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
00048 }
00049
00050 } else if(stilldown) {
00051
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
00061 if(piddutyavgs[i]>pidcutoff) {
00062 cmds[i].value-=state->pidduties[i]/10;
00063
00064
00065 }
00066
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
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::setActive(bool a) {
00109 if(paused) {
00110 if(!a && active)
00111 releaseJoints();
00112 else if(a && !active)
00113 freezeJoints();
00114 }
00115 active=a;
00116 }
00117
00118
00119 void EmergencyStopMC::setStopped(bool p, bool sound) {
00120 if(p!=paused) {
00121 paused=p;
00122 if(active) {
00123 dirty=true;
00124 if(paused) {
00125 freezeJoints();
00126 if(sound)
00127 sndman->PlayFile(config->motion.estop_on_snd);
00128 timeoflastfreeze=get_time();
00129
00130 cout << "*** PAUSED ***" << endl;
00131 } else {
00132 releaseJoints();
00133 if(sound)
00134 sndman->PlayFile(config->motion.estop_off_snd);
00135
00136 cout << "*** UNPAUSED ***" << endl;
00137 }
00138 }
00139 }
00140 }
00141
00142 void EmergencyStopMC::freezeJoints() {
00143 takeSnapshot();
00144 for(unsigned int i=0; i<LEDOffset; i++)
00145 cmds[i].weight=1;
00146 for(unsigned int i=LEDOffset; i<LEDOffset+NumLEDs; i++)
00147 cmds[i].unset();
00148 for(unsigned int i=LEDOffset+NumLEDs; i<NumOutputs; i++)
00149 cmds[i].weight=1;
00150 if(state->robotDesign&WorldState::ERS210Mask) {
00151 cmds[ERS210Info::TlRedLEDOffset].set(0,.5);
00152 cmds[ERS210Info::TlBluLEDOffset].set(0,.5);
00153 } else if(state->robotDesign&WorldState::ERS220Mask) {
00154 for(unsigned int i = 0; i < NumLEDs; i++)
00155 if((ERS220Info::TailLEDMask|ERS220Info::BackLEDMask) & (1 << i))
00156 cmds[LEDOffset + i].set(0, .5);
00157 } else if(state->robotDesign&WorldState::ERS7Mask) {
00158 cmds[ERS7Info::MdBackColorLEDOffset].set(0,.5);
00159 for(int i=6; i<6+5; i++)
00160 cmds[ERS7Info::FaceLEDPanelOffset+i].set(0,0.5);
00161 } else {
00162 cmds[LEDOffset+NumLEDs-1].set(0,.5);
00163 cmds[LEDOffset+NumLEDs-2].set(0,.5);
00164 }
00165 postEvent(EventBase(EventBase::estopEGID,getID(),EventBase::activateETID,0));
00166 }
00167
00168 void EmergencyStopMC::releaseJoints() {
00169 for(unsigned int i=0; i<NumOutputs; i++)
00170 cmds[i].unset();
00171
00172 if(state->robotDesign&WorldState::ERS210Mask) {
00173 motman->setOutput(this,ERS210Info::TlRedLEDOffset,0.f);
00174 motman->setOutput(this,ERS210Info::TlBluLEDOffset,0.f);
00175 } else if(state->robotDesign&WorldState::ERS220Mask) {
00176 for(unsigned int i = 0; i < NumLEDs; i++)
00177 if((ERS220Info::TailLEDMask|ERS220Info::BackLEDMask) & (1 << i))
00178 motman->setOutput(this,LEDOffset + i,0.f);
00179 } else if(state->robotDesign&WorldState::ERS7Mask) {
00180 cmds[ERS7Info::MdBackColorLEDOffset].set(0,0.f);
00181 for(int i=6; i<6+5; i++)
00182 cmds[ERS7Info::FaceLEDPanelOffset+i].set(0,0.f);
00183 } else {
00184 cmds[LEDOffset+NumLEDs-1].set(0,0.f);
00185 cmds[LEDOffset+NumLEDs-2].set(0,0.f);
00186 }
00187 postEvent(EventBase(EventBase::estopEGID,getID(),EventBase::deactivateETID,get_time()-timeoflastfreeze));
00188 }
00189
00190 bool EmergencyStopMC::trigger() {
00191 if(state->robotDesign&WorldState::ERS210Mask)
00192 return state->button_times[ERS210Info::BackButOffset];
00193 if(state->robotDesign&WorldState::ERS220Mask)
00194 return state->button_times[ERS220Info::BackButOffset];
00195 if(state->robotDesign&WorldState::ERS7Mask)
00196 return state->button_times[ERS7Info::FrontBackButOffset]+state->button_times[ERS7Info::MiddleBackButOffset]+state->button_times[ERS7Info::RearBackButOffset];
00197 serr->printf("EmergencyStopMC: unsupported model!\n");
00198 return false;
00199 }
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