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main.cpp
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main.cpp
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/*****************************************************************************
*
* $Id: main.c,v 6a6dec6fc806 2012/09/19 17:46:58 fp $
*
* Copyright (C) 2007-2009 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License version 2, as
* published by the Free Software Foundation.
*
* The IgH EtherCAT Master is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* ---
*
* The license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
*
****************************************************************************/
#include <errno.h>
#include <signal.h>
#include <stdio.h>
#include <string.h>
#include <sys/resource.h>
#include <sys/time.h>
#include <sys/types.h>
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <arpa/inet.h>
#include <iostream>
#include <memory>
// #include<array>
/****************************************************************************/
#include "ecrt.h"
#include "pid_controller.h"
#include "interface/cmdpanel.h"
//#include "datalogger.h"
#include "Eigen/Dense"
#include "biped.h"
//add
#include "../interface/CheatIO.h"
#include "../include/checkjoint.h"
#include "../include/OrientationEstimator.h"
#include "../include/PositionVelocityEstimator.h"
#include "../include/utility/cppTypes.h"
#include "../include/ControlFSMData.h"
#include "../include/DesiredCommand.h"
#include "../include/FSM/FSM.h"
/****************************************************************************/
// Application parameters
#define FREQUENCY 100
#define PRIORITY 1
// Optional features
#define CONFIGURE_PDOS 1
#define BIGNUM 100000000.0
PIDControl *PID_ptr_M; // 矢状面3关节，j2,j3,j4;
int sock;
struct sockaddr_in server;
char message[1000];
/****************************************************************************/
// EtherCAT
static ec_master_t *master = NULL;
static ec_master_state_t master_state = {};
static ec_domain_t *domain = NULL;
static ec_domain_state_t domain_state = {};
static ec_slave_config_t *sc1;
static ec_slave_config_state_t sc1_ana_in_state = {};
static ec_slave_config_t *sc2;
static ec_slave_config_state_t sc2_ana_in_state = {};
static ec_slave_config_t *sc3;
static ec_slave_config_state_t sc3_ana_in_state = {};
static ec_slave_config_t *sc4;
static ec_slave_config_state_t sc4_ana_in_state = {};
static ec_slave_config_t *sc5;
static ec_slave_config_state_t sc5_ana_in_state = {};
static ec_slave_config_t *sc6;
static ec_slave_config_state_t sc6_ana_in_state = {};
static ec_slave_config_t *sc7;
static ec_slave_config_state_t sc7_ana_in_state = {};
static CmdPanel *cmdptr = NULL;
// Timer
static unsigned int sig_alarms = 0;
static unsigned int user_alarms = 0;
/****************************************************************************/
// process data
// static uint8_t *domain_pd = NULL;
// #define BusCouplerPos 0, 0
// #define TI_AM3359ICE 0x00000009, 0x26483052
// // offsets for PDO entries
static unsigned int off_bytes_0x7030 ;
static unsigned int off_bits_0x7030;
static unsigned int off_bytes_0x7030_1 ;
static unsigned int off_bits_0x7030_1;
static unsigned int off_bytes_0x6000[2] = {1};
static unsigned int off_bits_0x6000[2] = {1};
static unsigned int off_bytes_0x6000_1[2] = {1};
static unsigned int off_bits_0x6000_1[2] = {1};
static unsigned int off_bytes_0x6000_2[2] = {1};
static unsigned int off_bits_0x6000_2[2] = {1};
static unsigned int off_bytes_0x6000_3[2] = {1};
static unsigned int off_bits_0x6000_3[2] = {1};
static unsigned int off_bytes_0x6000_4[2] = {1};
static unsigned int off_bits_0x6000_4[2] = {1};
static unsigned int off_bytes_0x6000_5[2] = {1};
static unsigned int off_bits_0x6000_5[2] = {1};
static unsigned int off_bytes_0x7010[6] = {1};
static unsigned int off_bits_0x7010[6] = {1};
static unsigned int off_bytes_0x7011[6] = {1};
static unsigned int off_bits_0x7011[6] = {1};
static unsigned int counter = 0;
static unsigned int blink = 0x00;
static uint8_t *domain_pd = NULL;
#define BusCouplerPos1 0, 0
#define BusCouplerPos2 256, 1
#define BusCouplerPos3 256, 0
#define BusCouplerPos4 256, 2
#define BusCouplerPos5 256, 3
#define BusCouplerPos6 256, 4
#define BusCouplerPos7 256, 5
#define TI_AM3359ICE 0x01222222, 0x00020310
#define TI_AM3359ICE1 0x00000b95, 0x00020310
#define Valve 0x00000b95, 0x00020130
#include "cstruct.h"
int fd = -1;
struct sockaddr_in saddr;
//DataLogger &logger = DataLogger::GET();
LowPassFilter filter;
float Deg[3];
float KuanDeg[2];
float rj4angle = 0, rj5angle = 0,rj3angle=0,rj2angle=0,rj1angle=0,rj0angle=0;
float LDeg[3];
float LKuanDeg[2];
float lj4angle = 0, lj5angle = 0,lj3angle=0,lj2angle=0,lj1angle=0,lj0angle=0;
float legpre2[12]={0,0,0,0,0,0,0,0,0,0,0,0};
float legpre1_5[12]={0,0,0,0,0,0,0,0,0,0,0,0};
float legpre1[12]={0,0,0,0,0,0,0,0,0,0,0,0};
unsigned long SSI[12];
void check_domain_state(void)
{
ec_domain_state_t ds;
ecrt_domain_state(domain, &ds);
if (ds.working_counter != domain_state.working_counter)
printf("Domain1: WC %u.\n", ds.working_counter);
if (ds.wc_state != domain_state.wc_state)
printf("Domain1: State %u.\n", ds.wc_state);
domain_state = ds;
}
/*****************************************************************************/
/*****************************************************************************/
void check_master_state(void)
{
// printf("check_master_state\n");
ec_master_state_t ms;
ecrt_master_state(master, &ms);
if (ms.slaves_responding != master_state.slaves_responding)
printf("%u slave(s).\n", ms.slaves_responding);
if (ms.al_states != master_state.al_states)
printf("AL states: 0x%02X.\n", ms.al_states);
if (ms.link_up != master_state.link_up)
printf("Link is %s.\n", ms.link_up ? "up" : "down");
master_state = ms;
}
/*****************************************************************************/
void check_slave1_config_states(void)
{
// printf("check_slave_config_states\n");
ec_slave_config_state_t s;
ecrt_slave_config_state(sc1, &s);
if (s.al_state != sc1_ana_in_state.al_state)
printf("AnaIn1: State 0x%02X.\n", s.al_state);
if (s.online != sc1_ana_in_state.online)
printf("AnaIn1: %s.\n", s.online ? "online" : "offline");
if (s.operational != sc1_ana_in_state.operational)
printf("AnaIn1: %soperational.\n",
s.operational ? "" : "Not ");
sc1_ana_in_state = s;
}
void check_slave2_config_states(void)
{
// printf("check_slave_config_states\n");
ec_slave_config_state_t s;
ecrt_slave_config_state(sc2, &s);
if (s.al_state != sc2_ana_in_state.al_state)
printf("AnaIn2: State 0x%02X.\n", s.al_state);
if (s.online != sc2_ana_in_state.online)
printf("AnaIn2: %s.\n", s.online ? "online" : "offline");
if (s.operational != sc2_ana_in_state.operational)
printf("AnaIn2: %soperational.\n",
s.operational ? "" : "Not ");
sc2_ana_in_state = s;
}
void check_slave3_config_states(void)
{
// printf("check_slave_config_states\n");
ec_slave_config_state_t s;
ecrt_slave_config_state(sc3, &s);
if (s.al_state != sc3_ana_in_state.al_state)
printf("AnaIn3: State 0x%02X.\n", s.al_state);
if (s.online != sc3_ana_in_state.online)
printf("AnaIn3: %s.\n", s.online ? "online" : "offline");
if (s.operational != sc3_ana_in_state.operational)
printf("AnaIn3: %soperational.\n",
s.operational ? "" : "Not ");
sc3_ana_in_state = s;
}
void cyclic_task(Biped &bipins, float time,FSM* _FSMController)
{
// receive process data
ecrt_master_receive(master);
ecrt_domain_process(domain);
// check process data state (optional)
check_domain_state();
if (counter)
{
counter--;
}
else
{ // do this at 1 Hz
// double LEGlength = bipins.calfLinkLength + bipins.thighLinkLength + bipins.toeLinkLength;
// Vec6<double> RjQ;
// Vec3<double> P;
// float Deg[3];
// float KuanDeg[2];
// float rj4angle=0,rj5angle=0;
// P.setZero();
// P(2) = -1 * LEGlength - 0.07 * LEGlength * (cos(0.2 * M_PI * time + 1.5 * M_PI) - 1);
// Deg[0] = 1*(14 * cos(0.2 * M_PI * time) - 14);
// Deg[0] = 1*(14 * sin(0.2 * M_PI * time));
rj0angle=0;
rj1angle=0;
rj2angle=0;
rj3angle=0;
rj4angle = 0;
rj5angle = 0;
lj0angle=0;
lj1angle=0;
lj2angle=0;
lj3angle=0;
lj4angle = 0;
lj5angle = 0;
for (int i = 0; i < 12; i++)
SSI[i] = 0;
uint16_t output1 = 0;
SSI[0] = EC_READ_U32(domain_pd + off_bytes_0x6000[0]);//rj0
SSI[1] = EC_READ_U32(domain_pd + off_bytes_0x6000[1]);
SSI[2] = EC_READ_U32(domain_pd + off_bytes_0x6000_1[0]);
SSI[3] = EC_READ_U32(domain_pd + off_bytes_0x6000_1[1]);
SSI[4] = EC_READ_U32(domain_pd + off_bytes_0x6000_2[0]);
SSI[5] = EC_READ_U32(domain_pd + off_bytes_0x6000_2[1]);
SSI[6] = EC_READ_U32(domain_pd + off_bytes_0x6000_3[0]);//lj0
SSI[7] = EC_READ_U32(domain_pd + off_bytes_0x6000_3[1]);
SSI[8] = EC_READ_U32(domain_pd + off_bytes_0x6000_4[0]);
SSI[9] = EC_READ_U32(domain_pd + off_bytes_0x6000_4[1]);
SSI[10] = EC_READ_U32(domain_pd + off_bytes_0x6000_5[0]);
SSI[11] = EC_READ_U32(domain_pd + off_bytes_0x6000_5[1]);
// for (int i = 0; i < 12; i++)
// std::cout<<"编码器"<<i<< SSI[i] <<'\n';
if (time)
{
// Deg[1]=15*sin(0.2*M_PI*time+1.5*M_PI);
// Deg[0]=15*sin(M_PI*time);
// LDeg[0]=3*sin(M_PI*time);
// LDeg[2]=15*sin(M_PI*time);
rj3angle=20*sin(1*M_PI*time+1.5*M_PI)+20;
legpre2[3]=20*sin(1*M_PI*(time+0.1+bipins.sampletime)+1.5*M_PI)+20;
legpre1[3]=20*sin(1*M_PI*(time+0.1-bipins.sampletime)+1.5*M_PI)+20;
legpre1_5[3]=20*sin(1*M_PI*(time+0.1)+1.5*M_PI)+20;
// LDeg[2]=8*sin(0.5*M_PI*time);
// LDeg[2]=-20;
// KuanDeg[0] = 2.5 * sin(M_PI * time);
// rj4angle=-12*sin(M_PI*time);
// _FSMController->run();
// rj5angle=-10*sin(M_PI*time);
// _FSMController->run();
}
bipins.computepumpvel(legpre1,legpre2,legpre1_5);
// bipins.pumpvelFF=199;
cout<<bipins.pumpvelFF;
bipins.pumpvelFF=bipins.pumpvelFF<<16;
EC_WRITE_U32(domain_pd +off_bytes_0x7030_1, bipins.pumpvelFF);
// Deg[2] = 0;
// Deg[1] = 0;
// Deg[2] =0* (18 * cos(0.2 * M_PI * time) - 18);
// Deg[1] = -1 * (Deg[0] + Deg[2])*0;
// P(2)*=-1;
// bipins.ComputeIK(RjQ, P);
// std::cout << "坐标\n"
// << P << '\n';
float RJDES[6];
float LJDES[6];
RJDES[0] = rj0angle;
RJDES[1] = rj1angle;
RJDES[2] = rj2angle; // RJ0
RJDES[3] = rj3angle; // RJ1
RJDES[4] = rj4angle; // Rj4
RJDES[5] = rj5angle; // Rj5
LJDES[0] = lj1angle;
LJDES[1] = lj2angle;
LJDES[2] = lj3angle; // LJ3
LJDES[4] = lj4angle; // Lj4
LJDES[5] = lj5angle; // Lj5
// unsigned long ssi[4];
// std::vector<unsigned long> ssi;
float *TR_data[12];
float fSSI[12];
for (int i = 0; i < 12; i++)
{
fSSI[i] = (float)SSI[i];
TR_data[i] = &fSSI[i];
TR_data[i] = (float *)&SSI[i];
}
// for (int i = 0; i < 12; i++)
// std::cout << "编码器" << i <<" "<< *TR_data[i] << '\n';
float Ldes = bipins.RJ2convert(RJDES[0]);
float Lreal = bipins.RJ2convert(*TR_data[0]);
float L4real, L5real, L4des, L5des;
float gang0des, gang1des,lgang0des,lgang1des;
float gang0real, gang1real,lgang0real,lgang1real;
// filter.update(*TR_data[2]);
// std::cout<<"rj0 real: "<<*TR_data[2]<<'\n';
// std::cout<<"rj0 real: "<<*TR_data[2]<<'\n';
// std::cout<<"rj0 des: "<<RJDES[2]<<'\n';
// std::cout<<"rj3 real: "<<*TR_data[1]<<'\n';
// std::cout<<"rj3 des:"<<RJDES[1]<<'\n';
//std::cout << "rj4 real:" << *TR_data[4] << '\n';
//std::cout << "rj5 real:" << *TR_data[5] << '\n';
bipins.RJ0RJ1convert(RJDES[0], RJDES[1], gang0des, gang1des);
bipins.RJ0RJ1convert(*TR_data[0], *TR_data[1], gang0real, gang1real);
// bipins.RJ0RJ1convert(*TR_data[2],0,gang0real,gang1real);
// std::cout<<"髋部油缸0 gang0des:" <<gang0des<<'\n';
// std::cout<<"髋部油缸0 gang0real:" <<gang0real<<'\n';
// std::cout<<"髋部油缸1 gang1des:" <<gang1des<<'\n';
// std::cout<<"髋部油缸1 gang1real:" <<gang1real<<'\n';
PIDSetpointSet(&PID_ptr_M[0], gang0des);
PIDInputSet(&PID_ptr_M[0], gang0real); // gang0
PIDCompute(&PID_ptr_M[0]);
FeedforwardAdd(&PID_ptr_M[0], gang0des);
// logger.rj0des=RJDES[2];
// logger.rj0=*TR_data[2];
// PID_ptr_M[0].output=-4;
// std::cout<<"PID输出"<<PID_ptr_M[0].output<<'\n';
// logger.pidoutput[0]=PID_ptr_M[0].output;
PIDSetpointSet(&PID_ptr_M[1], gang1des);
PIDInputSet(&PID_ptr_M[1], gang1real); // gang1
PIDCompute(&PID_ptr_M[1]);
FeedforwardAdd(&PID_ptr_M[1], gang1des);
bipins.LJ0LJ1convert(LJDES[0], LJDES[1], lgang0des, lgang1des);
bipins.LJ0LJ1convert(*TR_data[6], *TR_data[7], lgang0real, lgang1real);
// bipins.RJ0RJ1convert(*TR_data[2],0,gang0real,gang1real);
// std::cout<<"髋部油缸0 gang0des:" <<lgang0des<<'\n';
// std::cout<<"髋部油缸0 gang0real:" <<lgang0real<<'\n';
// std::cout<<"髋部油缸1 gang1des:" <<lgang1des<<'\n';
// std::cout<<"髋部油缸1 gang1real:" <<lgang1real<<'\n';
PIDSetpointSet(&PID_ptr_M[6], lgang0des);
PIDInputSet(&PID_ptr_M[6], lgang0real); // gang0
PIDCompute(&PID_ptr_M[6]);
FeedforwardAdd(&PID_ptr_M[6], lgang0des);
PIDSetpointSet(&PID_ptr_M[7], lgang1des);
PIDInputSet(&PID_ptr_M[7], lgang1real); // gang1
PIDCompute(&PID_ptr_M[7]);
FeedforwardAdd(&PID_ptr_M[7], lgang1des);
// std::cout<<"LJ0PID输出"<<PID_ptr_M[6].output<<'\n';
// std::cout<<"LJ1PID输出"<<PID_ptr_M[7].output<<'\n';
// logger.rj1des=RJDES[3];
// logger.rj1=*TR_data[3];
// PID_ptr_M[1].output=-4;
// std::cout<<"PID输出"<<PID_ptr_M[1].output<<'\n';
float rj2desl = bipins.RJ2convert(RJDES[2]);
float rj2reall = bipins.RJ2convert(*TR_data[2]);
// std::cout<<"期望伸长量"<<rj2desl<<'\n';
// std::cout<<"实际伸长量"<<rj2reall<<'\n';
PIDSetpointSet(&PID_ptr_M[2], rj2desl); // RJ2
PIDInputSet(&PID_ptr_M[2], rj2reall);
PIDCompute(&PID_ptr_M[2]);
FeedforwardAdd(&PID_ptr_M[2], -1 * rj2desl);
// logger.rj2des=RJDES[0];
// logger.rj2=*TR_data[0];
// std::cout<<"PID输出"<<PID_ptr_M[2].output<<'\n';
// logger.pidoutput[2]=PID_ptr_M[2].output;
float lj2desl = bipins.LJ2convert(LJDES[2]);
float lj2reall = bipins.LJ2convert(*TR_data[8]);
// std::cout<<"期望伸长量"<<lj2desl<<'\n';
// std::cout<<"实际伸长量"<<lj2reall<<'\n';
PIDSetpointSet(&PID_ptr_M[8], lj2desl); // RJ2
PIDInputSet(&PID_ptr_M[8], lj2reall);
PIDCompute(&PID_ptr_M[8]);
FeedforwardAdd(&PID_ptr_M[8], lj2desl);
//PID_ptr_M[8].output=0.5*lj2desl;
// std::cout<<"LJ2PID输出"<<PID_ptr_M[8].output<<'\n';
float RJ3Ldes = bipins.RJ3Convert(RJDES[3]);
float RJ3L = bipins.RJ3Convert(*TR_data[3]);
PIDSetpointSet(&PID_ptr_M[3], RJDES[3]);
PIDInputSet(&PID_ptr_M[3], *TR_data[3]);
PIDCompute(&PID_ptr_M[3]);
FeedforwardAdd(&PID_ptr_M[3], RJ3Ldes);
std::cout<<"RJ3PID输出"<<PID_ptr_M[3].output<<'\n';
std::cout<<"RJ3实际:"<<*TR_data[3]<<'\n';
std::cout<<"RJ3期望"<<RJDES[3]<<'\n';
bipins.RJ4RJ5convert(RJDES[4], RJDES[5], L4des, L5des);
bipins.RJ4RJ5convert(*TR_data[4], *TR_data[5], L4real, L5real);
// std::cout << "L4 real" << L4real << '\n';
// std::cout << "L4 des" << L4des << '\n';
// std::cout << "L5 real" << L5real << '\n';
// std::cout << "L5 des" << L5des << '\n';
PIDSetpointSet(&PID_ptr_M[4], L4des);
PIDInputSet(&PID_ptr_M[4], L4real);
PIDCompute(&PID_ptr_M[4]);
FeedforwardAdd(&PID_ptr_M[4], L4des);
PIDSetpointSet(&PID_ptr_M[5], L5des);
PIDInputSet(&PID_ptr_M[5], L5real);
PIDCompute(&PID_ptr_M[5]);
FeedforwardAdd(&PID_ptr_M[5], L5des);
// logger.rj3des=RJDES[1];
// logger.rj3=*TR_data[1];
// PID_ptr_M[3].output=2;
// std::cout<<"膝部缸期望伸长量:"<<RJ3Ldes<<'\n';
// std::cout<<"膝部缸实际伸长量"<<RJ3L<<'\n';
// std::cout<<"PID输出"<<PID_ptr_M[3].output<<'\n';
// logger.pidoutput[3]=PID_ptr_M[3].output;
// for (int i = 0; i < 12; i++)
// {
// output1 = (uint16_t)((PID_ptr_M[i].output + 10) / 20 * 65536);
// if (i < 2)
// {
// EC_WRITE_U16(domain_pd + off_bytes_0x7010[i], output1);
// // printf("Current1: value=0x%x\n", EC_READ_U16(domain_pd + off_bytes_0x7010[i]));
// }
// else
// {
// EC_WRITE_U16(domain_pd + off_bytes_0x7011[i - 2], output1);
// // printf("Volage1: value=0x%x\n", EC_READ_U16(domain_pd + off_bytes_0x7011[i-2]));
// }
// }
// 定义要赋值给 b 的索引
// PID_ptr_M[1].output=5*sin(M_PI*time+1.5*M_PI);
// PID_ptr_M[5].output=5*sin(0.1*M_PI*time+1.5*M_PI);
// PID_ptr_M[3].output=5*sin(M_PI*time+1.5*M_PI);
// std::cout<<"RJ1PID输出"<<PID_ptr_M[1].output<<'\n';
int OutIndex[6] = {0, 1, 5, 6, 7, 11};
// 创建一个布尔数组来标记
bool is_out_index[12] = {false};
for (int i = 0; i < 6; ++i)
{
is_out_index[OutIndex[i]] = true;
}
int c_idx = 0;
int v_idx = 0;
for (int i = 0; i < 12; ++i)
{
output1 = (uint16_t)((PID_ptr_M[i].output+ 10) / 20 * 65536);
if (is_out_index[i])
{
EC_WRITE_U16(domain_pd + off_bytes_0x7010[c_idx++], output1);
}
else
{
EC_WRITE_U16(domain_pd + off_bytes_0x7011[v_idx++], output1);
}
}
// output1 = (uint16_t)((PID_ptr_M[4].output+ 10) / 20 * 65536);
// EC_WRITE_U16(domain_pd + off_bytes_0x7011[2], output1);
// output1 = (uint16_t)((PID_ptr_M[5].output + 10) / 20 * 65536);
// EC_WRITE_U16(domain_pd + off_bytes_0x7010[2], output1);
counter = 0;
std::cout << "-------------------\n";
// logger.Savedata();
char sendBuf[128];
// sprintf(sendBuf, "d:%f,%f,%f,%f,%f,%f,%f,%f,%f\n", RJDES[0],*TR_data[0],*TR_data[2],*TR_data[3],
// PID_ptr_M[2].alteredKp,PID_ptr_M[2].dispKi,rj2desl,PID_ptr_M[2].FF,PID_ptr_M[2].output);
sprintf(sendBuf, "d:%f,%f,%f,%f,%f,%f,%f,%f,%f,%f\n", LJDES[0], *TR_data[6], LJDES[1],
*TR_data[7],LJDES[2], *TR_data[8],PID_ptr_M[6].output,PID_ptr_M[8].FF,lj2desl,lj2reall);
// sprintf(sendBuf, "d:%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f\n", KuanDeg[0], KuanDeg[1], Deg[0], Deg[1], rj4angle, rj5angle, LKuanDeg[0], LKuanDeg[1], LDeg[0], LDeg[1], lj4angle, lj5angle,Deg[2],LDeg[2]);
sendto(fd, sendBuf, strlen(sendBuf) + 1, 0, (struct sockaddr *)&saddr, sizeof(saddr));
}
blink++;
check_master_state();
ecrt_domain_queue(domain);
ecrt_domain_queue(domain);
ecrt_master_send(master);
}
/****************************************************************************/
void signal_handler(int signum)
{
switch (signum)
{
case SIGALRM:
sig_alarms++;
break;
}
}
/****************************************************************************/
int main(int argc, char **argv)
{
fd = socket(PF_INET, SOCK_DGRAM, 0);
if (fd == -1)
{
perror("socket");
exit(-1);
}
// 服务器的地址信息
saddr.sin_family = AF_INET;
saddr.sin_port = htons(9999);
inet_pton(AF_INET, "192.168.7.1", &saddr.sin_addr.s_addr);
//control设置
double dt = 0.001;
Biped robot;
CheatIO *IOptr = new CheatIO("biped");
LegController *Legctrlptr = new LegController(robot);
LowlevelCmd *cmd = new LowlevelCmd();
LowlevelState *state = new LowlevelState();
StateEstimate stateEstimate;
StateEstimatorContainer *stateEstimator = new StateEstimatorContainer(state,
Legctrlptr->data,
&stateEstimate);
stateEstimator->addEstimator<CheaterOrientationEstimator>();
stateEstimator->addEstimator<CheaterPositionVelocityEstimator>();
DesiredStateCommand* desiredStateCommand = new DesiredStateCommand(&stateEstimate, dt);
ControlFSMData* _controlData = new ControlFSMData;
_controlData->_biped = &robot;
_controlData->_stateEstimator = stateEstimator;
_controlData->_legController = Legctrlptr;
_controlData->_desiredStateCommand = desiredStateCommand;
_controlData->_interface = IOptr;
_controlData->_lowCmd = cmd;
_controlData->_lowState = state;
FSM* _FSMController = new FSM(_controlData);
//PID传参
float Kp = 0.01, Ki = 0, Ks = 0;
if (argc < 2)
std::cout << "No Kp" << std::endl;
else if (argc == 2)
Kp = atof(argv[1]);
else if (argc == 3)
{
Kp = atof(argv[1]);
Ki = atof(argv[2]);
}
else
{
Kp = atof(argv[1]);
Ki = atof(argv[2]);
Ks = atof(argv[3]);
}
// Kp = std::atof(argv[1]);
// std::unique_ptr<CmdPanel> cmd_ptr=std::make_unique<KeyBoard>();
cmdptr = new KeyBoard();
struct sigaction sa;
struct itimerval tv;
master = ecrt_request_master(0);
if (!master)
return -1;
// 建立一个域，参数是masters
domain = ecrt_master_create_domain(master);
if (!domain)
return -1;
// ⽤宏定义配置master和slave 数字信号输⼊的从站/供应商ID产品代码
#if CONFIGURE_PDOS
if (!(sc1 = ecrt_master_slave_config(
master, BusCouplerPos1, TI_AM3359ICE)))
{
fprintf(stderr, "Failed to get slave configuration.\n");
return -1;
}
if (!(sc2 = ecrt_master_slave_config(
master, BusCouplerPos2, TI_AM3359ICE1)))
{
fprintf(stderr, "Failed to get slave configuration.\n");
return -1;
}
if (!(sc3 = ecrt_master_slave_config(
master, BusCouplerPos3, Valve)))
{
fprintf(stderr, "Failed to get slave configuration.\n");
return -1;
}
if (!(sc4 = ecrt_master_slave_config(
master, BusCouplerPos4, TI_AM3359ICE1)))
{
fprintf(stderr, "Failed to get slave configuration.\n");
return -1;
}
if (!(sc5 = ecrt_master_slave_config(
master, BusCouplerPos5, TI_AM3359ICE1)))
{
fprintf(stderr, "Failed to get slave configuration.\n");
return -1;
}
if (!(sc6 = ecrt_master_slave_config(
master, BusCouplerPos6, TI_AM3359ICE1)))
{
fprintf(stderr, "Failed to get slave configuration.\n");
return -1;
}
if (!(sc7 = ecrt_master_slave_config(
master, BusCouplerPos7, TI_AM3359ICE1)))
{
fprintf(stderr, "Failed to get slave configuration.\n");
return -1;
}
// 设置PDOS，利⽤sc、EC_END、对⻬信息
printf("Configuring PDOs...\n");
if (ecrt_slave_config_pdos(sc1, EC_END, slave_0_syncs))
{
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}
printf("Configuring PDOs...\n");
if (ecrt_slave_config_pdos(sc2, EC_END, slave_2_syncs))
{
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}
printf("Configuring PDOs...\n");
if (ecrt_slave_config_pdos(sc3, EC_END, slave_1_syncs))
{
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}
printf("Configuring PDOs...\n");
if (ecrt_slave_config_pdos(sc4, EC_END, slave_3_syncs))
{
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}
printf("Configuring PDOs...\n");
if (ecrt_slave_config_pdos(sc5, EC_END, slave_4_syncs))
{
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}
printf("Configuring PDOs...\n");
if (ecrt_slave_config_pdos(sc6, EC_END, slave_5_syncs))
{
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}
printf("Configuring PDOs...\n");
if (ecrt_slave_config_pdos(sc7, EC_END, slave_6_syncs))
{
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}
off_bytes_0x7030 = ecrt_slave_config_reg_pdo_entry(sc1, 0x7030, 1, domain, &off_bits_0x7030);
printf("off_bytes_0x6000_value=0x%x %x\n", off_bytes_0x7030, off_bits_0x7030);
if (off_bytes_0x7030 < 0)
{
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
}
off_bytes_0x6000[0] = ecrt_slave_config_reg_pdo_entry(sc1, 0x6000, 1, domain, &off_bits_0x6000[0]);
printf("off_bytes_0x6000_value=0x%x %x\n", off_bytes_0x6000[0], off_bits_0x6000[0]);
if (off_bytes_0x6000[0] < 0)
{
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
}
off_bytes_0x6000[1] = ecrt_slave_config_reg_pdo_entry(sc1, 0x6000, 2, domain, &off_bits_0x6000[1]);
printf("off_bytes_0x6000_value=0x%x %x\n", off_bytes_0x6000[1], off_bits_0x6000[1]);
if (off_bytes_0x6000[1] < 0)
{
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
}
off_bytes_0x6000_1[0] = ecrt_slave_config_reg_pdo_entry(sc2, 0x6000, 1, domain, &off_bits_0x6000_1[0]);
printf("off_bytes_0x6000_value=0x%x %x\n", off_bytes_0x6000_1[0], off_bits_0x6000_1[0]);
if (off_bytes_0x6000_1[0] < 0)
{
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
}
off_bytes_0x6000_1[1] = ecrt_slave_config_reg_pdo_entry(sc2, 0x6000, 2, domain, &off_bits_0x6000_1[1]);
printf("off_bytes_0x6000_value=0x%x %x\n", off_bytes_0x6000_1[1], off_bits_0x6000_1[1]);
if (off_bytes_0x6000_1[1] < 0)
{
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
}
off_bytes_0x7030_1 = ecrt_slave_config_reg_pdo_entry(sc2, 0x7030, 1, domain, &off_bits_0x7030_1);
printf("off_bytes_0x6000_value=0x%x %x\n", off_bytes_0x7030_1, off_bits_0x7030_1);
if (off_bytes_0x7030_1 < 0)
{
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
}
off_bytes_0x6000_2[0] = ecrt_slave_config_reg_pdo_entry(sc4, 0x6000, 1, domain, &off_bits_0x6000_2[0]);
printf("off_bytes_0x6000_value=0x%x %x\n", off_bytes_0x6000_2[0], off_bits_0x6000_2[0]);
if (off_bytes_0x6000_2[0] < 0)
{
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
}
off_bytes_0x6000_2[1] = ecrt_slave_config_reg_pdo_entry(sc4, 0x6000, 2, domain, &off_bits_0x6000_2[1]);
printf("off_bytes_0x6000_value=0x%x %x\n", off_bytes_0x6000_2[1], off_bits_0x6000_2[1]);
if (off_bytes_0x6000_2[1] < 0)
{
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
}
off_bytes_0x6000_3[0] = ecrt_slave_config_reg_pdo_entry(sc5, 0x6000, 1, domain, &off_bits_0x6000_3[0]);
printf("off_bytes_0x6000_value=0x%x %x\n", off_bytes_0x6000_3[0], off_bits_0x6000_3[0]);
if (off_bytes_0x6000_3[0] < 0)
{
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
}
off_bytes_0x6000_3[1] = ecrt_slave_config_reg_pdo_entry(sc5, 0x6000, 2, domain, &off_bits_0x6000_3[1]);
printf("off_bytes_0x6000_value=0x%x %x\n", off_bytes_0x6000_3[1], off_bits_0x6000_3[1]);
if (off_bytes_0x6000_3[1] < 0)
{
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
}
off_bytes_0x6000_4[0] = ecrt_slave_config_reg_pdo_entry(sc6, 0x6000, 1, domain, &off_bits_0x6000_4[0]);
printf("off_bytes_0x6000_value=0x%x %x\n", off_bytes_0x6000_4[0], off_bits_0x6000_4[0]);
if (off_bytes_0x6000_4[0] < 0)
{
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
}
off_bytes_0x6000_4[1] = ecrt_slave_config_reg_pdo_entry(sc6, 0x6000, 2, domain, &off_bits_0x6000_4[1]);
printf("off_bytes_0x6000_value=0x%x %x\n", off_bytes_0x6000_4[1], off_bits_0x6000_4[1]);
if (off_bytes_0x6000_4[1] < 0)
{
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
}
off_bytes_0x6000_5[0] = ecrt_slave_config_reg_pdo_entry(sc7, 0x6000, 1, domain, &off_bits_0x6000_5[0]);
printf("off_bytes_0x6000_value=0x%x %x\n", off_bytes_0x6000_5[0], off_bits_0x6000_5[0]);
if (off_bytes_0x6000_5[0] < 0)
{
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
}
off_bytes_0x6000_5[1] = ecrt_slave_config_reg_pdo_entry(sc7, 0x6000, 2, domain, &off_bits_0x6000_5[1]);
printf("off_bytes_0x6000_value=0x%x %x\n", off_bytes_0x6000_5[1], off_bits_0x6000_5[1]);
if (off_bytes_0x6000_5[1] < 0)
{
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
}
off_bytes_0x7010[0] = ecrt_slave_config_reg_pdo_entry(sc3, 0x7010, 1, domain, &off_bits_0x7010[0]);
printf("off_bytes_0x7011_value=0x%x %x\n", off_bytes_0x7010[0], off_bits_0x7010[0]);
if (off_bytes_0x7010[0] < 0)
{
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
}
off_bytes_0x7010[1] = ecrt_slave_config_reg_pdo_entry(sc3, 0x7010, 2, domain, &off_bits_0x7010[1]);
printf("off_bytes_0x7011_value=0x%x %x\n", off_bytes_0x7010[1], off_bits_0x7010[1]);
if (off_bytes_0x7010[1] < 0)
{
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
}
off_bytes_0x7010[2] = ecrt_slave_config_reg_pdo_entry(sc3, 0x7010, 3, domain, &off_bits_0x7010[2]);
printf("off_bytes_0x7011_value=0x%x %x\n", off_bytes_0x7010[2], off_bits_0x7010[2]);
if (off_bytes_0x7010[2] < 0)
{
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
}
off_bytes_0x7010[3] = ecrt_slave_config_reg_pdo_entry(sc3, 0x7010, 4, domain, &off_bits_0x7010[3]);
printf("off_bytes_0x7011_value=0x%x %x\n", off_bytes_0x7010[3], off_bits_0x7010[3]);
if (off_bytes_0x7010[3] < 0)
{
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
}
off_bytes_0x7010[4] = ecrt_slave_config_reg_pdo_entry(sc3, 0x7010, 5, domain, &off_bits_0x7010[4]);
printf("off_bytes_0x7011_value=0x%x %x\n", off_bytes_0x7010[4], off_bits_0x7010[4]);
if (off_bytes_0x7010[4] < 0)
{
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
}
off_bytes_0x7010[5] = ecrt_slave_config_reg_pdo_entry(sc3, 0x7010, 6, domain, &off_bits_0x7010[5]);
printf("off_bytes_0x7011_value=0x%x %x\n", off_bytes_0x7010[5], off_bits_0x7010[5]);
if (off_bytes_0x7010[5] < 0)
{
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
}
off_bytes_0x7011[0] = ecrt_slave_config_reg_pdo_entry(sc3, 0x7011, 1, domain, &off_bits_0x7011[0]);
printf("off_bytes_0x7011_value=0x%x %x\n", off_bytes_0x7011[0], off_bits_0x7011[0]);