aversive_10-03-12/modules/devices/robot/blocking_detection_manager/blocking_detection_manager.c

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/*  
 *  Copyright Droids Corporation (2007)
 * 
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 *  Revision : $Id: blocking_detection_manager.c,v 1.4 2008-05-14 13:27:12 zer0 Exp $
 *
 *  Olivier MATZ <zer0@droids-corp.org>
 */

/* blocking detection manager */

#include <stdio.h>
#include <string.h>
#include <aversive/error.h>

#include <blocking_detection_manager.h>

void bd_init(struct blocking_detection * bd)
{
        uint8_t flags;
        IRQ_LOCK(flags);
        memset(bd, 0, sizeof(*bd));
        IRQ_UNLOCK(flags);
}

/* thresholds */
void bd_set_current_thresholds(struct blocking_detection * bd, 
                               int32_t k1, int32_t k2, 
                               uint32_t i_thres, uint16_t cpt_thres)
{
        uint8_t flags;
        IRQ_LOCK(flags);
        bd->k1 = k1;
        bd->k2 = k2;
        bd->i_thres = i_thres;
        bd->cpt_thres = cpt_thres;
        bd->cpt = 0;
        IRQ_UNLOCK(flags);
}

/* speed threshold */
void bd_set_speed_threshold(struct blocking_detection * bd, 
                            uint16_t speed)
{
        uint8_t flags;
        IRQ_LOCK(flags);
        bd->speed_thres = speed;
        IRQ_UNLOCK(flags);
}

void bd_reset(struct blocking_detection * bd)
{
        uint8_t flags;
        IRQ_LOCK(flags);
        bd->cpt = 0;
        IRQ_UNLOCK(flags);
}



void bd_manage_from_speed_cmd(struct blocking_detection * bd, 
                              int32_t speed, int32_t cmd)          
{
        int32_t i=0;

        /* if current-based blocking_detection enabled */
        if ( bd->cpt_thres ) {
                i = bd->k1 * cmd - bd->k2 * speed;
                if (ABS(i) > bd->i_thres && 
                    (bd->speed_thres == 0 || ABS(speed) < bd->speed_thres)) {
                        if (bd->cpt == bd->cpt_thres - 1)
                                WARNING(E_BLOCKING_DETECTION_MANAGER, 
                                      "BLOCKING cmd=%ld, speed=%ld i=%ld",
                                      cmd, speed, i);
                        if(bd->cpt < bd->cpt_thres)
                                bd->cpt++;
                }
                else {
                        bd->cpt=0;
                }
#if BD_DEBUG
                if (bd->debug_cpt++ == BD_DEBUG) {
                        DEBUG(E_BLOCKING_DETECTION_MANAGER, "cmd=%ld, speed=%ld i=%ld",
                              cmd, speed, i);
                        bd->debug_cpt = 0;
                }
        }
#endif
}

void bd_manage_from_pos_cmd(struct blocking_detection * bd, 
                            int32_t pos, int32_t cmd)   
{
        int32_t speed = (pos - bd->prev_pos);
        bd_manage_from_speed_cmd(bd, speed, cmd);       
        bd->prev_pos = pos;
}

void bd_manage_from_cs(struct blocking_detection * bd, struct cs *cs)
{
        bd_manage_from_pos_cmd(bd, cs_get_filtered_feedback(cs), cs_get_out(cs));
}

uint8_t bd_get(struct blocking_detection * bd)
{
        uint8_t ret, flags;
        IRQ_LOCK(flags);
        ret = (bd->cpt_thres && (bd->cpt == bd->cpt_thres));
        IRQ_UNLOCK(flags);
        return ret;
}

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