102 lines
3.5 KiB
C
102 lines
3.5 KiB
C
|
/*
|
||
|
|
Adept MobileRobots Robotics Interface for Applications (ARIA)
|
||
|
|
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
|
||
|
|
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
|
||
|
|
Copyright (C) 2011, 2012, 2013 Adept Technology
|
||
|
|
|
||
|
|
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 2 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, write to the Free Software
|
||
|
|
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||
|
|
|
||
|
|
If you wish to redistribute ARIA under different terms, contact
|
||
|
|
Adept MobileRobots for information about a commercial version of ARIA at
|
||
|
|
robots@mobilerobots.com or
|
||
|
|
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
|
||
|
|
*/
|
||
|
|
#ifndef ARACTIONSTALLRECOVER_H
|
||
|
|
#define ARACTIONSTALLRECOVER_H
|
||
|
|
|
||
|
|
#include "ariaTypedefs.h"
|
||
|
|
#include "ArAction.h"
|
||
|
|
|
||
|
|
class ArResolver;
|
||
|
|
|
||
|
|
/// Action to recover from a stall
|
||
|
|
/**
|
||
|
|
This action tries to recover if one of the wheels has stalled, it has a
|
||
|
|
series of actions it tries in order to get out of the stall.
|
||
|
|
@ingroup ActionClasses
|
||
|
|
*/
|
||
|
|
class ArActionStallRecover : public ArAction
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
/// Constructor
|
||
|
|
AREXPORT ArActionStallRecover(const char * name = "stall recover",
|
||
|
|
double obstacleDistance = 225, int cyclesToMove = 50,
|
||
|
|
double speed = 150, double degreesToTurn = 45,
|
||
|
|
bool enabled = true);
|
||
|
|
/// Destructor
|
||
|
|
AREXPORT virtual ~ArActionStallRecover();
|
||
|
|
AREXPORT virtual ArActionDesired *fire(ArActionDesired currentDesired);
|
||
|
|
AREXPORT virtual ArActionDesired *getDesired(void)
|
||
|
|
{ return &myActionDesired; }
|
||
|
|
#ifndef SWIG
|
||
|
|
AREXPORT virtual const ArActionDesired *getDesired(void) const
|
||
|
|
{ return &myActionDesired; }
|
||
|
|
#endif
|
||
|
|
AREXPORT void addToConfig(ArConfig* config, const char* sectionName, ArPriority::Priority priority = ArPriority::NORMAL);
|
||
|
|
AREXPORT virtual void activate(void);
|
||
|
|
protected:
|
||
|
|
// these are internal things, don't touch unless you know what you are doing
|
||
|
|
void doit(void); // does whatever should be done
|
||
|
|
void addSequence(int sequence);
|
||
|
|
int myDoing; // what we're doing, uses the stuff from the enum What
|
||
|
|
int myState; // holds the state
|
||
|
|
int myCount; // count down variable, -1 if first time in this state
|
||
|
|
int mySideStalled; // 1 for left, 2 for right, 3 for both
|
||
|
|
|
||
|
|
enum State
|
||
|
|
{
|
||
|
|
STATE_NOTHING = 0, // waiting
|
||
|
|
STATE_GOING // do something
|
||
|
|
};
|
||
|
|
|
||
|
|
enum What
|
||
|
|
{
|
||
|
|
BACK=0x1, // back up
|
||
|
|
FORWARD=0x2, // go forward
|
||
|
|
TURN=0x4, // turn away from obstacles
|
||
|
|
TURN_LEFT=0x8, // turn left
|
||
|
|
TURN_RIGHT=0x10, // turn right
|
||
|
|
MOVEMASK = BACK | FORWARD,
|
||
|
|
TURNMASK = TURN | TURN_LEFT | TURN_RIGHT
|
||
|
|
};
|
||
|
|
|
||
|
|
std::map<int, int> mySequence; // list of things to do as stall continues
|
||
|
|
int mySequenceNum;
|
||
|
|
int mySequencePos;
|
||
|
|
time_t myLastFired;
|
||
|
|
double myObstacleDistance;
|
||
|
|
int myCyclesToMove;
|
||
|
|
bool myEnabled;
|
||
|
|
double mySpeed;
|
||
|
|
int myCyclesToTurn;
|
||
|
|
double myDegreesToTurn;
|
||
|
|
double myDesiredHeading;
|
||
|
|
ArActionDesired myActionDesired;
|
||
|
|
|
||
|
|
ArResolver *myResolver;
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif //ARACTIONSTALLRECOVER_H
|