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exabot.cpp
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exabot.cpp
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#include <gsl/gsl_sf_trig.h>
#include <iostream>
#include <sys/stat.h>
#include "metric_map.h"
#include "exabot.h"
#include "explorer.h"
#include "util.h"
#include "config.h"
#include "orloc.h"
#include "scoped_timer.h"
using namespace HybNav;
using namespace std;
double ExaBot::ROBOT_RADIUS = 0.09;
int draw_gateways = 1;
/**************************
* Constructor/Destructor *
**************************/
ExaBot::ExaBot(void) : Singleton<ExaBot>(this), player_client(PLAYER_SERVER), laser_proxy(&player_client, 0),
position_proxy(&player_client, POSITION_PROXY_ID),
#ifndef ENABLE_SYROTEK
graphics_proxy(&player_client, 0),
#endif
trajectory_length(0), motion_planner(&player_client)
{
laser_proxy.RequestGeom();
position_proxy.RequestGeom();
player_client.Read();
// initialize variables
double dummy;
last_position = gsl::vector(2, true);
get_pose(last_position, dummy);
trajectory.push_back(last_position);
initial_position = last_position;
trajectory_length = 0;
graph_timer = std::time(NULL);
start_timer = std::time(NULL);
first_plot = false;
mkdir(HybNav::OUTPUT_DIRECTORY.c_str(), 0755);
timings_file.open((HybNav::OUTPUT_DIRECTORY + "/timings.txt").c_str());
map_statistics_file.open((HybNav::OUTPUT_DIRECTORY + "/statistics.txt").c_str());
#ifdef ENABLE_DISPLAY
cv::startWindowThread();
cv::namedWindow("grid", CV_WINDOW_NORMAL);
cv::namedWindow("cost grid", CV_WINDOW_NORMAL);
cv::namedWindow("planning grid", CV_WINDOW_NORMAL);
cv::namedWindow("complete_map", CV_WINDOW_NORMAL);
cv::namedWindow("topo map", CV_WINDOW_NORMAL);
#endif
graph_writer = new cv::VideoWriter((HybNav::OUTPUT_DIRECTORY + "/graph.avi").c_str(), CV_FOURCC('M','J','P','G'), 1, cv::Size(OccupancyGrid::CELLS, OccupancyGrid::CELLS) * 4);
debug_writer = new cv::VideoWriter((HybNav::OUTPUT_DIRECTORY + "/debug.avi").c_str(), CV_FOURCC('M','J','P','G'), 1, cv::Size(OccupancyGrid::CELLS, OccupancyGrid::CELLS) * 4);
sleep(1);
}
ExaBot::~ExaBot(void) {
}
/**************************
* Public Methods *
**************************/
void ExaBot::update_player(void)
{
while (player_client.Peek(0))
player_client.Read();
}
void ExaBot::update(void) {
update_player();
//if (position_proxy.GetStall()) throw std::runtime_error("collision detected!");
if (position_proxy.IsFresh() && position_proxy.IsValid()) {
update_position();
position_proxy.NotFresh();
}
if (laser_proxy.IsFresh() && laser_proxy.IsValid()) {
update_position();
{
cout << "received laser reading" << endl;
ScopedTimer t("process_distances", timings_file);
MetricMap::instance()->process_distances(position_proxy, /*laser_proxy*/last_scan);
}
laser_proxy.NotFresh();
}
MotionPlanner::instance()->update();
Explorer::instance()->compute_motion(position_proxy);
if (std::time(NULL) - start_timer > 3) {
ScopedTimer t("explorer_iteration", timings_file);
Explorer::instance()->update();
map_statistics_file <<
"grids " << MetricMap::instance()->super_matrix.count << " " <<
"nodes " << TopoMap::instance()->graph.nodes.size() << " " <<
"edges " << TopoMap::instance()->graph.edges.size() << endl;
}
// Graphics
cout << "timer " << (std::time(NULL) - graph_timer) << endl;
if (!first_plot || (std::time(NULL) - graph_timer) >= 1) {
first_plot = true;
graph_timer = std::time(NULL);
cv::Mat graph;
ONLY_ON_SIMULATION(graphics_proxy.Clear();)
// plot grid
MetricMap::instance()->current_grid->draw(graph, draw_gateways);
// plot robot position
gsl::vector_int robot_position = MetricMap::instance()->grid_position();
robot_position = robot_position + 0.5;
cv::circle(graph, cv::Point(robot_position(0), OccupancyGrid::CELLS - robot_position(1) - 1), floor(ExaBot::ROBOT_RADIUS / OccupancyGrid::CELL_SIZE), cv::Scalar(0,0,255), -1, 4);
// plot path
if (!LocalExplorer::instance()->follow_path.empty()) {
list<gsl::vector_int>& path = LocalExplorer::instance()->follow_path;
vector<cv::Point> path_points(path.size());
vector<player_point_2d_t> path_points_player(path_points.size());
size_t i = 0;
for (list<gsl::vector_int>::iterator it = path.begin(); it != path.end(); ++it, i++) {
path_points[i] = cv::Point((*it)(0), OccupancyGrid::CELLS - (*it)(1) - 1);
path_points_player[i].px = path_points[i].x * OccupancyGrid::CELL_SIZE/* - robot_position(1)*/;
path_points_player[i].py = path_points[i].y * OccupancyGrid::CELL_SIZE/* - robot_position(0)*/;
}
cv::polylines(graph, vector< vector<cv::Point> >(1, path_points), false, cv::Scalar(0, 255, 0));
#ifndef ENABLE_SYROTEK
graphics_proxy.DrawPolyline(&path_points_player[0], path_points.size());
#endif
}
// plot debug overlay
//graph += MetricMap::instance()->current_grid->debug_graph;
// make window bigger
cv::Mat graph_big;
cv::resize(graph, graph_big, cv::Size(0,0), 4, 4, cv::INTER_NEAREST);
cv::Mat cost_grid;
cv::resize(LocalExplorer::instance()->frontier_pathfinder.cost_grid, cost_grid, cv::Size(0,0), 4, 4, cv::INTER_NEAREST);
cv::Mat planning_grid;
cv::resize(LocalExplorer::instance()->frontier_pathfinder.grid, planning_grid, cv::Size(0,0), 4, 4, cv::INTER_NEAREST);
// plot (save) topo map
TopoMap::instance()->plot();
#ifdef ENABLE_DISPLAY
cv::imshow("topo map", cv::imread((HybNav::OUTPUT_DIRECTORY + "/topo_map.png").c_str()));
cv::imshow("grid", graph_big);
//cv::imshow("cost grid", cost_grid);
cv::imshow("planning grid", planning_grid);
cv::Mat complete_map;
MetricMap::instance()->draw(complete_map, draw_gateways);
cv::imshow("complete_map", complete_map);
#endif
*graph_writer << graph_big;
/*cv::Mat cost_grid_color;
cv::cvtColor(cost_grid, cost_grid_color, CV_GRAY2BGR);
*debug_writer << cost_grid_color;*/
}
}
void ExaBot::stop(void) {
MotionPlanner::instance()->stop();
position_proxy.SetMotorEnable(false);
player_client.Read();
}
void ExaBot::deinitialize(void) {
cout << "Saving trajectory..." << endl;
ofstream trajectory_csv((HybNav::OUTPUT_DIRECTORY + "/trajectory.txt").c_str());
for (list<gsl::vector>::iterator it = trajectory.begin(); it != trajectory.end(); ++it)
trajectory_csv << (*it)[0] << " " << (*it)[1] << endl;
trajectory_csv.close();
cout << "Saving results..." << endl;
ofstream results((HybNav::OUTPUT_DIRECTORY + "/results.txt").c_str());
results << "trajectory_length: " << trajectory_length << endl;
results << "elapsed_time: " << MotionPlanner::instance()->seconds_elapsed << endl;
results << "exploration_speed: " << trajectory_length / MotionPlanner::instance()->seconds_elapsed << endl;
results << "grid_cells: " << OccupancyGrid::CELLS << endl;
results << "grid_cell_size: " << OccupancyGrid::CELL_SIZE << endl;
cout << "Saving Map..." << endl;
MetricMap::instance()->save();
TopoMap::instance()->save();
cout << "Saving cost grids..." << endl;
cv::imwrite((HybNav::OUTPUT_DIRECTORY + "/frontier_planning_grid.png").c_str(), LocalExplorer::instance()->frontier_pathfinder.grid);
cv::imwrite((HybNav::OUTPUT_DIRECTORY + "/connectivity_planning_grid.png").c_str(), LocalExplorer::instance()->connectivity_pathfinder.grid);
cout << "Closing videos..." << endl;
if (debug_writer) { delete debug_writer; debug_writer = NULL; }
if (graph_writer) { delete graph_writer; graph_writer = NULL; }
}
/**************************
* Private Methods *
**************************/
void ExaBot::correct_pose(gsl::vector& absolute_position, double& absolute_rotation)
{
SPosition pos;
pos.x = absolute_position(0);
pos.y = absolute_position(1);
pos.yaw = absolute_rotation;
angleCorrection(pos, laser_proxy, last_scan);
absolute_position(0) = pos.x;
absolute_position(1) = pos.y;
absolute_rotation = gsl_sf_angle_restrict_pos(pos.yaw);
cout << "Corrected Position: " << absolute_position(0) << "," << absolute_position(1) << " Yaw: " << absolute_rotation << endl;
}
void ExaBot::get_pose(gsl::vector& absolute_position, double& absolute_rotation) {
absolute_position(0) = position_proxy.GetXPos();
absolute_position(1) = position_proxy.GetYPos();
absolute_rotation = gsl_sf_angle_restrict_pos(position_proxy.GetYaw());
cout << "Position: " << absolute_position(0) << "," << absolute_position(1) << " Yaw: " << absolute_rotation << endl;
//#ifdef ENABLE_SYROTEK
if (laser_proxy.IsFresh() && laser_proxy.IsValid()) correct_pose(absolute_position, absolute_rotation);
//#endif
}
void ExaBot::update_position(void) {
gsl::vector absolute_position(2);
double absolute_rotation;
get_pose(absolute_position, absolute_rotation);
gsl::vector delta_position = absolute_position;
delta_position -= last_position;
trajectory_length += delta_position.norm2();
double delta_rotation = gsl_sf_angle_restrict_symm(absolute_rotation - last_rotation);
MetricMap::instance()->update_position(delta_position, delta_rotation); // TODO: no need for this
//MotionPlanner::instance()->update_position();
last_position = absolute_position;
last_rotation = absolute_rotation;
trajectory_length += delta_position.norm2();
if ((trajectory.back() - absolute_position).norm2() > 0.1) {
trajectory.push_back(absolute_position);
}
}