4 * Robot's generic initialization and clean up functions.
6 * Copyright: (c) 2008 CTU Dragons
7 * CTU FEE - Department of Control Engineering
11 #define _XOPEN_SOURCE 500 /* For PTHREAD_PRIO_INHERIT etc. */
14 #include <movehelper.h>
18 #include <robot_orte.h>
23 #include "map_handling.h"
25 #include "actuators.h"
29 UL_LOG_CUST(ulogd_robot); /* Log domain name = ulogd + name of the file */
32 #define MOTION_CONTROL_INIT_ONLY
33 #include "motion-control.h"
36 /* Global definition of robot structure */
39 #ifdef CONFIG_LOCK_CHECKING
40 struct lock_log robot_lock_log;
43 static void block_signals()
49 for (i=SIGRTMIN; i<=SIGRTMAX; i++)
50 sigaddset(&sigset, i);
52 pthread_sigmask(SIG_BLOCK, &sigset, (sigset_t*)NULL);
55 static void int_handler(int sig)
60 void fill_in_known_areas_in_map()
62 /*----- playground width 3.0 m and playground height 2.0 m -----*/
63 /* Ignore other obstacles at edges */
64 ShmapSetRectangleFlag(0.0, 0.0, 0.40, 2.0, MAP_FLAG_IGNORE_OBST, 0); /* left */
65 ShmapSetRectangleFlag(0.0, 0.0, 3.0, 0.09, MAP_FLAG_IGNORE_OBST, 0); /* bottom */
66 ShmapSetRectangleFlag(0.0, 1.91, 3.0, 2.0, MAP_FLAG_IGNORE_OBST, 0); /* top */
67 ShmapSetRectangleFlag(2.6, 0.0, 3.0, 2.0, MAP_FLAG_IGNORE_OBST, 0); /* right */
69 /* Small walls that cannot be detected by hokuyo */
70 ShmapSetRectangleFlag(0.0, 1.49, 0.39, 1.432, MAP_FLAG_WALL, 0);
71 ShmapSetRectangleFlag(3.0, 1.49, 2.61, 1.432, MAP_FLAG_WALL, 0);
72 ShmapSetRectangleFlag(0.325, 0.0, 0.38, 0.74, MAP_FLAG_WALL, 0);
73 ShmapSetRectangleFlag(2.675, 0.0, 2.62, 0.74, MAP_FLAG_WALL, 0);
76 //ShmapSetCircleFlag(1.5, 1.0, 0.075, MAP_FLAG_WALL, 0);
78 /* Totems and palm tree */
79 ShmapSetRectangleFlag(0.975, 0.875, 2.025, 1.125, MAP_FLAG_WALL, 0);
80 ShmapSetCircleFlag(1.1, 1.0, 0.3, MAP_FLAG_WALL, 0);
81 ShmapSetCircleFlag(2.0, 1.0, 0.3, MAP_FLAG_WALL, 0);
83 //ShmapSetRectangleFlag(1.775, 0.875, 2.025, 1.125, MAP_FLAG_WALL, 0);
86 static void trans_callback(struct robo_fsm *fsm)
88 if (fsm == &robot.fsm.main) {
89 strncpy(robot.orte.fsm_main.state_name, fsm->state_name, sizeof(robot.orte.fsm_main.state_name));
90 ORTEPublicationSend(robot.orte.publication_fsm_main);
91 } else if (fsm == &robot.fsm.motion) {
92 strncpy(robot.orte.fsm_motion.state_name, fsm->state_name, sizeof(robot.orte.fsm_motion.state_name));
93 ORTEPublicationSend(robot.orte.publication_fsm_motion);
94 } else if (fsm == &robot.fsm.act) {
95 strncpy(robot.orte.fsm_act.state_name, fsm->state_name, sizeof(robot.orte.fsm_act.state_name));
96 ORTEPublicationSend(robot.orte.publication_fsm_act);
102 * Initializes the robot.
103 * Setup fields in robot structure, initializes FSMs and ORTE.
110 pthread_mutexattr_t mattr;
111 robot_calibrate_odometry();
112 rv = pthread_mutexattr_init(&mattr);
113 #ifdef HAVE_PRIO_INHERIT
114 rv = pthread_mutexattr_setprotocol(&mattr, PTHREAD_PRIO_INHERIT);
116 pthread_mutex_init(&robot.lock, &mattr);
117 pthread_mutex_init(&robot.lock_ref_pos, &mattr);
118 pthread_mutex_init(&robot.lock_est_pos_odo, &mattr);
119 pthread_mutex_init(&robot.lock_est_pos_indep_odo, &mattr);
120 pthread_mutex_init(&robot.lock_meas_angles, &mattr);
121 pthread_mutex_init(&robot.lock_joy_data, &mattr);
122 pthread_mutex_init(&robot.lock_disp, &mattr);
124 fsm_main_loop_init(&robot.main_loop);
126 /* FSM initialization */
127 fsm_init(&robot.fsm.main, "MAIN", &robot.main_loop);
128 fsm_init(&robot.fsm.motion, "\tmot", &robot.main_loop);
129 fsm_init(&robot.fsm.act, "\tACT", &robot.main_loop);
130 robot.fsm.main.transition_callback = trans_callback;
131 robot.fsm.act.transition_callback = trans_callback;
132 robot.fsm.motion.transition_callback = trans_callback;
134 robot.team_color = VIOLET;
136 if (robot.team_color == VIOLET) {
137 ul_loginf("We are VIOLET!\n");
139 ul_loginf("We are RED!\n");
142 robot_set_est_pos_trans(ROBOT_START_X_M, ROBOT_START_Y_M, DEG2RAD(ROBOT_START_ANGLE_DEG));
144 robot.ignore_hokuyo = false;
145 robot.map = ShmapInit(1);
146 fill_in_known_areas_in_map();
148 signal(SIGINT, int_handler);
149 signal(SIGTERM, int_handler);
153 robot.orte.motion_speed.left = 0;
154 robot.orte.motion_speed.right = 0;
156 robot.orte.pwr_ctrl.voltage33 = 1;
157 robot.orte.pwr_ctrl.voltage50 = 1;
158 robot.orte.pwr_ctrl.voltage80 = 1;
160 robot.orte.camera_control.on = true;
162 robot.fsm.motion.state = &fsm_state_motion_init;
164 /* Only activate display if it is configured */
166 robot.sercom = uoled_init(serial_comm);
167 if (strcmp(robot.sercom->devname, "/dev/null") != 0)
168 robot.fsm.display.state = &fsm_state_disp_init;
171 robot.obstacle_avoidance_enabled = true;
172 robot.use_back_bumpers = true;
173 robot.use_left_bumper = true;
174 robot.use_right_bumper = true;
175 robot.start_state = POWER_ON;
176 robot.check_turn_safety = true;
178 /* init ORTE domain, create publishers, subscribers, .. */
179 rv = robot_init_orte();
180 act_init(&robot.orte);
186 * Starts the robot FSMs and threads.
194 pthread_attr_t tattr;
195 struct sched_param param;
196 pthread_t thr_obstacle_forgeting;
199 ret = motion_control_init();
201 perror("motion_control_init");
206 /* Obstacle forgeting thread */
207 pthread_attr_init (&tattr);
208 pthread_attr_getschedparam (&tattr, ¶m);
209 pthread_attr_getschedparam (&tattr, ¶m);
210 pthread_attr_setschedpolicy(&tattr, SCHED_FIFO);
211 param.sched_priority = OBST_FORGETING_PRIO;
212 rv = pthread_attr_setschedparam (&tattr, ¶m);
214 perror("robot_start: pthread_attr_setschedparam()");
217 rv = pthread_create(&thr_obstacle_forgeting,
218 &tattr, thread_obstacle_forgeting, NULL);
220 perror("robot_start: pthread_create");
224 sem_init(&robot.start, 0, 0);
226 fsm_main_loop(&robot.main_loop);
233 * Signals all the robot threads to finish.
238 fsm_exit(&robot.fsm.main);
239 fsm_exit(&robot.fsm.motion);
240 fsm_exit(&robot.fsm.act);
244 * Stops the robot. All resources alocated by robot_init() or
245 * robot_start() are dealocated here.
249 motion_control_done();
251 // FIXME: set actuators to well defined position (FJ)
253 robottype_roboorte_destroy(&robot.orte);
255 fsm_destroy(&robot.fsm.main);
256 fsm_destroy(&robot.fsm.motion);
257 fsm_destroy(&robot.fsm.act);
259 ul_logdeb("robofsm: stop.\n");
262 void robot_get_est_pos_trans(double *x, double *y, double *phi)
264 robot_get_est_pos(x, y, phi);
267 *phi = __trans_ang(*phi);
270 void robot_get_est_pos(double *x, double *y, double *phi)
272 if (robot.indep_odometry_works) {
273 ROBOT_LOCK(est_pos_indep_odo);
274 *x = robot.est_pos_indep_odo.x;
275 *y = robot.est_pos_indep_odo.y;
276 *phi = robot.est_pos_indep_odo.phi;
277 ROBOT_UNLOCK(est_pos_indep_odo);
278 } else if (robot.odometry_works) {
279 ROBOT_LOCK(est_pos_odo);
280 *x = robot.est_pos_odo.x;
281 *y = robot.est_pos_odo.y;
282 *phi = robot.est_pos_odo.phi;
283 ROBOT_UNLOCK(est_pos_odo);
286 *x = robot.ref_pos.x;
287 *y = robot.ref_pos.y;
288 *phi = robot.ref_pos.phi;
289 ROBOT_UNLOCK(ref_pos);
293 void robot_calibrate_odometry()
295 robot.odo_distance_a = 0;
296 robot.odo_distance_b = 0;
298 file = fopen ("odometry_cal_data", "r");
303 fprintf(stderr, "ODO calibration file not found! \n\n");
310 while (fgets (line, 15 , file)) {
311 a += atof(strtok(line," "));
312 fgets (line, 15 , file);
313 b += atof(strtok(NULL," "));
317 if(a == 0 || b == 0) {
322 robot.odo_cal_a = a / num;
323 robot.odo_cal_b = b / num;
324 printf("ODO calibrated value A: %f\n",robot.odo_cal_a);
325 printf("ODO calibrated value B: %f\n",robot.odo_cal_b);