traj circle

[aversive.git] / modules / devices / robot / trajectory_manager / trajectory_manager_core.c

diff --git a/modules/devices/robot/trajectory_manager/trajectory_manager_core.c b/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
index 7adde48..a7473c4 100644 (file)
--- a/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
+++ b/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
@@ -46,6 +46,14 @@
 #define RESET_D  4
 #define RESET_A  8
 
 #define RESET_D  4
 #define RESET_A  8
 

+static uint8_t evt_debug_cpt = 0;
+#define EVT_DEBUG(args...) do {                                \
+               if (((evt_debug_cpt ++) & 0x07) == 0) { \
+                       DEBUG(args);                    \
+               }                                       \
+       } while (0)
+
+

 /**
  * update angle and/or distance
  * this function is not called directly by the user
 /**
  * update angle and/or distance
  * this function is not called directly by the user


@@ -355,7 +363,7 @@ void trajectory_manager_xy_event(struct trajectory *traj)
        case RUNNING_XY_B_ANGLE_OK:
 
                /* process the command vector from current position to
        case RUNNING_XY_B_ANGLE_OK:
 
                /* process the command vector from current position to

-                * absolute target, or to the center of the circle. */
+                * absolute target. */

                v2cart_pos.x = traj->target.cart.x - x;
                v2cart_pos.y = traj->target.cart.y - y;
                vect2_cart2pol(&v2cart_pos, &v2pol_target);
                v2cart_pos.x = traj->target.cart.x - x;
                v2cart_pos.y = traj->target.cart.y - y;
                vect2_cart2pol(&v2cart_pos, &v2pol_target);


@@ -433,7 +441,7 @@ void trajectory_manager_xy_event(struct trajectory *traj)
                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)) {
                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)) {
+                       if (is_robot_in_xy_window(traj, traj->d_win)) {

                                delete_event(traj);
                        }
                        /* ANGLE -> ANGLE_OK */
                                delete_event(traj);
                        }
                        /* ANGLE -> ANGLE_OK */


@@ -447,7 +455,7 @@ void trajectory_manager_xy_event(struct trajectory *traj)
        case RUNNING_XY_F_ANGLE_OK:
        case RUNNING_XY_B_ANGLE_OK:
                /* If we reached the destination */
        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)) {
+               if (is_robot_in_xy_window(traj, traj->d_win)) {

                        delete_event(traj);
                }
        break;
                        delete_event(traj);
                }
        break;


@@ -458,10 +466,7 @@ void trajectory_manager_xy_event(struct trajectory *traj)
 
        /* step 3 : send the processed commands to cs */
 
 
        /* 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 ", "
+       EVT_DEBUG(E_TRAJECTORY,"EVENT XY 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));
              "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));


@@ -471,14 +476,82 @@ void trajectory_manager_xy_event(struct trajectory *traj)
 }
 
 /* trajectory event for circles */
 }
 
 /* trajectory event for circles */

+/* XXX static */

 void trajectory_manager_circle_event(struct trajectory *traj)
 {
 void trajectory_manager_circle_event(struct trajectory *traj)
 {

-#if 0
+       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);
        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;
-#endif
+       int32_t d_consign = 0, a_consign = 0;
+       double angle_to_center_rad;
+
+       /* 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 */
+
+       /* process the command vector from current position to the
+        * center of the circle. */
+       v2cart_pos.x = traj->target.circle.center.x - x;
+       v2cart_pos.y = traj->target.circle.center.y - y;
+       vect2_cart2pol(&v2cart_pos, &v2pol_target);
+       v2pol_target.theta = simple_modulo_2pi(v2pol_target.theta - a);
+
+       /* wanted direction of center of circle:
+        * if we are far, go in the center direction,
+        * if we are at radius, we want to see the center at 90°
+        * if we are nearer than radius, angle to center is > 90° */
+       if (v2pol_target.r > traj->target.circle.radius * 2)
+               angle_to_center_rad = 0;
+       else {
+               angle_to_center_rad = 1. - (v2pol_target.r /
+                                           (2 * traj->target.circle.radius));
+               angle_to_center_rad *= M_PI;
+       }
+
+       /* XXX check flags */
+       v2pol_target.theta -= angle_to_center_rad;
+
+       /* 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)
+               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);
+       }
+
+       /* XXX check flags */
+       d_consign = 40000 + rs_get_distance(traj->robot);
+
+       /* angle consign */
+       a_consign = (int32_t)(v2pol_target.theta *
+                             (traj->position->phys.distance_imp_per_mm) *
+                             (traj->position->phys.track_mm) / 2.0);
+       a_consign += rs_get_angle(traj->robot);
+
+       /* step 2 : update state, or delete event if we reached the
+        * destination */
+
+       /* output angle -> delete event */
+       if (a_consign >= traj->target.circle.dest_angle) {
+               a_consign = traj->target.circle.dest_angle;
+               delete_event(traj);
+       }
+
+       /* step 3 : send the processed commands to cs */
+
+       EVT_DEBUG(E_TRAJECTORY,"EVENT CIRCLE 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);

 }
 
 /* trajectory event */
 }
 
 /* trajectory event */


@@ -510,6 +583,40 @@ void trajectory_manager_event(void * param)
 
 /*********** *CIRCLE */
 
 
 /*********** *CIRCLE */
 

+/* make the robot orbiting around (x,y) on a circle whose radius is
+ * radius_mm, and exit when relative destination angle is reached. The
+ * flags set if we go forward or backwards, and CW/CCW. */
+void trajectory_circle_rel(struct trajectory *traj,
+                          double x, double y,
+                          double radius_mm,
+                          double rel_a_deg,
+                          uint8_t flags)
+{
+       double dst_angle;
+
+       delete_event(traj);
+
+       traj->target.circle.center.x = x;
+       traj->target.circle.center.y = y;
+       traj->target.circle.radius = radius_mm;
+       traj->target.circle.flags = flags;
+
+       /* convert in steps  */
+       dst_angle = RAD(rel_a_deg) *
+               (traj->position->phys.distance_imp_per_mm) *
+               (traj->position->phys.track_mm) / 2.0;
+
+       traj->target.circle.dest_angle = rs_get_angle(traj->robot);
+       traj->target.circle.dest_angle += dst_angle;
+
+       DEBUG(E_TRAJECTORY, "Circle rel (x,y)=%2.2f,%2.2f r=%2.2f flags=%x dst_angle=%"PRIi32"",
+             x, y, radius_mm, flags, traj->target.circle.dest_angle);
+
+       traj->state = RUNNING_CIRCLE;
+       trajectory_manager_event(traj);
+       schedule_event(traj);
+}
+

 /*
  * Compute the fastest distance and angle speeds matching the radius
  * from current traj_speed
 /*
  * Compute the fastest distance and angle speeds matching the radius
  * from current traj_speed