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FollowMe.cpp
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FollowMe.cpp
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// Prevent Visual Studio Intellisense from defining _WIN32 and _MSC_VER when we use
// Visual Studio to edit Linux or Borland C++ code.
#ifdef __linux__
# undef _WIN32
#endif // __linux__
#if defined(__GNUC__) || defined(__BORLANDC__)
# undef _MSC_VER
#endif // defined(__GNUC__) || defined(__BORLANDC__)
#include "FollowMe.h"
THREAD_PROC_RETURN_VALUE FollowMeThread(void* pParam)
{
UNREFERENCED_PARAMETER(pParam);
FILE* logfollowmefile = NULL;
char logfollowmefilename[MAX_BUF_LEN];
int i = 0;
double distance = 0, step = 0, norm_ba = 0;
CHRONO chrono;
EnterCriticalSection(&strtimeCS);
sprintf(logfollowmefilename, LOG_FOLDER"logfollowme_%.64s.csv", strtimeex_fns());
LeaveCriticalSection(&strtimeCS);
logfollowmefile = fopen(logfollowmefilename, "w");
if (logfollowmefile == NULL)
{
printf("Unable to create log file.\n");
if (!bExit) bExit = TRUE; // Unexpected program exit...
return 0;
}
fprintf(logfollowmefile,
"%% Time (in s); xtarget; ytarget; ztarget; distance (in m); wx[last]; wy[last]; wz[last]; step (in m);\n"
);
fflush(logfollowmefile);
StartChrono(&chrono);
for (;;)
{
mSleep(100);
if (bExit) break;
if (!bFollowMeTrackingControl) continue;
EnterCriticalSection(&FollowMeCS);
EnterCriticalSection(&StateVariablesCS);
if (wx_vector.size() <= 0)
{
i = 0;
wx_vector.push_back(Center(xhat)); wy_vector.push_back(Center(yhat)); wz_vector.push_back(Center(zhat));
if ((xtarget_followme != 0)&&(ytarget_followme != 0))
{
wx_vector.push_back(xtarget_followme); wy_vector.push_back(ytarget_followme); wz_vector.push_back(ztarget_followme);
}
else
{
wx_vector.push_back(Center(xhat)); wy_vector.push_back(Center(yhat)); wz_vector.push_back(Center(zhat));
}
wxa = wx_vector[i]; wya = wy_vector[i]; wza = wz_vector[i]; wxb = wx_vector[i+1]; wyb = wy_vector[i+1]; wzb = wz_vector[i+1];
if (bDepth_followme) norm_ba = sqrt(sqr(wxa-wxb)+sqr(wya-wyb)+sqr(wza-wzb)); else norm_ba = sqrt(sqr(wxa-wxb)+sqr(wya-wyb));
}
if (bDepth_followme)
{
distance = sqrt(sqr(xtarget_followme-Center(xhat))+sqr(ytarget_followme-Center(yhat))+sqr(ztarget_followme-Center(zhat)));
step = sqrt(sqr(xtarget_followme-wx_vector[wx_vector.size()-1])+sqr(ytarget_followme-wy_vector[wy_vector.size()-1])+sqr(ztarget_followme-wz_vector[wz_vector.size()-1]));
}
else
{
distance = sqrt(sqr(xtarget_followme-Center(xhat))+sqr(ytarget_followme-Center(yhat)));
step = sqrt(sqr(xtarget_followme-wx_vector[wx_vector.size()-1])+sqr(ytarget_followme-wy_vector[wy_vector.size()-1]));
}
// Create new waypoints regularly from the target trajectory.
if (step > spaceperiod_followme)
{
wx_vector.push_back(xtarget_followme); wy_vector.push_back(ytarget_followme); wz_vector.push_back(ztarget_followme);
}
if (bDepth_followme)
{
if ((forbidradius_followme > 0)&&(sqrt(sqr(xtarget_followme-forbidx_followme)+sqr(ytarget_followme-forbidy_followme)+sqr(ztarget_followme-forbidz_followme)) < forbidradius_followme))
{
// Clear all the target trajectory, but in practice this does not really prevent the follower to go through the forbidden area...
wxa = 0; wya = 0; wza = 0; wxb = 0; wyb = 0; wzb = 0;
wx_vector.clear(); wy_vector.clear(); wz_vector.clear();
}
}
else
{
if ((forbidradius_followme > 0)&&(sqrt(sqr(xtarget_followme-forbidx_followme)+sqr(ytarget_followme-forbidy_followme)) < forbidradius_followme))
{
// Clear all the target trajectory, but in practice this does not really prevent the follower to go through the forbidden area...
wxa = 0; wya = 0; wza = 0; wxb = 0; wyb = 0; wzb = 0;
wx_vector.clear(); wy_vector.clear(); wz_vector.clear();
}
}
LeaveCriticalSection(&StateVariablesCS);
if (wx_vector.size() > 0)
{
fprintf(logfollowmefile, "%f;%f;%f;%f;%f;%f;%f;%f;%f;\n", GetTimeElapsedChronoQuick(&chrono), xtarget_followme, ytarget_followme, ztarget_followme, distance, wx_vector[wx_vector.size()-1], wy_vector[wy_vector.size()-1], wz_vector[wz_vector.size()-1], step);
fflush(logfollowmefile);
}
if (bFollowMeTrackingControl)
{
EnterCriticalSection(&StateVariablesCS);
if (distance > dmax_followme)
{
u = umax_followme;
bLineFollowingControl = TRUE;
bWaypointControl = FALSE;
bGuidedControl = FALSE;
bHeadingControl = TRUE;
if (bDepth_followme)
{
bDepthControl = TRUE;
bAltitudeAGLControl = FALSE;
wz = (norm_ba != 0)? (1-distance/norm_ba)*(wzb-wza)+wza: wzb;
wz = min(max(wz, wzb), wza);
}
// Check if the destination waypoint of the line was reached.
if ((wxb-wxa)*(Center(xhat)-wxb)+(wyb-wya)*(Center(yhat)-wyb) >= 0)
{
if ((i >= 0)&&(i < (int)wx_vector.size()-2))
{
i++;
wxa = wx_vector[i]; wya = wy_vector[i]; wza = wz_vector[i]; wxb = wx_vector[i+1]; wyb = wy_vector[i+1]; wzb = wz_vector[i+1];
if (bDepth_followme) norm_ba = sqrt(sqr(wxa-wxb)+sqr(wya-wyb)+sqr(wza-wzb)); else norm_ba = sqrt(sqr(wxa-wxb)+sqr(wya-wyb));
}
else
{
//printf("Warning : No more waypoints to follow.\n");
bLineFollowingControl = FALSE;
bWaypointControl = FALSE;
bGuidedControl = FALSE;
bHeadingControl = FALSE;
u = uidle_followme;
uw = 0;
// Should never stop the depth control...?
}
}
}
else if (distance > dmin_followme)
{
u = umin_followme;
bLineFollowingControl = TRUE;
bWaypointControl = FALSE;
bGuidedControl = FALSE;
bHeadingControl = TRUE;
if (bDepth_followme)
{
bDepthControl = TRUE;
bAltitudeAGLControl = FALSE;
wz = (norm_ba != 0)? (1-distance/norm_ba)*(wzb-wza)+wza: wzb;
wz = min(max(wz, wzb), wza);
}
// Check if the destination waypoint of the line was reached.
if ((wxb-wxa)*(Center(xhat)-wxb)+(wyb-wya)*(Center(yhat)-wyb) >= 0)
{
if ((i >= 0)&&(i < (int)wx_vector.size()-2))
{
i++;
wxa = wx_vector[i]; wya = wy_vector[i]; wza = wz_vector[i]; wxb = wx_vector[i+1]; wyb = wy_vector[i+1]; wzb = wz_vector[i+1];
if (bDepth_followme) norm_ba = sqrt(sqr(wxa-wxb)+sqr(wya-wyb)+sqr(wza-wzb)); else norm_ba = sqrt(sqr(wxa-wxb)+sqr(wya-wyb));
}
else
{
//printf("Warning : No more waypoints to follow.\n");
bLineFollowingControl = FALSE;
bWaypointControl = FALSE;
bGuidedControl = FALSE;
bHeadingControl = FALSE;
u = uidle_followme;
uw = 0;
// Should never stop the depth control...?
}
}
}
else
{
bLineFollowingControl = FALSE;
bWaypointControl = FALSE;
bGuidedControl = FALSE;
bHeadingControl = FALSE;
u = uidle_followme;
uw = 0;
// Should never stop the depth control...?
}
LeaveCriticalSection(&StateVariablesCS);
}
LeaveCriticalSection(&FollowMeCS);
if (bExit) break;
}
StopChronoQuick(&chrono);
fclose(logfollowmefile);
if (!bExit) bExit = TRUE; // Unexpected program exit...
return 0;
}