command_set.c

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// Copyright (c) 2010-2016 The YP-Spur Authors, except where otherwise indicated.
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to
// deal in the Software without restriction, including without limitation the
// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
// sell copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
// THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.

#include <math.h>
#include <stdio.h>
#include <strings.h>
#include <unistd.h>

#include <fcntl.h>
#include <sys/time.h>
#include <sys/types.h>
#include <time.h>

#ifdef HAVE_CONFIG_H
#include <config.h>
#endif  // HAVE_CONFIG_H

/* ボディパラメータ */
#include <shvel-param.h>

/* yp-spur用 */
#include <serial.h>
#include <param.h>
#include <control.h>
#include <command.h>
#include <odometry.h>

/* ライブラリ用 */
#include <ypspur.h>
#include <cartesian2d.h>

void set_pos_com(int cs, double *data, SpurUserParamsPtr spur)
{
  double x, y, theta;
  CSptr cs_src;
  CSptr cs_fs;

  x = data[0];
  y = data[1];
  theta = data[2];

  cs_src = get_cs_pointer(cs);
  cs_fs = get_cs_pointer(CS_FS);

  if (cs_src->parent != NULL)
  {
    CS_turn_base(&x, &y, &theta);
    CS_recursive_trans(cs_src->parent, cs_fs, &x, &y, &theta);
    set_cs(cs, x, y, theta);
  }
  else if (option(OPTION_ENABLE_SET_BS))
  {
    OdometryPtr odm;

    odm = get_odometry_ptr();
    odm->x = x;
    odm->y = y;
    odm->theta = theta;
    set_cs(CS_FS, x, y, theta);
  }
}

void set_GL_on_GL_com(double *data, SpurUserParamsPtr spur)
{
  double x, y, theta;
  x = data[0];
  y = data[1];
  theta = data[2];

  cstrans_xy(CS_GL, CS_BS, &x, &y, &theta);
  set_cs(CS_GL, x, y, theta);
}

void set_adjust_com(int cs, double *data, SpurUserParamsPtr spur)
{
  double x, y, theta;
  double xgl, ygl, thetagl;

  x = data[0];
  y = data[1];
  theta = data[2];

  cstrans_xy(cs, CS_GL, &x, &y, &theta);
  /* ロボット(FS)がGL上のx,y,thetaに見えるとするとき */
  /* FSからGLがどこに見えるか(GL->FS => FS->GL) */
  CS_turn_base(&x, &y, &theta);
  /* それはBS上のどこか */
  cstrans_xy(CS_FS, CS_BS, &x, &y, &theta);
  xgl = x;
  ygl = y;
  thetagl = theta;

  // 走行制御用座標系も修正
  x = data[0];
  y = data[1];
  theta = data[2];
  cstrans_xy(cs, CS_SP, &x, &y, &theta);
  /* ロボット(FS)がGL上のx,y,thetaに見えるとするとき */
  /* FSからGLがどこに見えるか(GL->FS => FS->GL) */
  CS_turn_base(&x, &y, &theta);
  /* それはBS上のどこか */
  cstrans_xy(CS_FS, CS_BS, &x, &y, &theta);

  /* SPをセット */
  /* GLをセット */
  set_cs(CS_GL, xgl, ygl, thetagl);
  set_cs(CS_SP, x, y, theta);
}

void set_vel_com(double *data, SpurUserParamsPtr spur)
{
  spur->v = data[0];
  if (spur->v > p(YP_PARAM_MAX_VEL, 0))
    spur->v = p(YP_PARAM_MAX_VEL, 0);
  if (spur->v < -p(YP_PARAM_MAX_VEL, 0))
    spur->v = -p(YP_PARAM_MAX_VEL, 0);
}

void set_torque_com(double *data, SpurUserParamsPtr spur)
{
  spur->torque[1] = data[1];
  spur->torque[0] = data[0];
  spur->run_mode = RUN_WHEEL_TORQUE;
}

void set_ang_vel_com(double *data, SpurUserParamsPtr spur)
{
  spur->w = data[0];
  if (spur->w > p(YP_PARAM_MAX_W, 0))
    spur->w = p(YP_PARAM_MAX_W, 0);
  if (spur->w < 0)
    spur->w = 0;
}

void set_accel_com(double *data, SpurUserParamsPtr spur)
{
  spur->dv = data[0];
  if (spur->dv > p(YP_PARAM_MAX_ACC_V, 0))
    spur->dv = p(YP_PARAM_MAX_ACC_V, 0);
  if (spur->dv < 0)
    spur->dv = 0;
}

void set_ang_accel_com(double *data, SpurUserParamsPtr spur)
{
  spur->dw = data[0];
  if (spur->dw > p(YP_PARAM_MAX_ACC_W, 0))
    spur->dw = p(YP_PARAM_MAX_ACC_W, 0);
  if (spur->dw < 0)
    spur->dw = 0;
}

void set_tilt_com(int cs, double *data, SpurUserParamsPtr spur)
{
  double x, y, theta;

  x = 0;
  y = 0;
  theta = data[0];

  cstrans_xy(CS_GL, cs, &x, &y, &theta);

  spur->dir = theta;
  spur->tilt = data[1];
}

void set_wheel_accel_com(double *data, SpurUserParamsPtr spur)
{
  spur->wheel_accel[1] = data[1];
  spur->wheel_accel[0] = data[0];
}

void set_wheel_vel_com(double *data, SpurUserParamsPtr spur)
{
  spur->wheel_vel[1] = data[1];
  spur->wheel_vel[0] = data[0];
}