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ardupilot/libraries/AC_Avoidance/AP_OAPathPlanner.cpp

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AC_Avoidance_config.h"
#if AP_OAPATHPLANNER_ENABLED
#include "AP_OAPathPlanner.h"
#include <AP_Math/AP_Math.h>
#include <AP_AHRS/AP_AHRS.h>
#include <AC_Fence/AC_Fence.h>
#include <AP_Logger/AP_Logger.h>
#include "AP_OABendyRuler.h"
#include "AP_OADijkstra.h"
extern const AP_HAL::HAL &hal;
// parameter defaults
static constexpr float OA_MARGIN_MAX_DEFAULT = 5;
static constexpr int16_t OA_OPTIONS_DEFAULT = 1;
static constexpr int16_t OA_UPDATE_MS = 1000; // path planning updates run at 1hz
static constexpr int16_t OA_TIMEOUT_MS = 3000; // results over 3 seconds old are ignored
const AP_Param::GroupInfo AP_OAPathPlanner::var_info[] = {
// @Param: TYPE
// @DisplayName: Object Avoidance Path Planning algorithm to use
// @Description: Enabled/disable path planning around obstacles
// @Values: 0:Disabled,1:BendyRuler,2:Dijkstra,3:Dijkstra with BendyRuler
// @User: Standard
AP_GROUPINFO_FLAGS("TYPE", 1, AP_OAPathPlanner, _type, OA_PATHPLAN_DISABLED, AP_PARAM_FLAG_ENABLE),
// Note: Do not use Index "2" for any new parameter
// It was being used by _LOOKAHEAD which was later moved to AP_OABendyRuler
// @Param: MARGIN_MAX
// @DisplayName: Object Avoidance wide margin distance
// @Description: Object Avoidance will ignore objects more than this many meters from vehicle
// @Units: m
// @Range: 0.1 100
// @Increment: 1
// @User: Standard
AP_GROUPINFO("MARGIN_MAX", 3, AP_OAPathPlanner, _margin_max, OA_MARGIN_MAX_DEFAULT),
// @Group: DB_
// @Path: AP_OADatabase.cpp
AP_SUBGROUPINFO(_oadatabase, "DB_", 4, AP_OAPathPlanner, AP_OADatabase),
// @Param: OPTIONS
// @DisplayName: Options while recovering from Object Avoidance
// @Description: Bitmask which will govern vehicles behaviour while recovering from Obstacle Avoidance (i.e Avoidance is turned off after the path ahead is clear).
// @Bitmask{Rover}: 0: Reset the origin of the waypoint to the present location, 1: log Dijkstra points
// @Bitmask{Copter}: 1:log Dijkstra points, 2:Allow fast waypoints (Dijkastras only)
// @User: Standard
AP_GROUPINFO("OPTIONS", 5, AP_OAPathPlanner, _options, OA_OPTIONS_DEFAULT),
// @Group: BR_
// @Path: AP_OABendyRuler.cpp
AP_SUBGROUPPTR(_oabendyruler, "BR_", 6, AP_OAPathPlanner, AP_OABendyRuler),
AP_GROUPEND
};
/// Constructor
AP_OAPathPlanner::AP_OAPathPlanner()
{
_singleton = this;
AP_Param::setup_object_defaults(this, var_info);
}
// perform any required initialisation
void AP_OAPathPlanner::init()
{
// run background task looking for best alternative destination
switch (_type) {
case OA_PATHPLAN_DISABLED:
// do nothing
return;
case OA_PATHPLAN_BENDYRULER:
if (_oabendyruler == nullptr) {
_oabendyruler = new AP_OABendyRuler();
AP_Param::load_object_from_eeprom(_oabendyruler, AP_OABendyRuler::var_info);
}
break;
case OA_PATHPLAN_DIJKSTRA:
#if AP_FENCE_ENABLED
if (_oadijkstra == nullptr) {
_oadijkstra = new AP_OADijkstra(_options);
}
#endif
break;
case OA_PATHPLAN_DJIKSTRA_BENDYRULER:
#if AP_FENCE_ENABLED
if (_oadijkstra == nullptr) {
_oadijkstra = new AP_OADijkstra(_options);
}
#endif
if (_oabendyruler == nullptr) {
_oabendyruler = new AP_OABendyRuler();
AP_Param::load_object_from_eeprom(_oabendyruler, AP_OABendyRuler::var_info);
}
break;
}
_oadatabase.init();
start_thread();
}
// pre-arm checks that algorithms have been initialised successfully
bool AP_OAPathPlanner::pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const
{
// check if initialisation has succeeded
switch (_type) {
case OA_PATHPLAN_DISABLED:
// do nothing
break;
case OA_PATHPLAN_BENDYRULER:
if (_oabendyruler == nullptr) {
hal.util->snprintf(failure_msg, failure_msg_len, "BendyRuler OA requires reboot");
return false;
}
break;
case OA_PATHPLAN_DIJKSTRA:
if (_oadijkstra == nullptr) {
hal.util->snprintf(failure_msg, failure_msg_len, "Dijkstra OA requires reboot");
return false;
}
break;
case OA_PATHPLAN_DJIKSTRA_BENDYRULER:
if(_oadijkstra == nullptr || _oabendyruler == nullptr) {
hal.util->snprintf(failure_msg, failure_msg_len, "OA requires reboot");
return false;
}
break;
}
return true;
}
bool AP_OAPathPlanner::start_thread()
{
WITH_SEMAPHORE(_rsem);
if (_thread_created) {
return true;
}
if (_type == OA_PATHPLAN_DISABLED) {
return false;
}
// create the avoidance thread as low priority. It should soak
// up spare CPU cycles to fill in the avoidance_result structure based
// on requests in avoidance_request
if (!hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_OAPathPlanner::avoidance_thread, void),
"avoidance",
8192, AP_HAL::Scheduler::PRIORITY_IO, -1)) {
return false;
}
_thread_created = true;
return true;
}
// helper function to map OABendyType to OAPathPlannerUsed
AP_OAPathPlanner::OAPathPlannerUsed AP_OAPathPlanner::map_bendytype_to_pathplannerused(AP_OABendyRuler::OABendyType bendy_type)
{
switch (bendy_type) {
case AP_OABendyRuler::OABendyType::OA_BENDY_HORIZONTAL:
return OAPathPlannerUsed::BendyRulerHorizontal;
case AP_OABendyRuler::OABendyType::OA_BENDY_VERTICAL:
return OAPathPlannerUsed::BendyRulerVertical;
default:
case AP_OABendyRuler::OABendyType::OA_BENDY_DISABLED:
return OAPathPlannerUsed::None;
}
}
// provides an alternative target location if path planning around obstacles is required
// returns true and updates result_origin, result_destination, result_next_destination with an intermediate path
// result_dest_to_next_dest_clear is set to true if the path from result_destination to result_next_destination is clear (only supported by Dijkstras)
// path_planner_used updated with which path planner produced the result
AP_OAPathPlanner::OA_RetState AP_OAPathPlanner::mission_avoidance(const Location &current_loc,
const Location &origin,
const Location &destination,
const Location &next_destination,
Location &result_origin,
Location &result_destination,
Location &result_next_destination,
bool &result_dest_to_next_dest_clear,
OAPathPlannerUsed &path_planner_used)
{
// exit immediately if disabled or thread is not running from a failed init
if (_type == OA_PATHPLAN_DISABLED || !_thread_created) {
return OA_NOT_REQUIRED;
}
// check if just activated to avoid initial timeout error
const uint32_t now = AP_HAL::millis();
if (now - _last_update_ms > 200) {
_activated_ms = now;
}
_last_update_ms = now;
WITH_SEMAPHORE(_rsem);
// place new request for the thread to work on
avoidance_request.current_loc = current_loc;
avoidance_request.origin = origin;
avoidance_request.destination = destination;
avoidance_request.next_destination = next_destination;
avoidance_request.ground_speed_vec = AP::ahrs().groundspeed_vector();
avoidance_request.request_time_ms = now;
// check result's destination and next_destination matches our request
// e.g. check this result was using our current inputs and not from an old request
const bool destination_matches = destination.same_latlon_as(avoidance_result.destination);
const bool next_destination_matches = next_destination.same_latlon_as(avoidance_result.next_destination);
// check results have not timed out
const bool timed_out = (now - avoidance_result.result_time_ms > OA_TIMEOUT_MS) && (now - _activated_ms > OA_TIMEOUT_MS);
// return results from background thread's latest checks
if (destination_matches && next_destination_matches && !timed_out) {
// we have a result from the thread
result_origin = avoidance_result.origin_new;
result_destination = avoidance_result.destination_new;
result_next_destination = avoidance_result.next_destination_new;
result_dest_to_next_dest_clear = avoidance_result.dest_to_next_dest_clear;
path_planner_used = avoidance_result.path_planner_used;
return avoidance_result.ret_state;
}
// if timeout then path planner is taking too long to respond
if (timed_out) {
return OA_ERROR;
}
// background thread is working on a new destination
return OA_PROCESSING;
}
// avoidance thread that continually updates the avoidance_result structure based on avoidance_request
void AP_OAPathPlanner::avoidance_thread()
{
// require ekf origin to have been set
bool origin_set = false;
while (!origin_set) {
hal.scheduler->delay(500);
Location ekf_origin {};
{
WITH_SEMAPHORE(AP::ahrs().get_semaphore());
origin_set = AP::ahrs().get_origin(ekf_origin);
}
}
while (true) {
// if database queue needs attention, service it faster
if (_oadatabase.process_queue()) {
hal.scheduler->delay(1);
} else {
hal.scheduler->delay(20);
}
const uint32_t now = AP_HAL::millis();
if (now - avoidance_latest_ms < OA_UPDATE_MS) {
continue;
}
avoidance_latest_ms = now;
_oadatabase.update();
// values returned by path planners
Location origin_new;
Location destination_new;
Location next_destination_new;
bool dest_to_next_dest_clear = false;
{
WITH_SEMAPHORE(_rsem);
if (now - avoidance_request.request_time_ms > OA_TIMEOUT_MS) {
// this is a very old request, don't process it
continue;
}
// copy request to avoid conflict with main thread
avoidance_request2 = avoidance_request;
// store passed in origin, destination and next_destination so we can return it if object avoidance is not required
origin_new = avoidance_request.origin;
destination_new = avoidance_request.destination;
next_destination_new = avoidance_request.next_destination;
}
// run background task looking for best alternative destination
OA_RetState res = OA_NOT_REQUIRED;
OAPathPlannerUsed path_planner_used = OAPathPlannerUsed::None;
switch (_type) {
case OA_PATHPLAN_DISABLED:
continue;
case OA_PATHPLAN_BENDYRULER: {
if (_oabendyruler == nullptr) {
continue;
}
_oabendyruler->set_config(_margin_max);
AP_OABendyRuler::OABendyType bendy_type;
if (_oabendyruler->update(avoidance_request2.current_loc, avoidance_request2.destination, avoidance_request2.ground_speed_vec, origin_new, destination_new, bendy_type, false)) {
res = OA_SUCCESS;
}
path_planner_used = map_bendytype_to_pathplannerused(bendy_type);
break;
}
case OA_PATHPLAN_DIJKSTRA: {
#if AP_FENCE_ENABLED
if (_oadijkstra == nullptr) {
continue;
}
_oadijkstra->set_fence_margin(_margin_max);
const AP_OADijkstra::AP_OADijkstra_State dijkstra_state = _oadijkstra->update(avoidance_request2.current_loc,
avoidance_request2.destination,
avoidance_request2.next_destination,
origin_new,
destination_new,
next_destination_new,
dest_to_next_dest_clear);
switch (dijkstra_state) {
case AP_OADijkstra::DIJKSTRA_STATE_NOT_REQUIRED:
res = OA_NOT_REQUIRED;
break;
case AP_OADijkstra::DIJKSTRA_STATE_ERROR:
res = OA_ERROR;
break;
case AP_OADijkstra::DIJKSTRA_STATE_SUCCESS:
res = OA_SUCCESS;
break;
}
path_planner_used = OAPathPlannerUsed::Dijkstras;
#endif
break;
}
case OA_PATHPLAN_DJIKSTRA_BENDYRULER: {
if ((_oabendyruler == nullptr) || _oadijkstra == nullptr) {
continue;
}
_oabendyruler->set_config(_margin_max);
AP_OABendyRuler::OABendyType bendy_type;
if (_oabendyruler->update(avoidance_request2.current_loc, avoidance_request2.destination, avoidance_request2.ground_speed_vec, origin_new, destination_new, bendy_type, proximity_only)) {
// detected a obstacle by vehicle's proximity sensor. Switch avoidance to BendyRuler till obstacle is out of the way
proximity_only = false;
res = OA_SUCCESS;
path_planner_used = map_bendytype_to_pathplannerused(bendy_type);
break;
} else {
// cleared all obstacles, trigger Dijkstra's to calculate path based on current deviated position
#if AP_FENCE_ENABLED
if (proximity_only == false) {
_oadijkstra->recalculate_path();
}
#endif
// only use proximity avoidance now for BendyRuler
proximity_only = true;
}
#if AP_FENCE_ENABLED
_oadijkstra->set_fence_margin(_margin_max);
const AP_OADijkstra::AP_OADijkstra_State dijkstra_state = _oadijkstra->update(avoidance_request2.current_loc,
avoidance_request2.destination,
avoidance_request2.next_destination,
origin_new,
destination_new,
next_destination_new,
dest_to_next_dest_clear);
switch (dijkstra_state) {
case AP_OADijkstra::DIJKSTRA_STATE_NOT_REQUIRED:
res = OA_NOT_REQUIRED;
break;
case AP_OADijkstra::DIJKSTRA_STATE_ERROR:
res = OA_ERROR;
break;
case AP_OADijkstra::DIJKSTRA_STATE_SUCCESS:
res = OA_SUCCESS;
break;
}
path_planner_used = OAPathPlannerUsed::Dijkstras;
#endif
break;
}
} // switch
{
// give the main thread the avoidance result
WITH_SEMAPHORE(_rsem);
// place the destination and next destination used into the result (used by the caller to verify the result matches their request)
avoidance_result.destination = avoidance_request2.destination;
avoidance_result.next_destination = avoidance_request2.next_destination;
avoidance_result.dest_to_next_dest_clear = dest_to_next_dest_clear;
// fill the result structure with the intermediate path
avoidance_result.origin_new = (res == OA_SUCCESS) ? origin_new : avoidance_result.origin_new;
avoidance_result.destination_new = (res == OA_SUCCESS) ? destination_new : avoidance_result.destination;
avoidance_result.next_destination_new = (res == OA_SUCCESS) ? next_destination_new : avoidance_result.next_destination;
// create new avoidance result.dest_to_next_dest_clear field. fill in with results from dijkstras or leave as unknown
avoidance_result.result_time_ms = AP_HAL::millis();
avoidance_result.path_planner_used = path_planner_used;
avoidance_result.ret_state = res;
}
}
}
// singleton instance
AP_OAPathPlanner *AP_OAPathPlanner::_singleton;
namespace AP {
AP_OAPathPlanner *ap_oapathplanner()
{
return AP_OAPathPlanner::get_singleton();
}
}
#endif // AP_OAPATHPLANNER_ENABLED
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