-/*
+/*
* Copyright Droids Corporation, Microb Technology, Eirbot (2005)
- *
+ *
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
*
*/
-/* Trajectory Manager v2 - zer0 - for Eurobot 2008 */
+/* Trajectory Manager v3 - zer0 - for Eurobot 2010 */
#include <string.h>
#include <stdlib.h>
#include <quadramp.h>
#include <trajectory_manager.h>
-
-#define M_2PI (2*M_PI)
-
-#define DEG(x) ((x) * (180.0 / M_PI))
-#define RAD(x) ((x) * (M_PI / 180.0))
-
-static void trajectory_manager_event(void *param);
+#include "trajectory_manager_utils.h"
/************ INIT FUNCS */
}
/** structure initialization */
-void trajectory_set_cs(struct trajectory *traj, struct cs *cs_d,
+void trajectory_set_cs(struct trajectory *traj, struct cs *cs_d,
struct cs *cs_a)
{
uint8_t flags;
-
+
IRQ_LOCK(flags);
traj->csm_distance = cs_d;
traj->csm_angle = cs_a;
}
/** structure initialization */
-void trajectory_set_robot_params(struct trajectory *traj,
- struct robot_system *rs,
- struct robot_position *pos)
+void trajectory_set_robot_params(struct trajectory *traj,
+ struct robot_system *rs,
+ struct robot_position *pos)
{
uint8_t flags;
IRQ_LOCK(flags);
IRQ_UNLOCK(flags);
}
-/************ STATIC [ AND USEFUL ] FUNCS */
-
-/** set speed consign in quadramp filter */
-static void set_quadramp_speed(struct trajectory *traj, int16_t d_speed, int16_t a_speed)
-{
- struct quadramp_filter * q_d, * q_a;
- q_d = traj->csm_distance->consign_filter_params;
- q_a = traj->csm_angle->consign_filter_params;
- quadramp_set_1st_order_vars(q_d, ABS(d_speed), ABS(d_speed));
- quadramp_set_1st_order_vars(q_a, ABS(a_speed), ABS(a_speed));
-}
-
-/** get angle speed consign in quadramp filter */
-static uint32_t get_quadramp_angle_speed(struct trajectory *traj)
-{
- struct quadramp_filter *q_a;
- q_a = traj->csm_angle->consign_filter_params;
- return q_a->var_1st_ord_pos;
-}
-
-/** get distance speed consign in quadramp filter */
-static uint32_t get_quadramp_distance_speed(struct trajectory *traj)
-{
- struct quadramp_filter *q_d;
- q_d = traj->csm_distance->consign_filter_params;
- return q_d->var_1st_ord_pos;
-}
-
-/** remove event if any */
-static void delete_event(struct trajectory *traj)
-{
- set_quadramp_speed(traj, traj->d_speed, traj->a_speed);
- if ( traj->scheduler_task != -1) {
- DEBUG(E_TRAJECTORY, "Delete event");
- scheduler_del_event(traj->scheduler_task);
- traj->scheduler_task = -1;
- }
-}
-
-/** schedule the trajectory event */
-static void schedule_event(struct trajectory *traj)
-{
- if ( traj->scheduler_task != -1) {
- DEBUG(E_TRAJECTORY, "Schedule event, already scheduled");
- }
- else {
- traj->scheduler_task =
- scheduler_add_periodical_event_priority(&trajectory_manager_event,
- (void*)traj,
- 100000L/SCHEDULER_UNIT, 30);
- }
-}
-
-/** do a modulo 2.pi -> [-Pi,+Pi], knowing that 'a' is in [-3Pi,+3Pi] */
-static double simple_modulo_2pi(double a)
-{
- if (a < -M_PI) {
- a += M_2PI;
- }
- else if (a > M_PI) {
- a -= M_2PI;
- }
- return a;
-}
-
-/** do a modulo 2.pi -> [-Pi,+Pi] */
-static double modulo_2pi(double a)
-{
- double res = a - (((int32_t) (a/M_2PI)) * M_2PI);
- return simple_modulo_2pi(res);
-}
-
-#include <aversive/wait.h>
-/** near the target (dist) ? */
-static uint8_t is_robot_in_dist_window(struct trajectory *traj, double d_win)
-{
- double d = traj->target.pol.distance - rs_get_distance(traj->robot);
- d = ABS(d);
- d = d / traj->position->phys.distance_imp_per_mm;
- return (d < d_win);
-}
-
-/** near the target (dist in x,y) ? */
-static uint8_t is_robot_in_xy_window(struct trajectory *traj, double d_win)
-{
- double x1 = traj->target.cart.x;
- double y1 = traj->target.cart.y;
- double x2 = position_get_x_double(traj->position);
- double y2 = position_get_y_double(traj->position);
- return ( sqrt ((x2-x1) * (x2-x1) + (y2-y1) * (y2-y1)) < d_win );
-}
-
-/** near the angle target in radian ? Only valid if
- * traj->target.pol.angle is set (i.e. an angle command, not an xy
- * command) */
-static uint8_t is_robot_in_angle_window(struct trajectory *traj, double a_win_rad)
-{
- double a;
-
- /* convert relative angle from imp to rad */
- a = traj->target.pol.angle - rs_get_angle(traj->robot);
- a /= traj->position->phys.distance_imp_per_mm;
- a /= traj->position->phys.track_mm;
- a *= 2.;
- return ABS(a) < a_win_rad;
-}
-
-
-/************ SIMPLE TRAJS, NO EVENT */
-
-#define UPDATE_D 1
-#define UPDATE_A 2
-#define RESET_D 4
-#define RESET_A 8
-
-/**
- * update angle and/or distance
- * this function is not called directly by the user
- * traj : pointer to the trajectory structure
- * d_mm : distance in mm
- * a_rad : angle in radian
- * flags : what to update (UPDATE_A, UPDATE_D)
- */
-void __trajectory_goto_d_a_rel(struct trajectory *traj, double d_mm,
- double a_rad, uint8_t state, uint8_t flags)
-{
- int32_t a_consign, d_consign;
-
- DEBUG(E_TRAJECTORY, "Goto DA/RS rel to d=%f a_rad=%f", d_mm, a_rad);
- delete_event(traj);
- traj->state = state;
- if (flags & UPDATE_A) {
- if (flags & RESET_A) {
- a_consign = 0;
- }
- else {
- a_consign = (int32_t)(a_rad * (traj->position->phys.distance_imp_per_mm) *
- (traj->position->phys.track_mm) / 2);
- }
- a_consign += rs_get_angle(traj->robot);
- traj->target.pol.angle = a_consign;
- cs_set_consign(traj->csm_angle, a_consign);
- }
- if (flags & UPDATE_D) {
- if (flags & RESET_D) {
- d_consign = 0;
- }
- else {
- d_consign = (int32_t)((d_mm) * (traj->position->phys.distance_imp_per_mm));
- }
- d_consign += rs_get_distance(traj->robot);
- traj->target.pol.distance = d_consign;
- cs_set_consign(traj->csm_distance, d_consign);
- }
-}
-
-/** go straight forward (d is in mm) */
-void trajectory_d_rel(struct trajectory *traj, double d_mm)
-{
- __trajectory_goto_d_a_rel(traj, d_mm, 0, RUNNING_D,
- UPDATE_D | UPDATE_A | RESET_A);
-}
-
-/** update distance consign without changing angle consign */
-void trajectory_only_d_rel(struct trajectory *traj, double d_mm)
-{
- __trajectory_goto_d_a_rel(traj, d_mm, 0, RUNNING_D, UPDATE_D);
-}
-
-/** turn by 'a' degrees */
-void trajectory_a_rel(struct trajectory *traj, double a_deg_rel)
-{
- __trajectory_goto_d_a_rel(traj, 0, RAD(a_deg_rel), RUNNING_A,
- UPDATE_A | UPDATE_D | RESET_D);
-}
-
-/** turn by 'a' degrees */
-void trajectory_a_abs(struct trajectory *traj, double a_deg_abs)
-{
- double posa = position_get_a_rad_double(traj->position);
- double a;
-
- a = RAD(a_deg_abs) - posa;
- a = modulo_2pi(a);
- __trajectory_goto_d_a_rel(traj, 0, a, RUNNING_A,
- UPDATE_A | UPDATE_D | RESET_D);
-}
-
-/** turn the robot until the point x,y is in front of us */
-void trajectory_turnto_xy(struct trajectory *traj, double x_abs_mm, double y_abs_mm)
-{
- double posx = position_get_x_double(traj->position);
- double posy = position_get_y_double(traj->position);
- double posa = position_get_a_rad_double(traj->position);
-
- DEBUG(E_TRAJECTORY, "Goto Turn To xy %f %f", x_abs_mm, y_abs_mm);
- __trajectory_goto_d_a_rel(traj, 0,
- simple_modulo_2pi(atan2(y_abs_mm - posy, x_abs_mm - posx) - posa),
- RUNNING_A,
- UPDATE_A | UPDATE_D | RESET_D);
-}
-
-/** turn the robot until the point x,y is behind us */
-void trajectory_turnto_xy_behind(struct trajectory *traj, double x_abs_mm, double y_abs_mm)
-{
- double posx = position_get_x_double(traj->position);
- double posy = position_get_y_double(traj->position);
- double posa = position_get_a_rad_double(traj->position);
-
- DEBUG(E_TRAJECTORY, "Goto Turn To xy %f %f", x_abs_mm, y_abs_mm);
- __trajectory_goto_d_a_rel(traj, 0,
- modulo_2pi(atan2(y_abs_mm - posy, x_abs_mm - posx) - posa + M_PI),
- RUNNING_A,
- UPDATE_A | UPDATE_D | RESET_D);
-}
-
-/** update angle consign without changing distance consign */
-void trajectory_only_a_rel(struct trajectory *traj, double a_deg)
-{
- __trajectory_goto_d_a_rel(traj, 0, RAD(a_deg), RUNNING_A,
- UPDATE_A);
-}
-
-/** update angle consign without changing distance consign */
-void trajectory_only_a_abs(struct trajectory *traj, double a_deg_abs)
-{
- double posa = position_get_a_rad_double(traj->position);
- double a;
-
- a = RAD(a_deg_abs) - posa;
- a = modulo_2pi(a);
- __trajectory_goto_d_a_rel(traj, 0, a, RUNNING_A, UPDATE_A);
-}
-
-/** turn by 'a' degrees */
-void trajectory_d_a_rel(struct trajectory *traj, double d_mm, double a_deg)
-{
- __trajectory_goto_d_a_rel(traj, d_mm, RAD(a_deg),
- RUNNING_AD, UPDATE_A | UPDATE_D);
-}
-
-/** set relative angle and distance consign to 0 */
-void trajectory_stop(struct trajectory *traj)
-{
- __trajectory_goto_d_a_rel(traj, 0, 0, READY,
- UPDATE_A | UPDATE_D | RESET_D | RESET_A);
-}
-
-/** set relative angle and distance consign to 0, and break any
- * deceleration ramp in quadramp filter */
-void trajectory_hardstop(struct trajectory *traj)
-{
- struct quadramp_filter *q_d, *q_a;
- q_d = traj->csm_distance->consign_filter_params;
- q_a = traj->csm_angle->consign_filter_params;
- __trajectory_goto_d_a_rel(traj, 0, 0, READY,
- UPDATE_A | UPDATE_D | RESET_D | RESET_A);
- q_d->previous_var = 0;
- q_d->previous_out = rs_get_distance(traj->robot);
- q_a->previous_var = 0;
- q_a->previous_out = rs_get_angle(traj->robot);
-}
-
-
-/************ GOTO XY, USE EVENTS */
-
-/** goto a x,y point, using a trajectory event */
-void trajectory_goto_xy_abs(struct trajectory *traj, double x, double y)
-{
- DEBUG(E_TRAJECTORY, "Goto XY");
- delete_event(traj);
- traj->target.cart.x = x;
- traj->target.cart.y = y;
- traj->state = RUNNING_XY_START;
- trajectory_manager_event(traj);
- schedule_event(traj);
-}
-
-/** go forward to a x,y point, using a trajectory event */
-void trajectory_goto_forward_xy_abs(struct trajectory *traj, double x, double y)
-{
- DEBUG(E_TRAJECTORY, "Goto XY_F");
- delete_event(traj);
- traj->target.cart.x = x;
- traj->target.cart.y = y;
- traj->state = RUNNING_XY_F_START;
- trajectory_manager_event(traj);
- schedule_event(traj);
-}
-
-/** go backward to a x,y point, using a trajectory event */
-void trajectory_goto_backward_xy_abs(struct trajectory *traj, double x, double y)
-{
- DEBUG(E_TRAJECTORY, "Goto XY_B");
- delete_event(traj);
- traj->target.cart.x = x;
- traj->target.cart.y = y;
- traj->state = RUNNING_XY_B_START;
- trajectory_manager_event(traj);
- schedule_event(traj);
-}
-
-/** go forward to a d,a point, using a trajectory event */
-void trajectory_goto_d_a_rel(struct trajectory *traj, double d, double a)
-{
- vect2_pol p;
- double x = position_get_x_double(traj->position);
- double y = position_get_y_double(traj->position);
-
- DEBUG(E_TRAJECTORY, "Goto DA rel");
-
- delete_event(traj);
- p.r = d;
- p.theta = RAD(a) + position_get_a_rad_double(traj->position);
- vect2_pol2cart(&p, &traj->target.cart);
- traj->target.cart.x += x;
- traj->target.cart.y += y;
-
- traj->state = RUNNING_XY_START;
- trajectory_manager_event(traj);
- schedule_event(traj);
-}
-
-/** go forward to a x,y relative point, using a trajectory event */
-void trajectory_goto_xy_rel(struct trajectory *traj, double x_rel_mm, double y_rel_mm)
-{
- vect2_cart c;
- vect2_pol p;
- double x = position_get_x_double(traj->position);
- double y = position_get_y_double(traj->position);
-
- DEBUG(E_TRAJECTORY, "Goto XY rel");
-
- delete_event(traj);
- c.x = x_rel_mm;
- c.y = y_rel_mm;
-
- vect2_cart2pol(&c, &p);
- p.theta += position_get_a_rad_double(traj->position);;
- vect2_pol2cart(&p, &traj->target.cart);
-
- traj->target.cart.x += x;
- traj->target.cart.y += y;
-
- traj->state = RUNNING_XY_START;
- trajectory_manager_event(traj);
- schedule_event(traj);
-}
-
-/************ FUNCS FOR GETTING TRAJ STATE */
-
-/** return true if the position consign is equal to the filtered
- * position consign (after quadramp filter), for angle and
- * distance. */
-uint8_t trajectory_finished(struct trajectory *traj)
-{
- return cs_get_consign(traj->csm_angle) == cs_get_filtered_consign(traj->csm_angle) &&
- cs_get_consign(traj->csm_distance) == cs_get_filtered_consign(traj->csm_distance) ;
-}
-
-/** return true if traj is nearly finished */
-uint8_t trajectory_in_window(struct trajectory *traj, double d_win, double a_win_rad)
-{
- switch(traj->state) {
-
- case RUNNING_XY_ANGLE_OK:
- case RUNNING_XY_F_ANGLE_OK:
- case RUNNING_XY_B_ANGLE_OK:
- /* if robot coordinates are near the x,y target */
- return is_robot_in_xy_window(traj, d_win);
-
- case RUNNING_A:
- return is_robot_in_angle_window(traj, a_win_rad);
-
- case RUNNING_D:
- return is_robot_in_dist_window(traj, d_win);
-
- case RUNNING_AD:
- return is_robot_in_dist_window(traj, d_win) &&
- is_robot_in_angle_window(traj, a_win_rad);
-
- case RUNNING_XY_START:
- case RUNNING_XY_F_START:
- case RUNNING_XY_B_START:
- case RUNNING_XY_ANGLE:
- case RUNNING_XY_F_ANGLE:
- case RUNNING_XY_B_ANGLE:
- default:
- return 0;
- }
-}
-
-/*********** *TRAJECTORY EVENT FUNC */
-
-/** event called for xy trajectories */
-static void trajectory_manager_event(void * param)
-{
- struct trajectory *traj = (struct trajectory *)param;
- double coef=1.0;
- double x = position_get_x_double(traj->position);
- double y = position_get_y_double(traj->position);
- double a = position_get_a_rad_double(traj->position);
- int32_t d_consign=0, a_consign=0;
-
- /* These vectors contain target position of the robot in
- * its own coordinates */
- vect2_cart v2cart_pos;
- vect2_pol v2pol_target;
-
- /* step 1 : process new commands to quadramps */
-
- switch (traj->state) {
- case RUNNING_XY_START:
- case RUNNING_XY_ANGLE:
- case RUNNING_XY_ANGLE_OK:
- case RUNNING_XY_F_START:
- case RUNNING_XY_F_ANGLE:
- case RUNNING_XY_F_ANGLE_OK:
- case RUNNING_XY_B_START:
- case RUNNING_XY_B_ANGLE:
- case RUNNING_XY_B_ANGLE_OK:
-
- /* process the command vector from current position to
- * absolute target, or to the center of the circle. */
- v2cart_pos.x = traj->target.cart.x - x;
- v2cart_pos.y = traj->target.cart.y - y;
- vect2_cart2pol(&v2cart_pos, &v2pol_target);
- v2pol_target.theta = simple_modulo_2pi(v2pol_target.theta - a);
-
- /* asked to go backwards */
- if (traj->state >= RUNNING_XY_B_START &&
- traj->state <= RUNNING_XY_B_ANGLE_OK ) {
- v2pol_target.r = -v2pol_target.r;
- v2pol_target.theta = simple_modulo_2pi(v2pol_target.theta + M_PI);
- }
-
- /* if we don't need to go forward */
- if (traj->state >= RUNNING_XY_START &&
- traj->state <= RUNNING_XY_ANGLE_OK ) {
- /* If the target is behind the robot, we need to go
- * backwards. 0.52 instead of 0.5 because we prefer to
- * go forward */
- if ((v2pol_target.theta > 0.52*M_PI) ||
- (v2pol_target.theta < -0.52*M_PI ) ) {
- v2pol_target.r = -v2pol_target.r;
- v2pol_target.theta = simple_modulo_2pi(v2pol_target.theta + M_PI);
- }
- }
-
- /* XXX circle */
-
- /* If the robot is correctly oriented to start moving in distance */
- /* here limit dist speed depending on v2pol_target.theta */
- if (ABS(v2pol_target.theta) > traj->a_start_rad) // || ABS(v2pol_target.r) < traj->d_win)
- set_quadramp_speed(traj, 0, traj->a_speed);
- else {
- coef = (traj->a_start_rad - ABS(v2pol_target.theta)) / traj->a_start_rad;
- set_quadramp_speed(traj, traj->d_speed * coef, traj->a_speed);
- }
-
- d_consign = (int32_t)(v2pol_target.r * (traj->position->phys.distance_imp_per_mm));
- d_consign += rs_get_distance(traj->robot);
-
- /* angle consign */
- /* XXX here we specify 2.2 instead of 2.0 to avoid oscillations */
- a_consign = (int32_t)(v2pol_target.theta *
- (traj->position->phys.distance_imp_per_mm) *
- (traj->position->phys.track_mm) / 2.2);
- a_consign += rs_get_angle(traj->robot);
-
- break;
-
- default:
- /* hmmm quite odd, delete the event */
- DEBUG(E_TRAJECTORY, "GNI ???");
- delete_event(traj);
- traj->state = READY;
- }
-
-
- /* step 2 : update state, or delete event if we reached the
- * destination */
-
- /* XXX if target is our pos !! */
-
- switch (traj->state) {
- case RUNNING_XY_START:
- case RUNNING_XY_F_START:
- case RUNNING_XY_B_START:
- /* START -> ANGLE */
- DEBUG(E_TRAJECTORY, "-> ANGLE");
- traj->state ++;
- break;
-
- case RUNNING_XY_ANGLE:
- case RUNNING_XY_F_ANGLE:
- case RUNNING_XY_B_ANGLE: {
- struct quadramp_filter *q_a;
- q_a = traj->csm_angle->consign_filter_params;
- /* if d_speed is not 0, we are in start_angle_win */
- if (get_quadramp_distance_speed(traj)) {
- if(is_robot_in_xy_window(traj, traj->d_win)) {
- delete_event(traj);
- }
- /* ANGLE -> ANGLE_OK */
- traj->state ++;
- DEBUG(E_TRAJECTORY, "-> ANGLE_OK");
- }
- break;
- }
-
- case RUNNING_XY_ANGLE_OK:
- case RUNNING_XY_F_ANGLE_OK:
- case RUNNING_XY_B_ANGLE_OK:
- /* If we reached the destination */
- if(is_robot_in_xy_window(traj, traj->d_win)) {
- delete_event(traj);
- }
- break;
-
- default:
- break;
- }
-
- /* step 3 : send the processed commands to cs */
-
- DEBUG(E_TRAJECTORY, "EVENT XY cur=(%f,%f,%f) cart=(%f,%f) pol=(%f,%f)",
- x, y, a, v2cart_pos.x, v2cart_pos.y, v2pol_target.r, v2pol_target.theta);
-
- DEBUG(E_TRAJECTORY,"d_cur=%" PRIi32 ", d_consign=%" PRIi32 ", d_speed=%" PRIi32 ", "
- "a_cur=%" PRIi32 ", a_consign=%" PRIi32 ", a_speed=%" PRIi32,
- rs_get_distance(traj->robot), d_consign, get_quadramp_distance_speed(traj),
- rs_get_angle(traj->robot), a_consign, get_quadramp_angle_speed(traj));
-
- cs_set_consign(traj->csm_angle, a_consign);
- cs_set_consign(traj->csm_distance, d_consign);
-}
-
-/*********** *CIRCLE */
-
-/*
- * Compute the fastest distance and angle speeds matching the radius
- * from current traj_speed
- */
-/* static */void circle_get_da_speed_from_radius(struct trajectory *traj,
- double radius_mm,
- double *speed_d,
- double *speed_a)
-{
- /* speed_d = coef * speed_a */
- double coef;
- double speed_d2, speed_a2;
-
- coef = 2. * radius_mm / traj->position->phys.track_mm;
-
- speed_d2 = traj->a_speed * coef;
- if (speed_d2 < traj->d_speed) {
- *speed_d = speed_d2;
- *speed_a = traj->a_speed;
- }
- else {
- speed_a2 = traj->d_speed / coef;
- *speed_d = traj->d_speed;
- *speed_a = speed_a2;
- }
-}
-
-/* return the distance in millimeters that corresponds to an angle in
- * degree and a radius in mm */
-/* static */double circle_get_dist_from_degrees(double radius_mm, double a_deg)
-{
- double a_rad = RAD(a_deg);
- return a_rad * radius_mm;
-}
-
-/*
- * Start a circle of specified radius around the specified center
- * (relative with d,a). The distance is specified in mm.
- */
-void trajectory_circle(struct trajectory *traj,
- double center_d_mm, double center_a_rad,
- double radius_mm, double dist_mm)
-{
-/* double */
-
-/* DEBUG(E_TRAJECTORY, "CIRCLE to d=%f a_rad=%f", center_d_mm, */
-/* center_a_rad); */
-/* delete_event(traj); */
-/* traj->state = RUNNING_CIRCLE; */
-
-
-}
-
-/*
- * Start a circle of specified radius around the specified center
- * (absolute). The distance is specified in mm.
- */
-void trajectory_circle_abs_dist_mm(struct trajectory *traj,
- double x_rel_mm, double y_rel_mm,
- double radius_mm, double dist_mm)
-{
-}
-
-/*
- * Start a circle of specified radius around the specified center
- * (absolute). The distance is specified in degrees.
- */
-void trajectory_circle_abs_dist_deg(struct trajectory *traj,
- double x_rel_mm, double y_rel_mm,
- double radius_mm, double dist_degrees)
-{
-
-}
git.droids-corp.org / aversive.git / blobdiff