source: flair-src/trunk/demos/TwoWheelRobotCircleFollower/ugv/src/CircleFollower.cpp @ 389

Last change on this file since 389 was 389, checked in by Sanahuja Guillaume, 12 months ago

update demo code

  • Property svn:eol-style set to native
File size: 6.5 KB
Line 
1//  created:    2020/12/09
2//  filename:   CircleFollower.cpp
3//
4//  author:     Guillaume Sanahuja
5//              Copyright Heudiasyc UMR UTC/CNRS 7253
6//
7//  version:    $Id: $
8//
9//  purpose:    demo cercle avec optitrack
10//
11//
12/*********************************************************************/
13
14#include "CircleFollower.h"
15#include <TargetController.h>
16#include <GridLayout.h>
17#include <PushButton.h>
18#include <DataPlot1D.h>
19#include <DataPlot2D.h>
20#include <FrameworkManager.h>
21#include <VrpnClient.h>
22#include <MetaVrpnObject.h>
23#include <TrajectoryGenerator2DCircle.h>
24#include <Matrix.h>
25#include <Tab.h>
26#include <TabWidget.h>
27#include <DoubleSpinBox.h>
28#include <Pid.h>
29#include <Quaternion.h>
30#include <Euler.h>
31#include <Ugv.h>
32#include <UgvControls.h>
33#include <math.h>
34
35using namespace std;
36using namespace flair::core;
37using namespace flair::gui;
38using namespace flair::sensor;
39using namespace flair::filter;
40using namespace flair::meta;
41using namespace flair::actuator;
42
43CircleFollower::CircleFollower(string name,TargetController *controller): Thread(getFrameworkManager(),"CircleFollower",50), behaviourMode(BehaviourMode_t::Manual), vrpnLost(false) {
44    this->controller=controller;
45    controller->Start();
46   
47    Ugv* ugv=GetUgv();
48    ugv->UseDefaultPlot();
49   
50    VrpnClient* vrpnclient=new VrpnClient("vrpn", ugv->GetDefaultVrpnAddress(),80);
51    ugvVrpn = new MetaVrpnObject(name);
52    targetVrpn=new MetaVrpnObject("target");
53   
54    getFrameworkManager()->AddDeviceToLog(ugvVrpn);
55    getFrameworkManager()->AddDeviceToLog(targetVrpn);
56    vrpnclient->Start();
57       
58    Tab *ugvTab = new Tab(getFrameworkManager()->GetTabWidget(), "ugv", 0);
59    GridLayout* buttonslayout = new GridLayout(ugvTab->NewRow(), "buttons");
60    button_kill = new PushButton(buttonslayout->NewRow(), "kill");
61    startCircle=new PushButton(buttonslayout->NewRow(),"start_circle");
62    stopCircle=new PushButton(buttonslayout->LastRowLastCol(),"stop_circle");
63   
64    circle=new TrajectoryGenerator2DCircle(vrpnclient->GetLayout()->NewRow(),"circle");
65    ugvVrpn->xPlot()->AddCurve(circle->GetMatrix()->Element(0,0),DataPlot::Blue);
66    ugvVrpn->yPlot()->AddCurve(circle->GetMatrix()->Element(0,1),DataPlot::Blue);
67    ugvVrpn->VxPlot()->AddCurve(circle->GetMatrix()->Element(1,0),DataPlot::Blue);
68    ugvVrpn->VyPlot()->AddCurve(circle->GetMatrix()->Element(1,1),DataPlot::Blue);
69    ugvVrpn->XyPlot()->AddCurve(circle->GetMatrix()->Element(0,1),circle->GetMatrix()->Element(0,0),DataPlot::Blue,"circle");
70
71    Tab *lawTab = new Tab(getFrameworkManager()->GetTabWidget(), "control laws");
72    TabWidget *tabWidget = new TabWidget(lawTab->NewRow(), "laws");
73    Tab *setupLawTab = new Tab(tabWidget, "Setup");
74    Tab *graphLawTab = new Tab(tabWidget, "Graphes");
75    uX=new Pid(setupLawTab->At(1,0),"u_x");
76    uX->UseDefaultPlot(graphLawTab->NewRow());
77    uY=new Pid(setupLawTab->At(1,1),"u_y");
78    uY->UseDefaultPlot(graphLawTab->LastRowLastCol());
79   
80    l=new DoubleSpinBox(setupLawTab->NewRow(),"L", " m", 0, 10, 0.1, 1,1);
81}
82
83CircleFollower::~CircleFollower() {
84}
85
86void CircleFollower::Run(void) {
87    WarnUponSwitches(true);
88    SetPeriodMS(20);
89   
90    if (getFrameworkManager()->ErrorOccured() == true) {
91        SafeStop();
92    }
93
94    while (!ToBeStopped()) {
95        SecurityCheck();
96        CheckJoystick();
97        CheckPushButton();
98       
99        if(behaviourMode==BehaviourMode_t::Manual) ComputeManualControls();
100        if(behaviourMode==BehaviourMode_t::Circle) ComputeCircleControls();
101        WaitPeriod();
102    }
103}
104
105void CircleFollower::CheckPushButton(void) {
106  if (startCircle->Clicked() == true)
107      StartCircle();
108       
109  if (stopCircle->Clicked() == true)
110      StopCircle();
111
112  if (button_kill->Clicked() == true)
113      SafeStop();
114}
115
116void CircleFollower::CheckJoystick(void) {
117  //R1 and Circle
118  if(controller->IsButtonPressed(9) && controller->IsButtonPressed(4)) {
119      StartCircle();
120  }
121
122  //R1 and Cross
123  if(controller->IsButtonPressed(9) && controller->IsButtonPressed(5)) {
124      StopCircle();
125  }
126}
127
128void CircleFollower::SecurityCheck(void) {
129    if ((!vrpnLost) && (behaviourMode==BehaviourMode_t::Circle)) {
130        if (!targetVrpn->IsTracked(500)) {
131            Thread::Err("VRPN, target lost\n");
132            vrpnLost=true;
133            StopCircle();
134        }
135        if (!ugvVrpn->IsTracked(500)) {
136            Thread::Err("VRPN, ugv lost\n");
137            vrpnLost=true;
138            StopCircle();
139        }
140    }
141}
142
143void CircleFollower::ComputeManualControls(void) {
144  float speed=-controller->GetAxisValue(3);
145  float turn=controller->GetAxisValue(0);
146  GetUgv()->GetUgvControls()->SetControls(speed,turn);
147}
148
149void CircleFollower::ComputeCircleControls(void) {
150
151  Vector3Df ugv_pos,ugv_vel,target_pos; // in VRPN coordinate system
152  Vector2Df ugv_2Dpos,ugv_2Dvel,target_2Dpos; // in VRPN coordinate system
153  Vector2Df pos_error,vel_error;
154  Vector2Df circle_pos,circle_vel;
155   
156  ugvVrpn->GetPosition(ugv_pos);
157  ugvVrpn->GetSpeed(ugv_vel);
158
159  ugv_pos.To2Dxy(ugv_2Dpos);
160  ugv_vel.To2Dxy(ugv_2Dvel);
161 
162  targetVrpn->GetPosition(target_pos);
163  target_pos.To2Dxy(target_2Dpos);
164  circle->SetCenter(target_2Dpos);
165
166  //circle reference
167  circle->Update(GetTime());
168  circle->GetPosition(circle_pos);
169  circle->GetSpeed(circle_vel);
170
171  //error in optitrack frame
172  pos_error=ugv_2Dpos-circle_pos;
173  vel_error=ugv_2Dvel-circle_vel;
174   
175  uX->SetValues(pos_error.x, vel_error.x);
176  uX->Update(GetTime());
177  uY->SetValues(pos_error.y, vel_error.y);
178  uY->Update(GetTime());
179 
180  //get yaw from vrpn
181  Quaternion vrpnQuaternion;
182  ugvVrpn->GetQuaternion(vrpnQuaternion);
183  float yaw=vrpnQuaternion.ToEuler().yaw;
184  float L=1;
185  float v= cosf(yaw)*uX->Output() + sinf(yaw)*uY->Output();
186  float w = -sinf(yaw)/l->Value()*uX->Output() + cosf(yaw)/l->Value()*uY->Output();
187  GetUgv()->GetUgvControls()->SetControls(-v,-w);
188}
189
190
191void CircleFollower::StartCircle(void) {
192  if(behaviourMode!=BehaviourMode_t::Circle) {
193    Vector3Df ugv_pos,target_pos;
194    Vector2Df ugv_2Dpos,target_2Dpos;
195
196    targetVrpn->GetPosition(target_pos);
197    target_pos.To2Dxy(target_2Dpos);
198    circle->SetCenter(target_2Dpos);
199
200    ugvVrpn->GetPosition(ugv_pos);
201    ugv_pos.To2Dxy(ugv_2Dpos);
202    circle->StartTraj(ugv_2Dpos);
203
204    uX->Reset();
205    uY->Reset();
206    behaviourMode=BehaviourMode_t::Circle;
207    Thread::Info("CircleFollower: start circle\n");
208  }
209}
210
211void CircleFollower::StopCircle(void) {
212        if(behaviourMode==BehaviourMode_t::Circle) {
213    circle->FinishTraj();
214    //GetJoystick()->Rumble(0x70);
215    behaviourMode=BehaviourMode_t::Manual;
216    Thread::Info("CircleFollower: finishing circle\n");
217  }
218}
219
Note: See TracBrowser for help on using the repository browser.