4 * Robot's data structures for the Eurobot 2008.
6 * Copyright: (c) 2008 CTU Dragons
7 * CTU FEE - Department of Control Engineering
16 #include <trgenconstr.h>
17 #include <robottype.h>
18 #include <robottype.h>
19 #include <roboorte_robottype.h>
21 #include <roboevent.h>
23 #include <robot_config.h>
24 #include <can_msg_def.h>
27 //UL_LOG_CUST(ulogd_robot_h); /* Log domain name = ulogd + name of the file */
30 * Competition parameters
41 /* Mapping from FSM ID to field in robot.fsm */
42 #define ROBOT_FSM_MAIN main
43 #define ROBOT_FSM_MOTION motion
44 #define ROBOT_FSM_DISPLAY display
45 #define ROBOT_FSM_ACT act
47 #define FSM_GET_BY_ID(fsm_id) (&robot.fsm.ROBOT_FSM_##fsm_id)
50 * LOCKING MANIPULATION
53 #ifdef CONFIG_LOCK_CHECKING
54 #define LOCK_CHECK_COUNT 10
56 pthread_mutex_t *locked[LOCK_CHECK_COUNT];
60 extern struct lock_log robot_lock_log;
62 #define __LOCK_CHECK(mutex) robot_lock_log.locked[robot_lock_log.idx++] = mutex;
63 #define __UNLOCK_CHECK(mutex) \
64 if (robot_lock_log.locked[--robot_lock_log.idx] != mutex || \
65 robot_lock_log.idx < 0) \
66 ul_logerr("!!! Locking error %s:%d\n", __FILE__, __LINE__);
68 #define __LOCK_CHECK(mutex)
69 #define __UNLOCK_CHECK(mutex)
72 * Locks the robot structure.
73 * @param var Field in the structure you are going to work with.
75 #define ROBOT_LOCK(var) \
77 pthread_mutex_lock(&robot.__robot_lock_##var); \
78 __LOCK_CHECK(&robot.__robot_lock_##var); \
82 * Unlocks the robot structure.
83 * @param var Field in the structure, which was locked by ROBOT_LOCK.
85 #define ROBOT_UNLOCK(var) \
87 __UNLOCK_CHECK(&robot.__robot_lock_##var); \
88 pthread_mutex_unlock(&robot.__robot_lock_##var); \
91 /* Mapping of robot structure fields to locks */
92 //#define __robot_lock_ lock /* ROBOT_LOCK() */
93 #define __robot_lock_ref_pos lock_ref_pos
94 #define __robot_lock_est_pos_odo lock_est_pos_odo
95 #define __robot_lock_est_pos_indep_odo lock_est_pos_indep_odo
96 #define __robot_lock_joy_data lock_joy_data
97 #define __robot_lock_meas_angles lock_meas_angles
98 #define __robot_lock_drives lock
99 #define __robot_lock_sharps lock
100 #define __robot_lock_hokuyo lock
101 #define __robot_lock_cmu lock
102 #define __robot_lock_bumper lock
103 #define __robot_lock_disp lock_disp
104 #define __robot_lock_motion_irc lock
105 #define __robot_lock_odo_data lock
106 #define __robot_lock_corr_distances lock
107 #define __robot_lock_camera_result lock_camera
115 enum robot_component {
124 ROBOT_COMPONENT_NUMBER
127 /* robot's main data structure */
129 pthread_mutex_t lock;
130 pthread_mutex_t lock_ref_pos;
131 pthread_mutex_t lock_est_pos_odo;
132 pthread_mutex_t lock_est_pos_indep_odo;
133 pthread_mutex_t lock_meas_angles;
134 pthread_mutex_t lock_joy_data;
135 pthread_mutex_t lock_disp;
136 pthread_mutex_t lock_camera;
138 /* competition parameters */
139 enum team_color team_color;
141 /** State variable used for controlling the robot by pluggin
142 * in and out start connector. */
143 enum robot_start_state start_state;
145 /** Temporary storage for new trajectory. After the trajectory creation is
146 * finished, this trajectory is submitted to fsmmove. */
147 void *new_trajectory;
149 unsigned char isTrajectory;
152 struct fsm_main_loop main_loop;
156 struct robo_fsm main;
157 struct robo_fsm motion;
161 /* actual position */
162 struct robot_pos_type ref_pos;
163 /* estimated position */
164 struct robot_pos_type est_pos_odo;
165 struct robot_pos_type est_pos_indep_odo;
167 /** True if est_pos_odo is updated according to reception of motion_irc */
169 /** True if est_pos_indep_odo is updated according to reception of motion_indep_odo */
170 bool indep_odometry_works;
172 bool use_rear_bumper;
173 bool use_left_bumper;
174 bool use_right_bumper;
176 /** True iff at least one wheel rotates backward */
180 * sometimes H8S does not send queried odometry
181 * following flag has been added for EKF estimator,
182 * since is has been hardly disturbed by missing measurement
183 * (taken as sudden zero velocities)
185 bool motion_irc_received;
188 struct robottype_orte_data orte;
191 struct motion_irc_type motion_irc; /* motor odometry */
192 struct odo_data_type odo_data; /* independent odometry */
193 struct corr_distances_type corr_distances; /* ultrasound */
195 struct hokuyo_scan_type hokuyo;
198 /* variables for target detection */
202 struct map *map; /* Map for pathplanning (no locking) */
204 enum robot_status status[ROBOT_COMPONENT_NUMBER];
206 bool obstacle_avoidance_enabled;
208 /** is set to true in separate thread when there is short time left */
209 bool short_time_to_end;
210 bool check_turn_safety;
213 extern struct robot robot;
219 int robot_init() __attribute__ ((warn_unused_result));
220 int robot_start() __attribute__ ((warn_unused_result));
222 void robot_destroy();
224 void robot_get_est_pos_trans(double *x, double *y, double *phi);
225 void robot_get_est_pos(double *x, double *y, double *phi);
227 /* Hack to easily disable display if it is not configured */
228 void serial_comm(int status);
232 FSM_STATE_FULL_DECL(main, init);
233 FSM_STATE_FULL_DECL(motion, init);
234 FSM_STATE_FULL_DECL(disp, init);
235 FSM_STATE_FULL_DECL(act, wait_for_command);
241 /*Thread priorities*/
242 #define THREAD_PRIO_TRAJ_FOLLOWER 90 /* As high as possible */
243 #define THREAD_PRIO_TRAJ_RECLAC 18
244 #define OBST_FORGETING_PRIO 17 /* Priority of the thread for forgeting detected obstacles. */