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ROSBuzz_MISTLab
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merge rosbuzz sim

This commit is contained in:
dave 2018-11-18 15:46:28 +01:00
parent 0cb87834e5 f51bf10482
commit 7cf903f84c
9 changed files with 200 additions and 158 deletions
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48
buzz_scripts/include/act/barrier.bzz
View File

@ -22,18 +22,19 @@ function barrier_create() {
timeW = 1
# create barrier vstig
#log("---> Prev. br. ", barrier, " ", BARRIER_VSTIG)
if(barrier!=nil) {
barrier=nil
if(hvs) {
BARRIER_VSTIG = BARRIER_VSTIG -1
hvs = 0
}else{
BARRIER_VSTIG = BARRIER_VSTIG +1
hvs = 1
}
}
#if(barrier!=nil) {
# barrier=nil
#if(hvs) {
# BARRIER_VSTIG = BARRIER_VSTIG -1
# hvs = 0
#}else{
# BARRIER_VSTIG = BARRIER_VSTIG +1
# hvs = 1
#}
#}
#log("---> New. br. ", barrier, " ", BARRIER_VSTIG)
barrier = stigmergy.create(BARRIER_VSTIG)
if(barrier==nil)
barrier = stigmergy.create(BARRIER_VSTIG)
}
function barrier_set(threshold, transf, resumef, bc) {
@ -51,6 +52,7 @@ function barrier_ready(bc) {
#log("BARRIER READY -------")
barrier.put(id, bc)
barrier.put("d", 0)
barrier.put("n", 1)
}
#
@ -61,22 +63,33 @@ function barrier_wait(threshold, transf, resumef, bc) {
barrier_create()
barrier.put(id, bc)
log("--->BS: ", barrier.size(), " / ", threshold, " (", BARRIER_VSTIG, " - ", barrier.get("d"), ") t= ", timeW)
#if(barrier.size()-1 >= threshold or barrier.get("d") == 1) {
if(barrier.get("n")<threshold)
barrier.put("n", threshold)
if(threshold>1) {
neighbors.foreach(function (nei,data){
barrier.get(nei)
})
}
# Not to miss any RC inputs, for waypoints, potential and deploy states
check_rc_wp()
#log("--->BS: ", barrier.size(), " / ", threshold, " (", BARRIER_VSTIG, " - ", barrier.get("d"), ") t= ", timeW)
if(barrier.size()-2 >= barrier.get("n")) {
if(barrier_allgood(barrier,bc)) {
barrier.put("d", 1)
timeW = 0
BVMSTATE = transf
} else
barrier.put("d", 0)
#}
}
if(timeW >= BARRIER_TIMEOUT) {
log("------> Barrier Timeout !!!!")
barrier = nil
#barrier = nil
timeW = 0
BVMSTATE = resumef
} else if(timeW % 100 == 0 and bc > 0)
} else if(timeW % 10 == 0 and bc > 0)
neighbors.broadcast("cmd", bc)
timeW = timeW+1
@ -86,11 +99,12 @@ function barrier_wait(threshold, transf, resumef, bc) {
function barrier_allgood(barrier, bc) {
barriergood = 1
barrier.foreach(function(key, value, robot){
barrier.get(key)
#log("VS entry : ", key, " ", value, " ", robot)
if(key == "d"){
if(value == 1)
return 1
} else if(value != bc)
} else if(key!="n" and value != bc)
barriergood = 0
})
return barriergood

11
buzz_scripts/include/act/naviguation.bzz
View File

@ -1,12 +1,17 @@
GOTO_MAXVEL = 1.5 # m/steps
GOTO_MAXDIST = 150 # m.
GOTO_MAXDIST = 250 # m.
GOTODIST_TOL = 0.4 # m.
GOTOANG_TOL = 0.1 # rad.
GPSlimit = {.1={.lat=45.510400, .lng=-73.610421},
GPSlimit_CEPSUM = {.1={.lat=45.510400, .lng=-73.610421},
.2={.lat=45.510896, .lng=-73.608731},
.3={.lat=45.510355, .lng=-73.608404},
.4={.lat=45.509840, .lng=-73.610072}}
GPSlimit_PANGEAE = {.1={.lat=29.020871, .lng=-13.712477},
.2={.lat=29.019850, .lng=-13.712378},
.3={.lat=29.019875, .lng=-13.710096},
.4={.lat=29.021245, .lng=-13.710184}}
# Core naviguation function to travel to a GPS target location.
function goto_gps(transf) {
m_navigation = vec_from_gps(cur_goal.latitude, cur_goal.longitude, 0)
@ -17,7 +22,7 @@ function goto_gps(transf) {
transf()
} else {
m_navigation = LimitSpeed(m_navigation, 1.0)
gf = {.0=m_navigation, .1=vec_from_gps(GPSlimit[1].lat, GPSlimit[1].lng, 0), .2=vec_from_gps(GPSlimit[2].lat, GPSlimit[2].lng, 0), .3=vec_from_gps(GPSlimit[3].lat, GPSlimit[3].lng, 0), .4=vec_from_gps(GPSlimit[4].lat, GPSlimit[4].lng, 0)}
gf = {.0=m_navigation, .1=vec_from_gps(GPSlimit_PANGEAE[1].lat, GPSlimit_PANGEAE[1].lng, 0), .2=vec_from_gps(GPSlimit_PANGEAE[2].lat, GPSlimit_PANGEAE[2].lng, 0), .3=vec_from_gps(GPSlimit_PANGEAE[3].lat, GPSlimit_PANGEAE[3].lng, 0), .4=vec_from_gps(GPSlimit_PANGEAE[4].lat, GPSlimit_PANGEAE[4].lng, 0)}
geofence(gf)
#m_navigation = LCA(m_navigation)
goto_abs(m_navigation.x, m_navigation.y, cur_goal.altitude - pose.position.altitude, 0.0)

22
buzz_scripts/include/act/neighborcomm.bzz
View File

@ -43,14 +43,14 @@ function rc_cmd_listen() {
} else if (flight.rc_cmd==901){
flight.rc_cmd=0
destroyGraph()
resetWP()
check_rc_wp()
barrier_set(ROBOTS, "DEPLOY", BVMSTATE, 901)
barrier_ready(901)
neighbors.broadcast("cmd", 901)
} else if (flight.rc_cmd==902){
flight.rc_cmd=0
destroyGraph()
resetWP()
check_rc_wp()
barrier_set(ROBOTS, "WAYPOINT", BVMSTATE, 902)
barrier_ready(902)
neighbors.broadcast("cmd", 902)
@ -58,12 +58,14 @@ function rc_cmd_listen() {
flight.rc_cmd=0
destroyGraph()
resetWP()
check_rc_wp()
barrier_set(ROBOTS, "POTENTIAL", BVMSTATE, 903)
barrier_ready(903)
neighbors.broadcast("cmd", 903)
} else if (flight.rc_cmd==904){
flight.rc_cmd=0
destroyGraph()
resetWP()
barrier_set(ROBOTS, "IDLE", BVMSTATE, 904)
barrier_ready(904)
neighbors.broadcast("cmd", 904)
@ -90,7 +92,8 @@ function nei_cmd_listen() {
} else {
if(value==20) {
AUTO_LAUNCH_STATE = "IDLE"
BVMSTATE = "GOHOME"
barrier_set(ROBOTS, "GOHOME", BVMSTATE, 20)
barrier_ready(20)
} else if(value==21 ) {
BVMSTATE = "STOP"
#neighbors.broadcast("cmd", 777)
@ -127,6 +130,7 @@ function nei_cmd_listen() {
}
firsttimeinwp = 1
WPtab_id = 10
function check_rc_wp() {
if(firsttimeinwp) {
v_wp = stigmergy.create(WP_STIG)
@ -140,7 +144,17 @@ function check_rc_wp() {
return
} else {
var ls = packWP2i(rc_goto.latitude, rc_goto.longitude, 0)
v_wp.put(rc_goto.id,ls)
if(rc_goto.id>49) { # Attractor/repulsor table
WPtab = v_wp.get(WPtab_id)
if(WPtab!=nil)
WPtab[rc_goto.id]=ls
else {
WPtab={}
WPtab[rc_goto.id]=ls
}
v_wp.put(WPtab_id,WPtab)
} else # Individual waypoint
v_wp.put(rc_goto.id,ls)
reset_rc()
}
} else

31
buzz_scripts/include/act/states.bzz
View File

@ -19,6 +19,7 @@ WP_STIG = 8
path_it = 0
pic_time = 0
g_it = 0
homegps = {}
# Core state function when on the ground
function turnedoff() {
@ -33,15 +34,16 @@ function idle() {
# Core state function to launch the robot: takeoff and wait for others, or stop (land)
function launch() {
BVMSTATE = "LAUNCH"
neighbors.broadcast("cmd", 22)
log("AUTO_LAUNCH_STATE: ", AUTO_LAUNCH_STATE)
if(V_TYPE == 0 or V_TYPE == 1) { # flying vehicle so TAKE_OFF
homegps = {.lat=pose.position.latitude, .long=pose.position.longitude}
homegps = {.lat=pose.position.latitude, .lng=pose.position.longitude}
log("Recorded home point: ",homegps.lat, homegps.lng)
if(pose.position.altitude >= TARGET_ALTITUDE-TARGET_ALTITUDE/20.0) {
barrier_set(ROBOTS, AUTO_LAUNCH_STATE, "STOP", 22)
barrier_ready(22)
} else {
log("Altitude: ", pose.position.altitude)
neighbors.broadcast("cmd", 22)
uav_takeoff(TARGET_ALTITUDE)
}
} else {
@ -74,7 +76,7 @@ gohomeT=100
function goinghome() {
BVMSTATE = "GOHOME"
if(V_TYPE == 0 or V_TYPE == 1) { # flying vehicle so TAKE_OFF
m_navigation = vec_from_gps(homegps.latitude, homegps.longitude, 0)
m_navigation = vec_from_gps(homegps.lat, homegps.lng, 0)
#print(" has to move ", math.vec2.length(m_navigation), math.vec2.angle(m_navigation))
if(math.vec2.length(m_navigation) < GOTODIST_TOL){ # reached destination
BVMSTATE = AUTO_LAUNCH_STATE
@ -83,14 +85,15 @@ function goinghome() {
#m_navigation = LCA(m_navigation)
goto_abs(m_navigation.x, m_navigation.y, cur_goal.altitude - pose.position.altitude, 0.0)
}
}
} else
BVMSTATE = AUTO_LAUNCH_STATE
}
# Core state function to stop and land.
function stop() {
BVMSTATE = "STOP"
neighbors.broadcast("cmd", 21)
if(V_TYPE == 0 or V_TYPE == 1) { # flying vehicle so LAND
neighbors.broadcast("cmd", 21)
uav_land()
if(pose.position.altitude <= 0.2) {
BVMSTATE = "STOP"
@ -116,8 +119,8 @@ function indiWP() {
wp = unpackWP2i(wpi)
if(wp.pro == 0) {
wpreached = 0
storegoal(wp.lat, wp.lon, pose.position.altitude)
var ls = packWP2i(wp.lat, wp.lon, 1)
storegoal(wp.lat, wp.lng, pose.position.altitude)
var ls = packWP2i(wp.lat, wp.lng, 1)
v_wp.put(id,ls)
return
}
@ -254,20 +257,22 @@ counter = 0
function voronoicentroid() {
BVMSTATE="DEPLOY"
check_rc_wp()
log("V_wp size:",v_wp.size())
if(V_TYPE == 2) # NOT MOVING!
wptab = v_wp.get(WPtab_id)
if(wptab==nil)
return
if(not(v_wp.size() > 0))
else if(not(size(wptab) > 0))
return
log("WP table size:", size(wptab))
if(V_TYPE == 2)
return
it_pts = 0
att = {}
v_wp.foreach(
function(key, value, robot){
foreach(wptab, function(key, value){
wp = unpackWP2i(value)
if(key > 99)
log("Nothing planed for the repulsors yet....")
else if(key > 49)
att[it_pts]=vec_from_gps(wp.lat, wp.lon, 0)
att[it_pts]=vec_from_gps(wp.lat, wp.lng, 0)
it_pts = it_pts + 1
})
# Boundaries from Geofence

14
buzz_scripts/include/taskallocate/waypointlist.csv
View File

@ -1,4 +1,10 @@
1,-73.609219,45.510336,1
2,-73.608913,45.510723,0
3,-73.610035,45.510182,1
4,-73.609235,45.510114,0
1,-13.710661,29.020850,10.0,1
2,-13.711061,29.020946,10.0,0
3,-13.711605,29.020421,10.0,1
4,-13.711925,29.020003,10.0,0
5,-13.712166,29.020435,10.0,1
6,-13.710498,29.020341,10.0,0
7,-13.711506,29.019919,10.0,0
8,-13.712048,29.020385,10.0,0
9,-13.711514,29.020261,10.0,1
10,-13.711621,29.020725,10.0,1
1 1 -73.609219 -13.710661 45.510336 29.020850 10.0 1
2 2 -73.608913 -13.711061 45.510723 29.020946 10.0 0
3 3 -73.610035 -13.711605 45.510182 29.020421 10.0 1
4 4 -73.609235 -13.711925 45.510114 29.020003 10.0 0
5 5 -13.712166 29.020435 10.0 1
6 6 -13.710498 29.020341 10.0 0
7 7 -13.711506 29.019919 10.0 0
8 8 -13.712048 29.020385 10.0 0
9 9 -13.711514 29.020261 10.0 1
10 10 -13.711621 29.020725 10.0 1

9
buzz_scripts/include/utils/conversions.bzz
View File

@ -62,16 +62,17 @@ function gps_from_vec(vec) {
return Lgoal
}
GPSoffset = {.lat=45.50, .lon=-73.61}
GPSoffset = {.lat=45.50, .lng=-73.61}
GPSoffsetL = {.lat=29.01, .lng=-13.70}
function packWP2i(in_lat, in_long, processed) {
var dlat = math.round((in_lat - GPSoffset.lat)*1000000)
var dlon = math.round((in_long - GPSoffset.lon)*1000000)
var dlat = math.round((in_lat - GPSoffsetL.lat)*1000000)
var dlon = math.round((in_long - GPSoffsetL.lng)*1000000)
return {.dla=dlat, .dlo=dlon*10+processed}
}
function unpackWP2i(wp_int){
var dlon = (wp_int.dlo-wp_int.dlo%10)/10.0
var pro = wp_int.dlo-dlon*10
return {.lat=wp_int.dla/1000000.0+GPSoffset.lat, .lon=dlon/1000000.0+GPSoffset.lon, .pro=pro}
return {.lat=wp_int.dla/1000000.0+GPSoffsetL.lat, .lng=dlon/1000000.0+GPSoffsetL.lng, .pro=pro}
}

4
buzz_scripts/include/utils/table.bzz
View File

@ -53,7 +53,7 @@ function i2s(value){
return "INDIWP"
}
else if(value==7){
return "TASK_ALLOCATE"
return "GOHOME"
}
else if(value==8){
return "LAUNCH"
@ -87,7 +87,7 @@ function s2i(value){
else if(value=="WAYPOINT"){
return 6
}
else if(value=="TASK_ALLOCATE"){
else if(value=="GOHOME"){
return 7
}
else if(value=="LAUNCH"){

10
buzz_scripts/include/utils/takeoff_heights.bzz
View File

@ -14,6 +14,12 @@ takeoff_heights ={
.18 = 6.0,
.19 = 9.0,
.20 = 3.0,
.21 = 6.0,
.22 = 9.0
.21 = 3.0,
.22 = 3.0,
.23 = 0.0,
.24 = 38.0,
.25 = 34.0,
.26 = 25.0,
.27 = 42.0,
.28 = 29.0
}

209
src/buzzuav_closures.cpp
View File

@ -195,12 +195,13 @@ void parse_gpslist()
double lon = atof(strtok(NULL, DELIMS));
double lat = atof(strtok(NULL, DELIMS));
int alt = atoi(strtok(NULL, DELIMS));
// int tilt = atoi(strtok(NULL, DELIMS));
int tilt = atoi(strtok(NULL, DELIMS));
// DEBUG
// ROS_INFO("%.6f, %.6f, %i %i %i",lat, lon, alt, tilt, tid);
RB_arr.latitude = lat;
RB_arr.longitude = lon;
RB_arr.altitude = alt;
RB_arr.r = tilt;
// Insert elements.
map<int, buzz_utility::RB_struct>::iterator it = wplist_map.find(tid);
if (it != wplist_map.end())
@ -227,8 +228,14 @@ void check_targets_sim(double lat, double lon, double *res)
double ref[2]={lat, lon};
double tar[2]={it->second.latitude, it->second.longitude};
rb_from_gps(tar, rb, ref);
if(rb[0] < visibility_radius){
ROS_WARN("FOUND A TARGET!!! [%i]", it->first);
if(rb[0] < visibility_radius && (buzz_utility::get_bvmstate()=="WAYPOINT" && it->second.r==0)){
ROS_WARN("FOUND A TARGET IN WAYPOINT!!! [%i]", it->first);
res[0] = it->first;
res[1] = it->second.latitude;
res[2] = it->second.longitude;
res[3] = it->second.altitude;
} else if(rb[0] < visibility_radius && (buzz_utility::get_bvmstate()=="DEPLOY" && it->second.r==1)){
ROS_WARN("FOUND A TARGET IN WAYPOINT!!! [%i]", it->first);
res[0] = it->first;
res[1] = it->second.latitude;
res[2] = it->second.longitude;
@ -289,8 +296,8 @@ bool onSegment(Point p, Point q, Point r)
// 2 --> Counterclockwise
int orientation(Point p, Point q, Point r)
{
int val = (q.y - p.y) * (r.x - q.x) -
(q.x - p.x) * (r.y - q.y);
int val =round((q.y - p.y) * (r.x - q.x)*100 -
(q.x - p.x) * (r.y - q.y)*100);
if (val == 0) return 0; // colinear
return (val > 0)? 1: 2; // clock or counterclock wise
@ -305,8 +312,10 @@ bool doIntersect(Point p1, Point q1, Point p2, Point q2)
int o2 = orientation(p1, q1, q2);
int o3 = orientation(p2, q2, p1);
int o4 = orientation(p2, q2, q1);
//ROS_WARN("(%f,%f)->(%f,%f), 1:%d,2:%d,3:%d,4:%d",p1.x,p1.y,q1.x,q1.y,o1,o2,o3,o4);
// General case
// General case
if (o1 != o2 && o3 != o4)
return true;
@ -341,92 +350,6 @@ void sortclose_polygon(vector <Point> *P){
P->push_back((*P)[0]);
}
int buzzuav_geofence(buzzvm_t vm)
{
bool onedge = false;
Point P;
Point V[4];
int tmp;
buzzvm_lnum_assert(vm, 1);
// Get the parameter
buzzvm_lload(vm, 1);
buzzvm_type_assert(vm, 1, BUZZTYPE_TABLE); // dictionary
buzzobj_t t = buzzvm_stack_at(vm, 1);
if(buzzdict_size(t->t.value) != 5) {
ROS_ERROR("Wrong Geofence input size (%i).", buzzdict_size(t->t.value));
return buzzvm_ret0(vm);
}
for(int32_t i = 0; i < buzzdict_size(t->t.value); ++i) {
buzzvm_dup(vm);
buzzvm_pushi(vm, i);
buzzvm_tget(vm);
buzzvm_dup(vm);
buzzvm_pushs(vm, buzzvm_string_register(vm, "x", 1));
buzzvm_tget(vm);
tmp = buzzvm_stack_at(vm, 1)->f.value;
//ROS_INFO("[%i]---x-->%i",buzz_utility::get_robotid(), tmp);
if(i==0)
P.x = tmp;
else
V[i-1].x = tmp;
buzzvm_pop(vm);
buzzvm_dup(vm);
buzzvm_pushs(vm, buzzvm_string_register(vm, "y", 1));
buzzvm_tget(vm);
tmp = buzzvm_stack_at(vm, 1)->f.value;
//ROS_INFO("[%i]---y-->%i",buzz_utility::get_robotid(), tmp);
if(i==0)
P.y = tmp;
else
V[i-1].y = tmp;
buzzvm_pop(vm);
buzzvm_pop(vm);
}
// TODO: use vector
//sortclose_polygon(&V);
// simple polygon: rectangle, 4 points
int n = 4;
// Create a point for line segment from p to infinite
Point extreme = {10000, P.y};
// Count intersections of the above line with sides of polygon
int count = 0, i = 0;
do
{
int next = (i+1)%n;
// Check if the line segment from 'p' to 'extreme' intersects
// with the line segment from 'polygon[i]' to 'polygon[next]'
if (doIntersect(V[i], V[next], P, extreme))
{
// If the point 'p' is colinear with line segment 'i-next',
// then check if it lies on segment. If it lies, return true,
// otherwise false
if (orientation(V[i], P, V[next]) == 0) {
onedge = onSegment(V[i], P, V[next]);
if(onedge)
break;
}
count++;
}
i = next;
} while (i != 0);
//ROS_INFO("[%i] Geofence: %i, %i",buzz_utility::get_robotid(),count, onedge);
if((count%2 == 0) || onedge) {
goto_gpsgoal[0] = cur_pos[0];
goto_gpsgoal[1] = cur_pos[1];
ROS_WARN("Geofencing trigered, not going any further!");
}
return buzzvm_ret0(vm);
}
float pol_area(vector <Point> vert) {
float a = 0.0;
@ -487,9 +410,12 @@ void getintersection(Point S, Point D, std::vector <Point> Poly, Point *I) {
double r = numerator( S, (*itc), (*itc), (*next) ) / d;
double s = numerator( S, (*itc), S, D ) / d;
//ROS_INFO("-- (%f,%f)",S.x + r * (D.x - S.x), S.y + r * (D.y - S.y));
(*I)=Point(S.x + r * (D.x - S.x), S.y + r * (D.y - S.y));
}
}
if(parallel || collinear)
ROS_WARN("Lines are Collinear (%d) or Parallels (%d)",collinear,parallel);
}
bool isSiteout(Point S, std::vector <Point> Poly) {
@ -524,6 +450,71 @@ bool isSiteout(Point S, std::vector <Point> Poly) {
return ((count%2 == 0) && !onedge);
}
int buzzuav_geofence(buzzvm_t vm)
{
Point P;
buzzvm_lnum_assert(vm, 1);
// Get the parameter
buzzvm_lload(vm, 1);
buzzvm_type_assert(vm, 1, BUZZTYPE_TABLE); // dictionary
buzzobj_t t = buzzvm_stack_at(vm, 1);
if(buzzdict_size(t->t.value) < 5) {
ROS_ERROR("Wrong Geofence input size (%i).", buzzdict_size(t->t.value));
return buzzvm_ret0(vm);
}
std::vector <Point> polygon_bound;
for(int32_t i = 0; i < buzzdict_size(t->t.value); ++i) {
Point tmp;
buzzvm_dup(vm);
buzzvm_pushi(vm, i);
buzzvm_tget(vm);
buzzvm_dup(vm);
buzzvm_pushs(vm, buzzvm_string_register(vm, "x", 1));
buzzvm_tget(vm);
if(i==0){
P.x = buzzvm_stack_at(vm, 1)->f.value;
//printf("px=%f\n",P.x);
}else{
tmp.x = buzzvm_stack_at(vm, 1)->f.value;
//printf("c%dx=%f\n",i,tmp.x);
}
buzzvm_pop(vm);
buzzvm_dup(vm);
buzzvm_pushs(vm, buzzvm_string_register(vm, "y", 1));
buzzvm_tget(vm);
//ROS_INFO("[%i]---y-->%i",buzz_utility::get_robotid(), tmp);
if(i==0){
P.y = buzzvm_stack_at(vm, 1)->f.value;
//printf("py=%f\n",P.y);
}else{
tmp.y = buzzvm_stack_at(vm, 1)->f.value;
//printf("c%dy=%f\n",i,tmp.y);
}
buzzvm_pop(vm);
if(i!=0)
polygon_bound.push_back(tmp);
buzzvm_pop(vm);
}
sortclose_polygon(&polygon_bound);
// Check if we are in the zone
if(isSiteout(P, polygon_bound)){
Point Intersection;
getintersection(Point(0.0, 0.0) , P, polygon_bound, &Intersection);
double gps[3];
double d[2]={Intersection.x,Intersection.y};
gps_from_vec(d, gps);
set_gpsgoal(gps);
ROS_WARN("Geofencing trigered, not going any further (%f,%f)!",d[0],d[1]);
}
return buzzvm_ret0(vm);
}
int voronoi_center(buzzvm_t vm) {
float dist_max = 300;
@ -565,23 +556,7 @@ int voronoi_center(buzzvm_t vm) {
buzzvm_pop(vm);
}
sortclose_polygon(&polygon_bound);
// Check if we are in the zone
if(isSiteout(Point(0,0), polygon_bound)){
//ROS_WARN("Not in the Zone!!!");
double goal_tmp[2];
do{
goal_tmp[0] = polygon_bound[0].x + (rand()%100)/100.0*(polygon_bound[2].x- polygon_bound[0].x);
goal_tmp[1] = polygon_bound[0].y + (rand()%100)/100.0*(polygon_bound[2].y- polygon_bound[0].y);
//ROS_WARN(" in the Zone (%f,%f)!",goal_tmp[0],goal_tmp[1]);
} while(isSiteout(Point(goal_tmp[0],goal_tmp[1]), polygon_bound));
ROS_WARN("Sending at a random location in the Zone (%f,%f)!",goal_tmp[0],goal_tmp[1]);
double gps[3];
gps_from_vec(goal_tmp, gps);
set_gpsgoal(gps);
return buzzvm_ret0(vm);
}
int count = buzzdict_size(t->t.value)-(Poly_vert+1);
ROS_WARN("NP: %d, Sites: %d", Poly_vert, count);
float *xValues = new float[count];
@ -607,6 +582,22 @@ int voronoi_center(buzzvm_t vm) {
buzzvm_pop(vm);
}
// Check if we are in the zone
if(isSiteout(Point(0,0), polygon_bound) || count < 3) {
//ROS_WARN("Not in the Zone!!!");
double goal_tmp[2];
do{
goal_tmp[0] = polygon_bound[0].x + (rand()%100)/100.0*(polygon_bound[2].x- polygon_bound[0].x);
goal_tmp[1] = polygon_bound[0].y + (rand()%100)/100.0*(polygon_bound[2].y- polygon_bound[0].y);
//ROS_WARN(" in the Zone (%f,%f)!",goal_tmp[0],goal_tmp[1]);
} while(isSiteout(Point(goal_tmp[0],goal_tmp[1]), polygon_bound));
ROS_WARN("Sending at a random location in the Zone (%f,%f)!",goal_tmp[0],goal_tmp[1]);
double gps[3];
gps_from_vec(goal_tmp, gps);
set_gpsgoal(gps);
return buzzvm_ret0(vm);
}
VoronoiDiagramGenerator vdg;
ROS_WARN("[%i] Voronoi Bounded tessellation starting with %i sites...", buzz_utility::get_robotid(),count);
@ -920,7 +911,7 @@ void set_gpsgoal(double goal[3])
{
double rb[3];
rb_from_gps(goal, rb, cur_pos);
if (fabs(rb[0]) < 150.0) {
if (fabs(rb[0]) < 250.0) {
goto_gpsgoal[0] = goal[0];goto_gpsgoal[1] = goal[1];goto_gpsgoal[2] = goal[2];
ROS_INFO("[%i] Set GPS GOAL TO ---- %f %f %f (%f %f, %f %f)", buzz_utility::get_robotid(), goal[0], goal[1], goal[2], cur_pos[0], cur_pos[1], rb[0], rb[1]);
} else