amiro-os / devices / DiWheelDrive / amiro_map.hpp @ d02c536e
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#ifndef AMIRO_MAP
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#define AMIRO_MAP
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#include "global.hpp" |
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#include "linefollow.hpp" |
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#include <amiroosconf.h> |
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#include <ch.hpp> |
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#include <math.h> |
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namespace amiro {
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struct node {
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uint8_t id; |
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uint8_t flag; |
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uint8_t left; |
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uint8_t right; |
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uint8_t visited; |
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types::position pL; // Left
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types::position pR; // Right
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types::position pB; // Back
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}; |
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struct map_state {
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// 0 - left, 1- right
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uint8_t strategy; |
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// Node ID of last detected fixpoint
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uint8_t current; |
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// Next node ID
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uint8_t next; |
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//Traveled Distance between current and next in %
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uint32_t dist; |
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// True if the current loaded map is valid
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bool valid;
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// Length of the currently traveled edge
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uint32_t eLength; |
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}; |
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class AmiroMap { |
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public:
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map_state * get_state() { return &state; }
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AmiroMap(Global *global) : global{global} {} |
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/**
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* Initialize a new map from configuration.
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* @param config map configuration array
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*
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*/
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uint8_t initialize(); |
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/**
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* Update the internal map state according to the detected fixpoint
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* This function should be called for a generic update, each can cycle and in
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* case a fixpoint on one side is detected.
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* Internal state maschine will go into an error state in case both sensors are black.
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*
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* @param left fixpoint on left side detected
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* @param right fixpoint on right side detected
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* @param strategy current line follow strategy
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*
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*
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*/
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uint8_t update(uint16_t WL, uint16_t WR, LineFollowStrategy strategy); |
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private:
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Global *global; |
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LineFollowStrategy lfStrategy = LineFollowStrategy::EDGE_RIGHT; |
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// Keeps track of the internal map state
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map_state state; |
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// Holds the amount of detected node of the map
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uint8_t nodeCount = 0;
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// Stores all nodes and the corresponding coordinates of last detected fixpoints
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node nodeList[MAX_NODES]; |
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// If driving over fixpoint prevent continuous updating
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// True if left sensor is driving over black
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bool leftDetected = false; |
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// True if right sensor is driving over black
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bool rightDetected = false; |
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/**
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* Recursively search through all nodes in the node list and
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* mark all reached nodes as visited.
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*
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* @param id node from where to start visiting the other nodes
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*
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*/
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void visitNode(uint8_t id);
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/**
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* Calculate the distance between two given points
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*
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* @param p1 point 1
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* @param p2 point 2
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*
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*/
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uint32_t calculateDist(types::position *p1, types::position *p2); |
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}; |
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}; // namespace amiro
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#endif /* AMIRO_MAP */ |