X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Ftests%2Fhostsim%2Frobotsim.c;h=ee7ca855629fd261b1623ee4fd65337584472a8e;hp=7ed49f48a8cb7d5507dd03878885b5c9fd4c51bf;hb=1714f4ee916fca95ce24120ea6e698237913f947;hpb=145b19e73ce5751b365bc53769189addeecee81b

diff --git a/projects/microb2010/tests/hostsim/robotsim.c b/projects/microb2010/tests/hostsim/robotsim.c
index 7ed49f4..ee7ca85 100644
--- 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;
 }