CAbstractNavigator.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#include "nav-precomp.h"  // Precomp header

#include <mrpt/nav/reactive/CAbstractNavigator.h>
#include <mrpt/math/lightweight_geom_data.h>
#include <mrpt/config/CConfigFileMemory.h>
#include <limits>
#include <typeinfo>

using namespace mrpt::nav;
using namespace std;

const double PREVIOUS_POSES_MAX_AGE = 20;  // seconds

// Ctor: CAbstractNavigator::TargetInfo
CAbstractNavigator::TargetInfo::TargetInfo()
    : target_coords(0, 0, 0),
      target_frame_id("map"),
      targetAllowedDistance(0.5),
      targetIsRelative(false),
      targetDesiredRelSpeed(.05),
      targetIsIntermediaryWaypoint(false)
{
}

// Gets navigation params as a human-readable format:
std::string CAbstractNavigator::TargetInfo::getAsText() const
{
    string s;
    s += mrpt::format(
        "target_coords = (%.03f,%.03f,%.03f deg)\n", target_coords.x,
        target_coords.y, target_coords.phi);
    s += mrpt::format("target_frame_id = \"%s\"\n", target_frame_id.c_str());
    s += mrpt::format("targetAllowedDistance = %.03f\n", targetAllowedDistance);
    s += mrpt::format(
        "targetIsRelative = %s\n", targetIsRelative ? "YES" : "NO");
    s += mrpt::format(
        "targetIsIntermediaryWaypoint = %s\n",
        targetIsIntermediaryWaypoint ? "YES" : "NO");
    s += mrpt::format("targetDesiredRelSpeed = %.02f\n", targetDesiredRelSpeed);
    return s;
}

bool mrpt::nav::CAbstractNavigator::TargetInfo::operator==(
    const TargetInfo& o) const
{
    return target_coords == o.target_coords &&
           target_frame_id == o.target_frame_id &&
           targetAllowedDistance == o.targetAllowedDistance &&
           targetIsRelative == o.targetIsRelative &&
           targetDesiredRelSpeed == o.targetDesiredRelSpeed &&
           targetIsIntermediaryWaypoint == o.targetIsIntermediaryWaypoint;
}

// Gets navigation params as a human-readable format:
std::string CAbstractNavigator::TNavigationParams::getAsText() const
{
    string s;
    s += "navparams. Single target:\n";
    s += target.getAsText();
    return s;
}

bool CAbstractNavigator::TNavigationParams::isEqual(
    const CAbstractNavigator::TNavigationParamsBase& o) const
{
    auto* rhs = dynamic_cast<const CAbstractNavigator::TNavigationParams*>(&o);
    return (rhs != nullptr) && (this->target == rhs->target);
}

CAbstractNavigator::TRobotPoseVel::TRobotPoseVel()
    : pose(0, 0, 0),
      velGlobal(0, 0, 0),
      velLocal(0, 0, 0),
      rawOdometry(0, 0, 0),
      timestamp(INVALID_TIMESTAMP),
      pose_frame_id()
{
}

/*---------------------------------------------------------------
                            Constructor
  ---------------------------------------------------------------*/
CAbstractNavigator::CAbstractNavigator(CRobot2NavInterface& react_iterf_impl)
    : mrpt::system::COutputLogger("MRPT_navigator"),
      m_lastNavigationState(IDLE),
      m_navigationEndEventSent(false),
      m_counter_check_target_is_blocked(0),
      m_navigationState(IDLE),
      m_robot(react_iterf_impl),
      m_curPoseVel(),
      m_last_curPoseVelUpdate_robot_time(-1e9),
      m_latestPoses(),
      m_latestOdomPoses(),
      m_timlog_delays(true, "CAbstractNavigator::m_timlog_delays")
{
    m_latestPoses.setInterpolationMethod(mrpt::poses::imLinear2Neig);
    m_latestOdomPoses.setInterpolationMethod(mrpt::poses::imLinear2Neig);
    this->setVerbosityLevel(mrpt::system::LVL_DEBUG);
}

// Dtor:
CAbstractNavigator::~CAbstractNavigator() {}
/** \callergraph */
void CAbstractNavigator::cancel()
{
    std::lock_guard<std::recursive_mutex> csl(m_nav_cs);
    MRPT_LOG_DEBUG("CAbstractNavigator::cancel() called.");
    m_navigationState = IDLE;
    this->stop(false /*not emergency*/);
}

/** \callergraph */
void CAbstractNavigator::resume()
{
    std::lock_guard<std::recursive_mutex> csl(m_nav_cs);

    MRPT_LOG_DEBUG("[CAbstractNavigator::resume() called.");
    if (m_navigationState == SUSPENDED) m_navigationState = NAVIGATING;
}

/** \callergraph */
void CAbstractNavigator::suspend()
{
    std::lock_guard<std::recursive_mutex> csl(m_nav_cs);

    // Issue an "stop" if we are moving:
    // Update: do it *always*, even if the current velocity is zero, since
    // we may be in the middle of a multi-part motion command. It's safer.
    this->stop(false /*not an emergency stop*/);

    MRPT_LOG_DEBUG("CAbstractNavigator::suspend() called.");
    if (m_navigationState == NAVIGATING) m_navigationState = SUSPENDED;
}

/** \callergraph */
void CAbstractNavigator::resetNavError()
{
    std::lock_guard<std::recursive_mutex> csl(m_nav_cs);

    MRPT_LOG_DEBUG("CAbstractNavigator::resetNavError() called.");
    if (m_navigationState == NAV_ERROR) m_navigationState = IDLE;
}

void CAbstractNavigator::setFrameTF(
    const std::weak_ptr<mrpt::poses::FrameTransformer<2>>& frame_tf)
{
    m_frame_tf = frame_tf;
}

void CAbstractNavigator::loadConfigFile(const mrpt::config::CConfigFileBase& c)
{
    MRPT_START

    params_abstract_navigator.loadFromConfigFile(c, "CAbstractNavigator");

    // At this point, all derived classes have already loaded their parameters.
    // Dump them to debug output:
    {
        mrpt::config::CConfigFileMemory cfg_mem;
        this->saveConfigFile(cfg_mem);
        MRPT_LOG_INFO(cfg_mem.getContent());
    }

    MRPT_END
}

void CAbstractNavigator::saveConfigFile(mrpt::config::CConfigFileBase& c) const
{
    params_abstract_navigator.saveToConfigFile(c, "CAbstractNavigator");
}

/** \callergraph */
void CAbstractNavigator::navigationStep()
{
    std::lock_guard<std::recursive_mutex> csl(m_nav_cs);
    mrpt::system::CTimeLoggerEntry tle(
        m_timlog_delays, "CAbstractNavigator::navigationStep()");

    const TState prevState = m_navigationState;
    switch (m_navigationState)
    {
        case IDLE:
        case SUSPENDED:
            try
            {
                // If we just arrived at this state, stop robot:
                if (m_lastNavigationState == NAVIGATING)
                {
                    MRPT_LOG_INFO(
                        "[CAbstractNavigator::navigationStep()] Navigation "
                        "stopped.");
                    // this->stop();  stop() is called by the method switching
                    // the "state", so we have more flexibility
                    m_robot.stopWatchdog();
                }
            }
            catch (...)
            {
            }
            break;

        case NAV_ERROR:
            try
            {
                // Send end-of-navigation event:
                if (m_lastNavigationState == NAVIGATING &&
                    m_navigationState == NAV_ERROR)
                {
                    m_pending_events.push_back(std::bind(
                        &CRobot2NavInterface::sendNavigationEndDueToErrorEvent,
                        std::ref(m_robot)));
                }

                // If we just arrived at this state, stop the robot:
                if (m_lastNavigationState == NAVIGATING)
                {
                    MRPT_LOG_ERROR(
                        "[CAbstractNavigator::navigationStep()] Stopping "
                        "Navigation due to a NAV_ERROR state!");
                    this->stop(false /*not emergency*/);
                    m_robot.stopWatchdog();
                }
            }
            catch (...)
            {
            }
            break;

        case NAVIGATING:
            this->performNavigationStepNavigating(
                true /* do call virtual method nav implementation*/);
            break;  // End case NAVIGATING
    };
    m_lastNavigationState = prevState;

    dispatchPendingNavEvents();
}

/** \callergraph */
void CAbstractNavigator::dispatchPendingNavEvents()
{
    // Invoke pending events:
    for (auto& ev : m_pending_events)
    {
        ev();
    }
    m_pending_events.clear();
}

/** \callergraph */
void CAbstractNavigator::doEmergencyStop(const std::string& msg)
{
    try
    {
        this->stop(true /* emergency*/);
    }
    catch (...)
    {
    }
    m_navigationState = NAV_ERROR;
    MRPT_LOG_ERROR(msg);
}

void CAbstractNavigator::onNavigateCommandReceived()
{
    std::lock_guard<std::recursive_mutex> csl(m_nav_cs);

    m_navigationEndEventSent = false;
    m_navigationParams.reset();
}

void CAbstractNavigator::processNavigateCommand(const TNavigationParams* params)
{
    MRPT_START;
    std::lock_guard<std::recursive_mutex> csl(m_nav_cs);

    ASSERT_(params != nullptr);
    ASSERT_(
        params->target.targetDesiredRelSpeed >= .0 &&
        params->target.targetDesiredRelSpeed <= 1.0);

    // Copy data:
    m_navigationParams = params->clone();

    // Transform: relative -> absolute, if needed.
    if (m_navigationParams->target.targetIsRelative)
    {
        this->updateCurrentPoseAndSpeeds();
        m_navigationParams->target.target_coords =
            m_curPoseVel.pose + m_navigationParams->target.target_coords;
        m_navigationParams->target.targetIsRelative =
            false;  // Now it's not relative
    }

    // new state:
    m_navigationState = NAVIGATING;

    // Reset the bad navigation alarm:
    m_badNavAlarm_minDistTarget = std::numeric_limits<double>::max();
    m_badNavAlarm_lastMinDistTime = mrpt::system::getCurrentTime();

    MRPT_END;
}

void CAbstractNavigator::navigate(
    const CAbstractNavigator::TNavigationParams* params)
{
    MRPT_START;
    this->onNavigateCommandReceived();
    this->processNavigateCommand(params);
    MRPT_END;
}

void CAbstractNavigator::updateCurrentPoseAndSpeeds()
{
    // Ignore calls too-close in time, e.g. from the navigationStep() methods of
    // AbstractNavigator and a derived, overriding class.
    const double robot_time_secs =
        m_robot.getNavigationTime();  // this is clockwall time for real robots,
    // simulated time in simulators.

    const double MIN_TIME_BETWEEN_POSE_UPDATES = 20e-3;
    if (m_last_curPoseVelUpdate_robot_time >= .0)
    {
        const double last_call_age =
            robot_time_secs - m_last_curPoseVelUpdate_robot_time;
        if (last_call_age < MIN_TIME_BETWEEN_POSE_UPDATES)
        {
            MRPT_LOG_THROTTLE_DEBUG_FMT(
                5.0,
                "updateCurrentPoseAndSpeeds: ignoring call, since last call "
                "was only %f ms ago.",
                last_call_age * 1e3);
            return;  // previous data is still valid: don't query the robot
            // again
        }
    }

    {
        mrpt::system::CTimeLoggerEntry tle(
            m_timlog_delays, "getCurrentPoseAndSpeeds()");
        m_curPoseVel.pose_frame_id = std::string("map");  // default
        if (!m_robot.getCurrentPoseAndSpeeds(
                m_curPoseVel.pose, m_curPoseVel.velGlobal,
                m_curPoseVel.timestamp, m_curPoseVel.rawOdometry,
                m_curPoseVel.pose_frame_id))
        {
            m_navigationState = NAV_ERROR;
            try
            {
                this->stop(true /*emergency*/);
            }
            catch (...)
            {
            }
            MRPT_LOG_ERROR(
                "ERROR calling m_robot.getCurrentPoseAndSpeeds, stopping robot "
                "and finishing navigation");
            throw std::runtime_error(
                "ERROR calling m_robot.getCurrentPoseAndSpeeds, stopping robot "
                "and finishing navigation");
        }
    }
    m_curPoseVel.velLocal = m_curPoseVel.velGlobal;
    m_curPoseVel.velLocal.rotate(-m_curPoseVel.pose.phi);

    m_last_curPoseVelUpdate_robot_time = robot_time_secs;
    const bool changed_frame_id =
        (m_last_curPoseVelUpdate_pose_frame_id != m_curPoseVel.pose_frame_id);
    m_last_curPoseVelUpdate_pose_frame_id = m_curPoseVel.pose_frame_id;

    if (changed_frame_id)
    {
        // If frame changed, clear past poses. This could be improved by
        // requesting
        // the transf between the two frames, but it's probably not worth.
        m_latestPoses.clear();
        m_latestOdomPoses.clear();
    }

    // Append to list of past poses:
    m_latestPoses.insert(m_curPoseVel.timestamp, m_curPoseVel.pose);
    m_latestOdomPoses.insert(m_curPoseVel.timestamp, m_curPoseVel.rawOdometry);

    // Purge old ones:
    while (m_latestPoses.size() > 1 &&
           mrpt::system::timeDifference(
               m_latestPoses.begin()->first, m_latestPoses.rbegin()->first) >
               PREVIOUS_POSES_MAX_AGE)
    {
        m_latestPoses.erase(m_latestPoses.begin());
    }
    while (m_latestOdomPoses.size() > 1 &&
           mrpt::system::timeDifference(
               m_latestOdomPoses.begin()->first,
               m_latestOdomPoses.rbegin()->first) > PREVIOUS_POSES_MAX_AGE)
    {
        m_latestOdomPoses.erase(m_latestOdomPoses.begin());
    }
}

/** \callergraph */
bool CAbstractNavigator::changeSpeeds(
    const mrpt::kinematics::CVehicleVelCmd& vel_cmd)
{
    return m_robot.changeSpeeds(vel_cmd);
}
/** \callergraph */
bool CAbstractNavigator::changeSpeedsNOP() { return m_robot.changeSpeedsNOP(); }
/** \callergraph */
bool CAbstractNavigator::stop(bool isEmergencyStop)
{
    return m_robot.stop(isEmergencyStop);
}

CAbstractNavigator::TAbstractNavigatorParams::TAbstractNavigatorParams()
    : dist_to_target_for_sending_event(0),
      alarm_seems_not_approaching_target_timeout(30),
      dist_check_target_is_blocked(0.6),
      hysteresis_check_target_is_blocked(3)
{
}
void CAbstractNavigator::TAbstractNavigatorParams::loadFromConfigFile(
    const mrpt::config::CConfigFileBase& c, const std::string& s)
{
    MRPT_LOAD_CONFIG_VAR_CS(dist_to_target_for_sending_event, double);
    MRPT_LOAD_CONFIG_VAR_CS(alarm_seems_not_approaching_target_timeout, double);
    MRPT_LOAD_CONFIG_VAR_CS(dist_check_target_is_blocked, double);
    MRPT_LOAD_CONFIG_VAR_CS(hysteresis_check_target_is_blocked, int);
}
void CAbstractNavigator::TAbstractNavigatorParams::saveToConfigFile(
    mrpt::config::CConfigFileBase& c, const std::string& s) const
{
    MRPT_SAVE_CONFIG_VAR_COMMENT(
        dist_to_target_for_sending_event,
        "Default value=0, means use the `targetAllowedDistance` passed by the "
        "user in the navigation request.");
    MRPT_SAVE_CONFIG_VAR_COMMENT(
        alarm_seems_not_approaching_target_timeout,
        "navigator timeout (seconds) [Default=30 sec]");
    MRPT_SAVE_CONFIG_VAR_COMMENT(
        dist_check_target_is_blocked,
        "When closer than this distance, check if the target is blocked to "
        "abort navigation with an error. [Default=0.6 m]");
    MRPT_SAVE_CONFIG_VAR_COMMENT(
        dist_to_target_for_sending_event,
        "Default value=0, means use the `targetAllowedDistance` passed by the"
        " user in the navigation request.");
    MRPT_SAVE_CONFIG_VAR_COMMENT(
        alarm_seems_not_approaching_target_timeout,
        "navigator timeout (seconds) [Default=30 sec]");
    MRPT_SAVE_CONFIG_VAR_COMMENT(
        dist_check_target_is_blocked,
        "When closer than this distance, check if the target is blocked to "
        "abort navigation with an error. [Default=0.6 m]");
    MRPT_SAVE_CONFIG_VAR_COMMENT(
        hysteresis_check_target_is_blocked,
        "How many steps should the condition for dist_check_target_is_blocked "
        "be fulfilled to raise an event");
}

bool mrpt::nav::operator==(
    const CAbstractNavigator::TNavigationParamsBase& a,
    const CAbstractNavigator::TNavigationParamsBase& b)
{
    return typeid(a) == typeid(b) && a.isEqual(b);
}

/** \callergraph */
bool CAbstractNavigator::checkHasReachedTarget(const double targetDist) const
{
    return (targetDist < m_navigationParams->target.targetAllowedDistance);
}

/** \callergraph */
void CAbstractNavigator::internal_onStartNewNavigation()
{
    m_robot.startWatchdog(1000);  // Watchdog = 1 seg
    m_latestPoses.clear();  // Clear cache of last poses.
    m_latestOdomPoses.clear();
    onStartNewNavigation();
}

/** \callergraph */
void CAbstractNavigator::performNavigationStepNavigating(
    bool call_virtual_nav_method)
{
    const TState prevState = m_navigationState;
    try
    {
        if (m_lastNavigationState != NAVIGATING)
        {
            MRPT_LOG_INFO(
                "[CAbstractNavigator::navigationStep()] Starting Navigation. "
                "Watchdog initiated...\n");
            if (m_navigationParams)
                MRPT_LOG_DEBUG(mrpt::format(
                    "[CAbstractNavigator::navigationStep()] Navigation "
                    "Params:\n%s\n",
                    m_navigationParams->getAsText().c_str()));

            internal_onStartNewNavigation();
        }

        // Have we just started the navigation?
        if (m_lastNavigationState == IDLE)
        {
            m_pending_events.push_back(std::bind(
                &CRobot2NavInterface::sendNavigationStartEvent,
                std::ref(m_robot)));
        }

        /* ----------------------------------------------------------------
        Get current robot dyn state:
        ---------------------------------------------------------------- */
        updateCurrentPoseAndSpeeds();

        /* ----------------------------------------------------------------
        Have we reached the target location?
        ---------------------------------------------------------------- */
        // Build a 2D segment from the current robot pose to the previous one:
        ASSERT_(!m_latestPoses.empty());
        const mrpt::math::TSegment2D seg_robot_mov = mrpt::math::TSegment2D(
            mrpt::math::TPoint2D(m_curPoseVel.pose),
            m_latestPoses.size() > 1
                ? mrpt::math::TPoint2D((++m_latestPoses.rbegin())->second)
                : mrpt::math::TPoint2D((m_latestPoses.rbegin())->second));

        if (m_navigationParams)
        {
            const double targetDist = seg_robot_mov.distance(
                mrpt::math::TPoint2D(m_navigationParams->target.target_coords));

            // Should "End of navigation" event be sent??
            if (!m_navigationParams->target.targetIsIntermediaryWaypoint &&
                !m_navigationEndEventSent &&
                targetDist <
                    params_abstract_navigator.dist_to_target_for_sending_event)
            {
                m_navigationEndEventSent = true;
                m_pending_events.push_back(std::bind(
                    &CRobot2NavInterface::sendNavigationEndEvent,
                    std::ref(m_robot)));
            }

            // Have we really reached the target?
            if (checkHasReachedTarget(targetDist))
            {
                m_navigationState = IDLE;
                logFmt(
                    mrpt::system::LVL_WARN,
                    "Navigation target (%.03f,%.03f) was reached\n",
                    m_navigationParams->target.target_coords.x,
                    m_navigationParams->target.target_coords.y);

                if (!m_navigationParams->target.targetIsIntermediaryWaypoint)
                {
                    this->stop(false /*not emergency*/);
                    if (!m_navigationEndEventSent)
                    {
                        m_navigationEndEventSent = true;
                        m_pending_events.push_back(std::bind(
                            &CRobot2NavInterface::sendNavigationEndEvent,
                            std::ref(m_robot)));
                    }
                }
                return;
            }

            // Check the "no approaching the target"-alarm:
            // -----------------------------------------------------------
            if (targetDist < m_badNavAlarm_minDistTarget)
            {
                m_badNavAlarm_minDistTarget = targetDist;
                m_badNavAlarm_lastMinDistTime = mrpt::system::getCurrentTime();
            }
            else
            {
                // Too much time have passed?
                if (mrpt::system::timeDifference(
                        m_badNavAlarm_lastMinDistTime,
                        mrpt::system::getCurrentTime()) >
                    params_abstract_navigator
                        .alarm_seems_not_approaching_target_timeout)
                {
                    MRPT_LOG_WARN(
                        "Timeout approaching the target. Aborting navigation.");

                    m_navigationState = NAV_ERROR;

                    m_pending_events.push_back(std::bind(
                        &CRobot2NavInterface::sendWaySeemsBlockedEvent,
                        std::ref(m_robot)));
                    return;
                }
            }

            // Check if the target seems to be at reach, but it's clearly
            // occupied by obstacles:
            if (targetDist <
                params_abstract_navigator.dist_check_target_is_blocked)
            {
                const auto rel_trg = m_navigationParams->target.target_coords -
                                     m_curPoseVel.pose;
                const bool is_col = checkCollisionWithLatestObstacles(rel_trg);
                if (is_col)
                {
                    const bool send_event =
                        (++m_counter_check_target_is_blocked >=
                         params_abstract_navigator
                             .hysteresis_check_target_is_blocked);

                    if (send_event)
                    {
                        MRPT_LOG_THROTTLE_WARN(
                            5.0,
                            "Target seems to be blocked by obstacles. Invoking"
                            " sendCannotGetCloserToBlockedTargetEvent().");

                        m_pending_events.push_back(std::bind(
                            &CRobot2NavInterface::
                                sendCannotGetCloserToBlockedTargetEvent,
                            std::ref(m_robot)));

                        m_counter_check_target_is_blocked = 0;
                    }
                }
                else
                {
                    m_counter_check_target_is_blocked = 0;
                }
            }
        }

        // The normal execution of the navigation: Execute one step:
        if (call_virtual_nav_method)
        {
            performNavigationStep();
        }
    }
    catch (std::exception& e)
    {
        MRPT_LOG_ERROR_FMT(
            "[CAbstractNavigator::navigationStep] Exception:\n %s", e.what());
    }
    catch (...)
    {
        MRPT_LOG_ERROR(
            "[CAbstractNavigator::navigationStep] Untyped exception!");
    }
    m_navigationState = prevState;
}

bool CAbstractNavigator::checkCollisionWithLatestObstacles(
    const mrpt::math::TPose2D& relative_robot_pose) const
{
    // Default impl:
    return false;
}