--- /dev/null
+/*
+ * Copyright Droids, Microb Technology (2009)
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: strat_column_disp.c,v 1.5 2009-11-08 17:24:33 zer0 Exp $
+ *
+ * Olivier MATZ <zer0@droids-corp.org>
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <math.h>
+
+#include <aversive/pgmspace.h>
+#include <aversive/queue.h>
+#include <aversive/wait.h>
+#include <aversive/error.h>
+
+#include <ax12.h>
+#include <uart.h>
+#include <pwm_ng.h>
+#include <time.h>
+#include <spi.h>
+
+#include <pid.h>
+#include <quadramp.h>
+#include <control_system_manager.h>
+#include <trajectory_manager.h>
+#include <vect_base.h>
+#include <lines.h>
+#include <polygon.h>
+#include <obstacle_avoidance.h>
+#include <blocking_detection_manager.h>
+#include <robot_system.h>
+#include <position_manager.h>
+
+#include <rdline.h>
+#include <parse.h>
+
+#include "../common/i2c_commands.h"
+#include "main.h"
+#include "actuator.h"
+#include "strat.h"
+#include "strat_base.h"
+#include "strat_avoid.h"
+#include "strat_utils.h"
+#include "sensor.h"
+#include "i2c_protocol.h"
+
+#define ERROUT(e) do { \
+ err = e; \
+ goto end; \
+ } while(0)
+
+/* distance between the wheel axis and the IR sensor */
+#define IR_SHIFT_DISTANCE_RIGHT 85
+#define IR_SHIFT_DISTANCE_LEFT 95
+
+/* return red or green sensor */
+#define COLOR_IR_SENSOR(left) \
+ ({ \
+ uint8_t __ret = 0; \
+ if (left) \
+ __ret = sensor_get(S_DISP_LEFT); \
+ else \
+ __ret = sensor_get(S_DISP_RIGHT); \
+ \
+ __ret; \
+ }) \
+
+/* eject one col, some error codes are ignored here: we want to be
+ * sure that the column is correctly ejected. */
+uint8_t strat_eject_col(int16_t eject_a, int16_t pickup_a)
+{
+ uint8_t err;
+
+ strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_FAST);
+ trajectory_d_rel(&mainboard.traj, -300);
+ err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+
+ i2c_mechboard_mode_eject();
+ time_wait_ms(600);
+ trajectory_a_abs(&mainboard.traj, eject_a);
+
+ err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST | END_NEAR);
+ i2c_mechboard_mode_clear();
+ time_wait_ms(1000);
+ trajectory_a_abs(&mainboard.traj, pickup_a);
+
+ err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+ return err;
+}
+
+/* get columns from dispenser. Must be called when the robot is in
+ * front of the dispenser. */
+static uint8_t strat_pickup_col_disp(struct column_dispenser *disp)
+{
+ uint16_t old_spdd, old_spda;
+ int16_t recalib_x, recalib_y;
+ int16_t eject_a, pickup_a;
+ uint8_t err, timeout = 0;
+ int8_t cols_count_before, cols_count_after, cols;
+ microseconds us;
+ uint8_t first_try = 1;
+ uint8_t pickup_mode = I2C_MECHBOARD_MODE_PICKUP;
+
+ /* XXX set lazy pickup mode */
+
+ DEBUG(E_USER_STRAT, "%s()", __FUNCTION__);
+
+ strat_get_speed(&old_spdd, &old_spda);
+
+ cols_count_before = get_column_count();
+ pickup_a = COLOR_A(disp->pickup_a);
+ eject_a = COLOR_A(disp->eject_a);
+ recalib_x = disp->recalib_x;
+ recalib_y = COLOR_Y(disp->recalib_y);
+
+ strat_set_speed(SPEED_DIST_VERY_SLOW, SPEED_ANGLE_FAST);
+
+ /* turn to dispenser */
+ i2c_mechboard_mode_prepare_pickup(I2C_AUTO_SIDE);
+ trajectory_a_abs(&mainboard.traj, pickup_a);
+ err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+ if (!TRAJ_SUCCESS(err))
+ ERROUT(err);
+
+ /* go forward until blocking, then go back ~30mm */
+
+ pickup_wheels_on();
+ retry:
+ if (time_get_s() > 86) {
+ DEBUG(E_USER_STRAT, "%s() too late...", __FUNCTION__);
+ return END_TIMER;
+ }
+
+ if ((strat_infos.conf.flags & STRAT_CONF_BIG_3_TEMPLE) &&
+ strat_infos.col_in_boobs == 0 &&
+ strat_infos.lazy_pickup_done == 0) {
+ DEBUG(E_USER_STRAT, "%s() mode lazy", __FUNCTION__);
+ pickup_mode = I2C_MECHBOARD_MODE_LAZY_PICKUP;
+ strat_infos.col_in_boobs = 1;
+ strat_infos.lazy_pickup_done = 1;
+ }
+ else {
+ pickup_mode = I2C_MECHBOARD_MODE_PICKUP;
+ strat_infos.col_in_boobs = 0;
+ }
+
+ if (first_try)
+ i2c_mechboard_mode_lazy_harvest();
+ else
+ i2c_mechboard_mode_prepare_pickup(I2C_AUTO_SIDE);
+ first_try = 0;
+
+ strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_FAST);
+ trajectory_d_rel(&mainboard.traj, 120);
+ err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+ strat_set_speed(SPEED_DIST_VERY_SLOW, SPEED_ANGLE_FAST);
+
+ err = strat_calib(600, TRAJ_FLAGS_SMALL_DIST);
+
+ trajectory_d_rel(&mainboard.traj, -DIST_BACK_DISPENSER);
+ err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+ if (!TRAJ_SUCCESS(err))
+ ERROUT(err);
+
+ if (get_mechboard_mode() == I2C_MECHBOARD_MODE_PREPARE_EJECT) {
+ strat_eject_col(eject_a, pickup_a);
+ goto retry;
+ }
+
+ /* start to pickup with finger / arms */
+
+ DEBUG(E_USER_STRAT, "%s pickup now", __FUNCTION__);
+
+ if (pickup_mode == I2C_MECHBOARD_MODE_PICKUP)
+ i2c_mechboard_mode_pickup();
+ else
+ i2c_mechboard_mode_lazy_pickup();
+ WAIT_COND_OR_TIMEOUT(get_mechboard_mode() == pickup_mode, 100);
+ us = time_get_us2();
+ cols = get_column_count();
+ while (get_mechboard_mode() == pickup_mode) {
+ if (get_column_count() != cols) {
+ cols = get_column_count();
+ us = time_get_us2();
+ }
+ if ((get_column_count() - cols_count_before) >= disp->count) {
+ DEBUG(E_USER_STRAT, "%s no more cols in disp", __FUNCTION__);
+ break;
+ }
+ /* 1 second timeout */
+ if (time_get_us2() - us > 1000000L) {
+ DEBUG(E_USER_STRAT, "%s timeout", __FUNCTION__);
+ timeout = 1;
+ break;
+ }
+ }
+
+ /* eject if we found a bad color column */
+
+ if (get_mechboard_mode() == I2C_MECHBOARD_MODE_PREPARE_EJECT) {
+ strat_eject_col(eject_a, pickup_a);
+ goto retry;
+ }
+
+ /* only recalib if it was not a timeout or if we got at least
+ * 2 cols. */
+ if (timeout == 0 || (get_column_count() - cols_count_before >= 2))
+ strat_reset_pos(recalib_x, recalib_y, pickup_a);
+ else {
+ /* else just update x or y depending on disp */
+ if (disp == &strat_infos.c1)
+ strat_reset_pos(recalib_x, DO_NOT_SET_POS,
+ DO_NOT_SET_POS);
+ else
+ strat_reset_pos(recalib_x, DO_NOT_SET_POS,
+ DO_NOT_SET_POS);
+ }
+
+ /* go back */
+
+ strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
+ trajectory_d_rel(&mainboard.traj, -300);
+ wait_traj_end(TRAJ_FLAGS_SMALL_DIST | END_NEAR);
+
+ /* update dispenser count */
+
+ cols_count_after = get_column_count();
+ cols = cols_count_after - cols_count_before;
+ if (cols > 0) {
+ DEBUG(E_USER_STRAT, "%s we got %d cols", __FUNCTION__, cols);
+ disp->count -= cols;
+ if (disp->count < 0)
+ disp->count = 0;
+ }
+
+ pickup_wheels_off();
+ if (pickup_mode == I2C_MECHBOARD_MODE_PICKUP)
+ i2c_mechboard_mode_clear();
+ else
+ disp->count -= 2;
+
+ ERROUT(END_TRAJ);
+
+end:
+ strat_set_speed(old_spdd, old_spda);
+ return err;
+}
+
+/*
+ * Go in front of a dispenser. It will update the dispenser if it is
+ * c2 or c3 if we detect that this dispenser does not exist.
+ */
+uint8_t strat_goto_col_disp(struct column_dispenser **pdisp)
+{
+ uint8_t err;
+ int16_t checkpoint_x, checkpoint_y;
+ int16_t scan_a;
+ uint16_t old_spdd, old_spda, scan_left;
+ int16_t pos1x, pos1y, pos2x, pos2y, pos, dist;
+ int16_t margin_col2, margin_col3;
+ struct column_dispenser *disp = *pdisp;
+
+ if (disp->count <= 0)
+ return END_ERROR;
+
+ if (disp->last_try_time >= time_get_s())
+ return END_ERROR;
+
+ disp->last_try_time = time_get_s();
+
+ strat_get_speed(&old_spdd, &old_spda);
+
+ i2c_mechboard_mode_prepare_pickup_next(I2C_AUTO_SIDE,
+ I2C_MECHBOARD_MODE_CLEAR);
+
+ /* set some useful variables */
+ checkpoint_x = disp->checkpoint_x;
+ checkpoint_y = COLOR_Y(disp->checkpoint_y);
+ scan_a = COLOR_A(disp->scan_a);
+ scan_left = COLOR_INVERT(disp->scan_left);
+
+ /* goto checkpoint */
+ DEBUG(E_USER_STRAT, "%s(): goto %s (%d,%d) scan_left=%d",
+ __FUNCTION__, disp->name, checkpoint_x,
+ checkpoint_y, scan_left);
+ strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
+
+#if 0
+ /* we have an intermediate checkpoint if we are on our
+ * side. If goto_and_avoid() returns END_ERROR, skip
+ * this checkpoint. */
+ if (position_get_x_s16(&mainboard.pos) < 1500) {
+ err = goto_and_avoid(1000, COLOR_Y(1500),
+ TRAJ_FLAGS_STD,
+ TRAJ_FLAGS_STD);
+ if (!TRAJ_SUCCESS(err) && err != END_ERROR)
+ ERROUT(err);
+ }
+#endif
+ /* go to checkpoint near the dispenser */
+ err = goto_and_avoid(checkpoint_x, checkpoint_y,
+ TRAJ_FLAGS_STD, TRAJ_FLAGS_NO_NEAR);
+ if (!TRAJ_SUCCESS(err))
+ ERROUT(err);
+
+ /* turn to correct angle to prepare scanning */
+
+ trajectory_a_abs(&mainboard.traj, scan_a);
+ err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+ if (!TRAJ_SUCCESS(err))
+ ERROUT(err);
+
+ /* scan now */
+
+ DEBUG(E_USER_STRAT, "%s(): scanning dispenser", __FUNCTION__);
+
+ strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_FAST);
+ trajectory_d_rel(&mainboard.traj, -1000);
+ err = WAIT_COND_OR_TRAJ_END(!COLOR_IR_SENSOR(scan_left),
+ TRAJ_FLAGS_NO_NEAR);
+ if (err) /* we should not reach end */
+ ERROUT(END_ERROR);
+ pos1x = position_get_x_s16(&mainboard.pos);
+ pos1y = position_get_y_s16(&mainboard.pos);
+
+ err = WAIT_COND_OR_TRAJ_END(COLOR_IR_SENSOR(scan_left),
+ TRAJ_FLAGS_NO_NEAR);
+ if (err)
+ ERROUT(END_ERROR);
+ pos2x = position_get_x_s16(&mainboard.pos);
+ pos2y = position_get_y_s16(&mainboard.pos);
+
+ dist = distance_between(pos1x, pos1y, pos2x, pos2y);
+ DEBUG(E_USER_STRAT, "%s(): scan done dist=%d", __FUNCTION__, dist);
+
+ if (scan_left)
+ trajectory_d_rel(&mainboard.traj, -IR_SHIFT_DISTANCE_LEFT + dist/2);
+ else
+ trajectory_d_rel(&mainboard.traj, -IR_SHIFT_DISTANCE_RIGHT + dist/2);
+ err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+
+ if (disp == &strat_infos.c1)
+ ERROUT(END_TRAJ);
+
+ /* mark c2 or c3 as empty... */
+ if (strat_infos.c2.count == 0 || strat_infos.c3.count == 0)
+ ERROUT(END_TRAJ);
+
+ pos = (pos2y + pos1y) / 2;
+ if (scan_a == 90) /* y is decreasing when scanning */
+ pos -= 80;
+ else if (scan_a == -90) /* y is increasing when scanning */
+ pos += 80;
+
+ margin_col2 = ABS(pos - COLOR_Y(strat_infos.c2.recalib_y));
+ margin_col3 = ABS(pos - COLOR_Y(strat_infos.c3.recalib_y));
+
+ if (margin_col3 > margin_col2) {
+ DEBUG(E_USER_STRAT, "%s(): delete disp c3 (scan_pos=%d)", __FUNCTION__, pos);
+ strat_infos.c3.count = 0;
+ *pdisp = &strat_infos.c2;
+ if (strat_infos.c3.last_try_time > strat_infos.c2.last_try_time)
+ strat_infos.c2.last_try_time = strat_infos.c3.last_try_time;
+ }
+ else {
+ DEBUG(E_USER_STRAT, "%s(): delete disp c2 (scan_pos=%d)", __FUNCTION__, pos);
+ strat_infos.c2.count = 0;
+ *pdisp = &strat_infos.c3;
+ if (strat_infos.c2.last_try_time > strat_infos.c3.last_try_time)
+ strat_infos.c3.last_try_time = strat_infos.c2.last_try_time;
+ }
+ ERROUT(END_TRAJ);
+
+end:
+ strat_set_speed(old_spdd, old_spda);
+ return err;
+}
+
+/* return the best dispenser between the 2 */
+static struct column_dispenser *
+strat_disp_compare(struct column_dispenser *a,
+ struct column_dispenser *b)
+{
+ uint8_t want_cols = 4 - get_column_count();
+
+ DEBUG(E_USER_STRAT, "%s() want_cols=%d", __FUNCTION__, want_cols);
+
+ /* an empty dispenser is not valid */
+ if (a->count == 0)
+ return b;
+ if (b->count == 0)
+ return a;
+
+ /* try to do a round robin: this is not optimal, but at least
+ * we will try another dispenser when one fails. */
+ if (a->last_try_time < b->last_try_time) {
+ return a;
+ }
+ if (b->last_try_time < a->last_try_time) {
+ return b;
+ }
+
+ /* take the one with the most columns */
+ if (a->count >= want_cols && b->count < want_cols)
+ return a;
+
+ /* take the one with the most columns */
+ if (b->count >= want_cols && a->count < want_cols)
+ return b;
+
+ /* the closer is the better */
+ if (distance_from_robot(a->recalib_x, COLOR_Y(a->recalib_y)) <
+ distance_from_robot(b->recalib_x, COLOR_Y(b->recalib_y))) {
+ return a;
+ }
+ return b;
+}
+
+/* choose the best dispenser */
+static struct column_dispenser *strat_get_best_col_disp(void)
+{
+ struct column_dispenser *disp;
+
+ DEBUG(E_USER_STRAT, "%s()", __FUNCTION__);
+
+ /* for the first call, use c3 */
+ if (strat_infos.c1.last_try_time == 0 &&
+ strat_infos.c2.last_try_time == 0 &&
+ strat_infos.c3.last_try_time == 0)
+ return &strat_infos.c2; // XXX c3
+
+ DEBUG(E_USER_STRAT, "%s(): compare values", __FUNCTION__);
+
+ /* else compare with standard conditions */
+ disp = strat_disp_compare(&strat_infos.c1, &strat_infos.c2);
+ disp = strat_disp_compare(disp, &strat_infos.c3);
+
+ if (disp->count == 0)
+ return NULL;
+
+ return disp;
+}
+
+/* choose the best dispenser, depending on disp count, distance,
+ * tries, ... and go pickup on it. */
+uint8_t strat_pickup_columns(void)
+{
+ struct column_dispenser *disp;
+ uint8_t err;
+
+ DEBUG(E_USER_STRAT, "%s()", __FUNCTION__);
+ disp = strat_get_best_col_disp();
+
+ if (disp == NULL) {
+ DEBUG(E_USER_STRAT, "%s(): no col disp found", __FUNCTION__);
+ return END_ERROR;
+ }
+
+ err = strat_goto_col_disp(&disp);
+ if (!TRAJ_SUCCESS(err))
+ return err;
+
+ err = strat_pickup_col_disp(disp);
+ if (!TRAJ_SUCCESS(err))
+ return err;
+
+ return END_TRAJ;
+}
git.droids-corp.org / aversive.git / blobdiff