StateMachine.cpp

00001 /*
00002  * StateMachine.cpp
00003  * Copyright (c) 2018, ZHAW
00004  * All rights reserved.
00005  */
00006 
00007 #include <cmath>
00008 #include "StateMachine.h"
00009 
00010 using namespace std;
00011 
00012 const float StateMachine::PERIOD = 0.01f;                   // period of task in [s]
00013 const float StateMachine::DISTANCE_THRESHOLD = 0.2f;        // minimum allowed distance to obstacle in [m]
00014 const float StateMachine::TRANSLATIONAL_VELOCITY = 0.3f;    // translational velocity in [m/s]
00015 const float StateMachine::ROTATIONAL_VELOCITY = 1.0f;       // rotational velocity in [rad/s]
00016 
00017 /**
00018  * Creates and initializes a state machine object.
00019  */
00020 StateMachine::StateMachine(Controller& controller, DigitalOut& enableMotorDriver, DigitalOut& led0, DigitalOut& led1, DigitalOut& led2, DigitalOut& led3, DigitalOut& led4, DigitalOut& led5, DigitalIn& button, IRSensor& irSensor0, IRSensor& irSensor1, IRSensor& irSensor2, IRSensor& irSensor3, IRSensor& irSensor4, IRSensor& irSensor5, DigitalOut& led) : controller(controller), enableMotorDriver(enableMotorDriver), led0(led0), led1(led1), led2(led2), led3(led3), led4(led4), led5(led5), button(button), irSensor0(irSensor0), irSensor1(irSensor1), irSensor2(irSensor2), irSensor3(irSensor3), irSensor4(irSensor4), irSensor5(irSensor5), led(led) {
00021     
00022     enableMotorDriver = 0;
00023     state = ROBOT_OFF;
00024     buttonNow = button;
00025     buttonBefore = buttonNow;
00026     
00027     ticker.attach(callback(this, &StateMachine::run), PERIOD);
00028 }
00029 
00030 /**
00031  * Deletes the state machine object and releases all allocated resources.
00032  */
00033 StateMachine::~StateMachine() {
00034     
00035     ticker.detach();
00036 }
00037 
00038 /**
00039  * Gets the actual state of this state machine.
00040  * @return the actual state as an int constant.
00041  */
00042 int StateMachine::getState() {
00043     
00044     return state;
00045 }
00046 
00047 /**
00048  * This method is called periodically by the ticker object and implements the
00049  * logic of the state machine.
00050  */
00051 void StateMachine::run() {
00052     
00053     // set the leds based on distance measurements
00054     
00055     led0 = irSensor0 < DISTANCE_THRESHOLD;
00056     led1 = irSensor1 < DISTANCE_THRESHOLD;
00057     led2 = irSensor2 < DISTANCE_THRESHOLD;
00058     led3 = irSensor3 < DISTANCE_THRESHOLD;
00059     led4 = irSensor4 < DISTANCE_THRESHOLD;
00060     led5 = irSensor5 < DISTANCE_THRESHOLD;
00061     
00062     // implementation of the state machine
00063     
00064     switch (state) {
00065         
00066         case ROBOT_OFF:
00067             
00068             buttonNow = button;
00069             
00070             if (buttonNow && !buttonBefore) {   // detect button rising edge
00071                 
00072                 enableMotorDriver = 1;
00073                 
00074                 // Now it's time for some tasks 
00075                 //controller.setTranslationalVelocity(TRANSLATIONAL_VELOCITY);
00076                 //controller.setRotationalVelocity(0.0f);
00077                 
00078                 // Plan some tasks
00079                 
00080                 // TASKWAIT FUNKTIONIERT BI MIR NID
00081                 taskList.push_back(new TaskMoveTo(controller, 0.0f, 1.0f, 0.0f));
00082                 //taskList.push_back(new TaskWait(controller, 1.0f));
00083                 taskList.push_back(new TaskMoveTo(controller, 1.0f, 1.0f, 0.0f));
00084                 
00085                 taskList.push_back(new TaskMoveTo(controller, 0.0f, 1.0f, 0.0f));
00086                 taskList.push_back(new TaskMoveTo(controller, 0.0f, 0.0f, 0.0f));
00087                 
00088                 state = MOVE_FORWARD;
00089             }
00090             
00091             buttonBefore = buttonNow;
00092             
00093             break;
00094             
00095         case MOVE_FORWARD:
00096             led = 1;
00097             if (taskList.size() > 0) {
00098                 Task* task = taskList.front();
00099                 if (task->run(0.0f) == Task::DONE) {
00100                     led = 0;
00101                     taskList.pop_front();
00102                     delete task;
00103                 }
00104             } else {
00105                 
00106                 controller.setTranslationalVelocity(0.0f);
00107                 controller.setRotationalVelocity(0.0f);
00108                 
00109                 state = SLOWING_DOWN;    
00110             }
00111             
00112             buttonNow = button;
00113             
00114             if (buttonNow && !buttonBefore) {   // detect button rising edge
00115                 
00116                 controller.setTranslationalVelocity(0.0f);
00117                 controller.setRotationalVelocity(0.0f);
00118                 
00119                 state = SLOWING_DOWN;
00120                 
00121             } else if ((irSensor0 < DISTANCE_THRESHOLD) || (irSensor1 < DISTANCE_THRESHOLD)) {
00122                 
00123                 controller.setTranslationalVelocity(0.0f);
00124                 controller.setRotationalVelocity(ROTATIONAL_VELOCITY);
00125                 
00126                 state = TURN_LEFT;
00127                 
00128             } else if (irSensor5 < DISTANCE_THRESHOLD) {
00129                 
00130                 controller.setTranslationalVelocity(0.0f);
00131                 controller.setRotationalVelocity(-ROTATIONAL_VELOCITY);
00132                 
00133                 state = TURN_RIGHT;
00134             }
00135             
00136             buttonBefore = buttonNow;
00137             
00138             break;
00139             
00140         case TURN_LEFT:
00141             
00142             buttonNow = button;
00143             
00144             if (buttonNow && !buttonBefore) {   // detect button rising edge
00145                 
00146                 controller.setRotationalVelocity(0.0f);
00147                 
00148                 state = SLOWING_DOWN;
00149                 
00150             } else if ((irSensor0 > DISTANCE_THRESHOLD) && (irSensor1 > DISTANCE_THRESHOLD) && (irSensor5 > DISTANCE_THRESHOLD)) {
00151                 
00152                 controller.setTranslationalVelocity(TRANSLATIONAL_VELOCITY);
00153                 controller.setRotationalVelocity(0.0f);
00154                 
00155                 state = MOVE_FORWARD;
00156             }
00157             
00158             buttonBefore = buttonNow;
00159             
00160             break;
00161             
00162         case TURN_RIGHT:
00163             
00164             buttonNow = button;
00165             
00166             if (buttonNow && !buttonBefore) {   // detect button rising edge
00167                 
00168                 controller.setRotationalVelocity(0.0f);
00169                 
00170                 state = SLOWING_DOWN;
00171                 
00172             } else if ((irSensor0 > DISTANCE_THRESHOLD) && (irSensor1 > DISTANCE_THRESHOLD) && (irSensor5 > DISTANCE_THRESHOLD)) {
00173                 
00174                 controller.setTranslationalVelocity(TRANSLATIONAL_VELOCITY);
00175                 controller.setRotationalVelocity(0.0f);
00176                 
00177                 state = MOVE_FORWARD;
00178             }
00179             
00180             buttonBefore = buttonNow;
00181             
00182             break;
00183             
00184         case SLOWING_DOWN:
00185             
00186             if ((fabs(controller.getActualTranslationalVelocity()) < 0.01f) && (fabs(controller.getActualRotationalVelocity()) < 0.01f)) {
00187                 
00188                 enableMotorDriver = 0;
00189                 
00190                 while (taskList.size() > 0) {
00191                     delete taskList.front();
00192                     taskList.pop_front();
00193                 }
00194                 
00195                 state = ROBOT_OFF;
00196             }
00197             
00198             break;
00199             
00200         default:
00201             
00202             state = ROBOT_OFF;
00203     }
00204 }
00205