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 * Competition parameters
33 enum robot_start_state {
43 /* Mapping from FSM ID to field in robot.fsm */
44 #define ROBOT_FSM_MAIN main
45 #define ROBOT_FSM_MOTION motion
46 #define ROBOT_FSM_DISPLAY display
47 #define ROBOT_FSM_ACT act
49 #define FSM_GET_BY_ID(fsm_id) (&robot.fsm.ROBOT_FSM_##fsm_id)
52 * LOCKING MANIPULATION
55 #ifdef CONFIG_LOCK_CHECKING
56 #define LOCK_CHECK_COUNT 10
58 pthread_mutex_t *locked[LOCK_CHECK_COUNT];
62 extern struct lock_log robot_lock_log;
64 #define __LOCK_CHECK(mutex) robot_lock_log.locked[robot_lock_log.idx++] = mutex;
65 #define __UNLOCK_CHECK(mutex) \
66 if (robot_lock_log.locked[--robot_lock_log.idx] != mutex || \
67 robot_lock_log.idx < 0) \
68 printf("!!! Locking error %s:%d\n", __FILE__, __LINE__);
70 #define __LOCK_CHECK(mutex)
71 #define __UNLOCK_CHECK(mutex)
74 * Locks the robot structure.
75 * @param var Field in the structure you are going to work with.
77 #define ROBOT_LOCK(var) \
79 pthread_mutex_lock(&robot.__robot_lock_##var); \
80 __LOCK_CHECK(&robot.__robot_lock_##var); \
84 * Unlocks the robot structure.
85 * @param var Field in the structure, which was locked by ROBOT_LOCK.
87 #define ROBOT_UNLOCK(var) \
89 __UNLOCK_CHECK(&robot.__robot_lock_##var); \
90 pthread_mutex_unlock(&robot.__robot_lock_##var); \
93 /* Mapping of robot structure fields to locks */
94 //#define __robot_lock_ lock /* ROBOT_LOCK() */
95 #define __robot_lock_ref_pos lock_ref_pos
96 #define __robot_lock_est_pos_uzv lock_est_pos_uzv
97 #define __robot_lock_est_pos_odo lock_est_pos_odo
98 #define __robot_lock_est_pos_indep_odo lock_est_pos_indep_odo
99 #define __robot_lock_joy_data lock_joy_data
100 #define __robot_lock_meas_angles lock_meas_angles
101 #define __robot_lock_drives lock
102 #define __robot_lock_sharps lock
103 #define __robot_lock_hokuyo lock
104 #define __robot_lock_cmu lock
105 #define __robot_lock_bumper lock
106 #define __robot_lock_drives lock
107 #define __robot_lock_disp lock_disp
108 #define __robot_lock_motion_irc lock
109 #define __robot_lock_odo_data lock
110 #define __robot_lock_corr_distances lock
111 #define __robot_lock_camera_result lock_camera
119 enum robot_component {
128 ROBOT_COMPONENT_NUMBER
131 /* robot's main data structure */
133 pthread_mutex_t lock;
134 pthread_mutex_t lock_ref_pos;
135 pthread_mutex_t lock_est_pos_uzv;
136 pthread_mutex_t lock_est_pos_odo;
137 pthread_mutex_t lock_est_pos_indep_odo;
138 pthread_mutex_t lock_meas_angles;
139 pthread_mutex_t lock_joy_data;
140 pthread_mutex_t lock_disp;
141 pthread_mutex_t lock_camera;
143 /* competition parameters */
144 enum team_color team_color;
146 /** State variable used for controlling the robot by pluggin
147 * in and out start connector. */
148 enum robot_start_state start_state;
150 /** Temporary storage for new trajectory. After the trajectory creation is
151 * finished, this trajectory is submitted to fsmmove. */
152 void *new_trajectory;
154 unsigned char isTrajectory;
157 struct fsm_main_loop main_loop;
161 struct robo_fsm main;
162 struct robo_fsm motion;
166 /* actual position */
167 struct robot_pos_type ref_pos;
168 /* estimated position */
169 struct robot_pos_type est_pos_uzv;
170 struct robot_pos_type est_pos_odo;
171 struct robot_pos_type est_pos_indep_odo;
173 /** True if localization data arrives correctly and therfore
174 * localization runs */
175 bool localization_works;
176 /** True if est_pos_odo is updated according to reception of motion_irc */
178 /** True if est_pos_indep_odo is updated according to reception of motion_indep_odo */
179 bool indep_odometry_works;
181 bool use_back_switch;
183 /** True iff at least one wheel rotates backward */
187 * sometimes H8S does not send queried odometry
188 * following flag has been added for EKF estimator,
189 * since is has been hardly disturbed by missing measurement
190 * (taken as sudden zero velocities)
192 bool motion_irc_received;
195 struct robottype_orte_data orte;
198 struct motion_irc_type motion_irc; /* motor odometry */
199 struct odo_data_type odo_data; /* independent odometry */
200 struct corr_distances_type corr_distances; /* ultrasound */
202 struct hokuyo_scan_type hokuyo;
205 struct map *map; /* Map for pathplanning (no locking) */
207 enum robot_status status[ROBOT_COMPONENT_NUMBER];
209 char corns_conf_center;
210 char corns_conf_side;
211 struct corns_group *corns;
213 bool obstacle_avoidance_enabled;
215 /** is set to true in separate thread when there is short time left */
216 bool short_time_to_end;
219 extern struct robot robot;
225 int robot_init() __attribute__ ((warn_unused_result));
226 int robot_start() __attribute__ ((warn_unused_result));
228 void robot_destroy();
230 void robot_get_est_pos(double *x, double *y, double *phi);
232 /* Hack to easily disable display if it is not configured */
233 void serial_comm(int status);
237 FSM_STATE_FULL_DECL(main, init);
238 FSM_STATE_FULL_DECL(motion, init);
239 FSM_STATE_FULL_DECL(disp, init);
240 FSM_STATE_FULL_DECL(act, wait_for_command);
246 /*Thread priorities*/
247 #define THREAD_PRIO_TRAJ_FOLLOWER 90 /* As high as possible */
248 #define THREAD_PRIO_TRAJ_RECLAC 18
249 #define OBST_FORGETING_PRIO 17 /* Priority of the thread for forgeting detected obstacles. */