MovementController.C

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00001 /*!@file SeaBee/MovementController.C  Control seabee movement */
00002 
00003 // //////////////////////////////////////////////////////////////////// //
00004 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2001 by the //
00005 // University of Southern California (USC) and the iLab at USC.         //
00006 // See http://iLab.usc.edu for information about this project.          //
00007 // //////////////////////////////////////////////////////////////////// //
00008 // Major portions of the iLab Neuromorphic Vision Toolkit are protected //
00009 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency //
00010 // in Visual Environments, and Applications'' by Christof Koch and      //
00011 // Laurent Itti, California Institute of Technology, 2001 (patent       //
00012 // pending; application number 09/912,225 filed July 23, 2001; see      //
00013 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status).     //
00014 // //////////////////////////////////////////////////////////////////// //
00015 // This file is part of the iLab Neuromorphic Vision C++ Toolkit.       //
00016 //                                                                      //
00017 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can   //
00018 // redistribute it and/or modify it under the terms of the GNU General  //
00019 // Public License as published by the Free Software Foundation; either  //
00020 // version 2 of the License, or (at your option) any later version.     //
00021 //                                                                      //
00022 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope  //
00023 // that it will be useful, but WITHOUT ANY WARRANTY; without even the   //
00024 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR      //
00025 // PURPOSE.  See the GNU General Public License for more details.       //
00026 //                                                                      //
00027 // You should have received a copy of the GNU General Public License    //
00028 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write   //
00029 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330,   //
00030 // Boston, MA 02111-1307 USA.                                           //
00031 // //////////////////////////////////////////////////////////////////// //
00032 //
00033 // Primary maintainer for this file: Michael Montalbo
00034 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/SeaBee/MovementController.C $
00035 // $Id: MovementController.C 10794 2009-02-08 06:21:09Z itti $
00036 //
00037 
00038 #include "SeaBee/MovementController.H"
00039 #include "Component/ModelOptionDef.H"
00040 
00041 
00042 // ######################################################################
00043 MovementController::MovementController(OptionManager& mgr,
00044                                        nub::soft_ref<SubController> subController,
00045                                        const std::string& descrName,
00046                                        const std::string& tagName):
00047 
00048   ModelComponent(mgr, descrName, tagName),
00049   itsDepthErrThresh(&OPT_DepthErrThresh, this, ALLOW_ONLINE_CHANGES),
00050   itsHeadingErrThresh(&OPT_HeadingErrThresh, this, ALLOW_ONLINE_CHANGES),
00051   pipeP("pipeP", this, 0, ALLOW_ONLINE_CHANGES),
00052   pipeI("pipeI", this, 0, ALLOW_ONLINE_CHANGES),
00053   pipeD("pipeD", this, 0, ALLOW_ONLINE_CHANGES),
00054   itsPipePID(pipeP.getVal(), pipeI.getVal(), pipeD.getVal(), -20, 20,
00055              5, 0, 0, 100, -100, 150, true, 1, 25, -25),
00056   setDiveValue(&OPT_DiveValue, this, ALLOW_ONLINE_CHANGES),
00057   setGoStraightTimeValue(&OPT_GoStraightTime, this, ALLOW_ONLINE_CHANGES),
00058   setSpeedValue(&OPT_SpeedValue, this, ALLOW_ONLINE_CHANGES),
00059   setHeadingValue(&OPT_HeadingValue, this, ALLOW_ONLINE_CHANGES),
00060   setRelative("setRelative", this, false, ALLOW_ONLINE_CHANGES),
00061   setTimeout(&OPT_TimeoutValue, this, ALLOW_ONLINE_CHANGES),
00062   itsSubController(subController)
00063 {
00064 
00065 }
00066 
00067 // ######################################################################
00068 MovementController::~MovementController()
00069 {
00070 
00071 }
00072 
00073 // ######################################################################
00074 bool MovementController::dive(int depth, bool relative, int timeout)
00075 {
00076   LINFO("Dive to depth: %d", depth);
00077   if(relative)
00078     {
00079       int currentDepth = itsSubController->getDepth();
00080 
00081       // wait for depth to initialize
00082       if(currentDepth == -1)
00083         sleep(1);
00084 
00085       currentDepth = itsSubController->getDepth();
00086       if(currentDepth == -1)
00087         return false;
00088 
00089 
00090       itsSubController->setDepth(depth + currentDepth);
00091       LINFO("Diving to depth: %d", currentDepth + depth);
00092     }
00093   else
00094     {
00095       itsSubController->setDepth(depth);
00096     }
00097 
00098   int time = 0;
00099 
00100   while(itsSubController->getDepthErr() > itsDepthErrThresh.getVal())
00101     {
00102       //      LINFO("err: %d, thresh: %d",itsSubController->getDepthErr(),itsDepthErrThresh.getVal());
00103       usleep(3000);
00104       time++;
00105       //      if(time++ > timeout) return false;
00106       //<TODO mmontalbo> turn off diving
00107       //      LINFO("err: %d, thresh: %d",itsSubController->getDepthErr(),itsDepthErrThresh.getVal());
00108     }
00109 
00110   return true;
00111 }
00112 
00113 // ######################################################################
00114 bool MovementController::goStraight(int speed, int time)
00115 {
00116   LINFO("Go Straight");
00117   itsSubController->setHeading(itsSubController->getHeading());
00118   itsSubController->setSpeed(speed);
00119   sleep(time);
00120   itsSubController->setSpeed(0);
00121   return true;
00122 }
00123 
00124 // ######################################################################
00125 bool MovementController::setHeading(int heading, bool relative, int timeout)
00126 {
00127   if(relative)
00128     {
00129       itsSubController->setHeading(heading + itsSubController->getHeading());
00130     }
00131   else
00132     {
00133       itsSubController->setHeading(heading);
00134     }
00135 
00136   int time = 0;
00137 
00138   while(itsSubController->getHeadingErr() > itsHeadingErrThresh.getVal())
00139     {
00140       //      usleep(10000);
00141       if(time++ > timeout) return false;
00142       //<TODO mmontalbo> turn off turning
00143     }
00144 
00145   return true;
00146 }
00147 
00148 // ######################################################################
00149 int MovementController::trackPipe(const Point2D<int>& pointToTrack,
00150                                   const Point2D<int>& desiredPoint)
00151 {
00152   float pipeCorrection = (float)itsPipePID.update(pointToTrack.i, desiredPoint.i);
00153 
00154   //  itsSubController->setHeading(itsSubController->getHeading()
00155   //                          + pipeCorrection);
00156 
00157   itsSubController->setTurningSpeed(pipeCorrection);
00158 
00159   return abs(pointToTrack.i - desiredPoint.i);
00160 }
00161 
00162 // ######################################################################
00163 void MovementController::paramChanged(ModelParamBase* const param,
00164                                  const bool valueChanged,
00165                                  ParamClient::ChangeStatus* status)
00166 {
00167 //   if (param == &setDiveValue && valueChanged)
00168 //     {
00169 //       if(dive(setDiveValue.getVal(), setRelative.getVal(), setTimeout.getVal()))
00170 //         LINFO("Dive completed successfully");
00171 //       else
00172 //         LINFO("Dive failed");
00173 //     }
00174 //   else if(param == &setGoStraightTimeValue && valueChanged)
00175 //     {
00176 //       if(goStraight(setSpeedValue.getVal(), setGoStraightTimeValue.getVal()))
00177 //         LINFO("Go straight completed successfully");
00178 //       else
00179 //         LINFO("Go straight failed");
00180 //     }
00181 //   else if(param == &setHeadingValue && valueChanged)
00182 //     {
00183 //       if(setHeading(setHeadingValue.getVal(), setRelative.getVal(), setTimeout.getVal()))
00184 //         LINFO("Turn completed successfully");
00185 //       else
00186 //         LINFO("Turn failed");
00187 //     }
00188   //////// Pipe PID constants/gain change ////////
00189   if (param == &pipeP && valueChanged)
00190     itsPipePID.setPIDPgain(pipeP.getVal());
00191   else if(param == &pipeI && valueChanged)
00192     itsPipePID.setPIDIgain(pipeI.getVal());
00193   else if(param == &pipeD && valueChanged)
00194     itsPipePID.setPIDDgain(pipeD.getVal());
00195 
00196 }
00197 
00198 // ######################################################################
00199 /* So things look consistent in everyone's emacs... */
00200 /* Local Variables: */
00201 /* indent-tabs-mode: nil */
00202 /* End: */
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