Revision 7520e117 devices/DiWheelDrive/amiro_map.cpp
| devices/DiWheelDrive/amiro_map.cpp | ||
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#include "amiro_map.hpp" |
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#include <cstdint> |
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// #include <cstdint> |
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// #include <math.h> |
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uint8_t AmiroMap::initialize(uint8_t (&config)[MAX_NODES][NODE_ATTRIBUTES]){
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uint8_t AmiroMap::initialize(){
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// Clear old values in case the map is initialized again |
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uint8_t visitTable[MAX_NODES]; |
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this->current = 0; |
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this->next = 0; |
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this->valid = false; |
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this->state.current = 0; |
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this->state.next = 0; |
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this->state.valid = false; |
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// convert proto map to internal representation |
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for (int i=0; i<MAX_NODES; i++){
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if(config[i][2] == 0xff && i != 0){
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if(global->testmap[i][2] == 0xff && i != 0){
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break; |
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} else if (config[i][2] == 0xff && i == 0) {
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this->valid = false; |
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} else if (global->testmap[i][2] == 0xff && i == 0) {
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this->state.valid = false;
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return 255; |
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} |
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//look for start node (default is Node 0) |
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if (config[i][2] == 1 ) {
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this->current= i;
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if (global->testmap[i][2] == 1 ) {
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this->state.current = i;
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} |
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this->nodeList[i].id = i; |
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this->nodeList[i].left = config[i][0];
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this->nodeList[i].right = config[i][1];
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this->nodeList[i].flag = config[i][2];
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this->nodeList[i].left = global->testmap[i][0];
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this->nodeList[i].right = global->testmap[i][1];
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this->nodeList[i].flag = global->testmap[i][2];
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this->nodeCount++; |
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} |
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if (this->nodeList[k].visited == 1) {
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this->nodeList[k].visited = 0; |
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} else {
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this->valid = false; |
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this->state.valid = false;
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return k; |
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} |
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} |
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} |
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this->valid = true; |
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this->state.valid = true;
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return 42; |
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} |
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} |
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} |
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void AmiroMap::update(LineFollowStrategy strategy) {
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// Each time at the end of the user thread state maschine, when the strategy |
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// is changed or a fixpoint is detected, this method gets called. |
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// The strategy change only has an effect on the fixpoint or in particular if |
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// a fixpoint is detected. |
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// set the strategy directly, actually there is no need to store that variable in the class |
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// but we will go with it for now to initialize everything properly. |
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this->lfStrategy = strategy; |
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uint16_t WL = global->vcnl4020[constants::DiWheelDrive::PROX_WHEEL_LEFT].getProximityScaledWoOffset(); |
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uint16_t WR = global->vcnl4020[constants::DiWheelDrive::PROX_WHEEL_RIGHT].getProximityScaledWoOffset(); |
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// Check the wheel sensors |
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bool left = global->linePID.BThresh >= WL; |
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bool right = global->linePID.BThresh >= WR; |
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types::position currentPos = global->odometry.getPosition(); |
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if (left && right) {
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// TODO A dangerous case -> amiro could be lifted |
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} |
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else if (left && !leftDetected) {
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// The sensor on the left side of the Amiro is driving on black |
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// To prevent continous fixpoint detection a point needs to be marked as currently detected |
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// and released. |
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leftDetected = true; |
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nodeList[state.next].pR.f_x = currentPos.f_x; |
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nodeList[state.next].pR.f_y = currentPos.f_y; |
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nodeList[state.next].pR.f_z = currentPos.f_z; |
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nodeList[state.next].pR.x = currentPos.x; |
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nodeList[state.next].pR.y = currentPos.y; |
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nodeList[state.next].pR.z = currentPos.z; |
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nodeList[state.next].visited |= 0x01; |
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state.current = state.next; |
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state.next = nodeList[state.current].right; |
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state.strategy = 0x01; |
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} |
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else if (right && !rightDetected) {
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// Same as left only for the right sensor. |
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rightDetected = true; |
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nodeList[state.next].pL.f_x = currentPos.f_x; |
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nodeList[state.next].pL.f_y = currentPos.f_y; |
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nodeList[state.next].pL.f_z = currentPos.f_z; |
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nodeList[state.next].pL.x = currentPos.x; |
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nodeList[state.next].pL.y = currentPos.y; |
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nodeList[state.next].pL.z = currentPos.z; |
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nodeList[state.next].visited |= 0x02; |
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state.current = state.next; |
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state.next = nodeList[state.current].left; |
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state.strategy = 0x02; |
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} |
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else if (!left && !right) {
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// in case the fixpoint is not detected anymore |
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leftDetected = false; |
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rightDetected = false; |
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} |
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void AmiroMap::update(bool left, bool right, LineFollowStrategy strategy) {
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// update internal map_state |
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// Update travel distance |
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// check if the nodes of the specific strategy where visited |
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// if (state.strategy |
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// == (nodeList[state.current].visited & nodeList[state.next].visited)) {
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// // only update distance if both nodes were visited |
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// if (state.strategy == 0x01) {
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// // Amiro is driving on the right edge |
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// state.dist = (uint8_t) sqrt( |
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// pow(nodeList[state.next].pR.x - nodeList[state.current].pR.x, 2) |
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// + pow(nodeList[state.next].pR.y - nodeList[state.current].pR.y, 2)); |
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// } else {
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// // Driving on the left edge |
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// } |
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// } |
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} |
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