source: flair-src/trunk/lib/FlairFilter/src/JoyReference_impl.cpp @ 15

Last change on this file since 15 was 15, checked in by Bayard Gildas, 5 years ago

sources reformatted with flair-format-dir script

File size: 5.9 KB
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1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5//  created:    2012/08/29
6//  filename:   JoyReference_impl.cpp
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    generation de consignes a partir joystick
14//
15//
16/*********************************************************************/
17
18#include "JoyReference_impl.h"
19#include "JoyReference.h"
20#include <AhrsData.h>
21#include <Euler.h>
22#include <cvmatrix.h>
23#include <Layout.h>
24#include <GroupBox.h>
25#include <DoubleSpinBox.h>
26#include <SpinBox.h>
27#include <Label.h>
28#include <PushButton.h>
29#include <math.h>
30
31using std::string;
32using namespace flair::core;
33using namespace flair::gui;
34using namespace flair::filter;
35
36JoyReference_impl::JoyReference_impl(JoyReference *inSelf,
37                                     const LayoutPosition *position,
38                                     string name)
39    : self(inSelf) {
40
41  ahrsData = new AhrsData(self);
42  input = new cvmatrix(self, 4, 1, floatType, name);
43
44  cvmatrix_descriptor *desc = new cvmatrix_descriptor(4, 1);
45  desc->SetElementName(0, 0, "z");
46  ;
47  desc->SetElementName(1, 0, "dz");
48  desc->SetElementName(2, 0, "trim_roll");
49  desc->SetElementName(3, 0, "trim_pitch");
50  output = new cvmatrix(self, desc, floatType, name);
51
52  reglages_groupbox = new GroupBox(position, name);
53  deb_roll = new DoubleSpinBox(reglages_groupbox->NewRow(), "debattement roll",
54                               " deg", -45, 45, 1, 0);
55  deb_pitch = new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),
56                                "debattement pitch", " deg", -45, 45, 1, 0);
57  deb_wz = new DoubleSpinBox(reglages_groupbox->NewRow(), "debattement wz",
58                             " deg/s", -180, 180, 1, 0);
59  deb_dz = new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),
60                             "debattement dz", " m/s", -2, 2, 0.1, 1);
61  trim = new DoubleSpinBox(reglages_groupbox->NewRow(), "trim", -1, 1, 0.01);
62  label_roll = new Label(reglages_groupbox->NewRow(), "trim roll");
63  button_roll =
64      new PushButton(reglages_groupbox->LastRowLastCol(), "reset roll trim");
65  label_pitch = new Label(reglages_groupbox->NewRow(), "trim pitch");
66  button_pitch =
67      new PushButton(reglages_groupbox->LastRowLastCol(), "reset pitch trim");
68
69  z_ref = 0;
70  previous_time = 0;
71  trim_roll = 0;
72  trim_pitch = 0;
73
74  label_roll->SetText("trim roll: %.2f", trim_roll);
75  label_pitch->SetText("trim pitch: %.2f", trim_pitch);
76}
77
78JoyReference_impl::~JoyReference_impl(void) {}
79
80void JoyReference_impl::SetRollAxis(float value) {
81  input->SetValue(0, 0, value);
82}
83
84void JoyReference_impl::SetPitchAxis(float value) {
85  input->SetValue(1, 0, value);
86}
87
88void JoyReference_impl::SetYawAxis(float value) {
89  input->SetValue(2, 0, value);
90}
91
92void JoyReference_impl::SetAltitudeAxis(float value) {
93  input->SetValue(3, 0, value);
94}
95
96void JoyReference_impl::RollTrimUp(void) {
97  trim_roll += trim->Value();
98  output->SetValue(2, 0, trim_roll);
99  label_roll->SetText("trim roll: %.2f", trim_roll);
100}
101
102void JoyReference_impl::RollTrimDown(void) {
103  trim_roll -= trim->Value();
104  output->SetValue(2, 0, trim_roll);
105  label_roll->SetText("trim roll: %.2f", trim_roll);
106}
107
108void JoyReference_impl::PitchTrimUp(void) {
109  trim_pitch += trim->Value();
110  output->SetValue(3, 0, trim_pitch);
111  label_pitch->SetText("trim pitch: %.2f", trim_pitch);
112}
113
114void JoyReference_impl::PitchTrimDown(void) {
115  trim_pitch -= trim->Value();
116  output->SetValue(3, 0, trim_pitch);
117  label_pitch->SetText("trim pitch: %.2f", trim_pitch);
118}
119
120void JoyReference_impl::SetYawRef(float value) {
121  Euler ref(0, 0, value);
122  input->GetMutex();
123  ref.ToQuaternion(q_z);
124  input->ReleaseMutex();
125
126  Update(GetTime());
127}
128
129void JoyReference_impl::SetZRef(float value) {
130  z_ref = value;
131  output->SetValue(0, 0, z_ref);
132}
133
134float JoyReference_impl::ZRef(void) const { return output->Value(0, 0); }
135
136float JoyReference_impl::dZRef(void) const { return output->Value(1, 0); }
137
138float JoyReference_impl::RollTrim(void) const { return trim_roll; }
139
140float JoyReference_impl::PitchTrim(void) const { return trim_pitch; }
141
142void JoyReference_impl::Update(Time time) {
143  input->SetDataTime(time);
144  UpdateFrom(input);
145}
146
147void JoyReference_impl::UpdateFrom(const io_data *data) {
148  cvmatrix *input = (cvmatrix *)data;
149
150  if (previous_time == 0)
151    previous_time = data->DataTime(); // pour la premiere iteration
152  float delta_t = (float)(data->DataTime() - previous_time) / 1000000000.;
153  previous_time = data->DataTime();
154
155  if (button_roll->Clicked() == true) {
156    trim_roll = 0;
157    output->SetValue(2, 0, 0);
158    label_roll->SetText("trim roll: %.2f", trim_roll);
159  }
160  if (button_pitch->Clicked() == true) {
161    trim_pitch = 0;
162    output->SetValue(3, 0, 0);
163    label_pitch->SetText("trim pitch: %.2f", trim_pitch);
164  }
165
166  // les box sont en degrés
167  input->GetMutex();
168
169  Vector3D theta_xy(
170      -Euler::ToRadian(input->ValueNoMutex(0, 0) * deb_roll->Value()),
171      -Euler::ToRadian(input->ValueNoMutex(1, 0) * deb_pitch->Value()), 0);
172  Vector3D e_bar = theta_xy;
173  e_bar.Normalize();
174  Quaternion q_xy(cos(theta_xy.GetNorm() / 2.0f),
175                  e_bar.x * sin(theta_xy.GetNorm() / 2.0f),
176                  e_bar.y * sin(theta_xy.GetNorm() / 2.0f), 0);
177  q_xy.Normalize();
178
179  float wz_ref = Euler::ToRadian(input->ValueNoMutex(2, 0) * deb_wz->Value());
180  Quaternion w_zd(1, 0, 0, wz_ref * delta_t / 2);
181  w_zd.Normalize();
182  q_z = q_z * w_zd;
183  q_z.Normalize();
184
185  Quaternion q_ref = q_z * q_xy;
186  q_ref.Normalize();
187
188  z_ref += input->ValueNoMutex(3, 0) * deb_dz->Value() * delta_t;
189  float dz_ref = input->ValueNoMutex(3, 0) * deb_dz->Value();
190
191  input->ReleaseMutex();
192
193  ahrsData->SetQuaternionAndAngularRates(q_ref, Vector3D(0, 0, wz_ref));
194
195  // ouput quaternion for control law
196  output->GetMutex();
197  output->SetValueNoMutex(0, 0, z_ref);
198  output->SetValueNoMutex(1, 0, dz_ref);
199  output->ReleaseMutex();
200
201  output->SetDataTime(data->DataTime());
202}
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