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 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                                                 /*
 129                                                 x_coord(SLOPE_TO_RIM_M - ROBOT_AXIS_TO_BACK_M - 0.3, slope_approach_style_p->which_side),
 130                                                 PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) - 0.05,
 131                                                 ARRIVE_FROM(DEG2RAD(0),0.05),
 132                                                 */
 133                                                 x_coord(0.3, slope_approach_style_p->which_side),
 134                                                 PLAYGROUND_HEIGHT_M - ROBOT_WIDTH_M/2 - 0.03,
 135                                                 ARRIVE_FROM(DEG2RAD(0), 0.02),
 136                                                 &tcFast);
 137                                 }
 138                                 break;
 139                         }
 140                 case EV_MOTION_DONE:
 141                         FSM_TRANSITION(climb_the_slope);
 142                         break;
 143                 case EV_START:
 144                 case EV_TIMER:
 145                 case EV_RETURN:
 146                 case EV_VIDLE_DONE:
 147                 case EV_MOTION_ERROR:
 148                 case EV_SWITCH_STRATEGY:
 149                         DBG_PRINT_EVENT("unhandled event");
 150                 case EV_EXIT:
 151                         break;
 152         }
 153 }
 154
 155 void inline enable_switches(bool enabled)
 156 {
 157         robot.use_left_switch = enabled;
 158         robot.use_right_switch = enabled;
 159         robot.use_back_switch = enabled;
 160 }
 161
 162 FSM_STATE(climb_the_slope)
 163 {
 164         switch(FSM_EVENT) {
 165                 case EV_ENTRY: {
 166                                 // disables using side switches on bumpers when going up
 167                                 enable_switches(false);
 168                                 act_vidle(VIDLE_LOAD_PREPARE, 5);
 169                                 robot.ignore_hokuyo = true;
 170                                 /* create the trajectory and go */
 171                                 robot_trajectory_new_backward(&tcSlow);
 172                                 if (slope_approach_style_p->which_oranges == NEAR_PLAYGROUND_BOUNDARY) {
 173                                         robot_trajectory_add_point_trans(
 174                                                 x_coord(SLOPE_TO_RIM_M + SLOPE_LENGTH_M - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
 175                                                 PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) +0.01);
 176                                         robot_trajectory_add_final_point_trans(
 177                                                 x_coord(SLOPE_TO_RIM_M + SLOPE_LENGTH_M - ROBOT_AXIS_TO_BACK_M + 0.07, slope_approach_style_p->which_side),
 178                                                 PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) +0.01,
 179                                                 NO_TURN());
 180                                 } else if (slope_approach_style_p->which_oranges == NEAR_PLAYGROUND_CENTER) {
 181                                         robot_trajectory_add_point_trans(
 182                                                 x_coord(SLOPE_TO_RIM_M + SLOPE_LENGTH_M - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
 183                                                 1.85 - (PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) + 0.01 - 1.85));
 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                                                 NO_TURN());
 188                                 }
 189                                 break;
 190                         }
 191                 case EV_MOTION_DONE:
 192                         SUBFSM_TRANSITION(load_oranges, NULL);
 193                         break;
 194                 case EV_RETURN:
 195                         FSM_TRANSITION(sledge_down);
 196                         break;
 197                 case EV_TIMER:
 198                 case EV_START:
 199                 case EV_VIDLE_DONE:
 200                 case EV_MOTION_ERROR:
 201                 case EV_SWITCH_STRATEGY:
 202                         DBG_PRINT_EVENT("unhandled event");
 203                 case EV_EXIT:
 204                         break;
 205         }
 206 }
 207
 208 /* subautomaton to load oranges in two stages */
 209 FSM_STATE_DECL(load_oranges2);
 210 FSM_STATE(load_oranges)
 211 {
 212         switch(FSM_EVENT) {
 213                 case EV_ENTRY:
 214                         FSM_TIMER(2000);
 215                         act_vidle(VIDLE_MIDDLE, VIDLE_MEDIUM_SPEED);
 216                         break;
 217                 case EV_VIDLE_DONE:
 218                         FSM_TIMER(1000);
 219                         break;
 220                 case EV_TIMER:
 221                         FSM_TRANSITION(load_oranges2);
 222                         break;
 223                 case EV_MOTION_DONE:
 224                 case EV_START:
 225                 case EV_RETURN:
 226                 case EV_MOTION_ERROR:
 227                 case EV_SWITCH_STRATEGY:
 228                         DBG_PRINT_EVENT("unhandled event");
 229                 case EV_EXIT:
 230                         break;
 231         }
 232 }
 233
 234 FSM_STATE(load_oranges2)
 235 {
 236         switch(FSM_EVENT) {
 237                 case EV_ENTRY:
 238                         act_vidle(VIDLE_UP, 5);
 239                         FSM_TIMER(2000);
 240                         break;
 241                 case EV_VIDLE_DONE:
 242                         SUBFSM_RET(NULL);
 243                         break;
 244                 case EV_TIMER:
 245                         SUBFSM_RET(NULL);
 246                         break;
 247                 case EV_MOTION_DONE:
 248                 case EV_START:
 249                 case EV_RETURN:
 250                 case EV_MOTION_ERROR:
 251                 case EV_SWITCH_STRATEGY:
 252                         DBG_PRINT_EVENT("unhandled event");
 253                 case EV_EXIT:
 254                         act_vidle(VIDLE_UP-1, VIDLE_FAST_SPEED);
 255                         break;
 256         }
 257 }
 258
 259 FSM_STATE(sledge_down)
 260 {
 261         struct TrajectoryConstraints tc;
 262         switch(FSM_EVENT) {
 263                 case EV_ENTRY:
 264                         tc = tcFast;
 265                         tc.maxe = 0.5;
 266                         robot_trajectory_new(&tc);
 267
 268                         if (slope_approach_style_p->which_oranges == NEAR_PLAYGROUND_BOUNDARY) {
 269                                 robot_trajectory_add_point_trans(
 270                                         x_coord(1.2 - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
 271                                         PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2)+0.01);
 272                                 robot_trajectory_add_point_trans(
 273                                         x_coord(1.0 - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
 274                                         PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) - 0.01);
 275                                 robot_trajectory_add_point_trans(
 276                                         x_coord(0.8 - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
 277                                         PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) - 0.05);
 278                                 robot_trajectory_add_point_trans(
 279                                         x_coord(0.6 - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
 280                                         PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) - 0.10);
 281                                 robot_trajectory_add_final_point_trans(
 282                                         x_coord(0.5 - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
 283                                         PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) - 0.17,
 284                                         NO_TURN());
 285                         } else if (slope_approach_style_p->which_oranges == NEAR_PLAYGROUND_CENTER) {
 286                                 robot_trajectory_add_point_trans(
 287                                         x_coord(1 - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
 288                                         1.85 - (PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2)+0.01 - 1.85));
 289                                 robot_trajectory_add_final_point_trans(
 290                                         x_coord(SLOPE_TO_RIM_M - ROBOT_AXIS_TO_BACK_M - 0.2, slope_approach_style_p->which_side),
 291                                         1.85 - (PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2)+0.01 - 1.85),
 292                                         NO_TURN());
 293                         }
 294                         /* robot_trajectory_add_point_trans(
 295                                 x_coord(1 - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
 296                                 y_coord(PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2)+0.01, slope_approach_style_p->which_oranges));
 297                         robot_trajectory_add_point_trans(
 298                                 x_coord(SLOPE_TO_RIM_M - ROBOT_AXIS_TO_BACK_M - 0.20, slope_approach_style_p->which_side),
 299                                 y_coord(PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) - 0.08, slope_approach_style_p->which_oranges));
 300                         robot_trajectory_add_final_point_trans(
 301                                 x_coord(SLOPE_TO_RIM_M - ROBOT_AXIS_TO_BACK_M - 0.26, slope_approach_style_p->which_side),
 302                                 y_coord(PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) - 0.14, slope_approach_style_p->which_oranges),
 303                                 NO_TURN()); */
 304                         break;
 305                 case EV_MOTION_DONE:
 306                         /* just for sure, try to close it one more time */
 307                         act_vidle(VIDLE_UP, VIDLE_FAST_SPEED);
 308                         SUBFSM_RET(NULL);
 309                         delete(slope_approach_style_p);
 310                         break;
 311                 case EV_START:
 312                 case EV_TIMER:
 313                 case EV_RETURN:
 314                 case EV_VIDLE_DONE:
 315                 case EV_MOTION_ERROR:
 316                 case EV_SWITCH_STRATEGY:
 317                         DBG_PRINT_EVENT("unhandled event");
 318                         break;
 319                 case EV_EXIT:
 320                         // enables using side switches on bumpers
 321                         enable_switches(true);
 322                         robot.ignore_hokuyo = false;
 323                         robot.check_turn_safety = true;
 324
 325                         break;
 326         }
 327 }
 328
 329 /************************************************************************
 330  * The "unload our oranges" subautomaton
 331  ************************************************************************/
 332
 333 FSM_STATE(to_cntainer_and_unld)
 334 {
 335         switch(FSM_EVENT) {
 336                 case EV_ENTRY:
 337                         /*
 338                         if (slope_approach_style_p->which_side == MINE) {
 339                                 robot_trajectory_new(&tcFast);
 340                                 // face the rim with front of the robot
 341                                 //robot_trajectory_add_final_point_trans(PLAYGROUND_WIDTH_M-0.35, 0.12, ARRIVE_FROM(DEG2RAD(-90), 0.10));
 342                                 // face the rim with back of the robot
 343                                 robot_trajectory_add_point_trans(PLAYGROUND_WIDTH_M-0.6, 0.35);
 344                                 robot_trajectory_add_final_point_trans(PLAYGROUND_WIDTH_M-0.35, 0.45, ARRIVE_FROM(DEG2RAD(90),0.05));
 345                         } else { */
 346                                 robot_goto_trans(PLAYGROUND_WIDTH_M-0.35, 0.45, ARRIVE_FROM(DEG2RAD(90),0.05), &tcFast);
 347                         //}
 348                         break;
 349                 case EV_MOTION_DONE:
 350                         FSM_TIMER(3000); // FIXME: test this
 351                         act_vidle(VIDLE_DOWN, VIDLE_FAST_SPEED);
 352                         break;
 353                 case EV_TIMER:
 354                         act_vidle(VIDLE_UP, VIDLE_FAST_SPEED);
 355                         SUBFSM_RET(NULL);
 356                         break;
 357                 case EV_START:
 358                 case EV_RETURN:
 359                 case EV_VIDLE_DONE:
 360                 case EV_MOTION_ERROR:
 361                 case EV_SWITCH_STRATEGY:
 362                         DBG_PRINT_EVENT("unhandled event");
 363                 case EV_EXIT:
 364                         break;
 365         }
 366 }
 367
 368 /************************************************************************
 369  * The "collect corns" subautomaton
 370  ************************************************************************/
 371
 372 static enum where_to_go {
 373         CORN,
 374         TURN_AROUND,
 375         CONTAINER,
 376         NO_MORE_CORN
 377 } where_to_go = CORN;
 378
 379 static struct corn *corn_to_get;
 380
 381 FSM_STATE(rush_corns_decider)
 382 {
 383         switch(FSM_EVENT) {
 384                 case EV_ENTRY:
 385                         if (where_to_go == CORN) {
 386                                 FSM_TRANSITION(approach_next_corn);
 387                         } else if (where_to_go == CONTAINER) {
 388                                 FSM_TRANSITION(rush_the_corn);
 389                         } else if (where_to_go == TURN_AROUND) {
 390                                 FSM_TRANSITION(turn_around);
 391                         } else /* NO_MORE_CORN */ {
 392                         }
 393                         break;
 394                 case EV_START:
 395                 case EV_TIMER:
 396                 case EV_RETURN:
 397                 case EV_VIDLE_DONE:
 398                 case EV_MOTION_DONE:
 399                 case EV_MOTION_ERROR:
 400                 case EV_SWITCH_STRATEGY:
 401                         DBG_PRINT_EVENT("unhandled event");
 402                 case EV_EXIT:
 403                         break;
 404         }
 405 }
 406
 407 static int cnt = 0;
 408 FSM_STATE(approach_next_corn)
 409 {
 410         switch(FSM_EVENT) {
 411                 case EV_ENTRY: {
 412                                 double x, y, phi;
 413                                 robot_get_est_pos(&x, &y, &phi);
 414                                 printf("approach_next_corn: puck cnt: %d, est pos %.3f, %.3f, %.3f\n",
 415                                         cnt, x, y, phi);
 416
 417                                 corn_to_get = choose_next_corn();
 418                                 if (corn_to_get) {
 419                                         Pos *p = get_corn_approach_position(corn_to_get);
 420                                         corn_to_get->was_collected = true;
 421                                         //robot_trajectory_new(&tcFast);
 422                                         //robot_trajectory_add_final_point_trans(robot_trajectory_add_final_point_trans(p->x, p->y, TURN(p->phi));
 423                                         robot_goto_trans(p->x, p->y, TURN(p->phi), &tcFast);
 424                                         delete(p);
 425                                         where_to_go = CONTAINER;
 426                                 } else {
 427                                         where_to_go = NO_MORE_CORN;
 428                                 }
 429                                 break;
 430                         }
 431                 case EV_MOTION_DONE:
 432                         cnt++;
 433                         FSM_TRANSITION(rush_corns_decider);
 434                         break;
 435                 case EV_START:
 436                 case EV_TIMER:
 437                 case EV_RETURN:
 438                 case EV_VIDLE_DONE:
 439                 case EV_MOTION_ERROR:
 440                 case EV_SWITCH_STRATEGY:
 441                         DBG_PRINT_EVENT("unhandled event");
 442                 case EV_EXIT:
 443                         break;
 444         }
 445 }
 446
 447 FSM_STATE(rush_the_corn)
 448 {
 449         switch(FSM_EVENT) {
 450                 case EV_ENTRY:
 451                         double x;
 452                         if (robot.team_color == BLUE) {
 453                                 x = corn_to_get->position.x;
 454                         } else {
 455                                 x = PLAYGROUND_WIDTH_M - corn_to_get->position.x;
 456                         }
 457                         remove_wall_around_corn(x, corn_to_get->position.y);
 458                         robot_goto_trans(PLAYGROUND_WIDTH_M - 0.4, 0.15, ARRIVE_FROM(DEG2RAD(-90), 0.02), &tcFast);
 459                         where_to_go = TURN_AROUND;
 460                         break;
 461                 case EV_MOTION_DONE:
 462                         FSM_TRANSITION(rush_corns_decider);
 463                         break;
 464                 case EV_START:
 465                 case EV_TIMER:
 466                 case EV_RETURN:
 467                 case EV_VIDLE_DONE:
 468                 case EV_MOTION_ERROR:
 469                 case EV_SWITCH_STRATEGY:
 470                         DBG_PRINT_EVENT("unhandled event");
 471                 case EV_EXIT:
 472                         break;
 473         }
 474 }
 475
 476 // used to perform the maneuvre
 477 FSM_STATE(turn_around)
 478 {
 479         switch(FSM_EVENT) {
 480                 case EV_ENTRY:
 481                         robot_trajectory_new_backward(&tcFast);
 482                         robot_trajectory_add_final_point_trans(PLAYGROUND_WIDTH_M-0.35, 0.45, TURN_CCW(90));
 483                         break;
 484                 case EV_MOTION_DONE:
 485                         where_to_go = CORN;
 486                         FSM_TRANSITION(rush_corns_decider);
 487                         break;
 488                 case EV_START:
 489                 case EV_TIMER:
 490                 case EV_RETURN:
 491                 case EV_VIDLE_DONE:
 492                 case EV_MOTION_ERROR:
 493                 case EV_SWITCH_STRATEGY:
 494                         DBG_PRINT_EVENT("unhandled event");
 495                 case EV_EXIT:
 496                         break;
 497         }
 498 }