cajun::drive_t Class Reference

#include <drive.H>

Public Member Functions
	drive_t (base_path_interpolator_t path_interpolator, speed_planner_t speed_planner, guide_mode_t guide_mode, base_steering_t steering_controller, safe_speed_advisor_t safe_speed_advisor, base_throttle_t throttle_controller, world_state_t *world_state, const conf_t &steering_conf, const conf_t &cajun_conf)
	~drive_t ()
void	drive_the_bot (double tstamp, bool bot_should_die)
	Central function of the class which makes function calls to read iput data, check if system should be paused, get the guide point on the path , and ask steering controller to provide steering commands to drive to this point, calls safety_speed_advisor and speed planner to get instantneous desired speed and calls throttle controller to provde throttle commands and populates these steering commands.
void	publish_pause_values (double tstamp, double pause_brake, steering_data_t::gear_t gear_)
	Publishes the steering commands when started or before terminating the program.
bool	shutdown ()
	Returns true if the vehicle is stopped and software can quit.
Private Member Functions
bool	read_steering_conf (const conf_t &steering_conf)
	Read parameters from steering config file.
bool	read_cajun_conf (const conf_t &cajun_conf)
	Read parameters from cajun.conf config file.
void	update_data (double tstamp)
	Updates all input data, and callt he function that will print a message once per every change of signal line status.
void	compute_azimuths ()
	Compute azimuth for all the waypoint in m_path, the path to be followed.
void	update_signal_line (double tstamp)
	Print a message once per every change of signal line status.
bool	check_staled_data (double tstamp)
	Checks the how old is each of the input data, and returns 'false' if any data is older than max timeout amount.
void	update_stale_status (double tstamp, double data_tstamp, double timeout, bool &data_staled, const char *data_name)
	This is a common interface to print message regarding staled status for each of the input data that is being read.
void	update_delayed_hardware_pause (double tstamp, bool h_pause)
	Delays the hardware unpause signal so as to give the system enough time to register the environment and determine what to do. Also its GC's requirement to have a lag before start moving after receiving the unpause signal.
void	update_software_pause (double tstamp, int goal_index)
	Goes through all the conditions which can cause software pause, right now there are only 2, one is staled data, and second no more path to follow.
void	update_bot_should_die (double tstamp, bool received_interrupt)
	Goes through all conditions which can cause bot to die.
void	update_bot_should_stop (double tstamp, int goal_index)
	Goes through all conditions which can cause bot to stop.
void	update_zero_speed (double tstamp, int goal_index)
void	update_gear_action (double tstamp)
void	update_action_status (double tstamp, bool bot_should_die, int goal_index)
	Updates status of 'software_pause', 'm_bot_stopped', 'm_bot_should_die' variables.
double	steering_position (double tstamp)
	Depending on the what is selected in config file, steering feedback is provided from drive queue or last iteration's steering command.
double	map_steering_angle_to_command (double st_angle)
	Maps the steering wheel angle to steering command from -1 to +1.
void	convert_to_output_format (double tstamp, path_data_t &output_path)
	Generate path data to output detail path from vector<waypoint_t>.
void	update_flag (double tstamp, bool &present_status, bool new_status, const char mesg, const char mesg_okay, const char *mesg_not_okay)
	updates the flag and prints appropriate message once per a change in flag
void	change_gear (double tstamp_)
	Gives gear command, records gear issue command_tstamp for confirming gear is changed. Also disables m_gear_change_stop flag once gear is changed.
Private Attributes
base_path_interpolator_t *	m_path_interpolator
speed_planner_t *	m_speed_planner
guide_mode_t *	m_guide_mode
base_steering_t *	m_steering_controller
safe_speed_advisor_t *	m_safe_speed_advisor
base_throttle_t *	m_throttle_controller
world_state_t *	m_world_state
nav_data_t	m_nav
heading_data_t	m_heading
sog_data_t	m_sog
drive_data_t	m_drive
steering_data_t	m_steering
signal_line_data_t	m_signal_line
path_data_t	m_input_path
std::vector< waypoint_t >	m_path
bool	m_input_path_forward
steering_data_t::gear_t	m_pres_gear
steering_data_t::gear_t	m_req_gear
double	m_gear_req_tstamp
double	m_gear_change_time
bool	m_gear_change_stop
bool	m_nav_staled
bool	m_heading_staled
bool	m_sog_staled
bool	m_drive_staled
bool	m_signal_line_staled
bool	m_path_staled
bool	m_bot_should_die
bool	m_bot_should_stop
bool	m_bot_stopped
bool	m_software_pause
bool	m_hardware_pause
bool	m_covered_input_path
bool	m_empty_input_path
bool	m_zero_speed_path
double	m_min_wheel_angle
double	m_max_wheel_angle
double	m_max_stop_speed
double	m_pause_brake
double	m_prev_tstamp
double	m_unpause_delay_left
double	m_unpause_delay
double	m_path_data_timeout
double	m_data_timeout
int	m_steering_position_feedback
double	m_min_dis_to_reach_wp

Constructor & Destructor Documentation

drive_t::drive_t	(	base_path_interpolator_t *	path_interpolator,
		speed_planner_t *	speed_planner,
		guide_mode_t *	guide_mode,
		base_steering_t *	steering_controller,
		safe_speed_advisor_t *	safe_speed_advisor,
		base_throttle_t *	throttle_controller,
		world_state_t *	world_state,
		const conf_t &	steering_conf,
		const conf_t &	cajun_conf
	)

cajun::drive_t::~drive_t ( ) [inline]

Member Function Documentation

void drive_t::change_gear ( double tstamp_ ) [private]

Gives gear command, records gear issue command_tstamp for confirming gear is changed. Also disables m_gear_change_stop flag once gear is changed.

References m_bot_stopped, m_gear_change_stop, m_gear_change_time, m_gear_req_tstamp, m_input_path_forward, m_pres_gear, and m_req_gear.

Referenced by drive_the_bot().

bool drive_t::check_staled_data ( double tstamp ) [private]

Checks the how old is each of the input data, and returns 'false' if any data is older than max timeout amount.

References m_data_timeout, m_heading, m_heading_staled, m_input_path, m_nav, m_nav_staled, m_path_data_timeout, m_path_staled, m_signal_line, m_signal_line_staled, m_sog, m_sog_staled, and update_stale_status().

Referenced by update_software_pause().

void drive_t::compute_azimuths ( ) [private]

Compute azimuth for all the waypoint in m_path, the path to be followed.

References m_empty_input_path, and m_path.

Referenced by update_data().

void drive_t::convert_to_output_format	(	double	tstamp,
		path_data_t &	output_path
	)			`[private]`

Generate path data to output detail path from vector<waypoint_t>.

References m_path.

Referenced by drive_the_bot().

void drive_t::drive_the_bot	(	double	tstamp,
		bool	bot_should_die
	)

Central function of the class which makes function calls to read iput data, check if system should be paused, get the guide point on the path , and ask steering controller to provide steering commands to drive to this point, calls safety_speed_advisor and speed planner to get instantneous desired speed and calls throttle controller to provde throttle commands and populates these steering commands.

References change_gear(), convert_to_output_format(), cajun::speed_planner_t::desired_speed(), cajun::guide_mode_t::guide(), m_bot_should_die, m_bot_should_stop, m_bot_stopped, m_covered_input_path, m_empty_input_path, m_gear_change_stop, m_guide_mode, m_hardware_pause, m_heading, m_input_path, m_min_dis_to_reach_wp, m_nav, m_path, m_pause_brake, m_pres_gear, m_req_gear, m_safe_speed_advisor, m_software_pause, m_sog, m_speed_planner, m_steering, m_steering_controller, m_throttle_controller, m_world_state, cajun::safe_speed_advisor_t::max_speed_limit(), cajun::next_goal_to_drive_to(), publish_pause_values(), cajun::safe_speed_advisor_t::set_safe_path_speeds(), cajun::base_steering_t::steer(), steering_position(), cajun::base_throttle_t::throttle(), update_action_status(), update_data(), and update_flag().

Referenced by main().

double drive_t::map_steering_angle_to_command ( double st_angle ) [private]

Maps the steering wheel angle to steering command from -1 to +1.

References m_max_wheel_angle, and m_min_wheel_angle.

void drive_t::publish_pause_values	(	double	tstamp,
		double	pause_brake,
		steering_data_t::gear_t	gear_
	)

Publishes the steering commands when started or before terminating the program.

References m_nav, and m_world_state.

Referenced by drive_the_bot(), and main().

bool drive_t::read_cajun_conf ( const conf_t & cajun_conf ) [private]

Read parameters from cajun.conf config file.

References D2R, m_gear_change_time, m_max_wheel_angle, and m_min_wheel_angle.

Referenced by drive_t().

bool drive_t::read_steering_conf ( const conf_t & steering_conf ) [private]

Read parameters from steering config file.

References m_data_timeout, m_max_stop_speed, m_min_dis_to_reach_wp, m_pause_brake, m_steering_position_feedback, and m_unpause_delay.

Referenced by drive_t().

bool drive_t::shutdown ( )

Returns true if the vehicle is stopped and software can quit.

References m_bot_should_die, and m_bot_stopped.

Referenced by main().

double drive_t::steering_position ( double tstamp ) [private]

Depending on the what is selected in config file, steering feedback is provided from drive queue or last iteration's steering command.

References m_steering, m_steering_position_feedback, message, and msg_logger.

Referenced by drive_the_bot().

void drive_t::update_action_status	(	double	tstamp,
		bool	bot_should_die,
		int	goal_index
	)			`[private]`

Updates status of 'software_pause', 'm_bot_stopped', 'm_bot_should_die' variables.

References cajun::base_throttle_t::init(), cajun::base_steering_t::init(), m_bot_should_die, m_bot_should_stop, m_bot_stopped, m_gear_change_stop, m_hardware_pause, m_max_stop_speed, m_signal_line, m_software_pause, m_sog, m_steering_controller, m_throttle_controller, m_zero_speed_path, update_bot_should_die(), update_bot_should_stop(), update_delayed_hardware_pause(), update_gear_action(), update_software_pause(), and update_zero_speed().

Referenced by drive_the_bot().

void drive_t::update_bot_should_die	(	double	tstamp,
		bool	received_interrupt
	)			`[private]`

Goes through all conditions which can cause bot to die.

References m_bot_should_die, m_empty_input_path, m_signal_line, and update_flag().

Referenced by update_action_status().

void drive_t::update_bot_should_stop	(	double	tstamp,
		int	goal_index
	)			`[private]`

Goes through all conditions which can cause bot to stop.

References m_bot_should_stop, m_covered_input_path, m_empty_input_path, and update_flag().

Referenced by update_action_status().

void drive_t::update_data ( double tstamp ) [private]

Updates all input data, and callt he function that will print a message once per every change of signal line status.

References compute_azimuths(), cajun::base_path_interpolator_t::interpolate(), m_empty_input_path, m_heading, m_input_path, m_input_path_forward, m_nav, m_path, m_path_interpolator, m_sog, m_world_state, update_flag(), and update_signal_line().

Referenced by drive_the_bot().

void drive_t::update_delayed_hardware_pause	(	double	tstamp,
		bool	h_pause
	)			`[private]`

Delays the hardware unpause signal so as to give the system enough time to register the environment and determine what to do. Also its GC's requirement to have a lag before start moving after receiving the unpause signal.

References m_hardware_pause, m_prev_tstamp, m_unpause_delay, m_unpause_delay_left, and update_flag().

Referenced by update_action_status().

void drive_t::update_flag	(	double	tstamp,
		bool &	present_status,
		bool	new_status,
		const char *	mesg,
		const char *	mesg_okay,
		const char *	mesg_not_okay
	)			`[private]`