projects/microb2010/mainboard/robotsim.c

   1 /*
   2  *  Copyright Droids Corporation, Microb Technology, Eirbot (2005)
   3  *
   4  *  This program is free software; you can redistribute it and/or modify
   5  *  it under the terms of the GNU General Public License as published by
   6  *  the Free Software Foundation; either version 2 of the License, or
   7  *  (at your option) any later version.
   8  *
   9  *  This program is distributed in the hope that it will be useful,
  10  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  *  GNU General Public License for more details.
  13  *
  14  *  You should have received a copy of the GNU General Public License
  15  *  along with this program; if not, write to the Free Software
  16  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  17  *
  18  *  Revision : $Id: main.c,v 1.9.4.5 2007-06-01 09:37:22 zer0 Exp $
  19  *
  20  */
  21
  22 #include <stdio.h>
  23 #include <string.h>
  24 #include <stdint.h>
  25 #include <unistd.h>
  26 #include <sys/stat.h>
  27 #include <sys/types.h>
  28 #include <fcntl.h>
  29 #include <unistd.h>
  30
  31 #include <aversive.h>
  32 #include <aversive/error.h>
  33
  34 #include <timer.h>
  35 #include <scheduler.h>
  36 #include <time.h>
  37
  38 #include <ax12.h>
  39 #include <pwm_ng.h>
  40 #include <pid.h>
  41 #include <quadramp.h>
  42 #include <control_system_manager.h>
  43 #include <trajectory_manager.h>
  44 #include <blocking_detection_manager.h>
  45 #include <robot_system.h>
  46 #include <position_manager.h>
  47 #include <trajectory_manager_utils.h>
  48
  49 #include <parse.h>
  50 #include <rdline.h>
  51
  52 #include "../common/i2c_commands.h"
  53 #include "strat.h"
  54 #include "strat_utils.h"
  55 #include "main.h"
  56
  57 static int32_t l_pwm, r_pwm;
  58 static int32_t l_enc, r_enc;
  59
  60 static int fdr, fdw;
  61 /*
  62  * Debug with GDB:
  63  *
  64  * (gdb) handle SIGUSR1 pass
  65  * Signal        Stop   Print   Pass to program Description
  66  * SIGUSR1       Yes    Yes     Yes             User defined signal 1
  67  * (gdb) handle SIGUSR2 pass
  68  * Signal        Stop   Print   Pass to program Description
  69  * SIGUSR2       Yes    Yes     Yes             User defined signal 2
  70  * (gdb) handle SIGUSR1 noprint
  71  * Signal        Stop   Print   Pass to program Description
  72  * SIGUSR1       No     No      Yes             User defined signal 1
  73  * (gdb) handle SIGUSR2 noprint
  74  */
  75
  76 /* */
  77 #define FILTER  98
  78 #define FILTER2 (100-FILTER)
  79 #define SHIFT   4
  80
  81 void robotsim_dump(void)
  82 {
  83         char buf[BUFSIZ];
  84         int len;
  85         int16_t x, y, a;
  86
  87         x = position_get_x_s16(&mainboard.pos);
  88         y = position_get_y_s16(&mainboard.pos);
  89         a = position_get_a_deg_s16(&mainboard.pos);
  90 /*      y = COLOR_Y(y); */
  91 /*      a = COLOR_A(a); */
  92
  93         len = snprintf(buf, sizeof(buf), "pos=%d,%d,%d\n",
  94                        x, y, a);
  95         hostsim_lock();
  96         write(fdw, buf, len);
  97         hostsim_unlock();
  98 }
  99
 100 static int8_t
 101 robotsim_i2c_ballboard_set_mode(struct i2c_cmd_ballboard_set_mode *cmd)
 102 {
 103         char buf[BUFSIZ];
 104         int len;
 105
 106         ballboard.mode = cmd->mode;
 107         len = snprintf(buf, sizeof(buf), "ballboard=%d\n", cmd->mode);
 108         if (cmd->mode == I2C_BALLBOARD_MODE_EJECT)
 109                 ballboard.ball_count = 0;
 110         hostsim_lock();
 111         write(fdw, buf, len);
 112         hostsim_unlock();
 113         return 0;
 114 }
 115
 116 static int8_t
 117 robotsim_i2c_cobboard_set_mode(struct i2c_cmd_cobboard_set_mode *cmd)
 118 {
 119         if (cmd->mode == I2C_COBBOARD_MODE_EJECT)
 120                 cobboard.cob_count = 0;
 121         return 0;
 122 }
 123
 124 int8_t
 125 robotsim_i2c_cobboard_set_spickles(uint8_t side, uint8_t flags)
 126 {
 127         char buf[BUFSIZ];
 128         int len;
 129
 130         if (side == I2C_LEFT_SIDE) {
 131                 if (cobboard.lspickle == flags)
 132                         return 0;
 133                 else
 134                         cobboard.lspickle = flags;
 135         }
 136         if (side == I2C_RIGHT_SIDE) {
 137                 if (cobboard.rspickle == flags)
 138                         return 0;
 139                 else
 140                         cobboard.rspickle = flags;
 141         }
 142
 143         len = snprintf(buf, sizeof(buf), "cobboard=%d,%d\n", side, flags);
 144         hostsim_lock();
 145         write(fdw, buf, len);
 146         hostsim_unlock();
 147         return 0;
 148 }
 149
 150 static int8_t
 151 robotsim_i2c_ballboard(uint8_t addr, uint8_t *buf, uint8_t size)
 152 {
 153         void *void_cmd = buf;
 154
 155         switch (buf[0]) {
 156         case I2C_CMD_BALLBOARD_SET_MODE:
 157                 {
 158                         struct i2c_cmd_ballboard_set_mode *cmd = void_cmd;
 159                         robotsim_i2c_ballboard_set_mode(cmd);
 160                         break;
 161                 }
 162
 163         default:
 164                 break;
 165         }
 166         return 0;
 167 }
 168
 169 static int8_t
 170 robotsim_i2c_cobboard(uint8_t addr, uint8_t *buf, uint8_t size)
 171 {
 172         void *void_cmd = buf;
 173
 174         switch (buf[0]) {
 175
 176         case I2C_CMD_COBBOARD_SET_MODE:
 177                 {
 178                         struct i2c_cmd_cobboard_set_mode *cmd = void_cmd;
 179                         robotsim_i2c_cobboard_set_mode(cmd);
 180                         break;
 181                 }
 182
 183         default:
 184                 break;
 185         }
 186         return 0;
 187 }
 188
 189 int8_t
 190 robotsim_i2c(uint8_t addr, uint8_t *buf, uint8_t size)
 191 {
 192         if (addr == I2C_BALLBOARD_ADDR)
 193                 return robotsim_i2c_ballboard(addr, buf, size);
 194         else if (addr == I2C_COBBOARD_ADDR)
 195                 return robotsim_i2c_cobboard(addr, buf, size);
 196         return 0;
 197 }
 198
 199 static void beacon_update(void)
 200 {
 201        uint8_t flags;
 202        int16_t oppx, oppy;
 203        double oppa, oppd;
 204
 205        IRQ_LOCK(flags);
 206        if (ballboard.opponent_x == I2C_OPPONENT_NOT_THERE) {
 207                IRQ_UNLOCK(flags);
 208                return;
 209        }
 210        oppx = ballboard.opponent_x;
 211        oppy = ballboard.opponent_y;
 212        abs_xy_to_rel_da(oppx, oppy, &oppd, &oppa);
 213        ballboard.opponent_a = DEG(oppa);
 214        if (ballboard.opponent_a < 0)
 215                ballboard.opponent_a += 360;
 216        ballboard.opponent_d = oppd;
 217        IRQ_UNLOCK(flags);
 218 }
 219
 220 /* must be called periodically */
 221 void robotsim_update(void)
 222 {
 223         static int32_t l_pwm_shift[SHIFT];
 224         static int32_t r_pwm_shift[SHIFT];
 225         static int32_t l_speed, r_speed;
 226         static unsigned i = 0;
 227         static unsigned cpt = 0;
 228
 229         uint8_t flags;
 230         int32_t local_l_pwm, local_r_pwm;
 231         double x, y, a, a2, d;
 232         char cmd[BUFSIZ];
 233         int n, pertl = 0, pertr = 0;
 234
 235         /* corners of the robot */
 236         double xfl, yfl; /* front left */
 237         double xrl, yrl; /* rear left */
 238         double xrr, yrr; /* rear right */
 239         double xfr, yfr; /* front right */
 240
 241         int oppx, oppy;
 242         double oppa, oppd;
 243
 244         beacon_update();
 245
 246         /* time shift the command */
 247         l_pwm_shift[i] = l_pwm;
 248         r_pwm_shift[i] = r_pwm;
 249         i ++;
 250         i %= SHIFT;
 251         local_l_pwm = l_pwm_shift[i];
 252         local_r_pwm = r_pwm_shift[i];
 253
 254         /* read command */
 255         if (((cpt ++) & 0x7) == 0) {
 256                 n = read(fdr, &cmd, BUFSIZ - 1);
 257                 if (n < 1)
 258                         n = 0;
 259                 cmd[n] = 0;
 260         }
 261
 262         /* perturbation */
 263         if (cmd[0] == 'l')
 264                 pertl = 1;
 265         else if (cmd[0] == 'r')
 266                 pertr = 1;
 267         if (cmd[0] == 'o') {
 268                 if (sscanf(cmd, "opp %d %d", &oppx, &oppy) == 2) {
 269                         abs_xy_to_rel_da(oppx, oppy, &oppd, &oppa);
 270                         IRQ_LOCK(flags);
 271                         ballboard.opponent_x = oppx;
 272                         ballboard.opponent_y = oppy;
 273                         ballboard.opponent_a = DEG(oppa);
 274                         if (ballboard.opponent_a < 0)
 275                                 ballboard.opponent_a += 360;
 276                         ballboard.opponent_d = oppd;
 277                         IRQ_UNLOCK(flags);
 278                 }
 279         }
 280
 281         x = position_get_x_double(&mainboard.pos);
 282         y = position_get_y_double(&mainboard.pos);
 283         a = position_get_a_rad_double(&mainboard.pos);
 284
 285         l_speed = ((l_speed * FILTER) / 100) +
 286                 ((local_l_pwm * 1000 * FILTER2)/1000);
 287         r_speed = ((r_speed * FILTER) / 100) +
 288                 ((local_r_pwm * 1000 * FILTER2)/1000);
 289
 290         /* basic collision detection */
 291         a2 = atan2(ROBOT_WIDTH/2, ROBOT_HALF_LENGTH_REAR);
 292         d = norm(ROBOT_WIDTH/2, ROBOT_HALF_LENGTH_REAR);
 293
 294         xfl = x + cos(a+a2) * d;
 295         yfl = y + sin(a+a2) * d;
 296         if (!is_in_area(xfl, yfl, 0) && l_speed > 0)
 297                 l_speed = 0;
 298
 299         xrl = x + cos(a+M_PI-a2) * d;
 300         yrl = y + sin(a+M_PI-a2) * d;
 301         if (!is_in_area(xrl, yrl, 0) && l_speed < 0)
 302                 l_speed = 0;
 303
 304         xrr = x + cos(a+M_PI+a2) * d;
 305         yrr = y + sin(a+M_PI+a2) * d;
 306         if (!is_in_area(xrr, yrr, 0) && r_speed < 0)
 307                 r_speed = 0;
 308
 309         xfr = x + cos(a-a2) * d;
 310         yfr = y + sin(a-a2) * d;
 311         if (!is_in_area(xfr, yfr, 0) && r_speed > 0)
 312                 r_speed = 0;
 313
 314         if (pertl)
 315                 l_enc += 5000; /* push 1 cm */
 316         if (pertr)
 317                 r_enc += 5000; /* push 1 cm */
 318
 319         /* XXX should lock */
 320         l_enc += (l_speed / 1000);
 321         r_enc += (r_speed / 1000);
 322 }
 323
 324 void robotsim_pwm(void *arg, int32_t val)
 325 {
 326         //      printf("%p, %d\n", arg, val);
 327         if (arg == LEFT_PWM)
 328                 l_pwm = (val / 1.55);
 329         else if (arg == RIGHT_PWM)
 330                 r_pwm = (val / 1.55);
 331 }
 332
 333 int32_t robotsim_encoder_get(void *arg)
 334 {
 335         if (arg == LEFT_ENCODER)
 336                 return l_enc;
 337         else if (arg == RIGHT_ENCODER)
 338                 return r_enc;
 339         return 0;
 340 }
 341
 342 int robotsim_init(void)
 343 {
 344         mkfifo("/tmp/.robot_sim2dis", 0600);
 345         mkfifo("/tmp/.robot_dis2sim", 0600);
 346         fdw = open("/tmp/.robot_sim2dis", O_WRONLY, 0);
 347         if (fdw < 0)
 348                 return -1;
 349         fdr = open("/tmp/.robot_dis2sim", O_RDONLY | O_NONBLOCK, 0);
 350         if (fdr < 0) {
 351                 close(fdw);
 352                 return -1;
 353         }
 354         return 0;
 355 }