src/robofsm/robot_orte.c

   1 /**
   2  * @file robot_orte.c
   3  * @date 2008-2010
   4  *
   5  * @brief Module providing communication through ORTE
   6  */
   7
   8 /*
   9  * robot_orte.c                 08/04/21
  10  *
  11  * Robot's orte stuffs.
  12  *
  13  * Copyright: (c) 2008-2010 CTU Dragons
  14  *            CTU FEE - Department of Control Engineering
  15  * License: GNU GPL v.2
  16  */
  17
  18 #include <orte.h>
  19 #include <roboorte_robottype.h>
  20 #include "robodata.h"
  21 #include <robot.h>
  22 #include <movehelper.h>
  23 #include <math.h>
  24 #include <robomath.h>
  25 #include "map_handling.h"
  26 #include "match-timing.h"
  27 #include <string.h>
  28 #include <can_msg_def.h>
  29 #include <actuators.h>
  30 #include <ul_log.h>
  31 #include <lidar_params.h>
  32
  33 UL_LOG_CUST(ulogd_robot_orte); /* Log domain name = ulogd + name of the file */
  34
  35 #ifdef ORTE_DEBUG
  36    #define DBG(format, ...) ul_logdeb(format, ##__VA_ARGS__)
  37 #else
  38    #define DBG(format, ...)
  39 #endif
  40
  41 /*****FIXME:*****/
  42 extern sem_t measurement_received;
  43
  44 /* ----------------------------------------------------------------------
  45  * PUBLISHER CALLBACKS - GENERIC
  46  * ---------------------------------------------------------------------- */
  47
  48 void send_ref_pos_cb(const ORTESendInfo *info, void *vinstance,
  49                         void *sendCallBackParam)
  50 {
  51         struct robot_pos_type *instance = (struct robot_pos_type *)vinstance;
  52
  53         ROBOT_LOCK(ref_pos);
  54         *instance = robot.ref_pos;
  55         ROBOT_UNLOCK(ref_pos);
  56 }
  57
  58 void send_est_pos_odo_cb(const ORTESendInfo *info, void *vinstance,
  59                         void *sendCallBackParam)
  60 {
  61         struct robot_pos_type *instance = (struct robot_pos_type *)vinstance;
  62
  63         ROBOT_LOCK(est_pos_odo);
  64         *instance = robot.est_pos_odo;
  65         ROBOT_UNLOCK(est_pos_odo);
  66 }
  67
  68 void send_est_pos_indep_odo_cb(const ORTESendInfo *info, void *vinstance,
  69                         void *sendCallBackParam)
  70 {
  71         struct robot_pos_type *instance = (struct robot_pos_type *)vinstance;
  72
  73         ROBOT_LOCK(est_pos_indep_odo);
  74         *instance = robot.est_pos_indep_odo;
  75         ROBOT_UNLOCK(est_pos_indep_odo);
  76 }
  77
  78 static void send_est_pos_best_cb(const ORTESendInfo *info, void *vinstance,
  79                         void *sendCallBackParam)
  80 {
  81         struct robot_pos_type *instance = (struct robot_pos_type *)vinstance;
  82
  83         robot_get_est_pos(&instance->x, &instance->y, &instance->phi);
  84 }
  85
  86 void send_dummy_cb(const ORTESendInfo *info, void *vinstance,
  87                         void *sendCallBackParam)
  88 {
  89 }
  90
  91 void send_match_time_cb(const ORTESendInfo *info, void *vinstance,
  92                         void *sendCallBackParam)
  93 {
  94         struct match_time_type *instance = (struct match_time_type *)vinstance;
  95
  96         if (robot.start_state == POWER_ON || robot.start_state == START_PLUGGED_IN) {
  97                 instance->time = 600;
  98         } else {
  99                 instance->time = 600 - robot_current_time();
 100         }
 101 }
 102 /* ----------------------------------------------------------------------
 103  * SUBSCRIBER CALLBACKS - GENERIC
 104  * ---------------------------------------------------------------------- */
 105 void rcv_odo_data_cb(const ORTERecvInfo *info, void *vinstance,
 106                         void *recvCallBackParam)
 107 {
 108         struct odo_data_type *instance = (struct odo_data_type *)vinstance;
 109         double dleft, dright, dtang, dphi;
 110         static bool first_run = true;
 111         /* spocitat prevodovy pomer */
 112         const double n = (double)(1.0 / 1.0);
 113
 114         /* vzdalenost na pulz IRC */
 115         const double c = (M_PI*2*ODOMETRY_WHEEL_RADIUS_M) / (n * 4*4096.0);
 116
 117         switch (info->status) {
 118                 case NEW_DATA:
 119                         if (first_run) {
 120                                 ROBOT_LOCK(odo_data);
 121                                 robot.odo_data = *instance;
 122                                 ROBOT_UNLOCK(odo_data);
 123                                 first_run = false;
 124                                 break;
 125                         }
 126
 127                         dleft = ((robot.odo_data.left - instance->left) >> 8) * c * robot.odo_cal_a;    // TODO >> 8 ?
 128                         dright = ((instance->right - robot.odo_data.right) >> 8) * c * robot.odo_cal_b;
 129
 130                         dtang = (dleft + dright) / 2.0;
 131                         dphi = (dright - dleft) / (2.0*ODOMETRY_ROTATION_RADIUS_M);
 132
 133                         ROBOT_LOCK(est_pos_indep_odo);
 134                         robot.odo_distance_a +=dleft;
 135                         robot.odo_distance_b +=dright;
 136                         double a = robot.est_pos_indep_odo.phi;
 137                         robot.est_pos_indep_odo.x += dtang*cos(a);
 138                         robot.est_pos_indep_odo.y += dtang*sin(a);
 139                         robot.est_pos_indep_odo.phi += dphi;
 140                         ROBOT_UNLOCK(est_pos_indep_odo);
 141
 142                         ROBOT_LOCK(odo_data);
 143                         robot.odo_data = *instance;
 144                         ROBOT_UNLOCK(odo_data);
 145
 146                         robot.indep_odometry_works = true;
 147
 148                         /* wake up motion-control/thread_trajectory_follower */
 149                         sem_post(&measurement_received);
 150
 151                         //robot.hw_status[COMPONENT_ODO] = STATUS_OK;
 152                         break;
 153                 case DEADLINE:
 154                         robot.indep_odometry_works = false;
 155                         //robot.hw_status[COMPONENT_ODO] = STATUS_FAILED;
 156                         DBG("ORTE deadline occurred - odo_data receive\n");
 157                         break;
 158         }
 159 }
 160
 161 void rcv_motion_irc_cb(const ORTERecvInfo *info, void *vinstance,
 162                         void *recvCallBackParam)
 163 {
 164         struct motion_irc_type *instance = (struct motion_irc_type *)vinstance;
 165         double dleft, dright, dtang, dphi;
 166         static bool first_run = true;
 167         /* spocitat prevodovy pomer */
 168         const double n = (double)(ROBOT_MOTOR_GEARBOX_RATIO / 1.0);
 169
 170         /* vzdalenost na pulz IRC */
 171         const double c = (M_PI*2*ROBOT_WHEEL_RADIUS_M) / (n * 4*ROBOT_MOTOR_IRC_RESOLUTION);
 172         switch (info->status) {
 173                 case NEW_DATA:
 174                         if (first_run) {
 175                                 ROBOT_LOCK(motion_irc);
 176                                 robot.motion_irc = *instance;
 177                                 ROBOT_UNLOCK(motion_irc);
 178                                 first_run = false;
 179                                 break;
 180                         }
 181
 182
 183                         /* FIXME maybe it is not correct to do this nasty hack here (switch dleft and dright),
 184                         what is the right solution?
 185                         This was neccessary to view motor odometry correctly in robomon. */
 186                         dright = ((robot.motion_irc.left - instance->left) >> 8) * c;
 187                         dleft = ((instance->right - robot.motion_irc.right) >> 8) * c;
 188
 189                         dtang = (dleft + dright) / 2.0;
 190                         dphi = (dright - dleft) / (2.0*ROBOT_ROTATION_RADIUS_M);
 191
 192                         ROBOT_LOCK(est_pos_odo);
 193                         double a = robot.est_pos_odo.phi;
 194                         robot.est_pos_odo.x += dtang*cos(a);
 195                         robot.est_pos_odo.y += dtang*sin(a);
 196                         robot.est_pos_odo.phi += dphi;
 197                         ROBOT_UNLOCK(est_pos_odo);
 198
 199                         /* locking should not be needed, but... */
 200                         ROBOT_LOCK(motion_irc);
 201                         robot.motion_irc = *instance;
 202                         robot.motion_irc_received = 1;
 203                         ROBOT_UNLOCK(motion_irc);
 204
 205                         robot.odometry_works = true;
 206
 207                         robot.status[COMPONENT_MOTOR] = STATUS_OK;
 208                         break;
 209                 case DEADLINE:
 210                         robot.odometry_works = false;
 211                         robot.status[COMPONENT_MOTOR] = STATUS_FAILED;
 212                         DBG("ORTE deadline occurred - motion_irc receive\n");
 213                         break;
 214         }
 215 }
 216
 217 void rcv_motion_speed_cb(const ORTERecvInfo *info, void *vinstance,
 218                         void *recvCallBackParam)
 219 {
 220         switch (info->status) {
 221                 case NEW_DATA:
 222                         break;
 223                 case DEADLINE:
 224                         DBG("ORTE deadline occurred - motion_speed receive\n");
 225                         break;
 226         }
 227 }
 228
 229 void rcv_motion_status_cb(const ORTERecvInfo *info, void *vinstance,
 230                         void *recvCallBackParam)
 231 {
 232         switch (info->status) {
 233                 case NEW_DATA:
 234                         break;
 235                 case DEADLINE:
 236                         DBG("ORTE deadline occurred - motion_status receive\n");
 237                         break;
 238         }
 239 }
 240
 241 void rcv_pwr_voltage_cb(const ORTERecvInfo *info, void *vinstance,
 242                         void *recvCallBackParam)
 243 {
 244         switch (info->status) {
 245                 case NEW_DATA:
 246                         robot.status[COMPONENT_POWER]=STATUS_OK;
 247                         break;
 248                 case DEADLINE:
 249                         robot.status[COMPONENT_POWER]=STATUS_FAILED;
 250                         DBG("ORTE deadline occurred - pwr_voltage receive\n");
 251                         break;
 252         }
 253 }
 254
 255 void rcv_pwr_ctrl_cb(const ORTERecvInfo *info, void *vinstance,
 256                         void *recvCallBackParam)
 257 {
 258         switch (info->status) {
 259                 case NEW_DATA:
 260                         break;
 261                 case DEADLINE:
 262                         DBG("ORTE deadline occurred - pwr_ctrl receive\n");
 263                         break;
 264         }
 265 }
 266
 267 void rcv_robot_cmd_cb(const ORTERecvInfo *info, void *vinstance,
 268                         void *recvCallBackParam)
 269 {
 270         struct robot_cmd_type *instance = (struct robot_cmd_type *)vinstance;
 271         static struct robot_cmd_type last_instance;
 272
 273         switch (info->status) {
 274                 case NEW_DATA:
 275                         /* Stupid way of controlling the robot by
 276                          * pluggin in and out start connector. */
 277                         switch (robot.start_state) {
 278                                 case POWER_ON:
 279                                         if (!instance->start_condition) {
 280                                                 robot.status[COMPONENT_START] = STATUS_WARNING;
 281                                                 robot.start_state = START_PLUGGED_IN;
 282                                                 ul_logmsg("START_PLUGGED_IN\n");
 283                                         }
 284                                         break;
 285
 286                                 case START_PLUGGED_IN:
 287                                         robot.status[COMPONENT_START] = STATUS_OK;
 288                                         /* Competition starts when plugged out */
 289                                         if (instance->start_condition) {
 290                                                 FSM_SIGNAL(MAIN, EV_START, NULL);
 291                                                 robot.start_state = COMPETITION_STARTED;
 292                                                 ul_logmsg("STARTED\n");
 293                                         }
 294                                         break;
 295
 296                                 case COMPETITION_STARTED: {
 297                                         /* Subsequent plug-in stops the robot */
 298                                         static int num = 0;
 299                                         if (!instance->start_condition) {
 300                                                 robot.status[COMPONENT_START] = STATUS_WARNING;
 301                                                 if (++num == 10)
 302                                                         robot_exit();
 303                                         }
 304                                         break;
 305                                 }
 306                         }
 307                         last_instance = *instance;
 308                         break;
 309                 case DEADLINE:
 310                         robot.status[COMPONENT_START] = STATUS_FAILED;
 311                         DBG("ORTE deadline occurred - robot_cmd receive\n");
 312                         break;
 313         }
 314 }
 315
 316 void rcv_hokuyo_scan_cb(const ORTERecvInfo *info, void *vinstance,
 317                         void *recvCallBackParam)
 318 {
 319         struct lidar_scan_type *instance = (struct lidar_scan_type *)vinstance;
 320
 321         switch (info->status) {
 322                 case NEW_DATA: {
 323                         ROBOT_LOCK(hokuyo);
 324                         robot.hokuyo = *instance;
 325                         robot.status[COMPONENT_HOKUYO] = STATUS_OK;
 326                         ROBOT_UNLOCK(hokuyo);
 327                         if(!robot.ignore_hokuyo)
 328                         {
 329                                 //update_map_lidar(&hokuyo_params, instance);
 330                         }
 331                         break;
 332                 }
 333                 case DEADLINE:
 334                         robot.status[COMPONENT_HOKUYO] = STATUS_FAILED;
 335                         //system("killall -9 hokuyo");
 336                         DBG("%s: ORTE deadline occurred\n", __FUNCTION__);
 337                         break;
 338         }
 339 }
 340
 341 void rcv_sick_scan_cb(const ORTERecvInfo *info, void *vinstance,
 342                         void *recvCallBackParam)
 343 {
 344         struct lidar_scan_type *instance = (struct lidar_scan_type *)vinstance;
 345
 346         switch (info->status) {
 347                 case NEW_DATA: {
 348                         ROBOT_LOCK(sick);
 349                         robot.sick = *instance;
 350                         robot.status[COMPONENT_SICK] = STATUS_OK;
 351                         ROBOT_UNLOCK(sick);
 352                         if(!robot.ignore_sick)
 353                         {
 354                                 update_map_lidar(&sick_params, instance);
 355                         }
 356                         break;
 357                 }
 358                 case DEADLINE:
 359                         robot.status[COMPONENT_SICK] = STATUS_FAILED;
 360                         DBG("%s: ORTE deadline occurred\n", __FUNCTION__);
 361                         break;
 362         }
 363 }
 364
 365 void rcv_camera_result_cb(const ORTERecvInfo *info, void *vinstance,
 366                         void *recvCallBackParam)
 367 {
 368         struct camera_result_type *instance = (struct camera_result_type *)vinstance;
 369         static bool last_response = false;
 370
 371         switch (info->status) {
 372                 case NEW_DATA: {
 373                         if (instance->data_valid && instance->data_valid != last_response) {
 374                                 ROBOT_LOCK(camera_result);
 375                                 robot.target_valid = instance->target_valid;
 376                                 robot.target_ang = instance->angle_deg;
 377                                 ROBOT_UNLOCK(camera_result);
 378                                 FSM_SIGNAL(MAIN, EV_CAMERA_DONE, NULL);
 379                         }
 380                         last_response = instance->data_valid;
 381                         break;
 382                 }
 383                 case DEADLINE:
 384                         if (robot.orte.camera_control.on) {
 385                                 robot.status[COMPONENT_CAMERA] = STATUS_FAILED;
 386                         }
 387
 388                         DBG("%s: ORTE deadline occurred\n", __FUNCTION__);
 389                         break;
 390         }
 391 }
 392 /* ----------------------------------------------------------------------
 393  * SUBSCRIBER CALLBACKS - EB2008
 394  * ---------------------------------------------------------------------- */
 395
 396
 397 void rcv_robot_switches_cb(const ORTERecvInfo *info, void *vinstance,
 398                            void *recvCallBackParam)
 399 {
 400         struct robot_switches_type *instance = (struct robot_switches_type *)vinstance;
 401         static bool last_strategy;
 402         switch (info->status) {
 403                 case NEW_DATA:
 404                         robot.team_color = instance->team_color;
 405
 406                         if (!last_strategy && instance->strategy) {
 407                                         /* strategy switching */
 408                                         FSM_SIGNAL(MAIN, EV_SWITCH_STRATEGY, NULL);
 409                         }
 410                         last_strategy = instance->strategy;
 411                         break;
 412                 case DEADLINE:
 413                         break;
 414         }
 415 }
 416
 417 void rcv_robot_bumpers_cb(const ORTERecvInfo *info, void *vinstance,
 418                            void *recvCallBackParam)
 419 {
 420         struct robot_bumpers_type *instance = (struct robot_bumpers_type *)vinstance;
 421         static bool last_left, last_right;
 422         switch (info->status) {
 423                 case NEW_DATA:
 424                         if (instance->bumper_right_across || instance->bumper_left_across || instance->bumper_rear_left || instance->bumper_rear_right)
 425                                 FSM_SIGNAL(MOTION, EV_OBSTACLE_BEHIND, NULL);
 426
 427                         if (instance->bumper_left || instance->bumper_right) {
 428                                 FSM_SIGNAL(MOTION, EV_OBSTACLE_SIDE, NULL);
 429                         }
 430                         break;
 431                 case DEADLINE:
 432                         break;
 433         }
 434 }
 435
 436 void rcv_cl_sensor_status_cb(const ORTERecvInfo *info, void *vinstance,
 437                            void *recvCallBackParam)
 438 {
 439         struct cl_sensor_status_type *instance = (struct cl_sensor_status_type *)vinstance;
 440         static bool last_pattern_match = 0;
 441         switch (info->status) {
 442                 case NEW_DATA:
 443                         if ((last_pattern_match != instance->pattern_match) && instance->pattern_match)
 444                                 FSM_SIGNAL(MAIN, EV_OMRON_DONE, NULL);
 445
 446                         last_pattern_match = instance->pattern_match;
 447                         break;
 448                 case DEADLINE:
 449                         break;
 450         }
 451 }
 452
 453 #define HIST_CNT 5
 454 #if 0
 455 static int cmp_double(const void *v1, const void *v2)
 456 {
 457         const double *d1 = v1, *const d2 = v2;
 458         if (d1 < d2)
 459                 return -1;
 460         else if (d1 > d2)
 461                 return +1;
 462         else
 463                 return 0;
 464 }
 465 #endif
 466
 467 int robot_init_orte()
 468 {
 469         int rv = 0;
 470
 471         robot.orte.strength = 20;
 472
 473         rv = robottype_roboorte_init(&robot.orte);
 474         if (rv)
 475                 return rv;
 476
 477         /* creating publishers */
 478         robottype_publisher_motion_speed_create(&robot.orte, NULL, &robot.orte);
 479         robottype_publisher_ref_pos_create(&robot.orte, send_ref_pos_cb, &robot.orte);
 480         robottype_publisher_est_pos_odo_create(&robot.orte, send_est_pos_odo_cb, &robot.orte);
 481         robottype_publisher_est_pos_indep_odo_create(&robot.orte, send_est_pos_indep_odo_cb, &robot.orte);
 482         robottype_publisher_est_pos_best_create(&robot.orte, send_est_pos_best_cb, &robot.orte);
 483         robottype_publisher_match_time_create(&robot.orte, send_match_time_cb, &robot.orte);
 484         //???robottype_publisher_pwr_ctrl_create(&robot.orte, NULL, &robot.orte);
 485
 486         // I didn't know what was the difference between the callback function pointer
 487         // being NULL and being set to pointer to empty send_dummy_cb function. The DIFFERENCE
 488         // IS CRUCIAL!
 489         //   - NULL: message is published only when OrtePublicationSend called
 490         //   - pointer to empty function: message is published periodically
 491         robottype_publisher_fsm_main_create(&robot.orte, send_dummy_cb, &robot.orte);
 492         robottype_publisher_fsm_act_create(&robot.orte, send_dummy_cb, &robot.orte);
 493         robottype_publisher_fsm_motion_create(&robot.orte, send_dummy_cb, &robot.orte);
 494         robottype_publisher_camera_control_create(&robot.orte, send_dummy_cb, &robot.orte);
 495         /* create generic subscribers */
 496         robottype_subscriber_odo_data_create(&robot.orte, rcv_odo_data_cb, &robot.orte);
 497         robottype_subscriber_motion_irc_create(&robot.orte, rcv_motion_irc_cb, &robot.orte);
 498         robottype_subscriber_motion_speed_create(&robot.orte, rcv_motion_speed_cb, &robot.orte);
 499         robottype_subscriber_motion_status_create(&robot.orte, rcv_motion_status_cb, &robot.orte);
 500         robottype_subscriber_pwr_voltage_create(&robot.orte, rcv_pwr_voltage_cb, &robot.orte);
 501         //robottype_subscriber_pwr_ctrl_create(&robot.orte, rcv_pwr_ctrl_cb, &robot.orte);
 502         robottype_subscriber_robot_cmd_create(&robot.orte, rcv_robot_cmd_cb, &robot.orte);
 503         robottype_subscriber_sick_scan_create(&robot.orte, rcv_sick_scan_cb, &robot.orte);
 504         robottype_subscriber_robot_switches_create(&robot.orte, rcv_robot_switches_cb, &robot.orte);
 505         robottype_subscriber_robot_bumpers_create(&robot.orte, rcv_robot_bumpers_cb, &robot.orte);
 506         robottype_subscriber_camera_result_create(&robot.orte, rcv_camera_result_cb, &robot.orte);
 507         robottype_subscriber_cl_sensor_status_create(&robot.orte, rcv_cl_sensor_status_cb, &robot.orte);
 508
 509         return rv;
 510 }
 511