RoboidControl-cpp/Perception.cpp

#include "Perception.h"
#include "Angle.h"
#include "Switch.h"

Perception::Perception() {}

Perception::Perception(Placement* sensors, unsigned int sensorCount) {
  this->sensorCount = sensorCount;
  this->sensorPlacements = (Placement*)sensors;
}

void Perception::AddSensors(Placement* things, unsigned int thingCount) {
  sensorCount = 0;
  for (unsigned int thingIx = 0; thingIx < thingCount; thingIx++) {
    Thing* thing = things[thingIx].thing;
    if ((thing->type & Thing::SensorType) != 0)
      sensorCount++;
  }

  sensorPlacements = new Placement[sensorCount];

  unsigned int sensorIx = 0;
  for (unsigned int thingIx = 0; thingIx < thingCount; thingIx++) {
    Thing* thing = things[thingIx].thing;
    if ((thing->type & Thing::SensorType) != 0) {
      sensorPlacements[sensorIx++] = things[thingIx];
    }
  }
}

unsigned int Perception::GetSensorCount() {
  return this->sensorCount;
}

Sensor* Perception::GetSensor(unsigned int sensorId) {
  if (sensorId >= this->sensorCount)
    return nullptr;

  Thing* thing = this->sensorPlacements[sensorId].thing;
  if ((thing->type & Thing::SensorType) != 0)
    return (Sensor*)thing;

  return nullptr;
}

float Perception::DistanceForward(float angle) {
  float minDistance = INFINITY;
  for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
    Placement placement = sensorPlacements[sensorIx];
    Sensor* sensor = (Sensor*)placement.thing;
    if ((sensor->type & Thing::SensorType) != 0)
      continue;

    DistanceSensor* distanceSensor = (DistanceSensor*)placement.thing;
    float sensorAngle = placement.direction.z;
    if (sensorAngle > 0 && sensorAngle < angle) {
      minDistance = fmin(minDistance, distanceSensor->GetDistance());
    }
  }
  return minDistance;
}

float Perception::DistanceLeft(float angle) {
  float minDistance = INFINITY;
  for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
    Placement placement = sensorPlacements[sensorIx];
    Sensor* sensor = (Sensor*)placement.thing;
    if ((sensor->type & Thing::SensorType) != 0)
      continue;

    DistanceSensor* distanceSensor = (DistanceSensor*)placement.thing;
    float sensorAngle = placement.direction.y;
    // Serial.printf("  distance sensor: %f %f 0\n", -angle, sensorAngle);
    if (sensorAngle < 0 && sensorAngle > -angle) {
      minDistance = fmin(minDistance, distanceSensor->GetDistance());
    }
  }
  return minDistance;
}

float Perception::DistanceRight(float angle) {
  float minDistance = INFINITY;
  for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
    Placement placement = sensorPlacements[sensorIx];
    Sensor* sensor = (Sensor*)placement.thing;
    if (sensor->type != Thing::DistanceSensorType)
      continue;

    DistanceSensor* distanceSensor = (DistanceSensor*)placement.thing;
    float sensorAngle = placement.direction.y;
    if (sensorAngle > 0 && sensorAngle < angle) {
      minDistance = fmin(minDistance, distanceSensor->GetDistance());
    }
  }
  return minDistance;
}

float Perception::DistanceUp(float angle) {
  float minDistance = INFINITY;
  for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
    Placement placement = sensorPlacements[sensorIx];
    Sensor* sensor = (Sensor*)placement.thing;
    if ((sensor->type & Thing::SensorType) != 0)
      continue;

    DistanceSensor* distanceSensor = (DistanceSensor*)placement.thing;
    float sensorAngle = placement.direction.y;  // not correct!
    if (sensorAngle > 0 && sensorAngle < angle) {
      minDistance = fmin(minDistance, distanceSensor->GetDistance());
    }
  }
  return minDistance;
}

float Perception::DistanceDown(float angle) {
  float minDistance = INFINITY;
  for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
    Placement placement = sensorPlacements[sensorIx];
    Sensor* sensor = (Sensor*)placement.thing;
    if ((sensor->type & Thing::SensorType) != 0)
      continue;

    DistanceSensor* distanceSensor = (DistanceSensor*)placement.thing;
    float sensorAngle = placement.direction.y;  // not correct!
    if (sensorAngle < 0 && sensorAngle > -angle) {
      minDistance = fmin(minDistance, distanceSensor->GetDistance());
    }
  }
  return minDistance;
}

bool Perception::SwitchOn(float fromAngle, float toAngle) {
  if (toAngle < fromAngle)
    return false;

  for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
    Placement placement = sensorPlacements[sensorIx];
    float angle = placement.direction.y;
    if (angle > fromAngle && angle < toAngle) {
      Thing* thing = placement.thing;
      if (thing == nullptr)
        continue;

      if ((thing->type & (int)Thing::Type::DistanceSensor) != 0) {
        DistanceSensor* distanceSensor = (DistanceSensor*)thing;
        if (distanceSensor != nullptr && distanceSensor->IsOn())
          return true;
      } else if ((thing->type & (int)Thing::Type::Switch) != 0) {
        Switch* switchSensor = (Switch*)thing;
        if (switchSensor != nullptr && switchSensor->IsOn())
          return true;
      }
    }
  }
  return false;
}

unsigned int Perception::ToDepthMapIndex(float angle) {
  unsigned int depthMapIx =
      (unsigned int)(((angle - rangeMinimum) / (rangeMaximum - rangeMinimum)) *
                     (float)resolution);
  return depthMapIx;
}

float Perception::GetDistance(float angle) {
  if (depthMap != nullptr) {
    if (angle < rangeMinimum || angle > rangeMaximum)
      return INFINITY;
    unsigned int depthMapIx = ToDepthMapIndex(angle);
    return depthMap[depthMapIx];
  } else {
    for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
      Placement placement = sensorPlacements[sensorIx];
      float placementAngle = placement.direction.x;
      if (placementAngle == angle) {
        DistanceSensor* distanceSensor = (DistanceSensor*)placement.thing;
        return distanceSensor->GetDistance();
      }
    }
  }
  return INFINITY;
}

void Perception::SetResolution(unsigned int resolution) {
  this->resolution = resolution;
  this->depthMap = new float[this->resolution];
}

void Perception::SetRange(float min, float max) {
  this->rangeMinimum = min;
  this->rangeMaximum = max;
}

float* Perception::GetDepthMap() {
  return this->depthMap;
}

void Perception::SetDepthMap(float angle, float distance) {
  if (angle < rangeMinimum || angle > rangeMaximum)
    return;

  unsigned int depthMapIx = ToDepthMapIndex(angle);
  depthMap[depthMapIx] = distance;
}

DistanceSensor* Perception::GetSensor(float angle) {
  angle = Angle::Normalize(angle);

  for (unsigned int ix = 0; ix < this->sensorCount; ix++) {
    Placement placement = this->sensorPlacements[ix];
    if (abs(placement.direction.y - angle) < 0.01F)
      return (DistanceSensor*)placement.thing;
  }

  DistanceSensor* distanceSensor = new DistanceSensor();
  Placement* newPlacement = new Placement(distanceSensor, angle);
  AddSensors(newPlacement, 1);

  return distanceSensor;
}