From d6c018d14b283f67cc5d1f96d8bc6de3ccd73326 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 12 Aug 2014 17:57:47 +0200 Subject: [PATCH] Bottle drop iteration - commandline tool for component testing --- src/modules/bottle_drop/bottle_drop.cpp | 188 +++++++++++------- .../{bottle_drop.c => bottle_drop_params.c} | 2 +- src/modules/bottle_drop/module.mk | 2 +- 3 files changed, 121 insertions(+), 71 deletions(-) rename src/modules/bottle_drop/{bottle_drop.c => bottle_drop_params.c} (98%) diff --git a/src/modules/bottle_drop/bottle_drop.cpp b/src/modules/bottle_drop/bottle_drop.cpp index 84c7900ce0..e73f36163b 100644 --- a/src/modules/bottle_drop/bottle_drop.cpp +++ b/src/modules/bottle_drop/bottle_drop.cpp @@ -100,6 +100,10 @@ public: */ void status(); + void open_bay(); + void close_bay(); + void drop(); + private: bool _task_should_exit; /**< if true, task should exit */ int _main_task; /**< handle for task */ @@ -116,6 +120,7 @@ private: bool _open_door; bool _drop; hrt_abstime _doors_opened; + hrt_abstime _drop_time; struct position_s { double lat; //degrees @@ -130,6 +135,11 @@ private: void answer_command(struct vehicle_command_s *cmd, enum VEHICLE_CMD_RESULT result); + /** + * Set the actuators + */ + int actuators_publish(); + /** * Shim for calling task_main from task_create. */ @@ -153,7 +163,8 @@ BottleDrop::BottleDrop() : _actuators {}, _open_door(false), _drop(false), - _doors_opened(0) + _doors_opened(0), + _drop_time(0) { } @@ -211,6 +222,82 @@ BottleDrop::status() warnx("Dropping: %s", _drop ? "YES" : "NO"); } +void +BottleDrop::open_bay() +{ + _actuators.control[0] = -1.0f; + _actuators.control[1] = 1.0f; + + if (_doors_opened == 0) { + _doors_opened = hrt_absolute_time(); + } + warnx("open doors"); + + actuators_publish(); +} + +void +BottleDrop::close_bay() +{ + // closed door and locked survival kit + _actuators.control[0] = 1.0f; + _actuators.control[1] = -1.0f; + + _doors_opened = 0; + + actuators_publish(); +} + +void +BottleDrop::drop() +{ + + // update drop actuator, wait 0.5s until the doors are open before dropping + hrt_abstime starttime = hrt_absolute_time(); + + // force the door open if we have to + if (_doors_opened == 0) { + open_bay(); + warnx("bay not ready, forced open"); + } + + while (hrt_elapsed_time(&_doors_opened) < 400000 && hrt_elapsed_time(&starttime) < 2000000) { + usleep(50000); + warnx("delayed by door!"); + } + + if (_drop && _doors_opened != 0 && hrt_elapsed_time(&_doors_opened) < 500000) { + _actuators.control[2] = -0.5f; + } else { + _actuators.control[2] = 0.5f; + } + + _drop_time = hrt_absolute_time(); + + warnx("dropping now"); + + actuators_publish(); +} + +int +BottleDrop::actuators_publish() +{ + _actuators.timestamp = hrt_absolute_time(); + + // lazily publish _actuators only once available + if (_actuator_pub > 0) { + return orb_publish(ORB_ID(actuator_controls_2), _actuator_pub, &_actuators); + + } else { + _actuator_pub = orb_advertise(ORB_ID(actuator_controls_2), &_actuators); + if (_actuator_pub > 0) { + return OK; + } else { + return -1; + } + } +} + void BottleDrop::task_main() { @@ -272,7 +359,6 @@ BottleDrop::task_main() float future_distance = 0; // The distance between the UAVs to-be position and the drop point [m] // states - bool state_door = false; // Doors are closed = false, open = true bool state_drop = false; // Drop occurred = true, Drop din't occur = false bool state_run = false; // A drop was attempted = true, the drop is still in progress = false @@ -297,9 +383,6 @@ BottleDrop::task_main() memset(&update, 0, sizeof(update)); int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update)); - struct actuator_controls_s actuators; - memset(&actuators, 0, sizeof(actuators)); - struct mission_item_s flight_vector_s; struct mission_item_s flight_vector_e; @@ -314,6 +397,7 @@ BottleDrop::task_main() memset(&onboard_mission, 0, sizeof(onboard_mission)); orb_advert_t onboard_mission_pub = -1; + bool position_initialized = false; double latitude; double longitude; @@ -328,6 +412,9 @@ BottleDrop::task_main() fds[0].fd = _command_sub; fds[0].events = POLLIN; + // Whatever state the bay is in, we want it closed on startup + close_bay(); + while (!_task_should_exit) { /* wait for up to 100ms for data */ @@ -345,6 +432,19 @@ BottleDrop::task_main() handle_command(&_command); } + orb_check(vehicle_global_position_sub, &updated); + if (updated) { + /* copy global position */ + orb_copy(ORB_ID(vehicle_global_position), vehicle_global_position_sub, &globalpos); + + latitude = (double)globalpos.lat / 1e7; + longitude = (double)globalpos.lon / 1e7; + } + + if (!position_initialized) { + continue; + } + /* switch to faster updates during the drop */ while (_drop) { @@ -505,7 +605,7 @@ BottleDrop::task_main() // } /* Save WPs in datamanager */ - const size_t len = sizeof(struct mission_item_s); + const ssize_t len = sizeof(struct mission_item_s); if (dm_write(DM_KEY_WAYPOINTS_ONBOARD, 0, DM_PERSIST_IN_FLIGHT_RESET, &flight_vector_s, len) != len) { warnx("ERROR: could not save onboard WP"); @@ -539,29 +639,17 @@ BottleDrop::task_main() } if (isfinite(distance_real) && distance_real < distance_open_door && drop_approval) { - actuators.control[0] = -1.0f; // open door - actuators.control[1] = 1.0f; - state_door = true; - warnx("open doors"); - + open_bay(); } else { - // closed door and locked survival kit - actuators.control[0] = 0.5f; - actuators.control[1] = -0.5f; - actuators.control[2] = -0.5f; - state_door = false; + close_bay(); } - if (isfinite(distance_real) && distance_real < precision && distance_real < future_distance - && state_door) { // Drop only if the distance between drop point and actual position is getting larger again + if (isfinite(distance_real) && distance_real < precision && distance_real < future_distance) { // Drop only if the distance between drop point and actual position is getting larger again // XXX this check needs to be carefully validated - right now we prefer to drop if we're close to the goal // if(fabsf(_wrap_pi(globalpos.yaw-atan2f(wind.windspeed_north,wind_speed.windspeed_east)+M_PI_F)) < 80.0f/180.0f*M_PI_F) // if flight trajectory deviates more than 80 degrees from calculated path, it will no drop // { - actuators.control[2] = 0.5f; - state_drop = true; - state_run = true; - warnx("dropping now"); + drop(); // } // else // { @@ -569,16 +657,6 @@ BottleDrop::task_main() // } } - actuators.timestamp = hrt_absolute_time(); - - // lazily publish _actuators only once available - if (_actuator_pub > 0) { - orb_publish(ORB_ID(actuator_controls_2), _actuator_pub, &actuators); - - } else { - _actuator_pub = orb_advertise(ORB_ID(actuator_controls_2), &actuators); - } - counter++; // update_actuators(); @@ -594,43 +672,6 @@ BottleDrop::task_main() _exit(0); } -// XXX this is out of sync with the C port -// void -// BottleDrop::update_actuators() -// { -// _actuators.timestamp = hrt_absolute_time(); - -// // update door actuators -// if (_open_door) { -// _actuators.control[0] = -1.0f; -// _actuators.control[1] = 1.0f; - -// if (_doors_opened == 0) { -// _doors_opened = hrt_absolute_time(); -// } -// } else { -// _actuators.control[0] = 1.0f; -// _actuators.control[1] = -1.0f; - -// _doors_opened = 0; -// } - -// // update drop actuator, wait 0.5s until the doors are open before dropping -// if (_drop && _doors_opened != 0 && hrt_elapsed_time(&_doors_opened) > 500000) { -// _actuators.control[2] = -0.5f; -// } else { -// _actuators.control[2] = 0.5f; -// } - -// // lazily publish _actuators only once available -// if (_actuator_pub > 0) { -// orb_publish(ORB_ID(actuator_controls_2), _actuator_pub, &_actuators); - -// } else { -// _actuator_pub = orb_advertise(ORB_ID(actuator_controls_2), &_actuators); -// } -// } - void BottleDrop::handle_command(struct vehicle_command_s *cmd) { @@ -785,6 +826,15 @@ int bottle_drop_main(int argc, char *argv[]) } else if (!strcmp(argv[1], "status")) { bottle_drop::g_bottle_drop->status(); + } else if (!strcmp(argv[1], "drop")) { + bottle_drop::g_bottle_drop->drop(); + + } else if (!strcmp(argv[1], "open")) { + bottle_drop::g_bottle_drop->open_bay(); + + } else if (!strcmp(argv[1], "close")) { + bottle_drop::g_bottle_drop->close_bay(); + } else { usage(); } diff --git a/src/modules/bottle_drop/bottle_drop.c b/src/modules/bottle_drop/bottle_drop_params.c similarity index 98% rename from src/modules/bottle_drop/bottle_drop.c rename to src/modules/bottle_drop/bottle_drop_params.c index b867820755..0f60b58e49 100644 --- a/src/modules/bottle_drop/bottle_drop.c +++ b/src/modules/bottle_drop/bottle_drop_params.c @@ -32,7 +32,7 @@ ****************************************************************************/ /** - * @file bottle_drop.c + * @file bottle_drop_params.c * Bottle drop parameters * * @author Dominik Juchli diff --git a/src/modules/bottle_drop/module.mk b/src/modules/bottle_drop/module.mk index 61ac89e38b..6b18fff556 100644 --- a/src/modules/bottle_drop/module.mk +++ b/src/modules/bottle_drop/module.mk @@ -38,4 +38,4 @@ MODULE_COMMAND = bottle_drop SRCS = bottle_drop.cpp \ - bottle_drop.c + bottle_drop_params.c