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ROSBuzz_MISTLab
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split state file, commented out bidding: was crashing

This commit is contained in:
dave 2018-10-18 22:18:12 -04:00
parent a0bc189fdb
commit 6d53409aab
7 changed files with 216 additions and 203 deletions
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45
buzz_scripts/include/act/CA.bzz Normal file
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@ -0,0 +1,45 @@
function LCA(vel_vec) {
var safety_radius = 3.0
var default_velocity = 2.0
collide = 0
var k_v = 5 # velocity gain
var k_w = 10 # angular velocity gain
cart = neighbors.map(
function(rid, data) {
var c = {}
c.distance = data.distance
c.azimuth = data.azimuth
if (c.distance < (safety_radius * 2.0) )
collide = 1
return c
})
if (collide) {
log("")
log("------> AVOIDING NEIGHBOR! <------")
log("")
result = cart.reduce(function(rid, data, accum) {
if(data.distance < accum.distance and data.distance > 0.0){
accum.distance = data.distance
accum.angle = data.azimuth
return accum
}
return accum
}, {.distance= safety_radius * 2.0, .angle= 0.0})
d_i = result.distance
data_alpha_i = result.angle
penalty = math.exp(d_i - safety_radius)
if( math.cos(math.vec2.angle(vel_vec)) < 0.0){
penalty = math.exp(-(d_i - safety_radius))
}
V = math.vec2.length(vel_vec) - math.cos(math.vec2.angle(vel_vec)) * penalty * k_v
W = -k_w * penalty * math.sin( math.vec2.angle(vel_vec) )
return math.vec2.newp(V, W)
} else
return vel_vec
}

20
buzz_scripts/include/act/naviguation.bzz Normal file
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@ -0,0 +1,20 @@
# Core naviguation function to travel to a GPS target location.
function goto_gps(transf) {
m_navigation = vec_from_gps(rc_goto.latitude, rc_goto.longitude, 0)
#print(" has to move ", math.vec2.length(m_navigation), math.vec2.angle(m_navigation))
if(math.vec2.length(m_navigation)>GOTO_MAXDIST)
log("Sorry this is too far (", math.vec2.length(m_navigation), " / ", GOTO_MAXDIST, " )")
else if(math.vec2.length(m_navigation) < GOTODIST_TOL and math.vec2.angle(m_navigation) < GOTOANG_TOL) # reached destination
transf()
else {
m_navigation = LimitSpeed(m_navigation, 1.0)
#m_navigation = LCA(m_navigation)
goto_abs(m_navigation.x, m_navigation.y, rc_goto.altitude - pose.position.altitude, 0.0)
}
}
function LimitSpeed(vel_vec, factor){
if(math.vec2.length(vel_vec)>GOTO_MAXVEL*factor)
vel_vec = math.vec2.scale(vel_vec, GOTO_MAXVEL*factor/math.vec2.length(vel_vec))
return vel_vec
}

112
buzz_scripts/include/act/neighborcomm.bzz Normal file
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@ -0,0 +1,112 @@
# listens to commands from the remote control (web, commandline, rcclient node, etc)
function rc_cmd_listen() {
if(flight.rc_cmd==22) {
log("cmd 22")
flight.rc_cmd=0
BVMSTATE = "LAUNCH"
neighbors.broadcast("cmd", 22)
} else if(flight.rc_cmd==21) {
flight.rc_cmd=0
AUTO_LAUNCH_STATE = "TURNEDOFF"
#barrier_set(ROBOTS, "GOHOME", BVMSTATE, 21)
#barrier_ready(21)
BVMSTATE = "STOP"
neighbors.broadcast("cmd", 21)
} else if(flight.rc_cmd==20) {
flight.rc_cmd=0
AUTO_LAUNCH_STATE = "IDLE"
barrier_set(ROBOTS, "GOHOME", BVMSTATE, 20)
barrier_ready(20)
neighbors.broadcast("cmd", 20)
} else if(flight.rc_cmd==16) {
flight.rc_cmd=0
BVMSTATE = "PATHPLAN"
} else if(flight.rc_cmd==400) {
flight.rc_cmd=0
arm()
neighbors.broadcast("cmd", 400)
} else if (flight.rc_cmd==401){
flight.rc_cmd=0
disarm()
neighbors.broadcast("cmd", 401)
} else if (flight.rc_cmd==666){
flight.rc_cmd=0
stattab_send()
} else if (flight.rc_cmd==777){
flight.rc_cmd=0
reinit_time_sync()
neighbors.broadcast("cmd", 777)
}else if (flight.rc_cmd==900){
flight.rc_cmd=0
barrier_set(ROBOTS, "TASK_ALLOCATE", BVMSTATE, 900)
barrier_ready(900)
neighbors.broadcast("cmd", 900)
} else if (flight.rc_cmd==901){
flight.rc_cmd=0
destroyGraph()
barrier_set(ROBOTS, "PURSUIT", BVMSTATE, 901)
barrier_ready(901)
neighbors.broadcast("cmd", 901)
} else if (flight.rc_cmd==902){
flight.rc_cmd=0
destroyGraph()
barrier_set(ROBOTS, "AGGREGATE", BVMSTATE, 902)
barrier_ready(902)
neighbors.broadcast("cmd", 902)
} else if (flight.rc_cmd==903){
flight.rc_cmd=0
destroyGraph()
barrier_set(ROBOTS, "FORMATION", BVMSTATE, 903)
barrier_ready(903)
neighbors.broadcast("cmd", 903)
}
}
# listens to neighbors broadcasting commands
function nei_cmd_listen() {
neighbors.listen("cmd",
function(vid, value, rid) {
print("Got (", vid, ",", value, ") #", rid, "(", BVMSTATE, ")")
#if(BVMSTATE!="BARRIERWAIT") {
if(value==22 and BVMSTATE=="TURNEDOFF") {
BVMSTATE = "LAUNCH"
}else if(value==20) {
AUTO_LAUNCH_STATE = "IDLE"
BVMSTATE = "GOHOME"
} else if(value==21 and BVMSTATE!="TURNEDOFF") {
BVMSTATE = "STOP"
} else if(value==400 and BVMSTATE=="TURNEDOFF") {
arm()
} else if(value==401 and BVMSTATE=="TURNEDOFF"){
disarm()
} else if(value==777 and BVMSTATE=="TURNEDOFF"){
reinit_time_sync()
#neighbors.broadcast("cmd", 777)
}else if(value==900){ # Shapes
barrier_set(ROBOTS, "TASK_ALLOCATE", BVMSTATE, 900)
#barrier_ready(900)
neighbors.broadcast("cmd", 900)
} else if(value==901){ # Pursuit
destroyGraph()
barrier_set(ROBOTS, "PURSUIT", BVMSTATE, 901)
#barrier_ready(901)
neighbors.broadcast("cmd", 901)
} else if(value==902){ # Agreggate
destroyGraph()
barrier_set(ROBOTS, "AGGREGATE", BVMSTATE, 902)
#barrier_ready(902)
neighbors.broadcast("cmd", 902)
} else if(value==903){ # Formation
destroyGraph()
barrier_set(ROBOTS, "FORMATION", BVMSTATE, 903)
#barrier_ready(903)
neighbors.broadcast("cmd", 903)
} else if(value==16 and BVMSTATE=="IDLE"){
# neighbors.listen("gt",function(vid, value, rid) {
# print("Got (", vid, ",", value, ") from robot #", rid)
# # if(gt.id == id) statef=goto
# })
}
#}
})
}

226
buzz_scripts/include/act/states.bzz
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@ -5,8 +5,10 @@
########################################
include "utils/vec2.bzz"
include "act/barrier.bzz"
#include "act/old_barrier.bzz"
include "utils/conversions.bzz"
include "act/naviguation.bzz"
include "act/CA.bzz"
include "act/neighborcomm.bzz"
TARGET_ALTITUDE = 15.0 # m.
BVMSTATE = "TURNEDOFF"
@ -20,30 +22,17 @@ path_it = 0
pic_time = 0
g_it = 0
# Core state function when on the ground
function turnedoff() {
BVMSTATE = "TURNEDOFF"
}
# Core state function when hovering
function idle() {
BVMSTATE = "IDLE"
}
# Custom function for the user.
function cusfun(){
BVMSTATE="CUSFUN"
log("cusfun: yay!!!")
LOCAL_TARGET = math.vec2.new(5 ,0 )
local_set_point = math.vec2.new(LOCAL_TARGET.x - pose.position.x ,LOCAL_TARGET.y - pose.position.y ) # has to move 5 meters in x from the home location
if(math.vec2.length(local_set_point) > GOTODIST_TOL){
local_set_point = LimitSpeed(local_set_point, 1.0)
goto_abs(local_set_point.x, local_set_point.y, 0.0, 0.0)
}
else{
log("TARGET REACHED")
}
}
# Core state function to launch the robot: takeoff and wait for others, or stop (land)
function launch() {
BVMSTATE = "LAUNCH"
if(V_TYPE == 0 or V_TYPE == 1) { # flying vehicle so TAKE_OFF
@ -62,6 +51,7 @@ function launch() {
}
}
# Launch function version without the timeout and stop state.
function launch_switch() {
BVMSTATE = "LAUNCH_SWITCH"
if(V_TYPE == 0 or V_TYPE == 1) { # flying vehicle so TAKE_OFF
@ -81,6 +71,7 @@ function launch_switch() {
}
gohomeT=100
# State function to go back to ROSBuzz recorded home GPS position (at takeoff)
function goinghome() {
BVMSTATE = "GOHOME"
if(gohomeT > 0) { # TODO: Make a real check if home is reached
@ -90,6 +81,7 @@ function goinghome() {
BVMSTATE = AUTO_LAUNCH_STATE
}
# Core state function to stop and land.
function stop() {
BVMSTATE = "STOP"
if(V_TYPE == 0 or V_TYPE == 1) { # flying vehicle so LAND
@ -107,6 +99,13 @@ function stop() {
}
}
# State function for individual waypoint control
function indiWP() {
BVMSTATE = "INDIWP"
}
# State function to take a picture from the camera server (developed by HS)
function take_picture() {
BVMSTATE="PICTURE"
setgimbal(0.0, 0.0, -90.0, 20.0)
@ -119,66 +118,7 @@ function take_picture() {
pic_time=pic_time+1
}
function goto_gps(transf) {
m_navigation = vec_from_gps(rc_goto.latitude, rc_goto.longitude, 0)
#print(" has to move ", math.vec2.length(m_navigation), math.vec2.angle(m_navigation))
if(math.vec2.length(m_navigation)>GOTO_MAXDIST)
log("Sorry this is too far (", math.vec2.length(m_navigation), " / ", GOTO_MAXDIST, " )")
else if(math.vec2.length(m_navigation) < GOTODIST_TOL and math.vec2.angle(m_navigation) < GOTOANG_TOL) # reached destination
transf()
else {
m_navigation = LimitSpeed(m_navigation, 1.0)
#m_navigation = LCA(m_navigation)
goto_abs(m_navigation.x, m_navigation.y, rc_goto.altitude - pose.position.altitude, 0.0)
}
}
function LCA(vel_vec) {
var safety_radius = 3.0
var default_velocity = 2.0
collide = 0
var k_v = 5 # velocity gain
var k_w = 10 # angular velocity gain
cart = neighbors.map(
function(rid, data) {
var c = {}
c.distance = data.distance
c.azimuth = data.azimuth
if (c.distance < (safety_radius * 2.0) )
collide = 1
return c
})
if (collide) {
log("")
log("------> AVOIDING NEIGHBOR! <------")
log("")
result = cart.reduce(function(rid, data, accum) {
if(data.distance < accum.distance and data.distance > 0.0){
accum.distance = data.distance
accum.angle = data.azimuth
return accum
}
return accum
}, {.distance= safety_radius * 2.0, .angle= 0.0})
d_i = result.distance
data_alpha_i = result.angle
penalty = math.exp(d_i - safety_radius)
if( math.cos(math.vec2.angle(vel_vec)) < 0.0){
penalty = math.exp(-(d_i - safety_radius))
}
V = math.vec2.length(vel_vec) - math.cos(math.vec2.angle(vel_vec)) * penalty * k_v
W = -k_w * penalty * math.sin( math.vec2.angle(vel_vec) )
return math.vec2.newp(V, W)
} else
return vel_vec
}
# State function to follow a moving attractor (GPS sent from a user phone)
function follow() {
if(size(targets)>0) {
BVMSTATE = "FOLLOW"
@ -194,7 +134,7 @@ function follow() {
}
}
# converge to centroid
# State function to converge to centroid
function aggregate() {
BVMSTATE="AGGREGATE"
centroid = neighbors.reduce(function(rid, data, centroid) {
@ -208,7 +148,7 @@ function aggregate() {
goto_abs(cmdbin.x, cmdbin.y, 0.0, 0.0)
}
# circle all together around centroid
# State fucntion to circle all together around centroid
function pursuit() {
BVMSTATE="PURSUIT"
rd = 20.0
@ -248,7 +188,7 @@ function lj_sum(rid, data, accum) {
return math.vec2.add(data, accum)
}
# Calculates and actuates the flocking interaction
# Sate function that calculates and actuates the flocking interaction
function formation() {
BVMSTATE="FORMATION"
# Calculate accumulator
@ -259,115 +199,17 @@ function formation() {
goto_abs(accum_lj.x, accum_lj.y, 0.0, 0.0)
}
# listens to commands from the remote control (web, commandline, etc)
function rc_cmd_listen() {
if(flight.rc_cmd==22) {
log("cmd 22")
flight.rc_cmd=0
BVMSTATE = "LAUNCH"
neighbors.broadcast("cmd", 22)
} else if(flight.rc_cmd==21) {
flight.rc_cmd=0
AUTO_LAUNCH_STATE = "TURNEDOFF"
#barrier_set(ROBOTS, "GOHOME", BVMSTATE, 21)
#barrier_ready(21)
BVMSTATE = "STOP"
neighbors.broadcast("cmd", 21)
} else if(flight.rc_cmd==20) {
flight.rc_cmd=0
AUTO_LAUNCH_STATE = "IDLE"
barrier_set(ROBOTS, "GOHOME", BVMSTATE, 20)
barrier_ready(20)
neighbors.broadcast("cmd", 20)
} else if(flight.rc_cmd==16) {
flight.rc_cmd=0
BVMSTATE = "PATHPLAN"
} else if(flight.rc_cmd==400) {
flight.rc_cmd=0
arm()
neighbors.broadcast("cmd", 400)
} else if (flight.rc_cmd==401){
flight.rc_cmd=0
disarm()
neighbors.broadcast("cmd", 401)
} else if (flight.rc_cmd==666){
flight.rc_cmd=0
stattab_send()
} else if (flight.rc_cmd==777){
flight.rc_cmd=0
reinit_time_sync()
neighbors.broadcast("cmd", 777)
}else if (flight.rc_cmd==900){
flight.rc_cmd=0
barrier_set(ROBOTS, "TASK_ALLOCATE", BVMSTATE, 900)
barrier_ready(900)
neighbors.broadcast("cmd", 900)
} else if (flight.rc_cmd==901){
flight.rc_cmd=0
destroyGraph()
barrier_set(ROBOTS, "PURSUIT", BVMSTATE, 901)
barrier_ready(901)
neighbors.broadcast("cmd", 901)
} else if (flight.rc_cmd==902){
flight.rc_cmd=0
destroyGraph()
barrier_set(ROBOTS, "AGGREGATE", BVMSTATE, 902)
barrier_ready(902)
neighbors.broadcast("cmd", 902)
} else if (flight.rc_cmd==903){
flight.rc_cmd=0
destroyGraph()
barrier_set(ROBOTS, "FORMATION", BVMSTATE, 903)
barrier_ready(903)
neighbors.broadcast("cmd", 903)
}
}
# listens to other fleet members broadcasting commands
function nei_cmd_listen() {
neighbors.listen("cmd",
function(vid, value, rid) {
print("Got (", vid, ",", value, ") #", rid, "(", BVMSTATE, ")")
#if(BVMSTATE!="BARRIERWAIT") {
if(value==22 and BVMSTATE=="TURNEDOFF") {
BVMSTATE = "LAUNCH"
}else if(value==20) {
AUTO_LAUNCH_STATE = "IDLE"
BVMSTATE = "GOHOME"
} else if(value==21 and BVMSTATE!="TURNEDOFF") {
BVMSTATE = "STOP"
} else if(value==400 and BVMSTATE=="TURNEDOFF") {
arm()
} else if(value==401 and BVMSTATE=="TURNEDOFF"){
disarm()
} else if(value==777 and BVMSTATE=="TURNEDOFF"){
reinit_time_sync()
#neighbors.broadcast("cmd", 777)
}else if(value==900){ # Shapes
barrier_set(ROBOTS, "TASK_ALLOCATE", BVMSTATE, 900)
#barrier_ready(900)
neighbors.broadcast("cmd", 900)
} else if(value==901){ # Pursuit
destroyGraph()
barrier_set(ROBOTS, "PURSUIT", BVMSTATE, 901)
#barrier_ready(901)
neighbors.broadcast("cmd", 901)
} else if(value==902){ # Agreggate
destroyGraph()
barrier_set(ROBOTS, "AGGREGATE", BVMSTATE, 902)
#barrier_ready(902)
neighbors.broadcast("cmd", 902)
} else if(value==903){ # Formation
destroyGraph()
barrier_set(ROBOTS, "FORMATION", BVMSTATE, 903)
#barrier_ready(903)
neighbors.broadcast("cmd", 903)
} else if(value==16 and BVMSTATE=="IDLE"){
# neighbors.listen("gt",function(vid, value, rid) {
# print("Got (", vid, ",", value, ") from robot #", rid)
# # if(gt.id == id) statef=goto
# })
}
#}
})
}
# Custom state function for the developer to play with
function cusfun(){
BVMSTATE="CUSFUN"
log("cusfun: yay!!!")
LOCAL_TARGET = math.vec2.new(5 ,0 )
local_set_point = math.vec2.new(LOCAL_TARGET.x - pose.position.x ,LOCAL_TARGET.y - pose.position.y ) # has to move 5 meters in x from the home location
if(math.vec2.length(local_set_point) > GOTODIST_TOL){
local_set_point = LimitSpeed(local_set_point, 1.0)
goto_abs(local_set_point.x, local_set_point.y, 0.0, 0.0)
}
else{
log("TARGET REACHED")
}
}

0
buzz_scripts/include/bidding/bidding.bzz → buzz_scripts/include/taskallocate/bidding.bzz
View File

6
buzz_scripts/include/utils/conversions.bzz
View File

@ -7,12 +7,6 @@ function LimitAngle(angle){
return angle
}
function LimitSpeed(vel_vec, factor){
if(math.vec2.length(vel_vec)>GOTO_MAXVEL*factor)
vel_vec = math.vec2.scale(vel_vec, GOTO_MAXVEL*factor/math.vec2.length(vel_vec))
return vel_vec
}
# TODO: add other conversions....
function convert_path(P) {
var pathR={}

10
buzz_scripts/main.bzz
View File

@ -4,14 +4,14 @@ include "update.bzz"
include "act/states.bzz"
include "plan/rrtstar.bzz"
include "taskallocate/graphformGPS.bzz"
include "bidding/bidding.bzz"
#include "taskallocate/bidding.bzz"
include "vstigenv.bzz"
#include "timesync.bzz"
include "utils/takeoff_heights.bzz"
#State launched after takeoff
AUTO_LAUNCH_STATE = "BIDDING"
AUTO_LAUNCH_STATE = "INDIWP"
TARGET = 9.0
EPSILON = 30.0
ROOT_ID = 3
@ -35,10 +35,8 @@ goal_list = {
function init() {
init_stig()
init_swarm()
init_bidding()
#init_bidding()
# initGraph()
TARGET_ALTITUDE = takeoff_heights[id]
# start the swarm command listener
@ -73,6 +71,8 @@ function step() {
statef=launch_switch
else if(BVMSTATE=="GOHOME") # ends on AUTO_LAUNCH_STATE
statef=goinghome
else if(BVMSTATE=="INDIWP")
statef=indiWP
else if(BVMSTATE=="IDLE")
statef=idle
else if(BVMSTATE=="AGGREGATE")