ssm_spur_handler.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 <stdio.h>
#include <string.h>
 
#ifdef HAVE_CONFIG_H
#include <config.h>
#endif  // HAVE_CONFIG_H
 
/* SSM 用 */
#ifdef HAVE_SSM
#include <ssm.h>
#include "ssmtype/spur-odometry.h"
#include "ssmtype/pws-motor.h"
#include "ssmtype/ypspur-ad.h"
#endif  // HAVE_SSM
 
/* yp-spur用 */
#include "odometry.h"
#include "utility.h"
#include "ypspur.h"
#include "param.h"
#include "shvel-param.h"
#include "ssm_spur_handler.h"
 
#ifdef HAVE_SSM
SSM_sid g_odm_bs_sid = 0, g_odm_sid = 0, g_motor_sid = 0, g_odm_adj_sid = 0, g_ad_sid = 0;
int g_ssm_enable;
int g_ssm_adj_enable = 0;
int g_ssm_id = 0;
#endif  // HAVE_SSM
 
/* SSM の初期化 */
void init_ypspurSSM(int ssm_id)
{
#ifdef HAVE_SSM
  g_ssm_id = ssm_id;
 
  yprintf(OUTPUT_LV_INFO, "    with SSM\n");
  if (!initSSM())
  {
    /* SSMが起動していない */
    yprintf(OUTPUT_LV_ERROR, "\n SSM is not available.\n");
    g_ssm_enable = 0;
  }
  else
  {
    g_ssm_enable = 1;
    g_odm_bs_sid = createSSM_time(SNAME_ODOMETRY, ssm_id, sizeof(Spur_Odometry), 5, 0.005);
    g_odm_sid = createSSM_time(SNAME_GLOBAL, ssm_id, sizeof(Spur_Odometry), 5, 0.005);
    g_motor_sid = createSSM_time(SNAME_PWS_MOTOR, ssm_id, sizeof(PWSMotor), 1, 0.005);
    g_ad_sid = createSSM_time(SNAME_YPSPUR_AD, ssm_id, sizeof(YP_ad), 1, 0.005);
    if (!(g_odm_bs_sid && g_odm_sid && g_motor_sid && g_ad_sid))
    {
      g_ssm_enable = 0;
      yprintf(OUTPUT_LV_WARNING, "\nWarning : cannot create ssm.\n");
    }
  }
  g_ssm_adj_enable = 0;
#endif  // HAVE_SSM
}
 
void end_ypspurSSM()
{
#ifdef HAVE_SSM
  if (g_ssm_enable)
  {
    releaseSSM(&g_odm_bs_sid);
    releaseSSM(&g_odm_sid);
    releaseSSM(&g_motor_sid);
    releaseSSM(&g_ad_sid);
    releaseSSM(&g_odm_adj_sid);
    endSSM();
  }
#endif  // HAVE_SSM
}
 
void write_ypspurSSM(int odometry_updated, int receive_count,
                     Odometry *odm_log, int readdata_num, Short_2Char *cnt1_log, Short_2Char *cnt2_log,
                     Short_2Char *pwm1_log, Short_2Char *pwm2_log, int ad_log[][8])
{
#ifdef HAVE_SSM
  if (g_ssm_enable)
  {
    int i;
    PWSMotor motor;
    Spur_Odometry odm;
    YP_ad ad;
    ssmTimeT time;
    int time_offset;
    /* SSMへの出力 */
    time_offset = receive_count - odometry_updated + 1;
    for (i = 0; i < odometry_updated; i++)
    {
      time = time_estimate(time_offset + i);
      /* BSの出力 */
      odm.x = odm_log[i].x;
      odm.y = odm_log[i].y;
      odm.theta = odm_log[i].theta;
      odm.v = odm_log[i].v;
      odm.w = odm_log[i].w;
      writeSSM(g_odm_bs_sid, &odm, time);
      /* GLの出力 */
      CS_recursive_trans(get_cs_pointer(CS_GL), get_cs_pointer(CS_BS), &odm.x, &odm.y, &odm.theta);
      writeSSM(g_odm_sid, &odm, time);
    }
    /* PWM,カウンタ値,AD値の出力 */
    time_offset = receive_count - readdata_num + 1;
    for (i = 0; i < readdata_num; i++)
    {
      time = time_estimate(time_offset + i);
      motor.counter1 = cnt1_log[i].integer;
      motor.counter2 = cnt2_log[i].integer;
      motor.pwm1 = pwm1_log[i].integer;
      motor.pwm2 = pwm2_log[i].integer;
      memcpy(ad.ad, ad_log[i], sizeof(int) * 8);
      writeSSM(g_motor_sid, &motor, time);
      writeSSM(g_ad_sid, &ad, time);
    }
  }
#endif  // HAVE_SSM
}
 
/* オドメトリ修正情報との融合 */
void coordinate_synchronize(Odometry *odm, SpurUserParamsPtr spur)
{
#ifdef HAVE_SSM
  static double before_time;
  double now_time, time;
  Odometry bs_odometry, adj_odometry, target_pos;
  CoordinateSystem bs_cs, adj_cs;
  int tid;
  if (g_ssm_enable)
  { /* 20ms毎？ */
    if (!g_ssm_adj_enable)
    { /* SSMcheck */
      now_time = get_time();
      if (now_time > before_time + 1)
      {
        g_odm_adj_sid = openSSM(SNAME_ADJUST, 0, 0);
        if (g_odm_adj_sid > 0)
        {  // openできた
          g_ssm_adj_enable = 1;
          yprintf(OUTPUT_LV_INFO, "SSMInfo: Find adjust information.\n");
        }
        else
        {
          g_ssm_adj_enable = 0;
        }
        before_time = now_time;
      }
    }
    else
    {
      /* パラメータの変更がおこらないようにブロック */
      pthread_mutex_lock(&spur->mutex);
      // 最新の修正位置
      if ((tid = readSSM(g_odm_adj_sid, (char *)&adj_odometry, &now_time, -1)) >= 0)
      {
        // 同時刻のGL座標
        if (now_time > get_time() - 1)
        {
          if ((tid = readSSM_time(g_odm_bs_sid, (char *)&bs_odometry, now_time, &time)) >= 0)
          {
            // 時間が1秒以内（止まっていない）で、データがあるなら実行
            /* 座標系作成 */
            bs_cs.x = bs_odometry.x;
            bs_cs.y = bs_odometry.y;
            bs_cs.theta = bs_odometry.theta;
            adj_cs.x = adj_odometry.x;
            adj_cs.y = adj_odometry.y;
            adj_cs.theta = adj_odometry.theta;
            /* 修正後の位置を計算 */
            target_pos = *odm; /* 最新の位置 */
            /* 現在位置との微妙な差を計算 */
            trans_cs(&bs_cs, &target_pos.x, &target_pos.y, &target_pos.theta);
            /* 微妙な差を付け加える */
            inv_trans_cs(&adj_cs, &target_pos.x, &target_pos.y, &target_pos.theta);
 
            double data[3] = { target_pos.x, target_pos.y, target_pos.theta };
            set_adjust_com(CS_GL, data, spur);
          }
        }
      }
      /* 保護終わり */
      pthread_mutex_unlock(&spur->mutex);
    }
  }
#endif  // HAVE_SSM
}