hostsim enhancements, some bugs remaining (freeze sometimes)

[aversive.git] / projects / microb2010 / tests / hostsim / robotsim.c

diff --git a/projects/microb2010/tests/hostsim/robotsim.c b/projects/microb2010/tests/hostsim/robotsim.c
index 713b7f7..85224a3 100644 (file)
--- a/projects/microb2010/tests/hostsim/robotsim.c
+++ b/projects/microb2010/tests/hostsim/robotsim.c
@@ -22,9 +22,11 @@
 #include <stdio.h>
 #include <string.h>
 #include <stdint.h>
+#include <unistd.h>
 #include <sys/stat.h>
 #include <sys/types.h>
 #include <fcntl.h>
+#include <unistd.h>
 
 #include <aversive.h>
 #include <aversive/error.h>
@@ -44,6 +46,8 @@
 #include <parse.h>
 #include <rdline.h>
 
+#include "strat.h"
+#include "strat_utils.h"
 #include "main.h"
 
 static int32_t l_pwm, r_pwm;
@@ -59,11 +63,47 @@ static int fd;
 void robotsim_update(void)
 {
        static int32_t l_speed, r_speed;
+       double x, y, a, a2, d;
+
+       /* corners of the robot */
+       double xfl, yfl; /* front left */
+       double xrl, yrl; /* rear left */
+       double xrr, yrr; /* rear right */
+       double xfr, yfr; /* front right */
+
+       x = position_get_x_double(&mainboard.pos);
+       y = position_get_y_double(&mainboard.pos);
+       a = position_get_a_rad_double(&mainboard.pos);
 
-       /* XXX should lock */
        l_speed = ((l_speed * FILTER) / 100) + ((l_pwm * 1000 * FILTER2)/1000);
-       l_enc += (l_speed / 1000);
        r_speed = ((r_speed * FILTER) / 100) + ((r_pwm * 1000 * FILTER2)/1000);
+
+       /* basic collision detection */
+       a2 = atan2(ROBOT_WIDTH/2, ROBOT_LENGTH/2);
+       d = norm(ROBOT_WIDTH/2, ROBOT_LENGTH/2);
+
+       xfl = x + cos(a+a2) * d;
+       yfl = y + sin(a+a2) * d;
+       if (!is_in_area(xfl, yfl, 0) && l_speed > 0)
+               l_speed = 0;
+
+       xrl = x + cos(a+M_PI-a2) * d;
+       yrl = y + sin(a+M_PI-a2) * d;
+       if (!is_in_area(xrl, yrl, 0) && l_speed < 0)
+               l_speed = 0;
+
+       xrr = x + cos(a+M_PI+a2) * d;
+       yrr = y + sin(a+M_PI+a2) * d;
+       if (!is_in_area(xrr, yrr, 0) && r_speed < 0)
+               r_speed = 0;
+
+       xfr = x + cos(a-a2) * d;
+       yfr = y + sin(a-a2) * d;
+       if (!is_in_area(xfr, yfr, 0) && r_speed > 0)
+               r_speed = 0;
+
+       /* XXX should lock */
+       l_enc += (l_speed / 1000);
        r_enc += (r_speed / 1000);
 }
 
@@ -72,11 +112,13 @@ void robotsim_dump(void)
        char buf[BUFSIZ];
        int len;
 
-       len =snprintf(buf, sizeof(buf), "%d %d %d\n",
+       len = snprintf(buf, sizeof(buf), "%d %d %d\n",
                      position_get_x_s16(&mainboard.pos),
                      position_get_y_s16(&mainboard.pos),
                      position_get_a_deg_s16(&mainboard.pos));
+       hostsim_lock();
        write(fd, buf, len);
+       hostsim_unlock();
 }
 
 void robotsim_pwm(void *arg, int32_t val)