frc971/wpilib/sensor_reader.cc

#include "frc971/wpilib/sensor_reader.h"

#include <inttypes.h>
#include <unistd.h>

#include "aos/init.h"
#include "aos/util/compiler_memory_barrier.h"
#include "aos/util/phased_loop.h"
#include "frc971/wpilib/ahal/DigitalInput.h"
#include "frc971/wpilib/ahal/Utility.h"
#include "frc971/wpilib/wpilib_interface.h"

namespace frc971 {
namespace wpilib {

SensorReader::SensorReader() {
  // Set some defaults.  We don't tend to exceed these, so old robots should
  // just work with them.
  UpdateFastEncoderFilterHz(500000);
  UpdateMediumEncoderFilterHz(100000);
}

void SensorReader::UpdateFastEncoderFilterHz(int hz) {
  fast_encoder_filter_.SetPeriodHz(::std::max(hz, 100000));
}

void SensorReader::UpdateMediumEncoderFilterHz(int hz) {
  medium_encoder_filter_.SetPeriodHz(::std::max(hz, 50000));
}

void SensorReader::set_drivetrain_left_encoder(
    ::std::unique_ptr<frc::Encoder> encoder) {
  fast_encoder_filter_.Add(encoder.get());
  drivetrain_left_encoder_ = ::std::move(encoder);
  drivetrain_left_encoder_->SetMaxPeriod(0.005);
}

void SensorReader::set_drivetrain_right_encoder(
    ::std::unique_ptr<frc::Encoder> encoder) {
  fast_encoder_filter_.Add(encoder.get());
  drivetrain_right_encoder_ = ::std::move(encoder);
  drivetrain_right_encoder_->SetMaxPeriod(0.005);
}

// All of the DMA-related set_* calls must be made before this, and it
// doesn't hurt to do all of them.
// TODO(austin): Does anyone actually do anything other than set this?  Or can
// we just take care of that automatically?
void SensorReader::set_dma(::std::unique_ptr<DMA> dma) {
  dma_synchronizer_.reset(
      new ::frc971::wpilib::DMASynchronizer(::std::move(dma)));
}

void SensorReader::set_pwm_trigger(
    ::std::unique_ptr<frc::DigitalInput> pwm_trigger) {
  fast_encoder_filter_.Add(pwm_trigger.get());
  pwm_trigger_ = ::std::move(pwm_trigger);
}

void SensorReader::RunPWMDetecter() {
  ::aos::SetCurrentThreadRealtimePriority(41);

  pwm_trigger_->RequestInterrupts();
  // Rising edge only.
  pwm_trigger_->SetUpSourceEdge(true, false);

  monotonic_clock::time_point last_posedge_monotonic =
      monotonic_clock::min_time;

  while (run_) {
    auto ret = pwm_trigger_->WaitForInterrupt(1.0, true);
    if (ret == frc::InterruptableSensorBase::WaitResult::kRisingEdge) {
      // Grab all the clocks.
      const double pwm_fpga_time = pwm_trigger_->ReadRisingTimestamp();

      aos_compiler_memory_barrier();
      const double fpga_time_before = frc::GetFPGATime() * 1e-6;
      aos_compiler_memory_barrier();
      const monotonic_clock::time_point monotonic_now = monotonic_clock::now();
      aos_compiler_memory_barrier();
      const double fpga_time_after = frc::GetFPGATime() * 1e-6;
      aos_compiler_memory_barrier();

      const double fpga_offset =
          (fpga_time_after + fpga_time_before) / 2.0 - pwm_fpga_time;

      // Compute when the edge was.
      const monotonic_clock::time_point monotonic_edge =
          monotonic_now - chrono::duration_cast<chrono::nanoseconds>(
                              chrono::duration<double>(fpga_offset));

      LOG(DEBUG, "Got PWM pulse %f spread, %f offset, %lld trigger\n",
          fpga_time_after - fpga_time_before, fpga_offset,
          monotonic_edge.time_since_epoch().count());

      // Compute bounds on the timestep and sampling times.
      const double fpga_sample_length = fpga_time_after - fpga_time_before;
      const chrono::nanoseconds elapsed_time =
          monotonic_edge - last_posedge_monotonic;

      last_posedge_monotonic = monotonic_edge;

      // Verify that the values are sane.
      if (fpga_sample_length > 2e-5 || fpga_sample_length < 0) {
        continue;
      }
      if (fpga_offset < 0 || fpga_offset > 0.00015) {
        continue;
      }
      if (elapsed_time > chrono::microseconds(5050) + chrono::microseconds(4) ||
          elapsed_time < chrono::microseconds(5050) - chrono::microseconds(4)) {
        continue;
      }
      // Good edge!
      {
        ::std::unique_lock<::aos::stl_mutex> locker(tick_time_mutex_);
        last_tick_time_monotonic_timepoint_ = last_posedge_monotonic;
        last_period_ = elapsed_time;
      }
    } else {
      LOG(INFO, "PWM triggered %d\n", ret);
    }
  }
  pwm_trigger_->CancelInterrupts();
}

void SensorReader::operator()() {
  ::aos::SetCurrentThreadName("SensorReader");

  int32_t my_pid = getpid();

  Start();
  dma_synchronizer_->Start();

  if (pwm_trigger_) {
    last_period_ = chrono::microseconds(5050);
    LOG(INFO, "Using PWM trigger and a 5.05 ms period\n");
  } else {
    LOG(INFO, "Defaulting to open loop pwm synchronization\n");
    last_period_ = chrono::microseconds(5000);
  }
  ::aos::time::PhasedLoop phased_loop(
      last_period_,
      pwm_trigger_ ? ::std::chrono::milliseconds(3) : chrono::milliseconds(4));

  ::std::thread pwm_detecter_thread;
  if (pwm_trigger_) {
    pwm_detecter_thread =
        ::std::thread(::std::bind(&SensorReader::RunPWMDetecter, this));
  }

  ::aos::SetCurrentThreadRealtimePriority(40);
  while (run_) {
    {
      const int iterations = phased_loop.SleepUntilNext();
      if (iterations != 1) {
        LOG(WARNING, "SensorReader skipped %d iterations\n", iterations - 1);
      }
    }

    ::frc971::wpilib::SendRobotState(my_pid);
    RunIteration();
    dma_synchronizer_->RunIteration();
    RunDmaIteration();

    if (pwm_trigger_) {
      monotonic_clock::time_point last_tick_timepoint;
      chrono::nanoseconds period;
      {
        ::std::unique_lock<::aos::stl_mutex> locker(tick_time_mutex_);
        last_tick_timepoint = last_tick_time_monotonic_timepoint_;
        period = last_period_;
      }

      if (last_tick_timepoint == monotonic_clock::min_time) {
        continue;
      }
      chrono::nanoseconds new_offset = phased_loop.OffsetFromIntervalAndTime(
          period, last_tick_timepoint + chrono::microseconds(2050));

      // TODO(austin): If this is the first edge in a while, skip to it (plus
      // an offset). Otherwise, slowly drift time to line up.

      phased_loop.set_interval_and_offset(period, new_offset);
    }
  }

  if (pwm_trigger_) {
    pwm_detecter_thread.join();
  }
}

}  // namespace wpilib
}  // namespace frc971