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@@ -275,7 +275,7 @@ void Navigation::ResetLifter(LifterStatus status) {
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void Navigation::ResetPose(const Pose2d &pose) {
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- timedPose_.reset(pose, 1.0);
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+ timedPose_.reset(pose, 1.2);
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if (pose.theta() > 0) {
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if (parameter_.main_agv()) {
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isFront_.reset(true, 1.0);
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@@ -592,8 +592,6 @@ bool Navigation::MoveToTarget(NavMessage::PathNode node, Navigation::stLimit lim
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return true;
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}
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bool already_in_mpc = false;
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- int retry_count = 0;
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- int retry_count_limit = 3;
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while (cancel_ == false) {
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std::this_thread::sleep_for(std::chrono::milliseconds(100));
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if (PoseTimeout()) {
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@@ -638,9 +636,7 @@ bool Navigation::MoveToTarget(NavMessage::PathNode node, Navigation::stLimit lim
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printf(" MPC to target:%f %f l:%f,w:%f theta:%f impossible ,retry ...\n",
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node.x(), node.y(), node.l(), node.w(), node.theta());
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} else {
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- retry_count++;
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- if (retry_count > retry_count_limit)
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- return false;
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+
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}
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}
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if (cancel_) {
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@@ -666,8 +662,6 @@ bool Navigation::execute_nodes(NavMessage::NewAction action) {
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int clampLifterAction = 0;
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if (move_mode_ == eSingle) {
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clampLifterAction |= eByteClampHalfOpen;
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- } else {
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- clampLifterAction |= eByteLifterDown;
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}
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////////////////////////////////////////////////////////////
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for (int i = 0; i < action.pathnodes_size(); ++i) {
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@@ -677,13 +671,13 @@ bool Navigation::execute_nodes(NavMessage::NewAction action) {
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Pose2d vec(next.x() - node.x(), next.y() - node.y(), 0);
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node.set_theta(Pose2d::vector2yaw(vec.x(), vec.y()) + M_PI / 2.0);
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node.set_l(0.03);
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- node.set_w(0.20);
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+ node.set_w(0.25);
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} else {
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NavMessage::PathNode befor = action.pathnodes(i - 1);
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Pose2d vec(node.x() - befor.x(), node.y() - befor.y(), 0);
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node.set_theta(Pose2d::vector2yaw(vec.x(), vec.y()));
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node.set_l(0.02);
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- node.set_w(0.2);
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+ node.set_w(0.25);
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}
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int directions = Direction::eForward;
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if (anyDirect)
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@@ -716,6 +710,18 @@ bool Navigation::execute_nodes(NavMessage::NewAction action) {
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}
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}*/
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+ //提升机构提前动作
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+ if (GetRemainActionsCount() > 1){
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+ NavMessage::NewAction last_action = GetLastAction();
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+ if (IsUperSpace(last_action.spacenode())){
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+ if ((i+1) == action.pathnodes_size()){
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+ clampLifterAction |= eByteLifterUp;
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+ }
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+ } else{
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+ clampLifterAction |= eByteLifterDown;
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+ }
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+ }
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+
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if (MoveToTarget(node, mpc_velocity, wmg_limit, anyDirect, true, clampLifterAction) == false)
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return false;
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else
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@@ -782,6 +788,50 @@ Navigation::MpcResult Navigation::DoubleOutSpaceCorrectTheta() {
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return eMpcFailed;
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}
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+Navigation::MpcResult Navigation::RotateAfterOutExport() {
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+ printf("RotateAfterOutExport...\n");
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+ if (move_mode_ != eDouble)
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+ return eMpcSuccess;
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+ Pose2d init = timedPose_.Get();
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+ double diff1 = fabs(M_PI / 2.0 - init.theta());
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+ double diff2 = fabs(-M_PI / 2.0 - init.theta());
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+ double target = diff1 > diff2 ? M_PI / 2.0 : -M_PI / 2.0;
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+ stLimit limit_rotate = {3 * M_PI / 180.0, 15 * M_PI / 180.0};
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+ while (cancel_ == false) {
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+ std::this_thread::sleep_for(std::chrono::milliseconds(80));
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+ Pose2d current = timedPose_.Get();
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+ double yawDiff = (target - current.theta());
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+
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+ //一次变速
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+ std::vector<double> out;
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+ bool ret;
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+ TimerRecord::Execute([&, this]() {
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+ ret = Rotation_mpc_once(Pose2d(0, 0, yawDiff), limit_rotate, out);
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+ }, "Rotation_mpc_once");
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+ if (ret == false) {
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+ Stop();
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+ return eMpcFailed;
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+ }
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+
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+ //下发速度
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+ if (fabs(yawDiff) < 0.5 * M_PI / 180.0 && fabs(timedA_.Get()) < 5 * M_PI / 180.0) {
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+ printf(" RotateBeforeEnterSpace refer target completed\\n,cuv:%f\n", yawDiff);
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+ Stop();
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+ return eMpcSuccess;
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+ } else {
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+ const int down_count = 3;
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+ double v[down_count] = {0, 0, 0};
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+ double w[down_count] = {out[0], out[1], out[2]};
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+ SendMoveCmd(0, move_mode_, eRotation, v, w);
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+ actionType_ = eRotation;
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+// printf(" RotateBeforeEnterSpace | input anguar:%f, down:%f(%f), diff:%f anyDirect:false\n",
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+// timedA_.Get(), out[0], out[0] / M_PI * 180, yawDiff);
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+ }
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+ continue;
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+ }
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+ return eMpcFailed;
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+}
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+
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Navigation::MpcResult Navigation::RotateBeforeIntoExport() {
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if (move_mode_ != eDouble)
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@@ -808,7 +858,7 @@ Navigation::MpcResult Navigation::RotateBeforeIntoExport() {
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}
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//下发速度
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- if (fabs(yawDiff) < 0.2 * M_PI / 180.0 && fabs(timedA_.Get()) < 5 * M_PI / 180.0) {
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+ if (fabs(yawDiff) < 0.5 * M_PI / 180.0 && fabs(timedA_.Get()) < 5 * M_PI / 180.0) {
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printf(" RotateBeforeEnterSpace refer target completed\\n,cuv:%f\n", yawDiff);
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Stop();
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return eMpcSuccess;
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@@ -902,7 +952,7 @@ Navigation::RotateBeforeEnterSpace(NavMessage::PathNode space, double wheelbase,
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}
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//下发速度
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- if (fabs(yawDiff) < 0.3 * M_PI / 180.0 && fabs(timedA_.Get()) < 5 * M_PI / 180.0) {
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+ if (fabs(yawDiff) < 0.5 * M_PI / 180.0 && fabs(timedA_.Get()) < 5 * M_PI / 180.0) {
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printf(" RotateBeforeEnterSpace refer target completed\\n,cuv:%f\n", yawDiff);
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Stop();
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return eMpcSuccess;
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@@ -1003,14 +1053,14 @@ bool Navigation::execute_InOut_space(NavMessage::NewAction action) {
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printf("inout ----------------------------------------\n");
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//取车流程，送车到出口前旋转180
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- if (move_mode_ == eDouble && TargetIsExport(action.spacenode()) && GetSpaceId(action.spacenode()) != 1102) {
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- Pose2d current_pose = timedPose_.Get();
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- double current_theta = current_pose.theta();
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- if (RotateBeforeIntoExport() != eMpcSuccess) {
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- printf("Rotate before in entrance failed\n");
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- return false;
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- }
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- }
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+// if (move_mode_ == eDouble && TargetIsExport(action.spacenode()) && GetSpaceId(action.spacenode()) != 1102) {
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+// Pose2d current_pose = timedPose_.Get();
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+// double current_theta = current_pose.theta();
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+// if (RotateBeforeIntoExport() != eMpcSuccess) {
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+// printf("Rotate before in entrance failed\n");
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+// return false;
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+// }
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+// }
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//计算车位朝向
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action.mutable_spacenode()->set_theta(Pose2d::vector2yaw(vec.x(), vec.y()));
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@@ -1162,6 +1212,20 @@ bool Navigation::execute_InOut_space(NavMessage::NewAction action) {
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return false;
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}
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isInSpace_ = false;
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+
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+ // 存车流程离开入口，掉头
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+ printf("SequenceType: %d\n",GetSequenceType());
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+ if (GetSequenceType() == eSequencePark) {
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+ if (move_mode_ == eDouble && TargetIsExport(action.spacenode()) && GetSpaceId(action.spacenode()) != 1102) {
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+ Pose2d current_pose = timedPose_.Get();
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+ double current_theta = current_pose.theta();
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+ if (RotateAfterOutExport() != eMpcSuccess) {
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+ printf("Rotate after out entrance failed\n");
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+ return false;
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+ }
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+ }
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+ }
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+
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//摆正
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if (GetRemainActionsCount() > 1) {
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if (DoubleOutSpaceCorrectTheta() != eMpcSuccess)
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@@ -1233,7 +1297,7 @@ bool Navigation::Rotation_mpc_once(Pose2d current_to_target, Navigation::stLimit
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return ret == success || ret == no_solution;
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}
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-bool Navigation::mpc_once(Trajectory traj, stLimit limit_v, std::vector<double> &out, bool directY) {
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+bool Navigation::mpc_once(Trajectory traj, stLimit limit_v, std::vector<double> &out, int& mpc_result, bool directY) {
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if (PoseTimeout() == true) {
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printf(" MPC once Error:Pose is timeout \n");
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return false;
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@@ -1289,13 +1353,14 @@ bool Navigation::mpc_once(Trajectory traj, stLimit limit_v, std::vector<double>
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MpcError ret = failed;
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LoadedMPC MPC(relative, obs_w, obs_h, limit_v.min, limit_v.max);
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- // 巡线最大角速度固定0.1745
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+ // 巡线最大角加速度固定0.1745
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LoadedMPC::MPC_parameter parameter = {mpc_parameter.shortest_radius(), mpc_parameter.dt(),
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mpc_parameter.acc_velocity(), 0.1745};
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//printf(" r:%f dt:%f acc:%f acc_a:%f\n",mpc_parameter.shortest_radius(),
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// mpc_parameter.dt(),mpc_parameter.acc_velocity(),mpc_parameter.acc_angular());
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ret = MPC.solve(traj, traj[traj.size() - 1], statu, parameter,
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out, selected_trajectory, optimize_trajectory, directY);
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+ mpc_result = ret;
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//std::cout<<" traj size %d %d -------- "<<selected_trajectory.size()<<","<<optimize_trajectory.size()<<std::endl;
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if (ret == no_solution) {
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@@ -1308,6 +1373,18 @@ bool Navigation::mpc_once(Trajectory traj, stLimit limit_v, std::vector<double>
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out.push_back(0);
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out.push_back(0);
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}
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+
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+ if (ret == unknown) {
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+ printf(" mpc solve unknown set v/w = current\n");
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+ double current_v = timedV_.Get(), current_w = timedA_.Get();
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+ out.clear();
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+ out.push_back(current_v);
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+ out.push_back(current_w);
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+ out.push_back(current_v);
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+ out.push_back(current_w);
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+ out.push_back(current_v);
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+ out.push_back(current_w);
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+ }
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//
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// diff_yaw.push_back(0);
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// diff_yaw.push_back(0);
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@@ -1732,6 +1809,9 @@ Navigation::MpcResult Navigation::MpcToTarget(NavMessage::PathNode node, stLimit
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ofs.open(log_file_dir + log_file_name, std::ios::app); //打开的地址和方式
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auto beg_time = std::chrono::steady_clock::now();
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+ int retry_count = 0;
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+ int retry_count_limit = 3;
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+
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while (cancel_ == false) {
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std::this_thread::sleep_for(std::chrono::milliseconds(20));
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if (pause_ == true) {
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@@ -1749,37 +1829,38 @@ Navigation::MpcResult Navigation::MpcToTarget(NavMessage::PathNode node, stLimit
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return eMpcFailed;
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}
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- //出入库实时判断门控或者载车板
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- NavMessage::NewAction current_action = GetCurrentAction();
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- if (current_action.type() == 1 || current_action.type() == 2) {
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- //去出入口，判断内门是否打开
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- if (TargetIsExport(current_action.spacenode()) || TargetIsEntrance(current_action.spacenode())) {
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- int port_id = GetPortIDBySpace(current_action.spacenode());
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- if (timed_Door_.timeout() || timed_Door_.Get()[port_id].second != eDoorOpened) {
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- printf(" Inside door is not opened.......| line: %d\n", __LINE__);
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- return eMpcFailed;
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- }
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- } else {
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- //去车位点
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- if (IsUperSpace(current_action.spacenode())) {
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- if (GetCarrierStatusBySpaceID(GetSpaceId(current_action.spacenode())) != eCarrierDown) {
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- printf(" Carrier is not downed.......| line: %d\n", __LINE__);
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- return eMpcFailed;
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- }
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- } else {
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- int region_id = 0, carrier_no = 0;
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- SpaceNo2CarrierNo(GetSpaceId(current_action.spacenode()), region_id, carrier_no);
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- if (region_id < 0) {// 子母车位，且不在载车板下方的车位
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-
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- } else {
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- if (GetCarrierStatusBySpaceID(GetSpaceId(current_action.spacenode())) != eCarrierUp) {
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- printf(" Carrier is not up.......| line: %d\n", __LINE__);
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- return eMpcFailed;
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- }
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- }
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- }
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- }
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- }
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+// //出入库实时判断门控或者载车板
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+// float door_no_1_y = -5;
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+// NavMessage::NewAction current_action = GetCurrentAction();
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+// if (current_action.type() == 1 || current_action.type() == 2) {
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+// //去出入口，判断内门是否打开
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+// if (TargetIsExport(current_action.spacenode()) || TargetIsEntrance(current_action.spacenode())) {
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+// int port_id = GetPortIDBySpace(current_action.spacenode());
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+// if (timed_Door_.timeout() || timed_Door_.Get()[port_id].second != eDoorOpened) {
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+// printf(" Inside door is not opened.......| line: %d\n", __LINE__);
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+// return eMpcFailed;
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+// }
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+// } else {
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+// //去车位点
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+// if (IsUperSpace(current_action.spacenode())) {
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+// if (GetCarrierStatusBySpaceID(GetSpaceId(current_action.spacenode())) != eCarrierDown) {
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+// printf(" Carrier is not downed.......| line: %d\n", __LINE__);
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+// return eMpcFailed;
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+// }
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+// } else {
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+// int region_id = 0, carrier_no = 0;
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+// SpaceNo2CarrierNo(GetSpaceId(current_action.spacenode()), region_id, carrier_no);
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+// if (region_id < 0) {// 子母车位，且不在载车板下方的车位
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+//
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+// } else {
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+// if (GetCarrierStatusBySpaceID(GetSpaceId(current_action.spacenode())) != eCarrierUp) {
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+// printf(" Carrier is not up.......| line: %d\n", __LINE__);
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+// return eMpcFailed;
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+// }
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+// }
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+// }
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+// }
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+// }
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//判断是否到达终点
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if (IsArrived(node)) {
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@@ -1792,17 +1873,33 @@ Navigation::MpcResult Navigation::MpcToTarget(NavMessage::PathNode node, stLimit
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}
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}
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+ float v_before_compute = timedV_.Get();
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+ float a_before_compute = timedA_.Get();
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//一次变速
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std::vector<double> out;
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// std::vector<double> diff_yaw; //两车分别与整车的相对角度
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bool ret;
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+ int mpc_result = 0;
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TimerRecord::Execute([&, this]() {
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- ret = mpc_once(traj, limit_v, out, directY);
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+ ret = mpc_once(traj, limit_v, out, mpc_result, directY);
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}, "mpc_once");
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+
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if (ret == false) {
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- SlowlyStop();
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- ofs.close();//关闭文件
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- return eMpcFailed;
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+ if (mpc_result == unknown){
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+ retry_count++;
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+ if (retry_count > retry_count_limit) {
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+ printf("MpcToTarget failed,ret:%d\n", ret);
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+ SlowlyStop();
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+ ofs.close();//关闭文件
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+ return eMpcFailed;
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+ }
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+ printf("MpcToTarget failed,mpc_result:%d, retry...\n", mpc_result);
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+ } else {
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+ printf("MpcToTarget failed,ret:%d\n", ret);
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+ SlowlyStop();
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+ ofs.close();//关闭文件
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+ return eMpcFailed;
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+ }
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}
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const int down_count = 3;//下发前多少步
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double down_v[down_count] = {out[0], out[2], out[4]};//下发线速度
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@@ -1891,6 +1988,10 @@ Navigation::MpcResult Navigation::MpcToTarget(NavMessage::PathNode node, stLimit
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std::to_string(cur_Bro_pose.theta());
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log_inf_line += " ";
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+ log_inf_line += std::to_string(v_before_compute) + " " + std::to_string(a_before_compute);//计算时反馈速度
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+ log_inf_line += " ";
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+ log_inf_line += std::to_string(timedV_.Get()) + " " + std::to_string(timedA_.Get());//下发时反馈速度
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+ log_inf_line += " ";
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log_inf_line += std::to_string(out[0]) + " " + std::to_string(out[1]);//下发速度
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log_inf_line += " ";
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log_inf_line += std::to_string(out[2]) + " " + std::to_string(out[3]);//下发速度
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@@ -2360,6 +2461,7 @@ int Navigation::GetPortIDBySpace(NavMessage::PathNode node) {
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return -1;
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}
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+
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int Navigation::GetRemainActionsCount() {
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return newUnfinished_cations_.size();
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}
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@@ -2368,5 +2470,17 @@ NavMessage::NewAction Navigation::GetCurrentAction() {
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return newUnfinished_cations_.front();
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}
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+NavMessage::NewAction Navigation::GetLastAction() {
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+ return newUnfinished_cations_.back();
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+}
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+
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+int Navigation::GetSequenceType() {
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+ if (global_navCmd_.has_sequence()){
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+ return eSequenceDefault;
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+ }
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+ else{
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+ return global_navCmd_.sequence();
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+ }
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+}
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gf