Add dynamic avoidance reaction #104
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Samir-Rashid
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| // Wait until health is OK and vehicle is ready to arm |
| public: | ||
| // Do not use a default constructor. The evasion state needs to know | ||
| // the location of the obstacle | ||
| ObstacleEvasionState() = delete; |
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I don't know if you need to delete the default constructor. I think if you define another one it will not generate a default one. But deleting it shouldn't hurt.
| // Output after an obstacle has been detected | ||
| struct Detection { | ||
| std::chrono::time_point<std::chrono::system_clock> time; | ||
| // TODO(Samir): is there a type for location of bounding box |
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There is a bounding box but it stores two corners of the bounding box, not the center of the bounding box.
obcpp/include/cv/utilities.hpp
Lines 20 to 29 in 664bbc8
| class ObstacleDetectionQueue { | ||
| public: | ||
| ObstacleDetectionQueue(); | ||
| void add(Detection detection); | ||
| bool isEmpty(); | ||
| // prune every image older than `age` seconds ago | ||
| void pruneQueue(int age); | ||
| // copies the queue so you can look at the data | ||
| void copyQueue(std::queue<Detection> queue); | ||
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| private: | ||
| // This is used to store all previous obstacles. | ||
| // We need to make sure that a detection is not spurious | ||
| // before engaging in emergency evasion. | ||
| std::queue<Detection> queue; | ||
| // Note that Step 4 in "Steps" above only triggers on a boolean | ||
| // condition. I am still making this Detection queue thread safe | ||
| // because it can be useful to be able to access this in the main | ||
| // program. For example, once emergency evasion is engaged it can | ||
| // poll the queue to make sure there is nothing more to evade. | ||
| std::mutex mutex; | ||
| }; |
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I like hiding the complexity of the queue a lot and exposing a thread safe interface. It would be nice if we could have a generic version of this for all of obcpp since so many places are using thread safe queues.
| ObstacleDetectionQueue::pruneQueue(); | ||
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| // TODO: check if the boxes are getting larger AND bigger than a threshold | ||
| std::queue<Detection> queue; | ||
| ObstacleDetectionQueue::copyQueue(queue); |
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What does the :: syntax here do? I might be trolling with C++ but I thought you needed to create an ObstacleDetectionQueue instance to call methods on it?
| // TODO: I am rethinking this now and it does not make sense to | ||
| // have dynamic obstacle detection be part of it's own state. | ||
| // The dynamic detection should be a part of a separate thread and | ||
| // send a message to the Airdrop state to switch to the dynamic avoidance | ||
| // state. |
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I agree with this sentiment. I think it should be running in another thread during Airdrop and Search states.
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I will close this PR unless anyone objects. Ultimately, I do not believe vision is a satisfactory approach for dynamic avoidance. It would not be the worst to adapt the ideas from this PR to next year. However, we need to have a proper LiDAR solution at some point. |
Greetings, gamers.
This PR desperately needs some CPR. I am requesting some backup in reviving this. As it is right now, it is just skeleton code. I think the comments express the idea I was going for. (TLDR: camera is always taking pics in another thread and this should trigger a state transition iff in airdrop state to emergency avoidance state which changes altitude until it cannot see an obstacle)
There are a few issues: