private void RangerDistanceChangedEvent(object sender, RangerSensorEventArgs e)
{
//Debug.WriteLine("Ranger: " + e.Name + " RangeMeters=" + e.RangeMeters);
lock (currentSensorsDataLock)
{
ISensorsData sensorsData = new SensorsDataPlucky(this.currentSensorsData);
switch (e.Name)
{
case "ParkingSonar":
sensorsData.RangerFrontRightMeters = e.RangeMeters[0];
sensorsData.RangerFrontLeftMeters = e.RangeMeters[1];
sensorsData.RangerRearRightMeters = e.RangeMeters[2];
sensorsData.RangerRearLeftMeters = e.RangeMeters[3];
sensorsData.RangerFrontRightMetersTimestamp = sensorsData.RangerFrontLeftMetersTimestamp =
sensorsData.RangerRearRightMetersTimestamp = sensorsData.RangerRearLeftMetersTimestamp = e.TimeTicks;
break;
default:
throw new NotImplementedException("Error: RangerDistanceChangedEvent: unknown name " + e.Name);
}
//Debug.WriteLine(sensorsData.ToString());
this.currentSensorsData = sensorsData;
}
}
private void RPiCameraSensor_TargetsChanged(object sender, TargetingCameraEventArgs args)
{
// Raspberry Pi based camera sensor works under Wheezy and uses OpenCV and Python to process
// 240x320 frames and select areas with yellow color. Bearing, inclination and size of blobs is then
// reported over HTTP to RPiCamera (derived from HttpServerBase). Frequency is around 10 FPS.
//Debug.WriteLine("RPi Camera Event: " + args);
// On Raspberry Pi:
// pixy.blocks[i].signature The signature number of the detected object (1-7)
// pixy.blocks[i].x The x location of the center of the detected object (0 to 319)
// pixy.blocks[i].y The y location of the center of the detected object (0 to 199)
// pixy.blocks[i].width The width of the detected object (1 to 320)
// pixy.blocks[i].height The height of the detected object (1 to 200)
// Field of view:
// goal 45 degrees left x=10
// middle x=160
// goal 45 degrees right x=310
//
// goal 30 degrees up y=10
// middle y=90
// goal 30 degrees down y=190
//
if (args.width * args.height > 500) // only large objects count
{
int bearing = GeneralMath.map(args.x, 0, 320, 45, -45);
int inclination = GeneralMath.map(args.y, 0, 200, 30, -30);
//Debug.WriteLine("RPi: bearing=" + bearing + " inclination: " + inclination);
lock (currentSensorsDataLock)
{
ISensorsData sensorsData = new SensorsDataPlucky(this.currentSensorsData);
sensorsData.TargetingCameraBearingDegrees = bearing;
sensorsData.TargetingCameraInclinationDegrees = inclination;
sensorsData.TargetingCameraTimestamp = args.timestamp;
//Debug.WriteLine(sensorsData.ToString());
this.currentSensorsData = sensorsData;
}
}
}
private void Ahrs_ValuesChanged(IHardwareComponent sender)
{
// AHRS is based on Arduino Motion Plug sketch, a pro-mini is connected to Plucky Wheels using I2C.
IAhrs ahrs = (IAhrs)sender;
double heading = Direction.to360(ahrs.Yaw);
//Debug.WriteLine("Compass: heading=" + heading);
lock (currentSensorsDataLock)
{
ISensorsData sensorsData = new SensorsDataPlucky(this.currentSensorsData);
sensorsData.CompassHeadingDegrees = heading;
//Debug.WriteLine(sensorsData.ToString());
this.currentSensorsData = sensorsData;
}
}
/// <summary>
/// we can create sensors here, but cannot send commands before bridge_CommunicationStarted is called in PluckyTheRobot
/// for example, encoder.Clear() will hang.
/// </summary>
public async Task InitSensors(CancellationTokenSource cts)
{
// see C:\Projects\Serializer_3_0\ExampleApps\AnalogSensorExample\AnalogSensorExample\Form1.cs
// Note: the Element board communicates at 19200 Baud, which is roughly 1.5 kbytes/sec
// Comm link is busy with motor commands and has to be responsive to encoders, for odometry to work.
// Sensors must carefully adjust their demands by setting UpdateFrequency and Enabled properties.
// *********************** Parking Sonar:
SensorPose spParkingSonar = new SensorPose()
{
XMeters = 0.0d, YMeters = 0.0d, ThetaRadians = 0.0d
};
ParkingSonar = RangerSensorFactory.produceRangerSensor(RangerSensorFactoryProducts.RangerSensorParkingSonar, "ParkingSonar", spParkingSonar,
hardwareBrick, rangersSamplingIntervalMs);
ParkingSonar.distanceChangedEvent += new EventHandler <RangerSensorEventArgs>(RangerDistanceChangedEvent);
RangerSensors.Add(ParkingSonar.Name, ParkingSonar);
// *********************** wheel encoders - roughly XXX ticks per wheel revolution, XXX ticks per meter.
encoderLeft = CreateWheelEncoder(hardwareBrick, WheelEncoderId.Encoder2, (int)mainLoopCycleMs, encodersSensitivityThresholdTicks);
encoderRight = CreateWheelEncoder(hardwareBrick, WheelEncoderId.Encoder1, (int)mainLoopCycleMs, encodersSensitivityThresholdTicks);
Ahrs = hardwareBrick.produceAhrs(0x00, AhrsSamplingIntervalMs, AhrsSensitivityThreshold);
Ahrs.ValuesChanged += new HardwareComponentEventHandler(Ahrs_ValuesChanged);
await RPiCameraSensor.Open(cts);
RPiCameraSensor.TargetingCameraTargetsChanged += RPiCameraSensor_TargetsChanged;
batteryVoltage = CreateBatteryVoltageMeter(hardwareBrick, batterySamplingIntervalMs, batterySensitivityThresholdVolts);
batteryVoltage.Enabled = true; // slow update rate, leave it turned on
SonarsEnabled = true;
EncodersEnabled = true;
CompassEnabled = true;
RPiCameraEnabled = true;
currentSensorsData = new SensorsDataPlucky()
{
RangerSensors = this.RangerSensors
};
}
internal void ArduinoBrickOdometryChanged(RobotAbstraction.IHardwareComponent sender)
{
IOdometry odom = (IOdometry)sender;
//odom.XMeters;
//odom.YMeters;
//odom.ThetaRadians;
lock (currentSensorsDataLock)
{
SensorsDataPlucky sensorsData = new SensorsDataPlucky(this.currentSensorsData);
sensorsData.WheelEncoderLeftTicks = odom.LDistanceTicks;
sensorsData.WheelEncoderRightTicks = odom.RDistanceTicks;
//Debug.WriteLine(sensorsData.ToString());
this.currentSensorsData = sensorsData;
}
}
internal void ArduinoBrickGpsChanged(RobotAbstraction.IHardwareComponent sender)
{
IGps gps = (IGps)sender;
lock (currentSensorsDataLock)
{
SensorsDataPlucky sensorsData = new SensorsDataPlucky(this.currentSensorsData);
sensorsData.GpsLatitude = gps.Latitude;
sensorsData.GpsLongitude = gps.Longitude;
sensorsData.GpsAltitude = gps.Altitude;
sensorsData.GpsNsat = gps.GpsNsat;
sensorsData.GpsHdop = gps.GpsHdop;
sensorsData.FixAgeMs = gps.FixAgeMs;
sensorsData.GpsTimeUTC = gps.TimeUTC;
sensorsData.GpsFixType = gps.FixType;
//Debug.WriteLine(sensorsData.ToString());
this.currentSensorsData = sensorsData;
}
}
private void encoder_CountChanged(IHardwareComponent sender)
{
lock (currentSensorsDataLock)
{
SensorsDataPlucky sensorsData = new SensorsDataPlucky(this.currentSensorsData);
IWheelEncoder encoder = sender as IWheelEncoder;
Debug.Assert(encoder != null, "SensorsControllerPlucky: encoder_CountChanged(): Encoder must be non-null");
if (encoder.WheelEncoderId == WheelEncoderId.Encoder2)
{
sensorsData.WheelEncoderLeftTicks = encoder.Count;
}
else if (encoder.WheelEncoderId == WheelEncoderId.Encoder1)
{
sensorsData.WheelEncoderRightTicks = encoder.Count;
}
//Debug.WriteLine(sensorsData.ToString());
this.currentSensorsData = sensorsData;
}
}
private void batteryVoltage_ValueChanged(IHardwareComponent sender)
{
lock (currentSensorsDataLock)
{
SensorsDataPlucky sensorsData = new SensorsDataPlucky(this.currentSensorsData);
IAnalogSensor bv = sender as IAnalogSensor;
Debug.Assert(bv != null, "SensorsControllerPlucky: batteryVoltage_ValueChanged(): AnalogSensor must be non-null");
// analog pin 5 in Element board is internally tied to 1/3 of the supply voltage level.
// The 5.0d is 5V, microcontroller's ADC reference and 1024 is range.
// on Plucky the battery voltage goes through 1/3 divider and comes to Arduino Pin 3, which is reported as Pin 5 to here.
// see PluckyWheels.ino sketch
double voltage = 3.0d * (bv.AnalogValue * 5.0d) / 1024.0d;
sensorsData.BatteryVoltage = voltage; // also sets sensorsData.BatteryVoltageTimestamp
this.currentSensorsData = sensorsData;
}
Debug.WriteLine(this.currentSensorsData.ToString());
}