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merge sim rosbuzz

This commit is contained in:
dave 2018-11-05 04:15:31 -05:00
parent 70cabdb4fa ec869b3bb7
commit 7e5a3b1624
18 changed files with 391 additions and 248 deletions
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17
buzz_scripts/include/act/states.bzz
View File

@ -13,6 +13,7 @@ include "act/neighborcomm.bzz"
TARGET_ALTITUDE = 15.0 # m.
BVMSTATE = "TURNEDOFF"
PICTURE_WAIT = 20 # steps
WP_STIG = 8
path_it = 0
pic_time = 0
@ -100,7 +101,7 @@ firsttimeinwp = 1
wpreached = 1
function indiWP() {
if(firsttimeinwp) {
v_wp = stigmergy.create(8)
v_wp = stigmergy.create(WP_STIG)
storegoal(pose.position.latitude, pose.position.longitude, pose.position.altitude)
firsttimeinwp = 0
}
@ -111,21 +112,25 @@ function indiWP() {
storegoal(rc_goto.latitude, rc_goto.longitude, pose.position.altitude)
return
} else {
v_wp.put(rc_goto.id,{.lat=rc_goto.latitude, .lon=rc_goto.longitude, .pro=0})
var ls = packWP2i(rc_goto.latitude, rc_goto.longitude, 0)
v_wp.put(rc_goto.id,ls)
reset_rc()
}
}
wp = v_wp.get(id)
if(wp!=nil) {
#log(wp.pro,wpreached)
#if(vstig_buzzy == 0) {
wpi = v_wp.get(id)
if(wpi!=nil) {
wp = unpackWP2i(wpi)
if(wp.pro == 0) {
wpreached = 0
storegoal(wp.lat, wp.lon, pose.position.altitude)
v_wp.put(id,{.lat=wp.lat, .lon=wp.lon, .pro=1})
var ls = packWP2i(wp.lat, wp.lon, 1)
v_wp.put(id,ls)
return
}
}
#}
if(wpreached!=1)
goto_gps(indiWP_done)

15
buzz_scripts/include/plan/mapmatrix.bzz
View File

@ -102,21 +102,6 @@ function is_in(dictionary, x, y){
return 0
}
function table_print(t) {
foreach(t, function(key, value) {
log(key, " -> ", value)
})
}
function table_copy(t) {
var t2 = {}
foreach(t, function(key, value) {
t2[key] = value
})
return t2
}
function print_pos(t) {
var ir=1
while(ir <= size(t)) {

55
buzz_scripts/include/taskallocate/graphformGPS.bzz
View File

@ -6,6 +6,7 @@ include "taskallocate/graphs/shapes_P.bzz"
include "taskallocate/graphs/shapes_O.bzz"
include "taskallocate/graphs/shapes_L.bzz"
include "taskallocate/graphs/shapes_Y.bzz"
#include "utils/table.bzz"
ROBOT_RADIUS = 50
ROBOT_DIAMETER = 2.0*ROBOT_RADIUS
@ -82,60 +83,6 @@ m_lockstig = 1
# Lennard-Jones parameters, may need change
EPSILON_GRAPH = 4000 #13.5 the LJ parameter for other robots
#
#return the number of value in table
#
function count(table,value){
var number=0
var i=0
while(i<size(table)){
if(table[i]==value){
number=number+1
}
i=i+1
}
return number
}
#
#map from int to state
#
function i2s(value){
if(value==1){
return "GRAPH_FREE"
}
else if(value==2){
return "GRAPH_ASKING"
}
else if(value==3){
return "GRAPH_JOINING"
}
else if(value==4){
return "GRAPH_JOINED"
}
else if(value==5){
return "GRAPH_LOCK"
}
}
#
#map from state to int
#
function s2i(value){
if(value=="GRAPH_FREE"){
return 1
}
else if(value=="GRAPH_ASKING"){
return 2
}
else if(value=="GRAPH_JOINING"){
return 3
}
else if(value=="GRAPH_JOINED"){
return 4
}
else if(value=="GRAPH_LOCK"){
return 5
}
}
#
#map form int to response
#

93
buzz_scripts/include/taskallocate/waypointlist.csv
View File

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89
buzz_scripts/include/taskallocate/waypointlist_old.csv Normal file
View File

@ -0,0 +1,89 @@
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19 18 -73.1533968364959 45.5085058504516 15 15
20 19 -73.1534330307645 45.5085312155701 15 15
21 20 -73.1533383749674 45.5085975508107 15 15
22 21 -73.1532437191702 45.5086638860513 15 15
23 22 -73.1531490633731 45.5087302212919 15 15
24 23 -73.1530544075587 45.5087965565446 15 15
25 24 -73.1530906018273 45.5088219216632 15 15
26 25 -73.1531852576417 45.5087555864105 15 15
27 26 -73.1532799134389 45.5086892511699 15 15
28 27 -73.153374569236 45.5086229159293 15 15
29 28 -73.1534692250331 45.5085565806887 15 15
30 29 -73.1535054193017 45.5085819458072 15 15
31 30 -73.1534107635046 45.5086482810478 15 15
32 31 -73.1533161077075 45.5087146162884 15 15
33 32 -73.1532214519103 45.508780951529 15 15
34 33 -73.1531267960959 45.5088472867817 15 15
35 34 -73.1531629903645 45.5088726519003 15 15
36 35 -73.1532576461789 45.5088063166476 15 15
37 36 -73.1533523019761 45.508739981407 15 15
38 37 -73.1534469577732 45.5086736461664 15 15
39 38 -73.1535416135703 45.5086073109258 15 15
40 39 -73.1535778078389 45.5086326760444 15 15
41 40 -73.1534831520418 45.5086990112849 15 15
42 41 -73.1533884962447 45.5087653465255 15 15
43 42 -73.1532938404476 45.5088316817661 15 15
44 43 -73.1531991846331 45.5088980170188 15 15
45 44 -73.1532353789017 45.5089233821374 15 15
46 45 -73.1533300347162 45.5088570468847 15 15
47 46 -73.1534246905133 45.5087907116441 15 15
48 47 -73.1535193463104 45.5087243764035 15 15
49 48 -73.1536140021075 45.5086580411629 15 15
50 49 -73.1536501963762 45.5086834062815 15 15
51 50 -73.153555540579 45.508749741522 15 15
52 51 -73.1534608847819 45.5088160767626 15 15
53 52 -73.1533662289848 45.5088824120032 15 15
54 53 -73.1532715731703 45.508948747256 15 15
55 54 -73.1533077674389 45.5089741123745 15 15
56 55 -73.1534024232534 45.5089077771218 15 15
57 56 -73.1534970790505 45.5088414418812 15 15
58 57 -73.1535917348476 45.5087751066406 15 15
59 58 -73.1536863906448 45.5087087714 15 15
60 59 -73.1537225849134 45.5087341365186 15 15
61 60 -73.1536279291163 45.5088004717592 15 15
62 61 -73.1535332733191 45.5088668069997 15 15
63 62 -73.153438617522 45.5089331422403 15 15
64 63 -73.1533439617076 45.5089994774931 15 15
65 64 -73.1533801559762 45.5090248426116 15 15
66 65 -73.1534748117906 45.5089585073589 15 15
67 66 -73.1535694675877 45.5088921721183 15 15
68 67 -73.1536641233849 45.5088258368777 15 15
69 68 -73.153758779182 45.5087595016371 15 15
70 69 -73.1537949734506 45.5087848667557 15 15
71 70 -73.1537003176535 45.5088512019963 15 15
72 71 -73.1536056618563 45.5089175372369 15 15
73 72 -73.1535110060592 45.5089838724775 15 15
74 73 -73.1534163502448 45.5090502077302 15 15
75 74 -73.1534525445134 45.5090755728487 15 15
76 75 -73.1535472003278 45.509009237596 15 15
77 76 -73.1536418561249 45.5089429023554 15 15
78 77 -73.1537365119221 45.5088765671148 15 15
79 78 -73.1538311677192 45.5088102318742 15 15
80 79 -73.1538673619878 45.5088355969928 15 15
81 80 -73.1537727061907 45.5089019322334 15 15
82 81 -73.1536780503936 45.508968267474 15 15
83 82 -73.1535833945964 45.5090346027146 15 15
84 83 -73.153488738782 45.5091009379673 15 15
85 84 -73.1535249330852 45.5091263031101 15 15
86 85 -73.1536195888996 45.5090599678574 15 15
87 86 -73.1537142446968 45.5089936326168 15 15
88 87 -73.1538089004939 45.5089272973762 15 15
89 88 -73.153903556291 45.5088609621356 15 15

14
buzz_scripts/include/utils/conversions.bzz
View File

@ -61,3 +61,17 @@ function gps_from_vec(vec) {
return Lgoal
}
GPSoffset = {.lat=45.50, .lon=-73.61}
function packWP2i(in_lat, in_long, processed) {
var dlat = math.round((in_lat - GPSoffset.lat)*1000000)
var dlon = math.round((in_long - GPSoffset.lon)*1000000)
return {.dla=dlat, .dlo=dlon*10+processed}
}
function unpackWP2i(wp_int){
var dlon = (wp_int.dlo-wp_int.dlo%10)/10.0
var pro = wp_int.dlo-dlon*10
return {.lat=wp_int.dla/1000000.0+GPSoffset.lat, .lon=dlon/1000000.0+GPSoffset.lon, .pro=pro}
}

97
buzz_scripts/include/utils/table.bzz Normal file
View File

@ -0,0 +1,97 @@
function table_print(t) {
foreach(t, function(key, value) {
log(key, " -> ", value)
})
}
function table_copy(t) {
var t2 = {}
foreach(t, function(key, value) {
t2[key] = value
})
return t2
}
#
#return the number of value in table
#
function count(table,value){
var number=0
var i=0
while(i<size(table)){
if(table[i]==value){
number=number+1
}
i=i+1
}
return number
}
#
#map from int to state
#
function i2s(value){
if(value==1){
return "GRAPH_ASKING"
}
else if(value==2){
return "GRAPH_JOINING"
}
else if(value==3){
return "GRAPH_JOINED"
}
else if(value==4){
return "TURNEDOFF"
}
else if(value==5){
return "BARRIERWAIT"
}
else if(value==6){
return "INDIWP"
}
else if(value==7){
return "TASK_ALLOCATE"
}
else if(value==8){
return "LAUNCH"
}
else if(value==9){
return "STOP"
}
else {
return "UNDETERMINED"
}
}
#
#map from state to int
#
function s2i(value){
if(value=="GRAPH_ASKING"){
return 1
}
else if(value=="GRAPH_JOINING"){
return 2
}
else if(value=="GRAPH_JOINED"){
return 3
}
else if(value=="TURNEDOFF"){
return 4
}
else if(value=="BARRIERWAIT"){
return 5
}
else if(value=="INDIWP"){
return 6
}
else if(value=="TASK_ALLOCATE"){
return 7
}
else if(value=="LAUNCH"){
return 8
}
else if(value=="STOP"){
return 9
}
else
return 0
}

4
buzz_scripts/include/utils/takeoff_heights.bzz
View File

@ -1,8 +1,10 @@
takeoff_heights ={
.0 = 30.0,
.1 = 21.0,
.2 = 18.0,
.3 = 12.0,
.5 = 6.0,
.4 = 28.0,
.5 = 12.0,
.6 = 3.0,
.9 = 15.0,
.11 = 6.0,

85
buzz_scripts/include/vstigenv.bzz
View File

@ -8,15 +8,14 @@
#
STATUS_VSTIG = 20
GROUND_VSTIG = 21
HIGHEST_ROBOTID = 14
WAIT4STEP = 10
WAIT4STEP = 5
vstig_buzzy = 0
#
# Init var
#
var v_status = {}
var v_ground = {}
b_updating = 0
vstig_counter = WAIT4STEP
@ -27,36 +26,36 @@ function init_swarm() {
function init_stig() {
v_status = stigmergy.create(STATUS_VSTIG)
v_ground = stigmergy.create(GROUND_VSTIG)
#v_ground = stigmergy.create(GROUND_VSTIG)
}
function uav_updatestig() {
# TODO: Push values on update only.
# TODO: Push values on update only?
if(vstig_counter<=0) {
b_updating=1
#var ls={.1=0,.2=battery.capacity,.3=xbee_status.rssi,.4=flight.status}
ls = 50*1000000 + battery.capacity*1000 + xbee_status.rssi*10 + flight.status
log("Pushing ", ls, "on vstig with id:", id)
vstig_buzzy = 1
var ls = battery.capacity*10 + s2i(BVMSTATE)
#log("Pushing ", ls, "on vstig with id:", id)
v_status.put(id, ls)
vstig_counter=WAIT4STEP
} else if(vstig_counter==WAIT4STEP-1){ # ensure comm. delay between fetch and update stig
vstig_buzzy = 1
vstig_counter=vstig_counter-1
stattab_send()
} else {
b_updating=0
vstig_buzzy = 0
vstig_counter=vstig_counter-1
}
}
function unpackstatus(recv_value){
gps=(recv_value-recv_value%1000000)/1000000
recv_value=recv_value-gps*1000000
batt=(recv_value-recv_value%1000)/1000
recv_value=recv_value-batt*1000
xbee=(recv_value-recv_value%10)/10
recv_value=recv_value-xbee*10
fc=recv_value
log("- GPS ", gps)
log("- Battery ", batt)
log("- Xbee ", xbee)
log("- Status ", fc)
function unpackstatus(recv_value,state_struct){
#state_struct.gp=(recv_value-recv_value%1000000)/1000000
#recv_value=recv_value-state_struct.gp*1000000
state_struct.ba=(recv_value-recv_value%10)/10
recv_value=recv_value-state_struct.ba*10
#state_struct.xb=(recv_value-recv_value%10)/10
#recv_value=recv_value-state_struct.xb*10
state_struct.st=recv_value
return state_struct
}
function checkusers() {
@ -95,37 +94,29 @@ function usertab_print(t) {
function stattab_print() {
if(v_status.size()>0) {
if(b_updating==0) {
u=0
while(u<HIGHEST_ROBOTID){
tab = v_status.get(u)
if(tab!=nil)
unpackstatus(tab)
var state_struct = {.id = -1, .gp = 0, .ba = 0, .xb = 0, .st = 0}
neighbors.foreach(function(rid, data) {
var nei_state = v_status.get(rid)
if(nei_state!=nil){
state_struct.id=u
state_struct = unpackstatus(nei_state, state_struct)
table_print(state_struct)
}
u=u+1
}
}
} )
}
}
function stattab_send() {
if(v_status.size()>0) {
if(b_updating==0) {
u=0
while(u<HIGHEST_ROBOTID){
tab = v_status.get(u)
if(tab!=nil){
recv_value=tab
gps=(recv_value-recv_value%1000000)/1000000
recv_value=recv_value-gps*1000000
batt=(recv_value-recv_value%1000)/1000
recv_value=recv_value-batt*1000
xbee=(recv_value-recv_value%10)/10
recv_value=recv_value-xbee*10
fc=recv_value
add_neighborStatus(u,gps,batt,xbee,fc)
}
u=u+1
}
var state_struct = {.id = -1, .gp = -1, .ba = -1, .xb = -1, .st = 0}
neighbors.foreach(function(rid, data) {
var nei_state = v_status.get(rid)
if(nei_state!=nil){
state_struct.id=rid
state_struct = unpackstatus(nei_state,state_struct)
add_neighborStatus(state_struct)
}
} )
}
}

6
buzz_scripts/main.bzz
View File

@ -2,6 +2,7 @@ include "update.bzz"
# don't use a stigmergy id=11 with this header, for barrier
# it requires an 'action' function to be defined here.
include "act/states.bzz"
include "utils/table.bzz"
include "plan/rrtstar.bzz"
include "taskallocate/graphformGPS.bzz"
include "taskallocate/bidding.bzz"
@ -27,9 +28,6 @@ LAND_AFTER_BARRIER_EXPIRE = 1 # if set to be 1 , the robots will land after barr
# 3 -> indoor wheeled vehicle
V_TYPE = 0
goal_list = {
.0={.x = 45.5088103899, .y = -73.1540826153, .z = 2.5}
}
# Executed once at init time.
function init() {
@ -53,7 +51,7 @@ function step() {
rc_cmd_listen()
# update the vstig (status/net/batt/...)
# uav_updatestig()
uav_updatestig()
#
# State machine

3
include/buzzuav_closures.h
View File

@ -20,7 +20,8 @@ namespace buzzuav_closures
* The command to use in Buzz is buzzros_print takes any available datatype in Buzz
*/
int buzzros_print(buzzvm_t vm);
void setWPlist(std::string path);
void setWPlist(std::string file);
void check_targets_sim(double lat, double lon, double *res);
/*
* closure to move following a vector

4
include/roscontroller.h
View File

@ -115,6 +115,7 @@ private:
uint64_t payload;
std::map<int, buzz_utility::Pos_struct> neighbours_pos_map;
std::map<int, buzz_utility::Pos_struct> targets_found;
std::map<int, buzz_utility::Pos_struct> raw_neighbours_pos_map;
std::map<int, buzz_utility::neighbor_time> neighbours_time_map;
int timer_step = 0;
@ -143,7 +144,7 @@ private:
bool debug = false;
bool setmode = false;
bool BClpose = false;
std::string bzzfile_name;
std::string bzzfile_name, WPfile;
std::string bcfname, dbgfname;
std::string stand_by;
std::string capture_srv_name;
@ -155,6 +156,7 @@ private:
ros::ServiceClient stream_client;
ros::Publisher payload_pub;
ros::Publisher MPpayload_pub;
ros::Publisher targetf_pub;
ros::Publisher neigh_pos_pub;
ros::Publisher bvmstate_pub;
ros::Publisher grid_pub;

1
launch/launch_config/topics.yaml
View File

@ -13,6 +13,7 @@ topics:
bstate: bvmstate
npose: neighbours_pos
fstatus: fleet_status
targetf: targets_found
services:
fcclient: cmd/command
armclient: cmd/arming

2
launch/rosbuzz.launch
View File

@ -6,6 +6,7 @@
<arg name="name" default="robot0"/>
<arg name="xbee_plugged" default="true"/>
<arg name="script" default="testalone"/>
<arg name="wpfile" default="waypointlist"/>
<arg name="launch_config" default="topics"/>
<arg name="debug" default="false" />
<arg name="setmode" default="false" />
@ -13,6 +14,7 @@
<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >
<rosparam file="$(find rosbuzz)/launch/launch_config/$(arg launch_config).yaml"/>
<param name="bzzfile_name" value="$(find rosbuzz)/buzz_scripts/$(arg script).bzz" />
<param name="WPfile" value="$(find rosbuzz)/buzz_scripts/include/taskallocate/$(arg wpfile).csv" />
<param name="debug" value="$(arg debug)" />
<param name="xbee_plugged" value="$(arg xbee_plugged)"/>
<param name="name" value="$(arg name)"/>

2
launch/rosbuzzd.launch
View File

@ -6,6 +6,7 @@
<arg name="name" default="robot0"/>
<arg name="xbee_plugged" default="true"/>
<arg name="script" default="testalone"/>
<arg name="wpfile" default="waypointlist"/>
<arg name="launch_config" default="topics"/>
<arg name="debug" default="true" />
<arg name="setmode" default="false" />
@ -13,6 +14,7 @@
<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" launch-prefix="gdb -ex run --args">
<rosparam file="$(find rosbuzz)/launch/launch_config/$(arg launch_config).yaml"/>
<param name="bzzfile_name" value="$(find rosbuzz)/buzz_scripts/$(arg script).bzz" />
<param name="WPfile" value="$(find rosbuzz)/buzz_scripts/include/taskallocate/$(arg wpfile).csv" />
<param name="debug" value="$(arg debug)" />
<param name="xbee_plugged" value="$(arg xbee_plugged)"/>
<param name="name" value="$(arg name)"/>

8
src/buzz_utility.cpp
View File

@ -17,7 +17,7 @@ static buzzvm_t VM = 0;
static char* BO_FNAME = 0;
static uint8_t* BO_BUF = 0;
static buzzdebug_t DBG_INFO = 0;
static uint32_t MAX_MSG_SIZE = 250; // Maximum Msg size for sending update packets
static uint32_t MAX_MSG_SIZE = 210;//250; // Maximum Msg size for sending update packets
static uint8_t Robot_id = 0;
static std::vector<uint8_t*> IN_MSG;
std::map<int, Pos_struct> users_map;
@ -291,6 +291,12 @@ static int testing_buzz_register_hooks()
buzzvm_pushs(VM, buzzvm_string_register(VM, "add_neighborStatus", 1));
buzzvm_pushcc(VM, buzzvm_function_register(VM, buzzuav_closures::dummy_closure));
buzzvm_gstore(VM);
buzzvm_pushs(VM, buzzvm_string_register(VM, "export_map", 1));
buzzvm_pushcc(VM, buzzvm_function_register(VM, buzzuav_closures::dummy_closure));
buzzvm_gstore(VM);
buzzvm_pushs(VM, buzzvm_string_register(VM, "reset_rc", 1));
buzzvm_pushcc(VM, buzzvm_function_register(VM, buzzuav_closures::dummy_closure));
buzzvm_gstore(VM);
return VM->state;
}

84
src/buzzuav_closures.cpp
View File

@ -54,7 +54,7 @@ int buzzros_print(buzzvm_t vm)
----------------------------------------------------------- */
{
std::ostringstream buffer(std::ostringstream::ate);
buffer << "[" << buzz_utility::get_robotid() << "] ";
buffer << std::fixed << std::setprecision(6) << "[" << buzz_utility::get_robotid() << "] ";
for (uint32_t index = 1; index < buzzdarray_size(vm->lsyms->syms); ++index)
{
buzzvm_lload(vm, index);
@ -98,12 +98,13 @@ int buzzros_print(buzzvm_t vm)
return buzzvm_ret0(vm);
}
void setWPlist(string path)
void setWPlist(string file)
/*
/ set the absolute path for a csv list of waypoints
----------------------------------------------------------- */
{
WPlistname = path + "include/taskallocate/waypointlist.csv";
WPlistname = file;//path + "include/taskallocate/waypointlist.csv";
parse_gpslist();
}
float constrainAngle(float x)
@ -181,6 +182,28 @@ void parse_gpslist()
fin.close();
}
void check_targets_sim(double lat, double lon, double *res)
/*
/ check if a listed target is close
----------------------------------------------------------- */
{
map<int, buzz_utility::RB_struct>::iterator it;
for (it = wplist_map.begin(); it != wplist_map.end(); ++it)
{
double rb[3];
double ref[2]={lat, lon};
double tar[2]={it->second.latitude, it->second.longitude};
rb_from_gps(tar, rb, ref);
if(rb[0]<3.0){
ROS_WARN("FOUND A TARGET!!! [%i]", it->first);
res[0] = it->first;
res[1] = it->second.latitude;
res[2] = it->second.longitude;
res[3] = it->second.altitude;
}
}
}
int buzz_exportmap(buzzvm_t vm)
/*
/ Buzz closure to export a 2D map
@ -288,23 +311,42 @@ int buzzuav_addNeiStatus(buzzvm_t vm)
/ closure to add neighbors status to the BVM
/----------------------------------------*/
{
buzzvm_lnum_assert(vm, 5);
buzzvm_lload(vm, 1); // fc
buzzvm_lload(vm, 2); // xbee
buzzvm_lload(vm, 3); // batt
buzzvm_lload(vm, 4); // gps
buzzvm_lload(vm, 5); // id
buzzvm_type_assert(vm, 5, BUZZTYPE_INT);
buzzvm_type_assert(vm, 4, BUZZTYPE_INT);
buzzvm_type_assert(vm, 3, BUZZTYPE_INT);
buzzvm_type_assert(vm, 2, BUZZTYPE_INT);
buzzvm_type_assert(vm, 1, BUZZTYPE_INT);
buzzvm_lnum_assert(vm, 1);
buzzvm_lload(vm, 1); // state table
buzzvm_type_assert(vm, 1, BUZZTYPE_TABLE);
buzzobj_t t = buzzvm_stack_at(vm, 1);
if(buzzdict_size(t->t.value) != 5) {
ROS_WARN("Wrong neighbor status size.");
return vm->state;
}
buzz_utility::neighbors_status newRS;
uint8_t id = buzzvm_stack_at(vm, 5)->i.value;
newRS.gps_strenght = buzzvm_stack_at(vm, 4)->i.value;
newRS.batt_lvl = buzzvm_stack_at(vm, 3)->i.value;
newRS.xbee = buzzvm_stack_at(vm, 2)->i.value;
buzzvm_dup(vm);
buzzvm_pushs(vm, buzzvm_string_register(vm, "id", 1));
buzzvm_tget(vm);
uint8_t id = buzzvm_stack_at(vm, 1)->i.value;
buzzvm_pop(vm);
buzzvm_dup(vm);
buzzvm_pushs(vm, buzzvm_string_register(vm, "ba", 1));
buzzvm_tget(vm);
newRS.batt_lvl = buzzvm_stack_at(vm, 1)->i.value;
buzzvm_pop(vm);
buzzvm_dup(vm);
buzzvm_pushs(vm, buzzvm_string_register(vm, "gp", 1));
buzzvm_tget(vm);
newRS.gps_strenght = buzzvm_stack_at(vm, 1)->i.value;
buzzvm_pop(vm);
buzzvm_dup(vm);
buzzvm_pushs(vm, buzzvm_string_register(vm, "xb", 1));
buzzvm_tget(vm);
newRS.xbee = buzzvm_stack_at(vm, 1)->i.value;
buzzvm_pop(vm);
buzzvm_dup(vm);
buzzvm_pushs(vm, buzzvm_string_register(vm, "st", 1));
buzzvm_tget(vm);
newRS.flight_status = buzzvm_stack_at(vm, 1)->i.value;
buzzvm_pop(vm);
map<int, buzz_utility::neighbors_status>::iterator it = neighbors_status_map.find(id);
if (it != neighbors_status_map.end())
neighbors_status_map.erase(it);
@ -417,8 +459,10 @@ void set_gpsgoal(double goal[3])
rb_from_gps(goal, rb, cur_pos);
if (fabs(rb[0]) < 150.0) {
goto_gpsgoal[0] = goal[0];goto_gpsgoal[1] = goal[1];goto_gpsgoal[2] = goal[2];
ROS_INFO("Set GPS GOAL TO ---- %f %f %f (%f %f, %f %f)", goal[0], goal[1], goal[2], cur_pos[0], cur_pos[1], rb[0], rb[1]);
}
ROS_INFO("[%i] Set GPS GOAL TO ---- %f %f %f (%f %f, %f %f)", buzz_utility::get_robotid(), goal[0], goal[1], goal[2], cur_pos[0], cur_pos[1], rb[0], rb[1]);
} else
ROS_WARN("[%i] GPS GOAL TOO FAR !!-- %f %f %f (%f %f, %f %f)", buzz_utility::get_robotid(), goal[0], goal[1], goal[2], cur_pos[0], cur_pos[1], rb[0], rb[1]);
}
int buzzuav_arm(buzzvm_t vm)

48
src/roscontroller.cpp
View File

@ -28,7 +28,7 @@ logical_clock(ros::Time()), previous_step_time(ros::Time())
bcfname = fname + ".bo";
dbgfname = fname + ".bdb";
buzz_update::set_bzz_file(bzzfile_name.c_str(),debug);
buzzuav_closures::setWPlist(bzzfile_name.substr(0, bzzfile_name.find_last_of("\\/")) + "/");
buzzuav_closures::setWPlist(WPfile);
// Initialize variables
if(setmode)
SetMode("LOITER", 0);
@ -259,6 +259,13 @@ void roscontroller::Rosparameters_get(ros::NodeHandle& n_c)
ROS_ERROR("Provide a .bzz file to run in Launch file");
system("rosnode kill rosbuzz_node");
}
if (n_c.getParam("WPfile", WPfile))
;
else
{
ROS_ERROR("Provide a .csv file to with target WP list");
system("rosnode kill rosbuzz_node");
}
// Obtain debug mode from launch file parameter
if (n_c.getParam("debug", debug))
;
@ -417,8 +424,15 @@ void roscontroller::PubandServ(ros::NodeHandle& n_c, ros::NodeHandle& node_handl
ROS_ERROR("Provide a fleet status out topic name in YAML file");
system("rosnode kill rosbuzz_node");
}
if (node_handle.getParam("topics/targetf", topic))
targetf_pub = n_c.advertise<rosbuzz::neigh_pos>(topic, 5);
else
{
ROS_ERROR("Provide a fleet status out topic name in YAML file");
system("rosnode kill rosbuzz_node");
}
if (node_handle.getParam("topics/npose", topic))
neigh_pos_pub = n_c.advertise<rosbuzz::neigh_pos>(topic, MAX_NUMBER_OF_ROBOTS);
neigh_pos_pub = n_c.advertise<rosbuzz::neigh_pos>(topic, 5);
else
{
ROS_ERROR("Provide a Neighbor pose out topic name in YAML file");
@ -529,11 +543,14 @@ std::string roscontroller::Compile_bzz(std::string bzzfile_name)
void roscontroller::neighbours_pos_publisher()
/*
/ Publish neighbours pos and id in neighbours pos topic
/ Publish neighbours pos and id in neighbours pos topic AND TARGET ACQUIRED (SIMULATED)
/----------------------------------------------------*/
{
auto current_time = ros::Time::now();
map<int, buzz_utility::Pos_struct>::iterator it;
rosbuzz::neigh_pos msg_target_out;
msg_target_out.header.frame_id = "/world";
msg_target_out.header.stamp = current_time;
rosbuzz::neigh_pos neigh_pos_array;
neigh_pos_array.header.frame_id = "/world";
neigh_pos_array.header.stamp = current_time;
@ -551,7 +568,32 @@ void roscontroller::neighbours_pos_publisher()
// cout<<"iterator it val: "<< it-> first << " After convertion: "
// <<(uint8_t) buzz_utility::get_rid_uint8compac(it->first)<<endl;
// std::cout<<"long obt"<<neigh_tmp.longitude<<endl;
double tf[4] = {-1, 0, 0, 0};
buzzuav_closures::check_targets_sim((it->second).x, (it->second).y, tf);
if(tf[0]!=-1){
buzz_utility::Pos_struct pos_tmp;
pos_tmp.x = tf[1];
pos_tmp.y = tf[2];
pos_tmp.z = tf[3];
map<int, buzz_utility::Pos_struct>::iterator it = targets_found.find(round(tf[0]));
if (it != targets_found.end())
targets_found.erase(it);
targets_found.insert(make_pair(round(tf[0]), pos_tmp));
}
}
for (it = targets_found.begin(); it != targets_found.end(); ++it)
{
sensor_msgs::NavSatFix target_tmp;
target_tmp.header.stamp = current_time;
target_tmp.header.frame_id = "/world";
target_tmp.position_covariance_type = it->first; // custom robot id storage
target_tmp.latitude = (it->second).x;
target_tmp.longitude = (it->second).y;
target_tmp.altitude = (it->second).z;
msg_target_out.pos_neigh.push_back(target_tmp);
}
targetf_pub.publish(msg_target_out);
neigh_pos_pub.publish(neigh_pos_array);
}