From 6548d83aa655176ef939817e36cd05d0e6cfaccd Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 23 May 2011 01:23:43 +0200 Subject: digital/{io,io-hub,ai}: add generic radar, add radar to robospierre --- digital/io/src/radar.c | 189 ------------------------------------------------- 1 file changed, 189 deletions(-) delete mode 100644 digital/io/src/radar.c (limited to 'digital/io/src/radar.c') diff --git a/digital/io/src/radar.c b/digital/io/src/radar.c deleted file mode 100644 index 0f61a1bf..00000000 --- a/digital/io/src/radar.c +++ /dev/null @@ -1,189 +0,0 @@ -/* radar.c */ -/* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{ - * - * Copyright (C) 2010 Nicolas Schodet - * - * APBTeam: - * Web: http://apbteam.org/ - * Email: team AT apbteam DOT org - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 2 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software - * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * }}} */ -#include "common.h" -#include "radar.h" - -#include "playground_2010.h" -#include "bot.h" - -#include "modules/devices/usdist/usdist.h" -#include "modules/math/geometry/geometry.h" -#include "modules/math/geometry/distance.h" -#include "modules/utils/utils.h" - -/** Margin to be considered inside the playground. An obstacle can not be - * exactly at the playground edge. */ -#define RADAR_MARGIN_MM 150 - -/** Maximum distance for a sensor reading to be ignored if another sensor is - * nearer. */ -#define RADAR_FAR_MM 250 - -/** Describe a radar sensor. */ -struct radar_sensor_t -{ - /** Distance updated by another module. */ - uint16_t *dist_mm; - /** Position relative to the robot center. */ - vect_t pos; - /** Angle relative to the robot X axis. */ - uint16_t a; -}; - -/** Define radar configuration. */ -struct radar_sensor_t radar_sensors[] = { -#define RADAR_SENSOR_FRONT 0 - { &usdist_mm[0], { 30 - 20, 0 }, G_ANGLE_UF016_DEG (0) }, -#define RADAR_SENSOR_LEFT 1 - { &usdist_mm[1], { 20 - 20, 20 }, G_ANGLE_UF016_DEG (30) }, -#define RADAR_SENSOR_RIGHT 2 - { &usdist_mm[2], { 20 - 20, -20 }, G_ANGLE_UF016_DEG (-30) }, -#define RADAR_SENSOR_BACK 3 - { &usdist_mm[3], { -30 - 20, 0 }, G_ANGLE_UF016_DEG (180) }, -}; - -/** Define exclusion area (considered as invalid point). */ -static uint8_t -radar_valid (vect_t p) -{ - return p.x >= RADAR_MARGIN_MM && p.x < PG_WIDTH - RADAR_MARGIN_MM - && p.y >= RADAR_MARGIN_MM && p.y < PG_LENGTH - RADAR_MARGIN_MM - /* Ignore points on slope, no margin for the slope start. */ - && (p.x < PG_WIDTH / 2 - PG_SLOPE_WIDTH / 2 - || p.x >= PG_WIDTH / 2 + PG_SLOPE_WIDTH / 2 - || p.y < PG_LENGTH - PG_SLOPE_LENGTH - RADAR_MARGIN_MM / 2); -} - -uint8_t -radar_update (const position_t *robot_pos, vect_t *obs_pos) -{ - uint8_t i, j; - vect_t ray; - uint8_t obs_nb = 0; - uint8_t front_nb; - vect_t front_center; - /* Compute hit points for each sensor and eliminate invalid ones. */ - vect_t hit[UTILS_COUNT (radar_sensors)]; - uint8_t valid[UTILS_COUNT (radar_sensors)]; - uint16_t dist_mm[UTILS_COUNT (radar_sensors)]; - for (i = 0; i < UTILS_COUNT (radar_sensors); i++) - { - dist_mm[i] = *radar_sensors[i].dist_mm; - if (dist_mm[i] != 0xffff) - { - hit[i] = radar_sensors[i].pos; - vect_rotate_uf016 (&hit[i], robot_pos->a); - vect_translate (&hit[i], &robot_pos->v); - vect_from_polar_uf016 (&ray, dist_mm[i], - robot_pos->a + radar_sensors[i].a); - vect_translate (&hit[i], &ray); - valid[i] = radar_valid (hit[i]); - vect_from_polar_uf016 (&ray, RADAR_OBSTACLE_EDGE_RADIUS_MM, - robot_pos->a + radar_sensors[i].a); - vect_translate (&hit[i], &ray); - } - else - valid[i] = 0; - } - /* Ignore sensor results too far from other sensors. */ - for (i = 0; i < UTILS_COUNT (radar_sensors) - 1; i++) - { - for (j = i + 1; valid[i] && j < UTILS_COUNT (radar_sensors); j++) - { - if (valid[j]) - { - if (dist_mm[i] + RADAR_FAR_MM < dist_mm[j]) - valid[j] = 0; - else if (dist_mm[j] + RADAR_FAR_MM < dist_mm[i]) - valid[i] = 0; - } - } - } - /* Specific treatment about sensor topology. */ - if (valid[RADAR_SENSOR_BACK]) - obs_pos[obs_nb++] = hit[RADAR_SENSOR_BACK]; - front_nb = 0; - front_center.x = 0; front_center.y = 0; - for (i = RADAR_SENSOR_FRONT; i < RADAR_SENSOR_BACK; i++) - { - if (valid[i]) - { - vect_add (&front_center, &hit[i]); - front_nb++; - } - } - if (front_nb) - { - vect_scale_f824 (&front_center, 0x1000000l / front_nb); - obs_pos[obs_nb++] = front_center; - } - /* Done. */ - return obs_nb; -} - -uint8_t -radar_blocking (const vect_t *robot_pos, const vect_t *dest_pos, - const vect_t *obs_pos, uint8_t obs_nb) -{ - uint8_t i; - /* Stop here if no obstacle. */ - if (!obs_nb) - return 0; - vect_t vd = *dest_pos; vect_sub (&vd, robot_pos); - uint16_t d = vect_norm (&vd); - /* If destination is realy near, stop here. */ - if (d < RADAR_EPSILON_MM) - return 0; - /* If destination is near, use clearance to destination point instead of - * stop length. */ - vect_t t; - if (d < RADAR_STOP_MM) - t = *dest_pos; - else - { - vect_scale_f824 (&vd, (1ll << 24) / d * RADAR_STOP_MM); - t = *robot_pos; - vect_translate (&t, &vd); - } - /* Now, look at obstacles. */ - for (i = 0; i < obs_nb; i++) - { - /* Vector from robot to obstacle. */ - vect_t vo = obs_pos[i]; vect_sub (&vo, robot_pos); - /* Ignore if in our back. */ - int32_t dp = vect_dot_product (&vd, &vo); - if (dp < 0) - continue; - /* Check distance. */ - int16_t od = distance_segment_point (robot_pos, &t, &obs_pos[i]); - if (od > BOT_SIZE_SIDE + RADAR_CLEARANCE_MM / 2 - + RADAR_OBSTACLE_RADIUS_MM) - continue; - /* Else, obstacle is blocking. */ - return 1; - } - return 0; -} - -- cgit v1.2.3