X-Git-Url: http://rtime.felk.cvut.cz/gitweb/eurobot/public.git/blobdiff_plain/1d1d1f09e124ca6a8d64ea57494b4554f9f29e1d..5e2c665eed2e746b51d69b6153e8ec273bedd41b:/src/robofsm/robot.c diff --git a/src/robofsm/robot.c b/src/robofsm/robot.c index 17918b60..7704096c 100644 --- a/src/robofsm/robot.c +++ b/src/robofsm/robot.c @@ -1,5 +1,5 @@ /* - * robot_eb2008.c 08/04/20 + * robot_demo2011.c * * Robot's generic initialization and clean up functions. * @@ -8,6 +8,8 @@ * License: GNU GPL v.2 */ +#define _XOPEN_SOURCE 500 /* For PTHREAD_PRIO_INHERIT etc. */ + #include #include #include @@ -19,18 +21,17 @@ #include #include #include "map_handling.h" -#include #include #include "actuators.h" +#include +#include + +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" +#include "robot.h" /* Global definition of robot structure */ struct robot robot; @@ -58,32 +59,28 @@ 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, 0.199, 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, 0.40, 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) */ - double x_center = (PLAYGROUND_WIDTH_M/2.0); - double y_center = (PLAYGROUND_HEIGHT_M/2.0); - ShmapSetRectangleFlag(x_center - ACROPOLIS_RADIUS, y_center - ACROPOLIS_RADIUS, x_center + ACROPOLIS_RADIUS, y_center + 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 */ + ShmapSetRectangleFlag(0.0, 1.91, 3.0, 2.0, MAP_FLAG_IGNORE_OBST, 0); /* top */ + ShmapSetRectangleFlag(2.6, 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); + ShmapSetCircleFlag(1.1, 1.0, 0.3, MAP_FLAG_WALL, 0); + ShmapSetCircleFlag(2.0, 1.0, 0.3, 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) @@ -98,61 +95,52 @@ 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_mutex_init(&robot.lock, NULL); - pthread_mutex_init(&robot.lock_ref_pos, NULL); - pthread_mutex_init(&robot.lock_est_pos, NULL); - pthread_mutex_init(&robot.lock_meas_angles, NULL); - pthread_mutex_init(&robot.lock_joy_data, NULL); - pthread_mutex_init(&robot.lock_disp, NULL); + pthread_mutexattr_t mattr; + 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_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_LOCK(ref_pos); - robot.ref_pos.x = 1; - robot.ref_pos.y = 1; - robot.ref_pos.phi = 0; - ROBOT_UNLOCK(ref_pos); - - ROBOT_LOCK(est_pos); - robot.est_pos.x = 1; - robot.est_pos.y = 1; - robot.est_pos.phi = 0; - ROBOT_UNLOCK(est_pos); + robot.team_color = VIOLET; - robot.team_color = GREEN; - - if (robot.team_color == RED) { - printf("We are RED!\n"); + if (robot.team_color == VIOLET) { + ul_loginf("We are VIOLET!\n"); } else { - printf("We are GREEN!\n"); + ul_loginf("We are RED!\n"); } + 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(); @@ -169,18 +157,22 @@ int robot_init() 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.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(); @@ -189,7 +181,7 @@ int robot_init() return rv; } -/** +/** * Starts the robot FSMs and threads. * * @return 0 @@ -213,26 +205,30 @@ int robot_start() /* 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() @@ -240,11 +236,10 @@ 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. */ @@ -252,14 +247,79 @@ void robot_destroy() { 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); - DBG("robofsm: stop.\n"); + ShmapFree(); + 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); + } +} + +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, "ODO calibration 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("ODO calibrated value A: %f\n",robot.odo_cal_a); + printf("ODO calibrated value B: %f\n",robot.odo_cal_b); }