| 1 | // created: 2011/05/01
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| 2 | // filename: CircleFollower.cpp
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| 3 | //
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| 4 | // author: Guillaume Sanahuja
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| 5 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 6 | //
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| 7 | // version: $Id: $
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| 8 | //
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| 9 | // purpose: demo cercle avec optitrack
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| 10 | //
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| 11 | //
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| 12 | /*********************************************************************/
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| 13 |
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| 14 | #include "CircleFollower.h"
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| 15 | #include <TargetController.h>
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| 16 | #include <Uav.h>
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| 17 | #include <GridLayout.h>
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| 18 | #include <PushButton.h>
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| 19 | #include <DataPlot1D.h>
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| 20 | #include <DataPlot2D.h>
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| 21 | #include <MetaDualShock3.h>
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| 22 | #include <FrameworkManager.h>
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| 23 | #include <VrpnClient.h>
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| 24 | #include <MetaVrpnObject.h>
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| 25 | #include <TrajectoryGenerator2DCircle.h>
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| 26 | #include <cvmatrix.h>
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| 27 | #include <cmath>
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| 28 | #include <Tab.h>
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| 29 | #include <Pid.h>
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| 30 | #include <Ahrs.h>
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| 31 | #include <AhrsData.h>
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| 32 | #include <Camera.h>
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| 33 |
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| 34 | using namespace std;
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| 35 | using namespace flair::core;
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| 36 | using namespace flair::gui;
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| 37 | using namespace flair::sensor;
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| 38 | using namespace flair::filter;
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| 39 | using namespace flair::meta;
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| 40 |
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| 41 | CircleFollower::CircleFollower(Uav* uav,TargetController *controller): UavStateMachine(uav,controller), behaviourMode(BehaviourMode_t::Default), vrpnLost(false) {
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| 42 | uav->SetupVRPNAutoIP(uav->ObjectName());
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| 43 |
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| 44 | startCircle=new PushButton(GetButtonsLayout()->NewRow(),"start_circle");
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| 45 | stopCircle=new PushButton(GetButtonsLayout()->LastRowLastCol(),"stop_circle");
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| 46 |
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| 47 | if(uav->GetVrpnClient()->UseXbee()==true) {
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| 48 | targetVrpn=new MetaVrpnObject(uav->GetVrpnClient(),"target",1);
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| 49 | } else {
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| 50 | targetVrpn=new MetaVrpnObject(uav->GetVrpnClient(),"target");
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| 51 | }
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| 52 |
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| 53 | getFrameworkManager()->AddDeviceToLog(targetVrpn);
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| 54 |
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| 55 | circle=new TrajectoryGenerator2DCircle(uav->GetVrpnClient()->GetLayout()->NewRow(),"circle");
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| 56 | uav->GetVrpnObject()->xPlot()->AddCurve(circle->Matrix()->Element(0,0),DataPlot::Blue);
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| 57 | uav->GetVrpnObject()->yPlot()->AddCurve(circle->Matrix()->Element(0,1),DataPlot::Blue);
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| 58 | uav->GetVrpnObject()->VxPlot()->AddCurve(circle->Matrix()->Element(1,0),DataPlot::Blue);
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| 59 | uav->GetVrpnObject()->VyPlot()->AddCurve(circle->Matrix()->Element(1,1),DataPlot::Blue);
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| 60 | uav->GetVrpnObject()->XyPlot()->AddCurve(circle->Matrix()->Element(0,1),circle->Matrix()->Element(0,0),DataPlot::Blue,"circle");
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| 61 |
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| 62 | uX=new Pid(setupLawTab->At(1,0),"u_x");
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| 63 | uX->UseDefaultPlot(graphLawTab->NewRow());
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| 64 | uY=new Pid(setupLawTab->At(1,1),"u_y");
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| 65 | uY->UseDefaultPlot(graphLawTab->LastRowLastCol());
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| 66 |
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| 67 | customReferenceOrientation= new AhrsData(this,"reference");
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| 68 | uav->GetAhrs()->AddPlot(customReferenceOrientation,DataPlot::Yellow);
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| 69 | AddDataToControlLawLog(customReferenceOrientation);
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| 70 |
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| 71 | customOrientation=new AhrsData(this,"orientation");
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| 72 | getFrameworkManager()->AddDeviceToLog(uav->GetVerticalCamera());
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| 73 | }
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| 74 |
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| 75 | CircleFollower::~CircleFollower() {
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| 76 | }
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| 77 |
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| 78 | const AhrsData *CircleFollower::GetOrientation(void) const {
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| 79 | //get yaw from vrpn
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| 80 | Euler vrpnEuler;
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| 81 | GetUav()->GetVrpnObject()->GetEuler(vrpnEuler);
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| 82 |
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| 83 | //get roll, pitch and w from imu
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| 84 | Quaternion ahrsQuaternion;
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| 85 | Vector3D ahrsAngularSpeed;
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| 86 | GetDefaultOrientation()->GetQuaternionAndAngularRates(ahrsQuaternion, ahrsAngularSpeed);
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| 87 |
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| 88 | Euler ahrsEuler=ahrsQuaternion.ToEuler();
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| 89 | ahrsEuler.yaw=vrpnEuler.yaw;
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| 90 | Quaternion mixQuaternion=ahrsEuler.ToQuaternion();
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| 91 |
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| 92 | customOrientation->SetQuaternionAndAngularRates(mixQuaternion,ahrsAngularSpeed);
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| 93 |
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| 94 | return customOrientation;
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| 95 | }
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| 96 |
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| 97 | void CircleFollower::AltitudeValues(float &z,float &dz) {
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| 98 | Vector3D uav_pos,uav_vel;
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| 99 |
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| 100 | GetUav()->GetVrpnObject()->GetPosition(uav_pos);
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| 101 | GetUav()->GetVrpnObject()->GetSpeed(uav_vel);
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| 102 | //z and dz must be in uav's frame
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| 103 | z=-uav_pos.z;
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| 104 | dz=-uav_vel.z;
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| 105 | }
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| 106 |
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| 107 | AhrsData *CircleFollower::GetReferenceOrientation(void) {
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| 108 | Vector2D pos_err, vel_err; // in Uav coordinate system
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| 109 | float yaw_ref;
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| 110 | Euler refAngles;
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| 111 |
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| 112 | PositionValues(pos_err, vel_err, yaw_ref);
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| 113 |
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| 114 | refAngles.yaw=yaw_ref;
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| 115 |
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| 116 | uX->SetValues(pos_err.x, vel_err.x);
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| 117 | uX->Update(GetTime());
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| 118 | refAngles.pitch=uX->Output();
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| 119 |
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| 120 | uY->SetValues(pos_err.y, vel_err.y);
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| 121 | uY->Update(GetTime());
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| 122 | refAngles.roll=-uY->Output();
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| 123 |
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| 124 | customReferenceOrientation->SetQuaternionAndAngularRates(refAngles.ToQuaternion(),Vector3D(0,0,0));
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| 125 |
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| 126 | return customReferenceOrientation;
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| 127 | }
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| 128 |
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| 129 | void CircleFollower::PositionValues(Vector2D &pos_error,Vector2D &vel_error,float &yaw_ref) {
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| 130 | Vector3D uav_pos,uav_vel; // in VRPN coordinate system
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| 131 | Vector2D uav_2Dpos,uav_2Dvel; // in VRPN coordinate system
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| 132 |
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| 133 | GetUav()->GetVrpnObject()->GetPosition(uav_pos);
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| 134 | GetUav()->GetVrpnObject()->GetSpeed(uav_vel);
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| 135 |
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| 136 | uav_pos.To2Dxy(uav_2Dpos);
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| 137 | uav_vel.To2Dxy(uav_2Dvel);
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| 138 |
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| 139 | if (behaviourMode==BehaviourMode_t::PositionHold) {
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| 140 | pos_error=uav_2Dpos-posHold;
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| 141 | vel_error=uav_2Dvel;
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| 142 | yaw_ref=yawHold;
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| 143 | } else { //Circle
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| 144 | Vector3D target_pos;
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| 145 | Vector2D circle_pos,circle_vel;
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| 146 | Vector2D target_2Dpos;
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| 147 |
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| 148 | targetVrpn->GetPosition(target_pos);
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| 149 | target_pos.To2Dxy(target_2Dpos);
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| 150 | circle->SetCenter(target_2Dpos);
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| 151 |
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| 152 | //circle reference
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| 153 | circle->Update(GetTime());
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| 154 | circle->GetPosition(circle_pos);
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| 155 | circle->GetSpeed(circle_vel);
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| 156 |
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| 157 | //error in optitrack frame
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| 158 | pos_error=uav_2Dpos-circle_pos;
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| 159 | vel_error=uav_2Dvel-circle_vel;
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| 160 | yaw_ref=atan2(target_pos.y-uav_pos.y,target_pos.x-uav_pos.x);
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| 161 | }
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| 162 |
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| 163 | //error in uav frame
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| 164 | Quaternion currentQuaternion=GetCurrentQuaternion();
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| 165 | Euler currentAngles;//in vrpn frame
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| 166 | currentQuaternion.ToEuler(currentAngles);
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| 167 | pos_error.Rotate(-currentAngles.yaw);
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| 168 | vel_error.Rotate(-currentAngles.yaw);
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| 169 | }
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| 170 |
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| 171 | void CircleFollower::SignalEvent(Event_t event) {
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| 172 | UavStateMachine::SignalEvent(event);
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| 173 | switch(event) {
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| 174 | case Event_t::TakingOff:
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| 175 | behaviourMode=BehaviourMode_t::Default;
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| 176 | vrpnLost=false;
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| 177 | break;
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| 178 | case Event_t::EnteringControlLoop:
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| 179 | if ((behaviourMode==BehaviourMode_t::Circle) && (!circle->IsRunning())) {
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| 180 | VrpnPositionHold();
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| 181 | }
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| 182 | break;
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| 183 | case Event_t::EnteringFailSafeMode:
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| 184 | behaviourMode=BehaviourMode_t::Default;
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| 185 | break;
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| 186 | }
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| 187 | }
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| 188 |
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| 189 | void CircleFollower::ExtraSecurityCheck(void) {
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| 190 | if ((!vrpnLost) && ((behaviourMode==BehaviourMode_t::Circle) || (behaviourMode==BehaviourMode_t::PositionHold))) {
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| 191 | if (!targetVrpn->IsTracked(500)) {
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| 192 | Thread::Err("VRPN, target lost\n");
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| 193 | vrpnLost=true;
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| 194 | EnterFailSafeMode();
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| 195 | Land();
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| 196 | }
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| 197 | if (!GetUav()->GetVrpnObject()->IsTracked(500)) {
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| 198 | Thread::Err("VRPN, uav lost\n");
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| 199 | vrpnLost=true;
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| 200 | EnterFailSafeMode();
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| 201 | Land();
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| 202 | }
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| 203 | }
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| 204 | }
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| 205 |
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| 206 | void CircleFollower::ExtraCheckPushButton(void) {
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| 207 | if(startCircle->Clicked() && (behaviourMode!=BehaviourMode_t::Circle)) {
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| 208 | StartCircle();
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| 209 | }
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| 210 | if(stopCircle->Clicked() && (behaviourMode==BehaviourMode_t::Circle)) {
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| 211 | StopCircle();
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| 212 | }
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| 213 | }
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| 214 |
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| 215 | void CircleFollower::ExtraCheckJoystick(void) {
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| 216 | //R1 and Circle
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| 217 | if(GetJoystick()->IsButtonPressed(9) && GetJoystick()->IsButtonPressed(4) && (behaviourMode!=BehaviourMode_t::Circle)) {
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| 218 | StartCircle();
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| 219 | }
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| 220 |
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| 221 | //R1 and Cross
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| 222 | if(GetJoystick()->IsButtonPressed(9) && GetJoystick()->IsButtonPressed(5) && (behaviourMode==BehaviourMode_t::Circle)) {
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| 223 | StopCircle();
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| 224 | }
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| 225 | }
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| 226 |
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| 227 | void CircleFollower::StartCircle(void) {
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| 228 | if (SetOrientationMode(OrientationMode_t::Custom)) {
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| 229 | Thread::Info("CircleFollower: start circle\n");
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| 230 | } else {
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| 231 | Thread::Warn("CircleFollower: could not start circle\n");
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| 232 | return;
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| 233 | }
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| 234 | Vector3D uav_pos,target_pos;
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| 235 | Vector2D uav_2Dpos,target_2Dpos;
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| 236 |
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| 237 | targetVrpn->GetPosition(target_pos);
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| 238 | target_pos.To2Dxy(target_2Dpos);
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| 239 | circle->SetCenter(target_2Dpos);
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| 240 |
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| 241 | GetUav()->GetVrpnObject()->GetPosition(uav_pos);
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| 242 | uav_pos.To2Dxy(uav_2Dpos);
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| 243 | circle->StartTraj(uav_2Dpos);
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| 244 |
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| 245 | uX->Reset();
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| 246 | uY->Reset();
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| 247 | behaviourMode=BehaviourMode_t::Circle;
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| 248 | }
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| 249 |
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| 250 | void CircleFollower::StopCircle(void) {
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| 251 | circle->FinishTraj();
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| 252 | //GetJoystick()->Rumble(0x70);
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| 253 | Thread::Info("CircleFollower: finishing circle\n");
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| 254 | }
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| 255 |
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| 256 | void CircleFollower::VrpnPositionHold(void) {
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| 257 | Euler vrpn_euler;
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| 258 | Vector3D vrpn_pos;
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| 259 |
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| 260 | GetUav()->GetVrpnObject()->GetEuler(vrpn_euler);
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| 261 | yawHold=vrpn_euler.yaw;
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| 262 |
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| 263 | GetUav()->GetVrpnObject()->GetPosition(vrpn_pos);
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| 264 | vrpn_pos.To2Dxy(posHold);
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| 265 |
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| 266 | uX->Reset();
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| 267 | uY->Reset();
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| 268 | behaviourMode=BehaviourMode_t::PositionHold;
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| 269 | SetOrientationMode(OrientationMode_t::Custom);
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| 270 | Thread::Info("CircleFollower: holding position\n");
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| 271 | }
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