src/robofsm/robot.c

   1 /*
   2  * robot_demo2011.c
   3  *
   4  * Robot's generic initialization and clean up functions.
   5  *
   6  * Copyright: (c) 2008 CTU Dragons
   7  *            CTU FEE - Department of Control Engineering
   8  * License: GNU GPL v.2
   9  */
  10
  11 #define _XOPEN_SOURCE 500       /* For PTHREAD_PRIO_INHERIT etc. */
  12
  13 #include <map.h>
  14 #include <movehelper.h>
  15 #include <pthread.h>
  16 #include <robomath.h>
  17 #include <robot.h>
  18 #include <robot_orte.h>
  19 #include <signal.h>
  20 #include <sys/time.h>
  21 #include <time.h>
  22 #include <unistd.h>
  23 #include "map_handling.h"
  24 #include <string.h>
  25 #include "actuators.h"
  26 #include <robodim.h>
  27 #include <ul_log.h>
  28
  29 UL_LOG_CUST(ulogd_robot); /* Log domain name = ulogd + name of the file */
  30
  31
  32 #define MOTION_CONTROL_INIT_ONLY
  33 #include "motion-control.h"
  34 #include "robot.h"
  35
  36 /* Global definition of robot structure */
  37 struct robot robot;
  38
  39 #ifdef CONFIG_LOCK_CHECKING
  40 struct lock_log robot_lock_log;
  41 #endif
  42
  43 static void block_signals()
  44 {
  45         sigset_t sigset;
  46         int i;
  47
  48         sigemptyset(&sigset);
  49         for (i=SIGRTMIN; i<=SIGRTMAX; i++)
  50                 sigaddset(&sigset, i);
  51
  52         pthread_sigmask(SIG_BLOCK, &sigset, (sigset_t*)NULL);
  53 }
  54
  55 static void int_handler(int sig)
  56 {
  57         robot_exit();
  58 }
  59
  60 void fill_in_known_areas_in_map()
  61 {
  62         /* maze walls */
  63         ShmapSetRectangleFlag(0.0, PLAYGROUND_HEIGHT_M / 2.0, PLAYGROUND_WIDTH_M - 0.5, PLAYGROUND_HEIGHT_M / 2.0, MAP_FLAG_WALL, 0);
  64         ShmapSetRectangleFlag(0.4, 0.0, 0.4, PLAYGROUND_HEIGHT_M / 4.0, MAP_FLAG_WALL, 0);
  65         ShmapSetRectangleFlag(0.9, PLAYGROUND_HEIGHT_M / 4.0, 0.9, PLAYGROUND_HEIGHT_M / 2.0, MAP_FLAG_WALL, 0);
  66
  67         /* playground walls */
  68         ShmapSetRectangleFlag(0.0, 0.0, PLAYGROUND_WIDTH_M, 0.0, MAP_FLAG_WALL, 0);
  69         ShmapSetRectangleFlag(0.0, 0.0, 0.0, PLAYGROUND_HEIGHT_M, MAP_FLAG_WALL, 0);
  70
  71         ShmapSetRectangleFlag(0.0, PLAYGROUND_HEIGHT_M, PLAYGROUND_WIDTH_M, PLAYGROUND_HEIGHT_M, MAP_FLAG_WALL, 0);
  72         ShmapSetRectangleFlag(PLAYGROUND_WIDTH_M, 0.0, PLAYGROUND_WIDTH_M, PLAYGROUND_HEIGHT_M, MAP_FLAG_WALL, 0);
  73 }
  74
  75 static void trans_callback(struct robo_fsm *fsm)
  76 {
  77         if (fsm == &robot.fsm.main) {
  78                 strncpy(robot.orte.fsm_main.state_name, fsm->state_name, sizeof(robot.orte.fsm_main.state_name));
  79                 ORTEPublicationSend(robot.orte.publication_fsm_main);
  80         } else if (fsm == &robot.fsm.motion) {
  81                 strncpy(robot.orte.fsm_motion.state_name, fsm->state_name, sizeof(robot.orte.fsm_motion.state_name));
  82                 ORTEPublicationSend(robot.orte.publication_fsm_motion);
  83         } else if (fsm == &robot.fsm.act) {
  84                 strncpy(robot.orte.fsm_act.state_name, fsm->state_name, sizeof(robot.orte.fsm_act.state_name));
  85                 ORTEPublicationSend(robot.orte.publication_fsm_act);
  86         }
  87
  88 }
  89
  90 /**
  91  * Initializes the robot.
  92  * Setup fields in robot structure, initializes FSMs and ORTE.
  93  *
  94  * @return 0
  95  */
  96 int robot_init()
  97 {
  98         int rv;
  99         pthread_mutexattr_t mattr;
 100         rv = pthread_mutexattr_init(&mattr);
 101 #ifdef HAVE_PRIO_INHERIT
 102         rv = pthread_mutexattr_setprotocol(&mattr, PTHREAD_PRIO_INHERIT);
 103 #endif
 104         pthread_mutex_init(&robot.lock, &mattr);
 105         pthread_mutex_init(&robot.lock_ref_pos, &mattr);
 106         pthread_mutex_init(&robot.lock_est_pos_odo, &mattr);
 107         pthread_mutex_init(&robot.lock_est_pos_indep_odo, &mattr);
 108         pthread_mutex_init(&robot.lock_meas_angles, &mattr);
 109         pthread_mutex_init(&robot.lock_joy_data, &mattr);
 110         pthread_mutex_init(&robot.lock_disp, &mattr);
 111
 112         fsm_main_loop_init(&robot.main_loop);
 113
 114         /* FSM initialization */
 115         fsm_init(&robot.fsm.main, "MAIN", &robot.main_loop);
 116         fsm_init(&robot.fsm.motion, "\tmot", &robot.main_loop);
 117         fsm_init(&robot.fsm.act, "\tACT", &robot.main_loop);
 118         robot.fsm.main.transition_callback = trans_callback;
 119         robot.fsm.act.transition_callback = trans_callback;
 120         robot.fsm.motion.transition_callback = trans_callback;
 121
 122         robot.team_color = TC_WHITE;
 123
 124         switch (robot.team_color) {
 125         case TC_WHITE:
 126                 ul_loginf("We are WHITE!\n");
 127                 break;
 128         case TC_GREEN:
 129                 ul_loginf("We are GREEN!\n");
 130                 break;
 131         case TC_YELLOW:
 132                 ul_loginf("We are YELLOW!\n");
 133                 break;
 134         }
 135
 136         robot_set_est_pos_trans(ROBOT_START_X_M, ROBOT_START_Y_M, DEG2RAD(ROBOT_START_ANGLE_DEG));
 137
 138         robot.ignore_hokuyo = false;
 139         robot.ignore_sick = false;
 140         robot.map = ShmapInit(1);
 141         fill_in_known_areas_in_map();
 142
 143         signal(SIGINT, int_handler);
 144         signal(SIGTERM, int_handler);
 145         block_signals();
 146
 147         /* initial values */
 148         robot.orte.motion_speed.left = 0;
 149         robot.orte.motion_speed.right = 0;
 150
 151         robot.orte.pwr_ctrl.voltage33 = 1;
 152         robot.orte.pwr_ctrl.voltage50 = 1;
 153         robot.orte.pwr_ctrl.voltage80 = 1;
 154
 155         robot.orte.camera_control.on = false;
 156
 157         robot.fsm.motion.state = &fsm_state_motion_init;
 158
 159         /* Only activate display if it is configured */
 160         /* FIXME: display
 161         robot.sercom = uoled_init(serial_comm);
 162         if (strcmp(robot.sercom->devname, "/dev/null") != 0)
 163                 robot.fsm.display.state = &fsm_state_disp_init;
 164         */
 165
 166         robot.obstacle_avoidance_enabled = true;
 167         robot.use_back_bumpers = true;
 168         robot.use_left_bumper = true;
 169         robot.use_right_bumper = true;
 170         robot.start_state = POWER_ON;
 171         robot.check_turn_safety = true;
 172
 173         /* init ORTE domain, create publishers, subscribers, .. */
 174         rv = robot_init_orte();
 175         act_init(&robot.orte);
 176
 177         return rv;
 178 }
 179
 180 /**
 181  * Starts the robot FSMs and threads.
 182  *
 183  * @return 0
 184  */
 185 int robot_start()
 186 {
 187         int rv = 0;
 188
 189         pthread_attr_t tattr;
 190         struct sched_param param;
 191         pthread_t thr_obstacle_forgeting;
 192         int ret;
 193
 194         ret = motion_control_init();
 195         if(ret) {
 196                 perror("motion_control_init");
 197                 robot_exit();
 198         }
 199
 200
 201         /* Obstacle forgeting thread */
 202         pthread_attr_init (&tattr);
 203         pthread_attr_getschedparam (&tattr, &param);
 204         pthread_attr_getschedparam (&tattr, &param);
 205         pthread_attr_setschedpolicy(&tattr, SCHED_FIFO);
 206         param.sched_priority = OBST_FORGETING_PRIO;
 207         rv = pthread_attr_setschedparam (&tattr, &param);
 208         if (rv) {
 209                 perror("robot_start: pthread_attr_setschedparam()");
 210                 goto err;
 211         }
 212         rv = pthread_create(&thr_obstacle_forgeting,
 213                             &tattr, thread_obstacle_forgeting, NULL);
 214         if (rv) {
 215                 perror("robot_start: pthread_create");
 216                 goto err;
 217         }
 218
 219         sem_init(&robot.start, 0, 0);
 220
 221         fsm_main_loop(&robot.main_loop);
 222
 223 err:
 224         return rv;
 225 }
 226
 227 /**
 228  * Signals all the robot threads to finish.
 229  */
 230 void robot_exit()
 231 {
 232         /* stop FSMs */
 233         fsm_exit(&robot.fsm.main);
 234         fsm_exit(&robot.fsm.motion);
 235         fsm_exit(&robot.fsm.act);
 236 }
 237
 238 /**
 239  * Stops the robot. All resources alocated by robot_init() or
 240  * robot_start() are dealocated here.
 241  */
 242 void robot_destroy()
 243 {
 244         motion_control_done();
 245
 246         // FIXME: set actuators to well defined position (FJ)
 247
 248         robottype_roboorte_destroy(&robot.orte);
 249
 250         fsm_destroy(&robot.fsm.main);
 251         fsm_destroy(&robot.fsm.motion);
 252         fsm_destroy(&robot.fsm.act);
 253         ShmapFree();
 254         ul_logdeb("robofsm: stop.\n");
 255 }
 256
 257 void robot_get_est_pos_trans(double *x, double *y, double *phi)
 258 {
 259         robot_get_est_pos(x, y, phi);
 260         *x = __trans_x(*x);
 261         *y = __trans_y(*y);
 262         *phi = __trans_ang(*phi);
 263 }
 264
 265 void robot_get_est_pos(double *x, double *y, double *phi)
 266 {
 267         if (robot.indep_odometry_works) {
 268                 ROBOT_LOCK(est_pos_indep_odo);
 269                 *x = robot.est_pos_indep_odo.x;
 270                 *y = robot.est_pos_indep_odo.y;
 271                 *phi = robot.est_pos_indep_odo.phi;
 272                 ROBOT_UNLOCK(est_pos_indep_odo);
 273         } else if (robot.odometry_works) {
 274                 ROBOT_LOCK(est_pos_odo);
 275                 *x = robot.est_pos_odo.x;
 276                 *y = robot.est_pos_odo.y;
 277                 *phi = robot.est_pos_odo.phi;
 278                 ROBOT_UNLOCK(est_pos_odo);
 279         } else {
 280                 ROBOT_LOCK(ref_pos);
 281                 *x = robot.ref_pos.x;
 282                 *y = robot.ref_pos.y;
 283                 *phi = robot.ref_pos.phi;
 284                 ROBOT_UNLOCK(ref_pos);
 285         }
 286 }