source: flair-src/trunk/demos/TwoWheelRobotCircleFollower/ugv/src/CircleFollower.cpp@ 435

Last change on this file since 435 was 435, checked in by Sanahuja Guillaume, 12 months ago

add logs to ugv

  • Property svn:eol-style set to native
File size: 6.9 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 button_start_log = new PushButton(buttonslayout->NewRow(), "start_log");
64 button_stop_log = new PushButton(buttonslayout->LastRowLastCol(), "stop_log");
65
66 circle=new TrajectoryGenerator2DCircle(vrpnclient->GetLayout()->NewRow(),"circle");
67 ugvVrpn->xPlot()->AddCurve(circle->GetMatrix()->Element(0,0),DataPlot::Blue);
68 ugvVrpn->yPlot()->AddCurve(circle->GetMatrix()->Element(0,1),DataPlot::Blue);
69 ugvVrpn->VxPlot()->AddCurve(circle->GetMatrix()->Element(1,0),DataPlot::Blue);
70 ugvVrpn->VyPlot()->AddCurve(circle->GetMatrix()->Element(1,1),DataPlot::Blue);
71 ugvVrpn->XyPlot()->AddCurve(circle->GetMatrix()->Element(0,1),circle->GetMatrix()->Element(0,0),DataPlot::Blue,"circle");
72
73 Tab *lawTab = new Tab(getFrameworkManager()->GetTabWidget(), "control laws");
74 TabWidget *tabWidget = new TabWidget(lawTab->NewRow(), "laws");
75 Tab *setupLawTab = new Tab(tabWidget, "Setup");
76 Tab *graphLawTab = new Tab(tabWidget, "Graphes");
77 uX=new Pid(setupLawTab->At(1,0),"u_x");
78 uX->UseDefaultPlot(graphLawTab->NewRow());
79 uY=new Pid(setupLawTab->At(1,1),"u_y");
80 uY->UseDefaultPlot(graphLawTab->LastRowLastCol());
81
82 getFrameworkManager()->AddDeviceToLog(uX);
83 getFrameworkManager()->AddDeviceToLog(uY);
84
85 l=new DoubleSpinBox(setupLawTab->NewRow(),"L", " m", 0, 10, 0.1, 1,1);
86}
87
88CircleFollower::~CircleFollower() {
89}
90
91void CircleFollower::Run(void) {
92 WarnUponSwitches(true);
93 SetPeriodMS(20);
94
95 if (getFrameworkManager()->ErrorOccured() == true) {
96 SafeStop();
97 }
98
99 while (!ToBeStopped()) {
100 SecurityCheck();
101 CheckJoystick();
102 CheckPushButton();
103
104 if(behaviourMode==BehaviourMode_t::Manual) ComputeManualControls();
105 if(behaviourMode==BehaviourMode_t::Circle) ComputeCircleControls();
106 WaitPeriod();
107 }
108}
109
110void CircleFollower::CheckPushButton(void) {
111 if (button_start_log->Clicked() == true)
112 getFrameworkManager()->StartLog();
113 if (button_stop_log->Clicked() == true)
114 getFrameworkManager()->StopLog();
115
116 if (startCircle->Clicked() == true)
117 StartCircle();
118
119 if (stopCircle->Clicked() == true)
120 StopCircle();
121
122 if (button_kill->Clicked() == true)
123 SafeStop();
124}
125
126void CircleFollower::CheckJoystick(void) {
127 //R1 and Circle
128 if(controller->IsButtonPressed(9) && controller->IsButtonPressed(4)) {
129 StartCircle();
130 }
131
132 //R1 and Cross
133 if(controller->IsButtonPressed(9) && controller->IsButtonPressed(5)) {
134 StopCircle();
135 }
136}
137
138void CircleFollower::SecurityCheck(void) {
139 if ((!vrpnLost) && (behaviourMode==BehaviourMode_t::Circle)) {
140 if (!targetVrpn->IsTracked(500)) {
141 Thread::Err("VRPN, target lost\n");
142 vrpnLost=true;
143 StopCircle();
144 }
145 if (!ugvVrpn->IsTracked(500)) {
146 Thread::Err("VRPN, ugv lost\n");
147 vrpnLost=true;
148 StopCircle();
149 }
150 }
151}
152
153void CircleFollower::ComputeManualControls(void) {
154 float speed=-controller->GetAxisValue(3);
155 float turn=controller->GetAxisValue(0);
156 GetUgv()->GetUgvControls()->SetControls(speed,turn);
157}
158
159void CircleFollower::ComputeCircleControls(void) {
160
161 Vector3Df ugv_pos,ugv_vel,target_pos; // in VRPN coordinate system
162 Vector2Df ugv_2Dpos,ugv_2Dvel,target_2Dpos; // in VRPN coordinate system
163 Vector2Df pos_error,vel_error;
164 Vector2Df circle_pos,circle_vel;
165
166 ugvVrpn->GetPosition(ugv_pos);
167 ugvVrpn->GetSpeed(ugv_vel);
168
169 ugv_pos.To2Dxy(ugv_2Dpos);
170 ugv_vel.To2Dxy(ugv_2Dvel);
171
172 targetVrpn->GetPosition(target_pos);
173 target_pos.To2Dxy(target_2Dpos);
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=ugv_2Dpos-circle_pos;
183 vel_error=ugv_2Dvel-circle_vel;
184
185 uX->SetValues(pos_error.x, vel_error.x);
186 uX->Update(GetTime());
187 uY->SetValues(pos_error.y, vel_error.y);
188 uY->Update(GetTime());
189
190 //get yaw from vrpn
191 Quaternion vrpnQuaternion;
192 ugvVrpn->GetQuaternion(vrpnQuaternion);
193 float yaw=vrpnQuaternion.ToEuler().yaw;
194 float v= cosf(yaw)*uX->Output() + sinf(yaw)*uY->Output();
195 float w = -sinf(yaw)/l->Value()*uX->Output() + cosf(yaw)/l->Value()*uY->Output();
196 GetUgv()->GetUgvControls()->SetControls(-v,-w);
197}
198
199
200void CircleFollower::StartCircle(void) {
201 if(behaviourMode!=BehaviourMode_t::Circle) {
202 Vector3Df ugv_pos,target_pos;
203 Vector2Df ugv_2Dpos,target_2Dpos;
204
205 targetVrpn->GetPosition(target_pos);
206 target_pos.To2Dxy(target_2Dpos);
207 circle->SetCenter(target_2Dpos);
208
209 ugvVrpn->GetPosition(ugv_pos);
210 ugv_pos.To2Dxy(ugv_2Dpos);
211 circle->StartTraj(ugv_2Dpos);
212
213 uX->Reset();
214 uY->Reset();
215 behaviourMode=BehaviourMode_t::Circle;
216 Thread::Info("CircleFollower: start circle\n");
217 }
218}
219
220void CircleFollower::StopCircle(void) {
221 if(behaviourMode==BehaviourMode_t::Circle) {
222 circle->FinishTraj();
223 //GetJoystick()->Rumble(0x70);
224 behaviourMode=BehaviourMode_t::Manual;
225 Thread::Info("CircleFollower: finishing circle\n");
226 }
227}
228
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