597 lines
19 KiB
C
597 lines
19 KiB
C
/**
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* @file global_nav.c
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* @brief 赛道级总控 — 混合导航状态机实现
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*
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* 实现 6 条垄沟 S 型遍历:
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* IDLE → ENTRY → TURN_IN → REACQUIRE → CORRIDOR_TRACK →
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* TURN_OUT → LINK → TURN_IN_NEXT → REACQUIRE → ...
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* → EXIT → DOCK → FINISHED
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*/
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#include "global_nav.h"
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#include "est/corridor_filter.h"
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#include "preproc/corridor_preproc.h"
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#include "robot_params.h"
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#include <math.h>
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#include <string.h>
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/* =========================================================
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* 内部状态
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* ========================================================= */
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static struct {
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GlobalNavStage_t stage;
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bool running;
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bool initialized;
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/* 赛道级 */
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uint8_t current_corridor_id;
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uint8_t corridors_completed;
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/* 转向 */
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float turn_start_yaw_deg; /* IMU yaw_continuous at turn start */
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float turn_target_delta_deg; /* 90° */
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int8_t turn_sign; /* +1 (CCW) or -1 (CW) */
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/* 里程 (用里程计积分距离) */
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float stage_entry_odom_vx_accum; /* 进入阶段时的里程计累计距离 */
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float odom_distance_accum; /* 运行中持续积分的里程 */
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/* 超时 */
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uint32_t stage_start_ms;
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/* 重捕获 */
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uint8_t reacquire_ok_count;
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/* 出场 */
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bool exit_vl53_lost;
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float exit_lost_distance;
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/* 航向保持 */
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float heading_ref_deg;
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/* EKF 进度保存 */
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float corridor_entry_s;
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/* 配置 */
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GlobalNavConfig_t cfg;
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} s_nav;
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/* 上一个周期的里程计速度，用于积分 */
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static float s_last_odom_vx = 0.0f;
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static uint32_t s_last_update_ms = 0;
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/* =========================================================
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* 辅助函数
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* ========================================================= */
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static inline float gnav_clampf(float val, float lo, float hi)
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{
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if (val < lo) return lo;
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if (val > hi) return hi;
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return val;
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}
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static inline float gnav_fabsf(float x)
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{
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return x < 0.0f ? -x : x;
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}
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/** 简单 P 控制航向保持，输入偏差 (deg)，输出角速度 (rad/s) */
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static float heading_hold_pd(float current_yaw_deg, float ref_yaw_deg, float kp)
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{
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float err_deg = ref_yaw_deg - current_yaw_deg;
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float w = kp * err_deg; /* kp 把 ° 映射到 rad/s */
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return gnav_clampf(w, -1.0f, 1.0f);
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}
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/** 检查侧向 VL53 是否探到壁 (至少有一侧的前后都有效) */
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static bool side_walls_detected(const CorridorObs_t* obs)
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{
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bool left_ok = (obs->valid_mask & CORRIDOR_OBS_MASK_LF) &&
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(obs->valid_mask & CORRIDOR_OBS_MASK_LR);
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bool right_ok = (obs->valid_mask & CORRIDOR_OBS_MASK_RF) &&
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(obs->valid_mask & CORRIDOR_OBS_MASK_RR);
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return left_ok || right_ok;
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}
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/** 检查侧向 VL53 是否全丢 */
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static bool all_side_lost(const CorridorObs_t* obs)
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{
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uint8_t side_mask = CORRIDOR_OBS_MASK_LF | CORRIDOR_OBS_MASK_LR |
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CORRIDOR_OBS_MASK_RF | CORRIDOR_OBS_MASK_RR;
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return (obs->valid_mask & side_mask) == 0U;
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}
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/** 检查重捕获条件 */
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static bool check_reacquire(const CorridorObs_t* obs, const CorridorState_t* state)
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{
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/* 条件 1: 至少 3 个侧向传感器有效 */
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uint8_t side_mask = CORRIDOR_OBS_MASK_LF | CORRIDOR_OBS_MASK_LR |
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CORRIDOR_OBS_MASK_RF | CORRIDOR_OBS_MASK_RR;
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uint8_t active = obs->valid_mask & side_mask;
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int count = 0;
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for (int i = 0; i < 4; i++) {
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if (active & (1U << i)) count++;
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}
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if (count < 3) return false;
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/* 条件 2: 左右距离和 ≈ 走廊宽度 */
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bool left_ok = (obs->valid_mask & CORRIDOR_OBS_MASK_LF) &&
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(obs->valid_mask & CORRIDOR_OBS_MASK_LR);
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bool right_ok = (obs->valid_mask & CORRIDOR_OBS_MASK_RF) &&
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(obs->valid_mask & CORRIDOR_OBS_MASK_RR);
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if (left_ok && right_ok) {
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float d_left = (obs->d_lf + obs->d_lr) * 0.5f;
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float d_right = (obs->d_rf + obs->d_rr) * 0.5f;
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float total_width = d_left + d_right + PARAM_ROBOT_WIDTH;
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float err = gnav_fabsf(total_width - s_nav.cfg.corridor_width);
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if (err > s_nav.cfg.reacquire_width_tol) return false;
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}
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/* 条件 3: EKF 置信度 */
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if (state->conf < s_nav.cfg.reacquire_conf_thresh) return false;
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return true;
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}
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/** 获取当前阶段的已行驶里程 */
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static float odom_since_entry(void)
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{
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return s_nav.odom_distance_accum - s_nav.stage_entry_odom_vx_accum;
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}
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/** 阶段转移 — 通用初始化 */
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static void transition_to(GlobalNavStage_t next, const RobotBlackboard_t* board);
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/* =========================================================
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* 阶段名称表
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* ========================================================= */
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static const char* const s_stage_names[] = {
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"IDLE",
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"ENTRY_STRAIGHT",
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"TURN_INTO_CORRIDOR",
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"REACQUIRE",
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"CORRIDOR_TRACK",
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"TURN_OUT",
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"LINK_STRAIGHT",
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"TURN_INTO_NEXT",
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"EXIT_STRAIGHT",
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"DOCK",
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"FINISHED",
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"ERROR"
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};
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/* =========================================================
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* 转向执行 (统一的 90° 转向逻辑)
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* ========================================================= */
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static void execute_turn(const CorridorObs_t* obs,
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const CorridorState_t* state,
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const RobotBlackboard_t* board,
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uint32_t now_ms,
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GlobalNavOutput_t* out)
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{
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float imu_yaw = board->imu_yaw_continuous.is_valid
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? board->imu_yaw_continuous.value : 0.0f;
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/* 已转过的角度 (取绝对值) */
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float delta = (imu_yaw - s_nav.turn_start_yaw_deg) * s_nav.turn_sign;
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float target = s_nav.turn_target_delta_deg;
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float remaining_deg = target - delta;
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float omega = s_nav.cfg.turn_omega;
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/* 接近目标时减速 */
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float decel_zone_deg = PARAM_RAD2DEG(s_nav.cfg.turn_decel_zone_rad);
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if (remaining_deg < decel_zone_deg && decel_zone_deg > 0.01f) {
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float ratio = remaining_deg / decel_zone_deg;
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if (ratio < 0.0f) ratio = 0.0f;
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omega = s_nav.cfg.turn_min_omega +
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ratio * (s_nav.cfg.turn_omega - s_nav.cfg.turn_min_omega);
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}
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out->override_v = 0.0f;
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out->override_w = (float)s_nav.turn_sign * omega;
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out->use_override = true;
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out->request_corridor = false;
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out->safety_mode = SAFETY_MODE_TURN;
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/* 转向完成判定 */
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float tolerance_deg = PARAM_RAD2DEG(s_nav.cfg.turn_tolerance_rad);
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if (delta >= target - tolerance_deg) {
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switch (s_nav.stage) {
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case GNAV_TURN_INTO_CORRIDOR:
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case GNAV_TURN_INTO_NEXT:
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transition_to(GNAV_REACQUIRE, board);
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break;
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case GNAV_TURN_OUT_OF_CORRIDOR:
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if (TrackMap_IsLastCorridor(s_nav.current_corridor_id)) {
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transition_to(GNAV_EXIT_STRAIGHT, board);
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} else {
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transition_to(GNAV_LINK_STRAIGHT, board);
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}
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break;
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default:
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break;
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}
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return;
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}
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/* 超时保护 */
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if (now_ms - s_nav.stage_start_ms > s_nav.cfg.turn_timeout_ms) {
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transition_to(GNAV_ERROR, board);
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}
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}
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/* =========================================================
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* 阶段转移
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* ========================================================= */
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static void transition_to(GlobalNavStage_t next, const RobotBlackboard_t* board)
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{
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float imu_yaw = (board != NULL && board->imu_yaw_continuous.is_valid)
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? board->imu_yaw_continuous.value : 0.0f;
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/* 通用: 记录进入时间和里程 */
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s_nav.stage_start_ms = s_last_update_ms;
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s_nav.stage_entry_odom_vx_accum = s_nav.odom_distance_accum;
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s_nav.reacquire_ok_count = 0;
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switch (next) {
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case GNAV_ENTRY_STRAIGHT:
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s_nav.heading_ref_deg = imu_yaw;
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s_nav.current_corridor_id = TrackMap_Get()->entry_corridor_id;
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break;
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case GNAV_TURN_INTO_CORRIDOR: {
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const CorridorDescriptor_t* cd = TrackMap_GetCorridor(s_nav.current_corridor_id);
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s_nav.turn_sign = (int8_t)cd->entry_turn_dir;
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s_nav.turn_start_yaw_deg = imu_yaw;
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s_nav.turn_target_delta_deg = 90.0f;
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break;
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}
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case GNAV_TURN_OUT_OF_CORRIDOR: {
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const CorridorDescriptor_t* cd = TrackMap_GetCorridor(s_nav.current_corridor_id);
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s_nav.turn_sign = (int8_t)cd->exit_turn_dir;
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s_nav.turn_start_yaw_deg = imu_yaw;
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s_nav.turn_target_delta_deg = 90.0f;
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break;
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}
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case GNAV_TURN_INTO_NEXT: {
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uint8_t next_id = TrackMap_GetNextCorridorId(s_nav.current_corridor_id);
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const CorridorDescriptor_t* cd = TrackMap_GetCorridor(next_id);
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s_nav.turn_sign = (int8_t)cd->entry_turn_dir;
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s_nav.turn_start_yaw_deg = imu_yaw;
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s_nav.turn_target_delta_deg = 90.0f;
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s_nav.current_corridor_id = next_id;
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break;
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}
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case GNAV_REACQUIRE:
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/* EKF 重置: 新沟的 e_y 参考不同，必须重建 */
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CorridorFilter_Reset();
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s_nav.heading_ref_deg = imu_yaw;
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break;
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case GNAV_CORRIDOR_TRACK:
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s_nav.corridor_entry_s = 0.0f; /* EKF 已 reset, s 从 0 开始 */
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break;
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case GNAV_LINK_STRAIGHT:
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s_nav.heading_ref_deg = imu_yaw;
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break;
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case GNAV_EXIT_STRAIGHT:
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s_nav.heading_ref_deg = imu_yaw;
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s_nav.exit_vl53_lost = false;
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s_nav.exit_lost_distance = 0.0f;
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break;
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case GNAV_DOCK:
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break;
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case GNAV_FINISHED:
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s_nav.running = false;
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break;
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case GNAV_ERROR:
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break;
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default:
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break;
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}
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s_nav.stage = next;
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}
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/* =========================================================
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* 公开 API
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* ========================================================= */
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void GlobalNav_Init(const GlobalNavConfig_t* cfg)
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{
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memset(&s_nav, 0, sizeof(s_nav));
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s_nav.cfg = *cfg;
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s_nav.stage = GNAV_IDLE;
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s_nav.running = false;
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s_nav.initialized = true;
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s_last_odom_vx = 0.0f;
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s_last_update_ms = 0;
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}
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void GlobalNav_Start(void)
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{
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if (!s_nav.initialized) return;
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s_nav.running = true;
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s_nav.corridors_completed = 0;
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s_nav.odom_distance_accum = 0.0f;
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s_nav.stage_entry_odom_vx_accum = 0.0f;
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s_nav.current_corridor_id = TrackMap_Get()->entry_corridor_id;
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/* 不在这里 transition_to，因为还没有 board 数据。
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下一个 Update 周期里发现 running && IDLE 时再 transition。 */
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s_nav.stage = GNAV_IDLE;
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}
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void GlobalNav_Stop(void)
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{
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s_nav.running = false;
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s_nav.stage = GNAV_FINISHED;
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}
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void GlobalNav_Reset(void)
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{
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s_nav.stage = GNAV_IDLE;
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s_nav.running = false;
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s_nav.corridors_completed = 0;
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s_nav.odom_distance_accum = 0.0f;
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}
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GlobalNavStage_t GlobalNav_GetStage(void)
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{
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return s_nav.stage;
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}
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const char* GlobalNav_GetStageName(GlobalNavStage_t stage)
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{
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if (stage <= GNAV_ERROR) {
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return s_stage_names[stage];
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}
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return "UNKNOWN";
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}
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/* =========================================================
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* 核心 Update
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* ========================================================= */
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void GlobalNav_Update(const CorridorObs_t* obs,
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const CorridorState_t* state,
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const RobotBlackboard_t* board,
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GlobalNavOutput_t* out)
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{
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if (!s_nav.initialized) {
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memset(out, 0, sizeof(*out));
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return;
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}
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uint32_t now_ms = s_last_update_ms;
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/* 用 HAL_GetTick 代理 — 实际上 app_tasks 会传入 board 里的时间 */
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{
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/* 里程计积分: Δd = vx * dt */
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float odom_vx = board->odom_vx;
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if (s_last_update_ms > 0) {
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/* 使用 board 中的时间戳估计当前时间 */
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uint32_t cur_ms = board->imu_wz.timestamp_ms;
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if (cur_ms == 0) cur_ms = s_last_update_ms + 20U;
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float dt = (float)(cur_ms - s_last_update_ms) * 0.001f;
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if (dt > 0.0f && dt < 0.5f) {
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s_nav.odom_distance_accum += gnav_fabsf(odom_vx) * dt;
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}
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now_ms = cur_ms;
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} else {
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now_ms = board->imu_wz.timestamp_ms;
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if (now_ms == 0) now_ms = 1;
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}
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s_last_update_ms = now_ms;
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s_last_odom_vx = odom_vx;
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}
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float imu_yaw_deg = board->imu_yaw_continuous.is_valid
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? board->imu_yaw_continuous.value : 0.0f;
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/* 默认输出 */
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out->use_override = true;
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out->request_corridor = false;
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out->override_v = 0.0f;
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out->override_w = 0.0f;
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out->safety_mode = SAFETY_MODE_IDLE;
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out->stage = s_nav.stage;
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out->corridor_id = s_nav.current_corridor_id;
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out->corridors_done = s_nav.corridors_completed;
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out->active = s_nav.running;
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out->stage_name = GlobalNav_GetStageName(s_nav.stage);
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if (!s_nav.running) return;
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/* IDLE → 自动进入 ENTRY_STRAIGHT */
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if (s_nav.stage == GNAV_IDLE) {
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transition_to(GNAV_ENTRY_STRAIGHT, board);
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out->stage = s_nav.stage;
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out->stage_name = GlobalNav_GetStageName(s_nav.stage);
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}
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uint32_t elapsed_ms = now_ms - s_nav.stage_start_ms;
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switch (s_nav.stage) {
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/* ============================================================
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* 入场直线
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* ============================================================ */
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case GNAV_ENTRY_STRAIGHT:
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out->override_v = s_nav.cfg.entry_v;
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out->override_w = heading_hold_pd(imu_yaw_deg, s_nav.heading_ref_deg,
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s_nav.cfg.heading_kp);
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out->safety_mode = SAFETY_MODE_STRAIGHT;
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if (side_walls_detected(obs) ||
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odom_since_entry() >= s_nav.cfg.entry_distance ||
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elapsed_ms > s_nav.cfg.entry_timeout_ms)
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{
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transition_to(GNAV_TURN_INTO_CORRIDOR, board);
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}
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break;
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/* ============================================================
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* 三种转向状态统一处理
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* ============================================================ */
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case GNAV_TURN_INTO_CORRIDOR:
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case GNAV_TURN_OUT_OF_CORRIDOR:
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case GNAV_TURN_INTO_NEXT:
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execute_turn(obs, state, board, now_ms, out);
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break;
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/* ============================================================
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* 重捕获走廊
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* ============================================================ */
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case GNAV_REACQUIRE:
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out->override_v = s_nav.cfg.reacquire_v;
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out->override_w = heading_hold_pd(imu_yaw_deg, s_nav.heading_ref_deg,
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s_nav.cfg.heading_kp);
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out->safety_mode = SAFETY_MODE_STRAIGHT;
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if (check_reacquire(obs, state)) {
|
||
s_nav.reacquire_ok_count++;
|
||
} else {
|
||
s_nav.reacquire_ok_count = 0;
|
||
}
|
||
|
||
if (s_nav.reacquire_ok_count >= s_nav.cfg.reacquire_confirm_ticks) {
|
||
transition_to(GNAV_CORRIDOR_TRACK, board);
|
||
}
|
||
if (elapsed_ms > s_nav.cfg.reacquire_timeout_ms) {
|
||
transition_to(GNAV_ERROR, board);
|
||
}
|
||
break;
|
||
|
||
/* ============================================================
|
||
* 沟内闭环跟踪 (交给 corridor_ctrl)
|
||
* ============================================================ */
|
||
case GNAV_CORRIDOR_TRACK:
|
||
out->use_override = false;
|
||
out->request_corridor = true;
|
||
out->safety_mode = SAFETY_MODE_CORRIDOR;
|
||
|
||
/* 到端检测 */
|
||
{
|
||
bool front_valid = (obs->valid_mask & CORRIDOR_OBS_MASK_FRONT) != 0U;
|
||
if (front_valid && obs->d_front <= s_nav.cfg.corridor_end_detect_dist) {
|
||
/* 里程下限保护: 至少走了 1.0m 才允许认定到端，避免假阳性 */
|
||
float corridor_odom = odom_since_entry();
|
||
if (corridor_odom > 1.0f) {
|
||
s_nav.corridors_completed++;
|
||
transition_to(GNAV_TURN_OUT_OF_CORRIDOR, board);
|
||
}
|
||
}
|
||
}
|
||
/* 里程超长保护 */
|
||
if (odom_since_entry() > s_nav.cfg.corridor_length_max) {
|
||
s_nav.corridors_completed++;
|
||
transition_to(GNAV_TURN_OUT_OF_CORRIDOR, board);
|
||
}
|
||
break;
|
||
|
||
/* ============================================================
|
||
* 连接段直行
|
||
* ============================================================ */
|
||
case GNAV_LINK_STRAIGHT:
|
||
out->override_v = s_nav.cfg.link_v;
|
||
out->override_w = heading_hold_pd(imu_yaw_deg, s_nav.heading_ref_deg,
|
||
s_nav.cfg.heading_kp);
|
||
out->safety_mode = SAFETY_MODE_STRAIGHT;
|
||
|
||
if (odom_since_entry() >= s_nav.cfg.link_distance ||
|
||
side_walls_detected(obs))
|
||
{
|
||
transition_to(GNAV_TURN_INTO_NEXT, board);
|
||
}
|
||
if (elapsed_ms > s_nav.cfg.link_timeout_ms) {
|
||
transition_to(GNAV_ERROR, board);
|
||
}
|
||
break;
|
||
|
||
/* ============================================================
|
||
* 出场直行
|
||
* ============================================================ */
|
||
case GNAV_EXIT_STRAIGHT:
|
||
out->override_v = s_nav.cfg.exit_v;
|
||
out->override_w = heading_hold_pd(imu_yaw_deg, s_nav.heading_ref_deg,
|
||
s_nav.cfg.heading_kp);
|
||
out->safety_mode = SAFETY_MODE_STRAIGHT;
|
||
|
||
/* 检测侧向全丢 */
|
||
if (!s_nav.exit_vl53_lost && all_side_lost(obs)) {
|
||
s_nav.exit_vl53_lost = true;
|
||
s_nav.exit_lost_distance = s_nav.odom_distance_accum;
|
||
}
|
||
if (s_nav.exit_vl53_lost) {
|
||
float since_lost = s_nav.odom_distance_accum - s_nav.exit_lost_distance;
|
||
if (since_lost >= s_nav.cfg.exit_runout) {
|
||
transition_to(GNAV_DOCK, board);
|
||
}
|
||
}
|
||
/* 里程上限保护 */
|
||
if (odom_since_entry() >= s_nav.cfg.exit_max_dist) {
|
||
transition_to(GNAV_DOCK, board);
|
||
}
|
||
if (elapsed_ms > s_nav.cfg.exit_timeout_ms) {
|
||
transition_to(GNAV_DOCK, board);
|
||
}
|
||
break;
|
||
|
||
/* ============================================================
|
||
* 回停启动区
|
||
* ============================================================ */
|
||
case GNAV_DOCK:
|
||
out->override_v = s_nav.cfg.dock_v;
|
||
out->override_w = 0.0f;
|
||
out->safety_mode = SAFETY_MODE_STRAIGHT;
|
||
|
||
if (odom_since_entry() >= s_nav.cfg.dock_distance ||
|
||
elapsed_ms > 5000U)
|
||
{
|
||
transition_to(GNAV_FINISHED, board);
|
||
}
|
||
break;
|
||
|
||
/* ============================================================
|
||
* 终态
|
||
* ============================================================ */
|
||
case GNAV_FINISHED:
|
||
out->override_v = 0.0f;
|
||
out->override_w = 0.0f;
|
||
out->safety_mode = SAFETY_MODE_IDLE;
|
||
out->active = false;
|
||
break;
|
||
|
||
/* ============================================================
|
||
* 异常态
|
||
* ============================================================ */
|
||
case GNAV_ERROR:
|
||
out->override_v = 0.0f;
|
||
out->override_w = 0.0f;
|
||
out->safety_mode = SAFETY_MODE_IDLE;
|
||
|
||
if (elapsed_ms > 2000U) {
|
||
transition_to(GNAV_FINISHED, board);
|
||
}
|
||
break;
|
||
|
||
default:
|
||
out->override_v = 0.0f;
|
||
out->override_w = 0.0f;
|
||
break;
|
||
}
|
||
|
||
/* 更新输出阶段 (可能在 switch 内已经 transition) */
|
||
out->stage = s_nav.stage;
|
||
out->stage_name = GlobalNav_GetStageName(s_nav.stage);
|
||
out->corridor_id = s_nav.current_corridor_id;
|
||
out->corridors_done = s_nav.corridors_completed;
|
||
out->active = s_nav.running;
|
||
}
|