mirror of https://github.com/ArduPilot/ardupilot
241 lines
8.3 KiB
C++
241 lines
8.3 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "AP_OAPathPlanner.h"
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#include <AP_Math/AP_Math.h>
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#include <AP_AHRS/AP_AHRS.h>
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#include <AC_Fence/AC_Fence.h>
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#include <AP_Logger/AP_Logger.h>
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#include "AP_OABendyRuler.h"
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#include "AP_OADijkstra.h"
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extern const AP_HAL::HAL &hal;
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// parameter defaults
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const float OA_LOOKAHEAD_DEFAULT = 50;
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const float OA_MARGIN_MAX_DEFAULT = 10;
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const int16_t OA_TIMEOUT_MS = 2000; // avoidance results over 2 seconds old are ignored
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const AP_Param::GroupInfo AP_OAPathPlanner::var_info[] = {
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// @Param: TYPE
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// @DisplayName: Object Avoidance Path Planning algorithm to use
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// @Description: Enabled/disable path planning around obstacles
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// @Values: 0:Disabled,1:BendyRuler,2:Dijkstra
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// @User: Standard
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AP_GROUPINFO_FLAGS("TYPE", 1, AP_OAPathPlanner, _type, OA_PATHPLAN_DISABLED, AP_PARAM_FLAG_ENABLE),
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// @Param: LOOKAHEAD
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// @DisplayName: Object Avoidance look ahead distance maximum
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// @Description: Object Avoidance will look this many meters ahead of vehicle
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// @Units: m
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// @Range: 1 100
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("LOOKAHEAD", 2, AP_OAPathPlanner, _lookahead, OA_LOOKAHEAD_DEFAULT),
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// @Param: MARGIN_MAX
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// @DisplayName: Object Avoidance wide margin distance
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// @Description: Object Avoidance will ignore objects more than this many meters from vehicle
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// @Units: m
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// @Range: 1 100
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("MARGIN_MAX", 3, AP_OAPathPlanner, _margin_max, OA_MARGIN_MAX_DEFAULT),
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AP_GROUPEND
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};
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/// Constructor
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AP_OAPathPlanner::AP_OAPathPlanner()
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{
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_singleton = this;
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AP_Param::setup_object_defaults(this, var_info);
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}
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// perform any required initialisation
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void AP_OAPathPlanner::init()
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{
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// run background task looking for best alternative destination
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switch (_type) {
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case OA_PATHPLAN_DISABLED:
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// do nothing
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break;
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case OA_PATHPLAN_BENDYRULER:
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if (_oabendyruler == nullptr) {
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_oabendyruler = new AP_OABendyRuler();
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}
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break;
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case OA_PATHPLAN_DIJKSTRA:
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if (_oadijkstra == nullptr) {
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_oadijkstra = new AP_OADijkstra();
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}
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break;
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}
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}
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// pre-arm checks that algorithms have been initialised successfully
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bool AP_OAPathPlanner::pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const
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{
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// check if initialisation has succeeded
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switch (_type) {
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case OA_PATHPLAN_DISABLED:
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// do nothing
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break;
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case OA_PATHPLAN_BENDYRULER:
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if (_oabendyruler == nullptr) {
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hal.util->snprintf(failure_msg, failure_msg_len, "BendyRuler OA requires reboot");
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return false;
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}
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break;
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case OA_PATHPLAN_DIJKSTRA:
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if (_oadijkstra == nullptr) {
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hal.util->snprintf(failure_msg, failure_msg_len, "Dijkstra OA requires reboot");
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return false;
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}
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break;
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}
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return true;
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}
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// provides an alternative target location if path planning around obstacles is required
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// returns true and updates result_loc with an intermediate location
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bool AP_OAPathPlanner::mission_avoidance(const Location ¤t_loc,
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const Location &origin,
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const Location &destination,
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Location &result_origin,
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Location &result_destination)
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{
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// exit immediately if disabled
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if (_type == OA_PATHPLAN_DISABLED) {
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return false;
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}
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WITH_SEMAPHORE(_rsem);
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if (!_thread_created) {
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// create the avoidance thread as low priority. It should soak
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// up spare CPU cycles to fill in the avoidance_result structure based
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// on requests in avoidance_request
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if (!hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_OAPathPlanner::avoidance_thread, void),
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"avoidance",
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8192, AP_HAL::Scheduler::PRIORITY_IO, -1)) {
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return false;
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}
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_thread_created = true;
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}
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const uint32_t now = AP_HAL::millis();
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// place new request for the thread to work on
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avoidance_request.current_loc = current_loc;
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avoidance_request.origin = origin;
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avoidance_request.destination = destination;
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avoidance_request.ground_speed_vec = AP::ahrs().groundspeed_vector();
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avoidance_request.request_time_ms = now;
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// return results from background thread's latest checks
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if (destination.lat == avoidance_result.destination.lat &&
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destination.lng == avoidance_result.destination.lng &&
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now - avoidance_result.result_time_ms < OA_TIMEOUT_MS) {
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// we have a result from the thread
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result_origin = avoidance_result.origin_new;
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result_destination = avoidance_result.destination_new;
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// log result
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if (avoidance_result.result_time_ms != _logged_time_ms) {
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_logged_time_ms = avoidance_result.result_time_ms;
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AP::logger().Write_OA(_type, destination, result_destination);
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}
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return avoidance_result.avoidance_needed;
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}
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// do not performance avoidance because background thread's results were
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// run against a different destination or they are simply not required
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return false;
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}
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// avoidance thread that continually updates the avoidance_result structure based on avoidance_request
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void AP_OAPathPlanner::avoidance_thread()
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{
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while (true) {
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// run at 10hz or less
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hal.scheduler->delay(100);
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Location origin_new;
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Location destination_new;
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{
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WITH_SEMAPHORE(_rsem);
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uint32_t now = AP_HAL::millis();
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if (now - avoidance_request.request_time_ms > OA_TIMEOUT_MS) {
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// this is a very old request, don't process it
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continue;
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}
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// copy request to avoid conflict with main thread
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avoidance_request2 = avoidance_request;
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// store passed in origin and destination so we can return it if object avoidance is not required
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origin_new = avoidance_request.origin;
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destination_new = avoidance_request.destination;
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}
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// run background task looking for best alternative destination
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bool res = false;
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switch (_type) {
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case OA_PATHPLAN_DISABLED:
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continue;
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case OA_PATHPLAN_BENDYRULER:
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if (_oabendyruler == nullptr) {
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continue;
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}
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_oabendyruler->set_config(_lookahead, _margin_max);
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res = _oabendyruler->update(avoidance_request2.current_loc, avoidance_request2.destination, avoidance_request2.ground_speed_vec, origin_new, destination_new);
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break;
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case OA_PATHPLAN_DIJKSTRA:
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if (_oadijkstra == nullptr) {
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continue;
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}
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_oadijkstra->set_fence_margin(_margin_max);
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res = _oadijkstra->update(avoidance_request2.current_loc, avoidance_request2.destination, origin_new, destination_new);
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break;
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}
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{
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// give the main thread the avoidance result
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WITH_SEMAPHORE(_rsem);
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avoidance_result.destination = avoidance_request2.destination;
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avoidance_result.origin_new = res ? origin_new : avoidance_result.origin_new;
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avoidance_result.destination_new = res ? destination_new : avoidance_result.destination;
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avoidance_result.result_time_ms = AP_HAL::millis();
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avoidance_result.avoidance_needed = res;
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}
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}
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}
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// singleton instance
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AP_OAPathPlanner *AP_OAPathPlanner::_singleton;
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namespace AP {
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AP_OAPathPlanner *ap_oapathplanner()
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{
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return AP_OAPathPlanner::get_singleton();
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}
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}
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