bot3/input/gyro_board_reader.cc

#include <libusb-1.0/libusb.h>
#include <memory>

#include "aos/common/inttypes.h"
#include "aos/atom_code/init.h"
#include "aos/common/logging/logging.h"
#include "aos/common/control_loop/Timing.h"
#include "aos/common/time.h"

#include "frc971/control_loops/drivetrain/drivetrain.q.h"
#include "frc971/control_loops/wrist/wrist_motor.q.h"
#include "frc971/control_loops/angle_adjust/angle_adjust_motor.q.h"
#include "frc971/control_loops/index/index_motor.q.h"
#include "frc971/control_loops/shooter/shooter_motor.q.h"
#include "frc971/input/gyro_board_data.h"
#include "gyro_board/src/libusb-driver/libusb_wrap.h"
#include "frc971/queues/GyroAngle.q.h"

#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif

using ::frc971::control_loops::drivetrain;
using ::frc971::control_loops::wrist;
using ::frc971::control_loops::angle_adjust;
using ::frc971::control_loops::shooter;
using ::frc971::control_loops::index_loop;
using ::frc971::sensors::gyro;

namespace frc971 {
namespace {

inline double drivetrain_translate(int32_t in) {
  return static_cast<double>(in) / (256.0 /*cpr*/ * 4.0 /*quad*/) *
      (19.0 / 50.0) /*output reduction*/ * (64.0 / 24.0) /*encoder gears*/ *
      (3.5 /*wheel diameter*/ * 2.54 / 100.0 * M_PI);
}

inline double wrist_translate(int32_t in) {
  return static_cast<double>(in) / (256.0 /*cpr*/ * 4.0 /*quad*/) *
      (14.0 / 50.0 * 20.0 / 84.0) /*gears*/ * (2 * M_PI);
}

inline double angle_adjust_translate(int32_t in) {
  static const double kCableDiameter = 0.060;
  return -static_cast<double>(in) / (256.0 /*cpr*/ * 4.0 /*quad*/) *
      ((0.75 + kCableDiameter) / (16.61125 + kCableDiameter)) /*pulleys*/ *
      (2 * M_PI);
}

inline double shooter_translate(int32_t in) {
 return static_cast<double>(in) / (32.0 /*cpr*/ * 4.0 /*quad*/) *
      (15.0 / 34.0) /*gears*/ * (2 * M_PI);
}

inline double index_translate(int32_t in) {
  return -static_cast<double>(in) / (128.0 /*cpr*/ * 4.0 /*quad*/) *
      (1.0) /*gears*/ * (2 * M_PI);
}

}  // namespace

class GyroBoardReader {
 public:
  GyroBoardReader()
      : top_rise_count_(0),
        last_top_rise_count_(0),
        top_fall_count_(0),
        last_top_fall_count_(0),
        bottom_rise_count_(0),
        last_bottom_rise_count_(0),
        bottom_fall_delay_count_(0),
        last_bottom_fall_delay_count_(0),
        bottom_fall_count_(0),
        last_bottom_fall_count_(0),
        wrist_rise_count_(0),
        last_wrist_rise_count_(0),
        shooter_angle_rise_count_(0),
        last_shooter_angle_rise_count_(0) {
  }

  void Run() {
    LibUSB libusb;

    dev_handle_ = ::std::unique_ptr<LibUSBDeviceHandle>(
        libusb.FindDeviceWithVIDPID(kVid, kPid));
    if (!dev_handle_) {
      LOG(ERROR, "couldn't find device. exiting\n");
      exit(1);
    }

    uint8_t data[64];
    GyroBoardData *real_data;
    static_assert(sizeof(*real_data) <= sizeof(data), "it doesn't fit");

    uint8_t *data_pointer = data;
    memcpy(&real_data, &data_pointer, sizeof(data_pointer));
    while (true) {
      if (false) {
        // Theoretically need -3ms of offset. Using a slightly larger one to avoid
        // missing the first control loop in the worst case.
        ::aos::time::PhasedLoop10MS(
            ::aos::time::Time::InSeconds(-0.0031).ToUSec());
        LOG(DEBUG, "starting now\n");

        // Read 2 to make sure that we get fresh data.
        if (!ReadPacket(data, sizeof(data))) continue;
        //LOG(DEBUG, "in between\n");
        if (!ReadPacket(data, sizeof(data))) continue;
      } else {
        if (!ReadPacket(data, sizeof(data))) continue;

        ProcessData(real_data);
      }
    }
  }
  
 private:
  static const unsigned char kEndpoint = 0x81;
  // in ms
  // 0 is unlimited
  static const unsigned int kReadTimeout = 1000;

  // vendor ID
  static const int32_t kVid = 0x1424;
  // product ID
  static const int32_t kPid = 0xd243;

  // Returns whether it read a good packet.
  bool ReadPacket(uint8_t *data, size_t data_size) {
    int read_bytes;
    int r = dev_handle_->interrupt_transfer(
        kEndpoint, data, data_size, &read_bytes, kReadTimeout);

    if (r != 0) {
      if (r == LIBUSB_ERROR_TIMEOUT) {
        LOG(ERROR, "read timed out\n");
        return false;
      }
      LOG(FATAL, "libusb gave error %d\n", r);
    }

    if (read_bytes < static_cast<ssize_t>(sizeof(GyroBoardData))) {
      LOG(ERROR, "read %d bytes instead of at least %zd\n",
          read_bytes, sizeof(GyroBoardData));
      return false;
    }

    return true;
  }

  void UpdateWrappingCounter(
      uint8_t current, uint8_t *last, int32_t *counter) {
    if (*last > current) {
      *counter += 0x100;
    }
    *counter = (*counter & 0xffffff00) | current;
    *last = current;
  }

  void ProcessData(GyroBoardData *data) {
    data->NetworkToHost();
    LOG(DEBUG, "processing a packet\n");
    static ::aos::time::Time last_time = ::aos::time::Time::Now();
    if ((last_time - ::aos::time::Time::Now()) >
        ::aos::time::Time::InMS(0.00205)) {
      LOG(INFO, "missed one\n");
    }

    gyro.MakeWithBuilder()
        .angle(data->gyro_angle / 16.0 / 1000.0 / 180.0 * M_PI)
        .Send();

    UpdateWrappingCounter(data->top_rise_count,
        &last_top_rise_count_, &top_rise_count_);
    UpdateWrappingCounter(data->top_fall_count,
        &last_top_fall_count_, &top_fall_count_);
    UpdateWrappingCounter(data->bottom_rise_count,
        &last_bottom_rise_count_, &bottom_rise_count_);
    UpdateWrappingCounter(data->bottom_fall_delay_count,
        &last_bottom_fall_delay_count_, &bottom_fall_delay_count_);
    UpdateWrappingCounter(data->bottom_fall_count,
        &last_bottom_fall_count_, &bottom_fall_count_);
    UpdateWrappingCounter(data->wrist_rise_count,
        &last_wrist_rise_count_, &wrist_rise_count_);
    UpdateWrappingCounter(data->shooter_angle_rise_count,
        &last_shooter_angle_rise_count_, &shooter_angle_rise_count_);

    drivetrain.position.MakeWithBuilder()
        .right_encoder(drivetrain_translate(data->right_drive))
        .left_encoder(-drivetrain_translate(data->left_drive))
        .Send();

    wrist.position.MakeWithBuilder()
        .pos(wrist_translate(data->wrist))
        .hall_effect(data->wrist_hall_effect)
        .calibration(wrist_translate(data->capture_wrist_rise))
        .Send();

    angle_adjust.position.MakeWithBuilder()
        .angle(angle_adjust_translate(data->shooter_angle))
        .bottom_hall_effect(data->angle_adjust_bottom_hall_effect)
        .middle_hall_effect(false)
        .bottom_calibration(angle_adjust_translate(
                data->capture_shooter_angle_rise))
        .middle_calibration(angle_adjust_translate(
                0))
        .Send();

    shooter.position.MakeWithBuilder()
        .position(shooter_translate(data->shooter))
        .Send();

    index_loop.position.MakeWithBuilder()
        .index_position(index_translate(data->indexer))
        .top_disc_detect(data->top_disc)
        .top_disc_posedge_count(top_rise_count_)
        .top_disc_posedge_position(index_translate(data->capture_top_rise))
        .top_disc_negedge_count(top_fall_count_)
        .top_disc_negedge_position(index_translate(data->capture_top_fall))
        .bottom_disc_detect(data->bottom_disc)
        .bottom_disc_posedge_count(bottom_rise_count_)
        .bottom_disc_negedge_count(bottom_fall_count_)
        .bottom_disc_negedge_wait_position(index_translate(
                data->capture_bottom_fall_delay))
        .bottom_disc_negedge_wait_count(bottom_fall_delay_count_)
        .Send();
  }

  ::std::unique_ptr<LibUSBDeviceHandle> dev_handle_;

  int32_t top_rise_count_;
  uint8_t last_top_rise_count_;
  int32_t top_fall_count_;
  uint8_t last_top_fall_count_;
  int32_t bottom_rise_count_;
  uint8_t last_bottom_rise_count_;
  int32_t bottom_fall_delay_count_;
  uint8_t last_bottom_fall_delay_count_;
  int32_t bottom_fall_count_;
  uint8_t last_bottom_fall_count_;
  int32_t wrist_rise_count_;
  uint8_t last_wrist_rise_count_;
  int32_t shooter_angle_rise_count_;
  uint8_t last_shooter_angle_rise_count_;
};

}  // namespace frc971

int main() {
  ::aos::Init();
  ::frc971::GyroBoardReader reader;
  reader.Run();
  ::aos::Cleanup();
  return 0;
}