@Override
public void startWaypoint(
final UtmPose waypoint, final String controller, final WaypointObserver obs) {
final double dt = (double) UPDATE_INTERVAL_MS / 1000.0;
// Keep a reference to the navigation flag for THIS waypoint
final AtomicBoolean isNavigating = new AtomicBoolean(true);
System.out.println("\nStart Waypoint to " + waypoint.pose.position.x);
// Set this to be the current navigation flag
synchronized (_navigationLock) {
if (_isNavigating != null) _isNavigating.set(false);
_isNavigating = isNavigating;
_waypoint = waypoint.clone();
}
new Thread(
new Runnable() {
@Override
public void run() {
while (isNavigating.get()) {
// If we are not set in autonomous mode, don't try to drive!
if (!_isAutonomous.get()) {
// TODO: probably should add a "paused" state
if (obs != null) obs.waypointUpdate(WaypointState.OFF);
} else {
// Report our status as moving toward target
if (obs != null) obs.waypointUpdate(WaypointState.GOING);
// Get the position of the vehicle and the waypoint
// TODO: fix threading issue (fast stop/start)
Pose pose = _pose.pose.pose.pose;
Pose wpPose = _waypoint.pose;
// TODO: handle different UTM zones!
// Figure out how to drive to waypoint
_controller.controller.update(SimpleBoatSimulator.this, dt);
// TODO: measure dt directly instead of approximating
// Check for termination condition
// TODO: termination conditions tested by controller
double dist = distToGoal(pose, wpPose);
if (dist <= 6.0) {
System.out.println("Should reach a waypoint now.");
break;
}
}
// Pause for a while
try {
Thread.sleep(UPDATE_INTERVAL_MS);
} catch (InterruptedException e) {
}
}
// Stop the vehicle
_velocity.linear.x = 0.0;
_velocity.linear.y = 0.0;
_velocity.linear.z = 0.0;
_velocity.angular.x = 0.0;
_velocity.angular.y = 0.0;
_velocity.angular.z = 0.0;
// Upon completion, report status
// (if isNavigating is still true, we completed on our own)
if (isNavigating.getAndSet(false)) {
if (obs != null) {
obs.waypointUpdate(WaypointState.DONE);
System.out.println("Should report reaching a waypoint now.");
}
} else {
if (obs != null) {
obs.waypointUpdate(WaypointState.CANCELLED);
System.out.println("Should report cancelling a waypoint now.");
}
}
}
})
.start();
}
@Override
public void startWaypoint(final UtmPose waypoint, String controller, final WaypointObserver obs) {
// Keep a reference to the navigation flag for THIS waypoint
final AtomicBoolean isNavigating = new AtomicBoolean(true);
System.out.println("\nStart Waypoint to " + waypoint.pose.position.x);
// Set this to be the current navigation flag
synchronized (_navigationLock) {
if (_isNavigating != null) {
_isNavigating.set(false);
}
_isNavigating = isNavigating;
_waypoint = waypoint.clone();
}
new Thread(
new Runnable() {
@Override
public void run() {
while (isNavigating.get()) {
// If we are not set in autonomous mode, don't try to drive!
// if (_isAutonomous.get()) {
// Get the position of the vehicle and the waypoint
UtmPoseWithCovarianceStamped state = getState();
Pose pose = state.pose.pose.pose;
Pose wpPose = waypoint.pose;
// TODO: handle different UTM zones!
// Compute the distance and angle to the waypoint
// TODO: compute distance more efficiently
double distance =
Math.sqrt(
Math.pow((wpPose.position.x - pose.position.x), 2)
+ Math.pow((wpPose.position.y - pose.position.y), 2));
double angle =
Math.atan2(
(wpPose.position.y - pose.position.y),
(wpPose.position.x - pose.position.x))
- QuaternionUtils.toYaw(pose.orientation);
angle = normalizeAngle(angle);
// Choose driving behavior depending on direction and
// where we are
if (Math.abs(angle) > 1.0) {
// If we are facing away, turn around first
_velocity.linear.x = 1.0;
_velocity.angular.z = Math.max(Math.min(angle / 1.0, 5.0), -5.0);
} else if (distance >= 3.0) {
// If we are far away, drive forward and turn
_velocity.linear.x = Math.min(distance / 5.0, 400.0);
_velocity.angular.z = Math.max(Math.min(angle / 10.0, 5.0), -5.0);
} else /* (distance < 3.0) */ {
break;
}
// }
// Pause for a while
try {
Thread.sleep(LOCAL_UPDATE_INTERVAL);
if (obs != null) {
obs.waypointUpdate(WaypointState.GOING);
}
} catch (InterruptedException e) {
e.printStackTrace();
}
}
// Stop the vehicle
_velocity.linear.x = 0.0;
_velocity.angular.z = 0.0;
// Upon completion, report status
// (if isNavigating is still true, we completed on our own)
if (isNavigating.getAndSet(false)) {
if (obs != null) {
obs.waypointUpdate(WaypointState.DONE);
}
} else {
if (obs != null) {
obs.waypointUpdate(WaypointState.CANCELLED);
}
}
}
})
.start();
}
