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Direct Goal.cpp
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Direct Goal.cpp
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#include "utils.h"
#include <thread>
using namespace boost::asio;
RoboCupSSLClient client(40102,"224.5.23.2","");
SSL_WrapperPacket recieve_packet;
SSL_DetectionFrame detection;
ip::udp::endpoint remote_endpoint;
boost::system::error_code err;
double x_vel=0.0,y_vel=0.0,w_vel=0.0,ang=0.0,angle=0.0;
pid pid_X(0.002,0.001,0.0),pid_Y(0.0007,0.001,0.0),pid_W(0.03,0.0,0.0);
class DataSend{
private:
grSim_Packet send_packet;
grSim_Robot_Command* command;
std::ostringstream stream;
public:
DataSend(bool isteamyellow){
send_packet.mutable_commands()->set_isteamyellow(isteamyellow);
send_packet.mutable_commands()->set_timestamp(0.0);
command = send_packet.mutable_commands()->add_robot_commands();
/*initialize the commands*/
command->set_id(0);
command->set_wheelsspeed(false);
command->set_veltangent(0.0);
command->set_velnormal(0.0);
command->set_velangular(0.0);
command->set_kickspeedx(0.0);
command->set_kickspeedz(0.0);
command->set_spinner(false);
/*Initialization ends*/
}
void Stop(int BotID){
command->set_id(BotID);
command->set_wheelsspeed(false);
command->set_veltangent(0.0);
command->set_velnormal(0.0);
command->set_velangular(0.0);
command->set_kickspeedx(0.0);
command->set_kickspeedz(0.0);
command->set_spinner(false);
}
void addCommands(int BotID=0,bool SetWheelSpeed=false,double x_vel=0.0,double y_vel=0.0,double w_vel=0.0,double kickSpeedX=0.0,double kickSpeedZ=0.0,bool setSpinner=false){
command->set_id(BotID);
command->set_wheelsspeed(SetWheelSpeed);
command->set_veltangent(x_vel);
command->set_velnormal(y_vel);
command->set_velangular(w_vel);
command->set_kickspeedx(kickSpeedX);
command->set_kickspeedz(kickSpeedZ);
command->set_spinner(setSpinner);
}
grSim_Robot_Command* getCommands(){
return command;
}
void setCommand(grSim_Robot_Command* new_command){
command = new_command;
}
string Serialize(){
send_packet.SerializeToOstream(&stream);
std::string data = stream.str();
return data;
}
};
class Alternate
{
public:
//Start with kick off from formation for yellow team
//After kickoff select positions for 2 bots and do an indirect goal
//Return to previous positions and try kick-off + direct shot
grSim_Robot_Command* goal(grSim_Robot_Command* command,SSL_DetectionFrame detection){
SSL_DetectionBall ball = detection.balls(0);
SSL_DetectionRobot sending_bot = detection.robots_yellow(3),receiving_bot = detection.robots_yellow(2);
double theta = calc_angle_between_points(-4000.0,0.0,ball.x(),ball.y());
x_vel = pid_X.calculate(sending_bot.x(),ball.x()+105);
y_vel = pid_Y.calculate(sending_bot.y(),ball.y()+20);
ang = calc_angle_between_points(sending_bot.x(),sending_bot.y(),-4000.0,0.0);
angle = sending_bot.orientation() * 180/PI;
angle = fmod(angle+450.0,360.0);
w_vel = pid_W.calculate(ang,angle);
w_vel = 0.0;
printf("PidX: %3.2f PidY: %3.2f PidW: %3.2f ",x_vel,y_vel,w_vel);
command->set_id(3);
command->set_wheelsspeed(false);
if(angle>=180.0 && angle<=360.0)
command->set_veltangent(-x_vel);
else command->set_veltangent(x_vel);
if(angle>=180.0 && angle<=360.0)
command->set_velnormal(-y_vel);
else command->set_velnormal(y_vel);
if(abs(w_vel)<=0.50) w_vel = 0.0;
if(abs(ang - angle) < 180.0)
command->set_velangular(-w_vel);
else command->set_velangular(w_vel);
command->set_kickspeedx(5.0);
command->set_kickspeedz(0.0);
command->set_spinner(false);
return command;
}
};
int main(){
io_service io_service;
ip::udp::socket socket(io_service);
socket.open(ip::udp::v4());
remote_endpoint = ip::udp::endpoint(ip::address::from_string("127.0.0.1"),20011);
//Starting Connection to grSim Multicast Server
printf("Connecting to Multicast Server......\n");
client.open(true);
printf("Connected\n");
//send bot 3 to the center then stop
bool goal_flag = false;
while(!goal_flag){
if (!client.receive(recieve_packet)){
printf("Connection to Server Unsuccessful!!\n");
return -1;
}
//printf("Client Successfully Connected\n");
if (!recieve_packet.has_detection()){
printf("Recieved Packet has no Detection Frame!!\n");
return -1;
}
detection = recieve_packet.detection();
DataSend messenger(true);//true to say that i am team Yellow
Alternate a;
grSim_Robot_Command* cmd = a.goal(messenger.getCommands(),detection);
messenger.setCommand(cmd);
std::string data = messenger.Serialize();
//std::cout<<"str: "<<stream.str()<<"\n";
socket.send_to(buffer(data,int(data.length())),remote_endpoint,0,err);
if(sqrt((detection.balls(0).x()*detection.balls(0).x()) + (detection.balls(0).y()*detection.balls(0).y()))>=20)
goal_flag = true;
if(abs(x_vel)<=0.02 && abs(y_vel)<=0.02)
goal_flag = true;
std::cout<<"\n";
}
DataSend messenger(true);//true to say that i am team Yellow
messenger.Stop(3);
std::string data = messenger.Serialize();
socket.send_to(buffer(data,int(data.length())),remote_endpoint,0,err);
printf("kickoff bot in position\n");
printf("Done!!\n");
socket.close();
return 0;
}