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Robot.cpp
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Robot.cpp
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#include "Robot.h"
/// @brief Constructor. Opens and initialises the serial connection before turning on the Robot. It
/// starts in PASSIVE mode. See setMode() for further information.
Robot::Robot (const char* map_file) : mCurrentMode(OFF),
mMap(map_file),
mMoveAccumulator(0),
mMoveTarget(0),
mTurnAccumulator(0),
mTurnTarget(0),
mCurrentLeftVelocity(0),
mCurrentRightVelocity(0),
mIsNapping(false),
mIsIdle(true)
{
mSI = new SerialInterface();
mSI->start();
mSI->writeByte(128u);
mCurrentMode = PASSIVE;
srand(time(NULL));
}
/// @brief Deconstructor. Ensures the robot is in a safe state to exit (to avoid exitting the
/// program and having the thing continue moving).
Robot::~Robot (void)
{
setSpeed(0, 0);
}
/// @brief Gets the boolean values of the cliff sensors (stored as uint8_t for efficiency).
/// @param The array into which the boolean cliff values will be stored. This must be 4 elements
/// long (or more). The values are stored as: [0] = Front Left, [1] = Front Right,
/// [2] = Centre Left, [3] = Centre Right.
void Robot::getCliffValues (uint8_t* r) const
{
CHECK_ROBOTMODE(PASSIVE);
uint8_t command[4][2] = {{142u, 10u}, // returns front left state
{142u, 11u}, // returns front right state
{142u, 9u}, // returns centre left state
{142u, 12u}}; // returns centre right state
for (uint8_t i = 0u; i < 4u; i++)
{
mSI->writeBytes(command[i], sizeof(command[i]));
r[i] = mSI->readByte();
}
}
/// @brief Gets the boolean values of the front bumper (stored as uint8_t for efficiency).
/// @param The array into which the boolean bumper values will be stored. This must be 2 elements
/// long (or more). The values are stored as: [0] = Left, [1] = Right. A value of 0 means
/// no bumper activation, a value of 1 means bumper activation.
void Robot::getBumperValues (uint8_t* r) const
{
CHECK_ROBOTMODE(PASSIVE);
uint8_t command[2] = {142u, 7u};
uint8_t response;
usleep(10000);
mSI->writeBytes(command, 2);
response = mSI->readByte();
if ((response & 0x1C) != 0)
{
r[0] = 0u;
r[1] = 0u;
}
else
{
r[0] = response & 2u;
r[1] = response & 1u;
}
}
/// @brief Gets the boolean values of the wheel drop sensors (stored as uint8_t for efficiency).
/// @param The array into which the boolean wheel drop values will be stored. This must be 3
/// elements long (or more). The values are stored as [0] = Left, [1] = Right, [2] = Caster.
void Robot::getWheelDropValues (uint8_t* r) const
{
CHECK_ROBOTMODE(PASSIVE);
uint8_t command[2] = {142u, 7u};
uint8_t response;
mSI->writeBytes(command, sizeof(command));
response = mSI->readByte();
r[0] = response & 8u;
r[1] = response & 4u;
r[2] = response & 16u;
}
/// @brief Gets the boolean values of the docking beacon beams (stored as uint8_t for efficiency).
/// @param The array into which the boolean docking beacon values will be stored. This must be 3
/// elements long (or more). The values are stored as: [0] = Red Buoy, [1] = Green Buoy,
/// [2] = Force Field.
void Robot::getBeaconValues (uint8_t* r) const
{
CHECK_ROBOTMODE(PASSIVE);
uint8_t command[2] = {142u, 17u};
uint8_t response;
mSI->writeBytes(command, sizeof(command));
response = mSI->readByte();
if ((response & 240u) != 240u)
response = 0u;
r[0] = response & 8u; // red
r[1] = response & 4u; // green
r[2] = response & 2u; // forcefield
}
/// @brief Gets the boolean values of the buttons (stored as uint8_t for efficiency).
/// @param The array into which the boolean button values will be stored. This must be 2 elements
/// long (or more). The values are stored as: [0] = Play Button, [1] = Advance Button.
void Robot::getButtonValues (uint8_t* r) const
{
CHECK_ROBOTMODE(PASSIVE);
uint8_t command[2] = {142u, 18u};
uint8_t response;
mSI->writeBytes(command, sizeof(command));
response = mSI->readByte();
r[0] = response & 1u;
r[1] = response & 4u;
}
/// @brief Gets the strength of the wall sensor.
/// @return The wall sensor's signal. Range: 0 - 4095.
const uint16_t Robot::getWallSignal (void) const
{
CHECK_ROBOTMODE(PASSIVE);
uint8_t command[2] = {142u, 27u};
uint8_t response[2];
mSI->writeBytes(command, sizeof(command));
mSI->readBytes(response, sizeof(response));
return make_uint16_t(response[0], response[1]);
}
/// @brief Gets the distance that the Robot has traveled in millimeters since the time it was last
/// requested. This is the same as the sum of the distance traveled by both wheels divided
/// by two. Positive values indicate forward travel; negative values indicate reverse
/// travel. If the value is not polled frequently enough, it is capped at its min/max.
/// @return The distance travelled. Range: -32768 - 32767.
const sint16_t Robot::getDistance (void) const
{
#ifndef WHEEL_MOTOR_EMULATION
CHECK_ROBOTMODE(PASSIVE);
uint8_t command[2] = {142u, 19u};
uint8_t response[2];
sint16_t r;
if (mMoveTarget == 0)
return 0;
usleep(10000);
mSI->writeBytes(command, 2);
mSI->readBytes(response, 2);
if (mMoveTarget == 0)
return 0;
// override because the roomba is a piece of crap
/*if (mMoveTarget < 0)
return -30;
if (mMoveTarget > 0)
return 30;
return 0;*/
r = make_sint16_t(response[0], response[1]);
if (r > 200 || r < -200)
{
if (mMoveTarget > 0)
r = 10;
else if (mMoveTarget < 0)
r = -10;
}
if (r == 0)
{
if (mMoveTarget > 0)
r = 10;
else if (mMoveTarget < 0)
r = -10;
}
printf("distance travelled = %d (%x %x)\n", r, response[0], response[1]);
/* if (r > ROBOT_MOVE_SPEED || r < -ROBOT_MOVE_SPEED) // something's gone wrong, the roomba really isn't very good at this...
{
// try flipping them round, possibly it's cocked up and sent them out of order
r = make_sint16_t(response[1], response[0]);
// is it still wrong?
if (r > ROBOT_MOVE_SPEED || r < -ROBOT_MOVE_SPEED)
{
// if it is just return a kind of sane number based on the FPS (hardcoded because why not). this is a disgusting solution to the problem.
r = ROBOT_MOVE_SPEED/9;
}
}
*/
return r;
#else
if (mMoveTarget < 0)
return -WHEEL_MOTOR_EMULATOR_DISTANCE;
if (mMoveTarget > 0)
return WHEEL_MOTOR_EMULATOR_DISTANCE;
return 0;
#endif
}
/// @brief Gets the angle in degrees that the Robot has turned since the angle was last requested.
/// Counter-clockwise angles are positive and clockwise angles are negative. If the value is
/// not polled frequently enough, it is capped at its min/max.
/// @return The angle turned. Range: -32768 - 32767.
const sint16_t Robot::getAngle (void) const
{
#ifndef WHEEL_MOTOR_EMULATION
CHECK_ROBOTMODE(PASSIVE);
uint8_t command[2] = {142u, 20u};
uint8_t response[2];
sint16_t r;
usleep(10000);
mSI->writeBytes(command, 2);
mSI->readBytes(response, 2);
if (mTurnTarget == 0)
return 0;
/*
// override because the roomba is a piece of crap
if (mTurnTarget > 0)
return 12;
else if (mTurnTarget < 0)
return -12;
return 0;
*/
r = make_sint16_t(response[0], response[1]);
printf("angle travelled = %d (%x %x)\n", r, response[0], response[1]);
if (r > 90 || r < -90)
{
if (mTurnTarget > 0)
r = 5;
else if (mTurnTarget < 0)
r = -5;
}
if (r == 0)
{
if (mTurnTarget > 0)
r = 5;
else if (mTurnTarget < 0)
r = -5;
}
/*
if (r > 45 || r < -45) // something's gone wrong, the roomba really isn't very good at this...
{
// try flipping them round, possibly it's cocked up and sent them out of order
r = make_sint16_t(response[1], response[0]);
// is it still wrong?
if (r > 45 || r < -45)
{
// if it is just return a kind of sane number based on the FPS (hardcoded because why not). this is a disgusting solution to the problem.
r = (response[0] & 0x80) ? -15 : 15;
}
}*/
return r;
#else
if (mTurnTarget < 0)
return -WHEEL_MOTOR_EMULATOR_ANGLE;
if (mTurnTarget > 0)
return WHEEL_MOTOR_EMULATOR_ANGLE;
return 0;
#endif
}
/// @brief Sets the robots mode (which determines the level of control the program can have over it
/// at the expense of automated safety features).
/// @param rm The mode to change to. This can be either PASSIVE, SAFE or FULL.
/// PASSIVE mode: The Robot will respond to requests for sensor data however you may not
/// change the motors/speaker/lights/low-side-drivers/digital outputs. The Robot may
/// also charge the battery and perform any of the demos.
/// SAFE mode: The Robot turns off all LEDs and can be controlled, however has internal
/// cliff sensors, wheel drop sensors and charging sensors which are enabled. Thus the
/// Robot will stop if it is plugged in or encounters a cliff or wheel drop.
/// FULL mode: Acts as safe mode but disables internal safety features.
void Robot::setMode (const RobotMode rm)
{
mSI->writeByte(rm);
mCurrentMode = rm;
msleep(250);
if (rm != PASSIVE)
{
// read the tachometry to zero out the sensors
getDistance();
getAngle();
zeroTargetsAndAccumulators();
}
}
/// @brief Sets the speed of the Robot's wheels.
/// @param lVel The velocity of the left wheel in mm/s. Range = -500 - 500.
/// @param rVel The velocity of the right wheel in mm/s. Range = -500 - 500.
void Robot::setSpeed (const sint16_t lVel, const sint16_t rVel)
{
#ifndef WHEEL_MOTOR_EMULATION
// static sint16_t curr_lVel=0, curr_rVel=0;
CHECK_ROBOTMODE(SAFE);
if (lVel != mCurrentLeftVelocity || rVel != mCurrentRightVelocity)
{
mCurrentLeftVelocity = lVel;
mCurrentRightVelocity = rVel;
uint8_t command[5] = {145u,
(uint8_t) (rVel >> 8), (uint8_t) (rVel & 0xFF),
(uint8_t) (lVel >> 8), (uint8_t) (lVel & 0xFF) };
mSI->writeBytes(command, 5);
}
#endif
}
void Robot::pause (void)
{
mLeftVelocityBeforePause = mCurrentLeftVelocity;
mRightVelocityBeforePause = mCurrentRightVelocity;
setSpeed(0, 0);
}
void Robot::unpause (void)
{
setSpeed(mLeftVelocityBeforePause, mRightVelocityBeforePause);
}
/// @brief Rotates the Robot a given angle. THIS RESETS THE ANGLE ACCUMULATOR READ BY getAngle().
/// @param dc The required rotation in degrees clockwise. A negative value represents an
/// anti-clockwise rotation.
void Robot::targetRotation (const sint16_t dc)
{
#ifndef WHEEL_MOTOR_EMULATION
CHECK_ROBOTMODE(SAFE);
sint16_t ndc = -dc;
uint8_t command_header[2] = {152u, 8u};
uint8_t command_rotate[5] = {137u, 0xFF, 0x9C, (dc < 0) ? 0x00 : 0xFF, (dc < 0) ? 0x01 : 0xFF};
uint8_t command_wait[3] = {157u, (uint8_t) (ndc >> 8), (uint8_t) (ndc & 0xFF)};
printf("targetting %d (0x%x, ndc>>8=%x) degree counter-clockwise rotation.\n", ndc, ndc, (uint8_t) (ndc>>8));
mSI->writeBytes(command_header, sizeof(command_header));
mSI->writeBytes(command_rotate, sizeof(command_rotate));
mSI->writeBytes(command_wait, sizeof(command_wait ));
mSI->writeByte(153u);
#endif
}
/// @brief Sets the status of the Robot's LEDs.
/// @param playLED Whether or not the playLED will be lit.
/// @param advanceLED Whether or not the advanceLED will be lit.
void Robot::setLEDs (const bool playLED, const bool advanceLED)
{
CHECK_ROBOTMODE(SAFE);
uint8_t command[4] = {139u, 0u, 0u, 255u};
if (playLED)
command[1] |= 2u;
if (advanceLED)
command[1] |= 8u;
mSI->writeBytes(command, sizeof(command));
}
/// @brief Starts the Robot performing the currently requested demo.
/// @param demo_number The id of the demo to perform. This can be:
/// 0 - Cover - Covers an area using a mixture of techniques.
/// 1 - Cover & Dock - As Cover, except docking if it comes into the home base.
/// 2 - Spot Cover - Spirals outward and then inward.
/// 3 - Mouse - Drives to a wall and then follows.
/// 4 - Figure Eight - Drive in a figure of eight pattern.
/// 5 - Wimp - Drives forward when pushed and backs away from obstacles.
/// 6 - Home - Spins to locate a virtual wall and then drives towards it.
/// 7 - Tag - As Home, but continuing to the next wall when one is reached.
/// 8 - Pachelbel - Plays Pachelbel's cannon when a cliff sensor is activated.
/// 9 - Banjo - Plays a chord (selected by the bumper) from the cliff sensors.
void Robot::startDemo (const uint8_t demo_number)
{
#ifndef WHEEL_MOTOR_EMULATION
CHECK_ROBOTMODE(PASSIVE);
uint8_t command[2] = {137u, demo_number};
mSI->writeBytes(command, sizeof(command));
#endif
}
/// @brief Halts the currently running demo. Does nothing if there is not a demo currently running.
void Robot::stopDemo (void)
{
#ifndef WHEEL_MOTOR_EMULATION
CHECK_ROBOTMODE(PASSIVE);
uint8_t command[2] = {137u, 255u};
mSI->writeBytes(command, sizeof(command));
#endif
}
/// @brief Outputs the current charging status to stdout.
void Robot::printChargingStatus (void) const
{
CHECK_ROBOTMODE(PASSIVE);
uint8_t command[2] = {142u, 21u};
uint8_t response;
const char* status;
mSI->writeBytes(command, sizeof(command));
response = mSI->readByte();
switch (response)
{
case 0: status = "not charging"; break;
case 1: status = "reconditioning charging"; break;
case 2: status = "full charging"; break;
case 3: status = "trickle charging"; break;
case 4: status = "waiting"; break;
case 5: status = "charging fault condition"; break;
default: status = "failed to read status"; break;
}
printf("Charging status: %s.\n", status);
}
/// @brief Outputs the battery's status to stdout.
void Robot::printBatteryStatus (void) const
{
CHECK_ROBOTMODE(PASSIVE);
uint8_t command[5][2] = {{142u, 22u}, // returns 2 byte unsigned voltage in mV
{142u, 23u}, // returns 2 byte signed current in mA
{142u, 24u}, // returns 1 byte signed temperature in 'C
{142u, 25u}, // returns 2 byte unsigned charge in mAh
{142u, 26u}}; // returns 2 byte unsigned capacity in mAh
uint8_t response[2];
// get voltage
mSI->writeBytes(command[0], sizeof(command[0]));
mSI->readBytes(response, sizeof(response));
uint16_t voltage = make_uint16_t(response[0], response[1]);
// get current
mSI->writeBytes(command[1], sizeof(command[1]));
mSI->readBytes(response, sizeof(response));
sint16_t current = make_sint16_t(response[0], response[1]);
// get temperature
mSI->writeBytes(command[2], sizeof(command[2]));
sint8_t temperature = make_sint8_t(mSI->readByte());
// get charge
mSI->writeBytes(command[3], sizeof(command[3]));
mSI->readBytes(response, sizeof(response));
uint16_t charge = make_uint16_t(response[0], response[1]);
// get capacity
mSI->writeBytes(command[4], sizeof(command[4]));
mSI->readBytes(response, sizeof(response));
uint16_t capacity = make_uint16_t(response[0], response[1]);
// print
printf("Battery status: %d mV, %d mA, %d'C, %d / %d mAh.\n", voltage, current, temperature, charge, capacity);
}
bool Robot::isTurning (void)
{
return (mTurnTarget != 0);
}
/*
/// @brief Updates the Robot's internal map with the latest actuator readings. It is strongly
/// recommended to call this every time a new movement instruction is issued.
void Robot::updateMap (void)
{
const sint16_t latestDistance = getDistance();
const sint16_t latestAngle = getAngle();
mMap.addRelativeReadings(latestDistance, latestAngle);
}*/
void Robot::updateTargets (int new_move, int new_turn)
{
#ifdef VERBOSE_PRINTOUTS
printf("-------- updating targets (%d, %d) --------\n", new_move, new_turn);
#endif
if (new_move && new_turn)
printf("WARNING: Tried to update targets with two non-zero values (n_move=%d, n_turn=%d)\n", new_move, new_turn);
mMoveTarget = new_move;
mTurnTarget = new_turn;
mIsIdle = false;
}
void Robot::updateAccumulators (int d_move, int d_turn)
{
#ifdef VERY_VERBOSE_PRINTOUTS
printf(" updating accumulators [(%d+%d)/%d mm, (%d+%d)/%d deg]\n", mMoveAccumulator, d_move, mMoveTarget, mTurnAccumulator, d_turn, mTurnTarget);
#endif
// update.
// naughty hack to stop weird ass values being introduced
if (mTurnTarget != 0)
mTurnAccumulator += d_turn;
if (mMoveTarget != 0)
mMoveAccumulator += d_move;
// check if we have hit our targets.
// have we finished turning?
if ((mTurnTarget > 0 && mTurnAccumulator >= mTurnTarget) ||
(mTurnTarget < 0 && mTurnAccumulator <= mTurnTarget) )
{
#ifdef VERY_VERBOSE_PRINTOUTS
printf(" turn limit reached\n");
#endif
if (mMoveAccumulator != 0)
printf("WARNING: we somehow accumulated movement despite actually rotating (a=%d). Zeroing out.\n", mMoveAccumulator);
zeroTargetsAndAccumulators();
}
// have we finished moving?
if ((mMoveTarget > 0 && mMoveAccumulator >= mMoveTarget) ||
(mMoveTarget < 0 && mMoveAccumulator <= mMoveTarget) )
{
#ifdef VERY_VERBOSE_PRINTOUTS
printf(" move limit reached\n");
#endif
if (mTurnAccumulator != 0)
printf("WARNING: we somehow accumulated rotation despite actually moving (a=%d). Zeroing out.\n", mTurnAccumulator);
zeroTargetsAndAccumulators();
}
}
/// @brief Stop right now, thank you very much. We need somebody with a human touch.
void Robot::zeroTargetsAndAccumulators (void)
{
if (mMoveAccumulator != 0 || mTurnAccumulator != 0)
mMap.addRelativeReadings(mMoveAccumulator, mTurnAccumulator);
mMoveAccumulator = 0;
mTurnAccumulator = 0;
mMoveTarget = 0;
mTurnTarget = 0;
setSpeed(0, 0);
mIsIdle = true;
}
void Robot::startNapping (int duration)
{
mIsNapping = true;
mNapDuration = duration;
time(&mNapStarted);
}
bool Robot::nappingTimeUp (void)
{
time_t now;
time(&now);
int current_nap_duration = (int) difftime(now, mNapStarted);
#ifdef VERY_VERBOSE_PRINTOUTS
printf(" nap duration = %d / %d\n", current_nap_duration, mNapDuration);
#endif
return (current_nap_duration >= mNapDuration);
}
void Robot::processMotorActions (Vision* vision)
{
if (mIsIdle)
{
// grab the next pathing action and convert it down to motor actions
if (mMotorActions.empty())
{
if (mCurrentAction.type == DIRECT_ORDER)
{
if (vision->checkForOccupancy())
{
mMap.addTable(mMap.mCurrentNode);
startNapping(TARGET_NAP_DURATION);
mCurrentAction.type = NONE;
return;
}
}
if (!mPathingActions.empty())
{
executePathingAction();
}
}
// not else if because executePathingAction (called above) will populate the list.
if (!mMotorActions.empty())
{
// grab the next motor action
MotorAction next = mMotorActions.front();
mMotorActions.pop();
// load her up
zeroTargetsAndAccumulators();
if (next.type == ROTATION)
{
// targetRotation(next.action.angle);
updateTargets(0, next.action.angle);
if (next.action.angle > 0)
setSpeed(ROBOT_TURN_SPEED, -ROBOT_TURN_SPEED); // CW
else
setSpeed(-ROBOT_TURN_SPEED, ROBOT_TURN_SPEED); // CCW
}
else
{
updateTargets(next.action.displacement, 0);
if (next.action.displacement > 0)
setSpeed(ROBOT_MOVE_SPEED, ROBOT_MOVE_SPEED);
else
setSpeed(-ROBOT_MOVE_SPEED, -ROBOT_MOVE_SPEED);
}
}
}
}
void Robot::executePathingAction (void)
{
mCurrentAction = mPathingActions.front();
mPathingActions.pop();
ActionPriority priority = LEVEL1;
if (mCurrentAction.type == GREEDY_TABLE)
priority = LEVEL2;
if (mCurrentAction.first_angle != 0)
mMotorActions.push(MotorAction(ROTATION, mCurrentAction.first_angle, priority));
if (mCurrentAction.displacement != 0)
mMotorActions.push(MotorAction(TRANSLATION, mCurrentAction.displacement, priority));
if (mCurrentAction.final_angle != 0)
mMotorActions.push(MotorAction(ROTATION, mCurrentAction.final_angle, priority));
}
/// @brief Reroutes the the path to the final target in the pathing actions queue via only graph
/// nodes (using the closest, backward node first).
void Robot::reroutePathingActions (void)
{
// work out where we're actually going and then clear the whole queue - we don't need any of that crap.
Point2i final_destination = mPathingActions.back().target;
uint32_t final_destination_node = mMap.lookupPoint(final_destination);
dropPathingActions();
if (final_destination_node == UINT32_MAX)
{
printf("oh no\n");
return;
}
// Get the nearest backward node.
uint32_t nearest_back_node = mMap.getNearestBackwardNode(mMap.mGraph[mMap.mCurrentNode].p);
// add the pathing action from the current position to the nearest backward node
mPathingActions.push(generateN2NPathingAction(mMap.mCurrentNode, nearest_back_node));
// Get the shortest path from that node to the target.
std::vector<uint32_t> shortest_path = mMap.dijkstra(nearest_back_node, final_destination_node);
uint32_t i, shortest_path_length = shortest_path.size();
if (shortest_path_length > 0)
for (i = 0; i < shortest_path_length-1; i++)
mPathingActions.push(generateN2NPathingAction(shortest_path[i], shortest_path[i+1]));
}
void Robot::dropPathingActions (void)
{
// clear the two queues out. an annoying oversight of the STL is they have no clear function so
// this must be done manually (swap is used to ensure the memory is actually zeroed and prevent
// the queues being little divas and hanging onto their items silently).
std::queue<PathingAction> emptyPathing;
std::queue<MotorAction> emptyMotor;
std::swap(mPathingActions, emptyPathing);
std::swap(mMotorActions, emptyMotor);
// also zero out accumulators
zeroTargetsAndAccumulators();
// we now having nothing to do, lovely.
mIsIdle = true;
}
void Robot::timestep (Vision* vision, sint8_t object_avoidance, bool target_recognition, MarkerData& target_recognition_data)
{
static PathingAction action;
uint8_t bumperValues[2];
int next_rotation_offset = 0;
bool action_generated = false;
bool has_napped = false;
static int nap_cooldown = 0;
#ifdef VERY_VERBOSE_PRINTOUTS
printf(" lets path\n");
#endif
// bookkeeping
mMap.updateWeights();
// handle napping and exit straight out if we are currently napping.
if (mIsNapping)
{
#ifdef VERY_VERBOSE_PRINTOUTS
printf(" napping\n");
#endif
if (!nappingTimeUp())
return;
mIsNapping = false;
has_napped = true;
nap_cooldown = 25;
}
else if (nap_cooldown > 0)
{
nap_cooldown--;
}
// update the accumulators
const int latestDistance = (int) getDistance();
const int latestAngle = (int) getAngle();
updateAccumulators(latestDistance, latestAngle);
// check bumpers. stuff touching the bumpers = immediate problem which stops for no-one.
if (!action_generated)
{
getBumperValues(bumperValues);
if ((bumperValues[0] || bumperValues[1]) && !has_napped && nap_cooldown == 0)
{
#ifdef VERBOSE_PRINTOUTS
printf(" EW SOMETHING ON THE BUMPERS. sleeping\n");
#endif
startNapping(PATHING_NAP_DURATION);
return;
}
else if ((bumperValues[0] || bumperValues[1]) && has_napped)
{
#ifdef VERBOSE_PRINTOUTS
printf(" EW SOMETHING STILL ON THE BUMPERS HAVING SLEPT.\n");
#endif
zeroTargetsAndAccumulators();
if (mCurrentAction.type == GREEDY_TABLE)
{
#ifdef VERBOSE_PRINTOUTS
printf(" - rerouting\n");
#endif
reroutePathingActions();
}
else
{
#ifdef VERBOSE_PRINTOUTS
printf(" - dropping\n");
#endif
dropPathingActions();
if (bumperValues[0] && !bumperValues[1]) // just the left bumper (so rotate right).
next_rotation_offset = 90;
else if (!bumperValues[0] && bumperValues[1]) // just the right bumper (so rotate left).
next_rotation_offset = -90;
else // both bumpers, spin right round, right round.
next_rotation_offset = 180;
mPathingActions.push(generateRandomPathingAction(next_rotation_offset));
}
action_generated = true;
}
}
// check object avoidance. our response to this will depend what we're currently doing.
if (!action_generated)
{
if (object_avoidance && !has_napped)
{
#ifdef VERBOSE_PRINTOUTS
printf(" PANICKING FROM THE CAMERA (%c). sleeping\n", (object_avoidance > 1) ? 's' : 'd');
#endif
// we've seen something freaky - wait for 1s and see if it's still there.
startNapping(PATHING_NAP_DURATION);
return;
}
else if (object_avoidance && has_napped)
{
#ifdef VERBOSE_PRINTOUTS
printf(" STILL PANICKING FROM THE CAMERA (%c) HAVING SLEPT\n", (object_avoidance > 1) ? 's' : 'd');
#endif
// okay now we've had a little snooze, but there's still something freaky as shit out there.
// TAKE EVASIVE ACTION.
zeroTargetsAndAccumulators();
if (mCurrentAction.type == GREEDY_TABLE)
{
#ifdef VERBOSE_PRINTOUTS
printf(" - rerouting\n");
#endif
reroutePathingActions();
}
else
{
#ifdef VERBOSE_PRINTOUTS
printf(" - dropping\n");
#endif
dropPathingActions();
if (object_avoidance == -1) // just something scary on the left, turn right.
next_rotation_offset = 90;
else if (object_avoidance == 1) // just something scary on the right, turn left.
next_rotation_offset = -90;
else // both sides :(
next_rotation_offset = 180;
mPathingActions.push(generateRandomPathingAction(next_rotation_offset));
}
action_generated = true;
}
}
// check marker detection, but only respond to it if we're not already doing something important.
if (!action_generated)
{
if (target_recognition)
{
#ifdef VERBOSE_PRINTOUTS
printf(" marker seen!\n");
#endif
if (mCurrentAction.type != GREEDY_TABLE || (mCurrentAction.type == GREEDY_TABLE && mPathingActions.size() < 1))
{
#ifdef VERBOSE_PRINTOUTS
printf(" - lets go!\n");
#endif
zeroTargetsAndAccumulators();
dropPathingActions();
mPathingActions.push(generateMarkerPathingAction(target_recognition_data));
action_generated = true;
}
else
{
#ifdef VERBOSE_PRINTOUTS
printf(" - nvm\n");
#endif
}
}
}
// if we've got through that gauntlet it means we're chilling out safetly and have nothing to do!
// we should probably find something to do tbh...
// if (!action_generated && mPathingActions.size() == 0 && mMotorActions.size() == 0)
if (!action_generated && mIsIdle)
{
#ifdef VERBOSE_PRINTOUTS
printf(" nothing better to do, lets random it up\n");
#endif
PathingAction action = generateRandomPathingAction(0);
#ifdef VERBOSE_PRINTOUTS
printf(" - type = %d, target = (%d,%d) = %d deg -> %d mm -> %d deg\n", (int) action.type, action.target.x, action.target.y, action.first_angle, action.displacement, action.final_angle);
#endif
mPathingActions.push(action);
}
// actually execute the jobs we've spent so long constructing.
#ifdef VERY_VERBOSE_PRINTOUTS
printf(" executing motor actions\n");
#endif
processMotorActions(vision);
}
PathingType Robot::generateRandomPathingType (void)
{
float map_size = (float) mMap.mGraph.size();
float table_count = (float) mMap.mTableNodes.size();
float P_exploit = (table_count < 1) ? 0 : (((float) mMap.tableWeightsSum()) / (table_count * 100.0)) * (1 - (1.0 / table_count+1));
float P_movement_node = 0.1 * (1 - (1.0 / map_size+1));
// float P_movement_table = (1 - (1.0 / (mMap.mGraph.size()+1))) * 0.5;
float rand1 = ((float) rand()) / ((float) RAND_MAX);
if (rand1 > P_exploit)
{
float rand2 = ((float) rand()) / ((float) RAND_MAX);
if (rand2 < P_movement_node)
return GREEDY_NODE;
else
return RANDOM;
}
else
{
return GREEDY_TABLE;
}
}
PathingAction Robot::generateRandomPathingAction (int rotation_mean)
{
Point2i currentPosition = mMap.mGraph[mMap.mCurrentNode].p;
PathingAction action;
PathingType pathingType = generateRandomPathingType();
if (pathingType == RANDOM)
{
// generate a random angle.
int angle = (int) randNormallyDistributed(rotation_mean, PATHING_ANGULAR_STD_DEV);
// work out the position that angle would take you to.
Point2i newPosition(currentPosition, PATHING_MAX_MOVE_DISTANCE, angle);
// load up the target.
action.type = pathingType;
action.target = newPosition;
action.first_angle = angle;
action.displacement = PATHING_MAX_MOVE_DISTANCE;
action.final_angle = 0;
}
else if (pathingType == GREEDY_TABLE)
{
// generate a random table weighted by the tables' weights.
int random_table = rand() % mMap.tableWeightsSum();
// work out who owns that random 'weight'.
int accumulator = 0, table_index = -1;
do {
accumulator += mMap.mTableNodes[++table_index].second;
} while (accumulator < random_table);
// load up the target with that table
action = generateN2NPathingAction(mMap.mGraph[mMap.mCurrentNode].p, mMap.mGraph[mMap.mTableNodes[table_index].first].p);
action.type = pathingType;
/* action.target = mMap.mGraph[mMap.mTableNodes[table_index].first].p;
// calculate the angles
float dx = action.target.x - currentPosition.x;
float dy = action.target.y - currentPosition.y;
action.first_angle = ((int) RADTODEG(atan(dx/dy))) - mMap.mCurrentOrientation;
action.displacement = (int) euclidean_distance(action.target, currentPosition);
action.final_angle = 0;*/
}
else
{
// generate a random node.
int random_node = rand() % mMap.mGraph.size();
// load up the target.
action = generateN2NPathingAction(mMap.mGraph[mMap.mCurrentNode].p, mMap.mGraph[random_node].p);
action.type = pathingType;
/* action.target = mMap.mGraph[random_node].p;
// calculate the angles
float dx = action.target.x - currentPosition.x;
float dy = action.target.y - currentPosition.y;
action.first_angle = ((int) RADTODEG(atan(dx/dy))) - mMap.mCurrentOrientation;
action.displacement = (int) euclidean_distance(action.target, currentPosition);
action.final_angle = 0;*/
}
return action;
}
PathingAction Robot::generateN2NPathingAction (const uint32_t start, const uint32_t end)
{
return generateN2NPathingAction(mMap.mGraph[start].p, mMap.mGraph[end].p);
}
PathingAction Robot::generateN2NPathingAction (const Point2i& start, const Point2i& end)
{
float currentOrientation = (float) mMap.mCurrentOrientation;
Vector2 S(sin(DEGTORAD(currentOrientation)), cos(DEGTORAD(currentOrientation)), VECTOR_AUTONORMALISED);
Vector2 T(((float) end.x - start.x), ((float) end.y - start.y), VECTOR_AUTONORMALISED);
float angle = S.angleTo(T);
float dist = euclidean_distance(start, end);
PathingAction action;
action.target = end;
action.first_angle = (int) angle;
action.displacement = (int) dist;
action.final_angle = 0;
return action;
}