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packing.cpp
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packing.cpp
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#include "roboteam_robothub/packing.h"
#include <cassert>
#include <cstdint>
#include <iostream>
#include <memory>
#include <boost/optional.hpp>
#include <math.h>
#include <ros/ros.h>
namespace b = boost;
#include "roboteam_msgs/RobotCommand.h"
#include "roboteam_msgs/RobotFeedback.h"
#include "roboteam_msgs/World.h"
#include "roboteam_utils/Vector2.h"
#include "roboteam_utils/Math.h"
namespace rtt {
namespace {
// Copy of getWorldBot() because I don't want to pull in tactics as a dependency. If this function is moved to utils, we can use that
boost::optional<roboteam_msgs::WorldRobot> getWorldBot(unsigned int id, bool ourTeam, const roboteam_msgs::World &world) {
std::vector<roboteam_msgs::WorldRobot> bots = ourTeam ? world.us : world.them;
for (const auto &bot : bots) {
if (bot.id == id) {
return boost::optional<roboteam_msgs::WorldRobot>(bot);
}
}
return boost::none;
}
} // anonymous namespace
/**
* Creates a low level robot command, i.e. a command from which you can construct a robot packet
* only from bitshifts, and no other funky angle sin/cos velocity arithmetic. createRobotPacket
* uses this internally to convert a RobotCommand into something workable.
*/
LowLevelRobotCommand createLowLevelRobotCommand(const roboteam_msgs::RobotCommand& command, const b::optional<roboteam_msgs::World>& worldOpt) {
double kick_chip_power = fmax(command.kicker_vel, command.chipper_vel);
double rho = sqrt(command.x_vel * command.x_vel + command.y_vel * command.y_vel);
double theta = atan2(command.y_vel,command.x_vel);
LowLevelRobotCommand llrc {};
// Units Represented values
llrc.id = command.id; // [0, 15] [0, 15]
llrc.rho = (int)floor(rho * 250); // [0, 2047] [0, 8.191]
llrc.theta = (int)floor(theta * 1023.5 / M_PI); // [-1024, 1023] [-pi, pi>
llrc.driving_reference = false; // [0, 1] {true, false}
llrc.use_cam_info = false; // [0, 1] {true, false}
llrc.use_angle = command.use_angle; // [0, 1] {true, false}
llrc.velocity_angular = (int)floor(command.w * (511 / (8 * 2*M_PI))); // [-512, 511] [-8*2pi, 8*2pi]
llrc.debug_info = true; // [0, 1] {true, false}
llrc.do_kick = command.kicker; // [0, 1] {true, false}
llrc.do_chip = command.chipper; // [0, 1] {true, false}
llrc.kick_chip_forced = command.kicker_forced || command.chipper_forced; // [0, 1] {true, false}
llrc.kick_chip_power = (int)floor(kick_chip_power * 255 / 8); // [0, 255] [0, 100]%
llrc.velocity_dribbler = command.dribbler ? 255 : 0; // [0, 255] [0, 100]%
llrc.geneva_drive_state = command.geneva_state; // [(0)1, 5] [-2, 2]
llrc.cam_position_x = 0; // [-4096, 4095] [-10.24, 10.23]
llrc.cam_position_y = 0; // [-4096, 4095] [-10.24, 10.23]
llrc.cam_rotation = 0; // [-1024, 1023] [-pi, pi>
if(worldOpt) {
try {
boost::optional<roboteam_msgs::WorldRobot> findBot = getWorldBot(command.id, true, *worldOpt);
roboteam_msgs::WorldRobot robot;
if (findBot) {
robot = *findBot;
llrc.cam_position_x = (int) (robot.pos.x / 10.24 * 4096);
llrc.cam_position_y = (int) (robot.pos.y / 10.24 * 4096);
llrc.cam_rotation = (int) floor(robot.angle / M_PI * 1024);
llrc.use_cam_info = true;
}
}catch(std::out_of_range e){
ROS_WARN_STREAM_THROTTLE(1, "[createLowLevelRobotCommand] Robot " << command.id << " not present in World! Not adding camera data");
}catch(std::exception e){
ROS_WARN_STREAM_THROTTLE(1, "[createLowLevelRobotCommand] Something went wrong while adding camera data for robot " << command.id << " : " << e.what());
}
}
return llrc;
}
boost::optional<packed_protocol_message> createRobotPacket(roboteam_msgs::RobotCommand const &command, b::optional<roboteam_msgs::World> const &world){
auto llcommand = createLowLevelRobotCommand(command, world);
return createRobotPacket(llcommand);
}
bool inRange(int val, int min, int max){
return (min <= val && val <= max);
}
/**
* Checks if the values of the LowLevelRobotCommand are all within the correct range
* @param llrc : The LowLevelRobotCommand to be checked
* @returns true if the LowLevelRobotCommand is correct, false otherwise
*/
bool validateRobotPacket(LowLevelRobotCommand llrc){
// inRange(val, min, max) is inclusive!;
// inRange(-5, -5, 10) -> true; // inRange(14, -5, 10) -> false;
// inRange(10, -5, 10) -> true; // inRange(-8, -5, 10) -> false;
// Holds if all the values of the command are in range
bool valuesInRange = true;
valuesInRange &= inRange(llrc.id, 0, 15);
valuesInRange &= inRange(llrc.rho, 0, 2047);
valuesInRange &= inRange(llrc.theta, -1024, 1023);
valuesInRange &= inRange(llrc.velocity_angular, -512, 511);
valuesInRange &= inRange(llrc.kick_chip_power, 0, 255);
valuesInRange &= inRange(llrc.velocity_dribbler, 0, 255);
valuesInRange &= inRange(llrc.geneva_drive_state, 0, 5);
valuesInRange &= inRange(llrc.cam_position_x, -4096, 4095);
valuesInRange &= inRange(llrc.cam_position_y, -4096, 4095);
valuesInRange &= inRange(llrc.cam_rotation, -1024, 1023);
return valuesInRange;
}
/* As described in this comment https://roboteamtwente2.slack.com/files/U6CPQLJ6S/F9V330Z2N/packet_proposal.txt */
/**
* Converts a LowLevelRobotCommand into a packet_protocol_message
* @param llrc : LowLevelRobotCommand to be converted into a packet_protocol_message
* @returns an optional packed_protocol_message, if the LowLevelRobotCommand can be validated
*/
boost::optional<packed_protocol_message> createRobotPacket(LowLevelRobotCommand llrc){
// Values are automatically limited in the code below, but returning boost::none is a good idea nonetheless.
if(!validateRobotPacket(llrc)){
ROS_WARN_STREAM("LowLevelRobotCommand is not valid");
printLowLevelRobotCommand(llrc);
return boost::none;
}
packed_protocol_message byteArr;
// Static cast truncates to the last 8 bits
// is implementation defined though.
byteArr[0] = static_cast<uint8_t>( // aaaaabbb
(0b11111000 & (llrc.id << 3)) //aaaaa000 5 bits; bits 4-0 to 7-3
| (0b00000111 & (llrc.rho >> 8)) //00000bbb 11 bits; bits 10-8 to 2-0
);
byteArr[1] = static_cast<uint8_t>( // bbbbbbbb
llrc.rho //bbbbbbbb 11 bits; bits 7-0 to 7-0
);
byteArr[2] = static_cast<uint8_t>( // cccccccc
llrc.theta >> 3 // cccccccc 11 bits; bits 10-8 to 7-0
);
byteArr[3] = static_cast<uint8_t>( // cccdefgg
(0b11100000 & (llrc.theta << 5)) | // ccc00000 11 bits; bits 2-0 to 7-5
(0b00010000 & (llrc.driving_reference << 4)) | // 000d0000 1 bit ; bit 0 to 4
(0b00001000 & (llrc.use_cam_info) << 3) | // 0000e000 1 bit ; bit 0 to 3
(0b00000100 & (llrc.use_angle) << 2) | // 00000f00 1 bit ; bit 0 to 2
(0b00000011 & (llrc.velocity_angular >> 8)) // 000000gg 10 bits; bits 8-7 to 1-0
);
byteArr[4] = static_cast<uint8_t>( // gggggggg
llrc.velocity_angular // gggggggg 10 bits; bits 7-0 to 7-0
);
byteArr[5] = static_cast<uint8_t>( // 0000hijk
(0b00001000 & (llrc.debug_info << 3)) | // 0000h000 1 bit ; bit 0 to 3
(0b00000100 & (llrc.do_kick << 2)) | // 00000i00 1 bit ; bit 0 to 2
(0b00000010 & (llrc.do_chip << 1)) | // 000000j0 1 bit ; bit 0 to 1
(0b00000001 & (llrc.kick_chip_forced)) // 0000000k 1 bit ; bit 0 to 0
);
byteArr[6] = static_cast<uint8_t>( // mmmmmmmm
llrc.kick_chip_power // mmmmmmmm 8 bits; bits 7-0 to 7-0
);
byteArr[7] = static_cast<uint8_t>( // nnnnnnnn
llrc.velocity_dribbler // nnnnnnnn 8 bits; bits 7-0 to 7-0
);
byteArr[8] = static_cast<uint8_t>( // pppqqqqq
(0b11100000 & (llrc.geneva_drive_state << 5)) | // ppp00000 3 bits; bits 2-0 to 7-5
(0b00011111 & (llrc.cam_position_x >> 8 )) // 000qqqqq 13 bits; bits 12-8 to 4-0
);
byteArr[9] = static_cast<uint8_t>( // qqqqqqqq
llrc.cam_position_x // qqqqqqqq 13 bits; bits 7-0 to 7-0
);
byteArr[10] = static_cast<uint8_t>( // rrrrrrrr
llrc.cam_position_y >> 5 // rrrrrrrr 13 bits; bits 12-5 to 7-0
);
byteArr[11] = static_cast<uint8_t>( // rrrrrsss
(0b11111000 & (llrc.cam_position_y << 3)) | // rrrrr000 13 bits; bits 4-0 to 7-3
(0b00000111 & (llrc.cam_rotation >> 8)) // 00000sss 11 bits; bits 10-8 to 2-0
);
byteArr[12] = static_cast<uint8_t>( // ssssssss
llrc.cam_rotation // ssssssss 11 bits; bits 7-0 to 7-0
);
return boost::optional<packed_protocol_message>(byteArr);
}
/**
* Converts a LowLevelRobotFeedback into a roboteam_msgs::RobotFeedback
* TODO this function might be redundant, because LowLevelRobotFeedback and roboteam_msgs::RobotFeedback have exactly the same values
* TODO consider removing this function, and immediately converting packed_robot_feedback to roboteam_msgs::RobotFeedback
* @param feedback : LowLevelRobotFeedback to be converted
* @returns a roboteam_msgs::RobotFeedback object
*/
roboteam_msgs::RobotFeedback toRobotFeedback(LowLevelRobotFeedback feedback){
roboteam_msgs::RobotFeedback msg;
msg.id = feedback.id;
msg.wheelLeftFront = feedback.wheelLeftFront ;
msg.wheelRightFront = feedback.wheelRightFront;
msg.wheelLeftBack = feedback.wheelLeftBack;
msg.wheelRightBack = feedback.wheelRightBack;
msg.genevaDriveState = feedback.genevaDriveState;
msg.batteryState = feedback.batteryState;
msg.position_x = feedback.position_x;
msg.position_y = feedback.position_y;
msg.rho = feedback.rho;
msg.theta = feedback.theta;
msg.rotation= feedback.orientation;
msg.angularVelocity = feedback.angularVelocity;
msg.ballSensor = feedback.ballSensor;
msg.acceleration_x = feedback.acceleration_x;
msg.acceleration_y = feedback.acceleration_y;
msg.velocity_angular = feedback.velocity_angular;
return msg;
}
/**
* Converts the bytes received from the robot into a LowLevelRobotFeedback object
* @param bitsnbytes The bytes from the robot
* @returns a LowLevelRobotFeedback struct
*/
LowLevelRobotFeedback createRobotFeedback(packed_robot_feedback bitsnbytes){
struct LowLevelRobotFeedback feedback;
int offset = 0;
// 0 aaaaabcd
feedback.id = bitsnbytes[offset+0] >> 3;
feedback.wheelLeftFront = (bitsnbytes[offset+0] & 4) == 4;
feedback.wheelRightFront= (bitsnbytes[offset+0] & 2) == 2;
feedback.wheelLeftBack = (bitsnbytes[offset+0] & 1) == 1;
// 1 efghhhhh
feedback.wheelRightBack = (bitsnbytes[offset+1] & (1<<7)) == (1<<7);
feedback.genevaDriveState = (bitsnbytes[offset+1] & (1<<6)) == (1<<6);
feedback.batteryState = (bitsnbytes[offset+1] & (1<<5)) == (1<<5);
feedback.position_x = (bitsnbytes[offset+1] & 0b00011111) << 8;
// 2 hhhhhhhh
feedback.position_x |= bitsnbytes[offset+2];
// 3 kkkkkkkk
feedback.position_y = bitsnbytes[offset+3] << 5;
// 4 kkkkkmmm
feedback.position_y |= bitsnbytes[offset+4] >> 3;
feedback.rho = (bitsnbytes[offset+4] & 0b00000111) << 8;
// 5 mmmmmmmm
feedback.rho |= bitsnbytes[offset+5];
// 6 oooooooo
feedback.theta = bitsnbytes[offset+6] << 3;
// 7 oooppppp
feedback.theta |= bitsnbytes[offset+7] >> 5;
feedback.orientation = (bitsnbytes[offset+7] & 0b00011111) << 6;
// 8 ppppppqq
feedback.orientation |= bitsnbytes[offset+8] >> 2;
feedback.angularVelocity = (bitsnbytes[offset+8] & 0b00000011) << 9;
// 9 qqqqqqqq
feedback.angularVelocity |= bitsnbytes[offset+9] << 1;
// 10 qsssssss
feedback.angularVelocity |= (bitsnbytes[offset+10] & 0b10000000) >> 7;
feedback.ballSensor = bitsnbytes[offset+10] & 0b01111111;
union {
float v;
unsigned char b[4];
} f;
f.b[3] = bitsnbytes[offset+11];
f.b[2] = bitsnbytes[offset+12];
f.b[1] = bitsnbytes[offset+13];
f.b[0] = bitsnbytes[offset+14];
feedback.acceleration_x = f.v;
f.b[3] = bitsnbytes[offset+15];
f.b[2] = bitsnbytes[offset+16];
f.b[1] = bitsnbytes[offset+17];
f.b[0] = bitsnbytes[offset+18];
feedback.acceleration_y = f.v;
f.b[3] = bitsnbytes[offset+19];
f.b[2] = bitsnbytes[offset+20];
f.b[1] = bitsnbytes[offset+21];
f.b[0] = bitsnbytes[offset+22];
feedback.velocity_angular = f.v;
return feedback;
}
void printRobotCommand(const roboteam_msgs::RobotCommand& cmd){
std::cout << "RobotCommand: " << std::endl;
std::cout << " id : " << cmd.id << std::endl;
std::cout << " active : " << (int)cmd.active << std::endl;
std::cout << " x_vel : " << cmd.x_vel << std::endl;
std::cout << " y_vel : " << cmd.y_vel << std::endl;
std::cout << " w : " << cmd.w << std::endl;
std::cout << " use_angle : " << (int)cmd.use_angle << std::endl;
std::cout << " dribbler : " << (int)cmd.dribbler << std::endl;
std::cout << " kicker : " << (int)cmd.kicker << std::endl;
std::cout << " kicker_forced : " << (int)cmd.kicker_forced << std::endl;
std::cout << " kicker_vel : " << cmd.kicker_vel << std::endl;
std::cout << " chipper : " << (int)cmd.chipper << std::endl;
std::cout << " chipper_forced : " << (int)cmd.chipper_forced << std::endl;
std::cout << " chipper_vel : " << cmd.chipper_vel << std::endl;
std::cout << " geneva_state : " << cmd.geneva_state << std::endl;
std::cout << std::endl;
}
void printLowLevelRobotCommand(const LowLevelRobotCommand& llrc){
std::cout << "LowLevelRobotCommand: " << std::endl;
std::cout << " id : " << llrc.id << std::endl;
std::cout << " rho : " << llrc.rho << std::endl;
std::cout << " theta : " << llrc.theta << std::endl;
std::cout << " driving_reference : " << llrc.driving_reference << std::endl;
std::cout << " use_cam_info : " << llrc.use_cam_info << std::endl;
std::cout << " use_angle : " << llrc.use_angle << std::endl;
std::cout << " velocity_angular : " << llrc.velocity_angular << std::endl;
std::cout << " debug_info : " << llrc.debug_info << std::endl;
std::cout << " do_kick : " << llrc.do_kick << std::endl;
std::cout << " do_chip : " << llrc.do_chip << std::endl;
std::cout << " kick_chip_forced : " << llrc.kick_chip_forced << std::endl;
std::cout << " kick_chip_power : " << llrc.kick_chip_power << std::endl;
std::cout << " velocity_dribbler : " << llrc.velocity_dribbler << std::endl;
std::cout << " geneva_drive_state : " << llrc.geneva_drive_state << std::endl;
std::cout << " cam_position_x : " << llrc.cam_position_x << std::endl;
std::cout << " cam_position_y : " << llrc.cam_position_y << std::endl;
std::cout << " cam_rotation : " << llrc.cam_rotation << std::endl;
std::cout << std::endl;
}
void printLowLevelRobotFeedback(const LowLevelRobotFeedback& llrf){
std::cout << "LowLevelRobotFeedback: " << std::endl;
std::cout << " id : " << llrf.id << std::endl;
std::cout << " wheelLeftFront : " << llrf.wheelLeftFront << std::endl;
std::cout << " wheelRightFront : " << llrf.wheelRightFront << std::endl;
std::cout << " wheelLeftBack : " << llrf.wheelLeftBack << std::endl;
std::cout << " wheelRightBack : " << llrf.wheelRightBack << std::endl;
std::cout << " genevaDriveState : " << llrf.genevaDriveState << std::endl;
std::cout << " batteryState : " << llrf.batteryState << std::endl;
std::cout << " position_x : " << llrf.position_x << std::endl;
std::cout << " position_y : " << llrf.position_y << std::endl;
std::cout << " rho : " << llrf.rho << std::endl;
std::cout << " theta : " << llrf.theta << std::endl;
std::cout << " orientation : " << llrf.orientation << std::endl;
std::cout << " angularVelocity : " << llrf.angularVelocity << std::endl;
std::cout << " ballSensor : " << llrf.ballSensor << std::endl;
std::cout << " acceleration_x : " << llrf.acceleration_x << std::endl;
std::cout << " acceleration_y : " << llrf.acceleration_y << std::endl;
std::cout << " velocity_angular : " << llrf.velocity_angular << std::endl;
std::cout << std::endl;
}
void printRobotFeedback(const roboteam_msgs::RobotFeedback& feedback){
std::cout << "RobotFeedback: " << std::endl;
std::cout << " id : " << feedback.id << std::endl;
std::cout << " wheelLeftFront : " <<(feedback.wheelLeftFront ? "1" : "0") << std::endl;
std::cout << " wheelRightFront : " <<(feedback.wheelRightFront ? "1" : "0") << std::endl;
std::cout << " wheelLeftBack : " <<(feedback.wheelLeftBack ? "1" : "0") << std::endl;
std::cout << " wheelRightBack : " <<(feedback.wheelRightBack ? "1" : "0") << std::endl;
std::cout << " genevaDriveState : " <<(feedback.genevaDriveState ? "1" : "0") << std::endl;
std::cout << " batteryState : " <<(feedback.batteryState ? "1" : "0") << std::endl;
std::cout << " xPosRobot : " << feedback.position_x << std::endl;
std::cout << " yPosRobot : " << feedback.position_y << std::endl;
std::cout << " rho : " << feedback.rho << std::endl;
std::cout << " theta : " << feedback.theta << std::endl;
std::cout << " orientation : " << feedback.rotation << std::endl;
std::cout << " angularVelocity : " << feedback.angularVelocity << std::endl;
std::cout << " ballSensor : " << feedback.ballSensor << std::endl;
std::cout << " xAcceleration : " << feedback.acceleration_x << std::endl;
std::cout << " yAcceleration : " << feedback.acceleration_y << std::endl;
std::cout << " angularRate : " << feedback.velocity_angular << std::endl;
std::cout << std::endl;
}
} // rtt