2 * @file motion-control.cc
3 * @author Michal Sojka <sojkam1@fel.cvut.cz>, Petr Beneš
4 * @date Fri Mar 20 10:36:59 2009
11 //#define MOTION_DEBUG
14 #define DBG(format, ...) ul_logdeb(format, ##__VA_ARGS__)
15 #define DBGflush() fflush(stdout)
17 #define DBG(format, ...)
27 #include <path_planner.h>
29 #include <movehelper.h>
33 #include "robot_config.h"
38 UL_LOG_CUST(ulogd_motion_control); /* Log domain name = ulogd + name of the file */
40 #define MOTION_CONTROL
41 #include "motion-control.h"
49 /* ULoPoS constants (-%-TEMPERATURE-%- dependent!) */
50 #define SOUND_VELOCITY (331.3+0.606*20)
51 #define XCORR2METER (SOUND_VELOCITY*(127.0/508.0)/3000.0)
52 #define D_MAX (XCORR2METER*508.0)
54 /*******************************************************************************
55 * Controller thread and helper functions for that thread
56 *******************************************************************************/
59 * If the distance of robot's estimated position from robot's
60 * requested position if above this value, the robot lost and we try
61 * to reset localization.
63 const float MAX_POS_ERROR_M = 0.25;
66 * If trajectory end is reached and robot's estimated position is
67 * closer than this distance, the movement is considered as "done".
69 const float CLOSE_TO_TARGET_M = 0.1;
72 const struct balet_params k = {
73 p_tangent: 3, // dx gain
74 p_angle: 2, // dphi gain
75 p_perpen: 5 // dy gain
76 // p_tangent: 0.2, // dx gain
77 // p_angle: 0.15, // dphi gain
78 // p_perpen: 1 // dy gain
81 #define MOTION_PERIOD_NS (50/*ms*/*1000*1000)
82 #define MEASURE_TIMEOUT_NS (100/*ms*/*1000*1000)
84 #define SIG_DO_CONTROL_NOW (SIGRTMIN+1)
87 struct MotionControlHandler {
88 pthread_t thr_trajectory_follower;
89 struct timeval tv_start; /**< Absolute time, when trajectory started. */
91 /** Stores the actually followed trajectory object */
92 Trajectory *actual_trajectory;
93 pthread_mutex_t actual_trajectory_lock;
96 MotionControlHandler motion_handler;
98 // Trajectory recalculation
99 sem_t recalculation_not_running;
100 sem_t measurement_received;
103 * Determines way of thread_trajectory_follower() operation:
104 * - 0 measurement doesn't work, controller invocation based on time (formerly CONFIG_OPEN_LOOP)
105 * - 2 measurement works, controller invocation based on sem_post
106 * - 1 measurement doesn't work and stop() was called
108 int measurement_ok = 0;
112 static void delete_actual_trajectory() {
115 Guard g(motion_handler.actual_trajectory_lock);
116 old = motion_handler.actual_trajectory;
117 motion_handler.actual_trajectory = NULL;
119 robot.move_helper.send_speed(0,0);
123 /** Sends events from follower thread to FSM. */
124 static void notify_fsm(bool done, double error) {
125 static bool done_sent;
126 static bool lost_sent = false;
128 if (error > MAX_POS_ERROR_M) {
131 robot.sched.queue_event(robot.MOTION, new evTrajectoryLost());
136 if (error < CLOSE_TO_TARGET_M || !done_sent) {
138 robot.sched.queue_event(robot.MOTION, new evTrajectoryDone());
146 static void check_for_collision_in_future(Trajectory *traj, double current_time) {
148 struct map *map = robot.map;
152 // const double times[] = { 0.5, 0.3, 0.1 }; // seconds
153 const double times[] = { 0.3, 0.4, 0.5, 0.7, 0.9, 1.1 }; // seconds
156 for (unsigned i=0; i < sizeof(times)/sizeof(times[0]); i++) {
157 traj->getRefPos(current_time+times[i], future_pos);
159 /* Ignore obstacles when turning */
160 if (fabs(future_pos.v) < 0.01)
163 x = future_pos.x + cos(future_pos.phi)*ROBOT_AXIS_TO_FRONT_M;
164 y = future_pos.y + sin(future_pos.phi)*ROBOT_AXIS_TO_FRONT_M;
166 ShmapPoint2Cell(x, y, &xcell, &ycell, &valid);
169 if (map->cells[ycell][xcell].detected_obstacle > 0) {
170 if (sem_trywait(&recalculation_not_running) == 0) {
171 robot.sched.queue_event(robot.MOTION, new evObstacle());
178 static void do_control() {
179 double speedl, speedr;
184 // Calculate reference position
185 /***FIXME:should not rely on system clock, the period is fixed***/
186 gettimeofday(&tv, NULL);
187 t = (double)(tv.tv_usec - motion_handler.tv_start.tv_usec) / 1000000.0;
188 t += (tv.tv_sec - motion_handler.tv_start.tv_sec);
190 // check for new trajectory to switch
191 // only if the trajectory is already prepared
192 if (switch_to_trajectory != NULL && t >= switch_time) {
193 pthread_mutex_lock(&switch_to_trajectory_lock);
195 DBG("SWITCHING to new trajectory\n");
197 go(switch_to_trajectory);
198 // nothing prepared now
199 switch_to_trajectory = NULL;
200 pthread_mutex_unlock(&switch_to_trajectory_lock);
203 Guard g(motion_handler.actual_trajectory_lock);
204 Trajectory *w = motion_handler.actual_trajectory;
206 Pos ref_pos, est_pos, balet_out;
209 // Calculate reference position
210 gettimeofday(&tv, NULL);
211 t = (double)(tv.tv_usec - motion_handler.tv_start.tv_usec) / 1000000.0;
212 t += (tv.tv_sec - motion_handler.tv_start.tv_sec);
214 // if switch_to_trajectory is being prepared, it can not stop calculation
215 // and start to count again, it could evoke overloading
216 if (robot.obstacle_avoidance_enabled)
217 check_for_collision_in_future(w, t);
220 done = w->getRefPos(t, ref_pos);
222 if (ref_pos.omega > motion_handler.actual_trajectory->constr.maxomega)
223 DBG("Omega constraint problem %lf, max %lf -------------------- \n", ref_pos.omega, motion_handler.actual_trajectory->constr.maxomega);
225 Guard g(robot.lock_ref_pos);
226 robot.ref_pos.x = ref_pos.x;
227 robot.ref_pos.y = ref_pos.y;
228 robot.ref_pos.phi = ref_pos.phi;
230 robot.get_est_pos(est_pos.x, est_pos.y, est_pos.phi);
232 #ifdef MOTION_PRINT_REF
233 static double last_t;
234 if (t < last_t) last_t = t; // Switched to a new trajectory
235 ul_logdeb("rx=%5.02f ry=%5.02f, rphi=%4.0f v=%-4.02f omega=%-4.02f, time=%lf dt=%lf \n", ref_pos.x, ref_pos.y, ref_pos.phi/M_PI*180, ref_pos.v, ref_pos.omega, t, t-last_t);
240 // Call the controller
242 error = balet(ref_pos, est_pos, k, balet_out);
243 speedl = balet_out.v - ROBOT_ROTATION_RADIUS_M*balet_out.omega;
244 speedr = balet_out.v + ROBOT_ROTATION_RADIUS_M*balet_out.omega;
245 notify_fsm(done, error);
252 // Apply controller output
253 robot.move_helper.send_speed(speedl, speedr);
256 static inline void next_period(struct timespec *next, long long interval_ns) {
257 next->tv_nsec += interval_ns;
258 if (next->tv_nsec >= 1000000000) {
260 next->tv_nsec -= 1000000000;
265 * A thread running the controller.
267 * This (high priority) thread executes the motion control
268 * algorithm. It calculates repference position based on actual
269 * trajectory and current time. Then it calls "balet" controller to
276 void *thread_trajectory_follower(void *arg) {
277 struct timespec next;
279 struct sched_param param;
281 param.sched_priority = THREAD_PRIO_TRAJ_FOLLOWER;
282 if (pthread_setschedparam(pthread_self(), SCHED_FIFO, ¶m) != 0)
283 perror("Warning: Cannot set RT priority for thread_prio_traj_follower()");
285 clock_gettime(CLOCK_REALTIME, &next);
288 ret = sem_timedwait(&measurement_received, &next);
290 if (ret == -1 && errno == ETIMEDOUT) {
291 next_period(&next, MOTION_PERIOD_NS);
292 if (measurement_ok) {
293 if (measurement_ok == 2) {
294 fprintf(stderr, "problem: measurement timeout!!!!!!!!!!!");
299 next_period(&next, MEASURE_TIMEOUT_NS);
300 if (measurement_ok < 2) {
310 * Tells trajctory_follower to start moving along trajectory @c t.
312 * @param t Trajectory to follow.
313 * @param append_time Relative time from the beginning of the @c actual_trajectory
314 * when to append the new one
316 void go(Trajectory *t, double append_time) {
317 Guard g(motion_handler.actual_trajectory_lock);
319 if (motion_handler.actual_trajectory && append_time != 0) {
320 // trajectory only connects a new one in some specific time
321 if(!motion_handler.actual_trajectory->appendTrajectory(*t, append_time))
322 DBG("Can not append trajectory\n");
324 // trajectory starts from zero time
325 old = motion_handler.actual_trajectory;
326 gettimeofday(&(motion_handler.tv_start), NULL);
327 motion_handler.actual_trajectory = t;
329 t->logTraj(motion_handler.tv_start.tv_sec + 1e-6*motion_handler.tv_start.tv_usec);
337 * switches to newly calculated trajectory to go on it at specific time
339 /*void switch_trajectory_at(Trajectory *t, double time)
341 pthread_mutex_lock(&switch_to_trajectory_lock);
342 switch_to_trajectory = t;
344 pthread_mutex_unlock(&switch_to_trajectory_lock);
347 gettimeofday(&tv, NULL);
348 double tm = (double)(tv.tv_usec - tv_start.tv_usec) / 1000000.0;
349 tm += (tv.tv_sec - tv_start.tv_sec);
350 if (switch_time <= tm)
351 DBG("//// BAD SWITCH ////");
355 delete_actual_trajectory();
357 // Interrupt sem_timedwait() in thread_trajectory_follower(),
358 // so we stop immediately.
359 sem_post(&measurement_received);
363 * Initializes motion controller.
366 * @return Zero on success, non-zero otherwise.
368 int motion_control_init() {
369 pthread_mutexattr_t mattr;
372 motion_handler.actual_trajectory = NULL;
373 //switch_to_trajectory = NULL;
376 ret = pthread_mutexattr_init(&mattr);
377 #ifdef HAVE_PRIO_INHERIT
378 ret = pthread_mutexattr_setprotocol(&mattr, PTHREAD_PRIO_INHERIT);
380 pthread_mutex_init(&(motion_handler.actual_trajectory_lock), &mattr);
382 sem_init(&recalculation_not_running, 0, 1);
384 // Trajectory follower thread
385 sem_init(&measurement_received, 0, 0);
386 ret = pthread_create(&(motion_handler.thr_trajectory_follower), NULL, thread_trajectory_follower, NULL);
388 perror("move_init: pthread_create");
397 void motion_control_done() {
398 pthread_cancel(motion_handler.thr_trajectory_follower);
399 pthread_join(motion_handler.thr_trajectory_follower, NULL);
401 robot.orte.motion_speed.right = 0;
402 robot.orte.motion_speed.left = 0;
403 ORTEPublicationSend(robot.orte.publication_motion_speed);
407 void get_future_pos(double rel_time_sec, Pos &pos, double &switch_time) {
410 gettimeofday(&tv, NULL);
411 switch_time = (double)(tv.tv_usec - motion_handler.tv_start.tv_usec) / 1000000.0;
412 switch_time += (tv.tv_sec - motion_handler.tv_start.tv_sec);
413 switch_time += rel_time_sec;
415 pthread_mutex_lock(&(motion_handler.actual_trajectory_lock));
416 if (motion_handler.actual_trajectory) {
417 motion_handler.actual_trajectory->getRefPos(switch_time, pos);
418 pthread_mutex_unlock(&(motion_handler.actual_trajectory_lock));
420 // Robot doesn't move, so return current position
421 pthread_mutex_unlock(&(motion_handler.actual_trajectory_lock));
423 robot.get_est_pos(pos.x, pos.y, pos.phi);