Tekkotsu: EmergencyStopMC.cc Source File

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(0.2), ledengine()
00017 {
00018   for(unsigned int i=0; i<NumPIDJoints; i++)
00019     piddutyavgs[i]=0;
00020   if(state->robotDesign&WorldState::ERS210Mask) {
00021     ledengine.cycle(ERS210Info::TlRedLEDMask,period,1,0,period/2);
00022     ledengine.cycle(ERS210Info::TlBluLEDMask,period,1);
00023   } else if(state->robotDesign&WorldState::ERS220Mask) {
00024     ledengine.cycle(ERS220Info::TailCenterLEDMask, period, 2.0f, -.5f, (int)(period * 0/5.5));
00025     ledengine.cycle(ERS220Info::TailLeftLEDMask|ERS220Info::TailRightLEDMask,   period, 2.0f, -.5f, (int)(period * 1/5.5));
00026     ledengine.cycle(ERS220Info::BackLeft3LEDMask|ERS220Info::BackRight1LEDMask, period, 2.0f, -.5f, (int)(period * 2/5.5));
00027     ledengine.cycle(ERS220Info::BackLeft2LEDMask|ERS220Info::BackRight2LEDMask, period, 2.0f, -.5f, (int)(period * 3/5.5));
00028     ledengine.cycle(ERS220Info::BackLeft1LEDMask|ERS220Info::BackRight3LEDMask, period, 2.0f, -.5f, (int)(period * 4/5.5));
00029   } else if(state->robotDesign&WorldState::ERS7Mask) {
00030     ledengine.cycle(1<<(ERS7Info::MdBackColorLEDOffset-LEDOffset),2*period/3,.15,.15/2-.5,0);
00031   } else {
00032     serr->printf("Emergency Stop: unknown model\n");
00033     ledengine.cycle(1<<(NumLEDs-1),period,1,0,period/2);
00034     ledengine.cycle(1<<(NumLEDs-2),period,1);
00035   }
00036   defaultMaxSpeed(.15);
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   //immediately following a pause, just hold current position at first to prevent twitching if we were in motion
00059   if(get_time()-timeoflastfreeze>FrameTime*NumFrames*5) { 
00060     //once joints have come to rest, respond to outside forces
00061     for(unsigned int i=0; i<NumPIDJoints; i++) {
00062       //exponential average of duty cycles to filter out noise
00063       piddutyavgs[i]=piddutyavgs[i]*.9f+state->pidduties[i]*.1f;
00064       //reset if there's something significantly out of place (perhaps we're being overridden)
00065       if(fabsf(state->outputs[PIDJointOffset+i]-cmds[PIDJointOffset+i].value)>.15f) {
00066         curPositions[PIDJointOffset+i]=cmds[PIDJointOffset+i].value=state->outputs[PIDJointOffset+i];
00067         dirty=true;
00068         targetReached=false;
00069       }
00070       //give if there's a force...
00071       if(fabsf(piddutyavgs[i])>pidcutoff) {
00072         cmds[PIDJointOffset+i].value-=piddutyavgs[PIDJointOffset+i]; //move in the direction of the force
00073         dirty=true;
00074         targetReached=false;
00075       }
00076     }
00077   }
00078   ledengine.updateLEDs(&cmds[LEDOffset]);
00079   if(state->robotDesign&WorldState::ERS7Mask) {
00080     //a special Battlestar Galactica inspired effect for the ERS-7
00081     static float acts[5];
00082     static bool first=true;
00083     if(first) {
00084       for(int i=0; i<5; i++)
00085         acts[i]=0;
00086       first=false;
00087     }
00088     float t=get_time();
00089     t/=period;
00090     t=(((int)t)&1)?(int)t+1-t:(t-(int)t);
00091     t*=8;
00092     const float invsigma=-6;
00093     const float gamma=.83;
00094     const float amp=.5;
00095     float imp[5];
00096     for(int i=0; i<5; i++) {
00097       imp[i]=exp(invsigma*(t-i-2)*(t-i-2));
00098       acts[i]+=amp*imp[i];
00099       acts[i]*=gamma;
00100     }
00101     cmds[ERS7Info::FaceLEDPanelOffset+6].value=acts[0]/2+imp[0];
00102     cmds[ERS7Info::FaceLEDPanelOffset+7].value=acts[4]/2+imp[4];
00103     cmds[ERS7Info::FaceLEDPanelOffset+8].value=acts[1]/2+imp[1];
00104     cmds[ERS7Info::FaceLEDPanelOffset+9].value=acts[3]/2+imp[3];
00105     cmds[ERS7Info::FaceLEDPanelOffset+10].value=acts[2]/2+imp[2];
00106   }
00107   return PostureMC::updateOutputs();
00108 }
00109 
00110 void EmergencyStopMC::setActive(bool a) {
00111   if(paused) {
00112     if(!a && active)
00113       releaseJoints();
00114     else if(a && !active)
00115       freezeJoints();
00116   }
00117   active=a;
00118 }
00119 
00120 
00121 void EmergencyStopMC::setStopped(bool p, bool sound) {
00122   if(p!=paused) {
00123     paused=p;
00124     if(active) {
00125       if(paused) {
00126         freezeJoints();
00127         if(sound)
00128           sndman->PlayFile(config->motion.estop_on_snd);
00129         cout << "*** PAUSED ***" << endl;
00130       } else {
00131         releaseJoints();
00132         if(sound)
00133           sndman->PlayFile(config->motion.estop_off_snd);
00134         cout << "*** UNPAUSED ***" << endl;
00135       }
00136     }
00137   }
00138 }
00139 
00140 void EmergencyStopMC::freezeJoints() {
00141   dirty=true;
00142   targetReached=false;
00143   for(unsigned int i=0; i<NumOutputs; i++)
00144     curPositions[i]=cmds[i].value=motman->getOutputCmd(i).value;
00145   for(unsigned int i=0; i<NumPIDJoints; i++)
00146     piddutyavgs[i]=0; //or: state->pidduties[i];
00147   for(unsigned int i=0; i<LEDOffset; i++)
00148     cmds[i].weight=1;
00149   for(unsigned int i=LEDOffset; i<LEDOffset+NumLEDs; i++)
00150     cmds[i].unset(); // let other commands' LEDs "show through"
00151   for(unsigned int i=LEDOffset+NumLEDs; i<NumOutputs; i++)
00152     cmds[i].weight=1;
00153   if(state->robotDesign&WorldState::ERS210Mask) {
00154     cmds[ERS210Info::TlRedLEDOffset].set(0,.5);
00155     cmds[ERS210Info::TlBluLEDOffset].set(0,.5);
00156   } else if(state->robotDesign&WorldState::ERS220Mask) {
00157     for(unsigned int i = 0; i < NumLEDs; i++)
00158       if((ERS220Info::TailLEDMask|ERS220Info::BackLEDMask) & (1 << i))
00159         cmds[LEDOffset + i].set(0, .5);
00160   } else if(state->robotDesign&WorldState::ERS7Mask) {
00161     cmds[ERS7Info::MdBackColorLEDOffset].set(0,.5);
00162     for(int i=6; i<6+5; i++)
00163       cmds[ERS7Info::FaceLEDPanelOffset+i].set(0,0.5);
00164   } else {
00165     cmds[LEDOffset+NumLEDs-1].set(0,.5);
00166     cmds[LEDOffset+NumLEDs-2].set(0,.5);
00167   }
00168   postEvent(EventBase(EventBase::estopEGID,getID(),EventBase::activateETID,0));
00169   timeoflastfreeze=get_time();
00170 }
00171 
00172 void EmergencyStopMC::releaseJoints() {
00173   dirty=true;
00174   targetReached=false;
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_3 $
00213  * $Revision: 1.24 $
00214  * $State: Exp $
00215  * $Date: 2005/01/07 23:16:58 $
00216  */
00217