root / trunk / code / projects / colonet / robot / colonet_dragonfly / colonet_dragonfly.c @ 684
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/** @file colonet.c
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* @brief Colonet library for DRAGONFLY colony robots
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*
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* @author Eugene Marinelli
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* @date 10/10/07
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*
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* @bug Handler registration not tested
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* @bug Request reponding not implemented - only accepts commands.
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*/
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#include <assert.h> |
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#include <battery.h> |
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#include <colonet_defs.h> |
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#include <colonet_dragonfly.h> |
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#include <dragonfly_lib.h> |
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#include <math.h> |
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#include <string.h> |
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#include <wireless.h> |
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#define TARGET_POSITION_STOP_DISTANCE_THRESHOLD (550) |
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typedef struct { |
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unsigned char msgId; //is this necessary? |
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void (*handler)(void); |
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} UserHandler; |
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|
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typedef struct { |
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int up_x;
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int up_y;
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int low_x;
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int low_y;
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} VirtualWall; |
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|
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/* Globals (internal) */
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static UserHandler user_handlers[USER_DEFINED_MSG_TOTAL];
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static volatile unsigned robot_x, robot_y; |
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static volatile unsigned last_x, last_y; |
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static volatile unsigned target_x, target_y; |
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static volatile int updated_robot_pos_ready; |
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static volatile int robot_lost; //set to 1 if robot's position is not known by the server, else 0. |
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static volatile VirtualWall virtual_wall; |
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typedef enum {MOVING, MOVING_TO_POSITION, NO_COMMAND} ColonetRobotCommandState; |
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static volatile ColonetRobotCommandState robot_state; |
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static volatile int virtual_wall_up_available, virtual_wall_low_available; |
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#define ERROR_MAG_TO_MOTOR_DIFFENTIAL_CONST (1) |
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|
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/* Internal function prototypes */
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static unsigned two_bytes_to_int(unsigned char high, unsigned char low); |
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static void colonet_handle_receive(char type, int source, unsigned char* packet, int length); |
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static void move_to_position_routine(unsigned x, unsigned y); |
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static int dist_squared(int x1, int y1, int x2, int y2); |
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static void move_routine(void); |
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static PacketGroupHandler colonet_pgh;
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/* two_bytes_to_int(char a, char b)
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* Returns int of form [high][low]
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*/
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static unsigned int two_bytes_to_int(unsigned char high, unsigned char low) { |
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return (high<<8) | low; |
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} |
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static int virtual_wall_available() { |
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return virtual_wall_up_available && virtual_wall_low_available;
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} |
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|
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/* Public functions */
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int colonet_init() {
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colonet_pgh.groupCode = COLONET_PACKET_GROUP_ID; |
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colonet_pgh.timeout_handler = NULL;
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colonet_pgh.handle_response = NULL;
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colonet_pgh.handle_receive = colonet_handle_receive; |
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colonet_pgh.unregister = NULL;
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// TODO this should return an error if wl_init has not been called yet.
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wl_register_packet_group(&colonet_pgh); |
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robot_x = last_x = 0;
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robot_y = last_y = 0;
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updated_robot_pos_ready = 0;
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robot_lost = 1;
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virtual_wall_up_available = 0;
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virtual_wall_low_available = 0;
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virtual_wall.up_x = 0;
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virtual_wall.up_y = 0;
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virtual_wall.low_x = 0;
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virtual_wall.low_y = 0;
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robot_state = NO_COMMAND; |
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return 0; |
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} |
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|
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/* colonet_add_message
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* Adds a user-defined message
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*/
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int colonet_add_message(unsigned char msgId, void (*handler)(void)) { |
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if(msgId < USER_DEFINED_MSG_ID_START /* || msgId > USER_DEFINED_MSG_ID_END */){ |
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return -1; |
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} |
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|
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/* Register this function in the array */
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user_handlers[msgId-USER_DEFINED_MSG_ID_START].msgId = msgId; |
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user_handlers[msgId-USER_DEFINED_MSG_ID_START].handler = handler; |
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return 0; |
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} |
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void get_absolute_position(int* x, int* y) { |
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*x = robot_x; |
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*y = robot_y; |
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} |
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static void report_arrived() { |
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//usb_puts("requesting_abs_position\n");
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ColonetRobotServerPacket pkt; |
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pkt.client_id = -1; //global |
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pkt.msg_code = ROBOT_REPORT_ARRIVED_AT_POSITION; |
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wl_send_global_packet(colonet_pgh.groupCode, 0, (char*)&pkt, sizeof(ColonetRobotServerPacket), 0); |
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} |
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void request_abs_position() {
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//usb_puts("requesting_abs_position\n");
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ColonetRobotServerPacket pkt; |
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pkt.client_id = -1; //global |
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pkt.msg_code = ROBOT_REQUEST_POSITION_FROM_SERVER; |
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wl_send_global_packet(colonet_pgh.groupCode, 0, (char*)&pkt, sizeof(ColonetRobotServerPacket), 0); |
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} |
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static int dist_squared(int x1, int y1, int x2, int y2) { |
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int dx = x1 - x2;
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int dy = y1 - y2;
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return dx*dx + dy*dy;
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} |
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/** Differential is the intended left motor speed - right motor speed. */
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static void set_motors_with_differential(int differential) { |
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int ml, mr;
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if (differential >= 0) { |
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/* Going left or straight. */
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ml = 200;
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mr = ml - differential; |
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} else {
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/* Turning right. */
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mr = 200;
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ml = mr + differential; |
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} |
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int motor1_dir = mr < 0 ? 0 : 1; |
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int motor2_dir = ml < 0 ? 0 : 1; |
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motor1_set(motor1_dir, mr); |
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motor2_set(motor2_dir, ml); |
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} |
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static int get_motor_differential(int e_x, int e_y, int v_x, int v_y) { |
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// char buf[80];
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// sprintf(buf,"ex:%d ey:%d vx:%d vy:%d\n", e_x, e_y, v_x, v_y);
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// usb_puts(buf);
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return 250; |
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/*
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long e_mag = sqrt_100_approx(e_x*e_x + e_y*e_y);
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long v_mag = sqrt_100_approx(v_x*v_x + v_y*v_y);
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long e_norm_x = (1000 * e_x) / e_mag;
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long e_norm_y = (1000 * e_y) / e_mag;
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long v_norm_x = (1000 * v_x) / v_mag;
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long v_norm_y = (1000 * v_y) / v_mag;
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long e_dot_v = e_norm_x*v_norm_x + e_norm_y*v_norm_y;
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*/
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} |
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static int inside_virtual_wall(int x, int y) { |
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if (virtual_wall_available()) {
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if (robot_x < virtual_wall.up_x || robot_x > virtual_wall.low_x || robot_y < virtual_wall.up_y
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|| robot_y > virtual_wall.low_y) { |
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return 0; |
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} else {
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return 1; |
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} |
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} else {
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return 1; |
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} |
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} |
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/**
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* Main loop which responds to commands.
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*/
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void colonet_run(void (*step)(void)) { |
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char buf[80]; |
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while (1) { |
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wl_do(); |
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request_abs_position(); |
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step(); |
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switch (robot_state) {
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case NO_COMMAND:
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break;
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case MOVING:
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if (robot_lost) {
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motors_off(); |
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robot_state = NO_COMMAND; |
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} else {
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if (updated_robot_pos_ready) {
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if (!inside_virtual_wall(robot_x, robot_y)) {
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usb_puts("outside of boundary\n");
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motors_off(); |
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robot_state = NO_COMMAND; |
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} |
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updated_robot_pos_ready = 0;
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} |
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} |
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break;
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case MOVING_TO_POSITION:
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usb_puts("move to absolute position\n");
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if (robot_lost) {
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motors_off(); |
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robot_state = NO_COMMAND; |
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} else {
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if (updated_robot_pos_ready) {
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updated_robot_pos_ready = 0;
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if (!inside_virtual_wall(robot_x, robot_y)) {
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usb_puts("outside of boundary\n");
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motors_off(); |
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robot_state = NO_COMMAND; |
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} else {
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int dist = 0; |
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if ((dist = dist_squared(robot_x, robot_y, target_x, target_y)) < TARGET_POSITION_STOP_DISTANCE_THRESHOLD) {
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// Reached destination.
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motors_off(); |
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robot_state = NO_COMMAND; |
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// Notify server that robot arrived.
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report_arrived(); |
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} else {
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// e is the error vector (where we want to go)
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//char buf[80];
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// sprintf(buf, "target_x:%d target_y:%d robot_x:%d robot_y:%d\n", target_x, target_y, robot_x, robot_y);
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// usb_puts(buf);
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int e_x = (int)target_x - (int)robot_x; |
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int e_y = (int)target_y - (int)robot_y; |
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// sprintf(buf, "e: (x:%d,y:%d)\n", e_x, e_y);
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// usb_puts(buf);
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// v is the velocity vector (where we just went)
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int v_x = (int)robot_x - (int)last_x; |
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int v_y = (int)robot_y - (int)last_y; |
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//sprintf(buf, "v: (x:%d,y:%d)\n", v_x, v_y);
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//usb_puts(buf);
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if (abs(v_x) < 2 && abs(v_x) < 2) { |
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// if we didn't move since the last check, just go forward.
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motor1_set(1, 180); |
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motor2_set(1, 180); |
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} else {
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int e_dot_v = e_x * v_x + e_y * v_y;
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// move according to algortihm
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int e_mag = e_x*e_x + e_y*e_y;
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// int motor_differential = 180;//e_mag >> 7;
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int motor_differential = get_motor_differential(e_x, e_y, v_x, v_y);
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// p is perpendicular to v, directed to the "left" of the robot.
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int p_x = v_y;
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int p_y = -v_x;
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int dot_product_pe = p_x * e_x + p_y * e_y;
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// if the dot product of p and e is negative, we should turn right. otherwise turn left.
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if (dot_product_pe < 0) { |
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motor_differential = -motor_differential; |
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} |
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set_motors_with_differential(motor_differential); |
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} |
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} |
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} |
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} |
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} |
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break;
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} |
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} |
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} |
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/* Private functions */
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/** @brief Handles colonet packets. Should be called by parse_buffer
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* when it is determined that a colonet message has been received.
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*
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* @param robot_id The robot id
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* @param pkt_buf The packet buffer (e.g. wl_buf)
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*
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* @return -1 on error (invalid msgId), 0 on success
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*/
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static void colonet_handle_receive(char type, int wl_source, unsigned char* packet, int length) { |
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length = length; |
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wl_source = wl_source; |
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|
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ColonetRobotServerPacket* pkt = (ColonetRobotServerPacket*)packet; |
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unsigned char* args; //up to 7 char args |
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unsigned int_args[3]; //up to 3 int (2-byte) args |
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char buf[40]; |
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/*
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usb_puts("Packet received.\n");
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sprintf(buf, "length=%d\n", length);
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int i;
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for (i = 0; i < length; i++) {
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sprintf(buf, "%d: %d ", i, packet[i]);
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usb_puts(buf);
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}
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usb_puts("\n");
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*/
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//sprintf(buf, "received message from client_id=%d of length %d\n", pkt->client_id, length);
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//usb_puts(buf);
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///assert(length == sizeof(ColonetRobotServerPacket));
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/*
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sprintf(buf, "client_id:%d, msg_code:%d\n", pkt.client_id, pkt.msg_code);
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usb_puts(buf);*/
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args = pkt->data; |
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int_args[0] = two_bytes_to_int(args[0], args[1]); |
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int_args[1] = two_bytes_to_int(args[2], args[3]); |
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int_args[2] = two_bytes_to_int(args[4], args[5]); |
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|
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if (type == COLONET_REQUEST) {
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//sprintf(buf, "received colonet request: pkt msgcode is %d\n", pkt->msg_code);
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//usb_puts(buf);
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|
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switch (pkt->msg_code) {
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359 |
//Sharp
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360 |
case READ_DISTANCE:
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break;
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|
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//Analog
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case WHEEL:
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break;
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|
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case BATTERY:
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sprintf((char*)pkt->data, "%d", (int)battery8()); |
369 |
// NOTE: wl_send_robot_to_robot_global_packet does not work here!
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wl_send_global_packet(COLONET_PACKET_GROUP_ID, 0, (char*)pkt, sizeof(ColonetRobotServerPacket), 0); |
371 |
break;
|
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|
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//BOM
|
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case GETMAXBOM:
|
375 |
break;
|
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|
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case DIGITAL_INPUT:
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break;
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} |
380 |
} else if (type == COLONET_COMMAND) { |
381 |
// sprintf(buf, "colonet command ... pkt->msg_code=%d\n", pkt->msg_code);
|
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// usb_puts(buf);
|
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|
384 |
/* TODO uncomment this stuff */
|
385 |
/* if (pkt.msg_code >= USER_DEFINED_MSG_ID_START && */
|
386 |
/* pkt.msg_code <= USER_DEFINED_MSG_ID_END) { */
|
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/* if (user_handlers[pkt.msg_code - USER_DEFINED_MSG_ID_START].handler) { */
|
388 |
/* /\* Call the user's handler function if it the function's address */
|
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/* * is non-zero (has been set) *\/ */
|
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/* user_handlers[pkt.msg_code - USER_DEFINED_MSG_ID_START].handler(); */
|
391 |
/* } */
|
392 |
/* } */
|
393 |
|
394 |
switch (pkt->msg_code) {
|
395 |
/* default: */
|
396 |
/* printf("%s: Error - message code %d not implemented\n", __FUNCTION__, */
|
397 |
/* pkt.msg_code); */
|
398 |
/* break; */
|
399 |
|
400 |
case SERVER_REPORT_ROBOT_LOST:
|
401 |
last_x = robot_x; |
402 |
last_y = robot_y; |
403 |
|
404 |
robot_lost = 1;
|
405 |
|
406 |
usb_puts("lost\n");
|
407 |
|
408 |
motors_off(); |
409 |
break;
|
410 |
|
411 |
case SERVER_CLEAR_VIRTUAL_WALL:
|
412 |
virtual_wall_up_available = 0;
|
413 |
virtual_wall_low_available = 0;
|
414 |
break;
|
415 |
|
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case SERVER_REPORT_VIRTUAL_WALL_UPPER:
|
417 |
virtual_wall.up_x = int_args[0];
|
418 |
virtual_wall.up_y = int_args[1];
|
419 |
|
420 |
virtual_wall_up_available = 1;
|
421 |
|
422 |
sprintf(buf, "%d %d\n", virtual_wall.up_x, virtual_wall.up_y);
|
423 |
usb_puts(buf); |
424 |
break;
|
425 |
|
426 |
case SERVER_REPORT_VIRTUAL_WALL_LOWER:
|
427 |
virtual_wall.low_x = int_args[0];
|
428 |
virtual_wall.low_y = int_args[1];
|
429 |
|
430 |
sprintf(buf, "%d %d\n", virtual_wall.low_x, virtual_wall.low_y);
|
431 |
usb_puts(buf); |
432 |
|
433 |
virtual_wall_low_available = 1;
|
434 |
break;
|
435 |
|
436 |
case SERVER_REPORT_POSITION_TO_ROBOT:
|
437 |
last_x = robot_x; |
438 |
last_y = robot_y; |
439 |
robot_x = (unsigned)int_args[0]; |
440 |
robot_y = (unsigned)int_args[1]; |
441 |
|
442 |
updated_robot_pos_ready = 1;
|
443 |
robot_lost = 0;
|
444 |
|
445 |
// sprintf(buf, "pos is: (x:%d, y:%d)\n", robot_x, robot_y);
|
446 |
//usb_puts(buf);
|
447 |
break;
|
448 |
|
449 |
case MOVE_TO_ABSOLUTE_POSITION:
|
450 |
sprintf(buf, "move to abs (x:%u, y:%u)\n", (unsigned)int_args[0], (unsigned)int_args[1]); |
451 |
usb_puts(buf); |
452 |
|
453 |
target_x = (unsigned)int_args[0]; |
454 |
target_y = (unsigned)int_args[1]; |
455 |
|
456 |
robot_state = MOVING_TO_POSITION; |
457 |
break;
|
458 |
|
459 |
//Buzzer
|
460 |
case BUZZER_INIT:
|
461 |
buzzer_init(); |
462 |
break;
|
463 |
case BUZZER_SET_VAL:
|
464 |
buzzer_set_val(args[0]);
|
465 |
break;
|
466 |
case BUZZER_SET_FREQ:
|
467 |
buzzer_set_freq(args[0]);
|
468 |
break;
|
469 |
case BUZZER_CHIRP:
|
470 |
buzzer_chirp(int_args[0], int_args[1]); |
471 |
break;
|
472 |
case BUZZER_OFF:
|
473 |
buzzer_off(); |
474 |
break;
|
475 |
|
476 |
//Orb
|
477 |
case ORB_INIT:
|
478 |
orb_init(); |
479 |
break;
|
480 |
case ORB_SET:
|
481 |
orb_set(args[0], args[1], args[2]); |
482 |
break;
|
483 |
case ORB_SET_COLOR:
|
484 |
orb_set_color(int_args[0]);
|
485 |
break;
|
486 |
case ORB_DISABLE:
|
487 |
orb_disable(); |
488 |
break;
|
489 |
case ORB_ENABLE:
|
490 |
orb_enable(); |
491 |
break;
|
492 |
|
493 |
//Motors
|
494 |
case MOTORS_INIT:
|
495 |
usb_puts("calling motors_init\n");
|
496 |
motors_init(); |
497 |
break;
|
498 |
|
499 |
case MOTORS_OFF:
|
500 |
robot_state = NO_COMMAND; |
501 |
|
502 |
usb_puts("calling motors_off\n");
|
503 |
motors_off(); |
504 |
break;
|
505 |
|
506 |
case MOVE:
|
507 |
if (args[1] == 0 && args[3] == 0) { |
508 |
motors_off(); |
509 |
robot_state = MOVING; |
510 |
|
511 |
usb_puts("stopped\n");
|
512 |
} else {
|
513 |
/* format for move: left direction, left velocity, right direction, right velocity */
|
514 |
motor1_set(args[0], args[1]); |
515 |
motor2_set(args[2], args[3]); |
516 |
|
517 |
/* Loop and update position for virtual wall. */
|
518 |
robot_state = MOVING; |
519 |
} |
520 |
break;
|
521 |
|
522 |
case PRINTF:
|
523 |
usb_puts((char*)pkt->data);
|
524 |
break;
|
525 |
|
526 |
case KILL_ROBOT:
|
527 |
robot_state = NO_COMMAND; |
528 |
|
529 |
motors_off(); |
530 |
buzzer_off(); |
531 |
exit(0); //kill the robot |
532 |
break;
|
533 |
//Time
|
534 |
case DELAY_MS:
|
535 |
delay_ms(int_args[0]);
|
536 |
break;
|
537 |
|
538 |
//Analog
|
539 |
case ANALOG_INIT:
|
540 |
//TODO: how do we really init the analog? this doesn't work:
|
541 |
//analog_init();
|
542 |
break;
|
543 |
|
544 |
//BOM
|
545 |
case BOM_ON:
|
546 |
bom_on(); |
547 |
break;
|
548 |
case BOM_OFF:
|
549 |
bom_off(); |
550 |
break;
|
551 |
|
552 |
//Dio
|
553 |
case DIGITAL_OUTPUT:
|
554 |
digital_output(int_args[0], int_args[1]); |
555 |
break;
|
556 |
} |
557 |
} else {
|
558 |
sprintf(buf, "%s: Error: Invalid colonet message type", __FUNCTION__);
|
559 |
usb_puts(buf); |
560 |
} |
561 |
} |