src/robofsm/common-states.cc

   1 #define FSM_MAIN
   2 #include <robodata.h>
   3 #include <robot.h>
   4 #include <fsm.h>
   5 #include <unistd.h>
   6 #include <math.h>
   7 #include <movehelper.h>
   8 #include <map.h>
   9 #include <sharp.h>
  10 #include <robomath.h>
  11 #include <string.h>
  12 #include <robodim.h>
  13 #include <error.h>
  14 #include "corns_configs.h"
  15 #include "actuators.h"
  16 #include <trgen.h>
  17 #include "match-timing.h"
  18 #include "eb2010misc.h"
  19 #include <stdbool.h>
  20
  21 #include "common-states.h"
  22
  23 /************************************************************************
  24  * Functions used in and called from all the (almost identical)
  25  * "wait for start" states in particular strategies.
  26  ************************************************************************/
  27
  28 #undef DBG_FSM_STATE
  29 #define DBG_FSM_STATE(name)     do { if (fsm->debug_states) printf("fsm %s %.1f: %s(%s)\n", \
  30                                                                    fsm->debug_name, robot_current_time(), \
  31                                                                    name, fsm_event_str(fsm->events[fsm->ev_head])); } while(0)
  32
  33
  34 static void set_initial_position()
  35 {
  36         robot_set_est_pos_trans(ROBOT_AXIS_TO_FRONT_M,
  37                                 PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2),
  38                                 DEG2RAD(180));
  39 }
  40
  41 static void actuators_home()
  42 {
  43         static int tmp = 0;
  44         act_vidle(VIDLE_UP - tmp, VIDLE_FAST_SPEED);
  45         tmp = 1 - tmp;          // Force movement (we need to change the target position)
  46 }
  47
  48 void start_entry()
  49 {
  50         pthread_t thid;
  51         robot.check_turn_safety = false;
  52         pthread_create(&thid, NULL, timing_thread, NULL);
  53         start_timer();
  54 }
  55
  56 // We set initial position periodically in order for it to be updated
  57 // on the display if the team color is changed during waiting for
  58 // start.
  59 void start_timer()
  60 {
  61         set_initial_position();
  62         if (robot.start_state == START_PLUGGED_IN)
  63                 actuators_home();
  64 }
  65
  66 void start_go()
  67 {
  68         sem_post(&robot.start);
  69         actuators_home();
  70         set_initial_position();
  71 }
  72
  73 void start_exit()
  74 {
  75         robot.corns = get_all_corns(robot.corns_conf_side, robot.corns_conf_center);
  76         act_camera_off();
  77 }
  78
  79 /************************************************************************
  80  * Trajectory constraints used; They are  initialized in the main() function in competition.cc
  81  ************************************************************************/
  82
  83 struct TrajectoryConstraints tcFast, tcSlow, tcVerySlow;
  84
  85 #define VIDLE_TIMEOUT 2000
  86
  87 /************************************************************************
  88  * States that form the "collect some oranges" subautomaton. Calling automaton
  89  * SHOULD ALWAYS call the "approach_the_slope" state.
  90  ************************************************************************/
  91
  92 bool inline is_ready_to_climb_the_slope(enum which_side which_slope, double x, double y) {
  93         bool ret;
  94         if (which_slope == MINE) {
  95                 ret = x < 0.5 && y > PLAYGROUND_HEIGHT_M - 0.5;
  96         } else if (which_slope == OPPONENTS) {
  97                 ret = x > 0.5 && y > PLAYGROUND_HEIGHT_M - 0.5;
  98         } else {
  99                 printf("ERROR: unknown side;");
 100 #warning Remove the next line
 101                 robot_exit();
 102         }
 103         return ret;
 104 }
 105
 106 static struct slope_approach_style *slope_approach_style_p;
 107
 108 /* assures that the robot is near the slope rim; if outside our starting area, approach the slope first */
 109 FSM_STATE(approach_the_slope)
 110 {
 111         switch(FSM_EVENT) {
 112                 case EV_ENTRY: {
 113                                 slope_approach_style_p = (struct slope_approach_style *) FSM_EVENT_PTR;
 114                                 if (slope_approach_style_p == NULL) {
 115                                         printf("\n\nit is not allowed to call the approach_the_slope state  with NULL data!!\n\n");
 116 #warning remove the next line
 117                                         robot_exit();
 118                                 }
 119                                 double x, y, phi;
 120                                 robot_get_est_pos_trans(&x, &y, &phi);
 121                                 /* decide */
 122                                 bool ready_to_climb_the_slope = is_ready_to_climb_the_slope(slope_approach_style_p->which_side, x, y);
 123                                 /* if necessary, approach the slope */
 124                                 if (ready_to_climb_the_slope) {
 125                                         FSM_TRANSITION(climb_the_slope);
 126                                 } else {
 127                                         robot_goto_trans(
 128                                                 /*
 129                                                 x_coord(SLOPE_TO_RIM_M - ROBOT_AXIS_TO_BACK_M - 0.3, slope_approach_style_p->which_side),
 130                                                 PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) - 0.05,
 131                                                 ARRIVE_FROM(DEG2RAD(0),0.05),
 132                                                 */
 133                                                 x_coord(0.3, slope_approach_style_p->which_side),
 134                                                 PLAYGROUND_HEIGHT_M - ROBOT_WIDTH_M/2 - 0.03,
 135                                                 ARRIVE_FROM(DEG2RAD(0), 0.02),
 136                                                 &tcFast);
 137                                 }
 138                                 break;
 139                         }
 140                 case EV_MOTION_DONE:
 141                         FSM_TRANSITION(climb_the_slope);
 142                         break;
 143                 case EV_START:
 144                 case EV_TIMER:
 145                 case EV_RETURN:
 146                 case EV_VIDLE_DONE:
 147                 case EV_MOTION_ERROR:
 148                 case EV_SWITCH_STRATEGY:
 149                         DBG_PRINT_EVENT("unhandled event");
 150                 case EV_EXIT:
 151                         break;
 152         }
 153 }
 154
 155 void inline enable_switches(bool enabled)
 156 {
 157         robot.use_left_switch = enabled;
 158         robot.use_right_switch = enabled;
 159         robot.use_back_switch = enabled;
 160 }
 161
 162 FSM_STATE(climb_the_slope)
 163 {
 164         struct TrajectoryConstraints tc;
 165         switch(FSM_EVENT) {
 166                 case EV_ENTRY: {
 167                                 // disables using side switches on bumpers when going up
 168                                 enable_switches(false);
 169                                 act_vidle(VIDLE_LOAD_PREPARE, 5);
 170                                 robot.ignore_hokuyo = true;
 171                                 /* create the trajectory and go */
 172                                 tc = tcSlow;
 173                                 tc.maxacc = 0.4;
 174                                 robot_trajectory_new_backward(&tc);
 175                                 if (slope_approach_style_p->which_oranges == NEAR_PLAYGROUND_BOUNDARY) {
 176                                         robot_trajectory_add_point_trans(
 177                                                 x_coord(SLOPE_TO_RIM_M + SLOPE_LENGTH_M - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
 178                                                 PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) +0.01);
 179                                         robot_trajectory_add_final_point_trans(
 180                                                 x_coord(SLOPE_TO_RIM_M + SLOPE_LENGTH_M - ROBOT_AXIS_TO_BACK_M + 0.07, slope_approach_style_p->which_side),
 181                                                 PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) +0.01,
 182                                                 NO_TURN());
 183                                 } else if (slope_approach_style_p->which_oranges == NEAR_PLAYGROUND_CENTER) {
 184                                         robot_trajectory_add_point_trans(
 185                                                 x_coord(SLOPE_TO_RIM_M + SLOPE_LENGTH_M - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
 186                                                 1.85 - (PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) + 0.01 - 1.85));
 187                                         robot_trajectory_add_final_point_trans(
 188                                                 x_coord(SLOPE_TO_RIM_M + SLOPE_LENGTH_M - ROBOT_AXIS_TO_BACK_M + 0.07, slope_approach_style_p->which_side),
 189                                                 1.85 - (PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) + 0.01 - 1.85),
 190                                                 NO_TURN());
 191                                 }
 192                                 break;
 193                         }
 194                 case EV_MOTION_DONE:
 195                         SUBFSM_TRANSITION(load_oranges, NULL);
 196                         break;
 197                 case EV_RETURN:
 198                         FSM_TRANSITION(sledge_down);
 199                         break;
 200                 case EV_TIMER:
 201                 case EV_START:
 202                 case EV_VIDLE_DONE:
 203                 case EV_MOTION_ERROR:
 204                 case EV_SWITCH_STRATEGY:
 205                         DBG_PRINT_EVENT("unhandled event");
 206                 case EV_EXIT:
 207                         break;
 208         }
 209 }
 210
 211 /* subautomaton to load oranges in two stages */
 212 FSM_STATE_DECL(load_oranges2);
 213 FSM_STATE_DECL(load_oranges3);
 214 FSM_STATE(load_oranges)
 215 {
 216         switch(FSM_EVENT) {
 217                 case EV_ENTRY:
 218                         FSM_TIMER(1000);
 219                         act_vidle(VIDLE_MIDDLE, VIDLE_MEDIUM_SPEED);
 220                         break;
 221                 case EV_VIDLE_DONE:
 222                         FSM_TIMER(1000);
 223                         break;
 224                 case EV_TIMER:
 225                         FSM_TRANSITION(load_oranges2);
 226                         break;
 227                 case EV_MOTION_DONE:
 228                 case EV_START:
 229                 case EV_RETURN:
 230                 case EV_MOTION_ERROR:
 231                 case EV_SWITCH_STRATEGY:
 232                         DBG_PRINT_EVENT("unhandled event");
 233                 case EV_EXIT:
 234                         break;
 235         }
 236 }
 237
 238 FSM_STATE(load_oranges2)
 239 {
 240         switch(FSM_EVENT) {
 241                 case EV_ENTRY:
 242                         act_vidle(VIDLE_UP, VIDLE_MEDIUM_SPEED);
 243                         FSM_TIMER(1000);
 244                         break;
 245                 case EV_VIDLE_DONE:
 246                         FSM_TRANSITION(load_oranges3);
 247                         //SUBFSM_RET(NULL);
 248                         break;
 249                 case EV_TIMER:
 250                         FSM_TRANSITION(load_oranges3);
 251                         //SUBFSM_RET(NULL);
 252                         break;
 253                 case EV_MOTION_DONE:
 254                 case EV_START:
 255                 case EV_RETURN:
 256                 case EV_MOTION_ERROR:
 257                 case EV_SWITCH_STRATEGY:
 258                         DBG_PRINT_EVENT("unhandled event");
 259                 case EV_EXIT:
 260                         act_vidle(VIDLE_UP-1, VIDLE_FAST_SPEED);
 261                         break;
 262         }
 263 }
 264
 265 FSM_STATE(load_oranges3)
 266 {
 267         switch(FSM_EVENT) {
 268                 case EV_ENTRY:
 269                         act_vidle(VIDLE_MIDDLE+50, 0);
 270                         FSM_TIMER(500);
 271                         break;
 272                 case EV_VIDLE_DONE:
 273                         SUBFSM_RET(NULL);
 274                         break;
 275                 case EV_TIMER:
 276                         SUBFSM_RET(NULL);
 277                         break;
 278                 case EV_MOTION_DONE:
 279                 case EV_START:
 280                 case EV_RETURN:
 281                 case EV_MOTION_ERROR:
 282                 case EV_SWITCH_STRATEGY:
 283                         DBG_PRINT_EVENT("unhandled event");
 284                 case EV_EXIT:
 285                         act_vidle(VIDLE_UP, VIDLE_FAST_SPEED);
 286                         break;
 287         }
 288 }
 289
 290 FSM_STATE(sledge_down)
 291 {
 292         struct TrajectoryConstraints tc;
 293         switch(FSM_EVENT) {
 294                 case EV_ENTRY:
 295                         tc = tcFast;
 296                         tc.maxe = 0.5;
 297                         robot_trajectory_new(&tc);
 298
 299                         if (slope_approach_style_p->which_oranges == NEAR_PLAYGROUND_BOUNDARY) {
 300                                 robot_trajectory_add_point_trans(
 301                                         x_coord(1.2 - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
 302                                         PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2)+0.01);
 303                                 robot_trajectory_add_point_trans(
 304                                         x_coord(1.0 - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
 305                                         PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) - 0.01);
 306                                 robot_trajectory_add_point_trans(
 307                                         x_coord(0.8 - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
 308                                         PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) - 0.05);
 309                                 robot_trajectory_add_point_trans(
 310                                         x_coord(0.6 - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
 311                                         PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) - 0.10);
 312                                 robot_trajectory_add_final_point_trans(
 313                                         x_coord(0.5 - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
 314                                         PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) - 0.17,
 315                                         NO_TURN());
 316                         } else if (slope_approach_style_p->which_oranges == NEAR_PLAYGROUND_CENTER) {
 317                                 robot_trajectory_add_point_trans(
 318                                         x_coord(1 - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
 319                                         1.85 - (PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2)+0.01 - 1.85));
 320                                 robot_trajectory_add_final_point_trans(
 321                                         x_coord(SLOPE_TO_RIM_M - ROBOT_AXIS_TO_BACK_M - 0.2, slope_approach_style_p->which_side),
 322                                         1.85 - (PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2)+0.01 - 1.85),
 323                                         NO_TURN());
 324                         }
 325                         /* robot_trajectory_add_point_trans(
 326                                 x_coord(1 - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
 327                                 y_coord(PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2)+0.01, slope_approach_style_p->which_oranges));
 328                         robot_trajectory_add_point_trans(
 329                                 x_coord(SLOPE_TO_RIM_M - ROBOT_AXIS_TO_BACK_M - 0.20, slope_approach_style_p->which_side),
 330                                 y_coord(PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) - 0.08, slope_approach_style_p->which_oranges));
 331                         robot_trajectory_add_final_point_trans(
 332                                 x_coord(SLOPE_TO_RIM_M - ROBOT_AXIS_TO_BACK_M - 0.26, slope_approach_style_p->which_side),
 333                                 y_coord(PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) - 0.14, slope_approach_style_p->which_oranges),
 334                                 NO_TURN()); */
 335                         break;
 336                 case EV_MOTION_DONE:
 337                         /* just for sure, try to close it one more time */
 338                         act_vidle(VIDLE_UP, VIDLE_FAST_SPEED);
 339                         SUBFSM_RET(NULL);
 340                         delete(slope_approach_style_p);
 341                         break;
 342                 case EV_START:
 343                 case EV_TIMER:
 344                 case EV_RETURN:
 345                 case EV_VIDLE_DONE:
 346                 case EV_MOTION_ERROR:
 347                 case EV_SWITCH_STRATEGY:
 348                         DBG_PRINT_EVENT("unhandled event");
 349                         break;
 350                 case EV_EXIT:
 351                         // enables using side switches on bumpers
 352                         enable_switches(true);
 353                         robot.ignore_hokuyo = false;
 354                         robot.check_turn_safety = true;
 355
 356                         break;
 357         }
 358 }
 359
 360 /************************************************************************
 361  * The "unload our oranges" subautomaton
 362  ************************************************************************/
 363
 364 FSM_STATE(to_cntainer_and_unld)
 365 {
 366         switch(FSM_EVENT) {
 367                 case EV_ENTRY:
 368                         /*
 369                         if (slope_approach_style_p->which_side == MINE) {
 370                                 robot_trajectory_new(&tcFast);
 371                                 // face the rim with front of the robot
 372                                 //robot_trajectory_add_final_point_trans(PLAYGROUND_WIDTH_M-0.35, 0.12, ARRIVE_FROM(DEG2RAD(-90), 0.10));
 373                                 // face the rim with back of the robot
 374                                 robot_trajectory_add_point_trans(PLAYGROUND_WIDTH_M-0.6, 0.35);
 375                                 robot_trajectory_add_final_point_trans(PLAYGROUND_WIDTH_M-0.35, 0.45, ARRIVE_FROM(DEG2RAD(90),0.05));
 376                         } else { */
 377                                 robot_goto_trans(PLAYGROUND_WIDTH_M-0.35, 0.45, ARRIVE_FROM(DEG2RAD(90),0.05), &tcFast);
 378                         //}
 379                         break;
 380                 case EV_MOTION_DONE:
 381                         FSM_TIMER(3000); // FIXME: test this
 382                         act_vidle(VIDLE_DOWN, VIDLE_FAST_SPEED);
 383                         break;
 384                 case EV_TIMER:
 385                         act_vidle(VIDLE_UP, VIDLE_FAST_SPEED);
 386                         SUBFSM_RET(NULL);
 387                         break;
 388                 case EV_START:
 389                 case EV_RETURN:
 390                 case EV_VIDLE_DONE:
 391                 case EV_MOTION_ERROR:
 392                 case EV_SWITCH_STRATEGY:
 393                         DBG_PRINT_EVENT("unhandled event");
 394                 case EV_EXIT:
 395                         break;
 396         }
 397 }
 398
 399 /************************************************************************
 400  * The "collect corns" subautomaton
 401  ************************************************************************/
 402
 403 static enum where_to_go {
 404         CORN,
 405         TURN_AROUND,
 406         CONTAINER,
 407         NO_MORE_CORN
 408 } where_to_go = CORN;
 409
 410 static struct corn *corn_to_get;
 411
 412 FSM_STATE(rush_corns_decider)
 413 {
 414         switch(FSM_EVENT) {
 415                 case EV_ENTRY:
 416                         if (where_to_go == CORN) {
 417                                 FSM_TRANSITION(approach_next_corn);
 418                         } else if (where_to_go == CONTAINER) {
 419                                 FSM_TRANSITION(rush_the_corn);
 420                         } else if (where_to_go == TURN_AROUND) {
 421                                 FSM_TRANSITION(turn_around);
 422                         } else /* NO_MORE_CORN */ {
 423                         }
 424                         break;
 425                 case EV_START:
 426                 case EV_TIMER:
 427                 case EV_RETURN:
 428                 case EV_VIDLE_DONE:
 429                 case EV_MOTION_DONE:
 430                 case EV_MOTION_ERROR:
 431                 case EV_SWITCH_STRATEGY:
 432                         DBG_PRINT_EVENT("unhandled event");
 433                 case EV_EXIT:
 434                         break;
 435         }
 436 }
 437
 438 static int cnt = 0;
 439 FSM_STATE(approach_next_corn)
 440 {
 441         switch(FSM_EVENT) {
 442                 case EV_ENTRY: {
 443                                 double x, y, phi;
 444                                 robot_get_est_pos(&x, &y, &phi);
 445                                 printf("approach_next_corn: puck cnt: %d, est pos %.3f, %.3f, %.3f\n",
 446                                         cnt, x, y, phi);
 447
 448                                 corn_to_get = choose_next_corn();
 449                                 if (corn_to_get) {
 450                                         Pos *p = get_corn_approach_position(corn_to_get);
 451                                         corn_to_get->was_collected = true;
 452                                         //robot_trajectory_new(&tcFast);
 453                                         //robot_trajectory_add_final_point_trans(robot_trajectory_add_final_point_trans(p->x, p->y, TURN(p->phi));
 454                                         robot_goto_trans(p->x, p->y, TURN(p->phi), &tcFast);
 455                                         delete(p);
 456                                         where_to_go = CONTAINER;
 457                                 } else {
 458                                         where_to_go = NO_MORE_CORN;
 459                                 }
 460                                 break;
 461                         }
 462                 case EV_MOTION_DONE:
 463                         cnt++;
 464                         FSM_TRANSITION(rush_corns_decider);
 465                         break;
 466                 case EV_START:
 467                 case EV_TIMER:
 468                 case EV_RETURN:
 469                 case EV_VIDLE_DONE:
 470                 case EV_MOTION_ERROR:
 471                 case EV_SWITCH_STRATEGY:
 472                         DBG_PRINT_EVENT("unhandled event");
 473                 case EV_EXIT:
 474                         break;
 475         }
 476 }
 477
 478 FSM_STATE(rush_the_corn)
 479 {
 480         switch(FSM_EVENT) {
 481                 case EV_ENTRY:
 482                         double x;
 483                         if (robot.team_color == BLUE) {
 484                                 x = corn_to_get->position.x;
 485                         } else {
 486                                 x = PLAYGROUND_WIDTH_M - corn_to_get->position.x;
 487                         }
 488                         remove_wall_around_corn(x, corn_to_get->position.y);
 489                         robot_goto_trans(PLAYGROUND_WIDTH_M - 0.4, 0.15, ARRIVE_FROM(DEG2RAD(-90), 0.02), &tcFast);
 490                         where_to_go = TURN_AROUND;
 491                         break;
 492                 case EV_MOTION_DONE:
 493                         FSM_TRANSITION(rush_corns_decider);
 494                         break;
 495                 case EV_START:
 496                 case EV_TIMER:
 497                 case EV_RETURN:
 498                 case EV_VIDLE_DONE:
 499                 case EV_MOTION_ERROR:
 500                 case EV_SWITCH_STRATEGY:
 501                         DBG_PRINT_EVENT("unhandled event");
 502                 case EV_EXIT:
 503                         break;
 504         }
 505 }
 506
 507 // used to perform the maneuvre
 508 FSM_STATE(turn_around)
 509 {
 510         switch(FSM_EVENT) {
 511                 case EV_ENTRY:
 512                         robot_trajectory_new_backward(&tcFast);
 513                         robot_trajectory_add_final_point_trans(PLAYGROUND_WIDTH_M-0.35, 0.45, TURN_CCW(90));
 514                         break;
 515                 case EV_MOTION_DONE:
 516                         where_to_go = CORN;
 517                         FSM_TRANSITION(rush_corns_decider);
 518                         break;
 519                 case EV_START:
 520                 case EV_TIMER:
 521                 case EV_RETURN:
 522                 case EV_VIDLE_DONE:
 523                 case EV_MOTION_ERROR:
 524                 case EV_SWITCH_STRATEGY:
 525                         DBG_PRINT_EVENT("unhandled event");
 526                 case EV_EXIT:
 527                         break;
 528         }
 529 }