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navigation.c
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#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include "mikes.h"
#include "mikes_logs.h"
#include "range_sensor.h"
#include "base_module.h"
#include "util.h"
#define CRITICAL_AVOIDING_DISTANCE 700
#define CRITICAL_OBSTACLE_MINIMUM_SIZE 30
#define AVOID_PERPENDICULAR_DISTANCE MM2COUNTER(700)
#define NORMAL_NAVIGATION_SPEED 12
#define CHANGE_DISTANCE MM2COUNTER(1700)
#define STATE_INITIAL 1
#define STATE_SEARCHING 2
#define STATE_CATCHING 3
#define STATE_GOHOME 4
#define STATE_REPOSITIONING 5
#define STATE_USER_CONTROL 6
#define CUBE_THRESHOLD 310
#define CUBE_INERTIA 10
static short original_heading;
static unsigned char user_moving;
unsigned char obstacle_in_range_data(int *ranges)
{
int starting = 1080 * 75 / 135 / 2;
int ending = 1081 - starting;
short segment = 0;
short missing = 0;
for (int i = starting; i < ending; i++)
{
unsigned char ray_hit = 0;
if (ranges[i] < CRITICAL_AVOIDING_DISTANCE) ray_hit = 1;
if (ray_hit) segment++;
else if (segment) missing++;
if (segment > CRITICAL_OBSTACLE_MINIMUM_SIZE) return 1;
if ((missing > segment / 5) && (segment > 10)) { segment = 0; missing = 0; }
if (missing > segment / 4) { segment = 0; missing = 0; }
}
return 0;
}
void turn_away_from_obstacle()
{
base_data_type base_data;
mikes_log(ML_INFO, "avoid");
short old_heading = get_current_azimuth();
get_base_data(&base_data);
short old_dist = (base_data.counterA + base_data.counterB) / 2;
follow_azimuth((old_heading + 90) % 360);
do {
get_base_data(&base_data);
usleep(10000);
} while (program_runs && (((base_data.counterA + base_data.counterB) / 2 - old_dist) < AVOID_PERPENDICULAR_DISTANCE));
follow_azimuth(old_heading);
}
void avoid_range_obstacle(int *ranges)
{
if (obstacle_in_range_data(ranges))
turn_away_from_obstacle();
}
int cube_filter(base_data_type *base_data)
{
static long discovered = 0;
static long having_cube = 0;
if ((base_data->cube < CUBE_THRESHOLD) == having_cube)
{
long ms = msec();
if ((ms - discovered) > CUBE_INERTIA * (20 - 19 * having_cube))
{
having_cube = 1 - having_cube;
discovered = msec();
}
}
else discovered = msec();
return having_cube;
}
//static int ranges[RANGE_DATA_COUNT];
void *navigation_thread(void *arg)
{
base_data_type base_data;
sleep(3);
get_base_data(&base_data);
original_heading = base_data.heading;
mikes_log_val(ML_INFO, "original heading: ", original_heading);
static segments_type segments;
int collect_state = STATE_INITIAL;
reset_counters();
/*
set_motor_speeds(NORMAL_NAVIGATION_SPEED, NORMAL_NAVIGATION_SPEED);
follow_azimuth(original_heading);
mikes_log(ML_INFO, "navigate: put");
*/
long dist;
int laststatus = -1;
int current_dist = 8000;
int had_cube = 0;
time_t azimuth_noticed;
time(&azimuth_noticed);
while (!start_automatically)
usleep(10000);
while (program_runs)
{
if (user_control && (collect_state != STATE_USER_CONTROL))
{
stop_now();
mikes_log(ML_INFO, "user in charge");
collect_state = STATE_USER_CONTROL;
}
else if ((!user_control) && (collect_state == STATE_USER_CONTROL))
{
collect_state = STATE_INITIAL;
mikes_log(ML_INFO, "autonomous");
}
if (laststatus != collect_state)
{
mikes_log_val(ML_INFO, "status changed to:", collect_state);
laststatus = collect_state;
}
get_base_data(&base_data);
get_range_segments(&segments, 180*4, 145, 350);
int have_cube = cube_filter(&base_data);
if (have_cube != had_cube)
{
mikes_log_val(ML_INFO, "holding cube:", have_cube);
had_cube = have_cube;
}
switch (collect_state)
{
case STATE_INITIAL:
reset_counters();
set_motor_speeds(0,0);
collect_state = STATE_SEARCHING;
dist = 0;
break;
case STATE_SEARCHING:
if (segments.nsegs_found > 0)
{
collect_state = STATE_CATCHING;
current_dist = 8000;
time(&azimuth_noticed);
set_motor_speeds(NORMAL_NAVIGATION_SPEED, NORMAL_NAVIGATION_SPEED);
follow_azimuth(original_heading);
}
break;
case STATE_CATCHING:
if (have_cube)
{
dist = (base_data.counterA + base_data.counterB) / 2;
reset_counters();
follow_azimuth((original_heading + 180) % 360);
collect_state = STATE_GOHOME;
break;
}
if (segments.nsegs_found == 0)
{
time_t tm;
time(&tm);
if (tm - azimuth_noticed > 2) collect_state = STATE_SEARCHING;
break;
}
int mindistID = 0;
for (int i = 1; i < segments.nsegs_found; i++)
if (segments.dist[mindistID] > segments.dist[i])
mindistID = i;
int suggested_azimuth = (base_data.heading + segments.alpha[mindistID] + 360) % 360;
int suggested_dist = segments.dist[mindistID];
if (abs(angle_difference(get_current_azimuth(), suggested_azimuth)) > 2)
{
time_t tm;
time(&tm);
if ((suggested_dist < current_dist) || (tm - azimuth_noticed > 1))
{
current_dist = suggested_dist;
if (suggested_dist < 580) suggested_azimuth += 17;
follow_azimuth(suggested_azimuth);
time(&azimuth_noticed);
mikes_log_val2(ML_INFO, "new azimuth & dist: ", suggested_azimuth, suggested_dist);
}
/*
mikes_log_val(ML_INFO, "nsegs: ", segments.nsegs_found);
char segstr[500];
segstr[0] = 0;
for (int i = 0; i < segments.nsegs_found; i++)
sprintf(segstr + strlen(segstr), " %d(%d)", (base_data.heading + segments.alpha[i] + 360) % 360,
segments.dist[i]);
mikes_log(ML_INFO, segstr);
*/
}
else
{
time(&azimuth_noticed);
current_dist = segments.dist[mindistID];
}
break;
case STATE_GOHOME:
if (((base_data.counterA + base_data.counterB) / 2) >= dist + 110)
{
reset_counters();
mikes_log(ML_INFO, "delivered, backing up");
regulated_speed(-27, -27);
do {
get_base_data(&base_data);
usleep(10000);
} while (program_runs && (((base_data.counterA + base_data.counterB) / 2) > -75));
mikes_log(ML_INFO, "turning towards more cubes");
follow_azimuth(original_heading);
collect_state = STATE_REPOSITIONING;
}
break;
case STATE_REPOSITIONING:
if (abs(angle_difference(base_data.heading, original_heading)) < 5)
collect_state = STATE_SEARCHING;
break;
case STATE_USER_CONTROL:
switch (user_dir)
{
case USER_DIR_SPINRIGHT:
set_motor_speeds(NORMAL_NAVIGATION_SPEED, -NORMAL_NAVIGATION_SPEED);
user_moving = 1;
break;
case USER_DIR_SPINLEFT:
set_motor_speeds(-NORMAL_NAVIGATION_SPEED, NORMAL_NAVIGATION_SPEED);
user_moving = 1;
break;
case USER_DIR_RIGHT:
set_motor_speeds(NORMAL_NAVIGATION_SPEED, NORMAL_NAVIGATION_SPEED);
follow_azimuth((base_data.heading + 30) % 360);
user_moving = 1;
//printf("follow %d\n", (base_data.heading + 30) % 360);
break;
case USER_DIR_LEFT:
set_motor_speeds(NORMAL_NAVIGATION_SPEED, NORMAL_NAVIGATION_SPEED);
follow_azimuth((base_data.heading + 330) % 360);
user_moving = 1;
//printf("follow %d\n", (base_data.heading + 330) % 360);
break;
case USER_DIR_BACK:
set_motor_speeds(NORMAL_NAVIGATION_SPEED, NORMAL_NAVIGATION_SPEED);
follow_azimuth((base_data.heading + 180) % 360);
//printf("follow %d\n", (base_data.heading + 180) % 360);
user_moving = 1;
break;
case USER_DIR_ONOFF:
if (user_moving)
{
stop_now();
user_moving = 0;
}
else {
set_motor_speeds(NORMAL_NAVIGATION_SPEED, NORMAL_NAVIGATION_SPEED);
follow_azimuth(base_data.heading);
//printf("follow %d\n", base_data.heading);
user_moving = 1;
}
break;
case USER_DIR_BACKUP:
stop_now();
usleep(500000);
regulated_speed(-20, -20);
user_moving = 1;
break;
}
user_dir = 0;
break;
}
/* get_range_data(ranges);
avoid_range_obstacle(ranges);
get_base_data(&base_data);
long dist = (base_data.counterA + base_data.counterB) / 2;
if (dist > CHANGE_DISTANCE)
{
attack = 1 - attack;
follow_azimuth(attack?original_heading:((original_heading + 180) % 360));
mikes_log(ML_INFO, attack?"navigate: put":"navigate: fetch");
reset_counters();
}
*/
usleep(1);
}
mikes_log(ML_INFO, "navigation quits.");
threads_running_add(-1);
return 0;
}
void init_navigation()
{
pthread_t t;
if (pthread_create(&t, 0, navigation_thread, 0) != 0)
{
perror("mikes:navigation");
mikes_log(ML_ERR, "creating navigation thread");
}
else threads_running_add(1);
}