RoboRally/remote_control/mpc_controller.py

175 lines
7.3 KiB
Python

import numpy as np
import time
from casadi_opt import OpenLoopSolver
class MPCController:
def __init__(self, estimator):
self.t = time.time()
self.estimator = estimator
self.controlling = False
self.mstep = 2
self.ols = OpenLoopSolver(N=20, T=1.0)
self.ols.setup()
self.dt = self.ols.T / self.ols.N
# integrator
self.omega_max = 5.0
self.control_scaling = 0.4
def move_to_pos(self, target_pos, robot, near_target_counter=5):
near_target = 0
while near_target < near_target_counter:
while not self.estimator.event_queue.empty():
event = self.estimator.event_queue.get()
print("event: ", event)
if event[0] == 'click':
pass
elif event[0] == 'key':
key = event[1]
if key == 84: # arrow up
self.controlling = True
self.t = time.time()
elif key == 82: # arrow down
self.controlling = False
robot.send_cmd()
elif key == 48: # 0
target_pos = np.array([0.0,0.0,0.0])
elif key == 43: # +
self.control_scaling += 0.1
self.control_scaling = min(self.control_scaling, 1.0)
print("control scaling = ", self.control_scaling)
elif key == 45: # -
self.control_scaling -= 0.1
self.control_scaling = max(self.control_scaling, 0.1)
print("control scaling = ", self.control_scaling)
elif key == 113:
print("quit!")
self.controlling = False
robot.send_cmd()
return
elif key == 27: # escape
print("quit!")
self.controlling = False
robot.send_cmd()
return
x_pred = self.get_measurement(robot.id)
if x_pred is not None:
error_pos = np.linalg.norm(x_pred[0:2] - target_pos[0:2])
angles_unwrapped = np.unwrap([x_pred[2], target_pos[2]]) # unwrap angle to avoid jump in data
error_ang = np.abs(angles_unwrapped[0] - angles_unwrapped[1])
#print("error pos = ", error_pos)
#print("error_pos = {}, error_ang = {}".format(error_pos, error_ang))
#if error_pos > 0.075 or error_ang > 0.35:
if error_pos > 0.05 or error_ang > 0.1:
# solve mpc open loop problem
res = self.ols.solve(x_pred, target_pos)
#us1 = res[0]
#us2 = res[1]
us1 = res[0] * self.control_scaling
us2 = res[1] * self.control_scaling
#print("u = {}", (us1, us2))
tmpc_end = time.time()
#print("---------------- mpc solution took {} seconds".format(tmpc_end - tmpc_start))
dt_mpc = time.time() - self.t
if dt_mpc < self.dt: # wait until next control can be applied
#print("sleeping for {} seconds...".format(self.dt - dt_mpc))
time.sleep(self.dt - dt_mpc)
else:
us1 = [0] * self.mstep
us2 = [0] * self.mstep
near_target += 1
# send controls to the robot
for i in range(0, self.mstep): # option to use multistep mpc if len(range) > 1
u1 = us1[i]
u2 = us2[i]
robot.send_cmd(u1, u2)
if i < self.mstep:
time.sleep(self.dt)
self.t = time.time() # save time the most recent control was applied
else:
print("robot not detected yet!")
def interactive_control(self, robots):
controlled_robot_number = 0
robot = robots[controlled_robot_number]
target_pos = np.array([0.0, 0.0, 0.0])
running = True
while running:
# handle events from opencv window
while not self.estimator.event_queue.empty():
event = self.estimator.event_queue.get()
print("event: ", event)
if event[0] == 'click':
target_pos = event[1]
elif event[0] == 'key':
key = event[1]
if key == 32: # arrow up
self.controlling = not self.controlling
if not self.controlling:
print("disable control")
robot.send_cmd() # stop robot
else:
print("enable control")
self.t = time.time()
elif key == 48: # 0
target_pos = np.array([0.0, 0.0, 0.0]) # TODO: use center of board for target pos
elif key == 43: # +
self.control_scaling += 0.1
self.control_scaling = min(self.control_scaling, 1.0)
print("control scaling = ", self.control_scaling)
elif key == 45: # -
self.control_scaling -= 0.1
self.control_scaling = max(self.control_scaling, 0.1)
print("control scaling = ", self.control_scaling)
elif key == 9: # TAB
# switch controlled robot
robot.send_cmd() # stop current robot
controlled_robot_number = (controlled_robot_number + 1) % len(robots)
robot = robots[controlled_robot_number]
print(f"controlled robot: {robot.id}")
elif key == 113 or key == 27: # q or ESCAPE
print("quit!")
self.controlling = False
robot.send_cmd()
return
if self.controlling:
# measure state
x_pred = self.get_measurement(robot.id)
#print(np.linalg.norm(x_pred-target_pos))
# solve mpc open loop problem
res = self.ols.solve(x_pred, target_pos)
us1 = res[0] * self.control_scaling
us2 = res[1] * self.control_scaling
dt_mpc = time.time() - self.t
if dt_mpc < self.dt: # wait until next control can be applied
time.sleep(self.dt - dt_mpc)
# send controls to the robot
for i in range(0, self.mstep): # option to use multistep mpc if len(range) > 1
u1 = us1[i]
u2 = us2[i]
robot.send_cmd(u1, u2)
if i < self.mstep:
time.sleep(self.dt)
self.t = time.time() # save time the most recent control was applied
def get_measurement(self, robot_id):
return self.estimator.get_robot_state_estimate(robot_id)