tweak graph control, fix obstacles and and rc_client fleet_status
This commit is contained in:
dave
parent
74846c5df8
commit
9a0332aed9
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@ -8,14 +8,14 @@ include "barrier.bzz" # don't use a stigmergy id=11 with this header.
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include "uavstates.bzz" # require an 'action' function to be defined here.
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include "vstigenv.bzz"
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include "graphs/shapes_L.bzz"
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include "graphs/shapes_Y.bzz"
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ROBOT_RADIUS=50
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ROBOT_DIAMETER=2.0*ROBOT_RADIUS
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ROBOT_SAFETYDIST=2.0*ROBOT_DIAMETER
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# max velocity in cm/step
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ROBOT_MAXVEL = 200.0
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ROBOT_MAXVEL = 250.0
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#
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# Global variables
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@ -91,8 +91,7 @@ step_cunt=0
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m_lockstig = 1
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# Lennard-Jones parameters, may need change
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EPSILON = 13.5 #the LJ parameter for other robots
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EPSILON_FOR1 = 10.0 #the LJ parameter for the robot labeled 1
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EPSILON = 4000 #13.5 the LJ parameter for other robots
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# Lennard-Jones interaction magnitude
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@ -307,6 +306,7 @@ function LJ_vec(i){
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cDir=math.vec2.newp(FlockInteraction(dis,target,EPSILON),bearing)
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}
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#log(id,"dis=",dis,"target=",target,"label=",nei_id)
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#log("x=",cDir.x,"y=",cDir.y)
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return cDir
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}
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#calculate the motion vector
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@ -320,6 +320,7 @@ function motion_vector(){
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i=i+1
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}
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m_vector=math.vec2.scale(m_vector,1.0/m_neighbourCount)
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#log(id,"fnal=","x=",m_vector.x,"y=",m_vector.y)
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return m_vector
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}
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@ -532,8 +533,8 @@ function DoFree() {
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tempvec_N=math.vec2.scale(tempvec_N,size(setJoinedIndexes))
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m_navigation=math.vec2.add(tempvec_P,tempvec_N)
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# Limit the mvt
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if(math.vec2.length(m_navigation)>ROBOT_MAXVEL)
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m_navigation = math.vec2.scale(m_navigation, ROBOT_MAXVEL/math.vec2.length(m_navigation))
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if(math.vec2.length(m_navigation)>ROBOT_MAXVEL*2)
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m_navigation = math.vec2.scale(m_navigation, ROBOT_MAXVEL*2/math.vec2.length(m_navigation))
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uav_moveto(m_navigation.x/100.0,m_navigation.y/100.0)
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}else{ #no joined robots in sight
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i=0
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@ -594,8 +595,11 @@ function DoAsking(){
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}
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}
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else{
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if(m_MessageReqID[psResponse]!=m_unRequestId)
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if(m_MessageReqID[psResponse]!=m_unRequestId){
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m_vecNodes[m_nLabel].State="ASSIGNING"
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m_vecNodes[m_nLabel].StateAge=m_unJoiningLostPeriod
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TransitionToFree()
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}
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if(m_MessageReqID[psResponse]==m_unRequestId){
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if(m_MessageResponse[psResponse]=="REQ_GRANTED"){
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TransitionToJoining()
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@ -663,8 +667,8 @@ function DoJoining(){
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#test if is already in desired position
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if(math.abs(S2Target.x)<m_fTargetDistanceTolerance and math.abs(S2Target.y)<m_fTargetDistanceTolerance){
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log("LOCKING! ", math.vec2.length(S2Target), ", ", S2Target_bearing)
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if(math.vec2.length(S2Target)<m_fTargetDistanceTolerance and S2Target_bearing<m_fTargetAngleTolerance){
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log("JOINED! ", math.vec2.length(S2Target), ", ", S2Target_bearing)
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TransitionToJoined()
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return
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}
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@ -717,7 +721,7 @@ function DoJoined(){
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}
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}
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#if it is the pred
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if(m_MessageState[i]=="STATE_JOINED" and m_MessageLabel[i]==m_vecNodes[m_nLabel].Pred){
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if((m_MessageState[i]=="STATE_JOINED" or m_MessageState[i]=="STATE_LOCK") and m_MessageLabel[i]==m_vecNodes[m_nLabel].Pred){
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seenPred=1
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m_unWaitCount=m_unJoiningLostPeriod
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}
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@ -740,6 +744,8 @@ function DoJoined(){
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m_selfMessage.ReqLabel=ReqLabel
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m_selfMessage.ReqID=ReqID
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m_selfMessage.Response=r2i("REQ_GRANTED")
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m_vecNodes[ReqLabel].State="ASSIGNING"
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m_vecNodes[ReqLabel].StateAge=m_unJoiningLostPeriod
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}
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#lost pred, wait for some time and transit to free
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@ -759,7 +765,7 @@ function DoJoined(){
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#check if should to transists to lock
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#write statues
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#v_tag.put(m_nLabel, 1)
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v_tag.get(m_nLabel)
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log(v_tag.size(), " of ", ROBOTS, " ready to lock")
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if(v_tag.size()==ROBOTS){
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TransitionToLock()
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@ -776,9 +782,8 @@ m_navigation.x=0.0
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m_navigation.y=0.0
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#calculate motion vection
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if(m_nLabel==0){
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m_navigation.x=0.0#change value so that robot 0 will move
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m_navigation.x=0.25 #change value so that robot 0 will move
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m_navigation.y=0.0
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log(";",m_nLabel,";",0)
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}
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if(m_nLabel!=0){
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m_navigation=motion_vector()
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@ -801,7 +806,8 @@ function init() {
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#
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m_unResponseTimeThreshold=10
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m_unLabelSearchWaitTime=10
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m_fTargetDistanceTolerance=1
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m_fTargetDistanceTolerance=50
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m_fTargetAngleTolerance=0.1
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m_unJoiningLostPeriod=100
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#
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@ -849,8 +855,8 @@ function step(){
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debug(m_eState,m_nLabel)
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log("Current state: ", UAVSTATE)
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log("Swarm size: ", ROBOTS)
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if(id==0)
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stattab_print()
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# if(id==0)
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# stattab_print()
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#navigation
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#broadcast messag
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@ -36,7 +36,7 @@ function barrier_wait(threshold, transf, resumef) {
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barrier.put(id, 1)
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UAVSTATE = "BARRIERWAIT"
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if(barrier.size() >= threshold) {
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#barrier = nil
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# getlowest()
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transf()
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} else if(timeW>=BARRIER_TIMEOUT) {
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barrier = nil
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@ -45,3 +45,18 @@ function barrier_wait(threshold, transf, resumef) {
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}
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timeW = timeW+1
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}
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# get the lowest id of the fleet, but requires too much bandwidth
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function getlowest(){
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Lid = 20;
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u=20
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while(u>=0){
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tab = barrier.get(u)
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if(tab!=nil){
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if(tab<Lid)
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Lid=tab
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}
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u=u-1
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}
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log("--> LOWEST ID:",Lid)
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}
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@ -14,7 +14,7 @@ m_vecNodes[0] = { # The .graph file is stored according the sequence of Lab
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m_vecNodes[1] = {
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.Label = 1,
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.Pred = 0,
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.distance = 2000,
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.distance = 800,
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.bearing = 0.0,
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.height = 5000,
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.State="UNASSIGNED",
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@ -23,7 +23,7 @@ m_vecNodes[1] = {
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m_vecNodes[2] = {
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.Label = 2,
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.Pred = 0,
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.distance = 2000,
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.distance = 800,
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.bearing = 1.57,
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.height = 7000,
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.State="UNASSIGNED",
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@ -32,7 +32,7 @@ m_vecNodes[2] = {
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m_vecNodes[3] = {
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.Label = 3,
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.Pred = 1,
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.distance = 2000,
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.distance = 800,
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.bearing = 0.0,
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.height = 9000,
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.State="UNASSIGNED",
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@ -41,7 +41,7 @@ m_vecNodes[3] = {
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m_vecNodes[4] = {
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.Label = 4,
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.Pred = 2,
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.distance = 2000,
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.distance = 800,
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.bearing = 1.57,
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.height = 11000,
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.State="UNASSIGNED",
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@ -50,7 +50,7 @@ m_vecNodes[4] = {
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m_vecNodes[5] = {
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.Label = 5,
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.Pred = 4,
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.distance = 2000,
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.distance = 800,
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.bearing = 1.57,
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.height = 14000,
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.State="UNASSIGNED",
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@ -14,7 +14,7 @@ m_vecNodes[0] = { # The .graph file is stored according the sequence of Lab
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m_vecNodes[1] = {
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.Label = 1,
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.Pred = 0,
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.distance = 2000,
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.distance = 1000,
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.bearing = 4.71,
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.height = 5000,
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.State="UNASSIGNED",
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@ -23,7 +23,7 @@ m_vecNodes[1] = {
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m_vecNodes[2] = {
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.Label = 2,
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.Pred = 0,
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.distance = 1414,
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.distance = 707,
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.bearing = 2.36,
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.height = 7000,
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.State="UNASSIGNED",
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@ -32,7 +32,7 @@ m_vecNodes[2] = {
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m_vecNodes[3] = {
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.Label = 3,
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.Pred = 0,
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.distance = 1414,
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.distance = 707,
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.bearing = 0.79,
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.height = 9000,
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.State="UNASSIGNED",
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@ -41,7 +41,7 @@ m_vecNodes[3] = {
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m_vecNodes[4] = {
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.Label = 4,
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.Pred = 2,
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.distance = 1414,
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.distance = 707,
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.bearing = 2.36,
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.height = 11000,
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.State="UNASSIGNED",
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@ -50,7 +50,7 @@ m_vecNodes[4] = {
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m_vecNodes[5] = {
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.Label = 5,
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.Pred = 3,
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.distance = 1414,
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.distance = 707,
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.bearing = 0.79,
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.height = 14000,
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.State="UNASSIGNED",
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@ -103,6 +103,9 @@ function uav_rccmd() {
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flight.rc_cmd=0
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uav_disarm()
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neighbors.broadcast("cmd", 401)
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} else if (flight.rc_cmd==666){
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flight.rc_cmd=0
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stattab_send()
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}
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}
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@ -87,3 +87,26 @@ function stattab_print() {
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}
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}
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}
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function stattab_send() {
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if(v_status.size()>0) {
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if(b_updating==0) {
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u=0
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while(u<8){
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tab = v_status.get(u)
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if(tab!=nil){
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recv_value=tab
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gps=(recv_value-recv_value%1000000)/1000000
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recv_value=recv_value-gps*1000000
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batt=(recv_value-recv_value%1000)/1000
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recv_value=recv_value-batt*1000
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xbee=(recv_value-recv_value%10)/10
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recv_value=recv_value-xbee*10
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fc=recv_value
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add_neighborStatus(u,gps,batt,xbee,fc)
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}
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u=u+1
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}
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}
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}
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}
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@ -29,6 +29,14 @@ struct rb_struct
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};
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typedef struct rb_struct RB_struct;
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struct neiStatus
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{
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uint gps_strenght = 0;
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uint batt_lvl = 0;
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uint xbee = 0;
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uint flight_status = 0;
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}; typedef struct neiStatus neighbors_status ;
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uint16_t* u64_cvt_u16(uint64_t u64);
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@ -5,9 +5,9 @@
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#include <stdio.h>
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#include "uav_utility.h"
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#include "mavros_msgs/CommandCode.h"
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#include "mavros_msgs/Mavlink.h"
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#include "ros/ros.h"
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#include "buzz_utility.h"
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//#include "roscontroller.h"
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#define EARTH_RADIUS (double) 6371000.0
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#define DEG2RAD(DEG) ((DEG)*((M_PI)/(180.0)))
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@ -61,6 +61,9 @@ void flight_status_update(uint8_t state);
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/* Update neighbors table */
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void neighbour_pos_callback(int id, float range, float bearing, float elevation);
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void update_neighbors(buzzvm_t vm);
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int buzzuav_addNeiStatus(buzzvm_t vm);
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mavros_msgs::Mavlink get_status();
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/*Flight status*/
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void set_obstacle_dist(float dist[]);
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@ -91,7 +91,7 @@ private:
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/*tmp to be corrected*/
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uint8_t no_cnt=0;
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uint8_t old_val=0 ;
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std::string bzzfile_name, fcclient_name, armclient, modeclient, rcservice_name,bcfname,dbgfname,out_payload,in_payload,stand_by,xbeesrv_name, setpoint_name;
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std::string bzzfile_name, fcclient_name, armclient, modeclient, rcservice_name,bcfname,dbgfname,out_payload,in_payload,obstacles_topic,stand_by,xbeesrv_name, setpoint_name;
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std::string stream_client_name;
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std::string relative_altitude_sub_name;
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std::string setpoint_nonraw;
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@ -102,6 +102,7 @@ private:
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ros::ServiceClient mav_client;
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ros::ServiceClient xbeestatus_srv;
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ros::Publisher payload_pub;
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ros::Publisher MPpayload_pub;
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ros::Publisher neigh_pos_pub;
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ros::Publisher localsetpoint_nonraw_pub;
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ros::ServiceServer service;
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@ -155,6 +156,8 @@ private:
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/*Neighbours pos publisher*/
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void neighbours_pos_publisher();
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void send_MPpayload();
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/*Prepare messages and publish*/
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void prepare_msg_and_publish();
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@ -325,6 +325,9 @@ void in_message_process(){
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buzzvm_pushs(VM, buzzvm_string_register(VM, "add_targetrb", 1));
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buzzvm_pushcc(VM, buzzvm_function_register(VM, buzzuav_closures::buzzuav_addtargetRB));
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buzzvm_gstore(VM);
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buzzvm_pushs(VM, buzzvm_string_register(VM, "add_neighborStatus", 1));
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buzzvm_pushcc(VM, buzzvm_function_register(VM, buzzuav_closures::buzzuav_addNeiStatus));
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buzzvm_gstore(VM);
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return VM->state;
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}
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@ -367,6 +370,9 @@ void in_message_process(){
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buzzvm_pushs(VM, buzzvm_string_register(VM, "add_targetrb", 1));
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buzzvm_pushcc(VM, buzzvm_function_register(VM, buzzuav_closures::dummy_closure));
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buzzvm_gstore(VM);
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buzzvm_pushs(VM, buzzvm_string_register(VM, "add_neighborStatus", 1));
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buzzvm_pushcc(VM, buzzvm_function_register(VM, buzzuav_closures::dummy_closure));
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buzzvm_gstore(VM);
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return VM->state;
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}
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@ -26,12 +26,14 @@ namespace buzzuav_closures{
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static float height=0;
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static bool deque_full = false;
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static int rssi = 0;
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static int message_number = 0;
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static float raw_packet_loss = 0.0;
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static int filtered_packet_loss = 0;
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static float api_rssi = 0.0;
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std::map< int, buzz_utility::RB_struct> targets_map;
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std::map< int, buzz_utility::Pos_struct> neighbors_map;
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std::map< int, buzz_utility::neighbors_status> neighbors_status_map;
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/****************************************/
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/****************************************/
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@ -218,6 +220,48 @@ namespace buzzuav_closures{
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return 0;
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}
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int buzzuav_addNeiStatus(buzzvm_t vm){
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buzzvm_lnum_assert(vm, 5);
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buzzvm_lload(vm, 1); // fc
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buzzvm_lload(vm, 2); // xbee
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buzzvm_lload(vm, 3); // batt
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buzzvm_lload(vm, 4); // gps
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buzzvm_lload(vm, 5); // id
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buzzvm_type_assert(vm, 5, BUZZTYPE_INT);
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buzzvm_type_assert(vm, 4, BUZZTYPE_INT);
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buzzvm_type_assert(vm, 3, BUZZTYPE_INT);
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buzzvm_type_assert(vm, 2, BUZZTYPE_INT);
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buzzvm_type_assert(vm, 1, BUZZTYPE_INT);
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buzz_utility::neighbors_status newRS;
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uint8_t id = buzzvm_stack_at(vm, 5)->i.value;
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newRS.gps_strenght= buzzvm_stack_at(vm, 4)->i.value;
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newRS.batt_lvl= buzzvm_stack_at(vm, 3)->i.value;
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newRS.xbee= buzzvm_stack_at(vm, 2)->i.value;
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newRS.flight_status= buzzvm_stack_at(vm, 1)->i.value;
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map< int, buzz_utility::neighbors_status >::iterator it = neighbors_status_map.find(id);
|
||||
if(it!=neighbors_status_map.end())
|
||||
neighbors_status_map.erase(it);
|
||||
neighbors_status_map.insert(make_pair(id, newRS));
|
||||
return vm->state;
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||||
}
|
||||
|
||||
mavros_msgs::Mavlink get_status(){
|
||||
mavros_msgs::Mavlink payload_out;
|
||||
map< int, buzz_utility::neighbors_status >::iterator it;
|
||||
for (it= neighbors_status_map.begin(); it!= neighbors_status_map.end(); ++it){
|
||||
payload_out.payload64.push_back(it->first);
|
||||
payload_out.payload64.push_back(it->second.gps_strenght);
|
||||
payload_out.payload64.push_back(it->second.batt_lvl);
|
||||
payload_out.payload64.push_back(it->second.xbee);
|
||||
payload_out.payload64.push_back(it->second.flight_status);
|
||||
}
|
||||
/*Add Robot id and message number to the published message*/
|
||||
payload_out.sysid = (uint8_t)neighbors_status_map.size();
|
||||
/*payload_out.msgid = (uint32_t)message_number;
|
||||
|
||||
message_number++;*/
|
||||
return payload_out;
|
||||
}
|
||||
/*----------------------------------------/
|
||||
/ Buzz closure to go directly to a GPS destination from the Mission Planner
|
||||
/----------------------------------------*/
|
||||
|
|
|
|||
|
|
@ -172,6 +172,10 @@ bool roscontroller::GetFilteredPacketLoss(const uint8_t short_id, float &result)
|
|||
return srv_response.success;
|
||||
}
|
||||
|
||||
void roscontroller::send_MPpayload(){
|
||||
MPpayload_pub.publish(buzzuav_closures::get_status());
|
||||
}
|
||||
|
||||
/*-------------------------------------------------
|
||||
/rosbuzz_node loop method executed once every step
|
||||
/--------------------------------------------------*/
|
||||
|
|
@ -193,6 +197,7 @@ void roscontroller::RosControllerRun()
|
|||
// buzz_closure::neighbour_pos_callback(neighbours_pos_map);
|
||||
/*Neighbours of the robot published with id in respective topic*/
|
||||
neighbours_pos_publisher();
|
||||
send_MPpayload();
|
||||
/*Check updater state and step code*/
|
||||
update_routine(bcfname.c_str(), dbgfname.c_str());
|
||||
/*Step buzz script */
|
||||
|
|
@ -387,6 +392,8 @@ void roscontroller::GetSubscriptionParameters(ros::NodeHandle &node_handle)
|
|||
ROS_ERROR("Provide a localpos name in YAML file");
|
||||
system("rosnode kill rosbuzz_node");
|
||||
}
|
||||
|
||||
node_handle.getParam("obstacles", obstacles_topic);
|
||||
}
|
||||
|
||||
/*--------------------------------------------------------
|
||||
|
|
@ -398,23 +405,18 @@ void roscontroller::Initialize_pub_sub(ros::NodeHandle &n_c)
|
|||
|
||||
Subscribe(n_c);
|
||||
|
||||
// current_position_sub = n_c.subscribe("/global_position", 1000,
|
||||
// &roscontroller::current_pos,this);
|
||||
// battery_sub = n_c.subscribe("/power_status", 1000,
|
||||
// &roscontroller::battery,this);
|
||||
payload_sub =
|
||||
n_c.subscribe(in_payload, 1000, &roscontroller::payload_obt, this);
|
||||
// flight_status_sub =n_c.subscribe("/flight_status",100,
|
||||
// &roscontroller::flight_extended_status_update,this);
|
||||
// Robot_id_sub = n_c.subscribe("/device_id_xbee_", 1000,
|
||||
// &roscontroller::set_robot_id,this);
|
||||
obstacle_sub = n_c.subscribe("guidance/obstacle_distance", 100,
|
||||
n_c.subscribe(in_payload, 5, &roscontroller::payload_obt, this);
|
||||
|
||||
obstacle_sub = n_c.subscribe(obstacles_topic, 5,
|
||||
&roscontroller::obstacle_dist, this);
|
||||
|
||||
/*publishers*/
|
||||
payload_pub = n_c.advertise<mavros_msgs::Mavlink>(out_payload, 1000);
|
||||
neigh_pos_pub = n_c.advertise<rosbuzz::neigh_pos>("neighbours_pos", 1000);
|
||||
payload_pub = n_c.advertise<mavros_msgs::Mavlink>(out_payload, 5);
|
||||
MPpayload_pub = n_c.advertise<mavros_msgs::Mavlink>("fleet_status", 5);
|
||||
neigh_pos_pub = n_c.advertise<rosbuzz::neigh_pos>("neighbours_pos", 5);
|
||||
localsetpoint_nonraw_pub =
|
||||
n_c.advertise<geometry_msgs::PoseStamped>(setpoint_name, 1000);
|
||||
n_c.advertise<geometry_msgs::PoseStamped>(setpoint_name, 5);
|
||||
/* Service Clients*/
|
||||
arm_client = n_c.serviceClient<mavros_msgs::CommandBool>(armclient);
|
||||
mode_client = n_c.serviceClient<mavros_msgs::SetMode>(modeclient);
|
||||
|
|
@ -427,8 +429,8 @@ void roscontroller::Initialize_pub_sub(ros::NodeHandle &n_c)
|
|||
stream_client =
|
||||
n_c.serviceClient<mavros_msgs::StreamRate>(stream_client_name);
|
||||
|
||||
users_sub = n_c.subscribe("users_pos", 1000, &roscontroller::users_pos, this);
|
||||
local_pos_sub = n_c.subscribe(local_pos_sub_name, 1000,
|
||||
users_sub = n_c.subscribe("users_pos", 5, &roscontroller::users_pos, this);
|
||||
local_pos_sub = n_c.subscribe(local_pos_sub_name, 5,
|
||||
&roscontroller::local_pos_callback, this);
|
||||
|
||||
multi_msg = true;
|
||||
|
|
@ -449,13 +451,13 @@ void roscontroller::Subscribe(ros::NodeHandle &n_c)
|
|||
it->first, 100, &roscontroller::flight_status_update, this);
|
||||
} else if (it->second == "mavros_msgs/BatteryStatus") {
|
||||
battery_sub =
|
||||
n_c.subscribe(it->first, 1000, &roscontroller::battery, this);
|
||||
n_c.subscribe(it->first, 5, &roscontroller::battery, this);
|
||||
} else if (it->second == "sensor_msgs/NavSatFix") {
|
||||
current_position_sub =
|
||||
n_c.subscribe(it->first, 1000, &roscontroller::current_pos, this);
|
||||
n_c.subscribe(it->first, 5, &roscontroller::current_pos, this);
|
||||
} else if (it->second == "std_msgs/Float64") {
|
||||
relative_altitude_sub =
|
||||
n_c.subscribe(it->first, 1000, &roscontroller::current_rel_alt, this);
|
||||
n_c.subscribe(it->first, 5, &roscontroller::current_rel_alt, this);
|
||||
}
|
||||
|
||||
std::cout << "Subscribed to: " << it->first << endl;
|
||||
|
|
@ -1125,14 +1127,17 @@ bool roscontroller::rc_callback(mavros_msgs::CommandLong::Request &req,
|
|||
rc_goto[0] = req.param5;
|
||||
rc_goto[1] = req.param6;
|
||||
rc_goto[2] = req.param7;
|
||||
// for test
|
||||
// SetLocalPosition(rc_goto[0], rc_goto[1], rc_goto[2], 0);
|
||||
|
||||
buzzuav_closures::rc_set_goto(rc_goto);
|
||||
rc_cmd = mavros_msgs::CommandCode::NAV_WAYPOINT;
|
||||
buzzuav_closures::rc_call(rc_cmd);
|
||||
res.success = true;
|
||||
break;
|
||||
case 666:
|
||||
ROS_INFO("RC_Call: Update Fleet Status!!!!");
|
||||
rc_cmd = 666;
|
||||
buzzuav_closures::rc_call(rc_cmd);
|
||||
res.success = true;
|
||||
break;
|
||||
default:
|
||||
res.success = false;
|
||||
break;
|
||||
|
|
|
|||
Loading…
Reference in New Issue