controller-wrapper.cpp

#include "controller-wrapper.hpp"
#define PREDICTION_PACKET_DELAY 4

MiscData ControllerWrapper::genControls_(Pose s, Pose e, int &vl, int &vr, double finalVel) {
    assert(ctrlType == POINTCTRL);
    Pose x = s;

    for(deque<pair<int,int> >::iterator it = uq.begin(); it != uq.end(); it++) {
        x.updateNoDelay(it->first, it->second, timeLC);
    }
//    int prevSpeed = max(fabs(prevVl), fabs(prevVr));
    double prevSpeed = (prevVl+prevVr)/2;
    double prevOmega = (prevVr- prevVl)/(Constants::d);
    MiscData m = (*fun)(x, e, vl, vr, prevSpeed,prevOmega, finalVel);
    prevVl = vl; prevVr = vr;
    uq.push_back(make_pair<int,int>((int)vl, (int)vr));
    if(uq.size() > PREDICTION_PACKET_DELAY )
        uq.pop_front();
   // qDebug() << "herevsd" << uq.size() << endl;
    return m;
}

MiscData ControllerWrapper::genControls_(Pose s, int &vl, int &vr, double time, bool useTime) {
    assert(ctrlType == TRACKCTRL);
    Pose x = s;
    for(deque<pair<int,int> >::iterator it = uq.begin(); it != uq.end(); it++) {
        x.updateNoDelay(it->first, it->second, timeLC);
    }
    if (isFirstCall) {
        isFirstCall = false;
        gettimeofday(&startTime, NULL);
    }
    double elapsedS;
    if (!useTime) {
        struct timeval nowTime;
        gettimeofday(&nowTime, NULL);
        elapsedS = (nowTime.tv_sec-startTime.tv_sec)+(nowTime.tv_usec-startTime.tv_usec)/1000000.0;        
    } else {
        elapsedS = time;
    }
    // should offset elapsedS by the number of packet delay!!!
    elapsedS += k*timeLCMs/1000.;
    MiscData m = tracker.genControls(x, vl, vr, prevVl, prevVr, elapsedS);
    prevVl = vl; prevVr = vr;
    uq.push_back(make_pair<int,int>((int)vl, (int)vr));
    uq.pop_front();
    return m;
}

Pose ControllerWrapper::getNewStartPose(){
    double elapsedS;
    struct timeval nowTime;
    gettimeofday(&nowTime, NULL);
    elapsedS = (nowTime.tv_sec-startTime.tv_sec)+(nowTime.tv_usec-startTime.tv_usec)/1000000.0;
    return tracker.getNewStartPose(elapsedS);
}

ControllerWrapper::ControllerWrapper(FType fun, int start_vl, int start_vr, int k):fun(fun), k(k), ctrlType(POINTCTRL), tracker(),
                                                                startTime(), isFirstCall(true){
    for(int i = 0; i < k; i++)
        uq.push_back(make_pair<int,int>((int)start_vl,(int)start_vr));
    prevVl = prevVr = 0;
}
ControllerWrapper::ControllerWrapper(Trajectory *traj, int start_vl, int start_vr,  int k):k(k), ctrlType(TRACKCTRL), tracker(traj),
                                                                       startTime(), isFirstCall(true){
    for(int i = 0; i < k; i++)
        uq.push_back(make_pair<int,int>((int)start_vl,(int)start_vr));
    prevVl = prevVr = 0;
}
void ControllerWrapper::reset() {
    isFirstCall = true;
}
void ControllerWrapper::setTraj(Trajectory* traj) {
    tracker.setTraj(traj);
    reset();
}
Pose ControllerWrapper::getPredictedPose(Pose s) {
    Pose x = s;
    for(deque<pair<int,int> >::iterator it = uq.begin(); it != uq.end(); it++) {
        x.updateNoDelay(it->first, it->second, timeLC);
    }
    return x;
}

double ControllerWrapper::getCurrentTimeS() const
{
    if (isFirstCall)
        return 0;
    struct timeval nowTime;
    gettimeofday(&nowTime, NULL);
    double elapsedS = (nowTime.tv_sec-startTime.tv_sec)+(nowTime.tv_usec-startTime.tv_usec)/1000000.0;
    return elapsedS;
}
MiscData ControllerWrapper::genControls(Pose s, Pose e, int &vl, int &vr, double finalVel) {
    if (ctrlType == POINTCTRL) {
        return genControls_(s, e, vl, vr, finalVel);
    } else {
        return genControls_(s, vl, vr);
    }
}

pair<int, int> ControllerWrapper::getDelayedVel()
{
    //qDebug() << "cfswdvgewsr" << uq.size() << "dfwgv" << endl;
    return uq.front();
}

MiscData ControllerWrapper::genControlsTrajSim(Pose s, int &vl, int &vr, double t)
{
    assert (ctrlType == TRACKCTRL);
    return genControls_(s, vl, vr, t, true);
}