source: flair-src/trunk/demos/CircleFollower/uav/src/CircleFollower.cpp@ 453

Last change on this file since 453 was 435, checked in by Sanahuja Guillaume, 3 years ago

add logs to ugv
File size: 9.4 KB
Line 
1// created: 2011/05/01
2// filename: CircleFollower.cpp
3//
4// author: Guillaume Sanahuja
5// Copyright Heudiasyc UMR UTC/CNRS 7253
6//
7// version: $Id: $
8//
9// purpose: demo cercle avec optitrack
10//
11//
12/*********************************************************************/
13
14#include "CircleFollower.h"
15#include <TargetController.h>
16#include <Uav.h>
17#include <GridLayout.h>
18#include <PushButton.h>
19#include <DataPlot1D.h>
20#include <DataPlot2D.h>
21#include <FrameworkManager.h>
22#include <VrpnClient.h>
23#include <MetaVrpnObject.h>
24#include <TrajectoryGenerator2DCircle.h>
25#include <Matrix.h>
26#include <cmath>
27#include <Tab.h>
28#include <Pid.h>
29#include <Ahrs.h>
30#include <AhrsData.h>
31
32using namespace std;
33using namespace flair::core;
34using namespace flair::gui;
35using namespace flair::sensor;
36using namespace flair::filter;
37using namespace flair::meta;
38
39CircleFollower::CircleFollower(TargetController *controller): UavStateMachine(controller), behaviourMode(BehaviourMode_t::Default), vrpnLost(false) {
40 Uav* uav=GetUav();
41
42 VrpnClient* vrpnclient=new VrpnClient("vrpn", uav->GetDefaultVrpnAddress(),80,uav->GetDefaultVrpnConnectionType());
43
44 if(vrpnclient->ConnectionType()==VrpnClient::Xbee) {
45 uavVrpn = new MetaVrpnObject(uav->ObjectName(),(uint8_t)0);
46 targetVrpn=new MetaVrpnObject("target",1);
47 } else if (vrpnclient->ConnectionType()==VrpnClient::Vrpn) {
48 uavVrpn = new MetaVrpnObject(uav->ObjectName());
49 targetVrpn=new MetaVrpnObject("target");
50 } else if (vrpnclient->ConnectionType()==VrpnClient::VrpnLite) {
51 uavVrpn = new MetaVrpnObject(uav->ObjectName());
52 targetVrpn=new MetaVrpnObject("target");
53 }
54
55 //set vrpn as failsafe altitude sensor for mamboedu as us in not working well for the moment
56 if(uav->GetType()=="mamboedu") {
57 SetFailSafeAltitudeSensor(uavVrpn->GetAltitudeSensor());
58 }
59
60 getFrameworkManager()->AddDeviceToLog(uavVrpn);
61 getFrameworkManager()->AddDeviceToLog(targetVrpn);
62 vrpnclient->Start();
63
64 uav->GetAhrs()->YawPlot()->AddCurve(uavVrpn->State()->Element(2),DataPlot::Green);
65
66 startCircle=new PushButton(GetButtonsLayout()->NewRow(),"start_circle");
67 stopCircle=new PushButton(GetButtonsLayout()->LastRowLastCol(),"stop_circle");
68 positionHold=new PushButton(GetButtonsLayout()->LastRowLastCol(),"position hold");
69
70 circle=new TrajectoryGenerator2DCircle(vrpnclient->GetLayout()->NewRow(),"circle");
71 uavVrpn->xPlot()->AddCurve(circle->GetMatrix()->Element(0,0),DataPlot::Blue);
72 uavVrpn->yPlot()->AddCurve(circle->GetMatrix()->Element(0,1),DataPlot::Blue);
73 uavVrpn->VxPlot()->AddCurve(circle->GetMatrix()->Element(1,0),DataPlot::Blue);
74 uavVrpn->VyPlot()->AddCurve(circle->GetMatrix()->Element(1,1),DataPlot::Blue);
75 uavVrpn->XyPlot()->AddCurve(circle->GetMatrix()->Element(0,1),circle->GetMatrix()->Element(0,0),DataPlot::Blue,"circle");
76
77 uX=new Pid(setupLawTab->At(1,0),"u_x");
78 uX->UseDefaultPlot(graphLawTab->NewRow());
79 uY=new Pid(setupLawTab->At(1,1),"u_y");
80 uY->UseDefaultPlot(graphLawTab->LastRowLastCol());
81
82 customReferenceOrientation= new AhrsData(this,"reference");
83 uav->GetAhrs()->AddPlot(customReferenceOrientation,DataPlot::Yellow);
84 AddDataToControlLawLog(customReferenceOrientation);
85 AddDeviceToControlLawLog(uX);
86 AddDeviceToControlLawLog(uY);
87
88 customOrientation=new AhrsData(this,"orientation");
89}
90
91CircleFollower::~CircleFollower() {
92}
93
94const AhrsData *CircleFollower::GetOrientation(void) const {
95 //get yaw from vrpn
96 Quaternion vrpnQuaternion;
97 uavVrpn->GetQuaternion(vrpnQuaternion);
98
99 //get roll, pitch and w from imu
100 Quaternion ahrsQuaternion;
101 Vector3Df ahrsAngularSpeed;
102 GetDefaultOrientation()->GetQuaternionAndAngularRates(ahrsQuaternion, ahrsAngularSpeed);
103
104 Euler ahrsEuler=ahrsQuaternion.ToEuler();
105 ahrsEuler.yaw=vrpnQuaternion.ToEuler().yaw;
106 Quaternion mixQuaternion=ahrsEuler.ToQuaternion();
107
108 customOrientation->SetQuaternionAndAngularRates(mixQuaternion,ahrsAngularSpeed);
109
110 return customOrientation;
111}
112
113void CircleFollower::AltitudeValues(float &z,float &dz) const{
114 Vector3Df uav_pos,uav_vel;
115
116 uavVrpn->GetPosition(uav_pos);
117 uavVrpn->GetSpeed(uav_vel);
118 //z and dz must be in uav's frame
119 z=-uav_pos.z;
120 dz=-uav_vel.z;
121}
122
123AhrsData *CircleFollower::GetReferenceOrientation(void) {
124 Vector2Df pos_err, vel_err; // in Uav coordinate system
125 float yaw_ref;
126 Euler refAngles;
127
128 PositionValues(pos_err, vel_err, yaw_ref);
129
130 refAngles.yaw=yaw_ref;
131
132 uX->SetValues(pos_err.x, vel_err.x);
133 uX->Update(GetTime());
134 refAngles.pitch=uX->Output();
135
136 uY->SetValues(pos_err.y, vel_err.y);
137 uY->Update(GetTime());
138 refAngles.roll=-uY->Output();
139
140 customReferenceOrientation->SetQuaternionAndAngularRates(refAngles.ToQuaternion(),Vector3Df(0,0,0));
141
142 return customReferenceOrientation;
143}
144
145void CircleFollower::PositionValues(Vector2Df &pos_error,Vector2Df &vel_error,float &yaw_ref) {
146 Vector3Df uav_pos,uav_vel; // in VRPN coordinate system
147 Vector2Df uav_2Dpos,uav_2Dvel; // in VRPN coordinate system
148
149 uavVrpn->GetPosition(uav_pos);
150 uavVrpn->GetSpeed(uav_vel);
151
152 uav_pos.To2Dxy(uav_2Dpos);
153 uav_vel.To2Dxy(uav_2Dvel);
154
155 if (behaviourMode==BehaviourMode_t::PositionHold) {
156 pos_error=uav_2Dpos-posHold;
157 vel_error=uav_2Dvel;
158 yaw_ref=yawHold;
159 } else { //Circle
160 Vector3Df target_pos;
161 Vector2Df circle_pos,circle_vel;
162 Vector2Df target_2Dpos;
163
164 targetVrpn->GetPosition(target_pos);
165 target_pos.To2Dxy(target_2Dpos);
166 circle->SetCenter(target_2Dpos);
167
168 //circle reference
169 circle->Update(GetTime());
170 circle->GetPosition(circle_pos);
171 circle->GetSpeed(circle_vel);
172
173 //error in optitrack frame
174 pos_error=uav_2Dpos-circle_pos;
175 vel_error=uav_2Dvel-circle_vel;
176 yaw_ref=atan2(target_pos.y-uav_pos.y,target_pos.x-uav_pos.x);
177 }
178
179 //error in uav frame
180 Quaternion currentQuaternion=GetCurrentQuaternion();
181 Euler currentAngles;//in vrpn frame
182 currentQuaternion.ToEuler(currentAngles);
183 pos_error.Rotate(-currentAngles.yaw);
184 vel_error.Rotate(-currentAngles.yaw);
185}
186
187void CircleFollower::SignalEvent(Event_t event) {
188 UavStateMachine::SignalEvent(event);
189 switch(event) {
190 case Event_t::TakingOff:
191 behaviourMode=BehaviourMode_t::Default;
192 vrpnLost=false;
193 break;
194 case Event_t::EnteringControlLoop:
195 if ((behaviourMode==BehaviourMode_t::Circle) && (!circle->IsRunning())) {
196 VrpnPositionHold();
197 }
198 break;
199 case Event_t::EnteringFailSafeMode:
200 behaviourMode=BehaviourMode_t::Default;
201 break;
202 }
203}
204
205void CircleFollower::ExtraSecurityCheck(void) {
206 if ((!vrpnLost) && ((behaviourMode==BehaviourMode_t::Circle) || (behaviourMode==BehaviourMode_t::PositionHold))) {
207 if (!targetVrpn->IsTracked(500)) {
208 Thread::Err("VRPN, target lost\n");
209 vrpnLost=true;
210 EnterFailSafeMode();
211 Land();
212 }
213 if (!uavVrpn->IsTracked(500)) {
214 Thread::Err("VRPN, uav lost\n");
215 vrpnLost=true;
216 EnterFailSafeMode();
217 Land();
218 }
219 }
220}
221
222void CircleFollower::ExtraCheckPushButton(void) {
223 if(startCircle->Clicked() && (behaviourMode!=BehaviourMode_t::Circle)) {
224 StartCircle();
225 }
226 if(stopCircle->Clicked() && (behaviourMode==BehaviourMode_t::Circle)) {
227 StopCircle();
228 }
229 if(positionHold->Clicked() && (behaviourMode==BehaviourMode_t::Default)) {
230 VrpnPositionHold();
231 }
232}
233
234void CircleFollower::ExtraCheckJoystick(void) {
235 //R1 and Circle
236 if(GetTargetController()->IsButtonPressed(9) && GetTargetController()->IsButtonPressed(4) && (behaviourMode!=BehaviourMode_t::Circle)) {
237 StartCircle();
238 }
239
240 //R1 and Cross
241 if(GetTargetController()->IsButtonPressed(9) && GetTargetController()->IsButtonPressed(5) && (behaviourMode==BehaviourMode_t::Circle)) {
242 StopCircle();
243 }
244
245 //R1 and Square
246 if(GetTargetController()->IsButtonPressed(9) && GetTargetController()->IsButtonPressed(2) && (behaviourMode==BehaviourMode_t::Default)) {
247 VrpnPositionHold();
248 }
249}
250
251void CircleFollower::StartCircle(void) {
252 if (SetOrientationMode(OrientationMode_t::Custom)) {
253 Thread::Info("CircleFollower: start circle\n");
254 } else {
255 Thread::Warn("CircleFollower: could not start circle\n");
256 return;
257 }
258 Vector3Df uav_pos,target_pos;
259 Vector2Df uav_2Dpos,target_2Dpos;
260
261 targetVrpn->GetPosition(target_pos);
262 target_pos.To2Dxy(target_2Dpos);
263 circle->SetCenter(target_2Dpos);
264
265 uavVrpn->GetPosition(uav_pos);
266 uav_pos.To2Dxy(uav_2Dpos);
267 circle->StartTraj(uav_2Dpos);
268
269 uX->Reset();
270 uY->Reset();
271 behaviourMode=BehaviourMode_t::Circle;
272}
273
274void CircleFollower::StopCircle(void) {
275 circle->FinishTraj();
276 //GetJoystick()->Rumble(0x70);
277 Thread::Info("CircleFollower: finishing circle\n");
278}
279
280void CircleFollower::VrpnPositionHold(void) {
281 Quaternion vrpnQuaternion;
282 uavVrpn->GetQuaternion(vrpnQuaternion);
283 yawHold=vrpnQuaternion.ToEuler().yaw;
284
285 Vector3Df vrpnPosition;
286 uavVrpn->GetPosition(vrpnPosition);
287 vrpnPosition.To2Dxy(posHold);
288
289 uX->Reset();
290 uY->Reset();
291 behaviourMode=BehaviourMode_t::PositionHold;
292 SetOrientationMode(OrientationMode_t::Custom);
293 Thread::Info("CircleFollower: holding position\n");
294}
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