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 #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 && strat_db.corn_table[lidx]->present) {
 213                 if (get_cob_count() >= 5 || want_pack || strat_lpack60) {
 214                         /* nothing  */
 215                 }
 216                 else {
 217                         /* deploy spickle and harvest white ones */
 218                         if (strat_db.corn_table[lidx]->corn.color == I2C_COB_WHITE) {
 219                                 i2c_cobboard_autoharvest_nomove(I2C_LEFT_SIDE);
 220                                 if (cobboard.status == I2C_COBBOARD_STATUS_LBUSY)
 221                                         strat_db.corn_table[lidx]->present = 0;
 222                         }
 223                         else
 224                                 i2c_cobboard_deploy_nomove(I2C_LEFT_SIDE);
 225                 }
 226         }
 227         else {
 228                 /* no cob near us, we can pack or deploy freely */
 229                 if (get_cob_count() >= 5 || want_pack || strat_lpack60)
 230                         i2c_cobboard_pack(I2C_LEFT_SIDE);
 231                 else
 232                         i2c_cobboard_deploy(I2C_LEFT_SIDE);
 233         }
 234
 235         /* control the cobboard mode for right spickle */
 236         if (rcob_near && strat_db.corn_table[ridx]->present) {
 237                 if (get_cob_count() >= 5 || want_pack || strat_rpack60) {
 238                         /* nothing */
 239                 }
 240                 else {
 241                         /* deploy spickle and harvest white ones */
 242                         if (strat_db.corn_table[ridx]->corn.color == I2C_COB_WHITE) {
 243                                 i2c_cobboard_autoharvest_nomove(I2C_RIGHT_SIDE);
 244                                 if (cobboard.status == I2C_COBBOARD_STATUS_RBUSY)
 245                                         strat_db.corn_table[ridx]->present = 0;
 246                         }
 247                         else
 248                                 i2c_cobboard_deploy_nomove(I2C_RIGHT_SIDE);
 249                 }
 250         }
 251         else {
 252                 /* no cob near us, we can pack or deploy freely */
 253                 if (get_cob_count() >= 5 || want_pack || strat_rpack60)
 254                         i2c_cobboard_pack(I2C_RIGHT_SIDE);
 255                 else
 256                         i2c_cobboard_deploy(I2C_RIGHT_SIDE);
 257         }
 258
 259         /* limit speed when opponent is near */
 260         strat_limit_speed();
 261 }
 262
 263
 264 static uint8_t strat_harvest(void)
 265 {
 266         return 0;
 267 }
 268
 269 /* must be called from a terminal line */
 270 static uint8_t strat_eject(void)
 271 {
 272         uint8_t err;
 273         //XXX return vals
 274
 275         /* go to eject point */
 276         trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
 277         err = WAIT_COND_OR_TRAJ_END(get_cob_count() >= 5,
 278                                     TRAJ_FLAGS_NO_NEAR);
 279         if (err == 0) {
 280                 want_pack = 1;
 281                 strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW);
 282                 err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 283         }
 284
 285         /* pack arms */
 286         strat_event_disable();
 287         i2c_cobboard_pack(I2C_LEFT_SIDE);
 288         i2c_cobboard_pack(I2C_RIGHT_SIDE);
 289
 290         /* ball ejection */
 291         i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
 292         trajectory_a_abs(&mainboard.traj, COLOR_A(70));
 293         err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 294
 295         DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
 296         strat_hardstop();
 297         time_wait_ms(2000);
 298
 299         /* half turn */
 300         trajectory_a_rel(&mainboard.traj, COLOR_A(180));
 301         err = wait_traj_end(END_INTR|END_TRAJ);
 302
 303         /* cob ejection */
 304         trajectory_d_rel(&mainboard.traj, -70);
 305         err = wait_traj_end(END_INTR|END_TRAJ);
 306
 307         i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
 308         strat_db_dump(__FUNCTION__);
 309         time_wait_ms(2000);
 310
 311         strat_event_enable();
 312         want_pack = 0;
 313         return 0;
 314 }
 315
 316 static uint8_t strat_beginning(void)
 317 {
 318         uint8_t err;
 319
 320         strat_set_acc(ACC_DIST, ACC_ANGLE);
 321         strat_set_speed(600, 60); /* OK */
 322         //strat_set_speed(250, 28); /* OK */
 323
 324         trajectory_d_a_rel(&mainboard.traj, 1000, COLOR_A(20));
 325         err = WAIT_COND_OR_TRAJ_END(trajectory_angle_finished(&mainboard.traj),
 326                                     TRAJ_FLAGS_STD);
 327
 328         strat_set_acc(ACC_DIST, ACC_ANGLE);
 329         strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
 330
 331  l1:
 332         DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count());
 333         err = line2line(0, LINE_UP, 2, LINE_R_DOWN, TRAJ_FLAGS_NO_NEAR);
 334         if (!TRAJ_SUCCESS(err)) {
 335                 strat_hardstop();
 336                 time_wait_ms(2000);
 337                 goto l1;
 338         }
 339
 340  l2:
 341         DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count());
 342         err = line2line(2, LINE_R_DOWN, 2, LINE_R_UP, TRAJ_FLAGS_NO_NEAR);
 343         if (!TRAJ_SUCCESS(err)) {
 344                 strat_hardstop();
 345                 time_wait_ms(2000);
 346                 goto l2;
 347         }
 348
 349         strat_eject();
 350
 351         while (1) {
 352                 strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
 353                 strat_harvest_circuit();
 354                 strat_eject();
 355         }
 356
 357         return END_TRAJ;
 358 }
 359
 360 /* dump state (every 5 s max) */
 361 #define DUMP_RATE_LIMIT(dump, last_print)               \
 362         do {                                            \
 363                 if (time_get_s() - last_print > 5) {    \
 364                         dump();                         \
 365                         last_print = time_get_s();      \
 366                 }                                       \
 367         } while (0)
 368
 369
 370 /* return true if we need to grab some more elements */
 371 static uint8_t need_more_elements(void)
 372 {
 373         if (time_get_s() <= 75) {
 374                 /* we have enough time left */
 375                 if (get_ball_count() >= 4)
 376                         return 0;
 377                 if (get_cob_count() >= 4)
 378                         return 0;
 379                 if ((get_ball_count() >= 2) &&
 380                     (get_cob_count() >= 2))
 381                         return 0;
 382                 return 1;
 383         }
 384         else {
 385                 /* not much time remaining */
 386                 if ((get_ball_count() >= 1) &&
 387                     (get_cob_count() >= 1))
 388                         return 0;
 389                 return 1;
 390         }
 391 }
 392
 393 uint8_t strat_main(void)
 394 {
 395         uint8_t err;
 396
 397         /* harvest the first cobs + balls */
 398         err = strat_beginning();
 399
 400         while (1) {
 401                 /* end of time exit ! */
 402                 if (err == END_TIMER) {
 403                         DEBUG(E_USER_STRAT, "End of time");
 404                         strat_exit();
 405                         break;
 406                 }
 407
 408                 if (need_more_elements() == 0) {
 409                         /* we have enough elements, go to eject */
 410                         err = strat_eject();
 411                         if (!TRAJ_SUCCESS(err))
 412                                 continue;
 413                 }
 414                 else {
 415                         /* harvest */
 416                         err = strat_harvest();
 417                         if (!TRAJ_SUCCESS(err))
 418                                 continue;
 419                 }
 420         }
 421
 422         return err;
 423 }