2 * robot_eb2008.c 08/04/20
4 * Robot's generic initialization and clean up functions.
6 * Copyright: (c) 2008 CTU Dragons
7 * CTU FEE - Department of Control Engineering
12 #include <movehelper.h>
16 #include <robot_orte.h>
21 #include "map_handling.h"
24 #include "actuators.h"
27 #define DBG(format, ...) printf(format, ##__VA_ARGS__)
29 #define DBG(format, ...)
32 #define MOTION_CONTROL_INIT_ONLY
33 #include "motion-control.h"
35 /* Global definition of robot structure */
38 #ifdef CONFIG_LOCK_CHECKING
39 struct lock_log robot_lock_log;
42 static void block_signals()
48 for (i=SIGRTMIN; i<=SIGRTMAX; i++)
49 sigaddset(&sigset, i);
51 pthread_sigmask(SIG_BLOCK, &sigset, (sigset_t*)NULL);
54 static void int_handler(int sig)
59 void fill_in_known_areas_in_map()
61 /* Do not plan path close to edges */
62 /* ShmapSetRectangleFlag(0.0, 0.0, 0.199, 2.1, MAP_FLAG_WALL, 0); */
63 /* ShmapSetRectangleFlag(0.0, 0.0, 3.0, 0.199, MAP_FLAG_WALL, 0); */
64 /* ShmapSetRectangleFlag(0.0, 1.901, 3.0, 2.1, MAP_FLAG_WALL, 0); */
65 /* ShmapSetRectangleFlag(2.801, 0.0, 3.0, 2.1, MAP_FLAG_WALL, 0); */
67 //ShmapSetRectangleFlag(0, 1.15, 0.4, 1.55, MAP_FLAG_IGNORE_OBST, 0); /* Left white vert. dispenser */
68 //ShmapSetRectangleFlag(2.7, 1.25, 3, 1.45, MAP_FLAG_IGNORE_OBST, 0); /* Right white vert. dispenser */
70 //ShmapSetRectangleFlag(0.50, 1.8, 0.95, 2.2, MAP_FLAG_IGNORE_OBST, 0); /* Blue vert. dispenser */
71 //ShmapSetRectangleFlag(2.30, 1.8, 2.55, 2.1, MAP_FLAG_IGNORE_OBST, 0); /* Red vert. dispenser */
73 /* Ignore other obstacles at edges */
74 ShmapSetRectangleFlag(0.0, 0.0, 0.09, 2.1, MAP_FLAG_IGNORE_OBST, 0); /* left */
75 ShmapSetRectangleFlag(0.0, 0.0, 3.0, 0.09, MAP_FLAG_IGNORE_OBST, 0); /* bottom */
76 ShmapSetRectangleFlag(0.0, 2.01, 3.0, 2.1, MAP_FLAG_IGNORE_OBST, 0); /* top */
77 ShmapSetRectangleFlag(2.91, 0.0, 3.0, 2.1, MAP_FLAG_IGNORE_OBST, 0); /* right */
79 //ShmapSetRectangleFlag(0.0, 0.0, 0.2, 0.6, MAP_FLAG_IGNORE_OBST, 0); /* left basket */
80 //ShmapSetRectangleFlag(2.8, 0.0, 3.0, 0.6, MAP_FLAG_IGNORE_OBST, 0); /* right basket */
82 /* Construction areas (Building zones) */
83 //ShmapSetRectangleFlag(ACROPOLIS_CENTER_X - ACROPOLIS_RADIUS, ACROPOLIS_CENTER_Y - ACROPOLIS_RADIUS, ACROPOLIS_CENTER_X + ACROPOLIS_RADIUS, ACROPOLIS_CENTER_Y + ACROPOLIS_RADIUS, MAP_FLAG_WALL, 0); /* Central construction area */
84 //ShmapSetRectangleFlag(1.35, 0.9, 1.65, 1.2, MAP_FLAG_WALL, 0); /* Central construction area */
87 ShmapSetRectangleFlag(0.0, 0.0, 0.199, 2.1, MAP_FLAG_WALL, 0); /* left */
88 ShmapSetRectangleFlag(0.0, 0.0, 3.0, 0.199, MAP_FLAG_WALL, 0); /* bottom */
89 ShmapSetRectangleFlag(0.0, 1.901, 3.0, 2.1, MAP_FLAG_WALL, 0); /* top */
90 ShmapSetRectangleFlag(2.801, 0.0, 3.0, 2.1, MAP_FLAG_WALL, 0); /* right */
91 // Bottom-middle unloading area
92 ShmapSetRectangleFlag(1.0, 0.0, 2.0, 0.3, MAP_FLAG_WALL, 0); /* bottom */
93 // Unloading area - dwarf wall
94 ShmapSetRectangleFlag(0.4, 0.0, 0.8, 0.3, MAP_FLAG_WALL, 0);
95 ShmapSetRectangleFlag(2.2, 0.0, 2.6, 0.3, MAP_FLAG_WALL, 0);
97 ShmapSetCircleFlag(ACROPOLIS_CENTER_X, ACROPOLIS_CENTER_Y, ACROPOLIS_DIAMETER + 0.09, MAP_FLAG_WALL, 0);
101 static void trans_callback(struct robo_fsm *fsm)
103 if (fsm == &robot.fsm.main) {
104 strncpy(robot.orte.fsm_main.state_name, fsm->state_name, sizeof(robot.orte.fsm_main.state_name));
105 ORTEPublicationSend(robot.orte.publication_fsm_main);
106 } else if (fsm == &robot.fsm.motion) {
107 strncpy(robot.orte.fsm_motion.state_name, fsm->state_name, sizeof(robot.orte.fsm_motion.state_name));
108 ORTEPublicationSend(robot.orte.publication_fsm_motion);
109 } else if (fsm == &robot.fsm.act) {
110 strncpy(robot.orte.fsm_act.state_name, fsm->state_name, sizeof(robot.orte.fsm_act.state_name));
111 ORTEPublicationSend(robot.orte.publication_fsm_act);
117 * Initializes the robot.
118 * Setup fields in robot structure, initializes FSMs and ORTE.
126 pthread_mutex_init(&robot.lock, NULL);
127 pthread_mutex_init(&robot.lock_ref_pos, NULL);
128 pthread_mutex_init(&robot.lock_est_pos, NULL);
129 pthread_mutex_init(&robot.lock_meas_angles, NULL);
130 pthread_mutex_init(&robot.lock_joy_data, NULL);
131 pthread_mutex_init(&robot.lock_disp, NULL);
133 fsm_main_loop_init(&robot.main_loop);
135 /* FSM initialization */
136 /* fsm_init(&robot.fsm.main, "main", &robot.main_loop);
137 fsm_init(&robot.fsm.motion, "motion", &robot.main_loop);
138 fsm_init(&robot.fsm.display, "display", &robot.main_loop);
139 fsm_init(&robot.fsm.act, "actuators", &robot.main_loop); */
140 fsm_init(&robot.fsm.main, "MAIN", &robot.main_loop);
141 fsm_init(&robot.fsm.motion, "\tmot", &robot.main_loop);
142 fsm_init(&robot.fsm.display, "\tdisp", &robot.main_loop);
143 fsm_init(&robot.fsm.act, "\tACT", &robot.main_loop);
144 robot.fsm.main.transition_callback = trans_callback;
145 robot.fsm.act.transition_callback = trans_callback;
146 robot.fsm.motion.transition_callback = trans_callback;
151 robot.ref_pos.phi = 0;
152 ROBOT_UNLOCK(ref_pos);
157 robot.est_pos.phi = 0;
158 ROBOT_UNLOCK(est_pos);
160 robot.team_color = GREEN;
162 if (robot.team_color == RED) {
163 printf("We are RED!\n");
165 printf("We are GREEN!\n");
168 robot.map = ShmapInit(1);
169 fill_in_known_areas_in_map();
171 signal(SIGINT, int_handler);
172 signal(SIGTERM, int_handler);
176 robot.orte.motion_speed.left = 0;
177 robot.orte.motion_speed.right = 0;
179 robot.orte.pwr_ctrl.voltage33 = 1;
180 robot.orte.pwr_ctrl.voltage50 = 1;
181 robot.orte.pwr_ctrl.voltage80 = 1;
183 robot.orte.camera_control.on = true;
185 robot.fsm.motion.state = &fsm_state_motion_init;
187 robot.fsm.act.state = &fsm_state_act_wait_for_command; // puck handling actuators FSM's initial state
189 /* Only activate display if it is configured */
190 robot.sercom = uoled_init(serial_comm);
191 if (strcmp(robot.sercom->devname, "/dev/null") != 0)
192 robot.fsm.display.state = &fsm_state_disp_init;
194 robot.obstacle_avoidance_enabled = true;
195 robot.use_back_switch = false; /* Switched on sime time after start */
196 robot.state = POWER_ON;
198 /* init ORTE domain, create publishers, subscribers, .. */
199 rv = robot_init_orte();
200 act_init(&robot.orte);
206 * Starts the robot FSMs and threads.
214 pthread_attr_t tattr;
215 struct sched_param param;
216 pthread_t thr_obstacle_forgeting;
219 ret = motion_control_init();
221 perror("motion_control_init");
226 /* Obstacle forgeting thread */
227 pthread_attr_init (&tattr);
228 pthread_attr_getschedparam (&tattr, ¶m);
229 param.sched_priority = OBST_FORGETING_PRIO;
230 rv = pthread_attr_setschedparam (&tattr, ¶m);
232 perror("robot_start: pthread_attr_setschedparam()");
235 rv = pthread_create(&thr_obstacle_forgeting,
236 &tattr, thread_obstacle_forgeting, NULL);
238 perror("robot_start: pthread_create");
242 fsm_main_loop(&robot.main_loop);
249 * Signals all the robot threads to finish.
254 fsm_exit(&robot.fsm.main);
255 fsm_exit(&robot.fsm.motion);
256 fsm_exit(&robot.fsm.display);
257 fsm_exit(&robot.fsm.act);
261 * Stops the robot. All resources alocated by robot_init() or
262 * robot_start() are dealocated here.
266 motion_control_done();
268 act_chelae(CHELA_OPEN, CHELA_OPEN);
269 act_holder(HOLDER_OPENED);
271 robottype_roboorte_destroy(&robot.orte);
273 fsm_destroy(&robot.fsm.main);
274 fsm_destroy(&robot.fsm.motion);
275 fsm_destroy(&robot.fsm.display);
276 fsm_destroy(&robot.fsm.act);
277 DBG("robofsm: stop.\n");