Piemos

controller/inc/radio.h

@@ -25,5 +25,10 @@ BaseType_t radioInit();
 void radioPushUbjson(const char *ubjson, size_t len);
 void radioPushString(const char *str, size_t len);
 
+// TODO(kzentner): This was moved here from main.c
+// TODO(rqou): This really doesn't go here.
+extern int8_t PiEMOSAnalogVals[7];
+extern uint8_t PiEMOSDigitalVals[8];
+
 
 #endif  // INC_RADIO_H_

controller/inc/runtime_interface.h

@@ -46,6 +46,8 @@ int lua_set_led_val(lua_State *L);
 int lua_get_analog_val(lua_State *L);
 int lua_set_analog_val(lua_State *L);
 int lua_set_grizzly_val(lua_State *L);
+int lua_get_piemos_analog_val(lua_State *L);
+int lua_get_piemos_digital_val(lua_State *L);
 
 
 

controller/src/led_driver.c

@@ -245,61 +245,73 @@ void led_driver_panic(void) {
     (1 << GPIO_PIN(PINDEF_YELLOW_LED));
 }
 
-static portTASK_FUNCTION_PROTO(led_driver_task, pvParameters) {
-  (void) pvParameters;
-
-  uint8_t current_led_pattern = 0;
-  uint8_t prev_led_pattern = 0;
-  uint8_t pattern_step_index = 0;
-  uint8_t current_step_ticks = 0;
-
-  while (1) {
-    current_led_pattern = led_driver_current_mode;
-
-    // New pattern --> reinit
-    if (current_led_pattern != prev_led_pattern) {
-      prev_led_pattern = current_led_pattern;
-      pattern_step_index = 0;
-      current_step_ticks = 0;
-    }
-
-    // Set/clear the appropriate LEDs
-    uint8_t led_states = driver_patterns[current_led_pattern]
-      .entries[pattern_step_index].led_states;
-    led_states &= ~led_driver_fixed_mask;
-    led_states |= led_driver_fixed_pattern & led_driver_fixed_mask;
-    if (button_driver_get_button_state(0))
-      led_states = led_driver_fixed_pattern;
-    if (button_driver_get_button_state(1)) led_states = ~led_states;
-
+static void update_hardware(uint8_t change_mask, uint8_t led_states) {
+  if (change_mask & LED_YELLOW) {
     if (led_states & LED_YELLOW) {
       GPIO_BANK(PINDEF_YELLOW_LED)->BSRRL =
         (1 << GPIO_PIN(PINDEF_YELLOW_LED));
     } else {
       GPIO_BANK(PINDEF_YELLOW_LED)->BSRRH =
         (1 << GPIO_PIN(PINDEF_YELLOW_LED));
     }
+  }
+  if (change_mask & LED_BLUE) {
     if (led_states & LED_BLUE) {
       GPIO_BANK(PINDEF_BLUE_LED)->BSRRL =
         (1 << GPIO_PIN(PINDEF_BLUE_LED));
     } else {
       GPIO_BANK(PINDEF_BLUE_LED)->BSRRH =
         (1 << GPIO_PIN(PINDEF_BLUE_LED));
     }
+  }
+  if (change_mask & LED_GREEN) {
     if (led_states & LED_GREEN) {
       GPIO_BANK(PINDEF_GREEN_LED)->BSRRL =
         (1 << GPIO_PIN(PINDEF_GREEN_LED));
     } else {
       GPIO_BANK(PINDEF_GREEN_LED)->BSRRH =
         (1 << GPIO_PIN(PINDEF_GREEN_LED));
     }
+  }
+  if (change_mask & LED_RED) {
     if (led_states & LED_RED) {
       GPIO_BANK(PINDEF_RED_LED)->BSRRL =
         (1 << GPIO_PIN(PINDEF_RED_LED));
     } else {
       GPIO_BANK(PINDEF_RED_LED)->BSRRH =
         (1 << GPIO_PIN(PINDEF_RED_LED));
     }
+  }
+}
+
+static portTASK_FUNCTION_PROTO(led_driver_task, pvParameters) {
+  (void) pvParameters;
+
+  uint8_t current_led_pattern = 0;
+  uint8_t prev_led_pattern = 0;
+  uint8_t pattern_step_index = 0;
+  uint8_t current_step_ticks = 0;
+
+  while (1) {
+    current_led_pattern = led_driver_current_mode;
+
+    // New pattern --> reinit
+    if (current_led_pattern != prev_led_pattern) {
+      prev_led_pattern = current_led_pattern;
+      pattern_step_index = 0;
+      current_step_ticks = 0;
+    }
+
+    // Set/clear the appropriate LEDs
+    uint8_t led_states = driver_patterns[current_led_pattern]
+      .entries[pattern_step_index].led_states;
+    led_states &= ~led_driver_fixed_mask;
+    led_states |= led_driver_fixed_pattern & led_driver_fixed_mask;
+    if (button_driver_get_button_state(0))
+      led_states = led_driver_fixed_pattern;
+    if (button_driver_get_button_state(1)) led_states = ~led_states;
+
+    update_hardware(0xff, led_states);
 
     // Increment tick/advance step
     if (++current_step_ticks ==
@@ -335,6 +347,7 @@ uint8_t led_driver_get_mode(void) {
 void led_driver_set_fixed(uint8_t pattern, uint8_t mask) {
   led_driver_fixed_pattern = pattern;
   led_driver_fixed_mask = mask;
+  update_hardware(led_driver_fixed_mask, led_driver_fixed_pattern);
 }
 uint8_t led_driver_get_fixed_pattern() {
   return led_driver_fixed_pattern;

controller/src/main.c

@@ -52,10 +52,6 @@
 uint8_t *code_buffer;
 uint32_t code_buffer_len;
 
-// TODO(rqou): This really doesn't go here.
-int8_t PiEMOSAnalogVals[7];
-uint8_t PiEMOSDigitalVals[8];
-
 // TODO(rqou): Wat r abstraction?
 // TODO(rqou): My macro-fu is not up to par
 extern ngl_error *ngl_set_motor(ngl_float motor, ngl_float val);

controller/src/radio.c

@@ -41,6 +41,11 @@ typedef struct {
 
 QueueHandle_t radioQueue = NULL;
 
+// TODO(kzentner): This was moved here from main.c
+// TODO(rqou): This really doesn't go here.
+int8_t PiEMOSAnalogVals[7];
+uint8_t PiEMOSDigitalVals[8];
+
 
 // Hard coded
 volatile uint64_t host_addr = 0;  // Bytes reversed
@@ -159,6 +164,14 @@ static portTASK_FUNCTION_PROTO(radioNewTask, pvParameters) {
   portTickType time = xTaskGetTickCount();
   portTickType lastTime = time;
 
+  // Initialize PiEMOS values.
+  for (int i = 0; i < 7; i++) {
+    PiEMOSAnalogVals[i] = 0.0;
+  }
+  for (int i = 0; i < 8; i++) {
+    PiEMOSDigitalVals[i] = 0;
+  }
+
   while (1) {
     recvMsg = NULL;
     recvSize = 0;
@@ -239,9 +252,29 @@ static portTASK_FUNCTION_PROTO(radioNewTask, pvParameters) {
       recXbeeHeader = (xbee_rx64_header*)&(recXbeePacket->payload);
       if (recXbeeHeader->xbee_api_type == XBEE_API_TYPE_RX64) {
         host_addr = recXbeeHeader->xbee_src_addr;
-        if (uartRecvSize >= prefixLen && recXbeeHeader->data[0] == NDL3_IDENT) {
-          NDL3_L2_push(target, (uint8_t*)recXbeeHeader->data+1,
-            recXbeePacket->length-sizeof(xbee_rx64_header)-prefixLen);
+        uint8_t ident_byte = recXbeeHeader->data[0];
+        switch (ident_byte) {
+          case NDL3_IDENT:
+            {
+              NDL3_L2_push(target, (uint8_t*)recXbeeHeader->data+1,
+                recXbeePacket->length-sizeof(xbee_rx64_header)-prefixLen);
+            }
+            break;
+          case PIER_INCOMINGDATA_IDENT:
+            {
+              pier_incomingdata *incomingData =
+                (pier_incomingdata *)(recXbeeHeader->data);
+              // TODO(kzentner): This was copied from main.c
+              // TODO(rqou): This code is terribly hardcoded.
+              for (int i = 0; i < 7; i++) {
+                PiEMOSAnalogVals[i] =
+                  (float)((int)incomingData->analog[i] - 127) / 127.0f * 100.0f;
+              }
+              for (int i = 0; i < 8; i++) {
+                PiEMOSDigitalVals[i] = !!(incomingData->digital & (1 << i));
+              }
+            }
+            break;
         }
       }
       vPortFree(recXbeePacket);

controller/src/runtime_interface.c

@@ -65,6 +65,8 @@ void runtime_register(TenshiRuntimeState s) {
     LUA_REG(get_analog_val),
     LUA_REG(set_analog_val),
     LUA_REG(set_grizzly_val),
+    LUA_REG(get_piemos_analog_val),
+    LUA_REG(get_piemos_digital_val),
     {NULL, NULL}
   };
 
@@ -82,6 +84,9 @@ void lua_register_all(lua_State *L) {
   LUA_REGISTER(get_analog_val);
   LUA_REGISTER(set_analog_val);
   LUA_REGISTER(set_grizzly_val);
+
+  LUA_REGISTER(get_piemos_analog_val);
+  LUA_REGISTER(get_piemos_digital_val);
 }
 
 //  Runtime required
@@ -282,6 +287,44 @@ int lua_set_grizzly_val(lua_State *L) {
   return 0;
 }
 
+// get_piemos_analog_val(idx):
+//   Get the analog value at PiEMOS index <idx>.
+//   <idx> is 1 indexed. 1 is the first channel. 7 is the last channel.
+int lua_get_piemos_analog_val(lua_State *L) {
+  int was_num = 1;
+  int idx = lua_tointegerx(L, 1, &was_num);
+  // Check that the index is in range and was a number.
+  if (idx < 1 || idx > 7 || !was_num) {
+    return luaL_error(L, "Invalid index for PiEMOS analog value: %s.\n",
+        lua_tolstring(L, 1, NULL));
+  }
+  // Pop the index argument off the stack.
+  lua_pop(L, 1);
+
+  // Compensate for 1 indexing.
+  float val = PiEMOSAnalogVals[idx - 1] / 100.0f;
+  lua_pushnumber(L, val);
+  return 1;
+}
+
+// get_piemos_digital_val(idx):
+//   Get the digital value at PiEMOS index <idx>.
+//   <idx> is 1 indexed. 1 is the first channel. 8 is the last channel.
+int lua_get_piemos_digital_val(lua_State *L) {
+  int was_num = 1;
+  int idx = lua_tointegerx(L, 1, &was_num);
+  // Check that the index is in range and was a number.
+  if (idx < 1 || idx > 8 || !was_num) {
+    return luaL_error(L, "Invalid index for PiEMOS digital value: %s.\n",
+        lua_tolstring(L, 1, NULL));
+  }
+  // Pop the index argument off the stack.
+  lua_pop(L, 1);
+
+  // Compensate for 1 indexing.
+  lua_pushboolean(L, PiEMOSDigitalVals[idx - 1]);
+  return 1;
+}
 
 
 // Not hooked up to lua

vm/lua/tenshi-runtime/src/lua/piemos.lua

@@ -0,0 +1,78 @@
+-- Licensed to Pioneers in Engineering under one
+-- or more contributor license agreements.  See the NOTICE file
+-- distributed with this work for additional information
+-- regarding copyright ownership.  Pioneers in Engineering licenses
+-- this file to you under the Apache License, Version 2.0 (the
+-- "License"); you may not use this file except in compliance
+--  with the License.  You may obtain a copy of the License at
+--
+--    http://www.apache.org/licenses/LICENSE-2.0
+--
+-- Unless required by applicable law or agreed to in writing,
+-- software distributed under the License is distributed on an
+-- "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
+-- KIND, either express or implied.  See the License for the
+-- specific language governing permissions and limitations
+-- under the License
+
+local piemos = {}
+
+local channels = {
+    digital = {},
+    analog  = {}
+}
+
+-- Initialize all the channels.
+for i = 1, 7 do
+    channels.analog[i] = { value = 0.0 }
+end
+
+for i = 1, 8 do
+    channels.digital[i] = { value = false }
+end
+
+
+function piemos.get_axis(idx)
+    return channels.analog[idx].value
+end
+
+function piemos.get_button(idx)
+    return channels.digital[idx].value
+end
+
+function piemos.get_channel(name)
+    -- Name should be of the form PiEMOSAnalogVals-1 throught
+    -- PiEMOSAnalogVals-7 or PiEMOSDigitalVals-1 through PiEMOSDigitalVals-8.
+    local dashidx = name:find("-")
+    local array = name:sub(1, dashidx - 1)
+    local idx = tonumber(name:sub(dashidx + 1))
+
+    if array == 'PiEMOSAnalogVals' then
+        return channels.analog[idx]
+    elseif array == 'PiEMOSDigitalVals' then
+        return channels.digital[idx]
+    end
+end
+
+function piemos.__process_radio()
+
+    for i = 1, 7 do
+        local s = channels.analog[i]
+        s.value = __runtimeinternal.get_piemos_analog_val(i)
+        -- If there is a __downstream mailbox, send data to it
+        if s.__downstream then
+            s.__downstream:send({val})
+        end
+    end
+
+    for i = 1, 8 do
+        local s = channels.digital[i]
+        s.value = __runtimeinternal.get_piemos_digital_val(i)
+        -- If there is a __downstream mailbox, send data to it
+        if s.__downstream then
+            s.__downstream:send({val})
+        end
+    end
+end
+
+return piemos

vm/lua/tenshi-runtime/src/lua/sensor_actor.lua

@@ -41,4 +41,5 @@ for s,_ in pairs(changed_sensors) do
     changed_sensors[s] = nil
 end
 
+piemos.__process_radio()
 pieles.__process_radio()

vm/lua/tenshi-runtime/src/runtime_entry.c

@@ -33,6 +33,7 @@
 #include "../game.lc.h"             // NOLINT(build/include)
 #include "../get_device.lc.h"       // NOLINT(build/include)
 #include "../pieles.lc.h"           // NOLINT(build/include)
+#include "../piemos.lc.h"           // NOLINT(build/include)
 #include "../sensor_actor.lc.h"     // NOLINT(build/include)
 #include "../trap_global.lc.h"      // NOLINT(build/include)
 #include "../triggers.lc.h"         // NOLINT(build/include)
@@ -133,6 +134,12 @@ static int tenshi_open_pieles(lua_State *L) {
   return 1;
 }
 
+static int tenshi_open_piemos(lua_State *L) {
+  luaL_loadbuffer(L, piemos_lc, sizeof(piemos_lc), "piemos.lua");
+  lua_pcall(L, 0, LUA_MULTRET, 0);
+  return 1;
+}
+
 static int tenshi_open_game(lua_State *L) {
   luaL_loadbuffer(L, game_lc, sizeof(game_lc), "game.lua");
   lua_pcall(L, 0, LUA_MULTRET, 0);
@@ -191,6 +198,7 @@ static const luaL_Reg tenshi_loadedlibs_phase2[] = {
   {"__actuators", tenshi_open_actuators},
   {"triggers", tenshi_open_triggers},
   {"pieles", tenshi_open_pieles},
+  {"piemos", tenshi_open_piemos},
   {"game", tenshi_open_game},
   {"ubjson", tenshi_open_ubjson},
   {NULL, NULL}