maneuvers.cpp

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#include "maneuvers.h"

namespace atlascar_base
{    
    void Maneuvers::init()
    {
        maneuver=0;
        //Initialize communications with the gamepad
        int ret = gamepad.startComm("/dev/input/js0");
        
        //Error Message
        if(ret<0)
        {
            cout<<"Cannot open communications with gamepad on: "<<"/dev/input/js0"<<endl;
            return;
        }
        
        current_state = INIT;
                
                command_msg.lifetime = INFINITY;
                command_msg.priority = 1;
        
        //Register all gamepad callbacks
        gamepad.buttons(0)->callback = sigc::mem_fun<int>(this,&Maneuvers::positive_velocity);
        gamepad.buttons(2)->callback = sigc::mem_fun<int>(this,&Maneuvers::neutral_velocity_parking);
        gamepad.buttons(1)->callback = sigc::mem_fun<int>(this,&Maneuvers::neutral_velocity);
        gamepad.buttons(3)->callback = sigc::mem_fun<int>(this,&Maneuvers::negative_velocity);
        gamepad.buttons(12)->callback = sigc::mem_fun<int>(this,&Maneuvers::parallel_parking);
        gamepad.buttons(14)->callback = sigc::mem_fun<int>(this,&Maneuvers::reversing);
        }
        
        //used to write a txt
        /*
    void Maneuvers::saveData(string report_name)
    {
        ofstream file(report_name.c_str(),ios::app);
        file<<maneuver<<" "<<status_msg.header.stamp<<" "<<status_msg.velocity<<" "<<status_msg.count<<" "<<status_msg.gear<<" "<<status_msg.clutch<<" "<<status_msg.brake<<" "<<status_msg.steering_wheel<<" "<<status_msg.rpm<<" "<<status_msg.throttle_pedal<<" "<<status_msg.throttle_pressure<<" "<<status_msg.brake_pressure<<" "<<status_msg.clutch_pressure<<endl; 
        file.close(); 
    }*/
        
    void Maneuvers::setupMessaging()
    {
        //Subscribe to the status message
        status_sub = nh.subscribe("status", 1, &Maneuvers::statusCallback, this);
        //Advertise command messages
        command_pub = nh.advertise<atlascar_base::ManagerCommand>("command_msg", 1);
    }    
        
    void Maneuvers::statusCallback(const atlascar_base::ManagerStatusPtr& status)
    {
        //Save the status message
        status_msg.velocity=status->velocity;
        status_msg.count=status->count;
        status_msg.pulses_sec=status->pulses_sec;
        status_msg.revolutions_sec=status->revolutions_sec;
                status_msg.header.stamp=status->header.stamp;
                status_msg.gear=status->gear;
                status_msg.clutch=status->clutch;
                status_msg.brake=status->brake;
                status_msg.steering_wheel=status->steering_wheel;
                status_msg.rpm=status->rpm;
                status_msg.throttle_pedal=status->throttle_pedal;
                status_msg.velocity=status->velocity;
                status_msg.count=status->count;
                status_msg.throttle_pressure=status->throttle_pressure;
                status_msg.brake_pressure=status->brake_pressure;
                status_msg.clutch_pressure=status->clutch_pressure;     
        
        //used to write a txt
        /*
        string file_name = "/home/atlascar/Desktop/teste.txt"; 
        saveData(file_name);
        */
    }   
        
    void Maneuvers::positive_velocity(int value)
    {    
        //sets number of maneuver 
         maneuver=1;
         
        //safety
        if(value==0)
            return;
        //sets the current state
        if (current_state==INIT)
            current_state = POSITIVE_VELOCITY;
    }
    
   
    void Maneuvers::negative_velocity(int value)
    {   
        //sets number of maneuver 
        maneuver=2;
        
        //safety
        if(value==0)
            return;        
        //sets the current state
        if (current_state==INIT)
            current_state = NEGATIVE_VELOCITY;
    }
    
    void Maneuvers::parallel_parking(int value)
    {   
        //sets number of maneuver 
        maneuver=3;
        
        //safety
        if(value==0)
            return;
        //sets the current state
        if (current_state==INIT)
                {
                        status_memory.count = status_msg.count;
                        pparking=FIRST;
            current_state = PARALLEL_PARKING;                   
                }
    }
    
    void Maneuvers::reversing(int value)
    {   
        //sets number of maneuver 
        maneuver=4;
        
        //safety
        if(value==0)
            return;
        //sets the current state
        if (current_state==INIT)
        {
            status_memory.count = status_msg.count;
                        rreverse=FIRST;
            current_state = REVERSING;
        }
    }
    
    void Maneuvers::neutral_velocity(int value)
    { 
        //sets number of maneuver 
        maneuver=0;
        
        //safety
        if(value==0)
            return;
        //sets the current state
        current_state = NEUTRAL_VELOCITY;
    }
    
    void Maneuvers::neutral_velocity_parking(int value)
    { 
        //sets number of maneuver 
        maneuver=0;
        
        //safety
        if(value==0)
            return;
        //sets the current state
        if (current_state = INIT)
            current_state = NEUTRAL_VELOCITY_PARKING;        
    }
 
    void Maneuvers::reverse()
    {
        switch(rreverse)
        {
            //first stage 
            case FIRST:
                command_msg.velocity=2;
                command_msg.steering_wheel=0.45;
                
                //exit stage
                if (status_msg.count>status_memory.count+10)
                                        rreverse=SECOND;
                                
                break;
                
            //second stage (safety)              
            case SECOND:
                command_msg.velocity=0;
                command_msg.steering_wheel=0.45;
                 
                //exit stage
                if (abs(status_msg.velocity)<0.01)
                                {
                                        status_memory.count=status_msg.count;
                                        rreverse=THIRD;
                                }

                break;
            
            //third stage
            case THIRD: 
                command_msg.velocity=-2;
                command_msg.steering_wheel=-0.45;
                                
                //exit stage
                if (status_msg.count<status_memory.count-2)
                    rreverse=FOURTH;
                                
                break;
            
            //fourth stage (safety)    
            case FOURTH:
                command_msg.velocity=0;
                command_msg.steering_wheel=-0.45;                
                
                //exit stage
                if (abs(status_msg.velocity)<0.01)
                                {
                                        status_memory.count=status_msg.count;
                                        rreverse=FIFTH;
                                }
                                
                break;
                
            //fifth satge
            case FIFTH:  
                command_msg.velocity=2;
                command_msg.steering_wheel=0.45;
                
                //exit stage
                if (status_msg.count>status_memory.count+2)
                    rreverse=SIXTH;
                                
                break;
                
            //sixth stage (safety)    
            case SIXTH:
                command_msg.velocity=0;
                command_msg.steering_wheel=0.45;                
                
                //exit stage
                if (abs(status_msg.velocity)<0.01)
                                {
                                        status_memory.count=status_msg.count;
                                        rreverse=SEVENTH;
                                }
                                
                                break;
                     
            //seventh stage    
            case SEVENTH:  
                
                command_msg.velocity=-2;
                command_msg.steering_wheel=-0.45;
                
                //exit stage
                if (status_msg.count<status_memory.count-2)
                    rreverse=EIGHTH;
                                
                break;
                
            //eighth stage (safety)    
            case EIGHTH:
                command_msg.velocity=0;
                command_msg.steering_wheel=-0.45;                
                
                //exit stage
                if (abs(status_msg.velocity)<0.01)
                                {
                                        status_memory.count=status_msg.count;
                                        rreverse=NINETH;
                                }
                                
                break;
               
            //nineth stage    
            case NINETH:                
                command_msg.velocity=2;
                command_msg.steering_wheel=0.45;
                                
                //exit stage
                if (status_msg.count>status_memory.count+5)
                    rreverse=TENTH;
                                
                break;
               
            //tenth stage (end state)    
            case TENTH:
                command_msg.velocity=0;
                command_msg.steering_wheel=0;
                
                //exit stage
                if (abs(status_msg.velocity)<0.01)
                {
                    maneuver=0;
                    //end state
                    current_state=INIT;
                }           
                
                break;                  
        }
    }
    
    void Maneuvers::parallel()
    {
        switch(pparking)
        {
            //first stage
            case FIRST:
                command_msg.velocity=-2;
                command_msg.steering_wheel=-0.40;
                                
                //exit stage
                if (status_msg.count<status_memory.count-10)
                {
                    status_memory.count=status_msg.count;
                    pparking=SECOND;
                }
                break;
               
            //second stage (safety)    
            case SECOND:
                                command_msg.velocity=0;
                                command_msg.steering_wheel=-0.40;
                                
                //exit stage
                if (abs(status_msg.velocity)<0.01)
                                {
                                        status_memory.count=status_msg.count;
                                        pparking=THIRD;
                                }
                                
                break;                                          
             
            //third stage    
            case THIRD:
                                command_msg.velocity=-2;
                command_msg.steering_wheel=0.40;
                                
                //exit stage
                if (status_msg.count<status_memory.count-2)
                    pparking=FOURTH;
                                
                break;
                                
            //fouth stage (safety)    
                        case FOURTH:                    
                                command_msg.velocity=0;
                command_msg.steering_wheel=0.40;
                                
                //exit stage
                if (abs(status_msg.velocity)<0.01)
                {
                    status_memory.count=status_msg.count;
                    pparking=FIFTH;
                }   
                
                break;
        
            //fifth stage    
                        case FIFTH:
                                command_msg.velocity=2;
                command_msg.steering_wheel=-0.40;
                                
                //exit stage
                if (status_msg.count>status_memory.count+1)                           
                    pparking=SIXTH;
                
                break;
                
            //sixth stage (end state)    
                        case SIXTH:
                                 command_msg.velocity=0;
                command_msg.steering_wheel=0;
                                
                //exit stage
                if (abs(status_msg.velocity)<0.01)
                {
                    maneuver=0;
                    //end state
                    current_state=INIT;
                } 
                
                break;
        }
    }

    void Maneuvers::stateManager()
    {        
        //state machine
        switch(current_state)
        {        
            case UNKNOWN:
                break;
                
            case INIT:            
                break;
                
            case POSITIVE_VELOCITY:
                //stage
                command_msg.parking=0;
                                command_msg.velocity = 2;
                                command_msg.steering_wheel=0;
                
                //end state
                current_state=INIT;
                break;
               
            case NEUTRAL_VELOCITY:
                //stage
                command_msg.parking=0;
                                command_msg.velocity = 0;
                                command_msg.steering_wheel=0;
                
                //end state
                current_state=INIT;
                break;
                
            case NEGATIVE_VELOCITY:
                //stage
                command_msg.parking=0;
                                command_msg.velocity = -2;
                                command_msg.steering_wheel=0;
                
                //end state
                current_state=INIT;
                break;
                
            case PARALLEL_PARKING:
                command_msg.parking=0;
                parallel();                
                break;  
                
            case REVERSING:
                command_msg.parking=0;
                reverse();                
                break;
                
            case NEUTRAL_VELOCITY_PARKING:
                //stage
                command_msg.parking=1;
                
                //end state
                current_state=INIT;
                break;
                
            default:
                cout<<"This state was not defined: "<<current_state<<endl;
        };
    }
    
    void Maneuvers::loop()
    {
        //Frequency
        ros::Rate r(100);//Hz

        do
        {
            //Verify the status of gamepad 
            gamepad.dispatch();
            
            stateManager();
            
            command_msg.header.stamp = ros::Time::now();
            //Publish the message
            command_pub.publish(command_msg);
            
            //Spin ros and sleep the desired amount
            ros::spinOnce();
            r.sleep();
            
        }while(ros::ok());        
    }
}