2 * robot_eb2008.c 08/04/20
4 * Robot's generic initialization and clean up functions.
6 * Copyright: (c) 2008 CTU Dragons
7 * CTU FEE - Department of Control Engineering
11 #define _XOPEN_SOURCE 500 /* For PTHREAD_PRIO_INHERIT etc. */
14 #include <movehelper.h>
18 #include <robot_orte.h>
23 #include "map_handling.h"
26 #include "actuators.h"
29 #define DBG(format, ...) printf(format, ##__VA_ARGS__)
31 #define DBG(format, ...)
34 #define MOTION_CONTROL_INIT_ONLY
35 #include "motion-control.h"
37 /* Global definition of robot structure */
40 #ifdef CONFIG_LOCK_CHECKING
41 struct lock_log robot_lock_log;
44 static void block_signals()
50 for (i=SIGRTMIN; i<=SIGRTMAX; i++)
51 sigaddset(&sigset, i);
53 pthread_sigmask(SIG_BLOCK, &sigset, (sigset_t*)NULL);
56 static void int_handler(int sig)
61 void fill_in_known_areas_in_map()
63 /* Do not plan path close to edges */
64 /* ShmapSetRectangleFlag(0.0, 0.0, 0.199, 2.1, MAP_FLAG_WALL, 0); */
65 /* ShmapSetRectangleFlag(0.0, 0.0, 3.0, 0.199, MAP_FLAG_WALL, 0); */
66 /* ShmapSetRectangleFlag(0.0, 1.901, 3.0, 2.1, MAP_FLAG_WALL, 0); */
67 /* ShmapSetRectangleFlag(2.801, 0.0, 3.0, 2.1, MAP_FLAG_WALL, 0); */
69 //ShmapSetRectangleFlag(0, 1.15, 0.4, 1.55, MAP_FLAG_IGNORE_OBST, 0); /* Left white vert. dispenser */
70 //ShmapSetRectangleFlag(2.7, 1.25, 3, 1.45, MAP_FLAG_IGNORE_OBST, 0); /* Right white vert. dispenser */
72 //ShmapSetRectangleFlag(0.50, 1.8, 0.95, 2.2, MAP_FLAG_IGNORE_OBST, 0); /* Blue vert. dispenser */
73 //ShmapSetRectangleFlag(2.30, 1.8, 2.55, 2.1, MAP_FLAG_IGNORE_OBST, 0); /* Red vert. dispenser */
75 /* Ignore other obstacles at edges */
76 ShmapSetRectangleFlag(0.0, 0.0, 0.09, 2.1, MAP_FLAG_IGNORE_OBST, 0); /* left */
77 ShmapSetRectangleFlag(0.0, 0.0, 3.0, 0.09, MAP_FLAG_IGNORE_OBST, 0); /* bottom */
78 ShmapSetRectangleFlag(0.0, 2.01, 3.0, 2.1, MAP_FLAG_IGNORE_OBST, 0); /* top */
79 ShmapSetRectangleFlag(2.91, 0.0, 3.0, 2.1, MAP_FLAG_IGNORE_OBST, 0); /* right */
81 //ShmapSetRectangleFlag(0.0, 0.0, 0.2, 0.6, MAP_FLAG_IGNORE_OBST, 0); /* left basket */
82 //ShmapSetRectangleFlag(2.8, 0.0, 3.0, 0.6, MAP_FLAG_IGNORE_OBST, 0); /* right basket */
84 /* Construction areas (Building zones) */
85 //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 */
86 //ShmapSetRectangleFlag(1.35, 0.9, 1.65, 1.2, MAP_FLAG_WALL, 0); /* Central construction area */
89 ShmapSetRectangleFlag(0.0, 0.0, 0.199, 2.1, MAP_FLAG_WALL, 0); /* left */
90 ShmapSetRectangleFlag(0.0, 0.0, 3.0, 0.199, MAP_FLAG_WALL, 0); /* bottom */
91 ShmapSetRectangleFlag(0.0, 1.901, 3.0, 2.1, MAP_FLAG_WALL, 0); /* top */
92 ShmapSetRectangleFlag(2.801, 0.0, 3.0, 2.1, MAP_FLAG_WALL, 0); /* right */
93 // Bottom-middle unloading area
94 ShmapSetRectangleFlag(1.0, 0.0, 2.0, 0.3, MAP_FLAG_WALL, 0); /* bottom */
95 // Unloading area - dwarf wall
96 ShmapSetRectangleFlag(0.4, 0.0, 0.8, 0.3, MAP_FLAG_WALL, 0);
97 ShmapSetRectangleFlag(2.2, 0.0, 2.6, 0.3, MAP_FLAG_WALL, 0);
99 ShmapSetCircleFlag(ACROPOLIS_CENTER_X, ACROPOLIS_CENTER_Y, ACROPOLIS_DIAMETER + 0.09, MAP_FLAG_WALL, 0);
103 static void trans_callback(struct robo_fsm *fsm)
105 if (fsm == &robot.fsm.main) {
106 strncpy(robot.orte.fsm_main.state_name, fsm->state_name, sizeof(robot.orte.fsm_main.state_name));
107 ORTEPublicationSend(robot.orte.publication_fsm_main);
108 } else if (fsm == &robot.fsm.motion) {
109 strncpy(robot.orte.fsm_motion.state_name, fsm->state_name, sizeof(robot.orte.fsm_motion.state_name));
110 ORTEPublicationSend(robot.orte.publication_fsm_motion);
111 } else if (fsm == &robot.fsm.act) {
112 strncpy(robot.orte.fsm_act.state_name, fsm->state_name, sizeof(robot.orte.fsm_act.state_name));
113 ORTEPublicationSend(robot.orte.publication_fsm_act);
119 * Initializes the robot.
120 * Setup fields in robot structure, initializes FSMs and ORTE.
127 pthread_mutexattr_t mattr;
129 rv = pthread_mutexattr_init(&mattr);
130 #ifdef HAVE_PRIO_INHERIT
131 rv = pthread_mutexattr_setprotocol(&mattr, PTHREAD_PRIO_INHERIT);
133 pthread_mutex_init(&robot.lock, &mattr);
134 pthread_mutex_init(&robot.lock_ref_pos, &mattr);
135 pthread_mutex_init(&robot.lock_est_pos_uzv, &mattr);
136 pthread_mutex_init(&robot.lock_est_pos_odo, &mattr);
137 pthread_mutex_init(&robot.lock_meas_angles, &mattr);
138 pthread_mutex_init(&robot.lock_joy_data, &mattr);
139 pthread_mutex_init(&robot.lock_disp, &mattr);
141 fsm_main_loop_init(&robot.main_loop);
143 /* FSM initialization */
144 /* fsm_init(&robot.fsm.main, "main", &robot.main_loop);
145 fsm_init(&robot.fsm.motion, "motion", &robot.main_loop);
146 fsm_init(&robot.fsm.display, "display", &robot.main_loop);
147 fsm_init(&robot.fsm.act, "actuators", &robot.main_loop); */
148 fsm_init(&robot.fsm.main, "MAIN", &robot.main_loop);
149 fsm_init(&robot.fsm.motion, "\tmot", &robot.main_loop);
150 fsm_init(&robot.fsm.display, "\tdisp", &robot.main_loop);
151 fsm_init(&robot.fsm.act, "\tACT", &robot.main_loop);
152 robot.fsm.main.transition_callback = trans_callback;
153 robot.fsm.act.transition_callback = trans_callback;
154 robot.fsm.motion.transition_callback = trans_callback;
156 robot.team_color = GREEN;
158 if (robot.team_color == RED) {
159 printf("We are RED!\n");
161 printf("We are GREEN!\n");
164 robot_set_est_pos_trans(0.16, PLAYGROUND_HEIGHT_M - 0.16, DEG2RAD(-45));
166 robot.map = ShmapInit(1);
167 fill_in_known_areas_in_map();
169 signal(SIGINT, int_handler);
170 signal(SIGTERM, int_handler);
174 robot.orte.motion_speed.left = 0;
175 robot.orte.motion_speed.right = 0;
177 robot.orte.pwr_ctrl.voltage33 = 1;
178 robot.orte.pwr_ctrl.voltage50 = 1;
179 robot.orte.pwr_ctrl.voltage80 = 1;
181 robot.orte.camera_control.on = true;
183 robot.fsm.motion.state = &fsm_state_motion_init;
185 robot.fsm.act.state = &fsm_state_act_wait_for_command; // puck handling actuators FSM's initial state
187 /* Only activate display if it is configured */
188 robot.sercom = uoled_init(serial_comm);
189 if (strcmp(robot.sercom->devname, "/dev/null") != 0)
190 robot.fsm.display.state = &fsm_state_disp_init;
192 robot.obstacle_avoidance_enabled = true;
193 robot.use_back_switch = false; /* Switched on sime time after start */
194 robot.state = POWER_ON;
196 /* init ORTE domain, create publishers, subscribers, .. */
197 rv = robot_init_orte();
198 act_init(&robot.orte);
204 * Starts the robot FSMs and threads.
212 pthread_attr_t tattr;
213 struct sched_param param;
214 pthread_t thr_obstacle_forgeting;
217 ret = motion_control_init();
219 perror("motion_control_init");
224 /* Obstacle forgeting thread */
225 pthread_attr_init (&tattr);
226 pthread_attr_getschedparam (&tattr, ¶m);
227 param.sched_priority = OBST_FORGETING_PRIO;
228 rv = pthread_attr_setschedparam (&tattr, ¶m);
230 perror("robot_start: pthread_attr_setschedparam()");
233 rv = pthread_create(&thr_obstacle_forgeting,
234 &tattr, thread_obstacle_forgeting, NULL);
236 perror("robot_start: pthread_create");
240 fsm_main_loop(&robot.main_loop);
247 * Signals all the robot threads to finish.
252 fsm_exit(&robot.fsm.main);
253 fsm_exit(&robot.fsm.motion);
254 fsm_exit(&robot.fsm.display);
255 fsm_exit(&robot.fsm.act);
259 * Stops the robot. All resources alocated by robot_init() or
260 * robot_start() are dealocated here.
264 motion_control_done();
266 act_chelae(CHELA_OPEN, CHELA_OPEN);
267 act_holder(HOLDER_OPENED);
269 robottype_roboorte_destroy(&robot.orte);
271 fsm_destroy(&robot.fsm.main);
272 fsm_destroy(&robot.fsm.motion);
273 fsm_destroy(&robot.fsm.display);
274 fsm_destroy(&robot.fsm.act);
276 DBG("robofsm: stop.\n");