khepera.cc

机器人仿真软件

 * returns: 0 on success
 */
int 
Khepera::Setup()
{
  // open and initialize the serial to -> Khepera  
  printf("Khepera: connection initializing (%s)...", this->khepera_serial_port);
  fflush(stdout);
  Serial = new KheperaSerial(geometry->PortName,KHEPERA_BAUDRATE);
  if (Serial == NULL || !Serial->Open())
  {
    return 1;
  }
  printf("Done\n");

  refresh_last_position = false;
  motors_enabled = false;
  velocity_mode = true;
  direct_velocity_control = false;

  desired_heading = 0;

  /* now spawn reading thread */
  StartThread();
  return(0);
}


int 
Khepera::Shutdown()
{
  printf("Khepera: SHUTDOWN\n");
  StopThread();

  // Killing the thread seems to leave out serial
  // device in a bad state, need to fix this,
  // till them we just dont stop the robot
  // which is theoretically quite bad...but this is the khepera...
  // it cant do that much damage its only 7cm across
  //SetSpeed(0,0);
  delete Serial;
  Serial = NULL;

  return(0);
}

void 
Khepera::Main()
{
  int last_position_subscrcount=0;

  pthread_setcanceltype(PTHREAD_CANCEL_DEFERRED,NULL);

  while (1) 
  {
    // we want to reset the odometry and enable the motors if the first 
    // client just subscribed to the position device, and we want to stop 
    // and disable the motors if the last client unsubscribed.
    if(!last_position_subscrcount && this->position_subscriptions)
    {
      printf("Khepera: first pos sub. turn off and reset\n");
      // then first sub for pos, so turn off motors and reset odom
      SetSpeed(0,0);
      ResetOdometry();

    } 
    else if(last_position_subscrcount && !(this->position_subscriptions))
    {
      // last sub just unsubbed
      printf("Khepera: last pos sub gone\n");
      SetSpeed(0,0);
    }
    last_position_subscrcount = this->position_subscriptions;


	ProcessMessages();
    pthread_testcancel();

    // now lets get new data...
    UpdateData();

    pthread_testcancel();
  }
  pthread_exit(NULL);
}



/* this will update the data that is sent to clients
 * just call separate functions to take care of it
 *
 * returns:
 */
void
Khepera::UpdateData()
{
  player_position2d_data_t position_data;
  player_ir_data_t ir_data;

  UpdatePosData(&position_data);

  // put position data
  Publish(position_addr,NULL,PLAYER_MSGTYPE_DATA, PLAYER_POSITION2D_DATA_STATE, (unsigned char *) &position_data, sizeof(player_position2d_data_t),NULL);

  UpdateIRData(&ir_data);

  // put ir data
  Publish(position_addr,NULL,PLAYER_MSGTYPE_DATA, PLAYER_IR_DATA_RANGES, (unsigned char *) &ir_data, sizeof(ir_data),NULL);
}

/* this will update the IR part of the client data
 * it entails reading the currently active IR sensors
 * and then changing their state to off and turning on
 * 2 new IRs.  
 *
 * returns:
 */
void
Khepera::UpdateIRData(player_ir_data_t * d)
{
  ReadAllIR(d);

  d->ranges_count = geometry->ir.poses_count;
  for (unsigned int i =0; i < geometry->ir.poses_count; i++) 
  {
    d->ranges[i] = geometry->scale * geometry->ir_calib_a[i] * pow(d->voltages[i],geometry->ir_calib_b[i]);
    d->voltages[i] = d->voltages[i];
  }
}

  
/* this will update the position data.  this entails odometry, etc
 */ 
void
Khepera::UpdatePosData(player_position2d_data_t *d)
{
  // calculate position data
  int pos_left, pos_right;
  Khepera::ReadPos(&pos_left, &pos_right);
  int change_left = pos_left - last_lpos;
  int change_right = pos_right - last_rpos;
  last_lpos = pos_left;
  last_rpos = pos_right;

  double transchange = (change_left + change_right) * geometry->encoder_res / 2;
  double rotchange = (change_left - change_right) * geometry->encoder_res / 2;

  double dx,dy,Theta;
  double r = geometry->position.size.sw*geometry->scale/2;

  if (transchange == 0)
  {
    Theta = 360 * rotchange/(2 * M_PI * r);	
    dx = dy= 0;
  }
  else if (rotchange == 0)
  {
    dx = transchange;
    dy = 0;
    Theta = 0;
  }
  else
  {
    Theta = 360 * rotchange/(2 * M_PI * r);
    double R = transchange * r / rotchange;
    dy = R - R*cos(Theta*M_PI/180);
    dx = R*sin(Theta*M_PI/180);
  }

  // add code to read in the speed data
  int left_vel, right_vel;
  Khepera::ReadSpeed(&left_vel, &right_vel);
  double lv = left_vel * geometry->encoder_res;
  double rv = right_vel * geometry->encoder_res;
  double trans_vel = 100 * (lv + rv)/2;
  double rot_vel = (lv - rv)/2;
  double rot_vel_deg = 100 * 360 * rot_vel/(2 * M_PI * r);

  // now write data
  double rad_Theta = DTOR(yaw);
  x+=(dx*cos(rad_Theta) + dy*sin(rad_Theta));
  y+=(dy*cos(rad_Theta) + dx*sin(rad_Theta));
  d->pos.px = x/geometry->scale;
  d->pos.py = y/geometry->scale;
  yaw += Theta;
  while (yaw > 360) yaw -= 360;
  while (yaw < 0) yaw += 360;
  d->pos.pa = DTOR(yaw);
  d->vel.px = trans_vel/geometry->scale;
  d->vel.pa = DTOR(rot_vel_deg);
}

/* this will set the odometry to a given position
 * ****NOTE: assumes that the arguments are in network byte order!*****
 *
 * returns: 
 */
int
Khepera::ResetOdometry()
{
  printf("Reset Odometry\n");
  int Values[2];
  Values[0] = 0;
  Values[1] = 0;
  if (Serial->KheperaCommand('G',2,Values,0,NULL) < 0)
    return -1;

  last_lpos = 0;
  last_rpos = 0;

  player_position2d_data_t data;
  memset(&data,0,sizeof(player_position2d_data_t));
  Publish(position_addr, NULL, PLAYER_MSGTYPE_DATA, PLAYER_POSITION2D_DATA_STATE, &data, sizeof(data),NULL);

  x=y=yaw=0;
  return 0;
}


/* this will read the given AD channel
 *
 * returns: the value of the AD channel
 */
/*unsigned short
REB::ReadAD(int channel) 
{
  char buf[64];

  sprintf(buf, "I,%d\r", channel);
  write_command(buf, strlen(buf), sizeof(buf));
  
  return atoi(&buf[2]);
}*/

/* reads all the IR values at once.  stores them
 * in the uint16_t array given as arg ir
 *
 * returns: 
 */
int
Khepera::ReadAllIR(player_ir_data_t* d)
{
  int Values[PLAYER_IR_MAX_SAMPLES];

  // changed these variable-size array declarations to the 
  // bigger-than-necessary ones above, because older versions of gcc don't
  // support variable-size arrays.

  if(Serial->KheperaCommand('N',0,NULL,geometry->ir.poses_count,Values) < 0)
    return -1;			
  for (unsigned int i=0; i< geometry->ir.poses_count; ++i)
  {
    d->voltages[i] = static_cast<short> (Values[i]);
  }
  return 0;
}

/* this will set the desired speed for the given motor mn
 *
 * returns:
 */
int
Khepera::SetSpeed(int speed1, int speed2)
{
	int Values[2];
	Values[0] = speed1;
	Values[1] = speed2;
	return Serial->KheperaCommand('D',2,Values,0,NULL);
}

/* reads the current speed of motor mn
 *
 * returns: the speed of mn
 */
int
Khepera::ReadSpeed(int * left,int * right)
{
	int Values[2];
	if (Serial->KheperaCommand('E',0,NULL,2,Values) < 0)
		return -1;
	*left = Values[0];
	*right = Values[1];
	return 0;
}

/* this sets the desired position motor mn should go to
 *
 * returns:
 */
/*void
REB::SetPos(int mn, int pos)
{
  char buf[64];
  
  sprintf(buf,"C,%c,%d\r", '0'+mn,pos);

  write_command(buf, strlen(buf), sizeof(buf));
}*/

/* this sets the position counter of motor mn to the given value
 *
 * returns:
 */
int
Khepera::SetPosCounter(int pos1, int pos2)
{
	int Values[2];
	Values[0] = pos1;
	Values[1] = pos2;
	return Serial->KheperaCommand('G',2,Values,0,NULL);
}

/* this will read the current value of the position counter
 * for motor mn
 *
 * returns: the current position for mn
 */
int
Khepera::ReadPos(int * pos1, int * pos2)
{
	int Values[2];
	if (Serial->KheperaCommand('H',0,NULL,2,Values) < 0)
		return -1;
	*pos1 = Values[0];
	*pos2 = Values[1];
	return 0;
}

/* this will configure the position PID for motor mn
 * using paramters Kp, Ki, and Kd
 *
 * returns:
 */
/*void
REB::ConfigPosPID(int mn, int kp, int ki, int kd)
{ 
  char buf[64];

  sprintf(buf, "F,%c,%d,%d,%d\r", '0'+mn, kp,ki,kd);
  write_command(buf, strlen(buf), sizeof(buf));
}*/

/* this will configure the speed PID for motor mn
 *
 * returns:
 */
/*void
REB::ConfigSpeedPID(int mn, int kp, int ki, int kd)
{
  char buf[64];
  
  sprintf(buf, "A,%c,%d,%d,%d\r", '0'+mn, kp,ki,kd);
  
  write_command(buf, strlen(buf), sizeof(buf));
}*/

/* this will set the speed profile for motor mn
 * it takes the max velocity and acceleration
 *
 * returns:
 */
/*void
REB::ConfigSpeedProfile(int mn, int speed, int acc)
{
  char buf[64];
  
  sprintf(buf, "J,%c,%d,%d\r", '0'+mn, speed,acc);
  write_command(buf, strlen(buf), sizeof(buf));
}*/

/* this will read the status of the motion controller.
 * mode is set to 1 if in position mode, 0 if velocity mode
 * error is set to the position/speed error
 *
 * returns: target status: 1 is on target, 0 is not on target
 */
/*unsigned char
Khepera::ReadStatus(int mn, int *mode, int *error)
{
  char buf[64];

  sprintf(buf, "K,%c\r", '0'+mn);
  //write_command(buf, strlen(buf), sizeof(buf));

  // buf now has the form "k,target,mode,error"
  int target;

  sscanf(buf, "k,%d,%d,%d", &target, mode, error);

  return (unsigned char)target;
}*/