root / scout / libscout / src / behaviors / navigationMap.cpp @ cccc25c9
History | View | Annotate | Download (6.33 KB)
1 |
#include "navigationMap.h" |
---|---|
2 |
|
3 |
using namespace std; |
4 |
|
5 |
/** @brief Initializes the map */
|
6 |
navigationMap::navigationMap(string scoutname) : Behavior(scoutname, "navigationMap") |
7 |
{ |
8 |
/** Initialize Map
|
9 |
*
|
10 |
* 1 2 3 4
|
11 |
* ----|-----------|----------|---------|---------->
|
12 |
* <---|--5--------|--6-------|--7------|--8-------
|
13 |
* | | | |
|
14 |
* 9| 10| 11| 12|
|
15 |
* | | | |
|
16 |
* --- --- --- ---
|
17 |
*/
|
18 |
|
19 |
Edge* a1 = new Edge[ARRAY_SIZE];
|
20 |
a1[0] = MAKE_EDGE(ISTRAIGHT, 2, 10); |
21 |
a1[1] = MAKE_EDGE(IRIGHT, 9, 40); |
22 |
a1[2] = MAKE_EDGE(IUTURN, DEADEND, 0); |
23 |
|
24 |
Edge* a2 = new Edge[ARRAY_SIZE];
|
25 |
a2[0] = MAKE_EDGE(ISTRAIGHT, 3, 10); |
26 |
a2[1] = MAKE_EDGE(IRIGHT, 10, 40); |
27 |
a2[2] = MAKE_EDGE(IUTURN, 5, 10); |
28 |
|
29 |
Edge* a3 = new Edge[ARRAY_SIZE];
|
30 |
a3[0] = MAKE_EDGE(ISTRAIGHT, 4, 10); |
31 |
a3[1] = MAKE_EDGE(IRIGHT, 11, 40); |
32 |
a3[2] = MAKE_EDGE(IUTURN, 6, 10); |
33 |
|
34 |
Edge* a4 = new Edge[ARRAY_SIZE];
|
35 |
a4[0] = MAKE_EDGE(ISTRAIGHT, DEADEND, 0); |
36 |
a4[1] = MAKE_EDGE(IRIGHT, 12, 40); |
37 |
a4[2] = MAKE_EDGE(IUTURN, 7, 10); |
38 |
|
39 |
Edge* a5 = new Edge[ARRAY_SIZE];
|
40 |
a5[0] = MAKE_EDGE(ISTRAIGHT, DEADEND, 0); |
41 |
a5[1] = MAKE_EDGE(ILEFT, 9, 40); |
42 |
a5[2] = MAKE_EDGE(IUTURN, 2, 10); |
43 |
|
44 |
Edge* a6 = new Edge[ARRAY_SIZE];
|
45 |
a6[0] = MAKE_EDGE(ISTRAIGHT, 5, 0); |
46 |
a6[1] = MAKE_EDGE(ILEFT, 10, 40); |
47 |
a6[2] = MAKE_EDGE(IUTURN, 3, 10); |
48 |
|
49 |
Edge* a7 = new Edge[ARRAY_SIZE];
|
50 |
a7[0] = MAKE_EDGE(ISTRAIGHT, 6, 0); |
51 |
a7[1] = MAKE_EDGE(ILEFT, 11, 40); |
52 |
a7[2] = MAKE_EDGE(IUTURN, 3, 10); |
53 |
|
54 |
Edge* a8 = new Edge[ARRAY_SIZE];
|
55 |
a8[0] = MAKE_EDGE(ISTRAIGHT, 7, 0); |
56 |
a8[1] = MAKE_EDGE(ILEFT, 12, 40); |
57 |
a8[2] = MAKE_EDGE(IUTURN, DEADEND, 10); |
58 |
|
59 |
Edge* a9 = new Edge[ARRAY_SIZE];
|
60 |
a9[0] = MAKE_EDGE(IRIGHT, 2, 10); |
61 |
a9[1] = MAKE_EDGE(ILEFT, DEADEND, 0); |
62 |
a9[2] = MAKE_EDGE(IUTURN, 9, 40); |
63 |
|
64 |
Edge* a10 = new Edge[ARRAY_SIZE];
|
65 |
a10[0] = MAKE_EDGE(IRIGHT, 3, 10); |
66 |
a10[1] = MAKE_EDGE(ILEFT, 5, 10); |
67 |
a10[2] = MAKE_EDGE(IUTURN, 10, 40); |
68 |
|
69 |
Edge* a11 = new Edge[ARRAY_SIZE];
|
70 |
a11[0] = MAKE_EDGE(IRIGHT, 4, 10); |
71 |
a11[1] = MAKE_EDGE(ILEFT, 6, 10); |
72 |
a11[2] = MAKE_EDGE(IUTURN, 11, 40); |
73 |
|
74 |
Edge* a12 = new Edge[ARRAY_SIZE];
|
75 |
a12[0] = MAKE_EDGE(IRIGHT, DEADEND, 0); |
76 |
a12[1] = MAKE_EDGE(ILEFT, 7, 10); |
77 |
a12[2] = MAKE_EDGE(IUTURN, 12, 40); |
78 |
|
79 |
map.push_back(a1); |
80 |
map.push_back(a2); |
81 |
map.push_back(a3); |
82 |
map.push_back(a4); |
83 |
map.push_back(a5); |
84 |
map.push_back(a6); |
85 |
map.push_back(a7); |
86 |
map.push_back(a8); |
87 |
map.push_back(a9); |
88 |
map.push_back(a10); |
89 |
map.push_back(a11); |
90 |
map.push_back(a12); |
91 |
|
92 |
curr_state = START_STATE; |
93 |
arrival_time = ros::TIME_MAX; |
94 |
} |
95 |
|
96 |
/** @brief Goes through and frees all allocated memory */
|
97 |
navigationMap::~navigationMap() |
98 |
{ |
99 |
while(!map.empty())
|
100 |
{ |
101 |
Edge* temp = map.back(); |
102 |
map.pop_back(); |
103 |
delete temp;
|
104 |
} |
105 |
return;
|
106 |
} |
107 |
|
108 |
void navigationMap::run()
|
109 |
{ |
110 |
Duration t; |
111 |
ROS_INFO("My state is: %d\n", curr_state);
|
112 |
//Straight, straight, right, left, straight 5
|
113 |
update_state(ISTRAIGHT); |
114 |
ROS_INFO("My state is: %d\n", curr_state);
|
115 |
t = get_time_remaining(); |
116 |
while(t.toSec() > 0) |
117 |
t = get_time_remaining(); |
118 |
update_state(ISTRAIGHT); |
119 |
ROS_INFO("My state is: %d\n", curr_state);
|
120 |
t = get_time_remaining(); |
121 |
while(t.toSec() > 0) |
122 |
t = get_time_remaining(); |
123 |
update_state(IRIGHT); |
124 |
ROS_INFO("My state is: %d\n", curr_state);
|
125 |
t = get_time_remaining(); |
126 |
while(t.toSec() > 0) |
127 |
t = get_time_remaining(); |
128 |
update_state(ILEFT); |
129 |
ROS_INFO("My state is: %d\n", curr_state);
|
130 |
t = get_time_remaining(); |
131 |
while(t.toSec() > 0) |
132 |
t = get_time_remaining(); |
133 |
update_state(ISTRAIGHT); |
134 |
ROS_INFO("My state is: %d\n", curr_state);
|
135 |
t = get_time_remaining(); |
136 |
while(t.toSec() > 0) |
137 |
t = get_time_remaining(); |
138 |
ROS_INFO("Traveled route!\n");
|
139 |
while(ok())
|
140 |
continue;
|
141 |
} |
142 |
|
143 |
State navigationMap::update_state(Turn turn_made) |
144 |
{ |
145 |
Edge* possible_edges = get_outbound_edges(curr_state); |
146 |
int arr_size = sizeof(possible_edges)/sizeof(Edge); |
147 |
for(int i=0;i<arr_size;i++) |
148 |
{ |
149 |
//sets the current state to the state associated with the turn made
|
150 |
if(GET_EDGE_DIR(possible_edges[i]) == turn_made)
|
151 |
{ |
152 |
int speed = 10000;//its over 9000 |
153 |
curr_state = GET_EDGE_STATE(possible_edges[i]); |
154 |
//TODO: get actual speed
|
155 |
Duration travel_time(GET_EDGE_DIST(possible_edges[i])/speed); |
156 |
arrival_time = Time::now() + travel_time; |
157 |
return curr_state;
|
158 |
} |
159 |
} |
160 |
return -1;//failure to succeed |
161 |
} |
162 |
|
163 |
Time navigationMap::get_eta() |
164 |
{ |
165 |
return arrival_time;
|
166 |
} |
167 |
|
168 |
Duration navigationMap::get_time_remaining() |
169 |
{ |
170 |
return (arrival_time - Time::now());
|
171 |
} |
172 |
|
173 |
State navigationMap::get_state() |
174 |
{ |
175 |
return curr_state;
|
176 |
} |
177 |
|
178 |
Edge* navigationMap::get_outbound_edges(State state) |
179 |
{ |
180 |
return map.at(state-1); |
181 |
} |
182 |
|
183 |
Path navigationMap::shortest_path(State target_state) |
184 |
{ |
185 |
// BFS algorithm
|
186 |
State curr_state = get_state(); |
187 |
int visited[MAX_NODES+1] = {0}; |
188 |
|
189 |
queue<State> q; |
190 |
q.push(curr_state); |
191 |
// not zero = visited, zero = unvisited, negative = start state
|
192 |
visited[curr_state] = -1;
|
193 |
|
194 |
while (!q.empty())
|
195 |
{ |
196 |
State state = q.front(); |
197 |
//actually dequeue it
|
198 |
q.pop(); |
199 |
if (state == target_state)
|
200 |
{ |
201 |
Path path; |
202 |
int j = 0; // counter |
203 |
for(State child = state; visited[child] >= 0; |
204 |
child = visited[child]) //while not start state
|
205 |
{ |
206 |
State parent = visited[child]; |
207 |
Edge* edges = get_outbound_edges(parent); |
208 |
for (int i = 0; i < ARRAY_SIZE; i++) |
209 |
{ |
210 |
if (GET_EDGE_STATE(edges[i]) == child)
|
211 |
{ |
212 |
path.path[j] = GET_EDGE_DIR(edges[i]); |
213 |
j++; |
214 |
break;
|
215 |
} |
216 |
} |
217 |
} |
218 |
/** Reverse moves list */
|
219 |
for (int i = 0; i < j/2; i++) |
220 |
{ |
221 |
path.path[i] ^= path.path[j-i-1];
|
222 |
path.path[j-i-1] ^= path.path[i];
|
223 |
path.path[i] ^= path.path[j-i-1];
|
224 |
} |
225 |
path.len = j; |
226 |
return path;
|
227 |
} |
228 |
Edge* edges = get_outbound_edges(state); |
229 |
for (int i = 0; i < ARRAY_SIZE; i++) |
230 |
{ |
231 |
State new_state = GET_EDGE_STATE(edges[i]); |
232 |
if (new_state != DEADEND && !visited[new_state])
|
233 |
{ |
234 |
// set visited to the parent of the new state
|
235 |
visited[new_state] = state; |
236 |
q.push(new_state); |
237 |
} |
238 |
} |
239 |
} |
240 |
//oops, no way to get to target from state
|
241 |
Path path; |
242 |
path.len = 0;
|
243 |
path.path = NULL;
|
244 |
return path;
|
245 |
} |
246 |
|
247 |
|