odometry.c

Go to the documentation of this file.

// 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 <string.h>
#include <unistd.h>

#include <fcntl.h>
#include <sys/stat.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 <param.h>
#include <control.h>
#include <adinput.h>
#include <utility.h>
#include <yprintf.h>
#include <communication.h>
#include <serial.h>
#include <ssm_spur_handler.h>

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

double g_interval;
double g_offset;
int g_offset_point;
double g_estimated_delay = 0;

CSptr g_GL;
CSptr g_SP;
CSptr g_LC;
CSptr g_BS;
CSptr g_FS;
CSptr g_BL;

Odometry g_odometry;
ErrorState g_error_state;

/* CS の初期化 */
void init_coordinate_systems(void)
{
  /* */
  g_BS = CS_add(0, 0, 0, 0);    /* オドメトリ座標系 */
  g_GL = CS_add(g_BS, 0, 0, 0); /* グローバル座標系 */
  g_LC = CS_add(g_GL, 0, 0, 0); /* ローカル座標系 */
  g_FS = CS_add(g_BS, 0, 0, 0); /* 自己位置 */
  g_BL = CS_add(g_BS, 0, 0, 0); /* オドメトリローカル座標系 */
  g_SP = CS_add(g_BS, 0, 0, 0); /* Spur座標系（走行制御用） */
}

void init_odometry(void)
{
  int i;
  g_odometry.x = 0;
  g_odometry.y = 0;
  g_odometry.theta = 0;
  for (i = 0; i < YP_PARAM_MAX_MOTOR_NUM; i++)
  {
    g_odometry.enc[i] = 0;
    g_odometry.enc_init[i] = 0;
    g_odometry.wang[i] = 0;
    g_odometry.wtorque[i] = 0;
    g_odometry.wvel[i] = 0;
    g_error_state.state[i] = 0;
    g_error_state.time[i] = 0;
  }
  g_odometry.v = 0;
  g_odometry.w = 0;
  g_odometry.time = 0;
  g_offset_point = 0;
}

CSptr get_cs_pointer(YPSpur_cs cs)
{
  switch (cs)
  {
    case CS_FS:
      return g_FS;
      break;
    case CS_LC:
      return g_LC;
      break;
    case CS_GL:
      return g_GL;
      break;
    case CS_SP:
      return g_SP;
      break;
    case CS_BS:
      return g_BS;
      break;
    case CS_BL:
      return g_BL;
      break;
    default:
      return NULL;
      break;
  }
  return NULL;
}

void cstrans_xy(YPSpur_cs src, YPSpur_cs dest, double *x, double *y, double *theta)
{
  if (src == dest)
    return;
  CS_recursive_trans(get_cs_pointer(dest), get_cs_pointer(src), x, y, theta);
}

void set_cs(YPSpur_cs cs, double x, double y, double theta)
{
  CS_set(get_cs_pointer(cs), x, y, theta);
}

/* オドメトリ計算 */
void odometry(OdometryPtr xp, short *cnt, short *pwm, double dt, double time)
{
  double v, w;
  double wvel[YP_PARAM_MAX_MOTOR_NUM], mvel[YP_PARAM_MAX_MOTOR_NUM];
  double mtorque[YP_PARAM_MAX_MOTOR_NUM], wtorque[YP_PARAM_MAX_MOTOR_NUM];
  double volt[YP_PARAM_MAX_MOTOR_NUM], vc[YP_PARAM_MAX_MOTOR_NUM];
  double torque_trans, torque_angular;
  Parameters *param;
  param = get_param_ptr();

  int i;
  for (i = 0; i < YP_PARAM_MAX_MOTOR_NUM; i++)
  {
    if (!param->motor_enable[i])
      continue;

    short cnt_diff;
    if (param->device_version > 8)
    {
      cnt_diff = (short)cnt[i] - (short)xp->enc[i];
      xp->enc[i] = cnt[i];
      if (!xp->enc_init[i])
      {
        cnt_diff = 0;
        if (cnt[i] != 0)
        {
          xp->enc_init[i] = 1;
        }
      }
    }
    else
    {
      cnt_diff = cnt[i];
      xp->enc[i] += cnt_diff;
    }

    /* 角速度計算 */
    mvel[i] = 2.0 * M_PI *
              ((double)cnt_diff) * pow(2, p(YP_PARAM_ENCODER_DIV, i)) /
              (p(YP_PARAM_COUNT_REV, i) * dt);
    wvel[i] = mvel[i] / p(YP_PARAM_GEAR, i);

    /* トルク推定 */
    volt[i] = (double)pwm[i] * p(YP_PARAM_VOLT, i) / (p(YP_PARAM_PWM_MAX, i) * (dt / p(YP_PARAM_CYCLE, i)));
    vc[i] = (p(YP_PARAM_MOTOR_VC, i) / 60) * 2 * M_PI;  // [rpm/V] => [(rad/s)/V]
    // TC [Nm/A]
    mtorque[i] = (p(YP_PARAM_MOTOR_TC, i) * (volt[i] - mvel[i] / vc[i])) /
                 (p(YP_PARAM_MOTOR_R, i) * p(YP_PARAM_ENCODER_DENOMINATOR, i));
    /* 摩擦補償の補償 */
    if (wvel[i] > 0)
    {
      mtorque[i] -= p(YP_PARAM_TORQUE_NEWTON, i) + p(YP_PARAM_TORQUE_VISCOS, i) * fabs(mvel[i]);
    }
    else if (wvel[i] < 0)
    {
      mtorque[i] += p(YP_PARAM_TORQUE_NEWTON_NEG, i) + p(YP_PARAM_TORQUE_VISCOS_NEG, i) * fabs(mvel[i]);
    }
    wtorque[i] = mtorque[i] * p(YP_PARAM_GEAR, i);
  }

  /* キネマティクス計算 */
  v = p(YP_PARAM_RADIUS, MOTOR_RIGHT) * wvel[MOTOR_RIGHT] / 2.0 + p(YP_PARAM_RADIUS, MOTOR_LEFT) * wvel[MOTOR_LEFT] / 2.0;
  w = +p(YP_PARAM_RADIUS, MOTOR_RIGHT) * wvel[MOTOR_RIGHT] / p(YP_PARAM_TREAD, 0) - p(YP_PARAM_RADIUS, MOTOR_LEFT) * wvel[MOTOR_LEFT] / p(YP_PARAM_TREAD, 0);

  torque_trans = wtorque[MOTOR_RIGHT] / p(YP_PARAM_RADIUS, MOTOR_RIGHT) + wtorque[MOTOR_LEFT] / p(YP_PARAM_RADIUS, MOTOR_LEFT);
  torque_angular = (+wtorque[MOTOR_RIGHT] / p(YP_PARAM_RADIUS, MOTOR_RIGHT) - wtorque[MOTOR_LEFT] / p(YP_PARAM_RADIUS, MOTOR_LEFT)) * p(YP_PARAM_TREAD, 0) / 2;

  /* オドメトリ計算 */
  xp->x = xp->x + v * cos(xp->theta) * dt;
  xp->y = xp->y + v * sin(xp->theta) * dt;
  xp->theta = xp->theta + w * dt;
  xp->time = time;
  if (option(OPTION_SHOW_TIMESTAMP))
  {
    static int cnt = 0;
    if (++cnt % 100 == 0)
      printf("now - stamp: %0.3f ms\n", (get_time() - time) * 1000.0);
  }
  xp->v = v;
  xp->w = w;
  for (i = 0; i < YP_PARAM_MAX_MOTOR_NUM; i++)
  {
    if (!param->motor_enable[i])
      continue;
    xp->wvel[i] = wvel[i];
    xp->wang[i] = xp->wang[i] + xp->wvel[i] * dt;
    xp->wtorque[i] = wtorque[i];
  }
  xp->torque_trans = torque_trans;
  xp->torque_angular = torque_angular;

  /*-PI< <PIに調整*/
  // if(xp->theta <-M_PI)xp->theta += 2*M_PI;
  // if(xp->theta > M_PI)xp->theta -= 2*M_PI;

  /* FS座標系セット */
  CS_set(g_FS, xp->x, xp->y, xp->theta);

  // 数式指定のパラメータを評価
  param_calc();
}

/* 割り込み型データの処理 */
void process_int(
    OdometryPtr xp, ErrorStatePtr err, int param_id, int id, int value, double receive_time)
{
  Parameters *param;
  param = get_param_ptr();

  if (!param->motor_enable[id])
    return;

  switch (param_id)
  {
    case INT_enc_index_rise:
    case INT_enc_index_fall:
    {
      // enc == value のときに INDEX_RISE/FALL_ANGLE [rad] だった
      const unsigned short enc_div =
          ((unsigned int)xp->enc[id] << ((int)p(YP_PARAM_ENCODER_DIV, id))) & 0xFFFF;
      const short enc_diff = (short)enc_div - (short)value;
      const double ang_diff =
          enc_diff * 2.0 * M_PI / (p(YP_PARAM_COUNT_REV, id) * p(YP_PARAM_GEAR, id));

      const double index_ratio = p(YP_PARAM_INDEX_GEAR, id) / p(YP_PARAM_GEAR, id);
      double ref_ang;
      if (param_id == INT_enc_index_rise)
      {
        if (!isset_p(YP_PARAM_INDEX_RISE_ANGLE, id))
          break;
        ref_ang = p(YP_PARAM_INDEX_RISE_ANGLE, id);
      }
      else
      {
        if (!isset_p(YP_PARAM_INDEX_FALL_ANGLE, id))
          break;
        ref_ang = p(YP_PARAM_INDEX_FALL_ANGLE, id);
      }

      ref_ang *= index_ratio;

      xp->wang[id] = round((xp->wang[id] - ref_ang - ang_diff) / (2.0 * M_PI * index_ratio)) *
                         2.0 * M_PI * index_ratio +
                     ref_ang + ang_diff;
      break;
    }
    case INT_error_state:
    {
      err->state[id] = value;
      err->time[id] = receive_time;
      if (value != ERROR_NONE)
        yprintf(OUTPUT_LV_ERROR, "Error: The driver of motor_id %d returned ", id);
      if (value & ERROR_LOW_VOLTAGE)
        yprintf(OUTPUT_LV_ERROR, "ERROR_LOW_VOLTAGE ");
      if (value & ERROR_HALL_SEQ)
        yprintf(OUTPUT_LV_ERROR, "ERROR_HALL_SEQ ");
      if (value & ERROR_HALL_ENC)
        yprintf(OUTPUT_LV_ERROR, "ERROR_HALL_ENC ");
      if (value & ERROR_WATCHDOG)
        yprintf(OUTPUT_LV_ERROR, "ERROR_WATCHDOG ");

      if (value != ERROR_NONE)
        yprintf(OUTPUT_LV_ERROR, "\n");
      break;
    }
    default:
      yprintf(OUTPUT_LV_ERROR, "Error: Unknown interrput data (%d, %d, %d)\n", param_id, id, value);
      break;
  }
}

/* Odometry型データの座標系を変換 */
void cstrans_odometry(YPSpur_cs cs, OdometryPtr dst_odm)
{
  double x, y, theta;
  x = g_odometry.x;
  y = g_odometry.y;
  theta = g_odometry.theta;

  CS_recursive_trans(get_cs_pointer(cs), g_BS, &x, &y, &theta);

  dst_odm->x = x;
  dst_odm->y = y;
  dst_odm->theta = theta;
  dst_odm->time = g_odometry.time;
}

/* オドメトリへのポインタを取得 */
OdometryPtr get_odometry_ptr()
{
  return &g_odometry;
}

ErrorStatePtr get_error_state_ptr()
{
  return &g_error_state;
}

double time_estimate(int readnum)
{
  return g_offset + g_interval * (double)(readnum - g_offset_point) + g_estimated_delay;
}

double time_synchronize(double receive_time, int readnum, int wp)
{
  static double prev_time = 0.0;
  static int prev_readnum = 0;
  double measured_time;

  // 受信開始時刻を計算
  if (SER_BAUDRATE != 0)
  {
    measured_time = receive_time - (wp / (SER_BAUDRATE / 8.0));
  }
  else
  {
    measured_time = receive_time;
  }
  // Add half USB FS frame delay
  // (Currently all YP-Spur compatible devices uses USB as a communication interface.)
  measured_time -= 0.0005;

  if (g_offset_point <= 0 || fabs(g_offset - measured_time) > 0.5)
  {
    // Reset if measured_time has too large error (500ms).
    g_offset = measured_time;
    g_interval = SER_INTERVAL;
    g_offset_point = readnum;
    prev_time = measured_time;
  }

  // predict
  g_offset += g_interval * (readnum - g_offset_point);
  g_offset_point = readnum;

  const double dt = measured_time - prev_time;
  double error = measured_time - g_offset;

  const int lost = lround(error / g_interval);
  if (lost != 0)
  {
    if (option(OPTION_SHOW_TIMESTAMP))
      printf("%d packet(s) might be lost!\n", lost);
    error -= lost * g_interval;
    g_offset_point -= lost;
  }

  static double error_integ = 0;
  error_integ += error * dt;

  if (error < g_estimated_delay && lost == 0)
  {
    if (option(OPTION_SHOW_TIMESTAMP))
      printf("[update min_delay] delay: %0.3f\n",
             error * 1000.0);
    g_estimated_delay = g_estimated_delay * 0.5 + error * 0.5;
  }
  g_estimated_delay *= (1.0 - dt / 120.0);

  g_offset += error * 0.2 + error_integ * 0.1;

  // aprox. 0.5 sec exp filter
  g_interval =
      0.99 * g_interval +
      0.01 * ((measured_time - prev_time) / (double)(readnum - prev_readnum));

  static int cnt_show_timestamp = 0;
  if (option(OPTION_SHOW_TIMESTAMP) && ++cnt_show_timestamp % 100 == 0)
    printf("epoch: %0.8f, interval: %0.3f, delay: %0.3f, min_delay: %0.3f\n",
           g_offset, g_interval * 1000.0, error * 1000.0, g_estimated_delay * 1000.0);

  prev_time = measured_time;
  prev_readnum = readnum;

  return g_offset;
}

/* シリアル受信処理 */
int odometry_receive(char *buf, int len, double receive_time, void *data)
{
  static int com_wp = 0;
  static int receive_count = 0;
  static char com_buf[128];
  static enum
  {
    ISOCHRONOUS = 0,
    INTERRUPT
  } mode = 0;

  int i;
  int odometry_updated;
  int readdata_num;
  int decoded_len = 0;
  int decoded_len_req;  // Expected length of the data
  int readdata_len = 0;

  // Odometry *odm;
  Odometry odm_log[100];
  Short_2Char cnt1_log[100];
  Short_2Char cnt2_log[100];
  Short_2Char pwm1_log[100];
  Short_2Char pwm2_log[100];
  int ad_log[100][8];
  Parameters *param;

  param = get_param_ptr();

  decoded_len_req =
      (+get_ad_num()                 /* ad */
       + get_dio_num()               /* dio */
       + param->num_motor_enable * 2 /* cnt + pwm */
       ) *
      2 /* data cnt -> byte */;
  readdata_num = 0;
  odometry_updated = 0;
  // 読み込まれたデータを解析
  for (i = 0; i < len; i++)
  {
    if (buf[i] == COMMUNICATION_START_BYTE)
    {
      com_wp = 0;
      mode = ISOCHRONOUS;
    }
    else if (buf[i] == COMMUNICATION_INT_BYTE)
    {
      com_wp = 0;
      mode = INTERRUPT;
    }
    else if (buf[i] == COMMUNICATION_END_BYTE)
    {
      unsigned char data[48];

      /* デコード処理 */
      decoded_len = decode((unsigned char *)com_buf, com_wp, (unsigned char *)data, 48);
      if ((mode == ISOCHRONOUS && decoded_len != decoded_len_req) ||
          (mode == INTERRUPT && decoded_len != 6))
      {
        com_buf[com_wp] = '\0';
        yprintf(OUTPUT_LV_WARNING, "Warn: Broken packet '%s' (%d bytes) received. (%d bytes expected)\n", com_buf, decoded_len, decoded_len_req);
        com_wp = 0;
        continue;
      }

      switch (mode)
      {
        case ISOCHRONOUS:
        {
          short cnt[YP_PARAM_MAX_MOTOR_NUM], pwm[YP_PARAM_MAX_MOTOR_NUM];
          int i, p = 0;
          for (i = 0; i < YP_PARAM_MAX_MOTOR_NUM; i++)
          {
            if (!param->motor_enable[i])
              continue;
            Short_2Char val;
            val.byte[1] = data[p++];
            val.byte[0] = data[p++];
            cnt[i] = val.integer;
          }
          for (i = 0; i < YP_PARAM_MAX_MOTOR_NUM; i++)
          {
            if (!param->motor_enable[i])
              continue;
            Short_2Char val;
            val.byte[1] = data[p++];
            val.byte[0] = data[p++];
            pwm[i] = val.integer;
          }

          process_addata(&data[p], decoded_len - p);

          cnt1_log[readdata_num].integer = cnt[0];
          cnt2_log[readdata_num].integer = cnt[1];
          pwm1_log[readdata_num].integer = pwm[0];
          pwm2_log[readdata_num].integer = pwm[1];
          memcpy(ad_log[readdata_num], get_addataptr(), sizeof(int) * 8);
          readdata_num++;

          if (state(YP_STATE_MOTOR) && state(YP_STATE_VELOCITY) && state(YP_STATE_BODY))
          {
            odometry(&g_odometry, cnt, pwm, g_interval, time_estimate(receive_count + readdata_num));
            odm_log[odometry_updated] = g_odometry;
            odometry_updated++;
          }

          if (option(OPTION_SHOW_ODOMETRY))
            printf("%f %f %f\n", g_odometry.x, g_odometry.y, g_odometry.theta);
        }
        break;
        case INTERRUPT:
        {
          char param, id;
          Int_4Char value;

          param = data[0];
          id = data[1];
          value.byte[3] = data[2];
          value.byte[2] = data[3];
          value.byte[1] = data[4];
          value.byte[0] = data[5];

          process_int(&g_odometry, &g_error_state, param, id, value.integer, receive_time);
        }
        break;
      }
      readdata_len = com_wp;
      com_wp = 0;
    }
    else
    {
      com_buf[com_wp] = buf[i];
      com_wp++;
      if (com_wp >= 128)
      {
        com_wp = 128 - 1;
        yprintf(OUTPUT_LV_WARNING, "Warn: Read buffer overrun.\n");
      }
    }
  }

  if (readdata_num > 0)
  {
    receive_count += readdata_num;
    if (com_wp == 0)
      time_synchronize(receive_time, receive_count, com_wp);
  }

  write_ypspurSSM(odometry_updated, receive_count, odm_log, readdata_num, cnt1_log, cnt2_log, pwm1_log, pwm2_log,
                  ad_log);
  return 1;
}

int odometry_receive_loop(void)
{
  int ret;
  Parameters *param;
  param = get_param_ptr();

  g_interval = SER_INTERVAL;
  while (1)
  {
    ret = serial_recieve(odometry_receive, NULL);
    if (param->parameter_applying)
    {
      yprintf(OUTPUT_LV_INFO, "Restarting odometry receive loop.\n");
      continue;
    }
    break;
  }

  return ret;
}