[7] | 1 | // created: 2014/04/29
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| 2 | // filename: UavStateMachine.h
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| 3 | //
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| 4 | // author: Gildas Bayard, Guillaume Sanahuja
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| 5 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 6 | //
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| 7 | // version: $Id: $
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| 8 | //
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| 9 | // purpose: state machine for UAV
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| 10 | //
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| 11 | //
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| 12 | /*********************************************************************/
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| 13 |
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| 14 | #ifndef UAVSTATEMACHINE_H
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| 15 | #define UAVSTATEMACHINE_H
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| 16 |
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| 17 | #include <Thread.h>
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| 18 | #include <Vector2D.h>
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| 19 | #include <Vector3D.h>
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| 20 | #include <Euler.h>
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| 21 | #include <Quaternion.h>
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| 22 |
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| 23 | namespace flair {
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| 24 | namespace core {
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| 25 | class FrameworkManager;
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| 26 | class AhrsData;
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| 27 | class io_data;
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| 28 | }
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| 29 | namespace gui {
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| 30 | class PushButton;
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| 31 | class GridLayout;
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| 32 | class Tab;
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| 33 | class DoubleSpinBox;
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| 34 | }
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| 35 | namespace filter {
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| 36 | class ControlLaw;
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| 37 | class NestedSat;
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| 38 | class Pid;
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| 39 | class PidThrust;
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| 40 | class TrajectoryGenerator1D;
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| 41 | }
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| 42 | namespace sensor {
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| 43 | class TargetController;
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| 44 | }
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| 45 | namespace meta {
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| 46 | class MetaDualShock3;
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| 47 | class Uav;
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| 48 | }
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| 49 | }
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| 50 |
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| 51 | namespace flair { namespace meta {
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| 52 |
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| 53 | /*! \class UavStateMachine
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| 54 | *
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| 55 | * \brief State machine for UAV
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| 56 | *
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| 57 | * thread synchronized with ahrs, unless a period is set with SetPeriodUS or SetPeriodMS
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| 58 | */
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| 59 |
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| 60 | class UavStateMachine : public core::Thread
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| 61 | {
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| 62 | protected:
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| 63 | enum class AltitudeMode_t {
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| 64 | Manual,
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| 65 | Custom
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| 66 | };
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| 67 | const AltitudeMode_t &GetAltitudeMode(void) const {
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| 68 | return altitudeMode;
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| 69 | }
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| 70 | bool SetAltitudeMode(const AltitudeMode_t &altitudeMode);
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| 71 |
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| 72 | //uses TrajectoryGenerator1D *altitudeTrajectory to go to desiredAltitude
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| 73 | //available in mode AltitudeMode_t::Manual
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| 74 | //return true if goto is possible
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| 75 | bool GotoAltitude(float desiredAltitude);
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| 76 |
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| 77 | enum class OrientationMode_t {
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| 78 | Manual,
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| 79 | Custom
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| 80 | };
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| 81 | const OrientationMode_t &GetOrientationMode(void) const {
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| 82 | return orientationMode;
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| 83 | }
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| 84 | bool SetOrientationMode(const OrientationMode_t &orientationMode);
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| 85 |
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| 86 | enum class ThrustMode_t {
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| 87 | Default,
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| 88 | Custom
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| 89 | };
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| 90 | const ThrustMode_t &GetThrustMode() const {
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| 91 | return thrustMode;
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| 92 | }
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| 93 | bool SetThrustMode(const ThrustMode_t &thrustMode);
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| 94 |
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| 95 | enum class TorqueMode_t {
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| 96 | Default,
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| 97 | Custom
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| 98 | };
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| 99 | const TorqueMode_t &GetTorqueMode(void) const {
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| 100 | return torqueMode;
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| 101 | }
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| 102 | bool SetTorqueMode(const TorqueMode_t &torqueMode);
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| 103 |
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| 104 | enum class Event_t {
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| 105 | EnteringFailSafeMode,
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| 106 | EnteringControlLoop,
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| 107 | StartLanding,
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| 108 | FinishLanding,
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| 109 | Stopped,
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| 110 | TakingOff,
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| 111 | EmergencyStop,
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| 112 | Stabilized, //as soon as uav is 3cm far from the ground
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| 113 | ZTrajectoryFinished,
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| 114 | };
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| 115 |
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| 116 | UavStateMachine(meta::Uav* uav,uint16_t ds3Port=20000);
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| 117 | ~UavStateMachine();
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| 118 |
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| 119 | const core::Quaternion &GetCurrentQuaternion(void) const;
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| 120 |
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| 121 | const core::Vector3D &GetCurrentAngularSpeed(void) const;
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| 122 |
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| 123 | const meta::Uav *GetUav(void) const;
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| 124 |
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| 125 | void Land(void);
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| 126 | void TakeOff(void);
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| 127 | void EmergencyStop(void);
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| 128 | //! Used to signal an event
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| 129 | /*!
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| 130 | \param event the event which occured
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| 131 | */
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| 132 | virtual void SignalEvent(Event_t event);
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| 133 |
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| 134 | virtual const core::AhrsData *GetOrientation(void) const;
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| 135 | const core::AhrsData *GetDefaultOrientation(void) const;
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| 136 |
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| 137 | virtual void AltitudeValues(float &z,float &dz) const;//in uav coordinate!
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| 138 | void EnterFailSafeMode(void);
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| 139 | bool ExitFailSafeMode(void);
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| 140 | void FailSafeAltitudeValues(float &z,float &dz) const;//in uav coordinate!
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| 141 |
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| 142 | gui::GridLayout *GetButtonsLayout(void) const;
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| 143 | virtual void ExtraSecurityCheck(void){};
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| 144 | virtual void ExtraCheckJoystick(void){};
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| 145 | virtual void ExtraCheckPushButton(void){};
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| 146 |
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| 147 | void GetDefaultReferenceAltitude(float &refAltitude, float &refVerticalVelocity);
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| 148 | virtual void GetReferenceAltitude(float &refAltitude, float &refVerticalVelocity);
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| 149 | //float GetDefaultThrustOffset(void);
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| 150 | const core::AhrsData *GetDefaultReferenceOrientation(void) const;
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| 151 | virtual const core::AhrsData *GetReferenceOrientation(void);
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| 152 |
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| 153 | /*!
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| 154 | * \brief Compute Custom Torques
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| 155 | *
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| 156 | * Reimplement this method to use TorqueMode_t::Custom. \n
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| 157 | * This method is called internally by UavStateMachine, do not call it by yourself. \n
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| 158 | * See GetTorques if you need torques values.
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| 159 | *
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| 160 | * \param torques custom torques
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| 161 | */
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| 162 | virtual void ComputeCustomTorques(core::Euler &torques);
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| 163 |
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| 164 | /*!
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| 165 | * \brief Compute Default Torques
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| 166 | *
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| 167 | * This method is called internally by UavStateMachine when using TorqueMode_t::Default. \n
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| 168 | * Torques are only computed once by loop, other calls to this method will use previously computed torques.
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| 169 | *
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| 170 | * \param torques default torques
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| 171 | */
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| 172 | void ComputeDefaultTorques(core::Euler &torques);
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| 173 |
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| 174 | /*!
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| 175 | * \brief Get Torques
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| 176 | *
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| 177 | * \return torques current torques
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| 178 | */
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| 179 | //const core::Euler &GetTorques() const;
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| 180 |
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| 181 | /*!
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| 182 | * \brief Compute Custom Thrust
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| 183 | *
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| 184 | * Reimplement this method to use ThrustMode_t::Custom. \n
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| 185 | * This method is called internally by UavStateMachine, do not call it by yourself. \n
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| 186 | * See GetThrust if you need thrust value.
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| 187 | *
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| 188 | * \return custom Thrust
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| 189 | */
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| 190 | virtual float ComputeCustomThrust(void);
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| 191 |
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| 192 | /*!
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| 193 | * \brief Compute Default Thrust
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| 194 | *
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| 195 | * This method is called internally by UavStateMachine when using ThrustMode_t::Default. \n
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| 196 | * Thrust is only computed once by loop, other calls to this method will use previously computed thrust.
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| 197 | *
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| 198 | * \return default thrust
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| 199 | */
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| 200 | float ComputeDefaultThrust(void);
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| 201 |
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| 202 | /*!
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| 203 | * \brief Get Thrust
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| 204 | *
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| 205 | * \return current thrust
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| 206 | */
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| 207 | //float GetThrust() const;
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| 208 |
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| 209 | /*!
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| 210 | * \brief Add an IODevice to the control law logs
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| 211 | *
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| 212 | * The IODevice will be automatically logged among the Uz logs,
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| 213 | * if logging is enabled (see IODevice::SetDataToLog, FrameworkManager::StartLog
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| 214 | * and FrameworkManager::AddDeviceToLog). \n
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| 215 | *
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| 216 | * \param device IODevice to log
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| 217 | */
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| 218 | void AddDeviceToControlLawLog(const core::IODevice* device);
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| 219 |
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| 220 | /*!
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| 221 | * \brief Add an io_data to the control law logs
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| 222 | *
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| 223 | * The io_data will be automatically logged among the Uz logs,
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| 224 | * if logging is enabled (see IODevice::SetDataToLog, FrameworkManager::StartLog
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| 225 | * and FrameworkManager::AddDeviceToLog). \n
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| 226 | *
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| 227 | * \param data io_data to log
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| 228 | */
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| 229 | void AddDataToControlLawLog(const core::io_data* data);
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| 230 |
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| 231 | const sensor::TargetController *GetJoystick(void) const;
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| 232 |
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| 233 | gui::Tab *setupLawTab,*graphLawTab;
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| 234 |
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| 235 | private:
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| 236 | /*!
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| 237 | \enum AltitudeState_t
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| 238 | \brief States of the altitude state machine
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| 239 | */
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| 240 | enum class AltitudeState_t {
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| 241 | Stopped, /*!< the uav motors are stopped */
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| 242 | TakingOff, /*!< take off initiated. Motors accelerate progressively until the UAV lift up */
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| 243 | Stabilized, /*!< the uav is actively maintaining its altitude */
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| 244 | StartLanding, /*!< landing initiated. Altitude is required to reach the landing altitude (0 by default) */
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| 245 | FinishLanding /*!< motors are gradually stopped */
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| 246 | };
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| 247 | AltitudeState_t altitudeState;
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| 248 | void ProcessAltitudeFiniteStateMachine();
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| 249 | void ComputeReferenceAltitude(float &refAltitude, float &refVerticalVelocity);
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| 250 |
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| 251 |
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| 252 | float groundAltitude; // effective altitude when the uav leaves the ground
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| 253 | float currentAltitude,currentVerticalSpeed;
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| 254 |
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| 255 | bool failSafeMode;
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| 256 | void SecurityCheck(void);
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| 257 | void MandatorySecurityCheck(void);
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| 258 | void CheckJoystick();
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| 259 | void GenericCheckJoystick();
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| 260 | void CheckPushButton(void);
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| 261 | void GenericCheckPushButton(void);
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| 262 | void Run(void);
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| 263 | void StopMotors(void);
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| 264 |
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| 265 | meta::Uav *uav;
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| 266 |
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| 267 | core::Quaternion currentQuaternion;
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| 268 | core::Vector3D currentAngularSpeed;
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| 269 |
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| 270 | const core::AhrsData *ComputeReferenceOrientation(void);
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| 271 |
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| 272 | void ComputeOrientation(void);
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| 273 | void ComputeAltitude(void);
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| 274 |
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| 275 | void ComputeTorques(void);
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| 276 | core::Euler currentTorques,savedDefaultTorques;
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| 277 | bool needToComputeDefaultTorques;
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| 278 |
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| 279 | void ComputeThrust(void);
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| 280 | float currentThrust,savedDefaultThrust;
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| 281 | bool needToComputeDefaultThrust;
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| 282 |
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| 283 | gui::PushButton *button_kill,*button_take_off,*button_land,*button_start_log,*button_stop_log;
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| 284 | gui::GridLayout *buttonslayout;
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| 285 | gui::DoubleSpinBox *desiredTakeoffAltitude,*desiredLandingAltitude;
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| 286 | AltitudeMode_t altitudeMode;
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| 287 | OrientationMode_t orientationMode;
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| 288 | ThrustMode_t thrustMode;
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| 289 | TorqueMode_t torqueMode;
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| 290 | bool flagBatteryLow;
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| 291 | bool flagConnectionLost;
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| 292 | bool flagZTrajectoryFinished;
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| 293 | filter::NestedSat *uRoll,*uPitch;
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| 294 | filter::Pid *uYaw;
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| 295 | filter::PidThrust *uZ;
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| 296 |
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| 297 | MetaDualShock3 *joy;
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| 298 | filter::TrajectoryGenerator1D *altitudeTrajectory;
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| 299 | };
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| 300 |
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| 301 | };
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| 302 | };
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| 303 | #endif // UAVSTATEMACHINE_H
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