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Handle IdleBehavior::DOCKED_INSTANCE in more places #120

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merged 1 commit into from
Jul 8, 2024
+12 −14
Merged

Handle IdleBehavior::DOCKED_INSTANCE in more places #120

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4 changes: 2 additions & 2 deletions src/mower_logic/src/mower_logic/behaviors/IdleBehavior.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -77,7 +77,7 @@ Behavior *IdleBehavior::execute() {
!last_config.manual_pause_mowing;

if (manual_start_mowing || ((automatic_mode || active_semiautomatic_task) && mower_ready)) {
// set the robot's position to the dock if we're actually docked
// set the robot's position to the dock if we're actually docked
if(last_status.v_charge > 5.0) {
if (PerimeterUndockingBehavior::configured(config))
return &PerimeterUndockingBehavior::INSTANCE;
Expand Down Expand Up @@ -158,7 +158,7 @@ void IdleBehavior::command_s1() {
}

void IdleBehavior::command_s2() {

}

bool IdleBehavior::redirect_joystick() {
Expand Down
13 changes: 6 additions & 7 deletions src/mower_logic/src/mower_logic/behaviors/PerimeterDocking.cpp
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Expand Up @@ -100,15 +100,15 @@ Behavior* PerimeterSearchBehavior::execute() {
/* We expect to be currently outside the perimeter wire => negative signal */
calibrationLeft=calibrationRight=signCenter=
lastPerimeter.left<0 ? 1 : -1; // Determine polarity of the cable.

if (innerSignal()>-MIN_SIGNAL || outerSignal()>-MIN_SIGNAL) {
ROS_ERROR("Signal too weak.");
return shutdownConnections();
}
calibrationLeft/=fabs(lastPerimeter.left);
maxCenter=fabs(lastPerimeter.center);
calibrationRight/=fabs(lastPerimeter.right);

geometry_msgs::Twist vel;
/* Move straight until one of the signals changes to positive (inside) */
vel.angular.z=0;
Expand Down Expand Up @@ -177,7 +177,7 @@ Behavior* PerimeterUndockingBehavior::execute() {
// Determine polarity of the cable.
calibrationLeft=calibrationRight=signCenter=1;
if (innerSignal()<0) calibrationLeft=calibrationRight=signCenter=-1;

float maxLeft=lastPerimeter.left*calibrationLeft;
maxCenter=fabs(lastPerimeter.center);
float maxRight=lastPerimeter.right*calibrationRight;;
Expand All @@ -202,7 +202,7 @@ Behavior* PerimeterUndockingBehavior::execute() {
ROS_ERROR("Could not turn inwards");
return shutdownConnections();
}

if (maxLeft<MIN_SIGNAL || maxRight<MIN_SIGNAL) {
ROS_ERROR("Signal too weak.");
return shutdownConnections();
Expand All @@ -228,12 +228,12 @@ Behavior* PerimeterDockingBehavior::arrived() {
chargeSeen++;
if (chargeSeen>=2) {
chargeSeen=0;
return &IdleBehavior::INSTANCE;
return &IdleBehavior::DOCKED_INSTANCE;
}
} else {
chargeSeen=0;
}
return NULL;
return NULL;
}

Behavior* PerimeterFollowBehavior::execute() {
Expand Down Expand Up @@ -381,4 +381,3 @@ std::string PerimeterMoveToGpsBehavior::state_name() {
Behavior* PerimeterMoveToGpsBehavior::arrived() {
return travelled>=config.undock_distance-0.9 ? &MowingBehavior::INSTANCE : NULL;
}

9 changes: 4 additions & 5 deletions src/mower_logic/src/mower_logic/mower_logic.cpp
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Expand Up @@ -396,7 +396,7 @@ void checkSafety(const ros::TimerEvent &timer_event) {
if (currentBehavior != nullptr) {
if (last_status.emergency) {
currentBehavior->requestPause(pauseType::PAUSE_EMERGENCY);
if (currentBehavior == &AreaRecordingBehavior::INSTANCE || currentBehavior == &IdleBehavior::INSTANCE) {
if (currentBehavior == &AreaRecordingBehavior::INSTANCE || currentBehavior == &IdleBehavior::INSTANCE || currentBehavior == &IdleBehavior::DOCKED_INSTANCE) {
if (last_status.v_charge > 10.0) {
// emergency and docked and idle or area recording, so it's safe to reset the emergency mode, reset it. It's safe since we won't start moving in this mode.
setEmergencyMode(false);
Expand Down Expand Up @@ -517,7 +517,8 @@ void checkSafety(const ros::TimerEvent &timer_event) {
dockingNeeded &&
currentBehavior != &DockingBehavior::INSTANCE &&
currentBehavior != &UndockingBehavior::RETRY_INSTANCE &&
currentBehavior != &IdleBehavior::INSTANCE
currentBehavior != &IdleBehavior::INSTANCE &&
currentBehavior != &IdleBehavior::DOCKED_INSTANCE
) {
ROS_INFO_STREAM(dockingReason.rdbuf());
abortExecution();
Expand Down Expand Up @@ -558,8 +559,7 @@ bool highLevelCommand(mower_msgs::HighLevelControlSrvRequest &req, mower_msgs::H
case mower_msgs::HighLevelControlSrvRequest::COMMAND_DELETE_MAPS: {
ROS_WARN_STREAM("COMMAND_DELETE_MAPS");
if (currentBehavior != &AreaRecordingBehavior::INSTANCE && currentBehavior != &IdleBehavior::INSTANCE &&
currentBehavior !=
nullptr) {
currentBehavior != &IdleBehavior::DOCKED_INSTANCE && currentBehavior != nullptr) {
ROS_ERROR_STREAM("Deleting maps is only allowed during IDLE or AreaRecording!");
return true;
}
Expand Down Expand Up @@ -861,4 +861,3 @@ int main(int argc, char **argv) {
delete (mbfClientExePath);
return 0;
}