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 volatile uint8_t strat_want_pack = 0;
  73 volatile uint8_t strat_lpack60 = 0;
  74 volatile uint8_t strat_rpack60 = 0;
  75 struct strat_conf strat_conf;
  76
  77 /*************************************************************/
  78
  79 /*                  INIT                                     */
  80
  81 /*************************************************************/
  82
  83 /* called before each strat, and before the start switch */
  84 void strat_preinit(void)
  85 {
  86         time_reset();
  87         interrupt_traj_reset();
  88         mainboard.flags =  DO_ENCODERS | DO_CS | DO_RS |
  89                 DO_POS | DO_BD | DO_POWER;
  90
  91         strat_db_init();
  92         strat_conf_dump(__FUNCTION__);
  93         strat_db_dump(__FUNCTION__);
  94 }
  95
  96 void strat_conf_dump(const char *caller)
  97 {
  98         if (!strat_conf.dump_enabled)
  99                 return;
 100
 101         printf_P(PSTR("-- conf --\r\n"));
 102
 103 }
 104
 105 void strat_event_enable(void)
 106 {
 107         strat_running = 1;
 108 }
 109
 110 void strat_event_disable(void)
 111 {
 112         strat_running = 0;
 113 }
 114
 115 /* call it just before launching the strat */
 116 void strat_init(void)
 117 {
 118 #ifdef HOST_VERSION
 119         position_set(&mainboard.pos, 258.,
 120                      COLOR_Y(246.), COLOR_A(45.));
 121 #endif
 122
 123         /* we consider that the color is correctly set */
 124         strat_running = 1;
 125         strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
 126         time_reset();
 127         interrupt_traj_reset();
 128
 129         i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
 130         i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_HARVEST);
 131
 132         /* used in strat_base for END_TIMER */
 133         mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
 134                 DO_POS | DO_BD | DO_TIMER | DO_POWER;
 135 }
 136
 137 /* call it after each strat */
 138 void strat_exit(void)
 139 {
 140 #ifndef HOST_VERSION
 141         uint8_t flags;
 142 #endif
 143
 144         strat_running = 0;
 145         mainboard.flags &= ~(DO_TIMER);
 146         strat_hardstop();
 147         time_reset();
 148         wait_ms(100);
 149 #ifndef HOST_VERSION
 150         IRQ_LOCK(flags);
 151         mainboard.flags &= ~(DO_CS);
 152         IRQ_UNLOCK(flags);
 153         pwm_ng_set(LEFT_PWM, 0);
 154         pwm_ng_set(RIGHT_PWM, 0);
 155 #endif
 156 }
 157
 158 /* mark tomato as not present */
 159 static void check_tomato(void)
 160 {
 161         int16_t x, y;
 162         uint8_t i, j;
 163
 164         x = position_get_x_s16(&mainboard.pos);
 165         y = position_get_y_s16(&mainboard.pos);
 166
 167         if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0)
 168                 return;
 169
 170         if (strat_db.wp_table[i][j].type != WP_TYPE_TOMATO)
 171                 return;
 172
 173         strat_db.wp_table[i][j].present = 0;
 174 }
 175
 176 /* mark corn as not present and give correct commands to the cobboard
 177  * for spickles */
 178 static void check_corn(void)
 179 {
 180         uint8_t flags;
 181         int8_t lcob_near, rcob_near;
 182         uint8_t lcob, rcob;
 183         uint8_t lidx, ridx;
 184
 185         /* read sensors from ballboard */
 186         IRQ_LOCK(flags);
 187         lcob = ballboard.lcob;
 188         ballboard.lcob = I2C_COB_NONE;
 189         rcob = ballboard.rcob;
 190         ballboard.rcob = I2C_COB_NONE;
 191         IRQ_UNLOCK(flags);
 192
 193 /*      if (lcob != I2C_COB_NONE) */
 194 /*              DEBUG(E_USER_STRAT, "XXX lcob %s", */
 195 /*                    lcob == I2C_COB_WHITE ? "white" : "black"); */
 196 /*      if (rcob != I2C_COB_NONE) */
 197 /*              DEBUG(E_USER_STRAT, "XXX rcob %s", */
 198 /*                    rcob == I2C_COB_WHITE ? "white" : "black"); */
 199         /* XXX take opponent position into account */
 200
 201 #ifdef HOST_VERSION
 202         if (time_get_s() == 15)
 203                 cobboard.cob_count = 5;
 204         if (time_get_s() == 16)
 205                 cobboard.cob_count = 0;
 206 #endif
 207
 208         /* detect cob on left side */
 209         lcob_near = corn_is_near(&lidx, I2C_LEFT_SIDE);
 210         if (lcob_near && lcob != I2C_COB_NONE) {
 211                 if (strat_db.corn_table[lidx]->corn.color == I2C_COB_UNKNOWN)
 212                         DEBUG(E_USER_STRAT, "lcob %s %d",
 213                               lcob == I2C_COB_WHITE ? "white" : "black", lidx);
 214                 corn_set_color(strat_db.corn_table[lidx], lcob);
 215         }
 216
 217         /* detect cob on right side */
 218         rcob_near = corn_is_near(&ridx, I2C_RIGHT_SIDE);
 219         if (rcob_near && rcob != I2C_COB_NONE) {
 220                 if (strat_db.corn_table[ridx]->corn.color == I2C_COB_UNKNOWN)
 221                         DEBUG(E_USER_STRAT, "rcob %s %d",
 222                               rcob == I2C_COB_WHITE ? "white" : "black", ridx);
 223                 corn_set_color(strat_db.corn_table[ridx], rcob);
 224         }
 225
 226         /* control the cobboard mode for left spickle */
 227         if (lcob_near && strat_db.corn_table[lidx]->present) {
 228                 if (get_cob_count() >= 5 || strat_want_pack || strat_lpack60) {
 229                         /* nothing  */
 230                 }
 231                 else {
 232                         /* deploy spickle and harvest white ones */
 233                         if (strat_db.corn_table[lidx]->corn.color == I2C_COB_WHITE) {
 234                                 i2c_cobboard_autoharvest_nomove(I2C_LEFT_SIDE);
 235                                 if (cobboard.status == I2C_COBBOARD_STATUS_LBUSY)
 236                                         strat_db.corn_table[lidx]->present = 0;
 237                         }
 238                         else
 239                                 i2c_cobboard_deploy_nomove(I2C_LEFT_SIDE);
 240                 }
 241         }
 242         else {
 243                 /* no cob near us, we can pack or deploy freely */
 244                 if (get_cob_count() >= 5 || strat_want_pack || strat_lpack60)
 245                         i2c_cobboard_pack_weak(I2C_LEFT_SIDE);
 246                 else
 247                         i2c_cobboard_deploy(I2C_LEFT_SIDE);
 248         }
 249
 250         /* control the cobboard mode for right spickle */
 251         if (rcob_near && strat_db.corn_table[ridx]->present) {
 252                 if (get_cob_count() >= 5 || strat_want_pack || strat_rpack60) {
 253                         /* nothing */
 254                 }
 255                 else {
 256                         /* deploy spickle and harvest white ones */
 257                         if (strat_db.corn_table[ridx]->corn.color == I2C_COB_WHITE) {
 258                                 i2c_cobboard_autoharvest_nomove(I2C_RIGHT_SIDE);
 259                                 if (cobboard.status == I2C_COBBOARD_STATUS_RBUSY)
 260                                         strat_db.corn_table[ridx]->present = 0;
 261                         }
 262                         else
 263                                 i2c_cobboard_deploy_nomove(I2C_RIGHT_SIDE);
 264                 }
 265         }
 266         else {
 267                 /* no cob near us, we can pack or deploy freely */
 268                 if (get_cob_count() >= 5 || strat_want_pack || strat_rpack60)
 269                         i2c_cobboard_pack_weak(I2C_RIGHT_SIDE);
 270                 else
 271                         i2c_cobboard_deploy(I2C_RIGHT_SIDE);
 272         }
 273 }
 274
 275 /* called periodically (10ms) */
 276 void strat_event(void *dummy)
 277 {
 278         /* ignore when strat is not running */
 279         if (strat_running == 0)
 280                 return;
 281
 282         check_tomato();
 283         check_corn();
 284         /* limit speed when opponent is near */
 285         //strat_limit_speed();
 286 }
 287
 288
 289 static uint8_t strat_harvest(void)
 290 {
 291         return 0;
 292 }
 293
 294 /* must be called from a terminal line */
 295 static uint8_t strat_eject(void)
 296 {
 297         uint8_t err;
 298         //XXX return vals
 299
 300         /* go to eject point */
 301         trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
 302         err = WAIT_COND_OR_TRAJ_END(get_cob_count() >= 5,
 303                                     TRAJ_FLAGS_NO_NEAR);
 304         if (err == 0) {
 305                 strat_want_pack = 1;
 306                 strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW);
 307                 err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 308         }
 309
 310         /* pack arms */
 311         strat_event_disable();
 312         i2c_cobboard_pack(I2C_LEFT_SIDE);
 313         i2c_cobboard_pack(I2C_RIGHT_SIDE);
 314
 315         /* ball ejection */
 316         i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
 317         trajectory_a_abs(&mainboard.traj, COLOR_A(70));
 318         err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 319
 320         DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
 321         strat_hardstop();
 322 #ifdef HOST_VERSION
 323         time_wait_ms(2000);
 324 #else
 325         WAIT_COND_OR_TIMEOUT(ballboard.status == I2C_BALLBOARD_STATUS_F_BUSY,
 326                              2000);
 327         WAIT_COND_OR_TIMEOUT(ballboard.status == I2C_BALLBOARD_STATUS_F_READY,
 328                              2000);
 329 #endif
 330
 331         /* half turn */
 332         trajectory_a_rel(&mainboard.traj, COLOR_A(180));
 333         err = wait_traj_end(END_INTR|END_TRAJ);
 334
 335         /* cob ejection */
 336         trajectory_d_rel(&mainboard.traj, -70);
 337         err = wait_traj_end(END_INTR|END_TRAJ);
 338
 339         i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
 340         strat_db_dump(__FUNCTION__);
 341         time_wait_ms(2000);
 342
 343         strat_event_enable();
 344         strat_want_pack = 0;
 345         return 0;
 346 }
 347
 348 static uint8_t strat_beginning(void)
 349 {
 350         uint8_t err;
 351
 352         strat_set_acc(ACC_DIST, ACC_ANGLE);
 353         strat_set_speed(600, 60); /* OK */
 354         //strat_set_speed(250, 28); /* OK */
 355
 356         trajectory_d_a_rel(&mainboard.traj, 1000, COLOR_A(20));
 357         err = WAIT_COND_OR_TRAJ_END(trajectory_angle_finished(&mainboard.traj),
 358                                     TRAJ_FLAGS_STD);
 359
 360         strat_set_acc(ACC_DIST, ACC_ANGLE);
 361         strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
 362
 363  l1:
 364         DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count());
 365         err = line2line(0, LINE_UP, 2, LINE_R_DOWN, TRAJ_FLAGS_NO_NEAR);
 366         if (!TRAJ_SUCCESS(err)) {
 367                 strat_hardstop();
 368                 time_wait_ms(2000);
 369                 goto l1;
 370         }
 371
 372  l2:
 373         DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count());
 374         err = line2line(2, LINE_R_DOWN, 2, LINE_R_UP, TRAJ_FLAGS_NO_NEAR);
 375         if (!TRAJ_SUCCESS(err)) {
 376                 strat_hardstop();
 377                 time_wait_ms(2000);
 378                 goto l2;
 379         }
 380
 381         strat_eject();
 382
 383         while (1) {
 384                 strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
 385                 strat_harvest_circuit();
 386                 strat_eject();
 387         }
 388
 389         return END_TRAJ;
 390 }
 391
 392 /* dump state (every 5 s max) */
 393 #define DUMP_RATE_LIMIT(dump, last_print)               \
 394         do {                                            \
 395                 if (time_get_s() - last_print > 5) {    \
 396                         dump();                         \
 397                         last_print = time_get_s();      \
 398                 }                                       \
 399         } while (0)
 400
 401
 402 /* return true if we need to grab some more elements */
 403 static uint8_t need_more_elements(void)
 404 {
 405         if (time_get_s() <= 75) {
 406                 /* we have enough time left */
 407                 if (get_ball_count() >= 4)
 408                         return 0;
 409                 if (get_cob_count() >= 4)
 410                         return 0;
 411                 if ((get_ball_count() >= 2) &&
 412                     (get_cob_count() >= 2))
 413                         return 0;
 414                 return 1;
 415         }
 416         else {
 417                 /* not much time remaining */
 418                 if ((get_ball_count() >= 1) &&
 419                     (get_cob_count() >= 1))
 420                         return 0;
 421                 return 1;
 422         }
 423 }
 424
 425 uint8_t strat_main(void)
 426 {
 427         uint8_t err;
 428
 429         /* harvest the first cobs + balls */
 430         err = strat_beginning();
 431
 432         while (1) {
 433                 /* end of time exit ! */
 434                 if (err == END_TIMER) {
 435                         DEBUG(E_USER_STRAT, "End of time");
 436                         strat_exit();
 437                         break;
 438                 }
 439
 440                 if (need_more_elements() == 0) {
 441                         /* we have enough elements, go to eject */
 442                         err = strat_eject();
 443                         if (!TRAJ_SUCCESS(err))
 444                                 continue;
 445                 }
 446                 else {
 447                         /* harvest */
 448                         err = strat_harvest();
 449                         if (!TRAJ_SUCCESS(err))
 450                                 continue;
 451                 }
 452         }
 453
 454         return err;
 455 }