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components/goalplanner/mainthread.h /* * Orca-Robotics Project: Components for robotics * http://orca-robotics.sf.net/ * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp * * This copy of Orca is licensed to you under the terms described in * the LICENSE file included in this distribution. * */ #ifndef MAINTHREAD_H #define MAINTHREAD_H #include <gbxsickacfr/gbxiceutilacfr/subsystemthread.h> #include <orcaice/context.h> #include <gbxsickacfr/gbxiceutilacfr/store.h> #include <hydronavutil/pose.h> #include <orca/localise2d.h> #include <orca/pathplanner2d.h> #include <orca/pathfollower2d.h> #include <hydroogmap/hydroogmap.h> #include "progressmonitor.h" #include <memory> #include <orcaifaceimpl/storingconsumers.h> namespace goalplanner { class PathFollower2dI; class MainThread : public gbxsickacfr::gbxiceutilacfr::SubsystemThread { public: MainThread( const orcaice::Context& context ); // from SubsystemThread virtual void walk(); private: void stopRobot(); void initNetwork(); // Returns 'gotNewPath': // - if true, we got a new path (written to newPathData). // - if false, we exitted coz the component is stopping. bool waitForNewPath( orca::PathFollower2dData &newPathData ); orca::PathPlanner2dData planPath( const hydronavutil::Pose &pose, const orca::PathFollower2dData &coarsePath ); orca::PathFollower2dData convertToPathFollowerData( const orca::PathPlanner2dData &pathPlan ); void sendPath( const orca::PathFollower2dData &pathToSend, bool activateImmediately ); // Adjust timing: work out how long it takes to the first waypoint based on straight-line distance // and configured velocityToFirstWaypoint_. Take the max of first wp time and the computed time. // Add this time to all waypoints. void addTimeToReachFirstWp( const hydronavutil::Pose &pose, orca::PathFollower2dData &incomingPath ); // tries a few times to get localise data by issueing remote calls void tryGetLocaliseData( orca::Localise2dData &data ); // check whether the localise data is stale, if yes throws an exception void checkForStaleness( orca::Localise2dData &data ); // Gets the most likely pose from the localiser (may throw). // Also sets isLocalisationUncertain. hydronavutil::Pose getPose( bool &isLocalisationUncertain ); bool needToReplan( const hydronavutil::Pose &currentPose, const orca::Waypoint2d &currentWp ); void replan( const hydronavutil::Pose &currentPose, const orca::Waypoint2d &currentWp ); // required interface to localiser orca::Localise2dPrx localise2dPrx_; // required interface to localnav orca::PathFollower2dPrx localNavPrx_; // required interface to pathplanner orca::PathPlanner2dPrx pathplanner2dPrx_; // receives and stores information about computed paths orcaifaceimpl::StoringPathPlanner2dConsumerImplPtr computedPathConsumer_; // ========== provided pathfollower interface (incoming paths) =============== PathFollower2dI* incomingPathI_; gbxsickacfr::gbxiceutilacfr::Store<orca::PathFollower2dData> incomingPathStore_; gbxsickacfr::gbxiceutilacfr::Store<bool> activationStore_; // =========================================================================== hydroogmap::OgMap ogMap_; // For ray-tracing in OG Map std::auto_ptr<hydroogmap::OgLosTracer> ogLosTracer_; // Monitors how far we are along the path ProgressMonitor *progressMonitor_; Ice::ObjectPtr progressMonitorPtr_; orca::PathFollower2dConsumerPrx progressMonitorPrx_; bool checkForStaleLocaliseData_; bool enableReplan_; // If the path planner takes more than this amount of time, assume something's wrong. double pathPlanTimeout_; // Velocity to get to the first waypoint double velocityToFirstWaypoint_; orcaice::Context context_; }; } // namespace #endif

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