Colony » Colony Scout

/**

 * Copyright (c) 2011 Colony Project

 * 

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

 * obtaining a copy of this software and associated documentation

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

 * restriction, including without limitation the rights to use,

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

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

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

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

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

 * 

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

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

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

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

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

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

 * OTHER DEALINGS IN THE SOFTWARE.

 */

#include "ApproachEmitter.h"

#define TOP_BOM 0

#define BOT_BOM 1

#define LEFT_EMITTER_ID 1

#define RIGHT_EMITTER_ID 0

#define LEFTSIDE 1

#define RIGHTSIDE 2

#define REAR 3

#define NEITHER 0

#define CENTRED 2

#define SEARCH 0

#define ADJUSTED 1

#define SIGNAL_ONLY 3

#define LOST_SIGNAL_THRESH 100

using namespace std;

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

    : Behavior(scoutname, "Approach Emitter", sensors) {

    name = scoutname;

    scout_pos = new pos;

    lost_signal_time = 0;

    wheel_vel_diff = 60;

    // initallize the side index values :D UGLY!!! But best solution so far

    FRONT.push_back(0);

    LEFT.push_back(1);

    LEFT.push_back(2);

    LEFT.push_back(3);

    BACK.push_back(4);

    BACK.push_back(5);

    RIGHT.push_back(6);

    RIGHT.push_back(7);

    RIGHT.push_back(8);

    FRONT.push_back(9);

}

int ApproachEmitter::identifyPosition(

        vector<uint32_t> readings, vector<uint32_t> senders) {

    int identified = SEARCH;

    int top_em_count = 0;

    int bot_em_count = 0;

    if (accumulate(&(readings[RIGHT.front()]),

                   &(readings[RIGHT.back()])+1, 0) >= 2) {

        for (int i=RIGHT.front(); i<RIGHT.back(); i++) {

            top_em_count += (senders[i] == TOP_BOM);

            bot_em_count += (senders[i] == BOT_BOM);

        }

        if (top_em_count * bot_em_count != 0) {

            return CENTRED;

        } else if (top_em_count > 0) {

            motors->set_sides(-50, -50, MOTOR_PERCENT);

        } else {

            motors->set_sides(50, 50, MOTOR_PERCENT);

        }

        identified = ADJUSTED;

    } else if (accumulate(&(readings[LEFT.front()]),

                   &(readings[LEFT.back()])+1, 0) >= 2) {

        for (int i=LEFT.front(); i<LEFT.back(); i++) {

            top_em_count += (senders[i] == TOP_BOM);

            bot_em_count += (senders[i] == BOT_BOM);

        }

        if (top_em_count * bot_em_count != 0) {

            return CENTRED;

        } else if (top_em_count > 0) {

            motors->set_sides(50, 50, MOTOR_PERCENT);

        } else {

            motors->set_sides(-50, -50, MOTOR_PERCENT);

        }

        identified = ADJUSTED;

    }

    return identified;

}

void ApproachEmitter::searchForSignal() {

    lost_signal_time++;

    int mid = 50;

    if ((lost_signal_time) > LOST_SIGNAL_THRESH) {

        lost_signal_time = 0;

        wheel_vel_diff= (wheel_vel_diff>=0)?wheel_vel_diff-10:60;

        ROS_INFO("CHANGING SPEED! %d", wheel_vel_diff);

    }

    motors->set_sides(mid-wheel_vel_diff/2,

                      mid+wheel_vel_diff/2, MOTOR_PERCENT);

}

void ApproachEmitter::run() {

    ROS_INFO("BOM Main Running");

    BomReadings bomR;

    vector<uint32_t> r;

    vector<uint32_t> s;

    int identified = 0;

    while (ok()) {

        bomR = bom->query();

        r = bomR.readings;

        s = bomR.senders;

        identified = identifyPosition(r, s);

        if (identified == CENTRED) {

            break;

        } else if (identified == ADJUSTED) {

            lost_signal_time = 0;

        } else if (identified == SEARCH) {

            searchForSignal();

        } else {

            ROS_INFO("WTF?");

        }

    }

    update_readings();

    start_side = get_side();

    while (ok() && ((start_side == LEFTSIDE && checkBOM(3, RIGHT_EMITTER_ID)) ||

           (start_side == RIGHTSIDE && checkBOM(6, LEFT_EMITTER_ID)))) {

       motors->set_sides(25, 25, MOTOR_PERCENT);

       update_readings();

     }

    motors->set_sides(0, 0, MOTOR_PERCENT);

    while(ok() && reverse_park()) {

        update_readings();

    }

    //motors->set_sides(0,0,MOTOR_PERCENT);

    ROS_INFO("done");

/*

    while(ok()) {

        update_readings();

        if (at_destination()) {

              motors->set_sides(0, 0, MOTOR_PERCENT);

          ROS_INFO("done");

          break;

        }

        else {

          motors->set_sides(-20,-20,MOTOR_PERCENT);

        }

    }

*/

}

bool ApproachEmitter::reverse_park() {

    if(checkBOM(5, LEFT_EMITTER_ID) ||

       checkBOM(4, RIGHT_EMITTER_ID)) { //move forward

        motors->set_sides(10, 10, MOTOR_PERCENT);

    }

    else if(checkBOM(4, LEFT_EMITTER_ID) &&

            checkBOM(5, RIGHT_EMITTER_ID)) {

        motors->set_sides(-40, -40, MOTOR_PERCENT);

    }

    else if (get_side() == REAR) {

        if (checkBOM(4,LEFT_EMITTER_ID) && 

            !checkBOM(4, RIGHT_EMITTER_ID)) { //reverse right

            //ROS_INFO("correct left");

            motors->set_sides(-20, -10, MOTOR_PERCENT);

        }

        else if (!checkBOM(4, LEFT_EMITTER_ID) && 

                  checkBOM(5, RIGHT_EMITTER_ID)) { //reverse left

            //ROS_INFO("correct right");

            motors->set_sides(-10, -20, MOTOR_PERCENT);

        }

        else {

            motors->set_sides(-40, -40, MOTOR_PERCENT);

        }

    }

    else {

        if (start_side == RIGHTSIDE) { //reverseright

            motors->set_sides(-40, -10, MOTOR_PERCENT);

        }

        else { //reverseleft

            motors->set_sides(-10, -40, MOTOR_PERCENT);

        }

    }

    if (at_destination()) {

      return false;

    }

    return true;

}

int ApproachEmitter::get_side() {

    if ((readings[1] > 0 || readings[2] > 0|| readings[3] > 0) &&

        (readings[6] == 0 && readings[7] == 0 && readings[8] == 0)) {

        return LEFTSIDE;

    }

    else if ((readings[6] > 0 || readings[7] > 0|| readings[8] > 0) &&

        (readings[1] == 0 && readings[2] == 0 && readings[3] == 0)) {

        return RIGHTSIDE;

    }

    else if ((readings[4] > 0) || (readings[5] > 0)) {

        return REAR;

    }

    else {

        return NEITHER;

    }

}

bool ApproachEmitter::checkBOM(int bNum, unsigned int ID) {

    if(readings[bNum] == true) {

        //ROS_INFO("Emitter ID: %d", senders[bNum]);

        return senders[bNum] == ID;

    }

    return false;

}

void ApproachEmitter::update_readings() {

    BomReadings bomR = bom->query();

    readings = bomR.readings;

    senders = bomR.senders;

}

bool ApproachEmitter::at_destination()

{

    vector<uint32_t> readings = linesensor->query();

/*   ROS_INFO("%d %d %d %d %d %d %d %d", readings[0], readings[1],

        readings[2],readings[3],readings[4],readings[5],readings[6],readings[7]);

*/

    //changed values so it detects solution

    if ( readings[0] > 75 ||

         readings[1] > 75 ||

         readings[2] > 75 ||

         readings[3] > 75 ||

         readings[4] > 75 ||

         readings[5] > 75 ||

         readings[6] > 75 ||

         readings[7] > 75 )

    {

        return true;

    }

    return false;

}