source: flair-src/trunk/demos/SimpleFleet/uav/src/SimpleFleet.cpp @ 431

Last change on this file since 431 was 431, checked in by Sanahuja Guillaume, 3 months ago

add vrpn connection type per uav

File size: 11.7 KB
Line 
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 <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 <UdpSocket.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,uav->GetDefaultVrpnConnectionType());
56    if(vrpnclient->ConnectionType()==VrpnClient::Xbee) {
57        uavVrpn = new MetaVrpnObject(uav->ObjectName(),(uint8_t)0);
58    } else if (vrpnclient->ConnectionType()==VrpnClient::Vrpn) {
59        uavVrpn = new MetaVrpnObject(uav->ObjectName());
60    } else if (vrpnclient->ConnectionType()==VrpnClient::VrpnLite) {
61        uavVrpn = new MetaVrpnObject(uav->ObjectName());
62    }
63        getFrameworkManager()->AddDeviceToLog(uavVrpn);
64        uav->GetAhrs()->YawPlot()->AddCurve(uavVrpn->State()->Element(2),DataPlot::Green);
65        vrpnclient->Start();
66
67    circle=new TrajectoryGenerator2DCircle(vrpnclient->GetLayout()->NewRow(),"circle");
68    uavVrpn->xPlot()->AddCurve(circle->GetMatrix()->Element(0,0),0,0,255);
69    uavVrpn->yPlot()->AddCurve(circle->GetMatrix()->Element(0,1),0,0,255);
70    uavVrpn->VxPlot()->AddCurve(circle->GetMatrix()->Element(1,0),0,0,255);
71    uavVrpn->VyPlot()->AddCurve(circle->GetMatrix()->Element(1,1),0,0,255);
72
73    xCircleCenter=new DoubleSpinBox(vrpnclient->GetLayout()->NewRow(),"x circle center"," m",-5,5,0.1,1,0);
74    yCircleCenter=new DoubleSpinBox(vrpnclient->GetLayout()->NewRow(),"y circle center"," m",-5,5,0.1,1,0);
75    yDisplacement=new DoubleSpinBox(vrpnclient->GetLayout()->NewRow(),"y displacement"," m",0,2,0.1,1,0);
76
77    //parent->AddDeviceToLog(Uz());
78
79    u_x=new Pid(setupLawTab->At(1,0),"u_x");
80    u_x->UseDefaultPlot(graphLawTab->NewRow());
81    u_y=new Pid(setupLawTab->At(1,1),"u_y");
82    u_y->UseDefaultPlot(graphLawTab->LastRowLastCol());
83
84    message=new UdpSocket(uav,"Message",broadcast,true);
85
86    customReferenceOrientation= new AhrsData(this,"reference");
87    uav->GetAhrs()->AddPlot(customReferenceOrientation,DataPlot::Yellow);
88    AddDataToControlLawLog(customReferenceOrientation);
89
90    customOrientation=new AhrsData(this,"orientation");
91/*
92    //check init conditions
93    Vector3D uav_pos;
94    Euler vrpn_euler;
95    GetVrpnObject()->GetPosition(uav_pos);
96    GetVrpnObject()->GetEuler(vrpn_euler);
97
98    if(name=="x8_0") {
99        //x8_0 should be on the left, with 0 yaw
100        if(uav_pos.y>yCircleCenter->Value() || vrpn_euler.yaw>20 || vrpn_euler.yaw<-20) Thread::Err("wrong init position\n");
101    }
102    if(name=="x8_1") {
103        //x8_1 should be on the right, with 180 yaw
104        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);
105    }
106    */
107}
108
109SimpleFleet::~SimpleFleet() {
110}
111
112const AhrsData *SimpleFleet::GetOrientation(void) const {
113    //get yaw from vrpn
114                Quaternion vrpnQuaternion;
115    uavVrpn->GetQuaternion(vrpnQuaternion);
116
117    //get roll, pitch and w from imu
118    Quaternion ahrsQuaternion;
119    Vector3Df ahrsAngularSpeed;
120    GetDefaultOrientation()->GetQuaternionAndAngularRates(ahrsQuaternion, ahrsAngularSpeed);
121
122    Euler ahrsEuler=ahrsQuaternion.ToEuler();
123    ahrsEuler.yaw=vrpnQuaternion.ToEuler().yaw;
124    Quaternion mixQuaternion=ahrsEuler.ToQuaternion();
125
126    customOrientation->SetQuaternionAndAngularRates(mixQuaternion,ahrsAngularSpeed);
127
128    return customOrientation;
129}
130
131void SimpleFleet::AltitudeValues(float &z,float &dz) const {
132    Vector3Df uav_pos,uav_vel;
133
134    uavVrpn->GetPosition(uav_pos);
135    uavVrpn->GetSpeed(uav_vel);
136    //z and dz must be in uav's frame
137    z=-uav_pos.z;
138    dz=-uav_vel.z;
139}
140
141const AhrsData *SimpleFleet::GetReferenceOrientation(void) {
142    Vector2Df pos_err, vel_err; // in uav coordinate system
143    float yaw_ref;
144    Euler refAngles;
145
146    PositionValues(pos_err, vel_err, yaw_ref);
147
148    refAngles.yaw=yaw_ref;
149
150    u_x->SetValues(pos_err.x, vel_err.x);
151    u_x->Update(GetTime());
152    refAngles.pitch=u_x->Output();
153
154    u_y->SetValues(pos_err.y, vel_err.y);
155    u_y->Update(GetTime());
156    refAngles.roll=-u_y->Output();
157
158    customReferenceOrientation->SetQuaternionAndAngularRates(refAngles.ToQuaternion(),Vector3Df(0,0,0));
159
160    return customReferenceOrientation;
161}
162
163void SimpleFleet::PositionValues(Vector2Df &pos_error,Vector2Df &vel_error,float &yaw_ref) {
164    Vector3Df uav_pos,uav_vel; // in VRPN coordinate system
165    Vector2Df uav_2Dpos,uav_2Dvel; // in VRPN coordinate system
166
167    uavVrpn->GetPosition(uav_pos);
168    uavVrpn->GetSpeed(uav_vel);
169
170    uav_pos.To2Dxy(uav_2Dpos);
171    uav_vel.To2Dxy(uav_2Dvel);
172
173    if (behaviourMode==BehaviourMode_t::PositionHold1 || behaviourMode==BehaviourMode_t::PositionHold2
174        || behaviourMode==BehaviourMode_t::PositionHold3 || behaviourMode==BehaviourMode_t::PositionHold4) {
175        pos_error=uav_2Dpos-posHold;
176        vel_error=uav_2Dvel;
177        yaw_ref=yawHold;
178    } else { //Circle
179        Vector2Df circle_pos,circle_vel;
180        Vector2Df target_2Dpos;
181
182        //circle center
183        target_2Dpos.x=xCircleCenter->Value();
184        target_2Dpos.y=yCircleCenter->Value();
185        circle->SetCenter(target_2Dpos);
186
187        //circle reference
188        circle->Update(GetTime());
189        circle->GetPosition(circle_pos);
190        circle->GetSpeed(circle_vel);
191
192        //error in optitrack frame
193        pos_error=uav_2Dpos-circle_pos;
194        vel_error=uav_2Dvel-circle_vel;
195        yaw_ref=PI/2+atan2(uav_pos.y-target_2Dpos.y,uav_pos.x-target_2Dpos.x);
196    }
197    //error in uav frame
198    Quaternion currentQuaternion=GetCurrentQuaternion();
199    Euler currentAngles;//in vrpn frame
200    currentQuaternion.ToEuler(currentAngles);
201    pos_error.Rotate(-currentAngles.yaw);
202    vel_error.Rotate(-currentAngles.yaw);
203}
204
205void SimpleFleet::SignalEvent(Event_t event) {
206    UavStateMachine::SignalEvent(event);
207
208    switch(event) {
209    case Event_t::EmergencyStop:
210        message->SendMessage("EmergencyStop");
211        break;
212    case Event_t::TakingOff:
213        //behaviourMode=BehaviourMode_t::Default;
214        message->SendMessage("TakeOff");
215        VrpnPositionHold();
216        behaviourMode=BehaviourMode_t::PositionHold1;
217        break;
218    case Event_t::StartLanding:
219        VrpnPositionHold();
220        behaviourMode=BehaviourMode_t::PositionHold4;
221        message->SendMessage("Landing");
222        break;
223    case Event_t::EnteringControlLoop:
224        CheckMessages();
225        if ((behaviourMode==BehaviourMode_t::Circle1) && (!circle->IsRunning())) {
226            VrpnPositionHold();
227            behaviourMode=BehaviourMode_t::PositionHold2;
228            if(posHold.y<0) {
229                posHold.y-=yDisplacement->Value();
230            } else {
231                posHold.y+=yDisplacement->Value();
232            }
233            posWait=GetTime();
234            Printf("Circle1 -> PositionHold2\n");
235        }
236        if (behaviourMode==BehaviourMode_t::PositionHold2 && GetTime()>(posWait+3*(Time)1000000000)) {
237            behaviourMode=BehaviourMode_t::PositionHold3;
238            if(posHold.y<0) {
239                posHold.y+=yDisplacement->Value();
240            } else {
241                posHold.y-=yDisplacement->Value();
242            }
243            posWait=GetTime();
244            Printf("PositionHold2 -> PositionHold3\n");
245        }
246        if (behaviourMode==BehaviourMode_t::PositionHold3 && GetTime()>(posWait+3*(Time)1000000000)) {
247            behaviourMode=BehaviourMode_t::Circle2;
248            StartCircle();
249            Printf("PositionHold3 -> Circle2\n");
250        }
251        if ((behaviourMode==BehaviourMode_t::Circle2) && (!circle->IsRunning())) {
252            Printf("Circle2 -> Land\n");
253            behaviourMode=BehaviourMode_t::PositionHold4;
254            Land();
255        }
256
257        break;
258    case Event_t::EnteringFailSafeMode:
259        behaviourMode=BehaviourMode_t::Default;
260        break;
261    case Event_t::ZTrajectoryFinished:
262        Printf("PositionHold1 -> Circle1\n");
263        StartCircle();
264        behaviourMode=BehaviourMode_t::Circle1;
265        break;
266    }
267}
268
269void SimpleFleet::CheckMessages(void) {
270    char msg[64];
271    char src[64];
272    size_t src_size=sizeof(src);
273    while(message->RecvMessage(msg,sizeof(msg),TIME_NONBLOCK,src,&src_size)>0) {
274        //printf("%s %s\n",GetUav()->ObjectName().c_str(),src);
275        if(strcmp(src,GetUav()->ObjectName().c_str())!=0) {
276            /*
277            if(strcmp(msg,"StopMotors")==0 && orientation_state!=OrientationState_t::Stopped)
278            {
279                joy->FlashLed(DualShock3::led1,10,10);
280                joy->Rumble(0x70);
281                GetBldc()->SetEnabled(false);
282                GetUavMultiplex()->UnlockUserInterface();
283                altitude_state=AltitudeState_t::Stopped;
284                orientation_state=OrientationState_t::Stopped;
285                GetAhrs()->UnlockUserInterface();
286            }
287*/
288            if(strcmp(msg,"TakeOff")==0) {
289                Printf("TakeOff fleet\n");
290                TakeOff();
291            }
292            if(strcmp(msg,"Landing")==0) {
293                Printf("Landing fleet\n");
294                Land();
295            }
296            if(strcmp(msg,"EmergencyStop")==0) {
297                Printf("EmergencyStop fleet\n");
298                EmergencyStop();
299            }
300        }
301    }
302}
303
304void SimpleFleet::ExtraSecurityCheck(void) {
305    if (!vrpnLost && behaviourMode!=BehaviourMode_t::Default) {
306        if (!uavVrpn->IsTracked(500)) {
307            Thread::Err("Optitrack, uav lost\n");
308            vrpnLost=true;
309            EnterFailSafeMode();
310            Land();
311        }
312    }
313}
314
315void SimpleFleet::ExtraCheckJoystick(void) {
316
317}
318
319void SimpleFleet::StartCircle(void) {
320    if (SetOrientationMode(OrientationMode_t::Custom)) {
321        Thread::Info("Demo flotte: start circle\n");
322    } else {
323        Thread::Warn("Demo flotte: could not start circle\n");
324        return;
325    }
326    Vector3Df uav_pos;
327    Vector2Df uav_2Dpos,target_2Dpos;
328
329    //circle center
330    target_2Dpos.x=xCircleCenter->Value();
331    target_2Dpos.y=yCircleCenter->Value();
332    circle->SetCenter(target_2Dpos);
333
334    uavVrpn->GetPosition(uav_pos);
335    uav_pos.To2Dxy(uav_2Dpos);
336    circle->StartTraj(uav_2Dpos,1);
337
338    u_x->Reset();
339    u_y->Reset();
340}
341
342void SimpleFleet::StopCircle(void) {
343    circle->FinishTraj();
344    //joy->Rumble(0x70);
345    Thread::Info("Demo flotte: finishing circle\n");
346}
347
348void SimpleFleet::VrpnPositionHold(void) {
349  if (SetOrientationMode(OrientationMode_t::Custom)) {
350        Thread::Info("Demo flotte: holding position\n");
351    } else {
352        Thread::Info("Demo flotte: could not hold position\n");
353        //return;
354    } 
355               
356                Quaternion vrpnQuaternion;
357    uavVrpn->GetQuaternion(vrpnQuaternion);
358                yawHold=vrpnQuaternion.ToEuler().yaw;
359
360                Vector3Df vrpnPosition;
361    uavVrpn->GetPosition(vrpnPosition);
362    vrpnPosition.To2Dxy(posHold);
363
364    u_x->Reset();
365    u_y->Reset();
366}
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