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EmergencyStopMC.cc

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00001 #include "EmergencyStopMC.h"
00002 #include "Shared/WorldState.h"
00003 #include "Shared/get_time.h"
00004 #include "Motion/MotionManager.h"
00005 #include "SoundPlay/SoundManager.h"
00006 #include "Shared/Config.h"
00007 #include "Events/EventRouter.h"
00008 #include "Shared/ERS210Info.h"
00009 #include "Shared/ERS220Info.h"
00010 #include "Shared/ERS7Info.h"
00011 #include "Wireless/Wireless.h"
00012 
00013 EmergencyStopMC::EmergencyStopMC()
00014   : PostureMC(), paused(false), stilldown(false), active(true), period(2000),
00015     timeoflastbtn(0), timeofthisbtn(0), timeoflastfreeze(0), duration(600),
00016     pidcutoff(static_cast<unsigned char>(0.16*255)), ledengine()
00017 {
00018   setAutoPrune(false);
00019   for(unsigned int i=0; i<NumPIDJoints; i++)
00020     piddutyavgs[i]=0;
00021   if(state->robotDesign&WorldState::ERS210Mask) {
00022     ledengine.cycle(ERS210Info::TlRedLEDMask,period,1,0,period/2);
00023     ledengine.cycle(ERS210Info::TlBluLEDMask,period,1);
00024   } else if(state->robotDesign&WorldState::ERS220Mask) {
00025     ledengine.cycle(ERS220Info::TailCenterLEDMask, period, 2.0f, -.5f, (int)(period * 0/5.5));
00026     ledengine.cycle(ERS220Info::TailLeftLEDMask|ERS220Info::TailRightLEDMask,   period, 2.0f, -.5f, (int)(period * 1/5.5));
00027     ledengine.cycle(ERS220Info::BackLeft3LEDMask|ERS220Info::BackRight1LEDMask, period, 2.0f, -.5f, (int)(period * 2/5.5));
00028     ledengine.cycle(ERS220Info::BackLeft2LEDMask|ERS220Info::BackRight2LEDMask, period, 2.0f, -.5f, (int)(period * 3/5.5));
00029     ledengine.cycle(ERS220Info::BackLeft1LEDMask|ERS220Info::BackRight3LEDMask, period, 2.0f, -.5f, (int)(period * 4/5.5));
00030   } else if(state->robotDesign&WorldState::ERS7Mask) {
00031     ledengine.cycle(1<<(ERS7Info::MdBackColorLEDOffset-LEDOffset),2*period/3,.15,.15/2-.5,0);
00032   } else {
00033     serr->printf("Emergency Stop: unknown model\n");
00034     ledengine.cycle(1<<(NumLEDs-1),period,1,0,period/2);
00035     ledengine.cycle(1<<(NumLEDs-2),period,1);
00036   }
00037   takeSnapshot();
00038 }
00039 
00040 
00041 int EmergencyStopMC::updateOutputs() {
00042   if(trigger()) {
00043     if(!stilldown) {
00044       stilldown=true;
00045       timeoflastbtn=timeofthisbtn;
00046       timeofthisbtn=get_time();
00047       //      cout << "Press " << timeofthisbtn << ' ' << timeoflastbtn << endl;
00048     }
00049     //    cout << "Down" << endl;
00050   } else if(stilldown) {
00051     //    cout << "Release " << get_time() << endl;
00052     stilldown=false;
00053     if((get_time()-timeoflastbtn)<duration)
00054       setStopped(!paused);
00055   }
00056   if(!paused)
00057     return 0;
00058   for(unsigned int i=0; i<NumPIDJoints; i++) {
00059     piddutyavgs[i]=static_cast<unsigned char>(piddutyavgs[i]*.8+fabs(state->pidduties[i])*255*.2);
00060     //reset if there's a force...
00061     if(piddutyavgs[i]>pidcutoff) {
00062       cmds[i].value-=state->pidduties[i]/10;
00063       //        cmds[i].value=state->outputs[i];
00064       //        cout << outputNames[i] << ' ' << state->pidduties[i] << ' ' << state->outputs[i] << endl;
00065     }
00066     //reset if there's just something out of place (perhaps we're being overridden)
00067     if(fabs(state->outputs[i]-cmds[i].value)>.1)
00068       cmds[i].value=state->outputs[i];
00069   }
00070   ledengine.updateLEDs(&cmds[LEDOffset]);
00071   if(state->robotDesign&WorldState::ERS7Mask) {
00072     //a special Battlestar Galactica inspired effect for the ERS-7
00073     static float acts[5];
00074     static bool first=true;
00075     if(first) {
00076       for(int i=0; i<5; i++)
00077         acts[i]=0;
00078       first=false;
00079     }
00080     float t=get_time();
00081     t/=period;
00082     t=(((int)t)&1)?(int)t+1-t:(t-(int)t);
00083     t*=8;
00084     const float invsigma=-6;
00085     const float gamma=.83;
00086     const float amp=.5;
00087     float imp[5];
00088     for(int i=0; i<5; i++) {
00089       imp[i]=exp(invsigma*(t-i-2)*(t-i-2));
00090       acts[i]+=amp*imp[i];
00091       acts[i]*=gamma;
00092     }
00093     cmds[ERS7Info::FaceLEDPanelOffset+6].value=acts[0]/2+imp[0];
00094     cmds[ERS7Info::FaceLEDPanelOffset+7].value=acts[4]/2+imp[4];
00095     cmds[ERS7Info::FaceLEDPanelOffset+8].value=acts[1]/2+imp[1];
00096     cmds[ERS7Info::FaceLEDPanelOffset+9].value=acts[3]/2+imp[3];
00097     cmds[ERS7Info::FaceLEDPanelOffset+10].value=acts[2]/2+imp[2];
00098   }
00099   return PostureMC::updateOutputs();
00100 }
00101 
00102 void EmergencyStopMC::takeSnapshot() {
00103   for(unsigned int i=0; i<NumOutputs; i++)
00104     cmds[i].value=state->outputs[i];
00105   dirty=true;
00106 }
00107 
00108 void EmergencyStopMC::takeSnapshot(const WorldState* st) {
00109   for(unsigned int i=0; i<NumOutputs; i++)
00110     cmds[i].value=st->outputs[i];
00111   dirty=true;
00112 }
00113 
00114 void EmergencyStopMC::setActive(bool a) {
00115   if(paused) {
00116     if(!a && active)
00117       releaseJoints();
00118     else if(a && !active)
00119       freezeJoints();
00120   }
00121   active=a;
00122 }
00123 
00124 
00125 void EmergencyStopMC::setStopped(bool p, bool sound) {
00126   if(p!=paused) {
00127     paused=p;
00128     if(active) {
00129       dirty=true;
00130       if(paused) {
00131         freezeJoints();
00132         if(sound)
00133           sndman->PlayFile(config->motion.estop_on_snd);
00134         timeoflastfreeze=get_time();
00135         //      pprintf(TextOutputStream,"*** PAUSED ***\n");
00136         cout << "*** PAUSED ***" << endl;
00137       } else {
00138         releaseJoints();
00139         if(sound)
00140           sndman->PlayFile(config->motion.estop_off_snd);
00141         //      pprintf(TextOutputStream,"*** UNPAUSED ***\n");
00142         cout << "*** UNPAUSED ***" << endl;
00143       }
00144     }
00145   }
00146 }
00147 
00148 void EmergencyStopMC::freezeJoints() {
00149   takeSnapshot();
00150   for(unsigned int i=0; i<LEDOffset; i++)
00151     cmds[i].weight=1;
00152   for(unsigned int i=LEDOffset; i<LEDOffset+NumLEDs; i++)
00153     cmds[i].unset(); // let other commands' LEDs "show through"
00154   for(unsigned int i=LEDOffset+NumLEDs; i<NumOutputs; i++)
00155     cmds[i].weight=1;
00156   if(state->robotDesign&WorldState::ERS210Mask) {
00157     cmds[ERS210Info::TlRedLEDOffset].set(0,.5);
00158     cmds[ERS210Info::TlBluLEDOffset].set(0,.5);
00159   } else if(state->robotDesign&WorldState::ERS220Mask) {
00160     for(unsigned int i = 0; i < NumLEDs; i++)
00161       if((ERS220Info::TailLEDMask|ERS220Info::BackLEDMask) & (1 << i))
00162         cmds[LEDOffset + i].set(0, .5);
00163   } else if(state->robotDesign&WorldState::ERS7Mask) {
00164     cmds[ERS7Info::MdBackColorLEDOffset].set(0,.5);
00165     for(int i=6; i<6+5; i++)
00166       cmds[ERS7Info::FaceLEDPanelOffset+i].set(0,0.5);
00167   } else {
00168     cmds[LEDOffset+NumLEDs-1].set(0,.5);
00169     cmds[LEDOffset+NumLEDs-2].set(0,.5);
00170   }
00171   postEvent(EventBase(EventBase::estopEGID,getID(),EventBase::activateETID,0));
00172 }
00173 
00174 void EmergencyStopMC::releaseJoints() {
00175   for(unsigned int i=0; i<NumOutputs; i++)
00176     cmds[i].unset();
00177   //these lines prevent residual display
00178   if(state->robotDesign&WorldState::ERS210Mask) {
00179     motman->setOutput(this,ERS210Info::TlRedLEDOffset,0.f);
00180     motman->setOutput(this,ERS210Info::TlBluLEDOffset,0.f);
00181   } else if(state->robotDesign&WorldState::ERS220Mask) {
00182     for(unsigned int i = 0; i < NumLEDs; i++)
00183       if((ERS220Info::TailLEDMask|ERS220Info::BackLEDMask) & (1 << i))
00184         motman->setOutput(this,LEDOffset + i,0.f);
00185   } else if(state->robotDesign&WorldState::ERS7Mask) {
00186     cmds[ERS7Info::MdBackColorLEDOffset].set(0,0.f);
00187     for(int i=6; i<6+5; i++)
00188       cmds[ERS7Info::FaceLEDPanelOffset+i].set(0,0.f);
00189   } else {
00190     cmds[LEDOffset+NumLEDs-1].set(0,0.f);
00191     cmds[LEDOffset+NumLEDs-2].set(0,0.f);
00192   }
00193   postEvent(EventBase(EventBase::estopEGID,getID(),EventBase::deactivateETID,get_time()-timeoflastfreeze));
00194 }
00195 
00196 bool EmergencyStopMC::trigger() {
00197   if(state->robotDesign&WorldState::ERS210Mask)
00198     return state->button_times[ERS210Info::BackButOffset];
00199   if(state->robotDesign&WorldState::ERS220Mask)
00200     return state->button_times[ERS220Info::BackButOffset];
00201   if(state->robotDesign&WorldState::ERS7Mask)
00202     return state->button_times[ERS7Info::FrontBackButOffset]+state->button_times[ERS7Info::MiddleBackButOffset]+state->button_times[ERS7Info::RearBackButOffset];
00203   serr->printf("EmergencyStopMC: unsupported model!\n");
00204   return false;
00205 }
00206 
00207 /*! @file
00208  * @brief Implements EmergencyStopMC, overrides all joints, allows modelling, blinks tail
00209  * @author ejt (Creator)
00210  *
00211  * $Author: ejt $
00212  * $Name: tekkotsu-2_2_2 $
00213  * $Revision: 1.21 $
00214  * $State: Exp $
00215  * $Date: 2004/08/30 20:26:45 $
00216  */
00217 

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