source: flair-src/trunk/demos/SimpleFleet/uav/src/SimpleFleet.cpp @ 167

Last change on this file since 167 was 167, checked in by Sanahuja Guillaume, 4 years ago

modifs pour template vectors

File size: 11.3 KB
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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 <TargetController.h>
16#include <Uav.h>
17#include <GridLayout.h>
18#include <PushButton.h>
19#include <DataPlot1D.h>
20#include <Ahrs.h>
21#include <MetaUsRangeFinder.h>
22#include <MetaDualShock3.h>
23#include <FrameworkManager.h>
24#include <VrpnClient.h>
25#include <MetaVrpnObject.h>
26#include <TrajectoryGenerator2DCircle.h>
27#include <Vector3D.h>
28#include <Vector2D.h>
29#include <PidThrust.h>
30#include <Euler.h>
31#include <cvmatrix.h>
32#include <AhrsData.h>
33#include <Ahrs.h>
34#include <DoubleSpinBox.h>
35#include <stdio.h>
36#include <cmath>
37#include <Tab.h>
38#include <Pid.h>
39#include <Socket.h>
40#include <string.h>
41
42#define PI ((float)3.14159265358979323846)
43
44using namespace std;
45using namespace flair::core;
46using namespace flair::gui;
47using namespace flair::sensor;
48using namespace flair::filter;
49using namespace flair::meta;
50
51
52SimpleFleet::SimpleFleet(string broadcast,TargetController *controller): UavStateMachine(controller), behaviourMode(BehaviourMode_t::Default), vrpnLost(false) {
53    Uav* uav=GetUav();
54               
55        VrpnClient* vrpnclient=new VrpnClient("vrpn", uav->GetDefaultVrpnAddress(),80);
56        uavVrpn = new MetaVrpnObject(uav->ObjectName());
57        getFrameworkManager()->AddDeviceToLog(uavVrpn);
58        uav->GetAhrs()->YawPlot()->AddCurve(uavVrpn->State()->Element(2),DataPlot::Green);
59        vrpnclient->Start();
60
61    circle=new TrajectoryGenerator2DCircle(vrpnclient->GetLayout()->NewRow(),"circle");
62    uavVrpn->xPlot()->AddCurve(circle->Matrix()->Element(0,0),0,0,255);
63    uavVrpn->yPlot()->AddCurve(circle->Matrix()->Element(0,1),0,0,255);
64    uavVrpn->VxPlot()->AddCurve(circle->Matrix()->Element(1,0),0,0,255);
65    uavVrpn->VyPlot()->AddCurve(circle->Matrix()->Element(1,1),0,0,255);
66
67    xCircleCenter=new DoubleSpinBox(vrpnclient->GetLayout()->NewRow(),"x circle center"," m",-5,5,0.1,1,0);
68    yCircleCenter=new DoubleSpinBox(vrpnclient->GetLayout()->NewRow(),"y circle center"," m",-5,5,0.1,1,0);
69    yDisplacement=new DoubleSpinBox(vrpnclient->GetLayout()->NewRow(),"y displacement"," m",0,2,0.1,1,0);
70
71    //parent->AddDeviceToLog(Uz());
72
73    u_x=new Pid(setupLawTab->At(1,0),"u_x");
74    u_x->UseDefaultPlot(graphLawTab->NewRow());
75    u_y=new Pid(setupLawTab->At(1,1),"u_y");
76    u_y->UseDefaultPlot(graphLawTab->LastRowLastCol());
77
78    message=new Socket(uav,"Message",broadcast,true);
79
80    customReferenceOrientation= new AhrsData(this,"reference");
81    uav->GetAhrs()->AddPlot(customReferenceOrientation,DataPlot::Yellow);
82    AddDataToControlLawLog(customReferenceOrientation);
83
84    customOrientation=new AhrsData(this,"orientation");
85/*
86    //check init conditions
87    Vector3D uav_pos;
88    Euler vrpn_euler;
89    GetVrpnObject()->GetPosition(uav_pos);
90    GetVrpnObject()->GetEuler(vrpn_euler);
91
92    if(name=="x8_0") {
93        //x8_0 should be on the left, with 0 yaw
94        if(uav_pos.y>yCircleCenter->Value() || vrpn_euler.yaw>20 || vrpn_euler.yaw<-20) Thread::Err("wrong init position\n");
95    }
96    if(name=="x8_1") {
97        //x8_1 should be on the right, with 180 yaw
98        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);
99    }
100    */
101}
102
103SimpleFleet::~SimpleFleet() {
104}
105
106const AhrsData *SimpleFleet::GetOrientation(void) const {
107    //get yaw from vrpn
108                Quaternion vrpnQuaternion;
109    uavVrpn->GetQuaternion(vrpnQuaternion);
110
111    //get roll, pitch and w from imu
112    Quaternion ahrsQuaternion;
113    Vector3Df ahrsAngularSpeed;
114    GetDefaultOrientation()->GetQuaternionAndAngularRates(ahrsQuaternion, ahrsAngularSpeed);
115
116    Euler ahrsEuler=ahrsQuaternion.ToEuler();
117    ahrsEuler.yaw=vrpnQuaternion.ToEuler().yaw;
118    Quaternion mixQuaternion=ahrsEuler.ToQuaternion();
119
120    customOrientation->SetQuaternionAndAngularRates(mixQuaternion,ahrsAngularSpeed);
121
122    return customOrientation;
123}
124
125void SimpleFleet::AltitudeValues(float &z,float &dz) const {
126    Vector3Df uav_pos,uav_vel;
127
128    uavVrpn->GetPosition(uav_pos);
129    uavVrpn->GetSpeed(uav_vel);
130    //z and dz must be in uav's frame
131    z=-uav_pos.z;
132    dz=-uav_vel.z;
133}
134
135const AhrsData *SimpleFleet::GetReferenceOrientation(void) {
136    Vector2Df pos_err, vel_err; // in uav coordinate system
137    float yaw_ref;
138    Euler refAngles;
139
140    PositionValues(pos_err, vel_err, yaw_ref);
141
142    refAngles.yaw=yaw_ref;
143
144    u_x->SetValues(pos_err.x, vel_err.x);
145    u_x->Update(GetTime());
146    refAngles.pitch=u_x->Output();
147
148    u_y->SetValues(pos_err.y, vel_err.y);
149    u_y->Update(GetTime());
150    refAngles.roll=-u_y->Output();
151
152    customReferenceOrientation->SetQuaternionAndAngularRates(refAngles.ToQuaternion(),Vector3Df(0,0,0));
153
154    return customReferenceOrientation;
155}
156
157void SimpleFleet::PositionValues(Vector2Df &pos_error,Vector2Df &vel_error,float &yaw_ref) {
158    Vector3Df uav_pos,uav_vel; // in VRPN coordinate system
159    Vector2Df uav_2Dpos,uav_2Dvel; // in VRPN coordinate system
160
161    uavVrpn->GetPosition(uav_pos);
162    uavVrpn->GetSpeed(uav_vel);
163
164    uav_pos.To2Dxy(uav_2Dpos);
165    uav_vel.To2Dxy(uav_2Dvel);
166
167    if (behaviourMode==BehaviourMode_t::PositionHold1 || behaviourMode==BehaviourMode_t::PositionHold2
168        || behaviourMode==BehaviourMode_t::PositionHold3 || behaviourMode==BehaviourMode_t::PositionHold4) {
169        pos_error=uav_2Dpos-posHold;
170        vel_error=uav_2Dvel;
171        yaw_ref=yawHold;
172    } else { //Circle
173        Vector2Df circle_pos,circle_vel;
174        Vector2Df target_2Dpos;
175
176        //circle center
177        target_2Dpos.x=xCircleCenter->Value();
178        target_2Dpos.y=yCircleCenter->Value();
179        circle->SetCenter(target_2Dpos);
180
181        //circle reference
182        circle->Update(GetTime());
183        circle->GetPosition(circle_pos);
184        circle->GetSpeed(circle_vel);
185
186        //error in optitrack frame
187        pos_error=uav_2Dpos-circle_pos;
188        vel_error=uav_2Dvel-circle_vel;
189        yaw_ref=PI/2+atan2(uav_pos.y-target_2Dpos.y,uav_pos.x-target_2Dpos.x);
190    }
191    //error in uav frame
192    Quaternion currentQuaternion=GetCurrentQuaternion();
193    Euler currentAngles;//in vrpn frame
194    currentQuaternion.ToEuler(currentAngles);
195    pos_error.Rotate(-currentAngles.yaw);
196    vel_error.Rotate(-currentAngles.yaw);
197}
198
199void SimpleFleet::SignalEvent(Event_t event) {
200    UavStateMachine::SignalEvent(event);
201
202    switch(event) {
203    case Event_t::EmergencyStop:
204        message->SendMessage("EmergencyStop");
205        break;
206    case Event_t::TakingOff:
207        //behaviourMode=BehaviourMode_t::Default;
208        message->SendMessage("TakeOff");
209        VrpnPositionHold();
210        behaviourMode=BehaviourMode_t::PositionHold1;
211        break;
212    case Event_t::StartLanding:
213        VrpnPositionHold();
214        behaviourMode=BehaviourMode_t::PositionHold4;
215        message->SendMessage("Landing");
216        break;
217    case Event_t::EnteringControlLoop:
218        CheckMessages();
219        if ((behaviourMode==BehaviourMode_t::Circle1) && (!circle->IsRunning())) {
220            VrpnPositionHold();
221            behaviourMode=BehaviourMode_t::PositionHold2;
222            if(posHold.y<0) {
223                posHold.y-=yDisplacement->Value();
224            } else {
225                posHold.y+=yDisplacement->Value();
226            }
227            posWait=GetTime();
228            Printf("Circle1 -> PositionHold2\n");
229        }
230        if (behaviourMode==BehaviourMode_t::PositionHold2 && GetTime()>(posWait+3*(Time)1000000000)) {
231            behaviourMode=BehaviourMode_t::PositionHold3;
232            if(posHold.y<0) {
233                posHold.y+=yDisplacement->Value();
234            } else {
235                posHold.y-=yDisplacement->Value();
236            }
237            posWait=GetTime();
238            Printf("PositionHold2 -> PositionHold3\n");
239        }
240        if (behaviourMode==BehaviourMode_t::PositionHold3 && GetTime()>(posWait+3*(Time)1000000000)) {
241            behaviourMode=BehaviourMode_t::Circle2;
242            StartCircle();
243            Printf("PositionHold3 -> Circle2\n");
244        }
245        if ((behaviourMode==BehaviourMode_t::Circle2) && (!circle->IsRunning())) {
246            Printf("Circle2 -> Land\n");
247            behaviourMode=BehaviourMode_t::PositionHold4;
248            Land();
249        }
250
251        break;
252    case Event_t::EnteringFailSafeMode:
253        behaviourMode=BehaviourMode_t::Default;
254        break;
255    case Event_t::ZTrajectoryFinished:
256        Printf("PositionHold1 -> Circle1\n");
257        StartCircle();
258        behaviourMode=BehaviourMode_t::Circle1;
259        break;
260    }
261}
262
263void SimpleFleet::CheckMessages(void) {
264    char msg[64];
265    char src[64];
266    size_t src_size=sizeof(src);
267    while(message->RecvMessage(msg,sizeof(msg),TIME_NONBLOCK,src,&src_size)>0) {
268        //printf("%s %s\n",GetUav()->ObjectName().c_str(),src);
269        if(strcmp(src,GetUav()->ObjectName().c_str())!=0) {
270            /*
271            if(strcmp(msg,"StopMotors")==0 && orientation_state!=OrientationState_t::Stopped)
272            {
273                joy->FlashLed(DualShock3::led1,10,10);
274                joy->Rumble(0x70);
275                GetBldc()->SetEnabled(false);
276                GetUavMultiplex()->UnlockUserInterface();
277                altitude_state=AltitudeState_t::Stopped;
278                orientation_state=OrientationState_t::Stopped;
279                GetAhrs()->UnlockUserInterface();
280            }
281*/
282            if(strcmp(msg,"TakeOff")==0) {
283                Printf("TakeOff fleet\n");
284                TakeOff();
285            }
286            if(strcmp(msg,"Landing")==0) {
287                Printf("Landing fleet\n");
288                Land();
289            }
290            if(strcmp(msg,"EmergencyStop")==0) {
291                Printf("EmergencyStop fleet\n");
292                EmergencyStop();
293            }
294        }
295    }
296}
297
298void SimpleFleet::ExtraSecurityCheck(void) {
299    if (!vrpnLost && behaviourMode!=BehaviourMode_t::Default) {
300        if (!uavVrpn->IsTracked(500)) {
301            Thread::Err("Optitrack, uav lost\n");
302            vrpnLost=true;
303            EnterFailSafeMode();
304            Land();
305        }
306    }
307}
308
309void SimpleFleet::ExtraCheckJoystick(void) {
310
311}
312
313void SimpleFleet::StartCircle(void) {
314    if (SetOrientationMode(OrientationMode_t::Custom)) {
315        Thread::Info("Demo flotte: start circle\n");
316    } else {
317        Thread::Warn("Demo flotte: could not start circle\n");
318        return;
319    }
320    Vector3Df uav_pos;
321    Vector2Df uav_2Dpos,target_2Dpos;
322
323    //circle center
324    target_2Dpos.x=xCircleCenter->Value();
325    target_2Dpos.y=yCircleCenter->Value();
326    circle->SetCenter(target_2Dpos);
327
328    uavVrpn->GetPosition(uav_pos);
329    uav_pos.To2Dxy(uav_2Dpos);
330    circle->StartTraj(uav_2Dpos,1);
331
332    u_x->Reset();
333    u_y->Reset();
334}
335
336void SimpleFleet::StopCircle(void) {
337    circle->FinishTraj();
338    //joy->Rumble(0x70);
339    Thread::Info("Demo flotte: finishing circle\n");
340}
341
342void SimpleFleet::VrpnPositionHold(void) {
343  if (SetOrientationMode(OrientationMode_t::Custom)) {
344        Thread::Info("Demo flotte: holding position\n");
345    } else {
346        Thread::Info("Demo flotte: could not hold position\n");
347        //return;
348    } 
349               
350                Quaternion vrpnQuaternion;
351    uavVrpn->GetQuaternion(vrpnQuaternion);
352                yawHold=vrpnQuaternion.ToEuler().yaw;
353
354                Vector3Df vrpnPosition;
355    uavVrpn->GetPosition(vrpnPosition);
356    vrpnPosition.To2Dxy(posHold);
357
358    u_x->Reset();
359    u_y->Reset();
360}
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