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enhanced serialization, done with 1st exp. with added complexity (batt/state info)

This commit is contained in:
dave 2018-11-05 04:11:02 -05:00
parent b62789a583
commit ec869b3bb7
15 changed files with 198 additions and 143 deletions
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2
buzz_scripts/include/act/states.bzz
View File

@ -121,9 +121,7 @@ function indiWP() {
#if(vstig_buzzy == 0) {
wpi = v_wp.get(id)
if(wpi!=nil) {
#log(wp.pro,wpreached)
wp = unpackWP2i(wpi)
table_print(wp)
if(wp.pro == 0) {
wpreached = 0
storegoal(wp.lat, wp.lon, pose.position.altitude)

93
buzz_scripts/include/taskallocate/waypointlist.csv
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89
buzz_scripts/include/taskallocate/waypointlist_old.csv Normal file
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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

12
buzz_scripts/include/utils/conversions.bzz
View File

@ -62,18 +62,16 @@ function gps_from_vec(vec) {
return Lgoal
}
GPSoffset = {.lat=45.50, .lon=-73.62}
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 dlat*100000+dlon*10+processed
return {.dla=dlat, .dlo=dlon*10+processed}
}
function unpackWP2i(wp_int){
dlat = (wp_int-wp_int%100000)/100000
wp_int=wp_int-dlat*100000
dlon = (wp_int-wp_int%10)/10
wp_int=wp_int-dlon*10
return {.lat=dlat/1000000.0+GPSoffset.lat, .lon=dlon/1000000.0+GPSoffset.lon, .pro=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}
}

52
buzz_scripts/include/utils/table.bzz
View File

@ -31,39 +31,30 @@ function count(table,value){
#
function i2s(value){
if(value==1){
return "GRAPH_FREE"
}
else if(value==2){
return "GRAPH_ASKING"
}
else if(value==3){
else if(value==2){
return "GRAPH_JOINING"
}
else if(value==4){
else if(value==3){
return "GRAPH_JOINED"
}
else if(value==5){
return "GRAPH_LOCK"
}
else if(value==6){
else if(value==4){
return "TURNEDOFF"
}
else if(value==7){
return "LAND"
}
else if(value==8){
else if(value==5){
return "BARRIERWAIT"
}
else if(value==9){
else if(value==6){
return "INDIWP"
}
else if(value==10){
else if(value==7){
return "TASK_ALLOCATE"
}
else if(value==11){
else if(value==8){
return "LAUNCH"
}
else if(value==12){
else if(value==9){
return "STOP"
}
else {
@ -74,41 +65,32 @@ function i2s(value){
#map from state to int
#
function s2i(value){
if(value=="GRAPH_FREE"){
if(value=="GRAPH_ASKING"){
return 1
}
else if(value=="GRAPH_ASKING"){
else if(value=="GRAPH_JOINING"){
return 2
}
else if(value=="GRAPH_JOINING"){
else if(value=="GRAPH_JOINED"){
return 3
}
else if(value=="GRAPH_JOINED"){
else if(value=="TURNEDOFF"){
return 4
}
else if(value=="GRAPH_LOCK"){
else if(value=="BARRIERWAIT"){
return 5
}
else if(value=="TURNEDOFF"){
else if(value=="INDIWP"){
return 6
}
else if(value=="LAND"){
else if(value=="TASK_ALLOCATE"){
return 7
}
else if(value=="BARRIERWAIT"){
else if(value=="LAUNCH"){
return 8
}
else if(value=="INDIWP"){
return 9
}
else if(value=="TASK_ALLOCATE"){
return 10
}
else if(value=="LAUNCH"){
return 11
}
else if(value=="STOP"){
return 12
return 9
}
else
return 0

2
buzz_scripts/include/vstigenv.bzz
View File

@ -94,7 +94,7 @@ function usertab_print(t) {
function stattab_print() {
if(v_status.size()>0) {
var state_struct = {.id = -1, .gp = -1, .ba = -1, .xb = -1, .st = -1}
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){

2
buzz_scripts/main.bzz
View File

@ -51,7 +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)"/>

2
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;

27
src/buzzuav_closures.cpp
View File

@ -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

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);
}