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aisEval.cpp
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aisEval.cpp
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/**
* Skipper calls the navigations-programs and sets a current heading to the
* store, so sailor can take over!!
*
**/
// TODO check speed history, which obstacles do we care about,
// General Project Constants
#include "avalon.h"
// General Things
#include <stdlib.h>
#include <stdio.h>
#include <math.h>
#include <assert.h>
#include <time.h>
// General rtx-Things
#include <rtx/getopt.h>
#include <rtx/main.h>
#include <rtx/error.h>
#include <rtx/timer.h>
#include <rtx/time.h>
#include <rtx/thread.h>
#include <rtx/message.h>
// Specific Things
#include "include/ddxjoystick.h"
#include <DDXStore.h>
#include <DDXVariable.h>
#include "imu.h"
#include "aisEval.h"
#include "ais.h"
#include "destination.h"
#include "flags.h"
#include "imucleaner.h"
#include <vector>
#define DEBUG_AISEVAL
/**
* Global variable for all DDX object
* */
DDXStore store;
DDXVariable dataBoat; //to get imu-Data
DDXVariable dataFlags;
DDXVariable dataImuClean;
DDXVariable shipData; //already prcessed information, showing the dangerous points of impact
DDXVariable shipStruct;
DDXVariable aisData; //actual ais data
DDXVariable aisStruct;
DDXVariable aisDestData;
DDXVariable destinationData;
DDXVariable destinationStruct;
DDXVariable skipperFlagData;
/**
* Prototypes for utility functions
* */
int sign(int i);
int sign(double i);
/**
* Storage for the command line arguments
* */
const char * varname4 = "imu";
const char * varname_imuClean = "cleanimu";
const char * varname_shipData = "shipData";
const char * varname_shipStruct = "shipStruct";
const char * varname_aisData = "aisData";
const char * varname_aisStruct = "aisStruct";
const char * varname_aisDestData = "aisDestData";
const char * varname_destData = "destData";
const char * varname_destStruct = "destStruct";
const char * varname_flags = "flags";
const char * varname_skipperflags = "skipperflags";
const char * producerHelpStr = "skipper help-string";
/**
* Command line arguments //has yet to be completed
*
* */
RtxGetopt producerOpts[] = {
{"imuData", "Store Variable where the imuData is written",
{
{RTX_GETOPT_STR, &varname4, "imuData"},
RTX_GETOPT_END_ARG
}
},
{"cleanimuname", "Store Variable where the cleaned imu data is written to",
{
{RTX_GETOPT_STR, &varname_imuClean, ""},
RTX_GETOPT_END_ARG
}
},
#if 0
{"destination","Variable where the calculated navi-waypoints are stored",
{
{RTX_GETOPT_STR, &varname_destData, "Waypoints"},
RTX_GETOPT_END_ARG
}
},
{"weatherData", "Store Variable where the weather data is written",
{
{RTX_GETOPT_STR, &varname_weather, ""},
RTX_GETOPT_END_ARG
}
},
#endif
RTX_GETOPT_END
};
/**
* Working thread, wait the data, transform them and write them again
* */
void * translation_thread(void * dummy)
{
imuData boatData; //avalon's imu data
imuCleanData imu_clean;
ShipData ship; //transformed information about ship (ais)
AisData ais; //gps-struct
AisDestData ais_dest;
DestinationData destination;
Flags generalflags;
SkipperFlags skipperflags;
double current_pos_x, current_pos_y; //already transformed and in meters
int p, k, i, n, interchange;
unsigned int l;
double ship_pos_x, ship_pos_y;
double distance;
double heading_ship;
bool collision;
double heading_avalon;
double speed_avalon;
double angle_to_dest;
double speed_avalon_to_dest;
double vel_avalon_x, vel_avalon_y;
double speed_ship;
double vel_ship_x, vel_ship_y;
double vel_relativ_x, vel_relativ_y;
double angle_relativ;
double angle_avalon_ship;
double threshold_radius;
double radius_relativ;
double dist_avalon_ship;
double angle_tang_rear, angle_tang_front;
double angle_crit_min, angle_crit_max;
double angle_safe;
double safe_destpoint_x, safe_destpoint_y;
double ship_length;
double check_angle;
double dist_min;
double dist_limit;
double dist_test;
double add_dist_safe=200;
std::vector<Obstacle> obst_p;
std::vector<Obstacle> obst_p_start;
std::vector<Obstacle> obst_p_end;
std::vector<double> speed_avalon_all;
Obstacle temp_obst;
unsigned int num_speed_history = 200;
int num_obstP;
int dist_of_sight=2000; // in meter
dataFlags.t_readto(generalflags,0,0);
ais_dest.new_dest_long=0;
ais_dest.new_dest_lat=0;
ais_dest.ais_dest_index=0;
ais_dest.global_skipper_flag=0;
aisDestData.t_writefrom(ais_dest);
obst_p.reserve(4);
while (1)
{
dataFlags.t_readto(generalflags,0,0);
// Read the next data available, or wait at least 5 seconds
if (dataBoat.t_readto(boatData,10,1)/* && (generalflags.state == AV_FLAGS_ST_NORMALSAILING || generalflags.state == AV_FLAGS_ST_UPWINDSAILING || generalflags.state == AV_FLAGS_ST_DOWNWINDSAILING )*/)
{
aisData.t_readto(ais,0,0);
shipData.t_readto(ship,0,0);
destinationData.t_readto(destination,0,0);
skipperFlagData.t_readto(skipperflags,0,0);
dataImuClean.t_readto(imu_clean,0,0);
// transform boat location into the local 2D map
current_pos_x =AV_EARTHRADIUS * (AV_PI/180) * (boatData.position.latitude-destination.latitude);
current_pos_y =AV_EARTHRADIUS * cos((destination.latitude * AV_PI/180)) * (AV_PI/180)
*(boatData.position.longitude-destination.longitude);
#if 0
//clean up our list of dangerous ships:
#ifdef DEBUG_AISEVAL
rtx_message("while loop going through, shipCount = %d, aisCount = %d \n",ship.shipCount, ais.number_of_ships);
#endif
for( p = 0; p < ship.shipCount; p++)
{
#ifdef DEBUG_AISEVAL
rtx_message("checking if the ship is already in shipData( %d times)\n",p);
#endif
rtx_time_get(&time_now);
time_now_d = rtx_time_to_double(&time_now);
if ((time_now_d - ship.Data[p].timestamp) > 1200)
{
ship.Data[p].mmsi = ship.Data[ship.shipCount].mmsi;
ship.Data[p].timestamp = ship.Data[ship.shipCount].timestamp;
ship.Data[p].longitude = ship.Data[ship.shipCount].longitude;
ship.Data[p].latitude = ship.Data[ship.shipCount].latitude;
ship.shipCount --;
}
}
#endif
// check for every boat, if Avalon is on collision course
collision = false;
if (ais.number_of_ships !=0)
{
rtx_message("avalon's position (x,y) = (%f,%f) \n",current_pos_x, current_pos_y);
}
for (i = 0; i < ais.number_of_ships; i++)
{
ship_pos_x = AV_EARTHRADIUS * (AV_PI/180) * (ais.Ship[i].latitude-destination.latitude);
ship_pos_y = AV_EARTHRADIUS * cos((destination.latitude * AV_PI/180)) * (AV_PI/180)
*(ais.Ship[i].longitude-destination.longitude);
distance = sqrt(pow(ship_pos_x - current_pos_x,2) + pow(ship_pos_y - current_pos_y,2));
#ifdef DEBUG_AISEVAL
rtx_message("distance avalon to ship number %d is %f meters\n",i+1,distance);
rtx_message("ship's position (x,y) = (%f,%f) \n",ship_pos_x, ship_pos_y);
#endif
if ((distance < dist_of_sight) && (ais.Ship[i].speed_over_ground != 0.0)
&& ((ais.Ship[i].course_over_ground != 0.0) || (ais.Ship[i].heading != 0.0)))
{
heading_ship = ais.Ship[i].heading*AV_PI/180.0;
if (heading_ship == 0.0)
{
heading_ship = ais.Ship[i].course_over_ground*AV_PI/180.0;
}
#ifdef DEBUG_AISEVAL
rtx_message("ship in reachable distance (%d m) \n", dist_of_sight);
#endif
speed_ship = 0.5144444 * ais.Ship[i].speed_over_ground;
// take the average velocity over the last "num_speed_history" measurements
speed_avalon = 0.5144444 * sqrt(pow(imu_clean.velocity.x,2) + pow(imu_clean.velocity.y,2));
speed_avalon_all.insert(speed_avalon_all.begin(),speed_avalon);
if(speed_avalon_all.size()>num_speed_history)
{speed_avalon_all.resize(num_speed_history);}
speed_avalon = 0;
for (l=0;l<speed_avalon_all.size();l++)
{speed_avalon = speed_avalon + 1.0/speed_avalon_all.size()*speed_avalon_all[l];}
speed_avalon_to_dest = speed_avalon*cos(angle_to_dest-heading_avalon); // TODO what velocity and angle do we take?
// speed_avalon_to_dest= speed_avalon;
heading_avalon = boatData.attitude.yaw*AV_PI/180.0;
angle_avalon_ship = atan2((ship_pos_y-current_pos_y) , (ship_pos_x-current_pos_x));
angle_to_dest = atan2((-current_pos_y),(-current_pos_x));
// rtx_message("velocity avalon abs: %f vel to dest: %f \n",speed_avalon,speed_to_dest);
vel_avalon_x = cos(angle_to_dest) * speed_avalon_to_dest;
vel_avalon_y = sin(angle_to_dest) * speed_avalon_to_dest;
// vel_avalon_x = cos(heading_avalon) * speed_avalon_to_dest;
// vel_avalon_y = sin(heading_avalon) * speed_avalon_to_dest;
vel_ship_x = cos(heading_ship) * speed_ship;
vel_ship_y = sin(heading_ship) * speed_ship;
vel_relativ_x = vel_avalon_x - vel_ship_x;
vel_relativ_y = vel_avalon_y - vel_ship_y;
angle_relativ = atan2(vel_relativ_y, vel_relativ_x);
// rtx_message("avalon vel: long= %f lat= %f total= %f angle= %f", vel_avalon_long,vel_avalon_lat,speed_avalon_to_dest, angle_to_dest);
// rtx_message("relativ vel: long= %lf lat= %lf", vel_avalon_long-vel_ship_long,vel_avalon_lat-vel_ship_lat);
// define the minimal allowed distance between the other boat and Avalon
ship_length = 1; // ship length, if not from AIS
threshold_radius = 395; // to be modified: additional safety distance
radius_relativ = ship_length + 4 + threshold_radius; // ship length + avalon_length + threshold_radius
dist_avalon_ship = sqrt(pow(ship_pos_x - current_pos_x,2) + pow(ship_pos_y - current_pos_y,2));
// rtx_message("dist to ship = %f \n", dist_avalon_ship);
// if Avalon is to close to an other boat, the new desired heading is normal to the boats heading
if (dist_avalon_ship<0.5*radius_relativ)
{
if (remainder((AV_PI+angle_avalon_ship-heading_ship),2*AV_PI)<0)
{angle_safe = remainder(heading_ship-AV_PI*0.5,2*AV_PI);}
else
{angle_safe = remainder(heading_ship+AV_PI*0.5,2*AV_PI);}
// calculate the new safe destination points
// rtx_message("angle_av_sh= %lf head_sh= %lf ang_safe= %lf\n", angle_avalon_ship*180/AV_PI,heading_ship*180/AV_PI,angle_safe*180/AV_PI);
ais_dest.new_dest_long = destination.latitude + (ship_pos_x+1.5*radius_relativ*cos(angle_safe))*180/(AV_PI*AV_EARTHRADIUS);
ais_dest.new_dest_lat = destination.longitude + (ship_pos_y+1.5*radius_relativ*sin(angle_safe))*180
/ (AV_PI * AV_EARTHRADIUS * cos(destination.latitude*AV_PI/180));
ais_dest.ais_dest_index ++;
ais_dest.global_skipper_flag = AV_FLAGS_GLOBALSK_SURVIVE;
aisDestData.t_writefrom(ais_dest);
continue;
}
// check for collision
angle_tang_rear = remainder((angle_avalon_ship - asin(radius_relativ/dist_avalon_ship)),2*AV_PI);
angle_tang_front = remainder((angle_avalon_ship + asin(radius_relativ/dist_avalon_ship)),2*AV_PI);
// rtx_message("ang_rear: %f ang_front: %f ang_rel: %f",angle_tang_rear*180/AV_PI,angle_tang_front*180/AV_PI, angle_relativ*180/AV_PI);
if ((remainder(((angle_relativ - angle_tang_rear)),2*AV_PI)>0)
&& (remainder(((angle_relativ - angle_tang_front)),2*AV_PI)<0))
{
// On collision course with a ship, check ALL ships for obstacles
collision = true;
break;
}
}
}
// rtx_message("skipperflag: %d",generalflags.global_locator);
if (collision == false)
{continue;}
#ifdef DEBUG_AISEVAL
rtx_message("Collision course!! check for new destination\n");
#endif
// rtx_message("Collision course!! check for new destination\n");
obst_p_end.clear();
obst_p_start.clear();
for (i = 0; i < ais.number_of_ships; i++)
{
ship_pos_x = AV_EARTHRADIUS * (AV_PI/180) * (ais.Ship[i].latitude-destination.latitude);
ship_pos_y = AV_EARTHRADIUS * cos((destination.latitude * AV_PI/180)) * (AV_PI/180)
*(ais.Ship[i].longitude-destination.longitude);
distance = sqrt(pow(ship_pos_x - current_pos_x,2) + pow(ship_pos_y - current_pos_y,2));
#ifdef DEBUG_AISEVAL
rtx_message("distance avalon to ship number %d is %f meters\n",i+1,distance);
rtx_message("ship's position (x,y) = (%f,%f) \n",ship_pos_x, ship_pos_y);
#endif
// if a ship is in the distance of sight, then a bound of forbidden headings is calculated
if ((distance < dist_of_sight) && (ais.Ship[i].speed_over_ground != 0.0)
&& ((ais.Ship[i].course_over_ground != 0.0) || (ais.Ship[i].heading != 0.0)))
{
obst_p.clear();
num_obstP=0;
heading_ship = ais.Ship[i].heading*AV_PI/180.0;
if (heading_ship == 0.0)
{
heading_ship = ais.Ship[i].course_over_ground*AV_PI/180.0;
}
#ifdef DEBUG_AISEVAL
rtx_message("ship in reachable distance (%d m) \n",dist_of_sight);
#endif
speed_ship = 0.5144444 * ais.Ship[i].speed_over_ground;
heading_avalon = boatData.attitude.yaw*AV_PI/180.0;
angle_avalon_ship = atan2((ship_pos_y-current_pos_y) , (ship_pos_x-current_pos_x));
angle_to_dest = atan2((-current_pos_y),(-current_pos_x));
// take the average velocity over the last "num_speed_history" measurements
speed_avalon = 0.5144444 * sqrt(pow(imu_clean.velocity.x,2) + pow(imu_clean.velocity.y,2));
speed_avalon_all.insert(speed_avalon_all.begin(),speed_avalon);
if(speed_avalon_all.size()>num_speed_history)
{speed_avalon_all.resize(num_speed_history);}
speed_avalon = 0;
for (l=0;l<speed_avalon_all.size();l++)
{speed_avalon = speed_avalon + 1.0/speed_avalon_all.size()*speed_avalon_all[l];}
speed_avalon_to_dest = speed_avalon*cos(angle_to_dest-heading_avalon);
// speed_avalon_to_dest= speed_avalon;
// rtx_message("velocity avalon abs: %f vel to dest: %f \n",speed_avalon,speed_to_dest);
vel_avalon_x = cos(angle_to_dest) * speed_avalon_to_dest;
vel_avalon_y = sin(angle_to_dest) * speed_avalon_to_dest;
// vel_avalon_x = cos(heading_avalon) * speed_avalon_to_dest;
// vel_avalon_y = sin(heading_avalon) * speed_avalon_to_dest;
vel_ship_x = cos(heading_ship) * speed_ship;
vel_ship_y = sin(heading_ship) * speed_ship;
vel_relativ_x = vel_avalon_x - vel_ship_x;
vel_relativ_y = vel_avalon_y - vel_ship_y;
angle_relativ = atan2(vel_relativ_y, vel_relativ_x);
// rtx_message("avalon vel: long= %f lat= %f total= %f angle= %f", vel_avalon_long,vel_avalon_lat,speed_avalon_to_dest, angle_to_dest);
// rtx_message("relativ vel: long= %lf lat= %lf", vel_avalon_long-vel_ship_long,vel_avalon_lat-vel_ship_lat);
ship_length = 1; // ship length, if not from AIS
threshold_radius = 495; // to be modified: additional safety distance
radius_relativ = ship_length + 4 + threshold_radius; // ship length + avalon_length + threshold_radius
dist_avalon_ship = sqrt(pow(ship_pos_x - current_pos_x,2) + pow(ship_pos_y - current_pos_y,2));
angle_tang_rear = remainder((angle_avalon_ship - asin(radius_relativ/dist_avalon_ship)),2*AV_PI);
angle_tang_front = remainder((angle_avalon_ship + asin(radius_relativ/dist_avalon_ship)),2*AV_PI);
if (speed_avalon_to_dest < speed_ship)
{
// rtx_message("avalon is slower\n");
angle_crit_min = remainder((AV_PI+heading_ship - asin(speed_avalon_to_dest/speed_ship)),2*AV_PI);
angle_crit_max = remainder((AV_PI+heading_ship + asin(speed_avalon_to_dest/speed_ship)),2*AV_PI);
rtx_message("ang_rear: %f ang_front: %f ang_min: %f ang_max: %f",angle_tang_rear*180/AV_PI,angle_tang_front*180/AV_PI, angle_crit_min*180/AV_PI, angle_crit_max*180/AV_PI);
if ((remainder((angle_crit_min-angle_tang_rear),2*AV_PI) < 0)
&& (remainder((angle_crit_max-angle_tang_rear),2*AV_PI) > 0))
{ // Calculate the two intersectin with the first tangent
obst_p.resize(num_obstP+2);
rtx_message("two obstacles at rear\n");
obst_p[num_obstP].angle = remainder((angle_tang_rear
-asin(speed_avalon_to_dest/speed_ship*sin(AV_PI+heading_ship-angle_tang_rear))),2*AV_PI);
obst_p[num_obstP].t_crit = ((current_pos_y-ship_pos_y)*(vel_ship_y - speed_avalon_to_dest*sin(obst_p[num_obstP].angle))
+ (current_pos_x-ship_pos_x)*(vel_ship_x - speed_avalon_to_dest*cos(obst_p[num_obstP].angle)))
/(pow(vel_ship_y - speed_avalon_to_dest*sin(obst_p[num_obstP].angle),2)
+pow(vel_ship_x - speed_avalon_to_dest*cos(obst_p[num_obstP].angle),2));
obst_p[num_obstP].dist = speed_avalon_to_dest * obst_p[num_obstP].t_crit + add_dist_safe;
obst_p[num_obstP].x = obst_p[num_obstP].dist*cos(obst_p[num_obstP].angle) + current_pos_x;
obst_p[num_obstP].y = obst_p[num_obstP].dist*sin(obst_p[num_obstP].angle) + current_pos_y;
num_obstP ++;
obst_p[num_obstP].angle = remainder((angle_tang_rear
+asin(speed_avalon_to_dest/speed_ship*sin(AV_PI+heading_ship-angle_tang_rear))-AV_PI),2*AV_PI);
obst_p[num_obstP].t_crit = ((current_pos_y-ship_pos_y)*(vel_ship_y - speed_avalon_to_dest*sin(obst_p[num_obstP].angle))
+ (current_pos_x-ship_pos_x)*(vel_ship_x - speed_avalon_to_dest*cos(obst_p[num_obstP].angle)))
/(pow(vel_ship_y - speed_avalon_to_dest*sin(obst_p[num_obstP].angle),2)
+pow(vel_ship_x - speed_avalon_to_dest*cos(obst_p[num_obstP].angle),2));
obst_p[num_obstP].dist = speed_avalon_to_dest * obst_p[num_obstP].t_crit + add_dist_safe;
obst_p[num_obstP].x = obst_p[num_obstP].dist*cos(obst_p[num_obstP].angle) + current_pos_x;
obst_p[num_obstP].y = obst_p[num_obstP].dist*sin(obst_p[num_obstP].angle) + current_pos_y;
num_obstP ++;
}
if ((remainder((angle_crit_min-angle_tang_front),2*AV_PI) < 0) && (remainder((angle_crit_max-angle_tang_front),2*AV_PI) > 0))
{ // Calculate the two intersectin with the second tangent
obst_p.resize(num_obstP+2);
rtx_message("two obstacles at front\n");
obst_p[num_obstP].angle = remainder((angle_tang_front
-asin(speed_avalon_to_dest/speed_ship*sin(AV_PI+heading_ship-angle_tang_front))),2*AV_PI);
obst_p[num_obstP].t_crit = ((current_pos_y-ship_pos_y)*(vel_ship_y - speed_avalon_to_dest*sin(obst_p[num_obstP].angle))
+ (current_pos_x-ship_pos_x)*(vel_ship_x - speed_avalon_to_dest*cos(obst_p[num_obstP].angle)))
/(pow(vel_ship_y - speed_avalon_to_dest*sin(obst_p[num_obstP].angle),2)
+pow(vel_ship_x - speed_avalon_to_dest*cos(obst_p[num_obstP].angle),2));
obst_p[num_obstP].dist = speed_avalon_to_dest * obst_p[num_obstP].t_crit + add_dist_safe;
obst_p[num_obstP].x = obst_p[num_obstP].dist*cos(obst_p[num_obstP].angle) + current_pos_x;
obst_p[num_obstP].y = obst_p[num_obstP].dist*sin(obst_p[num_obstP].angle) + current_pos_y;
num_obstP ++;
obst_p[num_obstP].angle = remainder((angle_tang_front
+asin(speed_avalon_to_dest/speed_ship*sin(AV_PI+heading_ship-angle_tang_front))-AV_PI),2*AV_PI);
obst_p[num_obstP].t_crit = ((current_pos_y-ship_pos_y)*(vel_ship_y - speed_avalon_to_dest*sin(obst_p[num_obstP].angle))
+ (current_pos_x-ship_pos_x)*(vel_ship_x - speed_avalon_to_dest*cos(obst_p[num_obstP].angle)))
/(pow(vel_ship_y - speed_avalon_to_dest*sin(obst_p[num_obstP].angle),2)
+pow(vel_ship_x - speed_avalon_to_dest*cos(obst_p[num_obstP].angle),2));
obst_p[num_obstP].dist = speed_avalon_to_dest * obst_p[num_obstP].t_crit + add_dist_safe;
obst_p[num_obstP].x = obst_p[num_obstP].dist*cos(obst_p[num_obstP].angle) + current_pos_x;
obst_p[num_obstP].y = obst_p[num_obstP].dist*sin(obst_p[num_obstP].angle) + current_pos_y;
num_obstP ++;
}
}
else // if speed_avalon_to_dest > speed_ship, we have an intersection with each tangent
{
// rtx_message("avalon is faster\n");
obst_p.resize(num_obstP+2);
obst_p[num_obstP].angle = remainder((angle_tang_rear
-asin(speed_avalon_to_dest/speed_ship*sin(AV_PI+heading_ship-angle_tang_rear))),2*AV_PI);
obst_p[num_obstP].t_crit = ((current_pos_y-ship_pos_y)*(vel_ship_y - speed_avalon_to_dest*sin(obst_p[num_obstP].angle))
+ (current_pos_x-ship_pos_x)*(vel_ship_x - speed_avalon_to_dest*cos(obst_p[num_obstP].angle)))
/(pow(vel_ship_y - speed_avalon_to_dest*sin(obst_p[num_obstP].angle),2)
+pow(vel_ship_x - speed_avalon_to_dest*cos(obst_p[num_obstP].angle),2));
obst_p[num_obstP].dist = speed_avalon_to_dest * obst_p[num_obstP].t_crit + add_dist_safe;
obst_p[num_obstP].x = obst_p[num_obstP].dist*cos(obst_p[num_obstP].angle) + current_pos_x;
obst_p[num_obstP].y = obst_p[num_obstP].dist*sin(obst_p[num_obstP].angle) + current_pos_y;
num_obstP ++;
obst_p[num_obstP].angle = remainder((angle_tang_front
-asin(speed_avalon_to_dest/speed_ship*sin(AV_PI+heading_ship-angle_tang_front))-AV_PI),2*AV_PI);
obst_p[num_obstP].t_crit = ((current_pos_y-ship_pos_y)*(vel_ship_y - speed_avalon_to_dest*sin(obst_p[num_obstP].angle))
+ (current_pos_x-ship_pos_x)*(vel_ship_x - speed_avalon_to_dest*cos(obst_p[num_obstP].angle)))
/(pow(vel_ship_y - speed_avalon_to_dest*sin(obst_p[num_obstP].angle),2)
+pow(vel_ship_x - speed_avalon_to_dest*cos(obst_p[num_obstP].angle),2));
obst_p[num_obstP].dist = speed_avalon_to_dest * obst_p[num_obstP].t_crit + add_dist_safe;
obst_p[num_obstP].x = obst_p[num_obstP].dist*cos(obst_p[num_obstP].angle) + current_pos_x;
obst_p[num_obstP].y = obst_p[num_obstP].dist*sin(obst_p[num_obstP].angle) + current_pos_y;
num_obstP ++;
}
// sort obstacles upon their angles with bubble sort
n=num_obstP;
while (interchange)
{
interchange=0;
for( p = 0; p < n-1; p++)
{
if(obst_p[p].angle > obst_p[p+1].angle)
{
temp_obst=obst_p[p];
obst_p[p]=obst_p[p+1];
obst_p[p+1]=temp_obst;
interchange=1;
}
}
n--;
}
// define if collision points are starts or ends of an obstacles
if(num_obstP>0)
{
check_angle = atan2(speed_avalon_to_dest*sin((obst_p[0].angle + obst_p[1].angle)/2)-vel_ship_y,
speed_avalon_to_dest*cos((obst_p[0].angle + obst_p[1].angle)/2)-vel_ship_x);
if ((remainder((check_angle - angle_tang_rear),2*AV_PI)<=0)
|| (remainder((check_angle - angle_tang_front),2*AV_PI)>=0))
{
temp_obst=obst_p[0];
for ( p = 0; p < num_obstP-1; p++)
{
obst_p[p]=obst_p[p+1];
}
obst_p[num_obstP-1]=temp_obst;
}
rtx_message("num_obst: %d obst_p: %d\n",num_obstP,obst_p.size());
// if an obstacle is too far away, we don't care about it
//dist_dest = sqrt(pow(current_pos_x,2)+pow(current_pos_latitude,2));
dist_limit = 2000;//2*dist_dest;
for ( p = 0; p < num_obstP-1; p=p+2)
{
// rtx_message("dest: %lf limit: %lf obst: front= %lf back= %lf",dist_dest, dist_limit, obst_p[p].dist, obst_p[p+1].dist);
if ((obst_p[p].dist<dist_limit) || (obst_p[p+1].dist<dist_limit))
{
obst_p_start.push_back(obst_p[p]);
obst_p_end.push_back(obst_p[p+1]);
}
}
}
}
}
// rtx_message("numbers of obstacles: %d\n",obst_p_start.size());
if (obst_p_start.size()==0){
continue;
}
// Fuse obstacles
n=obst_p_start.size()-1;
k=0;
while (n>=k)
{
p=0;
while (n>=p)
{
if (obst_p_start[k].angle<obst_p_start[p].angle && obst_p_end[k].angle>obst_p_start[p].angle)
{
if (obst_p_end[k].angle<obst_p_end[p].angle)
{
obst_p_end[k].angle=obst_p_end[p].angle;
}
obst_p_start.erase(obst_p_start.begin()+p);
obst_p_end.erase(obst_p_end.begin()+p);
n--;
}
p++;
}
k++;
}
// set new Waypoint
safe_destpoint_x = obst_p_start[0].x;
safe_destpoint_y = obst_p_start[0].y;
dist_min = obst_p_start[0].dist + sqrt(pow(obst_p_start[0].x,2) + pow(obst_p_start[0].y,2));
for (l=1;l<obst_p_start.size();l++)
{
dist_test = obst_p_start[l].dist + sqrt(pow(obst_p_start[l].x,2) + pow(obst_p_start[l].y,2));
if(dist_min>dist_test)
{
dist_min=dist_test;
safe_destpoint_x = obst_p_start[l].x;
safe_destpoint_y = obst_p_start[l].y;
}
}
for (l=0;l<obst_p_end.size();l++)
{
dist_test = obst_p_end[l].dist + sqrt(pow(obst_p_end[l].x,2) + pow(obst_p_end[l].y,2));
if(dist_min>dist_test)
{
dist_min=dist_test;
safe_destpoint_x = obst_p_end[l].x;
safe_destpoint_y = obst_p_end[l].y;
}
}
ais_dest.new_dest_long = destination.longitude+safe_destpoint_y*180/(AV_PI*AV_EARTHRADIUS*cos(destination.latitude*AV_PI/180.0));
ais_dest.new_dest_lat = destination.latitude+safe_destpoint_x*180.0/(AV_PI*AV_EARTHRADIUS);
ais_dest.ais_dest_index ++;
ais_dest.global_skipper_flag = AV_FLAGS_GLOBALSK_AVOIDANCE;
aisDestData.t_writefrom(ais_dest);
rtx_message("safe point local: x: %f, y: %f", safe_destpoint_x, safe_destpoint_y);
rtx_message("new destpoint: lat: %f, long: %f", ais_dest.new_dest_lat, ais_dest.new_dest_long);
}
}
#if 0
for (simtime = 0; simtime < 40; simtime ++) //time in half-minutes...
{
#ifdef DEBUG_AISEVAL
printf("going through times (simtime = %d) \n",simtime);
#endif
ship_pos_longitude_dynamic +=
cos(remainder(((-(heading_ship - 90))*(AV_PI / 180)),2*AV_PI))
* simtime * 30 * 0.5144444 * ais.Ship[i].speed_over_ground;
ship_pos_latitude_dynamic +=
sin(remainder(((-(heading_ship - 90))*(AV_PI / 180)),2*AV_PI))
* simtime * 30 * 0.5144444 * ais.Ship[i].speed_over_ground;
distance_dynamic = sqrt((current_pos_longitude - ship_pos_longitude_dynamic)
*(current_pos_longitude - ship_pos_longitude_dynamic)
+ (current_pos_latitude - ship_pos_latitude_dynamic)
*(current_pos_latitude - ship_pos_latitude_dynamic));
#ifdef DEBUG_AISEVAL
printf("dynamic_longitude = %f \n",ship_pos_longitude_dynamic);
printf("dynamic_latitude = %f \n",ship_pos_latitude_dynamic);
printf("dynamic_distance = %f \n",distance_dynamic);
#endif
if ((distance_dynamic / 1.800555) - (simtime * 30) < 120.0)
{
#ifdef DEBUG_AISEVAL
printf("potential crash point for simtime = %d detected\n",simtime);
#endif
inserted = false;
#endif
#if 0
for (q = 0; q < ship.shipCount; q++)
{
#ifdef DEBUG_AISEVAL
rtx_message("checking if ship already in the list (counter = %d) \n",q);
#endif
if (ais.Ship[i].mmsi == ship.Data[q].mmsi)
{
#ifdef DEBUG_AISEVAL
rtx_message("updating an existing ship-entry\n");
#endif
ship.Data[q].timestamp = ais.Ship[i].timestamp;
ship.Data[q].longitude = ship_pos_longitude_dynamic;
ship.Data[q].latitude = ship_pos_latitude_dynamic;
inserted = true;
break;
}
}
if (!inserted)
{
#if 0
rtx_message("inserting a new ship at end of the list\n");
#endif
ship.Data[ship.shipCount].mmsi = ais.Ship[i].mmsi;
ship.Data[ship.shipCount].timestamp = ais.Ship[i].timestamp;
ship.Data[ship.shipCount].longitude = ship_pos_longitude_dynamic;
ship.Data[ship.shipCount].latitude = ship_pos_latitude_dynamic;
ship.shipCount ++;
inserted = true;
#ifdef DEBUG_AISEVAL
rtx_message("new shipCount = %d \n", ship.shipCount);
#endif
}
assert(inserted);
break;
}
shipData.t_writefrom(ship);
}
#endif
#if 0
else if (dataWindClean.hasTimedOut()) {
// Timeout. Probably no joystick connected.
rtx_message("Timeout while reading dataWindClean \n");}
else if (dataBoat.hasTimedOut()) {
// Timeout. Probably no joystick connected.
rtx_message("Timeout while reading IMU-Data \n");}
else
{
// Something strange happend. Critical Error.
rtx_error("Critical error while reading data");
// Emergency-Stop
rtx_main_signal_shutdown();
}
rtx_timer_sleep(0.1);
}
return NULL;
}
#endif
}
// Error handling for C functions (return 0 on success)
#define DOC(c) {int ret = c;if (ret != 0) {rtx_error("Command "#c" failed with value %d",ret);return -1;}}
// Error handling for C++ function (return true on success)
#define DOB(c) if (!(c)) {rtx_error("Command "#c" failed");return -1;}
// Error handling for pointer-returning function (return NULL on failure)
#define DOP(c) if ((c)==NULL) {rtx_error("Command "#c" failed");return -1;}
// Some self-defined utility functions:
int sign(int i) // gives back the sign of an int
{
if (i>=0)
return 1;
else
return -1;
}
int sign(double i) // gives back the sign of a float
{
if (i>=0)
return 1;
else
return -1;
}
int main (int argc, const char * argv[])
{
RtxThread * th;
int ret;
// Process the command line
if ((ret = RTX_GETOPT_CMD (producerOpts, argc, argv, NULL, producerHelpStr)) == -1) {
RTX_GETOPT_PRINT (producerOpts, argv[0], NULL, producerHelpStr);
exit (1);
}
rtx_main_init ("AIS Eval Interface", RTX_ERROR_STDERR);
// Open the store
DOB(store.open());
// Register the new Datatypes
DOC(DDX_STORE_REGISTER_TYPE (store.getId(), Flags));
DOC(DDX_STORE_REGISTER_TYPE (store.getId(), imuData));
DOC(DDX_STORE_REGISTER_TYPE (store.getId(), imuCleanData));
DOC(DDX_STORE_REGISTER_TYPE (store.getId(), ShipStruct));
DOC(DDX_STORE_REGISTER_TYPE (store.getId(), ShipData));
DOC(DDX_STORE_REGISTER_TYPE (store.getId(), AisStruct));
DOC(DDX_STORE_REGISTER_TYPE (store.getId(), AisData));
DOC(DDX_STORE_REGISTER_TYPE (store.getId(), AisDestData));
DOC(DDX_STORE_REGISTER_TYPE (store.getId(), DestinationStruct));
DOC(DDX_STORE_REGISTER_TYPE (store.getId(), DestinationData));
DOC(DDX_STORE_REGISTER_TYPE (store.getId(), SkipperFlags));
//
// Create output variable
DOB(store.registerVariable(dataFlags, varname_flags, "Flags"));
DOB(store.registerVariable(aisStruct, varname_aisStruct, "AisStruct"));
DOB(store.registerVariable(aisData, varname_aisData, "AisData"));
DOB(store.registerVariable(aisDestData, varname_aisDestData, "AisDestData"));
DOB(store.registerVariable(dataBoat, varname4, "imuData"));
DOB(store.registerVariable(dataImuClean, varname_imuClean, "imuCleanData"));
DOB(store.registerVariable(shipStruct, varname_shipStruct, "ShipStruct"));
DOB(store.registerVariable(shipData, varname_shipData, "ShipData"));
DOB(store.registerVariable(destinationData, varname_destData, "DestinationData"));
DOB(store.registerVariable(destinationStruct, varname_destStruct, "DestinationStruct"));
DOB(store.registerVariable(skipperFlagData, varname_skipperflags, "SkipperFlags"));
// Start the working thread
DOP(th = rtx_thread_create ("aisEval thread", 0,
RTX_THREAD_SCHED_OTHER, RTX_THREAD_PRIO_MIN, 0,
RTX_THREAD_CANCEL_DEFERRED,
translation_thread, NULL,
NULL, NULL));
// Wait for Ctrl-C
DOC (rtx_main_wait_shutdown (0));
rtx_message_routine ("Ctrl-C detected. Shutting down aisEval...");
// Terminating the thread
rtx_thread_destroy_sync (th);
// The destructors will take care of cleaning up the memory
return (0);
}