elevator_right_encoder_.set_index(::std::move(index));
+ }
+
+ void set_elevator_right_potentiometer(
+ ::std::unique_ptr<AnalogInput> potentiometer) {
+ elevator_right_encoder_.set_potentiometer(::std::move(potentiometer));
+ }
+
+ void set_wrist_encoder(::std::unique_ptr<Encoder> encoder) {
+ filter_.Add(encoder.get());
+ wrist_encoder_.set_encoder(::std::move(encoder));
+ }
+
+ void set_wrist_index(::std::unique_ptr<DigitalSource> index) {
+ filter_.Add(index.get());
+ wrist_encoder_.set_index(::std::move(index));
+ }
+
+ void set_wrist_potentiometer(::std::unique_ptr<AnalogInput> potentiometer) {
+ wrist_encoder_.set_potentiometer(::std::move(potentiometer));
}
void set_left_encoder(::std::unique_ptr<Encoder> left_encoder) {
@@ -116,17 +200,29 @@
right_encoder_ = ::std::move(right_encoder);
}
+ // All of the DMA-related set_* calls must be made before this, and it doesn't
+ // hurt to do all of them.
+ void set_dma(::std::unique_ptr<DMA> dma) {
+ dma_synchronizer_.reset(new DMASynchronizer(::std::move(dma)));
+ dma_synchronizer_->Add(&arm_left_encoder_);
+ dma_synchronizer_->Add(&arm_right_encoder_);
+ dma_synchronizer_->Add(&elevator_left_encoder_);
+ dma_synchronizer_->Add(&elevator_right_encoder_);
+ }
+
void operator()() {
::aos::SetCurrentThreadName("SensorReader");
- static const int kPriority = 30;
- //static const int kInterruptPriority = 55;
+ wrist_encoder_.Start();
+ dma_synchronizer_->Start();
::aos::SetCurrentThreadRealtimePriority(kPriority);
while (run_) {
::aos::time::PhasedLoopXMS(5, 9000);
RunIteration();
}
+
+ wrist_encoder_.Stop();
}
void RunIteration() {
@@ -152,11 +248,79 @@
.reader_pid(getpid())
.cape_resets(0)
.Send();
+
+ dma_synchronizer_->RunIteration();
+
+ {
+ auto fridge_message = fridge_queue.position.MakeMessage();
+ CopyPotAndIndexPosition(arm_left_encoder_, &fridge_message->arm.left,
+ arm_translate, arm_pot_translate, false);
+ CopyPotAndIndexPosition(arm_right_encoder_, &fridge_message->arm.right,
+ arm_translate, arm_pot_translate, true);
+ CopyPotAndIndexPosition(
+ elevator_left_encoder_, &fridge_message->elevator.left,
+ elevator_translate, elevator_pot_translate, false);
+ CopyPotAndIndexPosition(elevator_right_encoder_,
+ &fridge_message->elevator.right,
+ elevator_translate, elevator_pot_translate, true);
+ fridge_message.Send();
+ }
+
+ {
+ auto claw_message = claw_queue.position.MakeMessage();
+ CopyPotAndIndexPosition(wrist_encoder_, &claw_message->joint,
+ claw_translate, claw_pot_translate, false);
+ claw_message.Send();
+ }
}
void Quit() { run_ = false; }
private:
+ static const int kPriority = 30;
+ static const int kInterruptPriority = 55;
+
+ void CopyPotAndIndexPosition(
+ const DMAEncoderAndPotentiometer &encoder, PotAndIndexPosition *position,
+ ::std::function<double(int32_t)> encoder_translate,
+ ::std::function<double(double)> pot_translate, bool reverse) {
+ const double multiplier = reverse ? -1.0 : 1.0;
+ position->encoder =
+ multiplier * encoder_translate(encoder.polled_encoder_value());
+ position->pot =
+ multiplier * pot_translate(encoder.polled_potentiometer_voltage());
+ position->latched_encoder =
+ multiplier * encoder_translate(encoder.last_encoder_value());
+ position->latched_pot =
+ multiplier * pot_translate(encoder.last_potentiometer_voltage());
+ position->index_pulses = encoder.index_posedge_count();
+ }
+
+ void CopyPotAndIndexPosition(
+ const InterruptEncoderAndPotentiometer &encoder,
+ PotAndIndexPosition *position,
+ ::std::function<double(int32_t)> encoder_translate,
+ ::std::function<double(double)> pot_translate, bool reverse) {
+ const double multiplier = reverse ? -1.0 : 1.0;
+ position->encoder =
+ multiplier * encoder_translate(encoder.encoder()->GetRaw());
+ position->pot =
+ multiplier * pot_translate(encoder.potentiometer()->GetVoltage());
+ position->latched_encoder =
+ multiplier * encoder_translate(encoder.last_encoder_value());
+ position->latched_pot =
+ multiplier * pot_translate(encoder.last_potentiometer_voltage());
+ position->index_pulses = encoder.index_posedge_count();
+ }
+
+
+ ::std::unique_ptr<DMASynchronizer> dma_synchronizer_;
+
+ DMAEncoderAndPotentiometer arm_left_encoder_, arm_right_encoder_,
+ elevator_left_encoder_, elevator_right_encoder_;
+
+ InterruptEncoderAndPotentiometer wrist_encoder_{kInterruptPriority};
+
::std::unique_ptr<Encoder> left_encoder_;
::std::unique_ptr<Encoder> right_encoder_;
@@ -369,8 +533,28 @@
SensorReader reader;
// TODO(sensors): Replace all the 99s with real port numbers.
+ reader.set_arm_left_encoder(
+ make_unique<Encoder>(99, 99, false, Encoder::k4X));
+ reader.set_arm_left_index(make_unique<DigitalInput>(99));
+ reader.set_arm_left_potentiometer(make_unique<AnalogInput>(99));
+ reader.set_arm_right_encoder(
+ make_unique<Encoder>(99, 99, false, Encoder::k4X));
+ reader.set_arm_right_index(make_unique<DigitalInput>(99));
+ reader.set_arm_right_potentiometer(make_unique<AnalogInput>(99));
+ reader.set_elevator_left_encoder(
+ make_unique<Encoder>(99, 99, false, Encoder::k4X));
+ reader.set_elevator_left_index(make_unique<DigitalInput>(99));
+ reader.set_elevator_left_potentiometer(make_unique<AnalogInput>(99));
+ reader.set_elevator_right_encoder(
+ make_unique<Encoder>(99, 99, false, Encoder::k4X));
+ reader.set_elevator_right_index(make_unique<DigitalInput>(99));
+ reader.set_elevator_right_potentiometer(make_unique<AnalogInput>(99));
+ reader.set_wrist_encoder(make_unique<Encoder>(99, 99, false, Encoder::k4X));
+ reader.set_wrist_index(make_unique<DigitalInput>(99));
+ reader.set_wrist_potentiometer(make_unique<AnalogInput>(99));
reader.set_left_encoder(make_unique<Encoder>(99, 99, false, Encoder::k4X));
reader.set_right_encoder(make_unique<Encoder>(99, 99, false, Encoder::k4X));
+ reader.set_dma(make_unique<DMA>());
::std::thread reader_thread(::std::ref(reader));
GyroSender gyro_sender;
::std::thread gyro_thread(::std::ref(gyro_sender));