Revision 58c19c15
better warehouse image (corresponds with lines now) and demo. Now only thing left is to implement home behavior.
scout/libscout/src/behaviors/Scheduler.cpp | ||
---|---|---|
45 | 45 |
Duration five(5); |
46 | 46 |
Duration three(3); |
47 | 47 |
Duration ten(10); |
48 |
Order a(1,0,2,t+ten,p,end); |
|
49 |
Order b(2,0,4,t+five,p,end); |
|
50 |
Order c(3,0,5,t+three,p,end); |
|
51 |
Order d(4,0,6,t,p,end); |
|
52 |
Order e(5,0,7,t,p,end); |
|
48 |
Order a(1,0,13,t+ten,p,end); |
|
49 |
Order b(2,0,14,t+five,p,end); |
|
50 |
Order c(3,0,15,t+three,p,end); |
|
51 |
Order d(4,0,16,t,p,end); |
|
53 | 52 |
|
54 | 53 |
unassignedOrders->insert(a); |
55 | 54 |
unassignedOrders->insert(b); |
56 | 55 |
unassignedOrders->insert(c); |
57 | 56 |
unassignedOrders->insert(d); |
58 |
unassignedOrders->insert(e); |
|
59 | 57 |
} |
60 | 58 |
|
61 | 59 |
/** @Brief: This is a confirmation that the task is complete. |
scout/libscout/src/behaviors/WH_Robot.cpp | ||
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8 | 8 |
curr_task = DEFAULT_TASK; |
9 | 9 |
name = scoutname; |
10 | 10 |
reg_failed = 1; |
11 |
srand(0xDEADBEEF); |
|
11 | 12 |
} |
12 | 13 |
|
13 | 14 |
WH_Robot::~WH_Robot() |
... | ... | |
29 | 30 |
for(int i=0; i<path_to_follow.len; i++) |
30 | 31 |
{ |
31 | 32 |
Turn t = path_to_follow.path[i]; |
33 |
unsigned int curr_state = nav_map->get_state(); |
|
34 |
|
|
32 | 35 |
ROS_INFO("making turn %d", t); |
36 |
|
|
33 | 37 |
nav_map->update_state(t); |
34 | 38 |
switch(t) |
35 | 39 |
{ |
... | ... | |
42 | 46 |
follow_line(); |
43 | 47 |
break; |
44 | 48 |
case IRIGHT: |
49 |
if(9 <= curr_state && curr_state <= 12) |
|
50 |
{ |
|
51 |
turn_straight(); |
|
52 |
follow_line(); |
|
53 |
} |
|
45 | 54 |
turn_right(); |
46 | 55 |
follow_line(); |
56 |
if(curr_state <= 4) |
|
57 |
{ |
|
58 |
turn_straight(); |
|
59 |
follow_line(); |
|
60 |
} |
|
47 | 61 |
break; |
48 | 62 |
case IUTURN: |
49 | 63 |
u_turn(); |
50 | 64 |
follow_line(); |
51 | 65 |
break; |
66 |
case ISPOTTURN: |
|
67 |
spot_turn(); |
|
68 |
follow_line(); |
|
69 |
break; |
|
52 | 70 |
} |
53 | 71 |
} |
54 | 72 |
} |
55 | 73 |
|
56 | 74 |
int WH_Robot::exec_task() |
57 | 75 |
{ |
58 |
ROS_INFO("WH_robot: Executing a task"); |
|
59 | 76 |
assert(curr_task != DEFAULT_TASK); |
60 | 77 |
|
61 | 78 |
// remember where you started doing this task so we know where to return |
62 | 79 |
State home_state = nav_map->get_state(); |
63 |
ROS_INFO("WH_robot: starting from home state %d", (int)home_state); |
|
64 |
ROS_INFO("WH_robot: aiming for state %d", (int)curr_task->get_dest()); |
|
65 | 80 |
Path new_path = nav_map->shortest_path(curr_task->get_dest()); |
66 | 81 |
curr_task->set_path(new_path); |
67 | 82 |
|
... | ... | |
71 | 86 |
|
72 | 87 |
int did_task_complete; |
73 | 88 |
|
74 |
srand(0xDEADBEEF); |
|
75 | 89 |
int error = rand() % 12; |
76 |
if(error < 6) //Fail with 1/2 probability
|
|
90 |
if(error < 9) //Fail with 1/4 probability
|
|
77 | 91 |
{ |
78 | 92 |
ROS_INFO("WH_robot: TASK COMPLETE!"); |
79 | 93 |
did_task_complete = TASK_COMPLETED; |
... | ... | |
84 | 98 |
did_task_complete = TASK_FAILED; |
85 | 99 |
} |
86 | 100 |
|
87 |
ROS_INFO("WH_robot: Now I am attempting to go home from state %d to state %d", |
|
88 |
(int)nav_map->get_state(), (int)home_state); |
|
89 |
|
|
90 | 101 |
Path return_path = nav_map->shortest_path(home_state); |
91 | 102 |
curr_task->set_path(return_path); |
92 | 103 |
|
... | ... | |
97 | 108 |
|
98 | 109 |
void WH_Robot::robot_callback(const std_msgs::String::ConstPtr& msg) |
99 | 110 |
{ |
100 |
std::cout << "robot callback called." << std::endl; |
|
101 | 111 |
if(msg->data.compare(0, 11, "REG_SUCCESS") == 0) |
102 | 112 |
{ |
103 | 113 |
id = atoi(msg->data.substr(12).c_str()); |
... | ... | |
105 | 115 |
} |
106 | 116 |
else if(msg->data.compare(0, 8, "SET_TASK") == 0) |
107 | 117 |
{ |
108 |
ROS_INFO("WH_ROBOT: Setting robot task"); |
|
109 | 118 |
char* string = (char*)msg->data.c_str(); |
110 |
ROS_INFO("Set task string is: %s", string); |
|
111 | 119 |
char* data; |
112 | 120 |
data = strtok(string, " "); |
121 |
|
|
113 | 122 |
data = strtok(NULL, " "); |
114 | 123 |
int order_id = atoi(data); |
115 |
ROS_INFO("order Id: %d with string %s", order_id, data); |
|
116 | 124 |
|
117 | 125 |
data = strtok(NULL, " "); |
118 | 126 |
Address source = atoi(data); |
119 |
ROS_INFO("source: %d with string %s", source, data); |
|
120 | 127 |
|
121 | 128 |
data = strtok(NULL, " "); |
122 | 129 |
Address dest = atoi(data); |
123 |
ROS_INFO("dest: %d with string %s", dest, data); |
|
124 | 130 |
|
125 | 131 |
Time start_time = ros::Time::now(); |
126 | 132 |
Path path; |
scout/libscout/src/behaviors/line_follow.cpp | ||
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79 | 79 |
|
80 | 80 |
line_loc = linesensor->readline(); |
81 | 81 |
} |
82 |
while(!(-.5 < line_loc && line_loc < .5));
|
|
82 |
while(!(-1 < line_loc && line_loc < 1));
|
|
83 | 83 |
} |
84 | 84 |
|
85 | 85 |
void line_follow::halt() |
scout/libscout/src/behaviors/navigationMap.cpp | ||
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63 | 63 |
|
64 | 64 |
Edge* a1 = new Edge[ARRAY_SIZE]; |
65 | 65 |
a1[0] = MAKE_EDGE(ISTRAIGHT, 2, 10); |
66 |
a1[1] = MAKE_EDGE(IRIGHT, 9, 40);
|
|
66 |
a1[1] = MAKE_EDGE(IRIGHT, 13, 40);
|
|
67 | 67 |
a1[2] = MAKE_EDGE(IUTURN, DEADEND, 0); |
68 | 68 |
|
69 | 69 |
Edge* a2 = new Edge[ARRAY_SIZE]; |
70 | 70 |
a2[0] = MAKE_EDGE(ISTRAIGHT, 3, 10); |
71 |
a2[1] = MAKE_EDGE(IRIGHT, 10, 40);
|
|
71 |
a2[1] = MAKE_EDGE(IRIGHT, 14, 40);
|
|
72 | 72 |
a2[2] = MAKE_EDGE(IUTURN, 5, 10); |
73 | 73 |
|
74 | 74 |
Edge* a3 = new Edge[ARRAY_SIZE]; |
75 | 75 |
a3[0] = MAKE_EDGE(ISTRAIGHT, 4, 10); |
76 |
a3[1] = MAKE_EDGE(IRIGHT, 11, 40);
|
|
76 |
a3[1] = MAKE_EDGE(IRIGHT, 15, 40);
|
|
77 | 77 |
a3[2] = MAKE_EDGE(IUTURN, 6, 10); |
78 | 78 |
|
79 | 79 |
Edge* a4 = new Edge[ARRAY_SIZE]; |
80 | 80 |
a4[0] = MAKE_EDGE(ISTRAIGHT, DEADEND, 0); |
81 |
a4[1] = MAKE_EDGE(IRIGHT, 12, 40);
|
|
81 |
a4[1] = MAKE_EDGE(IRIGHT, 16, 40);
|
|
82 | 82 |
a4[2] = MAKE_EDGE(IUTURN, 7, 10); |
83 | 83 |
|
84 | 84 |
Edge* a5 = new Edge[ARRAY_SIZE]; |
85 | 85 |
a5[0] = MAKE_EDGE(ISTRAIGHT, DEADEND, 0); |
86 |
a5[1] = MAKE_EDGE(ILEFT, 9, 40);
|
|
86 |
a5[1] = MAKE_EDGE(ILEFT, 13, 40);
|
|
87 | 87 |
a5[2] = MAKE_EDGE(IUTURN, 2, 10); |
88 | 88 |
|
89 | 89 |
Edge* a6 = new Edge[ARRAY_SIZE]; |
90 | 90 |
a6[0] = MAKE_EDGE(ISTRAIGHT, 5, 0); |
91 |
a6[1] = MAKE_EDGE(ILEFT, 10, 40);
|
|
91 |
a6[1] = MAKE_EDGE(ILEFT, 14, 40);
|
|
92 | 92 |
a6[2] = MAKE_EDGE(IUTURN, 3, 10); |
93 | 93 |
|
94 | 94 |
Edge* a7 = new Edge[ARRAY_SIZE]; |
95 | 95 |
a7[0] = MAKE_EDGE(ISTRAIGHT, 6, 0); |
96 |
a7[1] = MAKE_EDGE(ILEFT, 11, 40);
|
|
96 |
a7[1] = MAKE_EDGE(ILEFT, 15, 40);
|
|
97 | 97 |
a7[2] = MAKE_EDGE(IUTURN, 4, 10); |
98 | 98 |
|
99 | 99 |
Edge* a8 = new Edge[ARRAY_SIZE]; |
100 | 100 |
a8[0] = MAKE_EDGE(ISTRAIGHT, 7, 0); |
101 |
a8[1] = MAKE_EDGE(ILEFT, 12, 40);
|
|
101 |
a8[1] = MAKE_EDGE(ILEFT, 16, 40);
|
|
102 | 102 |
a8[2] = MAKE_EDGE(IUTURN, DEADEND, 10); |
103 | 103 |
|
104 | 104 |
Edge* a9 = new Edge[ARRAY_SIZE]; |
105 | 105 |
a9[0] = MAKE_EDGE(IRIGHT, 2, 10); |
106 | 106 |
a9[1] = MAKE_EDGE(ILEFT, DEADEND, 0); |
107 |
a9[2] = MAKE_EDGE(IUTURN, 9, 40);
|
|
107 |
a9[2] = MAKE_EDGE(ISPOTTURN, 13, 40);
|
|
108 | 108 |
|
109 | 109 |
Edge* a10 = new Edge[ARRAY_SIZE]; |
110 | 110 |
a10[0] = MAKE_EDGE(IRIGHT, 3, 10); |
111 | 111 |
a10[1] = MAKE_EDGE(ILEFT, 5, 10); |
112 |
a10[2] = MAKE_EDGE(IUTURN, 10, 40);
|
|
112 |
a10[2] = MAKE_EDGE(ISPOTTURN, 14, 40);
|
|
113 | 113 |
|
114 | 114 |
Edge* a11 = new Edge[ARRAY_SIZE]; |
115 | 115 |
a11[0] = MAKE_EDGE(IRIGHT, 4, 10); |
116 | 116 |
a11[1] = MAKE_EDGE(ILEFT, 6, 10); |
117 |
a11[2] = MAKE_EDGE(IUTURN, 11, 40);
|
|
117 |
a11[2] = MAKE_EDGE(ISPOTTURN, 15, 40);
|
|
118 | 118 |
|
119 | 119 |
Edge* a12 = new Edge[ARRAY_SIZE]; |
120 | 120 |
a12[0] = MAKE_EDGE(IRIGHT, DEADEND, 0); |
121 | 121 |
a12[1] = MAKE_EDGE(ILEFT, 7, 10); |
122 |
a12[2] = MAKE_EDGE(IUTURN, 12, 40); |
|
122 |
a12[2] = MAKE_EDGE(ISPOTTURN, 16, 40); |
|
123 |
|
|
124 |
Edge* a13 = new Edge[ARRAY_SIZE]; |
|
125 |
a13[0] = MAKE_EDGE(IRIGHT, DEADEND, 0); |
|
126 |
a13[1] = MAKE_EDGE(ILEFT, DEADEND, 0); |
|
127 |
a13[2] = MAKE_EDGE(ISPOTTURN, 9, 40); |
|
128 |
|
|
129 |
Edge* a14 = new Edge[ARRAY_SIZE]; |
|
130 |
a14[0] = MAKE_EDGE(IRIGHT, DEADEND, 0); |
|
131 |
a14[1] = MAKE_EDGE(ILEFT, DEADEND, 0); |
|
132 |
a14[2] = MAKE_EDGE(ISPOTTURN, 10, 40); |
|
133 |
|
|
134 |
Edge* a15 = new Edge[ARRAY_SIZE]; |
|
135 |
a15[0] = MAKE_EDGE(IRIGHT, DEADEND, 0); |
|
136 |
a15[1] = MAKE_EDGE(ILEFT, DEADEND, 0); |
|
137 |
a15[2] = MAKE_EDGE(ISPOTTURN, 11, 40); |
|
138 |
|
|
139 |
Edge* a16 = new Edge[ARRAY_SIZE]; |
|
140 |
a16[0] = MAKE_EDGE(IRIGHT, DEADEND, 0); |
|
141 |
a16[1] = MAKE_EDGE(ILEFT, DEADEND, 0); |
|
142 |
a16[2] = MAKE_EDGE(ISPOTTURN, 12, 40); |
|
143 |
|
|
123 | 144 |
|
124 | 145 |
map.push_back(a1); |
125 | 146 |
map.push_back(a2); |
... | ... | |
133 | 154 |
map.push_back(a10); |
134 | 155 |
map.push_back(a11); |
135 | 156 |
map.push_back(a12); |
157 |
map.push_back(a13); |
|
158 |
map.push_back(a14); |
|
159 |
map.push_back(a15); |
|
160 |
map.push_back(a16); |
|
136 | 161 |
|
137 | 162 |
curr_state = START_STATE; |
138 | 163 |
arrival_time = ros::TIME_MAX; |
... | ... | |
154 | 179 |
void navigationMap::run() |
155 | 180 |
{ |
156 | 181 |
Duration t; |
157 |
ROS_INFO("My state is: %d\n", curr_state); |
|
158 |
//Straight, straight, right, left, straight 5 |
|
159 |
update_state(ISTRAIGHT); |
|
160 |
ROS_INFO("My state is: %d\n", curr_state); |
|
161 |
t = get_time_remaining(); |
|
162 |
while(t.sec > 0) |
|
163 |
t = get_time_remaining(); |
|
164 |
update_state(ISTRAIGHT); |
|
165 |
ROS_INFO("My state is: %d\n", curr_state); |
|
166 |
t = get_time_remaining(); |
|
167 |
while(t.sec > 0) |
|
168 |
t = get_time_remaining(); |
|
169 |
update_state(IRIGHT); |
|
170 |
ROS_INFO("My state is: %d\n", curr_state); |
|
171 |
t = get_time_remaining(); |
|
172 |
while(t.sec > 0) |
|
173 |
t = get_time_remaining(); |
|
174 |
update_state(ILEFT); |
|
175 |
ROS_INFO("My state is: %d\n", curr_state); |
|
176 |
t = get_time_remaining(); |
|
177 |
while(t.sec > 0) |
|
178 |
t = get_time_remaining(); |
|
179 |
update_state(ISTRAIGHT); |
|
180 |
ROS_INFO("My state is: %d\n", curr_state); |
|
181 |
t = get_time_remaining(); |
|
182 |
while(t.sec > 0) |
|
183 |
t = get_time_remaining(); |
|
184 |
ROS_INFO("Traveled route!\n"); |
|
185 | 182 |
|
186 |
ROS_INFO("Going to state 6\n"); |
|
187 |
Path path = shortest_path(6); |
|
183 |
ROS_INFO("Going to state 16\n");
|
|
184 |
Path path = shortest_path(16);
|
|
188 | 185 |
if(path.path == NULL) |
186 |
{ |
|
187 |
ROS_WARN("There is no path to state 16"); |
|
189 | 188 |
return; |
189 |
} |
|
190 | 190 |
|
191 |
ROS_INFO("Worst case time to 6 is %d", get_worst_case_time(curr_state, 6).sec); |
|
191 |
ROS_INFO("Worst case time to 16 is %d", get_worst_case_time(curr_state, 6).sec);
|
|
192 | 192 |
|
193 | 193 |
for(int i=0; i<path.len; i++) |
194 | 194 |
{ |
... | ... | |
199 | 199 |
t = get_time_remaining(); |
200 | 200 |
ROS_INFO("Now at state %d\n", curr_state); |
201 | 201 |
} |
202 |
|
|
202 | 203 |
ROS_INFO("Traveled route!\n"); |
203 | 204 |
|
204 | 205 |
while(ok()) |
... | ... | |
217 | 218 |
//sets the current state to the state associated with the turn made |
218 | 219 |
if(GET_EDGE_DIR(possible_edges[i]) == turn_made) |
219 | 220 |
{ |
220 |
int speed = 10000;//its over 9000 |
|
221 |
curr_state = GET_EDGE_STATE(possible_edges[i]); |
|
222 | 221 |
//TODO: get actual speed |
222 |
int speed = 10; |
|
223 |
curr_state = GET_EDGE_STATE(possible_edges[i]); |
|
223 | 224 |
Duration travel_time(GET_EDGE_DIST(possible_edges[i])/speed); |
224 | 225 |
arrival_time = Time::now() + travel_time; |
225 | 226 |
return curr_state; |
scout/libscout/src/behaviors/navigationMap.h | ||
---|---|---|
47 | 47 |
|
48 | 48 |
/** Turn defintions */ |
49 | 49 |
#define ISTRAIGHT 0 |
50 |
#define ILEFT 1 |
|
50 |
#define ILEFT 1
|
|
51 | 51 |
#define IRIGHT 2 |
52 | 52 |
#define IUTURN 3 |
53 |
#define ISPOTTURN 4 |
|
53 | 54 |
|
54 | 55 |
#define START_STATE 3 |
55 | 56 |
|
56 | 57 |
#define DEADEND 255 |
57 | 58 |
#define ARRAY_SIZE 3 |
58 |
#define MAX_NODES 12
|
|
59 |
#define MAX_NODES 16
|
|
59 | 60 |
|
60 | 61 |
#define SPEED 10 //distance_unit per s |
61 | 62 |
#define DROPOFF_TIME 10 //seconds |
... | ... | |
64 | 65 |
#define WAIT_TIME (TURN_TIME * NUM_ROBOTS) //Seconds |
65 | 66 |
|
66 | 67 |
/** used to extract information from an encoded Edge */ |
67 |
#define GET_EDGE_DIR(edge) ((edge)&0x3)
|
|
68 |
#define GET_EDGE_STATE(edge) (((edge)>>2)&0xFF)
|
|
69 |
#define GET_EDGE_DIST(edge) (((edge)>>10)&0x3FFFFF)
|
|
68 |
#define GET_EDGE_DIR(edge) ((edge)&0xF)
|
|
69 |
#define GET_EDGE_STATE(edge) (((edge)>>4)&0xFF)
|
|
70 |
#define GET_EDGE_DIST(edge) (((edge)>>12)&0xFFFFF)
|
|
70 | 71 |
|
71 | 72 |
/** used to change or build an Edge's information */ |
72 |
#define SET_EDGE_DIR(dir) ((dir)&0x3)
|
|
73 |
#define SET_EDGE_STATE(state) (((state)&0xFF)<<2)
|
|
74 |
#define SET_EDGE_DIST(dist) (((dist)&0x3FFFFF)<<10)
|
|
73 |
#define SET_EDGE_DIR(dir) ((dir)&0xF)
|
|
74 |
#define SET_EDGE_STATE(state) (((state)&0xFF)<<4)
|
|
75 |
#define SET_EDGE_DIST(dist) (((dist)&0xFFFFF)<<12)
|
|
75 | 76 |
|
76 | 77 |
#define MAKE_EDGE(dir, state, dist) \ |
77 | 78 |
SET_EDGE_DIR(dir)+SET_EDGE_STATE(state)+SET_EDGE_DIST(dist) |
... | ... | |
102 | 103 |
* | | | | |
103 | 104 |
* 9| 10| 11| 12| |
104 | 105 |
* | | | | |
105 |
* --- --- --- ---
|
|
106 |
* ---13 ---14 ---15 ---16
|
|
106 | 107 |
*/ |
107 | 108 |
|
108 | 109 |
public: |
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