/*
- * robot_eb2008.c 08/04/20
+ * robot_demo2011.c
*
* Robot's generic initialization and clean up functions.
*
#include <time.h>
#include <unistd.h>
#include "map_handling.h"
-#include <uoled.h>
#include <string.h>
#include "actuators.h"
+#include <robodim.h>
+#include <ul_log.h>
+
+UL_LOG_CUST(ulogd_robot); /* Log domain name = ulogd + name of the file */
-#ifdef ROBOT_DEBUG
- #define DBG(format, ...) printf(format, ##__VA_ARGS__)
-#else
- #define DBG(format, ...)
-#endif
#define MOTION_CONTROL_INIT_ONLY
#include "motion-control.h"
void fill_in_known_areas_in_map()
{
- /* Do not plan path close to edges */
-/* ShmapSetRectangleFlag(0.0, 0.0, 0.199, 2.1, MAP_FLAG_WALL, 0); */
-/* ShmapSetRectangleFlag(0.0, 0.0, 3.0, 0.199, MAP_FLAG_WALL, 0); */
-/* ShmapSetRectangleFlag(0.0, 1.901, 3.0, 2.1, MAP_FLAG_WALL, 0); */
-/* ShmapSetRectangleFlag(2.801, 0.0, 3.0, 2.1, MAP_FLAG_WALL, 0); */
-
- //ShmapSetRectangleFlag(0, 1.15, 0.4, 1.55, MAP_FLAG_IGNORE_OBST, 0); /* Left white vert. dispenser */
- //ShmapSetRectangleFlag(2.7, 1.25, 3, 1.45, MAP_FLAG_IGNORE_OBST, 0); /* Right white vert. dispenser */
-
- //ShmapSetRectangleFlag(0.50, 1.8, 0.95, 2.2, MAP_FLAG_IGNORE_OBST, 0); /* Blue vert. dispenser */
- //ShmapSetRectangleFlag(2.30, 1.8, 2.55, 2.1, MAP_FLAG_IGNORE_OBST, 0); /* Red vert. dispenser */
-
+ /*----- 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(0.0, 0.0, 0.2, 0.6, MAP_FLAG_IGNORE_OBST, 0); /* left basket */
- //ShmapSetRectangleFlag(2.8, 0.0, 3.0, 0.6, MAP_FLAG_IGNORE_OBST, 0); /* right basket */
-
- /* Construction areas (Building zones) */
- //ShmapSetRectangleFlag(ACROPOLIS_CENTER_X - ACROPOLIS_RADIUS, ACROPOLIS_CENTER_Y - ACROPOLIS_RADIUS, ACROPOLIS_CENTER_X + ACROPOLIS_RADIUS, ACROPOLIS_CENTER_Y + ACROPOLIS_RADIUS, MAP_FLAG_WALL, 0); /* Central construction area */
- //ShmapSetRectangleFlag(1.35, 0.9, 1.65, 1.2, MAP_FLAG_WALL, 0); /* Central construction area */
-
- // Enclosure wall
- ShmapSetRectangleFlag(0.0, 0.0, 0.199, 2.1, MAP_FLAG_WALL, 0); /* left */
- ShmapSetRectangleFlag(0.0, 0.0, 3.0, 0.199, MAP_FLAG_WALL, 0); /* bottom */
- ShmapSetRectangleFlag(0.0, 1.901, 3.0, 2.1, MAP_FLAG_WALL, 0); /* top */
- ShmapSetRectangleFlag(2.801, 0.0, 3.0, 2.1, MAP_FLAG_WALL, 0); /* right */
- // Bottom-middle unloading area
- ShmapSetRectangleFlag(1.0, 0.0, 2.0, 0.3, MAP_FLAG_WALL, 0); /* bottom */
- // Unloading area - dwarf wall
- ShmapSetRectangleFlag(0.4, 0.0, 0.8, 0.3, MAP_FLAG_WALL, 0);
- ShmapSetRectangleFlag(2.2, 0.0, 2.6, 0.3, MAP_FLAG_WALL, 0);
- // Acropolis wall
- ShmapSetCircleFlag(ACROPOLIS_CENTER_X, ACROPOLIS_CENTER_Y, ACROPOLIS_DIAMETER + 0.09, MAP_FLAG_WALL, 0);
-
+ 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, 0.15, MAP_FLAG_WALL, 0);
+
+ /* Totems */
+ ShmapSetRectangleFlag(1.01, 0.91, 1.19, 1.09, MAP_FLAG_WALL, 0);
+ ShmapSetRectangleFlag(1.81, 0.91, 1.99, 1.09, 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()
#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_joy_data, &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.display, "\tdisp", &robot.main_loop);
fsm_init(&robot.fsm.act, "\tACT", &robot.main_loop);
robot.fsm.main.transition_callback = trans_callback;
robot.fsm.act.transition_callback = trans_callback;
robot.fsm.motion.transition_callback = trans_callback;
- robot.team_color = GREEN;
+ robot.team_color = RED;
if (robot.team_color == RED) {
- printf("We are RED!\n");
+ ul_loginf("We are RED!\n");
} else {
- printf("We are GREEN!\n");
+ 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;
- robot.fsm.act.state = &fsm_state_act_wait_for_command; // puck handling actuators FSM's initial state
+ robot.fsm.motion.state = &fsm_state_motion_init;
/* Only activate display if it is configured */
+ /* FIXME: display
robot.sercom = uoled_init(serial_comm);
if (strcmp(robot.sercom->devname, "/dev/null") != 0)
robot.fsm.display.state = &fsm_state_disp_init;
+ */
robot.obstacle_avoidance_enabled = true;
- robot.use_back_switch = false; /* Switched on sime time after start */
- robot.state = POWER_ON;
+ 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;
/* init ORTE domain, create publishers, subscribers, .. */
rv = robot_init_orte();
return rv;
}
-/**
+/**
* Starts the robot FSMs and threads.
*
* @return 0
/* Obstacle forgeting thread */
pthread_attr_init (&tattr);
pthread_attr_getschedparam (&tattr, ¶m);
+ pthread_attr_getschedparam (&tattr, ¶m);
+ pthread_attr_setschedpolicy(&tattr, SCHED_FIFO);
param.sched_priority = OBST_FORGETING_PRIO;
rv = pthread_attr_setschedparam (&tattr, ¶m);
if (rv) {
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");
goto err;
}
+ sem_init(&robot.start, 0, 0);
+
fsm_main_loop(&robot.main_loop);
err:
return rv;
}
-/**
+/**
* Signals all the robot threads to finish.
*/
void robot_exit()
/* stop FSMs */
fsm_exit(&robot.fsm.main);
fsm_exit(&robot.fsm.motion);
- fsm_exit(&robot.fsm.display);
fsm_exit(&robot.fsm.act);
}
-/**
+/**
* Stops the robot. All resources alocated by robot_init() or
* robot_start() are dealocated here.
*/
{
motion_control_done();
- act_chelae(CHELA_OPEN, CHELA_OPEN);
- act_holder(HOLDER_OPENED);
-
+ // 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.display);
fsm_destroy(&robot.fsm.act);
ShmapFree();
- DBG("robofsm: stop.\n");
+ ul_logdeb("robofsm: stop.\n");
+}
+
+void robot_get_est_pos_trans(double *x, double *y, double *phi)
+{
+ robot_get_est_pos(x, y, phi);
+ *x = __trans_x(*x);
+ *y = __trans_y(*y);
+ *phi = __trans_ang(*phi);
+}
+
+void robot_get_est_pos(double *x, double *y, double *phi)
+{
+ if (robot.indep_odometry_works) {
+ ROBOT_LOCK(est_pos_indep_odo);
+ *x = robot.est_pos_indep_odo.x;
+ *y = robot.est_pos_indep_odo.y;
+ *phi = robot.est_pos_indep_odo.phi;
+ ROBOT_UNLOCK(est_pos_indep_odo);
+ } else if (robot.odometry_works) {
+ ROBOT_LOCK(est_pos_odo);
+ *x = robot.est_pos_odo.x;
+ *y = robot.est_pos_odo.y;
+ *phi = robot.est_pos_odo.phi;
+ ROBOT_UNLOCK(est_pos_odo);
+ } else {
+ ROBOT_LOCK(ref_pos);
+ *x = robot.ref_pos.x;
+ *y = robot.ref_pos.y;
+ *phi = robot.ref_pos.phi;
+ ROBOT_UNLOCK(ref_pos);
+ }
}
projects / eurobot / public.git / blobdiff