+/**
+ * @file robot_orte.c
+ * @date 2008-2010
+ *
+ * @brief Module providing communication through ORTE
+ */
+
/*
* robot_orte.c 08/04/21
*
* Robot's orte stuffs.
*
- * Copyright: (c) 2008 CTU Dragons
+ * Copyright: (c) 2008-2010 CTU Dragons
* CTU FEE - Department of Control Engineering
* License: GNU GPL v.2
*/
#include <orte.h>
#include <roboorte_robottype.h>
-#include <roboorte.h>
-#include <robodata.h>
+#include "robodata.h"
#include <robot.h>
#include <movehelper.h>
#include <math.h>
#include <robomath.h>
-#include <laser-nav.h>
#include "map_handling.h"
-#include <oledlib.h>
+#include "match-timing.h"
#include <string.h>
#include <can_msg_def.h>
+#include <actuators.h>
+#include <ul_log.h>
+
+UL_LOG_CUST(ulogd_robot_orte); /* Log domain name = ulogd + name of the file */
#ifdef ORTE_DEBUG
- #define DBG(format, ...) printf(format, ##__VA_ARGS__)
+ #define DBG(format, ...) ul_logdeb(format, ##__VA_ARGS__)
#else
#define DBG(format, ...)
#endif
void send_ref_pos_cb(const ORTESendInfo *info, void *vinstance,
void *sendCallBackParam)
{
- struct ref_pos_type *instance = (struct ref_pos_type *)vinstance;
+ struct robot_pos_type *instance = (struct robot_pos_type *)vinstance;
ROBOT_LOCK(ref_pos);
*instance = robot.ref_pos;
ROBOT_UNLOCK(ref_pos);
}
-void send_est_pos_cb(const ORTESendInfo *info, void *vinstance,
+void send_est_pos_odo_cb(const ORTESendInfo *info, void *vinstance,
void *sendCallBackParam)
{
- struct est_pos_type *instance = (struct est_pos_type *)vinstance;
+ struct robot_pos_type *instance = (struct robot_pos_type *)vinstance;
- ROBOT_LOCK(est_pos);
- *instance = robot.est_pos;
- ROBOT_UNLOCK(est_pos);
+ ROBOT_LOCK(est_pos_odo);
+ *instance = robot.est_pos_odo;
+ ROBOT_UNLOCK(est_pos_odo);
+}
+
+void send_est_pos_indep_odo_cb(const ORTESendInfo *info, void *vinstance,
+ void *sendCallBackParam)
+{
+ struct robot_pos_type *instance = (struct robot_pos_type *)vinstance;
+
+ ROBOT_LOCK(est_pos_indep_odo);
+ *instance = robot.est_pos_indep_odo;
+ ROBOT_UNLOCK(est_pos_indep_odo);
+}
+
+static void send_est_pos_best_cb(const ORTESendInfo *info, void *vinstance,
+ void *sendCallBackParam)
+{
+ struct robot_pos_type *instance = (struct robot_pos_type *)vinstance;
+
+ robot_get_est_pos(&instance->x, &instance->y, &instance->phi);
}
void send_dummy_cb(const ORTESendInfo *info, void *vinstance,
{
}
+void send_match_time_cb(const ORTESendInfo *info, void *vinstance,
+ void *sendCallBackParam)
+{
+ struct match_time_type *instance = (struct match_time_type *)vinstance;
+
+ if (robot.start_state == POWER_ON || robot.start_state == START_PLUGGED_IN) {
+ instance->time = 90;
+ } else {
+ instance->time = 90 - robot_current_time();
+ }
+}
/* ----------------------------------------------------------------------
* SUBSCRIBER CALLBACKS - GENERIC
* ---------------------------------------------------------------------- */
-
-void rcv_motion_irc_cb(const ORTERecvInfo *info, void *vinstance,
+void rcv_odo_data_cb(const ORTERecvInfo *info, void *vinstance,
void *recvCallBackParam)
{
- struct motion_irc_type *instance = (struct motion_irc_type *)vinstance;
+ struct odo_data_type *instance = (struct odo_data_type *)vinstance;
+ double dleft, dright, dtang, dphi;
+ static bool first_run = true;
+ /* spocitat prevodovy pomer */
+ const double n = (double)(1.0 / 1.0);
+
+ /* vzdalenost na pulz IRC */
+ const double c = (M_PI*2*ODOMETRY_WHEEL_RADIUS_M) / (n * 4*4096.0);
switch (info->status) {
case NEW_DATA:
- /* locking should not be needed, but... */
- ROBOT_LOCK(motion_irc);
- robot.motion_irc = *instance;
- robot.motion_irc_received = 1;
- ROBOT_UNLOCK(motion_irc);
+ if (first_run) {
+ ROBOT_LOCK(odo_data);
+ robot.odo_data = *instance;
+ ROBOT_UNLOCK(odo_data);
+ first_run = false;
+ break;
+ }
+
+ dleft = ((robot.odo_data.left - instance->left) >> 8) * c * robot.odo_cal_a; // TODO >> 8 ?
+ dright = ((instance->right - robot.odo_data.right) >> 8) * c * robot.odo_cal_b;
+
+ dtang = (dleft + dright) / 2.0;
+ dphi = (dright - dleft) / (2.0*ODOMETRY_ROTATION_RADIUS_M);
+
+ ROBOT_LOCK(est_pos_indep_odo);
+ robot.odo_distance_a +=dleft;
+ robot.odo_distance_b +=dright;
+ double a = robot.est_pos_indep_odo.phi;
+ robot.est_pos_indep_odo.x += dtang*cos(a);
+ robot.est_pos_indep_odo.y += dtang*sin(a);
+ robot.est_pos_indep_odo.phi += dphi;
+ ROBOT_UNLOCK(est_pos_indep_odo);
+
+ ROBOT_LOCK(odo_data);
+ robot.odo_data = *instance;
+ ROBOT_UNLOCK(odo_data);
+
+ robot.indep_odometry_works = true;
+
+ /* wake up motion-control/thread_trajectory_follower */
+ sem_post(&measurement_received);
- /* FSM_SIGNAL(LOC, EV_ODO_RECEIVED, odo); */
- robot.hw_status[STATUS_MOTION] = HW_STATUS_OK;
+ //robot.hw_status[COMPONENT_ODO] = STATUS_OK;
break;
case DEADLINE:
- robot.hw_status[STATUS_MOTION] = HW_STATUS_FAILED;
- DBG("ORTE deadline occurred - motion_irc receive\n");
+ robot.indep_odometry_works = false;
+ //robot.hw_status[COMPONENT_ODO] = STATUS_FAILED;
+ DBG("ORTE deadline occurred - odo_data receive\n");
break;
}
}
-void rcv_corr_distances_cb(const ORTERecvInfo *info, void *vinstance,
- void *recvCallBackParam)
+void rcv_motion_irc_cb(const ORTERecvInfo *info, void *vinstance,
+ void *recvCallBackParam)
{
- struct corr_distances_type *instance =
- (struct corr_distances_type *)vinstance;
+ struct motion_irc_type *instance = (struct motion_irc_type *)vinstance;
+ double dleft, dright, dtang, dphi;
+ static bool first_run = true;
+ /* spocitat prevodovy pomer */
+ const double n = (double)(ROBOT_MOTOR_GEARBOX_RATIO / 1.0);
+ /* vzdalenost na pulz IRC */
+ const double c = (M_PI*2*ROBOT_WHEEL_RADIUS_M) / (n * 4*ROBOT_MOTOR_IRC_RESOLUTION);
switch (info->status) {
case NEW_DATA:
+ if (first_run) {
+ ROBOT_LOCK(motion_irc);
+ robot.motion_irc = *instance;
+ ROBOT_UNLOCK(motion_irc);
+ first_run = false;
+ break;
+ }
+
+
+ /* FIXME maybe it is not correct to do this nasty hack here (switch dleft and dright),
+ what is the right solution?
+ This was neccessary to view motor odometry correctly in robomon. */
+ dright = ((robot.motion_irc.left - instance->left) >> 8) * c * robot.odo_cal_b;
+ dleft = ((instance->right - robot.motion_irc.right) >> 8) * c * robot.odo_cal_a;
+
+ dtang = (dleft + dright) / 2.0;
+ dphi = (dright - dleft) / (2.0*ROBOT_ROTATION_RADIUS_M);
+
+ ROBOT_LOCK(est_pos_odo);
+ double a = robot.est_pos_odo.phi;
+ robot.est_pos_odo.x += dtang*cos(a);
+ robot.est_pos_odo.y += dtang*sin(a);
+ robot.est_pos_odo.phi += dphi;
+ ROBOT_UNLOCK(est_pos_odo);
+
/* locking should not be needed, but... */
- ROBOT_LOCK(corr_distances);
- robot.corr_distances = *instance;
- ROBOT_UNLOCK(corr_distances);
+ ROBOT_LOCK(motion_irc);
+ robot.motion_irc = *instance;
+ robot.motion_irc_received = 1;
+ ROBOT_UNLOCK(motion_irc);
- /* wake up motion-control/thread_trajectory_follower */
- sem_post(&measurement_received);
+ robot.odometry_works = true;
- /*FIXME: is following OK? (pecam1) */
- robot.hw_status[STATUS_UZV] = HW_STATUS_OK;
+ robot.status[COMPONENT_MOTOR] = STATUS_OK;
break;
case DEADLINE:
- robot.hw_status[STATUS_UZV] = HW_STATUS_FAILED;
-
+ robot.odometry_works = false;
+ robot.status[COMPONENT_MOTOR] = STATUS_FAILED;
+ DBG("ORTE deadline occurred - motion_irc receive\n");
break;
}
}
{
switch (info->status) {
case NEW_DATA:
- robot.hw_status[STATUS_PWR]=HW_STATUS_OK;
+ robot.status[COMPONENT_POWER]=STATUS_OK;
break;
case DEADLINE:
- robot.hw_status[STATUS_PWR]=HW_STATUS_FAILED;
+ robot.status[COMPONENT_POWER]=STATUS_FAILED;
DBG("ORTE deadline occurred - pwr_voltage receive\n");
break;
}
case NEW_DATA:
/* Stupid way of controlling the robot by
* pluggin in and out start connector. */
- switch (robot.state) {
+ switch (robot.start_state) {
case POWER_ON:
- if (instance->start) {
- robot.hw_status[STATUS_STA] = HW_STATUS_WARNING;
- } else {
- robot.hw_status[STATUS_STA] = HW_STATUS_OK;
- }
- if (!instance->start) {
- robot.state = START_PLUGGED_IN;
- printf("START_PLUGGED_IN\n");
+ if (!instance->start_condition) {
+ robot.status[COMPONENT_START] = STATUS_WARNING;
+ robot.start_state = START_PLUGGED_IN;
+ ul_logmsg("START_PLUGGED_IN\n");
}
break;
case START_PLUGGED_IN:
- robot.hw_status[STATUS_STA] = HW_STATUS_OK;
+ robot.status[COMPONENT_START] = STATUS_OK;
/* Competition starts when plugged out */
- if (instance->start) {
+ if (instance->start_condition) {
FSM_SIGNAL(MAIN, EV_START, NULL);
- robot.state = COMPETITION_STARTED;
- printf("STARTED\n");
+ robot.start_state = COMPETITION_STARTED;
+ ul_logmsg("STARTED\n");
}
break;
case COMPETITION_STARTED: {
/* Subsequent plug-in stops the robot */
static int num = 0;
- if (!instance->start) {
- robot.hw_status[STATUS_STA] = HW_STATUS_WARNING;
+ if (!instance->start_condition) {
+ robot.status[COMPONENT_START] = STATUS_WARNING;
if (++num == 10)
robot_exit();
}
last_instance = *instance;
break;
case DEADLINE:
- robot.hw_status[STATUS_STA] = HW_STATUS_FAILED;
+ robot.status[COMPONENT_START] = STATUS_FAILED;
DBG("ORTE deadline occurred - robot_cmd receive\n");
break;
}
case NEW_DATA: {
ROBOT_LOCK(hokuyo);
robot.hokuyo = *instance;
- robot.hw_status[STATUS_HOK] = HW_STATUS_OK;
+ robot.status[COMPONENT_HOKUYO] = STATUS_OK;
ROBOT_UNLOCK(hokuyo);
- update_map_hokuyo(instance);
+ if(!robot.ignore_hokuyo)
+ {
+ update_map_hokuyo(instance);
+ }
break;
}
case DEADLINE:
- robot.hw_status[STATUS_HOK] = HW_STATUS_FAILED;
+ robot.status[COMPONENT_HOKUYO] = STATUS_FAILED;
+ //system("killall -9 hokuyo");
DBG("%s: ORTE deadline occurred\n", __FUNCTION__);
break;
}
}
+// FIXME: this is not up to date (Filip, 2010)
void rcv_camera_result_cb(const ORTERecvInfo *info, void *vinstance,
void *recvCallBackParam)
{
switch (info->status) {
case NEW_DATA: {
ROBOT_LOCK(camera_result);
- robot.game_conf = instance->lot;
+ robot.corns_conf_side = instance->side;
+ robot.corns_conf_center = instance->center;
ROBOT_UNLOCK(camera_result);
- robot.hw_status[STATUS_CAM] = HW_STATUS_OK;
+ robot.status[COMPONENT_CAMERA] = STATUS_OK;
break;
}
case DEADLINE:
- robot.hw_status[STATUS_CAM] = HW_STATUS_FAILED;
+ if (robot.orte.camera_control.on) {
+ robot.status[COMPONENT_CAMERA] = STATUS_FAILED;
+ //system("killall -9 rozpuk");
+ }
+
DBG("%s: ORTE deadline occurred\n", __FUNCTION__);
break;
}
* SUBSCRIBER CALLBACKS - EB2008
* ---------------------------------------------------------------------- */
-void rcv_actuator_status_cb(const ORTERecvInfo *info, void *vinstance,
+void rcv_jaws_status_cb(const ORTERecvInfo *info, void *vinstance,
void *recvCallBackParam)
{
- static unsigned short old_lift_pos=0;
- static unsigned short old_pusher_pos=0;
+ struct jaws_status_type *instance = (struct jaws_status_type *)vinstance;
+ static int last_response_left = 0;
+ static int last_response_right = 0;
switch (info->status) {
case NEW_DATA:
// new data arrived and requested position equals actual position
- if (robot.orte.actuator_status.lift_pos == robot.orte.lift.pos &&
- robot.orte.actuator_status.lift_pos != old_lift_pos)
- FSM_SIGNAL(ACT, EV_LIFT_IN_POS, NULL);
- if (robot.orte.actuator_status.pusher_pos == robot.orte.pusher.pos &&
- robot.orte.actuator_status.pusher_pos != old_pusher_pos)
- FSM_SIGNAL(ACT, EV_PUSHER_IN_POS, NULL);
- if (robot.orte.actuator_status.status & ~LIFT_ENDSW_MASK) {
- robot.hw_status[STATUS_LFT]=HW_STATUS_WARNING;
- } else {
- robot.hw_status[STATUS_LFT]=HW_STATUS_OK;
- }
- old_lift_pos = robot.orte.actuator_status.lift_pos;
- old_pusher_pos = robot.orte.actuator_status.pusher_pos;
+ if (instance->flags.left == 0 &&
+ instance->flags.right == 0)
+ robot.status[COMPONENT_JAWS] = STATUS_OK;
+ else
+ robot.status[COMPONENT_JAWS] = STATUS_WARNING;
+
+ if (instance->response.left != last_response_left &&
+ instance->response.right != last_response_right &&
+ instance->response.left == act_jaw_left_get_last_reqest() &&
+ instance->response.left == act_jaw_right_get_last_reqest())
+ FSM_SIGNAL(MAIN, EV_JAWS_DONE, NULL);
+
+ last_response_left = instance->response.left;
+ last_response_right = instance->response.right;
break;
case DEADLINE:
- robot.hw_status[STATUS_LFT]=HW_STATUS_FAILED;
+ robot.status[COMPONENT_JAWS] = STATUS_FAILED;
DBG("ORTE deadline occurred - actuator_status receive\n");
break;
}
}
-void rcv_puck_distance_cb(const ORTERecvInfo *info, void *vinstance,
- void *recvCallBackParam)
+void rcv_lift_status_cb(const ORTERecvInfo *info, void *vinstance,
+ void *recvCallBackParam)
{
- switch (info->status) {
- case NEW_DATA: {
- double old_distance_value = robot.puck_distance;
+ struct lift_status_type *instance = (struct lift_status_type *)vinstance;
+ static int last_response = 0;
+ switch (info->status) {
+ case NEW_DATA:
+ // new data arrived and requested position equals actual position
+ if (instance->flags == 0)
+ robot.status[COMPONENT_LIFT] = STATUS_OK;
+ else
+ robot.status[COMPONENT_LIFT] = STATUS_WARNING;
+
+ if (instance->response != last_response &&
+ instance->response == act_lift_get_last_reqest())
+ FSM_SIGNAL(MAIN, EV_LIFT_DONE, NULL);
+ last_response = instance->response;
+ break;
+ case DEADLINE:
+ robot.status[COMPONENT_LIFT] = STATUS_FAILED;
+ DBG("ORTE deadline occurred - actuator_status receive\n");
+ break;
+ }
+}
- ROBOT_LOCK(sharps);
- robot.puck_distance = robot.orte.puck_distance.distance;
- ROBOT_UNLOCK(sharps);
+void rcv_robot_switches_cb(const ORTERecvInfo *info, void *vinstance,
+ void *recvCallBackParam)
+{
+ struct robot_switches_type *instance = (struct robot_switches_type *)vinstance;
+ static bool last_strategy;
+ switch (info->status) {
+ case NEW_DATA:
+ robot.team_color = instance->team_color;
- if (PUCK_INSIDE(robot.orte.puck_distance.distance) && !PUCK_INSIDE(old_distance_value)) {
- // signal puck is inside
- FSM_SIGNAL(ACT, EV_PUCK_INSIDE, NULL);
- }
- if (PUCK_REACHABLE(robot.orte.puck_distance.distance) && !PUCK_REACHABLE(old_distance_value)) {
- // signal puck is reachable
- FSM_SIGNAL(MAIN, EV_PUCK_REACHABLE, NULL);
+ if (!last_strategy && instance->strategy) {
+ /* strategy switching */
+ FSM_SIGNAL(MAIN, EV_SWITCH_STRATEGY, NULL);
}
- }
- break;
- case DEADLINE:
- // FIXME F.J. (?) inform display in case of invalid data?
- // FIXME F.J. (?) limited space on the display...
- //robot.hw_status[STATUS_ACTUATORS]=HW_STATUS_FAILED;
- DBG("ORTE deadline occurred - servos receive\n");
- break;
+ last_strategy = instance->strategy;
+ break;
+ case DEADLINE:
+ break;
}
}
-void rcv_puck_inside_cb(const ORTERecvInfo *info, void *vinstance,
- void *recvCallBackParam)
+void rcv_robot_bumpers_cb(const ORTERecvInfo *info, void *vinstance,
+ void *recvCallBackParam)
{
+ struct robot_bumpers_type *instance = (struct robot_bumpers_type *)vinstance;
+ static bool last_left, last_right;
switch (info->status) {
- case NEW_DATA: {
- if (robot.use_back_switch) {
- static bool previous_switch_status = 0;
- if (robot.orte.puck_inside.status & 0x02) {
- //FSM_SIGNAL(ACT, EV_PUCK_INSIDE, NULL);
-
- /* React on the first switch or when moving backward. */
- if ((previous_switch_status & 0x02) == 0 ||
- robot.moves_backward) {
- FSM_SIGNAL(MOTION, EV_OBSTACLE_BEHIND, NULL);
- }
- previous_switch_status = robot.orte.puck_inside.status;
- }
- }
- {
- static bool previous = false;
- bool switched = ((robot.orte.puck_inside.status & 0x01) != 0);
-
- if (switched && !previous) {
- FSM_SIGNAL(ACT, EV_PUCK_INSIDE, NULL);
+ case NEW_DATA:
+ if (instance->bumper_right_across || instance->bumper_left_across || instance->bumper_rear_left || instance->bumper_rear_right)
+ FSM_SIGNAL(MOTION, EV_OBSTACLE_BEHIND, NULL);
+
+ if (instance->bumper_left || instance->bumper_right) {
+ FSM_SIGNAL(MOTION, EV_OBSTACLE_SIDE, NULL);
}
- previous = switched;
-
- }
- robot.hw_status[STATUS_CHE]=HW_STATUS_OK;
- }
- break;
- case DEADLINE:
- robot.hw_status[STATUS_CHE]=HW_STATUS_FAILED;
- DBG("ORTE deadline occurred - servos receive\n");
- break;
+ break;
+ case DEADLINE:
+ break;
}
}
/* creating publishers */
robottype_publisher_motion_speed_create(&robot.orte, NULL, &robot.orte);
robottype_publisher_ref_pos_create(&robot.orte, send_ref_pos_cb, &robot.orte);
- robottype_publisher_est_pos_create(&robot.orte, send_est_pos_cb, &robot.orte);
+ robottype_publisher_est_pos_odo_create(&robot.orte, send_est_pos_odo_cb, &robot.orte);
+ robottype_publisher_est_pos_indep_odo_create(&robot.orte, send_est_pos_indep_odo_cb, &robot.orte);
+ robottype_publisher_est_pos_best_create(&robot.orte, send_est_pos_best_cb, &robot.orte);
+ robottype_publisher_match_time_create(&robot.orte, send_match_time_cb, &robot.orte);
//???robottype_publisher_pwr_ctrl_create(&robot.orte, NULL, &robot.orte);
// I didn't know what was the difference between the callback function pointer
// IS CRUCIAL!
// - NULL: message is published only when OrtePublicationSend called
// - pointer to empty function: message is published periodically
- robottype_publisher_lift_create(&robot.orte, send_dummy_cb, &robot.orte);
- robottype_publisher_pusher_create(&robot.orte, send_dummy_cb, &robot.orte);
- robottype_publisher_chelae_create(&robot.orte, send_dummy_cb, &robot.orte);
- robottype_publisher_belts_create(&robot.orte, send_dummy_cb, &robot.orte);
- robottype_publisher_holder_create(&robot.orte, send_dummy_cb, &robot.orte);
robottype_publisher_fsm_main_create(&robot.orte, send_dummy_cb, &robot.orte);
robottype_publisher_fsm_act_create(&robot.orte, send_dummy_cb, &robot.orte);
robottype_publisher_fsm_motion_create(&robot.orte, send_dummy_cb, &robot.orte);
robottype_publisher_camera_control_create(&robot.orte, send_dummy_cb, &robot.orte);
+ robottype_publisher_jaws_cmd_create(&robot.orte, send_dummy_cb, &robot.orte);
+ robottype_publisher_lift_cmd_create(&robot.orte, send_dummy_cb, &robot.orte);
/* create generic subscribers */
+ robottype_subscriber_odo_data_create(&robot.orte, rcv_odo_data_cb, &robot.orte);
robottype_subscriber_motion_irc_create(&robot.orte, rcv_motion_irc_cb, &robot.orte);
robottype_subscriber_motion_speed_create(&robot.orte, rcv_motion_speed_cb, &robot.orte);
robottype_subscriber_motion_status_create(&robot.orte, rcv_motion_status_cb, &robot.orte);
- robottype_subscriber_corr_distances_create(&robot.orte, rcv_corr_distances_cb, &robot.orte);
robottype_subscriber_pwr_voltage_create(&robot.orte, rcv_pwr_voltage_cb, &robot.orte);
//robottype_subscriber_pwr_ctrl_create(&robot.orte, rcv_pwr_ctrl_cb, &robot.orte);
robottype_subscriber_robot_cmd_create(&robot.orte, rcv_robot_cmd_cb, &robot.orte);
robottype_subscriber_hokuyo_scan_create(&robot.orte, rcv_hokuyo_scan_cb, &robot.orte);
-
- /* create subscribers */
- robottype_subscriber_actuator_status_create(&robot.orte, rcv_actuator_status_cb, &robot.orte);
- //robottype_subscriber_puck_distance_create(&robot.orte, rcv_puck_distance_cb, &robot.orte);
- robottype_subscriber_puck_inside_create(&robot.orte, rcv_puck_inside_cb, &robot.orte);
+ robottype_subscriber_jaws_status_create(&robot.orte, rcv_jaws_status_cb, &robot.orte);
+ robottype_subscriber_lift_status_create(&robot.orte, rcv_lift_status_cb, &robot.orte);
+ robottype_subscriber_robot_switches_create(&robot.orte, rcv_robot_switches_cb, &robot.orte);
+ robottype_subscriber_robot_bumpers_create(&robot.orte, rcv_robot_bumpers_cb, &robot.orte);
robottype_subscriber_camera_result_create(&robot.orte, rcv_camera_result_cb, &robot.orte);
return rv;
projects / eurobot / public.git / blobdiff