diff --git a/NXT.cabal b/NXT.cabal --- a/NXT.cabal +++ b/NXT.cabal @@ -1,114 +1,114 @@ -Name: NXT -Version: 0.2.2 -Synopsis: A Haskell interface to Lego Mindstorms NXT -Description: A Haskell interface to Lego Mindstorms NXT over Bluetoooth. It supports direct commands, messages and - many sensors (also unofficial). It has also support for a simple message-based control of a NXT brick - via remotely executed program (basic NXC code included). - . - It contains three simple programs: @nxt-upload@ for uploading files to a NXT brick, @nxt-status@ for displaying - a NXT brick status, and @nxt-shutdown@ for remote shutdown of a NXT brick. - . - It works on Linux, Mac OS X and Windows. - . - Feel free to contribute additional features, interfaces for more sensors and propose or write other - (example) programs. -License: LGPL-3 -License-file: LICENSE -Author: Mitar Milutinovic -Maintainer: mitar.haskell@tnode.com -Copyright: (c) 2011-2012 Mitar Milutinovic -Category: Robotics -Build-type: Simple -Cabal-version: >= 1.10 -Stability: provisional -Homepage: http://mitar.tnode.com -Extra-source-files: remote/remote.rxe, - remote/remote.nxc, - ffi/blue.h, - tests/Main.hs, - tests/Robotics/NXT/Basic.hs - -Library - Exposed-modules: Robotics.NXT, - Robotics.NXT.MotorControl, - Robotics.NXT.Remote, - Robotics.NXT.Sensor.Compass, - Robotics.NXT.Sensor.Ultrasonic - Build-depends: base >= 4.3 && < 5, - mtl >= 1.1 && < 3, - bytestring >= 0.9 && < 1, - time >= 1.1 && < 2, - serialport >= 0.4.3 && < 1 - Other-modules: Robotics.NXT.Data, - Robotics.NXT.Errors, - Robotics.NXT.Protocol, - Robotics.NXT.Types, - Robotics.NXT.Internals, - Robotics.NXT.Externals, - Robotics.NXT.BluetoothUtils - HS-source-dirs: lib - GHC-options: -Wall - GHC-prof-options: -Wall - GHC-shared-options: -Wall - Default-language: Haskell2010 - - if !os(windows) - Build-depends: unix >= 2.4 && < 3 - - if os(linux) - C-sources: ffi/blue.c - Includes: ffi/blue.h - Extra-libraries: bluetooth - -Source-repository head - type: mercurial - location: https://bitbucket.org/mitar/nxt - -Executable nxt-shutdown - Main-is: Shutdown.hs - HS-source-dirs: src - Build-depends: base >= 4.3 && < 5, - mtl >= 1.1 && < 3, - NXT == 0.2.2 - GHC-options: -Wall - Default-language: Haskell2010 - -Executable nxt-status - Main-is: Status.hs - HS-source-dirs: src - Build-depends: base >= 4.3 && < 5, - mtl >= 1.1 && < 3, - NXT == 0.2.2 - GHC-options: -Wall - Default-language: Haskell2010 - -Executable nxt-upload - Main-is: UploadFiles.hs - HS-source-dirs: src - Build-depends: base >= 4.3 && < 5, - mtl >= 1.1 && < 3, - bytestring >= 0.9 && < 1, - filepath >= 1.1 && < 2, - NXT == 0.2.2 - GHC-options: -Wall - Default-language: Haskell2010 - -Test-suite nxt-tests - Type: exitcode-stdio-1.0 - X-uses-tf: true - Build-depends: base >= 4, - HUnit >= 1.2 && < 2, - QuickCheck >= 2.4 && < 3, - test-framework >= 0.4 && < 1, - test-framework-quickcheck2 >= 0.2 && < 1, - test-framework-hunit >= 0.2 && < 1, - mtl >= 1.1 && < 3, - time >= 1.2 && < 2, - bytestring >= 0.9 && < 1.0, - filepath >= 1.2 && < 2, - NXT == 0.2.2 - GHC-options: -Wall -rtsopts - Default-language: Haskell2010 - HS-source-dirs: tests - Main-is: Main.hs - Other-modules: Robotics.NXT.Basic +Name: NXT +Version: 0.2.3 +Synopsis: A Haskell interface to Lego Mindstorms NXT +Description: A Haskell interface to Lego Mindstorms NXT over Bluetoooth. It supports direct commands, messages and + many sensors (also unofficial). It has also support for a simple message-based control of a NXT brick + via remotely executed program (basic NXC code included). + . + It contains three simple programs: @nxt-upload@ for uploading files to a NXT brick, @nxt-status@ for displaying + a NXT brick status, and @nxt-shutdown@ for remote shutdown of a NXT brick. + . + It works on Linux, Mac OS X and Windows. + . + Feel free to contribute additional features, interfaces for more sensors and propose or write other + (example) programs. +License: LGPL-3 +License-file: LICENSE +Author: Mitar Milutinovic +Maintainer: mitar.haskell@tnode.com +Copyright: (c) 2011-2013 Mitar Milutinovic +Category: Robotics +Build-type: Simple +Cabal-version: >= 1.10 +Stability: provisional +Homepage: http://mitar.tnode.com +Extra-source-files: remote/remote.rxe, + remote/remote.nxc, + ffi/blue.h, + tests/Main.hs, + tests/Robotics/NXT/Basic.hs + +Library + Exposed-modules: Robotics.NXT, + Robotics.NXT.MotorControl, + Robotics.NXT.Remote, + Robotics.NXT.Sensor.Compass, + Robotics.NXT.Sensor.Ultrasonic + Build-depends: base >= 4.3 && < 5, + mtl >= 1.1 && < 3, + bytestring >= 0.9 && < 1, + time >= 1.1 && < 2, + serialport >= 0.4.3 && < 1 + Other-modules: Robotics.NXT.Data, + Robotics.NXT.Errors, + Robotics.NXT.Protocol, + Robotics.NXT.Types, + Robotics.NXT.Internals, + Robotics.NXT.Externals, + Robotics.NXT.BluetoothUtils + HS-source-dirs: lib + GHC-options: -Wall + GHC-prof-options: -Wall + GHC-shared-options: -Wall + Default-language: Haskell2010 + + if !os(windows) + Build-depends: unix >= 2.4 && < 3 + + if os(linux) + C-sources: ffi/blue.c + Includes: ffi/blue.h + Extra-libraries: bluetooth + +Source-repository head + type: git + location: git://github.com/mitar/nxt.git + +Executable nxt-shutdown + Main-is: Shutdown.hs + HS-source-dirs: src + Build-depends: base >= 4.3 && < 5, + mtl >= 1.1 && < 3, + NXT == 0.2.3 + GHC-options: -Wall + Default-language: Haskell2010 + +Executable nxt-status + Main-is: Status.hs + HS-source-dirs: src + Build-depends: base >= 4.3 && < 5, + mtl >= 1.1 && < 3, + NXT == 0.2.3 + GHC-options: -Wall + Default-language: Haskell2010 + +Executable nxt-upload + Main-is: UploadFiles.hs + HS-source-dirs: src + Build-depends: base >= 4.3 && < 5, + mtl >= 1.1 && < 3, + bytestring >= 0.9 && < 1, + filepath >= 1.1 && < 2, + NXT == 0.2.3 + GHC-options: -Wall + Default-language: Haskell2010 + +Test-suite nxt-tests + Type: exitcode-stdio-1.0 + X-uses-tf: true + Build-depends: base >= 4, + HUnit >= 1.2 && < 2, + QuickCheck >= 2.4 && < 3, + test-framework >= 0.4 && < 1, + test-framework-quickcheck2 >= 0.2 && < 1, + test-framework-hunit >= 0.2 && < 1, + mtl >= 1.1 && < 3, + time >= 1.2 && < 2, + bytestring >= 0.9 && < 1.0, + filepath >= 1.2 && < 2, + NXT == 0.2.3 + GHC-options: -Wall -rtsopts + Default-language: Haskell2010 + HS-source-dirs: tests + Main-is: Main.hs + Other-modules: Robotics.NXT.Basic diff --git a/remote/remote.nxc b/remote/remote.nxc --- a/remote/remote.nxc +++ b/remote/remote.nxc @@ -1,137 +1,137 @@ -#define DEBUG 0 - -#define INBOX 1 - -#define MOVE_FOR 6 -#define SET_TO 7 - -#define OUTPUT_A 1 -#define OUTPUT_B 2 -#define OUTPUT_C 4 - -#if DEBUG -inline string portsToString(unsigned char &ports) { - string s = ""; - if (ports & OUTPUT_A) strcat(s, "A"); - if (ports & OUTPUT_B) strcat(s, "B"); - if (ports & OUTPUT_C) strcat(s, "C"); - return s; -} -#endif - -inline void reset(const byte port) { - SetOutput(port, UpdateFlags, UF_UPDATE_RESET_COUNT | UF_UPDATE_RESET_BLOCK_COUNT | UF_UPDATE_RESET_ROTATION_COUNT); -} - -inline void output_reset(const byte port, char &power, unsigned long &limit) { - SetOutput(port, Power, power, TachoLimit, limit, OutputMode, OUT_MODE_MOTORON | OUT_MODE_BRAKE, RegMode, OUT_REGMODE_IDLE, RunState, OUT_RUNSTATE_RUNNING, UpdateFlags, UF_UPDATE_MODE | UF_UPDATE_SPEED | UF_UPDATE_TACHO_LIMIT | UF_UPDATE_RESET_BLOCK_COUNT | UF_UPDATE_RESET_ROTATION_COUNT); -} - -inline void output_reset_all(const byte port, char &power, unsigned long &limit) { - SetOutput(port, Power, power, TachoLimit, limit, OutputMode, OUT_MODE_MOTORON | OUT_MODE_BRAKE, RegMode, OUT_REGMODE_IDLE, RunState, OUT_RUNSTATE_RUNNING, UpdateFlags, UF_UPDATE_MODE | UF_UPDATE_SPEED | UF_UPDATE_TACHO_LIMIT | UF_UPDATE_RESET_BLOCK_COUNT | UF_UPDATE_RESET_ROTATION_COUNT | UF_UPDATE_RESET_COUNT); -} - -inline void output_absolute(const byte port, char &power, long &count, long &old_count) { - long target = count - old_count; - unsigned long limit = abs(target); - power *= sign(target); - old_count = count; - output_reset(port, power, limit); -} - -task main() { - unsigned char command, ports; - char power; - long old_count = 0; // TODO: Should we check this? Reset all counters at the beginning? Set it to tacho count? - - RandomNumberType random; - KeepAliveType keepalive; - - MessageReadType args; - args.QueueID = INBOX; - args.Remove = true; - while (true) { - #if DEBUG - TextOut(0, LCD_LINE6, " "); - TextOut(0, LCD_LINE6, StrCat("A ", NumToStr(MotorTachoCount(OUT_A)))); - TextOut(0, LCD_LINE7, " "); - TextOut(0, LCD_LINE7, StrCat("B ", NumToStr(MotorTachoCount(OUT_B)))); - TextOut(0, LCD_LINE8, " "); - TextOut(0, LCD_LINE8, StrCat("C ", NumToStr(MotorTachoCount(OUT_C)))); - #endif - - SysMessageRead(args); - if (args.Result != NO_ERR) continue; - - command = StrToNum(MidStr(args.Message, 0, 1)); - ports = StrToNum(MidStr(args.Message, 1, 1)); - power = StrToNum(MidStr(args.Message, 2, 3)) - 100; - - if (command == MOVE_FOR) { - unsigned long limit = StrToNum(MidStr(args.Message, 5, 6)); - - #if DEBUG - TextOut(0, LCD_LINE1, " "); - TextOut(0, LCD_LINE1, "MOVE_FOR"); - TextOut(0, LCD_LINE2, " "); - TextOut(0, LCD_LINE2, portsToString(ports)); - TextOut(0, LCD_LINE3, " "); - TextOut(0, LCD_LINE3, NumToStr(power)); - TextOut(0, LCD_LINE4, " "); - TextOut(0, LCD_LINE4, NumToStr(limit)); - #endif - - SysRandomNumber(random); - - // We randomly select order so that possible latencies are averaged out - if (random.Result & 1) { // Tests one bit for two choices - if (ports & OUTPUT_A) reset(OUT_A); - if (ports & OUTPUT_B) reset(OUT_B); - if (ports & OUTPUT_C) reset(OUT_C); - - if (ports & OUTPUT_A) output_reset_all(OUT_A, power, limit); - if (ports & OUTPUT_B) output_reset_all(OUT_B, power, limit); - if (ports & OUTPUT_C) output_reset_all(OUT_C, power, limit); - } - else { - if (ports & OUTPUT_C) reset(OUT_C); - if (ports & OUTPUT_B) reset(OUT_B); - if (ports & OUTPUT_A) reset(OUT_A); - - if (ports & OUTPUT_C) output_reset_all(OUT_C, power, limit); - if (ports & OUTPUT_B) output_reset_all(OUT_B, power, limit); - if (ports & OUTPUT_A) output_reset_all(OUT_A, power, limit); - } - } - else if (command == SET_TO) { - long count = StrToNum(MidStr(args.Message, 5, 6)); - - #if DEBUG - TextOut(0, LCD_LINE1, " "); - TextOut(0, LCD_LINE1, "SET_TO"); - TextOut(0, LCD_LINE2, " "); - TextOut(0, LCD_LINE2, portsToString(ports)); - TextOut(0, LCD_LINE3, " "); - TextOut(0, LCD_LINE3, NumToStr(power)); - TextOut(0, LCD_LINE4, " "); - TextOut(0, LCD_LINE4, NumToStr(count)); - #endif - - SysRandomNumber(random); - - // We randomly select order so that possible latencies are averaged out - if (random.Result & 1) { // Tests one bit for two choices - if (ports & OUTPUT_A) output_absolute(OUT_A, power, count, old_count); - if (ports & OUTPUT_B) output_absolute(OUT_B, power, count, old_count); - if (ports & OUTPUT_C) output_absolute(OUT_C, power, count, old_count); - } - else { - if (ports & OUTPUT_C) output_absolute(OUT_C, power, count, old_count); - if (ports & OUTPUT_B) output_absolute(OUT_B, power, count, old_count); - if (ports & OUTPUT_A) output_absolute(OUT_A, power, count, old_count); - } - } - - SysKeepAlive(keepalive); - } -} +#define DEBUG 0 + +#define INBOX 1 + +#define MOVE_FOR 6 +#define SET_TO 7 + +#define OUTPUT_A 1 +#define OUTPUT_B 2 +#define OUTPUT_C 4 + +#if DEBUG +inline string portsToString(unsigned char &ports) { + string s = ""; + if (ports & OUTPUT_A) strcat(s, "A"); + if (ports & OUTPUT_B) strcat(s, "B"); + if (ports & OUTPUT_C) strcat(s, "C"); + return s; +} +#endif + +inline void reset(const byte port) { + SetOutput(port, UpdateFlags, UF_UPDATE_RESET_COUNT | UF_UPDATE_RESET_BLOCK_COUNT | UF_UPDATE_RESET_ROTATION_COUNT); +} + +inline void output_reset(const byte port, char &power, unsigned long &limit) { + SetOutput(port, Power, power, TachoLimit, limit, OutputMode, OUT_MODE_MOTORON | OUT_MODE_BRAKE, RegMode, OUT_REGMODE_IDLE, RunState, OUT_RUNSTATE_RUNNING, UpdateFlags, UF_UPDATE_MODE | UF_UPDATE_SPEED | UF_UPDATE_TACHO_LIMIT | UF_UPDATE_RESET_BLOCK_COUNT | UF_UPDATE_RESET_ROTATION_COUNT); +} + +inline void output_reset_all(const byte port, char &power, unsigned long &limit) { + SetOutput(port, Power, power, TachoLimit, limit, OutputMode, OUT_MODE_MOTORON | OUT_MODE_BRAKE, RegMode, OUT_REGMODE_IDLE, RunState, OUT_RUNSTATE_RUNNING, UpdateFlags, UF_UPDATE_MODE | UF_UPDATE_SPEED | UF_UPDATE_TACHO_LIMIT | UF_UPDATE_RESET_BLOCK_COUNT | UF_UPDATE_RESET_ROTATION_COUNT | UF_UPDATE_RESET_COUNT); +} + +inline void output_absolute(const byte port, char &power, long &count, long &old_count) { + long target = count - old_count; + unsigned long limit = abs(target); + power *= sign(target); + old_count = count; + output_reset(port, power, limit); +} + +task main() { + unsigned char command, ports; + char power; + long old_count = 0; // TODO: Should we check this? Reset all counters at the beginning? Set it to tacho count? + + RandomNumberType random; + KeepAliveType keepalive; + + MessageReadType args; + args.QueueID = INBOX; + args.Remove = true; + while (true) { + #if DEBUG + TextOut(0, LCD_LINE6, " "); + TextOut(0, LCD_LINE6, StrCat("A ", NumToStr(MotorTachoCount(OUT_A)))); + TextOut(0, LCD_LINE7, " "); + TextOut(0, LCD_LINE7, StrCat("B ", NumToStr(MotorTachoCount(OUT_B)))); + TextOut(0, LCD_LINE8, " "); + TextOut(0, LCD_LINE8, StrCat("C ", NumToStr(MotorTachoCount(OUT_C)))); + #endif + + SysMessageRead(args); + if (args.Result != NO_ERR) continue; + + command = StrToNum(MidStr(args.Message, 0, 1)); + ports = StrToNum(MidStr(args.Message, 1, 1)); + power = StrToNum(MidStr(args.Message, 2, 3)) - 100; + + if (command == MOVE_FOR) { + unsigned long limit = StrToNum(MidStr(args.Message, 5, 6)); + + #if DEBUG + TextOut(0, LCD_LINE1, " "); + TextOut(0, LCD_LINE1, "MOVE_FOR"); + TextOut(0, LCD_LINE2, " "); + TextOut(0, LCD_LINE2, portsToString(ports)); + TextOut(0, LCD_LINE3, " "); + TextOut(0, LCD_LINE3, NumToStr(power)); + TextOut(0, LCD_LINE4, " "); + TextOut(0, LCD_LINE4, NumToStr(limit)); + #endif + + SysRandomNumber(random); + + // We randomly select order so that possible latencies are averaged out + if (random.Result & 1) { // Tests one bit for two choices + if (ports & OUTPUT_A) reset(OUT_A); + if (ports & OUTPUT_B) reset(OUT_B); + if (ports & OUTPUT_C) reset(OUT_C); + + if (ports & OUTPUT_A) output_reset_all(OUT_A, power, limit); + if (ports & OUTPUT_B) output_reset_all(OUT_B, power, limit); + if (ports & OUTPUT_C) output_reset_all(OUT_C, power, limit); + } + else { + if (ports & OUTPUT_C) reset(OUT_C); + if (ports & OUTPUT_B) reset(OUT_B); + if (ports & OUTPUT_A) reset(OUT_A); + + if (ports & OUTPUT_C) output_reset_all(OUT_C, power, limit); + if (ports & OUTPUT_B) output_reset_all(OUT_B, power, limit); + if (ports & OUTPUT_A) output_reset_all(OUT_A, power, limit); + } + } + else if (command == SET_TO) { + long count = StrToNum(MidStr(args.Message, 5, 6)); + + #if DEBUG + TextOut(0, LCD_LINE1, " "); + TextOut(0, LCD_LINE1, "SET_TO"); + TextOut(0, LCD_LINE2, " "); + TextOut(0, LCD_LINE2, portsToString(ports)); + TextOut(0, LCD_LINE3, " "); + TextOut(0, LCD_LINE3, NumToStr(power)); + TextOut(0, LCD_LINE4, " "); + TextOut(0, LCD_LINE4, NumToStr(count)); + #endif + + SysRandomNumber(random); + + // We randomly select order so that possible latencies are averaged out + if (random.Result & 1) { // Tests one bit for two choices + if (ports & OUTPUT_A) output_absolute(OUT_A, power, count, old_count); + if (ports & OUTPUT_B) output_absolute(OUT_B, power, count, old_count); + if (ports & OUTPUT_C) output_absolute(OUT_C, power, count, old_count); + } + else { + if (ports & OUTPUT_C) output_absolute(OUT_C, power, count, old_count); + if (ports & OUTPUT_B) output_absolute(OUT_B, power, count, old_count); + if (ports & OUTPUT_A) output_absolute(OUT_A, power, count, old_count); + } + } + + SysKeepAlive(keepalive); + } +}