source: flair-src/trunk/demos/SimpleFleet/uav/src/SimpleFleet.cpp@ 241

Last change on this file since 241 was 214, checked in by Sanahuja Guillaume, 7 years ago

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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 <Matrix.h>
32#include <cvmatrix.h>
33#include <AhrsData.h>
34#include <Ahrs.h>
35#include <DoubleSpinBox.h>
36#include <stdio.h>
37#include <cmath>
38#include <Tab.h>
39#include <Pid.h>
40#include <UdpSocket.h>
41#include <string.h>
42
43#define PI ((float)3.14159265358979323846)
44
45using namespace std;
46using namespace flair::core;
47using namespace flair::gui;
48using namespace flair::sensor;
49using namespace flair::filter;
50using namespace flair::meta;
51
52
53SimpleFleet::SimpleFleet(string broadcast,TargetController *controller): UavStateMachine(controller), behaviourMode(BehaviourMode_t::Default), vrpnLost(false) {
54 Uav* uav=GetUav();
55
56 VrpnClient* vrpnclient=new VrpnClient("vrpn", uav->GetDefaultVrpnAddress(),80);
57 uavVrpn = new MetaVrpnObject(uav->ObjectName());
58 getFrameworkManager()->AddDeviceToLog(uavVrpn);
59 uav->GetAhrs()->YawPlot()->AddCurve(uavVrpn->State()->Element(2),DataPlot::Green);
60 vrpnclient->Start();
61
62 circle=new TrajectoryGenerator2DCircle(vrpnclient->GetLayout()->NewRow(),"circle");
63 uavVrpn->xPlot()->AddCurve(circle->GetMatrix()->Element(0,0),0,0,255);
64 uavVrpn->yPlot()->AddCurve(circle->GetMatrix()->Element(0,1),0,0,255);
65 uavVrpn->VxPlot()->AddCurve(circle->GetMatrix()->Element(1,0),0,0,255);
66 uavVrpn->VyPlot()->AddCurve(circle->GetMatrix()->Element(1,1),0,0,255);
67
68 xCircleCenter=new DoubleSpinBox(vrpnclient->GetLayout()->NewRow(),"x circle center"," m",-5,5,0.1,1,0);
69 yCircleCenter=new DoubleSpinBox(vrpnclient->GetLayout()->NewRow(),"y circle center"," m",-5,5,0.1,1,0);
70 yDisplacement=new DoubleSpinBox(vrpnclient->GetLayout()->NewRow(),"y displacement"," m",0,2,0.1,1,0);
71
72 //parent->AddDeviceToLog(Uz());
73
74 u_x=new Pid(setupLawTab->At(1,0),"u_x");
75 u_x->UseDefaultPlot(graphLawTab->NewRow());
76 u_y=new Pid(setupLawTab->At(1,1),"u_y");
77 u_y->UseDefaultPlot(graphLawTab->LastRowLastCol());
78
79 message=new UdpSocket(uav,"Message",broadcast,true);
80
81 customReferenceOrientation= new AhrsData(this,"reference");
82 uav->GetAhrs()->AddPlot(customReferenceOrientation,DataPlot::Yellow);
83 AddDataToControlLawLog(customReferenceOrientation);
84
85 customOrientation=new AhrsData(this,"orientation");
86/*
87 //check init conditions
88 Vector3D uav_pos;
89 Euler vrpn_euler;
90 GetVrpnObject()->GetPosition(uav_pos);
91 GetVrpnObject()->GetEuler(vrpn_euler);
92
93 if(name=="x8_0") {
94 //x8_0 should be on the left, with 0 yaw
95 if(uav_pos.y>yCircleCenter->Value() || vrpn_euler.yaw>20 || vrpn_euler.yaw<-20) Thread::Err("wrong init position\n");
96 }
97 if(name=="x8_1") {
98 //x8_1 should be on the right, with 180 yaw
99 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);
100 }
101 */
102}
103
104SimpleFleet::~SimpleFleet() {
105}
106
107const AhrsData *SimpleFleet::GetOrientation(void) const {
108 //get yaw from vrpn
109 Quaternion vrpnQuaternion;
110 uavVrpn->GetQuaternion(vrpnQuaternion);
111
112 //get roll, pitch and w from imu
113 Quaternion ahrsQuaternion;
114 Vector3Df ahrsAngularSpeed;
115 GetDefaultOrientation()->GetQuaternionAndAngularRates(ahrsQuaternion, ahrsAngularSpeed);
116
117 Euler ahrsEuler=ahrsQuaternion.ToEuler();
118 ahrsEuler.yaw=vrpnQuaternion.ToEuler().yaw;
119 Quaternion mixQuaternion=ahrsEuler.ToQuaternion();
120
121 customOrientation->SetQuaternionAndAngularRates(mixQuaternion,ahrsAngularSpeed);
122
123 return customOrientation;
124}
125
126void SimpleFleet::AltitudeValues(float &z,float &dz) const {
127 Vector3Df uav_pos,uav_vel;
128
129 uavVrpn->GetPosition(uav_pos);
130 uavVrpn->GetSpeed(uav_vel);
131 //z and dz must be in uav's frame
132 z=-uav_pos.z;
133 dz=-uav_vel.z;
134}
135
136const AhrsData *SimpleFleet::GetReferenceOrientation(void) {
137 Vector2Df pos_err, vel_err; // in uav coordinate system
138 float yaw_ref;
139 Euler refAngles;
140
141 PositionValues(pos_err, vel_err, yaw_ref);
142
143 refAngles.yaw=yaw_ref;
144
145 u_x->SetValues(pos_err.x, vel_err.x);
146 u_x->Update(GetTime());
147 refAngles.pitch=u_x->Output();
148
149 u_y->SetValues(pos_err.y, vel_err.y);
150 u_y->Update(GetTime());
151 refAngles.roll=-u_y->Output();
152
153 customReferenceOrientation->SetQuaternionAndAngularRates(refAngles.ToQuaternion(),Vector3Df(0,0,0));
154
155 return customReferenceOrientation;
156}
157
158void SimpleFleet::PositionValues(Vector2Df &pos_error,Vector2Df &vel_error,float &yaw_ref) {
159 Vector3Df uav_pos,uav_vel; // in VRPN coordinate system
160 Vector2Df uav_2Dpos,uav_2Dvel; // in VRPN coordinate system
161
162 uavVrpn->GetPosition(uav_pos);
163 uavVrpn->GetSpeed(uav_vel);
164
165 uav_pos.To2Dxy(uav_2Dpos);
166 uav_vel.To2Dxy(uav_2Dvel);
167
168 if (behaviourMode==BehaviourMode_t::PositionHold1 || behaviourMode==BehaviourMode_t::PositionHold2
169 || behaviourMode==BehaviourMode_t::PositionHold3 || behaviourMode==BehaviourMode_t::PositionHold4) {
170 pos_error=uav_2Dpos-posHold;
171 vel_error=uav_2Dvel;
172 yaw_ref=yawHold;
173 } else { //Circle
174 Vector2Df circle_pos,circle_vel;
175 Vector2Df target_2Dpos;
176
177 //circle center
178 target_2Dpos.x=xCircleCenter->Value();
179 target_2Dpos.y=yCircleCenter->Value();
180 circle->SetCenter(target_2Dpos);
181
182 //circle reference
183 circle->Update(GetTime());
184 circle->GetPosition(circle_pos);
185 circle->GetSpeed(circle_vel);
186
187 //error in optitrack frame
188 pos_error=uav_2Dpos-circle_pos;
189 vel_error=uav_2Dvel-circle_vel;
190 yaw_ref=PI/2+atan2(uav_pos.y-target_2Dpos.y,uav_pos.x-target_2Dpos.x);
191 }
192 //error in uav frame
193 Quaternion currentQuaternion=GetCurrentQuaternion();
194 Euler currentAngles;//in vrpn frame
195 currentQuaternion.ToEuler(currentAngles);
196 pos_error.Rotate(-currentAngles.yaw);
197 vel_error.Rotate(-currentAngles.yaw);
198}
199
200void SimpleFleet::SignalEvent(Event_t event) {
201 UavStateMachine::SignalEvent(event);
202
203 switch(event) {
204 case Event_t::EmergencyStop:
205 message->SendMessage("EmergencyStop");
206 break;
207 case Event_t::TakingOff:
208 //behaviourMode=BehaviourMode_t::Default;
209 message->SendMessage("TakeOff");
210 VrpnPositionHold();
211 behaviourMode=BehaviourMode_t::PositionHold1;
212 break;
213 case Event_t::StartLanding:
214 VrpnPositionHold();
215 behaviourMode=BehaviourMode_t::PositionHold4;
216 message->SendMessage("Landing");
217 break;
218 case Event_t::EnteringControlLoop:
219 CheckMessages();
220 if ((behaviourMode==BehaviourMode_t::Circle1) && (!circle->IsRunning())) {
221 VrpnPositionHold();
222 behaviourMode=BehaviourMode_t::PositionHold2;
223 if(posHold.y<0) {
224 posHold.y-=yDisplacement->Value();
225 } else {
226 posHold.y+=yDisplacement->Value();
227 }
228 posWait=GetTime();
229 Printf("Circle1 -> PositionHold2\n");
230 }
231 if (behaviourMode==BehaviourMode_t::PositionHold2 && GetTime()>(posWait+3*(Time)1000000000)) {
232 behaviourMode=BehaviourMode_t::PositionHold3;
233 if(posHold.y<0) {
234 posHold.y+=yDisplacement->Value();
235 } else {
236 posHold.y-=yDisplacement->Value();
237 }
238 posWait=GetTime();
239 Printf("PositionHold2 -> PositionHold3\n");
240 }
241 if (behaviourMode==BehaviourMode_t::PositionHold3 && GetTime()>(posWait+3*(Time)1000000000)) {
242 behaviourMode=BehaviourMode_t::Circle2;
243 StartCircle();
244 Printf("PositionHold3 -> Circle2\n");
245 }
246 if ((behaviourMode==BehaviourMode_t::Circle2) && (!circle->IsRunning())) {
247 Printf("Circle2 -> Land\n");
248 behaviourMode=BehaviourMode_t::PositionHold4;
249 Land();
250 }
251
252 break;
253 case Event_t::EnteringFailSafeMode:
254 behaviourMode=BehaviourMode_t::Default;
255 break;
256 case Event_t::ZTrajectoryFinished:
257 Printf("PositionHold1 -> Circle1\n");
258 StartCircle();
259 behaviourMode=BehaviourMode_t::Circle1;
260 break;
261 }
262}
263
264void SimpleFleet::CheckMessages(void) {
265 char msg[64];
266 char src[64];
267 size_t src_size=sizeof(src);
268 while(message->RecvMessage(msg,sizeof(msg),TIME_NONBLOCK,src,&src_size)>0) {
269 //printf("%s %s\n",GetUav()->ObjectName().c_str(),src);
270 if(strcmp(src,GetUav()->ObjectName().c_str())!=0) {
271 /*
272 if(strcmp(msg,"StopMotors")==0 && orientation_state!=OrientationState_t::Stopped)
273 {
274 joy->FlashLed(DualShock3::led1,10,10);
275 joy->Rumble(0x70);
276 GetBldc()->SetEnabled(false);
277 GetUavMultiplex()->UnlockUserInterface();
278 altitude_state=AltitudeState_t::Stopped;
279 orientation_state=OrientationState_t::Stopped;
280 GetAhrs()->UnlockUserInterface();
281 }
282*/
283 if(strcmp(msg,"TakeOff")==0) {
284 Printf("TakeOff fleet\n");
285 TakeOff();
286 }
287 if(strcmp(msg,"Landing")==0) {
288 Printf("Landing fleet\n");
289 Land();
290 }
291 if(strcmp(msg,"EmergencyStop")==0) {
292 Printf("EmergencyStop fleet\n");
293 EmergencyStop();
294 }
295 }
296 }
297}
298
299void SimpleFleet::ExtraSecurityCheck(void) {
300 if (!vrpnLost && behaviourMode!=BehaviourMode_t::Default) {
301 if (!uavVrpn->IsTracked(500)) {
302 Thread::Err("Optitrack, uav lost\n");
303 vrpnLost=true;
304 EnterFailSafeMode();
305 Land();
306 }
307 }
308}
309
310void SimpleFleet::ExtraCheckJoystick(void) {
311
312}
313
314void SimpleFleet::StartCircle(void) {
315 if (SetOrientationMode(OrientationMode_t::Custom)) {
316 Thread::Info("Demo flotte: start circle\n");
317 } else {
318 Thread::Warn("Demo flotte: could not start circle\n");
319 return;
320 }
321 Vector3Df uav_pos;
322 Vector2Df uav_2Dpos,target_2Dpos;
323
324 //circle center
325 target_2Dpos.x=xCircleCenter->Value();
326 target_2Dpos.y=yCircleCenter->Value();
327 circle->SetCenter(target_2Dpos);
328
329 uavVrpn->GetPosition(uav_pos);
330 uav_pos.To2Dxy(uav_2Dpos);
331 circle->StartTraj(uav_2Dpos,1);
332
333 u_x->Reset();
334 u_y->Reset();
335}
336
337void SimpleFleet::StopCircle(void) {
338 circle->FinishTraj();
339 //joy->Rumble(0x70);
340 Thread::Info("Demo flotte: finishing circle\n");
341}
342
343void SimpleFleet::VrpnPositionHold(void) {
344 if (SetOrientationMode(OrientationMode_t::Custom)) {
345 Thread::Info("Demo flotte: holding position\n");
346 } else {
347 Thread::Info("Demo flotte: could not hold position\n");
348 //return;
349 }
350
351 Quaternion vrpnQuaternion;
352 uavVrpn->GetQuaternion(vrpnQuaternion);
353 yawHold=vrpnQuaternion.ToEuler().yaw;
354
355 Vector3Df vrpnPosition;
356 uavVrpn->GetPosition(vrpnPosition);
357 vrpnPosition.To2Dxy(posHold);
358
359 u_x->Reset();
360 u_y->Reset();
361}
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