update

2026-02-26 14:55:46 +07:00
parent b7e4c73c14
commit 34cabd2083
13 changed files with 226 additions and 144 deletions
--- a/examples/NavigationExample/NavigationExample.csproj
+++ b/examples/NavigationExample/NavigationExample.csproj
@@ -5,6 +5,9 @@
    <RuntimeIdentifier>linux-x64</RuntimeIdentifier>
    <AllowUnsafeBlocks>true</AllowUnsafeBlocks>
  </PropertyGroup>
+  <ItemGroup>
+    <PackageReference Include="SixLabors.ImageSharp" Version="3.1.5" />
+  </ItemGroup>
  <ItemGroup>
    <None Include="libnav_c_api.so">
      <CopyToOutputDirectory>Always</CopyToOutputDirectory>
--- a/examples/NavigationExample/Program.cs
+++ b/examples/NavigationExample/Program.cs
@@ -1,9 +1,24 @@
 using System;
+using System.Globalization;
+using System.IO;
 using System.Runtime.InteropServices;
 using System.Runtime.CompilerServices;
+using System.Text.RegularExpressions;
+using SixLabors.ImageSharp;
+using SixLabors.ImageSharp.PixelFormats;

 namespace NavigationExample
 {
+    /// <summary>Thông tin map đọc từ file YAML (maze.yaml).</summary>
+    public struct MazeMapConfig
+    {
+        public string ImagePath;       // đường dẫn đầy đủ tới file ảnh
+        public float Resolution;
+        public double OriginX, OriginY, OriginZ;
+        public int Negate;            // 0 hoặc 1
+        public double OccupiedThresh;
+        public double FreeThresh;
+    }
    /// <summary>
    /// C# P/Invoke wrapper for Navigation C API
    /// </summary>
@@ -308,7 +323,7 @@ namespace NavigationExample

        [DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
        [return: MarshalAs(UnmanagedType.I1)]
-        public static extern bool navigation_move_straight_to(NavigationHandle handle, PoseStamped goal, double xy_goal_tolerance);
+        public static extern bool navigation_move_straight_to(NavigationHandle handle, double distance);

        [DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
        [return: MarshalAs(UnmanagedType.I1)]
@@ -370,6 +385,105 @@ namespace NavigationExample
    // ============================================================================
    class Program
    {
+        /// <summary>
+        /// Đọc file maze.yaml (image, resolution, origin, negate, occupied_thresh, free_thresh).
+        /// ImagePath được resolve tuyệt đối theo thư mục chứa file yaml.
+        /// </summary>
+        static bool TryLoadMazeYaml(string yamlPath, out MazeMapConfig config)
+        {
+            config = default;
+            if (string.IsNullOrEmpty(yamlPath) || !File.Exists(yamlPath))
+                return false;
+            string dir = Path.GetDirectoryName(Path.GetFullPath(yamlPath)) ?? "";
+            try
+            {
+                string[] lines = File.ReadAllLines(yamlPath);
+                foreach (string line in lines)
+                {
+                    string trimmed = line.Trim();
+                    if (trimmed.Length == 0 || trimmed.StartsWith("#")) continue;
+                    int colon = trimmed.IndexOf(':');
+                    if (colon <= 0) continue;
+                    string key = trimmed.Substring(0, colon).Trim();
+                    string value = trimmed.Substring(colon + 1).Trim();
+                    if (key == "image")
+                        config.ImagePath = Path.Combine(dir, value);
+                    else if (key == "resolution" && float.TryParse(value, NumberStyles.Float, CultureInfo.InvariantCulture, out float res))
+                        config.Resolution = res;
+                    else if (key == "origin")
+                    {
+                        var m = Regex.Match(value, @"\[\s*([-\d.]+\s*),\s*([-\d.]+\s*),\s*([-\d.]+)\s*\]");
+                        if (m.Success)
+                        {
+                            config.OriginX = double.Parse(m.Groups[1].Value, CultureInfo.InvariantCulture);
+                            config.OriginY = double.Parse(m.Groups[2].Value, CultureInfo.InvariantCulture);
+                            config.OriginZ = double.Parse(m.Groups[3].Value, CultureInfo.InvariantCulture);
+                        }
+                    }
+                    else if (key == "negate" && int.TryParse(value, out int neg))
+                        config.Negate = neg;
+                    else if (key == "occupied_thresh" && double.TryParse(value, NumberStyles.Float, CultureInfo.InvariantCulture, out double ot))
+                        config.OccupiedThresh = ot;
+                    else if (key == "free_thresh" && double.TryParse(value, NumberStyles.Float, CultureInfo.InvariantCulture, out double ft))
+                        config.FreeThresh = ft;
+                }
+                return !string.IsNullOrEmpty(config.ImagePath);
+            }
+            catch
+            {
+                return false;
+            }
+        }
+
+        /// <summary>
+        /// Đọc file ảnh PNG và chuyển pixel sang byte[] occupancy (0=free, 100=occupied, 255=unknown).
+        /// Dùng negate, occupied_thresh, free_thresh từ maze.yaml nếu cung cấp.
+        /// </summary>
+        static byte[] LoadMazePixelsAsOccupancy(string imagePath, out int width, out int height,
+            int negate = 0, double occupiedThresh = 0.65, double freeThresh = 0.196)
+        {
+            width = 0;
+            height = 0;
+            if (string.IsNullOrEmpty(imagePath) || !File.Exists(imagePath))
+            {
+                LogError($"File not found: {imagePath}");
+                return null;
+            }
+            try
+            {
+                using var image = Image.Load<Rgba32>(imagePath);
+                int w = image.Width;
+                int h = image.Height;
+                width = w;
+                height = h;
+                byte[] data = new byte[w * h];
+                image.ProcessPixelRows(accessor =>
+                {
+                    for (int y = 0; y < accessor.Height; y++)
+                    {
+                        Span<Rgba32> row = accessor.GetRowSpan(y);
+                        for (int x = 0; x < row.Length; x++)
+                        {
+                            ref readonly Rgba32 p = ref row[x];
+                            double gray = (p.R + p.G + p.B) / 255.0 / 3.0;
+                            if (negate != 0) gray = 1.0 - gray;
+                            byte occ;
+                            if (gray <= freeThresh) occ = 0;
+                            else if (gray >= occupiedThresh) occ = 100;
+                            else occ = 255; // unknown
+                            data[y * w + x] = occ;
+                        }
+                    }
+                });
+                return data;
+            }
+            catch (Exception ex)
+            {
+                LogError($"Load image failed: {ex.Message}");
+                return null;
+            }
+        }
+
        // Helper method để hiển thị file và line number tự động
        static void LogError(string message,
            [CallerFilePath] string filePath = "",
@@ -459,8 +573,7 @@ namespace NavigationExample
                Console.WriteLine($"State: {stateStr}, Feedback: {feedbackStr}");
                NavigationAPI.navigation_free_feedback(ref feedback);
            }
-
-            System.Threading.Thread.Sleep(1000);   
+  
            IntPtr fFrameId = Marshal.StringToHGlobalAnsi("fscan");
            NavigationAPI.Header fscanHeader = NavigationAPI.header_create(Marshal.PtrToStringAnsi(fFrameId));
            NavigationAPI.LaserScan fscanHandle;
@@ -480,7 +593,6 @@ namespace NavigationExample
            fscanHandle.intensities_count = new UIntPtr(5);
            NavigationAPI.navigation_add_laser_scan(navHandle, "/fscan",  fscanHandle);

-
            IntPtr bFrameId = Marshal.StringToHGlobalAnsi("bscan");
            NavigationAPI.Header bscanHeader = NavigationAPI.header_create(Marshal.PtrToStringAnsi(bFrameId));
            NavigationAPI.LaserScan bscanHandle;
@@ -500,8 +612,6 @@ namespace NavigationExample
            bscanHandle.intensities_count = new UIntPtr(5);
            NavigationAPI.navigation_add_laser_scan(navHandle, "/bscan",  bscanHandle);

-            System.Threading.Thread.Sleep(1000); 
-
            IntPtr oFrameId = Marshal.StringToHGlobalAnsi("odom");
            NavigationAPI.Header odometryHeader = NavigationAPI.header_create(Marshal.PtrToStringAnsi(oFrameId));
            NavigationAPI.Odometry odometryHandle = new NavigationAPI.Odometry();
@@ -539,18 +649,53 @@ namespace NavigationExample
            odometryHandle.twist.covariance_count = new UIntPtr((uint)twist_covariance.Length);
            NavigationAPI.navigation_add_odometry(navHandle, "odometry",  odometryHandle);

-            System.Threading.Thread.Sleep(1000);  
-            // Add static map
+            // Add static map: đọc maze.yaml rồi load ảnh và cập nhật mapMetaData
+            string mapYamlPath = args.Length > 0 ? args[0] : Path.Combine(
+                "/home/robotics/AGV/Diff_Wheel_Prj/t800_v2_ws/src/Managerments/maps/maze", "maze.yaml");
+            int mapWidth, mapHeight;
+            byte[] data;
+            MazeMapConfig mapConfig;
+            if (TryLoadMazeYaml(mapYamlPath, out mapConfig))
+            {
+                data = LoadMazePixelsAsOccupancy(mapConfig.ImagePath, out mapWidth, out mapHeight,
+                    mapConfig.Negate, mapConfig.OccupiedThresh, mapConfig.FreeThresh);
+                if (data == null)
+                {
+                    mapWidth = 3;
+                    mapHeight = 10;
+                    data = new byte[30];
+                    for (int i = 0; i < data.Length; i++) data[i] = 100;
+                    Console.WriteLine("YAML loaded but image failed; using default map 3x10");
+                }
+                else
+                {
+                    Console.WriteLine("Loaded map from {0}: {1}x{2}, resolution={3}, origin=({4},{5},{6})",
+                        mapConfig.ImagePath, mapWidth, mapHeight, mapConfig.Resolution,
+                        mapConfig.OriginX, mapConfig.OriginY, mapConfig.OriginZ);
+                }
+            }
+            else
+            {
+                mapWidth = 3;
+                mapHeight = 10;
+                data = new byte[30];
+                for (int i = 0; i < data.Length; i++) data[i] = 100;
+                mapConfig = default;
+                mapConfig.Resolution = 0.05f;
+                mapConfig.OriginX = mapConfig.OriginY = mapConfig.OriginZ = 0.0;
+                Console.WriteLine("maze.yaml not found, using default map 3x10");
+            }
+
            NavigationAPI.Time mapLoadTime = NavigationAPI.time_create();
            NavigationAPI.MapMetaData mapMetaData = new NavigationAPI.MapMetaData();
            mapMetaData.map_load_time = mapLoadTime;
-            mapMetaData.resolution = 0.05f;
-            mapMetaData.width = 3;
-            mapMetaData.height = 10;
+            mapMetaData.resolution = mapConfig.Resolution;
+            mapMetaData.width = (uint)mapWidth;
+            mapMetaData.height = (uint)mapHeight;
            mapMetaData.origin = new NavigationAPI.Pose();
-            mapMetaData.origin.position.x = 0.0;
-            mapMetaData.origin.position.y = 0.0;
-            mapMetaData.origin.position.z = 0.0;
+            mapMetaData.origin.position.x = mapConfig.OriginX;
+            mapMetaData.origin.position.y = mapConfig.OriginY;
+            mapMetaData.origin.position.z = mapConfig.OriginZ;
            mapMetaData.origin.orientation.x = 0.0;
            mapMetaData.origin.orientation.y = 0.0;
            mapMetaData.origin.orientation.z = 0.0;
@@ -559,10 +704,6 @@ namespace NavigationExample
            IntPtr mapFrameId = Marshal.StringToHGlobalAnsi("map");
            occupancyGrid.header = NavigationAPI.header_create(Marshal.PtrToStringAnsi(mapFrameId));
            occupancyGrid.info = mapMetaData;
-            byte[] data = new byte[30];
-            for (int i = 0; i < data.Length; i++) {
-                data[i] = 100;
-            }
            occupancyGrid.data = Marshal.AllocHGlobal(sizeof(byte) * data.Length);
            Marshal.Copy(data, 0, occupancyGrid.data, data.Length);
            occupancyGrid.data_count = new UIntPtr((uint)data.Length);
@@ -574,7 +715,7 @@ namespace NavigationExample
    
            NavigationAPI.navigation_add_static_map(navHandle, "/map",  occupancyGrid);

-            System.Threading.Thread.Sleep(1000);
+            System.Threading.Thread.Sleep(500);

            NavigationAPI.Twist2DStamped twist = new NavigationAPI.Twist2DStamped();
            if (NavigationAPI.navigation_get_twist(navHandle, ref twist))
@@ -584,8 +725,12 @@ namespace NavigationExample
                    NavigationAPI.MarshalString(twist.header.frame_id), twist.velocity.x, twist.velocity.y, twist.velocity.theta);
            }            
            // Cleanup
+            NavigationAPI.navigation_move_straight_to(navHandle, 1.0);
+
            NavigationAPI.navigation_destroy(navHandle);
            NavigationAPI.tf_listener_destroy(tfHandle);
+            Console.WriteLine("Press any key to exit...");
+            Console.ReadKey();
        }
    }
 }
--- a/examples/NavigationExample/libnav_c_api.so
+++ b/examples/NavigationExample/libnav_c_api.so