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explorer.cpp
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explorer.cpp
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#include <gsl/gsl_sf_trig.h>
#include "explorer.h"
#include "global_explorer.h"
#include "local_explorer.h"
#include "util.h"
#include "motion_planner.h"
#include "exabot.h"
using namespace HybNav;
using namespace std;
using PlayerCc::Position2dProxy;
using PlayerCc::PlannerProxy;
/**************************
* Constructor/Destructor *
**************************/
Explorer::Explorer(void) : Singleton<Explorer>(this) {
state = ExploringLocally;
current_grid = MetricMap::instance()->current_grid;
}
/**************************
* Public Methods *
**************************/
void Explorer::start(State _state) {
state = _state;
if (state == ExploringGlobally) start_exploring_globally();
}
void Explorer::fsm_advance(void) {
if (state == ExploringLocally) while_exploring_locally();
else while_exploring_globally();
}
void Explorer::update(void) {
LocalExplorer::instance()->update();
cout << "Current grid: " << MetricMap::instance()->current_grid->position << endl;
if (current_grid != MetricMap::instance()->current_grid) {
ExaBot::instance()->stop(); // stop robot motion during this iteration
gsl::vector_int new_position = MetricMap::instance()->current_grid->position;
cout << "Changed places " << current_grid->position << "->" << new_position << endl;
LocalExplorer::instance()->clear_paths(); // When changing places, the last path is not valid anymore
LocalExplorer::instance()->last_target_valid = false;
gsl::vector_int exit_vector = MetricMap::instance()->current_grid->position;
exit_vector -= current_grid->position;
if (exit_vector.norm2() > 1) {
// TODO!!
}
Direction exit_direction = MetricMap::vector2direction(exit_vector);
Direction entrance_direction;
switch(exit_direction) {
case North: entrance_direction = South; break;
case South: entrance_direction = North; break;
case East: entrance_direction = West; break;
case West: entrance_direction = East; break;
}
cout << "Follow path: " << GlobalExplorer::instance()->follow_path << " current node: " << TopoMap::instance()->current_node << endl;
current_grid->update_gateways(); // try to re-detect gateways of previous place
cout << "Follow path: " << GlobalExplorer::instance()->follow_path << " current node: " << TopoMap::instance()->current_node << endl;
gsl::vector_int grid_position = MetricMap::instance()->grid_position();
gsl::vector_int exit_position = grid_position;
exit_position -= MetricMap::direction2vector(exit_direction);
cout << "exit position before: " << exit_position << endl;
for (uint i = 0; i < 2; i++) if (exit_position(i) < 0) exit_position(i) += OccupancyGrid::CELLS; else exit_position(i) %= OccupancyGrid::CELLS;
cout << "exit position now: " << exit_position << endl;
TopoMap::GatewayNode* exit_gateway = current_grid->find_gateway(exit_position, exit_direction);
cout << "Current position: " << grid_position << " Entrance Direction V: " << exit_vector << endl;
current_grid = MetricMap::instance()->current_grid;
cout << "Follow path: " << GlobalExplorer::instance()->follow_path << " current node: " << TopoMap::instance()->current_node << endl;
// determine gateway used for entrance, connect to current gateway
MetricMap::instance()->current_grid->update_gateways(false);
TopoMap::GatewayNode* current_gateway = MetricMap::instance()->current_grid->find_gateway(grid_position, entrance_direction);
cout << "connecting current node to exit gateway" << endl;
TopoMap::instance()->connect(TopoMap::instance()->current_node, exit_gateway);
cout << "Exit: " << exit_gateway << " Entrance: " << current_gateway << endl;
cout << "connecting exit gateway to entrance gateway" << endl;
TopoMap::instance()->connect(exit_gateway, current_gateway);
exit_gateway->set_accessible();
current_gateway->set_accessible();
TopoMap::instance()->current_node = current_gateway;
cout << "Follow path: " << GlobalExplorer::instance()->follow_path << " current node: " << TopoMap::instance()->current_node << endl;
MetricMap::instance()->current_grid->update_connectivity(); // may set current_node to a new area node
cout << "Follow path: " << GlobalExplorer::instance()->follow_path << " current node: " << TopoMap::instance()->current_node << endl;
// Advance/Clear global path
if (state == ExploringGlobally) {
bool valid = false;
if (!GlobalExplorer::instance()->follow_path.empty()) {
cout << "Follow path: " << GlobalExplorer::instance()->follow_path << endl;
TopoMap::Node* next_node = GlobalExplorer::instance()->follow_path.front();
if (next_node->is_gateway()) {
TopoMap::GatewayNode* next_gateway = (TopoMap::GatewayNode*)next_node;
gsl::vector_int x_range(2), y_range(2);
next_gateway->get_ranges(x_range, y_range);
if (exit_position(0) >= x_range(0) && exit_position(0) <= x_range(1) && exit_position(1) >= y_range(0) && exit_position(1) <= y_range(1)) {
cout << "correct gateway, removing from global path" << endl;
GlobalExplorer::instance()->follow_path.pop_front(); // pop first gateway
if (!GlobalExplorer::instance()->follow_path.empty() && GlobalExplorer::instance()->follow_path.front()->is_gateway())
GlobalExplorer::instance()->follow_path.pop_front(); // pop second gateway
if (GlobalExplorer::instance()->follow_path.empty())
valid = true;
else {
TopoMap::AreaNode* next_area = dynamic_cast<TopoMap::AreaNode*>(GlobalExplorer::instance()->follow_path.front());
if (TopoMap::instance()->current_node == next_area) valid = true;
else cout << "unexpected node " << TopoMap::instance()->current_node << " according to next in path " << next_area << endl;
}
}
else cout << "incorrect exit: rx,ry " << x_range << " " << y_range << " | x,y " << exit_position << endl;
}
else cout << "next node in path is not a gateway" << endl;
}
if (!valid) {
cout << "Global path is not valid anymore..." << endl;
GlobalExplorer::instance()->clear_paths();
}
else
cout << "Going where expected... advancing global path" << endl;
}
}
fsm_advance();
// Check for valid local path
if (!LocalExplorer::instance()->valid_path()) {
cout << "path is invalid" << endl;
LocalExplorer::instance()->clear_paths();
}
// invalid path or unnecessary path
// TODO: this does not work correctly. Frontiers should be re-detected periodically and this would use LocalExplorer's target_is_frontier()
// to check validity of the current target
/*const gsl::vector_int& last = follow_path.back();
if (state == ExploringLocally && fabs((*current_grid)(last(0), last(1))) > 2 * MetricMap::frontier_cell_threshold) {
cout << "target is no longer frontier cell" << endl;
valid = false;
}
}*/
}
void Explorer::while_exploring_locally(void) {
if (LocalExplorer::instance()->follow_path.empty()) {
ExaBot::instance()->stop(); // stop robot motion during this iteration
cout << "Looking for new frontiers..." << endl;
LocalExplorer::instance()->compute_frontier_paths();
if (!LocalExplorer::instance()->found_path()) {
cout << "No more frontiers... marking area node as explored" << endl;
dynamic_cast<TopoMap::AreaNode*>(TopoMap::instance()->current_node)->completely_explored = true;
start(ExploringGlobally);
}
else {
cout << "Found frontier path: " << LocalExplorer::instance()->follow_path << endl;
}
}
}
void Explorer::start_exploring_globally(void) {
GlobalExplorer::instance()->clear_paths();
LocalExplorer::instance()->clear_paths();
}
void Explorer::while_exploring_globally(void) {
if (GlobalExplorer::instance()->follow_path.empty()) {
ExaBot::instance()->stop(); // stop robot motion during this iteration
if (dynamic_cast<TopoMap::AreaNode*>(TopoMap::instance()->current_node)->completely_explored) {
cout << "Computing global path..." << endl;
recompute_path();
}
else {
cout << "global path points to current place, and this is unexplored... exploring locally" << endl;
start(ExploringLocally);
return;
}
}
cout << "Following global path..." << endl;
TopoMap::Node* target_node = GlobalExplorer::instance()->follow_path.front();
cout << "Global path: " << GlobalExplorer::instance()->follow_path << " Current metric node: " << current_grid << " Current topo node: " << TopoMap::instance()->current_node << endl;
if (TopoMap::instance()->current_node == target_node) {
GlobalExplorer::instance()->follow_path.pop_front();
cout << "Reached node " << target_node << endl;
if (GlobalExplorer::instance()->follow_path.empty()) {
cout << "Reached destination place..." << endl;
start(ExploringLocally);
}
else {
cout << "Computing local path to next place..." << endl;
recompute_local_path();
}
}
else {
if (LocalExplorer::instance()->follow_path.empty()) {
cout << "Cant find local path to place..." << endl;
recompute_path();
}
else cout << "Trying to reach place " << target_node << endl;
}
}
bool Explorer::recompute_local_path(void) {
ExaBot::instance()->stop(); // stop robot motion during this procedure
if (state == ExploringLocally) {
cout << "Recomputing local path to frontiers" << endl;
LocalExplorer::instance()->compute_frontier_paths();
}
else {
cout << "Recomputing local path to global node" << endl;
TopoMap::Node* target_node = GlobalExplorer::instance()->follow_path.front();
if (target_node->is_gateway()) {
TopoMap::GatewayNode* target_gateway = (TopoMap::GatewayNode*)target_node;
if (target_gateway->grid == MetricMap::instance()->current_grid) {
cout << "computing gateway path" << endl;
LocalExplorer::instance()->compute_gateway_path(target_gateway);
}
else cout << "gateway is in different place" << endl;
}
else cout << "target is not a gateway" << endl;
}
cout << "Recomputed paths..." << endl;
if (!LocalExplorer::instance()->found_path()) { cout << "No path found" << endl; return false; }
else { cout << "Computed Local path: " << LocalExplorer::instance()->follow_path << endl; return true; }
}
void Explorer::recompute_path(void) {
if (state == ExploringLocally) {
bool paths_found = recompute_local_path();
if (!paths_found) {
start(ExploringGlobally);
dynamic_cast<TopoMap::AreaNode*>(TopoMap::instance()->current_node)->completely_explored = true;
cout << "No more paths to frontiers, so marking as explored" << endl;
}
else {
cout << "Local paths available" << endl;
return;
}
}
else {
if (!(dynamic_cast<TopoMap::AreaNode*>(TopoMap::instance()->current_node)->completely_explored)) { start(ExploringLocally); return; }
}
// At this point: only exploring globally
cout << "Recomputing Global paths..." << endl;
GlobalExplorer::instance()->recompute_paths();
if (!GlobalExplorer::instance()->found_path()) {
cout << "no global paths found" << endl;
throw ExplorerException(ExplorerException::END);
}
cout << "done: " << GlobalExplorer::instance()->follow_path << endl;
while(true) {
bool paths_found = recompute_local_path();
if (paths_found) {
//cout << "Found local path: " << LocalExplorer::instance()->follow_path << endl;
dynamic_cast<TopoMap::GatewayNode*>(GlobalExplorer::instance()->follow_path.front())->add_reach_attempt();
break;
}
else {
cout << "Couldn't find path to edge, so recomputing global path" << endl;
GlobalExplorer::instance()->recompute_paths();
if (!GlobalExplorer::instance()->found_path()) throw ExplorerException(ExplorerException::END);
else { /*cout << "Proposing global path: " << GlobalExplorer::instance()->follow_path << endl*/; }
}
}
}
void Explorer::compute_motion(Position2dProxy& position_proxy) {
cout << "computing motion" << endl;
// if the robot is trying to reach a target or not
list<gsl::vector_int>& follow_path = LocalExplorer::instance()->follow_path;
const gsl::vector& own_position = MetricMap::instance()->position;
// remove all path nodes already considered as "reached"
double far_distance_threshold = 0.9;
for (list<gsl::vector_int>::iterator it = follow_path.begin(); it != follow_path.end();) {
gsl::vector target_distance = (gsl::vector)(*it) * OccupancyGrid::CELL_SIZE - own_position;
double target_distance_norm = target_distance.norm2();
double target_angle = (target_distance_norm == 0 ? 0 : atan2(target_distance(1), target_distance(0))); // cartesian to polar
double theta = gsl_sf_angle_restrict_symm(target_angle);
cout << "this target: " << *it << " own position: " << own_position / OccupancyGrid::CELL_SIZE << endl;
if (!OccupancyGrid::valid_coordinates((*it)(0), (*it)(1))) {
cout << "found fictitious node, stopping" << endl;
break;
}
if (MotionPlanner::instance()->reached(target_distance + ExaBot::instance()->last_position, theta)) {
cout << "removing " << *it << " from follow path" << endl;
it = follow_path.erase(it);
}
else break;
}
if (!follow_path.empty()) {
gsl::vector_int& target = follow_path.front();
gsl::vector target_distance = (gsl::vector)target * OccupancyGrid::CELL_SIZE - own_position;
double target_distance_norm = target_distance.norm2();
cout << "target: " << target << " distance: " << target_distance_norm << endl;
double target_angle = (target_distance_norm == 0 ? 0 : atan2(target_distance(1), target_distance(0))); // cartesian to polar
target_angle = gsl_sf_angle_restrict_pos(target_angle);
// follow waypoint
//double safe_angle = MotionPlanner::instance()->compute_motion_direction(target_angle);
// threshold given by robot size
//double target_distance_threshold = (state == ExploringLocally && follow_path.size() == 1 ? 0.4 : 0.2);
/*if (target_distance_norm < reached_distance_threshold) {
cout << "reached point " << target(0) << " " << target(1) << " in path (distance " << target_distance_norm << ")" << endl;
follow_path.pop_front();
}
else { */
if (!OccupancyGrid::valid_coordinates(target(0),target(1))) target_distance_norm = remainder(target_distance_norm, OccupancyGrid::SIZE);
if (!MotionPlanner::instance()->valid_path() || /*abs(gsl_sf_angle_restrict_symm(safe_angle - target_angle)) > (135.0 * M_PI / 180.0) ||*/
target_distance_norm > far_distance_threshold)
{
cout << "Can't go where expected..." << endl;
recompute_path();
}
else {
double x = ExaBot::instance()->last_position(0) + target_distance(0);
double y = ExaBot::instance()->last_position(1) + target_distance(1);
double theta = gsl_sf_angle_restrict_symm(target_angle); // TODO: is this ok? GetYaw() is not here
MotionPlanner::instance()->set_goal(x, y, theta);
/*if (planner_proxy.GetGoal().px != x || planner_proxy.GetGoal().py != y || planner_proxy.GetGoal().pa != theta) {
planner_proxy.SetGoalPose(x, y, theta);
cout << "setting pose to: " << x << " " << y << " " << theta << " current: " << position_proxy.GetXPos() << " " << position_proxy.GetYPos() << " " << position_proxy.GetYaw() << endl;
}*/
}
/*}*/
//return MotionPlanner::instance()->compute_motion_from_target(safe_angle);
}
else {
// once last goal is reached...
if (MotionPlanner::instance()->reached_goal()) {
// go forward
cout << "no path, going forward" << endl;
double x = ExaBot::instance()->last_position(0) + cos(ExaBot::instance()->last_rotation) * 2;
double y = ExaBot::instance()->last_position(1) + sin(ExaBot::instance()->last_rotation) * 2;
double theta = gsl_sf_angle_restrict_symm(ExaBot::instance()->last_rotation);
MotionPlanner::instance()->set_goal(x, y, theta);
/*cout << "setting pose to: " << x << " " << y << " " << theta << " current: " << position_proxy.GetXPos() << " " << position_proxy.GetYPos() << " " << position_proxy.GetYaw() << endl;
planner_proxy.SetGoalPose(x, y, theta);
planner_proxy.SetEnable(true);*/
}
}
}
ExplorerException::ExplorerException(ExplorerException::ExceptionCode _code, const std::string& reason) :
std::runtime_error(reason), code(_code)
{
}