amiro-os / devices / DiWheelDrive / amiro_map.cpp @ 7520e117
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#include "amiro_map.hpp" |
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// #include <cstdint>
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// #include <math.h>
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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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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(global->testmap[i][2] == 0xff && i != 0){ |
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break;
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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 (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 = 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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// TODO make validity check
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for (int j=0; j<nodeCount; j++) { |
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this->nodeList[j].visited = 0; |
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visitNode(j); |
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for (int k = 0; k < nodeCount; k++) { |
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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->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->state.valid = true; |
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return 42; |
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} |
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void AmiroMap::visitNode(uint8_t id){
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if (this->nodeList[id].visited == 1){ |
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return;
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}else{
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nodeList[id].visited = 1;
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visitNode(this->nodeList[id].left);
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visitNode(this->nodeList[id].right);
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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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// 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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} |