Revision 58c19c15
better warehouse image (corresponds with lines now) and demo. Now only thing left is to implement home behavior.
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);
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|
66 |
a1[1] = MAKE_EDGE(IRIGHT, 13, 40);
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67 | 67 |
a1[2] = MAKE_EDGE(IUTURN, DEADEND, 0); |
68 | 68 |
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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);
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71 |
a2[1] = MAKE_EDGE(IRIGHT, 14, 40);
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72 | 72 |
a2[2] = MAKE_EDGE(IUTURN, 5, 10); |
73 | 73 |
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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);
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76 |
a3[1] = MAKE_EDGE(IRIGHT, 15, 40);
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77 | 77 |
a3[2] = MAKE_EDGE(IUTURN, 6, 10); |
78 | 78 |
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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);
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81 |
a4[1] = MAKE_EDGE(IRIGHT, 16, 40);
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82 | 82 |
a4[2] = MAKE_EDGE(IUTURN, 7, 10); |
83 | 83 |
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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);
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|
86 |
a5[1] = MAKE_EDGE(ILEFT, 13, 40);
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87 | 87 |
a5[2] = MAKE_EDGE(IUTURN, 2, 10); |
88 | 88 |
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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);
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|
91 |
a6[1] = MAKE_EDGE(ILEFT, 14, 40);
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92 | 92 |
a6[2] = MAKE_EDGE(IUTURN, 3, 10); |
93 | 93 |
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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);
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|
96 |
a7[1] = MAKE_EDGE(ILEFT, 15, 40);
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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);
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|
101 |
a8[1] = MAKE_EDGE(ILEFT, 16, 40);
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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);
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|
107 |
a9[2] = MAKE_EDGE(ISPOTTURN, 13, 40);
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108 | 108 |
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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);
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112 |
a10[2] = MAKE_EDGE(ISPOTTURN, 14, 40);
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113 | 113 |
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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);
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117 |
a11[2] = MAKE_EDGE(ISPOTTURN, 15, 40);
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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); |
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123 |
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|
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); |
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128 |
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129 |
Edge* a14 = new Edge[ARRAY_SIZE]; |
|
130 |
a14[0] = MAKE_EDGE(IRIGHT, DEADEND, 0); |
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131 |
a14[1] = MAKE_EDGE(ILEFT, DEADEND, 0); |
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132 |
a14[2] = MAKE_EDGE(ISPOTTURN, 10, 40); |
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133 |
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134 |
Edge* a15 = new Edge[ARRAY_SIZE]; |
|
135 |
a15[0] = MAKE_EDGE(IRIGHT, DEADEND, 0); |
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136 |
a15[1] = MAKE_EDGE(ILEFT, DEADEND, 0); |
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137 |
a15[2] = MAKE_EDGE(ISPOTTURN, 11, 40); |
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138 |
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139 |
Edge* a16 = new Edge[ARRAY_SIZE]; |
|
140 |
a16[0] = MAKE_EDGE(IRIGHT, DEADEND, 0); |
|
141 |
a16[1] = MAKE_EDGE(ILEFT, DEADEND, 0); |
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142 |
a16[2] = MAKE_EDGE(ISPOTTURN, 12, 40); |
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143 |
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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); |
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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);
|
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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);
|
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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; |
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