KIAutoInit.cpp

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#include "KIAutoInit.h"
#include "../DroneController.h"
#include "../ControlNode.h"
#include "../../HelperFunctions.h"


KIAutoInit::KIAutoInit(bool resetMap, int imoveTimeMS, int iwaitTimeMS, int reachHeightMS, float controlMult, bool takeoff)
{
        stage = NONE;
        this->resetMap = resetMap;
        moveTimeMS = imoveTimeMS;
        waitTimeMS = iwaitTimeMS;
        this->reachHeightMS = reachHeightMS;
        this->controlCommandMultiplier = controlMult;

        nextUp = false;
        stageStarted = false;

        if(!takeoff)
                stage = WAIT_FOR_FIRST;

        char buf[200];
        if(resetMap)
                snprintf(buf,200,"autoInit %d %d", imoveTimeMS, iwaitTimeMS);
        else
                snprintf(buf,200,"takeoff");

        command = buf;
}


KIAutoInit::~KIAutoInit(void)
{
}


bool KIAutoInit::update(const tum_ardrone::filter_stateConstPtr statePtr)
{
        // no PTAM initialization, just takeoff.
        if(!resetMap)
        {
                switch(stage)
                {
                case NONE:              // start and proceed
                        node->sendTakeoff();
                        stageStarted = getMS();
                        stage = WAIT_FOR_SECOND;
                        node->sendControlToDrone(node->hoverCommand);
                        return false;

                case WAIT_FOR_SECOND:
                        if(getMS() - stageStarted < 5000)
                        {
                                node->sendControlToDrone(node->hoverCommand);
                                return false;
                        }

                        controller->setTarget(DronePosition(
                                        TooN::makeVector(statePtr->x,statePtr->y,statePtr->z),statePtr->yaw));
                        node->sendControlToDrone(controller->update(statePtr));
                        stage = DONE;
                        return true;
                case DONE:
                        node->sendControlToDrone(controller->update(statePtr));
                        return true;
                default:
                        return false;
                }
                return true;    // should never happen....
        }
        else
        {
                switch(stage)
                {
                case NONE:              // start and proceed
                        node->sendTakeoff();
                        node->publishCommand("f reset");        // reset whole filter.

                        stageStarted = getMS();
                        stage = STARTED;
                        nextUp = true;
                        node->sendControlToDrone(node->hoverCommand);
                        return false;

                case STARTED:   // wait 6s to reach hight.
                        if(getMS() - stageStarted > reachHeightMS)
                        {
                                stageStarted = getMS();
                                stage = WAIT_FOR_FIRST;
                        }
                        node->sendControlToDrone(node->hoverCommand);
                        return false;

                case WAIT_FOR_FIRST:    // wait 1s and press space
                        if(getMS() - stageStarted > 1000)
                        {
                                node->publishCommand("p space");
                                stageStarted = getMS();
                                stage = TOOK_FIRST;
                        }
                        node->sendControlToDrone(node->hoverCommand);
                        return false;

                case TOOK_FIRST:        // go [up/down] 1s and press space if was initializing.
                        if(getMS() - stageStarted < moveTimeMS)
                        {
                                if(nextUp)
                                        node->sendControlToDrone(ControlCommand(0,0,0,0.6*controlCommandMultiplier));
                                else
                                        node->sendControlToDrone(ControlCommand(0,0,0,-0.3*controlCommandMultiplier));
                        }
                        else if(getMS() - stageStarted < moveTimeMS+waitTimeMS)
                        {
                                node->sendControlToDrone(node->hoverCommand);
                        }
                        else    // time is up, take second KF
                        {
                                if(statePtr->ptamState == statePtr->PTAM_INITIALIZING)  // TODO: ptam status enum, this should be PTAM_INITIALIZING
                                {
                                        node->publishCommand("p space");
                                        stageStarted = getMS();
                                        stage = WAIT_FOR_SECOND;
                                }
                                else    // sth was wrong: try again
                                {
                                        nextUp = !nextUp;
                                        node->publishCommand("p reset");
                                        stageStarted = getMS();
                                        stage = WAIT_FOR_FIRST;
                                }
                                node->sendControlToDrone(node->hoverCommand);
                        }
                        return false;

                case WAIT_FOR_SECOND:

                        // am i done?
                        if(statePtr->ptamState == statePtr->PTAM_BEST || statePtr->ptamState == statePtr->PTAM_GOOD || statePtr->ptamState == statePtr->PTAM_TOOKKF) // TODO: PTAM_GOOD or PTAM_BEST or PTAM_TOOKKF
                        {
                                controller->setTarget(DronePosition(
                                                                        TooN::makeVector(statePtr->x,statePtr->y,statePtr->z),statePtr->yaw));
                                node->sendControlToDrone(controller->update(statePtr));
                                stage = DONE;
                                return true;
                        }

                        // am i stil waiting?
                        // TODO: change this to something that becomes false, as soon as fail is evident.
                        if(getMS() - stageStarted < 2500)       // wait 2s
                        {
                                node->sendControlToDrone(node->hoverCommand);
                                return false;
                        }

                        // i have failed -> try again.
                        nextUp = !nextUp;
                        node->publishCommand("p reset");
                        stageStarted = getMS();
                        stage = WAIT_FOR_FIRST;
                        node->sendControlToDrone(node->hoverCommand);
                        return false;
                case DONE:
                        node->sendControlToDrone(controller->update(statePtr));
                        return true;
                default:
                        return false;
                }
                return false;   // again: should never happen....
        }
}