/*
- * robot_eb2008.c 08/04/20
+ * robot_demo2011.c
*
* Robot's generic initialization and clean up functions.
*
#include "map_handling.h"
#include <string.h>
#include "actuators.h"
-#include "corns_configs.h"
#include <robodim.h>
#include <ul_log.h>
-extern UL_LOG_CUST(ulogd_robot); /* Log domain name = ulogf + name of the file */
+UL_LOG_CUST(ulogd_robot); /* Log domain name = ulogd + name of the file */
#define MOTION_CONTROL_INIT_ONLY
#include "motion-control.h"
+#include "robot.h"
/* Global definition of robot structure */
struct robot robot;
void fill_in_known_areas_in_map()
{
- /* Do not plan path close to edges */
- //ShmapSetRectangleFlag(0.0, 0.0, 0.26, 2.1, MAP_FLAG_WALL, 0); /* left */
- //ShmapSetRectangleFlag(0.0, 0.0, 3.0, 0.26, MAP_FLAG_WALL, 0); /* bottom */
- //ShmapSetRectangleFlag(0.0, 1.84, 3.0, 2.1, MAP_FLAG_WALL, 0); /* top */
- //ShmapSetRectangleFlag(2.74, 0.0, 3.0, 2.1, MAP_FLAG_WALL, 0); /* right */
-
- /* Container surroundings */
- ShmapSetRectangleFlag(0.0, 0.0, 0.4, 0.2, 0, MAP_FLAG_WALL); /* left container */
- ShmapSetRectangleFlag(3.0, 0.0, 2.6, 0.2, 0, MAP_FLAG_WALL); /* right container */
-
+ /*----- playground width 3.0 m and playground height 2.0 m -----*/
/* Ignore other obstacles at edges */
- ShmapSetRectangleFlag(0.0, 0.0, 0.09, 2.1, MAP_FLAG_IGNORE_OBST, 0); /* left */
+ ShmapSetRectangleFlag(0.0, 0.0, 0.09, 2.0, MAP_FLAG_IGNORE_OBST, 0); /* left */
ShmapSetRectangleFlag(0.0, 0.0, 3.0, 0.09, MAP_FLAG_IGNORE_OBST, 0); /* bottom */
- ShmapSetRectangleFlag(0.0, 2.01, 3.0, 2.1, MAP_FLAG_IGNORE_OBST, 0); /* top */
- ShmapSetRectangleFlag(2.91, 0.0, 3.0, 2.1, MAP_FLAG_IGNORE_OBST, 0); /* right */
- ShmapSetRectangleFlag(1.0, 1.5, 1.95, 2.1, MAP_FLAG_IGNORE_OBST, 0); /* rised area */
-
- ShmapSetRectangleFlag(0.6, 1.45, 2.45, 1.55, MAP_FLAG_WALL, 0); /* plateau, slopes */
- ShmapSetRectangleFlag(1.46, PLAYGROUND_HEIGHT_M - 0.5, 1.57, PLAYGROUND_HEIGHT_M, MAP_FLAG_WALL, 0); /* plateau, slopes */
+ ShmapSetRectangleFlag(0.0, 1.91, 3.0, 2.0, MAP_FLAG_IGNORE_OBST, 0); /* top */
+ ShmapSetRectangleFlag(2.91, 0.0, 3.0, 2.0, MAP_FLAG_IGNORE_OBST, 0); /* right */
+
+ /* Small walls that cannot be detected by hokuyo */
+ ShmapSetRectangleFlag(0.0, 1.49, 0.39, 1.432, MAP_FLAG_WALL, 0);
+ ShmapSetRectangleFlag(3.0, 1.49, 2.61, 1.432, MAP_FLAG_WALL, 0);
+ ShmapSetRectangleFlag(0.325, 0.0, 0.38, 0.74, MAP_FLAG_WALL, 0);
+ ShmapSetRectangleFlag(2.675, 0.0, 2.62, 0.74, MAP_FLAG_WALL, 0);
- /* corns */
- struct corns_group *corns = get_all_corns(0, 0);
- struct corn * corn;
- for(corn = corns->corns; corn < &corns->corns[corns->corns_count]; corn++) {
- ShmapSetCircleFlag(corn->position.x, corn->position.y, CORN_NEIGHBOURHOOD_RADIUS_M, MAP_FLAG_WALL, 0);
- }
- dispose_corns_group(corns); // robot.corns will be set later, when the corns' configuration is known
-
- ShmapSetRectangleFlag(0.32, 0.25, 0.38, 0.55, 0, MAP_FLAG_WALL); /* destination position near blue container */
- ShmapSetRectangleFlag(2.62, 0.25, 2.68, 0.55, 0, MAP_FLAG_WALL); /* destination position near yellow container */
+ /* Palm tree */
+ //ShmapSetCircleFlag(1.5, 1.0, 0.075, MAP_FLAG_WALL, 0);
+
+ /* Totems and palm tree */
+ ShmapSetRectangleFlag(0.975, 0.875, 2.025, 1.125, MAP_FLAG_WALL, 0);
+ //ShmapSetRectangleFlag(1.775, 0.875, 2.025, 1.125, MAP_FLAG_WALL, 0);
}
static void trans_callback(struct robo_fsm *fsm)
strncpy(robot.orte.fsm_act.state_name, fsm->state_name, sizeof(robot.orte.fsm_act.state_name));
ORTEPublicationSend(robot.orte.publication_fsm_act);
}
-
+
}
-/**
+/**
* Initializes the robot.
* Setup fields in robot structure, initializes FSMs and ORTE.
- *
+ *
* @return 0
*/
int robot_init()
{
int rv;
pthread_mutexattr_t mattr;
-
+ robot_calibrate_odometry();
rv = pthread_mutexattr_init(&mattr);
#ifdef HAVE_PRIO_INHERIT
rv = pthread_mutexattr_setprotocol(&mattr, PTHREAD_PRIO_INHERIT);
#endif
pthread_mutex_init(&robot.lock, &mattr);
pthread_mutex_init(&robot.lock_ref_pos, &mattr);
- pthread_mutex_init(&robot.lock_est_pos_uzv, &mattr);
pthread_mutex_init(&robot.lock_est_pos_odo, &mattr);
pthread_mutex_init(&robot.lock_est_pos_indep_odo, &mattr);
pthread_mutex_init(&robot.lock_meas_angles, &mattr);
pthread_mutex_init(&robot.lock_disp, &mattr);
fsm_main_loop_init(&robot.main_loop);
-
+
/* FSM initialization */
- /* fsm_init(&robot.fsm.main, "main", &robot.main_loop);
- fsm_init(&robot.fsm.motion, "motion", &robot.main_loop);
- fsm_init(&robot.fsm.display, "display", &robot.main_loop);
- fsm_init(&robot.fsm.act, "actuators", &robot.main_loop); */
fsm_init(&robot.fsm.main, "MAIN", &robot.main_loop);
fsm_init(&robot.fsm.motion, "\tmot", &robot.main_loop);
fsm_init(&robot.fsm.act, "\tACT", &robot.main_loop);
robot.fsm.act.transition_callback = trans_callback;
robot.fsm.motion.transition_callback = trans_callback;
- robot.team_color = BLUE;
+ robot.team_color = RED;
- if (robot.team_color == YELLOW) {
- ul_loginf("We are YELLOW!\n");
+ if (robot.team_color == RED) {
+ ul_loginf("We are RED!\n");
} else {
ul_loginf("We are BLUE!\n");
}
- robot_set_est_pos_trans(0.16, PLAYGROUND_HEIGHT_M - 0.16, DEG2RAD(-45));
-
+ robot_set_est_pos_trans(ROBOT_START_X_M, ROBOT_START_Y_M, DEG2RAD(ROBOT_START_ANGLE_DEG));
+
robot.ignore_hokuyo = false;
robot.map = ShmapInit(1);
fill_in_known_areas_in_map();
robot.orte.pwr_ctrl.voltage80 = 1;
robot.orte.camera_control.on = true;
-
+
robot.fsm.motion.state = &fsm_state_motion_init;
/* Only activate display if it is configured */
*/
robot.obstacle_avoidance_enabled = true;
- robot.use_back_switch = true;
- robot.use_left_switch = true;
- robot.use_right_switch = true;
+ robot.use_back_bumpers = true;
+ robot.use_left_bumper = true;
+ robot.use_right_bumper = true;
robot.start_state = POWER_ON;
robot.check_turn_safety = true;
return rv;
}
-/**
+/**
* Starts the robot FSMs and threads.
*
* @return 0
perror("robot_start: pthread_attr_setschedparam()");
goto err;
}
- rv = pthread_create(&thr_obstacle_forgeting,
+ rv = pthread_create(&thr_obstacle_forgeting,
&tattr, thread_obstacle_forgeting, NULL);
if (rv) {
perror("robot_start: pthread_create");
return rv;
}
-/**
+/**
* Signals all the robot threads to finish.
*/
void robot_exit()
fsm_exit(&robot.fsm.act);
}
-/**
+/**
* Stops the robot. All resources alocated by robot_init() or
* robot_start() are dealocated here.
*/
motion_control_done();
// FIXME: set actuators to well defined position (FJ)
-
+
robottype_roboorte_destroy(&robot.orte);
fsm_destroy(&robot.fsm.main);
fsm_destroy(&robot.fsm.motion);
fsm_destroy(&robot.fsm.act);
ShmapFree();
- ul_logdbg("robofsm: stop.\n");
+ ul_logdeb("robofsm: stop.\n");
}
void robot_get_est_pos_trans(double *x, double *y, double *phi)
ROBOT_UNLOCK(ref_pos);
}
}
+
+void robot_calibrate_odometry()
+{
+ robot.odo_distance_a = 0;
+ robot.odo_distance_b = 0;
+ FILE *file;
+ file = fopen ("odometry_cal_data", "r");
+ if (file == NULL)
+ {
+ robot.odo_cal_a = 1;
+ robot.odo_cal_b = 1;
+ fprintf(stderr, "File not found. \n\n");
+ return;
+ }
+ char line [15];
+ float a = 0;
+ float b = 0;
+ int num = 0;
+ while (fgets (line, 15 , file)) {
+ a += atof(strtok(line," "));
+ fgets (line, 15 , file);
+ b += atof(strtok(NULL," "));
+ num ++;
+ }
+ fclose (file);
+ if(a == 0 || b == 0) {
+ robot.odo_cal_a = 1;
+ robot.odo_cal_b = 1;
+ return;
+ }
+ robot.odo_cal_a = a / num;
+ robot.odo_cal_b = b / num;
+ printf("calibrated value left: %f\n",robot.odo_cal_a);
+ printf("calibrated value right: %f\n",robot.odo_cal_b);
+}
projects / eurobot / public.git / blobdiff