Revision 64cba697 devices/DiWheelDrive/amiro_map.cpp
devices/DiWheelDrive/amiro_map.cpp | ||
---|---|---|
26 | 26 |
} |
27 | 27 |
|
28 | 28 |
this->nodeList[i].id = i; |
29 |
this->nodeList[i].left = global->testmap[i][0]; |
|
30 |
this->nodeList[i].right = global->testmap[i][1]; |
|
29 |
this->nodeList[i].edge.edge_id.left = global->testmap[i][0];
|
|
30 |
this->nodeList[i].edge.edge_id.right = global->testmap[i][1];
|
|
31 | 31 |
this->nodeList[i].flag = global->testmap[i][2]; |
32 | 32 |
this->nodeCount++; |
33 | 33 |
} |
34 |
this->state.next = this->nodeList[this->state.current].right; |
|
34 |
this->state.next = this->nodeList[this->state.current].edge.edge_id.right;
|
|
35 | 35 |
|
36 | 36 |
// TODO make validity check |
37 | 37 |
|
... | ... | |
57 | 57 |
return; |
58 | 58 |
}else{ |
59 | 59 |
nodeList[id].visited = 1; |
60 |
visitNode(this->nodeList[id].left); |
|
61 |
visitNode(this->nodeList[id].right); |
|
60 |
visitNode(this->nodeList[id].edge.edge_id.left);
|
|
61 |
visitNode(this->nodeList[id].edge.edge_id.right);
|
|
62 | 62 |
} |
63 | 63 |
} |
64 | 64 |
|
... | ... | |
71 | 71 |
// but we will go with it for now to initialize everything properly. |
72 | 72 |
uint8_t flag = 0; |
73 | 73 |
this->lfStrategy = strategy; |
74 |
// uint16_t WL = global->vcnl4020[constants::DiWheelDrive::PROX_WHEEL_LEFT].getProximityScaledWoOffset(); |
|
75 |
// uint16_t WR = global->vcnl4020[constants::DiWheelDrive::PROX_WHEEL_RIGHT].getProximityScaledWoOffset(); |
|
76 |
|
|
77 | 74 |
// Check the wheel sensors |
78 | 75 |
bool left = global->linePID.BThresh >= WL; |
79 | 76 |
bool right = global->linePID.BThresh >= WR; |
... | ... | |
83 | 80 |
// TODO A dangerous case -> amiro could be lifted |
84 | 81 |
flag |= 255; |
85 | 82 |
} |
86 |
else if (left && !leftDetected) {
|
|
83 |
else if (left && !fxpDetected) { // Driving on the right edge
|
|
87 | 84 |
// The sensor on the left side of the Amiro is driving on black |
88 | 85 |
// To prevent continous fixpoint detection a point needs to be marked as currently detected |
89 | 86 |
// and released. |
90 |
leftDetected = true; |
|
91 |
copyPoint(¤tPos, &nodeList[state.next].pR); |
|
92 |
nodeList[state.next].visited |= 0x01; |
|
93 |
state.current = state.next; |
|
94 |
state.next = nodeList[state.current].right; |
|
95 |
state.strategy = 0x01; |
|
96 |
state.eLength = 0; // Reset length to get recalculated after fixpoint |
|
97 |
flag |= 0x1; |
|
87 |
state.strategy = 0x02; |
|
88 |
switchToNext(¤tPos); |
|
89 |
flag |= 0x2; |
|
98 | 90 |
} |
99 |
else if (right && !rightDetected) {
|
|
91 |
else if (right && !fxpDetected) { // Driving on the left edge
|
|
100 | 92 |
// Same as left only for the right sensor. |
101 |
rightDetected = true; |
|
102 |
copyPoint(¤tPos, &nodeList[state.next].pR); |
|
103 |
nodeList[state.next].visited |= 0x02; |
|
104 |
state.current = state.next; |
|
105 |
state.next = nodeList[state.current].left; |
|
106 |
state.strategy = 0x2; |
|
107 |
state.eLength = 0; // Reset length to get recalculated after fixpoint |
|
108 |
flag |= 0x2; |
|
93 |
state.strategy = 0x01; |
|
94 |
switchToNext(¤tPos); |
|
95 |
flag |= 0x1; |
|
109 | 96 |
} |
110 | 97 |
else if (!left && !right) { |
111 | 98 |
// in case the fixpoint is not detected anymore |
112 |
leftDetected = false; |
|
113 |
rightDetected = false; |
|
99 |
fxpDetected = false; |
|
114 | 100 |
flag |= 0x4; |
115 | 101 |
} |
116 | 102 |
|
103 |
// Update dist and edge length if possible |
|
104 |
calTravelState(¤tPos); |
|
117 | 105 |
|
118 |
// update internal map_state |
|
119 |
// Update travel distance |
|
120 |
// check if the nodes of the specific strategy where visited |
|
121 |
if (state.strategy |
|
122 |
== nodeList[state.current].visited) { |
|
123 |
flag |= 0x8; |
|
124 |
// only update distance if both nodes were visited |
|
125 |
// Calculate estimated length of the edge |
|
126 |
if (state.strategy == 0x01) { |
|
127 |
// Amiro is driving on the right edge |
|
128 |
// only calculate edge length if the node is already vivited |
|
129 |
if ((state.eLength == 0) && (state.strategy == nodeList[state.current].visited)) { |
|
130 |
state.eLength = calculateDist(&nodeList[state.next].pR, |
|
131 |
&nodeList[state.current].pR); |
|
132 |
} |
|
133 |
state.dist = calculateDist(&nodeList[state.current].pR, ¤tPos); |
|
134 |
} else { |
|
135 |
// Driving on the left edge |
|
136 |
if ((state.eLength == 0) && |
|
137 |
(state.strategy == nodeList[state.current].visited)) { |
|
138 |
state.eLength = calculateDist(&nodeList[state.next].pR, |
|
139 |
&nodeList[state.current].pR); |
|
140 |
} |
|
141 |
state.dist = calculateDist(&nodeList[state.current].pL, ¤tPos); |
|
142 |
|
|
143 |
} |
|
144 |
} |
|
145 | 106 |
return flag; |
146 | 107 |
} |
147 | 108 |
|
... | ... | |
169 | 130 |
types::position currentPos = global->odometry.getPosition(); |
170 | 131 |
|
171 | 132 |
// Assign fixpoint if side sensor is black |
172 |
// Do not update if update was already applied the round before (leftDetected || rightDetected) == true
|
|
173 |
if ((left || right) && !(leftDetected || rightDetected)) {
|
|
133 |
// Do not update if update was already applied the round before (|| rightDetected) == true |
|
134 |
if ((left || right) && !fxpDetected) {
|
|
174 | 135 |
// Determine what strategy to use |
175 | 136 |
// assignFxp() will use strategy to assign the next point |
176 |
state.strategy = right ? 1 : 2;
|
|
137 |
state.strategy = left ? 1 : 2;
|
|
177 | 138 |
|
178 | 139 |
// Check if next point is reachable |
179 | 140 |
if (state.next == 255){ |
... | ... | |
183 | 144 |
|
184 | 145 |
}else if (!(left || right)) { |
185 | 146 |
// TODO: do we need both? |
186 |
leftDetected = rightDetected = true;
|
|
147 |
fxpDetected = true;
|
|
187 | 148 |
} |
188 | 149 |
} |
189 | 150 |
|
190 | 151 |
void AmiroMap::calTravelState(types::position *p1) { |
191 | 152 |
// Calculate the moved distance from last detected fixpoint |
192 |
state.dist = calculateDist(p1, &nodeList[state.current].p.arr[state.strategy - 1]); |
|
193 |
|
|
194 |
// Calculate elength if it is 0 |
|
195 |
// and if the point of the next node was visited before |
|
196 |
if ((state.eLength == 0) && ((state.strategy & nodeList[state.next].visited) == 1)) { |
|
197 |
state.eLength = |
|
153 |
// if current was visited |
|
154 |
if ((state.strategy & nodeList[state.current].visited) > 0) { |
|
155 |
state.dist = |
|
198 | 156 |
calculateDist(p1, &nodeList[state.current].p.arr[state.strategy - 1]); |
199 | 157 |
} |
200 |
} |
|
158 |
// Calculate elength if it is 0 |
|
159 |
// and if the point of the next node was visited before |
|
160 |
if ((state.eLength == 0) && |
|
161 |
((state.strategy & nodeList[state.next].visited) > 0)) { |
|
162 |
state.eLength = |
|
163 |
calculateDist(&nodeList[state.current].p.arr[state.strategy - 1], |
|
164 |
&nodeList[state.next].p.arr[state.strategy - 1]); |
|
165 |
} |
|
166 |
} |
|
201 | 167 |
|
202 | 168 |
void AmiroMap::checkMap() { |
203 | 169 |
// The check will basically only consist in checking if all nodes |
... | ... | |
222 | 188 |
nodeList[state.next].visited |= state.strategy; |
223 | 189 |
} |
224 | 190 |
|
225 |
leftDetected = true;
|
|
191 |
fxpDetected = true;
|
|
226 | 192 |
state.current = state.next; |
227 | 193 |
state.next = nodeList[state.current].edge.arr[state.strategy - 1]; |
228 | 194 |
state.eLength = 0; // Reset length to get recalculated after fixpoint |
Also available in: Unified diff