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, ...)
28 #include <path_planner.h>
30 #include <movehelper.h>
34 #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"
47 /* ULoPoS constants (-%-TEMPERATURE-%- dependent!) */
48 #define SOUND_VELOCITY (331.3+0.606*20)
49 #define XCORR2METER (SOUND_VELOCITY*(127.0/508.0)/3000.0)
50 #define D_MAX (XCORR2METER*508.0)
52 /*******************************************************************************
53 * Controller thread and helper functions for that thread
54 *******************************************************************************/
57 * If the distance of robot's estimated position from robot's
58 * requested position if above this value, the robot lost and we try
59 * to reset localization.
61 #define MAX_POS_ERROR_M 0.25
64 * If trajectory end is reached and robot's estimated position is
65 * closer than this distance, the movement is considered as "done".
67 #define CLOSE_TO_TARGET_M 0.1
70 const struct balet_params k = {
71 p_tangent: 3, // dx gain
72 p_angle: 2, // dphi gain
73 p_perpen: 5 // dy gain
74 // p_tangent: 0.2, // dx gain
75 // p_angle: 0.15, // dphi gain
76 // p_perpen: 1 // dy gain
79 #define MOTION_PERIOD_NS (50/*ms*/*1000*1000)
80 #define MEASURE_TIMEOUT_NS (100/*ms*/*1000*1000)
82 #define SIG_DO_CONTROL_NOW (SIGRTMIN+1)
85 static pthread_t thr_trajectory_follower;
86 static struct timeval tv_start; /**< Absolute time, when trajectory started. */
88 /** Stores the actually followed trajectory object */
89 static Trajectory *actual_trajectory;
90 static pthread_mutex_t actual_trajectory_lock;
92 // Trajectory recalculation
93 sem_t recalculation_not_running;
94 sem_t measurement_received;
97 * Determines way of thread_trajectory_follower() operation:
98 * - 0 measurement doesn't work, controller invocation based on time (formerly CONFIG_OPEN_LOOP)
99 * - 2 measurement works, controller invocation based on sem_post
100 * - 1 measurement doesn't work and stop() was called
102 int measurement_ok = 0;
106 static void delete_actual_trajectory()
109 pthread_mutex_lock(&actual_trajectory_lock);
110 old = actual_trajectory;
111 actual_trajectory = NULL;
112 pthread_mutex_unlock(&actual_trajectory_lock);
113 robot_send_speed(0,0);
114 if (old) delete(old);
117 /** Sends events from follower thread to FSM. */
118 static void notify_fsm(bool done, double error)
120 static bool done_sent;
121 static bool lost_sent = false;
123 if (error > MAX_POS_ERROR_M) {
126 FSM_SIGNAL(MOTION, EV_TRAJECTORY_LOST, NULL);
131 if (error < CLOSE_TO_TARGET_M) {
132 FSM_SIGNAL(MOTION, EV_TRAJECTORY_DONE_AND_CLOSE, NULL);
133 } else if (!done_sent) {
135 FSM_SIGNAL(MOTION, EV_TRAJECTORY_DONE, NULL);
143 static void check_for_collision_in_future(Trajectory *traj, double current_time)
146 struct map *map = robot.map;
151 // const double times[] = { 0.5, 0.3, 0.1 }; // seconds
152 const double times[] = { 0.3, 0.4, 0.5, 0.7, 0.9, 1.1 }; // seconds
155 for (i=0; i < sizeof(times)/sizeof(times[0]); i++) {
156 traj->getRefPos(current_time+times[i], future_pos);
158 /* Ignore obstacles when turning */
159 if (fabs(future_pos.v) < 0.01)
162 x = future_pos.x + cos(future_pos.phi)*ROBOT_AXIS_TO_FRONT_M;
163 y = future_pos.y + sin(future_pos.phi)*ROBOT_AXIS_TO_FRONT_M;
165 ShmapPoint2Cell(x, y, &xcell, &ycell, &valid);
168 if (map->cells[ycell][xcell].detected_obstacle > 0) {
169 if (sem_trywait(&recalculation_not_running) == 0) {
170 FSM_SIGNAL(MOTION, EV_OBSTACLE, NULL);
177 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 - tv_start.tv_usec) / 1000000.0;
188 t += (tv.tv_sec - 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 pthread_mutex_lock(&actual_trajectory_lock);
204 Trajectory *w = actual_trajectory;
206 Pos ref_pos, est_pos, balet_out;
209 // Calculate reference position
210 gettimeofday(&tv, NULL);
211 t = (double)(tv.tv_usec - tv_start.tv_usec) / 1000000.0;
212 t += (tv.tv_sec - 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 > actual_trajectory->constr.maxomega)
223 DBG("Omega constraint problem %lf, max %lf -------------------- \n", ref_pos.omega, actual_trajectory->constr.maxomega);
226 robot.ref_pos.x = ref_pos.x;
227 robot.ref_pos.y = ref_pos.y;
228 robot.ref_pos.phi = ref_pos.phi;
229 ROBOT_UNLOCK(ref_pos);
231 robot_get_est_pos(&est_pos.x, &est_pos.y, &est_pos.phi);
233 #ifdef MOTION_PRINT_REF
234 static double last_t;
235 if (t < last_t) last_t = t; // Switched to a new trajectory
236 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);
241 // Call the controller
243 error = balet(ref_pos, est_pos, k, balet_out);
244 speedl = balet_out.v - ROBOT_ROTATION_RADIUS_M*balet_out.omega;
245 speedr = balet_out.v + ROBOT_ROTATION_RADIUS_M*balet_out.omega;
246 notify_fsm(done, error);
253 // Apply controller output
254 robot_send_speed(speedl, speedr);
255 pthread_mutex_unlock(&actual_trajectory_lock);
258 static inline void next_period(struct timespec *next, long long interval_ns)
260 next->tv_nsec += interval_ns;
261 if (next->tv_nsec >= 1000000000) {
263 next->tv_nsec -= 1000000000;
268 * A thread running the controller.
270 * This (high priority) thread executes the motion control
271 * algorithm. It calculates repference position based on actual
272 * trajectory and current time. Then it calls "balet" controller to
279 void *thread_trajectory_follower(void *arg)
281 struct timespec next;
283 struct sched_param param;
285 param.sched_priority = THREAD_PRIO_TRAJ_FOLLOWER;
286 if (pthread_setschedparam(pthread_self(), SCHED_FIFO, ¶m) != 0)
287 perror("Warning: Cannot set RT priority for thread_prio_traj_follower()");
289 clock_gettime(CLOCK_REALTIME, &next);
292 ret = sem_timedwait(&measurement_received, &next);
294 if (ret == -1 && errno == ETIMEDOUT) {
295 next_period(&next, MOTION_PERIOD_NS);
296 if (measurement_ok) {
297 if (measurement_ok == 2) {
298 fprintf(stderr, "problem: measurement timeout!!!!!!!!!!!");
303 next_period(&next, MEASURE_TIMEOUT_NS);
304 if (measurement_ok < 2) {
314 * Tells trajctory_follower to start moving along trajectory @c t.
316 * @param t Trajectory to follow.
317 * @param append_time Relative time from the beginning of the @c actual_trajectory
318 * when to append the new one
320 void go(Trajectory *t, double append_time)
322 pthread_mutex_lock(&actual_trajectory_lock);
324 if (actual_trajectory && append_time != 0) {
325 // trajectory only connects a new one in some specific time
326 if(!actual_trajectory->appendTrajectory(*t, append_time))
327 DBG("Can not append trajectory\n");
329 // trajectory starts from zero time
330 old = actual_trajectory;
331 gettimeofday(&tv_start, NULL);
332 actual_trajectory = t;
334 t->logTraj(tv_start.tv_sec + 1e-6*tv_start.tv_usec);
339 pthread_mutex_unlock(&actual_trajectory_lock);
343 * switches to newly calculated trajectory to go on it at specific time
345 /*void switch_trajectory_at(Trajectory *t, double time)
347 pthread_mutex_lock(&switch_to_trajectory_lock);
348 switch_to_trajectory = t;
350 pthread_mutex_unlock(&switch_to_trajectory_lock);
353 gettimeofday(&tv, NULL);
354 double tm = (double)(tv.tv_usec - tv_start.tv_usec) / 1000000.0;
355 tm += (tv.tv_sec - tv_start.tv_sec);
356 if (switch_time <= tm)
357 DBG("//// BAD SWITCH ////");
362 delete_actual_trajectory();
364 // Interrupt sem_timedwait() in thread_trajectory_follower(),
365 // so we stop immediately.
366 sem_post(&measurement_received);
370 * Initializes motion controller.
373 * @return Zero on success, non-zero otherwise.
375 int motion_control_init()
377 pthread_mutexattr_t mattr;
380 actual_trajectory = NULL;
381 //switch_to_trajectory = NULL;
384 ret = pthread_mutexattr_init(&mattr);
385 #ifdef HAVE_PRIO_INHERIT
386 ret = pthread_mutexattr_setprotocol(&mattr, PTHREAD_PRIO_INHERIT);
388 pthread_mutex_init(&actual_trajectory_lock, &mattr);
390 sem_init(&recalculation_not_running, 0, 1);
392 // Trajectory follower thread
393 sem_init(&measurement_received, 0, 0);
394 ret = pthread_create(&thr_trajectory_follower, NULL, thread_trajectory_follower, NULL);
396 perror("move_init: pthread_create");
405 void motion_control_done()
407 pthread_cancel(thr_trajectory_follower);
408 pthread_join(thr_trajectory_follower, NULL);
410 robot.orte.motion_speed.right = 0;
411 robot.orte.motion_speed.left = 0;
412 ORTEPublicationSend(robot.orte.publication_motion_speed);
416 void get_future_pos(double rel_time_sec, Pos &pos, double &switch_time)
420 gettimeofday(&tv, NULL);
421 switch_time = (double)(tv.tv_usec - tv_start.tv_usec) / 1000000.0;
422 switch_time += (tv.tv_sec - tv_start.tv_sec);
423 switch_time += rel_time_sec;
425 pthread_mutex_lock(&actual_trajectory_lock);
426 if (actual_trajectory) {
427 actual_trajectory->getRefPos(switch_time, pos);
428 pthread_mutex_unlock(&actual_trajectory_lock);
430 // Robot doesn't move, so return current position
431 pthread_mutex_unlock(&actual_trajectory_lock);
433 robot_get_est_pos(&pos.x, &pos.y, &pos.phi);