projects/microb2010/tests/hostsim/strat_avoid.c

   1 /*
   2  *  Copyright Droids Corporation, 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_avoid.c,v 1.5 2009-11-08 17:24:33 zer0 Exp $
  19  *
  20  */
  21
  22 #include <stdio.h>
  23 #include <stdlib.h>
  24 #include <string.h>
  25 #include <math.h>
  26
  27 #include <aversive/pgmspace.h>
  28 #include <aversive/wait.h>
  29 #include <aversive/error.h>
  30
  31 #include <uart.h>
  32 #include <time.h>
  33
  34 #include <pid.h>
  35 #include <quadramp.h>
  36 #include <control_system_manager.h>
  37 #include <trajectory_manager.h>
  38 #include <vect_base.h>
  39 #include <lines.h>
  40 #include <polygon.h>
  41 #include <obstacle_avoidance.h>
  42 #include <blocking_detection_manager.h>
  43 #include <robot_system.h>
  44 #include <position_manager.h>
  45
  46 #include <rdline.h>
  47 #include <parse.h>
  48
  49 #include "main.h"
  50 #include "strat.h"
  51 #include "strat_base.h"
  52 #include "strat_utils.h"
  53
  54 #define EDGE_NUMBER 5
  55 void set_rotated_pentagon(poly_t *pol, const point_t *robot_pt,
  56                           int16_t radius, int16_t x, int16_t y)
  57 {
  58
  59         double c_a, s_a;
  60         uint8_t i;
  61         double px1, py1, px2, py2;
  62         double a_rad;
  63
  64         a_rad = atan2(y - robot_pt->y, x - robot_pt->x);
  65
  66         /* generate pentagon  */
  67         c_a = cos(-2*M_PI/EDGE_NUMBER);
  68         s_a = sin(-2*M_PI/EDGE_NUMBER);
  69
  70         /*
  71         px1 = radius;
  72         py1 = 0;
  73         */
  74         px1 = radius * cos(a_rad + 2*M_PI/(2*EDGE_NUMBER));
  75         py1 = radius * sin(a_rad + 2*M_PI/(2*EDGE_NUMBER));
  76
  77
  78         for (i = 0; i < EDGE_NUMBER; i++){
  79                 oa_poly_set_point(pol, x + px1, y + py1, i);
  80
  81                 px2 = px1*c_a + py1*s_a;
  82                 py2 = -px1*s_a + py1*c_a;
  83
  84                 px1 = px2;
  85                 py1 = py2;
  86         }
  87 }
  88
  89 void set_rotated_poly(poly_t *pol, const point_t *robot_pt,
  90                       int16_t w, int16_t l, int16_t x, int16_t y)
  91 {
  92         double tmp_x, tmp_y;
  93         double a_rad;
  94
  95         a_rad = atan2(y - robot_pt->y, x - robot_pt->x);
  96
  97         DEBUG(E_USER_STRAT, "%s() x,y=%d,%d a_rad=%2.2f",
  98               __FUNCTION__, x, y, a_rad);
  99
 100         /* point 1 */
 101         tmp_x = w;
 102         tmp_y = l;
 103         rotate(&tmp_x, &tmp_y, a_rad);
 104         tmp_x += x;
 105         tmp_y += y;
 106         oa_poly_set_point(pol, tmp_x, tmp_y, 0);
 107
 108         /* point 2 */
 109         tmp_x = -w;
 110         tmp_y = l;
 111         rotate(&tmp_x, &tmp_y, a_rad);
 112         tmp_x += x;
 113         tmp_y += y;
 114         oa_poly_set_point(pol, tmp_x, tmp_y, 1);
 115
 116         /* point 3 */
 117         tmp_x = -w;
 118         tmp_y = -l;
 119         rotate(&tmp_x, &tmp_y, a_rad);
 120         tmp_x += x;
 121         tmp_y += y;
 122         oa_poly_set_point(pol, tmp_x, tmp_y, 2);
 123
 124         /* point 4 */
 125         tmp_x = w;
 126         tmp_y = -l;
 127         rotate(&tmp_x, &tmp_y, a_rad);
 128         tmp_x += x;
 129         tmp_y += y;
 130         oa_poly_set_point(pol, tmp_x, tmp_y, 3);
 131 }
 132
 133 #define DISC_X CENTER_X
 134 #define DISC_Y CENTER_Y
 135
 136 void set_central_disc_poly(poly_t *pol, const point_t *robot_pt)
 137 {
 138         set_rotated_pentagon(pol, robot_pt, DISC_PENTA_DIAG,
 139                              DISC_X, DISC_Y);
 140 }
 141
 142 #ifdef HOMOLOGATION
 143 /* /!\ half size */
 144 #define O_WIDTH  400
 145 #define O_LENGTH 550
 146 #else
 147 /* /!\ half size */
 148 #define O_WIDTH  360
 149 #define O_LENGTH 500
 150 #endif
 151
 152 void set_opponent_poly(poly_t *pol, const point_t *robot_pt, int16_t w, int16_t l)
 153 {
 154         int16_t x, y;
 155         get_opponent_xy(&x, &y);
 156         DEBUG(E_USER_STRAT, "oponent at: %d %d", x, y);
 157
 158         /* place poly even if invalid, because it's -100 */
 159         set_rotated_poly(pol, robot_pt, w, l, x, y);
 160 }
 161
 162 /* don't care about polygons further than this distance for escape */
 163 #define ESCAPE_POLY_THRES 1000
 164
 165 /* don't reduce opp if opp is too far */
 166 #define REDUCE_POLY_THRES 600
 167
 168 /* has to be longer than any poly */
 169 #define ESCAPE_VECT_LEN 3000
 170
 171 /*
 172  * Go in playground, loop until out of poly. The argument robot_pt is
 173  * the pointer to the current position of the robot.
 174  * Return 0 if there was nothing to do.
 175  * Return 1 if we had to move. In this case, update the theorical
 176  * position of the robot in robot_pt.
 177  */
 178 static int8_t go_in_area(point_t *robot_pt)
 179 {
 180         point_t poly_pts_area[4];
 181         poly_t poly_area;
 182         point_t disc_pt, dst_pt;
 183
 184         disc_pt.x = DISC_X;
 185         disc_pt.y = DISC_Y;
 186
 187         /* Go in playground */
 188         if (!is_in_boundingbox(robot_pt)){
 189                 NOTICE(E_USER_STRAT, "not in playground %"PRIi32", %"PRIi32"",
 190                        robot_pt->x, robot_pt->y);
 191
 192                 poly_area.l = 4;
 193                 poly_area.pts = poly_pts_area;
 194                 poly_pts_area[0].x = strat_infos.area_bbox.x1;
 195                 poly_pts_area[0].y = strat_infos.area_bbox.y1;
 196
 197                 poly_pts_area[1].x = strat_infos.area_bbox.x2;
 198                 poly_pts_area[1].y = strat_infos.area_bbox.y1;
 199
 200                 poly_pts_area[2].x = strat_infos.area_bbox.x2;
 201                 poly_pts_area[2].y = strat_infos.area_bbox.y2;
 202
 203                 poly_pts_area[3].x = strat_infos.area_bbox.x1;
 204                 poly_pts_area[3].y = strat_infos.area_bbox.y2;
 205
 206                 is_crossing_poly(*robot_pt, disc_pt, &dst_pt, &poly_area);
 207                 NOTICE(E_USER_STRAT, "pt dst %"PRIi32", %"PRIi32"", dst_pt.x, dst_pt.y);
 208
 209                 strat_goto_xy_force(dst_pt.x, dst_pt.y);
 210
 211                 robot_pt->x = dst_pt.x;
 212                 robot_pt->y = dst_pt.y;
 213
 214                 NOTICE(E_USER_STRAT, "GOTO %"PRIi32",%"PRIi32"",
 215                        dst_pt.x, dst_pt.y);
 216
 217                 return 1;
 218         }
 219
 220         return 0;
 221 }
 222
 223
 224 /*
 225  * Escape from polygons if needed.
 226  * robot_pt is the current position of the robot, it will be
 227  * updated.
 228  */
 229 static int8_t escape_from_poly(point_t *robot_pt,
 230                                poly_t *pol_disc,
 231                                int16_t opp_x, int16_t opp_y,
 232                                int16_t opp_w, int16_t opp_l,
 233                                poly_t *pol_opp)
 234 {
 235         uint8_t in_disc = 0, in_opp = 0;
 236         double escape_dx = 0, escape_dy = 0;
 237         double disc_dx = 0, disc_dy = 0;
 238         double opp_dx = 0, opp_dy = 0;
 239         double len;
 240         point_t opp_pt, disc_pt, dst_pt;
 241         point_t intersect_disc_pt, intersect_opp_pt;
 242
 243         opp_pt.x = opp_x;
 244         opp_pt.y = opp_y;
 245         disc_pt.x = DISC_X;
 246         disc_pt.y = DISC_Y;
 247
 248         /* escape from other poly if necessary */
 249         if (is_in_poly(robot_pt, pol_disc) == 1)
 250                 in_disc = 1;
 251         if (is_in_poly(robot_pt, pol_opp) == 1)
 252                 in_opp = 1;
 253
 254         if (in_disc == 0 && in_opp == 0) {
 255                 NOTICE(E_USER_STRAT, "no need to escape");
 256                 return 0;
 257         }
 258
 259         NOTICE(E_USER_STRAT, "in_disc=%d, in_opp=%d", in_disc, in_opp);
 260
 261         /* process escape vector */
 262
 263         if (distance_between(robot_pt->x, robot_pt->y, DISC_X, DISC_Y) < ESCAPE_POLY_THRES) {
 264                 disc_dx = robot_pt->x - DISC_X;
 265                 disc_dy = robot_pt->y - DISC_Y;
 266                 NOTICE(E_USER_STRAT, " robot is near disc: vect=%2.2f,%2.2f",
 267                        disc_dx, disc_dy);
 268                 len = norm(disc_dx, disc_dy);
 269                 if (len != 0) {
 270                         disc_dx /= len;
 271                         disc_dy /= len;
 272                 }
 273                 else {
 274                         disc_dx = 1.0;
 275                         disc_dy = 0.0;
 276                 }
 277                 escape_dx += disc_dx;
 278                 escape_dy += disc_dy;
 279         }
 280
 281         if (distance_between(robot_pt->x, robot_pt->y, opp_x, opp_y) < ESCAPE_POLY_THRES) {
 282                 opp_dx = robot_pt->x - opp_x;
 283                 opp_dy = robot_pt->y - opp_y;
 284                 NOTICE(E_USER_STRAT, " robot is near opp: vect=%2.2f,%2.2f",
 285                        opp_dx, opp_dy);
 286                 len = norm(opp_dx, opp_dy);
 287                 if (len != 0) {
 288                         opp_dx /= len;
 289                         opp_dy /= len;
 290                 }
 291                 else {
 292                         opp_dx = 1.0;
 293                         opp_dy = 0.0;
 294                 }
 295                 escape_dx += opp_dx;
 296                 escape_dy += opp_dy;
 297         }
 298
 299         /* normalize escape vector */
 300         len = norm(escape_dx, escape_dy);
 301         if (len != 0) {
 302                 escape_dx /= len;
 303                 escape_dy /= len;
 304         }
 305         else {
 306                 if (pol_disc != NULL) {
 307                         /* rotate 90° */
 308                         escape_dx = disc_dy;
 309                         escape_dy = disc_dx;
 310                 }
 311                 else if (pol_opp != NULL) {
 312                         /* rotate 90° */
 313                         escape_dx = opp_dy;
 314                         escape_dy = opp_dx;
 315                 }
 316                 else { /* should not happen */
 317                         opp_dx = 1.0;
 318                         opp_dy = 0.0;
 319                 }
 320         }
 321
 322         NOTICE(E_USER_STRAT, " escape vect = %2.2f,%2.2f",
 323                escape_dx, escape_dy);
 324
 325         /* process the correct len of escape vector */
 326
 327         dst_pt.x = robot_pt->x + escape_dx * ESCAPE_VECT_LEN;
 328         dst_pt.y = robot_pt->y + escape_dy * ESCAPE_VECT_LEN;
 329
 330         NOTICE(E_USER_STRAT, "robot pt %"PRIi32" %"PRIi32,
 331                robot_pt->x, robot_pt->y);
 332         NOTICE(E_USER_STRAT, "dst point %"PRIi32",%"PRIi32,
 333                dst_pt.x, dst_pt.y);
 334
 335         if (in_disc) {
 336                 if (is_crossing_poly(*robot_pt, dst_pt, &intersect_disc_pt,
 337                                      pol_disc) == 1) {
 338                         /* we add 2 mm to be sure we are out of th polygon */
 339                         dst_pt.x = intersect_disc_pt.x + escape_dx * 2;
 340                         dst_pt.y = intersect_disc_pt.y + escape_dy * 2;
 341                         if (is_point_in_poly(pol_opp, dst_pt.x, dst_pt.y) != 1) {
 342
 343                                 if (!is_in_boundingbox(&dst_pt))
 344                                         return -1;
 345
 346                                 NOTICE(E_USER_STRAT, "GOTO %"PRIi32",%"PRIi32"",
 347                                        dst_pt.x, dst_pt.y);
 348
 349                                 strat_goto_xy_force(dst_pt.x, dst_pt.y);
 350
 351                                 robot_pt->x = dst_pt.x;
 352                                 robot_pt->y = dst_pt.y;
 353
 354                                 return 0;
 355                         }
 356                 }
 357         }
 358
 359         if (in_opp) {
 360                 if (is_crossing_poly(*robot_pt, dst_pt, &intersect_opp_pt,
 361                                      pol_opp) == 1) {
 362                         /* we add 2 cm to be sure we are out of th polygon */
 363                         dst_pt.x = intersect_opp_pt.x + escape_dx * 2;
 364                         dst_pt.y = intersect_opp_pt.y + escape_dy * 2;
 365
 366                         if (is_point_in_poly(pol_disc, dst_pt.x, dst_pt.y) != 1) {
 367
 368                                 if (!is_in_boundingbox(&dst_pt))
 369                                         return -1;
 370
 371                                 NOTICE(E_USER_STRAT, "GOTO %"PRIi32",%"PRIi32"",
 372                                        dst_pt.x, dst_pt.y);
 373
 374                                 strat_goto_xy_force(dst_pt.x, dst_pt.y);
 375
 376                                 robot_pt->x = dst_pt.x;
 377                                 robot_pt->y = dst_pt.y;
 378
 379                                 return 0;
 380                         }
 381                 }
 382         }
 383
 384         /* should not happen */
 385         return -1;
 386 }
 387
 388
 389 static int8_t __goto_and_avoid(int16_t x, int16_t y,
 390                                uint8_t flags_intermediate,
 391                                uint8_t flags_final,
 392                                uint8_t forward)
 393 {
 394         int8_t len = -1, i;
 395         point_t *p;
 396         poly_t *pol_disc, *pol_opp;
 397         int8_t ret;
 398         int16_t opp_w, opp_l, opp_x, opp_y;
 399         point_t p_dst, robot_pt;
 400
 401         DEBUG(E_USER_STRAT, "%s(%d,%d) flags_i=%x flags_f=%x forw=%d",
 402               __FUNCTION__, x, y, flags_intermediate, flags_final, forward);
 403
 404  retry:
 405         get_opponent_xy(&opp_x, &opp_y);
 406         opp_w = O_WIDTH;
 407         opp_l = O_LENGTH;
 408
 409         robot_pt.x = position_get_x_s16(&mainboard.pos);
 410         robot_pt.y = position_get_y_s16(&mainboard.pos);
 411
 412         oa_init();
 413         pol_disc = oa_new_poly(5);
 414         set_central_disc_poly(pol_disc, &robot_pt);
 415         pol_opp = oa_new_poly(4);
 416         set_opponent_poly(pol_opp, &robot_pt, O_WIDTH, O_LENGTH);
 417
 418         /* If we are not in the limited area, try to go in it. */
 419         ret = go_in_area(&robot_pt);
 420
 421         /* check that destination is valid */
 422         p_dst.x = x;
 423         p_dst.y = y;
 424         if (!is_in_boundingbox(&p_dst)) {
 425                 NOTICE(E_USER_STRAT, " dst is not in playground");
 426                 return END_ERROR;
 427         }
 428         if (is_point_in_poly(pol_disc, x, y)) {
 429                 NOTICE(E_USER_STRAT, " dst is in disc");
 430                 return END_ERROR;
 431         }
 432         if (is_point_in_poly(pol_opp, x, y)) {
 433                 NOTICE(E_USER_STRAT, " dst is in opp");
 434                 return END_ERROR;
 435         }
 436
 437         /* now start to avoid */
 438         while (opp_w && opp_l) {
 439
 440                 /* robot_pt is not updated if it fails */
 441                 ret = escape_from_poly(&robot_pt,
 442                                        pol_disc, opp_x, opp_y,
 443                                        opp_w, opp_l, pol_opp);
 444                 if (ret == 0) {
 445                         oa_reset();
 446                         oa_start_end_points(robot_pt.x, robot_pt.y, x, y);
 447                         /* oa_dump(); */
 448
 449                         len = oa_process();
 450                         if (len >= 0)
 451                                 break;
 452                 }
 453                 if (distance_between(robot_pt.x, robot_pt.y, opp_x, opp_y) < REDUCE_POLY_THRES ) {
 454                         if (opp_w == 0)
 455                                 opp_l /= 2;
 456                         opp_w /= 2;
 457                 }
 458                 else {
 459                         NOTICE(E_USER_STRAT, "oa_process() returned %d", len);
 460                         return END_ERROR;
 461                 }
 462
 463                 NOTICE(E_USER_STRAT, "reducing opponent %d %d", opp_w, opp_l);
 464                 set_opponent_poly(pol_opp, &robot_pt, opp_w, opp_l);
 465         }
 466
 467         p = oa_get_path();
 468         for (i=0 ; i<len ; i++) {
 469                 DEBUG(E_USER_STRAT, "With avoidance %d: x=%"PRIi32" y=%"PRIi32"", i, p->x, p->y);
 470
 471                 if (forward)
 472                         trajectory_goto_forward_xy_abs(&mainboard.traj, p->x, p->y);
 473                 else
 474                         trajectory_goto_backward_xy_abs(&mainboard.traj, p->x, p->y);
 475
 476                 /* no END_NEAR for the last point */
 477                 if (i == len - 1)
 478                         ret = wait_traj_end(flags_final);
 479                 else
 480                         ret = wait_traj_end(flags_intermediate);
 481
 482                 if (ret == END_BLOCKING) {
 483                         DEBUG(E_USER_STRAT, "Retry avoidance %s(%d,%d)",
 484                               __FUNCTION__, x, y);
 485                         goto retry;
 486                 }
 487                 else if (ret == END_OBSTACLE) {
 488                         /* brake and wait the speed to be slow */
 489                         DEBUG(E_USER_STRAT, "Retry avoidance %s(%d,%d)",
 490                               __FUNCTION__, x, y);
 491                         goto retry;
 492                 }
 493                 /* else if it is not END_TRAJ or END_NEAR, return */
 494                 else if (!TRAJ_SUCCESS(ret)) {
 495                         return ret;
 496                 }
 497                 p++;
 498         }
 499
 500         return END_TRAJ;
 501 }
 502
 503 /* go forward to a x,y point. use current speed for that */
 504 uint8_t goto_and_avoid_forward(int16_t x, int16_t y, uint8_t flags_intermediate,
 505                                uint8_t flags_final)
 506 {
 507         return __goto_and_avoid(x, y, flags_intermediate, flags_final, 1);
 508 }
 509
 510 /* go backward to a x,y point. use current speed for that */
 511 uint8_t goto_and_avoid_backward(int16_t x, int16_t y, uint8_t flags_intermediate,
 512                        uint8_t flags_final)
 513 {
 514         return __goto_and_avoid(x, y, flags_intermediate, flags_final, 0);
 515 }
 516
 517 /* go to a x,y point. prefer backward but go forward if the point is
 518  * near and in front of us */
 519 uint8_t goto_and_avoid(int16_t x, int16_t y, uint8_t flags_intermediate,
 520                                uint8_t flags_final)
 521 {
 522         double d,a;
 523         abs_xy_to_rel_da(x, y, &d, &a);
 524
 525         if (d < 300 && a < RAD(90) && a > RAD(-90))
 526                 return __goto_and_avoid(x, y, flags_intermediate,
 527                                         flags_final, 1);
 528         else
 529                 return __goto_and_avoid(x, y, flags_intermediate,
 530                                         flags_final, 0);
 531 }