source: flair-src/trunk/demos/MixedReality/real/uav/src/CircleFollower.cpp@ 302

Last change on this file since 302 was 292, checked in by Sanahuja Guillaume, 4 years ago

add mixed reality demo

File size: 8.8 KB
Line 
1// created: 2019/01/09
2// filename: CircleFollower.cpp
3//
4// author: Guillaume Sanahuja
5// Copyright Heudiasyc UMR UTC/CNRS 7253
6//
7// version: $Id: $
8//
9// purpose: mixed reality demo, real uav side
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 <MetaDualShock3.h>
22#include <FrameworkManager.h>
23#include <VrpnClient.h>
24#include <MetaVrpnObject.h>
25#include <TrajectoryGenerator2DCircle.h>
26#include <Matrix.h>
27#include <cvmatrix.h>
28#include <cmath>
29#include <Tab.h>
30#include <Pid.h>
31#include <Ahrs.h>
32#include <AhrsData.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
41CircleFollower::CircleFollower(TargetController *controller,string vrpn): UavStateMachine(controller), behaviourMode(BehaviourMode_t::Default), vrpnLost(false) {
42 Uav* uav=GetUav();
43
44 VrpnClient* realVrpnClient=new VrpnClient("real_vrpn", uav->GetDefaultVrpnAddress(),80);
45 uavVrpn = new MetaVrpnObject(uav->ObjectName());
46 getFrameworkManager()->AddDeviceToLog(uavVrpn);
47 uav->GetAhrs()->YawPlot()->AddCurve(uavVrpn->State()->Element(2),DataPlot::Green);
48
49 startCircle=new PushButton(GetButtonsLayout()->NewRow(),"start_circle");
50 stopCircle=new PushButton(GetButtonsLayout()->LastRowLastCol(),"stop_circle");
51 positionHold=new PushButton(GetButtonsLayout()->LastRowLastCol(),"position hold");
52
53 VrpnClient* simuVrpnClient=new VrpnClient("simu_vrpn", vrpn,80);//simu_simu vrpn server
54 targetVrpn=new MetaVrpnObject("Drone_1",simuVrpnClient);
55 simuVrpnClient->Start();
56 realVrpnClient->Start();
57
58 getFrameworkManager()->AddDeviceToLog(targetVrpn);
59
60 circle=new TrajectoryGenerator2DCircle(realVrpnClient->GetLayout()->NewRow(),"circle");
61 uavVrpn->xPlot()->AddCurve(circle->GetMatrix()->Element(0,0),DataPlot::Blue);
62 uavVrpn->yPlot()->AddCurve(circle->GetMatrix()->Element(0,1),DataPlot::Blue);
63 uavVrpn->VxPlot()->AddCurve(circle->GetMatrix()->Element(1,0),DataPlot::Blue);
64 uavVrpn->VyPlot()->AddCurve(circle->GetMatrix()->Element(1,1),DataPlot::Blue);
65 uavVrpn->XyPlot()->AddCurve(circle->GetMatrix()->Element(0,1),circle->GetMatrix()->Element(0,0),DataPlot::Blue,"circle");
66
67 uX=new Pid(setupLawTab->At(1,0),"u_x");
68 uX->UseDefaultPlot(graphLawTab->NewRow());
69 uY=new Pid(setupLawTab->At(1,1),"u_y");
70 uY->UseDefaultPlot(graphLawTab->LastRowLastCol());
71
72 customReferenceOrientation= new AhrsData(this,"reference");
73 uav->GetAhrs()->AddPlot(customReferenceOrientation,DataPlot::Yellow);
74 AddDataToControlLawLog(customReferenceOrientation);
75
76 customOrientation=new AhrsData(this,"orientation");
77}
78
79CircleFollower::~CircleFollower() {
80}
81
82const AhrsData *CircleFollower::GetOrientation(void) const {
83 //get yaw from vrpn
84 Quaternion vrpnQuaternion;
85 uavVrpn->GetQuaternion(vrpnQuaternion);
86
87 //get roll, pitch and w from imu
88 Quaternion ahrsQuaternion;
89 Vector3Df ahrsAngularSpeed;
90 GetDefaultOrientation()->GetQuaternionAndAngularRates(ahrsQuaternion, ahrsAngularSpeed);
91
92 Euler ahrsEuler=ahrsQuaternion.ToEuler();
93 ahrsEuler.yaw=vrpnQuaternion.ToEuler().yaw;
94 Quaternion mixQuaternion=ahrsEuler.ToQuaternion();
95
96 customOrientation->SetQuaternionAndAngularRates(mixQuaternion,ahrsAngularSpeed);
97
98 return customOrientation;
99}
100
101void CircleFollower::AltitudeValues(float &z,float &dz) const{
102 Vector3Df uav_pos,uav_vel;
103
104 uavVrpn->GetPosition(uav_pos);
105 uavVrpn->GetSpeed(uav_vel);
106 //z and dz must be in uav's frame
107 z=-uav_pos.z;
108 dz=-uav_vel.z;
109}
110
111AhrsData *CircleFollower::GetReferenceOrientation(void) {
112 Vector2Df pos_err, vel_err; // in Uav coordinate system
113 float yaw_ref;
114 Euler refAngles;
115
116 PositionValues(pos_err, vel_err, yaw_ref);
117
118 refAngles.yaw=yaw_ref;
119
120 uX->SetValues(pos_err.x, vel_err.x);
121 uX->Update(GetTime());
122 refAngles.pitch=uX->Output();
123
124 uY->SetValues(pos_err.y, vel_err.y);
125 uY->Update(GetTime());
126 refAngles.roll=-uY->Output();
127
128 customReferenceOrientation->SetQuaternionAndAngularRates(refAngles.ToQuaternion(),Vector3Df(0,0,0));
129
130 return customReferenceOrientation;
131}
132
133void CircleFollower::PositionValues(Vector2Df &pos_error,Vector2Df &vel_error,float &yaw_ref) {
134 Vector3Df uav_pos,uav_vel; // in VRPN coordinate system
135 Vector2Df uav_2Dpos,uav_2Dvel; // in VRPN coordinate system
136
137 uavVrpn->GetPosition(uav_pos);
138 uavVrpn->GetSpeed(uav_vel);
139
140 uav_pos.To2Dxy(uav_2Dpos);
141 uav_vel.To2Dxy(uav_2Dvel);
142
143 if (behaviourMode==BehaviourMode_t::PositionHold) {
144 pos_error=uav_2Dpos-posHold;
145 vel_error=uav_2Dvel;
146 yaw_ref=yawHold;
147 } else { //Circle
148 Vector3Df target_pos;
149 Vector2Df circle_pos,circle_vel;
150 Vector2Df target_2Dpos;
151
152 targetVrpn->GetPosition(target_pos);
153 target_pos.To2Dxy(target_2Dpos);
154 circle->SetCenter(target_2Dpos);
155
156 //circle reference
157 circle->Update(GetTime());
158 circle->GetPosition(circle_pos);
159 circle->GetSpeed(circle_vel);
160
161 //error in optitrack frame
162 pos_error=uav_2Dpos-circle_pos;
163 vel_error=uav_2Dvel-circle_vel;
164 yaw_ref=atan2(target_pos.y-uav_pos.y,target_pos.x-uav_pos.x);
165 }
166
167 //error in uav frame
168 Quaternion currentQuaternion=GetCurrentQuaternion();
169 Euler currentAngles;//in vrpn frame
170 currentQuaternion.ToEuler(currentAngles);
171 pos_error.Rotate(-currentAngles.yaw);
172 vel_error.Rotate(-currentAngles.yaw);
173}
174
175void CircleFollower::SignalEvent(Event_t event) {
176 UavStateMachine::SignalEvent(event);
177 switch(event) {
178 case Event_t::TakingOff:
179 behaviourMode=BehaviourMode_t::Default;
180 vrpnLost=false;
181 break;
182 case Event_t::EnteringControlLoop:
183 if ((behaviourMode==BehaviourMode_t::Circle) && (!circle->IsRunning())) {
184 VrpnPositionHold();
185 }
186 break;
187 case Event_t::EnteringFailSafeMode:
188 behaviourMode=BehaviourMode_t::Default;
189 break;
190 }
191}
192
193void CircleFollower::ExtraSecurityCheck(void) {
194 if ((!vrpnLost) && ((behaviourMode==BehaviourMode_t::Circle) || (behaviourMode==BehaviourMode_t::PositionHold))) {
195 if (!targetVrpn->IsTracked(500)) {
196 Thread::Err("VRPN, target lost\n");
197 vrpnLost=true;
198 EnterFailSafeMode();
199 Land();
200 }
201 if (!uavVrpn->IsTracked(500)) {
202 Thread::Err("VRPN, uav lost\n");
203 vrpnLost=true;
204 EnterFailSafeMode();
205 Land();
206 }
207 }
208}
209
210void CircleFollower::ExtraCheckPushButton(void) {
211 if(startCircle->Clicked() && (behaviourMode!=BehaviourMode_t::Circle)) {
212 StartCircle();
213 }
214 if(stopCircle->Clicked() && (behaviourMode==BehaviourMode_t::Circle)) {
215 StopCircle();
216 }
217 if(positionHold->Clicked() && (behaviourMode==BehaviourMode_t::Default)) {
218 VrpnPositionHold();
219 }
220}
221
222void CircleFollower::ExtraCheckJoystick(void) {
223 //R1 and Circle
224 if(GetJoystick()->IsButtonPressed(9) && GetJoystick()->IsButtonPressed(4) && (behaviourMode!=BehaviourMode_t::Circle)) {
225 StartCircle();
226 }
227
228 //R1 and Cross
229 if(GetJoystick()->IsButtonPressed(9) && GetJoystick()->IsButtonPressed(5) && (behaviourMode==BehaviourMode_t::Circle)) {
230 StopCircle();
231 }
232
233 //R1 and Square
234 if(GetJoystick()->IsButtonPressed(9) && GetJoystick()->IsButtonPressed(2) && (behaviourMode==BehaviourMode_t::Default)) {
235 VrpnPositionHold();
236 }
237}
238
239void CircleFollower::StartCircle(void) {
240 if (SetOrientationMode(OrientationMode_t::Custom)) {
241 Thread::Info("CircleFollower: start circle\n");
242 } else {
243 Thread::Warn("CircleFollower: could not start circle\n");
244 return;
245 }
246 Vector3Df uav_pos,target_pos;
247 Vector2Df uav_2Dpos,target_2Dpos;
248
249 targetVrpn->GetPosition(target_pos);
250 target_pos.To2Dxy(target_2Dpos);
251 circle->SetCenter(target_2Dpos);
252
253 uavVrpn->GetPosition(uav_pos);
254 uav_pos.To2Dxy(uav_2Dpos);
255 circle->StartTraj(uav_2Dpos);
256
257 uX->Reset();
258 uY->Reset();
259 behaviourMode=BehaviourMode_t::Circle;
260}
261
262void CircleFollower::StopCircle(void) {
263 circle->FinishTraj();
264 //GetJoystick()->Rumble(0x70);
265 Thread::Info("CircleFollower: finishing circle\n");
266}
267
268void CircleFollower::VrpnPositionHold(void) {
269 Quaternion vrpnQuaternion;
270 uavVrpn->GetQuaternion(vrpnQuaternion);
271 yawHold=vrpnQuaternion.ToEuler().yaw;
272
273 Vector3Df vrpnPosition;
274 uavVrpn->GetPosition(vrpnPosition);
275 vrpnPosition.To2Dxy(posHold);
276
277 uX->Reset();
278 uY->Reset();
279 behaviourMode=BehaviourMode_t::PositionHold;
280 SetOrientationMode(OrientationMode_t::Custom);
281 Thread::Info("CircleFollower: holding position\n");
282}
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