mirror of https://github.com/ArduPilot/ardupilot
369 lines
13 KiB
C++
369 lines
13 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_MARGIN_MAX_DEFAULT = 5;
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#if APM_BUILD_TYPE(APM_BUILD_Rover)
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const int16_t OA_OPTIONS_DEFAULT = 1;
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#endif
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const int16_t OA_UPDATE_MS = 1000; // path planning updates run at 1hz
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const int16_t OA_TIMEOUT_MS = 3000; // results over 3 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,3:Dijkstra with BendyRuler
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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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// Note: Do not use Index "2" for any new parameter
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// It was being used by _LOOKAHEAD which was later moved to AP_OABendyRuler
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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: 0.1 100
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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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// @Group: DB_
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// @Path: AP_OADatabase.cpp
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AP_SUBGROUPINFO(_oadatabase, "DB_", 4, AP_OAPathPlanner, AP_OADatabase),
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#if APM_BUILD_TYPE(APM_BUILD_Rover)
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// @Param: OPTIONS
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// @DisplayName: Options while recovering from Object Avoidance
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// @Description: Bitmask which will govern vehicles behaviour while recovering from Obstacle Avoidance (i.e Avoidance is turned off after the path ahead is clear).
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// @Values: 0:Vehicle will return to its original waypoint trajectory, 1:Reset the origin of the waypoint to the present location
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// @Bitmask: 0: Reset the origin of the waypoint to the present location
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// @User: Standard
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AP_GROUPINFO("OPTIONS", 5, AP_OAPathPlanner, _options, OA_OPTIONS_DEFAULT),
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#endif
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// @Group: BR_
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// @Path: AP_OABendyRuler.cpp
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AP_SUBGROUPPTR(_oabendyruler, "BR_", 6, AP_OAPathPlanner, AP_OABendyRuler),
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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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return;
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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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AP_Param::load_object_from_eeprom(_oabendyruler, AP_OABendyRuler::var_info);
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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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case OA_PATHPLAN_DJIKSTRA_BENDYRULER:
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if (_oadijkstra == nullptr) {
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_oadijkstra = new AP_OADijkstra();
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}
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if (_oabendyruler == nullptr) {
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_oabendyruler = new AP_OABendyRuler();
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AP_Param::load_object_from_eeprom(_oabendyruler, AP_OABendyRuler::var_info);
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}
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break;
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}
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_oadatabase.init();
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start_thread();
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}
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// return type of BendyRuler in use
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AP_OABendyRuler:: OABendyType AP_OAPathPlanner::get_bendy_type() const
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{
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if (_oabendyruler == nullptr) {
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return AP_OABendyRuler::OABendyType::OA_BENDY_DISABLED;
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}
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return _oabendyruler->get_type();
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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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case OA_PATHPLAN_DJIKSTRA_BENDYRULER:
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if(_oadijkstra == nullptr || _oabendyruler == nullptr) {
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hal.util->snprintf(failure_msg, failure_msg_len, "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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bool AP_OAPathPlanner::start_thread()
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{
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WITH_SEMAPHORE(_rsem);
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if (_thread_created) {
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return true;
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}
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if (_type == OA_PATHPLAN_DISABLED) {
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return false;
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}
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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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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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AP_OAPathPlanner::OA_RetState 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 or thread is not running from a failed init
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if (_type == OA_PATHPLAN_DISABLED || !_thread_created) {
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return OA_NOT_REQUIRED;
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}
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const uint32_t now = AP_HAL::millis();
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WITH_SEMAPHORE(_rsem);
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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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// check result's destination matches our request
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const bool destination_matches = (destination.lat == avoidance_result.destination.lat) && (destination.lng == avoidance_result.destination.lng);
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// check results have not timed out
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const bool timed_out = now - avoidance_result.result_time_ms > OA_TIMEOUT_MS;
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// return results from background thread's latest checks
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if (destination_matches && !timed_out) {
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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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return avoidance_result.ret_state;
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}
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// if timeout then path planner is taking too long to respond
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if (timed_out) {
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return OA_ERROR;
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}
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// background thread is working on a new destination
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return OA_PROCESSING;
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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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// require ekf origin to have been set
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bool origin_set = false;
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while (!origin_set) {
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hal.scheduler->delay(500);
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struct Location ekf_origin {};
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{
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WITH_SEMAPHORE(AP::ahrs().get_semaphore());
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origin_set = AP::ahrs().get_origin(ekf_origin);
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}
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}
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while (true) {
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// if database queue needs attention, service it faster
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if (_oadatabase.process_queue()) {
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hal.scheduler->delay(1);
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} else {
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hal.scheduler->delay(20);
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}
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const uint32_t now = AP_HAL::millis();
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if (now - avoidance_latest_ms < OA_UPDATE_MS) {
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continue;
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}
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avoidance_latest_ms = now;
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_oadatabase.update();
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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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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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OA_RetState res = OA_NOT_REQUIRED;
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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(_margin_max);
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if (_oabendyruler->update(avoidance_request2.current_loc, avoidance_request2.destination, avoidance_request2.ground_speed_vec, origin_new, destination_new, false)) {
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res = OA_SUCCESS;
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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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continue;
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}
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_oadijkstra->set_fence_margin(_margin_max);
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const AP_OADijkstra::AP_OADijkstra_State dijkstra_state = _oadijkstra->update(avoidance_request2.current_loc, avoidance_request2.destination, origin_new, destination_new);
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switch (dijkstra_state) {
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case AP_OADijkstra::DIJKSTRA_STATE_NOT_REQUIRED:
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res = OA_NOT_REQUIRED;
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break;
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case AP_OADijkstra::DIJKSTRA_STATE_ERROR:
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res = OA_ERROR;
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break;
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case AP_OADijkstra::DIJKSTRA_STATE_SUCCESS:
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res = OA_SUCCESS;
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break;
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}
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break;
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}
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case OA_PATHPLAN_DJIKSTRA_BENDYRULER: {
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if ((_oabendyruler == nullptr) || _oadijkstra == nullptr) {
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continue;
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}
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_oabendyruler->set_config(_margin_max);
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if (_oabendyruler->update(avoidance_request2.current_loc, avoidance_request2.destination, avoidance_request2.ground_speed_vec, origin_new, destination_new, proximity_only)) {
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// detected a obstacle by vehicle's proximity sensor. Switch avoidance to BendyRuler till obstacle is out of the way
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proximity_only = false;
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res = OA_SUCCESS;
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break;
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} else {
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// cleared all obstacles, trigger Dijkstra's to calculate path based on current deviated position
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if (proximity_only == false) {
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_oadijkstra->recalculate_path();
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}
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// only use proximity avoidance now for BendyRuler
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proximity_only = true;
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}
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_oadijkstra->set_fence_margin(_margin_max);
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const AP_OADijkstra::AP_OADijkstra_State dijkstra_state = _oadijkstra->update(avoidance_request2.current_loc, avoidance_request2.destination, origin_new, destination_new);
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switch (dijkstra_state) {
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case AP_OADijkstra::DIJKSTRA_STATE_NOT_REQUIRED:
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res = OA_NOT_REQUIRED;
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break;
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case AP_OADijkstra::DIJKSTRA_STATE_ERROR:
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res = OA_ERROR;
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break;
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case AP_OADijkstra::DIJKSTRA_STATE_SUCCESS:
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res = OA_SUCCESS;
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break;
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}
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break;
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}
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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 == OA_SUCCESS) ? origin_new : avoidance_result.origin_new;
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avoidance_result.destination_new = (res == OA_SUCCESS) ? destination_new : avoidance_result.destination;
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avoidance_result.result_time_ms = AP_HAL::millis();
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avoidance_result.ret_state = 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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