AigamozuControlPackets.cpp

00001 #include "AigamozuControlPackets.h"
00002 #include "VNH5019.h"
00003 
00004 //////////////////////////////
00005 //          Init            //
00006 //////////////////////////////
00007 AigamozuControlPackets::AigamozuControlPackets(VNH5019 agzSheild):_agzSheild(agzSheild){
00008     packetData = new uint8_t[50];
00009     packetLength = 0;
00010     //--init base point--//
00011     //basePoint[0].x = 13956.2655;
00012     //basePoint[0].y = 3731.5060;
00013     basePoint[0].x = 100.2655;
00014     basePoint[0].y = 30.5060;
00015     
00016     //basePoint[1].x = 13956.2898;
00017     //basePoint[1].y = 3731.5055;
00018     basePoint[1].x = 200.2898;
00019     basePoint[1].y = 30.5055;
00020     
00021     //basePoint[2].x = 13956.2915;
00022     //basePoint[2].y = 3731.5245;
00023     basePoint[2].x = 200.2915;
00024     basePoint[2].y = 40.5245;
00025     
00026     //basePoint[3].x = 13956.2680;
00027     //basePoint[3].y = 3731.5248;
00028     basePoint[3].x = 100.2680;
00029     basePoint[3].y = 40.5248;
00030     
00031     agzPoint.x=0;agzPoint.y=0;
00032     agzPointKalman.x=0;agzPointKalman.y=0;
00033     agzCov.x=0;agzCov.y=0;
00034     }
00035 
00036 //////////////////////////////
00037 // get関数
00038 //////////////////////////////
00039 double AigamozuControlPackets::get_agzPoint_lati(){
00040     return agzPoint.x;
00041     }
00042 double AigamozuControlPackets::get_agzPoint_longi(){
00043     return agzPoint.y;
00044     }
00045 double AigamozuControlPackets::get_agzPointKalman_lati(){
00046     return agzPointKalman.x;
00047     }
00048 double AigamozuControlPackets::get_agzPointKalman_longi(){
00049     return agzPointKalman.y;
00050     }
00051 double AigamozuControlPackets::get_agzCov_lati(){
00052     return agzCov.x;
00053 }
00054 double AigamozuControlPackets::get_agzCov_longi(){
00055     return agzCov.y;
00056 }
00057    
00058 double AigamozuControlPackets::get_basePoint_lati(int i){
00059     return basePoint[i].x;
00060     }
00061 double AigamozuControlPackets::get_basePoint_longi(int i){
00062     return basePoint[i].y;
00063     }
00064 double AigamozuControlPackets::get_basePointKalman_lati(int i){
00065     return basePointKalman[i].x;
00066     }
00067 double AigamozuControlPackets::get_basePointKalman_longi(int i){
00068     return basePointKalman[i].y;
00069     }
00070     
00071 //////////////////////////////
00072 // set関数
00073 //////////////////////////////
00074 void AigamozuControlPackets::set_agzCov(double cov_lati,double cov_longi){
00075     agzCov.x = cov_lati;
00076     agzCov.y = cov_longi;    
00077 }
00078 
00079 void AigamozuControlPackets::set_agzPointKalman_lati(double kalman_lati){
00080 
00081     agzPointKalman.x = kalman_lati;   
00082      
00083 }
00084         
00085 void AigamozuControlPackets::set_agzPointKalman_longi(double kalman_longi){
00086     
00087     agzPointKalman.y = kalman_longi;
00088     
00089 }
00090 
00091 //////////////////////////////
00092 // Controller/Base -> Robot //
00093 //////////////////////////////
00094 
00095  void AigamozuControlPackets::createManualCommad(uint8_t fromID,uint8_t toID,uint8_t directionL,uint8_t pwmL,uint8_t directionR, uint8_t pwmR)
00096  {         
00097     uint8_t tmp[] = {'A','G','S','M','F',fromID,'T',toID,'L',directionL,pwmL,'R',directionR,pwmR,'A','G','E'};
00098     for(int i = 0; i < RECEIVE_STATUS_COMMNAD_LENGTH; ++i) packetData[i] = tmp[i];
00099     packetLength = RECEIVE_STATUS_COMMNAD_LENGTH;
00100      }
00101      
00102 void AigamozuControlPackets::createRequestCommand(uint8_t fromID,uint8_t toID)
00103 {
00104     uint8_t tmp[] = {'A','G','S','S','F',fromID,'T',toID,'A','G','E'};
00105     for(int i = 0; i < REQUEST_COMMNAD_LENGTH; ++i) packetData[i] = tmp[i]; 
00106     packetLength = REQUEST_COMMNAD_LENGTH;
00107     }
00108     
00109 void AigamozuControlPackets::createChangeModeCommand(uint8_t fromID,uint8_t toID,uint8_t,MODE mode){
00110     uint8_t tmp[] = {'A','G','S','C','F',fromID,'T',toID,mode,'A','G','E'};
00111     for(int i = 0; i < CHANGE_MODE_COMMAND_LENGTH; ++i) packetData[i] = tmp[i];
00112     packetLength = CHANGE_MODE_COMMAND_LENGTH;
00113     }
00114     
00115 
00116 //////////////////////////////
00117 // Robot -> Controller/Base //
00118 //////////////////////////////
00119 
00120 void AigamozuControlPackets::createReceiveStatusCommand(uint8_t fromID,uint8_t toID,int state, double latitude,double longitude,double latitudeKalman,double longitudeKalman,double covarLati,double covarLongi)
00121 {
00122     UNION_double_char latitude_data,longitude_data, latitudeKalman_data, longitudeKalman_data;
00123     UNION_double_char covarLati_data,covarLongi_data;
00124     
00125     latitude_data.double_value=latitude;
00126     longitude_data.double_value=longitude;
00127     latitudeKalman_data.double_value=latitudeKalman;
00128     longitudeKalman_data.double_value=longitudeKalman;
00129     covarLati_data.double_value=covarLati;
00130     covarLongi_data.double_value=covarLongi;
00131     
00132     
00133     uint8_t tmp[] = {'A','G','S','R','F',fromID,'T',toID,'S', state,71,80,83,
00134                     latitude_data.char_value[0],latitude_data.char_value[1],latitude_data.char_value[2],latitude_data.char_value[3],latitude_data.char_value[4],latitude_data.char_value[5],latitude_data.char_value[6],latitude_data.char_value[7],
00135                     longitude_data.char_value[0],longitude_data.char_value[1],longitude_data.char_value[2],longitude_data.char_value[3],longitude_data.char_value[4],longitude_data.char_value[5],longitude_data.char_value[6],longitude_data.char_value[7],
00136                     latitudeKalman_data.char_value[0],latitudeKalman_data.char_value[1],latitudeKalman_data.char_value[2],latitudeKalman_data.char_value[3],latitudeKalman_data.char_value[4],latitudeKalman_data.char_value[5],latitudeKalman_data.char_value[6],latitudeKalman_data.char_value[7],
00137                     longitudeKalman_data.char_value[0],longitudeKalman_data.char_value[1],longitudeKalman_data.char_value[2],longitudeKalman_data.char_value[3],longitudeKalman_data.char_value[4],longitudeKalman_data.char_value[5],longitudeKalman_data.char_value[6],longitudeKalman_data.char_value[7],      
00138                     covarLati_data.char_value[0],covarLati_data.char_value[1],covarLati_data.char_value[2],covarLati_data.char_value[3],covarLati_data.char_value[4],covarLati_data.char_value[5],covarLati_data.char_value[6],covarLati_data.char_value[7],
00139                     covarLongi_data.char_value[0],covarLongi_data.char_value[1],covarLongi_data.char_value[2],covarLongi_data.char_value[3],covarLongi_data.char_value[4],covarLongi_data.char_value[5],covarLongi_data.char_value[6],covarLongi_data.char_value[7],
00140                     65,71,69};
00141     for(int i = 0; i < RECEIVE_STATUS_COMMNAD_LENGTH; ++i) packetData[i] = tmp[i];
00142     packetLength =  RECEIVE_STATUS_COMMNAD_LENGTH;
00143 }
00144 
00145 
00146 
00147 //////////////////////////////
00148 //    Using createPacket    //
00149 //////////////////////////////
00150 uint8_t AigamozuControlPackets::checkCommnadType(uint8_t* buf){
00151     return buf[14];
00152     }
00153 
00154 uint8_t* AigamozuControlPackets::getPacketData(){
00155     return packetData;
00156     }
00157 
00158 int AigamozuControlPackets::getPacketLength(){
00159         return packetLength;
00160     }
00161 
00162 void AigamozuControlPackets::changeSpeed(uint8_t* buf){
00163     if(nowMode == MANUAL_MODE){
00164             manualCount =0;
00165             _agzSheild.changeSpeed(buf[20],buf[21],buf[23],buf[24]);
00166         }
00167     }
00168 
00169 //////////////////////////////
00170 //   each mode interrupt    //
00171 //////////////////////////////
00172 
00173 void AigamozuControlPackets::manualMode(){
00174     manualCount++;
00175     if(manualCount > 10){
00176         _agzSheild.changeSpeed(0,0,0,0);
00177         manualCount = 0;
00178         }
00179     }
00180 
00181 
00182 void AigamozuControlPackets::randomAuto(){
00183     
00184     randomCount++;
00185     
00186     if(randomCount < 10) _agzSheild.changeSpeed(1,128,1,128);
00187     else if(randomCount < 11) _agzSheild.changeSpeed(2,128,2,128);
00188     else randomCount = 0;
00189     
00190     }
00191     
00192 void AigamozuControlPackets::test_Auto(int flag){
00193 
00194         if(flag == 0){
00195             _agzSheild.changeSpeed(1, 32, 1, 32); //straight
00196         }
00197         if(flag == 1){
00198             _agzSheild.changeSpeed(0, 32, 0, 32); 
00199         }
00200         if(flag == 2){
00201              _agzSheild.changeSpeed(1, 32, 2, 32); //Turn Right
00202         }   
00203         if(flag == 3){
00204             _agzSheild.changeSpeed(0, 32, 0, 32); 
00205         }
00206 }
00207 
00208 bool AigamozuControlPackets::gpsAuto(){
00209     
00210    /*
00211     _agzSheild.changeSpeed(2,128,2,128):for moving robot
00212     */
00213     
00214     Timer Automove_Timer;
00215     
00216     bool out_flag = true;
00217     static bool out_count_flag = false;
00218     
00219     if(AigamozuControlPackets::checkGpsHit(basePointKalman[0],basePointKalman[1],basePointKalman[2],agzPointKalman)){
00220         out_flag = false;
00221         out_count_flag = false;
00222     }else if(AigamozuControlPackets::checkGpsHit(basePointKalman[2],basePointKalman[3],basePointKalman[0],agzPointKalman)){
00223         out_flag = false;
00224         out_count_flag = false;
00225     }else{//if robot is out 
00226         out_flag = true;
00227     }
00228  
00229     //if robot is out:
00230     if(out_flag == true || out_count_flag == false){
00231         Automove_Timer.reset();
00232         out_count_flag = true;
00233     }
00234 /*    if(nowMode == AUTO_GPS_MODE){
00235          
00236    if(out_flag){
00237         if(Automove_Timer.read_ms() < 5000){
00238             _agzSheild.changeSpeed(2,64,2,64);//back
00239         }else if(Automove_Timer.read_ms() < 6000){
00240             _agzSheild.changeSpeed(1,64,1,64);//straight
00241         }else if(Automove_Timer.read_ms() >= 6000){
00242             out_count_flag=false;
00243             out_flag=false;
00244         }
00245     }else{
00246     //if robot is inner
00247         _agzSheild.changeSpeed(1,64,1,64);//straight
00248     }
00249     }   
00250 */ 
00251     return out_flag;
00252  
00253 }
00254     
00255     
00256 //Update Robot Point    
00257 void AigamozuControlPackets::reNewRobotPoint(long latitudeH,long latitudeL,long longitudeH,long longitudeL){
00258     agzPoint.x = (double)latitudeH + (double)(latitudeL / 10000.0/60.0);
00259     agzPoint.y = (double)longitudeH +(double)(longitudeL / 10000.0/60.0);
00260     
00261     }
00262     
00263 //Updata Base Point   
00264 void AigamozuControlPackets::reNewBasePoint(int id, uint8_t *latitude,uint8_t *longitude){
00265     UNION_double_char lat,longi;
00266     for(int i = 0;i < 8;i++){
00267         lat.char_value[i]=latitude[i];
00268     }
00269     for(int i = 0;i < 8;i++){
00270         longi.char_value[i]=longitude[i];
00271     }
00272     basePoint[id].x = lat.double_value;
00273     basePoint[id].y = longi.double_value;
00274 }   
00275 
00276 //Update Robot Point    
00277 void AigamozuControlPackets::reNewRobotPointKalman(long latitudeH,long latitudeL,long longitudeH,long longitudeL){
00278     agzPointKalman.x = (double)latitudeH + (double)(latitudeL / 10000.0/60.0);
00279     agzPointKalman.y = (double)longitudeH +(double)(longitudeL / 10000.0/60.0);
00280     
00281     }
00282     
00283 //Updata Base Point   
00284 void AigamozuControlPackets::reNewBasePointKalman(int id, uint8_t *latitude,uint8_t *longitude){
00285     UNION_double_char lat,longi;
00286     for(int i = 0;i < 8;i++){
00287         lat.char_value[i]=latitude[i];
00288     }
00289     for(int i = 0;i < 8;i++){
00290         longi.char_value[i]=longitude[i];
00291     }
00292     
00293     basePointKalman[id].x = lat.double_value;
00294     basePointKalman[id].y = longi.double_value;
00295 } 
00296 
00297 
00298 //Check Hit Point Area
00299 bool AigamozuControlPackets::checkGpsHit( vertex2D A, vertex2D B, vertex2D C, vertex2D P){
00300     vector2D AB = AigamozuControlPackets::sub_vector(B, A);
00301     vector2D BP = AigamozuControlPackets::sub_vector(P, B);
00302 
00303     vector2D BC = AigamozuControlPackets::sub_vector(C, B);
00304     vector2D CP = AigamozuControlPackets::sub_vector(P, C);
00305 
00306     vector2D CA = AigamozuControlPackets::sub_vector(A, C);
00307     vector2D AP = AigamozuControlPackets::sub_vector(P, A);
00308     
00309     double c1 = AB.x * BP.y - AB.y * BP.x;
00310     double c2 = BC.x * CP.y - BC.y * CP.x;
00311     double c3 = CA.x * AP.y - CA.y * AP.x;
00312 
00313     if( ( c1 > 0 && c2 > 0 && c3 > 0 ) || ( c1 < 0 && c2 < 0 && c3 < 0 ) ) {    
00314         return true;
00315     }
00316     
00317     return false;
00318 
00319     }
00320 
00321 vector2D AigamozuControlPackets::sub_vector( const vector2D& a, const vector2D& b )
00322 {
00323     vector2D ret;
00324     ret.x = a.x - b.x;
00325     ret.y = a.y - b.y;
00326     return ret;   
00327 }    
00328 
00329 
00330 
00331 
00332 //////////////////////////////
00333 //     Mode change          //
00334 //////////////////////////////
00335 bool AigamozuControlPackets::changeMode(uint8_t *buf){
00336     
00337     //reset
00338     _agzSheild.changeSpeed(0,0,0,0);
00339     eachModeInt.detach();
00340 
00341     //Select Mode
00342     switch(buf[19]){
00343         case 0:
00344             nowMode = STANDBY_MODE;
00345         break;
00346         
00347         case 1:
00348             eachModeInt.attach(this,&AigamozuControlPackets::manualMode,1.0);
00349             nowMode = MANUAL_MODE;
00350         break;
00351         
00352         case 2:
00353             //nowMode = AUTO_MODE;
00354             //eachModeInt.attach(this,&AigamozuControlPackets::randomAuto,1.0);
00355             //eachModeInt.attach(this,&AigamozuControlPackets::gpsAuto,2.0);
00356             nowMode = AUTO_GPS_MODE;
00357             Move_Timer.reset();
00358         break;
00359         
00360         case 3:
00361             //eachModeInt.attach(this,&AigamozuControlPackets::gpsAuto,0.2);
00362             nowMode = AUTO_GPS_MODE;
00363             Move_Timer.reset();
00364         break;
00365         
00366         default:
00367             nowMode = STANDBY_MODE;
00368         break;
00369         
00370         }
00371     return false;
00372 }
00373 
00374 
00375