/* Returns the statHash */
ScmObj Scm_ProfilerRawResult(void)
{
ScmVM *vm = Scm_VM();
if (vm->prof == NULL) return SCM_FALSE;
if (vm->prof->state == SCM_PROFILER_INACTIVE) return SCM_FALSE;
if (vm->prof->state == SCM_PROFILER_RUNNING) Scm_ProfilerStop();
if (vm->prof->errorOccurred > 0) {
Scm_Warn("profiler: An error has been occurred during saving profiling samples. The result may not be accurate");
}
Scm_ProfilerCountBufferFlush(vm);
/* collect samples in the current buffer */
collect_samples(vm->prof);
/* collect samples in the saved file */
off_t off;
SCM_SYSCALL(off, lseek(vm->prof->samplerFd, 0, SEEK_SET));
if (off == (off_t)-1) {
Scm_ProfilerReset();
Scm_Error("profiler: seek failed in retrieving sample data");
}
for (;;) {
ssize_t r = read(vm->prof->samplerFd, vm->prof->samples,
sizeof(ScmProfSample[1]) * SCM_PROF_SAMPLES_IN_BUFFER);
if (r <= 0) break;
vm->prof->currentSample = r / sizeof(ScmProfSample[1]);
collect_samples(vm->prof);
}
vm->prof->currentSample = 0;
#if defined(GAUCHE_WINDOWS)
if (vm->prof->samplerFd >= 0) {
close(vm->prof->samplerFd);
vm->prof->samplerFd = -1;
unlink(vm->prof->samplerFileName);
}
#else /* !GAUCHE_WINDOWS */
if (ftruncate(vm->prof->samplerFd, 0) < 0) {
Scm_SysError("profiler: failed to truncate temporary file");
}
#endif /* !GAUCHE_WINDOWS */
return SCM_OBJ(vm->prof->statHash);
}
/* Returns the statHash */
ScmObj Scm_ProfilerRawResult(void)
{
ScmVM *vm = Scm_VM();
if (vm->prof == NULL) return SCM_FALSE;
if (vm->prof->state == SCM_PROFILER_INACTIVE) return SCM_FALSE;
if (vm->prof->state == SCM_PROFILER_RUNNING) Scm_ProfilerStop();
if (vm->prof->errorOccurred > 0) {
Scm_Warn("profiler: An error has been occurred during saving profiling samples. The result may not be accurate");
}
Scm_ProfilerCountBufferFlush(vm);
/* collect samples in the current buffer */
collect_samples(vm->prof);
/* collect samples in the saved file */
off_t off;
SCM_SYSCALL(off, lseek(vm->prof->samplerFd, 0, SEEK_SET));
if (off == (off_t)-1) {
Scm_ProfilerReset();
Scm_Error("profiler: seek failed in retrieving sample data");
}
ScmObj sampler_port =
Scm_MakePortWithFd(SCM_FALSE, SCM_PORT_INPUT, vm->prof->samplerFd,
SCM_PORT_BUFFER_FULL, FALSE);
for (;;) {
ssize_t r = read(vm->prof->samplerFd, vm->prof->samples,
sizeof(ScmProfSample[1]) * SCM_PROF_SAMPLES_IN_BUFFER);
if (r <= 0) break;
vm->prof->currentSample = r / sizeof(ScmProfSample[1]);
collect_samples(vm->prof);
}
vm->prof->currentSample = 0;
if (ftruncate(vm->prof->samplerFd, 0) < 0) {
Scm_SysError("profiler: failed to truncate temporary file");
}
return SCM_OBJ(vm->prof->statHash);
}
void main(void) {
int num_behaviors=5; // number of behaviors
U32 robot_sched_duration=100; // minimum time spent for each main loop (in ms)
char *title="Mover"; // program title to display
U32 max_iterations=65536; // maximum number of iterations of main loop
U32 sched_tick=0; // store system timer for robot sleep
// Tone Control Constants
U32 tone_enabled_freq=2500; // Hz
U32 tone_silenced_freq=0; // Hz
U32 tone_enabled_dur=100; // ms
// wheel control constants
S8 stop_speed=0;
S8 fwd_speed=30;
S8 fastrot_speed=40;
S8 slowrot_speed=20;
S8 seek_speed=30;
// Idle Behavior Variables
bool tone_active=FALSE;
U32 tone_timestamp=0;
// Follow Line Behavior Variables
U8 sampleSize=5;
SensorReading light_readings[sampleSize];
SensorReading light_min;
SensorReading light_max;
// Open-Claws Behavior and Grasp-Object Behavior Variables
SensorReading touched;
U32 claw_timestamp=0;
U32 claw_oldtstamp=0;
U32 claw_position=0;
U32 claw_oldpos=0;
bool claw_closed;
U8 claw_movement;
// Claw Control Constants
// Open and Close Speeds are directional (signed)
// WARNING: Be conservative with the Open and Close Speeds, since we
// run the motors until it hits the limiters and the Tachometer stops changing.
// Using too high a speed may pop the claw assembly!
S8 open_speed=10;
S8 close_speed=-20;
// Move-Object Behavior Variables
SensorReading sound_levels[sampleSize];
SensorReading sound_min;
SensorReading sound_max;
U8 sound_following_state=0;
U8 sound_level_trigger=0;
// Actuator Port Assignments
Actuators actuators;
setActuators(&actuators, ARM, RIGHT_WHEEL, LEFT_WHEEL );
// Sensor Port Assignments and configure
Sensor lightSensor, touchSensor, soundSensor;
//current robot actuator state
ActuatorState current_actuation={MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, ROBOT_STOP, TONE_INHIBITED, TONE_INHIBITED};
//previous robot actuator state
ActuatorState previous_actuation={MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, ROBOT_STOP, TONE_INHIBITED, TONE_INHIBITED};
//behavior_actuations
ActuatorState behavior_actuations[num_behaviors];
//array of available states
ActuatorState availableStates[14]=
{
//bbr_behavior_inhibited
{MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, ROBOT_STOP, TONE_INHIBITED, TONE_INHIBITED},
//bbr_idle_on
{MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, ROBOT_STOP, tone_enabled_freq, tone_enabled_dur},
//bbr_idle_off
{MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, ROBOT_STOP, tone_silenced_freq, tone_enabled_dur},
//bbr_follow_line_black
{MOTOR_INHIBITED_BYTE, FALSE, fwd_speed, FALSE, fwd_speed, FALSE, ROBOT_FWD, tone_silenced_freq, robot_sched_duration},
//bbr_follow_line_edge
{MOTOR_INHIBITED_BYTE, FALSE, slowrot_speed, FALSE, stop_speed, FALSE, ROBOT_CCW, tone_silenced_freq, robot_sched_duration},
//bbr_follow_line_white
{MOTOR_INHIBITED_BYTE, FALSE, stop_speed, FALSE, fastrot_speed, FALSE, ROBOT_CW, tone_silenced_freq, robot_sched_duration},
// Open Claws
{open_speed, FALSE, stop_speed, TRUE, stop_speed, TRUE, ROBOT_STOP, tone_silenced_freq, robot_sched_duration},
// Close Claws (Grasp Object)
{close_speed, FALSE, stop_speed, TRUE, stop_speed, TRUE, ROBOT_STOP, tone_silenced_freq, robot_sched_duration},
// Unlock Claws
{stop_speed, FALSE, stop_speed, TRUE, stop_speed, TRUE, ROBOT_STOP, tone_silenced_freq, robot_sched_duration},
// Lock Claws
{stop_speed, TRUE, stop_speed, TRUE, stop_speed, TRUE, ROBOT_STOP, tone_silenced_freq, robot_sched_duration},
// Move-Object Behavior Actuation Outputs
// idle
{close_speed, TRUE, stop_speed, TRUE, stop_speed, TRUE, ROBOT_STOP, TONE_INHIBITED, TONE_INHIBITED},
// waiting
{close_speed, TRUE, stop_speed, TRUE, stop_speed, TRUE, ROBOT_STOP, tone_silenced_freq, robot_sched_duration},
// seeking
{close_speed, TRUE, seek_speed, TRUE, stop_speed, TRUE, ROBOT_SEEK, tone_silenced_freq, robot_sched_duration},
// follow
{close_speed, TRUE, fwd_speed, TRUE, fwd_speed, TRUE, ROBOT_FWD, tone_silenced_freq, robot_sched_duration}
};
//
// program initialization
//
nx_proginit();
nx_progtitle(title);
nx_systick_wait_ms(1000);
// configure sensors
configureSensor(&touchSensor, TOUCH, ONE);
configureSensor(&soundSensor, SOUND, TWO);
configureSensor(&lightSensor, LIGHT, FOUR);
light_led_enable(&lightSensor);
// Open-Claws Behavior and Grasp-Object Behavior initialization
touched.reading.touched=FALSE;
// force claw opening on init via Open-Claws behavior
claw_closed=TRUE; // claw closed boolean
claw_oldpos=0; // Initialize Old Position = 0 (default initial position after nx__motors_init)
claw_oldtstamp=0; // Initialize Claw Position Old Timestamp = 0
claw_movement= CLAW_STOPPED;
// initialize current tick
sched_tick=nx_systick_get_ms();
// initialize behavior_actuations
initActuatorStates(behavior_actuations, num_behaviors);
while(max_iterations--)
{
collect_samples(sampleSize, &lightSensor, light_readings, &soundSensor, sound_levels, NULL, NULL, NULL, NULL);
calc_min_max(light_readings, sampleSize, &light_min, &light_max);
calc_min_max(sound_levels, sampleSize, &sound_min, &sound_max);
getSensorReading(&touchSensor, &touched); // concerned about touched or not
get_claw_status(actuators, &claw_position, &claw_timestamp);
// turn off light to save energy if follow line is not supposed to work
if (touched.reading.touched==FALSE)
{
light_led_enable(&lightSensor);
}
else
{
light_led_disable(&lightSensor);
}
// dispatcher
bbr_idle(&tone_timestamp, &tone_active,
behavior_actuations, availableStates);
bbr_follow_line(&light_min, &light_max,
behavior_actuations, availableStates);
bbr_open_claws(&claw_movement, &touched, &claw_closed, &claw_timestamp, &claw_oldtstamp,
&claw_position, &claw_oldpos, ¤t_actuation,&actuators,
behavior_actuations, availableStates);
bbr_grasp_object(&claw_movement, &touched, &claw_closed, &claw_timestamp, &claw_oldtstamp,
&claw_position, &claw_oldpos, ¤t_actuation, &actuators,
behavior_actuations, availableStates);
bbr_move_object(&sound_min, &sound_max, &touched, claw_closed, &sound_following_state,
&sound_level_trigger,
behavior_actuations, availableStates);
// arbiters
arbiters(num_behaviors, &actuators, ¤t_actuation, behavior_actuations);
// actuators
controllers(&actuators, ¤t_actuation, &previous_actuation);
sleep_robot(&sched_tick, robot_sched_duration);
}
nx_progshutdown();
}
void main(void) {
int num_behaviors=6; // number of behaviors
U32 robot_sched_duration=100; // minimum time spent for each main loop (in ms)
char *title="Tribot"; // program title to display
U32 max_iterations=65536; // maximum number of iterations of main loop
U32 sched_tick=0; // store system timer for robot sleep
// Tone Control Constants
U32 tone_enabled_freq=2500; // Hz
U32 tone_silenced_freq=0; // Hz
U32 tone_enabled_dur=100; // ms
U32 tone_obstacle_freq=750; // Hz
// wheel control constants
S8 stop_speed=0;
S8 fwd_speed=30;
S8 fastrot_speed=40;
S8 slowrot_speed=20;
S8 seek_speed=30;
// Idle Behavior Variables
bool tone_active=FALSE;
U32 tone_timestamp=0;
// Follow Line Behavior Variables
U8 sampleSize=5;
SensorReading light_readings[sampleSize];
SensorReading light_min;
SensorReading light_max;
// Open-Claws Behavior and Grasp-Object Behavior Variables
SensorReading touched;
U32 claw_timestamp=0;
U32 claw_oldtstamp=0;
U32 claw_position=0;
U32 claw_oldpos=0;
bool claw_closed;
U8 claw_movement;
// Claw Control Constants
// Open and Close Speeds are directional (signed)
// WARNING: Be conservative with the Open and Close Speeds, since we
// run the motors until it hits the limiters and the Tachometer stops changing.
// Using too high a speed may pop the claw assembly!
S8 open_speed=10;
S8 close_speed=-20;
// Move-Object Behavior Variables
SensorReading sound_levels[sampleSize];
SensorReading sound_min;
SensorReading sound_max;
U8 sound_following_state=0;
U8 sound_level_trigger=0;
// Avoid Object behavior variables
bool obstacle_detected=FALSE;
bool obstacle_tone_active=FALSE;
U32 obstacle_tone_timestamp=0;
struct PID_Control pid;
SensorReading distance;
distance.reading.analog=0;
// Actuator Port Assignments
Actuators actuators;
setActuators(&actuators, ARM, RIGHT_WHEEL, LEFT_WHEEL );
// Sensor Port Assignments and configure
Sensor lightSensor, touchSensor, soundSensor, ulsSensor;
//current robot actuator state
ActuatorState current_actuation={MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, ROBOT_STOP, TONE_INHIBITED, TONE_INHIBITED};
//previous robot actuator state
ActuatorState previous_actuation={MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, ROBOT_STOP, TONE_INHIBITED, TONE_INHIBITED};
//behavior_actuations
ActuatorState behavior_actuations[num_behaviors];
//array of available states
ActuatorState availableStates[16]=
{
//bbr_behavior_inhibited
{MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, ROBOT_STOP, TONE_INHIBITED, TONE_INHIBITED},
//bbr_idle_on
{MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, ROBOT_STOP, tone_enabled_freq, tone_enabled_dur},
//bbr_idle_off
{MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, ROBOT_STOP, tone_silenced_freq, tone_enabled_dur},
//bbr_follow_line_black
{MOTOR_INHIBITED_BYTE, FALSE, fwd_speed, FALSE, fwd_speed, FALSE, ROBOT_FWD, tone_silenced_freq, robot_sched_duration},
//bbr_follow_line_edge
{MOTOR_INHIBITED_BYTE, FALSE, slowrot_speed, FALSE, stop_speed, FALSE, ROBOT_CCW, tone_silenced_freq, robot_sched_duration},
//bbr_follow_line_white
{MOTOR_INHIBITED_BYTE, FALSE, stop_speed, FALSE, fastrot_speed, FALSE, ROBOT_CW, tone_silenced_freq, robot_sched_duration},
// Open Claws
{open_speed, FALSE, stop_speed, TRUE, stop_speed, TRUE, ROBOT_STOP, tone_silenced_freq, robot_sched_duration},
// Close Claws (Grasp Object)
{close_speed, FALSE, stop_speed, TRUE, stop_speed, TRUE, ROBOT_STOP, tone_silenced_freq, robot_sched_duration},
// Unlock Claws
{stop_speed, FALSE, stop_speed, TRUE, stop_speed, TRUE, ROBOT_STOP, tone_silenced_freq, robot_sched_duration},
// Lock Claws
{stop_speed, TRUE, stop_speed, TRUE, stop_speed, TRUE, ROBOT_STOP, tone_silenced_freq, robot_sched_duration},
// Move-Object Behavior Actuation Outputs
// idle
{close_speed, TRUE, stop_speed, TRUE, stop_speed, TRUE, ROBOT_STOP, TONE_INHIBITED, TONE_INHIBITED},
// waiting
{close_speed, TRUE, stop_speed, TRUE, stop_speed, TRUE, ROBOT_STOP, tone_silenced_freq, robot_sched_duration},
// seeking
{close_speed, TRUE, seek_speed, TRUE, stop_speed, TRUE, ROBOT_SEEK, tone_silenced_freq, robot_sched_duration},
// follow
{close_speed, TRUE, fwd_speed, TRUE, fwd_speed, TRUE, ROBOT_FWD, tone_silenced_freq, robot_sched_duration},
// Avoid-Obstacle Behavior Actuation Outputs
// avoid obstacle template, tone on
{MOTOR_INHIBITED_BYTE, TRUE, stop_speed, TRUE, stop_speed, TRUE, ROBOT_AVOID, tone_obstacle_freq, tone_enabled_dur},
// avoid obstacle template, tone off
{MOTOR_INHIBITED_BYTE, TRUE, MOTOR_INHIBITED_BYTE, TRUE, stop_speed, TRUE, ROBOT_AVOID, tone_silenced_freq, tone_enabled_dur}
};
//
// program initialization
//
nx_proginit();
nx_progtitle(title);
nx_systick_wait_ms(1000);
// configure sensors
configureSensor(&touchSensor, TOUCH, ONE);
configureSensor(&soundSensor, SOUND, TWO);
configureSensor(&ulsSensor, RADAR, THREE);
configureSensor(&lightSensor, LIGHT, FOUR);
light_led_enable(&lightSensor);
// Open-Claws Behavior and Grasp-Object Behavior initialization
touched.reading.touched=FALSE;
// force claw opening on init via Open-Claws behavior
claw_closed=TRUE; // claw closed boolean
claw_oldpos=0; // Initialize Old Position = 0 (default initial position after nx__motors_init)
claw_oldtstamp=0; // Initialize Claw Position Old Timestamp = 0
claw_movement= CLAW_STOPPED;
// Avoid-Obstacle Behavior initialization
distance.reading.analog=RADAR_DIST_ERR; // initialize to unknown distance
obstacle_tone_active=FALSE;
obstacle_detected=FALSE;
// PID Configuration Parameters
// FIXME: Need to be changed to actual values
// KP, KI, KD have the range of 16-bit integer values [MIN_SHORT,MAX_SHORT]
// This is multiplied by alpha to give 32-bit resolution values
// alphaKP, alphaKI, alphaKD BEFORE initializing the PID Controller
// The value of alpha is 2^SCALING_SHIFT, where SCALING_SHIFT is 16
// which gives alpha = 65536
//
// Applying Kc = 3, T = 100 ms, Pc = 1 s, alpha = 65536
//#define KP 127795 // alphaKP = alpha x 0.65 x Kc = 127795
//#define KI 25559 // alphaKI = alpha x Kp x T / (0.5 x Pc) = 25559
//#define KD 153354 // alphaKD = alpha x Kp x 0.12 x Pc / T = 153354
//#define STEADY_STATE_THRESHOLD 1 // 0 = disabled, !0 = Stop PID Controller after x iterations
// init pid
initPID(&pid, 127795, 25559, 153354, 1);
// initialize current tick
sched_tick=nx_systick_get_ms();
// initialize behavior_actuations
initActuatorStates(behavior_actuations, num_behaviors);
while(max_iterations--)
{
collect_samples(sampleSize, &lightSensor, light_readings, &soundSensor, sound_levels, NULL, NULL, NULL, NULL);
calc_min_max(light_readings, sampleSize, &light_min, &light_max);
calc_min_max(sound_levels, sampleSize, &sound_min, &sound_max);
getSensorReading(&touchSensor, &touched); // concerned about touched or not
getSensorReading(&ulsSensor, &distance); // concerned about range in cm
get_claw_status(actuators, &claw_position, &claw_timestamp);
// turn off light to save energy if follow line is not supposed to work
if (touched.reading.touched==FALSE)
{
light_led_enable(&lightSensor);
}
else
{
light_led_disable(&lightSensor);
}
// dispatcher
bbr_idle(&tone_timestamp, &tone_active,
behavior_actuations, availableStates);
bbr_follow_line(&light_min, &light_max,
behavior_actuations, availableStates);
bbr_open_claws(&claw_movement, &touched, &claw_closed, &claw_timestamp, &claw_oldtstamp,
&claw_position, &claw_oldpos, ¤t_actuation,&actuators,
behavior_actuations, availableStates);
bbr_grasp_object(&claw_movement, &touched, &claw_closed, &claw_timestamp, &claw_oldtstamp,
&claw_position, &claw_oldpos, ¤t_actuation, &actuators,
behavior_actuations, availableStates);
bbr_move_object(&sound_min, &sound_max, &touched, claw_closed, &sound_following_state,
&sound_level_trigger,
behavior_actuations, availableStates);
bbr_avoid_obstacle(&obstacle_detected, &distance, &obstacle_tone_timestamp, &obstacle_tone_active, &pid, &actuators,
behavior_actuations, availableStates);
// arbiters
arbiters(num_behaviors, &actuators, ¤t_actuation, behavior_actuations);
// actuators
controllers(&actuators, ¤t_actuation, &previous_actuation);
sleep_robot(&sched_tick, robot_sched_duration);
}
nx_progshutdown();
}