Quad RGB LEDs (RGB ring) added

src/plugins/robots/e-puck/Interface.cmake

@@ -20,6 +20,7 @@ set(ARGOS3_HEADERS_PLUGINS_ROBOTS_EPUCK_CONTROLINTERFACE
   control_interface/ci_epuck_base_leds_actuator.h
   control_interface/ci_epuck_ground_leds_actuator.h
   control_interface/ci_epuck_rgb_leds_actuator.h
+  control_interface/ci_epuck_quad_rgb_leds_actuator.h
   control_interface/ci_epuck_range_and_bearing_actuator.h
   control_interface/ci_epuck_wheels_actuator.h
   control_interface/ci_epuck_ircom_actuator.h
@@ -45,6 +46,7 @@ set(ARGOS3_SOURCES_PLUGINS_ROBOTS_EPUCK
   control_interface/ci_epuck_base_leds_actuator.cpp
   control_interface/ci_epuck_ground_leds_actuator.cpp
   control_interface/ci_epuck_rgb_leds_actuator.cpp
+  control_interface/ci_epuck_quad_rgb_leds_actuator.cpp
   control_interface/ci_epuck_range_and_bearing_actuator.cpp
   control_interface/ci_epuck_wheels_actuator.cpp
   control_interface/ci_epuck_ircom_actuator.cpp

src/plugins/robots/e-puck/RealLibrary.cmake

@@ -27,6 +27,7 @@ set(ARGOS3_HEADERS_PLUGINS_ROBOTS_EPUCK_REALROBOT
   real_robot/real_epuck_base_leds_actuator.h
   real_robot/real_epuck_ground_leds_actuator.h
   real_robot/real_epuck_rgb_leds_actuator.h
+  real_robot/real_epuck_quad_rgb_leds_actuator.h
   real_robot/real_epuck_range_and_bearing_actuator.h
   real_robot/real_epuck_ircom_actuator.h
   real_robot/real_epuck_virtual_camrab_actuator.h)
@@ -75,6 +76,7 @@ set(ARGOS3_SOURCES_PLUGINS_ROBOTS_EPUCK
   real_robot/real_epuck_base_leds_actuator.cpp
   real_robot/real_epuck_ground_leds_actuator.cpp
   real_robot/real_epuck_rgb_leds_actuator.cpp
+  real_robot/real_epuck_quad_rgb_leds_actuator.cpp
   real_robot/real_epuck_range_and_bearing_actuator.cpp
   real_robot/real_epuck_ircom_actuator.cpp
   real_robot/real_epuck_virtual_camrab_actuator.cpp

src/plugins/robots/e-puck/control_interface/ci_epuck_quad_rgb_leds_actuator.cpp

@@ -0,0 +1,49 @@
+/**
+ * @file <argos3/plugins/robots/e-puck/control_interface/ci_epuck_Quad_RGB_leds_actuator.h
+ *
+  * @author Muhammad Salman- <>
+ * @author Lorenzo Garattoni - <[email protected]>
+ */
+
+#include "ci_epuck_quad_rgb_leds_actuator.h"
+
+namespace argos {
+
+   /****************************************/
+   /****************************************/
+
+   CCI_EPuckQuadRGBLEDsActuator::CCI_EPuckQuadRGBLEDsActuator() :
+      m_tLEDSettings(4) {}
+
+   /****************************************/
+   /****************************************/
+
+   void CCI_EPuckQuadRGBLEDsActuator::SetColor(size_t un_led_number,
+                                                 const CColor& c_color) {
+      m_tLEDSettings[un_led_number] = c_color;
+   }
+
+   /****************************************/
+   /****************************************/
+
+   void CCI_EPuckQuadRGBLEDsActuator::SetColors(const CColor& c_color) {
+      SetColor(0, c_color);
+      SetColor(1, c_color);
+      SetColor(2, c_color);
+      SetColor(3, c_color);
+   }
+
+   /****************************************/
+   /****************************************/
+
+   void CCI_EPuckQuadRGBLEDsActuator::SetColors(const TLEDSettings& t_colors) {
+      SetColor(0, t_colors[0]);
+      SetColor(1, t_colors[1]);
+      SetColor(2, t_colors[2]);
+      SetColor(2, t_colors[3]);
+   }
+
+   /****************************************/
+   /****************************************/
+
+}

src/plugins/robots/e-puck/control_interface/ci_epuck_quad_rgb_leds_actuator.h

@@ -0,0 +1,88 @@
+/**
+ * @file <argos3/plugins/robots/e-puck/control_interface/ci_epuck_quad_RGB_leds_actuator.h
+ *
+ * This file provides the definition of the e-puck Quad_RGB LEDs actuator.
+ *
+ * The user can switch on the 4 RGB LEDs on ----
+ * of the e-puck, specifying the RGB color.
+ *
+ * The LEDs are distributed as follows: (View from the top)
+ *
+ *        front
+ *                 r
+ *   l   0     1   i
+ *   e             g
+ *   f             h
+ *   t   3     2   t
+ *        back
+ *
+ * @author Muhammad Salman- <>
+ * @author Lorenzo Garattoni- <[email protected]>
+ */
+
+#ifndef CCI_EPUCK_QUAD_RGB_LEDS_ACTUATOR_H
+#define CCI_EPUCK_QUAD_RGB_LEDS_ACTUATOR_H
+
+#include <argos3/core/utility/logging/argos_log.h>
+
+namespace argos {
+   class CCI_EPuckQuadRGBLEDsActuator;
+}
+
+#include <argos3/core/utility/datatypes/color.h>
+#include <argos3/core/control_interface/ci_actuator.h>
+
+namespace argos {
+
+   class CCI_EPuckQuadRGBLEDsActuator : public CCI_Actuator {
+
+   public:
+
+      /**
+       * RGB LED settings data type
+       */
+      typedef std::vector<CColor> TLEDSettings;
+
+   public:
+
+      CCI_EPuckQuadRGBLEDsActuator();
+
+      virtual ~CCI_EPuckQuadRGBLEDsActuator() {}
+
+      /**
+       * Sets the color of a single LED.
+       * @param un_led_number The number of the LED [0-2]
+       * @param c_color The wanted color.
+       */
+      virtual void SetColor(size_t un_led_number,
+                            const CColor& c_color);
+
+      /**
+       * Sets the same color for all LEDs.
+       * @param c_color The wanted color.
+       */
+      virtual void SetColors(const CColor& c_color);
+
+      /**
+       * Sets the colors of all LEDs individually.
+       */
+      virtual void SetColors(const TLEDSettings& c_colors);
+
+// #ifdef ARGOS_WITH_LUA
+//       /**
+//        *
+//        * @param pt_lua_state
+//        */
+//       virtual void CreateLuaState(lua_State* pt_lua_state);
+// #endif
+
+   protected:
+
+      /**
+       * RGB LEDs settings
+       */
+      TLEDSettings m_tLEDSettings;
+   };
+
+}
+#endif

src/plugins/robots/e-puck/real_robot/real_epuck_quad_rgb_leds_actuator.cpp

@@ -0,0 +1,96 @@
+/**
+ * @file <argos3/plugins/robot/e-puck/real_robot/real_epuck_rgb_leds_actuator.h>
+ *
+ * @author Lorenzo Garattoni - <[email protected]>
+ */
+
+#include "real_epuck_quad_rgb_leds_actuator.h"
+#include <argos3/core/utility/logging/argos_log.h>
+
+namespace argos {
+
+/****************************************/
+enum GLEDsRegisters {
+// REGISTER ADDRESSES
+ MODE1 0x00      /**< Mode Register 1 */
+ MODE2 0x01      /**< Mode Register 2 */
+//LED0
+ LED0_ON_L 0x06  /**< LED0 on tick, low byte*/
+ LED0_ON_H 0x07  /**< LED0 on tick, high byte*/
+ LED0_OFF_L 0x08 /**< LED0 off tick, low byte */
+ LED0_OFF_H 0x09 /**< LED0 off tick, high byte */
+// etc all 16:  LED15_OFF_H 0x45
+ ALLLED_ON_L 0xFA  /**< load all the LEDn_ON registers, low */
+ ALLLED_ON_H 0xFB  /**< load all the LEDn_ON registers, high */
+ ALLLED_OFF_L 0xFC /**< load all the LEDn_OFF registers, low */
+ ALLLED_OFF_H 0xFD /**< load all the LEDn_OFF registers,high */
+ PRESCALE 0xFE     /**< Prescaler for PWM output frequency */
+ TESTMODE 0xFF     /**< defines the test mode to be entered */
+
+// MODE1 bits
+ MODE1_ALLCAL 0x01  /**< respond to LED All Call I2C-bus address */
+ MODE1_SUB3 0x02    /**< respond to I2C-bus subaddress 3 */
+ MODE1_SUB2 0x04    /**< respond to I2C-bus subaddress 2 */
+ MODE1_SUB1 0x08    /**< respond to I2C-bus subaddress 1 */
+ MODE1_SLEEP 0x10   /**< Low power mode. Oscillator off */
+ MODE1_AI 0x20      /**< Auto-Increment enabled */
+ MODE1_EXTCLK 0x40  /**< Use EXTCLK pin clock */
+ MODE1_RESTART 0x80 /**< Restart enabled */
+// MODE2 bits
+ MODE2_OUTNE_0 0x01 /**< Active LOW output enable input */
+ MODE2_OUTNE_1 0x02 /**< Active LOW output enable input - high impedience */
+ MODE2_OUTDRV 0x04 /**< totem pole structure vs open-drain */
+ MODE2_OCH 0x08    /**< Outputs change on ACK vs STOP */
+ MODE2_INVRT 0x10  /**< Output logic state inverted */
+
+ I2C_ADDRESS 0x40      /**< Default PCA9685 I2C Slave Address */
+ FREQUENCY_OSCILLATOR 25000000 /**< Int. osc. frequency in datasheet */
+
+ PRESCALE_MIN 3   /**< minimum prescale value */
+ PRESCALE_MAX 255 /**< maximum prescale value */
+
+};
+
+/*******************
+*********************/
+
+CRealEPuckQuadRGBLEDsActuator::CRealEPuckQuadRGBLEDsActuator() {
+
+    m_tDeviceStream = OpenDevice(I2C_ADDRESS);
+
+}
+
+/****************************************/
+/****************************************/
+
+CRealEPuckQuadRGBLEDsActuator::~CRealEPuckQuadRGBLEDsActuator() {
+
+    SetColors(CColor::BLACK);
+    SendData();
+    CloseDevice(m_tDeviceStream);
+
+}
+
+/****************************************/
+/****************************************/
+
+void CRealEPuckQuadRGBLEDsActuator::SendData() {
+
+    SInt8 nData[9];
+    nData[0] = m_tLEDSettings[2].GetRed();
+    nData[1] = m_tLEDSettings[2].GetGreen();
+    nData[2] = m_tLEDSettings[2].GetBlue();
+    nData[3] = m_tLEDSettings[1].GetRed();
+    nData[4] = m_tLEDSettings[1].GetGreen();
+    nData[5] = m_tLEDSettings[1].GetBlue();
+    nData[6] = m_tLEDSettings[0].GetRed();
+    nData[7] = m_tLEDSettings[0].GetGreen();
+    nData[8] = m_tLEDSettings[0].GetBlue();
+    WriteData(m_tDeviceStream, nData, 9);
+
+}
+
+/****************************************/
+/****************************************/
+
+}

src/plugins/robots/e-puck/real_robot/real_epuck_quad_rgb_leds_actuator.h

@@ -0,0 +1,35 @@
+/**
+ * @file <argos3/plugins/robot/e-puck/real_robot/real_epuck_rgb_leds_actuator.h>
+ *
+ * @author Lorenzo Garattoni - <[email protected]>
+ */
+
+#ifndef REAL_EPUCK_QUAD_RGB_LEDS_ACTUATOR_H
+#define REAL_EPUCK_QUAD_RGB_LEDS_ACTUATOR_H
+
+namespace argos {
+   class CRealEPuckQuadRGBLEDsActuator;
+}
+
+#include <argos3/plugins/robots/e-puck/control_interface/ci_epuck_quad_rgb_leds_actuator.h>
+#include <argos3/plugins/robots/e-puck/real_robot/real_epuck_i2c_actuator.h>
+
+namespace argos {
+
+   class CRealEPuckQuadRGBLEDsActuator : virtual public CCI_EPuckQuadRGBLEDsActuator,
+                                     virtual public CRealEPuckI2CActuator {
+
+   public:
+
+      CRealEPuckQuadRGBLEDsActuator();
+      virtual ~CRealEPuckQuadRGBLEDsActuator();
+
+      virtual void SendData();
+
+   private:
+
+      TI2CDeviceStream m_tDeviceStream;
+
+   };
+}
+#endif