/**
* @brief DetermineAction
*
* Calculate the power of left and right motors, by determining the actions
* of the cat
*
* @param beaconToFollow - id of the beacon for the cat to follow
* @param lPow - power of left motor
* @param rPow - power of right motor
* @param state - state of the robot relating to wall bypassing
*/
void DetermineAction(int beaconToFollow, double *lPow, double *rPow, int *state)
{
static int counter=0;
static float CollisionOrientation = 0.0;
bool beaconReady;
static struct beaconMeasure beacon; // beacon sensor
static float left; //value of frontal left sonar sensor
static float right; //value of frontal rigth sonar sensor
static float center; //value of frontal center sonar sensor
//static int Ground;
static bool Collision;// collision sensor
static float Compass; //compass sensor
// SENSORS ACCESS
/*Access to values from Sensors - Only ReadSensors() gets new values */
if(IsObstacleReady(LEFT))
left= GetObstacleSensor(LEFT);
if(IsObstacleReady(RIGHT))
right= GetObstacleSensor(RIGHT);
if(IsObstacleReady(CENTER))
center= GetObstacleSensor(CENTER);
beaconReady = IsBeaconReady(beaconToFollow);
if(beaconReady) {
beacon = GetBeaconSensor(beaconToFollow);
}
else beaconReady=0;
//if(IsGroundReady())
// Ground= GetGroundSensor();
if(IsBumperReady())
Collision= GetBumperSensor();
if(IsCompassReady()){
Compass= GetCompassSensor();
}
if(beaconReady){
if(beacon.beaconVisible){
if(center < 3.0){
if(beacon.beaconDir > 20.0 && left < 4.0){
*lPow=0.0;
*rPow=0.1;
*state = RUNNING;
}
else if(beacon.beaconDir < -20.0 && right < 4.0){
*lPow=0.1;
*rPow=0.0;
*state = RUNNING;
}
else { /* Full Speed Ahead */
*lPow=0.1;
*rPow=0.1;
}
counter++;
return;
}
}
}
if(center>3.0 || right> 4.0 || left>4.0 || Collision) { /* Close Obstacle - Rotate */
if(right < left) {
*lPow=0.06;
*rPow=-0.06;
if(*state != BYPASSING_RIGTH){
CollisionOrientation = Compass;
*state = BYPASSING_RIGTH;
}
} else {
*lPow=-0.06;
*rPow=0.06;
if(*state != BYPASSING_LEFT){
CollisionOrientation = Compass;
*state = BYPASSING_LEFT;
}
}
} else if(*state == BYPASSING_RIGTH && left>3.0){ // if its still bypassing an obstacle through the right side
if(left < 3.5 ){
*lPow=0.05;
*rPow=0.07;
} else if(left > 3.7 ){
*lPow=0.07;
*rPow=0.05;
} else {
*lPow=0.05;
*rPow=0.05;
}
} else if(*state == BYPASSING_LEFT && right>3.0){ // if its still bypassing an obstacle through the left side
if(right < 3.5 ){
*lPow=0.07;
*rPow=0.05;
} else if(right > 3.7 ){
*lPow=0.05;
*rPow=0.07;
} else {
*lPow=0.05;
*rPow=0.05;
}
} else {
if(*state != RUNNING){
//difference between orientation when approached an obstacle and current one
float diff = Compass - CollisionOrientation;
if(diff < 10 && diff > -10){
*state = RUNNING;
}
}
if(*state == BYPASSING_LEFT){
*lPow=0.07;
*rPow=0.01;
}
else if(*state == BYPASSING_RIGTH){
*lPow=0.01;
*rPow=0.07;
}
else { /* Full Speed Ahead */
*lPow=0.1;
*rPow=0.1;
}
}
counter++;
}
int main(int argc, char *argv[])
{
char cfg[MAX_FILE_NAME_SIZE]="config.json";
float lPow,rPow;
int state=STOP, stoppedState=RUN;
int beaconToFollow=0;
int ret = 0;
rob_cfg_t rob_cfg;
rob_state_t rob_state;
struct beaconMeasure beacon;
int totalBeacons = 0,curGroundSensor = -1;
double elapsed1 = 0.0, elapsed2 = 0.0, realTotal = 0.0;
struct timeval t1, t2, t3;
bool firstTimeStart = 1;
memset(&rob_state, 0, sizeof(rob_state_t));
/* processing arguments */
while (argc > 2)
{
if (strcmp(argv[1], "-cfg") == 0)
{
strncpy(cfg, argv[2], 99);
cfg[MAX_FILE_NAME_SIZE-1]='\0';
}
else
{
break; /* the while */
}
argc -= 2;
argv += 2;
}
cfg_parser_parse(cfg, &rob_cfg);
// int i;
// for(i = 0; i < rob_cfg.rob_viewer_size; i++)
// printf("Viewer: %s:%d\n", rob_cfg.rob_viewers[i].hostname, rob_cfg.rob_viewers[i].port);
InitJoystick(rob_cfg.joys_dev);
cfg_parser_connect_viewers(&rob_cfg);
/* Connect Robot to simulator */
if( InitRobot(rob_cfg.robo_name, rob_cfg.robo_pos, rob_cfg.hostname) == -1)
{
ret = 1;
printf( "%s Failed to connect\n", rob_cfg.robo_name);
}
else
{
totalBeacons = GetNumberOfBeacons();
printf( "Connected: %s, Total beacons: %d\n", rob_cfg.robo_name, totalBeacons);
state=STOP;
while(1)
{
/* Reading next values from Sensors */
ReadSensors();
if(GetFinished()) /* Simulator has received Finish() or Robot Removed */
{
printf( "Exiting: %s\n", rob_cfg.robo_name );
state = FINISHED;
gettimeofday(&t3, NULL);
elapsed2 = _get_elapsed_secs(&t2, &t3);
realTotal = _get_elapsed_secs(&t1, &t3);
printf("to beacon | to start | total | real total\n");
printf("& %.2f & %.2f & %.2f & %.2f \n", elapsed1, elapsed2, elapsed1 + elapsed2, realTotal);
break;
}
if(state==STOP && GetStartButton())
{
state=stoppedState; /* Restart */
if( firstTimeStart )
{
firstTimeStart = 0;
printf("Started counting elapsed time\n");
gettimeofday(&t1, NULL);
}
}
if(state!=STOP && GetStopButton()) {
stoppedState=state;
state=STOP; /* Interrupt */
}
curGroundSensor = GetGroundSensor();
switch (state)
{
case RUN: /* Go */
if( GetVisitingLed() )
{
gettimeofday(&t2, NULL);
elapsed1 = _get_elapsed_secs(&t1, &t2);
printf("Elapsed from origin to beacon: %f\n", elapsed1);
state = WAIT;
DriveMotors(0.0,0.0);
}
else
{
if( curGroundSensor == beaconToFollow )
{
beaconToFollow++;
SetVisitingLed(1);
printf("%s visited target at %d\n", rob_cfg.robo_name, GetTime());
}
else {
DetermineAction(beaconToFollow, &lPow, &rPow);
DriveMotors(lPow, rPow);
}
}
break;
case RETURN: /* Go */
if( curGroundSensor == totalBeacons )
{
printf("%s found home at %d\n", rob_cfg.robo_name, GetTime());
Finish();
}
else {
DetermineAction(beaconToFollow, &lPow, &rPow);
DriveMotors(lPow, rPow);
}
break;
case WAIT: /* Wait for others to visit target */
if(GetReturningLed())
{
SetVisitingLed(0);
state = RETURN;
gettimeofday(&t2, NULL);
}
DriveMotors(0.0,0.0);
break;
}
//Say(rob_cfg.robo_name);
rob_state.state = state;
if( (rob_state.leftAvail = IsObstacleReady(LEFT)) )
rob_state.left = GetObstacleSensor(LEFT);
if( (rob_state.rightAvail = IsObstacleReady(RIGHT)) )
rob_state.right = GetObstacleSensor(RIGHT);
if( (rob_state.centerAvail = IsObstacleReady(CENTER)) )
rob_state.center = GetObstacleSensor(CENTER);
if(IsGPSReady())
{
rob_state.x = GetX();
rob_state.y = GetY();
}
// if( IsGPSDirReady() )
// rob_state.dir = GetDir();
if( IsCompassReady() )
rob_state.dir = GetCompassSensor();
if( ( rob_state.beaconVis = IsBeaconReady(beaconToFollow) ) )
{
beacon = GetBeaconSensor(beaconToFollow);
if( ( rob_state.beaconVis = beacon.beaconVisible ) )
rob_state.beaconDir = beacon.beaconDir;
}
send_all_viewer_state_message(&rob_cfg, &rob_state);
RequestCompassSensor();
//Request Sensors for next cycle
if(GetTime() % 2 == 0) {
RequestObstacleSensor(CENTER);
if( (GetTime() % 8) == 0
|| beaconToFollow == totalBeacons )
RequestGroundSensor();
else
RequestBeaconSensor(beaconToFollow);
}
else {
RequestSensors(2, "IRSensor1", "IRSensor2");
}
}
send_all_viewer_state_message(&rob_cfg, &rob_state);
}
printf("Doing cleanup: %s\n", rob_cfg.robo_name);
CloseAndFreeJoystick();
cfg_parser_close(&rob_cfg);
return ret;
}
/* Calculate the power of left and right motors */
void DetermineMouseAction(double *lPow, double *rPow, int *, RobotMap *map,externalRobot *robots)
{
static int counter=0;
static float left; //value of frontal left sonar sensor
static float right; //value of frontal rigth sonar sensor
static float center; //value of frontal center sonar sensor
static bool Collision;// collision sensor
static float Compass = 0; //compass sensor
static float X = -1; // GPS x value
static float Y = -1; //GPS yvalue
// SENSORS ACCESS
/*Access to values from Sensors - Only ReadSensors() gets new values */
if(IsObstacleReady(LEFT))
left= GetObstacleSensor(LEFT);
if(IsObstacleReady(RIGHT))
right= GetObstacleSensor(RIGHT);
if(IsObstacleReady(CENTER))
center= GetObstacleSensor(CENTER);
if(IsBumperReady())
Collision= GetBumperSensor();
if(IsCompassReady()){
Compass= GetCompassSensor();
//printf("orientation %f\n", Compass);
}
if(IsGPSReady()){
if(X < 0 || Y < 0){
map->setOffset(GetX(),GetY());
}
X= GetX();
Y= GetY();
}
float multiplier[8] = {1,1,1,1,1,1,1,1};
if(center>3.0 || right> 4.0 || left>4.0 || Collision) { /* Close Obstacle - Rotate */
if(right < left) {
*lPow=0.06;
*rPow=-0.06;
} else {
*lPow=-0.06;
*rPow=0.06;
}
} else {
if(left > 1.0){
//give a penalty on score if theres an obstacle on the left side
multiplier[side_frontleft] = multiplier[side_left] = multiplier[side_backleft] = 1/left;
}
if(right > 1.0){
//give a penalty on score if theres an obstacle on the right side
multiplier[side_frontright] = multiplier[side_right] = multiplier[side_backright] = 1/right;
}
if(center > 1.0){
//give a penalty on score if theres an obstacle on the front
multiplier[side_frontright] = multiplier[side_frontleft] = multiplier[side_front] = 1.25/right;
}
//always favor going to front to avoid slowing down
multiplier[side_frontright] *= 1.25;
multiplier[side_frontleft] *= 1.25;
multiplier[side_front] *= 1.25;
float orientations[8] = {Compass,Compass + 45,Compass + 90,Compass + 135,Compass + 180,
Compass - 135,Compass - 90,Compass - 45};
float distance = 2;
float score[8];
float maxScore = 0;
int maxScoreSide = 0;
for(int i=0;i<8;++i){
float x= X + distance * cos(M_PI * orientations[i] / 180);
float y= Y + distance * sin(M_PI * orientations[i] / 180);
if(i == side_front){
double val = map->getValue(x,y);
if(center < 2.0){
val += 0.2;
map->setValue(x,y,(val > 1.0)?1.0:val);
} else {
val -= 0.2;
map->setValue(x,y,(val < 0.0)?0.0:val);
}
} else if(i == side_frontleft){
double val = map->getValue(x,y);
if(left < 2.0){
val += 0.2;
map->setValue(x,y,(val > 1.0)?1.0:val);
} else {
val -= 0.2;
map->setValue(x,y,(val < 0.0)?0.0:val);
}
}else if(i == side_frontright){
double val = map->getValue(x,y);
if(right < 2.0){
val += 0.2;
map->setValue(x,y,(val > 1.0)?1.0:val);
} else {
val -= 0.2;
map->setValue(x,y,(val < 0.0)?0.0:val);
}
}
float points = 0;
for(int j=0;j<5;++j){
if(robots[j].isCat){
points += negamax(x,y,robots[j].x,robots[j].y);
}
}
multiplier[i] -= penaltyScore(map,x,y);
points *= multiplier[i];
score[i] = points;
if(i==0){
maxScore = points;
} else if(points > maxScore){
maxScore = points;
maxScoreSide = i;
}
}
switch (maxScoreSide) {
case side_front:
*lPow=0.1;
*rPow=0.1;
break;
case side_frontleft:
*lPow=0.08;
*rPow=0.1;
break;
case side_left:
*lPow=0.03;
*rPow=0.1;
break;
case side_backleft:
*lPow=-0.02;
*rPow=0.1;
break;
case side_back:
if(score[3] > score[5]){
*lPow=-0.1;
*rPow=0.1;
} else {
*lPow=0.1;
*rPow=-0.1;
}
break;
case side_backright:
*rPow=-0.02;
*lPow=0.1;
break;
case side_right:
*rPow=0.03;
*lPow=0.1;
break;
case side_frontright:
*rPow=0.08;
*lPow=0.1;
break;
default:
break;
}
}
counter++;
}
/* Calculate the power of left and right motors */
void DetermineAction(int beaconToFollow, float *lPow, float *rPow)
{
static int counter=0;
bool beaconReady;
static struct beaconMeasure beacon;
static float left, right, center;
static int Ground;
static bool Collision;
static float Compass;
/*Access to values from Sensors - Only ReadSensors() gets new values */
//Calcula a distancia
if(IsObstacleReady(LEFT))
left= GetObstacleSensor(LEFT);
if(IsObstacleReady(RIGHT))
right= GetObstacleSensor(RIGHT);
if(IsObstacleReady(CENTER))
center= GetObstacleSensor(CENTER);
beaconReady = IsBeaconReady(beaconToFollow);
if(beaconReady) {
beacon = GetBeaconSensor(beaconToFollow);
}
else beaconReady=0;
if(IsGroundReady())
Ground= GetGroundSensor();
if(IsBumperReady())
Collision= GetBumperSensor();
if(IsCompassReady())
Compass= GetCompassSensor();
/*
if(Collision) {
if(counter % 600 < 300) {
*lPow=0.06;
*rPow=-0.06; }
else {
*lPow=-0.06;
*rPow=0.06; }
}else if(center > 8){
if(counter % 600 < 300) {
*lPow=0.06;
*rPow=0.03; }
else {
*lPow=0.03;
*rPow=0.06; }
}
else if(right>3) {
*lPow=0.01;
*rPow=0.03;
}
else if(left>3) {
*lPow=0.03;
*rPow=0.01;
}
else {
if(beaconReady && beacon.beaconVisible && beacon.beaconDir>20.0) {
*lPow=0.0;
*rPow=0.3;
}
else if(beaconReady && beacon.beaconVisible && beacon.beaconDir<-20.0) {
*lPow=0.3;
*rPow=0.0;
}
else {
*lPow=0.1;
*rPow=0.1;
}
}*/
//if(Collision &&
if(center>4.5||Collision) { /* Close Obstacle - Rotate */
/*if(center>4.5){
if(Compass < -90 && Compass > 90){
*lPow=-0.05;
*rPow=0.05;
}else{
*lPow=0.05;
*rPow=-0.05;
}
}else{*/
if(counter % 400 < 200) {
*lPow=0.05;
*rPow=-0.05; }
else {
*lPow=-0.05;
*rPow=0.05; }
//}
counter++;
return;
}
if(beaconReady && beacon.beaconVisible && beacon.beaconDir>20.0) { /* turn to Beacon */
*lPow=0.0;
*rPow=beacon.beaconDir*0.08;
}
else if(beaconReady && beacon.beaconVisible && beacon.beaconDir<-20.0) {
*lPow=-(beacon.beaconDir*0.08);
*rPow=0.0;
} else if(beaconReady && beacon.beaconVisible ) {
*lPow=0.1;
*rPow=0.1;
}
/*else if(center > 2){
if(r == -10.0){
r = ((rand() % 10)-5)*0.1;
counter++;
return;
}
}*/else
if(center > 1 && right > 2.0){
*lPow=0.03;
*rPow=0.1;
counter++;
return;
}else if(center > 1 && left > 4.0){
*lPow=0.1;
*rPow=0.03;
counter++;
return;
}else /*if(center > 2 && right > 4.0 && Compass < -90 && Compass > 90){
*lPow=0.1;
*rPow=0.07;
}else if(center > 2 && left > 4.0 && (Compass >= -90 || Compass <= 90)){
*lPow=0.07;
*rPow=0.1;
}else*/
if(right>4) {
*lPow=-0.04;
*rPow=0.04;
}
else if(left>4) {
*lPow=0.04;
*rPow=-0.04;
}else if(right>1.5) {
*lPow=0.0;
*rPow=0.1;
}
else if(left>1.5) {
*lPow=0.1;
*rPow=0.0;
}
else {
*lPow=0.1;
*rPow=0.1;
}
counter++;
}