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From: Xavier L. <Ba...@us...> - 2013-05-22 19:40:00
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- Log -----------------------------------------------------------------
commit ce758846dbc2dfaf0e1d50ae203a0e955dc33aaf
Author: Pierre Chambart <pie...@oc...>
Date: Sat May 11 10:05:24 2013 +0200
filter urg
commit 295eeed1694fcd66c866a47adf80d185a5e006ed
Author: Pierre Chambart <pie...@oc...>
Date: Sat May 11 09:34:45 2013 +0200
plop
commit 1469f324204351a9fed364e7cd255536c1192bc2
Author: Pierre Chambart <pie...@oc...>
Date: Sat May 11 09:20:33 2013 +0200
test
commit 151f042d69b02a6f65a4ece42a5fb3bdba392546
Author: Pierre Chambart <pie...@oc...>
Date: Fri May 10 17:17:06 2013 +0200
Move back action, more things in homologation
commit 63aabe085353534abc4dba4d0ef0ffb5d04d1801
Author: Pierre Chambart <pie...@oc...>
Date: Fri May 10 15:51:19 2013 +0200
more on xbee
commit 3e283fa22033418ebf6c4d103c7e776301193f62
Author: Pierre Chambart <pie...@oc...>
Date: Fri May 10 15:51:08 2013 +0200
generate trajectories that does not go backward
commit 4d0245d3a58ad206462f821ec5c3aeacc4b83ecb
Author: Pierre Chambart <pie...@oc...>
Date: Fri May 10 07:42:38 2013 +0200
Homologation: infinite loop
commit 31786065d863cf2d4aa07eb5cd7de558db72b4f0
Author: Pierre Chambart <pie...@oc...>
Date: Fri May 10 07:16:10 2013 +0200
More flexible node, allow n retries/skip/loop
commit c2c799d2a17fb401b88bc2849cc1f1841759486e
Author: Pierre Chambart <pie...@oc...>
Date: Fri May 10 06:22:13 2013 +0200
Finish krobot-xbee
commit c08a114cea56f74ab6b2f05c801ccc51298db979
Author: Pierre Chambart <pie...@oc...>
Date: Fri May 10 02:31:21 2013 +0200
Stuff start
commit 3bf0f7ea516321571c2aed4e4e7183643452575b
Author: Pierre Chambart <pie...@oc...>
Date: Fri May 10 02:30:52 2013 +0200
Start xbee
commit 7dbe121c133f23ab4a6138e3dc96b930bac06d57
Author: Pierre Chambart <pie...@oc...>
Date: Fri May 10 01:23:07 2013 +0200
Little bit smarter
commit eb7dd7a042219ec1367ab1e4c70638abfb967aba
Author: Pierre Chambart <pie...@oc...>
Date: Fri May 10 00:52:17 2013 +0200
Clean some dead code (since 2011)
commit 533f1301506c201c4eee01e880188aef30e46795
Author: Pierre Chambart <pie...@oc...>
Date: Fri May 10 00:45:27 2013 +0200
Many fixes, better startegy
commit 290770ae636671de184457766135eac3185507bd
Author: Pierre Chambart <pie...@oc...>
Date: Thu May 9 20:04:28 2013 +0200
Add cake to the table extraction
commit d9d6be1512ead188854051362a1c02d3e98b430f
Author: Pierre Chambart <pie...@oc...>
Date: Thu May 9 20:04:06 2013 +0200
Urg replay
commit 2b85f9f2fb495bdc813093536d4dfb118b317a93
Author: Pierre Chambart <pie...@oc...>
Date: Thu May 9 17:38:37 2013 +0200
Multiple fix
commit 41de715dce9c59ddd5e01ad2e46cf9ca78cc2199
Author: Pierre Chambart <pie...@oc...>
Date: Thu May 9 13:38:26 2013 +0200
krobot_urg_extract: Filter when only one point
commit 4a99bb6f314d8fd380c838aca948c14fa74b3644
Author: Pierre Chambart <pie...@oc...>
Date: Thu May 9 13:34:17 2013 +0200
Return to nice homologation
commit 928be7aa366f0f3dc8bddfa795fe8d770dd66d93
Author: Pierre Chambart <pie...@oc...>
Date: Thu May 9 13:28:36 2013 +0200
Fix vm explosions
commit e9af8ac8951ba2f07d3c42b2cca4760635c49ca9
Author: Pierre Chambart <pie...@oc...>
Date: Thu May 9 11:45:12 2013 +0200
homo
commit 8b3c3a760cfe86119055ab8a4efe0ef32708ba39
Author: Pierre Chambart <pie...@oc...>
Date: Thu May 9 10:34:29 2013 +0200
Hack homologation
commit 6b10692ae39b4877fcbb3aac0ea13a4f705983e2
Author: Pierre Chambart <pie...@oc...>
Date: Thu May 9 10:09:36 2013 +0200
Fix homologation: changing switch reset timer
commit 21f4c7294724d3dd47cda68d1449f0c8ac0cc1f7
Author: Xavier Lagorce <Xav...@cr...>
Date: Thu May 9 13:26:40 2013 +0200
[krobot-vm] Blink all LEDs if emergency stop button if pressed
commit 7b0b7c21e1651c41b78feefad032dc9a7979ff3a
Author: Xavier Lagorce <Xav...@cr...>
Date: Thu May 9 08:53:49 2013 +0200
[krobot-viewer] Change robot's color for better visibility
commit 04b81baf4f9b35178c3ab8be28a188039df38447
Author: Pierre Chambart <pie...@oc...>
Date: Thu May 9 08:48:30 2013 +0200
Change team led: red on red
commit 0c2fdf06b1b22b3fad45aed19e5340503d5e7c6b
Author: Pierre Chambart <pie...@oc...>
Date: Thu May 9 08:44:57 2013 +0200
Remove safety margin: we start too close from the wall to have one...
commit b6e98afc67a9ef75084b799937b41098aefbc941
Author: Xavier Lagorce <Xav...@cr...>
Date: Thu May 9 08:27:34 2013 +0200
[krobot-vm] Fixed "typo"
commit e585caecbceac260f2445e29cc8a0b749e9e6f29
Author: Pierre Chambart <pie...@oc...>
Date: Thu May 9 08:09:59 2013 +0200
Optimise Icp_utils.far_enougth_filter
commit 5e1b821afc9a263e6d6ca62f147be3bc5f0f9a5c
Author: Xavier Lagorce <Xav...@cr...>
Date: Thu May 9 07:47:41 2013 +0200
[Krobot_vm] Don't start the pump at the beggining of the match
commit 5969c55d6a482da3c5ca64b297534ddc169d2f6b
Author: Pierre Chambart <pie...@oc...>
Date: Thu May 9 00:56:02 2013 +0200
try something is now an action when goto fail
commit 4b9de7fd9542e1146be0c2acdf8f25531bb63ffe
Author: Pierre Chambart <pie...@oc...>
Date: Thu May 9 00:55:39 2013 +0200
Change homologation
commit f6536242e8ccfa1a1be748f4d39f676ffdef4043
Author: Pierre Chambart <pie...@oc...>
Date: Thu May 9 00:55:20 2013 +0200
Fix initial position
commit 6e85c22cba2f58f6fc3ca3e79531eba7c65c58a6
Author: Pierre Chambart <pie...@oc...>
Date: Thu May 9 00:10:01 2013 +0200
Fix ax12 position in homologation
commit c03ebbe9394f6e3d6a2c6f259af7784201946857
Author: Pierre Chambart <pie...@oc...>
Date: Thu May 9 00:09:27 2013 +0200
Update config
commit a664d667f121bc3b28987193ace0c70e7e71b386
Author: Pierre Chambart <pie...@oc...>
Date: Wed May 8 23:30:57 2013 +0200
fix homologation
commit a4574aae138c61257232e728da0f70998ca57afa
Author: Pierre Chambart <pie...@oc...>
Date: Wed May 8 23:28:20 2013 +0200
Fix end of match
commit 06174d40f9dde8634a703d6d9e27826c9e91269a
Author: Pierre Chambart <pie...@oc...>
Date: Wed May 8 23:28:00 2013 +0200
Homologation with baloon
commit 53c2b745afb88b6702b451ca23e40610622fa961
Author: Pierre Chambart <pie...@oc...>
Date: Wed May 8 23:27:25 2013 +0200
filter urg data to avoid spurious points
commit c59ad622b32fe84e054198a44cccbeaabaee29b8
Author: Xavier Lagorce <Xav...@cr...>
Date: Wed May 8 23:24:53 2013 +0200
[Krobot_viewer] Draw 2013 Table (better late than never...)
commit bb9d6760a512f97c12324052b9328668ccffeb07
Author: Pierre Chambart <pie...@oc...>
Date: Wed May 8 21:56:46 2013 +0200
Trivial homologation program
commit 98ff61ee2de1ebd6c4a90a4d4d25428b054aa72e
Author: Pierre Chambart <pie...@oc...>
Date: Wed May 8 19:58:27 2013 +0200
See and avoid objects
commit 01f7336a3ed8c3eab82b646dfc7d8dc4d723545f
Author: Pierre Chambart <pie...@oc...>
Date: Wed May 8 18:17:14 2013 +0200
Fix build
commit d3cf53369367cb157e87a197f8e417ac8f7c6569
Author: Pierre Chambart <pie...@oc...>
Date: Wed May 8 18:10:48 2013 +0200
krobot_urg_extract: extract objects from urg captures
-----------------------------------------------------------------------
Changes:
diff --git a/info/control2011/_oasis b/info/control2011/_oasis
index 85d5e9e..adcbdf0 100644
--- a/info/control2011/_oasis
+++ b/info/control2011/_oasis
@@ -34,6 +34,10 @@ Flag sdl
Description: enable sdl
Default: true
+Flag lacaml
+ Description: compile icp depending on lacaml
+ Default: true
+
# +-------------------------------------------------------------------+
# | Libraries |
# +-------------------------------------------------------------------+
@@ -77,6 +81,8 @@ Library "krobot-can"
Library "krobot-icp"
FindlibName: icp
FindlibParent: krobot
+ Build$: flag(lacaml)
+ Install$: flag(lacaml)
BuildDepends: lacaml
XMETADescription: 2d Point cloud registration
XMETARequires: lacaml
@@ -317,6 +323,22 @@ Executable "krobot-urg"
MainIs: krobot_urg.ml
BuildDepends: krobot, urg, lwt.syntax, lwt.preemptive, threads
+Executable "krobot-urg-extract"
+ Path: src/tools
+ Build$: flag(lacaml)
+ Install$: flag(lacaml)
+ CompiledObject: best
+ MainIs: krobot_urg_extract.ml
+ BuildDepends: krobot, krobot.icp, lwt.syntax
+
+Executable "krobot-urg-replay"
+ Path: src/tools
+ Build$: flag(lacaml)
+ Install$: flag(lacaml)
+ CompiledObject: best
+ MainIs: krobot_urg_replay.ml
+ BuildDepends: krobot, lwt.syntax, krobot.icp
+
Executable "krobot-beacon-reader"
Path: src/tools
Install: true
@@ -324,6 +346,13 @@ Executable "krobot-beacon-reader"
MainIs: krobot_beacon_reader.ml
BuildDepends: krobot, lwt.syntax, lwt.unix
+Executable "krobot-xbee"
+ Path: src/tools
+ Install: true
+ CompiledObject: best
+ MainIs: krobot_xbee.ml
+ BuildDepends: krobot, lwt.syntax, lwt.unix, str
+
# +-------------------------------------------------------------------+
# | Examples |
# +-------------------------------------------------------------------+
diff --git a/info/control2011/_tags b/info/control2011/_tags
index 4b773d9..7aa1784 100644
--- a/info/control2011/_tags
+++ b/info/control2011/_tags
@@ -1,6 +1,6 @@
<**/*.ml{,i}>: syntax_camlp4o
<src/interfaces/*.ml>: -syntax_camlp4o
-<src/icp/*.ml>: -syntax_camlp4o
+<src/icp/*.ml{,i}>: -syntax_camlp4o
# OASIS_START
# DO NOT EDIT (digest: 9a283fb86531fb8de178da3ad5f872b1)
diff --git a/info/control2011/src/icp/icp_utils.ml b/info/control2011/src/icp/icp_utils.ml
index a961e5e..b85b81b 100644
--- a/info/control2011/src/icp/icp_utils.ml
+++ b/info/control2011/src/icp/icp_utils.ml
@@ -21,6 +21,12 @@ let shuffle l =
let l1,l2 = split ([],[]) l in
merge [] l1 (List.rev l2)
+let circle (dx,dy) r a0 an n =
+ let angle_ramp = linear a0 an n in
+ let x = Array.map (fun theta -> r *. cos theta +. dx) angle_ramp in
+ let y = Array.map (fun theta -> r *. sin theta +. dy) angle_ramp in
+ x,y
+
let table ~width ~length n =
let x1,y1 = line (0.,0.) (length,0.) n in
let x2,y2 = line (length,0.) (length,width) n in
@@ -31,6 +37,24 @@ let table ~width ~length n =
let f a = Array.of_list (shuffle (shuffle (Array.to_list a))) in
{ dx = f x; dy = f y }
+let pi = 3.14159265358979323
+
+let real_table n =
+ let length = 3. in
+ let width = 2. in
+ let x1,y1 = line (0.,0.) (length,0.) n in
+ let x2,y2 = line (length,0.) (length,width) n in
+ let x3,y3 = line (0.,width) (0.,0.) n in
+ let x4,y4 = line (0.,width) (1.,width) (n/2) in
+ let x5,y5 = line (2.,width) (length,width) (n/2) in
+ let x6,y6 = circle (1.5,2.0) 0.5 (-.pi) 0. n in
+ let x7,y7 = line (0.,0.1) (0.4,0.1) (n/4) in
+ let x8,y8 = line (3.,0.1) (2.6,0.1) (n/4) in
+ let x = Array.concat [x1;x2;x3;x4;x5;x6;x7;x8] in
+ let y = Array.concat [y1;y2;y3;y4;y5;y6;y7;y8] in
+ let f a = Array.of_list (shuffle (shuffle (Array.to_list a))) in
+ { dx = f x; dy = f y }
+
(**** dump loading ****)
@@ -76,18 +100,39 @@ let load_file ?(min_dist=0.15) ?(max_dist=6.) f =
ts, { dx = Array.of_list x; dy = Array.of_list y }) l in
Array.of_list l'
+let load_raw_file f =
+ let l = load_file' f in
+ let l' =
+ List.map (fun (ts,v) ->
+ let x,y = List.split v in
+ ts, { dx = Array.of_list x; dy = Array.of_list y }) l in
+ Array.of_list l'
(**** filtering ****)
-let far_enougth_filter kd a min_dist data =
- let dist = distance_transform (fun i -> i) kd a data in
- let dist = Array.mapi (fun i d -> i,d) dist in
- let distl = Array.to_list dist in
- let min_dist2 = min_dist *. min_dist in
- let far_enougth (i,d) = d >= min_dist2 in
- let ai = Array.of_list (List.filter far_enougth distl) in
- { dx = Array.map (fun (i,_) -> data.dx.(i)) ai;
- dy = Array.map (fun (i,_) -> data.dy.(i)) ai }
+(* TODO: can be done more efficiently using Kd_tree.closer *)
+(* let far_enougth_filter kd a min_dist data = *)
+(* let dist = distance_transform (fun i -> i) kd a data in *)
+(* let dist = Array.mapi (fun i d -> i,d) dist in *)
+(* let distl = Array.to_list dist in *)
+(* let min_dist2 = min_dist *. min_dist in *)
+(* let far_enougth (i,d) = d >= min_dist2 in *)
+(* let ai = Array.of_list (List.filter far_enougth distl) in *)
+(* { dx = Array.map (fun (i,_) -> data.dx.(i)) ai; *)
+(* dy = Array.map (fun (i,_) -> data.dy.(i)) ai } *)
+
+let far_enougth_filter kd min_dist data =
+ let dx = data.dx in
+ let dy = data.dy in
+ let l = ref [] in
+ for i = 0 to Array.length dx - 1 do
+ if not (Kd_tree.closer min_dist { Kd_tree.x = dx.(i); y = dy.(i) } kd)
+ then l := i :: !l
+ done;
+ let l = Array.of_list !l in
+ let x = Array.map (fun i -> dx.(i)) l in
+ let y = Array.map (fun i -> dy.(i)) l in
+ { dx = x; dy = y }
let invert_transform a =
let co = cos (-. a.ath) in
diff --git a/info/control2011/src/icp/icp_utils.mli b/info/control2011/src/icp/icp_utils.mli
index 1e23bba..55c30e3 100644
--- a/info/control2011/src/icp/icp_utils.mli
+++ b/info/control2011/src/icp/icp_utils.mli
@@ -2,15 +2,19 @@ open Icp_minimisation
val table : width:float -> length:float -> int -> data
+val real_table : int -> data
+
val load_file : ?min_dist:float -> ?max_dist:float -> string ->
(float * data) array
(** load a dump file in the format dumpped by [krobot_urg -listen] *)
+val load_raw_file : string -> (float * data) array
+(** load a dump file in the format dumpped by [krobot_urg -listen] *)
(* filtering *)
-val far_enougth_filter : 'a Kd_tree.t -> a -> float -> data -> data
-(** [far_enougth_filter kd a min_dist data] filter out values of
- [data] that are closer than [min_dist] to a vertex of kd *)
+val far_enougth_filter : 'a Kd_tree.t -> float -> data -> data
+(** [far_enougth_filter kd min_dist data] filter out values of [data]
+ that are closer than [min_dist] to a vertex of kd *)
val invert_transform : a -> a
diff --git a/info/control2011/src/icp/kd_tree.ml b/info/control2011/src/icp/kd_tree.ml
index 45601d4..96631a7 100644
--- a/info/control2011/src/icp/kd_tree.ml
+++ b/info/control2011/src/icp/kd_tree.ml
@@ -98,6 +98,58 @@ let nearest_neighbor v = function
let curr = (med_val, median_elt, sq_dist median_elt v) in
nearest_neighbor' v curr t
+let rec closer' dist_sq v t = match t with
+ | Empty -> false
+ | Leaf (va,p) -> sq_dist v p <= dist_sq
+ | Split (dir, med_val, median_elt, left, right) ->
+ let split_distance = match dir with
+ | Hori -> sq (v.x -. median_elt.x)
+ | Vert -> sq (v.y -. median_elt.y) in
+ if split_distance <= dist_sq
+ then begin
+ if sq_dist v median_elt <= dist_sq
+ then true
+ else closer' dist_sq v left || closer' dist_sq v right
+ end
+ else
+ let cmp = match dir with
+ | Hori -> compare v.x median_elt.x
+ | Vert -> compare v.y median_elt.y in
+ if cmp > 0
+ then closer' dist_sq v right
+ else closer' dist_sq v left
+
+let closer dist v t = closer' (sq dist) v t
+
+let add_closer dist_sq v p va acc =
+ if sq_dist v p <= dist_sq
+ then va::acc
+ else acc
+
+let rec closer_points' dist_sq v t acc = match t with
+ | Empty -> acc
+ | Leaf (va,p) ->
+ add_closer dist_sq v p va acc
+ | Split (dir, med_val, median_elt, left, right) ->
+ let split_distance = match dir with
+ | Hori -> sq (v.x -. median_elt.x)
+ | Vert -> sq (v.y -. median_elt.y) in
+ if split_distance <= dist_sq
+ then begin
+ let acc = add_closer dist_sq v median_elt med_val acc in
+ let acc = closer_points' dist_sq v left acc in
+ closer_points' dist_sq v right acc
+ end
+ else
+ let cmp = match dir with
+ | Hori -> compare v.x median_elt.x
+ | Vert -> compare v.y median_elt.y in
+ if cmp > 0
+ then closer_points' dist_sq v right acc
+ else closer_points' dist_sq v left acc
+
+let closer_points dist v t = closer_points' (sq dist) v t []
+
let rec depth = function
| Split (_, _, _, t1,t2 ) ->
1 + max (depth t1) (depth t2)
diff --git a/info/control2011/src/icp/kd_tree.mli b/info/control2011/src/icp/kd_tree.mli
index 947b1ad..9fd0f7c 100644
--- a/info/control2011/src/icp/kd_tree.mli
+++ b/info/control2011/src/icp/kd_tree.mli
@@ -12,3 +12,11 @@ val nearest_neighbor : vertice -> 'a t -> 'a * vertice * float
[vert] *)
val depth : 'a t -> int
+
+val closer : float -> vertice -> 'a t -> bool
+(** [closer dist vert t] returns true if there is a point in [t]
+ closer than [dist] of [vert] *)
+
+val closer_points : float -> vertice -> 'a t -> 'a list
+(** [closer_points dist vert t] returns the lis tof all points in [t]
+ closer than [dist] of [vert] *)
diff --git a/info/control2011/src/lib/krobot_action.ml b/info/control2011/src/lib/krobot_action.ml
index 8b86239..290f661 100644
--- a/info/control2011/src/lib/krobot_action.ml
+++ b/info/control2011/src/lib/krobot_action.ml
@@ -10,15 +10,24 @@
open Printf
open Krobot_geom
-type t =
- | Node of t option * t list
+type node_kind =
+ | Simple
+ | Retry of int * t
+ | Loop of t
+ | Next
+
+and t =
+ | Node of node_kind * t list
| Stop
| Think
| Goto of vertice * vector option
+ | Simple_goto of vertice * vector option
+ | Random_move of ( vertice * vertice )
| Set_limits of float * float * float * float
| Follow_path of vertice list * vector option * bool
| Bezier of float * vertice * vertice * vertice * vertice * float
- | Set_curve of Bezier.curve option
+ | Move_back of float
+ | Set_curve of (bool * Bezier.curve) option
| Wait_for_jack of bool
| Wait_for_bezier_moving of bool * float option
| Wait_for_motors_moving of bool * float option
@@ -27,18 +36,11 @@ type t =
| Try_something of vertice
| Fail
| Wait_for_odometry_reset of [ `Red | `Blue | `Auto ]
- | Load of [ `Front | `Back ]
- | Lift_down of [ `Front | `Back ]
- | Lift_up of [ `Front | `Back ]
- | Open_grip_low of [ `Front | `Back ]
- | Close_grip_low of [ `Front | `Back ]
- | Open_grip_high of [ `Front | `Back ]
- | Close_grip_high of [ `Front | `Back ]
| Wait_for of float
| Wait_until of float
- | Wait_for_grip_open_low of [ `Front | `Back ]
- | Wait_for_grip_close_low of [ `Front | `Back ]
| Start_timer of float * t list
+ | Stop_timer
+ | Start_match
| Can of Krobot_can.frame
| Set_led of [ `Red | `Yellow | `Green ] * bool
| Set_orientation of float
@@ -58,14 +60,27 @@ let string_of_face = function
| `Back -> "`Back"
let rec to_string = function
- | Node (t,l) ->
- sprintf "Node [%s, %s]" (string_of_option to_string t) (list_to_string l)
+ | Node (Simple,l) ->
+ sprintf "Node [%s]" (list_to_string l)
+ | Node (Next,l) ->
+ sprintf "Node [Next,%s]" (list_to_string l)
+ | Node (Retry(n,l'),l) ->
+ sprintf "Node [%i, %s, %s]"
+ n (to_string l') (list_to_string l)
+ | Node (Loop t,l) ->
+ sprintf "Node [loop, %s, %s]" (to_string t) (list_to_string l)
| Stop ->
"Stop"
| Think ->
"Think"
+ | Move_back f ->
+ sprintf "Move_back %f" f
+ | Random_move (v1,v2) ->
+ sprintf "Random move %s %s" (string_of_vertice v1) (string_of_vertice v2)
| Goto (v,vect) ->
sprintf "Goto %s %s" (string_of_vertice v) (string_of_option string_of_vector vect)
+ | Simple_goto (v,vect) ->
+ sprintf "Simple_goto %s %s" (string_of_vertice v) (string_of_option string_of_vector vect)
| Set_limits (vmax,omega_max,atan_max, arad_max) ->
sprintf "Set_limits(%f, %f, %f, %f)" vmax omega_max atan_max arad_max
| Set_led (_,_) -> "Set_led"
@@ -83,8 +98,8 @@ let rec to_string = function
(string_of_vertice r)
(string_of_vertice s)
end_velocity
- | Set_curve(Some c) ->
- sprintf "Set_curve(Some %s)" (Bezier.string_of_curve c)
+ | Set_curve(Some (dir,c)) ->
+ sprintf "Set_curve(Some (%b, %s))" dir (Bezier.string_of_curve c)
| Set_curve None ->
"Set_curve None"
| Wait_for_jack st ->
@@ -115,30 +130,14 @@ let rec to_string = function
"Wait_for_odometry_reset `Blue"
| Wait_for_odometry_reset `Auto ->
"Wait_for_odometry_reset `Auto"
- | Load face ->
- sprintf "Load %s" (string_of_face face)
- | Lift_down face ->
- sprintf "Lift_down %s" (string_of_face face)
- | Lift_up face ->
- sprintf "Lift_up %s" (string_of_face face)
- | Open_grip_low face ->
- sprintf "Open_grip_low %s" (string_of_face face)
- | Close_grip_low face ->
- sprintf "Close_grip_low %s" (string_of_face face)
- | Open_grip_high face ->
- sprintf "Open_grip_high %s" (string_of_face face)
- | Close_grip_high face ->
- sprintf "Close_grip_high %s" (string_of_face face)
| Wait_for t ->
sprintf "Wait_for %f" t
| Wait_until t ->
sprintf "Wait_until %f" t
- | Wait_for_grip_open_low face ->
- sprintf "Wait_for_grip_open_low %S" (string_of_face face)
- | Wait_for_grip_close_low face ->
- sprintf "Wait_for_grip_close_low %S" (string_of_face face)
| Start_timer (delay,t) ->
sprintf "Start_timer(%f,%s)" delay (list_to_string t)
+ | Stop_timer ->
+ sprintf "Stop_timer"
| Can c -> "Can"
| Try_something v ->
sprintf "Try_something %s" (string_of_vertice v)
@@ -152,5 +151,6 @@ let rec to_string = function
(string_of_option string_of_float o)
| Calibrate (_,_,_,_,_,_) -> "Calibrate"
| End -> "End"
+ | Start_match -> "Start_match"
and list_to_string l = String.concat "; " (List.map to_string l)
diff --git a/info/control2011/src/lib/krobot_action.mli b/info/control2011/src/lib/krobot_action.mli
index a2ebb91..0ec9114 100644
--- a/info/control2011/src/lib/krobot_action.mli
+++ b/info/control2011/src/lib/krobot_action.mli
@@ -11,9 +11,16 @@
open Krobot_geom
+type node_kind =
+ | Simple
+ | Retry of int * t
+ | Loop of t
+ | Next
+
(** Type of actions. *)
-type t =
- | Node of t option * t list
+and t =
+ | Node of node_kind * t list
+
(** A sequence of action to execute in order. *)
| Stop
(** Stop all actions. *)
@@ -24,6 +31,10 @@ type t =
(** Go to the given point.
if the bool parameter is true, the path is inverted according
to the robot team *)
+ | Simple_goto of vertice * vector option
+ (** Same as Goto but can fail when obstacles block the trajectory *)
+
+ | Random_move of ( vertice * vertice )
| Set_limits of float * float * float * float
(** limit the speed *)
@@ -40,7 +51,8 @@ type t =
(** Follow the bezier curve determined by the given four
vertices. The first float is the sign, the last one is the
end velocity. *)
- | Set_curve of Bezier.curve option
+ | Move_back of float
+ | Set_curve of (bool * Bezier.curve) option
(** Set the curve currently being followed. *)
| Wait_for_jack of bool
(** Wait for the jack to be in the given state. *)
@@ -65,30 +77,14 @@ type t =
| Wait_for_odometry_reset of [ `Red | `Blue | `Auto ]
(** Wait for the odometry to say it is in red or blue initial position. *)
- | Load of [ `Front | `Back ]
- (** Load a pawn. *)
- | Lift_down of [ `Front | `Back ]
- (** Move the front or back lift down. *)
- | Lift_up of [ `Front | `Back ]
- (** Move the front or back lift up. *)
- | Open_grip_low of [ `Front | `Back ]
- (** Open the front or back low grip. *)
- | Close_grip_low of [ `Front | `Back ]
- (** Close the front or back low grip. *)
- | Open_grip_high of [ `Front | `Back ]
- (** Open the front or back low grip. *)
- | Close_grip_high of [ `Front | `Back ]
- (** Close the front or back low grip. *)
| Wait_for of float
(** Wait for the given number of seconds. *)
| Wait_until of float
(** Wait until the given date. *)
- | Wait_for_grip_open_low of [ `Front | `Back ]
- (** Wait for the given low grip to be opened. *)
- | Wait_for_grip_close_low of [ `Front | `Back ]
- (** Wait for the given low grip to be opened. *)
| Start_timer of float * t list
+ | Stop_timer
+ | Start_match
| Can of Krobot_can.frame
| Set_led of [ `Red | `Yellow | `Green ] * bool
@@ -110,3 +106,5 @@ type t =
val to_string : t -> string
(** [to_string action] returns the string representation of the
given string. *)
+
+val list_to_string : t list -> string
diff --git a/info/control2011/src/lib/krobot_bus.ml b/info/control2011/src/lib/krobot_bus.ml
index 387f972..25b85b7 100644
--- a/info/control2011/src/lib/krobot_bus.ml
+++ b/info/control2011/src/lib/krobot_bus.ml
@@ -31,7 +31,7 @@ type message =
| Trajectory_simplify of float
| Trajectory_go
| Trajectory_find_path
- | Objects of vertice list
+ | Objects of (vertice*float) list
| Sharps of float array
| Strategy_append of Krobot_action.t list
| Strategy_stop
@@ -45,6 +45,7 @@ type message =
| Urg_lines of (vertice*vertice) array
| Beacon_raw of (int * int * int * int * int * int
* int * int * int * int * int)
+ | Match_start
type t = {
oc : Lwt_io.output_channel;
@@ -60,6 +61,9 @@ open Printf
let string_of_vertice v =
sprintf "{ x = %f; y = %f }" v.x v.y
+let string_of_object (v,d) =
+ sprintf "{ x = %f; y = %f; d = %f }" v.x v.y d
+
let string_of_vector v =
sprintf "{ vx = %f; vy = %f }" v.vx v.vy
@@ -109,7 +113,7 @@ let string_of_message = function
| Objects objects ->
sprintf
"Objects [%s]"
- (String.concat "; " (List.map string_of_vertice objects))
+ (String.concat "; " (List.map string_of_object objects))
| Sharps a ->
sprintf
"Sharps [|%s|]"
@@ -156,6 +160,8 @@ let string_of_message = function
sprintf "Urg_lines (many_lines...)"
| Beacon_raw _ ->
sprintf "Raw beacon packet"
+ | Match_start ->
+ sprintf "Match start"
(* +-----------------------------------------------------------------+
| Sending/receiving messages |
diff --git a/info/control2011/src/lib/krobot_bus.mli b/info/control2011/src/lib/krobot_bus.mli
index b04aac3..28a6c1d 100644
--- a/info/control2011/src/lib/krobot_bus.mli
+++ b/info/control2011/src/lib/krobot_bus.mli
@@ -52,7 +52,7 @@ type message =
(** Objects *)
- | Objects of vertice list
+ | Objects of (vertice*float) list
(** The list of objects on the board. *)
(** Sharps *)
@@ -93,6 +93,8 @@ type message =
| Beacon_raw of (int * int * int * int * int * int
* int...
[truncated message content] |
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