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ROSBuzz_MISTLab
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cleaned up syc. algo. and log.

This commit is contained in:
vivek-shankar 2018-09-26 11:49:58 -04:00
parent 835a25c3c5
commit c5f1135e6e
5 changed files with 32 additions and 188 deletions
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5
buzz_scripts/main.bzz
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@ -5,7 +5,7 @@ include "act/states.bzz"
include "plan/rrtstar.bzz"
include "taskallocate/graphformGPS.bzz"
include "vstigenv.bzz"
include "timesync.bzz"
#include "timesync.bzz"
include "utils/takeoff_heights.bzz"
#State launched after takeoff
@ -50,9 +50,6 @@ function init() {
# Executed at each time step.
function step() {
# check time sync algorithm state
check_time_sync()
# listen to Remote Controller
rc_cmd_listen()

3
include/buzz_utility.h
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@ -102,7 +102,4 @@ std::vector<uint8_t*> get_inmsg_vector();
std::string get_bvmstate();
int get_timesync_state();
int get_timesync_itr();
}

12
include/roscontroller.h
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@ -44,7 +44,7 @@
typedef enum {
ROS_BUZZ_MSG_NIL = 0, // dummy msg
UPDATER_MESSAGE, // Update msg
BUZZ_MESSAGE_NO_TIME, // Broadcast message wihout time info
BUZZ_MESSAGE, // Broadcast message
BUZZ_MESSAGE_TIME, // Broadcast message with time info
} rosbuzz_msgtype;
@ -104,9 +104,9 @@ private:
int msgid;
uint16_t nid;
uint16_t size;
double sent_time;
uint64_t sent_time;
uint64_t received_time;
MsgData(int mi, uint16_t ni, uint16_t s, double st, uint64_t rt):
MsgData(int mi, uint16_t ni, uint16_t s, uint64_t st, uint64_t rt):
msgid(mi), nid(ni), size(s),sent_time(st), received_time(rt){};
MsgData(){};
};
@ -122,6 +122,7 @@ private:
ros::Time previous_step_time;
std::vector<msg_data> inmsgdata;
uint64_t out_msg_time;
int out_msg_size;
double logical_time_rate;
bool time_sync_jumped;
std::string robot_name = "";
@ -301,10 +302,5 @@ private:
bool GetRawPacketLoss(const uint8_t short_id, float& result);
bool GetFilteredPacketLoss(const uint8_t short_id, float& result);
void get_xbee_status();
void time_sync_step();
void push_timesync_nei_msg(int nid, uint64_t nh, uint64_t nl, double nr);
uint64_t get_logical_time();
void set_logical_time_correction(uint64_t cor);
};
}

31
src/buzz_utility.cpp
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@ -592,35 +592,4 @@ int get_swarmsize() {
return (int)buzzdict_size(VM->swarmmembers) + 1;
}
int get_timesync_state()
/*
/ return time sync state from bzz script
--------------------------------------*/
{
int timesync_state = 0;
if(VM){
buzzvm_pushs(VM, buzzvm_string_register(VM, "timesync_state", 1));
buzzvm_gload(VM);
buzzobj_t obj = buzzvm_stack_at(VM, 1);
if(obj->o.type == BUZZTYPE_INT) timesync_state = obj->i.value;
buzzvm_pop(VM);
}
return timesync_state;
}
int get_timesync_itr()
/*
/ return time sync iteration from bzz script
--------------------------------------*/
{
int timesync_itr = 0;
if(VM){
buzzvm_pushs(VM, buzzvm_string_register(VM, "timesync_itr", 1));
buzzvm_gload(VM);
buzzobj_t obj = buzzvm_stack_at(VM, 1);
if(obj->o.type == BUZZTYPE_INT) timesync_itr = obj->i.value;
buzzvm_pop(VM);
}
return timesync_itr;
}
}

169
src/roscontroller.cpp
View File

@ -134,6 +134,8 @@ void roscontroller::RosControllerRun()
// check for BVMSTATE variable
if(buzz_utility::get_bvmstate()=="Not Available")
ROS_ERROR("BVMSTATE undeclared in .bzz file, please set BVMSTATE.");
// set log data double precision
log <<std::setprecision(15) << std::fixed;
// DEBUG
// ROS_WARN("[%i] -----------------------STARTING MAIN LOOP!", robot_id);
while (ros::ok() && !buzz_utility::buzz_script_done())
@ -166,18 +168,14 @@ void roscontroller::RosControllerRun()
// log data
// hardware time now
log << ros::Time::now().toNSec() << ",";
get_logical_time();
// logical time now
//log<<logical_clock.toNSec()<<",";
//log<<buzz_utility::get_timesync_itr()<<",";
//log<<buzz_utility::get_timesync_state()<<",";
log << cur_pos.latitude * 100000 << "," << cur_pos.longitude * 100000 << ","
<< cur_pos.altitude * 100000 << ",";
log << cur_pos.latitude << "," << cur_pos.longitude << ","
<< cur_pos.altitude << ",";
log << (int)no_of_robots << ",";
log << neighbours_pos_map.size() << ",";
log << (int)inmsgdata.size() << "," << message_number << ",";
log << out_msg_time <<",";
log << out_msg_size<<",";
log << buzz_utility::get_bvmstate();
map<int, buzz_utility::Pos_struct>::iterator it =
@ -191,14 +189,11 @@ void roscontroller::RosControllerRun()
for (std::vector<msg_data>::iterator it = inmsgdata.begin() ; it != inmsgdata.end(); ++it)
{
log << "," << (int)it->nid << "," << (int)it->msgid << "," << (int)it->size << "," <<
it->received_time;
it->sent_time << ","<< it->received_time;
}
inmsgdata.clear();
log << std::endl;
// time_sync_step();
// if(debug)
// ROS_INFO("[Debug : %i ] logical Time %f , har time %f",robot_id, logical_clock.toSec(), ros::Time::now().toSec());
// Call Step from buzz script
buzz_utility::buzz_script_step();
// Prepare messages and publish them
@ -621,41 +616,23 @@ with size......... | /
//header variables
uint16_t tmphead[4];
tmphead[1] = (uint16_t)message_number;
get_logical_time();
uint32_t stime = (uint32_t)(ros::Time::now().toSec()); //(uint32_t)(logical_clock.toSec() * 100000);
//uint32_t stime = (uint32_t)(ros::Time::now().toSec()); //(uint32_t)(logical_clock.toSec() * 100000);
memcpy((void*)(tmphead+2),(void*)&stime,sizeof(uint32_t));
uint64_t rheader[1];
rheader[0]=0;
payload_out.sysid = (uint8_t)robot_id;
payload_out.msgid = (uint32_t)message_number;
if(buzz_utility::get_timesync_state()){
// prepare rosbuzz msg header
tmphead[0] = (uint8_t)BUZZ_MESSAGE_TIME;
memcpy(rheader, tmphead, sizeof(uint64_t));
// push header into the buffer
payload_out.payload64.push_back(rheader[0]);
payload_out.payload64.push_back(position[0]);
payload_out.payload64.push_back(position[1]);
payload_out.payload64.push_back(position[2]);
//payload_out.payload64.push_back((uint64_t)message_number);
// add time sync algo data
payload_out.payload64.push_back(ros::Time::now().toNSec());
payload_out.payload64.push_back(logical_clock.toNSec());
//uint64_t ltrate64 = 0;
//memcpy((void*)&ltrate64, (void*)&logical_time_rate, sizeof(uint64_t));
//payload_out.payload64.push_back(ltrate64);
}
else{
// prepare rosbuzz msg header
tmphead[0] = (uint8_t)BUZZ_MESSAGE_NO_TIME;
memcpy(rheader, tmphead, sizeof(uint64_t));
// push header into the buffer
payload_out.payload64.push_back(rheader[0]);
payload_out.payload64.push_back(position[0]);
payload_out.payload64.push_back(position[1]);
payload_out.payload64.push_back(position[2]);
}
// prepare rosbuzz msg header
tmphead[0] = (uint8_t)BUZZ_MESSAGE;
memcpy(rheader, tmphead, sizeof(uint64_t));
// push header into the buffer
payload_out.payload64.push_back(rheader[0]);
payload_out.payload64.push_back(ros::Time::now().toNSec());
payload_out.payload64.push_back(position[0]);
payload_out.payload64.push_back(position[1]);
payload_out.payload64.push_back(position[2]);
// Append Buzz message
uint16_t* out = buzz_utility::u64_cvt_u16(payload_out_ptr[0]);
for (int i = 0; i < out[0]; i++)
@ -663,8 +640,8 @@ with size......... | /
payload_out.payload64.push_back(payload_out_ptr[i]);
}
//Store out msg time
get_logical_time();
out_msg_time = ros::Time::now().toNSec(); //logical_clock.toNSec();
out_msg_time = ros::Time::now().toNSec();
out_msg_size = out[0];
// publish prepared messages in respective topic
payload_pub.publish(payload_out);
delete[] out;
@ -1114,7 +1091,7 @@ void roscontroller::payload_obt(const mavros_msgs::Mavlink::ConstPtr& msg)
uint16_t mid = r16head[1];
uint32_t temptime=0;
memcpy(&temptime, r16head+2, sizeof(uint32_t));
float stime = (float)temptime/(float)100000;
//float stime = (float)temptime/(float)100000;
// if(debug) ROS_INFO("Received Msg: sent time %f for id %u",stime, mid);
// Check for Updater message, if updater message push it into updater FIFO
if ((uint64_t)msg->payload64[0] == (uint64_t)UPDATER_MESSAGE)
@ -1141,14 +1118,14 @@ void roscontroller::payload_obt(const mavros_msgs::Mavlink::ConstPtr& msg)
free(pl);
}
// BVM FIFO message
else if ((int)mtype == (int)BUZZ_MESSAGE_TIME ||
(int)mtype == (int)BUZZ_MESSAGE_NO_TIME)
else if ((int)mtype == (int)BUZZ_MESSAGE)
{
uint64_t message_obt[msg->payload64.size() - 1];
uint64_t stime = (uint64_t)msg->payload64[1];
uint64_t message_obt[msg->payload64.size() - 2];
// Go throught the obtained payload
for (int i = 1; i < (int)msg->payload64.size(); i++)
for (int i = 2; i < (int)msg->payload64.size(); i++)
{
message_obt[i - 1] = (uint64_t)msg->payload64[i];
message_obt[i - 2] = (uint64_t)msg->payload64[i];
}
// Extract neighbours position from payload
double neighbours_pos_payload[3];
@ -1162,10 +1139,8 @@ void roscontroller::payload_obt(const mavros_msgs::Mavlink::ConstPtr& msg)
double cvt_neighbours_pos_payload[3];
gps_rb(nei_pos, cvt_neighbours_pos_payload);
int index = 3;
if((int)mtype == (int)BUZZ_MESSAGE_TIME) index = 5;
// Extract robot id of the neighbour
uint16_t* out = buzz_utility::u64_cvt_u16((uint64_t) * (message_obt + index));
//get_logical_time();
// store in msg data for data log
msg_data inm(mid,out[1],out[0]*sizeof(uint64_t),stime,ros::Time::now().toNSec());
inmsgdata.push_back(inm);
@ -1180,17 +1155,8 @@ void roscontroller::payload_obt(const mavros_msgs::Mavlink::ConstPtr& msg)
// TODO: remove roscontroller local map array for neighbors
neighbours_pos_put((int)out[1], n_pos);
buzzuav_closures::neighbour_pos_callback((int)out[1], n_pos.x, n_pos.y, n_pos.z);
if((int)mtype == (int)BUZZ_MESSAGE_TIME){
// update time struct for sync algo
double nr = 0;
push_timesync_nei_msg((int)out[1], message_obt[3],message_obt[4],nr);
delete[] out;
buzz_utility::in_msg_append((message_obt + index));
}
else{
delete[] out;
buzz_utility::in_msg_append((message_obt + index));
}
delete[] out;
buzz_utility::in_msg_append((message_obt + index));
}
}
@ -1453,85 +1419,4 @@ void roscontroller::get_xbee_status()
* TriggerAPIRssi(all_ids);
*/
}
void roscontroller::time_sync_step()
/*
* Steps the time syncronization algorithm
------------------------------------------------------------------ */
{
//ROS_INFO("Stepping time sync : %f ", logical_clock.toSec());
double avgRate = logical_time_rate;
double avgOffset = 0;
int offsetCount = 0;
map<int, buzz_utility::neighbor_time>::iterator it;
for (it = neighbours_time_map.begin(); it != neighbours_time_map.end(); )
{
avgRate += (it->second).relative_rate;
// estimate current offset
int64_t offset = (int64_t)(it->second).nei_logical_time - (int64_t)(it->second).node_logical_time;
avgOffset = avgOffset + offset;
offsetCount++;
if((it->second).age > BUZZRATE){
neighbours_time_map.erase(it++);
}
else{
(it->second).age++;
++it;
}
ROS_INFO("Size of nei time %i",neighbours_time_map.size());
}
avgRate = avgRate/(neighbours_time_map.size()+1);
if(offsetCount>0 && !time_sync_jumped){
int64_t correction = (int64_t)ceil(avgOffset / (offsetCount+1));
if(correction < TIME_SYNC_JUMP_THR && correction > 0 ){
set_logical_time_correction(correction);
}
}
get_logical_time(); // just to update clock
time_sync_jumped = false;
//neighbours_time_map.clear();
logical_time_rate = avgRate;
}
void roscontroller::push_timesync_nei_msg(int nid, uint64_t nh, uint64_t nl, double nr)
/*
* pushes a time syncronization msg into its data slot
------------------------------------------------------------------ */
{
map<int, buzz_utility::neighbor_time>::iterator it = neighbours_time_map.find(nid);
double relativeRate =1;
if (it != neighbours_time_map.end()){
int64_t deltaLocal = ros::Time::now().toNSec() - (it->second).node_hardware_time;
int64_t delatNei = round(nh - (it->second).nei_hardware_time);
double currentRate = 0;
if(deltaLocal !=0 && delatNei !=0) currentRate = ((double)delatNei - (double)deltaLocal)/(double)deltaLocal;
relativeRate = MOVING_AVERAGE_ALPHA*((it->second).relative_rate)
+ (1- MOVING_AVERAGE_ALPHA)*currentRate;
ROS_INFO("SYNC MSG RECEIVED deltaLocal %" PRIu64 ", delatNei %" PRId64 " , currentrate %f , this relative rate %f, final relativeRate %f",
deltaLocal, delatNei, currentRate, (it->second).relative_rate, relativeRate);
neighbours_time_map.erase(it);
}
int64_t offset = (int64_t)nl - (int64_t)logical_clock.toNSec();
if(offset > TIME_SYNC_JUMP_THR){
set_logical_time_correction(offset);// + time_diff * logical_time_rate );
time_sync_jumped = true;
}
buzz_utility::neighbor_time nt(nh, nl, ros::Time::now().toNSec(),
logical_clock.toNSec(), nr, relativeRate);
nt.age=0;
neighbours_time_map.insert(make_pair(nid, nt));
}
uint64_t roscontroller::get_logical_time(){
uint64_t time_diff = ros::Time::now().toNSec() - previous_step_time.toNSec();
uint64_t old_time = logical_clock.toNSec();
logical_clock.fromNSec(old_time + time_diff);// + time_diff * logical_time_rate);
previous_step_time.fromNSec(ros::Time::now().toNSec());
return logical_clock.toNSec();
}
void roscontroller::set_logical_time_correction(uint64_t cor){
uint64_t l_time_now = get_logical_time();
logical_clock.fromNSec(l_time_now + cor);
}
}