Odometry autocalibration

[eurobot/public.git] / src / robofsm / robot.c

diff --git a/src/robofsm/robot.c b/src/robofsm/robot.c
index a95057d3be4f5ca3772b4929b204d335484c217a..57e690a8b1701e9890f5addb90254d41fc566c8d 100644 (file)
--- a/src/robofsm/robot.c
+++ b/src/robofsm/robot.c
@@ -31,6 +31,7 @@ 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;
@@ -58,37 +59,25 @@ static void int_handler(int sig)
 
 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 */
-
-//     /* 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, 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 */
-
-       /* start blocs + green area */
-       ShmapSetRectangleFlag(0, 0, 0.45, PLAYGROUND_HEIGHT_M, MAP_FLAG_WALL, 0);
-       ShmapSetRectangleFlag(2.55, 0, PLAYGROUND_WIDTH_M, PLAYGROUND_HEIGHT_M, MAP_FLAG_WALL, 0);
-
-       /* protected blocs */
-       ShmapSetRectangleFlag(0, 0, PLAYGROUND_WIDTH_M, 0.4, MAP_FLAG_WALL, 0);
-
-       /* plan trajectory on */
-
-       /* playing area walls */
-//     ShmapSetRectangleFlag(0, 0, PLAYGROUND_WIDTH_M, 0.1, MAP_FLAG_IGNORE_OBST, 0);
-//     ShmapSetRectangleFlag(PLAYGROUND_WIDTH_M, 0, PLAYGROUND_WIDTH_M - 0.1, PLAYGROUND_HEIGHT_M, MAP_FLAG_IGNORE_OBST, 0);
-//     ShmapSetRectangleFlag(0 ,PLAYGROUND_HEIGHT_M, PLAYGROUND_WIDTH_M, PLAYGROUND_HEIGHT_M - 0.1, MAP_FLAG_IGNORE_OBST, 0);
-//     ShmapSetRectangleFlag(0 , 0, 0.1, PLAYGROUND_HEIGHT_M, MAP_FLAG_IGNORE_OBST, 0);
+       /*----- playground width 3.0 m and playground height 2.0 m -----*/
+       /* Ignore other obstacles at edges */
+       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, 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);
+       
+       /* 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)
@@ -116,7 +105,7 @@ 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);
@@ -297,3 +286,38 @@ void robot_get_est_pos(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);
+}