Added some new features to the sphero ollie, bb-8 and sprkplus
Signed-off-by: Rearth <davidus2010@gmail.com>
This commit is contained in:
Rearth
Ron Evans
parent
aaacd5c506
commit
e964234e24
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@ -19,7 +19,10 @@ type Driver struct {
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seq uint8
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mtx sync.Mutex
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collisionResponse []uint8
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packetChannel chan *packet
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packetChannel chan *Packet
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asyncBuffer []byte
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asyncMessage []byte
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locatorCallback func(p Point2D)
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gobot.Eventer
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}
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@ -57,6 +60,7 @@ const (
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CollisionResponseSize = PacketHeaderSize + CollisionDataSize
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)
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// MotorModes is used to configure the motor
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type MotorModes uint8
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// MotorModes required for SetRawMotorValues command
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@ -68,10 +72,17 @@ const (
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Ignore
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)
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type packet struct {
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header []uint8
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body []uint8
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checksum uint8
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// Packet describes head, body and checksum for a data package to be sent to the sphero.
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type Packet struct {
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Header []uint8
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Body []uint8
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Checksum uint8
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}
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// Point2D represents a koordinate in 2-Dimensional space
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type Point2D struct {
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X int16
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Y int16
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}
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// NewDriver creates a Driver for a Sphero Ollie
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@ -80,7 +91,7 @@ func NewDriver(a ble.BLEConnector) *Driver {
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name: gobot.DefaultName("Ollie"),
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connection: a,
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Eventer: gobot.NewEventer(),
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packetChannel: make(chan *packet, 1024),
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packetChannel: make(chan *Packet, 1024),
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}
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n.AddEvent(Collision)
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@ -88,6 +99,12 @@ func NewDriver(a ble.BLEConnector) *Driver {
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return n
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}
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// PacketChannel returns the channel for packets to be sent to the sp
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func (b *Driver) PacketChannel() chan *Packet { return b.packetChannel }
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// Sequence returns the Sequence number of the current packet
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func (b *Driver) Sequence() uint8 { return b.seq }
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// Connection returns the connection to this Ollie
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func (b *Driver) Connection() gobot.Connection { return b.connection }
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@ -191,11 +208,61 @@ func (b *Driver) SetTXPower(level int) (err error) {
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// HandleResponses handles responses returned from Ollie
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func (b *Driver) HandleResponses(data []byte, e error) {
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//fmt.Println("response data:", data, e)
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//since packets can only be 20 bytes long, we have to puzzle them together
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newMessage := false
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//append message parts to existing
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if len(data) > 0 && data[0] != 0xFF {
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b.asyncBuffer = append(b.asyncBuffer, data...)
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}
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//clear message when new one begins (first byte is always 0xFF)
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if len(data) > 0 && data[0] == 0xFF {
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b.asyncMessage = b.asyncBuffer
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b.asyncBuffer = data
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newMessage = true
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}
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parts := b.asyncMessage
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//3 is the id of data streaming, located at index 2 byte
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if newMessage && len(parts) > 2 && parts[2] == 3 {
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b.handleDataStreaming(parts)
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}
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//index 1 is the type of the message, 0xFF being a direct response, 0xFE an asynchronous message
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if len(data) > 4 && data[1] == 0xFF && data[0] == 0xFF {
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//locator request
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if data[4] == 0x0B && len(data) == 16 {
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b.handleLocatorDetected(data)
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}
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}
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b.handleCollisionDetected(data)
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}
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// GetLocatorData calls the passed function with the data from the locator
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func (b *Driver) GetLocatorData(f func(p Point2D)) {
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//CID 0x15 is the code for the locator request
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b.PacketChannel() <- b.craftPacket([]uint8{}, 0x02, 0x15)
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b.locatorCallback = f
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}
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func (b *Driver) handleDataStreaming(data []byte) {
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// ensure data is the right length:
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if len(data) != 88 {
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return
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}
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//data packet is the same as for the normal sphero, since the same communication api is used
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//only difference in communication is that the "newer" spheros use BLE for communinations
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var dataPacket DataStreamingPacket
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buffer := bytes.NewBuffer(data[5:]) // skip header
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binary.Read(buffer, binary.BigEndian, &dataPacket)
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b.Publish(SensorData, dataPacket)
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}
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// SetRGB sets the Ollie to the given r, g, and b values
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func (b *Driver) SetRGB(r uint8, g uint8, bl uint8) {
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b.packetChannel <- b.craftPacket([]uint8{r, g, bl, 0x01}, 0x02, 0x20)
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@ -264,9 +331,16 @@ func (b *Driver) ConfigureCollisionDetection(cc sphero.CollisionConfig) {
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b.packetChannel <- b.craftPacket([]uint8{cc.Method, cc.Xt, cc.Yt, cc.Xs, cc.Ys, cc.Dead}, 0x02, 0x12)
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}
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func (b *Driver) write(packet *packet) (err error) {
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buf := append(packet.header, packet.body...)
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buf = append(buf, packet.checksum)
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//SetDataStreamingConfig passes the config to the sphero to stream sensor data
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func (b *Driver) SetDataStreamingConfig(d sphero.DataStreamingConfig) {
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buf := new(bytes.Buffer)
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binary.Write(buf, binary.BigEndian, d)
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b.PacketChannel() <- b.craftPacket(buf.Bytes(), 0x02, 0x11)
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}
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func (b *Driver) write(packet *Packet) (err error) {
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buf := append(packet.Header, packet.Body...)
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buf = append(buf, packet.Checksum)
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err = b.adaptor().WriteCharacteristic(commandsCharacteristic, buf)
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if err != nil {
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fmt.Println("send command error:", err)
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@ -279,18 +353,48 @@ func (b *Driver) write(packet *packet) (err error) {
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return
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}
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func (b *Driver) craftPacket(body []uint8, did byte, cid byte) *packet {
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func (b *Driver) craftPacket(body []uint8, did byte, cid byte) *Packet {
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b.mtx.Lock()
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defer b.mtx.Unlock()
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packet := new(packet)
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packet.body = body
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dlen := len(packet.body) + 1
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packet.header = []uint8{0xFF, 0xFF, did, cid, b.seq, uint8(dlen)}
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packet.checksum = b.calculateChecksum(packet)
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packet := new(Packet)
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packet.Body = body
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dlen := len(packet.Body) + 1
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packet.Header = []uint8{0xFF, 0xFF, did, cid, b.seq, uint8(dlen)}
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packet.Checksum = b.calculateChecksum(packet)
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return packet
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}
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func (b *Driver) handleLocatorDetected(data []uint8) {
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//read the unsigned raw values
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ux := binary.BigEndian.Uint16(data[5:7])
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uy := binary.BigEndian.Uint16(data[7:9])
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//convert to signed values
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var x, y int16
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if ux > 32255 {
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x = int16(ux - 65535)
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} else {
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x = int16(ux)
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}
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if uy > 32255 {
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y = int16(uy - 65535)
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} else {
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y = int16(uy)
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}
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//create point obj
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p := new(Point2D)
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p.X = x
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p.Y = y
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if b.locatorCallback != nil {
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b.locatorCallback(*p)
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}
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}
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func (b *Driver) handleCollisionDetected(data []uint8) {
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if len(data) == ResponsePacketMaxSize {
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@ -335,8 +439,8 @@ func (b *Driver) handleCollisionDetected(data []uint8) {
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b.Publish(Collision, collision)
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}
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func (b *Driver) calculateChecksum(packet *packet) uint8 {
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buf := append(packet.header, packet.body...)
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func (b *Driver) calculateChecksum(packet *Packet) uint8 {
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buf := append(packet.Header, packet.Body...)
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return calculateChecksum(buf[2:])
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}
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@ -1,10 +1,15 @@
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package ollie
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import (
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"fmt"
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"math"
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"strconv"
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"testing"
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"time"
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"gobot.io/x/gobot"
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"gobot.io/x/gobot/gobottest"
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"gobot.io/x/gobot/platforms/sphero"
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)
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var _ gobot.Driver = (*Driver)(nil)
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@ -25,3 +30,84 @@ func TestOllieDriverStartAndHalt(t *testing.T) {
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gobottest.Assert(t, d.Start(), nil)
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gobottest.Assert(t, d.Halt(), nil)
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}
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func TestLocatorData(t *testing.T) {
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d := initTestOllieDriver()
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tables := []struct {
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x1 byte
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x2 byte
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y1 byte
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y2 byte
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x int16
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y int16
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}{
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{0x00, 0x05, 0x00, 0x05, 5, 5},
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{0x00, 0x00, 0x00, 0x00, 0, 0},
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{0x00, 0x0A, 0x00, 0xF0, 10, 240},
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{0x01, 0x00, 0x01, 0x00, 256, 256},
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{0xFF, 0xFE, 0xFF, 0xFE, -1, -1},
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}
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for _, point := range tables {
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//0x0B is the locator ID
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packet := []byte{0xFF, 0xFF, 0x00, 0x00, 0x0B, point.x1, point.x2, point.y1, point.y2, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}
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d.GetLocatorData(func(p Point2D) {
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gobottest.Assert(t, p.Y, point.y)
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})
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d.HandleResponses(packet, nil)
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}
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}
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func TestDataStreaming(t *testing.T) {
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d := initTestOllieDriver()
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d.SetDataStreamingConfig(sphero.DefaultDataStreamingConfig())
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response := false
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d.On("sensordata", func(data interface{}) {
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cont := data.(DataStreamingPacket)
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fmt.Printf("got streaming packet: %+v \n", cont)
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gobottest.Assert(t, cont.RawAccX, int16(10))
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response = true
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})
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//example data packet
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p1 := []string{"FFFE030053000A003900FAFFFE0007FFFF000000",
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"000000000000000000FFECFFFB00010000004B01",
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"BD1034FFFF000300000000000000000000000000",
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"0000002701FDE500560000000000000065000000",
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"0000000000000071",
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}
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for _, elem := range p1 {
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var bytes []byte
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for i := 0; i < len([]rune(elem)); i += 2 {
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a := []rune(elem)[i : i+2]
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b, _ := strconv.ParseUint(string(a), 16, 16)
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c := uint16(b)
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bytes = append(bytes, byte(c))
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}
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d.HandleResponses(bytes, nil)
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}
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//send empty packet to indicate start of next message
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d.HandleResponses([]byte{0xFF}, nil)
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time.Sleep(10 * time.Millisecond)
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if response == false {
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t.Error("no response recieved")
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}
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}
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func parseBytes(s string) (f byte) {
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i, err := strconv.ParseUint(s, 16, 32)
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if err != nil {
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return
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}
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f = byte(math.Float32frombits(uint32(i)))
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return
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}
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@ -13,3 +13,89 @@ func DefaultCollisionConfig() sphero.CollisionConfig {
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Dead: 0x60,
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}
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}
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// DataStreamingPacket represents the response from a Data Streaming event
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type DataStreamingPacket struct {
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// 8000 0000h accelerometer axis X, raw -2048 to 2047 4mG
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RawAccX int16
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// 4000 0000h accelerometer axis Y, raw -2048 to 2047 4mG
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RawAccY int16
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// 2000 0000h accelerometer axis Z, raw -2048 to 2047 4mG
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RawAccZ int16
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// 1000 0000h gyro axis X, raw -32768 to 32767 0.068 degrees
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RawGyroX int16
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// 0800 0000h gyro axis Y, raw -32768 to 32767 0.068 degrees
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RawGyroY int16
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// 0400 0000h gyro axis Z, raw -32768 to 32767 0.068 degrees
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RawGyroZ int16
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// 0200 0000h Reserved
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Rsrv1 int16
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// 0100 0000h Reserved
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Rsrv2 int16
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// 0080 0000h Reserved
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Rsrv3 int16
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// 0040 0000h right motor back EMF, raw -32768 to 32767 22.5 cm
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RawRMotorBack int16
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// 0020 0000h left motor back EMF, raw -32768 to 32767 22.5 cm
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RawLMotorBack int16
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// 0010 0000h left motor, PWM, raw -2048 to 2047 duty cycle
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RawLMotor int16
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// 0008 0000h right motor, PWM raw -2048 to 2047 duty cycle
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RawRMotor int16
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// 0004 0000h IMU pitch angle, filtered -179 to 180 degrees
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FiltPitch int16
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// 0002 0000h IMU roll angle, filtered -179 to 180 degrees
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FiltRoll int16
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// 0001 0000h IMU yaw angle, filtered -179 to 180 degrees
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FiltYaw int16
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// 0000 8000h accelerometer axis X, filtered -32768 to 32767 1/4096 G
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FiltAccX int16
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// 0000 4000h accelerometer axis Y, filtered -32768 to 32767 1/4096 G
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FiltAccY int16
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// 0000 2000h accelerometer axis Z, filtered -32768 to 32767 1/4096 G
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FiltAccZ int16
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// 0000 1000h gyro axis X, filtered -20000 to 20000 0.1 dps
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FiltGyroX int16
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// 0000 0800h gyro axis Y, filtered -20000 to 20000 0.1 dps
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FiltGyroY int16
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// 0000 0400h gyro axis Z, filtered -20000 to 20000 0.1 dps
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FiltGyroZ int16
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// 0000 0200h Reserved
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Rsrv4 int16
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// 0000 0100h Reserved
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Rsrv5 int16
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// 0000 0080h Reserved
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Rsrv6 int16
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// 0000 0040h right motor back EMF, filtered -32768 to 32767 22.5 cm
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FiltRMotorBack int16
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// 0000 0020h left motor back EMF, filtered -32768 to 32767 22.5 cm
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FiltLMotorBack int16
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// 0000 0010h Reserved 1
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Rsrv7 int16
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// 0000 0008h Reserved 2
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Rsrv8 int16
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// // 0000 0004h Reserved 3
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// Rsrv9 int16
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// // 0000 0002h Reserved 4
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// Rsrv10 int16
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// // 0000 0001h Reserved 5
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// Rsrv11 int16
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// 8000 0000h Quaternion Q0 -10000 to 10000 1/10000 Q
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Quat0 int16
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// 4000 0000h Quaternion Q1 -10000 to 10000 1/10000 Q
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Quat1 int16
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// 2000 0000h Quaternion Q2 -10000 to 10000 1/10000 Q
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Quat2 int16
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// 1000 0000h Quaternion Q3 -10000 to 10000 1/10000 Q
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Quat3 int16
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// 0800 0000h Odometer X -32768 to 32767 cm
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OdomX int16
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// 0400 0000h Odometer Y -32768 to 32767 cm
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OdomY int16
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// 0200 0000h AccelOne 0 to 8000 1 mG
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AccelOne int16
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// 0100 0000h Velocity X -32768 to 32767 mm/s
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VeloX int16
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// 0080 0000h Velocity Y -32768 to 32767 mm/s
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VeloY int16
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}
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