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battery_charge.cpp
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battery_charge.cpp
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#include <math.h>
#include <vector>
#include <iostream>
#include <sstream>
#include <image.h>
#include <node.hpp>
#include <stdmsg.hh>
#include <thread.hpp>
#include <queue>
#include <list>
#include <windows.h>
#include <stdio.h>
#include "Eigen/Dense"
#include <fstream>
#include <time.h>
#define PI 3.14159265
#define RAYSAMOUNT 1081
using namespace Eigen;
using namespace std;
//===========sam.cpp=============
enum LandMarkType{CONVEX, CONCAVE};
struct Point
{
double x;
double y;
};
struct Line
{
float A;
float B;
float C;
};
struct Segment
{
bool IsSegment;
Line Param;
int StartIndex;
int EndIndex;
float Angle;
double Start_x, Start_y;
double End_x, End_y;
void Angle2Radian() {
Angle = Angle*PI / 180;
}
void Radian2Angle() {
Angle = Angle * 180 / PI;
}
};
struct LandMark {
bool HaveMark;
float Theta, Theta_W_B;
Point O_B_W, O_W_B;
int Serial;
};
class SAM
{
public:
SAM();
~SAM();
bool landmark_found;
double result_B_W_x, result_B_W_y, result_B_W_theta;
double result_W_B_x, result_W_B_y, result_W_B_theta;
//method
//void doSam(double *laserdata, double L1, double L2);
void doSam(double *laserdata, double L1, double L2, int RaysAmount, double AngleIncrease, double angle_start, LandMarkType LMTYPE);
private:
//int RAYSAMOUNT;
int NUM_SCAN;
int RAYSTART;
double DEG_INCREASE;
int GROUP;
double DIST_THRESHOLD;
double LASER_THRESHOLD;
int SEG_THRESHOLD;
double ANGLE_START;
LandMark Mark;
double EDGE1, EDGE2;
double ANGLE_LANDMARK;
LandMarkType LMtype;
//method
LandMark SamforIcp(double *ScanData, Point *PointList, vector<Segment> &Segs, int RaysAmount = 541, double AngleIncrease = 0.5, double AngleStart = -135.0);
void DistanceFilter(Point *Points, int PointNum, vector<int> &Index, int &IndexLength);
void FindSegment(Point *PointList, int PointLength, vector<Point> &ResultList, int ResultLength, vector<int> &SegIndex);
void sam(Point *TempList, int TempLength, vector<Point> &ResultList);
LandMark FindMark(vector<Segment> &Segs, int SegLength, Point *PointList);
double norm(Point PointA, Point PointB);
Line LineFit(Point PointA, Point PointB);
double P2LDist(Point P, Line L);
Line LSFit(Point *Points, vector<int> &Index, int i);
float AngleBtwSeg(Segment Seg1, Segment Seg2);
Point Intersect(Segment Seg1, Segment Seg2);
template <class T>
int length(T& Array) {
return (sizeof(Array) / sizeof(Array[0]));
}
template <class T>
void DeleteVector(vector<T> &v) {
vector<T> Tempv;
Tempv.swap(v);
}
};
SAM::SAM() :
//初始化参数
NUM_SCAN(25),
RAYSTART(0),
DEG_INCREASE(0.25),
GROUP(50),
DIST_THRESHOLD(0.2),
LASER_THRESHOLD(0.03),
SEG_THRESHOLD(10),
ANGLE_START(-90),
ANGLE_LANDMARK(120)
{}
SAM::~SAM()
{
}
void SAM::doSam(double *laserdata, double L1, double L2, int RaysAmount, double AngleIncrease, double angle_start, LandMarkType LMTYPE)
{
EDGE1 = L1;
EDGE2 = L2;
LMtype = LMTYPE;
//int nrays = (sizeof(laserdata) / sizeof(laserdata[0]));
// sam for icp
Point *PointList = new Point[RaysAmount];
vector<Segment> Segs;
Mark = SamforIcp(laserdata, PointList, Segs, RaysAmount, AngleIncrease, angle_start);
delete[]PointList;
if (Mark.HaveMark)
{
landmark_found = true;
result_B_W_x = Mark.O_B_W.x;
result_B_W_y = Mark.O_B_W.y;
result_B_W_theta = Mark.Theta;
result_W_B_x = Mark.O_W_B.x;
result_W_B_y = Mark.O_W_B.y;
result_W_B_theta = Mark.Theta_W_B;
}
else
{
landmark_found = false;
result_B_W_x = 0;
result_B_W_y = 0;
result_B_W_theta = 0;
result_W_B_x = 0;
result_W_B_y = 0;
result_W_B_theta = 0;
}
DeleteVector(Segs);
}
LandMark SAM::SamforIcp(double *ScanData, Point *PointList, vector<Segment> &Segs, int RaysAmount, double Angle_Increase, double Angle_Start) {
// read data and generate PointList
//std::cout << RaysAmount << std::endl;
double *Theta = new double[RaysAmount];
for (int i = 0; i < RaysAmount; i++) {
Theta[i] = (i*Angle_Increase + Angle_Start) / 180 * PI;
PointList[i].x = cos(Theta[i])*(*(ScanData + i)) ;
PointList[i].y = sin(Theta[i])*(*(ScanData + i)) ;
}
// preprocessing, clustering according to d between points
int DistIndexLength = 1;
vector<int> DistIndex;
DistIndex.push_back(0);
DistanceFilter(PointList, RaysAmount, DistIndex, DistIndexLength);
// do sam, find SegIndex
int Start, Last;
vector<Point> ResultList;
for (int i = 0; i < (DistIndexLength - 1); i++)
{
Start = DistIndex[i];
Last = DistIndex[i + 1];
Point *ScanPartial = new Point[Last - Start + 1];
for (int j = Start; j <= Last; j++)
{
*(ScanPartial + j - Start) = PointList[j];
}
vector<Point> TempList;
sam(ScanPartial, Last - Start + 1, TempList);
ResultList.insert(ResultList.end(), TempList.begin(), TempList.end());
DeleteVector(TempList);
delete[]ScanPartial;
}
DeleteVector(DistIndex);
//std::cout << "ResultList size" << ResultList.size() << std::endl;
vector<int> SegmentIndex;
SegmentIndex.push_back(0);
//std::cout << "start FindSegment" << std::endl;
FindSegment(PointList, RaysAmount, ResultList, ResultList.size(), SegmentIndex);
//std::cout << "After FindSegment" << std::endl;
DeleteVector(ResultList);
//find segment
for (int i = 0; i < (SegmentIndex.size() - 1); i++) {
Segment tempseg;
if (abs(SegmentIndex[i] - SegmentIndex[i + 1]) > SEG_THRESHOLD)
{
// least square fitting
tempseg.IsSegment = true;
tempseg.Param = LSFit(PointList, SegmentIndex, i);
tempseg.StartIndex = SegmentIndex[i];
tempseg.EndIndex = SegmentIndex[i + 1];
tempseg.Start_x = PointList[SegmentIndex[i]].x;
tempseg.Start_y = PointList[SegmentIndex[i]].y;
tempseg.End_x = PointList[SegmentIndex[i + 1]].x;
tempseg.End_y = PointList[SegmentIndex[i + 1]].y;
if (tempseg.Param.B == 0)
{
tempseg.Angle = 90;
}
else {
float k = -tempseg.Param.A / tempseg.Param.B;
tempseg.Angle = atan(k);
tempseg.Radian2Angle();
//if(k < 0) {
// tempseg.Angle += 180;
//}
}
}
else {
tempseg.IsSegment = false;
tempseg.StartIndex = SegmentIndex[i];
tempseg.EndIndex = SegmentIndex[i + 1];
tempseg.Angle = 0xFFFFFFFF;
}
Segs.push_back(tempseg);
}
LandMark Mark;
//std::cout << "start FindLandMark" << std::endl;
Mark = FindMark(Segs, SegmentIndex.size() - 1, PointList);
DeleteVector(SegmentIndex);
if (Mark.HaveMark == false) {
cout << "Cannot find landmark!" << endl;
}
else {
double the = Mark.Theta / 180 * M_PI;
Mark.O_W_B.x = -cos(the)*Mark.O_B_W.x - sin(the)*Mark.O_B_W.y;
Mark.O_W_B.y = sin(the)*Mark.O_B_W.x - cos(the)*Mark.O_B_W.y;
// Change Mark.Theta into the angle of O_W_B
Mark.Theta_W_B = -Mark.Theta;
//cout << "Find out landmark!" << endl;
//cout << "Line" << Mark.Serial << " & " << "Line" << Mark.Serial + 1 << endl;
//cout << "StartIndex: " << Segs[Mark.Serial].StartIndex << endl;
//cout << "MiddleIndex" << Segs[Mark.Serial].EndIndex << endl;
//cout << "EndIndex: " << Segs[Mark.Serial + 1].EndIndex << endl;
//cout << "===============" << endl;
//cout << "Theta_rad = " << the << endl;
//cout << "O_B_W.x,y = " << Mark.O_B_W.x << '\t' << Mark.O_B_W.y << endl;
//cout << "O_W_B.x,y = " << Mark.O_W_B.x << '\t' << Mark.O_W_B.y << endl;
//cout << "===============" << endl;
}
delete[]Theta;
return Mark;
}
void SAM::DistanceFilter(Point *Points, int PointNum, vector<int> &Index, int &IndexLength) {
for (int i = 0; i < (PointNum - 1); i++) {
if (norm(Points[i], Points[i + 1]) > DIST_THRESHOLD) {
if (i == Index[IndexLength - 1]) {
IndexLength++;
Index.push_back(i + 1);
}
else {
IndexLength += 2;
Index.push_back(i);
Index.push_back(i + 1);
}
}
}
IndexLength++;
Index.push_back(PointNum - 1);
}
void SAM::sam(Point *TempList, int TempLength, vector<Point> &ResultList) {
double DistMax = 0;
double Dist;
int Index = 0;
int Last = TempLength;
// Find the point with the maximum distance
for (int i = 1; i < (Last - 1); i++) {
Dist = P2LDist(*(TempList + i), LineFit(*TempList, *(TempList + Last - 1)));
if (Dist > DistMax) {
Index = i;
DistMax = Dist;
}
}
// If max distance is greater than epsilon, recursively simplify
if (DistMax > LASER_THRESHOLD) {
vector<Point> RecResult1;
vector<Point> RecResult2;
Point *TempList1 = new Point[Index + 1];
Point *TempList2 = new Point[Last - Index];
for (int i = 0; i <= Index; i++) {
*(TempList1 + i) = *(TempList + i);
}
for (int i = Index; i < Last; i++) {
*(TempList2 + i - Index) = *(TempList + i);
}
sam(TempList1, Index + 1, RecResult1);
sam(TempList2, Last - Index, RecResult2);
vector<Point>(RecResult1).swap(RecResult1); //minimize the space use of vector
vector<Point>(RecResult2).swap(RecResult2);
ResultList.clear();
ResultList.insert(ResultList.begin(), RecResult2.begin(), RecResult2.end());
ResultList.insert(ResultList.begin(), RecResult1.begin(), RecResult1.end());
vector<Point>(ResultList).swap(ResultList);
DeleteVector(RecResult1); //release the memory
DeleteVector(RecResult2);
delete[]TempList1;
delete[]TempList2;
}
else {
ResultList.clear();
ResultList.reserve(2);
ResultList.push_back(*TempList);
ResultList.push_back(*(TempList + Last - 1));
}
}
void SAM::FindSegment(Point *PointList, int PointLength, vector<Point> &ResultList, int ResultLength, vector<int> &SegIndex)
{
//vector<double> Value_x;
//vector<double> Value_y;
vector<Point> Value;
for (int i = 0; i < ((ResultLength)-1); i++) {
if (ResultList[i].x - ResultList[i + 1].x == 0) {
//Value_x.push_back(ResultList[i].x);
//Value_y.push_back(ResultList[i].y);
Value.push_back(ResultList[i]);
}
}
//std::cout << "Value size = " << Value.size()<<std::endl;
int v = 0;
//std::cout << "PointLenth" << PointLength<<std::endl;
for (int j = 0; j < Value.size(); j++)
{
for (int k = v; v < PointLength; k++)
{
if ((PointList + k)->x == Value[j].x && (PointList+k)->y == Value[j].y)
{
SegIndex.push_back(k);
v = k + 1;
break;
}
}
}
//std::cout << "after find segment" << std::endl;
return;
}
LandMark SAM::FindMark(vector<Segment> &Segs, int SegLength, Point *PointList)
{
//std::cout << "size of LINE = " << Segs.size()<<std::endl;
LandMark Mark;
vector<LandMark> MarkList;
for (int i = 0; i < (SegLength - 1); i++)
{
if (Segs[i].IsSegment && Segs[i + 1].IsSegment)
{
if (abs(AngleBtwSeg(Segs[i], Segs[i + 1]) - (180 - ANGLE_LANDMARK)) < 10)
{
//cout << "angle ok, check length" << endl;
int start1 = Segs[i].StartIndex;
int start2 = Segs[i + 1].StartIndex;
int end1 = Segs[i].EndIndex;
int end2 = Segs[i + 1].EndIndex;
double length1 = norm(PointList[start1 + 2], PointList[end1]);
double length2 = norm(PointList[start2], PointList[end2 - 2]);
double error1 = abs(length1 - EDGE1);
double error2 = abs(length2 - EDGE2);
/* cout << "///////////////////////" << endl;
cout << "line"<<i<<" length1 " << length1 << endl;
cout << "line"<<i+1<<" length2 " << length2 << endl;
cout << "error1 " << error1 << endl;
cout << "EDGE1 " << EDGE1 << endl;
cout << "error2 " << error2 << endl;
cout << "///////////////////////" << endl;
*/
if (error1<0.2 && error2<0.2)
////////////////////////////////////////////// if (length1> 0.3 && length1 < 1 && length2 > 0.3 && length2 < 1)
{
LandMark Mark_temp;
Mark_temp.O_B_W = Intersect(Segs[i], Segs[i + 1]);
double delta_angle = (180 - AngleBtwSeg(Segs[i], Segs[i + 1])) / 2;
double theta_rad, theta_angle;
double k;
switch (LMtype)
{
case CONVEX:
delta_angle = (180 - AngleBtwSeg(Segs[i], Segs[i + 1])) / 2;
cout << "CONVEX" << endl;
break;
case CONCAVE:
delta_angle = 90 + AngleBtwSeg(Segs[i], Segs[i + 1]) / 2;
//cout << "CONCAVE" << endl;
break;
}
if (Segs[i].Param.B != 0)
{
k = -Segs[i].Param.A / Segs[i].Param.B;
theta_rad = atan(k);
theta_angle = theta_rad*180.0 / M_PI;
if (theta_angle >= 0 && Segs[i].Start_x < Segs[i].End_x)
theta_angle = theta_angle - 180;
else if (theta_angle<0 && Segs[i].Start_x < Segs[i].End_x)
theta_angle = theta_angle + 180;
}
else
{
if (Segs[i].Start_y > Segs[i].End_y)
theta_angle = 90;
else
theta_angle = -90;
}
//cout << "++++++++++FindMark++++++++++" << endl;
//cout << "i = " << i << endl;
//cout << "Segs[i].StartIndex = " << Segs[i].StartIndex << endl;
//cout << "Segs[i].EndIndex = " << Segs[i].EndIndex << endl;
//cout << "Segs[i].Start_x,y =" << Segs[i].Start_x << '\t' << Segs[i].Start_y << endl;
//cout << "Segs[i].End_x,y =" << Segs[i].End_x << '\t' << Segs[i].End_y << endl;
//cout << "Segs[i].Param =" << Segs[i].Param.A << '\t' << Segs[i].Param.B << '\t' << Segs[i].Param.C << endl;
//cout << "Segs[i].Angle =" << Segs[i].Angle << endl;
//cout << "delta_angle=" << delta_angle << endl;
//cout << "theta_angle=" << theta_angle << endl;
//cout << "k = " << k << endl;
//cout << "======================" << endl;
Mark_temp.Theta = theta_angle + delta_angle;
Mark_temp.Serial = i;
Mark_temp.HaveMark = true;
MarkList.push_back(Mark_temp);
}
}
}
}
int MarkListSize = MarkList.size();
//cout << "+++++++++++FindMark+++++++++" << endl;
//cout << "MarkListSize " << MarkListSize << endl;
if (!MarkListSize)
{
Mark.HaveMark = false;
return Mark;
}
else
{
//find out true landmark
//Method in use: return the mark with smallest abs(theta);
//double smallest_y = fabs(MarkList[0].O_B_W.y);
double smallest_dist = MarkList[0].O_B_W.y*MarkList[0].O_B_W.y + MarkList[0].O_B_W.x*MarkList[0].O_B_W.x;
int smallest_index = 0;
double dist = 0;
cout << "MarkListSize:"<<MarkListSize << endl;
for (int i = 0; i < MarkListSize; i++)
{
dist = MarkList[i].O_B_W.y*MarkList[i].O_B_W.y + MarkList[i].O_B_W.x*MarkList[i].O_B_W.x;
if (dist < smallest_dist)
{
smallest_index = i;
smallest_dist = dist;
}
}
return MarkList[smallest_index];
}
}
double SAM::norm(Point PointA, Point PointB) {
return sqrt((PointA.x - PointB.x)*(PointA.x - PointB.x) + (PointA.y - PointB.y)*(PointA.y - PointB.y));
}
Line SAM::LineFit(Point PointA, Point PointB) {
double X = PointB.x - PointA.x;
double Y = PointB.y - PointA.y;
Line L;
if (X == 0) {
L.A = 1;
L.B = 0;
L.C = -PointA.x;
}
else {
L.A = Y;
L.B = -X;
L.C = PointA.y*X - PointA.x*Y;
}
return L;
}
double SAM::P2LDist(Point P, Line L) {
return (abs(L.A*P.x + L.B*P.y + L.C) / sqrt(L.A*L.A + L.B*L.B));
}
Line SAM::LSFit(Point *Points, vector<int> &Index, int i) {
Line L;
L.A = 0;
L.B = 0;
L.C = 0;
float SumX = 0, SumY = 0, SumXY = 0, SumX2 = 0, b;
int N = Index[i + 1] - Index[i] + 1;
for (int j = Index[i]; j <= Index[i + 1]; j++) {
SumX += Points[j].x;
SumY += Points[j].y;
SumXY += Points[j].x*Points[j].y;
SumX2 += Points[j].x*Points[j].x;
}
b = (SumXY / N - SumX*SumY / (N*N)) / (SumX2 / N - (SumX / N)*(SumX / N));
if (abs(b) >= 5000) {
L.A = 1;
L.B = 0;
L.C = -SumX / N;
}
else {
L.A = b;
L.B = -1;
L.C = SumY / N - b*SumX / N;
}
return L;
}
float SAM::AngleBtwSeg(Segment Seg1, Segment Seg2) {
float A1 = Seg1.Param.A;
float B1 = Seg1.Param.B;
float A2 = Seg2.Param.A;
float B2 = Seg2.Param.B;
float CosA = abs(A1*A2 + B1*B2) / (sqrt(A1*A1 + B1*B1)) / (sqrt(A2*A2 + B2*B2));
float AlphaRad = acos(CosA);
float Alpha = AlphaRad * 180 / M_PI;
return Alpha;
}
Point SAM::Intersect(Segment Seg1, Segment Seg2) {
MatrixXd M1(2, 2);
MatrixXd M2(2, 1);
M1(0, 0) = Seg1.Param.A;
M1(0, 1) = Seg1.Param.B;
M1(1, 0) = Seg2.Param.A;
M1(1, 1) = Seg2.Param.B;
M2(0, 0) = -Seg1.Param.C;
M2(1, 0) = -Seg2.Param.C;
M2 = M1.inverse()*M2;
Point P;
P.x = M2(0, 0);
P.y = M2(1, 0);
return P;
}
//=================================
class BatteryCharge
{
protected:
middleware::Node *nh;
middleware::RPC rpc;
middleware::RPC rpc_server;
middleware::ConfigFile cfg;
private:
struct _Rpc_Thread:public BThread
{
BatteryCharge* handle;
_Rpc_Thread(BatteryCharge* p)
{
handle = p;
}
~_Rpc_Thread()
{
kill();
}
void run()
{
static int count = 0;
try{
while(true)
{
count++;
handle->rpc.run();
_sleep(1);
}
}
catch (const std::exception& e)
{
std::cerr << count<<":rpc communication error: " << e.what() << std::endl;
}
}
}rpc_thread;
struct _Rpc2_Thread:public BThread
{
BatteryCharge* handle;
_Rpc2_Thread(BatteryCharge* p)
{
handle = p;
}
~_Rpc2_Thread()
{
kill();
}
void run()
{
static int count = 0;
try{
while (true)
{
count++;
handle->rpc_server.run();
_sleep(1);
}
}
catch (const std::exception& e)
{
std::cerr << count << ":rpc communication error: " << e.what() << std::endl;
}
}
}rpc2_thread;
struct _Node_Thread:public BThread
{
BatteryCharge* handle;
_Node_Thread(BatteryCharge* p)
{
handle = p;
}
~_Node_Thread()
{
kill();
}
void run()
{
static int count = 0;
try{
while(true)
{
handle->nh->run();
count++;
_sleep(1);
}
}
catch(const std::exception& e)
{
std::cerr<<count<<":nh communication error: "<< e.what() <<std::endl;
}
}
} nh_thread;
struct _Thread1 :public BThread
{
BatteryCharge* handle;
BCond cond;
BMutex _lock;
_Thread1(BatteryCharge* p){ handle = p; }
~_Thread1(){ kill(); }
void run()
{
try
{
while (true)
{
stdmsg::SomeFlag tmp1, tmp2;
tmp1 = handle->rpc.call<stdmsg::SomeFlag, stdmsg::SomeFlag>("get_docking_state", tmp2);
_lock.lock();
handle->docking_state.set_emergency_stop_flag(tmp1.emergency_stop_flag());
handle->docking_state_int = handle->docking_state.emergency_stop_flag();
_lock.unlock();
_sleep(5);
}
}
catch (const std::exception& e)
{
std::cerr << "Charging_state_Manager_error: " << e.what() << std::endl;
}
}
}Charging_State_Manager;
//fyf:2016-10-3
//====================
int RECEIVE_CHARGING_REQUEST;
int TERMINATE_CHARGE;
stdmsg::Pose goal_pose1;
stdmsg::Pose goal_pose3;
stdmsg::Pose goal_pose2;
stdmsg::MoveMode move_mode;
stdmsg::SomeFlag docking_state;
volatile int docking_state_int;
std::string global_plan_topic;
double _angle_start_in_sam;
int _is_goal_sent;
int _goal_reached;
float _landmark_L1;
float _landmark_L2;
double _angle_landmark;
SAM sam;
LandMarkType _landmark_type;
int _state;
double _safe_dis;
double _final_y_compensate;
double _py, _pw;// pid parameter for go_straight_to_dock()
clock_t start_time, end_time;
std::string str_logfile;
//ofstream log_file;
//===================
std::string correct_scan_topic;
double thresh_max;
double thresh_min;
double thresh_degree;
int Start_index_;
int End_index_;
int Start_index_Begin;
int End_index_Begin;
double ANGLE_MIN_;
double ANGLE_INCREMENT_;
bool initial_;
double result_x;
double result_y;
bool object_found;
double safe_distance;
double robot_size;
int mark2 = 1;
int count2 = 0;
std::ofstream SaveFile;
std::string save_file_name;
bool _if_save_file;
PARAMETER(double, stop_delta_distance);
PARAMETER(double, stop_delta_theta);
PARAMETER(double, nav_v);
PARAMETER(double, nav_w);
public:
BatteryCharge(int argc, char** argv) :
rpc_thread(this),
rpc2_thread(this),
nh_thread(this),
Charging_State_Manager(this),
//thresh_min(0.06),
//thresh_max(2.0),
Start_index_(0),
End_index_(0),
//ANGLE_MIN_(-135.0),
//ANGLE_INCREMENT_(0.5),
initial_(true),
result_x(0.0),
result_y(0.0),
object_found(false),
_goal_reached(0),
_is_goal_sent(0),
_if_save_file(false),
//_state(0), // default state: idle
save_file_name(" "),
//RECEIVE_CHARGING_REQUEST(-1), # my demo, initial value set to -1
RECEIVE_CHARGING_REQUEST(-1),
TERMINATE_CHARGE(0)
{
if (argc == 2)
{
save_file_name = argv[1];
//cout << save_file_name << endl;
_if_save_file = true;
//return;
}
std::string cfgfile("navigator.ini");
for (int i = 0; i < argc - 1; i++)
if( strcmp(argv[i],"-cfg") == 0 )
cfgfile = argv[i+1];
cfg.read(cfgfile);
#undef helper__
#define helper__(type, x, _default) set_##x ( type(cfg.value("local_plan", #x, _default) ) );\
std::cout<<"[BatteryCharge] "#x<<"\t = ("<<#type<<") "<<x()<<std::endl;
helper__(double, stop_delta_distance, 0.1);//m
helper__(double, stop_delta_theta, 10);//°
helper__(double, nav_v, 0.3);//m/s
helper__(double, nav_w, 0.25);//rad/s
#undef helper__
#define helper__(type, x, _default) x = type(cfg.value("follow", #x, _default));\
std::cout<<"[BatteryCharge] "#x<<"\t = ("<<#type<<") "<<x<<std::endl;
helper__(double,thresh_min,0.06);
helper__(double,thresh_max,1.0);
helper__(double,safe_distance,0.25);
helper__(double,thresh_degree,40);
robot_size = double(cfg.value("laser_pose", "laser_x", "0.0"));
//fyf:2016-10-3
_state = int(cfg.value("auto_recharge", "initial_state", "0"));
_angle_start_in_sam = double(cfg.value("sam", "start_angle", "-135.0"));
_landmark_L1 = double(cfg.value("sam", "L1", "0.4"));
_landmark_L2 = double(cfg.value("sam", "L2", "0.4"));
_angle_landmark = double(cfg.value("sam", "angle_landmark", "120"));
int temp_lmtype = int(cfg.value("sam", "LandMarkType", "0"));
cout << "LandmarkType = " << temp_lmtype << endl;
_landmark_type = (LandMarkType)temp_lmtype;
goal_pose1.mutable_position()->set_x(double(cfg.value("auto_recharge", "goal_x", "25.00")));
goal_pose1.mutable_position()->set_y(double(cfg.value("auto_recharge", "goal_y", "25.00")));
goal_pose1.mutable_orentation()->set_yaw(double(cfg.value("auto_recharge", "goal_yaw", "0.00")));
goal_pose3.mutable_position()->set_x(double(cfg.value("auto_recharge", "goal_x3", "25.00")));
goal_pose3.mutable_position()->set_y(double(cfg.value("auto_recharge", "goal_y3", "25.00")));
goal_pose3.mutable_orentation()->set_yaw(double(cfg.value("auto_recharge", "goal_yaw3", "0.00")));
goal_pose2.mutable_position()->set_x(double(cfg.value("auto_recharge", "goal2_x", "25.00")));
goal_pose2.mutable_position()->set_y(double(cfg.value("auto_recharge", "goal2_y", "25.00")));
goal_pose2.mutable_orentation()->set_yaw(double(cfg.value("auto_recharge", "goal2_yaw", "25.00")));
str_logfile = cfg.value("auto_recharge", "log_file", "log_docking_duration.txt");
//node set and connect, copy from robot.cpp
std::string tmp = cfg.value("node", "bind_batterycharge", "tcp://127.0.0.1:9005");
std::cout<<"[node] bind = "<< tmp <<std::endl;
nh = new middleware::Node(tmp);
tmp = std::string(cfg.value("node", "connect_batterycharge", "tcp://127.0.0.1:9001;tcp://127.0.0.1:9002;tcp://127.0.0.1:9100"));
std::cerr<<"[node] connect = " ;
while( tmp != "" )
{
int pos = tmp.find(";");
std::cerr<<tmp.substr(0, pos)<<"; ";
nh->connect(tmp.substr(0, pos));
if (pos != std::string::npos)
tmp = tmp.substr(pos + 1 );
else
tmp = "";
}
std::cerr<<std::endl;
tmp = std::string(cfg.value("rpc", "address_batterycharge", "tcp://127.0.0.1:8998"));
std::cout << "[rpc] address_batterycharge: " << tmp << std::endl;
try{
rpc_server.bind(tmp);
rpc_server.set("set_state", &BatteryCharge::set_state, this);
rpc_server.connect(tmp);
}
catch (std::exception &e)
{
std::cerr << e.what() << std::endl;
exit(-1);
}
tmp = std::string( cfg.value("rpc", "address", "tcp://127.0.0.1:9000") );
rpc.connect(tmp);
std::cerr<<"[RPC] connect = "<<tmp<<";"<<std::endl;
correct_scan_topic = std::string( cfg.value("topic", "scan", "scan") );
nh->subscrible(correct_scan_topic, &BatteryCharge::update, this);
//2016-10-3: fyf 从navigator订阅goal_reached.
global_plan_topic = std::string(cfg.value("topic", "global_plan", "global_plan"));
nh->subscrible(global_plan_topic, &BatteryCharge::update_goal_reached, this);
//2016-10-25:fyf 工博会
std::string go_mark_topic = "go_mark";
nh->subscrible(go_mark_topic, &BatteryCharge::update_go_mark, this);
_safe_dis = double(cfg.value("auto_recharge", "final_safe_dis", "0.25"));
_final_y_compensate = double(cfg.value("auto_recharge", "final_y_compensate", "0.0"));
_py = double(cfg.value("auto_recharge", "py", "0.0"));
_pw = double(cfg.value("auto_recharge", "pw", "0.0"));
this->rpc_thread.start();
this->rpc2_thread.start();
this->nh_thread.start();
//this->Charging_State_Manager.start();
//_sleep(1000);
//stdmsg::String str;
//str.set_str("mark_reach");
//cout << "mark_reach_sent" << endl;
//this->nh->publish("mark_reach", str);
}
stdmsg::Data set_state(const stdmsg::Data &ReCvState)
{
stdmsg::Data ret;
stdmsg::Velocity cmd;
//_state = ReCvState.seq();
ret.set_seq(ReCvState.seq());
RECEIVE_CHARGING_REQUEST = ReCvState.seq();
if (RECEIVE_CHARGING_REQUEST) //RECEIVE_CHARGING_REQUEST = 1
{
_state = 1;
}
else // RECEIVE_CHARGING_REQUEST = 0
{
if (_state == 6)
{
_state = 8;
}
else
{
_state = 1;
cmd.set_v(0);
cmd.set_w(0);
this->nh->publish("set_cmd_batterycharge", cmd);
set_move_mode(0);
//RECEIVE_CHARGING_REQUEST = -1;
}
}
return ret;
}
//crti:2016-08-18,检测前方一定范围内有没有障碍物
//和localizer.cpp里的一样，参数不同
int find_obstacle_forward(const stdmsg::Laser_Scan & rscan)
{
int cnt = 0;
double min_distance,max_distance;//距离范围，单位米
int min_laser,max_laser;
/*
//crti:2016-08-18,换成直接用BatteryCharge里的public变量，cal_object_position里面会初始化这些变量，然后set_vel才调用这个函数
min_distance = 0.4;
max_distance = 0.9;
double angle = 60.0;//角度范围，60.0表示-30度到+30度
//crti:2016-08-16,原来是按照1080线算的，现在变成动态的了
min_laser = (int)((rscan.ranges().size()-1)/2+1 - angle*0.5 * 4);
if (min_laser < 0){ min_laser = 0; std::cout << "ob,out range,<" << std::endl; }
max_laser = (int)((rscan.ranges().size()-1)/2+1 + angle*0.5 * 4);
if (max_laser > rscan.ranges().size()-1){ max_laser = rscan.ranges().size()-1; std::cout << "ob,out range,>" << std::endl; }
*/
min_distance = this->thresh_min;
max_distance = this->safe_distance;
min_laser = this->Start_index_Begin;
max_laser = this->End_index_Begin;
for(int i=min_laser;i<max_laser;++i)
{
double r = rscan.ranges(i);
if(r>min_distance && r<max_distance)
{
++cnt;
}
}
if(cnt>24)//凭感觉给的，60度一共240个点，50个点在范围内就认为有物体
{
//std::cout<<"1";
return 1;
}
else
{
//std::cout<<"0";
return 0;
}
}
stdmsg::Pose cal_object_position_W_B(const stdmsg::Laser_Scan & scan)
{
stdmsg::Pose pos_;
int size = scan.ranges_size();
//uint: rad
double AngleIncrease = const_cast<stdmsg::Laser_Scan&>(scan).mutable_config()->angle_increment();
//cout << "Angle_increase " << AngleIncrease << endl;
AngleIncrease = AngleIncrease / M_PI * 180;
vector<double> laserdata;
for (int i = 0; i < size; i++)
{
laserdata.push_back(scan.ranges(i));
//_sleep(100);
}
//double L1 = 400 / 1000.0;
//double L2 = 400 / 1000.0;
//cout << _landmark_L1 <<" "<< _landmark_L2 << " "<<size << " " <<AngleIncrease/M_PI*180<<" "<<_angle_start_in_sam << endl;