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 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, 298.16,
 120                      COLOR_Y(308.78), COLOR_A(70.00));
 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 /* called periodically (10ms) */
 159 void strat_event(void *dummy)
 160 {
 161         uint8_t flags;
 162         int8_t lcob_near, rcob_near;
 163         uint8_t lcob, rcob;
 164         uint8_t lidx, ridx;
 165
 166         /* ignore when strat is not running */
 167         if (strat_running == 0)
 168                 return;
 169
 170         /* read sensors from ballboard */
 171         IRQ_LOCK(flags);
 172         lcob = ballboard.lcob;
 173         ballboard.lcob = I2C_COB_NONE;
 174         rcob = ballboard.rcob;
 175         ballboard.rcob = I2C_COB_NONE;
 176         IRQ_UNLOCK(flags);
 177
 178 /*      if (lcob != I2C_COB_NONE) */
 179 /*              DEBUG(E_USER_STRAT, "XXX lcob %s", */
 180 /*                    lcob == I2C_COB_WHITE ? "white" : "black"); */
 181 /*      if (rcob != I2C_COB_NONE) */
 182 /*              DEBUG(E_USER_STRAT, "XXX rcob %s", */
 183 /*                    rcob == I2C_COB_WHITE ? "white" : "black"); */
 184         /* XXX take opponent position into account */
 185
 186 #ifdef HOST_VERSION
 187         if (time_get_s() == 15)
 188                 cobboard.cob_count = 5;
 189         if (time_get_s() == 16)
 190                 cobboard.cob_count = 0;
 191         if (time_get_s() == 25)
 192                 cobboard.cob_count = 5;
 193 #endif
 194
 195         /* detect cob on left side */
 196         lcob_near = corn_is_near(&lidx, I2C_LEFT_SIDE);
 197         if (lcob_near && lcob != I2C_COB_NONE) {
 198                 if (strat_db.corn_table[lidx]->corn.color == I2C_COB_UNKNOWN)
 199                         DEBUG(E_USER_STRAT, "lcob %s %d",
 200                               lcob == I2C_COB_WHITE ? "white" : "black", lidx);
 201                 corn_set_color(strat_db.corn_table[lidx], lcob);
 202         }
 203
 204         /* detect cob on right side */
 205         rcob_near = corn_is_near(&ridx, I2C_RIGHT_SIDE);
 206         if (rcob_near && rcob != I2C_COB_NONE) {
 207                 if (strat_db.corn_table[ridx]->corn.color == I2C_COB_UNKNOWN)
 208                         DEBUG(E_USER_STRAT, "rcob %s %d",
 209                               rcob == I2C_COB_WHITE ? "white" : "black", ridx);
 210                 corn_set_color(strat_db.corn_table[ridx], rcob);
 211         }
 212
 213         /* control the cobboard mode for left spickle */
 214         if (lcob_near && strat_db.corn_table[lidx]->present) {
 215                 if (get_cob_count() >= 5 || want_pack || strat_lpack60) {
 216                         /* nothing  */
 217                 }
 218                 else {
 219                         /* deploy spickle and harvest white ones */
 220                         if (strat_db.corn_table[lidx]->corn.color == I2C_COB_WHITE) {
 221                                 i2c_cobboard_autoharvest_nomove(I2C_LEFT_SIDE);
 222                                 if (cobboard.status == I2C_COBBOARD_STATUS_LBUSY)
 223                                         strat_db.corn_table[lidx]->present = 0;
 224                         }
 225                         else
 226                                 i2c_cobboard_deploy_nomove(I2C_LEFT_SIDE);
 227                 }
 228         }
 229         else {
 230                 /* no cob near us, we can pack or deploy freely */
 231                 if (get_cob_count() >= 5 || want_pack || strat_lpack60)
 232                         i2c_cobboard_pack(I2C_LEFT_SIDE);
 233                 else
 234                         i2c_cobboard_deploy(I2C_LEFT_SIDE);
 235         }
 236
 237         /* control the cobboard mode for right spickle */
 238         if (rcob_near && strat_db.corn_table[ridx]->present) {
 239                 if (get_cob_count() >= 5 || want_pack || strat_rpack60) {
 240                         /* nothing */
 241                 }
 242                 else {
 243                         /* deploy spickle and harvest white ones */
 244                         if (strat_db.corn_table[ridx]->corn.color == I2C_COB_WHITE) {
 245                                 i2c_cobboard_autoharvest_nomove(I2C_RIGHT_SIDE);
 246                                 if (cobboard.status == I2C_COBBOARD_STATUS_RBUSY)
 247                                         strat_db.corn_table[ridx]->present = 0;
 248                         }
 249                         else
 250                                 i2c_cobboard_deploy_nomove(I2C_RIGHT_SIDE);
 251                 }
 252         }
 253         else {
 254                 /* no cob near us, we can pack or deploy freely */
 255                 if (get_cob_count() >= 5 || want_pack || strat_rpack60)
 256                         i2c_cobboard_pack(I2C_RIGHT_SIDE);
 257                 else
 258                         i2c_cobboard_deploy(I2C_RIGHT_SIDE);
 259         }
 260
 261         /* limit speed when opponent is near */
 262         strat_limit_speed();
 263 }
 264
 265
 266 static uint8_t strat_harvest(void)
 267 {
 268         return 0;
 269 }
 270
 271 /* must be called from a terminal line */
 272 static uint8_t strat_eject(void)
 273 {
 274         uint8_t err;
 275         //XXX return vals
 276
 277         /* go to eject point */
 278         trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
 279         err = WAIT_COND_OR_TRAJ_END(get_cob_count() >= 5,
 280                                     TRAJ_FLAGS_NO_NEAR);
 281         if (err == 0) {
 282                 want_pack = 1;
 283                 strat_set_speed(600, SPEED_ANGLE_SLOW);
 284                 err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 285         }
 286
 287         /* pack arms */
 288         strat_event_disable();
 289         i2c_cobboard_pack(I2C_LEFT_SIDE);
 290         i2c_cobboard_pack(I2C_RIGHT_SIDE);
 291
 292         /* ball ejection */
 293         i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
 294         trajectory_a_abs(&mainboard.traj, COLOR_A(70));
 295         err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 296
 297         DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
 298         strat_hardstop();
 299         time_wait_ms(2000);
 300
 301         /* half turn */
 302         trajectory_a_rel(&mainboard.traj, COLOR_A(180));
 303         err = wait_traj_end(END_INTR|END_TRAJ);
 304
 305         /* cob ejection */
 306         trajectory_d_rel(&mainboard.traj, -70);
 307         err = wait_traj_end(END_INTR|END_TRAJ);
 308
 309         i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
 310         strat_db_dump(__FUNCTION__);
 311         time_wait_ms(2000);
 312
 313         strat_event_enable();
 314         want_pack = 0;
 315         return 0;
 316 }
 317
 318 static uint8_t strat_beginning(void)
 319 {
 320         uint8_t err;
 321
 322         strat_set_acc(ACC_DIST, ACC_ANGLE);
 323 #ifdef HOST_VERSION
 324         strat_set_speed(600, SPEED_ANGLE_FAST);
 325 #else
 326         /* 250 */
 327         strat_set_speed(250, SPEED_ANGLE_FAST);
 328 #endif
 329
 330         strat_set_speed(600, 60); /* OK */
 331         //strat_set_speed(250, 28); /* OK */
 332
 333         trajectory_d_a_rel(&mainboard.traj, 1000, COLOR_A(20));
 334         err = WAIT_COND_OR_TRAJ_END(trajectory_angle_finished(&mainboard.traj),
 335                                     TRAJ_FLAGS_STD);
 336
 337         strat_set_acc(ACC_DIST, ACC_ANGLE);
 338         strat_set_speed(250, SPEED_ANGLE_SLOW);
 339
 340  l1:
 341         DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count());
 342         if (get_cob_count() >= 5)
 343                 strat_set_speed(600, SPEED_ANGLE_FAST);
 344
 345         err = line2line(0, LINE_UP, 2, LINE_R_DOWN);
 346         if (!TRAJ_SUCCESS(err)) {
 347                 strat_hardstop();
 348                 time_wait_ms(2000);
 349                 goto l1;
 350         }
 351
 352  l2:
 353         DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count());
 354         if (get_cob_count() >= 5)
 355                 strat_set_speed(600, SPEED_ANGLE_FAST);
 356
 357         err = line2line(2, LINE_R_DOWN, 2, LINE_R_UP);
 358         if (!TRAJ_SUCCESS(err)) {
 359                 strat_hardstop();
 360                 time_wait_ms(2000);
 361                 goto l2;
 362         }
 363
 364         strat_eject();
 365
 366         while (1) {
 367                 strat_set_speed(250, SPEED_ANGLE_FAST);
 368                 strat_harvest_circuit();
 369                 strat_eject();
 370         }
 371
 372         return END_TRAJ;
 373 }
 374
 375 /* dump state (every 5 s max) */
 376 #define DUMP_RATE_LIMIT(dump, last_print)               \
 377         do {                                            \
 378                 if (time_get_s() - last_print > 5) {    \
 379                         dump();                         \
 380                         last_print = time_get_s();      \
 381                 }                                       \
 382         } while (0)
 383
 384
 385 /* return true if we need to grab some more elements */
 386 static uint8_t need_more_elements(void)
 387 {
 388         if (time_get_s() <= 75) {
 389                 /* we have enough time left */
 390                 if (get_ball_count() >= 4)
 391                         return 0;
 392                 if (get_cob_count() >= 4)
 393                         return 0;
 394                 if ((get_ball_count() >= 2) &&
 395                     (get_cob_count() >= 2))
 396                         return 0;
 397                 return 1;
 398         }
 399         else {
 400                 /* not much time remaining */
 401                 if ((get_ball_count() >= 1) &&
 402                     (get_cob_count() >= 1))
 403                         return 0;
 404                 return 1;
 405         }
 406 }
 407
 408 uint8_t strat_main(void)
 409 {
 410         uint8_t err;
 411
 412         /* harvest the first cobs + balls */
 413         err = strat_beginning();
 414
 415         while (1) {
 416                 /* end of time exit ! */
 417                 if (err == END_TIMER) {
 418                         DEBUG(E_USER_STRAT, "End of time");
 419                         strat_exit();
 420                         break;
 421                 }
 422
 423                 if (need_more_elements() == 0) {
 424                         /* we have enough elements, go to eject */
 425                         err = strat_eject();
 426                         if (!TRAJ_SUCCESS(err))
 427                                 continue;
 428                 }
 429                 else {
 430                         /* harvest */
 431                         err = strat_harvest();
 432                         if (!TRAJ_SUCCESS(err))
 433                                 continue;
 434                 }
 435         }
 436
 437         return err;
 438 }