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>
26 //UL_LOG_CUST(ulogd_robot_h); /* Log domain name = ulogd + name of the file */
29 * Competition parameters
32 RED = 0, /* Coordinate transformation does not apply */
33 BLUE /* Coordinate transformation applies (in *_trans() functions) */
36 enum robot_start_state {
46 /* Mapping from FSM ID to field in robot.fsm */
47 #define ROBOT_FSM_MAIN main
48 #define ROBOT_FSM_MOTION motion
49 #define ROBOT_FSM_DISPLAY display
50 #define ROBOT_FSM_ACT act
52 #define FSM_GET_BY_ID(fsm_id) (&robot.fsm.ROBOT_FSM_##fsm_id)
55 * LOCKING MANIPULATION
58 #ifdef CONFIG_LOCK_CHECKING
59 #define LOCK_CHECK_COUNT 10
61 pthread_mutex_t *locked[LOCK_CHECK_COUNT];
65 extern struct lock_log robot_lock_log;
67 #define __LOCK_CHECK(mutex) robot_lock_log.locked[robot_lock_log.idx++] = mutex;
68 #define __UNLOCK_CHECK(mutex) \
69 if (robot_lock_log.locked[--robot_lock_log.idx] != mutex || \
70 robot_lock_log.idx < 0) \
71 ul_logerr("!!! Locking error %s:%d\n", __FILE__, __LINE__);
73 #define __LOCK_CHECK(mutex)
74 #define __UNLOCK_CHECK(mutex)
77 * Locks the robot structure.
78 * @param var Field in the structure you are going to work with.
80 #define ROBOT_LOCK(var) \
82 pthread_mutex_lock(&robot.__robot_lock_##var); \
83 __LOCK_CHECK(&robot.__robot_lock_##var); \
87 * Unlocks the robot structure.
88 * @param var Field in the structure, which was locked by ROBOT_LOCK.
90 #define ROBOT_UNLOCK(var) \
92 __UNLOCK_CHECK(&robot.__robot_lock_##var); \
93 pthread_mutex_unlock(&robot.__robot_lock_##var); \
96 /* Mapping of robot structure fields to locks */
97 //#define __robot_lock_ lock /* ROBOT_LOCK() */
98 #define __robot_lock_ref_pos lock_ref_pos
99 #define __robot_lock_est_pos_odo lock_est_pos_odo
100 #define __robot_lock_est_pos_indep_odo lock_est_pos_indep_odo
101 #define __robot_lock_joy_data lock_joy_data
102 #define __robot_lock_meas_angles lock_meas_angles
103 #define __robot_lock_drives lock
104 #define __robot_lock_sharps lock
105 #define __robot_lock_hokuyo lock
106 #define __robot_lock_cmu lock
107 #define __robot_lock_bumper lock
108 #define __robot_lock_disp lock_disp
109 #define __robot_lock_motion_irc lock
110 #define __robot_lock_odo_data lock
111 #define __robot_lock_corr_distances lock
112 #define __robot_lock_camera_result lock_camera
120 enum robot_component {
130 ROBOT_COMPONENT_NUMBER
133 /* robot's main data structure */
135 pthread_mutex_t lock;
136 pthread_mutex_t lock_ref_pos;
137 pthread_mutex_t lock_est_pos_odo;
138 pthread_mutex_t lock_est_pos_indep_odo;
139 pthread_mutex_t lock_meas_angles;
140 pthread_mutex_t lock_joy_data;
141 pthread_mutex_t lock_disp;
142 pthread_mutex_t lock_camera;
144 /* competition parameters */
145 enum team_color team_color;
147 /** State variable used for controlling the robot by pluggin
148 * in and out start connector. */
149 enum robot_start_state start_state;
151 /** Temporary storage for new trajectory. After the trajectory creation is
152 * finished, this trajectory is submitted to fsmmove. */
153 void *new_trajectory;
155 unsigned char isTrajectory;
158 struct fsm_main_loop main_loop;
162 struct robo_fsm main;
163 struct robo_fsm motion;
167 /* actual position */
168 struct robot_pos_type ref_pos;
169 /* estimated position */
170 struct robot_pos_type est_pos_odo;
171 struct robot_pos_type est_pos_indep_odo;
173 /** True if est_pos_odo is updated according to reception of motion_irc */
175 /** True if est_pos_indep_odo is updated according to reception of motion_indep_odo */
176 bool indep_odometry_works;
178 bool use_back_bumpers;
179 bool use_left_bumper;
180 bool use_right_bumper;
182 /** True iff at least one wheel rotates backward */
186 * sometimes H8S does not send queried odometry
187 * following flag has been added for EKF estimator,
188 * since is has been hardly disturbed by missing measurement
189 * (taken as sudden zero velocities)
191 bool motion_irc_received;
194 struct robottype_orte_data orte;
197 struct motion_irc_type motion_irc; /* motor odometry */
198 struct odo_data_type odo_data; /* independent odometry */
199 struct corr_distances_type corr_distances; /* ultrasound */
201 struct hokuyo_scan_type hokuyo;
204 struct map *map; /* Map for pathplanning (no locking) */
206 enum robot_status status[ROBOT_COMPONENT_NUMBER];
208 char corns_conf_center;
209 char corns_conf_side;
210 struct corns_group *corns;
212 bool obstacle_avoidance_enabled;
214 /** is set to true in separate thread when there is short time left */
215 bool short_time_to_end;
216 bool check_turn_safety;
220 float odo_distance_a;
221 float odo_distance_b;
224 extern struct robot robot;
230 int robot_init() __attribute__ ((warn_unused_result));
231 int robot_start() __attribute__ ((warn_unused_result));
233 void robot_destroy();
234 void robot_calibrate_odometry();
236 void robot_get_est_pos_trans(double *x, double *y, double *phi);
237 void robot_get_est_pos(double *x, double *y, double *phi);
239 /* Hack to easily disable display if it is not configured */
240 void serial_comm(int status);
244 FSM_STATE_FULL_DECL(main, init);
245 FSM_STATE_FULL_DECL(motion, init);
246 FSM_STATE_FULL_DECL(disp, init);
247 FSM_STATE_FULL_DECL(act, wait_for_command);
253 /*Thread priorities*/
254 #define THREAD_PRIO_TRAJ_FOLLOWER 90 /* As high as possible */
255 #define THREAD_PRIO_TRAJ_RECLAC 18
256 #define OBST_FORGETING_PRIO 17 /* Priority of the thread for forgeting detected obstacles. */