projects/microb2010/mainboard/strat.c

   1 /*
   2  *  Copyright Droids, Microb Technology (2009)
   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: strat.c,v 1.6 2009-11-08 17:24:33 zer0 Exp $
  19  *
  20  *  Olivier MATZ <zer0@droids-corp.org>
  21  */
  22
  23 #include <stdio.h>
  24 #include <stdlib.h>
  25 #include <string.h>
  26 #include <math.h>
  27
  28 #include <aversive/pgmspace.h>
  29 #include <aversive/queue.h>
  30 #include <aversive/wait.h>
  31 #include <aversive/error.h>
  32
  33 #include <ax12.h>
  34 #include <uart.h>
  35 #include <pwm_ng.h>
  36 #include <clock_time.h>
  37 #include <spi.h>
  38
  39 #include <pid.h>
  40 #include <quadramp.h>
  41 #include <control_system_manager.h>
  42 #include <trajectory_manager.h>
  43 #include <vect_base.h>
  44 #include <lines.h>
  45 #include <polygon.h>
  46 #include <obstacle_avoidance.h>
  47 #include <blocking_detection_manager.h>
  48 #include <robot_system.h>
  49 #include <position_manager.h>
  50
  51 #include <diagnostic.h>
  52
  53 #include <rdline.h>
  54 #include <parse.h>
  55
  56 #include "../common/i2c_commands.h"
  57 #include "i2c_protocol.h"
  58 #include "main.h"
  59 #include "strat.h"
  60 #include "strat_db.h"
  61 #include "strat_base.h"
  62 #include "strat_corn.h"
  63 #include "strat_utils.h"
  64 #include "strat_avoid.h"
  65 #include "sensor.h"
  66 #include "actuator.h"
  67
  68 #define COL_DISP_MARGIN 400 /* stop 40 cm in front of dispenser */
  69 #define COL_SCAN_PRE_MARGIN 250
  70
  71 static volatile uint8_t strat_running = 0;
  72 static volatile uint8_t want_pack = 0;
  73 struct strat_conf strat_conf;
  74
  75 /*************************************************************/
  76
  77 /*                  INIT                                     */
  78
  79 /*************************************************************/
  80
  81 /* called before each strat, and before the start switch */
  82 void strat_preinit(void)
  83 {
  84         time_reset();
  85         interrupt_traj_reset();
  86         mainboard.flags =  DO_ENCODERS | DO_CS | DO_RS |
  87                 DO_POS | DO_BD | DO_POWER;
  88
  89         strat_db_init();
  90         strat_conf_dump(__FUNCTION__);
  91         strat_db_dump(__FUNCTION__);
  92 }
  93
  94 void strat_conf_dump(const char *caller)
  95 {
  96         if (!strat_conf.dump_enabled)
  97                 return;
  98
  99         printf_P(PSTR("-- conf --\r\n"));
 100
 101 }
 102
 103 void strat_event_enable(void)
 104 {
 105         strat_running = 1;
 106 }
 107
 108 void strat_event_disable(void)
 109 {
 110         strat_running = 0;
 111 }
 112
 113 /* call it just before launching the strat */
 114 void strat_init(void)
 115 {
 116 #ifdef HOST_VERSION
 117         position_set(&mainboard.pos, 298.16,
 118                      COLOR_Y(308.78), COLOR_A(70.00));
 119 #endif
 120
 121         /* we consider that the color is correctly set */
 122         strat_running = 1;
 123         strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
 124         time_reset();
 125         interrupt_traj_reset();
 126
 127         i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
 128         i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_HARVEST);
 129
 130         /* used in strat_base for END_TIMER */
 131         mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
 132                 DO_POS | DO_BD | DO_TIMER | DO_POWER;
 133 }
 134
 135 /* call it after each strat */
 136 void strat_exit(void)
 137 {
 138 #ifndef HOST_VERSION
 139         uint8_t flags;
 140 #endif
 141
 142         strat_running = 0;
 143         mainboard.flags &= ~(DO_TIMER);
 144         strat_hardstop();
 145         time_reset();
 146         wait_ms(100);
 147 #ifndef HOST_VERSION
 148         IRQ_LOCK(flags);
 149         mainboard.flags &= ~(DO_CS);
 150         IRQ_UNLOCK(flags);
 151         pwm_ng_set(LEFT_PWM, 0);
 152         pwm_ng_set(RIGHT_PWM, 0);
 153 #endif
 154 }
 155
 156 /* called periodically (10ms) */
 157 void strat_event(void *dummy)
 158 {
 159         uint8_t flags;
 160         int8_t lcob_near, rcob_near;
 161         uint8_t lcob, rcob;
 162         uint8_t lidx, ridx;
 163
 164         /* ignore when strat is not running */
 165         if (strat_running == 0)
 166                 return;
 167
 168         /* read sensors from ballboard */
 169         IRQ_LOCK(flags);
 170         lcob = ballboard.lcob;
 171         ballboard.lcob = I2C_COB_NONE;
 172         rcob = ballboard.rcob;
 173         ballboard.rcob = I2C_COB_NONE;
 174         IRQ_UNLOCK(flags);
 175
 176 /*      if (lcob != I2C_COB_NONE) */
 177 /*              DEBUG(E_USER_STRAT, "XXX lcob %s", */
 178 /*                    lcob == I2C_COB_WHITE ? "white" : "black"); */
 179 /*      if (rcob != I2C_COB_NONE) */
 180 /*              DEBUG(E_USER_STRAT, "XXX rcob %s", */
 181 /*                    rcob == I2C_COB_WHITE ? "white" : "black"); */
 182         /* XXX take opponent position into account */
 183
 184 #ifdef HOST_VERSION
 185         if (time_get_s() == 15)
 186                 cobboard.cob_count = 5;
 187         if (time_get_s() == 16)
 188                 cobboard.cob_count = 0;
 189         if (time_get_s() == 25)
 190                 cobboard.cob_count = 5;
 191 #endif
 192
 193         /* detect cob on left side */
 194         lcob_near = corn_is_near(&lidx, I2C_LEFT_SIDE);
 195         if (lcob_near && lcob != I2C_COB_NONE) {
 196                 if (strat_db.corn_table[lidx]->corn.color == I2C_COB_UNKNOWN)
 197                         DEBUG(E_USER_STRAT, "lcob %s %d",
 198                               lcob == I2C_COB_WHITE ? "white" : "black", lidx);
 199                 corn_set_color(strat_db.corn_table[lidx], lcob);
 200         }
 201
 202         /* detect cob on right side */
 203         rcob_near = corn_is_near(&ridx, I2C_RIGHT_SIDE);
 204         if (rcob_near && rcob != I2C_COB_NONE) {
 205                 if (strat_db.corn_table[ridx]->corn.color == I2C_COB_UNKNOWN)
 206                         DEBUG(E_USER_STRAT, "rcob %s %d",
 207                               rcob == I2C_COB_WHITE ? "white" : "black", ridx);
 208                 corn_set_color(strat_db.corn_table[ridx], rcob);
 209         }
 210
 211         /* control the cobboard mode for left spickle */
 212         if (lcob_near) {
 213                 if (get_cob_count() >= 5 || want_pack) {
 214                         if (strat_db.corn_table[lidx]->corn.color != I2C_COB_WHITE &&
 215                             strat_db.corn_table[lidx]->corn.color != I2C_COB_BLACK)
 216                                 i2c_cobboard_pack(I2C_LEFT_SIDE);
 217                 }
 218                 else {
 219                         if (strat_db.corn_table[lidx]->corn.color == I2C_COB_WHITE)
 220                                 i2c_cobboard_autoharvest(I2C_LEFT_SIDE);
 221                         else if (strat_db.corn_table[lidx]->corn.color == I2C_COB_BLACK)
 222                                 i2c_cobboard_deploy_nomove(I2C_LEFT_SIDE);
 223                         else
 224                                 i2c_cobboard_deploy(I2C_LEFT_SIDE);
 225                 }
 226         }
 227         else {
 228                 if (get_cob_count() >= 5 || want_pack)
 229                         i2c_cobboard_pack(I2C_LEFT_SIDE);
 230                 else
 231                         i2c_cobboard_deploy(I2C_LEFT_SIDE);
 232         }
 233
 234         /* control the cobboard mode for right spickle */
 235         if (rcob_near) {
 236                 if (get_cob_count() >= 5 || want_pack) {
 237                         if (strat_db.corn_table[ridx]->corn.color != I2C_COB_WHITE &&
 238                             strat_db.corn_table[ridx]->corn.color != I2C_COB_BLACK)
 239                                 i2c_cobboard_pack(I2C_RIGHT_SIDE);
 240                 }
 241                 else {
 242                         if (strat_db.corn_table[ridx]->corn.color == I2C_COB_WHITE)
 243                                 i2c_cobboard_autoharvest(I2C_RIGHT_SIDE);
 244                         else if (strat_db.corn_table[ridx]->corn.color == I2C_COB_BLACK)
 245                                 i2c_cobboard_deploy_nomove(I2C_RIGHT_SIDE);
 246                         else
 247                                 i2c_cobboard_deploy(I2C_RIGHT_SIDE);
 248                 }
 249         }
 250         else {
 251                 if (get_cob_count() >= 5 || want_pack)
 252                         i2c_cobboard_pack(I2C_RIGHT_SIDE);
 253                 else
 254                         i2c_cobboard_deploy(I2C_RIGHT_SIDE);
 255         }
 256
 257         /* limit speed when opponent is near */
 258         strat_limit_speed();
 259 }
 260
 261
 262 static uint8_t strat_harvest(void)
 263 {
 264         return 0;
 265 }
 266
 267 static uint8_t strat_eject(void)
 268 {
 269         uint8_t err;
 270
 271         //XXX return vals
 272         strat_set_speed(600, SPEED_ANGLE_SLOW);
 273
 274         want_pack = 1;
 275         trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
 276         err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 277
 278         /* ball ejection */
 279         i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
 280         trajectory_a_abs(&mainboard.traj, COLOR_A(70));
 281         err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 282
 283         DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
 284         strat_hardstop();
 285         time_wait_ms(2000);
 286
 287
 288         /* half turn */
 289         strat_event_disable();
 290         i2c_cobboard_pack(I2C_LEFT_SIDE);
 291         i2c_cobboard_pack(I2C_RIGHT_SIDE);
 292         trajectory_a_rel(&mainboard.traj, COLOR_A(180));
 293         err = wait_traj_end(END_INTR|END_TRAJ);
 294
 295         /* cob ejection */
 296         trajectory_d_rel(&mainboard.traj, -70);
 297         err = wait_traj_end(END_INTR|END_TRAJ);
 298
 299         i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
 300         strat_db_dump(__FUNCTION__);
 301         time_wait_ms(2000);
 302
 303         strat_event_enable();
 304         want_pack = 0;
 305         return 0;
 306 }
 307
 308 static uint8_t strat_beginning(void)
 309 {
 310         uint8_t err;
 311
 312         strat_set_acc(ACC_DIST, ACC_ANGLE);
 313 #ifdef HOST_VERSION
 314         strat_set_speed(600, SPEED_ANGLE_FAST);
 315 #else
 316         /* 250 */
 317         strat_set_speed(250, SPEED_ANGLE_FAST);
 318 #endif
 319
 320         // strat_set_speed(600, 60); /* OK */
 321         strat_set_speed(250, 28); /* OK */
 322
 323         trajectory_d_a_rel(&mainboard.traj, 1000, COLOR_A(20));
 324         err = WAIT_COND_OR_TRAJ_END(trajectory_angle_finished(&mainboard.traj),
 325                                     TRAJ_FLAGS_STD);
 326
 327         strat_set_acc(ACC_DIST, ACC_ANGLE);
 328         strat_set_speed(250, SPEED_ANGLE_SLOW);
 329
 330 #if 1
 331  l1:
 332         DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count());
 333         if (get_cob_count() >= 5)
 334                 strat_set_speed(600, SPEED_ANGLE_FAST);
 335
 336         err = line2line(0, LINE_UP, 2, LINE_R_DOWN);
 337         if (!TRAJ_SUCCESS(err)) {
 338                 strat_hardstop();
 339                 time_wait_ms(2000);
 340                 goto l1;
 341         }
 342
 343  l2:
 344         DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count());
 345         if (get_cob_count() >= 5)
 346                 strat_set_speed(600, SPEED_ANGLE_FAST);
 347
 348         err = line2line(2, LINE_R_DOWN, 2, LINE_R_UP);
 349         if (!TRAJ_SUCCESS(err)) {
 350                 strat_hardstop();
 351                 time_wait_ms(2000);
 352                 goto l2;
 353         }
 354
 355 #else
 356 /*      strat_set_speed(600, SPEED_ANGLE_FAST); */
 357 /*      err = line2line(0, LINE_UP, 3, LINE_R_DOWN); */
 358 /*      err = line2line(3, LINE_R_DOWN, 2, LINE_R_UP); */
 359 /*      err = line2line(2, LINE_R_UP, 2, LINE_R_DOWN); */
 360 /*      err = line2line(2, LINE_R_DOWN, 3, LINE_R_UP); */
 361 /*      err = line2line(3, LINE_R_UP, 5, LINE_UP); */
 362 /*      err = line2line(5, LINE_UP, 2, LINE_L_DOWN); */
 363 /*      err = line2line(2, LINE_L_DOWN, 1, LINE_L_UP); */
 364 /*      err = line2line(1, LINE_L_UP, 1, LINE_L_DOWN); */
 365 /*      err = line2line(1, LINE_L_DOWN, 0, LINE_DOWN); */
 366
 367         strat_set_speed(300, SPEED_ANGLE_FAST);
 368         err = line2line(0, LINE_UP, 0, LINE_R_UP);
 369         err = line2line(0, LINE_R_UP, 1, LINE_DOWN);
 370         err = line2line(1, LINE_DOWN, 1, LINE_L_DOWN);
 371         err = line2line(1, LINE_L_DOWN, 0, LINE_DOWN);
 372         wait_ms(500);
 373         strat_hardstop();
 374         return END_TRAJ;
 375 #endif
 376
 377         strat_eject();
 378
 379         strat_set_speed(250, SPEED_ANGLE_FAST);
 380
 381 #if 0
 382  l4:
 383         DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count());
 384         if (get_cob_count() >= 5)
 385                 strat_set_speed(600, SPEED_ANGLE_FAST);
 386
 387         err = line2line(5, LINE_DOWN, 2, LINE_L_UP);
 388         if (!TRAJ_SUCCESS(err)) {
 389                 strat_hardstop();
 390                 time_wait_ms(2000);
 391                 goto l4;
 392         }
 393
 394  l5:
 395         DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count());
 396         if (get_cob_count() >= 5)
 397                 strat_set_speed(600, SPEED_ANGLE_FAST);
 398
 399         err = line2line(2, LINE_L_UP, 2, LINE_R_UP);
 400         if (!TRAJ_SUCCESS(err)) {
 401                 strat_hardstop();
 402                 time_wait_ms(2000);
 403                 goto l5;
 404         }
 405
 406         DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count());
 407         if (get_cob_count() >= 5)
 408                 strat_set_speed(600, SPEED_ANGLE_FAST);
 409 #else
 410         strat_harvest_circuit();
 411 #endif
 412
 413         WAIT_COND_OR_TRAJ_END(distance_from_robot(2625, COLOR_Y(1847)) < 100,
 414                               TRAJ_FLAGS_STD);
 415         strat_eject();
 416
 417         return END_TRAJ;
 418 }
 419
 420 /* dump state (every 5 s max) */
 421 #define DUMP_RATE_LIMIT(dump, last_print)               \
 422         do {                                            \
 423                 if (time_get_s() - last_print > 5) {    \
 424                         dump();                         \
 425                         last_print = time_get_s();      \
 426                 }                                       \
 427         } while (0)
 428
 429
 430 /* return true if we need to grab some more elements */
 431 static uint8_t need_more_elements(void)
 432 {
 433         if (time_get_s() <= 75) {
 434                 /* we have enough time left */
 435                 if (get_ball_count() >= 4)
 436                         return 0;
 437                 if (get_cob_count() >= 4)
 438                         return 0;
 439                 if ((get_ball_count() >= 2) &&
 440                     (get_cob_count() >= 2))
 441                         return 0;
 442                 return 1;
 443         }
 444         else {
 445                 /* not much time remaining */
 446                 if ((get_ball_count() >= 1) &&
 447                     (get_cob_count() >= 1))
 448                         return 0;
 449                 return 1;
 450         }
 451 }
 452
 453 uint8_t strat_main(void)
 454 {
 455         uint8_t err;
 456
 457         /* harvest the first cobs + balls */
 458         err = strat_beginning();
 459
 460         while (1) {
 461                 /* end of time exit ! */
 462                 if (err == END_TIMER) {
 463                         DEBUG(E_USER_STRAT, "End of time");
 464                         strat_exit();
 465                         break;
 466                 }
 467
 468                 if (need_more_elements() == 0) {
 469                         /* we have enough elements, go to eject */
 470                         err = strat_eject();
 471                         if (!TRAJ_SUCCESS(err))
 472                                 continue;
 473                 }
 474                 else {
 475                         /* harvest */
 476                         err = strat_harvest();
 477                         if (!TRAJ_SUCCESS(err))
 478                                 continue;
 479                 }
 480         }
 481
 482         return err;
 483 }