2 * @file motion-control.cc
3 * @author Michal Sojka <sojkam1@fel.cvut.cz>, Petr Beneš
4 * @date Fri Mar 20 10:36:59 2009
11 //#define MOTION_DEBUG
14 #define DBG(format, ...) printf(format, ##__VA_ARGS__)
15 #define DBGflush() fflush(stdout)
17 #define DBG(format, ...)
28 #include <path_planner.h>
30 #include <movehelper.h>
34 #include "robot_config.h"
37 #define MOTION_CONTROL
38 #include "motion-control.h"
44 /* ULoPoS constants (-%-TEMPERATURE-%- dependent!) */
45 #define SOUND_VELOCITY (331.3+0.606*20)
46 #define XCORR2METER (SOUND_VELOCITY*(127.0/508.0)/3000.0)
47 #define D_MAX (XCORR2METER*508.0)
49 /*******************************************************************************
50 * Controller thread and helper functions for that thread
51 *******************************************************************************/
54 * If the distance of robot's estimated position from robot's
55 * requested position if above this value, the robot lost and we try
56 * to reset localization.
58 #define MAX_POS_ERROR_M 0.25
61 * If trajectory end is reached and robot's estimated position is
62 * closer than this distance, the movement is considered as "done".
64 #define CLOSE_TO_TARGET_M 0.1
67 const struct balet_params k = {
68 p_tangent: 3, // dx gain
69 p_angle: 2, // dphi gain
70 p_perpen: 5 // dy gain
71 // p_tangent: 0.2, // dx gain
72 // p_angle: 0.15, // dphi gain
73 // p_perpen: 1 // dy gain
76 #define MOTION_PERIOD_NS (50/*ms*/*1000*1000)
77 #define MEASURE_TIMEOUT_NS (100/*ms*/*1000*1000)
79 #define SIG_DO_CONTROL_NOW (SIGRTMIN+1)
82 static pthread_t thr_trajectory_follower;
83 static struct timeval tv_start; /**< Absolute time, when trajectory started. */
85 /** Stores the actually followed trajectory object */
86 static Trajectory *actual_trajectory;
87 static pthread_mutex_t actual_trajectory_lock;
89 // Trajectory recalculation
90 sem_t recalculation_not_running;
91 sem_t measurement_received;
94 * Determines way of thread_trajectory_follower() operation:
95 * - 0 measurement doesn't work, controller invocation based on time (formerly CONFIG_OPEN_LOOP)
96 * - 2 measurement works, controller invocation based on sem_post
97 * - 1 measurement doesn't work and stop() was called
99 int measurement_ok = 0;
103 static void delete_actual_trajectory()
106 pthread_mutex_lock(&actual_trajectory_lock);
107 old = actual_trajectory;
108 actual_trajectory = NULL;
109 pthread_mutex_unlock(&actual_trajectory_lock);
110 robot_send_speed(0,0);
111 if (old) delete(actual_trajectory);
114 /** Sends events from follower thread to FSM. */
115 static void notify_fsm(bool done, double error)
117 static bool done_sent;
118 static bool lost_sent = false;
120 if (error > MAX_POS_ERROR_M) {
123 FSM_SIGNAL(MOTION, EV_TRAJECTORY_LOST, NULL);
128 if (error < CLOSE_TO_TARGET_M) {
129 FSM_SIGNAL(MOTION, EV_TRAJECTORY_DONE_AND_CLOSE, NULL);
130 } else if (!done_sent) {
132 FSM_SIGNAL(MOTION, EV_TRAJECTORY_DONE, NULL);
140 static void check_for_collision_in_future(Trajectory *traj, double current_time)
143 struct map *map = robot.map;
148 // const double times[] = { 0.5, 0.3, 0.1 }; // seconds
149 const double times[] = { 0.3, 0.4, 0.5, 0.7, 0.9, 1.1 }; // seconds
152 for (i=0; i < sizeof(times)/sizeof(times[0]); i++) {
153 traj->getRefPos(current_time+times[i], future_pos);
155 /* Ignore obstacles when turning */
156 if (fabs(future_pos.v) < 0.01)
159 x = future_pos.x + cos(future_pos.phi)*ROBOT_AXIS_TO_BRUSH_M;
160 y = future_pos.y + sin(future_pos.phi)*ROBOT_AXIS_TO_BRUSH_M;
162 ShmapPoint2Cell(x, y, &xcell, &ycell, &valid);
165 if (map->cells[ycell][xcell].detected_obstacle > 0) {
166 if (sem_trywait(&recalculation_not_running) == 0) {
167 FSM_SIGNAL(MOTION, EV_OBSTACLE, NULL);
174 static void do_estimation()
176 static bool virgo = true;
183 static real_t beacon_xy[3][2] = {
191 static real_t beacon_xy[3][2] = {
199 static uint32_t odo0[2];
200 static real_t y[5] = {0.0, 0.0, 0.0, 0.0, 0.0};
201 static int missing_odo_count = 0;
202 uint32_t t[3], odo[2];
204 int i, odo_received, err[5];
207 robot.team_color = RED;
209 robot.team_color = GREEN;
212 /* locks should not be necessary, however... */
213 ROBOT_LOCK(corr_distances);
214 t[0] = robot.corr_distances.t1;
215 t[1] = robot.corr_distances.t2;
216 t[2] = robot.corr_distances.t3;
217 ROBOT_UNLOCK(corr_distances);
218 ROBOT_LOCK(motion_irc);
219 odo[0] = robot.motion_irc.left;
220 odo[1] = robot.motion_irc.right;
221 odo_received = robot.motion_irc_received;
222 robot.motion_irc_received = 0;
223 ROBOT_UNLOCK(motion_irc);
225 for (i = 0; i < 3; i++)
226 y[i] = (XCORR2METER/32.0)*t[i];
228 /* missing odometry workaround :-( */
230 real_t c = 1.0/(real_t)(1 + missing_odo_count);
231 y[3] = c*ODO_C*(real_t)((int32_t)(odo0[0] - odo[0]));
232 y[4] = c*ODO_C*(real_t)((int32_t)(odo[1] - odo0[1]));
233 missing_odo_count = 0;
238 odo0[0] = odo[0]; odo0[1] = odo[1];
239 DBG("UZV+ODO: %f %f %f %f %f\n", y[0], y[1], y[2], y[3], y[4]);
240 //DBG("ODO: %f %f %u %u\n", y[3], y[4], odo[0], odo[1]);
242 if (virgo || init_ekf_flag) {
243 /*FIXME:reflect init pos & beacon coords accord.to our color */
244 ROBOT_LOCK(est_pos_uzv);
245 real_t xy0[] = {robot.est_pos_uzv.x, robot.est_pos_uzv.y};
247 ekf8_init(&ekf8, (real_t*)beacon_xy, D_MAX, 30.0, xy0, y);
248 ekf8.ekf.x[6] = robot.est_pos_uzv.phi;
249 init_ekf_flag = false;
251 ROBOT_UNLOCK(est_pos_uzv);
254 ekf8_step(&ekf8, x, P, err, y);
256 DBG("EKF: x=%f y=%f phi=%8.4f\n", x[0], x[1], x[6]*(180.0/M_PI));
258 ROBOT_LOCK(est_pos_uzv);
259 robot.est_pos_uzv.x = x[0] - ODO_D*cos(x[6]);
260 robot.est_pos_uzv.y = x[1] - ODO_D*sin(x[6]);
261 robot.est_pos_uzv.phi = x[6];
262 ROBOT_UNLOCK(est_pos_uzv);
265 static void do_control()
267 double speedl, speedr;
272 // Calculate reference position
273 /***FIXME:should not rely on system clock, the period is fixed***/
274 gettimeofday(&tv, NULL);
275 t = (double)(tv.tv_usec - tv_start.tv_usec) / 1000000.0;
276 t += (tv.tv_sec - tv_start.tv_sec);
278 // check for new trajectory to switch
279 // only if the trajectory is already prepared
280 if (switch_to_trajectory != NULL && t >= switch_time) {
281 pthread_mutex_lock(&switch_to_trajectory_lock);
283 DBG("SWITCHING to new trajectory\n");
285 go(switch_to_trajectory);
286 // nothing prepared now
287 switch_to_trajectory = NULL;
288 pthread_mutex_unlock(&switch_to_trajectory_lock);
291 pthread_mutex_lock(&actual_trajectory_lock);
292 Trajectory *w = actual_trajectory;
294 Pos ref_pos, est_pos, balet_out;
297 // Calculate reference position
298 gettimeofday(&tv, NULL);
299 t = (double)(tv.tv_usec - tv_start.tv_usec) / 1000000.0;
300 t += (tv.tv_sec - tv_start.tv_sec);
302 // if switch_to_trajectory is being prepared, it can not stop calculation
303 // and start to count again, it could evoke overloading
304 if (robot.obstacle_avoidance_enabled)
305 check_for_collision_in_future(w, t);
308 done = w->getRefPos(t, ref_pos);
310 if (ref_pos.omega > actual_trajectory->constr.maxomega)
311 DBG("Omega constraint problem %lf, max %lf -------------------- \n", ref_pos.omega, actual_trajectory->constr.maxomega);
314 robot.ref_pos.x = ref_pos.x;
315 robot.ref_pos.y = ref_pos.y;
316 robot.ref_pos.phi = ref_pos.phi;
317 ROBOT_UNLOCK(ref_pos);
319 robot_get_est_pos(&est_pos.x, &est_pos.y, &est_pos.phi);
321 #ifdef MOTION_PRINT_REF
322 static double last_t;
323 if (t < last_t) last_t = t; // Switched to a new trajectory
324 printf("rx=%5.02f ry=%5.02f, rphi=%4.0f v=%-4.02f omega=%-4.02f, time=%lf dt=%lf \n", ref_pos.x, ref_pos.y, ref_pos.phi/M_PI*180, ref_pos.v, ref_pos.omega, t, t-last_t);
329 // Call the controller
331 error = balet(ref_pos, est_pos, k, balet_out);
332 speedl = balet_out.v - ROBOT_ROTATION_RADIUS_M*balet_out.omega;
333 speedr = balet_out.v + ROBOT_ROTATION_RADIUS_M*balet_out.omega;
334 notify_fsm(done, error);
341 // Apply controller output
342 robot_send_speed(speedl, speedr);
343 pthread_mutex_unlock(&actual_trajectory_lock);
346 void dummy_handler(int)
350 static inline void next_period(struct timespec *next, long long interval_ns)
352 next->tv_nsec += interval_ns;
353 if (next->tv_nsec >= 1000000000) {
355 next->tv_nsec -= 1000000000;
360 * A thread running the controller.
362 * This (high priority) thread executes the motion control
363 * algorithm. It calculates repference position based on actual
364 * trajectory and current time. Then it calls "balet" controller to
371 void *thread_trajectory_follower(void *arg)
373 struct timespec next;
376 clock_gettime(CLOCK_REALTIME, &next);
379 ret = sem_timedwait(&measurement_received, &next);
381 if (ret == -1 && errno == ETIMEDOUT) {
382 next_period(&next, MOTION_PERIOD_NS);
383 if (measurement_ok) {
384 if (measurement_ok == 2) {
385 fprintf(stderr, "problem: measurement timeout!!!!!!!!!!!");
392 next_period(&next, MEASURE_TIMEOUT_NS);
393 if (measurement_ok < 2) {
398 robot.localization_works = (measurement_ok == 2);
399 if (measurement_ok == 2) {
408 * Tells trajctory_follower to start moving along trajectory @c t.
410 * @param t Trajectory to follow.
411 * @param append_time Relative time from the beginning of the @c actual_trajectory
412 * when to append the new one
414 void go(Trajectory *t, double append_time)
416 pthread_mutex_lock(&actual_trajectory_lock);
418 if (actual_trajectory && append_time != 0) {
419 // trajectory only connects a new one in some specific time
420 if(!actual_trajectory->appendTrajectory(*t, append_time))
421 DBG("Can not append trajectory\n");
423 // trajectory starts from zero time
424 old = actual_trajectory;
425 gettimeofday(&tv_start, NULL);
426 actual_trajectory = t;
428 t->logTraj(tv_start.tv_sec + 1e-6*tv_start.tv_usec);
433 pthread_mutex_unlock(&actual_trajectory_lock);
437 * switches to newly calculated trajectory to go on it at specific time
439 /*void switch_trajectory_at(Trajectory *t, double time)
441 pthread_mutex_lock(&switch_to_trajectory_lock);
442 switch_to_trajectory = t;
444 pthread_mutex_unlock(&switch_to_trajectory_lock);
447 gettimeofday(&tv, NULL);
448 double tm = (double)(tv.tv_usec - tv_start.tv_usec) / 1000000.0;
449 tm += (tv.tv_sec - tv_start.tv_sec);
450 if (switch_time <= tm)
451 DBG("//// BAD SWITCH ////");
456 delete_actual_trajectory();
458 // Interrupt sem_timedwait() in thread_trajectory_follower(),
459 // so we stop immediately.
460 sem_post(&measurement_received);
464 * Initializes motion controller.
467 * @return Zero on success, non-zero otherwise.
469 int motion_control_init()
471 pthread_attr_t tattr;
473 pthread_mutexattr_t mattr;
476 actual_trajectory = NULL;
477 //switch_to_trajectory = NULL;
480 ret = pthread_mutexattr_init(&mattr);
481 #ifdef HAVE_PRIO_INHERIT
482 ret = pthread_mutexattr_setprotocol(&mattr, PTHREAD_PRIO_INHERIT);
484 pthread_mutex_init(&actual_trajectory_lock, &mattr);
486 sem_init(&recalculation_not_running, 0, 1);
488 // Trajectory follower thread
489 sem_init(&measurement_received, 0, 0);
490 pthread_attr_init (&tattr);
491 pthread_attr_getschedparam (&tattr, ¶m);
492 pthread_attr_setschedpolicy(&tattr, SCHED_FIFO);
493 param.sched_priority = THREAD_PRIO_TRAJ_FOLLOWER;
494 ret = pthread_attr_setschedparam (&tattr, ¶m);
496 perror("move_init: pthread_attr_setschedparam(follower)");
499 ret = pthread_create(&thr_trajectory_follower, &tattr, thread_trajectory_follower, NULL);
501 perror("move_init: pthread_create");
510 void motion_control_done()
512 pthread_cancel(thr_trajectory_follower);
513 pthread_join(thr_trajectory_follower, NULL);
515 robot.orte.motion_speed.right = 0;
516 robot.orte.motion_speed.left = 0;
517 ORTEPublicationSend(robot.orte.publication_motion_speed);
521 void get_future_pos(double rel_time_sec, Pos &pos, double &switch_time)
525 gettimeofday(&tv, NULL);
526 switch_time = (double)(tv.tv_usec - tv_start.tv_usec) / 1000000.0;
527 switch_time += (tv.tv_sec - tv_start.tv_sec);
528 switch_time += rel_time_sec;
530 pthread_mutex_lock(&actual_trajectory_lock);
531 if (actual_trajectory) {
532 actual_trajectory->getRefPos(switch_time, pos);
533 pthread_mutex_unlock(&actual_trajectory_lock);
535 // Robot doesn't move, so return current position
536 pthread_mutex_unlock(&actual_trajectory_lock);
538 robot_get_est_pos(&pos.x, &pos.y, &pos.phi);