code 2010

[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 7ed49f4..ee7ca85 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 <sys/types.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>
@@ -44,39 +46,108 @@
 #include <parse.h>
 #include <rdline.h>
 
+#include "strat.h"
+#include "strat_utils.h"
 #include "main.h"
 
 static int32_t l_pwm, r_pwm;
 static int32_t l_enc, r_enc;
 
-static int fd;
+static int fdr, fdw;
 
 /* */
 #define FILTER  97
 #define FILTER2 (100-FILTER)
-
-/* must be called periodically */
-void robotsim_update(void)
-{
-       static int32_t l_speed, r_speed;
-
-       /* 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);
-       r_enc += (r_speed / 1000);
-}
+#define SHIFT   4
 
 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));
-       write(fd, buf, len);
+       hostsim_lock();
+       write(fdw, buf, len);
+       hostsim_unlock();
+}
+
+/* must be called periodically */
+void robotsim_update(void)
+{
+       static int32_t l_pwm_shift[SHIFT];
+       static int32_t r_pwm_shift[SHIFT];
+       static int32_t l_speed, r_speed;
+       static unsigned i = 0;
+       static unsigned cpt = 0;
+       int32_t local_l_pwm, local_r_pwm;
+       double x, y, a, a2, d;
+       char cmd = 0;
+
+       /* corners of the robot */
+       double xfl, yfl; /* front left */
+       double xrl, yrl; /* rear left */
+       double xrr, yrr; /* rear right */
+       double xfr, yfr; /* front right */
+
+       /* time shift the command */
+       l_pwm_shift[i] = l_pwm;
+       r_pwm_shift[i] = r_pwm;
+       i ++;
+       i %= SHIFT;
+       local_l_pwm = l_pwm_shift[i];
+       local_r_pwm = r_pwm_shift[i];
+
+       /* read command */
+       if (((cpt ++) & 0x7) == 0) {
+               if (read(fdr, &cmd, 1) != 1)
+                       cmd = 0;
+       }
+
+       x = position_get_x_double(&mainboard.pos);
+       y = position_get_y_double(&mainboard.pos);
+       a = position_get_a_rad_double(&mainboard.pos);
+
+       l_speed = ((l_speed * FILTER) / 100) +
+               ((local_l_pwm * 1000 * FILTER2)/1000);
+       r_speed = ((r_speed * FILTER) / 100) +
+               ((local_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;
+
+       /* perturbation */
+       if (cmd == 'l')
+               l_enc += 5000; /* push 1 cm */
+       if (cmd == 'r')
+               r_enc += 5000; /* push 1 cm */
+
+       /* XXX should lock */
+       l_enc += (l_speed / 1000);
+       r_enc += (r_speed / 1000);
 }
 
 void robotsim_pwm(void *arg, int32_t val)
@@ -99,9 +170,15 @@ int32_t robotsim_encoder_get(void *arg)
 
 int robotsim_init(void)
 {
-       mkfifo("/tmp/.robot", 0600);
-       fd = open("/tmp/.robot", O_WRONLY, 0);
-       if (fd < 0)
+       mkfifo("/tmp/.robot_sim2dis", 0600);
+       mkfifo("/tmp/.robot_dis2sim", 0600);
+       fdw = open("/tmp/.robot_sim2dis", O_WRONLY, 0);
+       if (fdw < 0)
+               return -1;
+       fdr = open("/tmp/.robot_dis2sim", O_RDONLY | O_NONBLOCK, 0);
+       if (fdr < 0) {
+               close(fdw);
                return -1;
+       }
        return 0;
 }