X-Git-Url: http://rtime.felk.cvut.cz/gitweb/eurobot/public.git/blobdiff_plain/e3c466600b579d6e9c892b5cb41dee6cfd8f4b86..bfbd61a139592e6564fc79035e7d72e5668a002b:/src/robofsm/robot.c

diff --git a/src/robofsm/robot.c b/src/robofsm/robot.c
index bf3120e2..5aeb5dd4 100644
--- 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;
@@ -58,36 +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 */
-	ShmapSetRectangleFlag(0, 1.7, 0.4, 1.678, MAP_FLAG_WALL, 0);
-	ShmapSetRectangleFlag(2.55, 1.7, 3, 1.678, MAP_FLAG_WALL, 0);
-
-	/* protected bloc left */
-	ShmapSetRectangleFlag(0.45, 0, 1.15, 0.12, MAP_FLAG_WALL, 0);
-	ShmapSetRectangleFlag(0.45, 0.12, 0.472, 0.25, MAP_FLAG_WALL, 0);
-	ShmapSetRectangleFlag(1.128, 0.12, 1.15, 0.25, MAP_FLAG_WALL, 0);
-
-	/* protected bloc right */
-	ShmapSetRectangleFlag(1.85, 0, 2.55, 0.12, MAP_FLAG_WALL, 0);
-	ShmapSetRectangleFlag(1.85, 0.12, 1.872, 0.25, MAP_FLAG_WALL, 0);
-	ShmapSetRectangleFlag(2.528, 0.12, 2.55, 0.25, MAP_FLAG_WALL, 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)
@@ -115,7 +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);
@@ -146,7 +136,7 @@ int robot_init()
 		ul_loginf("We are BLUE!\n");
 	}
 
-	robot_set_est_pos_trans(1, 1, DEG2RAD(0));
+	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);
@@ -176,9 +166,9 @@ int robot_init()
 	*/
 
 	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;
 
@@ -296,3 +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 [10];
+	float a = 0;
+	float b = 0;
+	int num = 0;
+	while (fgets (line, 10 , file)) {
+		a = atof(line);
+		fgets (line, 10 , file);
+		b = atof(line);
+		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);
+}