[292] | 1 | // created: 2019/01/09
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| 2 | // filename: App.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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[293] | 9 | // purpose: mixed reality demo, virtual uav side
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[292] | 10 | //
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| 11 | //
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| 12 | /*********************************************************************/
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| 13 |
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| 14 | #include "App.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 <MetaDualShock3.h>
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| 21 | #include <FrameworkManager.h>
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| 22 | #include <VrpnClient.h>
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| 23 | #include <MetaVrpnObject.h>
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| 24 | #include <Matrix.h>
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| 25 | #include <Tab.h>
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| 26 | #include <Pid.h>
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| 27 | #include <Ahrs.h>
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| 28 | #include <AhrsData.h>
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| 29 |
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| 30 | using namespace std;
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| 31 | using namespace flair::core;
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| 32 | using namespace flair::gui;
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| 33 | using namespace flair::sensor;
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| 34 | using namespace flair::filter;
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| 35 | using namespace flair::meta;
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| 36 |
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| 37 | App::App(TargetController *controller): UavStateMachine(controller), behaviourMode(BehaviourMode_t::Default), vrpnLost(false) {
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| 38 | Uav* uav=GetUav();
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| 39 |
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| 40 | VrpnClient* vrpnclient=new VrpnClient("vrpn", "127.0.0.1:3884",80);//local ip, and specific port for simulator_simu's vrpn
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| 41 | uavVrpn = new MetaVrpnObject(uav->ObjectName());
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| 42 | getFrameworkManager()->AddDeviceToLog(uavVrpn);
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| 43 | uav->GetAhrs()->YawPlot()->AddCurve(uavVrpn->State()->Element(2),DataPlot::Green);
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| 44 |
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| 45 | positionHold=new PushButton(GetButtonsLayout()->LastRowLastCol(),"position hold");
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| 46 |
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| 47 | vrpnclient->Start();
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| 48 |
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| 49 | uX=new Pid(setupLawTab->At(1,0),"u_x");
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| 50 | uX->UseDefaultPlot(graphLawTab->NewRow());
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| 51 | uY=new Pid(setupLawTab->At(1,1),"u_y");
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| 52 | uY->UseDefaultPlot(graphLawTab->LastRowLastCol());
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| 53 |
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| 54 | customReferenceOrientation= new AhrsData(this,"reference");
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| 55 | uav->GetAhrs()->AddPlot(customReferenceOrientation,DataPlot::Yellow);
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| 56 | AddDataToControlLawLog(customReferenceOrientation);
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| 57 |
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| 58 | customOrientation=new AhrsData(this,"orientation");
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| 59 | }
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| 60 |
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| 61 | App::~App() {
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| 62 | }
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| 63 |
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| 64 | const AhrsData *App::GetOrientation(void) const {
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| 65 | //get yaw from vrpn
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| 66 | Quaternion vrpnQuaternion;
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| 67 | uavVrpn->GetQuaternion(vrpnQuaternion);
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| 68 |
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| 69 | //get roll, pitch and w from imu
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| 70 | Quaternion ahrsQuaternion;
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| 71 | Vector3Df ahrsAngularSpeed;
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| 72 | GetDefaultOrientation()->GetQuaternionAndAngularRates(ahrsQuaternion, ahrsAngularSpeed);
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| 73 |
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| 74 | Euler ahrsEuler=ahrsQuaternion.ToEuler();
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| 75 | ahrsEuler.yaw=vrpnQuaternion.ToEuler().yaw;
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| 76 | Quaternion mixQuaternion=ahrsEuler.ToQuaternion();
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| 77 |
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| 78 | customOrientation->SetQuaternionAndAngularRates(mixQuaternion,ahrsAngularSpeed);
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| 79 |
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| 80 | return customOrientation;
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| 81 | }
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| 82 |
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| 83 | void App::AltitudeValues(float &z,float &dz) const{
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| 84 | Vector3Df uav_pos,uav_vel;
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| 85 |
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| 86 | uavVrpn->GetPosition(uav_pos);
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| 87 | uavVrpn->GetSpeed(uav_vel);
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| 88 | //z and dz must be in uav's frame
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| 89 | z=-uav_pos.z;
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| 90 | dz=-uav_vel.z;
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| 91 | }
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| 92 |
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| 93 | AhrsData *App::GetReferenceOrientation(void) {
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| 94 | Vector2Df pos_err, vel_err; // in Uav coordinate system
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| 95 | float yaw_ref;
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| 96 | Euler refAngles;
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| 97 |
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| 98 | PositionValues(pos_err, vel_err, yaw_ref);
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| 99 |
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| 100 | refAngles.yaw=yaw_ref;
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| 101 |
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| 102 | uX->SetValues(pos_err.x, vel_err.x);
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| 103 | uX->Update(GetTime());
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| 104 | refAngles.pitch=uX->Output();
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| 105 |
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| 106 | uY->SetValues(pos_err.y, vel_err.y);
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| 107 | uY->Update(GetTime());
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| 108 | refAngles.roll=-uY->Output();
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| 109 |
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| 110 | customReferenceOrientation->SetQuaternionAndAngularRates(refAngles.ToQuaternion(),Vector3Df(0,0,0));
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| 111 |
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| 112 | return customReferenceOrientation;
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| 113 | }
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| 114 |
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| 115 | void App::PositionValues(Vector2Df &pos_error,Vector2Df &vel_error,float &yaw_ref) {
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| 116 | Vector3Df uav_pos,uav_vel; // in VRPN coordinate system
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| 117 | Vector2Df uav_2Dpos,uav_2Dvel; // in VRPN coordinate system
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| 118 |
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| 119 | uavVrpn->GetPosition(uav_pos);
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| 120 | uavVrpn->GetSpeed(uav_vel);
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| 121 |
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| 122 | uav_pos.To2Dxy(uav_2Dpos);
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| 123 | uav_vel.To2Dxy(uav_2Dvel);
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| 124 |
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| 125 | pos_error=uav_2Dpos-posHold;
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| 126 | vel_error=uav_2Dvel;
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| 127 | yaw_ref=yawHold;
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| 128 |
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| 129 | //error in uav frame
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| 130 | Quaternion currentQuaternion=GetCurrentQuaternion();
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| 131 | Euler currentAngles;//in vrpn frame
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| 132 | currentQuaternion.ToEuler(currentAngles);
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| 133 | pos_error.Rotate(-currentAngles.yaw);
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| 134 | vel_error.Rotate(-currentAngles.yaw);
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| 135 | }
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| 136 |
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| 137 | void App::SignalEvent(Event_t event) {
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| 138 | UavStateMachine::SignalEvent(event);
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| 139 | switch(event) {
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| 140 | case Event_t::TakingOff:
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| 141 | behaviourMode=BehaviourMode_t::Default;
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| 142 | vrpnLost=false;
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| 143 | break;
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| 144 | case Event_t::EnteringControlLoop:
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| 145 | break;
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| 146 | case Event_t::EnteringFailSafeMode:
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| 147 | behaviourMode=BehaviourMode_t::Default;
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| 148 | break;
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| 149 | }
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| 150 | }
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| 151 |
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| 152 | void App::ExtraSecurityCheck(void) {
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| 153 | if ((!vrpnLost) && (behaviourMode==BehaviourMode_t::PositionHold)) {
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| 154 | if (!uavVrpn->IsTracked(500)) {
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| 155 | Thread::Err("VRPN, uav lost\n");
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| 156 | vrpnLost=true;
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| 157 | EnterFailSafeMode();
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| 158 | Land();
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| 159 | }
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| 160 | }
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| 161 | }
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| 162 |
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| 163 | void App::ExtraCheckPushButton(void) {
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| 164 | if(positionHold->Clicked() && (behaviourMode==BehaviourMode_t::Default)) {
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| 165 | VrpnPositionHold();
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| 166 | }
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| 167 | }
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| 168 |
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| 169 | void App::ExtraCheckJoystick(void) {
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| 170 | //R1 and Square
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[314] | 171 | if(GetTargetController()->IsButtonPressed(9) && GetTargetController()->IsButtonPressed(2) && (behaviourMode==BehaviourMode_t::Default)) {
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[292] | 172 | VrpnPositionHold();
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| 173 | }
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| 174 | }
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| 175 |
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| 176 | void App::VrpnPositionHold(void) {
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| 177 | Quaternion vrpnQuaternion;
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| 178 | uavVrpn->GetQuaternion(vrpnQuaternion);
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| 179 | yawHold=vrpnQuaternion.ToEuler().yaw;
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| 180 |
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| 181 | Vector3Df vrpnPosition;
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| 182 | uavVrpn->GetPosition(vrpnPosition);
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| 183 | vrpnPosition.To2Dxy(posHold);
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| 184 |
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| 185 | uX->Reset();
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| 186 | uY->Reset();
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| 187 | behaviourMode=BehaviourMode_t::PositionHold;
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| 188 | SetOrientationMode(OrientationMode_t::Custom);
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| 189 | Thread::Info("App: holding position\n");
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| 190 | }
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