X-Git-Url: http://rtime.felk.cvut.cz/gitweb/eurobot/public.git/blobdiff_plain/fe5bc2fbe49aed2684199212155ddbd298f955cc..4c7554fa70022b7a485a6dad66564394b84da159:/src/robofsm/robot.c diff --git a/src/robofsm/robot.c b/src/robofsm/robot.c index 728ad8a2..57e690a8 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. * @@ -23,17 +23,15 @@ #include "map_handling.h" #include #include "actuators.h" -#include "corns_configs.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; @@ -61,31 +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 */ - + /*----- 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, 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(0.6, 1.45, 2.45, 2.1, MAP_FLAG_WALL, 0); /* plateau, slopes */ + 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); - /* corns */ - struct corns_group *corns = get_all_corns(0, 0); - struct corn * corn; - for(corn = corns->corns; corn < &corns->corns[corns->corns_count]; corn++) { - ShmapSetCircleFlag(corn->position.x, corn->position.y, CORN_NEIGHBOURHOOD_RADIUS_M, MAP_FLAG_WALL, 0); - } - dispose_corns_group(corns); // robot.corns will be set later, when the corns' configuration is known + /* 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) @@ -100,27 +92,26 @@ 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_mutexattr_t mattr; - + robot_calibrate_odometry(); 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_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); @@ -128,30 +119,25 @@ int robot_init() 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 = BLUE; + robot.team_color = RED; - if (robot.team_color == YELLOW) { - printf("We are YELLOW!\n"); + if (robot.team_color == RED) { + ul_loginf("We are RED!\n"); } else { - printf("We are BLUE!\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(); @@ -169,10 +155,8 @@ 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; // actuator FSM's initial state + robot.fsm.motion.state = &fsm_state_motion_init; /* Only activate display if it is configured */ /* FIXME: display @@ -182,8 +166,11 @@ int robot_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(); @@ -192,7 +179,7 @@ int robot_init() return rv; } -/** +/** * Starts the robot FSMs and threads. * * @return 0 @@ -224,20 +211,22 @@ int robot_start() 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() @@ -245,11 +234,10 @@ 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. */ @@ -258,15 +246,22 @@ void robot_destroy() motion_control_done(); // 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) @@ -291,3 +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); +}