// This method will do the main data processing job.
coredata::dmcp::ModuleExitCodeMessage::ModuleExitCode Overtaker::body() {
const int32_t ULTRASONIC_FRONT_CENTER = 3;
const int32_t ULTRASONIC_FRONT_RIGHT = 4;
const int32_t INFRARED_FRONT_RIGHT = 0;
const int32_t INFRARED_REAR_RIGHT = 2;
const double OVERTAKING_DISTANCE = 5.5;
const double HEADING_PARALLEL = 0.04;
// Overall state machines for moving and measuring.
enum StateMachineMoving { FORWARD, TO_LEFT_LANE_LEFT_TURN, TO_LEFT_LANE_RIGHT_TURN, CONTINUE_ON_LEFT_LANE, TO_RIGHT_LANE_RIGHT_TURN, TO_RIGHT_LANE_LEFT_TURN };
enum StateMachineMeasuring { DISABLE, FIND_OBJECT_INIT, FIND_OBJECT, FIND_OBJECT_PLAUSIBLE, HAVE_BOTH_IR, HAVE_BOTH_IR_SAME_DISTANCE, END_OF_OBJECT };
StateMachineMoving stageMoving = FORWARD;
StateMachineMeasuring stageMeasuring = FIND_OBJECT_INIT;
// State counter for dynamically moving back to right lane.
int32_t stageToRightLaneRightTurn = 0;
int32_t stageToRightLaneLeftTurn = 0;
// Distance variables to ensure we are overtaking only stationary or slowly driving obstacles.
double distanceToObstacle = 0;
double distanceToObstacleOld = 0;
while (getModuleStateAndWaitForRemainingTimeInTimeslice() == coredata::dmcp::ModuleStateMessage::RUNNING) {
// 1. Get most recent vehicle data:
Container containerVehicleData = getKeyValueDataStore().get(Container::VEHICLEDATA);
VehicleData vd = containerVehicleData.getData<VehicleData> ();
// 2. Get most recent sensor board data:
Container containerSensorBoardData = getKeyValueDataStore().get(Container::USER_DATA_0);
SensorBoardData sbd = containerSensorBoardData.getData<SensorBoardData> ();
// Create vehicle control data.
VehicleControl vc;
// Moving state machine.
if (stageMoving == FORWARD) {
// Go forward.
vc.setSpeed(2);
vc.setSteeringWheelAngle(0);
stageToRightLaneLeftTurn = 0;
stageToRightLaneRightTurn = 0;
}
else if (stageMoving == TO_LEFT_LANE_LEFT_TURN) {
// Move to the left lane: Turn left part until both IRs see something.
vc.setSpeed(1);
vc.setSteeringWheelAngle(-25);
// State machine measuring: Both IRs need to see something before leaving this moving state.
stageMeasuring = HAVE_BOTH_IR;
stageToRightLaneRightTurn++;
}
else if (stageMoving == TO_LEFT_LANE_RIGHT_TURN) {
// Move to the left lane: Turn right part until both IRs have the same distance to obstacle.
vc.setSpeed(1);
vc.setSteeringWheelAngle(25);
// State machine measuring: Both IRs need to have the same distance before leaving this moving state.
stageMeasuring = HAVE_BOTH_IR_SAME_DISTANCE;
stageToRightLaneLeftTurn++;
}
else if (stageMoving == CONTINUE_ON_LEFT_LANE) {
// Move to the left lane: Passing stage.
vc.setSpeed(2);
vc.setSteeringWheelAngle(0);
// Find end of object.
stageMeasuring = END_OF_OBJECT;
}
else if (stageMoving == TO_RIGHT_LANE_RIGHT_TURN) {
// Move to the right lane: Turn right part.
vc.setSpeed(1.5);
vc.setSteeringWheelAngle(25);
stageToRightLaneRightTurn--;
if (stageToRightLaneRightTurn == 0) {
stageMoving = TO_RIGHT_LANE_LEFT_TURN;
}
}
else if (stageMoving == TO_RIGHT_LANE_LEFT_TURN) {
// Move to the left lane: Turn left part.
vc.setSpeed(.9);
vc.setSteeringWheelAngle(-25);
stageToRightLaneLeftTurn--;
if (stageToRightLaneLeftTurn == 0) {
// Start over.
stageMoving = FORWARD;
stageMeasuring = FIND_OBJECT_INIT;
distanceToObstacle = 0;
distanceToObstacleOld = 0;
}
}
// Measuring state machine.
if (stageMeasuring == FIND_OBJECT_INIT) {
distanceToObstacleOld = sbd.getValueForKey_MapOfDistances(ULTRASONIC_FRONT_CENTER);
stageMeasuring = FIND_OBJECT;
}
else if (stageMeasuring == FIND_OBJECT) {
distanceToObstacle = sbd.getValueForKey_MapOfDistances(ULTRASONIC_FRONT_CENTER);
// Approaching an obstacle (stationary or driving slower than us).
if ( (distanceToObstacle > 0) && (((distanceToObstacleOld - distanceToObstacle) > 0) || (fabs(distanceToObstacleOld - distanceToObstacle) < 1e-2)) ) {
// Check if overtaking shall be started.
stageMeasuring = FIND_OBJECT_PLAUSIBLE;
}
distanceToObstacleOld = distanceToObstacle;
}
else if (stageMeasuring == FIND_OBJECT_PLAUSIBLE) {
if (sbd.getValueForKey_MapOfDistances(ULTRASONIC_FRONT_CENTER) < OVERTAKING_DISTANCE) {
stageMoving = TO_LEFT_LANE_LEFT_TURN;
// Disable measuring until requested from moving state machine again.
stageMeasuring = DISABLE;
}
else {
stageMeasuring = FIND_OBJECT;
}
}
else if (stageMeasuring == HAVE_BOTH_IR) {
// Remain in this stage until both IRs see something.
if ( (sbd.getValueForKey_MapOfDistances(INFRARED_FRONT_RIGHT) > 0) && (sbd.getValueForKey_MapOfDistances(INFRARED_REAR_RIGHT) > 0) ) {
// Turn to right.
stageMoving = TO_LEFT_LANE_RIGHT_TURN;
}
}
else if (stageMeasuring == HAVE_BOTH_IR_SAME_DISTANCE) {
// Remain in this stage until both IRs have the similar distance to obstacle (i.e. turn car)
// and the driven parts of the turn are plausible.
const double IR_FR = sbd.getValueForKey_MapOfDistances(INFRARED_FRONT_RIGHT);
const double IR_RR = sbd.getValueForKey_MapOfDistances(INFRARED_REAR_RIGHT);
if ((fabs(IR_FR - IR_RR) < HEADING_PARALLEL) && ((stageToRightLaneLeftTurn - stageToRightLaneRightTurn) > 0)) {
// Straight forward again.
stageMoving = CONTINUE_ON_LEFT_LANE;
}
}
else if (stageMeasuring == END_OF_OBJECT) {
// Find end of object.
distanceToObstacle = sbd.getValueForKey_MapOfDistances(ULTRASONIC_FRONT_RIGHT);
if (distanceToObstacle < 0) {
// Move to right lane again.
stageMoving = TO_RIGHT_LANE_RIGHT_TURN;
// Disable measuring until requested from moving state machine again.
stageMeasuring = DISABLE;
}
}
// Create container for finally sending the data.
Container c(Container::VEHICLECONTROL, vc);
// Send container.
getConference().send(c);
}
return coredata::dmcp::ModuleExitCodeMessage::OKAY;
}
// This method will do the main data processing job.
coredata::dmcp::ModuleExitCodeMessage::ModuleExitCode BoxParker::body() {
double distanceOld = 0;
double absPathStart = 0;
double absPathEnd = 0;
int stageMoving = 0;
int stageMeasuring = 0;
while (getModuleStateAndWaitForRemainingTimeInTimeslice() == coredata::dmcp::ModuleStateMessage::RUNNING) {
// 1. Get most recent vehicle data:
Container containerVehicleData = getKeyValueDataStore().get(Container::VEHICLEDATA);
VehicleData vd = containerVehicleData.getData<VehicleData> ();
// 2. Get most recent sensor board data describing virtual sensor data:
Container containerSensorBoardData = getKeyValueDataStore().get(Container::USER_DATA_0);
SensorBoardData sbd = containerSensorBoardData.getData<SensorBoardData> ();
// Create vehicle control data.
VehicleControl vc;
// Moving state machine.
if (stageMoving == 0) {
// Go forward.
vc.setSpeed(1);
vc.setSteeringWheelAngle(0);
}
if ((stageMoving > 0) && (stageMoving < 20)) {
// Move slightly forward.
vc.setSpeed(1);
vc.setSteeringWheelAngle(0);
stageMoving++;
}
if ((stageMoving >= 20) && (stageMoving < 25)) {
// Stop.
vc.setSpeed(0);
vc.setSteeringWheelAngle(0);
stageMoving++;
}
if ((stageMoving >= 25) && (stageMoving < 80)) {
// Backwards, steering wheel to the right.
vc.setSpeed(-2);
vc.setSteeringWheelAngle(25);
stageMoving++;
}
if (stageMoving >= 80) {
// Stop.
vc.setSpeed(0);
vc.setSteeringWheelAngle(0);
stageMoving++;
}
if (stageMoving >= 150) {
// End component.
break;
}
// Measuring state machine.
switch (stageMeasuring) {
case 0:
{
// Initialize measurement.
distanceOld = sbd.getValueForKey_MapOfDistances(2);
stageMeasuring++;
}
break;
case 1:
{
// Checking for distance sequence +, -.
if ((distanceOld > 0) && (sbd.getValueForKey_MapOfDistances(2) < 0)) {
// Found distance sequence +, -.
stageMeasuring = 2;
absPathStart = vd.getAbsTraveledPath();
}
distanceOld = sbd.getValueForKey_MapOfDistances(2);
}
break;
case 2:
{
// Checking for distance sequence -, +.
if ((distanceOld < 0) && (sbd.getValueForKey_MapOfDistances(2) > 0)) {
// Found distance sequence -, +.
stageMeasuring = 1;
absPathEnd = vd.getAbsTraveledPath();
const double GAP_SIZE = (absPathEnd - absPathStart);
cerr << "Size = " << GAP_SIZE << endl;
m_foundGaps.push_back(GAP_SIZE);
if ((stageMoving < 1) && (GAP_SIZE > 3.5)) {
stageMoving = 1;
}
}
distanceOld = sbd.getValueForKey_MapOfDistances(2);
}
break;
}
// Create container for finally sending the data.
Container c(Container::VEHICLECONTROL, vc);
// Send container.
getConference().send(c);
}
return coredata::dmcp::ModuleExitCodeMessage::OKAY;
}
// This method will do the main data processing job.
ModuleState::MODULE_EXITCODE Driver::body() {
std::ofstream myFile("sensors.bin", ios::binary);
while (getModuleState() == ModuleState::RUNNING) {
// In the following, you find example for the various data sources that are available:
// 1. Get most recent vehicle data:
Container containerVehicleData = getKeyValueDataStore().get(Container::VEHICLEDATA);
VehicleData vd = containerVehicleData.getData<VehicleData> ();
// cerr << "Most recent vehicle data: '" << vd.toString() << "'" << endl;
// 2. Get most recent sensor board data:
Container containerSensorBoardData = getKeyValueDataStore().get(Container::USER_DATA_0);
SensorBoardData sbd = containerSensorBoardData.getData<SensorBoardData> ();
timeval time;
string test;
stringstream teststream;
double val = sbd.getDistance(0);
myFile.write((char*)&val, sizeof(val));
val = sbd.getDistance(1);
myFile.write((char*)&val, sizeof(val));
val = sbd.getDistance(2);
myFile.write((char*)&val, sizeof(val));
val = sbd.getDistance(3);
myFile.write((char*)&val, sizeof(val));
val = sbd.getDistance(4);
myFile.write((char*)&val, sizeof(val));
gettimeofday(&time, NULL);
unsigned long millis = (time.tv_usec / 1000);
teststream << millis;
if (millis < 10){
test = remove_letter(currentDateTime(), ':') + "00" + teststream.str();
}
else if (millis < 100 and millis >= 10) {
test = remove_letter(currentDateTime(), ':') + "0" + teststream.str();
}
else {
test = remove_letter(currentDateTime(), ':') + teststream.str();
}
cerr << test << endl;
int timestamp;
timestamp = atoi(test.c_str());
myFile.write((char*)×tamp, sizeof(timestamp));
// 3. Get most recent user button data:
Container containerUserButtonData = getKeyValueDataStore().get(Container::USER_BUTTON);
UserButtonData ubd = containerUserButtonData.getData<UserButtonData> ();
// cerr << "Most recent user button data: '" << ubd.toString() << "'" << endl;
// 4. Get most recent steering data as fill from lanedetector for example:
Container containerSteeringData = getKeyValueDataStore().get(Container::USER_DATA_1);
SteeringData sd = containerSteeringData.getData<SteeringData> ();
// cerr << "Most recent steering data: '" << sd.toString() << "'" << endl;
// Design your control algorithm here depending on the input data from above.
// Create vehicle control data.
VehicleControl vc;
// With setSpeed you can set a desired speed for the vehicle in the range of -2.0 (backwards) .. 0 (stop) .. +2.0 (forwards)
vc.setSpeed(1.5);
// With setSteeringWheelAngle, you can steer in the range of -26 (left) .. 0 (straight) .. +25 (right)
double desiredSteeringWheelAngle = 0; // 4 degree but SteeringWheelAngle expects the angle in radians!
vc.setSteeringWheelAngle(desiredSteeringWheelAngle * Constants::DEG2RAD);
// You can also turn on or off various lights:
vc.setBrakeLights(false);
vc.setLeftFlashingLights(false);
vc.setRightFlashingLights(true);
// Create container for finally sending the data.
Container c(Container::VEHICLECONTROL, vc);
// Send container.
getConference().send(c);
}
myFile.close();
return ModuleState::OKAY;
}
