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                                                 x_coord(0.3, slope_approach_style_p->which_side),
 129                                                 PLAYGROUND_HEIGHT_M - ROBOT_WIDTH_M/2 - 0.03,
 130                                                 ARRIVE_FROM(DEG2RAD(0), 0.02),
 131                                                 &tcFast);
 132                                 }
 133                                 break;
 134                         }
 135                 case EV_MOTION_DONE:
 136                         FSM_TRANSITION(climb_the_slope);
 137                         break;
 138                 case EV_START:
 139                 case EV_TIMER:
 140                 case EV_RETURN:
 141                 case EV_VIDLE_DONE:
 142                 case EV_MOTION_ERROR:
 143                 case EV_SWITCH_STRATEGY:
 144                         DBG_PRINT_EVENT("unhandled event");
 145                 case EV_EXIT:
 146                         break;
 147         }
 148 }
 149
 150 void inline enable_switches(bool enabled)
 151 {
 152         robot.use_left_switch = enabled;
 153         robot.use_right_switch = enabled;
 154         robot.use_back_switch = enabled;
 155 }
 156
 157 FSM_STATE(climb_the_slope)
 158 {
 159         struct TrajectoryConstraints tc;
 160         switch(FSM_EVENT) {
 161                 case EV_ENTRY: {
 162                                 // disables using side switches on bumpers when going up
 163                                 enable_switches(false);
 164                                 robot.ignore_hokuyo = true;
 165                                 /* create the trajectory and go */
 166                                 tc = tcSlow;
 167                                 tc.maxacc = 0.4;
 168                                 robot_trajectory_new_backward(&tc);
 169                                 if (slope_approach_style_p->which_oranges == NEAR_PLAYGROUND_BOUNDARY) {
 170                                         act_vidle(VIDLE_LOAD_PREPARE, 5);
 171                                         robot_trajectory_add_point_trans(
 172                                                 x_coord(SLOPE_TO_RIM_M + SLOPE_LENGTH_M - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
 173                                                 PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) +0.01);
 174                                         robot_trajectory_add_final_point_trans(
 175                                                 x_coord(SLOPE_TO_RIM_M + SLOPE_LENGTH_M - ROBOT_AXIS_TO_BACK_M + 0.07, slope_approach_style_p->which_side),
 176                                                 PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) +0.01,
 177                                                 NO_TURN());
 178                                 } else if (slope_approach_style_p->which_oranges == NEAR_PLAYGROUND_CENTER) {
 179                                         FSM_TIMER(3500);
 180                                         robot_trajectory_add_point_trans(
 181                                                 x_coord(SLOPE_TO_RIM_M + SLOPE_LENGTH_M - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
 182                                                 1.85 - (PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) + 0.01 - 1.85));
 183                                         robot_trajectory_add_final_point_trans(
 184                                                 x_coord(SLOPE_TO_RIM_M + SLOPE_LENGTH_M - ROBOT_AXIS_TO_BACK_M + 0.07, slope_approach_style_p->which_side),
 185                                                 1.85 - (PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) + 0.01 - 1.85),
 186                                                 NO_TURN());
 187                                 }
 188                                 break;
 189                         }
 190                 case EV_MOTION_DONE:
 191                         SUBFSM_TRANSITION(load_oranges, NULL);
 192                         break;
 193                 case EV_RETURN:
 194                         FSM_TRANSITION(sledge_down);
 195                         break;
 196                 case EV_TIMER:
 197                         act_vidle(VIDLE_LOAD_PREPARE, 10);
 198                         break;
 199                 case EV_START:
 200                 case EV_VIDLE_DONE:
 201                 case EV_MOTION_ERROR:
 202                 case EV_SWITCH_STRATEGY:
 203                         DBG_PRINT_EVENT("unhandled event");
 204                 case EV_EXIT:
 205                         break;
 206         }
 207 }
 208
 209 /* subautomaton to load oranges in two stages */
 210 FSM_STATE_DECL(load_oranges2);
 211 FSM_STATE_DECL(load_oranges3);
 212 FSM_STATE(load_oranges)
 213 {
 214         switch(FSM_EVENT) {
 215                 case EV_ENTRY:
 216                         FSM_TIMER(1000);
 217                         act_vidle(VIDLE_MIDDLE, VIDLE_MEDIUM_SPEED);
 218                         break;
 219                 case EV_VIDLE_DONE:
 220                         FSM_TIMER(1000);
 221                         break;
 222                 case EV_TIMER:
 223                         FSM_TRANSITION(load_oranges2);
 224                         break;
 225                 case EV_MOTION_DONE:
 226                 case EV_START:
 227                 case EV_RETURN:
 228                 case EV_MOTION_ERROR:
 229                 case EV_SWITCH_STRATEGY:
 230                         DBG_PRINT_EVENT("unhandled event");
 231                 case EV_EXIT:
 232                         break;
 233         }
 234 }
 235
 236 FSM_STATE(load_oranges2)
 237 {
 238         switch(FSM_EVENT) {
 239                 case EV_ENTRY:
 240                         act_vidle(VIDLE_UP, VIDLE_MEDIUM_SPEED);
 241                         FSM_TIMER(1000);
 242                         break;
 243                 case EV_VIDLE_DONE:
 244                         FSM_TRANSITION(load_oranges3);
 245                         //SUBFSM_RET(NULL);
 246                         break;
 247                 case EV_TIMER:
 248                         FSM_TRANSITION(load_oranges3);
 249                         //SUBFSM_RET(NULL);
 250                         break;
 251                 case EV_MOTION_DONE:
 252                 case EV_START:
 253                 case EV_RETURN:
 254                 case EV_MOTION_ERROR:
 255                 case EV_SWITCH_STRATEGY:
 256                         DBG_PRINT_EVENT("unhandled event");
 257                 case EV_EXIT:
 258                         act_vidle(VIDLE_UP-1, VIDLE_FAST_SPEED);
 259                         break;
 260         }
 261 }
 262
 263 FSM_STATE(load_oranges3)
 264 {
 265         switch(FSM_EVENT) {
 266                 case EV_ENTRY:
 267                         act_vidle(VIDLE_MIDDLE+50, 0);
 268                         FSM_TIMER(500);
 269                         break;
 270                 case EV_VIDLE_DONE:
 271                         SUBFSM_RET(NULL);
 272                         break;
 273                 case EV_TIMER:
 274                         SUBFSM_RET(NULL);
 275                         break;
 276                 case EV_MOTION_DONE:
 277                 case EV_START:
 278                 case EV_RETURN:
 279                 case EV_MOTION_ERROR:
 280                 case EV_SWITCH_STRATEGY:
 281                         DBG_PRINT_EVENT("unhandled event");
 282                 case EV_EXIT:
 283                         act_vidle(VIDLE_UP, VIDLE_FAST_SPEED);
 284                         break;
 285         }
 286 }
 287
 288 FSM_STATE(sledge_down)
 289 {
 290         struct TrajectoryConstraints tc;
 291         switch(FSM_EVENT) {
 292                 case EV_ENTRY:
 293                         tc = tcFast;
 294                         tc.maxe = 0.5;
 295                         robot_trajectory_new(&tc);
 296
 297                         if (slope_approach_style_p->which_oranges == NEAR_PLAYGROUND_BOUNDARY) {
 298                                 robot_trajectory_add_point_trans(
 299                                         x_coord(1.2 - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
 300                                         PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2)+0.01);
 301                                 robot_trajectory_add_point_trans(
 302                                         x_coord(1.0 - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
 303                                         PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) - 0.01);
 304                                 robot_trajectory_add_point_trans(
 305                                         x_coord(0.8 - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
 306                                         PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) - 0.05);
 307                                 robot_trajectory_add_point_trans(
 308                                         x_coord(0.6 - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
 309                                         PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) - 0.10);
 310                                 robot_trajectory_add_final_point_trans(
 311                                         x_coord(0.5 - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
 312                                         PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) - 0.17,
 313                                         NO_TURN());
 314                         } else if (slope_approach_style_p->which_oranges == NEAR_PLAYGROUND_CENTER) {
 315                                 robot_trajectory_add_point_trans(
 316                                         x_coord(1 - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
 317                                         1.85 - (PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2)+0.01 - 1.85));
 318                                 robot_trajectory_add_final_point_trans(
 319                                         x_coord(SLOPE_TO_RIM_M - ROBOT_AXIS_TO_BACK_M - 0.2, slope_approach_style_p->which_side),
 320                                         1.85 - (PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2)+0.01 - 1.85),
 321                                         NO_TURN());
 322                         }
 323                         break;
 324                 case EV_MOTION_DONE:
 325                         /* just for sure, try to close it one more time */
 326                         act_vidle(VIDLE_UP, VIDLE_FAST_SPEED);
 327                         SUBFSM_RET(NULL);
 328                         delete(slope_approach_style_p);
 329                         break;
 330                 case EV_START:
 331                 case EV_TIMER:
 332                 case EV_RETURN:
 333                 case EV_VIDLE_DONE:
 334                 case EV_MOTION_ERROR:
 335                 case EV_SWITCH_STRATEGY:
 336                         DBG_PRINT_EVENT("unhandled event");
 337                         break;
 338                 case EV_EXIT:
 339                         // enables using side switches on bumpers
 340                         enable_switches(true);
 341                         robot.ignore_hokuyo = false;
 342                         robot.check_turn_safety = true;
 343
 344                         break;
 345         }
 346 }
 347
 348 /************************************************************************
 349  * The "unload our oranges" subautomaton
 350  ************************************************************************/
 351
 352 FSM_STATE(to_cntainer_and_unld)
 353 {
 354         switch(FSM_EVENT) {
 355                 case EV_ENTRY:
 356                         robot_goto_trans(PLAYGROUND_WIDTH_M-0.35, 0.45, ARRIVE_FROM(DEG2RAD(90),0.05), &tcFast);
 357                         break;
 358                 case EV_MOTION_DONE:
 359                         FSM_TIMER(3000); // FIXME: test this
 360                         act_vidle(VIDLE_DOWN, VIDLE_FAST_SPEED);
 361                         break;
 362                 case EV_TIMER:
 363                         act_vidle(VIDLE_UP, VIDLE_FAST_SPEED);
 364                         SUBFSM_RET(NULL);
 365                         break;
 366                 case EV_START:
 367                 case EV_RETURN:
 368                 case EV_VIDLE_DONE:
 369                 case EV_MOTION_ERROR:
 370                 case EV_SWITCH_STRATEGY:
 371                         DBG_PRINT_EVENT("unhandled event");
 372                 case EV_EXIT:
 373                         break;
 374         }
 375 }
 376
 377 /************************************************************************
 378  * The "collect corns" subautomaton
 379  ************************************************************************/
 380
 381 static enum where_to_go {
 382         CORN,
 383         TURN_AROUND,
 384         CONTAINER,
 385         NO_MORE_CORN
 386 } where_to_go = CORN;
 387
 388 static struct corn *corn_to_get;
 389
 390 FSM_STATE(rush_corns_decider)
 391 {
 392         switch(FSM_EVENT) {
 393                 case EV_ENTRY:
 394                         if (where_to_go == CORN) {
 395                                 FSM_TRANSITION(approach_next_corn);
 396                         } else if (where_to_go == CONTAINER) {
 397                                 FSM_TRANSITION(rush_the_corn);
 398                         } else if (where_to_go == TURN_AROUND) {
 399                                 FSM_TRANSITION(turn_around);
 400                         } else /* NO_MORE_CORN */ {
 401                         }
 402                         break;
 403                 case EV_START:
 404                 case EV_TIMER:
 405                 case EV_RETURN:
 406                 case EV_VIDLE_DONE:
 407                 case EV_MOTION_DONE:
 408                 case EV_MOTION_ERROR:
 409                 case EV_SWITCH_STRATEGY:
 410                         DBG_PRINT_EVENT("unhandled event");
 411                 case EV_EXIT:
 412                         break;
 413         }
 414 }
 415
 416 static int cnt = 0;
 417 FSM_STATE(approach_next_corn)
 418 {
 419         switch(FSM_EVENT) {
 420                 case EV_ENTRY: {
 421                                 double x, y, phi;
 422                                 robot_get_est_pos(&x, &y, &phi);
 423                                 printf("approach_next_corn: puck cnt: %d, est pos %.3f, %.3f, %.3f\n",
 424                                         cnt, x, y, phi);
 425
 426                                 corn_to_get = choose_next_corn();
 427                                 if (corn_to_get) {
 428                                         Pos *p = get_corn_approach_position(corn_to_get);
 429                                         corn_to_get->was_collected = true;
 430                                         robot_goto_trans(p->x, p->y, TURN(p->phi), &tcFast);
 431                                         delete(p);
 432                                         where_to_go = CONTAINER;
 433                                 } else {
 434                                         where_to_go = NO_MORE_CORN;
 435                                 }
 436                                 break;
 437                         }
 438                 case EV_MOTION_DONE:
 439                         cnt++;
 440                         FSM_TRANSITION(rush_corns_decider);
 441                         break;
 442                 case EV_START:
 443                 case EV_TIMER:
 444                 case EV_RETURN:
 445                 case EV_VIDLE_DONE:
 446                 case EV_MOTION_ERROR:
 447                 case EV_SWITCH_STRATEGY:
 448                         DBG_PRINT_EVENT("unhandled event");
 449                 case EV_EXIT:
 450                         break;
 451         }
 452 }
 453
 454 FSM_STATE(rush_the_corn)
 455 {
 456         switch(FSM_EVENT) {
 457                 case EV_ENTRY:
 458                         double x;
 459                         if (robot.team_color == BLUE) {
 460                                 x = corn_to_get->position.x;
 461                         } else {
 462                                 x = PLAYGROUND_WIDTH_M - corn_to_get->position.x;
 463                         }
 464                         remove_wall_around_corn(x, corn_to_get->position.y);
 465                         robot_goto_trans(PLAYGROUND_WIDTH_M - 0.4, 0.15, ARRIVE_FROM(DEG2RAD(-90), 0.02), &tcSlow);
 466                         where_to_go = TURN_AROUND;
 467                         break;
 468                 case EV_MOTION_DONE:
 469                         FSM_TRANSITION(rush_corns_decider);
 470                         break;
 471                 case EV_START:
 472                 case EV_TIMER:
 473                 case EV_RETURN:
 474                 case EV_VIDLE_DONE:
 475                 case EV_MOTION_ERROR:
 476                 case EV_SWITCH_STRATEGY:
 477                         DBG_PRINT_EVENT("unhandled event");
 478                 case EV_EXIT:
 479                         break;
 480         }
 481 }
 482
 483 // used to perform the maneuvre
 484 FSM_STATE(turn_around)
 485 {
 486         switch(FSM_EVENT) {
 487                 case EV_ENTRY:
 488                         robot_trajectory_new_backward(&tcFast);
 489                         robot_trajectory_add_final_point_trans(PLAYGROUND_WIDTH_M-0.35, 0.45, TURN_CCW(90));
 490                         break;
 491                 case EV_MOTION_DONE:
 492                         where_to_go = CORN;
 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 }