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Add sim haptic arduino logic and config variables

This commit is contained in:
Paul Dino Jones 2024-07-09 15:46:51 -04:00
parent 1bde76e3c7
commit f413e749b9
10 changed files with 331 additions and 26 deletions
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166
src/arduino/simhaptic/Makefile Normal file
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@ -0,0 +1,166 @@
# Makefile for Arduino based scketches
#
# Copyright 2020 Valerio Di Giampietro http://va.ler.io v@ler.io
# MIT License - see License.txt file
#
# This Makefile uses the arduino-cli, the Arduino command line interface
# and has been designed and tested to run on Linux, not on Windows.
# Probably it will run on a Mac, but it has not been tested.
#
# Please note that:
#
# 1. each sketch must reside in his own folder with this Makefile
#
# 2. the main make targets are:
# - all compiles and upload
# - compile compiles only
# - upload upload via serial port, compile if the binary file is
# not available
# - ota upload Over The Air, automatically find the device
# IP address using the IOT_NAME (device hostname)
# - clean clean the build directory
# - find find OTA updatable devices on the local subnet
# - requirements it the file "requirements.txt" exists it will
# install the libraries listed in this file
#
# default is "all"
#
# 3. it gets the name of the sketch using the wildcard make command;
# the name is *.ino; this means that you must have ONLY a file
# with .ino extension, otherwise this makefile will break. This
# also means that you can use this Makefile, almost unmodified,
# for any sketch as long as you keep a single .ino file in each
# folder
#
# 4. you can split your project in multiple files, if you wish,
# using a single .ino file and multiple .h files, that you can
# include in the .ino file with an '#include "myfile.h"'
# directive
#
# Optionally some environment variables can be set:
#
# FQBN Fully Qualified Board Name; if not set in the environment
# it will be assigned a value in this makefile
#
# SERIAL_DEV Serial device to upload the sketch; if not set in the
# environment it will be assigned:
# /dev/ttyUSB0 if it exists, or
# /dev/ttyACM0 if it exists, or
# unknown
#
# IOT_NAME Name of the IOT device; if not set in the environment
# it will be assigned a value in this makefile. This is
# very useful for OTA update, the device will be searched
# on the local subnet using this name
#
# OTA_PORT Port used by OTA update; if not set in the environment
# it will be assigned the default value of 8266 in this
# makefile
#
# OTA_PASS Password used for OTA update; if not set in the environment
# it will be assigned the default value of an empty string
#
# V verbose flag; can be 0 (quiet) or 1 (verbose); if not set
# in the environment it will be assigned a default value
# in this makefile
MAKE_DIR := $(PWD)
#
# ----- setup wor Wemos D1 mini -----
#FQBN ?= esp8266:esp8266:d1_mini
#IOT_NAME ?= esp8266-meteo
#OTA_PORT ?= 8266
#OTA_PASS ?=
# ----- setup for Arduino Uno
FQBN ?= arduino:avr:uno
# ----- ---------------------
V ?= 0
VFLAG =
ifeq "$(V)" "1"
VFLAG =-v
endif
ifndef SERIAL_DEV
ifneq (,$(wildcard /dev/ttyUSB0))
SERIAL_DEV = /dev/ttyUSB0
else ifneq (,$(wildcard /dev/ttyACM0))
SERIAL_DEV = /dev/ttyACM0
else
SERIAL_DEV = unknown
endif
endif
BUILD_DIR := $(subst :,.,build/$(FQBN))
SRC := $(wildcard *.ino)
HDRS := $(wildcard *.h)
BIN := $(BUILD_DIR)/$(SRC).bin
ELF := $(BUILD_DIR)/$(SRC).elf
$(info FQBN is [${FQBN}])
$(info IOT_NAME is [${IOT_NAME}])
$(info OTA_PORT is [${OTA_PORT}])
$(info OTA_PASS is [${OTA_PASS}])
$(info V is [${V}])
$(info VFLAG is [${VFLAG}])
$(info MAKE_DIR is [${MAKE_DIR}])
$(info BUILD_DIR is [${BUILD_DIR}])
$(info SRC is [${SRC}])
$(info HDRS is [${HDRS}])
$(info BIN is [${BIN}])
$(info SERIAL_DEV is [${SERIAL_DEV}])
all: $(ELF) upload
.PHONY: all
compile: $(ELF)
.PHONY: compile
$(ELF): $(SRC) $(HDRS)
arduino-cli compile -b $(FQBN) $(VFLAG)
@if which arduino-manifest.pl; \
then echo "---> Generating manifest.txt"; \
arduino-manifest.pl -b $(FQBN) $(SRC) $(HDRS) > manifest.txt; \
else echo "---> If you want to generate manifest.txt, listing used libraries and their versions,"; \
echo "---> please install arduino-manifest, see https://github.com/digiampietro/arduino-manifest"; \
fi
upload:
@if [ ! -c $(SERIAL_DEV) ] ; \
then echo "---> ERROR: Serial Device not available, please set the SERIAL_DEV environment variable" ; \
else echo "---> Uploading sketch\n"; \
arduino-cli upload -b $(FQBN) -p $(SERIAL_DEV) $(VFLAG); \
fi
ota:
@PLAT_PATH=`arduino-cli compile -b $(FQBN) --show-properties | grep '^runtime.platform.path' | awk -F= '{print $$2}'` ; \
PY_PATH=`arduino-cli compile -b $(FQBN) --show-properties | grep '^runtime.tools.python3.path' | awk -F= '{print $$2}'` ; \
IOT_IP=`avahi-browse _arduino._tcp --resolve --parsable --terminate|grep -i ';$(IOT_NAME);'|grep ';$(OTA_PORT);'| awk -F\; '{print $$8}'|head -1`; \
BINFILE=$(wildcard $(BUILD_DIR)/$(SRC)*bin); \
echo "PLAT_PATH is [$$PLAT_PATH]" ; \
echo "PY_PATH: is [$$PY_PATH]" ; \
echo "IOT_IP: is [$$IOT_IP]" ; \
echo "BINFILE: is [$$BINFILE]" ; \
if [ "$$IOT_IP" = "" ] ; \
then echo "Unable to find device IP. Check that the IOT_NAME environment variable is correctly set. Use 'make find' to search devices"; \
else echo "---> Uploading Over The Air"; \
$$PY_PATH/python3 $$PLAT_PATH/tools/espota.py -i $$IOT_IP -p $(OTA_PORT) --auth=$(OTA_PASS) -f $$BINFILE ;\
fi
clean:
@echo "---> Cleaning the build directory"
rm -rf build
find:
avahi-browse _arduino._tcp --resolve --parsable --terminate
requirements:
@if [ -e requirements.txt ]; \
then while read -r i ; do echo ; \
echo "---> Installing " '"'$$i'"' ; \
arduino-cli lib install "$$i" ; \
done < requirements.txt ; \
else echo "---> MISSING requirements.txt file"; \
fi

1
src/arduino/simhaptic/simdata.h Symbolic link
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@ -0,0 +1 @@
../../monocoque/simulatorapi/simapi/simapi/simdata.h

16
src/arduino/simhaptic/simhaptic.h Executable file
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@ -0,0 +1,16 @@
#ifndef _SIMHAPTICDATA_H
#define _SIMHAPTICDATA_H
#include <stdint.h>
#include <stdbool.h>
typedef struct
{
int motor;
float effect;
float power;
}
SimHapticData;
#endif

85
src/arduino/simhaptic/simhaptic.ino Normal file
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@ -0,0 +1,85 @@
#include <Adafruit_MotorShield.h>
#include "simhaptic.h"
#define BYTE_SIZE sizeof(SimHapticData)
#define POWER .6
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
Adafruit_DCMotor *myMotor1 = AFMS.getMotor(1);
//Adafruit_DCMotor *myMotor2 = AFMS.getMotor(2);
Adafruit_DCMotor *myMotor3 = AFMS.getMotor(3);
//Adafruit_DCMotor *myMotor4 = AFMS.getMotor(4);
SimHapticData sd;
int velocity = 0;
void setup() {
Serial.begin(9600);
if (!AFMS.begin()) {
Serial.println("Could not find Motor Shield. Check wiring.");
while (1);
}
sd.velocity = 10;
myMotor1->setSpeed(0);
myMotor1->run(FORWARD);
//myMotor2->setSpeed(0);
//myMotor2->run(FORWARD);
myMotor3->setSpeed(0);
myMotor3->run(FORWARD);
//myMotor4->setSpeed(0);
//myMotor4->run(FORWARD);
}
void loop() {
char buff[BYTE_SIZE];
if (Serial.available() >= BYTE_SIZE)
{
Serial.readBytes(buff, BYTE_SIZE);
memcpy(&sd, &buff, BYTE_SIZE);
velocity = sd.velocity;
}
int v = ceil(effect * 255);
if (v >= 255)
{
v = 255;
}
MOTOR_1 = 0,
MOTOR_2 = 1,
MOTOR_3 = 2,
MOTOR_4 = 3,
MOTOR_1_4 = 4,
MOTOR_2_4 = 5,
MOTOR_3_4 = 6,
MOTOR_1_2 = 7,
MOTOR_1_3 = 8,
MOTOR_2_3 = 9,
MOTOR_1_2_3_4 = 10,
MOTOR_1_2_3 = 11,
MOTOR_2_3_4 = 12,
MOTOR_1_2_4 = 13,
MOTOR_1_3_4 = 14
if (motor == 0 || motor == 4 || motor == 7 || motor == 8 || motor == 10 || motor == 11 || motor == 13 || motor == 14)
{
myMotor1->setSpeed(v*POWER);
}
//if (motor == 1 || motor == 5 || motor = 7 || motor == 9 || motor == 10 || motor == 11 || motor == 12 || motor = 13)
//{
// myMotor2->setSpeed(v*POWER);
//}
if (motor == 2 || motor == 6 || motor = 8 || motor == 9 || motor == 10 || motor == 11 || motor == 12 || motor = 14)
{
myMotor3->setSpeed(v*POWER);
}
//if (motor == 3 || motor == 4 || motor = 5 || motor == 6 || motor == 10 || motor == 12 || motor == 13 || motor = 14)
//{
// myMotor4->setSpeed(v*POWER);
//}
}

29
src/monocoque/devices/hapticeffect.c
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@ -4,6 +4,7 @@
#include <string.h>
#include <fcntl.h>
#include <jansson.h>
#include <math.h>
#include "usbhapticdevice.h"
#include "../../helper/confighelper.h"
@ -282,9 +283,9 @@ void getTyreDiameter(SimData* simdata)
}
int slipeffect(SimData* simdata, int effecttype, int tyre, double threshold, int useconfig, int* configcheck, char* configfile)
double slipeffect(SimData* simdata, int effecttype, int tyre, double threshold, int useconfig, int* configcheck, char* configfile)
{
int play = 0;
double play = 0;
double wheelslip[4];
wheelslip[0] = 0;
wheelslip[1] = 0;
@ -349,28 +350,28 @@ int slipeffect(SimData* simdata, int effecttype, int tyre, double threshold, int
{
if(wheelslip[0] < -threshold)
{
play++;
play += fabs(wheelslip[0]) - fabs(threshold);
}
}
if (tyre == FRONTRIGHT || tyre == FRONTS || tyre == ALLFOUR)
{
if(wheelslip[1] < -threshold)
{
play++;
play += fabs(wheelslip[1]) - fabs(threshold);
}
}
if (tyre == REARLEFT || tyre == REARS || tyre == ALLFOUR)
{
if(wheelslip[2] < -threshold)
{
play++;
play += fabs(wheelslip[2]) - fabs(threshold);
}
}
if (tyre == REARRIGHT || tyre == REARS || tyre == ALLFOUR)
{
if(wheelslip[3] < -threshold)
{
play++;
play += fabs(wheelslip[3]) - fabs(threshold);
}
}
@ -381,28 +382,28 @@ int slipeffect(SimData* simdata, int effecttype, int tyre, double threshold, int
{
if(wheelslip[0] > threshold)
{
play++;
play += wheelslip[0] - threshold;
}
}
if (tyre == FRONTRIGHT || tyre == FRONTS || tyre == ALLFOUR)
{
if(wheelslip[1] > threshold)
{
play++;
play += wheelslip[1] - threshold;
}
}
if (tyre == REARLEFT || tyre == REARS || tyre == ALLFOUR)
{
if(wheelslip[2] > threshold)
{
play++;
play += wheelslip[2] - threshold;
}
}
if (tyre == REARRIGHT || tyre == REARS || tyre == ALLFOUR)
{
if(wheelslip[3] > threshold)
{
play++;
play += wheelslip[3] - threshold;
}
}
@ -413,28 +414,28 @@ int slipeffect(SimData* simdata, int effecttype, int tyre, double threshold, int
{
if(wheelslip[0] > threshold)
{
play++;
play += wheelslip[0] - threshold;
}
}
if (tyre == FRONTRIGHT || tyre == FRONTS || tyre == ALLFOUR)
{
if(wheelslip[1] > threshold)
{
play++;
play += wheelslip[1] - threshold;
}
}
if (tyre == REARLEFT || tyre == REARS || tyre == ALLFOUR)
{
if(wheelslip[2] > threshold)
{
play++;
play += wheelslip[2] - threshold;
}
}
if (tyre == REARRIGHT || tyre == REARS || tyre == ALLFOUR)
{
if(wheelslip[3] > threshold)
{
play++;
play += wheelslip[3] - threshold;
}
}
if(simdata->abs <= 0)

16
src/monocoque/devices/serialdevice.c
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@ -55,14 +55,16 @@ int arduino_simwind_update(SimDevice* this, SimData* simdata)
return result;
}
int arduino_haptic_update(SimDevice* this, SimData* simdata)
int arduino_simhaptic_update(SimDevice* this, SimData* simdata)
{
SerialDevice* serialdevice = (void *) this->derived;
int result = 1;
int play = slipeffect(simdata, this->hapticeffect.effecttype, this->hapticeffect.tyre, this->hapticeffect.threshold, this->hapticeffect.useconfig, this->hapticeffect.configcheck, this->hapticeffect.tyrediameterconfig);
double play = slipeffect(simdata, this->hapticeffect.effecttype, this->hapticeffect.tyre, this->hapticeffect.threshold, this->hapticeffect.useconfig, this->hapticeffect.configcheck, this->hapticeffect.tyrediameterconfig);
slogt("Updating arduino haptic device");
serialdevice->u.simhapticdata.power = 0.6;
serialdevice->u.simhapticdata.motor = serialdevice->motorsposition;
arduino_update(serialdevice, simdata, sizeof(SimData));
@ -79,7 +81,7 @@ int serialdev_free(SimDevice* this)
return 0;
}
int serialdev_init(SerialDevice* serialdevice, const char* portdev)
int serialdev_init(SerialDevice* serialdevice, const char* portdev, int motorsposition)
{
slogi("initializing serial device...");
int error = 0;
@ -87,6 +89,8 @@ int serialdev_init(SerialDevice* serialdevice, const char* portdev)
serialdevice->type = SERIALDEV_UNKNOWN;
serialdevice->type = SERIALDEV_ARDUINO;
serialdevice->motorsposition = motorsposition;
error = arduino_init(serialdevice, portdev);
return error;
@ -95,7 +99,7 @@ int serialdev_init(SerialDevice* serialdevice, const char* portdev)
static const vtable serial_simdevice_vtable = { &serialdev_update, &serialdev_free };
static const vtable arduino_shiftlights_vtable = { &arduino_shiftlights_update, &serialdev_free };
static const vtable arduino_simwind_vtable = { &arduino_simwind_update, &serialdev_free };
static const vtable arduino_haptic_vtable = { &arduino_haptic_update, &serialdev_free };
static const vtable arduino_simhaptic_vtable = { &arduino_simhaptic_update, &serialdev_free };
SerialDevice* new_serial_device(DeviceSettings* ds, MonocoqueSettings* ms) {
@ -120,7 +124,7 @@ SerialDevice* new_serial_device(DeviceSettings* ds, MonocoqueSettings* ms) {
break;
case (SIMDEVTYPE_SERIALHAPTIC):
this->devicetype = ARDUINODEV__HAPTIC;
this->m.vtable = &arduino_haptic_vtable;
this->m.vtable = &arduino_simhaptic_vtable;
slogi("Initializing arduino device for haptic effects.");
break;
}
@ -135,7 +139,7 @@ SerialDevice* new_serial_device(DeviceSettings* ds, MonocoqueSettings* ms) {
this->m.hapticeffect.tyrediameterconfig = ms->tyre_diameter_config;
}
int error = serialdev_init(this, ds->serialdevsettings.portdev);
int error = serialdev_init(this, ds->serialdevsettings.portdev, ds->serialdevsettings.motorsposition);
if (error != 0)
{

5
src/monocoque/devices/simdevice.h
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@ -11,6 +11,7 @@
#include "../simulatorapi/simapi/simapi/simdata.h"
#include "../../arduino/simwind/simwind.h"
#include "../../arduino/simhaptic/simhaptic.h"
#include "../../arduino/shiftlights/shiftlights.h"
typedef struct SimDevice SimDevice;
@ -46,10 +47,12 @@ typedef struct
int id;
SerialType type;
struct sp_port* port;
int motorsposition;
SerialDeviceType devicetype;
union
{
SimWindData simwinddata;
SimHapticData simhapticdata;
ShiftLightsData shiftlightsdata;
} u;
}
@ -57,7 +60,7 @@ SerialDevice;
int arduino_shiftlights_update(SimDevice* this, SimData* simdata);
int arduino_simwind_update(SimDevice* this, SimData* simdata);
int arduino_haptic_update(SimDevice* this, SimData* simdata);
int arduino_simhaptic_update(SimDevice* this, SimData* simdata);
int serialdev_free(SimDevice* this);
SerialDevice* new_serial_device(DeviceSettings* ds, MonocoqueSettings* ms);

8
src/monocoque/devices/usbhapticdevice.c
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@ -14,17 +14,19 @@
int usbhapticdev_update(USBGenericHapticDevice* usbhapticdevice, SimData* simdata, int tyre, int useconfig, int* configcheck, char* configfile)
{
int play = slipeffect(simdata, usbhapticdevice->effecttype, tyre, usbhapticdevice->threshold, useconfig, configcheck, configfile);
double play = slipeffect(simdata, usbhapticdevice->effecttype, tyre, usbhapticdevice->threshold, useconfig, configcheck, configfile);
if (play != usbhapticdevice->state)
{
int rplay = 0;
if(play > 0)
{
cslelitev3_update(usbhapticdevice, usbhapticdevice->effecttype, play);
rplay = 1;
cslelitev3_update(usbhapticdevice, usbhapticdevice->effecttype, rplay);
}
else
{
cslelitev3_update(usbhapticdevice, usbhapticdevice->effecttype, play);
cslelitev3_update(usbhapticdevice, usbhapticdevice->effecttype, rplay);
}
usbhapticdevice->state = play;
}

10
src/monocoque/helper/confighelper.c
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@ -341,7 +341,8 @@ int devsetup(const char* device_type, const char* device_subtype, const char* co
// logic for different devices
}
if (ds->dev_subtype == SIMDEVTYPE_USBHAPTIC || ds->dev_type == SIMDEV_SOUND || ds->dev_type == SIMDEVTYPE_SERIALHAPTIC ) {
if (ds->dev_subtype == SIMDEVTYPE_USBHAPTIC || ds->dev_type == SIMDEV_SOUND || ds->dev_type == SIMDEVTYPE_SERIALHAPTIC)
{
const char* effect;
config_setting_lookup_string(device_settings, "effect", &effect);
strtoeffecttype(effect, ds);
@ -388,14 +389,19 @@ int devsetup(const char* device_type, const char* device_subtype, const char* co
}
}
if (ds->dev_subtype == SIMDEVTYPE_SIMWIND || ds->dev_subtype == SIMDEVTYPE_SHIFTLIGHTS)
if (ds->dev_subtype == SIMDEVTYPE_SIMWIND || ds->dev_subtype == SIMDEVTYPE_SHIFTLIGHTS || ds->dev_subtype == SIMDEVTYPE_SERIALHAPTIC)
{
if (device_settings != NULL)
{
const char* temp;
config_setting_lookup_string(device_settings, "devpath", &temp);
ds->serialdevsettings.portdev = strdup(temp);
int motorposition = 8;
config_setting_lookup_int(device_settings, "motors", &motorposition);
ds->serialdevsettings.motorsposition = motorposition;
}
}
return error;

21
src/monocoque/helper/confighelper.h
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@ -51,6 +51,26 @@ typedef enum
}
VibrationEffectType;
typedef enum
{
MOTOR_1 = 0,
MOTOR_2 = 1,
MOTOR_3 = 2,
MOTOR_4 = 3,
MOTOR_1_4 = 4,
MOTOR_2_4 = 5,
MOTOR_3_4 = 6,
MOTOR_1_2 = 7,
MOTOR_1_3 = 8,
MOTOR_2_3 = 9,
MOTOR_1_2_3_4 = 10,
MOTOR_1_2_3 = 11,
MOTOR_2_3_4 = 12,
MOTOR_1_2_4 = 13,
MOTOR_1_3_4 = 14
}
MotorPosition;
typedef enum
{
MONOCOQUE_ERROR_NONE = 0,
@ -97,6 +117,7 @@ TachometerSettings;
typedef struct
{
char* portdev;
MotorPosition motorsposition;
}
SerialDeviceSettings;