2 * Copyright Droids, Microb Technology (2010)
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful,
10 * but WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 * GNU General Public License for more details.
14 * You should have received a copy of the GNU General Public License
15 * along with this program; if not, write to the Free Software
16 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
18 * Revision : $Id: strat.c,v 1.6 2009-11-08 17:24:33 zer0 Exp $
20 * Olivier MATZ <zer0@droids-corp.org>
30 #include <aversive/error.h>
31 #include <aversive/pgmspace.h>
36 #include <clock_time.h>
41 #include <control_system_manager.h>
42 #include <trajectory_manager.h>
43 #include <trajectory_manager_utils.h>
44 #include <trajectory_manager_core.h>
45 #include <vect_base.h>
48 #include <obstacle_avoidance.h>
49 #include <blocking_detection_manager.h>
50 #include <robot_system.h>
51 #include <position_manager.h>
53 #include <diagnostic.h>
58 #include "../common/i2c_commands.h"
59 #include "i2c_protocol.h"
63 #include "strat_base.h"
64 #include "strat_corn.h"
65 #include "strat_avoid.h"
66 #include "strat_utils.h"
70 static volatile uint8_t clitoid_slow = 0;
72 /* return 1 if there is a corn near, and fill the index ptr */
73 int8_t corn_is_near(uint8_t *corn_idx, uint8_t side,
74 int16_t *xspickle, int16_t *yspickle)
76 /* XXX to be checked */
77 #define SENSOR_CORN_DIST 225
78 #define SENSOR_CORN_ANGLE 90
79 double x = position_get_x_double(&mainboard.pos);
80 double y = position_get_y_double(&mainboard.pos);
81 double a_rad = position_get_a_rad_double(&mainboard.pos);
82 double x_corn, y_corn;
83 int16_t x_corn_int, y_corn_int;
84 struct waypoint_db *wp;
86 if (side == I2C_LEFT_SIDE) {
87 x_corn = x + cos(a_rad + RAD(SENSOR_CORN_ANGLE)) * SENSOR_CORN_DIST;
88 y_corn = y + sin(a_rad + RAD(SENSOR_CORN_ANGLE)) * SENSOR_CORN_DIST;
91 x_corn = x + cos(a_rad + RAD(-SENSOR_CORN_ANGLE)) * SENSOR_CORN_DIST;
92 y_corn = y + sin(a_rad + RAD(-SENSOR_CORN_ANGLE)) * SENSOR_CORN_DIST;
96 *xspickle = x_corn_int;
97 *yspickle = y_corn_int;
99 wp = xycoord_to_corn_idx(&x_corn_int, &y_corn_int);
102 *corn_idx = wp->corn.idx;
106 /* fill 2 points that are on the line (num, dir) */
107 static void num2line(struct line_2pts *l, uint8_t num, uint8_t dir)
114 l->p1.x = n * 450 + 375;
115 l->p1.y = COLOR_Y(0);
116 l->p2.x = n * 450 + 375;
117 l->p2.y = COLOR_Y(2100);
120 l->p1.x = n * 450 + 375;
121 l->p1.y = COLOR_Y(2100);
122 l->p2.x = n * 450 + 375;
123 l->p2.y = COLOR_Y(0);
127 l->p1.y = COLOR_Y(-n * 500 + 1472);
129 l->p2.y = COLOR_Y((-n + 4) * 500 + 972);
133 l->p1.y = COLOR_Y((-n + 4) * 500 + 972);
135 l->p2.y = COLOR_Y(-n * 500 + 1472);
139 l->p1.y = COLOR_Y(-n * 500 + 1472);
141 l->p2.y = COLOR_Y((-n + 4) * 500 + 972);
145 l->p1.y = COLOR_Y((-n + 4) * 500 + 972);
147 l->p2.y = COLOR_Y(-n * 500 + 1472);
154 /* return true if we must go slow */
155 static uint8_t clitoid_select_speed(uint8_t num1, uint8_t dir1,
156 uint8_t num2, uint8_t dir2)
160 uint8_t i2, i3, j2, j3; /* next wp */
162 x = position_get_x_s16(&mainboard.pos);
163 y = position_get_y_s16(&mainboard.pos);
165 if (get_cob_count() >= 5)
168 if (xycoord_to_ijcoord_not_corn(&x, &y, &i, &j) < 0) {
169 DEBUG(E_USER_STRAT, "%s(): cannot find waypoint at %d,%d",
174 if (corn_count_neigh(i, j) == 2)
178 /* we are on intersection, keep the same speed... but as we
179 * enter in the curve-part of the clitoid, we should not go
181 if (wp_belongs_to_line(i, j, num2, dir2))
184 /* we can ge fast if it's a 60deg angle and if we checked the
186 if (is_60deg(dir1, dir2))
190 if (wp_get_neigh(i, j, &i2, &j2, dir1) < 0) {
191 DEBUG(E_USER_STRAT, "%s(): cannot get neigh1",
196 /* if (i2, j2) belongs to next line, check corns */
197 if (wp_belongs_to_line(i2, j2, num2, dir2)) {
198 if (corn_count_neigh(i2, j2) > 0)
205 if (wp_get_neigh(i2, j2, &i3, &j3, dir1) < 0) {
206 DEBUG(E_USER_STRAT, "%s(): cannot get neigh2",
211 /* if (i3, j3) belongs to next line, check corns */
212 if (wp_belongs_to_line(i3, j3, num2, dir2)) {
213 if (corn_count_neigh(i2, j2) > 0 ||
214 corn_count_neigh(i3, j3) > 0)
225 * handle speed before clitoid (on the line), depending on strat_db.
226 * return true if clitoid started
228 #define NORETURN_DIST 300
229 static uint8_t speedify_clitoid(uint8_t num1, uint8_t dir1,
230 uint8_t num2, uint8_t dir2)
235 slow = clitoid_select_speed(num1, dir1, num2, dir2);
236 if (slow != clitoid_slow) {
237 turnx = mainboard.traj.target.line.turn_pt.x;
238 turny = mainboard.traj.target.line.turn_pt.y;
239 if (distance_from_robot(turnx, turny) > NORETURN_DIST) {
245 return trajectory_get_state(&mainboard.traj) == RUNNING_CLITOID_CURVE;
248 /* process the clitoid parameters, return 0 on success or -1 if
249 * clitoid cannot be executed. pack_spickles is set to I2C_LEFT_SIDE,
250 * I2C_RIGHT_SIDE or I2C_NO_SIDE to tell if we need to pack a specific
252 static int8_t strat_calc_clitoid(uint8_t num1, uint8_t dir1,
253 uint8_t num2, uint8_t dir2,
254 uint8_t *pack_spickles)
256 double line1_a_rad, line1_a_deg, line2_a_rad;
257 double diff_a_deg, diff_a_deg_abs, beta_deg;
259 struct line_2pts l1, l2;
264 /* convert to 2 points */
265 num2line(&l1, num1, dir1);
266 num2line(&l2, num2, dir2);
268 DEBUG(E_USER_STRAT, "line1: (%2.2f, %2.2f) -> (%2.2f, %2.2f)",
269 l1.p1.x, l1.p1.y, l1.p2.x, l1.p2.y);
270 DEBUG(E_USER_STRAT, "line2: (%2.2f, %2.2f) -> (%2.2f, %2.2f)",
271 l2.p1.x, l2.p1.y, l2.p2.x, l2.p2.y);
273 /* convert to line eq and find intersection */
274 pts2line(&l1.p1, &l1.p2, &ll1);
275 pts2line(&l2.p1, &l2.p2, &ll2);
276 intersect_line(&ll1, &ll2, &p);
278 line1_a_rad = atan2(l1.p2.y - l1.p1.y,
280 line1_a_deg = DEG(line1_a_rad);
281 line2_a_rad = atan2(l2.p2.y - l2.p1.y,
283 diff_a_deg = DEG(line2_a_rad - line1_a_rad);
284 if (diff_a_deg < -180) {
287 else if (diff_a_deg > 180) {
290 diff_a_deg_abs = fabs(diff_a_deg);
292 /* printf_P(PSTR("diff_a_deg=%2.2f\r\n"), diff_a_deg_abs); */
293 /* printf_P(PSTR("inter=%2.2f,%2.2f\r\n"), p.x, p.y); */
295 *pack_spickles = I2C_NO_SIDE;
297 /* small angle, 60 deg */
298 if (diff_a_deg_abs < 70.) {
300 if (diff_a_deg > 0) {
302 *pack_spickles = I2C_RIGHT_SIDE;
306 *pack_spickles = I2C_LEFT_SIDE;
309 /* double 90 deg for half turn -- not used */
310 else if (diff_a_deg_abs < 100.) {
317 /* hard turn, 120 deg */
326 clitoid_slow = clitoid_select_speed(num1, dir1, num2, dir2);
328 DEBUG(E_USER_STRAT, "slow clito");
329 strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
332 DEBUG(E_USER_STRAT, "fast clito");
333 strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW);
336 ret = trajectory_clitoid(&mainboard.traj, l1.p1.x, l1.p1.y,
337 line1_a_deg, 150., diff_a_deg, beta_deg,
338 radius, xy_norm(l1.p1.x, l1.p1.y,
343 /* go from line num1,dir1 to line num2,dir2. Uses trjectory flags
344 * specified as argument and return END_xxx condition */
345 uint8_t line2line(uint8_t num1, uint8_t dir1, uint8_t num2,
346 uint8_t dir2, uint8_t flags)
349 uint8_t err, pack_spickles;
352 ret = strat_calc_clitoid(num1, dir1, num2, dir2, &pack_spickles);
354 DEBUG(E_USER_STRAT, "clitoid failed");
358 /* XXX what to do if cobboard is stucked */
360 /* wait beginning of clitoid or changing of speed */
361 err = WAIT_COND_OR_TRAJ_END(speedify_clitoid(num1, dir1,
365 /* error during traj, or traj finished */
369 /* the speed has to change */
371 trajectory_get_state(&mainboard.traj) != RUNNING_CLITOID_CURVE)
374 DEBUG(E_USER_STRAT, "clitoid started err=%d pack_spickles=%d",
377 /* when clitoid starts and angle is 60 deg, pack external
380 if (pack_spickles == I2C_LEFT_SIDE)
382 else if (pack_spickles == I2C_RIGHT_SIDE)
385 /* wait end of clitoid */
386 err = wait_traj_end(flags);
389 DEBUG(E_USER_STRAT, "clitoid finished, err=%d", err);