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/* traj.c - Trajectories. */
/* asserv - Position & speed motor control on AVR. {{{
 *
 * Copyright (C) 2006 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 "traj.h"

#include "modules/math/fixed/fixed.h"
#include "modules/math/math.h"
#include "modules/utils/utils.h"
#include "io.h"

#include <math.h>

#include "cs.h"
#include "postrack.h"

#include "contacts.h"

#ifdef HOST
# include "simu.host.h"
#endif

/* This file provides high level trajectories commands. */

/** Angle after which a backward movement is considered. */
#define TRAJ_GOTO_BACKWARD_THRESHOLD ((int32_t) (0.55 * M_PI * (1L << 24)))

/** The famous number. */
#define PI_F824 ((int32_t) (M_PI * (1L << 24)))

/** Traj mode enum. */
enum
{
    /* Detect end of speed controled position control. */
    TRAJ_SPEED,
    /* Go to the wall. */
    TRAJ_FTW,
    /* Go to the dispenser. */
    TRAJ_GTD,
    /* Push the wall. */
    TRAJ_PTW,
    /* Go to position. */
    TRAJ_GOTO,
    /* Go to angle. */
    TRAJ_GOTO_ANGLE,
    /* Go to position, then angle. */
    TRAJ_GOTO_XYA,
    /* Everything done. */
    TRAJ_DONE,
};

/** Traj mode. */
uint8_t traj_mode;

/** Epsilon, distance considered to be small enough. */
int16_t traj_eps = 500;

/** Angle epsilon, angle considered to be small enough (f0.16). */
int16_t traj_aeps = 0x0100;

/** Angle at which to start going forward (f0.16). */
uint16_t traj_angle_limit = 0x2000;

/** Angle at which to start going forward (rad, f8.24). */
int32_t traj_angle_limit_rad;

/** Go backward. */
static uint8_t traj_backward;

/** Go to position. */
static uint32_t traj_goto_x, traj_goto_y;

/** Go to angle. */
static uint32_t traj_goto_a;

/** Use center sensor. */
static uint8_t traj_use_center;

/** Center sensor delay. */
static uint8_t traj_center_delay;

/** Initial values for x, y and angle, or -1. */
static int32_t traj_init_x, traj_init_y, traj_init_a;

/** Initialise computed factors. */
void
traj_init (void)
{
    traj_set_angle_limit (traj_angle_limit);
}

/** Wait for zero speed mode. */
void
traj_speed (void)
{
    if ((!cs_main.speed_theta.use_pos
	 || cs_main.speed_theta.pos_cons == cs_main.pos_theta.cons)
	&& (!cs_main.speed_alpha.use_pos
	    || cs_main.speed_alpha.pos_cons == cs_main.pos_alpha.cons))
      {
	control_state_finished (&cs_main.state);
	traj_mode = TRAJ_DONE;
      }
}

/** Start speed mode. */
void
traj_speed_start (void)
{
    /* Speed setup should have been done yet. */
    control_state_set_mode (&cs_main.state, CS_MODE_TRAJ_CONTROL, 0);
    traj_mode = TRAJ_SPEED;
}

/** Angle offset. */
void
traj_angle_offset_start (int32_t angle)
{
    int32_t a = fixed_mul_f824 (angle, 2 * PI_F824);
    uint32_t f = postrack_footing;
    int32_t arc = fixed_mul_f824 (f, a);
    speed_control_set_speed (&cs_main.speed_theta, 0);
    speed_control_pos_offset (&cs_main.speed_alpha, arc);
    traj_speed_start ();
}

/** Go to the wall mode. */
static void
traj_ftw (void)
{
    uint8_t left, center, right;
    int8_t speed;
    speed = cs_main.speed_theta.slow;
    if (!traj_backward)
      {
	left = !IO_GET (CONTACT_FRONT_LEFT_IO);
	right = !IO_GET (CONTACT_FRONT_RIGHT_IO);
      }
    else
      {
	speed = -speed;
	left = !IO_GET (CONTACT_BACK_LEFT_IO);
	right = !IO_GET (CONTACT_BACK_RIGHT_IO);
      }
    center = 0;
    if (traj_use_center)
      {
	if (!IO_GET (CONTACT_CENTER_IO))
	  {
	    if (traj_center_delay == 0)
		center = 1;
	    else
		traj_center_delay--;
	  }
      }
    speed_control_set_speed (&cs_main.speed_theta, speed);
    speed_control_set_speed (&cs_main.speed_alpha, 0);
    if (!left && !right)
      {
	/* Backward. */
      }
    else if (!center && (!left || !right))
      {
#ifdef HOST
	/* On host, we must do the job. */
	speed_control_set_speed (&cs_main.speed_theta, speed / 4);
	speed_control_set_speed (&cs_main.speed_alpha,
				 left ? speed / 2 : -speed / 2);
#endif
      }
    else
      {
	/* Stay here. */
	speed_control_hard_stop (&cs_main.speed_theta);
	speed_control_hard_stop (&cs_main.speed_alpha);
	control_state_finished (&cs_main.state);
	traj_mode = TRAJ_DONE;
      }
}

/** Start go to the wall mode. */
void
traj_ftw_start (uint8_t backward)
{
    traj_mode = TRAJ_FTW;
    traj_backward = backward;
    traj_use_center = 0;
#ifndef HOST
    /* No angular control. */
    control_state_set_mode (&cs_main.state, CS_MODE_TRAJ_CONTROL,
			    CS_MODE_POS_CONTROL_ALPHA);
#else
    control_state_set_mode (&cs_main.state, CS_MODE_TRAJ_CONTROL, 0);
#endif
}

/** Start go to the wall mode, with center sensor. */
void
traj_ftw_start_center (uint8_t backward, uint8_t center_delay)
{
    traj_mode = TRAJ_FTW;
    traj_backward = backward;
    traj_use_center = 1;
    traj_center_delay = center_delay;
    control_state_set_mode (&cs_main.state, CS_MODE_TRAJ_CONTROL, 0);
}

/** Push the wall mode. */
static void
traj_ptw (void)
{
    /* If blocking, the wall was found. */
    if (cs_main.blocking_detection_theta.blocked)
      {
	/* Initialise position. */
	if (traj_init_x != -1)
	    postrack_x = traj_init_x;
	if (traj_init_y != -1)
	    postrack_y = traj_init_y;
	if (traj_init_a != -1)
	    postrack_a = traj_init_a;
	/* Stop motor control. */
	output_set (cs_main.output_left, 0);
	output_set (cs_main.output_right, 0);
	control_state_set_mode (&cs_main.state, CS_MODE_NONE, 0);
	control_state_finished (&cs_main.state);
	traj_mode = TRAJ_DONE;
      }
}

/** Start push the wall mode.  Position is initialised unless -1. */
void
traj_ptw_start (uint8_t backward, int32_t init_x, int32_t init_y,
		int32_t init_a)
{
    int8_t speed;
    traj_mode = TRAJ_PTW;
    traj_init_x = init_x;
    traj_init_y = init_y;
    traj_init_a = init_a;
    /* Use slow speed, without alpha control. */
    speed = cs_main.speed_theta.slow;
    if (backward)
	speed = -speed;
    speed_control_set_speed (&cs_main.speed_theta, speed);
    speed_control_set_speed (&cs_main.speed_alpha, 0);
    control_state_set_mode (&cs_main.state, CS_MODE_TRAJ_CONTROL,
			    CS_MODE_POS_CONTROL_ALPHA
			    | CS_MODE_BLOCKING_DETECTION);
}

/** Go to the dispenser mode. */
static void
traj_gtd (void)
{
    int8_t speed;
    speed = cs_main.speed_theta.slow;
    if (IO_GET (CONTACT_CENTER_IO))
      {
	speed_control_set_speed (&cs_main.speed_theta, speed);
	speed_control_set_speed (&cs_main.speed_alpha, 0);
      }
    else
      {
	/* Stay here. */
	speed_control_hard_stop (&cs_main.speed_theta);
	speed_control_hard_stop (&cs_main.speed_alpha);
	control_state_finished (&cs_main.state);
	traj_mode = TRAJ_DONE;
      }
}

/** Start go to the dispenser mode. */
void
traj_gtd_start (void)
{
    traj_mode = TRAJ_GTD;
    control_state_set_mode (&cs_main.state, CS_MODE_TRAJ_CONTROL,
			    CS_MODE_POS_CONTROL_ALPHA);
}

/** Go to position mode. */
static void
traj_goto (void)
{
    int32_t dx = traj_goto_x - postrack_x;
    int32_t dy = traj_goto_y - postrack_y;
    if (UTILS_ABS (dx) < ((int32_t) traj_eps) << 8
	&& UTILS_ABS (dy) < ((int32_t) traj_eps) << 8)
      {
	/* Near enough, stop, let speed terminate the movement. */
	traj_mode = TRAJ_SPEED;
      }
    else
      {
	/* Projection of destination in robot base. */
	int32_t c = fixed_cos_f824 (postrack_a);
	int32_t s = fixed_sin_f824 (postrack_a);
	int32_t dt = fixed_mul_f824 (dx, c) + fixed_mul_f824 (dy, s);
	int32_t da = fixed_mul_f824 (dy, c) - fixed_mul_f824 (dx, s);
	/* Compute arc length. */
	int32_t arad = atan2 (da, dt) * (1L << 24);
	if (traj_backward & TRAJ_BACKWARD)
	  {
	    if (arad > 0)
		arad = - PI_F824 + arad;
	    else
		arad = PI_F824 + arad;
	  }
	if (traj_backward & TRAJ_REVERT_OK)
	  {
	    if (arad > TRAJ_GOTO_BACKWARD_THRESHOLD)
		arad = - PI_F824 + arad;
	    else if (arad < - TRAJ_GOTO_BACKWARD_THRESHOLD)
		arad = PI_F824 + arad;
	  }
	int32_t arc = fixed_mul_f824 (arad, postrack_footing);
	/* Compute consign. */
	speed_control_pos_offset_from_here (&cs_main.speed_alpha, arc);
	if (UTILS_ABS (arad) < traj_angle_limit_rad)
	  {
	    speed_control_pos_offset_from_here (&cs_main.speed_theta,
						dt >> 8);
	  }
	else
	  {
	    speed_control_set_speed (&cs_main.speed_theta, 0);
	  }
      }
}

/** Start go to position mode (x, y: f24.8). */
void
traj_goto_start (uint32_t x, uint32_t y, uint8_t backward)
{
    traj_mode = TRAJ_GOTO;
    traj_goto_x = x;
    traj_goto_y = y;
    traj_backward = backward;
    speed_control_pos_offset (&cs_main.speed_theta, 0);
    speed_control_pos_offset (&cs_main.speed_alpha, 0);
    control_state_set_mode (&cs_main.state, CS_MODE_TRAJ_CONTROL, 0);
}

/** Go to angle mode. */
static void
traj_goto_angle (void)
{
    /* There is some tricky parts to handle rotation direction. */
    int16_t da = (uint16_t) (traj_goto_a >> 8) - (uint16_t) (postrack_a >> 8);
    if (UTILS_ABS (da) < traj_aeps)
      {
	/* Near enough, stop, let speed terminate the movement. */
	traj_mode = TRAJ_SPEED;
      }
    else
      {
	/* Compute arc length. */
	int32_t arad = fixed_mul_f824 (((int32_t) da) << 8,
				       2 * PI_F824);
	int32_t arc = fixed_mul_f824 (arad, postrack_footing);
	/* Compute consign. */
	speed_control_pos_offset_from_here (&cs_main.speed_alpha, arc);
      }
}

/** Start go to angle mode (a: f8.24). */
void
traj_goto_angle_start (uint32_t a)
{
    traj_mode = TRAJ_GOTO_ANGLE;
    traj_goto_a = a;
    speed_control_pos_offset (&cs_main.speed_theta, 0);
    speed_control_pos_offset (&cs_main.speed_alpha, 0);
    control_state_set_mode (&cs_main.state, CS_MODE_TRAJ_CONTROL, 0);
}

/** Go to position, then angle mode. */
static void
traj_goto_xya (void)
{
    int32_t dx = traj_goto_x - postrack_x;
    int32_t dy = traj_goto_y - postrack_y;
    if (UTILS_ABS (dx) < ((int32_t) traj_eps) << 8
	&& UTILS_ABS (dy) < ((int32_t) traj_eps) << 8)
      {
	/* Near enough, now do a go to angle. */
	traj_mode = TRAJ_GOTO_ANGLE;
	traj_goto_angle ();
      }
    else
      {
	traj_goto ();
      }
}

/** Start go to position, then angle mode (x, y: f24.8, a: f8.24). */
void
traj_goto_xya_start (uint32_t x, uint32_t y, uint32_t a, uint8_t backward)
{
    traj_mode = TRAJ_GOTO_XYA;
    traj_goto_x = x;
    traj_goto_y = y;
    traj_goto_a = a;
    traj_backward = backward;
    speed_control_pos_offset (&cs_main.speed_theta, 0);
    speed_control_pos_offset (&cs_main.speed_alpha, 0);
    control_state_set_mode (&cs_main.state, CS_MODE_TRAJ_CONTROL, 0);
}

/* Compute new speed according the defined trajectory. */
void
traj_update (void)
{
    if (cs_main.state.modes & CS_MODE_TRAJ_CONTROL)
      {
	switch (traj_mode)
	  {
	  case TRAJ_SPEED:
	    traj_speed ();
	    break;
	  case TRAJ_FTW:
	    traj_ftw ();
	    break;
	  case TRAJ_PTW:
	    traj_ptw ();
	    break;
	  case TRAJ_GTD:
	    traj_gtd ();
	    break;
	  case TRAJ_GOTO:
	    traj_goto ();
	    break;
	  case TRAJ_GOTO_ANGLE:
	    traj_goto_angle ();
	    break;
	  case TRAJ_GOTO_XYA:
	    traj_goto_xya ();
	    break;
	  case TRAJ_DONE:
	    break;
	  }
      }
}

/* Set angle limit. */
void
traj_set_angle_limit (uint16_t a)
{
    traj_angle_limit = a;
    traj_angle_limit_rad = (uint32_t) a * (uint32_t) ((1 << 8) * M_PI * 2);
}