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 tcJerk, 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(3800);
 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                                                 PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) - 0.199);
 184                                         robot_trajectory_add_final_point_trans(
 185                                                 x_coord(SLOPE_TO_RIM_M + SLOPE_LENGTH_M - ROBOT_AXIS_TO_BACK_M + 0.07, slope_approach_style_p->which_side),
 186                                                 //1.85 - (PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) + 0.01 - 1.85),
 187                                                 PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) - 0.199,
 188                                                 NO_TURN());
 189                                 }
 190                                 break;
 191                         }
 192                 case EV_MOTION_DONE:
 193                         SUBFSM_TRANSITION(load_oranges, NULL);
 194                         break;
 195                 case EV_RETURN:
 196                         FSM_TRANSITION(sledge_down);
 197                         break;
 198                 case EV_TIMER:
 199                         act_vidle(VIDLE_LOAD_PREPARE, 10);
 200                         break;
 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) - 0.19,
 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                                         PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) - 0.199);
 321                                 robot_trajectory_add_final_point_trans(
 322                                         x_coord(SLOPE_TO_RIM_M - ROBOT_AXIS_TO_BACK_M - 0.2, slope_approach_style_p->which_side),
 323                                         //1.85 - (PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2)+0.01 - 1.85),
 324                                         PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) - 0.199,
 325                                         NO_TURN());
 326                         }
 327                         break;
 328                 case EV_MOTION_DONE:
 329                         /* just for sure, try to close it one more time */
 330                         act_vidle(VIDLE_UP, VIDLE_FAST_SPEED);
 331                         SUBFSM_RET(NULL);
 332                         delete(slope_approach_style_p);
 333                         break;
 334                 case EV_START:
 335                 case EV_TIMER:
 336                 case EV_RETURN:
 337                 case EV_VIDLE_DONE:
 338                 case EV_MOTION_ERROR:
 339                 case EV_SWITCH_STRATEGY:
 340                         DBG_PRINT_EVENT("unhandled event");
 341                         break;
 342                 case EV_EXIT:
 343                         // enables using side switches on bumpers
 344                         enable_switches(true);
 345                         robot.ignore_hokuyo = false;
 346                         robot.check_turn_safety = true;
 347
 348                         break;
 349         }
 350 }
 351
 352 /************************************************************************
 353  * The "unload our oranges" subautomaton
 354  ************************************************************************/
 355
 356 FSM_STATE(to_cntainer_and_unld)
 357 {
 358         switch(FSM_EVENT) {
 359                 case EV_ENTRY:
 360                         robot_goto_trans(PLAYGROUND_WIDTH_M-0.35, 0.45, ARRIVE_FROM(DEG2RAD(90),0.05), &tcFast);
 361                         break;
 362                 case EV_MOTION_DONE:
 363                         FSM_TIMER(1000); // FIXME: test this
 364                         act_vidle(VIDLE_DOWN, VIDLE_FAST_SPEED);
 365                         break;
 366                 case EV_TIMER:
 367                         FSM_TRANSITION(jerk);
 368                         break;
 369                 case EV_START:
 370                 case EV_RETURN:
 371                 case EV_VIDLE_DONE:
 372                 case EV_MOTION_ERROR:
 373                 case EV_SWITCH_STRATEGY:
 374                         DBG_PRINT_EVENT("unhandled event");
 375                 case EV_EXIT:
 376                         break;
 377         }
 378 }
 379
 380 FSM_STATE(jerk)
 381 {
 382         static char move_cnt;
 383         switch(FSM_EVENT) {
 384                 case EV_ENTRY:
 385                         move_cnt = 0;
 386                         robot_move_by(-0.05, NO_TURN(), &tcSlow);
 387                         break;
 388                 case EV_MOTION_DONE:
 389                         if (move_cnt == 0) {
 390                                 robot_move_by(0.05, NO_TURN(), &tcJerk);
 391                         } else if (move_cnt > 0) {
 392                                 FSM_TIMER(1500); // FIXME: test this
 393                         }
 394                         move_cnt++;
 395                         break;
 396                 case EV_TIMER:
 397                         act_vidle(VIDLE_UP, VIDLE_FAST_SPEED);
 398                         SUBFSM_RET(NULL);
 399                         break;
 400                 case EV_START:
 401                 case EV_RETURN:
 402                 case EV_VIDLE_DONE:
 403                 case EV_MOTION_ERROR:
 404                 case EV_SWITCH_STRATEGY:
 405                         DBG_PRINT_EVENT("unhandled event");
 406                 case EV_EXIT:
 407                         break;
 408         }
 409 }
 410
 411 /************************************************************************
 412  * The "collect corns" subautomaton
 413  ************************************************************************/
 414
 415 static enum where_to_go {
 416         CORN,
 417         TURN_AROUND,
 418         CONTAINER,
 419         NO_MORE_CORN
 420 } where_to_go = CORN;
 421
 422 static struct corn *corn_to_get;
 423
 424 FSM_STATE(rush_corns_decider)
 425 {
 426         switch(FSM_EVENT) {
 427                 case EV_ENTRY:
 428                         if (where_to_go == CORN) {
 429                                 FSM_TRANSITION(approach_next_corn);
 430                         } else if (where_to_go == CONTAINER) {
 431                                 FSM_TRANSITION(rush_the_corn);
 432                         } else if (where_to_go == TURN_AROUND) {
 433                                 FSM_TRANSITION(turn_around);
 434                         } else /* NO_MORE_CORN */ {
 435                         }
 436                         break;
 437                 case EV_START:
 438                 case EV_TIMER:
 439                 case EV_RETURN:
 440                 case EV_VIDLE_DONE:
 441                 case EV_MOTION_DONE:
 442                 case EV_MOTION_ERROR:
 443                 case EV_SWITCH_STRATEGY:
 444                         DBG_PRINT_EVENT("unhandled event");
 445                 case EV_EXIT:
 446                         break;
 447         }
 448 }
 449
 450 static int cnt = 0;
 451 FSM_STATE(approach_next_corn)
 452 {
 453         switch(FSM_EVENT) {
 454                 case EV_ENTRY: {
 455                                 double x, y, phi;
 456                                 robot_get_est_pos(&x, &y, &phi);
 457                                 printf("approach_next_corn: puck cnt: %d, est pos %.3f, %.3f, %.3f\n",
 458                                         cnt, x, y, phi);
 459
 460                                 corn_to_get = choose_next_corn();
 461                                 if (corn_to_get) {
 462                                         Pos *p = get_corn_approach_position(corn_to_get);
 463                                         corn_to_get->was_collected = true;
 464                                         robot_goto_trans(p->x, p->y, TURN(p->phi), &tcFast);
 465                                         delete(p);
 466                                         where_to_go = CONTAINER;
 467                                 } else {
 468                                         where_to_go = NO_MORE_CORN;
 469                                 }
 470                                 break;
 471                         }
 472                 case EV_MOTION_DONE:
 473                         cnt++;
 474                         FSM_TRANSITION(rush_corns_decider);
 475                         break;
 476                 case EV_START:
 477                 case EV_TIMER:
 478                 case EV_RETURN:
 479                 case EV_VIDLE_DONE:
 480                 case EV_MOTION_ERROR:
 481                 case EV_SWITCH_STRATEGY:
 482                         DBG_PRINT_EVENT("unhandled event");
 483                 case EV_EXIT:
 484                         break;
 485         }
 486 }
 487
 488 FSM_STATE(rush_the_corn)
 489 {
 490         switch(FSM_EVENT) {
 491                 case EV_ENTRY:
 492                         double x;
 493                         if (robot.team_color == BLUE) {
 494                                 x = corn_to_get->position.x;
 495                         } else {
 496                                 x = PLAYGROUND_WIDTH_M - corn_to_get->position.x;
 497                         }
 498                         remove_wall_around_corn(x, corn_to_get->position.y);
 499                         robot_goto_trans(PLAYGROUND_WIDTH_M - 0.4, 0.15, ARRIVE_FROM(DEG2RAD(-90), 0.02), &tcSlow);
 500                         where_to_go = TURN_AROUND;
 501                         break;
 502                 case EV_MOTION_DONE:
 503                         FSM_TRANSITION(rush_corns_decider);
 504                         break;
 505                 case EV_START:
 506                 case EV_TIMER:
 507                 case EV_RETURN:
 508                 case EV_VIDLE_DONE:
 509                 case EV_MOTION_ERROR:
 510                 case EV_SWITCH_STRATEGY:
 511                         DBG_PRINT_EVENT("unhandled event");
 512                 case EV_EXIT:
 513                         break;
 514         }
 515 }
 516
 517 // used to perform the maneuvre
 518 FSM_STATE(turn_around)
 519 {
 520         switch(FSM_EVENT) {
 521                 case EV_ENTRY:
 522                         robot_trajectory_new_backward(&tcFast);
 523                         robot_trajectory_add_final_point_trans(PLAYGROUND_WIDTH_M-0.35, 0.45, TURN_CCW(90));
 524                         break;
 525                 case EV_MOTION_DONE:
 526                         where_to_go = CORN;
 527                         FSM_TRANSITION(rush_corns_decider);
 528                         break;
 529                 case EV_START:
 530                 case EV_TIMER:
 531                 case EV_RETURN:
 532                 case EV_VIDLE_DONE:
 533                 case EV_MOTION_ERROR:
 534                 case EV_SWITCH_STRATEGY:
 535                         DBG_PRINT_EVENT("unhandled event");
 536                 case EV_EXIT:
 537                         break;
 538         }
 539 }