source: flair-src/trunk/demos/SimpleFleet/uav/src/SimpleFleet.cpp@ 35

Last change on this file since 35 was 33, checked in by Sanahuja Guillaume, 8 years ago

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File size: 11.3 KB
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[33]1// created: 2015/11/05
2// filename: SimpleFleet.cpp
3//
4// author: Guillaume Sanahuja
5// Copyright Heudiasyc UMR UTC/CNRS 7253
6//
7// version: $Id: $
8//
9// purpose: demo fleet
10//
11//
12/*********************************************************************/
13
14#include "SimpleFleet.h"
15#include <Uav.h>
16#include <GridLayout.h>
17#include <PushButton.h>
18#include <DataPlot1D.h>
19#include <Ahrs.h>
20#include <MetaUsRangeFinder.h>
21#include <MetaDualShock3.h>
22#include <FrameworkManager.h>
23#include <VrpnClient.h>
24#include <MetaVrpnObject.h>
25#include <TrajectoryGenerator2DCircle.h>
26#include <Vector3D.h>
27#include <Vector2D.h>
28#include <PidThrust.h>
29#include <Euler.h>
30#include <cvmatrix.h>
31#include <AhrsData.h>
32#include <Ahrs.h>
33#include <DoubleSpinBox.h>
34#include <stdio.h>
35#include <cmath>
36#include <Tab.h>
37#include <Pid.h>
38#include <Socket.h>
39#include <string.h>
40
41#define PI ((float)3.14159265358979323846)
42
43using namespace std;
44using namespace flair::core;
45using namespace flair::gui;
46using namespace flair::sensor;
47using namespace flair::filter;
48using namespace flair::meta;
49
50
51SimpleFleet::SimpleFleet(flair::meta::Uav* uav,string broadcast,uint16_t ds3port): UavStateMachine(uav,ds3port), behaviourMode(BehaviourMode_t::Default), vrpnLost(false) {
52 uav->SetupVRPNAutoIP(uav->ObjectName());
53
54 circle=new TrajectoryGenerator2DCircle(uav->GetVrpnClient()->GetLayout()->NewRow(),"circle");
55 uav->GetVrpnObject()->xPlot()->AddCurve(circle->Matrix()->Element(0,0),0,0,255);
56 uav->GetVrpnObject()->yPlot()->AddCurve(circle->Matrix()->Element(0,1),0,0,255);
57 uav->GetVrpnObject()->VxPlot()->AddCurve(circle->Matrix()->Element(1,0),0,0,255);
58 uav->GetVrpnObject()->VyPlot()->AddCurve(circle->Matrix()->Element(1,1),0,0,255);
59
60 xCircleCenter=new DoubleSpinBox(uav->GetVrpnClient()->GetLayout()->NewRow(),"x circle center"," m",-5,5,0.1,1,0);
61 yCircleCenter=new DoubleSpinBox(uav->GetVrpnClient()->GetLayout()->NewRow(),"y circle center"," m",-5,5,0.1,1,0);
62 yDisplacement=new DoubleSpinBox(uav->GetVrpnClient()->GetLayout()->NewRow(),"y displacement"," m",0,2,0.1,1,0);
63
64 //parent->AddDeviceToLog(Uz());
65
66 u_x=new Pid(setupLawTab->At(1,0),"u_x");
67 u_x->UseDefaultPlot(graphLawTab->NewRow());
68 u_y=new Pid(setupLawTab->At(1,1),"u_y");
69 u_y->UseDefaultPlot(graphLawTab->LastRowLastCol());
70
71 message=new Socket(uav,"Message",broadcast,10);
72
73 customReferenceOrientation= new AhrsData(this,"reference");
74 uav->GetAhrs()->AddPlot(customReferenceOrientation,DataPlot::Yellow);
75 AddDataToControlLawLog(customReferenceOrientation);
76
77 customOrientation=new AhrsData(this,"orientation");
78/*
79 //check init conditions
80 Vector3D uav_pos;
81 Euler vrpn_euler;
82 GetVrpnObject()->GetPosition(uav_pos);
83 GetVrpnObject()->GetEuler(vrpn_euler);
84
85 if(name=="x8_0") {
86 //x8_0 should be on the left, with 0 yaw
87 if(uav_pos.y>yCircleCenter->Value() || vrpn_euler.yaw>20 || vrpn_euler.yaw<-20) Thread::Err("wrong init position\n");
88 }
89 if(name=="x8_1") {
90 //x8_1 should be on the right, with 180 yaw
91 if(uav_pos.y<yCircleCenter->Value() || (vrpn_euler.yaw<160 && vrpn_euler.yaw>-160)) Thread::Err("wrong init position %f %f\n",yCircleCenter->Value(),vrpn_euler.yaw);
92 }
93 */
94}
95
96SimpleFleet::~SimpleFleet() {
97}
98
99const AhrsData *SimpleFleet::GetOrientation(void) const {
100 //get yaw from vrpn
101 Euler vrpnEuler;
102 GetUav()->GetVrpnObject()->GetEuler(vrpnEuler);
103
104 //get roll, pitch and w from imu
105 Quaternion ahrsQuaternion;
106 Vector3D ahrsAngularSpeed;
107 GetDefaultOrientation()->GetQuaternionAndAngularRates(ahrsQuaternion, ahrsAngularSpeed);
108
109 Euler ahrsEuler=ahrsQuaternion.ToEuler();
110 ahrsEuler.yaw=vrpnEuler.yaw;
111 Quaternion mixQuaternion=ahrsEuler.ToQuaternion();
112
113 customOrientation->SetQuaternionAndAngularRates(mixQuaternion,ahrsAngularSpeed);
114
115 return customOrientation;
116}
117
118void SimpleFleet::AltitudeValues(float &z,float &dz) const {
119 Vector3D uav_pos,uav_vel;
120
121 GetUav()->GetVrpnObject()->GetPosition(uav_pos);
122 GetUav()->GetVrpnObject()->GetSpeed(uav_vel);
123 //z and dz must be in uav's frame
124 z=-uav_pos.z;
125 dz=-uav_vel.z;
126}
127
128const AhrsData *SimpleFleet::GetReferenceOrientation(void) {
129 Vector2D pos_err, vel_err; // in uav coordinate system
130 float yaw_ref;
131 Euler refAngles;
132
133 PositionValues(pos_err, vel_err, yaw_ref);
134
135 refAngles.yaw=yaw_ref;
136
137 u_x->SetValues(pos_err.x, vel_err.x);
138 u_x->Update(GetTime());
139 refAngles.pitch=u_x->Output();
140
141 u_y->SetValues(pos_err.y, vel_err.y);
142 u_y->Update(GetTime());
143 refAngles.roll=-u_y->Output();
144
145 customReferenceOrientation->SetQuaternionAndAngularRates(refAngles.ToQuaternion(),Vector3D(0,0,0));
146
147 return customReferenceOrientation;
148}
149
150void SimpleFleet::PositionValues(Vector2D &pos_error,Vector2D &vel_error,float &yaw_ref) {
151 Vector3D uav_pos,uav_vel; // in VRPN coordinate system
152 Vector2D uav_2Dpos,uav_2Dvel; // in VRPN coordinate system
153 Euler vrpn_euler; // in VRPN coordinate system
154
155 GetUav()->GetVrpnObject()->GetPosition(uav_pos);
156 GetUav()->GetVrpnObject()->GetSpeed(uav_vel);
157 GetUav()->GetVrpnObject()->GetEuler(vrpn_euler);
158
159 uav_pos.To2Dxy(uav_2Dpos);
160 uav_vel.To2Dxy(uav_2Dvel);
161
162 if (behaviourMode==BehaviourMode_t::PositionHold1 || behaviourMode==BehaviourMode_t::PositionHold2
163 || behaviourMode==BehaviourMode_t::PositionHold3 || behaviourMode==BehaviourMode_t::PositionHold4) {
164 pos_error=uav_2Dpos-pos_hold;
165 vel_error=uav_2Dvel;
166 yaw_ref=yaw_hold;
167 } else { //Circle
168 Vector2D circle_pos,circle_vel;
169 Vector2D target_2Dpos;
170
171 //circle center
172 target_2Dpos.x=xCircleCenter->Value();
173 target_2Dpos.y=yCircleCenter->Value();
174 circle->SetCenter(target_2Dpos);
175
176 //circle reference
177 circle->Update(GetTime());
178 circle->GetPosition(circle_pos);
179 circle->GetSpeed(circle_vel);
180
181 //error in optitrack frame
182 pos_error=uav_2Dpos-circle_pos;
183 vel_error=uav_2Dvel-circle_vel;
184 yaw_ref=PI/2+atan2(uav_pos.y-target_2Dpos.y,uav_pos.x-target_2Dpos.x);
185 }
186 //error in uav frame
187 Quaternion currentQuaternion=GetCurrentQuaternion();
188 Euler currentAngles;//in vrpn frame
189 currentQuaternion.ToEuler(currentAngles);
190 pos_error.Rotate(-currentAngles.yaw);
191 vel_error.Rotate(-currentAngles.yaw);
192}
193
194void SimpleFleet::SignalEvent(Event_t event) {
195 UavStateMachine::SignalEvent(event);
196
197 switch(event) {
198 case Event_t::EmergencyStop:
199 message->SendMessage("EmergencyStop");
200 break;
201 case Event_t::TakingOff:
202 //behaviourMode=BehaviourMode_t::Default;
203 message->SendMessage("TakeOff");
204 VrpnPositionHold();
205 behaviourMode=BehaviourMode_t::PositionHold1;
206 break;
207 case Event_t::StartLanding:
208 VrpnPositionHold();
209 behaviourMode=BehaviourMode_t::PositionHold4;
210 message->SendMessage("Landing");
211 break;
212 case Event_t::EnteringControlLoop:
213 CheckMessages();
214 if ((behaviourMode==BehaviourMode_t::Circle1) && (!circle->IsRunning())) {
215 VrpnPositionHold();
216 behaviourMode=BehaviourMode_t::PositionHold2;
217 if(pos_hold.y<0) {
218 pos_hold.y-=yDisplacement->Value();
219 } else {
220 pos_hold.y+=yDisplacement->Value();
221 }
222 posWait=GetTime();
223 Printf("Circle1 -> PositionHold2\n");
224 }
225 if (behaviourMode==BehaviourMode_t::PositionHold2 && GetTime()>(posWait+3*(Time)1000000000)) {
226 behaviourMode=BehaviourMode_t::PositionHold3;
227 if(pos_hold.y<0) {
228 pos_hold.y+=yDisplacement->Value();
229 } else {
230 pos_hold.y-=yDisplacement->Value();
231 }
232 posWait=GetTime();
233 Printf("PositionHold2 -> PositionHold3\n");
234 }
235 if (behaviourMode==BehaviourMode_t::PositionHold3 && GetTime()>(posWait+3*(Time)1000000000)) {
236 behaviourMode=BehaviourMode_t::Circle2;
237 StartCircle();
238 Printf("PositionHold3 -> Circle2\n");
239 }
240 if ((behaviourMode==BehaviourMode_t::Circle2) && (!circle->IsRunning())) {
241 Printf("Circle2 -> Land\n");
242 behaviourMode=BehaviourMode_t::PositionHold4;
243 Land();
244 }
245
246 break;
247 case Event_t::EnteringFailSafeMode:
248 behaviourMode=BehaviourMode_t::Default;
249 break;
250 case Event_t::ZTrajectoryFinished:
251 Printf("PositionHold1 -> Circle1\n");
252 StartCircle();
253 behaviourMode=BehaviourMode_t::Circle1;
254 break;
255 }
256}
257
258void SimpleFleet::CheckMessages(void) {
259 char msg[64];
260 char src[64];
261 size_t src_size=sizeof(src);
262 while(message->RecvMessage(msg,sizeof(msg),TIME_NONBLOCK,src,&src_size)>0) {
263 //printf("%s %s\n",GetUav()->ObjectName().c_str(),src);
264 if(strcmp(src,GetUav()->ObjectName().c_str())!=0) {
265 /*
266 if(strcmp(msg,"StopMotors")==0 && orientation_state!=OrientationState_t::Stopped)
267 {
268 joy->FlashLed(DualShock3::led1,10,10);
269 joy->Rumble(0x70);
270 GetBldc()->SetEnabled(false);
271 GetUavMultiplex()->UnlockUserInterface();
272 altitude_state=AltitudeState_t::Stopped;
273 orientation_state=OrientationState_t::Stopped;
274 GetAhrs()->UnlockUserInterface();
275 }
276*/
277 if(strcmp(msg,"TakeOff")==0) {
278 Printf("TakeOff fleet\n");
279 TakeOff();
280 }
281 if(strcmp(msg,"Landing")==0) {
282 Printf("Landing fleet\n");
283 Land();
284 }
285 if(strcmp(msg,"EmergencyStop")==0) {
286 Printf("EmergencyStop fleet\n");
287 EmergencyStop();
288 }
289 }
290 }
291}
292
293void SimpleFleet::ExtraSecurityCheck(void) {
294 if (!vrpnLost && behaviourMode!=BehaviourMode_t::Default) {
295 if (!GetUav()->GetVrpnObject()->IsTracked(500)) {
296 Thread::Err("Optitrack, uav lost\n");
297 vrpnLost=true;
298 EnterFailSafeMode();
299 Land();
300 }
301 }
302}
303
304void SimpleFleet::ExtraCheckJoystick(void) {
305
306}
307
308void SimpleFleet::StartCircle(void) {
309 if (SetOrientationMode(OrientationMode_t::Custom)) {
310 Thread::Info("Demo flotte: start circle\n");
311 } else {
312 Thread::Warn("Demo flotte: could not start circle\n");
313 return;
314 }
315 Vector3D uav_pos;
316 Vector2D uav_2Dpos,target_2Dpos;
317
318 //circle center
319 target_2Dpos.x=xCircleCenter->Value();
320 target_2Dpos.y=yCircleCenter->Value();
321 circle->SetCenter(target_2Dpos);
322
323 GetUav()->GetVrpnObject()->GetPosition(uav_pos);
324 uav_pos.To2Dxy(uav_2Dpos);
325 circle->StartTraj(uav_2Dpos,1);
326
327 u_x->Reset();
328 u_y->Reset();
329}
330
331void SimpleFleet::StopCircle(void) {
332 circle->FinishTraj();
333 //joy->Rumble(0x70);
334 Thread::Info("Demo flotte: finishing circle\n");
335}
336
337void SimpleFleet::VrpnPositionHold(void) {
338 Euler vrpn_euler;
339 Vector3D vrpn_pos;
340
341 if (SetOrientationMode(OrientationMode_t::Custom)) {
342 Thread::Info("Demo flotte: holding position\n");
343 } else {
344 Thread::Info("Demo flotte: could not hold position\n");
345 //return;
346 }
347
348 GetUav()->GetVrpnObject()->GetEuler(vrpn_euler);
349 yaw_hold=vrpn_euler.yaw;
350
351 GetUav()->GetVrpnObject()->GetPosition(vrpn_pos);
352 vrpn_pos.To2Dxy(pos_hold);
353
354 u_x->Reset();
355 u_y->Reset();
356}
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