frc971/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 "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"

#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;

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 /*4x*/) *
      ((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*/ * 2.0 /*2x*/) *
      (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;

    ::std::unique_ptr<LibUSBDeviceHandle> dev_handle(
        libusb.FindDeviceWithVIDPID(kVid, kPid));
    if (!dev_handle) {
      LOG(FATAL, "couldn't find device\n");
    }

    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) {
      int read_bytes;
      int r = dev_handle->interrupt_transfer(
          kEndpoint, data, sizeof(data), &read_bytes, kReadTimeout);

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

      if (read_bytes != sizeof(data)) {
        LOG(ERROR, "read %d bytes instead of %zu\n",
            read_bytes, 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;

  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();

    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();
  }

  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;
}