4 * Robot's generic initialization and clean up functions.
6 * Copyright: (c) 2008 CTU Dragons
7 * CTU FEE - Department of Control Engineering
11 #define _XOPEN_SOURCE 500 /* For PTHREAD_PRIO_INHERIT etc. */
14 #include <movehelper.h>
18 #include <robot_orte.h>
23 #include "map_handling.h"
25 #include "actuators.h"
29 UL_LOG_CUST(ulogd_robot); /* Log domain name = ulogd + name of the file */
32 #define MOTION_CONTROL_INIT_ONLY
33 #include "motion-control.h"
35 /* Global definition of robot structure */
38 #ifdef CONFIG_LOCK_CHECKING
39 struct lock_log robot_lock_log;
42 static void block_signals()
48 for (i=SIGRTMIN; i<=SIGRTMAX; i++)
49 sigaddset(&sigset, i);
51 pthread_sigmask(SIG_BLOCK, &sigset, (sigset_t*)NULL);
54 static void int_handler(int sig)
59 void fill_in_known_areas_in_map()
61 /*----- playground width 3.0 m and playground height 2.0 m -----*/
62 /* Ignore other obstacles at edges */
63 ShmapSetRectangleFlag(0.0, 0.0, 0.09, 2.0, MAP_FLAG_IGNORE_OBST, 0); /* left */
64 ShmapSetRectangleFlag(0.0, 0.0, 3.0, 0.09, MAP_FLAG_IGNORE_OBST, 0); /* bottom */
65 ShmapSetRectangleFlag(0.0, 1.91, 3.0, 2.0, MAP_FLAG_IGNORE_OBST, 0); /* top */
66 ShmapSetRectangleFlag(2.91, 0.0, 3.0, 2.0, MAP_FLAG_IGNORE_OBST, 0); /* right */
68 /* Small walls that cannot be detected by hokuyo */
69 ShmapSetRectangleFlag(0.0, 1.49, 0.39, 1.432, MAP_FLAG_WALL, 0);
70 ShmapSetRectangleFlag(3.0, 1.49, 2.61, 1.432, MAP_FLAG_WALL, 0);
71 ShmapSetRectangleFlag(0.325, 0.0, 0.38, 0.74, MAP_FLAG_WALL, 0);
72 ShmapSetRectangleFlag(2.675, 0.0, 2.62, 0.74, MAP_FLAG_WALL, 0);
75 ShmapSetCircleFlag(1.5, 1.0, 0.075, MAP_FLAG_WALL, 0);
78 ShmapSetRectangleFlag(1.01, 0.91, 1.19, 1.09, MAP_FLAG_WALL, 0);
79 ShmapSetRectangleFlag(1.81, 0.91, 1.99, 1.09, MAP_FLAG_WALL, 0);
82 static void trans_callback(struct robo_fsm *fsm)
84 if (fsm == &robot.fsm.main) {
85 strncpy(robot.orte.fsm_main.state_name, fsm->state_name, sizeof(robot.orte.fsm_main.state_name));
86 ORTEPublicationSend(robot.orte.publication_fsm_main);
87 } else if (fsm == &robot.fsm.motion) {
88 strncpy(robot.orte.fsm_motion.state_name, fsm->state_name, sizeof(robot.orte.fsm_motion.state_name));
89 ORTEPublicationSend(robot.orte.publication_fsm_motion);
90 } else if (fsm == &robot.fsm.act) {
91 strncpy(robot.orte.fsm_act.state_name, fsm->state_name, sizeof(robot.orte.fsm_act.state_name));
92 ORTEPublicationSend(robot.orte.publication_fsm_act);
98 * Initializes the robot.
99 * Setup fields in robot structure, initializes FSMs and ORTE.
106 pthread_mutexattr_t mattr;
108 rv = pthread_mutexattr_init(&mattr);
109 #ifdef HAVE_PRIO_INHERIT
110 rv = pthread_mutexattr_setprotocol(&mattr, PTHREAD_PRIO_INHERIT);
112 pthread_mutex_init(&robot.lock, &mattr);
113 pthread_mutex_init(&robot.lock_ref_pos, &mattr);
114 pthread_mutex_init(&robot.lock_est_pos_odo, &mattr);
115 pthread_mutex_init(&robot.lock_est_pos_indep_odo, &mattr);
116 pthread_mutex_init(&robot.lock_meas_angles, &mattr);
117 pthread_mutex_init(&robot.lock_joy_data, &mattr);
118 pthread_mutex_init(&robot.lock_disp, &mattr);
120 fsm_main_loop_init(&robot.main_loop);
122 /* FSM initialization */
123 fsm_init(&robot.fsm.main, "MAIN", &robot.main_loop);
124 fsm_init(&robot.fsm.motion, "\tmot", &robot.main_loop);
125 fsm_init(&robot.fsm.act, "\tACT", &robot.main_loop);
126 robot.fsm.main.transition_callback = trans_callback;
127 robot.fsm.act.transition_callback = trans_callback;
128 robot.fsm.motion.transition_callback = trans_callback;
130 robot.team_color = RED;
132 if (robot.team_color == RED) {
133 ul_loginf("We are RED!\n");
135 ul_loginf("We are BLUE!\n");
138 robot_set_est_pos_trans(ROBOT_START_X_M, ROBOT_START_Y_M, DEG2RAD(ROBOT_START_ANGLE_DEG));
140 robot.ignore_hokuyo = false;
141 robot.map = ShmapInit(1);
142 fill_in_known_areas_in_map();
144 signal(SIGINT, int_handler);
145 signal(SIGTERM, int_handler);
149 robot.orte.motion_speed.left = 0;
150 robot.orte.motion_speed.right = 0;
152 robot.orte.pwr_ctrl.voltage33 = 1;
153 robot.orte.pwr_ctrl.voltage50 = 1;
154 robot.orte.pwr_ctrl.voltage80 = 1;
156 robot.orte.camera_control.on = true;
158 robot.fsm.motion.state = &fsm_state_motion_init;
160 /* Only activate display if it is configured */
162 robot.sercom = uoled_init(serial_comm);
163 if (strcmp(robot.sercom->devname, "/dev/null") != 0)
164 robot.fsm.display.state = &fsm_state_disp_init;
167 robot.obstacle_avoidance_enabled = true;
168 robot.use_back_bumpers = true;
169 robot.use_left_bumper = true;
170 robot.use_right_bumper = true;
171 robot.start_state = POWER_ON;
172 robot.check_turn_safety = true;
174 /* init ORTE domain, create publishers, subscribers, .. */
175 rv = robot_init_orte();
176 act_init(&robot.orte);
182 * Starts the robot FSMs and threads.
190 pthread_attr_t tattr;
191 struct sched_param param;
192 pthread_t thr_obstacle_forgeting;
195 ret = motion_control_init();
197 perror("motion_control_init");
202 /* Obstacle forgeting thread */
203 pthread_attr_init (&tattr);
204 pthread_attr_getschedparam (&tattr, ¶m);
205 pthread_attr_getschedparam (&tattr, ¶m);
206 pthread_attr_setschedpolicy(&tattr, SCHED_FIFO);
207 param.sched_priority = OBST_FORGETING_PRIO;
208 rv = pthread_attr_setschedparam (&tattr, ¶m);
210 perror("robot_start: pthread_attr_setschedparam()");
213 rv = pthread_create(&thr_obstacle_forgeting,
214 &tattr, thread_obstacle_forgeting, NULL);
216 perror("robot_start: pthread_create");
220 sem_init(&robot.start, 0, 0);
222 fsm_main_loop(&robot.main_loop);
229 * Signals all the robot threads to finish.
234 fsm_exit(&robot.fsm.main);
235 fsm_exit(&robot.fsm.motion);
236 fsm_exit(&robot.fsm.act);
240 * Stops the robot. All resources alocated by robot_init() or
241 * robot_start() are dealocated here.
245 motion_control_done();
247 // FIXME: set actuators to well defined position (FJ)
249 robottype_roboorte_destroy(&robot.orte);
251 fsm_destroy(&robot.fsm.main);
252 fsm_destroy(&robot.fsm.motion);
253 fsm_destroy(&robot.fsm.act);
255 ul_logdeb("robofsm: stop.\n");
258 void robot_get_est_pos_trans(double *x, double *y, double *phi)
260 robot_get_est_pos(x, y, phi);
263 *phi = __trans_ang(*phi);
266 void robot_get_est_pos(double *x, double *y, double *phi)
268 if (robot.indep_odometry_works) {
269 ROBOT_LOCK(est_pos_indep_odo);
270 *x = robot.est_pos_indep_odo.x;
271 *y = robot.est_pos_indep_odo.y;
272 *phi = robot.est_pos_indep_odo.phi;
273 ROBOT_UNLOCK(est_pos_indep_odo);
274 } else if (robot.odometry_works) {
275 ROBOT_LOCK(est_pos_odo);
276 *x = robot.est_pos_odo.x;
277 *y = robot.est_pos_odo.y;
278 *phi = robot.est_pos_odo.phi;
279 ROBOT_UNLOCK(est_pos_odo);
282 *x = robot.ref_pos.x;
283 *y = robot.ref_pos.y;
284 *phi = robot.ref_pos.phi;
285 ROBOT_UNLOCK(ref_pos);