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  behavior_list.push_back(behavior<smart_runaround>);

#include "test_behaviors/smart_runaround.h"

// TODO This is bad! It's defined globally across all files. Please put it inside a good scope. -Alex

/**

 * 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 "smart_runaround.h"

using namespace std;

// want to have a minimal working thing, use a big enough 

// static array and start in the middle

// we assume we are facing right, that affects where we store

// wall information

// -1 for wall, 0 for unseen, 1 for traveled, 2 for critical

#define WALL -1

#define UNSEEN 0

#define SEEN 1

#define CRITICAL 2

// facings on map, NOT on robot

#define UP 0

#define RIGHT 1

#define DOWN 2

#define LEFT 3

// number of pixels on one row/column of map block

#define BLOCK_LENGTH 13

// robot control variables

#define BASESPEED 50

// robots row and column on map, starting at center

int row = MAP_LENGTH/2+1; // add 1 because we know MAP_LENGTH is odd

int col = MAP_LENGTH/2+1;

// utility functions

// pixels to meters

float pix_to_m(int pixels)

{

    return pixels/200.0;

}

// meters to pixels

int m_to_idx(float meters)

{

    float pixels = meters*200.0;

    float idx = pixels/BLOCK_LENGTH;

    return floor(idx+0.5);

}

/* return a direction (if any) where adjacent block

 * is labeled "info" on map. Searches clockwise

 * starting at up. Returns -1 if no direction valid.

 */

int smart_runaround::choose_direc(int row, int col, int info)

{

    if (map[row-1][col] == info)

	return UP;

    else if (map[row][col+1] == info)

	return RIGHT;

    else if (map[row+1][col] == info)

	return DOWN;

    else if (map[row][col-1] == info)

	return LEFT;

    return -1;

}

// TODO This is bad! It's defined globally across all behaviors. Please fix this. -Alex

Duration sonar_update_time2(1.5);

// THIS VERSION MODIFIED BY ZANE

void smart_runaround::run(){

    ROS_INFO("Starting to solve the maze");

    // Go up to the first line.

    //follow_line();

    // Turn the sonar on.

    sonar->set_on();

    sonar->set_range(0, 23);

    // initialize map to all UNSEEN

    for(int r = 0; r < MAP_LENGTH; r++) {

	for(int c = 0; c < MAP_LENGTH; c++)

	    map[r][c] = UNSEEN;

    }

    // Wait for the sonar to initialize.

    while(!look_around(25, 25, RIGHT) && ok())

    {

      spinOnce();

    }

    /* Assumptions:

     * Grid has a fixed size

     * Start location unknown

     * When robot moves forward, it moves to exact center

     * of the block in front.

     */

    int dir = RIGHT; // current direction

    int new_dir = RIGHT; // direction in which to turn after a scan

    bool success = false; // true when maze solved

    while(ok())

    {

	// Look left, right, and forward

	look_around(row, col, dir);

	// Try moving in each direction

	new_dir = choose_direc(row, col, UNSEEN);

	if(new_dir < 0)

	    new_dir = choose_direc(row, col, SEEN);

	if(new_dir >= 0) {

	    turn_from_to(dir, new_dir);

	    dir = new_dir;

	}

    }

    // Check and report final condition.

    if (success)

        ROS_INFO("YAY! I have solved the maze");

    else

        ROS_INFO("NO! The maze is unsolvable");

}

// NOT CURRENTLY USED!!!

bool smart_runaround::solve(int row, int col, int dir)

{

    int initial_dir = dir;

    ROS_INFO("I am at direction %d", dir);

    // use backtracking to solve the maze

    if (at_destination())

        return true;

    // Wait for sonar to update.

    sonar_update_time2.sleep();

    // this function should fill the adjacent cells around me with

    // wall's or paths

    while(!look_around(row, col, dir) && ok())

    {

        spinOnce();

    }

    /* try go up */

    if (map[row-1][col] != WALL && initial_dir != UP)

    {

    ROS_INFO("GOING UP!");

        // Turn up.

        turn_from_to(dir, UP);

        follow_line();

        // Solve recursively.

        bool solved = solve(row-1, col, DOWN);

        if (solved)

        {

            return solved;

        }

        else

        {

            //Update where we are.

            dir = UP;

        }

    }

    /* try right */

    if (map[row][col+1] != WALL && initial_dir != RIGHT)

    {

    ROS_INFO("GOING RIGHT!");

        // Turn right.

        turn_from_to(dir, RIGHT);

        follow_line();

        // Solve recursively.

        bool solved = solve(row, col+1, LEFT);

        if (solved)

        {

            return solved;

        }

        else

        {

            //Update where we are.

            dir = RIGHT;

        }

    }

    /* try down */

    if (map[row+1][col] != WALL && initial_dir != DOWN)

    {

    ROS_INFO("GOING DOWN!");

        // Turn down.

        turn_from_to(dir, DOWN);

        follow_line();

        // Solve recursively.

        bool solved = solve(row+1, col, UP);

        if (solved)

        {

            return solved;

        }

        else

        {

            //Update where we are.

            dir = DOWN;

        }

    }

    /* try left */

    if (map[row][col-1] != WALL && initial_dir != LEFT)

    {

    ROS_INFO("GOING LEFT!");

        // Turn down.

        turn_from_to(dir, LEFT);

        follow_line();

        // Solve recursively.

        bool solved = solve(row, col-1, RIGHT);

        if (solved)

        {

            return solved;

        }

        else

        {

            //Update where we are.

            dir = LEFT;

        }

    }

    ROS_INFO("DEAD END FOUND, TURNING BACK.");

    // we have exhausted all the options. This path is clearly a

    // dead end. go back to where we come from and return false.

    turn_from_to(dir, initial_dir);

    follow_line();

    return false;

}

/* this function takes in the current direction,

 * and turns the scout to the intended direction

 */

void smart_runaround::turn_from_to(int current_dir, int intended_dir) {

    switch ((4 + intended_dir - current_dir) % 4) // TODO: Try without "4 +" at start

    {

        case 0:

	    turn_straight(intended_dir);

            break;

        case 1:

            turn_right();

            break;

        case 2:

            spot_turn();

            break;

        case 3:

            turn_left();

            break;

    }

}

bool smart_runaround::look_around(int row, int col, int dir)

{

    // look around current place using sonar

    // store whether or not

    // there is a wall into the map

    // stores at row col 2 if point is critical, 1 otherwise

    int* readings = sonar->get_sonar_readings();

    spinOnce();

    // Assumption: readings are given in millimeters - Zane

    // distances with respect to robot, NOT map

    // Look to the left.

    float left_distance = readings[0]/1000.0;

    int left_idx = m_to_idx(left_distance);

    // Look to the front.

    float front_distance = readings[36]/1000.0;

    int front_idx = m_to_idx(front_distance);

    // Look to the right.

    float right_distance = readings[24]/1000.0;

    int right_idx = m_to_idx(right_distance);

    ROS_INFO("front: %d  left: %d  right: %d", front_distance, left_distance, right_distance);

    if (right_distance == 0 || front_distance == 0 || left_distance == 0)

      return false;

    // determine relative distances on map, based on robot position

    int up_d, right_d, down_d, left_d;

    // determine upward distance

    switch (dir)

    {

	case UP:

	    up_d = front_idx;

	    right_d = right_idx;

	    down_d = 0; // unknown

	    left_d = left_idx;

	    break;

	case RIGHT:

	    up_d = left_idx;

	    right_d = front_idx;

	    down_d = right_idx;

	    left_d = 0; // unknown

	    break;

	case DOWN:

	    up_d = 0; // unknown

	    right_d = left_idx;

	    down_d = front_idx;

	    left_d = right_idx;

	    break;

	case LEFT:

	    up_d = right_idx;

	    right_d = 0; // unknown

	    down_d = left_idx;

	    left_d = front_idx;

	    break;

    }

    // change map until wall index, or until reading < 500

    // reading < 500 <=> left_idx < 8 (approx.)

    // map blocks above robot (on map)

    for(int u = 0; u < 8; u++)

    {

	if(u = up_d) {

	    map[row-u][col] = (up_d)?WALL:SEEN;

            break;

	}

	map[row-u][col] = SEEN;

    }

    // map blocks to right of robot

    for(int r = 0; r < 8; r++)

    {

	if(r = right_d) {

	    map[row][col+r] = (right_d)?WALL:SEEN;

            break;

	}

	map[row][col+r] = SEEN;

    }

    // map blocks under robot (on map)

    for(int d = 0; d < 8; d++)

    {

	if(d = down_d) {

	    map[row+d][col] = (down_d)?WALL:SEEN;

            break;

	}

	map[row+d][col] = SEEN;

    }

    // map blocks to left of robot

    for(int l = 0; l < 8; l++)

    {

	if(l = left_d) {

	    map[row][col-l] = (left_d)?WALL:SEEN;

            break;

	}

	map[row][col-l] = SEEN;

    }

    return true;

}

// TODO: test this function

// return true iff the map has been completely explored

// and only true if it "returned" to home destination after solving

bool smart_runaround::at_destination() 

{

    // check whether there is a square portion with

    // only SEEN or WALL blocks, of the size of the map.

    int start_row = -1;

    int start_col = -1;

    int seen_width = 0;

    int seen_height = 0;

    for(int r = 0; r < MAP_LENGTH; r++) {

	for(int c = 0; c < MAP_LENGTH; c++) {

	    if(map[r][c] == UNSEEN) {

		start_row = -1;

		start_col = -1;

		seen_width = 0;

		seen_height = 0;

	    }

	    else {

		start_row = r;

		start_col = c;

		seen_width++;

		seen_height++;

	    }

	    if(seen_width >= 15)

		return true;

	}

    }

    return false;

}

// TODO: test these functions to make sure robot moves well

// move forward one block in direction "dir"

void smart_runaround::turn_straight(int dir)

{

    // TODO: try to use motor encoder values to move forward enough

    motors->set_sides(BASESPEED, BASESPEED, MOTOR_ABSOLUTE);

    spinOnce();

    Duration moveTime(1.0);

    moveTime.sleep();

    // update robot's position on map

    switch(dir)

    {

	case UP:

	  row--;

	  break;

	case RIGHT:

	  col++;

	  break;

	case DOWN:

	  row++;

	  break;

	case LEFT:

	  col--;

	  break;

    }

}

// turn clockwise (right)

void smart_runaround::turn_right()

{

    motors->set_sides(BASESPEED, -BASESPEED, MOTOR_ABSOLUTE);

    spinOnce();

    Duration moveTime(3.3);

    moveTime.sleep();

}

// do a 180 deg turn, NOT a barrel roll

void smart_runaround::spot_turn()

{

    motors->set_sides(BASESPEED, -BASESPEED, MOTOR_ABSOLUTE);

    spinOnce();

    Duration moveTime(6.6);

    moveTime.sleep();

}

// turn counter-clockwise (left)

void smart_runaround::turn_left()

{

    motors->set_sides(-BASESPEED, BASESPEED, MOTOR_ABSOLUTE);

    spinOnce();

    Duration moveTime(3.3);

    moveTime.sleep();

}

/**

 * 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.

 */

#ifndef _SMART_RUNAROUND_H_

#define _SMART_RUNAROUND_H_

#include "../behaviors/line_follow.h"

/* Details about map:

 * 1 meter = 200 pixels

 * 1 block is a 13x13 pixel section

 * actual meter x meter map has 15 blocks in one row/column

 * # blocks per robot map row = 2*(block per map's row)-1

 */

// number of blocks in one row/column of robot's map

#define MAP_LENGTH 29

class smart_runaround: public line_follow

{

    public:

        smart_runaround(std::string scoutname, Sensors* sensors):

            line_follow(scoutname, "smart_runaround", sensors) {};

        void run();

    private:

	int choose_direc(int row, int col, int info);

        bool solve(int row, int col, int dir);

        void turn_from_to(int current_dir, int intended_dir);

        bool look_around(int row, int col, int dir);

        bool at_destination();

	// functions for changing direction or moving

        void turn_straight(int dir);

        void turn_right();

        void spot_turn();

	void turn_left();

	/* Initialize map so that boundaries MAP_LENGTH away

	 * from the center. Then car won't go outside of

	 * map even if it starts at a boundary and goes to

	 * the other side.

         * Rows top to bottom, and columns left to right

	*/

        int map[MAP_LENGTH][MAP_LENGTH];

};

#endif