MiniCheetahHardwareBridge Class Reference

#include <HardwareBridge.h>

Inheritance diagram for MiniCheetahHardwareBridge:

Collaboration diagram for MiniCheetahHardwareBridge:

Public Member Functions
	MiniCheetahHardwareBridge (RobotController *)
void	runSpi ()
void	initHardware ()
void	run ()
void	abort (const std::string &reason)
void	abort (const char *reason)
Public Member Functions inherited from HardwareBridge
	HardwareBridge (RobotController *robot_ctrl)
void	prefaultStack ()
void	setupScheduler ()
void	initError (const char *reason, bool printErrno=false)
void	initCommon ()
	~HardwareBridge ()
void	handleGamepadLCM (const lcm::ReceiveBuffer *rbuf, const std::string &chan, const gamepad_lcmt *msg)
void	handleInterfaceLCM ()
void	handleControlParameter (const lcm::ReceiveBuffer *rbuf, const std::string &chan, const control_parameter_request_lcmt *msg)
void	publishVisualizationLCM ()
void	run_sbus ()

Private Attributes
VectorNavData	_vectorNavData
lcm::LCM	_spiLcm

Additional Inherited Members
Protected Attributes inherited from HardwareBridge
PeriodicTaskManager	taskManager
PrintTaskStatus	statusTask
GamepadCommand	_gamepadCommand
VisualizationData	_visualizationData
CheetahVisualization	_mainCheetahVisualization
lcm::LCM	_interfaceLCM
lcm::LCM	_visualizationLCM
control_parameter_respones_lcmt	_parameter_response_lcmt
SpiData	_spiData
SpiCommand	_spiCommand
bool	_firstRun = true
RobotRunner *	_robotRunner = nullptr
RobotControlParameters	_robotParams
u64	_iterations = 0
std::thread	_interfaceLcmThread
volatile bool	_interfaceLcmQuit = false
ControlParameters *	_userControlParameters = nullptr
int	_port

Detailed Description

Definition at line 72 of file HardwareBridge.h.

Constructor & Destructor Documentation

MiniCheetahHardwareBridge::MiniCheetahHardwareBridge

(

RobotController *

robot_ctrl

)

Definition at line 201 of file HardwareBridge.cpp.

    : HardwareBridge(robot_ctrl), _spiLcm(getLcmUrl(255)) {}

Member Function Documentation

void MiniCheetahHardwareBridge::abort

(

const std::string &

reason

)

void MiniCheetahHardwareBridge::abort

(

const char *

reason

)

void MiniCheetahHardwareBridge::initHardware

(

)

Definition at line 275 of file HardwareBridge.cpp.

References _vectorNavData, init_spi(), init_vectornav(), HardwareBridge::initError(), and VectorNavData::quat.

                                             {
  printf("[MiniCheetahHardware] Init vectornav\n");
  _vectorNavData.quat << 1, 0, 0, 0;
  if (!init_vectornav(&_vectorNavData)) {
    initError("failed to initialize vectornav!\n", false);
  }

  init_spi();

  // init spi
  // init sbus
  // init lidarlite

  // init LCM hardware logging thread

  //
}

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void MiniCheetahHardwareBridge::run

(

)

Definition at line 204 of file HardwareBridge.cpp.

References HardwareBridge::_firstRun, HardwareBridge::_gamepadCommand, HardwareBridge::_mainCheetahVisualization, HardwareBridge::_port, HardwareBridge::_robotParams, HardwareBridge::_robotRunner, HardwareBridge::_spiCommand, HardwareBridge::_spiData, HardwareBridge::_userControlParameters, _vectorNavData, HardwareBridge::_visualizationData, RobotRunner::cheetahMainVisualization, RobotRunner::controlParameters, RobotRunner::driverCommand, RobotRunner::init(), init_sbus(), HardwareBridge::initCommon(), initHardware(), ControlParameters::isFullyInitialized(), MINI_CHEETAH, HardwareBridge::publishVisualizationLCM(), RobotRunner::robotType, HardwareBridge::run_sbus(), runSpi(), RobotRunner::spiCommand, RobotRunner::spiData, PeriodicTask::start(), HardwareBridge::statusTask, HardwareBridge::taskManager, RobotRunner::vectorNavData, and RobotRunner::visualizationData.

                                    {
  initCommon();
  initHardware();

  //_robotRunner = new RobotRunner(&taskManager, 0.001f, "robot-control");

  _robotRunner->driverCommand = &_gamepadCommand;
  _robotRunner->spiData = &_spiData;
  _robotRunner->spiCommand = &_spiCommand;
  _robotRunner->robotType = RobotType::MINI_CHEETAH;
  _robotRunner->vectorNavData = &_vectorNavData;
  _robotRunner->controlParameters = &_robotParams;
  _robotRunner->visualizationData = &_visualizationData;
  _robotRunner->cheetahMainVisualization = &_mainCheetahVisualization;

  while (!_robotParams.isFullyInitialized()) {
    printf("[Hardware Bridge] Waiting for robot parameters...\n");
    usleep(1000000);
  }

  if(_userControlParameters) {
    while (!_userControlParameters->isFullyInitialized()) {
      printf("[Hardware Bridge] Waiting for user parameters...\n");
      usleep(1000000);
    }
  }

  printf("[Hardware Bridge] Got all parameters, starting up!\n");

  _robotRunner->init();
  _firstRun = false;

  // init control thread

  statusTask.start();

  // spi Task start
  PeriodicMemberFunction<MiniCheetahHardwareBridge> spiTask(
      &taskManager, .002, "spi", &MiniCheetahHardwareBridge::runSpi, this);
  spiTask.start();

  // robot controller start
  _robotRunner->start();

  // visualization start
  PeriodicMemberFunction<MiniCheetahHardwareBridge> visualizationLCMTask(
      &taskManager, .0167, "lcm-vis",
      &MiniCheetahHardwareBridge::publishVisualizationLCM, this);
  visualizationLCMTask.start();

  // rc controller
  _port = init_sbus(false);  // Not Simulation
  PeriodicMemberFunction<HardwareBridge> sbusTask(
      &taskManager, .005, "rc_controller", &HardwareBridge::run_sbus, this);
  sbusTask.start();

  for (;;) {
    usleep(1000000);
    // printf("joy %f\n", _robotRunner->driverCommand->leftStickAnalog[0]);
  }
}

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void MiniCheetahHardwareBridge::runSpi

(

)

Definition at line 293 of file HardwareBridge.cpp.

References HardwareBridge::_spiCommand, HardwareBridge::_spiData, _spiLcm, get_spi_command(), get_spi_data(), and spi_driver_run().

                                       {
  spi_command_t* cmd = get_spi_command();
  spi_data_t* data = get_spi_data();

  memcpy(cmd, &_spiCommand, sizeof(spi_command_t));
  spi_driver_run();
  memcpy(&_spiData, data, sizeof(spi_data_t));

  _spiLcm.publish("spi_data", data);
  _spiLcm.publish("spi_command", cmd);
}

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Member Data Documentation

lcm::LCM MiniCheetahHardwareBridge::_spiLcm

private

Definition at line 83 of file HardwareBridge.h.

VectorNavData MiniCheetahHardwareBridge::_vectorNavData

private

Definition at line 82 of file HardwareBridge.h.

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The documentation for this class was generated from the following files:

• HardwareBridge.h
• HardwareBridge.cpp