Context Manager
[Planning]

This cm is quite a group! Something at the upper level since it affects high level behaviours in navigation, perception and information flow. More...

Collaboration diagram for Context Manager:

Data Structures
struct	TYPE_SpeedList
struct	TYPE_EscapeManouver
struct	TYPE_birdviewparams
	*/ More...
struct	TYPE_msg
struct	TYPE_timers
	List of timers used in the program. They should be set using carmen_get_time(). More...
struct	TYPE_img
	List of images used in the program. They should have type IplImage*. More...
struct	TYPE_RobotStatus
struct	TYPE_flg
Files
file	cm.cpp
	Main file, contains the main function.
file	cm.h
	Main header file.
file	cm_fprototypes.h
	Global prototypes.
file	cm_globalvars.h
	Global variables.
file	cm_gui.cpp
	Functions to draw the GUI.
file	cm_gui.h
	This file contains gui functions header.
file	cm_instparams.h
	Not being used.
file	cm_interface.cpp
	Installs parameters.
file	cm_interface.h
	*/
file	cm_messages.h
	This file has the IPC messages definition.
file	cm_messaging.cpp
	This file contains comunication wrappers functions.
file	cm_miscelaneous.cpp
	This file contains misc functions.
file	cm_miscelaneous.h
	This file contains misc functions header.
file	cm_speedcontrol.cpp
	This file contains functions that define the robot speed.
file	cm_statemachine.cpp
	This file contains the state machine handling.
file	cm_transitions.cpp
	This file contains functions that make the transition between states in the state machine.
file	cm_transitions.h
	This file contains functions headers that make the transition between states in the state machine.
file	cm_types.h
	This file contains global typedefs used in this module.
Defines
#define	WINDOW2_POS_X 750
#define	WINDOW2_POS_Y 350
#define	ON 1
#define	OFF 0
#define	CHANGESTATE 1
#define	DONOTCHANGESTATE 0
#define	PARKINGTIMEOUT 3.8
#define	HALF_LAP_LENGTH 18
	Half of the complete lap lenght. In meters.
#define	SEARCHFORCROSS_BLACKOUT 0.7*HALF_LAP_LENGTH
	Blackout used in normal mode to search for cross. In meters.
#define	DISTANT_LIGHTS_PERSISTENCE 1.5
	Persistence for distance lights. In meters.
#define	DISTANT_LIGHTS_ACTIVE 1
#define	LIGHTS_PERSISTENCE 5
	Lights timeout usend in trafficlights computation. In seconds.
#define	LEFT_TURN_REDUCE_SPEED 2
	Speed reduction zone when making a left turn In meters.
#define	DISTANT_LIGHTS_TIME_PERSISTENCE 0.5
	Lights timeout usend in trafficlights computation. In seconds.
#define	GO_AFTER_TIMEOUT 0
	CHANGE HERE TO GO AFTER 3 SWCS TO PARK.
#define	_CALIBRATIONDIRECTORY_ "../trafficlights/"
#define	COMPETITION_ROUND 1
#define	saturatemax(val, max) ((val)>(max) ?( max) :( val))
#define	saturatemin(val, min) ((val)<(min) ?( min) :( val))
#define	macro_min(a, b) ((a)<=(b) ?( a) :( b))
#define	macro_max(a, b) ((a)>=(b) ? (a) : (b))
#define	_GREENCOLOR_ CV_RGB(0,255,0)
#define	_REDCOLOR_ CV_RGB(255,0,0)
#define	_BLUECOLOR_ CV_RGB(0,0,255)
#define	FRAME_DIRECTIONCOLOR CV_RGB(100,100,255)
#define	FRAME_DIRECTIONLPOS 5
#define	FRAME_DIRECTIONCPOS 110
#define	FRAME_DIRECTIONLSTEP 12
#define	FRAME_DIRECTIONVALCOLSTEP 40
#define	FRAME_TIMERSCOLOR CV_RGB(100,100,255)
#define	FRAME_TIMERSLPOS 5
#define	FRAME_TIMERSCPOS 5
#define	FRAME_TIMERSLSTEP 12
#define	FRAME_TIMERSVALCOLSTEP 55
#define	FRAME_SPEEDCOLOR CV_RGB(100,100,255)
#define	FRAME_SPEEDLPOS 65
#define	FRAME_SPEEDCPOS 110
#define	FRAME_SPEEDLSTEP 12
#define	FRAME_SPEEDVALCOLSTEP 40
#define	FRAME_MODECOLOR CV_RGB(100,100,255)
#define	FRAME_MODELPOS 5
#define	FRAME_MODECPOS 240
#define	FRAME_MODELSTEP 12
#define	FRAME_MODEVALCOLSTEP 55
#define	FRAME_CROSSDETECTIONCOLOR CV_RGB(100,100,255)
#define	FRAME_CROSSDETECTIONLPOS 115
#define	FRAME_CROSSDETECTIONCPOS 110
#define	FRAME_CROSSDETECTIONLSTEP 12
#define	FRAME_CROSSDETECTIONVALCOLSTEP 55
#define	FRAME_PTUCOLOR CV_RGB(100,100,255)
#define	FRAME_PTULPOS 5
#define	FRAME_PTUCPOS 345
#define	FRAME_PTULSTEP 12
#define	FRAME_PTUVALCOLSTEP 35
#define	FRAME_SIGNALSCOLOR CV_RGB(100,100,255)
#define	FRAME_SIGNALSLPOS 65
#define	FRAME_SIGNALSCPOS 345
#define	FRAME_SIGNALSLSTEP 12
#define	FRAME_SIGNALSVALCOLSTEP 55
Enumerations
enum	ENUM_Drivingreactiveness { REACTIVENESS_NORMAL = 101, REACTIVENESS_HIGH, REACTIVENESS_LOW, REACTIVENESS_NORMAL = 101, REACTIVENESS_HIGH, REACTIVENESS_LOW }
enum	TYPE_States { DUMMYSTATE = 76, STARTSTATE, NORMALSTATE, CROSSSTATE, STOPSTATE, PARKSTATE, ENDSTATE, DUMMYSTATE = 76, STARTSTATE, NORMALSTATE, CROSSSTATE, STOPSTATE, PARKSTATE, ENDSTATE }
enum	TYPE_transitioncause { START_TO_NORMAL_GAU = 1, START_TO_NORMAL_YAL, START_TO_NORMAL_TIMEOUT, START_TO_NORMAL_GAU = 1, START_TO_NORMAL_YAL, START_TO_NORMAL_TIMEOUT }
Functions
void	sensorfusion_heartbeat_handler (void)
void	motionplanner_msgreceived_handler (void)
int	main (int argc, char *argv[])
void	print_trajectoriesstats (mptn2d_motion_message *msg)
void	state_management (void)
void	increment_lap_number (void)
void	set_search_for_cross (char on_off, char forcecommunication)
void	set_search_for_lights (char on_off, char ptu_tracking, char sGAU, char sYAL, char sRC, char sYAR, char force_communication)
void	cross_computation (void)
void	trafficlights_computation (void)
int	setup_messaging (void)
void	send_dir_and_speed (void)
void	start_race (const char *text, int start)
void	speedcontrol (void)
	Decides the robot's speed based in the current mode and also some preprocessing directives.
void	ptu_control (void)
void	signals_management (void)
void	setup_drivingbehaviour (Type_LanePositioning lp, ENUM_Drivingreactiveness dr)
void	set_search_for_park (char on_off, char force_communication)
void	set_search_for_laser (char on_off, char force_communication)
int	set_robot_lights (int right, int left, int head, int tail, int reverse)
int	send_msg_to_soundplayer (int filenumber, char *filename, int mode)
int	send_motion_msg_to_robot (double dir, int speed)
void	distant_trafficlights_computation (void)
void	brake_toogle_computation (void)
void	search_for_cross_computation (void)
void	optional_signs_computation (void)
void	send_vs_command (vscshfba_command_message *vs_cm_message)
void	gui_drawall (void)
	Draws metric grid on sensorfusion image.
void	gui_draw_timersinfo (void)
void	gui_draw_speedinfo (void)
void	gui_draw_dirinfo (void)
void	gui_draw_crossinfo (void)
void	gui_draw_signalsinfo (void)
void	gui_drawptuinfo (void)
void	DrawTrafficLightsInfo (IplImage *src, int line, int col)
	Draws traffic lights info to an IplImage.
void	GUI_drawframe (void)
int	setup_gui (void)
void	FRM_Init_Timers_Frame (void)
int	FRM_Init_Speed_Frame (void)
int	FRM_Init_Direction_Frame (void)
int	FRM_Init_CrossDetection_Frame (void)
int	FRM_Init_Mode_Frame (void)
int	FRM_Init_PTU_Frame (void)
int	FRM_Init_Signals_Frame (void)
void	FRM_Draw_Timers_Frame (void)
void	cm_param_daemon_install_speedlist (TYPE_SpeedList *sl, int subscribe_changes)
	intalls parameters contained in section drivingdirectives.
void	cm_param_daemon_install_escapemanouver (TYPE_EscapeManouver *em, int subscribe_changes)
void	shutdown_module (int x)
	Shuts down cm module with a clean exit.
void	check_command (int argc, char **argv)
	checks for command line instructions
int	setup_flags (int argc, char **argv)
	Sets up program flags to FALSE and then calls check_command().
int	setup_ipc (int argc, char **argv)
int	transition_start_to_normal (void)
	Checks if a transition from TypeState.STARTSTATE to TypeState.NORMALSTATE should ocuur.
int	transition_normal_to_cross (void)
	Checks if a transition from TypeState.NORMALSTATE to TypeState.CROSSSTATE should ocuur.
int	transition_cross_to_stop (void)
	Checks if a transition from TypeState.CROSSSTATE to TypeState.STOPSTATE should ocuur.
int	transition_stop_to_normal (void)
	Checks if a transition from TypeState.STOPSTATE to TypeState.NORMALSTATE should ocuur.
int	transition_stop_to_park (void)
	Checks if a transition from TypeState.STOPSTATE to TypeState.PARKSTATE should ocuur.
int	transition_stop_to_end (void)
	Checks if a transition from TypeState.STOPSTATE to TypeState.ENDSTATE should ocuur.
int	transition_cross_to_normal_by_cross_sensor (void)
	Checks if a transition from TypeState.CROSSSTATE to TypeState.NORMALSTATE should ocuur.
int	transition_cross_to_normal_by_timeout (void)
	Checks if a transition from TypeState.CROSSTATE to TypeState.NORMALSTATE should ocuur.
Variables
ENUM_Drivingreactiveness	drivingreactiveness
Type_LanePositioning	lanepositioning
bool	BUS_MODE
int	park_step
double	distance_cross_start
char	sensorfusion_heartbeat
TYPE_flg	flg
TYPE_msg	msg
TYPE_img	img
TYPE_ipm_expert_params	birdviewparams
TYPE_RobotStatus	rstat
TYPE_motion_weights	motion_weights
CvFont	Font
CvFont	smallFont
TYPE_timers	timer
int	TYPE_SpeedList::stop
int	TYPE_SpeedList::cross
int	TYPE_SpeedList::park
int	TYPE_SpeedList::turbo
int	TYPE_SpeedList::reverse
double	TYPE_EscapeManouver::max_angle
vscshfba_data_message	TYPE_msg::vs_message
vscshfba_command_message	TYPE_msg::vs_command_message
robot_vert_sign_command_message	TYPE_msg::robot_vs_command_message
double TYPE_timers::maincycle
double TYPE_timers::maincycle_GUI
double TYPE_timers::in_stopstate
double TYPE_timers::in_startstate
double TYPE_timers::in_normalstate
double TYPE_timers::in_parkstate
double TYPE_timers::in_crossstate
double TYPE_timers::in_endstate
double TYPE_timers::since_lap_count
double TYPE_timers::escapemanouver
double TYPE_timers::park_timeout
double TYPE_timers::distance_since_lap_count
double TYPE_timers::distance_in_crossstate
double TYPE_timers::distance_since_distantlights_found
double TYPE_timers::in_bus_lane_time
double TYPE_timers::in_bus_lane_distance
double TYPE_timers::vs_detected_time
double TYPE_timers::vs_detected_distance
double TYPE_timers::maincycle
double TYPE_timers::maincycle_GUI
double TYPE_timers::in_stopstate
double TYPE_timers::in_startstate
double TYPE_timers::in_normalstate
double TYPE_timers::in_parkstate
double TYPE_timers::in_crossstate
double TYPE_timers::in_endstate
double TYPE_timers::since_lap_count
double TYPE_timers::escapemanouver
double TYPE_timers::park_timeout
double TYPE_timers::in_bus_lane_time
double TYPE_timers::in_bus_lane_distance
double TYPE_timers::vs_detected_time
double TYPE_timers::vs_detected_distance
struct {
double progstart
double TYPE_timers::maincycle
double TYPE_timers::maincycle_GUI
double TYPE_timers::in_stopstate
double TYPE_timers::in_startstate
double TYPE_timers::in_normalstate
double TYPE_timers::in_parkstate
double TYPE_timers::in_crossstate
double TYPE_timers::in_endstate
double TYPE_timers::since_lap_count
double TYPE_timers::escapemanouver
double TYPE_timers::park_timeout
double TYPE_timers::in_bus_lane_time
double TYPE_timers::in_bus_lane_distance
double TYPE_timers::vs_detected_time
double TYPE_timers::vs_detected_distance
}	TYPE_timers::toc
char TYPE_RobotStatus::prev_cross
struct {
char cross
char TYPE_RobotStatus::prev_cross
}	TYPE_RobotStatus::detections

Detailed Description

This cm is quite a group! Something at the upper level since it affects high level behaviours in navigation, perception and information flow.

Author:: mike, jalmeida, pstein, vsantos

Date:: 18-05-2010

Define Documentation

#define _BLUECOLOR_ CV_RGB(0,0,255)

#define _CALIBRATIONDIRECTORY_ "../trafficlights/"

#define _GREENCOLOR_ CV_RGB(0,255,0)

#define _REDCOLOR_ CV_RGB(255,0,0)

#define CHANGESTATE 1

#define COMPETITION_ROUND 1

#define DISTANT_LIGHTS_ACTIVE 1

#define DISTANT_LIGHTS_PERSISTENCE 1.5

Persistence for distance lights. In meters.

#define DISTANT_LIGHTS_TIME_PERSISTENCE 0.5

Lights timeout usend in trafficlights computation. In seconds.

#define DONOTCHANGESTATE 0

#define FRAME_CROSSDETECTIONCOLOR CV_RGB(100,100,255)

#define FRAME_CROSSDETECTIONCPOS 110

#define FRAME_CROSSDETECTIONLPOS 115

#define FRAME_CROSSDETECTIONLSTEP 12

#define FRAME_CROSSDETECTIONVALCOLSTEP 55

#define FRAME_DIRECTIONCOLOR CV_RGB(100,100,255)

#define FRAME_DIRECTIONCPOS 110

#define FRAME_DIRECTIONLPOS 5

#define FRAME_DIRECTIONLSTEP 12

#define FRAME_DIRECTIONVALCOLSTEP 40

#define FRAME_MODECOLOR CV_RGB(100,100,255)

#define FRAME_MODECPOS 240

#define FRAME_MODELPOS 5

#define FRAME_MODELSTEP 12

#define FRAME_MODEVALCOLSTEP 55

#define FRAME_PTUCOLOR CV_RGB(100,100,255)

#define FRAME_PTUCPOS 345

#define FRAME_PTULPOS 5

#define FRAME_PTULSTEP 12

#define FRAME_PTUVALCOLSTEP 35

#define FRAME_SIGNALSCOLOR CV_RGB(100,100,255)

#define FRAME_SIGNALSCPOS 345

#define FRAME_SIGNALSLPOS 65

#define FRAME_SIGNALSLSTEP 12

#define FRAME_SIGNALSVALCOLSTEP 55

#define FRAME_SPEEDCOLOR CV_RGB(100,100,255)

#define FRAME_SPEEDCPOS 110

#define FRAME_SPEEDLPOS 65

#define FRAME_SPEEDLSTEP 12

#define FRAME_SPEEDVALCOLSTEP 40

#define FRAME_TIMERSCOLOR CV_RGB(100,100,255)

#define FRAME_TIMERSCPOS 5

#define FRAME_TIMERSLPOS 5

#define FRAME_TIMERSLSTEP 12

#define FRAME_TIMERSVALCOLSTEP 55

#define GO_AFTER_TIMEOUT 0

CHANGE HERE TO GO AFTER 3 SWCS TO PARK.

#define HALF_LAP_LENGTH 18

Half of the complete lap lenght. In meters.

#define LEFT_TURN_REDUCE_SPEED 2

Speed reduction zone when making a left turn In meters.

Referenced by speedcontrol(), and state_management().

#define LIGHTS_PERSISTENCE 5

Lights timeout usend in trafficlights computation. In seconds.

#define macro_max	(	a,
		b		)	((a)>=(b) ? (a) : (b))

#define macro_min	(	a,
		b		)	((a)<=(b) ?( a) :( b))

#define OFF 0

#define ON 1

#define PARKINGTIMEOUT 3.8

#define saturatemax	(	val,
		max		)	((val)>(max) ?( max) :( val))

#define saturatemin	(	val,
		min		)	((val)<(min) ?( min) :( val))

#define SEARCHFORCROSS_BLACKOUT 0.7*HALF_LAP_LENGTH

Blackout used in normal mode to search for cross. In meters.

#define WINDOW2_POS_X 750

#define WINDOW2_POS_Y 350

Enumeration Type Documentation

enum ENUM_Drivingreactiveness

Enumerator:

REACTIVENESS_NORMAL
REACTIVENESS_HIGH
REACTIVENESS_LOW
REACTIVENESS_NORMAL
REACTIVENESS_HIGH
REACTIVENESS_LOW

enum TYPE_States

Enumerator:

DUMMYSTATE
STARTSTATE	This state should never ocuur.
NORMALSTATE	The first state when the program starts.
CROSSSTATE
STOPSTATE
PARKSTATE
ENDSTATE
DUMMYSTATE
STARTSTATE	This state should never ocuur.
NORMALSTATE	The first state when the program starts.
CROSSSTATE
STOPSTATE
PARKSTATE
ENDSTATE

enum TYPE_transitioncause

Enumerator:

START_TO_NORMAL_GAU
START_TO_NORMAL_YAL
START_TO_NORMAL_TIMEOUT
START_TO_NORMAL_GAU
START_TO_NORMAL_YAL
START_TO_NORMAL_TIMEOUT

Function Documentation

void brake_toogle_computation ( void )

References CROSSSTATE, TYPE_RobotStatus::current_state, TYPE_RobotStatus::distance_since_distantlights_found, DISTANT_LIGHTS_PERSISTENCE, ENDSTATE, GREENARROWUP, TYPE_RobotStatus::lap_number, msg, OFF, ON, robot_publish_brake_toggle(), rstat, STOPSTATE, TYPE_RobotStatus::total_laps, and YELLOWARROWLEFT.

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void check_command	(	int	argc,
		char **	argv
	)

checks for command line instructions

Calling this function will alter the state of the flags. Possible instructions are:

-debug will setup debug displays and prints to stdout. flg.debugmode set to TRUE. Debug mode also sets flg.graphical to TRUE
-graphical will draw a basic window just for program monitoring. flg.graphical set to TRUE
-dummy not sure what it actually does. flg.dummymode set to TRUE
-savevideo will save a video of the action. flg.savevideo set to TRUE
-subscribesensorfusion will subscribe to sensorfusion data and present it on the screen. flg.subscribesensorfusion set to TRUE
Parameters:

argc standart argc. pass from main routine

argv standart argv. pass from main routine

void cm_param_daemon_install_escapemanouver	(	TYPE_EscapeManouver *	em,
		int	subscribe_changes
	)

void cm_param_daemon_install_speedlist	(	TYPE_SpeedList *	sl,
		int	subscribe_changes
	)

intalls parameters contained in section drivingdirectives.

Parameters:

	TYPE_DrivingDirectives	pointer to the variables to be installed
	subscribe_changes	1 yes or 0 no

void cross_computation ( void )

References TYPE_RobotStatus::cross, TYPE_RobotStatus::detections, FALSE, msg, TYPE_RobotStatus::prev_cross, rstat, send_msg_to_soundplayer(), foveationcontrol_pointto_xyz_message::timestamp, and TRUE.

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void distant_trafficlights_computation ( void )

References TYPE_RobotStatus::dd, TYPE_RobotStatus::distance_since_distantlights_found, DISTANT_LIGHTS_PERSISTENCE, DISTANT_LIGHTS_TIME_PERSISTENCE, GREENARROWUP, TYPE_DrivingDirectives::intersectionbehaviour, msg, NONE, param_daemon_set_drivingdirectives_intersectionbehaviour(), REDCROSS, rstat, send_msg_to_soundplayer(), TAKELEFT, TAKERIGHT, c_timer::tic(), timer, foveationcontrol_pointto_xyz_message::timestamp, YELLOWARROWLEFT, and YELLOWARROWRIGHT.

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void DrawTrafficLightsInfo	(	IplImage *	src,
		int	line,
		int	col
	)

Draws traffic lights info to an IplImage.

void FRM_Draw_Timers_Frame ( void )

int FRM_Init_CrossDetection_Frame ( void )

int FRM_Init_Direction_Frame ( void )

int FRM_Init_Mode_Frame ( void )

int FRM_Init_PTU_Frame ( void )

int FRM_Init_Signals_Frame ( void )

int FRM_Init_Speed_Frame ( void )

void FRM_Init_Timers_Frame ( void )

void gui_draw_crossinfo ( void )

void gui_draw_dirinfo ( void )

void gui_draw_signalsinfo ( void )

void gui_draw_speedinfo ( void )

void gui_draw_timersinfo ( void )

void gui_drawall ( void )

Draws metric grid on sensorfusion image.

#ifndef _CM_H_
#define _CM_H_

/*
#include <cxcore.h>
#include <cv.h>
#include <cvaux.h>
#include <highgui.h>*/

#include <lar/lar.h>
// #include "../cross/cross_interface.h"
// #include "../soundgenerator/soundgenerator_interface.h"
// #include "../trafficlights/trafficlights_interface.h"
// #include "../motionplanner2/motionplanner2_interface.h"
// #include "../roaddetection/roaddetection_interface.h"
// #include "../lar_libs/videosaving.h"
// #include "../parking_detector/park_interface.h"
#include "cm_interface.h"


#define WINDOW2_POS_X 750
#define WINDOW2_POS_Y 350

#define ON 1
#define OFF 0
#define CHANGESTATE 1
#define DONOTCHANGESTATE 0
#define PARKINGTIMEOUT 3.8

#define HALF_LAP_LENGTH 18

#define SEARCHFORCROSS_BLACKOUT 0.7*HALF_LAP_LENGTH

#define DISTANT_LIGHTS_PERSISTENCE 1.5

#define DISTANT_LIGHTS_ACTIVE 1

#define LIGHTS_PERSISTENCE 5


#define LEFT_TURN_REDUCE_SPEED 2

#define DISTANT_LIGHTS_TIME_PERSISTENCE 0.5

#define GO_AFTER_TIMEOUT 0

#define _CALIBRATIONDIRECTORY_ "../trafficlights/"

#define COMPETITION_ROUND 1 /*day 0 1 or 2 */

#define saturatemax(val,max) ((val)>(max) ?( max) :( val))
#define saturatemin(val,min) ((val)<(min) ?( min) :( val))
#define macro_min(a,b) ((a)<=(b) ?( a) :( b))   //macro to get minimum value
#define macro_max(a,b) ((a)>=(b) ? (a) : (b))   //macro to get maximum value


#include "cm_types.h"
#include "cm_fprototypes.h"
#include "cm_globalvars.h"
#include "cm_instparams.h"


#include "cm_transitions.h" 
#include "cm_miscelaneous.h"
#include "cm_gui.h"




#endif

main header include

void GUI_drawframe ( void )

void gui_drawptuinfo ( void )

void increment_lap_number ( void )

References TYPE_RobotStatus::lap_number, msg, rstat, send_msg_to_soundplayer(), c_timer::tic(), and timer.

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int main	(	int	argc,
		char *	argv[]
	)

Reset distance traveled, we are now starting the race

References TYPE_RobotStatus::cross, cross_computation(), TYPE_RobotStatus::current_state, TYPE_RobotStatus::detections, DUMMYSTATE, FALSE, gui_drawall(), TYPE_RobotStatus::lap_number, msg, OFF, ON, TYPE_RobotStatus::previous_state, robot_publish_reset_distance_traveled(), rstat, TYPE_RobotStatus::search_for_park, send_motion_msg_to_robot(), set_robot_lights(), set_search_for_cross(), set_search_for_lights(), setup_flags(), setup_gui(), setup_intel_ipp(), setup_ipc(), setup_messaging(), shutdown_module(), start_race(), STARTSTATE, state_management(), c_timer::tic(), timer, foveationcontrol_pointto_xyz_message::timestamp, c_timer::toc(), and TYPE_RobotStatus::total_laps.

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void motionplanner_msgreceived_handler ( void )

void optional_signs_computation ( void )

References _LAR_TEXT_RED_, BUS_MODE, TYPE_RobotStatus::current_state, FALSE, INFORMATION_HOSPITAL, INFORMATION_REC_SPEED_60, MANDATORY_BUS_LANE, MANDATORY_MEDIUM_LIGTHS, msg, NORMALSTATE, printc, robot_publish_vert_sign_command(), rstat, send_msg_to_soundplayer(), send_vs_command(), c_timer::tic(), timer, foveationcontrol_pointto_xyz_message::timestamp, c_timer::toc(), TRUE, WARNING_DIP_AHEAD, and WARNING_ROAD_NARROWS.

Referenced by state_management().

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void print_trajectoriesstats ( mptn2d_motion_message * msg )

void ptu_control ( void )

void search_for_cross_computation ( void )

References CROSSSTATE, TYPE_RobotStatus::current_state, TYPE_RobotStatus::distance_since_lap_count, msg, NORMALSTATE, OFF, ON, rstat, SEARCHFORCROSS_BLACKOUT, set_search_for_cross(), c_timer::tic(), and timer.

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void send_dir_and_speed ( void )

Escape Manouver

References CROSSSTATE, TYPE_RobotStatus::current_state, TYPE_RobotStatus::direction, TYPE_RobotStatus::doing_em, DUMMYSTATE, TYPE_RobotStatus::em, ENDSTATE, FALSE, TYPE_EscapeManouver::max_angle, TYPE_EscapeManouver::min_angle, msg, NORMALSTATE, park_step, PARKSTATE, TYPE_SpeedList::reverse, rstat, send_motion_msg_to_robot(), TYPE_RobotStatus::sl, TYPE_RobotStatus::speed, STARTSTATE, STOPSTATE, c_timer::tic(), timer, c_timer::toc(), and TRUE.

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int send_motion_msg_to_robot	(	double	dir,
		int	speed
	)

References msg, and robot_publish_motion_command().

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int send_msg_to_soundplayer	(	int	filenumber,
		char *	filename,
		int	mode
	)

References msg, and soundplayer_publish_command_message().

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void send_vs_command ( vscshfba_command_message * vs_cm_message )

References FALSE, initialise, vscshfba_command_message::runmodule, vscshfba_command_message::s_info_hosp, vscshfba_command_message::s_info_rec_speed_60, vscshfba_command_message::s_mand_bus_lane, vscshfba_command_message::s_mand_ligths, vscshfba_command_message::s_warn_dip, vscshfba_command_message::s_warn_narrow, TRUE, and vscshfba_publish_command_message().

Referenced by optional_signs_computation().

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void sensorfusion_heartbeat_handler ( void )

References sensorfusion_heartbeat, and TRUE.

int set_robot_lights	(	int	right,
		int	left,
		int	head,
		int	tail,
		int	reverse
	)

References msg, and robot_publish_lights_command().

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void set_search_for_cross	(	char	on_off,
		char	forcecommunication
	)

References lar_cross_publish_command_message(), msg, rstat, and TYPE_RobotStatus::search_for_cross.

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void set_search_for_laser	(	char	on_off,
		char	force_communication
	)

References rstat, and TYPE_RobotStatus::search_for_laser.

void set_search_for_lights	(	char	on_off,
		char	ptu_tracking,
		char	sGAU,
		char	sYAL,
		char	sRC,
		char	sYAR,
		char	force_communication
	)

References msg, and tlcstm_publish_command_message().

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void set_search_for_park	(	char	on_off,
		char	force_communication
	)

References msg, pdtm_publish_command(), rstat, and TYPE_RobotStatus::search_for_park.

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void setup_drivingbehaviour	(	Type_LanePositioning	lp,
		ENUM_Drivingreactiveness	dr
	)

References motion_weights, param_daemon_set_drivingdirectives_lanepositioning(), param_daemon_set_motion_weights(), REACTIVENESS_HIGH, REACTIVENESS_LOW, REACTIVENESS_NORMAL, TYPE_motion_weights::W_acos, TYPE_motion_weights::W_difo, TYPE_motion_weights::W_dist, TYPE_motion_weights::W_ibeh, and TYPE_motion_weights::W_rdist.

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int setup_flags	(	int	argc,
		char **	argv
	)

Sets up program flags to FALSE and then calls check_command().

Parameters:

	argc	standart argc. pass from main routine
	argv	standart argv. pass from main routine

Returns:: always retuns 1 for now

int setup_gui ( void )

int setup_ipc	(	int	argc,
		char **	argv
	)

int setup_messaging ( void )

#ifndef _CM_H_
#define _CM_H_

/*
#include <cxcore.h>
#include <cv.h>
#include <cvaux.h>
#include <highgui.h>*/

#include <lar/lar.h>
// #include "../cross/cross_interface.h"
// #include "../soundgenerator/soundgenerator_interface.h"
// #include "../trafficlights/trafficlights_interface.h"
// #include "../motionplanner2/motionplanner2_interface.h"
// #include "../roaddetection/roaddetection_interface.h"
// #include "../lar_libs/videosaving.h"
// #include "../parking_detector/park_interface.h"
#include "cm_interface.h"


#define WINDOW2_POS_X 750
#define WINDOW2_POS_Y 350

#define ON 1
#define OFF 0
#define CHANGESTATE 1
#define DONOTCHANGESTATE 0
#define PARKINGTIMEOUT 3.8

#define HALF_LAP_LENGTH 18

#define SEARCHFORCROSS_BLACKOUT 0.7*HALF_LAP_LENGTH

#define DISTANT_LIGHTS_PERSISTENCE 1.5

#define DISTANT_LIGHTS_ACTIVE 1

#define LIGHTS_PERSISTENCE 5


#define LEFT_TURN_REDUCE_SPEED 2

#define DISTANT_LIGHTS_TIME_PERSISTENCE 0.5

#define GO_AFTER_TIMEOUT 0

#define _CALIBRATIONDIRECTORY_ "../trafficlights/"

#define COMPETITION_ROUND 1 /*day 0 1 or 2 */

#define saturatemax(val,max) ((val)>(max) ?( max) :( val))
#define saturatemin(val,min) ((val)<(min) ?( min) :( val))
#define macro_min(a,b) ((a)<=(b) ?( a) :( b))   //macro to get minimum value
#define macro_max(a,b) ((a)>=(b) ? (a) : (b))   //macro to get maximum value


#include "cm_types.h"
#include "cm_fprototypes.h"
#include "cm_globalvars.h"
#include "cm_instparams.h"


#include "cm_transitions.h" 
#include "cm_miscelaneous.h"
#include "cm_gui.h"




#endif

main header include

References carmen_ptucontrolsubscribe_status_message(), lar_cross_subscribe_data_message(), motionplanner_msgreceived_handler(), mptn2d_subscribe_data(), msg, pdtm_subscribe_data(), robot_subscribe_status(), tlcstm_subscribe_data_message(), and vscshfba_subscribe_data().

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void shutdown_module ( int x )

Shuts down cm module with a clean exit.

makes a clean shutdown of the program

Disconnects from ipc and releases video writer

Parameters:

x

Signal value. To shutdown signal must be SIGINT

void signals_management ( void )

References CROSSSTATE, TYPE_RobotStatus::current_state, TYPE_RobotStatus::dd, TYPE_RobotStatus::doing_em, ENDSTATE, TYPE_DrivingDirectives::intersectionbehaviour, NORMALSTATE, OFF, ON, rstat, set_robot_lights(), STARTSTATE, STOPSTATE, TAKELEFT, TAKERIGHT, timer, and c_timer::toc().

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void speedcontrol ( void )

Decides the robot's speed based in the current mode and also some preprocessing directives.

#ifndef _CM_H_
#define _CM_H_

/*
#include <cxcore.h>
#include <cv.h>
#include <cvaux.h>
#include <highgui.h>*/

#include <lar/lar.h>
// #include "../cross/cross_interface.h"
// #include "../soundgenerator/soundgenerator_interface.h"
// #include "../trafficlights/trafficlights_interface.h"
// #include "../motionplanner2/motionplanner2_interface.h"
// #include "../roaddetection/roaddetection_interface.h"
// #include "../lar_libs/videosaving.h"
// #include "../parking_detector/park_interface.h"
#include "cm_interface.h"


#define WINDOW2_POS_X 750
#define WINDOW2_POS_Y 350

#define ON 1
#define OFF 0
#define CHANGESTATE 1
#define DONOTCHANGESTATE 0
#define PARKINGTIMEOUT 3.8

#define HALF_LAP_LENGTH 18

#define SEARCHFORCROSS_BLACKOUT 0.7*HALF_LAP_LENGTH

#define DISTANT_LIGHTS_PERSISTENCE 1.5

#define DISTANT_LIGHTS_ACTIVE 1

#define LIGHTS_PERSISTENCE 5


#define LEFT_TURN_REDUCE_SPEED 2

#define DISTANT_LIGHTS_TIME_PERSISTENCE 0.5

#define GO_AFTER_TIMEOUT 0

#define _CALIBRATIONDIRECTORY_ "../trafficlights/"

#define COMPETITION_ROUND 1 /*day 0 1 or 2 */

#define saturatemax(val,max) ((val)>(max) ?( max) :( val))
#define saturatemin(val,min) ((val)<(min) ?( min) :( val))
#define macro_min(a,b) ((a)<=(b) ?( a) :( b))   //macro to get minimum value
#define macro_max(a,b) ((a)>=(b) ? (a) : (b))   //macro to get maximum value


#include "cm_types.h"
#include "cm_fprototypes.h"
#include "cm_globalvars.h"
#include "cm_instparams.h"


#include "cm_transitions.h" 
#include "cm_miscelaneous.h"
#include "cm_gui.h"




#endif

main header include

References TYPE_SpeedList::cross, CROSSSTATE, TYPE_RobotStatus::current_state, TYPE_RobotStatus::dd, TYPE_RobotStatus::distance_since_lap_count, DUMMYSTATE, ENDSTATE, GREENARROWUP, TYPE_DrivingDirectives::intersectionbehaviour, TYPE_RobotStatus::lap_number, LEFT_TURN_REDUCE_SPEED, msg, TYPE_SpeedList::normal, NORMALSTATE, TYPE_SpeedList::park, park_step, PARKSTATE, rstat, saturatemax, TYPE_RobotStatus::sl, TYPE_RobotStatus::speed, STARTSTATE, TYPE_SpeedList::stop, STOPSTATE, TAKELEFT, foveationcontrol_pointto_xyz_message::timestamp, TYPE_RobotStatus::total_laps, TYPE_SpeedList::turbo, and YELLOWARROWLEFT.

void start_race	(	const char *	text,
		int	start
	)

#ifndef _CM_H_
#define _CM_H_

/*
#include <cxcore.h>
#include <cv.h>
#include <cvaux.h>
#include <highgui.h>*/

#include <lar/lar.h>
// #include "../cross/cross_interface.h"
// #include "../soundgenerator/soundgenerator_interface.h"
// #include "../trafficlights/trafficlights_interface.h"
// #include "../motionplanner2/motionplanner2_interface.h"
// #include "../roaddetection/roaddetection_interface.h"
// #include "../lar_libs/videosaving.h"
// #include "../parking_detector/park_interface.h"
#include "cm_interface.h"


#define WINDOW2_POS_X 750
#define WINDOW2_POS_Y 350

#define ON 1
#define OFF 0
#define CHANGESTATE 1
#define DONOTCHANGESTATE 0
#define PARKINGTIMEOUT 3.8

#define HALF_LAP_LENGTH 18

#define SEARCHFORCROSS_BLACKOUT 0.7*HALF_LAP_LENGTH

#define DISTANT_LIGHTS_PERSISTENCE 1.5

#define DISTANT_LIGHTS_ACTIVE 1

#define LIGHTS_PERSISTENCE 5


#define LEFT_TURN_REDUCE_SPEED 2

#define DISTANT_LIGHTS_TIME_PERSISTENCE 0.5

#define GO_AFTER_TIMEOUT 0

#define _CALIBRATIONDIRECTORY_ "../trafficlights/"

#define COMPETITION_ROUND 1 /*day 0 1 or 2 */

#define saturatemax(val,max) ((val)>(max) ?( max) :( val))
#define saturatemin(val,min) ((val)<(min) ?( min) :( val))
#define macro_min(a,b) ((a)<=(b) ?( a) :( b))   //macro to get minimum value
#define macro_max(a,b) ((a)>=(b) ? (a) : (b))   //macro to get maximum value


#include "cm_types.h"
#include "cm_fprototypes.h"
#include "cm_globalvars.h"
#include "cm_instparams.h"


#include "cm_transitions.h" 
#include "cm_miscelaneous.h"
#include "cm_gui.h"




#endif

main header include

void state_management ( void )

LIST HERE STATE ACTIONS

LIST HERE TRANSITION CONDITION

LIST HERE TRANSITION ACTIONS

LIST HERE STATE ACTIONS

LIST HERE TRANSITION CONDITION

LIST HERE TRANSITION ACTIONS

LIST HERE STATE ACTIONS

LIST HERE TRANSITION CONDITION

LIST HERE TRANSITION ACTIONS

LIST HERE STATE ACTIONS

LIST HERE TRANSITION CONDITION

LIST HERE TRANSITION ACTIONS

LIST HERE STATE ACTIONS

LIST HERE TRANSITION CONDITION

References brake_toogle_computation(), cdltm_publish_jumpsearch(), cross_computation(), CROSSSTATE, TYPE_RobotStatus::current_state, TYPE_RobotStatus::dd, TYPE_RobotStatus::distance_since_distantlights_found, TYPE_RobotStatus::distance_since_lap_count, DISTANT_LIGHTS_ACTIVE, distant_trafficlights_computation(), DRIVECENTER, DRIVELEFT, DRIVERIGHT, DUMMYSTATE, ENDSTATE, increment_lap_number(), TYPE_DrivingDirectives::intersectionbehaviour, TYPE_RobotStatus::lap_number, LEFT_TURN_REDUCE_SPEED, msg, NORMALSTATE, OFF, ON, optional_signs_computation(), param_daemon_set_ipm_uselaser(), park_step, PARKINGTIMEOUT, PARKSTATE, TYPE_RobotStatus::previous_state, REACTIVENESS_HIGH, REACTIVENESS_NORMAL, rstat, search_for_cross_computation(), send_dir_and_speed(), send_msg_to_soundplayer(), set_search_for_cross(), set_search_for_lights(), set_search_for_park(), setup_drivingbehaviour(), signals_management(), TYPE_RobotStatus::speed, speedcontrol(), STARTSTATE, STOPSTATE, TAKELEFT, TAKERIGHT, c_timer::tic(), timer, foveationcontrol_pointto_xyz_message::timestamp, c_timer::toc(), TYPE_RobotStatus::total_laps, trafficlights_computation(), transition_cross_to_normal_by_cross_sensor(), transition_cross_to_normal_by_timeout(), transition_cross_to_stop(), transition_normal_to_cross(), transition_start_to_normal(), transition_stop_to_end(), transition_stop_to_normal(), and transition_stop_to_park().

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void trafficlights_computation ( void )

References TYPE_RobotStatus::dd, GREENARROWUP, TYPE_DrivingDirectives::intersectionbehaviour, LIGHTS_PERSISTENCE, msg, NONE, param_daemon_set_drivingdirectives_intersectionbehaviour(), REDCROSS, rstat, send_msg_to_soundplayer(), TAKELEFT, TAKERIGHT, foveationcontrol_pointto_xyz_message::timestamp, YELLOWARROWLEFT, and YELLOWARROWRIGHT.

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int transition_cross_to_normal_by_cross_sensor ( void )

Checks if a transition from TypeState.CROSSSTATE to TypeState.NORMALSTATE should ocuur.

Returns:: 1 if transition ocuurs or 0 if no transition takes place

int transition_cross_to_normal_by_timeout ( void )

Checks if a transition from TypeState.CROSSTATE to TypeState.NORMALSTATE should ocuur.

Returns:: 1 if transition ocuurs or 0 if no transition takes place

int transition_cross_to_stop ( void )

Checks if a transition from TypeState.CROSSSTATE to TypeState.STOPSTATE should ocuur.

Returns:: 1 if transition ocuurs or 0 if no transition takes place

int transition_normal_to_cross ( void )

Checks if a transition from TypeState.NORMALSTATE to TypeState.CROSSSTATE should ocuur.

Returns:: 1 if transition ocuurs or 0 if no transition takes place

int transition_start_to_normal ( void )

Checks if a transition from TypeState.STARTSTATE to TypeState.NORMALSTATE should ocuur.

#ifndef _CM_H_
#define _CM_H_

/*
#include <cxcore.h>
#include <cv.h>
#include <cvaux.h>
#include <highgui.h>*/

#include <lar/lar.h>
// #include "../cross/cross_interface.h"
// #include "../soundgenerator/soundgenerator_interface.h"
// #include "../trafficlights/trafficlights_interface.h"
// #include "../motionplanner2/motionplanner2_interface.h"
// #include "../roaddetection/roaddetection_interface.h"
// #include "../lar_libs/videosaving.h"
// #include "../parking_detector/park_interface.h"
#include "cm_interface.h"


#define WINDOW2_POS_X 750
#define WINDOW2_POS_Y 350

#define ON 1
#define OFF 0
#define CHANGESTATE 1
#define DONOTCHANGESTATE 0
#define PARKINGTIMEOUT 3.8

#define HALF_LAP_LENGTH 18

#define SEARCHFORCROSS_BLACKOUT 0.7*HALF_LAP_LENGTH

#define DISTANT_LIGHTS_PERSISTENCE 1.5

#define DISTANT_LIGHTS_ACTIVE 1

#define LIGHTS_PERSISTENCE 5


#define LEFT_TURN_REDUCE_SPEED 2

#define DISTANT_LIGHTS_TIME_PERSISTENCE 0.5

#define GO_AFTER_TIMEOUT 0

#define _CALIBRATIONDIRECTORY_ "../trafficlights/"

#define COMPETITION_ROUND 1 /*day 0 1 or 2 */

#define saturatemax(val,max) ((val)>(max) ?( max) :( val))
#define saturatemin(val,min) ((val)<(min) ?( min) :( val))
#define macro_min(a,b) ((a)<=(b) ?( a) :( b))   //macro to get minimum value
#define macro_max(a,b) ((a)>=(b) ? (a) : (b))   //macro to get maximum value


#include "cm_types.h"
#include "cm_fprototypes.h"
#include "cm_globalvars.h"
#include "cm_instparams.h"


#include "cm_transitions.h" 
#include "cm_miscelaneous.h"
#include "cm_gui.h"




#endif