cleaned up code, removed old controllers
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ac0ad6c45a
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9dfc06169f
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@ -75,7 +75,7 @@ class RemoteController:
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for r in self.robots:
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self.robot_ids[r.id] = r
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obst = [Obstacle(6, 0.2), Obstacle(5, 0.2), Obstacle(8, 0.2)]
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obst = [Obstacle(6, 0.175), Obstacle(5, 0.175), Obstacle(8, 0.175)]
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self.obstacles = {}
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for r in obst:
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@ -111,21 +111,13 @@ class RemoteController:
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self.mutex = threading.Lock()
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# ROS subscriber for detected markers
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marker_sub = rospy.Subscriber("/marker_id_pos_angle", id_pos_angle, self.measurement_callback)
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# pid parameters
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self.k = 0
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self.ii = 0.1
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self.pp = 0.4
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self.inc = 0.0
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self.alphas = []
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self.speed = 1.0
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self.controlling = False
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# currently active control
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self.u1 = 0.0
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self.u2 = 0.0
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@ -152,9 +144,15 @@ class RemoteController:
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self.ols = OpenLoopSolver()
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self.ols.setup()
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self.dt = self.ols.T / self.ols.N
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self.target = (0.0, 0.0, 0.0)
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# integrator
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self.r = scipy.integrate.ode(f_ode)
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self.omega_max = 5.0
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def ani(self):
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self.ani = anim.FuncAnimation(self.fig, init_func=self.ani_init, func=self.ani_update, interval=10, blit=True)
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plt.ion()
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@ -213,7 +211,6 @@ class RemoteController:
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else:
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self.line_ol.set_data([],[])
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i = 0
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obst_keys = self.obstacles.keys()
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for s in self.circles:
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@ -230,16 +227,13 @@ class RemoteController:
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return self.line, self.line_sim, self.dirm, self.dirs, self.line_ol, self.circles[0], self.circles[1],self.circles[2],
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def measurement_callback(self, data):
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#print("data = {}".format(data))
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# detect robots
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if data.id in self.robot_ids:
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r = self.robot_ids[data.id]
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r.pos = (data.x, data.y) # only x and y component are important for us
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r.euler = data.angle
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#print("r.pos = {}".format(r.pos))
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#print("r.angle = {}".format(r.euler))
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# save measured position and angle for plotting
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measurement = np.array([r.pos[0], r.pos[1], r.euler])
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if self.tms_0 is None:
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@ -260,150 +254,16 @@ class RemoteController:
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finally:
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self.mutex.release()
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# detect obstacles
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if data.id in self.obstacles.keys():
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obst = (data.x, data.y)
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self.obstacles[data.id].pos = obst
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def controller(self):
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tgrid = None
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us1 = None
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us2 = None
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u1 = -0.0
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u2 = 0.0
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r = scipy.integrate.ode(f_ode)
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omega_max = 5.0
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init_pos = None
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init_time = None
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final_pos = None
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final_time = None
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forward = True
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print("starting control")
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while True:
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keyboard_control = False
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keyboard_control_speed_test = False
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pid = False
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open_loop_solve = True
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if keyboard_control: # keyboard controller
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events = pygame.event.get()
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speed = 1.0
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for event in events:
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if event.type == pygame.KEYDOWN:
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if event.key == pygame.K_LEFT:
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self.u1 = -speed
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self.u2 = speed
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#print("turn left: ({},{})".format(u1, u2))
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elif event.key == pygame.K_RIGHT:
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self.u1 = speed
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self.u2 = -speed
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#print("turn right: ({},{})".format(u1, u2))
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elif event.key == pygame.K_UP:
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self.u1 = speed
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self.u2 = speed
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#print("forward: ({},{})".format(self.u1, self.u2))
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elif event.key == pygame.K_DOWN:
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self.u1 = -speed
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self.u2 = -speed
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#print("forward: ({},{})".format(u1, u2))
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self.rc_socket.send('({},{},{})\n'.format(0.1, self.u1, self.u2))
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elif event.type == pygame.KEYUP:
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self.u1 = 0
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self.u2 = 0
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#print("key released, resetting: ({},{})".format(u1, u2))
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self.rc_socket.send('({}, {},{})\n'.format(0.1, self.u1, self.u2))
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tnew = time.time()
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dt = tnew - self.t
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r = scipy.integrate.ode(f_ode)
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r.set_f_params(np.array([self.u1 * omega_max, self.u2 * omega_max]))
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#print(self.x0)
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if self.x0 is None:
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if self.xm_0 is not None:
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self.x0 = self.xm_0
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self.xs = self.x0
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else:
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print("error: no measurement available to initialize simulation")
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x = self.x0
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r.set_initial_value(x, self.t)
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xnew = r.integrate(r.t + dt)
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self.t = tnew
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self.x0 = xnew
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self.mutex.acquire()
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try:
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self.ts = np.append(self.ts, tnew)
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self.xs = np.vstack((self.xs, xnew))
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finally:
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self.mutex.release()
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elif keyboard_control_speed_test:
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events = pygame.event.get()
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for event in events:
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if event.type == pygame.KEYDOWN:
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if event.key == pygame.K_1:
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self.controlling = True
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forward = True
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print("starting test")
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self.mutex.acquire()
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try:
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init_pos = copy.deepcopy(self.xms[-1])
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init_time = copy.deepcopy(self.tms[-1])
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finally:
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self.mutex.release()
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if event.key == pygame.K_2:
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self.controlling = True
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forward = False
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print("starting test")
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self.mutex.acquire()
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try:
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init_pos = copy.deepcopy(self.xms[-1])
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init_time = copy.deepcopy(self.tms[-1])
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finally:
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self.mutex.release()
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elif event.key == pygame.K_3:
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self.controlling = False
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print("stopping test")
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self.rc_socket.send('(0.1, 0.0,0.0)\n')
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self.mutex.acquire()
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try:
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final_pos = copy.deepcopy(self.xms[-1])
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final_time = copy.deepcopy(self.tms[-1])
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finally:
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self.mutex.release()
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print("init_pos = {}".format(init_pos))
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print("final_pos = {}".format(final_pos))
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print("distance = {}".format(np.linalg.norm(init_pos[0:2]-final_pos[0:2])))
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print("dt = {}".format(final_time - init_time))
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d = np.linalg.norm(init_pos[0:2]-final_pos[0:2])
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t = final_time - init_time
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r = 0.03
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angular_velocity = d/r/t
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print("average angular velocity = {}".format(angular_velocity))
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if self.controlling:
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if forward:
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self.rc_socket.send('(0.1, 1.0,1.0)\n')
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else:
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self.rc_socket.send('(0.1, -1.0,-1.0)\n')
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time.sleep(0.1)
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#print("speed = {}".format(self.speed))
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elif open_loop_solve:
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# open loop controller
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events = pygame.event.get()
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for event in events:
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if event.type == pygame.KEYDOWN:
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@ -424,7 +284,42 @@ class RemoteController:
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self.target = (-0.5,-0.5, np.pi/2.0)
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elif event.key == pygame.K_4:
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self.target = (-0.5,0.5, 0.0)
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if self.controlling:
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x_pred = self.get_measurement_prediction()
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tmpc_start = time.time()
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# solve mpc open loop problem
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res = self.ols.solve(x_pred, self.target, self.obstacles)
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us1 = res[0]
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us2 = res[1]
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# save open loop trajectories for plotting
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self.mutex.acquire()
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try:
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self.ol_x = res[2]
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self.ol_y = res[3]
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finally:
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self.mutex.release()
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tmpc_end = time.time()
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print("---------------- mpc solution took {} seconds".format(tmpc_end - tmpc_start))
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dt_mpc = time.time() - self.t
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if dt_mpc < self.dt: # wait until next control can be applied
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print("sleeping for {} seconds...".format(self.dt - dt_mpc))
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time.sleep(self.dt - dt_mpc)
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# send controls to the robot
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for i in range(0, 1): # option to use multistep mpc if len(range) > 1
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u1 = us1[i]
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u2 = us2[i]
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if self.rc_socket:
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self.rc_socket.send('({},{})\n'.format(u1, u2))
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self.t = time.time() # save time the most recent control was applied
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def get_measurement_prediction(self):
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# get measurement
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self.mutex.acquire()
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try:
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@ -433,84 +328,15 @@ class RemoteController:
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finally:
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self.mutex.release()
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#print("current measurement (t, x) = ({}, {})".format(last_time, last_measurement))
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#print("current control (u1, u2) = ({}, {})".format(u1, u2))
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# prediction of state at time the mpc will terminate
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r.set_f_params(np.array([u1 * omega_max, u2 * omega_max]))
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self.r.set_f_params(np.array([self.u1 * self.omega_max, self.u2 * self.omega_max]))
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r.set_initial_value(last_measurement, last_time)
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dt = self.ols.T/self.ols.N
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#print("integrating for {} seconds".format((dt)))
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x_pred = r.integrate(r.t + (dt))
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self.r.set_initial_value(last_measurement, last_time)
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#print("predicted initial state x_pred = ({})".format(x_pred))
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x_pred = self.r.integrate(self.r.t + self.dt)
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tmpc_start = time.time()
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return x_pred
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res = self.ols.solve(x_pred, self.target, self.obstacles)
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#tgrid = res[0]
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us1 = res[0]
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us2 = res[1]
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self.mutex.acquire()
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try:
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self.ol_x = res[2]
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self.ol_y = res[3]
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finally:
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self.mutex.release()
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# tt = 0
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# x = last_measurement
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# t_ol = np.array([tt])
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# x_ol = np.array([x])
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# # compute open loop prediction
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# for i in range(len(us1)):
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# r = scipy.integrate.ode(f_ode)
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# r.set_f_params(np.array([us1[i] * 13.32, us2[i] * 13.32]))
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# r.set_initial_value(x, tt)
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#
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# tt = tt + 0.1
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# x = r.integrate(tt)
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#
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# t_ol = np.vstack((t_ol, tt))
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# x_ol = np.vstack((x_ol, x))
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#plt.figure(4)
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#plt.plot(x_ol[:,0], x_ol[:,1])
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#if event.key == pygame.K_DOWN:
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# if tgrid is not None:
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tmpc_end = time.time()
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print("---------------- mpc solution took {} seconds".format(tmpc_end - tmpc_start))
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dt_mpc = time.time() - self.t
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if dt_mpc < dt:
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print("sleeping for {} seconds...".format(dt - dt_mpc))
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time.sleep(dt - dt_mpc)
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self.mutex.acquire()
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try:
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second_measurement = copy.deepcopy(self.xms[-1])
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second_time = copy.deepcopy(self.tms[-1])
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finally:
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self.mutex.release()
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#print("(last_time, second_time, dt) = ({}, {}, {})".format(last_time, second_time, second_time - last_time))
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#print("mismatch between predicted state and measured state: {}\n\n".format(second_measurement - last_measurement))
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for i in range(0, 1):
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u1 = us1[i]
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u2 = us2[i]
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#self.rc_socket.send('({},{},{})\n'.format(dt,u1, u2))
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if self.rc_socket:
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self.rc_socket.send('({},{})\n'.format(u1, u2))
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self.t = time.time()
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#time.sleep(0.2)
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#
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pass
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def main(args):
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rospy.init_node('controller_node', anonymous=True)
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@ -523,6 +349,7 @@ def main(args):
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screenwidth = 640
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pygame.display.set_mode([screenwidth, screenheight])
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#threading.Thread(target=rc.input_handling).start()
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threading.Thread(target=rc.controller).start()
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rc.ani()
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