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ajout lox proximité + envoi d'alerte une seule fois par round

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This commit is contained in:
Allan Cueff
2024-05-08 14:34:17 +02:00
parent a2626a946a
commit dcf0a58e6f
1 changed files with 25 additions and 11 deletions
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36
src/localization.cpp
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@@ -308,20 +308,27 @@ void Localization::processPoints(sl_lidar_response_measurement_node_hq_t nodes[N
vector<bool> beaconsDetected(3, false); vector<bool> beaconsDetected(3, false);
bool proximityAlert = false; bool proximityAlert = false;
bool positionIncorrect = false; bool positionIncorrect = false;
pair<int,int> proximityValues = {-1, -1};
for (int pos = 0; pos < count; ++pos) { for (int pos = 0; pos < count; ++pos) {
//checking measurement quality //checking measurement quality
if(nodes[pos].quality >> SL_LIDAR_RESP_MEASUREMENT_QUALITY_SHIFT != 0){ if(nodes[pos].quality >> SL_LIDAR_RESP_MEASUREMENT_QUALITY_SHIFT != 0){
//Checking for direct proximity
if((double)nodes[pos].dist_mm_q2/4.0f < PROXIMITY_ALERT_RANGE) {
proximityAlert = true;
if (this->proximityLastRound) {
int angle_radians = Localization::rplidarToTrigoRadians(((double) nodes[pos].angle_z_q14 * 90.f) / 16384.f);
this->sendProximityAlert((int) ((double) nodes[pos].dist_mm_q2 / 4.0f), angle_radians);
}
}
//Select points inside map and next to beacons //Select points inside map and next to beacons
pair<int, int> position = Localization::robotToCartesian(nodes[pos], this->x_robot, this->y_robot,this->alpha_robot); pair<int, int> position = Localization::robotToCartesian(nodes[pos], this->x_robot, this->y_robot,this->alpha_robot);
if (Localization::isInsideMap(position)) { if (Localization::isInsideMap(position)) {
//Checking for direct proximity
if((double)nodes[pos].dist_mm_q2/4.0f < PROXIMITY_ALERT_RANGE) {
proximityAlert = true;
if (this->proximityLastRound) {
if(proximityValues.first == -1 || proximityValues.first > (int) ((double) nodes[pos].dist_mm_q2 / 4.0f)){
proximityValues.first = (int) ((double) nodes[pos].dist_mm_q2 / 4.0f);
proximityValues.second = Localization::rplidarToTrigoRadians(((double) nodes[pos].angle_z_q14 * 90.f) / 16384.f);;
}
}
#ifdef LIDAR_LOG_DEBUG_MODE
long epoch = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()).count();
cout << "### localization.cpp:processPoints:329:T" << epoch << " >> detected proximity point - distance=" << proximityValues.first << " angle=" << proximityValues.second << endl;
#endif
}
points_inside.emplace_back(position); points_inside.emplace_back(position);
} else { } else {
if (this->getBeaconsMode()) { if (this->getBeaconsMode()) {
@@ -335,6 +342,9 @@ void Localization::processPoints(sl_lidar_response_measurement_node_hq_t nodes[N
} }
} }
} }
if(this->proximityLastRound && proximityAlert){
this->sendProximityAlert(proximityValues.first, proximityValues.second);
}
//Get agglomerates without solo points //Get agglomerates without solo points
vector<list<pair<double, double>>> agglomerated_points = Localization::getAgglomerates(points_inside); vector<list<pair<double, double>>> agglomerated_points = Localization::getAgglomerates(points_inside);
//Get most probable agglomerate average position //Get most probable agglomerate average position
@@ -370,7 +380,7 @@ void Localization::processTriangulation(const vector<pair<double, int>>& overall
} }
#ifdef LIDAR_LOG_DEBUG_MODE #ifdef LIDAR_LOG_DEBUG_MODE
long epoch = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()).count(); long epoch = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()).count();
cout << "### localization.cpp:processTriangulation:373:T" << epoch << " >> detected beacons >> " << beaconsDetected[0] << ";" << beaconsDetected[1] << ";" << beaconsDetected[2] << endl; cout << "### localization.cpp:processTriangulation:383:T" << epoch << " >> detected beacons >> " << beaconsDetected[0] << ";" << beaconsDetected[1] << ";" << beaconsDetected[2] << endl;
#endif #endif
vector<int> robotPos = this->determineRobotPosition(overallNearestBeaconDetectedPointRelative, beaconsDetected); vector<int> robotPos = this->determineRobotPosition(overallNearestBeaconDetectedPointRelative, beaconsDetected);
this->sendMessage("strat", "set pos", to_string(robotPos[0]) + ',' + to_string(robotPos[1]) + ',' + to_string(robotPos[2])); this->sendMessage("strat", "set pos", to_string(robotPos[0]) + ',' + to_string(robotPos[1]) + ',' + to_string(robotPos[2]));
@@ -416,7 +426,7 @@ void Localization::handleMessage(const std::string &message) {
vector<string> position = split(data, ","); vector<string> position = split(data, ",");
#ifdef LIDAR_LOG_DEBUG_MODE #ifdef LIDAR_LOG_DEBUG_MODE
long epoch = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()).count(); long epoch = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()).count();
cout << "### localization.cpp:handleMessage:419:T" << epoch << " >> got position TCP message >> " << position[0] << ";" << position[1] << ";" << position[2] << endl; cout << "### localization.cpp:handleMessage:429:T" << epoch << " >> got position TCP message >> " << position[0] << ";" << position[1] << ";" << position[2] << endl;
#endif #endif
this->setRobotPosition(stoi(position[0]), stoi(position[1]), stoi(position[2])); this->setRobotPosition(stoi(position[0]), stoi(position[1]), stoi(position[2]));
} }
@@ -440,7 +450,7 @@ void Localization::handleMessage(const std::string &message) {
this->triangulationMode = true; this->triangulationMode = true;
#ifdef LIDAR_LOG_DEBUG_MODE #ifdef LIDAR_LOG_DEBUG_MODE
long epoch = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()).count(); long epoch = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()).count();
cout << "### localization.cpp:handleMessage:443:T" << epoch << " >> got triangulation TCP message" << endl; cout << "### localization.cpp:handleMessage:453:T" << epoch << " >> got triangulation TCP message" << endl;
#endif #endif
} }
} }
@@ -449,4 +459,8 @@ void Localization::handleMessage(const std::string &message) {
void Localization::sendProximityAlert(int distance, int angle) { void Localization::sendProximityAlert(int distance, int angle) {
this->sendMessage("all", "stop proximity", to_string(distance) + "," + to_string(angle)); this->sendMessage("all", "stop proximity", to_string(distance) + "," + to_string(angle));
#ifdef LIDAR_LOG_DEBUG_MODE
long epoch = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()).count();
cout << "### localization.cpp:sendProximityAlert:464:T" << epoch << " >> sent proximity message - distance=" << distance << " angle=" << angle << endl;
#endif
} }