root / scout / libscout / src / behaviors / navigationMap.cpp @ 7db6cf9f
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/**


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* Copyright (c) 2011 Colony Project

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*

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* Permission is hereby granted, free of charge, to any person

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* obtaining a copy of this software and associated documentation

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* files (the "Software"), to deal in the Software without

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* restriction, including without limitation the rights to use,

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* copy, modify, merge, publish, distribute, sublicense, and/or sell

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* copies of the Software, and to permit persons to whom the

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* Software is furnished to do so, subject to the following

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* conditions:

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*

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* The above copyright notice and this permission notice shall be

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* included in all copies or substantial portions of the Software.

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*

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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

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* OTHER DEALINGS IN THE SOFTWARE.

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*/

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/**

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* @file navigationMap.cpp

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* @brief Contains navigation map Behavior declarations and definitions

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*

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* Contains functions and definitions for the use of

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* navigation map Behavior

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*

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* @author Colony Project, CMU Robotics Club

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* @author Priya Deo

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* @author Lalitha

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* @author James

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* @author Leon

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**/

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#include "navigationMap.h" 
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using namespace std; 
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/**

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* @brief Initializes the navigation map

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*

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* Initialize the navigation map.

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* The map itself is represented as a dynamic array of edge arrays

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* @param the string name of the scout

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*/

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navigationMap::navigationMap(string scoutname, Sensors* sensors) :

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Behavior(scoutname, "navigationMap", sensors)

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{ 
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/** Initialize Map

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* _____

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* 1 2   3 4

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* >

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* <5678

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*    

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* 9 10 11 12

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*    

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* 13 14 15 16

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*/

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Edge* a1 = new Edge[ARRAY_SIZE];

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a1[0] = MAKE_EDGE(ISTRAIGHT, 2, 10); 
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a1[1] = MAKE_EDGE(IRIGHT, 13, 40); 
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a1[2] = MAKE_EDGE(IUTURN, DEADEND, 0); 
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Edge* a2 = new Edge[ARRAY_SIZE];

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a2[0] = MAKE_EDGE(ISTRAIGHT, 3, 10); 
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a2[1] = MAKE_EDGE(IRIGHT, 14, 40); 
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a2[2] = MAKE_EDGE(IUTURN, 5, 10); 
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Edge* a3 = new Edge[ARRAY_SIZE];

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a3[0] = MAKE_EDGE(ISTRAIGHT, 4, 10); 
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a3[1] = MAKE_EDGE(IRIGHT, 15, 40); 
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a3[2] = MAKE_EDGE(IUTURN, 6, 10); 
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Edge* a4 = new Edge[ARRAY_SIZE];

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a4[0] = MAKE_EDGE(ISTRAIGHT, DEADEND, 0); 
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a4[1] = MAKE_EDGE(IRIGHT, 16, 40); 
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a4[2] = MAKE_EDGE(IUTURN, 7, 10); 
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Edge* a5 = new Edge[ARRAY_SIZE];

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a5[0] = MAKE_EDGE(ISTRAIGHT, DEADEND, 0); 
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a5[1] = MAKE_EDGE(ILEFT, 13, 40); 
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a5[2] = MAKE_EDGE(IUTURN, 2, 10); 
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Edge* a6 = new Edge[ARRAY_SIZE];

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a6[0] = MAKE_EDGE(ISTRAIGHT, 5, 0); 
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a6[1] = MAKE_EDGE(ILEFT, 14, 40); 
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a6[2] = MAKE_EDGE(IUTURN, 3, 10); 
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Edge* a7 = new Edge[ARRAY_SIZE];

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a7[0] = MAKE_EDGE(ISTRAIGHT, 6, 0); 
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a7[1] = MAKE_EDGE(ILEFT, 15, 40); 
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a7[2] = MAKE_EDGE(IUTURN, 4, 10); 
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Edge* a8 = new Edge[ARRAY_SIZE];

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a8[0] = MAKE_EDGE(ISTRAIGHT, 7, 0); 
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a8[1] = MAKE_EDGE(ILEFT, 16, 40); 
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a8[2] = MAKE_EDGE(IUTURN, DEADEND, 10); 
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Edge* a9 = new Edge[ARRAY_SIZE];

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a9[0] = MAKE_EDGE(IRIGHT, 2, 10); 
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a9[1] = MAKE_EDGE(ILEFT, DEADEND, 0); 
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a9[2] = MAKE_EDGE(ISPOTTURN, 13, 40); 
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Edge* a10 = new Edge[ARRAY_SIZE];

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a10[0] = MAKE_EDGE(IRIGHT, 3, 10); 
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a10[1] = MAKE_EDGE(ILEFT, 5, 10); 
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a10[2] = MAKE_EDGE(ISPOTTURN, 14, 40); 
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Edge* a11 = new Edge[ARRAY_SIZE];

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a11[0] = MAKE_EDGE(IRIGHT, 4, 10); 
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a11[1] = MAKE_EDGE(ILEFT, 6, 10); 
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a11[2] = MAKE_EDGE(ISPOTTURN, 15, 40); 
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Edge* a12 = new Edge[ARRAY_SIZE];

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a12[0] = MAKE_EDGE(IRIGHT, DEADEND, 0); 
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a12[1] = MAKE_EDGE(ILEFT, 7, 10); 
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a12[2] = MAKE_EDGE(ISPOTTURN, 16, 40); 
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Edge* a13 = new Edge[ARRAY_SIZE];

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a13[0] = MAKE_EDGE(IRIGHT, DEADEND, 0); 
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a13[1] = MAKE_EDGE(ILEFT, DEADEND, 0); 
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a13[2] = MAKE_EDGE(ISPOTTURN, 9, 40); 
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Edge* a14 = new Edge[ARRAY_SIZE];

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a14[0] = MAKE_EDGE(IRIGHT, DEADEND, 0); 
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a14[1] = MAKE_EDGE(ILEFT, DEADEND, 0); 
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a14[2] = MAKE_EDGE(ISPOTTURN, 10, 40); 
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Edge* a15 = new Edge[ARRAY_SIZE];

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a15[0] = MAKE_EDGE(IRIGHT, DEADEND, 0); 
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a15[1] = MAKE_EDGE(ILEFT, DEADEND, 0); 
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a15[2] = MAKE_EDGE(ISPOTTURN, 11, 40); 
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Edge* a16 = new Edge[ARRAY_SIZE];

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a16[0] = MAKE_EDGE(IRIGHT, DEADEND, 0); 
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a16[1] = MAKE_EDGE(ILEFT, DEADEND, 0); 
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a16[2] = MAKE_EDGE(ISPOTTURN, 12, 40); 
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map.push_back(a1); 
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map.push_back(a2); 
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map.push_back(a3); 
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map.push_back(a4); 
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map.push_back(a5); 
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map.push_back(a6); 
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map.push_back(a7); 
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map.push_back(a8); 
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map.push_back(a9); 
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map.push_back(a10); 
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map.push_back(a11); 
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map.push_back(a12); 
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map.push_back(a13); 
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map.push_back(a14); 
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map.push_back(a15); 
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map.push_back(a16); 
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curr_state = START_STATE; 
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arrival_time = ros::TIME_MAX; 
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} 
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/** @brief Goes through and frees all allocated memory */

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navigationMap::~navigationMap() 
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{ 
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while(!map.empty())

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{ 
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Edge* temp = map.back(); 
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map.pop_back(); 
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delete temp;

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} 
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return;

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} 
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/** @brief FSM implementation*/

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void navigationMap::run()

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{ 
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Duration t; 
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ROS_INFO("Going to state 16\n");

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Path path = shortest_path(16);

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if(path.path == NULL) 
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{ 
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ROS_WARN("There is no path to state 16");

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return;

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} 
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ROS_INFO("Worst case time to 16 is %d", get_worst_case_time(curr_state, 6).sec); 
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for(int i=0; i<path.len && ok(); i++) 
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{ 
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update_state(path.path[i]); 
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ROS_INFO("Made turn %d, at state %d\n", path.path[i], curr_state);

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t = get_time_remaining(); 
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while(t.sec > 0) 
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t = get_time_remaining(); 
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ROS_INFO("Now at state %d\n", curr_state);

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} 
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ROS_INFO("Traveled route!\n");

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while(ok())

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continue;

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} 
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/**@brief sets the current state to the state associated with the turn made

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* @param the Turn that we made from our state

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* @return our new State after making the turn

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*/

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State navigationMap::update_state(Turn turn_made) 
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{ 
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Edge* possible_edges = get_outbound_edges(curr_state); 
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for(int i=0;i<ARRAY_SIZE;i++) 
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{ 
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//sets the current state to the state associated with the turn made

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if(GET_EDGE_DIR(possible_edges[i]) == turn_made)

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{ 
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//@todo: get actual speed

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int speed = 10; 
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curr_state = GET_EDGE_STATE(possible_edges[i]); 
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Duration travel_time(GET_EDGE_DIST(possible_edges[i])/speed); 
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arrival_time = Time::now() + travel_time; 
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return curr_state;

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} 
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} 
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return 1;//failure to succeed 
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} 
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/**@brief returns the predicted time of arrival for our current task

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* @return the predicted time of arrival for our current task

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*/

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Time navigationMap::get_eta() 
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{ 
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return arrival_time;

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} 
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/**@brief returns the predicted amount of time it will take to finish our task

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* @return the predicted amount of time it will take to finish our task

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*/

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Duration navigationMap::get_time_remaining() 
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{ 
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return (arrival_time  Time::now());

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} 
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/**@brief returns the current state of the scout in the map

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* @return the current State (ie: int) of the scout in the map

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*/

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State navigationMap::get_state() 
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{ 
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return curr_state;

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} 
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/**@brief returns the Edges connecting from a given State

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* @param the State whose edges we want to get

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* @return the Edges connecting from the given State

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*/

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Edge* navigationMap::get_outbound_edges(State state) 
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{ 
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return map.at(state1); 
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} 
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/**@brief uses BFS to find the shortest path to a target State node

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* @param target_state the State that we want to get to

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* @return a Path struct containing the Turn* to take to get to the target state

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*/

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Path navigationMap::shortest_path(State target_state) 
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{ 
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return shortest_path(curr_state, target_state);

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} 
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/**@brief uses BFS to find the shortest path to a target State node

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* @param start_state the State that we start from

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* @param target_state the State that we want to get to

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* @return a Path struct containing the Turn* to take to get to the target state

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*/

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Path navigationMap::shortest_path(State start_state, State target_state) 
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{ 
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// BFS algorithm

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State curr_state = start_state; 
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int visited[MAX_NODES+1] = {0}; 
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queue<State> q; 
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q.push(curr_state); 
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// not zero = visited, zero = unvisited, negative = start state

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visited[curr_state] = 1;

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while (!q.empty())

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{ 
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State state = q.front(); 
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//actually dequeue it

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q.pop(); 
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if (state == target_state)

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{ 
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Path path; 
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path.path = (Turn*)calloc(sizeof(Turn), MAX_NODES);

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int j = 0; // counter 
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for(State child = state; visited[child] >= 0; 
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child = visited[child]) //while not start state

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{ 
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State parent = visited[child]; 
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Edge* edges = get_outbound_edges(parent); 
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for (int i = 0; i < ARRAY_SIZE; i++) 
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{ 
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if (GET_EDGE_STATE(edges[i]) == child)

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{ 
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path.path[j] = GET_EDGE_DIR(edges[i]); 
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j++; 
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break;

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} 
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} 
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} 
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/** Reverse moves list */

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for (int i = 0; i < j/2; i++) 
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{ 
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path.path[i] ^= path.path[ji1];

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path.path[ji1] ^= path.path[i];

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path.path[i] ^= path.path[ji1];

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} 
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path.len = j; 
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return path;

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} 
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Edge* edges = get_outbound_edges(state); 
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for (int i = 0; i < ARRAY_SIZE; i++) 
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{ 
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State new_state = GET_EDGE_STATE(edges[i]); 
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if (new_state != DEADEND && !visited[new_state])

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{ 
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// set this state in visited as the parent of the new_state

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visited[new_state] = state; 
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q.push(new_state); 
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} 
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} 
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} 
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//oops, no way to get to target from state

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Path path; 
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path.len = 0;

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path.path = NULL;

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return path;

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} 
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/** @brief returns worst case time to travel to dest

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*

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* Takes into account speed of robot and interactions with other robots

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*

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* @param start_state Node that we start at

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* @param target_state Node that we end up at

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* @return the worst case time to travel to target node

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*/

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Duration navigationMap::get_worst_case_time(State start_state, State target_state) 
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{ 
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Path path = shortest_path(start_state, target_state); 
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Duration worst_case_time(0);

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State curr_state = start_state; 
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//keep iterating over path while there are turns

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for(int i=0; i<path.len; i++) 
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{ 
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Edge* edges = get_outbound_edges(curr_state); 
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for(int j=0; j<ARRAY_SIZE; j++) 
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{ 
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if(GET_EDGE_DIR(edges[j]) == path.path[i])

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{ 
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Duration turn_time(TURN_TIME + (GET_EDGE_DIST(edges[j])/SPEED)); 
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worst_case_time += turn_time; 
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} 
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} 
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} 
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Duration additional_time(DROPOFF_TIME + WAIT_TIME); 
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worst_case_time += additional_time; 
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return worst_case_time;

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} 