source: flair-src/trunk/demos/Gps/uav/src/DemoGps.cpp@ 137

Last change on this file since 137 was 137, checked in by Sanahuja Guillaume, 6 years ago

singleton manager

File size: 6.4 KB
Line 
1// created: 2016/07/01
2// filename: DemoGps.cpp
3//
4// author: Guillaume Sanahuja
5// Copyright Heudiasyc UMR UTC/CNRS 7253
6//
7// version: $Id: $
8//
9// purpose: demo GPS
10//
11//
12/*********************************************************************/
13
14#include "DemoGps.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 <MetaDualShock3.h>
22#include <FrameworkManager.h>
23#include <TrajectoryGenerator2DCircle.h>
24#include <cvmatrix.h>
25#include <cmath>
26#include <Tab.h>
27#include <Pid.h>
28#include <Ahrs.h>
29#include <AhrsData.h>
30#include <RTDM_SerialPort.h>
31#include <Mb800.h>
32#include <SimuGps.h>
33
34using namespace std;
35using namespace flair::core;
36using namespace flair::gui;
37using namespace flair::sensor;
38using namespace flair::filter;
39using namespace flair::meta;
40
41DemoGps::DemoGps(TargetController *controller): UavStateMachine(controller), behaviourMode(BehaviourMode_t::Default) {
42 Uav* uav=GetUav();
43 startCircle=new PushButton(GetButtonsLayout()->NewRow(),"start_circle");
44 stopCircle=new PushButton(GetButtonsLayout()->LastRowLastCol(),"stop_circle");
45
46 //RTDM_SerialPort *serialport=new RTDM_SerialPort(getFrameworkManager(),"gps_serial","rtser2");
47 //gps=new Mb800("gps",serialport,(NmeaGps::NMEAFlags_t)(NmeaGps::GGA|NmeaGps::VTG),40);
48 gps=new SimuGps("gps",(NmeaGps::NMEAFlags_t)(NmeaGps::GGA|NmeaGps::VTG),0,40);
49 gps->UseDefaultPlot();
50 getFrameworkManager()->AddDeviceToLog(gps);
51 //gps->Start();
52
53 circle=new TrajectoryGenerator2DCircle(gps->GetLayout()->NewRow(),"circle");
54 //todo: add graphs in gps plot
55 /*
56 uav->GetVrpnObject()->xPlot()->AddCurve(circle->Matrix()->Element(0,0),DataPlot::Blue);
57 uav->GetVrpnObject()->yPlot()->AddCurve(circle->Matrix()->Element(0,1),DataPlot::Blue);
58 uav->GetVrpnObject()->VxPlot()->AddCurve(circle->Matrix()->Element(1,0),DataPlot::Blue);
59 uav->GetVrpnObject()->VyPlot()->AddCurve(circle->Matrix()->Element(1,1),DataPlot::Blue);
60 uav->GetVrpnObject()->XyPlot()->AddCurve(circle->Matrix()->Element(0,1),circle->Matrix()->Element(0,0),DataPlot::Blue,"circle");*/
61
62 uX=new Pid(setupLawTab->At(1,0),"u_x");
63 uX->UseDefaultPlot(graphLawTab->NewRow());
64 uY=new Pid(setupLawTab->At(1,1),"u_y");
65 uY->UseDefaultPlot(graphLawTab->LastRowLastCol());
66
67 customReferenceOrientation= new AhrsData(this,"reference");
68 uav->GetAhrs()->AddPlot(customReferenceOrientation,DataPlot::Yellow);
69 AddDataToControlLawLog(customReferenceOrientation);
70
71 customOrientation=new AhrsData(this,"orientation");
72}
73
74DemoGps::~DemoGps() {
75}
76
77AhrsData *DemoGps::GetReferenceOrientation(void) {
78 Vector2D pos_err, vel_err; // in Uav coordinate system
79 float yaw_ref;
80 Euler refAngles;
81
82 PositionValues(pos_err, vel_err, yaw_ref);
83
84 refAngles.yaw=yaw_ref;
85
86 uX->SetValues(pos_err.x, vel_err.x);
87 uX->Update(GetTime());
88 refAngles.pitch=uX->Output();
89
90 uY->SetValues(pos_err.y, vel_err.y);
91 uY->Update(GetTime());
92 refAngles.roll=-uY->Output();
93
94 customReferenceOrientation->SetQuaternionAndAngularRates(refAngles.ToQuaternion(),Vector3D(0,0,0));
95
96 return customReferenceOrientation;
97}
98
99void DemoGps::PositionValues(Vector2D &pos_error,Vector2D &vel_error,float &yaw_ref) {
100 Vector3D uav_pos,uav_vel;
101 Vector2D uav_2Dpos,uav_2Dvel;
102
103//TODO GPS position and circle center
104 // GetUav()->GetVrpnObject()->GetPosition(uav_pos);
105 //GetUav()->GetVrpnObject()->GetSpeed(uav_vel);
106
107 uav_pos.To2Dxy(uav_2Dpos);
108 uav_vel.To2Dxy(uav_2Dvel);
109
110 if (behaviourMode==BehaviourMode_t::PositionHold) {
111 pos_error=uav_2Dpos-posHold;
112 vel_error=uav_2Dvel;
113 yaw_ref=yawHold;
114 } else { //Circle
115 Vector2D circle_pos,circle_vel;
116 Vector2D target_2Dpos;
117
118 circle->SetCenter(target_2Dpos);
119
120 //circle reference
121 circle->Update(GetTime());
122 circle->GetPosition(circle_pos);
123 circle->GetSpeed(circle_vel);
124
125 //error in optitrack frame
126 pos_error=uav_2Dpos-circle_pos;
127 vel_error=uav_2Dvel-circle_vel;
128 yaw_ref=atan2(target_2Dpos.y-uav_pos.y,target_2Dpos.x-uav_pos.x);
129 }
130
131 //error in uav frame
132 Quaternion currentQuaternion=GetCurrentQuaternion();
133 Euler currentAngles;//in vrpn frame
134 currentQuaternion.ToEuler(currentAngles);
135 pos_error.Rotate(-currentAngles.yaw);
136 vel_error.Rotate(-currentAngles.yaw);
137}
138
139void DemoGps::SignalEvent(Event_t event) {
140 UavStateMachine::SignalEvent(event);
141 switch(event) {
142 case Event_t::TakingOff:
143 behaviourMode=BehaviourMode_t::Default;
144 break;
145 case Event_t::EnteringControlLoop:
146 if ((behaviourMode==BehaviourMode_t::Circle) && (!circle->IsRunning())) {
147 GpsPositionHold();
148 }
149 break;
150 case Event_t::EnteringFailSafeMode:
151 behaviourMode=BehaviourMode_t::Default;
152 break;
153 }
154}
155
156void DemoGps::ExtraSecurityCheck(void) {
157
158}
159
160void DemoGps::ExtraCheckPushButton(void) {
161 if(startCircle->Clicked() && (behaviourMode!=BehaviourMode_t::Circle)) {
162 StartCircle();
163 }
164 if(stopCircle->Clicked() && (behaviourMode==BehaviourMode_t::Circle)) {
165 StopCircle();
166 }
167}
168
169void DemoGps::ExtraCheckJoystick(void) {
170 //R1 and Circle
171 if(GetJoystick()->IsButtonPressed(9) && GetJoystick()->IsButtonPressed(4) && (behaviourMode!=BehaviourMode_t::Circle)) {
172 StartCircle();
173 }
174
175 //R1 and Cross
176 if(GetJoystick()->IsButtonPressed(9) && GetJoystick()->IsButtonPressed(5) && (behaviourMode==BehaviourMode_t::Circle)) {
177 StopCircle();
178 }
179}
180
181void DemoGps::StartCircle(void) {
182 if (SetOrientationMode(OrientationMode_t::Custom)) {
183 Thread::Info("DemoGps: start circle\n");
184 } else {
185 Thread::Warn("DemoGps: could not start circle\n");
186 return;
187 }
188 Vector3D uav_pos;
189 Vector2D uav_2Dpos,target_2Dpos;
190
191 circle->SetCenter(target_2Dpos);
192
193 //todo get uav and circle pos by gps
194 uav_pos.To2Dxy(uav_2Dpos);
195 circle->StartTraj(uav_2Dpos);
196
197 uX->Reset();
198 uY->Reset();
199 behaviourMode=BehaviourMode_t::Circle;
200}
201
202void DemoGps::StopCircle(void) {
203 circle->FinishTraj();
204 //GetJoystick()->Rumble(0x70);
205 Thread::Info("DemoGps: finishing circle\n");
206}
207
208void DemoGps::GpsPositionHold(void) {
209
210
211//tood set yawHold and posHold
212
213
214 uX->Reset();
215 uY->Reset();
216 behaviourMode=BehaviourMode_t::PositionHold;
217 SetOrientationMode(OrientationMode_t::Custom);
218 Thread::Info("DemoGps: holding position\n");
219}
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