source: flair-src/tags/latest/demos/TwoWheelRobotSimpleFleet/ugv/src/SimpleFleet.cpp@ 451

Last change on this file since 451 was 390, checked in by Sanahuja Guillaume, 22 months ago

add simple fleet demo for ugv

File size: 7.3 KB
Line 
1// created: 2020/12/21
2// filename: SimpleFleet.cpp
3//
4// author: Guillaume Sanahuja
5// Copyright Heudiasyc UMR UTC/CNRS 7253
6//
7// version: $Id: $
8//
9// purpose: demo simple fleet avec optitrack
10//
11//
12/*********************************************************************/
13
14#include "SimpleFleet.h"
15#include <TargetController.h>
16#include <GridLayout.h>
17#include <PushButton.h>
18#include <DataPlot1D.h>
19#include <DataPlot2D.h>
20#include <FrameworkManager.h>
21#include <VrpnClient.h>
22#include <MetaVrpnObject.h>
23#include <TrajectoryGenerator2DCircle.h>
24#include <Matrix.h>
25#include <Tab.h>
26#include <TabWidget.h>
27#include <DoubleSpinBox.h>
28#include <Pid.h>
29#include <Quaternion.h>
30#include <Euler.h>
31#include <Ugv.h>
32#include <UgvControls.h>
33#include <math.h>
34#include <UdpSocket.h>
35#include <string.h>
36
37using namespace std;
38using namespace flair::core;
39using namespace flair::gui;
40using namespace flair::sensor;
41using namespace flair::filter;
42using namespace flair::meta;
43using namespace flair::actuator;
44
45SimpleFleet::SimpleFleet(string name,string broadcast,TargetController *controller): Thread(getFrameworkManager(),"SimpleFleet",50), behaviourMode(BehaviourMode_t::Manual), vrpnLost(false) {
46 this->controller=controller;
47 controller->Start();
48
49 Ugv* ugv=GetUgv();
50 ugv->UseDefaultPlot();
51
52 VrpnClient* vrpnclient=new VrpnClient("vrpn", ugv->GetDefaultVrpnAddress(),80);
53 ugvVrpn = new MetaVrpnObject(name);
54
55 getFrameworkManager()->AddDeviceToLog(ugvVrpn);
56 vrpnclient->Start();
57
58 Tab *ugvTab = new Tab(getFrameworkManager()->GetTabWidget(), "ugv", 0);
59 GridLayout* buttonslayout = new GridLayout(ugvTab->NewRow(), "buttons");
60 button_kill = new PushButton(buttonslayout->NewRow(), "kill");
61 startCircle=new PushButton(buttonslayout->NewRow(),"start_circle");
62 stopCircle=new PushButton(buttonslayout->LastRowLastCol(),"stop_circle");
63
64 circle=new TrajectoryGenerator2DCircle(vrpnclient->GetLayout()->NewRow(),"circle");
65 ugvVrpn->xPlot()->AddCurve(circle->GetMatrix()->Element(0,0),DataPlot::Blue);
66 ugvVrpn->yPlot()->AddCurve(circle->GetMatrix()->Element(0,1),DataPlot::Blue);
67 ugvVrpn->VxPlot()->AddCurve(circle->GetMatrix()->Element(1,0),DataPlot::Blue);
68 ugvVrpn->VyPlot()->AddCurve(circle->GetMatrix()->Element(1,1),DataPlot::Blue);
69 ugvVrpn->XyPlot()->AddCurve(circle->GetMatrix()->Element(0,1),circle->GetMatrix()->Element(0,0),DataPlot::Blue,"circle");
70
71 xCircleCenter=new DoubleSpinBox(vrpnclient->GetLayout()->NewRow(),"x circle center"," m",-5,5,0.1,1,0);
72 yCircleCenter=new DoubleSpinBox(vrpnclient->GetLayout()->NewRow(),"y circle center"," m",-5,5,0.1,1,0);
73
74 Tab *lawTab = new Tab(getFrameworkManager()->GetTabWidget(), "control laws");
75 TabWidget *tabWidget = new TabWidget(lawTab->NewRow(), "laws");
76 Tab *setupLawTab = new Tab(tabWidget, "Setup");
77 Tab *graphLawTab = new Tab(tabWidget, "Graphes");
78 uX=new Pid(setupLawTab->At(1,0),"u_x");
79 uX->UseDefaultPlot(graphLawTab->NewRow());
80 uY=new Pid(setupLawTab->At(1,1),"u_y");
81 uY->UseDefaultPlot(graphLawTab->LastRowLastCol());
82
83 l=new DoubleSpinBox(setupLawTab->NewRow(),"L", " m", 0, 10, 0.1, 1,1);
84
85 message=new UdpSocket(ugv,"Message",broadcast,true);
86}
87
88SimpleFleet::~SimpleFleet() {
89}
90
91void SimpleFleet::Run(void) {
92 WarnUponSwitches(true);
93 SetPeriodMS(20);
94
95 if (getFrameworkManager()->ErrorOccured() == true) {
96 SafeStop();
97 }
98
99 while (!ToBeStopped()) {
100 SecurityCheck();
101 CheckMessages();
102 CheckJoystick();
103 CheckPushButton();
104
105 if(behaviourMode==BehaviourMode_t::Manual) ComputeManualControls();
106 if(behaviourMode==BehaviourMode_t::Circle) ComputeCircleControls();
107 WaitPeriod();
108 }
109}
110
111void SimpleFleet::CheckPushButton(void) {
112 if (startCircle->Clicked() == true)
113 StartCircle();
114
115 if (stopCircle->Clicked() == true)
116 StopCircle();
117
118 if (button_kill->Clicked() == true)
119 SafeStop();
120}
121
122void SimpleFleet::CheckJoystick(void) {
123 //R1 and Circle
124 if(controller->IsButtonPressed(9) && controller->IsButtonPressed(4)) {
125 StartCircle();
126 }
127
128 //R1 and Cross
129 if(controller->IsButtonPressed(9) && controller->IsButtonPressed(5)) {
130 StopCircle();
131 }
132}
133
134void SimpleFleet::SecurityCheck(void) {
135 if ((!vrpnLost) && (behaviourMode==BehaviourMode_t::Circle)) {
136 if (!ugvVrpn->IsTracked(500)) {
137 Thread::Err("VRPN, ugv lost\n");
138 vrpnLost=true;
139 StopCircle();
140 }
141 }
142}
143
144void SimpleFleet::CheckMessages(void) {
145 char msg[64];
146 char src[64];
147 size_t src_size=sizeof(src);
148 while(message->RecvMessage(msg,sizeof(msg),TIME_NONBLOCK,src,&src_size)>0) {
149 //printf("%s %s\n",GetUav()->ObjectName().c_str(),src);
150 if(strcmp(src,GetUgv()->ObjectName().c_str())!=0) {
151 if(strcmp(msg,"StartCircle")==0) {
152 Printf("StartCircle fleet\n");
153 StartCircle();
154 }
155 if(strcmp(msg,"StopCircle")==0) {
156 Printf("StopCircle fleet\n");
157 StopCircle();
158 }
159 }
160 }
161}
162
163void SimpleFleet::ComputeManualControls(void) {
164 float speed=-controller->GetAxisValue(3);
165 float turn=controller->GetAxisValue(0);
166 GetUgv()->GetUgvControls()->SetControls(speed,turn);
167}
168
169void SimpleFleet::ComputeCircleControls(void) {
170
171 Vector3Df ugv_pos,ugv_vel; // in VRPN coordinate system
172 Vector2Df ugv_2Dpos,ugv_2Dvel,target_2Dpos; // in VRPN coordinate system
173 Vector2Df pos_error,vel_error;
174 Vector2Df circle_pos,circle_vel;
175
176 ugvVrpn->GetPosition(ugv_pos);
177 ugvVrpn->GetSpeed(ugv_vel);
178
179 ugv_pos.To2Dxy(ugv_2Dpos);
180 ugv_vel.To2Dxy(ugv_2Dvel);
181
182 target_2Dpos.x=xCircleCenter->Value();
183 target_2Dpos.y=yCircleCenter->Value();
184 circle->SetCenter(target_2Dpos);
185
186 //circle reference
187 circle->Update(GetTime());
188 circle->GetPosition(circle_pos);
189 circle->GetSpeed(circle_vel);
190
191 //error in optitrack frame
192 pos_error=ugv_2Dpos-circle_pos;
193 vel_error=ugv_2Dvel-circle_vel;
194
195 uX->SetValues(pos_error.x, vel_error.x);
196 uX->Update(GetTime());
197 uY->SetValues(pos_error.y, vel_error.y);
198 uY->Update(GetTime());
199
200 //get yaw from vrpn
201 Quaternion vrpnQuaternion;
202 ugvVrpn->GetQuaternion(vrpnQuaternion);
203 float yaw=vrpnQuaternion.ToEuler().yaw;
204 float L=1;
205 float v= cosf(yaw)*uX->Output() + sinf(yaw)*uY->Output();
206 float w = -sinf(yaw)/l->Value()*uX->Output() + cosf(yaw)/l->Value()*uY->Output();
207 GetUgv()->GetUgvControls()->SetControls(-v,-w);
208}
209
210
211void SimpleFleet::StartCircle(void) {
212 if(behaviourMode!=BehaviourMode_t::Circle) {
213 Vector3Df ugv_pos;
214 Vector2Df ugv_2Dpos,target_2Dpos;
215
216 target_2Dpos.x=xCircleCenter->Value();
217 target_2Dpos.y=yCircleCenter->Value();
218 circle->SetCenter(target_2Dpos);
219
220 ugvVrpn->GetPosition(ugv_pos);
221 ugv_pos.To2Dxy(ugv_2Dpos);
222 circle->StartTraj(ugv_2Dpos);
223
224 uX->Reset();
225 uY->Reset();
226 behaviourMode=BehaviourMode_t::Circle;
227 Thread::Info("SimpleFleet: start circle\n");
228 message->SendMessage("StartCircle");
229 }
230}
231
232void SimpleFleet::StopCircle(void) {
233 if(behaviourMode==BehaviourMode_t::Circle) {
234 circle->FinishTraj();
235 //GetJoystick()->Rumble(0x70);
236 behaviourMode=BehaviourMode_t::Manual;
237 Thread::Info("SimpleFleet: finishing circle\n");
238 message->SendMessage("StopCircle");
239 }
240}
241
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