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CruiseControl.cpp
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CruiseControl.cpp
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/*
* CruiseControl.cpp
*
* Created on: 18.12.2018
* Author: oliver
*/
#include "CruiseControl.h"
#include <math.h>
#include <fstream>
using namespace std;
using namespace lidar;
using namespace car;
CruiseControl::CruiseControl() {
}
/*
* Is coordinate within defined ellipse around car
*/
bool CruiseControl::isWithinEllipse(float x, float y)
{
bool isWithin = ((pow(x, 2.0) / pow(ELLIPSE_RADIUS_X, 2.0)) + (pow(y, 2.0) / pow(ELLIPSE_RADIUS_Y, 2.0))) < 1.0;
return isWithin;
}
/*
* Convert angle and distance to x y coordinates
*/
void CruiseControl::convertToXY(float distance, float angle, float *x, float *y)
{
*y = distance * cos(angle);
*x = distance * sin(angle);
}
/*
* Process scan data and control car.
*/
void CruiseControl::processScan(std::vector<std::tuple<float, float>> scanData)
{
static auto collisionTime = std::chrono::high_resolution_clock::now() - std::chrono::seconds(5);
static auto reversionTime = std::chrono::high_resolution_clock::now() - std::chrono::seconds(5);
static carState newState = CRUISE, prevState = IDLE;
auto &car = CarControl::getInstance();
float steerTo = 0; //Straight
float minDistFront = 10.0, minDistBack = 10.0;
float angleToMinDistFrontDeg = 0.0, angleToMinDistFront = 0.0;
static float x, y;
auto isBumperPressed = car.isBumperPressed();
auto isDriveOverloaded = car.isDriveOverloaded();
auto now = std::chrono::high_resolution_clock::now();
/*static auto prev_time = now;
std::chrono::duration<double> pausetime = now - prev_time;
std::cout << "Rate: " << 1.0f / pausetime.count() << std::endl;
prev_time = now;*/
std::chrono::duration<double> elapsed = now - collisionTime;
bool bumperTimeLock = elapsed.count() < 5.0;
elapsed = now - reversionTime;
bool reversionTimeLock = elapsed.count() < 3.5;
#if RECORD_RAW
static uint32_t count = 0;
std::fstream fs;
fs.open ("data.csv", std::fstream::in | std::fstream::out | std::fstream::app);
fs << "NEW DATA " << count++ << endl;
#endif
if (isBumperPressed) {
auto curSteerDeg = car.getSteerDegree();
if (curSteerDeg > 10 || curSteerDeg < -10) {
car.steerToAbsDegree(curSteerDeg * -1);
} else {
car.steerHardLeft();
}
car.setDriveSpeed(REVERSE_SPEED);
newState = REVERSING;
collisionTime = std::chrono::high_resolution_clock::now();
} else if (isDriveOverloaded) {
if (prevState == REVERSING && !bumperTimeLock) {
newState = STEERING;
car.steerStraight();
car.setDriveSpeed(STEER_SPEED);
} else {
newState = REVERSING;
reversionTime = std::chrono::high_resolution_clock::now();
auto curSteerDeg = car.getSteerDegree();
if (curSteerDeg > 10 || curSteerDeg < -10) {
car.steerToAbsDegree(curSteerDeg * -1);
} else {
car.steerHardLeft();
}
car.setDriveSpeed(REVERSE_SPEED);
}
} else if (!bumperTimeLock && !reversionTimeLock) {
for (auto tuple : scanData) {
// current angle
auto angleDeg = std::get<0>(tuple);
auto distance = std::get<1>(tuple);
auto angle = angleDeg * (PI / 180.0f);
//current intensity
//int intensity = scan.intensities[i];
convertToXY(distance, angle, &x, &y);
if (angleDeg < 60 || angleDeg > 300) {
// Front
#if RECORD_RAW
fs << "F\t" << x << "\t" << y << "\t:\t" << angleDeg << "\t" << distance << endl;
#endif
if (isWithinEllipse(x, y) && distance < minDistFront) {
minDistFront = distance;
angleToMinDistFrontDeg = angleDeg;
angleToMinDistFront = angle;
}
} else if (angleDeg > 120 && angleDeg < 240) {
// Back
#if RECORD_RAW
fs << "B\t" << x << "\t" << y << "\t:\t" << angleDeg << "\t" << distance << endl;
#endif
if (isWithinEllipse(x, y)
&& distance < minDistBack) {
minDistBack = distance;
}
#if RECORD_RAW
else {
fs << "I\t" << x << "\t" << y << "\t:\t" << angleDeg << "\t" << distance << endl;
}
#endif
}
}
convertToXY(minDistFront, angleToMinDistFront, &x, &y);
auto weight = 1.33 - (((pow(x, 2.0) / pow(ELLIPSE_RADIUS_X, 2.0)) + (pow(y, 2.0) / pow(ELLIPSE_RADIUS_Y, 2.0))));
cout << "front: " << minDistFront << "\t" << angleToMinDistFrontDeg
<< "\tback: " << minDistBack << endl;
if (newState != REVERSING) {
/*
* The closer the obstacle, the higher the weight.
* Maximum is weight 1.33
*/
if (weight <= 1.18) {
if (angleToMinDistFrontDeg > 180.0) {
steerTo = MIN_STEER_ANGLE * weight;
cout << "right: " << steerTo << " w: " << weight << endl;
} else {
steerTo = MAX_STEER_ANGLE * weight;
}
if ( minDistFront < ELLIPSE_RADIUS_Y) {
car.steerToAbsDegree(steerTo);
car.setDriveSpeed(STEER_SPEED);
newState = STEERING;
} else {
car.steerStraight();
car.setDriveSpeed(CRUISE_SPEED);
newState = CRUISE;
}
} else {
car.setDriveSpeed(REVERSE_SPEED);
auto curSteerDeg = car.getSteerDegree();
if (curSteerDeg > 15 || curSteerDeg < -15) {
car.steerToAbsDegree(curSteerDeg * -1);
} else {
if (angleToMinDistFrontDeg > 180.0) {
car.steerHardLeft();
} else {
car.steerHardRight();
}
}
newState = REVERSING;
reversionTime = std::chrono::high_resolution_clock::now();
}
} else if (newState == REVERSING) {
if (minDistFront > 0.33
&& !bumperTimeLock
&& minDistBack > 0.25) {
car.setDriveSpeed(CRUISE_SPEED);
car.steerToPos(car.getSteerPos() * -1);
newState = CRUISE;
} else if (minDistBack < 0.30) {
car.setDriveSpeed(0);
newState = CRUISE;
}
}
}
//auto end = std::chrono::high_resolution_clock::now();
//std::chrono::duration<double> elapsed = end - start;
//cout << "CB rt: " << elapsed.count() << " state = " << newState << endl;
#if RECORD_RAW
fs.close();
#endif
prevState = newState;
}
void CruiseControl::start() {
auto &car = CarControl::getInstance();
LaserScan scan;
if (car.isReady()) {
ev3dev::sound::speak("Car is ready!", true);
//ev3dev::sound::play("lenkung.wav");
this_thread::sleep_for(chrono::milliseconds(3000));
auto &lidar = Lidar::getInstance();
if (lidar.isReady()) {
//ev3dev::sound::play("lidar.wav");
//this_thread::sleep_for(chrono::milliseconds(3000));
while (1) {
processScan(lidar.scan());
}
} else {
ev3dev::sound::speak("Lidar is not working!", true);
//ev3dev::sound::play("lidarKaputt.wav");
}
} else {
ev3dev::sound::speak("Car is not working!", true);
//ev3dev::sound::play("lenkungKaputt.wav");
}
}
CruiseControl::~CruiseControl() {
}