y2016/actors/superstructure_actor.cc

#include "y2016/actors/superstructure_actor.h"

#include <cmath>

#include "aos/util/phased_loop.h"
#include "aos/logging/logging.h"
#include "y2016/actors/superstructure_actor.h"
#include "y2016/control_loops/superstructure/superstructure.q.h"

namespace y2016 {
namespace actors {

namespace chrono = ::std::chrono;

SuperstructureActor::SuperstructureActor(
    actors::SuperstructureActionQueueGroup *s)
    : aos::common::actions::ActorBase<actors::SuperstructureActionQueueGroup>(
          s) {}

bool SuperstructureActor::RunAction(
    const actors::SuperstructureActionParams &params) {
  LOG(INFO, "Starting superstructure action\n");

  MoveSuperstructure(params.partial_angle, params.shooter_angle, false);
  WaitForSuperstructure();
  if (ShouldCancel()) return true;
  MoveSuperstructure(params.partial_angle, params.shooter_angle, true);
  if (!WaitOrCancel(chrono::duration_cast<::aos::monotonic_clock::duration>(
          chrono::duration<double>(params.delay_time))))
    return true;
  MoveSuperstructure(params.full_angle, params.shooter_angle, true);
  WaitForSuperstructure();
  if (ShouldCancel()) return true;
  return true;
}

void SuperstructureActor::MoveSuperstructure(double shoulder, double shooter,
                                             bool unfold_climber) {
  superstructure_goal_ = {0, shoulder, shooter};

  auto new_superstructure_goal =
      ::y2016::control_loops::superstructure_queue.goal.MakeMessage();

  new_superstructure_goal->angle_intake = 0;
  new_superstructure_goal->angle_shoulder = shoulder;
  new_superstructure_goal->angle_wrist = shooter;

  new_superstructure_goal->max_angular_velocity_intake = 7.0;
  new_superstructure_goal->max_angular_velocity_shoulder = 4.0;
  new_superstructure_goal->max_angular_velocity_wrist = 10.0;

  new_superstructure_goal->max_angular_acceleration_intake = 40.0;
  new_superstructure_goal->max_angular_acceleration_shoulder = 5.0;
  new_superstructure_goal->max_angular_acceleration_wrist = 25.0;

  new_superstructure_goal->voltage_top_rollers = 0;
  new_superstructure_goal->voltage_bottom_rollers = 0;

  new_superstructure_goal->traverse_unlatched = true;
  new_superstructure_goal->traverse_down = false;
  new_superstructure_goal->voltage_climber = 0.0;
  new_superstructure_goal->unfold_climber = unfold_climber;

  if (!new_superstructure_goal.Send()) {
    LOG(ERROR, "Sending superstructure move failed.\n");
  }
}

bool SuperstructureActor::SuperstructureProfileDone() {
  constexpr double kProfileError = 1e-2;
  return ::std::abs(
             control_loops::superstructure_queue.status->intake.goal_angle -
             superstructure_goal_.intake) < kProfileError &&
         ::std::abs(
             control_loops::superstructure_queue.status->shoulder.goal_angle -
             superstructure_goal_.shoulder) < kProfileError &&
         ::std::abs(control_loops::superstructure_queue.status->intake
                        .goal_angular_velocity) < kProfileError &&
         ::std::abs(control_loops::superstructure_queue.status->shoulder
                        .goal_angular_velocity) < kProfileError;
}

bool SuperstructureActor::SuperstructureDone() {
  control_loops::superstructure_queue.status.FetchAnother();

  // We are no longer running if we are in the zeroing states (below 12), or
  // estopped.
  if (control_loops::superstructure_queue.status->state < 12 ||
      control_loops::superstructure_queue.status->state == 16) {
    LOG(ERROR, "Superstructure no longer running, aborting action\n");
    return true;
  }

  if (SuperstructureProfileDone()) {
    LOG(DEBUG, "Profile done.\n");
      return true;
  }
  return false;
}

void SuperstructureActor::WaitForSuperstructure() {
  while (true) {
    if (ShouldCancel()) return;
    if (SuperstructureDone()) return;
  }
}

::std::unique_ptr<SuperstructureAction> MakeSuperstructureAction(
    const ::y2016::actors::SuperstructureActionParams& params) {
  return ::std::unique_ptr<SuperstructureAction>(new SuperstructureAction(
      &::y2016::actors::superstructure_action, params));
}

}  // namespace actors
}  // namespace y2016