diff --git a/.gitmodules b/.gitmodules index 61e5f08fb..de2c6a1cb 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,3 +1,6 @@ [submodule "rmcs_ws/src/fast_tf"] path = rmcs_ws/src/fast_tf url = https://github.com/qzhhhi/FastTF.git +[submodule "rmcs_ws/src/rmcs_auto_aim_v2"] + path = rmcs_ws/src/rmcs_auto_aim_v2 + url = https://github.com/Alliance-Algorithm/rmcs_auto_aim_v2.git diff --git a/.script/autoaim-debug b/.script/autoaim-debug new file mode 100755 index 000000000..11a9ea264 --- /dev/null +++ b/.script/autoaim-debug @@ -0,0 +1,71 @@ +#!/usr/bin/env bash + +set -euo pipefail + +SESSION="autoaim-debug" + +usage() { + cat <<'EOF' +Usage: autoaim-debug + + local Start autoaim debug tmux session locally. + remote Start autoaim debug tmux session on ssh remote. +EOF +} + +write_start_script() { + local path="$1" + cat >"${path}" <<'SCRIPT' +set -euo pipefail + +SESSION="autoaim-debug" + +if [[ -f "${HOME}/env_setup.bash" ]]; then + ENV_SETUP="${HOME}/env_setup.bash" +elif [[ -f "/root/env_setup.bash" ]]; then + ENV_SETUP="/root/env_setup.bash" +else + echo "env_setup.bash not found in \$HOME or /root" >&2 + exit 1 +fi + +tmux kill-session -t "${SESSION}" 2>/dev/null || true + +tmux new-session -d -s "${SESSION}" -n "foxglove" \ + "bash -lc 'source \"${ENV_SETUP}\" && ros2 launch foxglove_bridge foxglove_bridge_launch.xml'" + +tmux new-window -t "${SESSION}" -n "streamer" \ + "bash -lc '/opt/autoaim/bin/start-streamer'" +SCRIPT + chmod +x "${path}" +} + +if [[ $# -ne 1 ]]; then + usage + exit 1 +fi + +case "$1" in +local) + tmp=$(mktemp) + trap 'rm -f "${tmp}"' EXIT + write_start_script "${tmp}" + bash "${tmp}" + tmux has-session -t "${SESSION}" + echo "autoaim-debug local started in tmux session: ${SESSION}" + echo "Attach with: tmux attach -t ${SESSION}" + ;; +remote) + tmp=$(mktemp) + trap 'rm -f "${tmp}"' EXIT + write_start_script "${tmp}" + scp -q "${tmp}" remote:/tmp/autoaim-debug-start.sh + ssh-remote "bash /tmp/autoaim-debug-start.sh && rm -f /tmp/autoaim-debug-start.sh && tmux has-session -t ${SESSION}" + echo "autoaim-debug remote started in tmux session: ${SESSION}" + echo "Attach with: ssh-remote \"tmux attach -t ${SESSION}\"" + ;; +*) + usage + exit 1 + ;; +esac diff --git a/.script/complete/_local-context b/.script/complete/_local-context new file mode 100644 index 000000000..6faef6c1f --- /dev/null +++ b/.script/complete/_local-context @@ -0,0 +1,22 @@ +#compdef local-context + +_arguments \ + '1:key:(game_stage robot_health robot_bullet)' \ + '2:value:->value' + +case "$state" in + value) + case "${words[2]}" in + game_stage) + _values 'game stage' \ + not_start \ + preparation \ + referee_check \ + countdown \ + started \ + settling \ + unknown + ;; + esac + ;; +esac diff --git a/.script/complete/_remote-context b/.script/complete/_remote-context new file mode 100644 index 000000000..67e89b1b7 --- /dev/null +++ b/.script/complete/_remote-context @@ -0,0 +1,22 @@ +#compdef remote-context + +_arguments \ + '1:key:(game_stage robot_health robot_bullet)' \ + '2:value:->value' + +case "$state" in + value) + case "${words[2]}" in + game_stage) + _values 'game stage' \ + not_start \ + preparation \ + referee_check \ + countdown \ + started \ + settling \ + unknown + ;; + esac + ;; +esac diff --git a/.script/host/rmcs b/.script/host/rmcs index f94a7cf75..918b209f7 100755 --- a/.script/host/rmcs +++ b/.script/host/rmcs @@ -6,19 +6,24 @@ readonly DEVELOPER_NAME="ubuntu" readonly NVIM_PATH="/opt/nvim/bin/nvim" readonly NVIM_PORT=6666 readonly NVIM_HOST="localhost" +readonly RMCS_PATH="/workspaces/RMCS/" function show_help() { local project_dir="$1" local service="$2" - echo "Usage: $(basename "$0") [path] [zsh|n|nvim|neovide|vim|ide]" + echo "Usage: $(basename "$0") [path] [zsh|recreate|n|nvim|neovide|vim|ide]" echo " Project dir: $project_dir" echo " Service: $service" } +function setup_container() { + docker compose up -d --no-recreate +} + function rmcs_zsh() { local service="$1" echo "Starting and entering container..." - docker compose up -d + setup_container docker compose exec "$service" zsh } @@ -29,7 +34,7 @@ function rmcs_nvim() { local port=$NVIM_PORT echo "Starting container..." - docker compose up -d + setup_container echo "Checking available port and starting nvim headless server..." while nc -z "$NVIM_HOST" "$port" 2>/dev/null; do @@ -38,7 +43,7 @@ function rmcs_nvim() { done echo "Starting nvim server on port $port..." - docker compose exec -u "$DEVELOPER_NAME" -d "$service" \ + docker compose exec -u "$DEVELOPER_NAME" -w "$RMCS_PATH" -d "$service" \ "$NVIM_PATH" --headless --listen "$NVIM_HOST:$port" for i in $(seq 1 $timeout); do @@ -60,6 +65,11 @@ function rmcs_nvim() { fi } +function rmcs_recreate() { + echo "Recreating container..." + docker compose up -d --force-recreate +} + function main() { local project_dir command @@ -84,6 +94,9 @@ function main() { zsh) rmcs_zsh "$service" ;; + recreate) + rmcs_recreate + ;; n | nvim | neovide | vim | ide) rmcs_nvim "$service" ;; diff --git a/.script/identification/fit_friction_velocity_pid.py b/.script/identification/fit_friction_velocity_pid.py new file mode 100644 index 000000000..a60ebe418 --- /dev/null +++ b/.script/identification/fit_friction_velocity_pid.py @@ -0,0 +1,414 @@ +#!/usr/bin/env python3 + +from __future__ import annotations + +import argparse +import csv +import math +import statistics +import sys +from dataclasses import dataclass +from pathlib import Path + +import numpy as np + + +def parse_args() -> argparse.Namespace: + parser = argparse.ArgumentParser( + description=( + "Fit a first-order friction-wheel speed plant from SweptFrequencyController CSV logs " + "and emit gains compatible with rmcs_core::controller::pid::PidController." + ) + ) + parser.add_argument("csv_paths", nargs="+", type=Path, help="One or more sweep CSV files") + parser.add_argument( + "--input-signal", + choices=("torque", "control_torque"), + default="torque", + help="Plant input column. Prefer measured torque when available.", + ) + parser.add_argument( + "--window-length", + type=int, + default=31, + help="Odd Savitzky-Golay window length used on velocity before differentiation.", + ) + parser.add_argument( + "--poly-order", + type=int, + default=3, + help="Savitzky-Golay polynomial order.", + ) + parser.add_argument( + "--trim-start", + type=float, + default=1.5, + help="Discard the first N seconds to remove enable transients.", + ) + parser.add_argument( + "--trim-end", + type=float, + default=0.5, + help="Discard the last N seconds to avoid sweep shutoff transients.", + ) + parser.add_argument( + "--fc-hz", + type=float, + default=None, + help="Target closed-loop crossover for all wheels. Default: front=22Hz, back=18Hz.", + ) + parser.add_argument( + "--td-ratio", + type=float, + default=0.0, + help="Derivative time as a fraction of the identified mechanical time constant. Keep 0 unless velocity is very clean.", + ) + parser.add_argument( + "--split-ratio", + type=float, + default=0.08, + help="Integral action only inside +/- split_ratio * steady_speed.", + ) + parser.add_argument( + "--i-output-ratio", + type=float, + default=0.35, + help="Clamp integral contribution to this fraction of the identified AC torque span.", + ) + parser.add_argument( + "--min-r2", + type=float, + default=0.80, + help="Warn when the acceleration fit R^2 drops below this value.", + ) + parser.add_argument( + "--group-average", + action="store_true", + help="Also emit averaged gain-only blocks for front wheels and back wheels.", + ) + return parser.parse_args() + + +@dataclass +class FitResult: + csv_path: Path + target: str + controller_name: str + dt: float + samples: int + steady_speed: float + steady_torque: float + inertia: float + damping: float + tau_mech: float + fit_r2: float + fc_hz: float + kp: float + ki: float + kd: float + integral_limit: float + split_limit: float + output_limit: float + torque_span: float + + +def savitzky_golay( + y: np.ndarray, dt: float, window_length: int, poly_order: int, deriv: int +) -> np.ndarray: + half_window = window_length // 2 + offsets = np.arange(-half_window, half_window + 1, dtype=float) * dt + vandermonde = np.vstack([offsets**order for order in range(poly_order + 1)]).T + coefficients = math.factorial(deriv) * np.linalg.pinv(vandermonde)[deriv] + windows = np.lib.stride_tricks.sliding_window_view(y, window_length) + return windows @ coefficients + + +def infer_target(fieldnames: list[str]) -> str: + candidates = { + name[: -len("/velocity")] + for name in fieldnames + if name.endswith("/velocity") and name != "velocity" + } + if len(candidates) != 1: + raise ValueError("failed to infer a unique target from CSV headers") + return next(iter(candidates)) + + +def require_columns(fieldnames: list[str], target: str) -> dict[str, str]: + columns = { + "elapsed_s": "elapsed_s", + "control_torque": f"{target}/control_torque", + "torque": f"{target}/torque", + "velocity": f"{target}/velocity", + } + missing = [value for value in columns.values() if value not in fieldnames] + if missing: + raise ValueError(f"missing required columns: {', '.join(missing)}") + return columns + + +def default_fc_hz(target: str) -> float: + if "front" in target: + return 22.0 + if "back" in target: + return 18.0 + return 20.0 + + +def controller_name_for(target: str) -> str: + return target.rsplit("/", 1)[-1] + "_velocity_pid_controller" + + +def read_csv(path: Path, input_signal: str) -> tuple[str, np.ndarray, np.ndarray, np.ndarray]: + with path.open(newline="") as csv_file: + reader = csv.DictReader(csv_file) + rows = list(reader) + if reader.fieldnames is None: + raise ValueError(f"CSV has no header: {path}") + if not rows: + raise ValueError(f"CSV has no data rows: {path}") + target = infer_target(reader.fieldnames) + columns = require_columns(reader.fieldnames, target) + + elapsed = np.array([float(row[columns["elapsed_s"]]) for row in rows], dtype=float) + velocity = np.array([float(row[columns["velocity"]]) for row in rows], dtype=float) + torque = np.array([float(row[columns[input_signal]]) for row in rows], dtype=float) + return target, elapsed, velocity, torque + + +def fit_first_order_model( + elapsed: np.ndarray, velocity: np.ndarray, torque: np.ndarray, args: argparse.Namespace +) -> tuple[np.ndarray, np.ndarray, np.ndarray, float]: + if args.window_length < 5 or args.window_length % 2 == 0: + raise ValueError("window-length must be an odd integer >= 5") + if args.poly_order < 2 or args.poly_order >= args.window_length: + raise ValueError("poly-order must be >= 2 and smaller than window-length") + if elapsed.size <= args.window_length: + raise ValueError("too few samples for the requested Savitzky-Golay window") + + dt = float(np.median(np.diff(elapsed))) + if not math.isfinite(dt) or dt <= 0.0: + raise ValueError("failed to determine a valid dt from elapsed_s") + + velocity_smooth = savitzky_golay(velocity, dt, args.window_length, args.poly_order, deriv=0) + acceleration_smooth = savitzky_golay( + velocity, dt, args.window_length, args.poly_order, deriv=1 + ) + + half_window = args.window_length // 2 + center = slice(half_window, elapsed.size - half_window) + elapsed_fit = elapsed[center] + torque_fit = torque[center] + + mask = np.isfinite(elapsed_fit) + mask &= np.isfinite(velocity_smooth) + mask &= np.isfinite(acceleration_smooth) + mask &= np.isfinite(torque_fit) + if args.trim_start > 0.0: + mask &= elapsed_fit >= args.trim_start + if args.trim_end > 0.0: + mask &= elapsed_fit <= elapsed_fit[-1] - args.trim_end + if int(np.count_nonzero(mask)) < 20: + raise ValueError("too few usable samples remain after trimming") + + return velocity_smooth[mask], acceleration_smooth[mask], torque_fit[mask], dt + + +def normalize_sign( + velocity: np.ndarray, acceleration: np.ndarray, torque: np.ndarray +) -> tuple[np.ndarray, np.ndarray, np.ndarray]: + if float(np.median(velocity)) >= 0.0: + return velocity, acceleration, torque + return -velocity, -acceleration, -torque + + +def fit_one(path: Path, args: argparse.Namespace) -> FitResult: + target, elapsed, velocity, torque = read_csv(path, args.input_signal) + velocity_fit, acceleration_fit, torque_fit, dt = fit_first_order_model( + elapsed, velocity, torque, args + ) + velocity_fit, acceleration_fit, torque_fit = normalize_sign( + velocity_fit, acceleration_fit, torque_fit + ) + + steady_speed = float(np.median(velocity_fit)) + steady_torque = float(np.median(torque_fit)) + regressors = np.column_stack([velocity_fit - steady_speed, torque_fit - steady_torque]) + coefficients, _, _, _ = np.linalg.lstsq(regressors, acceleration_fit, rcond=None) + a_vel, b_tau = coefficients.tolist() + if not math.isfinite(a_vel) or not math.isfinite(b_tau): + raise ValueError("least-squares result is not finite") + if b_tau <= 0.0: + raise ValueError(f"identified torque gain <= 0 (b={b_tau:.6e})") + if a_vel >= 0.0: + raise ValueError(f"identified damping slope >= 0 (a={a_vel:.6e})") + + prediction = regressors @ coefficients + residual = acceleration_fit - prediction + centered = acceleration_fit - float(np.mean(acceleration_fit)) + ss_res = float(residual @ residual) + ss_tot = float(centered @ centered) + fit_r2 = float("nan") if ss_tot <= 0.0 else 1.0 - ss_res / ss_tot + + inertia = 1.0 / b_tau + damping = -a_vel / b_tau + tau_mech = inertia / damping + fc_hz = args.fc_hz if args.fc_hz is not None else default_fc_hz(target) + wc = 2.0 * math.pi * fc_hz + + kp = wc * inertia + ki = wc * damping * dt + td = max(0.0, args.td_ratio) * tau_mech + kd = 0.0 if td == 0.0 else (kp * td) / dt + + torque_span = float(np.percentile(np.abs(torque_fit - steady_torque), 95)) + max_i_output = max(0.05, args.i_output_ratio * torque_span) + integral_limit = 0.0 if ki <= 0.0 else max_i_output / ki + split_limit = max(5.0, args.split_ratio * abs(steady_speed)) + output_limit = max( + 0.1, + abs(steady_torque) + 1.2 * torque_span, + 1.3 * float(np.percentile(np.abs(torque_fit), 99)), + ) + + return FitResult( + csv_path=path, + target=target, + controller_name=controller_name_for(target), + dt=dt, + samples=int(velocity_fit.size), + steady_speed=steady_speed, + steady_torque=steady_torque, + inertia=inertia, + damping=damping, + tau_mech=tau_mech, + fit_r2=fit_r2, + fc_hz=fc_hz, + kp=kp, + ki=ki, + kd=kd, + integral_limit=integral_limit, + split_limit=split_limit, + output_limit=output_limit, + torque_span=torque_span, + ) + + +def format_yaml_block(result: FitResult, controller_name: str | None = None) -> str: + controller_name = result.controller_name if controller_name is None else controller_name + return "\n".join( + [ + f"{controller_name}:", + " ros__parameters:", + f" measurement: {result.target}/velocity", + f" setpoint: {result.target}/control_velocity", + f" control: {result.target}/control_torque", + f" kp: {result.kp:.9f}", + f" ki: {result.ki:.9f}", + f" kd: {result.kd:.9f}", + f" integral_min: {-result.integral_limit:.6f}", + f" integral_max: {result.integral_limit:.6f}", + f" integral_split_min: {-result.split_limit:.6f}", + f" integral_split_max: {result.split_limit:.6f}", + f" output_min: {-result.output_limit:.6f}", + f" output_max: {result.output_limit:.6f}", + ] + ) + + +def format_gain_only_block(name: str, result: FitResult) -> str: + return "\n".join( + [ + f"{name}:", + " ros__parameters:", + f" kp: {result.kp:.9f}", + f" ki: {result.ki:.9f}", + f" kd: {result.kd:.9f}", + f" integral_min: {-result.integral_limit:.6f}", + f" integral_max: {result.integral_limit:.6f}", + f" integral_split_min: {-result.split_limit:.6f}", + f" integral_split_max: {result.split_limit:.6f}", + f" output_min: {-result.output_limit:.6f}", + f" output_max: {result.output_limit:.6f}", + ] + ) + + +def print_result(result: FitResult, min_r2: float) -> None: + print(f"CSV: {result.csv_path}") + print(f" target: {result.target}") + print(f" samples: {result.samples}") + print(f" dt: {result.dt:.6f} s") + print(f" steady_speed: {result.steady_speed:.6f} rad/s") + print(f" steady_torque: {result.steady_torque:.6f} N*m") + print(f" J: {result.inertia:.9f}") + print(f" B: {result.damping:.9f}") + print(f" tau_mech: {result.tau_mech:.6f} s") + print(f" fit R^2: {result.fit_r2:.6f}") + print(f" chosen fc: {result.fc_hz:.2f} Hz") + if math.isfinite(result.fit_r2) and result.fit_r2 < min_r2: + print( + " warning: fit quality is weak; reduce sweep amplitude or clean the data before using this PID" + ) + print(format_yaml_block(result)) + + +def make_average_result(group_name: str, members: list[FitResult]) -> FitResult: + template = members[0] + return FitResult( + csv_path=template.csv_path, + target=template.target, + controller_name=group_name, + dt=statistics.mean(item.dt for item in members), + samples=sum(item.samples for item in members), + steady_speed=statistics.mean(item.steady_speed for item in members), + steady_torque=statistics.mean(item.steady_torque for item in members), + inertia=statistics.mean(item.inertia for item in members), + damping=statistics.mean(item.damping for item in members), + tau_mech=statistics.mean(item.tau_mech for item in members), + fit_r2=statistics.mean(item.fit_r2 for item in members), + fc_hz=statistics.mean(item.fc_hz for item in members), + kp=statistics.mean(item.kp for item in members), + ki=statistics.mean(item.ki for item in members), + kd=statistics.mean(item.kd for item in members), + integral_limit=statistics.mean(item.integral_limit for item in members), + split_limit=statistics.mean(item.split_limit for item in members), + output_limit=statistics.mean(item.output_limit for item in members), + torque_span=statistics.mean(item.torque_span for item in members), + ) + + +def main() -> int: + args = parse_args() + results: list[FitResult] = [] + for path in args.csv_paths: + results.append(fit_one(path, args)) + + for index, result in enumerate(results): + if index: + print() + print_result(result, args.min_r2) + + if args.group_average: + front = [item for item in results if "front" in item.target] + back = [item for item in results if "back" in item.target] + if front: + print() + print("Front average:") + average = make_average_result("front_friction_velocity_pid_average", front) + print(format_gain_only_block("front_friction_velocity_pid_average", average)) + if back: + print() + print("Back average:") + average = make_average_result("back_friction_velocity_pid_average", back) + print(format_gain_only_block("back_friction_velocity_pid_average", average)) + + return 0 + + +if __name__ == "__main__": + try: + raise SystemExit(main()) + except ValueError as error: + print(f"error: {error}", file=sys.stderr) + raise SystemExit(2) diff --git a/.script/identification/fit_gravity_torque.py b/.script/identification/fit_gravity_torque.py new file mode 100644 index 000000000..264d24de4 --- /dev/null +++ b/.script/identification/fit_gravity_torque.py @@ -0,0 +1,495 @@ +#!/usr/bin/env python3 + +from __future__ import annotations + +import argparse +import csv +import json +import math +import sys +from dataclasses import asdict, dataclass +from pathlib import Path +from typing import Iterable + + +def wrap_to_pi(angle: float) -> float: + wrapped = math.remainder(angle, 2.0 * math.pi) + if wrapped <= -math.pi: + wrapped += 2.0 * math.pi + return wrapped + + +def circular_mean(angles: list[float]) -> float: + sin_sum = sum(math.sin(angle) for angle in angles) + cos_sum = sum(math.cos(angle) for angle in angles) + if abs(sin_sum) < 1e-12 and abs(cos_sum) < 1e-12: + return wrap_to_pi(angles[0]) + return wrap_to_pi(math.atan2(sin_sum, cos_sum)) + + +@dataclass +class FitResult: + signal_name: str + sample_count: int + angle_min: float + angle_max: float + angle_span: float + gain: float + phase: float + phase_deg: float + zero_crossing_angle: float + zero_crossing_angle_deg: float + peak_angle: float + peak_angle_deg: float + rmse: float + mae: float + r2: float + design_condition: float + + +@dataclass +class PairingSummary: + available_point_count: int + paired_point_count: int + dropped_point_count: int + mean_control_friction: float + mean_torque_friction: float + + +@dataclass +class AveragedSample: + point_index: int + angle: float + setpoint: float + control_torque: float + torque: float + control_friction: float + torque_friction: float + + +def parse_args() -> argparse.Namespace: + parser = argparse.ArgumentParser( + description=( + "Fit the gray-box gravity torque model u_ff = G * sin(theta + phi) " + "from static torque test CSV data." + ) + ) + parser.add_argument("csv_path", type=Path, help="Path to static_torque_test_controller CSV") + parser.add_argument( + "--target", + type=str, + default=None, + help="Target prefix such as /gimbal/pitch. If omitted, infer from CSV headers.", + ) + parser.add_argument( + "--signal", + choices=("control_torque", "torque"), + default="torque", + help="Primary signal to fit. Defaults to torque.", + ) + parser.add_argument( + "--velocity-threshold", + type=float, + default=0.1, + help=( + "Discard rows with abs(velocity) larger than this threshold. " + "Use a negative value to disable filtering." + ), + ) + parser.add_argument( + "--json-output", + type=Path, + default=None, + help="Optional path to write fit summary as JSON.", + ) + return parser.parse_args() + + +def infer_target(fieldnames: Iterable[str]) -> str: + angle_targets = {name[: -len("/angle")] for name in fieldnames if name.endswith("/angle")} + if len(angle_targets) != 1: + raise ValueError( + "Failed to infer target from CSV headers. Please pass --target explicitly." + ) + return next(iter(angle_targets)) + + +def read_rows(path: Path) -> tuple[list[dict[str, str]], list[str]]: + with path.open(newline="") as csv_file: + reader = csv.DictReader(csv_file) + rows = list(reader) + if reader.fieldnames is None: + raise ValueError(f"CSV file has no header: {path}") + return rows, reader.fieldnames + + +def require_columns(fieldnames: list[str], target: str) -> dict[str, str]: + columns = { + "update_count": "update_count", + "elapsed_s": "elapsed_s", + "control_torque": f"{target}/control_torque", + "torque": f"{target}/torque", + "velocity": f"{target}/velocity", + "angle": f"{target}/angle", + "point_index": "point_index", + "approach_direction": "approach_direction", + "setpoint": "setpoint", + } + + missing = [ + column + for key, column in columns.items() + if key in {"update_count", "elapsed_s", "control_torque", "torque", "velocity", "angle"} + and column not in fieldnames + ] + if missing: + joined = ", ".join(missing) + raise ValueError(f"Missing required CSV columns: {joined}") + return columns + + +def select_static_rows( + rows: list[dict[str, str]], columns: dict[str, str], velocity_threshold: float +) -> list[dict[str, str]]: + if velocity_threshold < 0.0: + return rows + + filtered_rows = [] + for row in rows: + velocity = float(row[columns["velocity"]]) + if abs(velocity) <= velocity_threshold: + filtered_rows.append(row) + return filtered_rows + + +def has_bidirectional_columns(fieldnames: list[str], columns: dict[str, str]) -> bool: + return all( + columns[key] in fieldnames for key in ("point_index", "approach_direction", "setpoint") + ) + + +def fit_sine_model(samples: list[tuple[float, float]], signal_name: str) -> FitResult: + if len(samples) < 3: + raise ValueError("Need at least 3 samples to fit the sine model.") + + s_s = 0.0 + s_c = 0.0 + c_c = 0.0 + s_y = 0.0 + c_y = 0.0 + angles: list[float] = [] + values: list[float] = [] + + for angle, value in samples: + wrapped_angle = wrap_to_pi(angle) + sin_theta = math.sin(wrapped_angle) + cos_theta = math.cos(wrapped_angle) + + s_s += sin_theta * sin_theta + s_c += sin_theta * cos_theta + c_c += cos_theta * cos_theta + s_y += sin_theta * value + c_y += cos_theta * value + + angles.append(wrapped_angle) + values.append(value) + + determinant = s_s * c_c - s_c * s_c + if abs(determinant) < 1e-12: + raise ValueError( + "The regression design matrix is singular. The angle coverage is likely too narrow." + ) + + sin_gain = (s_y * c_c - c_y * s_c) / determinant + cos_gain = (s_s * c_y - s_c * s_y) / determinant + + gain = math.hypot(sin_gain, cos_gain) + phase = math.atan2(cos_gain, sin_gain) + + predictions = [gain * math.sin(angle + phase) for angle in angles] + residuals = [value - prediction for value, prediction in zip(values, predictions)] + + mean_value = sum(values) / len(values) + ss_res = sum(residual * residual for residual in residuals) + ss_tot = sum((value - mean_value) ** 2 for value in values) + rmse = math.sqrt(ss_res / len(values)) + mae = sum(abs(residual) for residual in residuals) / len(values) + r2 = float("nan") if ss_tot <= 0.0 else 1.0 - ss_res / ss_tot + + trace = s_s + c_c + disc = math.sqrt(max(0.0, (s_s - c_c) ** 2 + 4.0 * s_c * s_c)) + lambda_max = 0.5 * (trace + disc) + lambda_min = 0.5 * (trace - disc) + condition = float("inf") if lambda_min <= 0.0 else lambda_max / lambda_min + + angle_min = min(angles) + angle_max = max(angles) + + zero_crossing_angle = wrap_to_pi(-phase) + peak_angle = wrap_to_pi(math.pi * 0.5 - phase) + + return FitResult( + signal_name=signal_name, + sample_count=len(values), + angle_min=angle_min, + angle_max=angle_max, + angle_span=angle_max - angle_min, + gain=gain, + phase=phase, + phase_deg=math.degrees(phase), + zero_crossing_angle=zero_crossing_angle, + zero_crossing_angle_deg=math.degrees(zero_crossing_angle), + peak_angle=peak_angle, + peak_angle_deg=math.degrees(peak_angle), + rmse=rmse, + mae=mae, + r2=r2, + design_condition=condition, + ) + + +def pair_bidirectional_rows( + rows: list[dict[str, str]], columns: dict[str, str] +) -> tuple[list[AveragedSample], PairingSummary]: + grouped_rows: dict[int, dict[int, dict[str, str]]] = {} + + for row in rows: + approach_direction = int(row[columns["approach_direction"]]) + if approach_direction not in (-1, +1): + continue + + point_index = int(row[columns["point_index"]]) + grouped_rows.setdefault(point_index, {})[approach_direction] = row + + averaged_samples: list[AveragedSample] = [] + control_friction_values: list[float] = [] + torque_friction_values: list[float] = [] + + for point_index in sorted(grouped_rows): + paired_rows = grouped_rows[point_index] + if -1 not in paired_rows or +1 not in paired_rows: + continue + + negative_row = paired_rows[-1] + positive_row = paired_rows[+1] + + angle = circular_mean( + [ + float(negative_row[columns["angle"]]), + float(positive_row[columns["angle"]]), + ] + ) + setpoint = circular_mean( + [ + float(negative_row[columns["setpoint"]]), + float(positive_row[columns["setpoint"]]), + ] + ) + + control_negative = float(negative_row[columns["control_torque"]]) + control_positive = float(positive_row[columns["control_torque"]]) + torque_negative = float(negative_row[columns["torque"]]) + torque_positive = float(positive_row[columns["torque"]]) + + control_friction = 0.5 * (control_positive - control_negative) + torque_friction = 0.5 * (torque_positive - torque_negative) + + averaged_samples.append( + AveragedSample( + point_index=point_index, + angle=angle, + setpoint=setpoint, + control_torque=0.5 * (control_positive + control_negative), + torque=0.5 * (torque_positive + torque_negative), + control_friction=control_friction, + torque_friction=torque_friction, + ) + ) + control_friction_values.append(abs(control_friction)) + torque_friction_values.append(abs(torque_friction)) + + available_point_count = len(grouped_rows) + paired_point_count = len(averaged_samples) + dropped_point_count = available_point_count - paired_point_count + + summary = PairingSummary( + available_point_count=available_point_count, + paired_point_count=paired_point_count, + dropped_point_count=dropped_point_count, + mean_control_friction=( + sum(control_friction_values) / len(control_friction_values) + if control_friction_values + else float("nan") + ), + mean_torque_friction=( + sum(torque_friction_values) / len(torque_friction_values) + if torque_friction_values + else float("nan") + ), + ) + return averaged_samples, summary + + +def print_fit(result: FitResult, label: str) -> None: + print(f"{label}:") + print(f" signal: {result.signal_name}") + print(f" samples: {result.sample_count}") + print( + " angle span: " + f"[{result.angle_min:.6f}, {result.angle_max:.6f}] rad " + f"({math.degrees(result.angle_span):.2f} deg)" + ) + print(f" G: {result.gain:.6f}") + print(f" phi: {result.phase:.6f} rad ({result.phase_deg:.2f} deg)") + print( + " model: " + f"u_ff = {result.gain:.6f} * sin(theta {'+' if result.phase >= 0.0 else '-'} " + f"{abs(result.phase):.6f})" + ) + print( + " zero crossing angle (-phi): " + f"{result.zero_crossing_angle:.6f} rad ({result.zero_crossing_angle_deg:.2f} deg)" + ) + print( + " peak angle (pi/2 - phi): " + f"{result.peak_angle:.6f} rad ({result.peak_angle_deg:.2f} deg)" + ) + print(f" RMSE: {result.rmse:.6f}") + print(f" MAE: {result.mae:.6f}") + print(f" R^2: {result.r2:.6f}") + print(f" design condition: {result.design_condition:.3f}") + + +def print_warnings(result: FitResult) -> None: + warnings: list[str] = [] + if math.degrees(result.angle_span) < 90.0: + warnings.append( + "angle coverage is below 90 deg, so phase identification may be weak or biased" + ) + if result.design_condition > 10.0: + warnings.append( + "sin/cos regressors are ill-conditioned for this dataset, so phase is sensitive to noise" + ) + if math.isfinite(result.r2) and result.r2 < 0.8: + warnings.append( + "R^2 is low; gravity may be mixed with friction, backlash, or insufficient settling" + ) + + if not warnings: + return + + print("Warnings:") + for item in warnings: + print(f" - {item}") + + +def raw_samples_from_rows( + rows: list[dict[str, str]], columns: dict[str, str], signal_key: str +) -> list[tuple[float, float]]: + return [ + (float(row[columns["angle"]]), float(row[columns[signal_key]])) + for row in rows + ] + + +def averaged_samples_to_tuples( + rows: list[AveragedSample], signal_key: str +) -> list[tuple[float, float]]: + return [(row.angle, getattr(row, signal_key)) for row in rows] + + +def main() -> int: + args = parse_args() + + rows, fieldnames = read_rows(args.csv_path) + target = args.target if args.target is not None else infer_target(fieldnames) + columns = require_columns(fieldnames, target) + + static_rows = select_static_rows(rows, columns, args.velocity_threshold) + if not static_rows: + raise ValueError("No rows remain after velocity filtering.") + + payload: dict[str, object] = { + "csv_path": str(args.csv_path), + "target": target, + "velocity_threshold": args.velocity_threshold, + "rows_total": len(rows), + "rows_used": len(static_rows), + } + + print(f"CSV: {args.csv_path}") + print(f"Target: {target}") + if args.velocity_threshold >= 0.0: + print(f"Velocity filter: abs({columns['velocity']}) <= {args.velocity_threshold}") + else: + print("Velocity filter: disabled") + print(f"Rows used: {len(static_rows)} / {len(rows)}") + + primary_signal_key = args.signal + reference_signal_key = "torque" if primary_signal_key == "control_torque" else "control_torque" + + if has_bidirectional_columns(fieldnames, columns): + averaged_samples, pairing_summary = pair_bidirectional_rows(static_rows, columns) + if not averaged_samples: + raise ValueError( + "No bidirectional pairs were found. The CSV may be incomplete or the test did not reach both directions." + ) + + primary_fit = fit_sine_model( + averaged_samples_to_tuples(averaged_samples, primary_signal_key), + f"paired_avg:{columns[primary_signal_key]}", + ) + reference_fit = fit_sine_model( + averaged_samples_to_tuples(averaged_samples, reference_signal_key), + f"paired_avg:{columns[reference_signal_key]}", + ) + + print("Mode: bidirectional pairing with friction cancellation") + print( + "Pairing: " + f"{pairing_summary.paired_point_count} paired / {pairing_summary.available_point_count} available points " + f"({pairing_summary.dropped_point_count} dropped)" + ) + print( + "Mean half-difference friction: " + f"control={pairing_summary.mean_control_friction:.6f}, " + f"torque={pairing_summary.mean_torque_friction:.6f}" + ) + + payload["pairing"] = asdict(pairing_summary) + payload["mode"] = "bidirectional" + else: + primary_fit = fit_sine_model( + raw_samples_from_rows(static_rows, columns, primary_signal_key), + columns[primary_signal_key], + ) + reference_fit = fit_sine_model( + raw_samples_from_rows(static_rows, columns, reference_signal_key), + columns[reference_signal_key], + ) + print("Mode: legacy single-direction fit without friction cancellation") + payload["mode"] = "legacy_single_direction" + + print_fit(primary_fit, "Primary fit") + print_fit(reference_fit, "Reference fit") + print_warnings(primary_fit) + print("Suggested params:") + print(f" gravity_gain: {primary_fit.gain:.6f}") + print(f" gravity_phase: {primary_fit.phase:.6f}") + + payload["primary_fit"] = asdict(primary_fit) + payload["reference_fit"] = asdict(reference_fit) + + if args.json_output is not None: + args.json_output.parent.mkdir(parents=True, exist_ok=True) + args.json_output.write_text(json.dumps(payload, indent=2) + "\n") + + return 0 + + +if __name__ == "__main__": + try: + raise SystemExit(main()) + except ValueError as error: + print(f"error: {error}", file=sys.stderr) + raise SystemExit(2) diff --git a/.script/identification/fit_sweep_graybox.py b/.script/identification/fit_sweep_graybox.py new file mode 100644 index 000000000..5ae876270 --- /dev/null +++ b/.script/identification/fit_sweep_graybox.py @@ -0,0 +1,969 @@ +#!/usr/bin/env python3 + +from __future__ import annotations + +import argparse +import csv +import json +import math +import sys +from dataclasses import asdict, dataclass +from pathlib import Path +from typing import Iterable + +import numpy as np + +try: + from scipy.optimize import least_squares +except ModuleNotFoundError: + least_squares = None + + +@dataclass +class OdeSegment: + dt: np.ndarray + angle: np.ndarray + velocity: np.ndarray + tau: np.ndarray + + +@dataclass +class GrayboxFitResult: + fit_mode: str + signal_name: str + residual_name: str + gravity_mode: str + sample_count: int + dt: float + window_length: int + poly_order: int + tanh_gain: float + angle_min: float + angle_max: float + angle_span: float + inertia: float + viscous_damping: float + coulomb_friction: float + gravity_gain: float + gravity_phase: float + gravity_phase_deg: float + gravity_zero_crossing: float + gravity_zero_crossing_deg: float + torque_bias: float + rmse: float + mae: float + r2: float + design_condition: float + shooting_window: float + segment_count: int + optimizer_nfev: int + optimizer_status: int + optimizer_success: bool + optimizer_message: str + + +def parse_args() -> argparse.Namespace: + parser = argparse.ArgumentParser( + description=( + "Fit the gray-box sweep model " + "J * theta_dd + B * theta_d + Fc * tanh(k * theta_d) + G * sin(theta + phi) = tau_ff" + ) + ) + parser.add_argument("csv_path", type=Path, help="Path to swept_frequency_controller CSV") + parser.add_argument( + "--target", + type=str, + default=None, + help="Target prefix such as /gimbal/pitch. If omitted, infer from CSV headers.", + ) + parser.add_argument( + "--input-signal", + choices=("control_torque", "torque"), + default="torque", + help="Signal used as tau_ff. Defaults to torque.", + ) + parser.add_argument( + "--fit-mode", + choices=("linear", "ode-angle"), + default="linear", + help="linear uses differentiated-velocity regression; ode-angle integrates the ODE and fits angle only.", + ) + parser.add_argument( + "--window-length", + type=int, + default=31, + help="Odd Savitzky-Golay window length for smoothing velocity. Defaults to 31.", + ) + parser.add_argument( + "--poly-order", + type=int, + default=3, + help="Savitzky-Golay polynomial order for velocity smoothing and linear-mode differentiation.", + ) + parser.add_argument( + "--tanh-gain", + type=float, + default=100.0, + help="Gain k used in Fc * tanh(k * theta_d). Defaults to 100.", + ) + parser.add_argument( + "--trim-start", + type=float, + default=0.0, + help="Discard samples before this elapsed time in seconds.", + ) + parser.add_argument( + "--trim-end", + type=float, + default=0.0, + help="Discard samples within this many seconds from the end of the file.", + ) + parser.add_argument( + "--shooting-window", + type=float, + default=0.5, + help="Segment duration in seconds for ode-angle multiple shooting. Defaults to 0.5.", + ) + parser.add_argument( + "--ode-max-nfev", + type=int, + default=200, + help="Maximum least-squares function evaluations for ode-angle mode. Defaults to 200.", + ) + parser.add_argument( + "--fixed-gravity-gain", + type=float, + default=None, + help="If set together with --fixed-gravity-phase, hold gravity gain G fixed.", + ) + parser.add_argument( + "--fixed-gravity-phase", + type=float, + default=None, + help="If set together with --fixed-gravity-gain, hold gravity phase phi fixed in radians.", + ) + parser.add_argument( + "--json-output", + type=Path, + default=None, + help="Optional path to write fit summary as JSON.", + ) + return parser.parse_args() + + +def infer_target(fieldnames: Iterable[str]) -> str: + angle_targets = {name[: -len("/angle")] for name in fieldnames if name.endswith("/angle")} + if len(angle_targets) != 1: + raise ValueError( + "Failed to infer target from CSV headers. Please pass --target explicitly." + ) + return next(iter(angle_targets)) + + +def read_rows(path: Path) -> tuple[list[dict[str, str]], list[str]]: + with path.open(newline="") as csv_file: + reader = csv.DictReader(csv_file) + rows = list(reader) + if reader.fieldnames is None: + raise ValueError(f"CSV file has no header: {path}") + return rows, reader.fieldnames + + +def require_columns(fieldnames: list[str], target: str) -> dict[str, str]: + columns = { + "elapsed_s": "elapsed_s", + "control_torque": f"{target}/control_torque", + "torque": f"{target}/torque", + "velocity": f"{target}/velocity", + "angle": f"{target}/angle", + } + + missing = [column for column in columns.values() if column not in fieldnames] + if missing: + joined = ", ".join(missing) + raise ValueError(f"Missing required CSV columns: {joined}") + return columns + + +def validate_args(args: argparse.Namespace) -> None: + if args.fit_mode == "ode-angle" and least_squares is None: + raise ValueError( + "ode-angle mode requires scipy. Install it in .venv or run with a Python environment that has scipy." + ) + if args.window_length < 5 or args.window_length % 2 == 0: + raise ValueError("window-length must be an odd integer >= 5") + if args.poly_order < 2: + raise ValueError("poly-order must be >= 2") + if args.poly_order >= args.window_length: + raise ValueError("poly-order must be smaller than window-length") + if args.tanh_gain <= 0.0 or not math.isfinite(args.tanh_gain): + raise ValueError("tanh-gain must be finite and positive") + if args.trim_start < 0.0 or args.trim_end < 0.0: + raise ValueError("trim-start and trim-end must be non-negative") + if args.shooting_window <= 0.0 or not math.isfinite(args.shooting_window): + raise ValueError("shooting-window must be finite and positive") + if args.ode_max_nfev <= 0: + raise ValueError("ode-max-nfev must be positive") + fixed_gain_set = args.fixed_gravity_gain is not None + fixed_phase_set = args.fixed_gravity_phase is not None + if fixed_gain_set != fixed_phase_set: + raise ValueError( + "fixed-gravity-gain and fixed-gravity-phase must be provided together" + ) + if fixed_gain_set and ( + not math.isfinite(args.fixed_gravity_gain) + or not math.isfinite(args.fixed_gravity_phase) + or args.fixed_gravity_gain < 0.0 + ): + raise ValueError( + "fixed gravity parameters must be finite and fixed-gravity-gain must be non-negative" + ) + + +def savitzky_golay(y: np.ndarray, dt: float, window_length: int, poly_order: int, deriv: int) -> np.ndarray: + half_window = window_length // 2 + offsets = np.arange(-half_window, half_window + 1, dtype=float) * dt + vandermonde = np.vstack([offsets**order for order in range(poly_order + 1)]).T + coefficients = math.factorial(deriv) * np.linalg.pinv(vandermonde)[deriv] + windows = np.lib.stride_tricks.sliding_window_view(y, window_length) + return windows @ coefficients + + +def compute_metrics(measured: np.ndarray, prediction: np.ndarray) -> tuple[float, float, float]: + residual = measured - prediction + centered = measured - float(np.mean(measured)) + ss_res = float(residual @ residual) + ss_tot = float(centered @ centered) + rmse = math.sqrt(ss_res / measured.size) + mae = float(np.mean(np.abs(residual))) + r2 = float("nan") if ss_tot <= 0.0 else 1.0 - ss_res / ss_tot + return rmse, mae, r2 + + +def fit_linear_graybox( + angle: np.ndarray, + velocity: np.ndarray, + acceleration: np.ndarray, + tau_ff: np.ndarray, + signal_name: str, + dt: float, + window_length: int, + poly_order: int, + tanh_gain: float, +) -> GrayboxFitResult: + regressors = np.column_stack( + [ + acceleration, + velocity, + np.tanh(tanh_gain * velocity), + np.sin(angle), + np.cos(angle), + ] + ) + + coefficients, _, _, _ = np.linalg.lstsq(regressors, tau_ff, rcond=None) + prediction = regressors @ coefficients + + inertia, viscous_damping, coulomb_friction, gravity_sin, gravity_cos = coefficients.tolist() + gravity_gain = math.hypot(gravity_sin, gravity_cos) + gravity_phase = math.atan2(gravity_cos, gravity_sin) + + rmse, mae, r2 = compute_metrics(tau_ff, prediction) + + return GrayboxFitResult( + fit_mode="linear", + signal_name=signal_name, + residual_name=signal_name, + gravity_mode="free", + sample_count=int(tau_ff.size), + dt=dt, + window_length=window_length, + poly_order=poly_order, + tanh_gain=tanh_gain, + angle_min=float(np.min(angle)), + angle_max=float(np.max(angle)), + angle_span=float(np.max(angle) - np.min(angle)), + inertia=float(inertia), + viscous_damping=float(viscous_damping), + coulomb_friction=float(coulomb_friction), + gravity_gain=float(gravity_gain), + gravity_phase=float(gravity_phase), + gravity_phase_deg=float(math.degrees(gravity_phase)), + gravity_zero_crossing=float(-gravity_phase), + gravity_zero_crossing_deg=float(math.degrees(-gravity_phase)), + torque_bias=0.0, + rmse=rmse, + mae=mae, + r2=r2, + design_condition=float(np.linalg.cond(regressors)), + shooting_window=float("nan"), + segment_count=1, + optimizer_nfev=0, + optimizer_status=0, + optimizer_success=True, + optimizer_message="linear least squares", + ) + + +def fit_fixed_gravity_graybox( + angle: np.ndarray, + velocity: np.ndarray, + acceleration: np.ndarray, + tau_ff: np.ndarray, + signal_name: str, + dt: float, + window_length: int, + poly_order: int, + tanh_gain: float, + gravity_gain: float, + gravity_phase: float, +) -> GrayboxFitResult: + gravity_term = gravity_gain * np.sin(angle + gravity_phase) + regressors = np.column_stack( + [ + acceleration, + velocity, + np.tanh(tanh_gain * velocity), + ] + ) + + coefficients, _, _, _ = np.linalg.lstsq(regressors, tau_ff - gravity_term, rcond=None) + prediction = regressors @ coefficients + gravity_term + + inertia, viscous_damping, coulomb_friction = coefficients.tolist() + + rmse, mae, r2 = compute_metrics(tau_ff, prediction) + + return GrayboxFitResult( + fit_mode="linear", + signal_name=signal_name, + residual_name=signal_name, + gravity_mode="fixed", + sample_count=int(tau_ff.size), + dt=dt, + window_length=window_length, + poly_order=poly_order, + tanh_gain=tanh_gain, + angle_min=float(np.min(angle)), + angle_max=float(np.max(angle)), + angle_span=float(np.max(angle) - np.min(angle)), + inertia=float(inertia), + viscous_damping=float(viscous_damping), + coulomb_friction=float(coulomb_friction), + gravity_gain=float(gravity_gain), + gravity_phase=float(gravity_phase), + gravity_phase_deg=float(math.degrees(gravity_phase)), + gravity_zero_crossing=float(-gravity_phase), + gravity_zero_crossing_deg=float(math.degrees(-gravity_phase)), + torque_bias=0.0, + rmse=rmse, + mae=mae, + r2=r2, + design_condition=float(np.linalg.cond(regressors)), + shooting_window=float("nan"), + segment_count=1, + optimizer_nfev=0, + optimizer_status=0, + optimizer_success=True, + optimizer_message="linear least squares", + ) + + +def build_ode_segments( + elapsed: np.ndarray, + angle: np.ndarray, + velocity: np.ndarray, + tau_ff: np.ndarray, + shooting_window: float, + dt: float, +) -> list[OdeSegment]: + segment_samples = max(2, int(round(shooting_window / dt)) + 1) + segments: list[OdeSegment] = [] + start = 0 + while start < angle.size - 1: + stop = min(start + segment_samples, angle.size) + if stop - start < 2: + break + elapsed_segment = elapsed[start:stop] + segments.append( + OdeSegment( + dt=np.diff(elapsed_segment), + angle=angle[start:stop], + velocity=velocity[start:stop], + tau=tau_ff[start:stop], + ) + ) + if stop == angle.size: + break + start = stop - 1 + return segments + + +def build_ode_initial_guess( + angle: np.ndarray, + velocity: np.ndarray, + tau_ff: np.ndarray, + tanh_gain: float, + fixed_gravity_gain: float | None, + fixed_gravity_phase: float | None, +) -> tuple[np.ndarray, np.ndarray, np.ndarray]: + tanh_velocity = np.tanh(tanh_gain * velocity) + tau_scale = max(1.0, float(np.percentile(np.abs(tau_ff), 95))) + velocity_scale = max(1e-3, float(np.percentile(np.abs(velocity), 95))) + damping_upper = max(10.0, 50.0 * tau_scale / velocity_scale) + friction_upper = max(10.0, 10.0 * tau_scale) + gravity_upper = max(10.0, 10.0 * tau_scale) + bias_limit = max(10.0, 5.0 * tau_scale) + + if fixed_gravity_gain is None: + regressors = np.column_stack( + [ + velocity, + tanh_velocity, + np.sin(angle), + np.cos(angle), + np.ones_like(angle), + ] + ) + coefficients, _, _, _ = np.linalg.lstsq(regressors, tau_ff, rcond=None) + damping0, friction0, gravity_sin0, gravity_cos0, bias0 = coefficients.tolist() + gravity_gain0 = math.hypot(gravity_sin0, gravity_cos0) + gravity_phase0 = math.atan2(gravity_cos0, gravity_sin0) + x0 = np.array( + [ + 0.01, + abs(damping0), + abs(friction0), + max(1e-6, gravity_gain0), + gravity_phase0, + bias0, + ], + dtype=float, + ) + lower = np.array([1e-6, 0.0, 0.0, 0.0, -4.0 * math.pi, -bias_limit], dtype=float) + upper = np.array( + [10.0, damping_upper, friction_upper, gravity_upper, 4.0 * math.pi, bias_limit], + dtype=float, + ) + return np.clip(x0, lower, upper), lower, upper + + gravity_term = fixed_gravity_gain * np.sin(angle + fixed_gravity_phase) + regressors = np.column_stack([velocity, tanh_velocity, np.ones_like(angle)]) + coefficients, _, _, _ = np.linalg.lstsq(regressors, tau_ff - gravity_term, rcond=None) + damping0, friction0, bias0 = coefficients.tolist() + x0 = np.array([0.01, abs(damping0), abs(friction0), bias0], dtype=float) + lower = np.array([1e-6, 0.0, 0.0, -bias_limit], dtype=float) + upper = np.array([10.0, damping_upper, friction_upper, bias_limit], dtype=float) + return np.clip(x0, lower, upper), lower, upper + + +def unpack_ode_parameters( + parameters: np.ndarray, + fixed_gravity_gain: float | None, + fixed_gravity_phase: float | None, +) -> tuple[float, float, float, float, float, float]: + if fixed_gravity_gain is None: + inertia, viscous_damping, coulomb_friction, gravity_gain, gravity_phase, torque_bias = ( + parameters.tolist() + ) + return ( + float(inertia), + float(viscous_damping), + float(coulomb_friction), + float(gravity_gain), + float(gravity_phase), + float(torque_bias), + ) + + inertia, viscous_damping, coulomb_friction, torque_bias = parameters.tolist() + return ( + float(inertia), + float(viscous_damping), + float(coulomb_friction), + float(fixed_gravity_gain), + float(fixed_gravity_phase), + float(torque_bias), + ) + + +def simulate_segment_angle( + segment: OdeSegment, + inertia: float, + viscous_damping: float, + coulomb_friction: float, + gravity_gain: float, + gravity_phase: float, + tanh_gain: float, + torque_bias: float, +) -> np.ndarray: + def angular_acceleration(theta: float, omega: float, tau: float) -> float: + return ( + tau + + torque_bias + - viscous_damping * omega + - coulomb_friction * math.tanh(tanh_gain * omega) + - gravity_gain * math.sin(theta + gravity_phase) + ) / inertia + + predicted = np.empty_like(segment.angle) + theta = float(segment.angle[0]) + omega = float(segment.velocity[0]) + predicted[0] = theta + + for index, delta_t in enumerate(segment.dt): + tau0 = float(segment.tau[index]) + tau1 = float(segment.tau[index + 1]) + tau_mid = 0.5 * (tau0 + tau1) + + k1_theta = omega + k1_omega = angular_acceleration(theta, omega, tau0) + + theta_k2 = theta + 0.5 * delta_t * k1_theta + omega_k2 = omega + 0.5 * delta_t * k1_omega + k2_theta = omega_k2 + k2_omega = angular_acceleration(theta_k2, omega_k2, tau_mid) + + theta_k3 = theta + 0.5 * delta_t * k2_theta + omega_k3 = omega + 0.5 * delta_t * k2_omega + k3_theta = omega_k3 + k3_omega = angular_acceleration(theta_k3, omega_k3, tau_mid) + + theta_k4 = theta + delta_t * k3_theta + omega_k4 = omega + delta_t * k3_omega + k4_theta = omega_k4 + k4_omega = angular_acceleration(theta_k4, omega_k4, tau1) + + theta += (delta_t / 6.0) * (k1_theta + 2.0 * k2_theta + 2.0 * k3_theta + k4_theta) + omega += (delta_t / 6.0) * (k1_omega + 2.0 * k2_omega + 2.0 * k3_omega + k4_omega) + predicted[index + 1] = theta + + return predicted + + +def simulate_shooting_prediction( + segments: list[OdeSegment], + inertia: float, + viscous_damping: float, + coulomb_friction: float, + gravity_gain: float, + gravity_phase: float, + tanh_gain: float, + torque_bias: float, +) -> tuple[np.ndarray, np.ndarray]: + measured_parts: list[np.ndarray] = [] + predicted_parts: list[np.ndarray] = [] + for segment in segments: + predicted = simulate_segment_angle( + segment, + inertia, + viscous_damping, + coulomb_friction, + gravity_gain, + gravity_phase, + tanh_gain, + torque_bias, + ) + measured_parts.append(segment.angle[1:]) + predicted_parts.append(predicted[1:]) + return np.concatenate(measured_parts), np.concatenate(predicted_parts) + + +def fit_ode_angle_graybox( + elapsed: np.ndarray, + angle: np.ndarray, + velocity: np.ndarray, + tau_ff: np.ndarray, + signal_name: str, + dt: float, + window_length: int, + poly_order: int, + tanh_gain: float, + shooting_window: float, + ode_max_nfev: int, + fixed_gravity_gain: float | None, + fixed_gravity_phase: float | None, +) -> GrayboxFitResult: + segments = build_ode_segments(elapsed, angle, velocity, tau_ff, shooting_window, dt) + if not segments: + raise ValueError("Too few samples remain to build ODE shooting segments.") + + x0, lower, upper = build_ode_initial_guess( + angle, velocity, tau_ff, tanh_gain, fixed_gravity_gain, fixed_gravity_phase + ) + + def residual_function(parameters: np.ndarray) -> np.ndarray: + ( + inertia, + viscous_damping, + coulomb_friction, + gravity_gain, + gravity_phase, + torque_bias, + ) = unpack_ode_parameters(parameters, fixed_gravity_gain, fixed_gravity_phase) + measured, predicted = simulate_shooting_prediction( + segments, + inertia, + viscous_damping, + coulomb_friction, + gravity_gain, + gravity_phase, + tanh_gain, + torque_bias, + ) + return predicted - measured + + optimization = least_squares( + residual_function, + x0, + bounds=(lower, upper), + method="trf", + x_scale=np.maximum(np.abs(x0), 1e-3), + max_nfev=ode_max_nfev, + ) + + ( + inertia, + viscous_damping, + coulomb_friction, + gravity_gain, + gravity_phase, + torque_bias, + ) = unpack_ode_parameters( + optimization.x, fixed_gravity_gain, fixed_gravity_phase + ) + measured_angle, predicted_angle = simulate_shooting_prediction( + segments, + inertia, + viscous_damping, + coulomb_friction, + gravity_gain, + gravity_phase, + tanh_gain, + torque_bias, + ) + rmse, mae, r2 = compute_metrics(measured_angle, predicted_angle) + + return GrayboxFitResult( + fit_mode="ode-angle", + signal_name=signal_name, + residual_name="angle", + gravity_mode="fixed" if fixed_gravity_gain is not None else "free", + sample_count=int(angle.size), + dt=dt, + window_length=window_length, + poly_order=poly_order, + tanh_gain=tanh_gain, + angle_min=float(np.min(angle)), + angle_max=float(np.max(angle)), + angle_span=float(np.max(angle) - np.min(angle)), + inertia=float(inertia), + viscous_damping=float(viscous_damping), + coulomb_friction=float(coulomb_friction), + gravity_gain=float(gravity_gain), + gravity_phase=float(gravity_phase), + gravity_phase_deg=float(math.degrees(gravity_phase)), + gravity_zero_crossing=float(-gravity_phase), + gravity_zero_crossing_deg=float(math.degrees(-gravity_phase)), + torque_bias=float(torque_bias), + rmse=rmse, + mae=mae, + r2=r2, + design_condition=float("nan"), + shooting_window=shooting_window, + segment_count=len(segments), + optimizer_nfev=int(optimization.nfev), + optimizer_status=int(optimization.status), + optimizer_success=bool(optimization.success), + optimizer_message=str(optimization.message), + ) + + +def print_fit(result: GrayboxFitResult, label: str) -> None: + print(f"{label}:") + print(f" fit mode: {result.fit_mode}") + print(f" signal: {result.signal_name}") + print(f" residual: {result.residual_name}") + print(f" gravity mode: {result.gravity_mode}") + print(f" samples: {result.sample_count}") + print( + " angle span: " + f"[{result.angle_min:.6f}, {result.angle_max:.6f}] rad " + f"({math.degrees(result.angle_span):.2f} deg)" + ) + print( + " model: " + f"{result.inertia:.6f} * theta_dd + {result.viscous_damping:.6f} * theta_d " + f"+ {result.coulomb_friction:.6f} * tanh({result.tanh_gain:.1f} * theta_d) " + f"+ {result.gravity_gain:.6f} * sin(theta {'+' if result.gravity_phase >= 0.0 else '-'} " + f"{abs(result.gravity_phase):.6f}) = tau_ff" + ) + print(f" J: {result.inertia:.6f}") + print(f" B: {result.viscous_damping:.6f}") + print(f" Fc: {result.coulomb_friction:.6f}") + print(f" G: {result.gravity_gain:.6f}") + print( + f" phi: {result.gravity_phase:.6f} rad ({result.gravity_phase_deg:.2f} deg)" + ) + print( + " gravity zero crossing (-phi): " + f"{result.gravity_zero_crossing:.6f} rad " + f"({result.gravity_zero_crossing_deg:.2f} deg)" + ) + if result.fit_mode == "ode-angle": + print( + f" shooting window: {result.shooting_window:.3f} s " + f"({result.segment_count} segments)" + ) + print(f" torque bias: {result.torque_bias:.6f}") + print( + " optimizer: " + f"success={result.optimizer_success}, " + f"status={result.optimizer_status}, " + f"nfev={result.optimizer_nfev}" + ) + print(f" Angle RMSE: {result.rmse:.6f}") + print(f" Angle MAE: {result.mae:.6f}") + else: + print(f" RMSE: {result.rmse:.6f}") + print(f" MAE: {result.mae:.6f}") + print(f" R^2: {result.r2:.6f}") + if math.isfinite(result.design_condition): + print(f" design condition: {result.design_condition:.3f}") + + +def print_warnings(result: GrayboxFitResult) -> None: + warnings: list[str] = [] + if result.inertia <= 0.0: + warnings.append("identified inertia J is non-positive") + if result.viscous_damping < 0.0: + warnings.append("identified viscous damping B is negative") + if result.coulomb_friction < 0.0: + warnings.append("identified Coulomb friction Fc is negative") + if math.degrees(result.angle_span) < 90.0: + warnings.append("angle coverage is below 90 deg, so gravity phase may be weakly observable") + if result.fit_mode == "linear": + if result.design_condition > 100.0: + warnings.append("regression matrix is ill-conditioned; parameters may be sensitive to noise") + if math.isfinite(result.r2) and result.r2 < 0.7: + warnings.append("R^2 is modest; derivative noise or model mismatch may still dominate") + else: + if not result.optimizer_success: + warnings.append(f"optimizer did not report success: {result.optimizer_message}") + if abs(result.torque_bias) > max(0.1, 0.2 * result.gravity_gain): + warnings.append("identified torque bias is large; input signal may have a non-zero offset") + if math.isfinite(result.r2) and result.r2 < 0.7: + warnings.append("angle-only fit is modest; excitation or gravity observability may still be weak") + + if not warnings: + return + + print("Warnings:") + for item in warnings: + print(f" - {item}") + + +def main() -> int: + args = parse_args() + validate_args(args) + + rows, fieldnames = read_rows(args.csv_path) + if not rows: + raise ValueError("CSV file is empty.") + + target = args.target if args.target is not None else infer_target(fieldnames) + columns = require_columns(fieldnames, target) + + elapsed = np.array([float(row[columns["elapsed_s"]]) for row in rows], dtype=float) + angle = np.array([float(row[columns["angle"]]) for row in rows], dtype=float) + velocity = np.array([float(row[columns["velocity"]]) for row in rows], dtype=float) + control_torque = np.array([float(row[columns["control_torque"]]) for row in rows], dtype=float) + measured_torque = np.array([float(row[columns["torque"]]) for row in rows], dtype=float) + + if elapsed.size <= args.window_length: + raise ValueError("Too few samples for the requested Savitzky-Golay window length.") + + dt = float(np.median(np.diff(elapsed))) + if not math.isfinite(dt) or dt <= 0.0: + raise ValueError("Failed to determine a valid time step from elapsed_s.") + + half_window = args.window_length // 2 + velocity_smooth = savitzky_golay( + velocity, dt, args.window_length, args.poly_order, deriv=0 + ) + + center_slice = slice(half_window, elapsed.size - half_window) + elapsed_valid = elapsed[center_slice] + angle_valid = np.unwrap(angle[center_slice]) + control_torque_valid = control_torque[center_slice] + measured_torque_valid = measured_torque[center_slice] + + mask = np.ones_like(elapsed_valid, dtype=bool) + if args.trim_start > 0.0: + mask &= elapsed_valid >= args.trim_start + if args.trim_end > 0.0: + mask &= elapsed_valid <= elapsed_valid[-1] - args.trim_end + + if int(np.count_nonzero(mask)) < 10: + raise ValueError("Too few samples remain after trimming.") + + elapsed_fit = elapsed_valid[mask] + angle_fit = angle_valid[mask] + velocity_fit = velocity_smooth[mask] + control_torque_fit = control_torque_valid[mask] + measured_torque_fit = measured_torque_valid[mask] + + primary_signal = ( + control_torque_fit if args.input_signal == "control_torque" else measured_torque_fit + ) + primary_signal_name = columns[args.input_signal] + reference_signal = ( + measured_torque_fit if args.input_signal == "control_torque" else control_torque_fit + ) + reference_signal_name = ( + columns["torque"] if args.input_signal == "control_torque" else columns["control_torque"] + ) + + if args.fit_mode == "linear": + acceleration = savitzky_golay( + velocity, dt, args.window_length, args.poly_order, deriv=1 + ) + acceleration_fit = acceleration[mask] + fit_function = fit_linear_graybox + fit_kwargs: dict[str, float] = {} + if args.fixed_gravity_gain is not None: + fit_function = fit_fixed_gravity_graybox + fit_kwargs = { + "gravity_gain": args.fixed_gravity_gain, + "gravity_phase": args.fixed_gravity_phase, + } + + primary_fit = fit_function( + angle_fit, + velocity_fit, + acceleration_fit, + primary_signal, + primary_signal_name, + dt, + args.window_length, + args.poly_order, + args.tanh_gain, + **fit_kwargs, + ) + reference_fit = fit_function( + angle_fit, + velocity_fit, + acceleration_fit, + reference_signal, + reference_signal_name, + dt, + args.window_length, + args.poly_order, + args.tanh_gain, + **fit_kwargs, + ) + else: + primary_fit = fit_ode_angle_graybox( + elapsed_fit, + angle_fit, + velocity_fit, + primary_signal, + primary_signal_name, + dt, + args.window_length, + args.poly_order, + args.tanh_gain, + args.shooting_window, + args.ode_max_nfev, + args.fixed_gravity_gain, + args.fixed_gravity_phase, + ) + reference_fit = fit_ode_angle_graybox( + elapsed_fit, + angle_fit, + velocity_fit, + reference_signal, + reference_signal_name, + dt, + args.window_length, + args.poly_order, + args.tanh_gain, + args.shooting_window, + args.ode_max_nfev, + args.fixed_gravity_gain, + args.fixed_gravity_phase, + ) + + print(f"CSV: {args.csv_path}") + print(f"Target: {target}") + print(f"Rows loaded: {len(rows)}") + print(f"Rows used: {primary_fit.sample_count}") + print(f"Median dt: {dt:.6f} s") + print(f"Fit mode: {args.fit_mode}") + if args.fit_mode == "linear": + print( + f"Savitzky-Golay: window_length={args.window_length}, poly_order={args.poly_order}, " + f"source={columns['velocity']}" + ) + else: + print( + "Velocity smoothing: " + f"window_length={args.window_length}, poly_order={args.poly_order}, " + f"source={columns['velocity']}" + ) + print( + "ODE multiple shooting: " + f"window={args.shooting_window:.3f} s, max_nfev={args.ode_max_nfev}" + ) + if args.fixed_gravity_gain is not None: + print( + "Fixed gravity: " + f"G={args.fixed_gravity_gain:.6f}, phi={args.fixed_gravity_phase:.6f} rad" + ) + if args.trim_start > 0.0 or args.trim_end > 0.0: + print(f"Trim: start={args.trim_start:.3f} s, end={args.trim_end:.3f} s") + print_fit(primary_fit, "Primary fit") + print_fit(reference_fit, "Reference fit") + print_warnings(primary_fit) + print("Suggested params:") + print(f" inertia: {primary_fit.inertia:.6f}") + print(f" viscous_damping: {primary_fit.viscous_damping:.6f}") + print(f" coulomb_friction: {primary_fit.coulomb_friction:.6f}") + print(f" gravity_gain: {primary_fit.gravity_gain:.6f}") + print(f" gravity_phase: {primary_fit.gravity_phase:.6f}") + if args.fit_mode == "ode-angle": + print("Nuisance params:") + print(f" torque_bias: {primary_fit.torque_bias:.6f}") + + if args.json_output is not None: + args.json_output.parent.mkdir(parents=True, exist_ok=True) + payload = { + "csv_path": str(args.csv_path), + "target": target, + "input_signal": args.input_signal, + "fit_mode": args.fit_mode, + "rows_total": len(rows), + "rows_used": primary_fit.sample_count, + "dt": dt, + "window_length": args.window_length, + "poly_order": args.poly_order, + "tanh_gain": args.tanh_gain, + "trim_start": args.trim_start, + "trim_end": args.trim_end, + "shooting_window": args.shooting_window, + "ode_max_nfev": args.ode_max_nfev, + "fixed_gravity_gain": args.fixed_gravity_gain, + "fixed_gravity_phase": args.fixed_gravity_phase, + "primary_fit": asdict(primary_fit), + "reference_fit": asdict(reference_fit), + } + args.json_output.write_text(json.dumps(payload, indent=2) + "\n") + + return 0 + + +if __name__ == "__main__": + try: + raise SystemExit(main()) + except ValueError as error: + print(f"error: {error}", file=sys.stderr) + raise SystemExit(2) diff --git a/.script/local-context b/.script/local-context new file mode 100755 index 000000000..af72cd280 --- /dev/null +++ b/.script/local-context @@ -0,0 +1,84 @@ +#!/usr/bin/env bash + +set -euo pipefail + +TOPIC="/rmcs_navigation/context/mock" + +usage() { + cat <<'EOF' +Usage: local-context + +key: + game_stage | robot_health | robot_bullet + +value: + - game_stage: not_start | preparation | referee_check | countdown | started | settling | unknown + (also accepts 0..5 and 255) + - others: integer + +Examples: + local-context game_stage started + local-context game_stage 4 + local-context robot_health 350 +EOF +} + +if [[ $# -ne 2 ]]; then + usage + exit 1 +fi + +key="$1" +raw_value="$2" + +case "$key" in +game_stage | robot_health | robot_bullet) ;; +*) + echo "Invalid key: ${key}" >&2 + usage + exit 1 + ;; +esac + +value="$raw_value" +if [[ "$key" == "game_stage" ]]; then + normalized="${raw_value,,}" + case "$normalized" in + not_start) value=0 ;; + preparation) value=1 ;; + referee_check) value=2 ;; + countdown) value=3 ;; + started) value=4 ;; + settling) value=5 ;; + unknown) value=255 ;; + *) + if [[ "$normalized" =~ ^[0-9]+$ ]]; then + value="$normalized" + else + echo "Invalid game_stage value: ${raw_value}" >&2 + usage + exit 1 + fi + ;; + esac + + if ((value < 0 || (value > 5 && value != 255))); then + echo "game_stage out of range: ${value} (expected 0..5 or 255)" >&2 + exit 1 + fi +else + if ! [[ "$raw_value" =~ ^[0-9]+$ ]]; then + echo "${key} must be an integer: ${raw_value}" >&2 + exit 1 + fi +fi + +payload="${key}: ${value}" +echo "[local-context] key: ${key}" +echo "[local-context] value: ${value}" +echo "[local-context] topic: ${TOPIC}" +echo "[local-context] payload(to publish): ${payload}" + +ros2 topic pub -1 "$TOPIC" std_msgs/msg/String "{data: '${payload}'}" + +echo "Published ${key}=${value} to local topic ${TOPIC}" diff --git a/.script/remote-context b/.script/remote-context new file mode 100755 index 000000000..4ffaf264c --- /dev/null +++ b/.script/remote-context @@ -0,0 +1,10 @@ +#!/usr/bin/env bash + +set -euo pipefail + +SCRIPT_DIR="$(dirname "$(readlink -f "$0")")" + +{ + printf 'source /root/env_setup.bash\n' + cat "${SCRIPT_DIR}/local-context" +} | ssh remote bash -s -- "$@" diff --git a/.script/remote-status b/.script/remote-status index f5805e05c..c7461321e 100755 --- a/.script/remote-status +++ b/.script/remote-status @@ -31,7 +31,7 @@ call_status_service() { return fi - printf "=== %s ===\n" "$service" + printf "Robot Status [%s]:\n\n" "$service" local raw raw="$(ros2 service call "$service" std_srvs/srv/Trigger "{}" 2>&1 || true)" diff --git a/.script/rmcs-cli b/.script/rmcs-cli new file mode 100755 index 000000000..92c281754 --- /dev/null +++ b/.script/rmcs-cli @@ -0,0 +1,220 @@ +#!/usr/bin/env python3 +"""rmcs-cli - RMCS 开发工作流管理器""" + +import subprocess +import sys +import os +import termios +import tty +import select +import time + +SESSION = "rmcs-cli" +RMCS_PATH = os.getenv("RMCS_PATH", "/workspaces/RMCS") +SCRIPT_DIR = os.path.join(RMCS_PATH, ".script") + +# 运行时由 setup_tmux 填充 +_pane_control = None +_pane_build = None +_pane_sync = None +_pane_remote = None + + +def log(msg): + print(msg, flush=True) + + +def run_cmd(cmd): + return subprocess.run(cmd, shell=True).returncode + + +def _list_pane_ids(): + result = subprocess.run( + ["tmux", "list-panes", "-t", SESSION, "-F", "#{pane_id}"], + capture_output=True, text=True + ) + return result.stdout.strip().split("\n") + + +def send_pane(pane_id, cmd): + subprocess.run(["tmux", "send-keys", "-t", pane_id, cmd, "Enter"]) + + +def setup_tmux(): + global _pane_control, _pane_build, _pane_sync, _pane_remote + + result = subprocess.run( + ["tmux", "has-session", "-t", SESSION], + capture_output=True + ) + if result.returncode == 0: + subprocess.run(["tmux", "attach", "-t", SESSION]) + sys.exit(0) + + subprocess.run([ + "tmux", "new-session", "-d", "-s", SESSION, + "-x", "160", "-y", "40" + ]) + + first_pane = _list_pane_ids()[0] + + # 左右分割 + subprocess.run(["tmux", "split-window", "-h", "-t", first_pane]) + time.sleep(0.1) + panes = _list_pane_ids() + + # 左边上下分割 + subprocess.run(["tmux", "split-window", "-v", "-t", panes[0]]) + time.sleep(0.1) + + # 右边上下分割 (原始右半 pane) + subprocess.run(["tmux", "split-window", "-v", "-t", panes[1]]) + time.sleep(0.1) + + # 布局: [0]=左上(控制) [1]=左下(同步) [2]=右上(编译) [3]=右下(远程) + final = _list_pane_ids() + _pane_control = final[0] + _pane_sync = final[1] + _pane_build = final[2] + _pane_remote = final[3] + + +def cleanup(): + subprocess.run(["tmux", "kill-session", "-t", SESSION]) + + +def workflow(): + log("▸ 编译中...") + send_pane(_pane_build, f"cd {RMCS_PATH} && .script/build-rmcs") + + log(" 等待编译完成...") + while True: + result = subprocess.run( + ["tmux", "capture-pane", "-t", _pane_build, "-p"], + capture_output=True, text=True + ) + if "Summary:" in result.stdout or "failed" in result.stdout: + break + time.sleep(1) + + if "failed" in result.stdout: + log("✗ 编译失败") + return + + log(" 完成") + + log("▸ 等待同步...") + if run_cmd(f"{SCRIPT_DIR}/wait-sync") != 0: + log("✗ 同步失败") + return + log(" 完成") + + log("▸ 部署中...") + send_pane(_pane_remote, f"{SCRIPT_DIR}/attach-remote -r") + log(" 已发送到远程窗格") + + +def read_key(): + if select.select([sys.stdin], [], [], 0.1)[0]: + return sys.stdin.read(1) + return None + + +def main(): + if run_cmd("which tmux") != 0: + sys.exit("错误: 未找到 tmux") + + if os.environ.get("RMCS_CLI") == "1": + run_control_panel() + else: + launch_session() + + +def launch_session(): + setup_tmux() + + # 在控制面板窗格中重新运行自己 + subprocess.run([ + "tmux", "send-keys", "-t", _pane_control, + f"cd {RMCS_PATH} && RMCS_CLI=1 {__file__}", "Enter" + ]) + + subprocess.run(["tmux", "select-pane", "-t", _pane_control]) + subprocess.run(["tmux", "attach", "-t", SESSION]) + + +def run_control_panel(): + global _pane_control, _pane_build, _pane_sync, _pane_remote + + time.sleep(0.5) + + # 从环境恢复 pane ID (launch_session 设置后，窗格已知) + panes = _list_pane_ids() + _pane_control = panes[0] + _pane_sync = panes[1] + _pane_build = panes[2] + _pane_remote = panes[3] + + # 自动启动 sync-remote + send_pane(_pane_sync, f"cd {RMCS_PATH} && .script/sync-remote") + log("同步已在后台启动") + log("") + log("rmcs-cli v0.1.0") + log("") + log(" 命令") + log(" r 编译 -> 同步 -> 部署") + log(" b 仅编译") + log(" s 仅同步") + log(" a 仅部署") + log(" q 退出") + log("") + + fd = sys.stdin.fileno() + old_settings = termios.tcgetattr(fd) + try: + tty.setraw(fd) + while True: + key = read_key() + if key is None: + continue + + if key == "r": + termios.tcsetattr(fd, termios.TCSADRAIN, old_settings) + workflow() + tty.setraw(fd) + + elif key == "b": + termios.tcsetattr(fd, termios.TCSADRAIN, old_settings) + log("▸ 编译中...") + send_pane(_pane_build, f"cd {RMCS_PATH} && .script/build-rmcs") + tty.setraw(fd) + + elif key == "s": + termios.tcsetattr(fd, termios.TCSADRAIN, old_settings) + log("▸ 重新启动同步...") + subprocess.run(["tmux", "send-keys", "-t", _pane_sync, "C-c"]) + time.sleep(0.3) + send_pane(_pane_sync, f"cd {RMCS_PATH} && .script/sync-remote") + tty.setraw(fd) + + elif key == "a": + termios.tcsetattr(fd, termios.TCSADRAIN, old_settings) + log("▸ 重新部署...") + subprocess.run( + ["tmux", "send-keys", "-t", _pane_remote, "C-c"]) + time.sleep(0.3) + send_pane(_pane_remote, f"{SCRIPT_DIR}/attach-remote -r") + tty.setraw(fd) + + elif key in ("q", "\x03"): + termios.tcsetattr(fd, termios.TCSADRAIN, old_settings) + log("退出中...") + cleanup() + break + + finally: + termios.tcsetattr(fd, termios.TCSADRAIN, old_settings) + + +if __name__ == "__main__": + main() diff --git a/.script/scan-remote b/.script/scan-remote index 65973bfb7..3e752f5d4 100755 --- a/.script/scan-remote +++ b/.script/scan-remote @@ -6,6 +6,7 @@ import json import os import re import select +import shutil import socket import subprocess import sys @@ -18,10 +19,10 @@ from colorama import Fore, Style SSH_PORT = 2022 SSH_USER = "root" -CONNECT_TIMEOUT = 0.25 +CONNECT_TIMEOUT = 0.75 BANNER_TIMEOUT = 0.35 SSH_PROBE_TIMEOUT = 2.0 -DEFAULT_192_168_SEGMENTS = range(1, 11) +DEFAULT_SCAN_SEGMENTS = range(1, 6) SKIP_PREFIXES = ("lo", "docker", "br-", "veth", "zt", "tailscale") SPINNER_FRAMES = "⠋⠙⠹⠸⠼⠴⠦⠧⠇⠏" REFRESH_INTERVAL = 0.08 @@ -48,47 +49,41 @@ class RawTerminal: def __exit__(self, *_): termios.tcsetattr(self._fd, termios.TCSANOW, self._old) + _SIMPLE_KEYS = { + b"\r": "enter", b"\n": "enter", + b"\t": "next", b"s": "next", b"S": "next", b"\x0e": "next", + b"w": "prev", b"W": "prev", b"\x10": "prev", + b"\x7f": "backspace", b"\x08": "backspace", + } + _ESCAPE_DIRS = {b"A": "prev", b"B": "next", b"Z": "prev"} + @staticmethod def read_key(): + if not RawTerminal.key_ready(0.02): + return None raw = sys.stdin.buffer.raw.read(1) - if raw == b"\x03": - raise KeyboardInterrupt - if raw in (b"\r", b"\n"): - return "enter" - if raw == b"\t": - return "next" - if raw in (b"w", b"W"): - return "prev" - if raw in (b"s", b"S"): - return "next" - if raw == b"\x0e": - return "next" - if raw == b"\x10": - return "prev" - if raw in (b"\x7f", b"\x08"): - return "backspace" - if raw == b"\x1b": - if not RawTerminal.key_ready(0.02): - return "quit" - nxt = sys.stdin.buffer.raw.read(1) - if nxt != b"[": - return "escape" - if not RawTerminal.key_ready(0.02): - return "escape" - direction = sys.stdin.buffer.raw.read(1) - if direction == b"A": - return "prev" - if direction == b"B": - return "next" - if direction == b"Z": - return "prev" - return "escape" if raw in (b"q", b"Q"): - return "quit" + os._exit(130) + if raw in RawTerminal._SIMPLE_KEYS: + return RawTerminal._SIMPLE_KEYS[raw] + if raw == b"\x1b": + return RawTerminal._read_escape() if len(raw) == 1 and 32 <= raw[0] <= 126: return raw.decode() return None + @staticmethod + def _read_escape(): + if not RawTerminal.key_ready(0.02): + os._exit(130) + nxt = sys.stdin.buffer.raw.read(1) + if nxt != b"[" or not RawTerminal.key_ready(0.02): + os._exit(130) + direction = sys.stdin.buffer.raw.read(1) + if direction in RawTerminal._ESCAPE_DIRS: + return RawTerminal._ESCAPE_DIRS[direction] + os._exit(130) + @staticmethod def key_ready(timeout): ready, _, _ = select.select([sys.stdin], [], [], timeout) @@ -171,7 +166,8 @@ def default_networks(): if ip.is_loopback: continue - interface = ipaddress.ip_interface(f"{addr.address}/{addr.netmask}") + interface = ipaddress.ip_interface( + f"{addr.address}/{addr.netmask}") if not interface.ip.is_private: continue @@ -187,13 +183,11 @@ def default_networks(): def expanded_networks(interface): ip = interface.ip - if ip.packed[0] == 192 and ip.packed[1] == 168: - return [ - ipaddress.ip_network(f"192.168.{segment}.0/24") - for segment in DEFAULT_192_168_SEGMENTS - ] - - return [ipaddress.ip_network(f"{ip}/24", strict=False)] + prefix = ".".join(str(part) for part in ip.packed[:2]) + return [ + ipaddress.ip_network(f"{prefix}.{segment}.0/24") + for segment in DEFAULT_SCAN_SEGMENTS + ] def dedupe_networks(networks): @@ -251,7 +245,8 @@ def probe_host(host): def ssh_lookup(host): - avahi_name = ssh_run(host, "grep -E '^host-name=' /etc/avahi/avahi-daemon.conf | cut -d= -f2-") + avahi_name = ssh_run( + host, "grep -E '^host-name=' /etc/avahi/avahi-daemon.conf | cut -d= -f2-") if avahi_name: return avahi_name, "avahi" @@ -397,8 +392,8 @@ def scan_all_networks_until_selected( ) selected_result = None - - with concurrent.futures.ThreadPoolExecutor(max_workers=max_workers) as pool: + pool = concurrent.futures.ThreadPoolExecutor(max_workers=max_workers) + try: future_to_network = { pool.submit(probe_host, host): network for network, host in iter_interleaved_targets(network_targets) @@ -406,7 +401,7 @@ def scan_all_networks_until_selected( pending = set(future_to_network) while pending: - if on_key is not None and RawTerminal.key_ready(0.02): + if on_key is not None: key = RawTerminal.read_key() if key is not None: selected_result = on_key(key) @@ -444,6 +439,8 @@ def scan_all_networks_until_selected( if selected_result is not None: pool.shutdown(wait=False, cancel_futures=True) return sort_results(results), selected_result + finally: + pool.shutdown(wait=False, cancel_futures=True) return sort_results(results), None @@ -466,35 +463,6 @@ def iter_interleaved_targets(network_targets): pending = next_pending -def scan_network(network, on_progress=None, on_found=None): - targets = host_candidates([network]) - max_workers = min(128, max(8, len(targets))) - scanned = 0 - found = 0 - results = [] - - if on_progress is not None: - on_progress(network, scanned, len(targets), found, False) - - with concurrent.futures.ThreadPoolExecutor(max_workers=max_workers) as pool: - futures = [pool.submit(probe_host, host) for host in targets] - for future in concurrent.futures.as_completed(futures): - scanned += 1 - result = future.result() - if result is not None: - found += 1 - results.append(result) - if on_found is not None: - on_found(network, result) - if on_progress is not None: - on_progress(network, scanned, len(targets), found, False) - - if on_progress is not None: - on_progress(network, scanned, len(targets), found, True) - - return sort_results(results) - - def sort_results(results): return sorted( results, @@ -505,7 +473,8 @@ def sort_results(results): class ProgressView: def __init__(self, networks): self.networks = [str(network) for network in networks] - self.network_width = max((len(network) for network in self.networks), default=0) + self.network_width = max((len(network) + for network in self.networks), default=0) self.state = { network: { "scanned": 0, @@ -523,6 +492,7 @@ class ProgressView: self._thread = None self._selection = None self._prompt = None + self._interactive_render = sys.stdout.isatty() and os.getenv("TERM") != "dumb" def start(self): self._thread = threading.Thread(target=self._refresh_loop, daemon=True) @@ -552,6 +522,9 @@ class ProgressView: self.state[key]["results"].append(result) def render(self): + if not self._interactive_render: + return + with self._lock: lines = [] frame = SPINNER_FRAMES[self._frame % len(SPINNER_FRAMES)] @@ -595,15 +568,20 @@ class ProgressView: line = ( f"{TOKYO_BG} {TOKYO_ACCENT}{marker} " f"{TOKYO_IP}{result['ip']:<{result_ip_width}} " - f"{TOKYO_HOST}{result['hostname_label']:<{result_hostname_width}} " - f"{TOKYO_BANNER}{result['banner']}{Style.RESET_ALL}" + f"{TOKYO_HOST}{result['hostname_label']:<{ + result_hostname_width}} " + f"{TOKYO_BANNER}{result['banner']}{ + Style.RESET_ALL}" ) else: line = ( f" {Fore.CYAN}{marker}{Style.RESET_ALL} " - f"{Fore.GREEN}{result['ip']:<{result_ip_width}}{Style.RESET_ALL} " - f"{Fore.MAGENTA}{result['hostname_label']:<{result_hostname_width}}{Style.RESET_ALL} " - f"{Fore.LIGHTBLACK_EX}{result['banner']}{Style.RESET_ALL}" + f"{Fore.GREEN}{result['ip']:<{result_ip_width}}{ + Style.RESET_ALL} " + f"{Fore.MAGENTA}{result['hostname_label']:<{ + result_hostname_width}}{Style.RESET_ALL} " + f"{Fore.LIGHTBLACK_EX}{ + result['banner']}{Style.RESET_ALL}" ) lines.append(line) @@ -611,17 +589,38 @@ class ProgressView: lines.append("") lines.append(self._prompt) + width = max(20, shutil.get_terminal_size((120, 24)).columns) + lines = [self._fit_line(line, width) for line in lines] + if self._rendered_lines: - sys.stdout.write(f"\033[{self._rendered_lines}F") + sys.stdout.write(f"\r\033[{self._rendered_lines}A") for line in lines: - sys.stdout.write("\033[2K") + sys.stdout.write("\033[2K\r") sys.stdout.write(line) sys.stdout.write("\n") for _ in range(max(0, self._rendered_lines - len(lines))): - sys.stdout.write("\033[2K\n") + sys.stdout.write("\033[2K\r\n") sys.stdout.flush() self._rendered_lines = len(lines) + @staticmethod + def _fit_line(line, width): + result = [] + visible = 0 + index = 0 + while index < len(line) and visible < width - 1: + if line[index] == "\033": + end = line.find("m", index) + if end == -1: + break + result.append(line[index:end + 1]) + index = end + 1 + continue + result.append(line[index]) + visible += 1 + index += 1 + return "".join(result) + Style.RESET_ALL + def set_selection(self, network, ip, prompt): with self._lock: self._selection = (network, ip) @@ -639,7 +638,8 @@ class ProgressView: for network in self.networks: ordered = sorted( self.state[network]["results"], - key=lambda item: tuple(int(part) for part in item["ip"].split(".")), + key=lambda item: tuple(int(part) + for part in item["ip"].split(".")), ) for result in ordered: flattened.append((network, result)) @@ -713,92 +713,6 @@ def print_results(results, json_mode, interactive_mode): print(format_table(results)) -def interactive_select_remote(view): - candidates = view.flatten_results() - if not candidates: - return None - - selected = 0 - confirm_mode = False - confirm_buf = "" - - def render_prompt(): - network, result = candidates[selected] - if confirm_mode: - prompt = ( - f"Set {Fore.GREEN}{result['ip']}{Style.RESET_ALL} as " - f"{Fore.CYAN}remote{Style.RESET_ALL}? [Y/n] {confirm_buf}" - ) - else: - prompt = ( - "Select result with Tab/Shift+Tab/↑/↓/W/S/Ctrl+N/Ctrl+P, " - "press Enter to continue, q/Esc/Ctrl+C to exit." - ) - view.set_selection(network, result["ip"], prompt) - - def confirm_choice(): - _, result = candidates[selected] - set_remote(result["ip"]) - view.clear_prompt() - print( - f"Successfully set remote host to " - f"{Fore.LIGHTGREEN_EX}{result['ip']}{Style.RESET_ALL}." - ) - return result["ip"] - - render_prompt() - with RawTerminal(): - while True: - key = RawTerminal.read_key() - if key is None: - continue - - if confirm_mode: - if key == "enter": - answer = confirm_buf.strip().lower() - if answer in ("", "y", "yes"): - return confirm_choice() - if answer in ("n", "no"): - confirm_mode = False - confirm_buf = "" - render_prompt() - continue - if key == "backspace": - confirm_buf = confirm_buf[:-1] - render_prompt() - continue - if key == "escape": - confirm_mode = False - confirm_buf = "" - render_prompt() - continue - if key in ("next", "prev"): - confirm_mode = False - confirm_buf = "" - elif isinstance(key, str) and len(key) == 1: - confirm_buf += key - render_prompt() - continue - - if key == "next": - selected = (selected + 1) % len(candidates) - confirm_mode = False - confirm_buf = "" - render_prompt() - continue - if key == "prev": - selected = (selected - 1) % len(candidates) - confirm_mode = False - confirm_buf = "" - render_prompt() - continue - if key == "enter": - confirm_mode = True - confirm_buf = "" - render_prompt() - continue - - def interactive_scan_and_select(networks): view = ProgressView(networks) selected = {"index": 0, "key": None} @@ -825,19 +739,19 @@ def interactive_scan_and_select(networks): view.set_selection( None, None, - "Scanning... press q/Esc/Ctrl+C to exit. Selection becomes available once a result appears.", + "Scanning... press q/Esc to exit. Selection becomes available once a result appears.", ) return sync_selection(candidates) network, result = candidates[selected["index"]] - selected["key"] = (network, result["ip"]) - scan_done = all(view.state[network_name]["done"] for network_name in view.networks) + scan_done = all(view.state[network_name]["done"] + for network_name in view.networks) prompt = ( "Scan complete. Select with Tab/Shift+Tab/↑/↓/W/S/Ctrl+N/Ctrl+P, " - "press Enter to set selected remote, q/Esc/Ctrl+C to exit." + "press Enter to set selected remote, q/Esc to exit." if scan_done - else "Select with Tab/Shift+Tab/↑/↓/W/S/Ctrl+N/Ctrl+P, press Enter to set immediately, q/Esc/Ctrl+C to exit." + else "Select with Tab/Shift+Tab/↑/↓/W/S/Ctrl+N/Ctrl+P, press Enter to set immediately, q/Esc to exit." ) view.set_selection( network, @@ -846,9 +760,6 @@ def interactive_scan_and_select(networks): ) def on_key(key): - if key in ("quit", "escape"): - raise KeyboardInterrupt - candidates = view.flatten_results() if not candidates: return None @@ -876,6 +787,8 @@ def interactive_scan_and_select(networks): with RawTerminal(): while True: key = RawTerminal.read_key() + if key is None: + continue chosen = on_key(key) if chosen is not None: return chosen @@ -888,7 +801,8 @@ def interactive_scan_and_select(networks): networks, on_key=on_key, on_progress=view.update_progress, - on_found=lambda network, result: (view.add_result(network, result), render_prompt()), + on_found=lambda network, result: ( + view.add_result(network, result), render_prompt()), ) if chosen is None and results: render_prompt() @@ -931,4 +845,4 @@ if __name__ == "__main__": try: sys.exit(main(sys.argv[1:])) except KeyboardInterrupt: - sys.exit(1) + os._exit(130) diff --git a/rmcs_ws/src/rmcs_auto_aim_v2 b/rmcs_ws/src/rmcs_auto_aim_v2 new file mode 160000 index 000000000..7f8e2e3bb --- /dev/null +++ b/rmcs_ws/src/rmcs_auto_aim_v2 @@ -0,0 +1 @@ +Subproject commit 7f8e2e3bb008448347d76f4f744d505a3da780b6 diff --git a/rmcs_ws/src/rmcs_bringup/config/auto_aim_test.yaml b/rmcs_ws/src/rmcs_bringup/config/auto_aim_test.yaml new file mode 100644 index 000000000..a3b31ca3e --- /dev/null +++ b/rmcs_ws/src/rmcs_bringup/config/auto_aim_test.yaml @@ -0,0 +1,46 @@ +rmcs_executor: + ros__parameters: + update_rate: 1000.0 + components: + # - rmcs::AutoAimPlayerComponent -> auto_aim_player + - rmcs::AutoAimVideoPlayerComponent -> auto_aim_video_player + - rmcs::AutoAimRecorderComponent -> auto_aim_recorder + - rmcs::AutoAimComponent -> auto_aim_component + +auto_aim_player: + ros__parameters: + input_path: "/workspaces/data/autoaim/自家小符/" + loop_play: true + +auto_aim_video_player: + ros__parameters: + input_path: "/workspaces/data/autoaim/robot/rotate.avi" + framerate: 80.0 + loop_play: true + +auto_aim_recorder: + ros__parameters: + output_path: "/tmp/autoaim/records" + queue_depth: 16 + flush_every_n_frames: 64 + max_duration_seconds: 0 + max_videos_size_gb: 0.0 + +auto_aim_component: + ros__parameters: + dangerous_fallback: "red" + manual_shoot: false + camera_translation: [0., 0., 0.] + + fire_control: + bullet_speed: 23.5 + shoot_delay: 0.0 + offset_yaw: 0.0 + offset_pitch: 0.0 + attack_window: 120.0 + window_hysteresis: 0.2 + is_lazy_gimbal: false + attack_preaim: false + require_stable_command: true + yaw_tolerance: 0.07 + pitch_tolerance: 0.04 diff --git a/rmcs_ws/src/rmcs_bringup/config/deformable-infantry-steering.yaml b/rmcs_ws/src/rmcs_bringup/config/deformable-infantry-omni-b.yaml similarity index 56% rename from rmcs_ws/src/rmcs_bringup/config/deformable-infantry-steering.yaml rename to rmcs_ws/src/rmcs_bringup/config/deformable-infantry-omni-b.yaml index b1ec953d6..db46b0666 100644 --- a/rmcs_ws/src/rmcs_bringup/config/deformable-infantry-steering.yaml +++ b/rmcs_ws/src/rmcs_bringup/config/deformable-infantry-omni-b.yaml @@ -2,7 +2,7 @@ rmcs_executor: ros__parameters: update_rate: 1000.0 components: - - rmcs_core::hardware::DeformableInfantryV2 -> deformable_infantry + - rmcs_core::hardware::DeformableInfantryOmniB -> deformable_infantry - rmcs_core::referee::Status -> referee_status - rmcs_core::referee::Command -> referee_command @@ -21,46 +21,87 @@ rmcs_executor: - rmcs_core::controller::pid::PidController -> bullet_feeder_velocity_pid_controller - rmcs_core::controller::chassis::DeformableChassis -> chassis_controller + - rmcs_core::controller::chassis::DeformableSuspension -> deformable_suspension - rmcs_core::controller::chassis::ChassisPowerController -> chassis_power_controller - - rmcs_core::controller::chassis::DeformableChassisController -> deformable_chassis_controller + - rmcs_core::controller::chassis::DeformableOmniWheelController -> deformable_chassis_controller - rmcs_core::controller::chassis::DeformableJointController -> lf_joint_controller - rmcs_core::controller::chassis::DeformableJointController -> lb_joint_controller - rmcs_core::controller::chassis::DeformableJointController -> rb_joint_controller - rmcs_core::controller::chassis::DeformableJointController -> rf_joint_controller + - rmcs::AutoAimComponent -> auto_aim_component + - rmcs::AutoAimCapturerComponent -> auto_aim_capturer + - rmcs_core::referee::app::ui::AutoAimUi -> auto_aim_ui + # - rmcs_core::broadcaster::ValueBroadcaster -> value_broadcaster + # - rmcs_core::debug::ValueCollector -> value_collector + +value_collector: + ros__parameters: + csv_path: "/tmp/pitch_.csv" + signals: + - /gimbal/pitch/angle + - /gimbal/pitch/velocity + - /gimbal/pitch/velocity_imu + - /gimbal/pitch/angle_error + - /gimbal/pitch/control_torque + - /gimbal/pitch/control_velocity + write_interval: 5 + flush_interval: 1000 value_broadcaster: ros__parameters: forward_list: - - /chassis/left_front_joint/torque - - /chassis/left_back_joint/torque - - /chassis/right_front_joint/torque - - /chassis/right_back_joint/torque - - /chassis/left_front_joint/suspension_mode - - /chassis/left_back_joint/suspension_mode - - /chassis/right_front_joint/suspension_mode - - /chassis/right_back_joint/suspension_mode - - /chassis/left_front_joint/suspension_torque - - /chassis/left_back_joint/suspension_torque - - /chassis/right_front_joint/suspension_torque - - /chassis/right_back_joint/suspension_torque - - /chassis/left_front_joint/control_torque - - /chassis/left_back_joint/control_torque - - /chassis/right_front_joint/control_torque - - /chassis/right_back_joint/control_torque + - /gimbal/pitch/angle + - /gimbal/pitch/velocity + +auto_aim_capturer: + ros__parameters: + camera_name: "" + exposure_us: 2000.0 + gain: 8.0 + framerate: 120.0 + invert_image: false + rls_tau_sec: 10.0 + use_hardware_sync: false + delay_ms: 6.5 + +auto_aim_component: + ros__parameters: + # WARN: 危险！可选 red | blue，生效后裁判系统 ID 缺席时 + # 将强行绑定为对应阵营哨兵，仅供调试，严禁比赛启用。 + # 留空或填 unknow 表示禁用。 + dangerous_fallback: "" + manual_shoot: true + camera_translation: [0.058, -0.08, 0.0] + fire_control: + bullet_speed: 22.5 + shoot_delay: 0.1 + offset_yaw: -0.0 + offset_pitch: +0.0 + attack_window: 120.0 + window_hysteresis: 0.2 + is_lazy_gimbal: false + attack_preaim: false + require_stable_command: false + yaw_tolerance: 0.07 + pitch_tolerance: 0.04 + +auto_aim_ui: + ros__parameters: + offset_x: 0.0 + offset_y: -0.08 + offset_z: 0.0 deformable_infantry: ros__parameters: - serial_filter_rmcs_board: "AF-23FB-EE32-B892-1302-AE70-D640-7B4E-0CBF" - serial_filter_top_board: "AF-ABAC-786D-1B53-99F6-00A2-42A6-AA95-9D69" - left_front_zero_point: 7173 - left_back_zero_point: 5167 - right_back_zero_point: 3098 - right_front_zero_point: 6485 - yaw_motor_zero_point: 39442 - pitch_motor_zero_point: 56556 + serial_filter_bottom_board: "AF-73B2-E8A1-A544-79ED-5BDA-D088-7F21-A6A6" + serial_filter_top_board: "AF-C26A-0C9C-CF41-3E3C-1596-524B-7527-5744" + chassis_radius: 0.2341741 + rod_length: 0.140 + yaw_motor_zero_point: 57900 + pitch_motor_zero_point: 56354 debug_log_supercap: false debug_log_wheel_motor: false debug_log_deformable_joint_motor: false @@ -68,27 +109,52 @@ deformable_infantry: chassis_controller: ros__parameters: # Deploy geometry / chassis-owned joint intent - min_angle: 20.0 - max_angle: 50.0 + min_angle: 5.0 + max_angle: 59.0 active_suspension_enable: true spin_ratio: 1.0 +deformable_suspension: + ros__parameters: # IMU attitude correction at min-angle stance. - active_suspension_pitch_kp: 8.0 - active_suspension_pitch_ki: 0.35 - active_suspension_pitch_kd: 0.28 - - active_suspension_roll_kp: 8.0 - active_suspension_roll_ki: 0.35 - active_suspension_roll_kd: 0.28 - - active_suspension_pitch_angle_diff_limit_deg: 45.0 - active_suspension_roll_angle_diff_limit_deg: 45.0 - active_suspension_pid_integral_limit_deg: 20.0 + active_suspension_pitch_outer_kp: 12.0 + active_suspension_pitch_outer_ki: 0.02 + active_suspension_pitch_outer_kd: 0.0 + active_suspension_pitch_outer_integral_min: -2.0 + active_suspension_pitch_outer_integral_max: 2.0 + active_suspension_pitch_outer_output_min: -3.0 + active_suspension_pitch_outer_output_max: 3.0 + + active_suspension_pitch_inner_kp: 0.45 + active_suspension_pitch_inner_ki: 0.0 + active_suspension_pitch_inner_kd: 0.0 + active_suspension_pitch_inner_integral_min: -1.0 + active_suspension_pitch_inner_integral_max: 1.0 + active_suspension_pitch_inner_output_min: -0.785 + active_suspension_pitch_inner_output_max: 0.785 + + active_suspension_roll_outer_kp: 12.0 + active_suspension_roll_outer_ki: 0.02 + active_suspension_roll_outer_kd: 0.0 + active_suspension_roll_outer_integral_min: -2.0 + active_suspension_roll_outer_integral_max: 2.0 + active_suspension_roll_outer_output_min: -3.0 + active_suspension_roll_outer_output_max: 3.0 + + active_suspension_roll_inner_kp: 0.45 + active_suspension_roll_inner_ki: 0.0 + active_suspension_roll_inner_kd: 0.0 + active_suspension_roll_inner_integral_min: -1.0 + active_suspension_roll_inner_integral_max: 1.0 + active_suspension_roll_inner_output_min: -0.785 + active_suspension_roll_inner_output_max: 0.785 # Chassis-owned joint intent trajectory limits while attitude correction is active. active_suspension_target_velocity_limit_deg: 80.0 active_suspension_target_acceleration_limit_deg: 360.0 + active_suspension_correction_velocity_limit_deg: 720.0 + active_suspension_correction_acceleration_limit_deg: 3600.0 + active_suspension_rate_lpf_cutoff_hz: 10.0 # Automatic IMU mounting-error calibration. # When all four requested joint targets stay equal for 2s, average pitch/roll from 2s to 5s. @@ -97,29 +163,29 @@ chassis_controller: gimbal_controller: ros__parameters: - inertia: 1.0 # kg·m² - friction: 1.65 # Nm/(rad/s) - - upper_limit: -0.61 # -35 deg - lower_limit: 0.05 # 6 deg - use_encoder_pitch: true + upper_limit: -0.47123 # -27 deg + lower_limit: 0.10 # 8 deg + ctrl_hold_pitch_target_angle: 0.0 - yaw_angle_kp: 10.0 + yaw_angle_kp: 15.0 yaw_angle_ki: 0.0 yaw_angle_kd: 0.0 - yaw_velocity_kp: 8.0 + yaw_velocity_kp: 15.0 yaw_velocity_ki: 0.0 yaw_velocity_kd: 0.0 - pitch_angle_kp: 40.0 - pitch_angle_ki: 0.0 - pitch_angle_kd: 0.0 + pitch_angle_kp: 35.0 + pitch_angle_ki: 0.02 + pitch_angle_kd: 0.3 - pitch_velocity_kp: 3.0 + pitch_velocity_kp: 2.0 pitch_velocity_ki: 0.0 pitch_velocity_kd: 0.0 + pitch_gravity_ff_gain: 4.302 + pitch_gravity_ff_phase: 0.589 + pitch_torque_control: true friction_wheel_controller: @@ -128,14 +194,14 @@ friction_wheel_controller: - /gimbal/left_friction - /gimbal/right_friction friction_velocities: - - 600.0 - - 600.0 + - 580.0 + - 580.0 friction_soft_start_stop_time: 1.0 heat_controller: ros__parameters: heat_per_shot: 10000 - reserved_heat: 0 + reserved_heat: 15000 bullet_feeder_controller: ros__parameters: @@ -171,34 +237,26 @@ bullet_feeder_velocity_pid_controller: measurement: /gimbal/bullet_feeder/velocity setpoint: /gimbal/bullet_feeder/control_velocity control: /gimbal/bullet_feeder/control_torque - kp: 1.4 + kp: 1.5 ki: 0.0 kd: 0.0 deformable_chassis_controller: ros__parameters: - mass: 23.0 + mass: 25.5 moment_of_inertia: 1.0 - chassis_radius: 0.2341741 - rod_length: 0.150 - wheel_radius: 0.055 - friction_coefficient: 0.6 + wheel_radius: 0.075 + friction_coefficient: 6.6 k1: 2.958580e+00 k2: 3.082190e-03 no_load_power: 11.37 lf_joint_controller: ros__parameters: - # Joint-local servo inputs produced by chassis intent generation measurement_angle: /chassis/left_front_joint/physical_angle - measurement_velocity: /chassis/left_front_joint/physical_velocity setpoint_angle: /chassis/left_front_joint/target_physical_angle setpoint_velocity: /chassis/left_front_joint/target_physical_velocity - mode_input: /chassis/left_front_joint/suspension_mode - suspension_torque: /chassis/left_front_joint/suspension_torque control: /chassis/left_front_joint/control_torque - - # Normal ADRC servo mode dt: 0.001 b0: -1.0 kt: 1.0 @@ -216,33 +274,11 @@ lf_joint_controller: output_min: -200.0 output_max: 200.0 - # Suspension ADRC servo mode - suspension_td_h: 0.001 - suspension_td_r: 12.0 - suspension_eso_w0: 80.0 - suspension_k1: 6.0 - suspension_k2: 3.0 - suspension_alpha1: 0.75 - suspension_alpha2: 0.7 - suspension_delta: 0.02 - suspension_u_min: -35.0 - suspension_u_max: 35.0 - suspension_output_min: -35.0 - suspension_output_max: 35.0 - - # Joint-local feedforward / limit shaping - torque_feedforward_gain: 0.0 - suspension_torque_feedforward_gain: -1.0 - lb_joint_controller: ros__parameters: - # Same joint-servo layout as lf_joint_controller measurement_angle: /chassis/left_back_joint/physical_angle - measurement_velocity: /chassis/left_back_joint/physical_velocity setpoint_angle: /chassis/left_back_joint/target_physical_angle setpoint_velocity: /chassis/left_back_joint/target_physical_velocity - mode_input: /chassis/left_back_joint/suspension_mode - suspension_torque: /chassis/left_back_joint/suspension_torque control: /chassis/left_back_joint/control_torque dt: 0.001 b0: -1.0 @@ -260,30 +296,12 @@ lb_joint_controller: u_max: 200.0 output_min: -200.0 output_max: 200.0 - suspension_td_h: 0.001 - suspension_td_r: 12.0 - suspension_eso_w0: 80.0 - suspension_k1: 6.0 - suspension_k2: 3.0 - suspension_alpha1: 0.75 - suspension_alpha2: 0.7 - suspension_delta: 0.02 - suspension_u_min: -35.0 - suspension_u_max: 35.0 - suspension_output_min: -35.0 - suspension_output_max: 35.0 - torque_feedforward_gain: 0.0 - suspension_torque_feedforward_gain: -1.0 rb_joint_controller: ros__parameters: - # Same joint-servo layout as lf_joint_controller measurement_angle: /chassis/right_back_joint/physical_angle - measurement_velocity: /chassis/right_back_joint/physical_velocity setpoint_angle: /chassis/right_back_joint/target_physical_angle setpoint_velocity: /chassis/right_back_joint/target_physical_velocity - mode_input: /chassis/right_back_joint/suspension_mode - suspension_torque: /chassis/right_back_joint/suspension_torque control: /chassis/right_back_joint/control_torque dt: 0.001 b0: -1.0 @@ -301,30 +319,12 @@ rb_joint_controller: u_max: 200.0 output_min: -200.0 output_max: 200.0 - suspension_td_h: 0.001 - suspension_td_r: 12.0 - suspension_eso_w0: 80.0 - suspension_k1: 6.0 - suspension_k2: 3.0 - suspension_alpha1: 0.75 - suspension_alpha2: 0.7 - suspension_delta: 0.02 - suspension_u_min: -35.0 - suspension_u_max: 35.0 - suspension_output_min: -35.0 - suspension_output_max: 35.0 - torque_feedforward_gain: 0.0 - suspension_torque_feedforward_gain: -1.0 rf_joint_controller: ros__parameters: - # Same joint-servo layout as lf_joint_controller measurement_angle: /chassis/right_front_joint/physical_angle - measurement_velocity: /chassis/right_front_joint/physical_velocity setpoint_angle: /chassis/right_front_joint/target_physical_angle setpoint_velocity: /chassis/right_front_joint/target_physical_velocity - mode_input: /chassis/right_front_joint/suspension_mode - suspension_torque: /chassis/right_front_joint/suspension_torque control: /chassis/right_front_joint/control_torque dt: 0.001 b0: -1.0 @@ -342,17 +342,3 @@ rf_joint_controller: u_max: 200.0 output_min: -200.0 output_max: 200.0 - suspension_td_h: 0.001 - suspension_td_r: 12.0 - suspension_eso_w0: 80.0 - suspension_k1: 6.0 - suspension_k2: 3.0 - suspension_alpha1: 0.75 - suspension_alpha2: 0.7 - suspension_delta: 0.02 - suspension_u_min: -35.0 - suspension_u_max: 35.0 - suspension_output_min: -35.0 - suspension_output_max: 35.0 - torque_feedforward_gain: 0.0 - suspension_torque_feedforward_gain: -1.0 diff --git a/rmcs_ws/src/rmcs_bringup/config/deformable-infantry-omni.yaml b/rmcs_ws/src/rmcs_bringup/config/deformable-infantry-omni.yaml index ac97a8e38..cb2131048 100644 --- a/rmcs_ws/src/rmcs_bringup/config/deformable-infantry-omni.yaml +++ b/rmcs_ws/src/rmcs_bringup/config/deformable-infantry-omni.yaml @@ -9,7 +9,7 @@ rmcs_executor: - rmcs_core::referee::command::Interaction -> referee_interaction - rmcs_core::referee::command::interaction::Ui -> referee_ui - - rmcs_core::referee::app::ui::Infantry -> referee_ui_infantry + - rmcs_core::referee::app::ui::DeformableInfantry -> referee_ui_infantry - rmcs_core::controller::gimbal::DeformableInfantryGimbalController -> gimbal_controller @@ -21,6 +21,7 @@ rmcs_executor: - rmcs_core::controller::pid::PidController -> bullet_feeder_velocity_pid_controller - rmcs_core::controller::chassis::DeformableChassis -> chassis_controller + - rmcs_core::controller::chassis::DeformableSuspension -> deformable_suspension - rmcs_core::controller::chassis::ChassisPowerController -> chassis_power_controller - rmcs_core::controller::chassis::DeformableOmniWheelController -> deformable_chassis_controller @@ -29,26 +30,78 @@ rmcs_executor: - rmcs_core::controller::chassis::DeformableJointController -> rb_joint_controller - rmcs_core::controller::chassis::DeformableJointController -> rf_joint_controller - - rmcs_core::broadcaster::ValueBroadcaster -> value_broadcaster - # - rmcs::AutoAimComponent -> auto_aim_component + - rmcs::AutoAimComponent -> auto_aim_component + - rmcs::AutoAimCapturerComponent -> auto_aim_capturer + - rmcs_core::referee::app::ui::AutoAimUi -> auto_aim_ui + + # - rmcs_core::broadcaster::ValueBroadcaster -> value_broadcaster + # - rmcs_core::debug::ValueCollector -> value_collector + +value_collector: + ros__parameters: + csv_path: "/tmp/pitch_.csv" + signals: + - /gimbal/pitch/angle + - /gimbal/pitch/velocity + - /gimbal/pitch/velocity_imu + - /gimbal/pitch/angle_error + - /gimbal/pitch/control_torque + - /gimbal/pitch/control_velocity + write_interval: 5 + flush_interval: 1000 value_broadcaster: ros__parameters: forward_list: - - /gimbal/yaw/angle - - /gimbal/yaw/velocity + - /gimbal/pitch/angle + - /gimbal/pitch/velocity + +auto_aim_capturer: + ros__parameters: + camera_name: "" + exposure_us: 2000.0 + gain: 8.0 + framerate: 120.0 + invert_image: false + rls_tau_sec: 10.0 + use_hardware_sync: true + delay_ms: 6.5 + +auto_aim_component: + ros__parameters: + # WARN: 危险！可选 red | blue，生效后裁判系统 ID 缺席时 + # 将强行绑定为对应阵营哨兵，仅供调试，严禁比赛启用。 + # 留空或填 unknow 表示禁用。 + dangerous_fallback: "" + manual_shoot: true + camera_translation: [0.058, -0.08, 0.0] + fire_control: + bullet_speed: 22.5 + shoot_delay: 0.1 + offset_yaw: +0.1 + offset_pitch: -0.6 + attack_window: 120.0 + window_hysteresis: 0.2 + is_lazy_gimbal: false + attack_preaim: false + require_stable_command: false + yaw_tolerance: 0.07 + pitch_tolerance: 0.04 + +auto_aim_ui: + ros__parameters: + offset_x: 0.0 + offset_y: -0.08 + offset_z: 0.0 deformable_infantry: ros__parameters: - serial_filter_rmcs_board: "AF-73B2-E8A1-A544-79ED-5BDA-D088-7F21-A6A6" - serial_filter_top_board: "D4-0262-9E84-E715-CADB-9894-7241" - serial_filter_imu: "AF-8217-B05F-811B-6F3E-04EA-448E-9D03-CA2C" - left_front_zero_point: 374 - left_back_zero_point: 5801 - right_back_zero_point: 7817 - right_front_zero_point: 7136 - yaw_motor_zero_point: 50642 - pitch_motor_zero_point: 6245 + serial_filter_bottom_board: "AF-23FB-EE32-B892-1302-AE70-D640-7B4E-0CBF" + serial_filter_top_board: "AF-7A42-07AA-D181-0356-7715-6D7C-4C65-5762" + chassis_radius: 0.2341741 + rod_length: 0.140 + yaw_motor_zero_point: 43365 + pitch_motor_zero_point: 6432 debug_log_supercap: false debug_log_wheel_motor: false debug_log_deformable_joint_motor: false @@ -56,41 +109,52 @@ deformable_infantry: chassis_controller: ros__parameters: # Deploy geometry / chassis-owned joint intent - min_angle: 8.0 - max_angle: 58.0 + min_angle: 5.0 + max_angle: 59.0 active_suspension_enable: true spin_ratio: 1.0 - # Suspension geometry / support model. - active_suspension_mass: 22.5 - active_suspension_rod_length: 0.150 - active_suspension_Kz: 150.0 - active_suspension_D_leg: 10.0 - active_suspension_torque_limit: 80.0 - active_suspension_gravity_comp_gain: 1.0 - active_suspension_control_acceleration_limit: 6.0 - active_suspension_preload_angle_deg: 8.0 - active_suspension_entry_offset_deg: 1.5 - active_suspension_ride_height_offset_deg: 3.0 - active_suspension_hold_travel_deg: 5.0 - active_suspension_activation_velocity_threshold_deg: 15.0 - - # IMU attitude correction as suspension force bias. - active_suspension_pitch_kp: 8.0 - active_suspension_pitch_ki: 0.35 - active_suspension_pitch_kd: 0.28 - - active_suspension_roll_kp: 8.0 - active_suspension_roll_ki: 0.35 - active_suspension_roll_kd: 0.28 - - active_suspension_pitch_angle_diff_limit_deg: 45.0 - active_suspension_roll_angle_diff_limit_deg: 45.0 - active_suspension_pid_integral_limit_deg: 20.0 +deformable_suspension: + ros__parameters: + # IMU attitude correction at min-angle stance. + active_suspension_pitch_outer_kp: 12.0 + active_suspension_pitch_outer_ki: 0.02 + active_suspension_pitch_outer_kd: 0.0 + active_suspension_pitch_outer_integral_min: -2.0 + active_suspension_pitch_outer_integral_max: 2.0 + active_suspension_pitch_outer_output_min: -3.0 + active_suspension_pitch_outer_output_max: 3.0 + + active_suspension_pitch_inner_kp: 0.45 + active_suspension_pitch_inner_ki: 0.0 + active_suspension_pitch_inner_kd: 0.0 + active_suspension_pitch_inner_integral_min: -1.0 + active_suspension_pitch_inner_integral_max: 1.0 + active_suspension_pitch_inner_output_min: -0.785 + active_suspension_pitch_inner_output_max: 0.785 + + active_suspension_roll_outer_kp: 12.0 + active_suspension_roll_outer_ki: 0.02 + active_suspension_roll_outer_kd: 0.0 + active_suspension_roll_outer_integral_min: -2.0 + active_suspension_roll_outer_integral_max: 2.0 + active_suspension_roll_outer_output_min: -3.0 + active_suspension_roll_outer_output_max: 3.0 + + active_suspension_roll_inner_kp: 0.45 + active_suspension_roll_inner_ki: 0.0 + active_suspension_roll_inner_kd: 0.0 + active_suspension_roll_inner_integral_min: -1.0 + active_suspension_roll_inner_integral_max: 1.0 + active_suspension_roll_inner_output_min: -0.785 + active_suspension_roll_inner_output_max: 0.785 # Chassis-owned joint intent trajectory limits while attitude correction is active. active_suspension_target_velocity_limit_deg: 80.0 active_suspension_target_acceleration_limit_deg: 360.0 + active_suspension_correction_velocity_limit_deg: 720.0 + active_suspension_correction_acceleration_limit_deg: 3600.0 + active_suspension_rate_lpf_cutoff_hz: 10.0 # Automatic IMU mounting-error calibration. # When all four requested joint targets stay equal for 2s, average pitch/roll from 2s to 5s. @@ -99,10 +163,11 @@ chassis_controller: gimbal_controller: ros__parameters: - upper_limit: -0.61 # -35 deg - lower_limit: 0.05 # 6 deg + upper_limit: -0.47123 # -27 deg + lower_limit: 0.10 # 8 deg + ctrl_hold_pitch_target_angle: 0.0 - yaw_angle_kp: 30.0 + yaw_angle_kp: 15.0 yaw_angle_ki: 0.0 yaw_angle_kd: 0.0 @@ -110,38 +175,33 @@ gimbal_controller: yaw_velocity_ki: 0.0 yaw_velocity_kd: 0.0 - yaw_vel_ff_gain: 0.47 - yaw_acc_ff_gain: 0.00 + pitch_angle_kp: 35.0 + pitch_angle_ki: 0.02 + pitch_angle_kd: 0.3 - pitch_angle_kp: 25.0 - pitch_angle_ki: 0.0 - pitch_angle_kd: 0.0 - - pitch_velocity_kp: 2.2 + pitch_velocity_kp: 2.0 pitch_velocity_ki: 0.0 pitch_velocity_kd: 0.0 - pitch_acc_ff_gain: 0.10 + pitch_gravity_ff_gain: 4.302 + pitch_gravity_ff_phase: 0.589 pitch_torque_control: true - pitch_fusion_enabled: true - pitch_fusion_alpha: 0.98 - friction_wheel_controller: ros__parameters: friction_wheels: - /gimbal/left_friction - /gimbal/right_friction friction_velocities: - - 600.0 - - 600.0 + - 580.0 + - 580.0 friction_soft_start_stop_time: 1.0 heat_controller: ros__parameters: heat_per_shot: 10000 - reserved_heat: 0 + reserved_heat: 15000 bullet_feeder_controller: ros__parameters: @@ -183,30 +243,22 @@ bullet_feeder_velocity_pid_controller: deformable_chassis_controller: ros__parameters: - mass: 22.5 + mass: 25.5 moment_of_inertia: 1.0 - chassis_radius: 0.2341741 - rod_length: 0.150 - wheel_radius: 0.055 - friction_coefficient: 66.6 + wheel_radius: 0.075 + friction_coefficient: 6.6 k1: 2.958580e+00 k2: 3.082190e-03 no_load_power: 11.37 lf_joint_controller: ros__parameters: - # Joint-local servo inputs produced by chassis intent generation measurement_angle: /chassis/left_front_joint/physical_angle - measurement_velocity: /chassis/left_front_joint/physical_velocity setpoint_angle: /chassis/left_front_joint/target_physical_angle setpoint_velocity: /chassis/left_front_joint/target_physical_velocity - mode_input: /chassis/left_front_joint/suspension_mode - suspension_torque: /chassis/left_front_joint/suspension_torque control: /chassis/left_front_joint/control_torque - - # Normal ADRC servo mode dt: 0.001 - b0: -0.60 + b0: -1.0 kt: 1.0 td_h: 0.001 td_r: 50.0 @@ -222,36 +274,14 @@ lf_joint_controller: output_min: -200.0 output_max: 200.0 - # Suspension ADRC servo mode - suspension_td_h: 0.001 - suspension_td_r: 12.0 - suspension_eso_w0: 80.0 - suspension_k1: 6.0 - suspension_k2: 3.0 - suspension_alpha1: 0.75 - suspension_alpha2: 0.7 - suspension_delta: 0.02 - suspension_u_min: -35.0 - suspension_u_max: 35.0 - suspension_output_min: -35.0 - suspension_output_max: 35.0 - - # Joint-local feedforward / limit shaping - torque_feedforward_gain: 0.0 - suspension_torque_feedforward_gain: -1.0 - lb_joint_controller: ros__parameters: - # Same joint-servo layout as lf_joint_controller measurement_angle: /chassis/left_back_joint/physical_angle - measurement_velocity: /chassis/left_back_joint/physical_velocity setpoint_angle: /chassis/left_back_joint/target_physical_angle setpoint_velocity: /chassis/left_back_joint/target_physical_velocity - mode_input: /chassis/left_back_joint/suspension_mode - suspension_torque: /chassis/left_back_joint/suspension_torque control: /chassis/left_back_joint/control_torque dt: 0.001 - b0: -0.60 + b0: -1.0 kt: 1.0 td_h: 0.001 td_r: 50.0 @@ -266,33 +296,15 @@ lb_joint_controller: u_max: 200.0 output_min: -200.0 output_max: 200.0 - suspension_td_h: 0.001 - suspension_td_r: 12.0 - suspension_eso_w0: 80.0 - suspension_k1: 6.0 - suspension_k2: 3.0 - suspension_alpha1: 0.75 - suspension_alpha2: 0.7 - suspension_delta: 0.02 - suspension_u_min: -35.0 - suspension_u_max: 35.0 - suspension_output_min: -35.0 - suspension_output_max: 35.0 - torque_feedforward_gain: 0.0 - suspension_torque_feedforward_gain: -1.0 rb_joint_controller: ros__parameters: - # Same joint-servo layout as lf_joint_controller measurement_angle: /chassis/right_back_joint/physical_angle - measurement_velocity: /chassis/right_back_joint/physical_velocity setpoint_angle: /chassis/right_back_joint/target_physical_angle setpoint_velocity: /chassis/right_back_joint/target_physical_velocity - mode_input: /chassis/right_back_joint/suspension_mode - suspension_torque: /chassis/right_back_joint/suspension_torque control: /chassis/right_back_joint/control_torque dt: 0.001 - b0: -0.60 + b0: -1.0 kt: 1.0 td_h: 0.001 td_r: 50.0 @@ -307,33 +319,15 @@ rb_joint_controller: u_max: 200.0 output_min: -200.0 output_max: 200.0 - suspension_td_h: 0.001 - suspension_td_r: 12.0 - suspension_eso_w0: 80.0 - suspension_k1: 6.0 - suspension_k2: 3.0 - suspension_alpha1: 0.75 - suspension_alpha2: 0.7 - suspension_delta: 0.02 - suspension_u_min: -35.0 - suspension_u_max: 35.0 - suspension_output_min: -35.0 - suspension_output_max: 35.0 - torque_feedforward_gain: 0.0 - suspension_torque_feedforward_gain: -1.0 rf_joint_controller: ros__parameters: - # Same joint-servo layout as lf_joint_controller measurement_angle: /chassis/right_front_joint/physical_angle - measurement_velocity: /chassis/right_front_joint/physical_velocity setpoint_angle: /chassis/right_front_joint/target_physical_angle setpoint_velocity: /chassis/right_front_joint/target_physical_velocity - mode_input: /chassis/right_front_joint/suspension_mode - suspension_torque: /chassis/right_front_joint/suspension_torque control: /chassis/right_front_joint/control_torque dt: 0.001 - b0: -0.60 + b0: -1.0 kt: 1.0 td_h: 0.001 td_r: 50.0 @@ -348,17 +342,3 @@ rf_joint_controller: u_max: 200.0 output_min: -200.0 output_max: 200.0 - suspension_td_h: 0.001 - suspension_td_r: 12.0 - suspension_eso_w0: 80.0 - suspension_k1: 6.0 - suspension_k2: 3.0 - suspension_alpha1: 0.75 - suspension_alpha2: 0.7 - suspension_delta: 0.02 - suspension_u_min: -35.0 - suspension_u_max: 35.0 - suspension_output_min: -35.0 - suspension_output_max: 35.0 - torque_feedforward_gain: 0.0 - suspension_torque_feedforward_gain: -1.0 diff --git a/rmcs_ws/src/rmcs_bringup/config/sentry.yaml b/rmcs_ws/src/rmcs_bringup/config/sentry.yaml index cec1cd164..6e679cabc 100644 --- a/rmcs_ws/src/rmcs_bringup/config/sentry.yaml +++ b/rmcs_ws/src/rmcs_bringup/config/sentry.yaml @@ -6,107 +6,157 @@ rmcs_executor: - rmcs_core::referee::Status -> referee_status - rmcs_core::referee::Command -> referee_command - - rmcs_core::referee::command::Interaction -> referee_interaction + # - rmcs_core::referee::command::interaction::SentryDecision -> referee_sentry_decision - rmcs_core::referee::command::interaction::Ui -> referee_ui - rmcs_core::controller::gimbal::EccentricDualYaw -> gimbal_controller - - # - rmcs_core::broadcaster::TfBroadcaster -> tf_broadcaster - - rmcs_core::controller::shooting::FrictionWheelController -> friction_wheel_controller - rmcs_core::controller::shooting::HeatController -> heat_controller - rmcs_core::controller::shooting::BulletFeederController17mm -> bullet_feeder_controller - rmcs_core::controller::pid::PidController -> left_friction_velocity_pid_controller - rmcs_core::controller::pid::PidController -> right_friction_velocity_pid_controller - rmcs_core::controller::pid::PidController -> bullet_feeder_velocity_pid_controller - + - rmcs_core::controller::chassis::ChassisClimberController -> climber_controller - rmcs_core::controller::chassis::ChassisController -> chassis_controller - rmcs_core::controller::chassis::ChassisPowerController -> chassis_power_controller - rmcs_core::controller::chassis::SteeringWheelController -> steering_wheel_controller # - rmcs::navigation::Navigation -> rmcs_navigation - - rmcs_core::broadcaster::ValueBroadcaster -> value_broadcaster + # - rmcs_core::broadcaster::ValueBroadcaster -> value_broadcaster + # - rmcs_core::broadcaster::TfBroadcaster -> tf_broadcaster + + - rmcs::AutoAimCapturerComponent -> auto_aim_capturer + # - rmcs::AutoAimPlayerComponent -> auto_aim_player + # - rmcs::AutoAimRecorderComponent -> auto_aim_recorder + - rmcs::AutoAimComponent -> auto_aim_component + +auto_aim_capturer: + ros__parameters: + camera_name: "" + exposure_us: 3000.0 + gain: 8.0 + framerate: 120.0 + invert_image: true + rls_tau_sec: 10.0 + use_hardware_sync: true + delay_ms: 6.5 + +auto_aim_recorder: + ros__parameters: + output_path: "/tmp/autoaim/records" + queue_depth: 16 + flush_every_n_frames: 64 + max_duration_seconds: 0 + max_videos_size_gb: 0.0 + +auto_aim_component: + ros__parameters: + # WARN: 危险！可选 red | blue，生效后裁判系统 ID 缺席时 + # 将强行绑定为对应阵营哨兵，仅供调试，严禁比赛启用。 + # 留空或填 unknow 表示禁用。 + dangerous_fallback: "" + manual_shoot: true + camera_translation: [0.07128, 0.0, 0.0481] + fire_control: + bullet_speed: 22.5 + shoot_delay: 0.1 + offset_yaw: -1.0 + offset_pitch: +0.0 + attack_window: 120.0 + window_hysteresis: 0.2 + is_lazy_gimbal: false + attack_preaim: false + require_stable_command: false + yaw_tolerance: 0.07 + pitch_tolerance: 0.04 value_broadcaster: ros__parameters: forward_list: - - /gimbal/bottom_yaw/angle - - /gimbal/bottom_yaw/velocity - - /gimbal/pitch/angle - - /gimbal/pitch/control_torque - - /gimbal/top_yaw/angle - - /gimbal/top_yaw/velocity + - /gimbal/yaw/velocity_imu + - /gimbal/pitch/velocity_imu # The positive direction is the one that battery exists sentry_hardware: ros__parameters: - board_serial_top_board: "af-da30" - board_serial_bottom_board: "d4-2184" - board_serial_gimbal_board: "d4-1d2b" - bottom_yaw_motor_zero_point: 23932 - top_yaw_motor_zero_point: 32916 - pitch_motor_zero_point: 1275 - left_front_zero_point: 7131 - left_back_zero_point: 3740 - right_back_zero_point: 1327 - right_front_zero_point: 5147 + board_serial_bottom_board: "af-b4e5" + board_serial_gimbal_board: "af-8b8b" + + pitch_motor_zero_point: 17241 + + bottom_yaw_motor_zero_point: 54253 + top_yaw_motor_zero_point: 32736 + + left_front_zero_point: 5776 + left_back_zero_point: 3784 + right_back_zero_point: 3048 + right_front_zero_point: 5135 rmcs_navigation: ros__parameters: - # 策略名称： - # - fast-push-output "速推前哨站" - # - kill-robots "杀伤优先" - decision: "fast-push-output" command_vel_name: "/cmd_vel" mock_context: false - endpoint: "test" + endpoint: "test" # otaku | main | test enable_goal_topic_forward: true gimbal_controller: ros__parameters: - upper_limit: -0.39518 + upper_limit: -0.65 lower_limit: 0.36 - top_yaw_angle_kp: 45.0 - top_yaw_angle_ki: 0.0 - top_yaw_angle_kd: 0.0 + top_yaw_angle_kp: 35.0 + top_yaw_angle_ki: 0.008 + top_yaw_angle_kd: 0.005 top_yaw_velocity_kp: 2.160 - top_yaw_velocity_ki: 0.0 + top_yaw_velocity_ki: 0.00 top_yaw_velocity_kd: 0.0 - bottom_yaw_angle_kp: 15.0 - bottom_yaw_angle_ki: 0.0 + bottom_yaw_angle_kp: 16.0 + bottom_yaw_angle_ki: 0.01 bottom_yaw_angle_kd: 0.0 - bottom_yaw_velocity_kp: 2.8125 - bottom_yaw_velocity_ki: 0.0 + bottom_yaw_velocity_kp: 2.75 + bottom_yaw_velocity_ki: 0.00125 bottom_yaw_velocity_kd: 0.0 pitch_angle_kp: 32.0 - pitch_angle_ki: 0.0 + pitch_angle_ki: 0.01 pitch_angle_kd: 0.0 pitch_velocity_kp: 2.5 pitch_velocity_ki: 0.0 pitch_velocity_kd: 0.0 - k_top_to_bottom: -1.0 - - bottom_yaw_viscous_ff_gain: 0.000311875 - # bottom_yaw_coulomb_ff_gain: 0.457343 - # bottom_yaw_coulomb_ff_tanh_gain: 100.0 - top_yaw_viscous_ff_gain: 0.231 - # top_yaw_coulomb_ff_gain: 1.12 - # top_yaw_coulomb_ff_tanh_gain: 100.0 - pitch_viscous_ff_gain: 0.33 - # pitch_coulomb_ff_gain: 0.95 - # pitch_coulomb_ff_tanh_gain: 100.0 - pitch_gravity_ff_gain: 2.128 - pitch_gravity_ff_phase: 1.438 - chassis_controller: ros__parameters: - navigation_velocity_scale: 1.0 + following_velocity_kp: 7.0 + following_velocity_ki: 0.0 + following_velocity_kd: 0.0 + +climber_controller: + ros__parameters: + front_climber_velocity: 20.0 + back_climber_velocity: 30.0 + auto_climb_support_retract_velocity_fast: 60.0 + auto_climb_support_retract_velocity_slow: 20.0 + auto_climb_approach_chassis_velocity: 1.0 + auto_climb_support_deploy_chassis_velocity: 0.3 + auto_climb_support_retract_chassis_velocity: 0.3 + auto_climb_dash_chassis_velocity: 3.0 + first_stair_dash_leveled_pitch_threshold: 0.05 + second_stair_dash_leveled_pitch_threshold: -0.09 + sync_coefficient: 0.2 + first_stair_approach_pitch: 0.585 + second_stair_approach_pitch: 0.365 + front_kp: 1.0 + front_ki: 0.0 + front_kd: 0.5 + front_power_estimate_bias: 0.0 + front_power_estimate_k_tau2: 1.0 + front_power_estimate_k_mech: 1.0 + back_kp: 0.5 + back_ki: 0.0 + back_kd: 0.0 friction_wheel_controller: ros__parameters: @@ -114,14 +164,14 @@ friction_wheel_controller: - /gimbal/left_friction - /gimbal/right_friction friction_velocities: - - 630.0 - - 630.0 + - 575.0 + - 575.0 friction_soft_start_stop_time: 1.0 heat_controller: ros__parameters: heat_per_shot: 10000 - reserved_heat: 10000 + reserved_heat: 30000 bullet_feeder_controller: ros__parameters: @@ -171,6 +221,23 @@ steering_wheel_controller: k1: 2.958580e+00 k2: 3.082190e-03 no_load_power: 11.37 - chassis_translation_kp: 8.0 - chassis_translation_ki: 0.0 - chassis_translation_kd: 0.0 + + chassis_translation_kp: 20.0 + chassis_translation_ki: 0.001 + chassis_translation_kd: 0.00 + + chassis_angular_velocity_kp: 8.0 + chassis_angular_velocity_ki: 0.0 + chassis_angular_velocity_kd: 1.0 + + steering_velocity_kp: 0.15 + steering_velocity_ki: 0.0 + steering_velocity_kd: 0.0 + + steering_angle_kp: 30.0 + steering_angle_ki: 0.0 + steering_angle_kd: 0.0 + + wheel_velocity_kp: 0.5 + wheel_velocity_ki: 0.0 + wheel_velocity_kd: 0.0 diff --git a/rmcs_ws/src/rmcs_bringup/config/steering-hero-little-six-friction.yaml b/rmcs_ws/src/rmcs_bringup/config/steering-hero-little-six-friction.yaml new file mode 100644 index 000000000..5ef17bf21 --- /dev/null +++ b/rmcs_ws/src/rmcs_bringup/config/steering-hero-little-six-friction.yaml @@ -0,0 +1,525 @@ +rmcs_executor: + ros__parameters: + update_rate: 1000.0 + components: + - rmcs_core::hardware::SteeringHeroLittle -> hero_hardware + + - rmcs_core::referee::Status -> referee_status + - rmcs_core::referee::command::Interaction -> referee_interaction + - rmcs_core::referee::command::interaction::Ui -> referee_ui + - rmcs_core::referee::app::ui::Hero -> referee_ui_hero + - rmcs_core::referee::Command -> referee_command + + - rmcs_core::controller::gimbal::HeroGimbalController -> gimbal_controller + - rmcs_core::controller::gimbal::DualYawController -> dual_yaw_controller + - rmcs_core::controller::pid::ErrorPidController -> pitch_angle_pid_controller + - rmcs_core::controller::pid::PidController -> pitch_velocity_pid_controller + + - rmcs_core::controller::gimbal::PlayerViewer -> gimbal_player_viewer_controller + - rmcs_core::controller::pid::ErrorPidController -> viewer_angle_pid_controller + + - rmcs_core::controller::shooting::HeroFrictionWheelController -> friction_wheel_controller + - rmcs_core::controller::shooting::HeroHeatController -> heat_controller + - rmcs_core::controller::shooting::PutterController -> bullet_feeder_controller + - rmcs_core::controller::pid::PidController -> first_back_friction_velocity_pid_controller + - rmcs_core::controller::pid::PidController -> first_front_friction_velocity_pid_controller + - rmcs_core::controller::pid::PidController -> second_back_friction_velocity_pid_controller + - rmcs_core::controller::pid::PidController -> second_front_friction_velocity_pid_controller + - rmcs_core::controller::pid::PidController -> third_back_friction_velocity_pid_controller + - rmcs_core::controller::pid::PidController -> third_front_friction_velocity_pid_controller + - rmcs_core::controller::shooting::ShootingRecorder -> shooting_recorder + + - rmcs_core::controller::chassis::SteeringWheelStatus -> steering_wheel_status + - rmcs_core::controller::chassis::HeroChassisController -> chassis_controller + - rmcs_core::controller::chassis::HeroChassisPowerController -> chassis_power_controller + - rmcs_core::controller::chassis::HeroSteeringWheelController -> steering_wheel_controller + - rmcs_core::controller::chassis::ChassisClimberController -> climber_controller + + - rmcs::AutoAimCapturerComponent -> auto_aim_capturer + - rmcs::AutoAimComponent -> auto_aim_component + - rmcs_core::referee::app::ui::AutoAimUi -> auto_aim_ui + + # - rmcs_core::broadcaster::ValueBroadcaster -> value_broadcaster + # - rmcs_core::broadcaster::TfBroadcaster -> tf_broadcaster + + # - rmcs_core::controller::identification::SweptFrequencyController -> pitch_swept_frequency_controller + # - rmcs_core::controller::identification::StaticTorqueTestController -> pitch_static_torque_test_controller + # - rmcs_core::controller::identification::SweptFrequencyController -> top_yaw_swept_frequency_controller + # - rmcs_core::controller::identification::SweptFrequencyController -> bottom_yaw_swept_frequency_controller + # - rmcs_core::controller::identification::SweptFrequencyController -> first_front_friction_swept_frequency_controller + # - rmcs_core::controller::identification::SweptFrequencyController -> second_front_friction_swept_frequency_controller + # - rmcs_core::controller::identification::SweptFrequencyController -> third_front_friction_swept_frequency_controller + # - rmcs_core::controller::identification::SweptFrequencyController -> first_back_friction_swept_frequency_controller + # - rmcs_core::controller::identification::SweptFrequencyController -> second_back_friction_swept_frequency_controller + # - rmcs_core::controller::identification::SweptFrequencyController -> third_back_friction_swept_frequency_controller + +hero_hardware: + ros__parameters: + board_serial_top_board: "AF-8AE3-4EC1-03C3-C494-88FE-2DC4-3018-0298" + serial_bottom_rmcs_board: "AF-60BB-7484-FA24-F3FC-399B-454D-22FA-1B1D" + bottom_yaw_motor_zero_point: 35110 + pitch_motor_zero_point: 23653 + top_yaw_motor_zero_point: 48525 + viewer_motor_zero_point: 31940 + external_imu_port: /dev/ttyUSB0 + bullet_feeder_motor_zero_point: 60480 #39045 + left_front_zero_point: 5790 + right_front_zero_point: 5114 + left_back_zero_point: 7868 + right_back_zero_point: 1640 + +auto_aim_capturer: + ros__parameters: + camera_name: "" + exposure_us: 2000.0 + gain: 8.0 + framerate: 80.0 + invert_image: false + rls_tau_sec: 10.0 + use_hardware_sync: false + delay_ms: 6.5 + +auto_aim_component: + ros__parameters: + # WARN: 危险！可选 red | blue，生效后裁判系统 ID 缺席时 + # 将强行绑定为对应阵营哨兵，仅供调试，严禁比赛启用。 + # 留空或填 unknow 表示禁用。 + dangerous_fallback: "" + manual_shoot: false + camera_translation: [0.25, 0.0, -0.05] + fire_control: + bullet_speed: 11.5 + shoot_delay: 0.1 + offset_yaw: 0.0 + offset_pitch: 0.0 + attack_window: 120.0 + window_hysteresis: 0.2 + is_lazy_gimbal: false + attack_preaim: false + require_stable_command: false + yaw_tolerance: 0.07 + pitch_tolerance: 0.04 + +auto_aim_ui: + ros__parameters: + offset_x: 0.0 + offset_y: 0.0 + offset_z: 0.0 + +value_broadcaster: + ros__parameters: + forward_list: + # - /gimbal/top_yaw/control_angle + # - /chassis/climber/left_front_motor/torque + # - /chassis/climber/right_front_motor/torque + # - /chassis/left_front_steering/torque + # - /chassis/left_back_steering/torque + # - /chassis/right_front_steering/torque + # - /chassis/right_back_steering/torque + - /chassis/left_front_steering/velocity + - /chassis/left_back_steering/velocity + - /chassis/right_front_steering/velocity + - /chassis/right_back_steering/velocity + # - /shoot/heat12707 + # - /chassis/power + # - /referee/chassis/power + # - /referee/chassis/power_limit + # - /chassis/control_power_limit + # - /chassis/climber/front/control_power_limit + # - /chassis/climber/front/power_demand_estimate + # - /chassis/climber/front/actual_power_estimate + # - /chassis/steering_wheel/actual_power_estimate + # - /gimbal/putter/velocity + - /gimbal/first_front_friction/velocity + - /gimbal/first_back_friction/velocity + - /gimbal/second_front_friction/velocity + - /gimbal/second_back_friction/velocity + - /gimbal/third_front_friction/velocity + - /gimbal/third_back_friction/velocity + - /gimbal/first_front_friction/control_torque + - /gimbal/first_back_friction/control_torque + - /gimbal/second_front_friction/control_torque + - /gimbal/second_back_friction/control_torque + - /gimbal/third_front_friction/control_torque + - /gimbal/third_back_friction/control_torque + # - /gimbal/bottom_yaw/torque + # - /gimbal/bottom_yaw/angle + # - /gimbal/top_yaw/angle + # - /gimbal/pitch/angle + # - /chassis/power + # - /chassis/supercap/voltage + # - /chassis/control_power_limit + # - /referee/chassis/power_limit + # - /referee/chassis/buffer_energy + # - /chassis/climber/front/control_power_limit + # - /chassis/climber/front/power_demand_estimate + # - /chassis/climber/front/actual_power_estimate + # - /chassis/steering_wheel/actual_power_estimate + # - /gimbal/bullet_feeder/torque + # - /gimbal/bullet_feeder/control_torque + # - /gimbal/putter/angle + # - /gimbal/putter/velocity + # - /gimbal/putter/torque + # - /gimbal/putter/control_torque + # - /gimbal/bullet_feeder/velocity + # - /gimbal/bullet_feeder/angle + +climber_controller: + ros__parameters: + front_climber_velocity: 22.0 + back_climber_velocity: 30.0 + auto_climb_support_retract_velocity_fast: 70.0 + auto_climb_support_retract_velocity_slow: 20.0 + auto_climb_approach_chassis_velocity: 2.0 + auto_climb_support_deploy_chassis_velocity: 0.4 + auto_climb_support_retract_chassis_velocity: 0.15 + auto_climb_dash_chassis_velocity: 3.0 + first_stair_dash_leveled_pitch_threshold: 0.05 + second_stair_dash_leveled_pitch_threshold: -0.09 + sync_coefficient: 0.2 + first_stair_approach_pitch: 0.517 + second_stair_approach_pitch: 0.37 #0.365 + front_kp: 1.0 + front_ki: 0.0 + front_kd: 0.5 + front_power_estimate_bias: 0.0 + front_power_estimate_k_tau2: 1.0 + front_power_estimate_k_mech: 1.0 + back_kp: 0.5 + back_ki: 0.0 + back_kd: 0.0 + +chassis_power_controller: + ros__parameters: + front_climber_power_limit_max: 50.0 + drive_power_limit_floor: 50.0 + auto_climb_min_control_power_limit: 130.0 + +gimbal_controller: + ros__parameters: + upper_limit: -0.718 + lower_limit: 0.255 + +dual_yaw_controller: + ros__parameters: + top_yaw_angle_kp: 14.0 # 30.2 + top_yaw_angle_ki: 0.0 + top_yaw_angle_kd: 0.0 + top_yaw_velocity_kp: 9.37 # 11.0 + top_yaw_velocity_ki: 0.00033 # 0.00029 + top_yaw_velocity_kd: 0.0 + top_yaw_velocity_integral_min: -2500.0 + top_yaw_velocity_integral_max: 2500.0 + bottom_yaw_angle_kp: 10.0 # 18.4 + bottom_yaw_angle_ki: 0.0 + bottom_yaw_angle_kd: 0.0 + bottom_yaw_velocity_kp: 2.00 # 2.81 + bottom_yaw_velocity_ki: 0.000071 # 0.00028 + bottom_yaw_velocity_kd: 0.0 + bottom_yaw_velocity_integral_min: -2500.0 + bottom_yaw_velocity_integral_max: 2500.0 + +pitch_angle_pid_controller: + ros__parameters: + measurement: /gimbal/pitch/control_angle_error + control: /gimbal/pitch/control_velocity + kp: 18.6 + ki: 0.0 + kd: 0.0 + +pitch_velocity_pid_controller: + ros__parameters: + measurement: /gimbal/pitch/velocity_imu + setpoint: /gimbal/pitch/control_velocity + control: /gimbal/pitch/control_torque + kp: 16.05 + ki: 0.00014 + kd: 0.0 + integral_min: -2500.0 + integral_max: 2500.0 + +gimbal_player_viewer_controller: + ros__parameters: + upper_limit: 0.415996 + lower_limit: -0.066441 + +viewer_angle_pid_controller: + ros__parameters: + measurement: /gimbal/player_viewer/control_angle_error + control: /gimbal/player_viewer/control_velocity + kp: 4.00 + ki: 0.00 + kd: 0.50 + +bullet_feeder_controller: + ros__parameters: + bullet_feeder_velocity_kp: 5.0 + bullet_feeder_velocity_ki: 0.1 + bullet_feeder_velocity_kd: 0.0 + bullet_feeder_velocity_integral_min: 0.0 + bullet_feeder_velocity_integral_max: 60.0 + bullet_feeder_angle_kp: 6.0 + bullet_feeder_angle_ki: 0.0 + bullet_feeder_angle_kd: 1.6 + putter_return_velocity_kp: 0.003 + putter_return_velocity_ki: 0.00005 + putter_return_velocity_kd: 0.0 + putter_return_velocity_integral_min: -0.03 + putter_return_velocity_integral_max: 0.0 + photoelectric_allow: true + +friction_wheel_controller: + ros__parameters: + friction_wheels: + - /gimbal/first_front_friction + - /gimbal/second_front_friction + - /gimbal/third_front_friction + - /gimbal/first_back_friction + - /gimbal/second_back_friction + - /gimbal/third_back_friction + friction_velocities_profile_0: + - 390.0 + - 390.0 + - 390.0 + - 480.0 + - 480.0 + - 480.0 + # - 527.0 + # - 527.0 + # - 527.0 + # - 435.0 + # - 435.0 + # - 435.0 + friction_velocities_profile_1: + - 527.0 + - 527.0 + - 527.0 + - 435.0 + - 435.0 + - 435.0 + friction_soft_start_stop_time: 1.0 + +heat_controller: + ros__parameters: + heat_per_shot: 100000 + reserved_heat: 0 + +shooting_recorder: + ros__parameters: + friction_wheel_count: 6 + aim_velocity: 16.15 + log_mode: 1 # 1: trigger, 2: timing + +first_front_friction_velocity_pid_controller: + ros__parameters: + measurement: /gimbal/first_front_friction/velocity + setpoint: /gimbal/first_front_friction/control_velocity + control: /gimbal/first_front_friction/control_torque + kp: 0.006233371 + ki: 0.00 #0.00003 + kd: 0.000001 + +second_front_friction_velocity_pid_controller: + ros__parameters: + measurement: /gimbal/second_front_friction/velocity + setpoint: /gimbal/second_front_friction/control_velocity + control: /gimbal/second_front_friction/control_torque + kp: 0.006035661 + ki: 0.00 #0.00003 + kd: 0.000001 + +third_front_friction_velocity_pid_controller: + ros__parameters: + measurement: /gimbal/third_front_friction/velocity + setpoint: /gimbal/third_front_friction/control_velocity + control: /gimbal/third_front_friction/control_torque + kp: 0.006192421 + ki: 0.00 #0.00003 + kd: 0.000001 + +first_back_friction_velocity_pid_controller: + ros__parameters: + measurement: /gimbal/first_back_friction/velocity + setpoint: /gimbal/first_back_friction/control_velocity + control: /gimbal/first_back_friction/control_torque + kp: 0.007749503 + ki: 0.00 + kd: 0.00003 + +second_back_friction_velocity_pid_controller: + ros__parameters: + measurement: /gimbal/second_back_friction/velocity + setpoint: /gimbal/second_back_friction/control_velocity + control: /gimbal/second_back_friction/control_torque + kp: 0.007795934 + ki: 0.00 + kd: 0.00003 + +third_back_friction_velocity_pid_controller: + ros__parameters: + measurement: /gimbal/third_back_friction/velocity + setpoint: /gimbal/third_back_friction/control_velocity + control: /gimbal/third_back_friction/control_torque + kp: 0.007760993 + ki: 0.00 + kd: 0.00003 + +steering_wheel_status: + ros__parameters: + vehicle_radius: 0.286378 + wheel_radius: 0.055 + +steering_wheel_controller: + ros__parameters: + mess: 22.0 + moment_of_inertia: 1.08 + vehicle_radius: 0.286378 + wheel_radius: 0.055 + friction_coefficient: 0.6 + k1: 2.958580e+00 + k2: 3.082190e-03 + no_load_power: 11.37 + +pitch_swept_frequency_controller: + ros__parameters: + target: /gimbal/pitch + + sweep: true + logarithmic: true + start_freq: 0.1 + end_freq: 10.0 + duration: 60.0 + amplitude: 6.8 + + pid: true + setpoint: 0.0 + position_kp: 20.0 + position_ki: 0.0 + position_kd: 0.0 + velocity_kp: 1.65 + velocity_ki: 0.0 + velocity_kd: 0.0 + dc_offset: 0.0 + +pitch_static_torque_test_controller: + ros__parameters: + target: /gimbal/pitch + + interval_angle: 0.02 + wait_time: 1.5 + border_clip: 0.02 + + position_kp: 12.0 + position_ki: 0.0 + position_kd: 0.0 + + velocity_kp: 3.2 + velocity_ki: 0.0005 + velocity_kd: 0.0 + + velocity_integral_min: -2500.0 + velocity_integral_max: 2500.0 + +top_yaw_swept_frequency_controller: + ros__parameters: + target: /gimbal/top_yaw + + sweep: true + logarithmic: true + start_freq: 0.1 + end_freq: 10.0 + duration: 60.0 + amplitude: 15.0 + + pid: true + setpoint: 0.0 + position_kp: 10.0 + position_ki: 0.0 + position_kd: 0.0 + velocity_kp: 3.0 + velocity_ki: 0.0 + velocity_kd: 0.0 + dc_offset: 0.0 + +bottom_yaw_swept_frequency_controller: + ros__parameters: + target: /gimbal/bottom_yaw + + sweep: true + logarithmic: true + start_freq: 0.1 + end_freq: 4.0 + duration: 80.0 + amplitude: 1.0 + +first_front_friction_swept_frequency_controller: + ros__parameters: + target: /gimbal/first_front_friction + sweep: true + pid: false + logarithmic: true + start_freq: 1.0 + end_freq: 45.0 + duration: 60.0 + amplitude: 0.08 + dc_offset: 0.01 + +second_front_friction_swept_frequency_controller: + ros__parameters: + target: /gimbal/second_front_friction + sweep: true + pid: false + logarithmic: true + start_freq: 1.0 + end_freq: 45.0 + duration: 60.0 + amplitude: 0.08 + dc_offset: 0.04 + +third_front_friction_swept_frequency_controller: + ros__parameters: + target: /gimbal/third_front_friction + sweep: true + pid: false + logarithmic: true + start_freq: 1.0 + end_freq: 45.0 + duration: 60.0 + amplitude: 0.08 + dc_offset: 0.02 + +first_back_friction_swept_frequency_controller: + ros__parameters: + target: /gimbal/first_back_friction + sweep: true + pid: false + logarithmic: true + start_freq: 1.0 + end_freq: 45.0 + duration: 60.0 + amplitude: 0.08 + dc_offset: 0.021 + +second_back_friction_swept_frequency_controller: + ros__parameters: + target: /gimbal/second_back_friction + sweep: true + pid: false + logarithmic: true + start_freq: 1.0 + end_freq: 45.0 + duration: 60.0 + amplitude: 0.08 + dc_offset: 0.029 + +third_back_friction_swept_frequency_controller: + ros__parameters: + target: /gimbal/third_back_friction + sweep: true + pid: false + logarithmic: true + start_freq: 1.0 + end_freq: 45.0 + duration: 40.0 + amplitude: 0.08 + dc_offset: 0.00 diff --git a/rmcs_ws/src/rmcs_bringup/config/steering-hero-little.yaml b/rmcs_ws/src/rmcs_bringup/config/steering-hero-little.yaml deleted file mode 100644 index 539707670..000000000 --- a/rmcs_ws/src/rmcs_bringup/config/steering-hero-little.yaml +++ /dev/null @@ -1,417 +0,0 @@ -rmcs_executor: - ros__parameters: - update_rate: 1000.0 - components: - - rmcs_core::hardware::SteeringHeroLittle -> hero_hardware - - - rmcs_core::referee::Status -> referee_status - - rmcs_core::referee::command::Interaction -> referee_interaction - - rmcs_core::referee::command::interaction::Ui -> referee_ui - - rmcs_core::referee::app::ui::Hero -> referee_ui_hero - - rmcs_core::referee::Command -> referee_command - - - rmcs_core::controller::gimbal::HeroGimbalController -> gimbal_controller - - rmcs_core::controller::gimbal::DualYawController -> dual_yaw_controller - - rmcs_core::controller::pid::ErrorPidController -> pitch_angle_pid_controller - - rmcs_core::controller::pid::PidController -> pitch_velocity_pid_controller - - - rmcs_core::controller::gimbal::PlayerViewer -> gimbal_player_viewer_controller - - rmcs_core::controller::pid::ErrorPidController -> viewer_angle_pid_controller - - - rmcs_core::controller::shooting::HeroFrictionWheelController -> friction_wheel_controller - - rmcs_core::controller::shooting::HeroHeatController -> heat_controller - - rmcs_core::controller::shooting::PutterController -> bullet_feeder_controller - - rmcs_core::controller::pid::PidController -> first_left_friction_velocity_pid_controller - - rmcs_core::controller::pid::PidController -> first_right_friction_velocity_pid_controller - - rmcs_core::controller::pid::PidController -> second_left_friction_velocity_pid_controller - - rmcs_core::controller::pid::PidController -> second_right_friction_velocity_pid_controller - # - rmcs_core::controller::shooting::ShootingRecorder -> shooting_recorder - - - rmcs_core::controller::chassis::SteeringWheelStatus -> steering_wheel_status - - rmcs_core::controller::chassis::HeroChassisController -> chassis_controller - - rmcs_core::controller::chassis::HeroChassisPowerController -> chassis_power_controller - - rmcs_core::controller::chassis::HeroSteeringWheelController -> steering_wheel_controller - - rmcs_core::controller::chassis::ChassisClimberController -> climber_controller - - # - rmcs_auto_aim::AutoAimInitializer -> auto_aim_initializer - # - rmcs_auto_aim::AutoAimController -> auto_aim_controller - - # - rmcs_core::broadcaster::ValueBroadcaster -> value_broadcaster - # - rmcs_core::broadcaster::TfBroadcaster -> tf_broadcaster - - # - sp_vision_25::bridge::HeroAutoAimBridge -> hero_auto_aim_bridge - - # - rmcs_core::controller::identification::SweptFrequencyController -> pitch_swept_frequency_controller - # - rmcs_core::controller::identification::StaticTorqueTestController -> pitch_static_torque_test_controller - # - rmcs_core::controller::identification::SweptFrequencyController -> top_yaw_swept_frequency_controller - # - rmcs_core::controller::identification::SweptFrequencyController -> bottom_yaw_swept_frequency_controller - -hero_hardware: - ros__parameters: - board_serial_top_board: "AF-BFF7-0B6F-46A5-2B4B-AA20-89C2-E180-64B9" - serial_bottom_rmcs_board: "AF-60BB-7484-FA24-F3FC-399B-454D-22FA-1B1D" - bottom_yaw_motor_zero_point: 35078 - pitch_motor_zero_point: 57241 - top_yaw_motor_zero_point: 48537 - viewer_motor_zero_point: 31940 - external_imu_port: /dev/ttyUSB0 - bullet_feeder_motor_zero_point: 60480 #39045 - left_front_zero_point: 5799 - right_front_zero_point: 3700 - left_back_zero_point: 7862 - right_back_zero_point: 1608 - -value_broadcaster: - ros__parameters: - forward_list: - - /gimbal/top_yaw/control_angle - - /chassis/climber/left_front_motor/torque - - /chassis/climber/right_front_motor/torque - - /chassis/left_front_steering/torque - - /chassis/left_back_steering/torque - - /chassis/right_front_steering/torque - - /chassis/right_back_steering/torque - # - /shoot/heat12707 - # - /chassis/power - # - /referee/chassis/power - # - /referee/chassis/power_limit - # - /chassis/control_power_limit - # - /chassis/climber/front/control_power_limit - # - /chassis/climber/front/power_demand_estimate - # - /chassis/climber/front/actual_power_estimate - # - /chassis/steering_wheel/actual_power_estimate - # - /gimbal/putter/velocity - - /gimbal/first_left_friction/velocity - - /gimbal/first_right_friction/velocity - - /gimbal/second_left_friction/velocity - - /gimbal/second_right_friction/velocity - # - /gimbal/first_left_friction/control_torque - # - /gimbal/first_second_friction/control_torque - # - /gimbal/second_left_friction/control_torque - # - /gimbal/second_right_friction/control_torque - # - /gimbal/bottom_yaw/torque - # - /gimbal/bottom_yaw/angle - # - /gimbal/top_yaw/angle - # - /gimbal/pitch/angle - # - /chassis/power - - /chassis/supercap/voltage - # - /chassis/control_power_limit - # - /referee/chassis/power_limit - # - /referee/chassis/buffer_energy - # - /chassis/climber/front/control_power_limit - # - /chassis/climber/front/power_demand_estimate - # - /chassis/climber/front/actual_power_estimate - # - /chassis/steering_wheel/actual_power_estimate - - /gimbal/bullet_feeder/torque - - /gimbal/bullet_feeder/control_torque - - /gimbal/putter/angle - - /gimbal/putter/velocity - - /gimbal/putter/torque - - /gimbal/putter/control_torque - - /gimbal/bullet_feeder/velocity - - /gimbal/bullet_feeder/angle - - -climber_controller: - ros__parameters: - front_climber_velocity: 20.0 - back_climber_velocity: 30.0 - auto_climb_support_retract_velocity_fast: 60.0 - auto_climb_support_retract_velocity_slow: 20.0 - auto_climb_approach_chassis_velocity: 2.0 - auto_climb_support_deploy_chassis_velocity: 0.3 - auto_climb_support_retract_chassis_velocity: 0.3 - auto_climb_dash_chassis_velocity: 3.0 - first_stair_dash_leveled_pitch_threshold: 0.05 - second_stair_dash_leveled_pitch_threshold: -0.09 - sync_coefficient: 0.2 - first_stair_approach_pitch: 0.517 - second_stair_approach_pitch: 0.365 - front_kp: 1.0 - front_ki: 0.0 - front_kd: 0.5 - front_power_estimate_bias: 0.0 - front_power_estimate_k_tau2: 1.0 - front_power_estimate_k_mech: 1.0 - back_kp: 0.5 - back_ki: 0.0 - back_kd: 0.0 - -chassis_power_controller: - ros__parameters: - front_climber_power_limit_max: 50.0 - drive_power_limit_floor: 50.0 - auto_climb_min_control_power_limit: 130.0 - -gimbal_controller: - ros__parameters: - upper_limit: -0.668 - lower_limit: 0.320 - -dual_yaw_controller: - ros__parameters: - top_yaw_angle_kp: 14.0 #30.2 - top_yaw_angle_ki: 0.0 - top_yaw_angle_kd: 0.0 - top_yaw_velocity_kp: 9.37 #11.0 - top_yaw_velocity_ki: 0.00033 #0.00029 - top_yaw_velocity_kd: 0.0 - top_yaw_velocity_integral_min: -2500.0 - top_yaw_velocity_integral_max: 2500.0 - bottom_yaw_angle_kp: 10.0 #18.4 - bottom_yaw_angle_ki: 0.0 - bottom_yaw_angle_kd: 0.0 - bottom_yaw_velocity_kp: 2.00 #2.81 - bottom_yaw_velocity_ki: 0.000071 #0.00028 - bottom_yaw_velocity_kd: 0.0 - bottom_yaw_velocity_integral_min: -2500.0 - bottom_yaw_velocity_integral_max: 2500.0 - -pitch_angle_pid_controller: - ros__parameters: - measurement: /gimbal/pitch/control_angle_error - control: /gimbal/pitch/control_velocity - kp: 18.6 - ki: 0.0 - kd: 0.0 - -pitch_velocity_pid_controller: - ros__parameters: - measurement: /gimbal/pitch/velocity_imu - setpoint: /gimbal/pitch/control_velocity - control: /gimbal/pitch/control_torque - kp: 16.05 - ki: 0.00014 - kd: 0.0 - integral_min: -2500.0 - integral_max: 2500.0 - -gimbal_player_viewer_controller: - ros__parameters: - upper_limit: 0.415996 - lower_limit: -0.066441 - -viewer_angle_pid_controller: - ros__parameters: - measurement: /gimbal/player_viewer/control_angle_error - control: /gimbal/player_viewer/control_velocity - kp: 4.00 - ki: 0.00 - kd: 0.50 - -bullet_feeder_controller: - ros__parameters: - bullet_feeder_velocity_kp: 5.0 - bullet_feeder_velocity_ki: 0.1 #1.1 - bullet_feeder_velocity_kd: 0.0 - bullet_feeder_velocity_integral_min: 0.0 - bullet_feeder_velocity_integral_max: 60.0 - bullet_feeder_angle_kp: 6.0 - bullet_feeder_angle_ki: 0.0 - bullet_feeder_angle_kd: 1.6 - putter_return_velocity_kp: 0.0025 - putter_return_velocity_ki: 0.00005 - putter_return_velocity_kd: 0.0 - putter_return_velocity_integral_min: -0.03 - putter_return_velocity_integral_max: 0.0 - photoelectric_allow: true - -friction_wheel_controller: - ros__parameters: - friction_wheels: - - /gimbal/second_left_friction - - /gimbal/second_right_friction - - /gimbal/first_left_friction - - /gimbal/first_right_friction - friction_velocities_profile_0: - - 380.0 - - 380.0 - - 545.0 - - 545.0 - friction_velocities_profile_1: - - 535.0 - - 535.0 - - 595.0 - - 595.0 - friction_soft_start_stop_time: 1.0 - -heat_controller: - ros__parameters: - heat_per_shot: 100000 - reserved_heat: 0 - -shooting_recorder: - ros__parameters: - friction_wheel_count: 4 - aim_velocity: 11.8 - log_mode: 1 # 1: trigger, 2: timing - -first_left_friction_velocity_pid_controller: - ros__parameters: - measurement: /gimbal/first_left_friction/velocity - setpoint: /gimbal/first_left_friction/control_velocity - control: /gimbal/first_left_friction/control_torque - kp: 0.006 - ki: 0.00 - kd: 0.00016 - -first_right_friction_velocity_pid_controller: - ros__parameters: - measurement: /gimbal/first_right_friction/velocity - setpoint: /gimbal/first_right_friction/control_velocity - control: /gimbal/first_right_friction/control_torque - kp: 0.006 - ki: 0.00 - kd: 0.00016 - -second_left_friction_velocity_pid_controller: - ros__parameters: - measurement: /gimbal/second_left_friction/velocity - setpoint: /gimbal/second_left_friction/control_velocity - control: /gimbal/second_left_friction/control_torque - kp: 0.006 - ki: 0.00 - kd: 0.00008 - -second_right_friction_velocity_pid_controller: - ros__parameters: - measurement: /gimbal/second_right_friction/velocity - setpoint: /gimbal/second_right_friction/control_velocity - control: /gimbal/second_right_friction/control_torque - kp: 0.006 - ki: 0.00 - kd: 0.00008 - -steering_wheel_status: - ros__parameters: - vehicle_radius: 0.286378 - wheel_radius: 0.055 - -steering_wheel_controller: - ros__parameters: - mess: 22.0 - moment_of_inertia: 1.08 - vehicle_radius: 0.318198 - wheel_radius: 0.055 - friction_coefficient: 0.6 - k1: 2.958580e+00 - k2: 3.082190e-03 - no_load_power: 11.37 - -auto_aim_controller: - ros__parameters: - # capture - use_video: false # If true, use video stream instead of camera. - video_path: "/workspaces/RMCS/rmcs_ws/resources/1.avi" - exposure_time: 1 - invert_image: false - # identifier - armor_model_path: "/models/mlp.onnx" - # pnp - fx: 1.722231837421459e+03 - fy: 1.724876404292754e+03 - cx: 7.013056440882832e+02 - cy: 5.645821718351237e+02 - k1: -0.064232403853946 - k2: -0.087667493884102 - k3: 0.792381808294582 - # tracker - armor_predict_duration: 500 - # controller - gimbal_predict_duration: 100 - yaw_error: 0. - pitch_error: 0. - shoot_velocity: 28.0 - predict_sec: 0.095 - # etc - buff_predict_duration: 200 - buff_model_path: "/models/buff_nocolor_v6.onnx" - omni_exposure: 1000.0 - record_fps: 120 - debug: false # Setup in actual using.Debug mode is used when referee is not ready - debug_color: 0 # 0 For blue while 1 for red. mine - debug_robot_id: 4 - debug_buff_mode: false - record: false - raw_img_pub: false # Set false in actual use - image_viewer_type: 2 - -hero_auto_aim_bridge: - ros__parameters: - config_file: "configs/standard3.yaml" - bullet_speed_fallback: 11.4 - result_timeout: 0.1 # 0.08 - debug: false - - -pitch_swept_frequency_controller: - ros__parameters: - target: /gimbal/pitch - - sweep: true - logarithmic: true - start_freq: 0.1 - end_freq: 10.0 - duration: 60.0 - amplitude: 10.0 - - pid: true - setpoint: 0.0 - position_kp: 20.0 - position_ki: 0.0 - position_kd: 0.0 - velocity_kp: 1.65 - velocity_ki: 0.0 - velocity_kd: 0.0 - dc_offset: 0.0 - -pitch_static_torque_test_controller: - ros__parameters: - target: /gimbal/pitch - - interval_angle: 0.05 - wait_time: 1.5 - border_clip: 0.05 - - position_kp: 12.0 - position_ki: 0.0 - position_kd: 0.0 - - velocity_kp: 3.2 - velocity_ki: 0.0005 - velocity_kd: 0.0 - - velocity_integral_min: -2500.0 - velocity_integral_max: 2500.0 - -top_yaw_swept_frequency_controller: - ros__parameters: - target: /gimbal/top_yaw - - sweep: true - logarithmic: true - start_freq: 0.1 - end_freq: 10.0 - duration: 60.0 - amplitude: 15.0 - - pid: true - setpoint: 0.0 - position_kp: 10.0 - position_ki: 0.0 - position_kd: 0.0 - velocity_kp: 3.0 - velocity_ki: 0.0 - velocity_kd: 0.0 - dc_offset: 0.0 - -bottom_yaw_swept_frequency_controller: - ros__parameters: - target: /gimbal/bottom_yaw - - sweep: true - logarithmic: true - start_freq: 0.1 - end_freq: 4.0 - duration: 80.0 - amplitude: 1.0 diff --git a/rmcs_ws/src/rmcs_bringup/config/steering-hero.yaml b/rmcs_ws/src/rmcs_bringup/config/steering-hero.yaml deleted file mode 100644 index a6e01d35c..000000000 --- a/rmcs_ws/src/rmcs_bringup/config/steering-hero.yaml +++ /dev/null @@ -1,399 +0,0 @@ -rmcs_executor: - ros__parameters: - update_rate: 1000.0 - components: - - rmcs_core::hardware::SteeringHero -> hero_hardware - - - rmcs_core::referee::Status -> referee_status - - rmcs_core::referee::command::Interaction -> referee_interaction - - rmcs_core::referee::command::interaction::Ui -> referee_ui - - rmcs_core::referee::app::ui::Hero -> referee_ui_hero - - rmcs_core::referee::Command -> referee_command - - - rmcs_core::controller::gimbal::HeroGimbalController -> gimbal_controller - - rmcs_core::controller::gimbal::DualYawController -> dual_yaw_controller - - rmcs_core::controller::pid::ErrorPidController -> pitch_angle_pid_controller - - rmcs_core::controller::pid::PidController -> pitch_velocity_pid_controller - - - rmcs_core::controller::gimbal::PlayerViewer -> gimbal_player_viewer_controller - - rmcs_core::controller::pid::ErrorPidController -> viewer_angle_pid_controller - - - rmcs_core::controller::shooting::HeroFrictionWheelController -> friction_wheel_controller - - rmcs_core::controller::shooting::HeroHeatController -> heat_controller - - rmcs_core::controller::shooting::PutterController -> bullet_feeder_controller - - rmcs_core::controller::pid::PidController -> first_left_friction_velocity_pid_controller - - rmcs_core::controller::pid::PidController -> first_right_friction_velocity_pid_controller - - rmcs_core::controller::pid::PidController -> second_left_friction_velocity_pid_controller - - rmcs_core::controller::pid::PidController -> second_right_friction_velocity_pid_controller - # - rmcs_core::controller::shooting::ShootingRecorder -> shooting_recorder - - - rmcs_core::controller::chassis::SteeringWheelStatus -> steering_wheel_status - - rmcs_core::controller::chassis::HeroChassisController -> chassis_controller - - rmcs_core::controller::chassis::HeroChassisPowerController -> chassis_power_controller - - rmcs_core::controller::chassis::HeroSteeringWheelController -> steering_wheel_controller - - rmcs_core::controller::chassis::ChassisClimberController -> climber_controller - - # - rmcs_auto_aim::AutoAimInitializer -> auto_aim_initializer - # - rmcs_auto_aim::AutoAimController -> auto_aim_controller - - # - rmcs_core::broadcaster::ValueBroadcaster -> value_broadcaster - # - rmcs_core::broadcaster::TfBroadcaster -> tf_broadcaster - - # - sp_vision_25::bridge::HeroAutoAimBridge -> hero_auto_aim_bridge - - # - rmcs_core::controller::identification::SweptFrequencyController -> pitch_swept_frequency_controller - # - rmcs_core::controller::identification::StaticTorqueTestController -> pitch_static_torque_test_controller - # - rmcs_core::controller::identification::SweptFrequencyController -> top_yaw_swept_frequency_controller - # - rmcs_core::controller::identification::SweptFrequencyController -> bottom_yaw_swept_frequency_controller - - - - -hero_hardware: - ros__parameters: - board_serial_top_board: "D4-2BCA-2E47-76CD-23BC-0B78-684B" - board_serial_bottom_board_one: "D4-7973-19A9-EA40-4A3E-306F-10F9" - board_serial_bottom_board_two: "D4-3674-7174-8768-879E-E44A-3931" - bottom_yaw_motor_zero_point: 37424 - pitch_motor_zero_point: 14916 - top_yaw_motor_zero_point: 33076 - viewer_motor_zero_point: 3030 - external_imu_port: /dev/ttyUSB0 - bullet_feeder_motor_zero_point: 11865 - left_front_zero_point: 4398 - right_front_zero_point: 1081 - left_back_zero_point: 3794 - right_back_zero_point: 5839 - - - - -value_broadcaster: - ros__parameters: - forward_list: - # - /shoot/heat - - /chassis/power - # - /referee/chassis/power - # - /referee/chassis/power_limit - - /chassis/control_power_limit - - /chassis/climber/front/control_power_limit - - /chassis/climber/front/power_demand_estimate - - /chassis/climber/front/actual_power_estimate - - /chassis/steering_wheel/actual_power_estimate - # - /chassis/supercap/voltage - # - /gimbal/putter/velocity - - /gimbal/first_left_friction/velocity - - /gimbal/first_right_friction/velocity - - /gimbal/second_left_friction/velocity - - /gimbal/second_right_friction/velocity - # - /gimbal/first_left_friction/control_torque - # - /gimbal/first_second_friction/control_torque - # - /gimbal/second_left_friction/control_torque - # - /gimbal/second_right_friction/control_torque - # - /gimbal/bottom_yaw/torque - - /gimbal/bottom_yaw/control_angle_shift - - /gimbal/bottom_yaw/angle - - /gimbal/top_yaw/angle - - /gimbal/pitch/angle - - # - /gimbal/pitch/velocity_imu - # - /gimbal/pitch/control_velocity - # - /gimbal/pitch/control_torque - - - /gimbal/auto_aim/plan_yaw - - /gimbal/auto_aim/plan_pitch - -climber_controller: - ros__parameters: - front_climber_velocity: 20.0 - back_climber_velocity: 30.0 - auto_climb_support_retract_velocity_fast: 60.0 - auto_climb_support_retract_velocity_slow: 20.0 - auto_climb_approach_chassis_velocity: 2.0 - auto_climb_support_deploy_chassis_velocity: 0.3 - auto_climb_support_retract_chassis_velocity: 0.3 - auto_climb_dash_chassis_velocity: 3.0 - first_stair_dash_leveled_pitch_threshold: 0.05 - second_stair_dash_leveled_pitch_threshold: -0.09 - sync_coefficient: 0.2 - first_stair_approach_pitch: 0.517 - second_stair_approach_pitch: 0.365 - front_kp: 1.0 - front_ki: 0.0 - front_kd: 0.5 - front_power_estimate_bias: 0.0 - front_power_estimate_k_tau2: 1.0 - front_power_estimate_k_mech: 1.0 - back_kp: 0.5 - back_ki: 0.0 - back_kd: 0.0 - -chassis_power_controller: - ros__parameters: - front_climber_power_limit_max: 60.0 - drive_power_limit_floor: 50.0 - auto_climb_min_control_power_limit: 150.0 - -gimbal_controller: - ros__parameters: - upper_limit: -0.688 - lower_limit: 0.357 - -dual_yaw_controller: - ros__parameters: - top_yaw_angle_kp: 5.0 - top_yaw_angle_ki: 0.0 - top_yaw_angle_kd: 0.0 - top_yaw_velocity_kp: 10.0 - top_yaw_velocity_ki: 0.0 - top_yaw_velocity_kd: 0.0 - top_yaw_velocity_integral_min: -2500.0 - top_yaw_velocity_integral_max: 2500.0 - bottom_yaw_angle_kp: 13.9 - bottom_yaw_angle_ki: 0.0 - bottom_yaw_angle_kd: 0.0 - bottom_yaw_velocity_kp: 2.0 - bottom_yaw_velocity_ki: 0.0 - bottom_yaw_velocity_kd: 0.0 - -# dual_yaw_controller: -# ros__parameters: -# top_yaw_angle_kp: 24.5 -# top_yaw_angle_ki: 0.0 -# top_yaw_angle_kd: 0.0 -# top_yaw_velocity_kp: 77.4 -# top_yaw_velocity_ki: 0.004 -# top_yaw_velocity_kd: 1.0 -# bottom_yaw_angle_kp: 8.6 -# bottom_yaw_angle_ki: 0.0 -# bottom_yaw_angle_kd: 0.0 -# bottom_yaw_velocity_kp: 25.85 -# bottom_yaw_velocity_ki: 0.0 -# bottom_yaw_velocity_kd: 50.0 - -pitch_angle_pid_controller: - ros__parameters: - measurement: /gimbal/pitch/control_angle_error - control: /gimbal/pitch/control_velocity - kp: 10.0 - ki: 0.0 - kd: 0.0 - -pitch_velocity_pid_controller: - ros__parameters: - measurement: /gimbal/pitch/velocity_imu - setpoint: /gimbal/pitch/control_velocity - control: /gimbal/pitch/control_torque - kp: 12.00 #45.00 - ki: 0.00 - kd: 0.0 #1.00 - -gimbal_player_viewer_controller: - ros__parameters: - upper_limit: 0.68 - lower_limit: 1.17 - -viewer_angle_pid_controller: - ros__parameters: - measurement: /gimbal/player_viewer/control_angle_error - control: /gimbal/player_viewer/control_velocity - kp: 17.00 - ki: 0.00 - kd: 2.00 - -friction_wheel_controller: - ros__parameters: - friction_wheels: - - /gimbal/first_left_friction - - /gimbal/first_right_friction - - /gimbal/second_left_friction - - /gimbal/second_right_friction - friction_velocities_profile_0: - - 368.00 - - 368.00 - - 532.00 - - 532.00 - friction_velocities_profile_1: - - 525.0 - - 525.0 - - 585.0 - - 585.0 - friction_soft_start_stop_time: 1.0 - -heat_controller: - ros__parameters: - heat_per_shot: 100000 - reserved_heat: 0 - -shooting_recorder: - ros__parameters: - friction_wheel_count: 4 - aim_velocity: 11.8 - log_mode: 1 # 1: trigger, 2: timing - -bullet_feeder_controller: - ros__parameters: - bullet_feeder_velocity_kp: 5.5 - bullet_feeder_velocity_ki: 1.1 - bullet_feeder_velocity_kd: 0.0 - bullet_feeder_velocity_integral_min: 0.0 - bullet_feeder_velocity_integral_max: 60.0 - bullet_feeder_angle_kp: 5.0 - bullet_feeder_angle_ki: 0.0 - bullet_feeder_angle_kd: 1.0 - putter_return_velocity_kp: 0.0015 - putter_return_velocity_ki: 0.00005 - putter_return_velocity_kd: 0.0 - putter_return_velocity_integral_min: -0.03 - putter_return_velocity_integral_max: 0.0 - photoelectric_allow: false - -first_left_friction_velocity_pid_controller: - ros__parameters: - measurement: /gimbal/first_left_friction/velocity - setpoint: /gimbal/first_left_friction/control_velocity - control: /gimbal/first_left_friction/control_torque - kp: 0.0005 - ki: 0.00 - kd: 0.00004 - -first_right_friction_velocity_pid_controller: - ros__parameters: - measurement: /gimbal/first_right_friction/velocity - setpoint: /gimbal/first_right_friction/control_velocity - control: /gimbal/first_right_friction/control_torque - kp: 0.0005 - ki: 0.00 - kd: 0.00004 - -second_left_friction_velocity_pid_controller: - ros__parameters: - measurement: /gimbal/second_left_friction/velocity - setpoint: /gimbal/second_left_friction/control_velocity - control: /gimbal/second_left_friction/control_torque - kp: 0.0009 - ki: 0.00 - kd: 0.00008 - -second_right_friction_velocity_pid_controller: - ros__parameters: - measurement: /gimbal/second_right_friction/velocity - setpoint: /gimbal/second_right_friction/control_velocity - control: /gimbal/second_right_friction/control_torque - kp: 0.0009 - ki: 0.00 - kd: 0.00008 - -steering_wheel_status: - ros__parameters: - vehicle_radius: 0.318198 - wheel_radius: 0.055 - -steering_wheel_controller: - ros__parameters: - mess: 22.0 - moment_of_inertia: 1.08 - vehicle_radius: 0.318198 - wheel_radius: 0.055 - friction_coefficient: 0.6 - k1: 2.958580e+00 - k2: 3.082190e-03 - no_load_power: 11.37 - -auto_aim_controller: - ros__parameters: - # capture - use_video: false # If true, use video stream instead of camera. - video_path: "/workspaces/RMCS/rmcs_ws/resources/1.avi" - exposure_time: 1 - invert_image: false - # identifier - armor_model_path: "/models/mlp.onnx" - # pnp - fx: 1.722231837421459e+03 - fy: 1.724876404292754e+03 - cx: 7.013056440882832e+02 - cy: 5.645821718351237e+02 - k1: -0.064232403853946 - k2: -0.087667493884102 - k3: 0.792381808294582 - # tracker - armor_predict_duration: 500 - # controller - gimbal_predict_duration: 100 - yaw_error: 0. - pitch_error: 0. - shoot_velocity: 28.0 - predict_sec: 0.095 - # etc - buff_predict_duration: 200 - buff_model_path: "/models/buff_nocolor_v6.onnx" - omni_exposure: 1000.0 - record_fps: 120 - debug: false # Setup in actual using.Debug mode is used when referee is not ready - debug_color: 0 # 0 For blue while 1 for red. mine - debug_robot_id: 4 - debug_buff_mode: false - record: false - raw_img_pub: false # Set false in actual use - image_viewer_type: 2 - -# hero_auto_aim_bridge: -# ros__parameters: -# config_file: "configs/standard3.yaml" -# bullet_speed_fallback: 11.7 -# result_timeout: 0.1 # 0.08 -# debug: false - -pitch_swept_frequency_controller: - ros__parameters: - target: /gimbal/pitch - - sweep: true - logarithmic: true - start_freq: 0.1 - end_freq: 10.0 - duration: 60.0 - amplitude: 10.0 - - pid: true - setpoint: 0.0 - position_kp: 20.0 - position_ki: 0.0 - position_kd: 0.0 - velocity_kp: 1.65 - velocity_ki: 0.0 - velocity_kd: 0.0 - dc_offset: 0.0 - -top_yaw_swept_frequency_controller: - ros__parameters: - target: /gimbal/top_yaw - - sweep: true - logarithmic: true - start_freq: 0.1 - end_freq: 10.0 - duration: 60.0 - amplitude: 20.0 - - pid: true - setpoint: 0.0 - position_kp: 10.0 - position_ki: 0.0 - position_kd: 0.0 - velocity_kp: 3.0 - velocity_ki: 0.0 - velocity_kd: 0.0 - dc_offset: 0.0 - -bottom_yaw_swept_frequency_controller: - ros__parameters: - target: /gimbal/bottom_yaw - - sweep: true - logarithmic: true - start_freq: 0.1 - end_freq: 4.0 - duration: 80.0 - amplitude: 2.0 diff --git a/rmcs_ws/src/rmcs_bringup/config/steering-infantry.yaml b/rmcs_ws/src/rmcs_bringup/config/steering-infantry.yaml deleted file mode 100644 index 2e344d140..000000000 --- a/rmcs_ws/src/rmcs_bringup/config/steering-infantry.yaml +++ /dev/null @@ -1,138 +0,0 @@ -rmcs_executor: - ros__parameters: - update_rate: 1000.0 - components: - - rmcs_core::hardware::SteeringInfantry -> infantry_hardware - - - rmcs_core::referee::Status -> referee_status - - rmcs_core::referee::command::Interaction -> referee_interaction - - rmcs_core::referee::command::interaction::Ui -> referee_ui - - rmcs_core::referee::app::ui::Infantry -> referee_ui_infantry - - rmcs_core::referee::Command -> referee_command - - - rmcs_core::controller::gimbal::SimpleGimbalController -> gimbal_controller - - rmcs_core::controller::pid::ErrorPidController -> pitch_angle_pid_controller - - rmcs_core::controller::pid::ErrorPidController -> yaw_angle_pid_controller - - rmcs_core::controller::pid::PidController -> yaw_velocity_pid_controller - - - rmcs_core::controller::shooting::FrictionWheelController -> friction_wheel_controller - - rmcs_core::controller::shooting::HeatController -> heat_controller - - rmcs_core::controller::shooting::BulletFeederController17mm -> bullet_feeder_controller - - rmcs_core::controller::pid::PidController -> left_friction_velocity_pid_controller - - rmcs_core::controller::pid::PidController -> right_friction_velocity_pid_controller - - rmcs_core::controller::pid::PidController -> bullet_feeder_velocity_pid_controller - - - rmcs_core::controller::chassis::ChassisController -> chassis_controller - - rmcs_core::controller::chassis::ChassisPowerController -> chassis_power_controller - - rmcs_core::controller::chassis::SteeringWheelController -> steering_wheel_controller - -infantry_hardware: - ros__parameters: - board_serial_top_board: "AF-B4E5-CE0E-4342-FF2C-F9E2-DE47-2D85-9B75" - board_serial_bottom_board: "AF-EEF5-24BA-6675-F1B1-C797-50AF-869C-870E" - yaw_motor_zero_point: 20993 - pitch_motor_zero_point: 18874 - left_front_zero_point: 1695 - right_front_zero_point: 5068 - left_back_zero_point: 7870 - right_back_zero_point: 3141 - - -gimbal_controller: - ros__parameters: - upper_limit: -0.54 - lower_limit: 0.274 - -pitch_angle_pid_controller: - ros__parameters: - measurement: /gimbal/pitch/control_angle_error - control: /gimbal/pitch/control_velocity - kp: 15.0 - ki: 0.0 - kd: 1.5 - -yaw_angle_pid_controller: - ros__parameters: - measurement: /gimbal/yaw/control_angle_error - control: /gimbal/yaw/control_velocity - kp: 20.0 - ki: 0.0 - kd: 0.9 - -yaw_velocity_pid_controller: - ros__parameters: - measurement: /gimbal/yaw/velocity_imu - setpoint: /gimbal/yaw/control_velocity - control: /gimbal/yaw/control_torque - kp: 2.5 - ki: 0.00 - kd: 0.6 - -friction_wheel_controller: - ros__parameters: - friction_wheels: - - /gimbal/left_friction - - /gimbal/right_friction - friction_velocities: - - 590.0 - - 590.0 - friction_soft_start_stop_time: 0.3 - -heat_controller: - ros__parameters: - heat_per_shot: 10000 - reserved_heat: 0 - -bullet_feeder_controller: - ros__parameters: - bullets_per_feeder_turn: 9.0 - shot_frequency: 27.0 - safe_shot_frequency: 10.0 - eject_frequency: 15.0 - eject_time: 0.15 - deep_eject_frequency: 15.0 - deep_eject_time: 0.20 - single_shot_max_stop_delay: 2.0 - -shooting_recorder: - ros__parameters: - friction_wheel_count: 2 - log_mode: 1 - -left_friction_velocity_pid_controller: - ros__parameters: - measurement: /gimbal/left_friction/velocity - setpoint: /gimbal/left_friction/control_velocity - control: /gimbal/left_friction/control_torque - kp: 0.003436926 - ki: 0.00 - kd: 0.009373434 - -right_friction_velocity_pid_controller: - ros__parameters: - measurement: /gimbal/right_friction/velocity - setpoint: /gimbal/right_friction/control_velocity - control: /gimbal/right_friction/control_torque - kp: 0.003436926 - ki: 0.00 - kd: 0.009373434 - -bullet_feeder_velocity_pid_controller: - ros__parameters: - measurement: /gimbal/bullet_feeder/velocity - setpoint: /gimbal/bullet_feeder/control_velocity - control: /gimbal/bullet_feeder/control_torque - kp: 0.7 - ki: 0.0 - kd: 0.0 - -steering_wheel_controller: - ros__parameters: - mess: 22.0 - moment_of_inertia: 1.08 - vehicle_radius: 0.28284271247462 - wheel_radius: 0.055 - friction_coefficient: 0.6 - k1: 2.958580e+00 - k2: 3.082190e-03 - no_load_power: 11.37 diff --git a/rmcs_ws/src/rmcs_core/CMakeLists.txt b/rmcs_ws/src/rmcs_core/CMakeLists.txt index 81bf0b613..0ae6350ad 100644 --- a/rmcs_ws/src/rmcs_core/CMakeLists.txt +++ b/rmcs_ws/src/rmcs_core/CMakeLists.txt @@ -18,8 +18,8 @@ include(FetchContent) set(BUILD_STATIC_LIBRMCS ON CACHE BOOL "Build static librmcs SDK" FORCE) FetchContent_Declare( librmcs - URL https://github.com/Alliance-Algorithm/librmcs/releases/download/v3.2.0/librmcs-sdk-src-3.2.0.zip - URL_HASH SHA256=f81c3af7fbcf35727a8a7586200db8e9bf668ee0f448529de4bfd3eb7c36ed6f + URL https://github.com/Alliance-Algorithm/librmcs/releases/download/v3.3.0b1/librmcs-sdk-src-3.3.0-beta.1-debug.zip + URL_HASH SHA256=446d632b23b652dd309f35075ef90928dee89f42e8ec71417fa2439445e0b4ff DOWNLOAD_EXTRACT_TIMESTAMP TRUE ) FetchContent_MakeAvailable(librmcs) diff --git a/rmcs_ws/src/rmcs_core/plugins.xml b/rmcs_ws/src/rmcs_core/plugins.xml index 3ac3bf0cc..1803a1d48 100644 --- a/rmcs_ws/src/rmcs_core/plugins.xml +++ b/rmcs_ws/src/rmcs_core/plugins.xml @@ -1,12 +1,10 @@ - - - - + + @@ -19,8 +17,8 @@ + - @@ -47,6 +45,8 @@ + + @@ -57,4 +57,8 @@ + + + + diff --git a/rmcs_ws/src/rmcs_core/src/controller/chassis/chassis_climber_controller.cpp b/rmcs_ws/src/rmcs_core/src/controller/chassis/chassis_climber_controller.cpp index cfd1a6695..840c23c2f 100644 --- a/rmcs_ws/src/rmcs_core/src/controller/chassis/chassis_climber_controller.cpp +++ b/rmcs_ws/src/rmcs_core/src/controller/chassis/chassis_climber_controller.cpp @@ -308,8 +308,11 @@ class ChassisClimberController } if (!manual_support_retracting_) { - if (back_climber_zero_velocity_hold_) + if (back_climber_zero_velocity_hold_) { control.back_climber_velocity = 0.0; + } else { + start_back_climber_retract("Auto retract"); + } return control; } @@ -600,7 +603,7 @@ class ChassisClimberController void dual_motor_sync_control( double setpoint, double left_velocity, double right_velocity, pid::MatrixPidCalculator<2>& pid_calculator, double& left_torque_out, - double& right_torque_out) { + double& right_torque_out) const { if (std::isnan(setpoint)) { left_torque_out = nan_; @@ -619,9 +622,9 @@ class ChassisClimberController right_torque_out = control_torques[1]; } - void limit_back_climber_retract_torque( + static void limit_back_climber_retract_torque( double back_climber_velocity_setpoint, double& left_torque, double& right_torque, - double max_torque) const { + double max_torque) { if (!std::isfinite(back_climber_velocity_setpoint) || back_climber_velocity_setpoint >= 0.0) return; @@ -638,6 +641,7 @@ class ChassisClimberController } rclcpp::Logger logger_; + static constexpr double nan_ = std::numeric_limits::quiet_NaN(); static constexpr double kAutoClimbAlignThreshold = 0.10; static constexpr double kAutoClimbAlignVelocityThreshold = 0.2; @@ -717,6 +721,5 @@ class ChassisClimberController } // namespace rmcs_core::controller::chassis #include - PLUGINLIB_EXPORT_CLASS( rmcs_core::controller::chassis::ChassisClimberController, rmcs_executor::Component) diff --git a/rmcs_ws/src/rmcs_core/src/controller/chassis/chassis_controller.cpp b/rmcs_ws/src/rmcs_core/src/controller/chassis/chassis_controller.cpp index 5b7d9bcad..db740632b 100644 --- a/rmcs_ws/src/rmcs_core/src/controller/chassis/chassis_controller.cpp +++ b/rmcs_ws/src/rmcs_core/src/controller/chassis/chassis_controller.cpp @@ -1,4 +1,6 @@ -#include +#include "controller/pid/pid_calculator.hpp" + +#include #include #include #include @@ -7,8 +9,6 @@ #include #include -#include "controller/pid/pid_calculator.hpp" - namespace rmcs_core::controller::chassis { class ChassisController @@ -16,10 +16,10 @@ class ChassisController , public rclcpp::Node { public: ChassisController() - : Node( + : Node{ get_component_name(), - rclcpp::NodeOptions{}.automatically_declare_parameters_from_overrides(true)) - , following_velocity_controller_(7.0, 0.0, 0.0) { + rclcpp::NodeOptions{}.automatically_declare_parameters_from_overrides(true)} { + following_velocity_controller_.output_max = angular_velocity_max; following_velocity_controller_.output_min = -angular_velocity_max; @@ -35,10 +35,16 @@ class ChassisController register_input("/gimbal/yaw/angle", gimbal_yaw_angle_, false); register_input("/gimbal/yaw/control_angle_error", gimbal_yaw_angle_error_, false); - register_output("/chassis/angle", chassis_angle_, nan); - register_output("/chassis/control_angle", chassis_control_angle_, nan); + register_input("/chassis/velocity", chassis_velocity_, false); + register_input("/chassis/climbing_forward_velocity", climbing_forward_velocity_, false); + + register_input("/rmcs_navigation/enable_control", navigation_enable_control_, false); + register_input("/rmcs_navigation/chassis_velocity", navigation_command_velocity_, false); + register_input("/rmcs_navigation/chassis_behavior", navigation_chassis_behavior_, false); - register_output("/chassis/control_mode", mode_); + register_output("/chassis/angle", chassis_angle_, kNaN); + register_output("/chassis/control_angle", chassis_control_angle_, kNaN); + register_output("/chassis/control_mode", mode_, rmcs_msgs::ChassisMode::ALIGNMENT); register_output("/chassis/control_velocity", chassis_control_velocity_); } @@ -52,6 +58,20 @@ class ChassisController RCLCPP_WARN( get_logger(), "Failed to fetch \"/gimbal/yaw/control_angle_error\". Set to 0.0."); } + + if (!climbing_forward_velocity_.ready()) { + climbing_forward_velocity_.make_and_bind_directly(kNaN); + } + + if (!navigation_enable_control_.ready()) { + navigation_enable_control_.make_and_bind_directly(false); + } + if (!navigation_command_velocity_.ready()) { + navigation_command_velocity_.make_and_bind_directly(Eigen::Vector2d::Zero()); + } + if (!navigation_chassis_behavior_.ready()) { + navigation_chassis_behavior_.make_and_bind_directly(rmcs_msgs::ChassisMode::AUTO); + } } void update() override { @@ -71,28 +91,34 @@ class ChassisController auto mode = *mode_; if (switch_left != Switch::DOWN) { if (last_switch_right_ == Switch::MIDDLE && switch_right == Switch::DOWN) { - if (mode == rmcs_msgs::ChassisMode::SPIN) { - mode = rmcs_msgs::ChassisMode::STEP_DOWN; - } else { - mode = rmcs_msgs::ChassisMode::SPIN; + if (mode != rmcs_msgs::ChassisMode::SPIN_FAST) { + mode = rmcs_msgs::ChassisMode::SPIN_FAST; spinning_forward_ = !spinning_forward_; + } else { + mode = rmcs_msgs::ChassisMode::STEP_DOWN; } } else if (!last_keyboard_.c && keyboard.c) { - if (mode == rmcs_msgs::ChassisMode::SPIN) { - mode = rmcs_msgs::ChassisMode::AUTO; - } else { - mode = rmcs_msgs::ChassisMode::SPIN; + if (mode != rmcs_msgs::ChassisMode::SPIN_FAST) { + mode = rmcs_msgs::ChassisMode::SPIN_FAST; spinning_forward_ = !spinning_forward_; + } else { + mode = rmcs_msgs::ChassisMode::AUTO; } } else if (!last_keyboard_.x && keyboard.x) { - mode = mode == rmcs_msgs::ChassisMode::LAUNCH_RAMP - ? rmcs_msgs::ChassisMode::AUTO - : rmcs_msgs::ChassisMode::LAUNCH_RAMP; + mode = mode != rmcs_msgs::ChassisMode::LAUNCH_RAMP + ? rmcs_msgs::ChassisMode::LAUNCH_RAMP + : rmcs_msgs::ChassisMode::AUTO; } else if (!last_keyboard_.z && keyboard.z) { - mode = mode == rmcs_msgs::ChassisMode::STEP_DOWN - ? rmcs_msgs::ChassisMode::AUTO - : rmcs_msgs::ChassisMode::STEP_DOWN; + mode = mode != rmcs_msgs::ChassisMode::STEP_DOWN + ? rmcs_msgs::ChassisMode::STEP_DOWN + : rmcs_msgs::ChassisMode::AUTO; } + + if (*navigation_enable_control_ + && navigation_command_velocity_->array().isFinite().all()) { + mode = *navigation_chassis_behavior_; + } + *mode_ = mode; } @@ -105,9 +131,8 @@ class ChassisController } void reset_all_controls() { - *mode_ = rmcs_msgs::ChassisMode::AUTO; - - *chassis_control_velocity_ = {nan, nan, nan}; + *mode_ = rmcs_msgs::ChassisMode::ALIGNMENT; + *chassis_control_velocity_ = {kNaN, kNaN, kNaN}; } void update_velocity_control() { @@ -118,6 +143,15 @@ class ChassisController } Eigen::Vector2d update_translational_velocity_control() { + if (!std::isnan(*climbing_forward_velocity_)) + return {*climbing_forward_velocity_, 0.0}; + + if (*navigation_enable_control_) { + const auto command = *navigation_command_velocity_; + if (command.array().isFinite().all()) + return Eigen::Rotation2Dd{*gimbal_yaw_angle_} * command; + } + auto keyboard = *keyboard_; Eigen::Vector2d keyboard_move{keyboard.w - keyboard.s, keyboard.a - keyboard.d}; @@ -134,20 +168,53 @@ class ChassisController double update_angular_velocity_control() { double angular_velocity = 0.0; - double chassis_control_angle = nan; + double chassis_control_angle = kNaN; + + if (!std::isnan(*climbing_forward_velocity_)) { + double err = calculate_unsigned_chassis_angle_error(chassis_control_angle); + if (err > std::numbers::pi) + err -= 2 * std::numbers::pi; + angular_velocity = following_velocity_controller_.update(err); + + *chassis_angle_ = 2 * std::numbers::pi - *gimbal_yaw_angle_; + *chassis_control_angle_ = chassis_control_angle; + return angular_velocity; + } + using namespace rmcs_msgs; switch (*mode_) { - case rmcs_msgs::ChassisMode::AUTO: break; - case rmcs_msgs::ChassisMode::SPIN: { + case ChassisMode::AUTO: break; + + case ChassisMode::SPIN_FAST: angular_velocity = 0.6 * (spinning_forward_ ? angular_velocity_max : -angular_velocity_max); + break; + case ChassisMode::SPIN_SLOW: + angular_velocity = + 0.3 * (spinning_forward_ ? angular_velocity_max : -angular_velocity_max); + break; + + // @NOTE: Align With 4 Sides + case ChassisMode::ALIGNMENT_POWERED: [[fallthrough]]; + case ChassisMode::ALIGNMENT: { + const auto speed = chassis_control_velocity_->vector.head<2>(); + const auto line1 = Eigen::Vector2d{speed.x(), 0}; + const auto line2 = Eigen::Vector2d{0, speed.y()}; + + const auto signed_angle = [](const Eigen::Vector2d& from, const Eigen::Vector2d& to) { + return std::atan2(from.x() * to.y() - from.y() * to.x(), from.dot(to)); + }; + const double angle1 = signed_angle(speed, line1); + const double angle2 = signed_angle(speed, line2); + const double min = (std::abs(angle1) < std::abs(angle2)) ? angle1 : angle2; + + angular_velocity = following_velocity_controller_.update(-min); } break; - case rmcs_msgs::ChassisMode::STEP_DOWN: { + + // @NOTE: Align With 2 Sides + case ChassisMode::STEP_DOWN: { double err = calculate_unsigned_chassis_angle_error(chassis_control_angle); - // err: [0, 2pi) -> [0, alignment) -> signed. - // In step-down mode, two sides of the chassis can be used for alignment. - // TODO: Dynamically determine the split angle based on chassis velocity. constexpr double alignment = std::numbers::pi; while (err > alignment / 2) { chassis_control_angle -= alignment; @@ -158,12 +225,11 @@ class ChassisController angular_velocity = following_velocity_controller_.update(err); } break; - case rmcs_msgs::ChassisMode::LAUNCH_RAMP: { + + // @NOTE: Align With 1 Sides + case ChassisMode::LAUNCH_RAMP: { double err = calculate_unsigned_chassis_angle_error(chassis_control_angle); - // err: [0, 2pi) -> signed - // In launch ramp mode, only one direction can be used for alignment. - // TODO: Dynamically determine the split angle based on chassis velocity. constexpr double alignment = 2 * std::numbers::pi; if (err > alignment / 2) err -= alignment; @@ -171,6 +237,7 @@ class ChassisController angular_velocity = following_velocity_controller_.update(err); } break; } + *chassis_angle_ = 2 * std::numbers::pi - *gimbal_yaw_angle_; *chassis_control_angle_ = chassis_control_angle; @@ -181,28 +248,20 @@ class ChassisController chassis_control_angle = *gimbal_yaw_angle_error_; if (chassis_control_angle < 0) chassis_control_angle += 2 * std::numbers::pi; - // chassis_control_angle: [0, 2pi). - // err = setpoint - measurement - // ^ ^ - // |gimbal_yaw_angle_error |chassis_angle - // ^ - // |(2pi - gimbal_yaw_angle) double err = chassis_control_angle + *gimbal_yaw_angle_; if (err >= 2 * std::numbers::pi) err -= 2 * std::numbers::pi; - // err: [0, 2pi). return err; } private: - static constexpr double inf = std::numeric_limits::infinity(); - static constexpr double nan = std::numeric_limits::quiet_NaN(); + static constexpr double kInf = std::numeric_limits::infinity(); + static constexpr double kNaN = std::numeric_limits::quiet_NaN(); - // Maximum control velocities - static constexpr double translational_velocity_max = 10.0; - static constexpr double angular_velocity_max = 16.0; + const double translational_velocity_max{get_parameter_or("translational_velocity_max", 10.0)}; + const double angular_velocity_max{get_parameter_or("angular_velocity_max", 16.0)}; InputInterface joystick_right_; InputInterface joystick_left_; @@ -220,9 +279,20 @@ class ChassisController InputInterface gimbal_yaw_angle_, gimbal_yaw_angle_error_; OutputInterface chassis_angle_, chassis_control_angle_; + InputInterface chassis_velocity_; + InputInterface climbing_forward_velocity_; + + InputInterface navigation_enable_control_; + InputInterface navigation_command_velocity_; + InputInterface navigation_chassis_behavior_; + OutputInterface mode_; bool spinning_forward_ = true; - pid::PidCalculator following_velocity_controller_; + pid::PidCalculator following_velocity_controller_{ + get_parameter_or("following_velocity_kp", 8.0), + get_parameter_or("following_velocity_ki", 0.0), + get_parameter_or("following_velocity_kd", 0.0), + }; OutputInterface chassis_control_velocity_; }; @@ -230,5 +300,4 @@ class ChassisController } // namespace rmcs_core::controller::chassis #include - -PLUGINLIB_EXPORT_CLASS(rmcs_core::controller::chassis::ChassisController, rmcs_executor::Component) \ No newline at end of file +PLUGINLIB_EXPORT_CLASS(rmcs_core::controller::chassis::ChassisController, rmcs_executor::Component) diff --git a/rmcs_ws/src/rmcs_core/src/controller/chassis/chassis_power_controller.cpp b/rmcs_ws/src/rmcs_core/src/controller/chassis/chassis_power_controller.cpp index 3186ef629..7c701f633 100644 --- a/rmcs_ws/src/rmcs_core/src/controller/chassis/chassis_power_controller.cpp +++ b/rmcs_ws/src/rmcs_core/src/controller/chassis/chassis_power_controller.cpp @@ -41,6 +41,8 @@ class ChassisPowerController "/chassis/supercap/voltage/control_line", supercap_voltage_control_line_, 12.5); register_output("/chassis/supercap/voltage/base_line", supercap_voltage_base_line_, 12.0); register_output("/chassis/supercap/voltage/dead_line", supercap_voltage_dead_line_, 11.0); + + register_output("/chassis/climber/front/control_power_limit", control_power_limit_, 0.0); } void update() override { @@ -94,6 +96,7 @@ class ChassisPowerController virtual_buffer_energy_ = virtual_buffer_energy_limit_; boost_mode_ = false; *chassis_control_power_limit_ = 0.0; + *control_power_limit_ = 0.0; } void update_virtual_buffer_energy() { @@ -108,9 +111,8 @@ class ChassisPowerController double power_limit; if (boost_mode_ && *supercap_enabled_) - power_limit = *mode_ == rmcs_msgs::ChassisMode::LAUNCH_RAMP - ? inf_ - : *chassis_power_limit_referee_ + 80.0; + power_limit = + rmcs_msgs::need_power(*mode_) ? inf_ : *chassis_power_limit_referee_ + 80.0; else power_limit = *chassis_power_limit_referee_; chassis_power_limit_expected_ = power_limit; @@ -132,6 +134,7 @@ class ChassisPowerController power_limit *= virtual_buffer_energy_ / virtual_buffer_energy_limit_; *chassis_control_power_limit_ = power_limit; + *control_power_limit_ = power_limit; } void update_ui() { @@ -168,6 +171,7 @@ class ChassisPowerController OutputInterface supercap_voltage_control_line_; OutputInterface supercap_voltage_base_line_; OutputInterface supercap_voltage_dead_line_; + OutputInterface control_power_limit_; ui::Integer chassis_power_ui_{ui::Shape::Color::WHITE, 15, 2, ui::x_center, 100, 0}; ui::Integer chassis_control_power_limit_ui_{ @@ -179,4 +183,4 @@ class ChassisPowerController #include PLUGINLIB_EXPORT_CLASS( - rmcs_core::controller::chassis::ChassisPowerController, rmcs_executor::Component) \ No newline at end of file + rmcs_core::controller::chassis::ChassisPowerController, rmcs_executor::Component) diff --git a/rmcs_ws/src/rmcs_core/src/controller/chassis/deformable_chassis.cpp b/rmcs_ws/src/rmcs_core/src/controller/chassis/deformable_chassis.cpp index c9c61ace5..a8688a6d3 100644 --- a/rmcs_ws/src/rmcs_core/src/controller/chassis/deformable_chassis.cpp +++ b/rmcs_ws/src/rmcs_core/src/controller/chassis/deformable_chassis.cpp @@ -1,13 +1,12 @@ #include #include #include -#include -#include #include #include -#include +#include #include +#include #include #include @@ -15,1004 +14,266 @@ #include #include #include -#include #include +#include "controller/chassis/deformable_mode.hpp" #include "controller/pid/pid_calculator.hpp" -#include "deformable_joint_layer.hpp" namespace rmcs_core::controller::chassis { -enum class SuspensionPhase : uint8_t { kInactive, kArming, kActive, kReleasing }; - -struct AttitudeBias { - double pitch_force = 0.0; - double roll_force = 0.0; -}; - -struct LegControlState { - SuspensionPhase phase = SuspensionPhase::kInactive; - double support_force = 0.0; - double contact_confidence = 1.0; - double filtered_contact_confidence = 1.0; - double phase_elapsed = 0.0; - bool requested_deploy = false; - bool output_active = false; - bool contact_latched = false; -}; - -struct LegCommand { - double requested_target_angle = std::numeric_limits::quiet_NaN(); - double final_target_angle = std::numeric_limits::quiet_NaN(); - double target_velocity = 0.0; - double target_acceleration = 0.0; - bool suspension_mode = false; - double suspension_torque = std::numeric_limits::quiet_NaN(); -}; - -struct AttitudePidAxis { - double kp = 20.0; - double ki = 0.0; - double kd = 0.0; - double integral = 0.0; - double integral_limit = std::numeric_limits::infinity(); - double output_limit = std::numeric_limits::infinity(); - - void reset() { integral = 0.0; } - - double update(double error, double rate, double dt) { - if (!std::isfinite(error) || !std::isfinite(rate) || !std::isfinite(dt) || dt <= 0.0) { - reset(); - return std::numeric_limits::quiet_NaN(); - } - integral = std::clamp(integral + error * dt, -integral_limit, integral_limit); - return std::clamp(kp * error + ki * integral - kd * rate, -output_limit, output_limit); - } -}; - -struct SuspensionParams { - double mass, rod_length, Kz, pitch_kp, pitch_ki, pitch_kd, roll_kp, roll_ki, roll_kd, D_leg; - double com_height, wheel_base_half_x, wheel_base_half_y; - double gravity_comp_gain, control_acceleration_limit; - double preload_angle, entry_offset, ride_height_offset, hold_travel; - double activation_velocity_threshold; - double target_physical_velocity_limit, target_physical_acceleration_limit; - double torque_limit; - double pitch_angle_diff_limit, roll_angle_diff_limit, pid_integral_limit; -}; - -// --- ChassisVelocityControl --- -struct ChassisVelocityControl { - static constexpr double kTranslationalVelocityMax = 10.0; - static constexpr double kAngularVelocityMax = 10.0; - - void configure(double spin_ratio) { - spin_ratio_ = std::clamp(spin_ratio, 0.0, 1.0); - following_velocity_controller_.output_max = kAngularVelocityMax; - following_velocity_controller_.output_min = -kAngularVelocityMax; - } - - void set_spin_forward(bool forward) { spinning_forward_ = forward; } - - Eigen::Vector2d compute_translational( - const Eigen::Vector2d& joystick_right, const rmcs_msgs::Keyboard& keyboard, - double gimbal_yaw_angle) { - Eigen::Vector2d tv = - Eigen::Rotation2Dd{gimbal_yaw_angle} - * (joystick_right + Eigen::Vector2d{keyboard.w - keyboard.s, keyboard.a - keyboard.d}); - if (tv.norm() > 1.0) - tv.normalize(); - return tv * kTranslationalVelocityMax; - } - - struct AngularResult { - double angular_velocity = 0.0; - double chassis_angle = std::numeric_limits::quiet_NaN(); - double chassis_control_angle = std::numeric_limits::quiet_NaN(); - }; - - AngularResult compute_angular( - rmcs_msgs::ChassisMode mode, double gimbal_yaw_angle, double gimbal_yaw_angle_error, - bool apply_toggle_forward) { - AngularResult result; - switch (mode) { - case rmcs_msgs::ChassisMode::AUTO: break; - case rmcs_msgs::ChassisMode::SPIN: - if (apply_toggle_forward) - spinning_forward_ = !spinning_forward_; - result.angular_velocity = std::clamp( - spin_ratio_ * (spinning_forward_ ? kAngularVelocityMax : -kAngularVelocityMax), - -kAngularVelocityMax, kAngularVelocityMax); - break; - case rmcs_msgs::ChassisMode::STEP_DOWN: - result.angular_velocity = following_velocity_controller_.update(calc_angle_err_( - result.chassis_control_angle, gimbal_yaw_angle_error, gimbal_yaw_angle, - std::numbers::pi)); - break; - case rmcs_msgs::ChassisMode::LAUNCH_RAMP: { - double e = calc_angle_err_( - result.chassis_control_angle, gimbal_yaw_angle_error, gimbal_yaw_angle, - 2 * std::numbers::pi); - if (e > std::numbers::pi) - e -= 2 * std::numbers::pi; - result.angular_velocity = following_velocity_controller_.update(e); - break; - } - default: break; - } - result.chassis_angle = 2 * std::numbers::pi - gimbal_yaw_angle; - return result; - } - - void update_acceleration_estimate( - const Eigen::Vector2d& translational_velocity, double dt, double limit) { - if (!translational_velocity.array().isFinite().all()) { - control_acceleration_estimate_.setZero(); - last_translational_velocity_.setZero(); - last_valid_ = false; - return; - } - if (!last_valid_) { - last_translational_velocity_ = translational_velocity; - control_acceleration_estimate_.setZero(); - last_valid_ = true; - return; - } - const Eigen::Vector2d cap = Eigen::Vector2d::Constant(limit); - control_acceleration_estimate_ = - ((translational_velocity - last_translational_velocity_) / dt) - .cwiseMax(-cap) - .cwiseMin(cap); - last_translational_velocity_ = translational_velocity; - } - - void reset_acceleration_estimate() { - control_acceleration_estimate_.setZero(); - last_translational_velocity_.setZero(); - last_valid_ = false; - } - - Eigen::Vector2d control_acceleration_estimate() const { return control_acceleration_estimate_; } - bool spinning_forward() const { return spinning_forward_; } - -private: - double spin_ratio_ = 1.0; - bool spinning_forward_ = true; - pid::PidCalculator following_velocity_controller_{10.0, 0.0, 0.0}; - Eigen::Vector2d control_acceleration_estimate_ = Eigen::Vector2d::Zero(); - Eigen::Vector2d last_translational_velocity_ = Eigen::Vector2d::Zero(); - bool last_valid_ = false; - - double - calc_angle_err_(double& cca, double yaw_error, double yaw_angle, double alignment) const { - cca = yaw_error; - if (cca < 0) - cca += 2 * std::numbers::pi; - double e = cca + yaw_angle; - if (e >= 2 * std::numbers::pi) - e -= 2 * std::numbers::pi; - while (e > alignment / 2) { - cca -= alignment; - if (cca < 0) - cca += 2 * std::numbers::pi; - e -= alignment; - } - return e; - } -}; - -// --- ActiveSuspension --- -struct ActiveSuspension { - static constexpr double kNaN = std::numeric_limits::quiet_NaN(); - static constexpr double kGravity = 9.81; - static constexpr double kMaxAttitudeRad = 30.0 * std::numbers::pi / 180.0; - static constexpr double kMinForceArmSin = 0.1; - static constexpr double kContactConfidenceEnterThreshold = 0.55; - static constexpr double kContactConfidenceExitThreshold = 0.35; - static constexpr double kContactConfidenceFilterAlpha = 0.25; - static constexpr double kMinimumArmingTime = 0.02; - static constexpr std::array kPitchSigns = {-1.0, 1.0, 1.0, -1.0}; - static constexpr std::array kRollSigns = {1.0, 1.0, -1.0, -1.0}; - - void load_params(rclcpp::Node& node, double min_angle, double max_angle) { - params_ = SuspensionParams{ - .mass = node.get_parameter_or("active_suspension_mass", 22.5), - .rod_length = node.get_parameter_or("active_suspension_rod_length", 0.150), - .Kz = node.get_parameter_or("active_suspension_Kz", 150.0), - - .pitch_kp = node.get_parameter_or("active_suspension_pitch_kp", 200.0), - .pitch_ki = node.get_parameter_or("active_suspension_pitch_ki", 0.0), - .pitch_kd = node.get_parameter_or("active_suspension_pitch_kd", 20.0), - - .roll_kp = node.get_parameter_or("active_suspension_roll_kp", 200.0), - .roll_ki = node.get_parameter_or("active_suspension_roll_ki", 0.0), - .roll_kd = node.get_parameter_or("active_suspension_roll_kd", 20.0), - - .D_leg = node.get_parameter_or("active_suspension_D_leg", 10.0), - .com_height = node.get_parameter_or("active_suspension_com_height", 0.15), - .wheel_base_half_x = node.get_parameter_or( - "active_suspension_wheel_base_half_x", 0.2341741 / std::numbers::sqrt2), - .wheel_base_half_y = node.get_parameter_or( - "active_suspension_wheel_base_half_y", 0.2341741 / std::numbers::sqrt2), - .gravity_comp_gain = node.get_parameter_or("active_suspension_gravity_comp_gain", 1.0), - .control_acceleration_limit = std::abs( - node.get_parameter_or("active_suspension_control_acceleration_limit", 6.0)), - .preload_angle = - std::abs(node.get_parameter_or("active_suspension_preload_angle_deg", 8.0)) - * std::numbers::pi / 180.0, - .entry_offset = - std::abs(node.get_parameter_or( - "active_suspension_entry_offset_deg", - node.get_parameter_or("active_suspension_enter_deploy_tolerance_deg", 1.5))) - * std::numbers::pi / 180.0, - .ride_height_offset = - std::abs(node.get_parameter_or("active_suspension_ride_height_offset_deg", 0.0)) - * std::numbers::pi / 180.0, - .hold_travel = - std::abs(node.get_parameter_or( - "active_suspension_hold_travel_deg", - node.get_parameter_or("active_suspension_exit_deploy_tolerance_deg", 3.0))) - * std::numbers::pi / 180.0, - .activation_velocity_threshold = - node.get_parameter_or("active_suspension_activation_velocity_threshold_deg", 15.0) - * std::numbers::pi / 180.0, - .target_physical_velocity_limit = - std::max( - node.get_parameter_or( - "active_suspension_target_velocity_limit_deg", - node.get_parameter_or("target_physical_velocity_limit", 180.0)), - 1e-6) - * std::numbers::pi / 180.0, - .target_physical_acceleration_limit = - std::max( - node.get_parameter_or( - "active_suspension_target_acceleration_limit_deg", - node.get_parameter_or("target_physical_acceleration_limit", 720.0)), - 1e-6) - * std::numbers::pi / 180.0, - .torque_limit = std::abs(node.get_parameter_or("active_suspension_torque_limit", 80.0)), - .pitch_angle_diff_limit = - std::abs(node.get_parameter_or( - "active_suspension_pitch_angle_diff_limit_deg", max_angle - min_angle)) - * std::numbers::pi / 180.0, - .roll_angle_diff_limit = - std::abs(node.get_parameter_or( - "active_suspension_roll_angle_diff_limit_deg", max_angle - min_angle)) - * std::numbers::pi / 180.0, - .pid_integral_limit = - std::abs(node.get_parameter_or( - "active_suspension_pid_integral_limit_deg", max_angle - min_angle)) - * std::numbers::pi / 180.0, - }; - - pitch_pid_.kp = params_.pitch_kp; - pitch_pid_.ki = params_.pitch_ki; - pitch_pid_.kd = params_.pitch_kd; - - roll_pid_.kp = params_.roll_kp; - roll_pid_.ki = params_.roll_ki; - roll_pid_.kd = params_.roll_kd; - - pitch_pid_.integral_limit = params_.pid_integral_limit; - pitch_pid_.output_limit = params_.pitch_angle_diff_limit; - roll_pid_.integral_limit = params_.pid_integral_limit; - roll_pid_.output_limit = params_.roll_angle_diff_limit; - - enabled_ = node.get_parameter_or("active_suspension_enable", false); - calib_wait_ = std::max(node.get_parameter_or("chassis_imu_calibration_wait_s", 2.0), 0.0); - calib_sample_ = - std::max(node.get_parameter_or("chassis_imu_calibration_sample_s", 3.0), 1e-6); - } - - bool enabled() const { return enabled_; } - void set_enabled(bool v) { enabled_ = v; } - - void update( - const JointFeedbackFrame& fb, double imu_pitch, double imu_roll, double imu_pitch_rate, - double imu_roll_rate, double dt, bool requested, double min_angle_deg, double max_angle_deg, - const Eigen::Vector2d& control_accel, - std::array& current_target_physical_angles, - std::array& out_suspension_mode, - std::array& out_suspension_torque) { - static constexpr auto deg_to_rad = [](double d) { return d * std::numbers::pi / 180.0; }; - - clear_outputs_(out_suspension_mode, out_suspension_torque); - prepare_commands_(); - - if (!requested) { - reset_state_(); - current_target_physical_angles = requested_target_angles_; - publish_outputs_(out_suspension_mode, out_suspension_torque); - return; - } - - const double deploy = deg_to_rad(min_angle_deg); - const double entry = deploy + params_.entry_offset; - const double ride_height = - std::clamp(deploy + params_.ride_height_offset, deploy, deg_to_rad(max_angle_deg)); - const double support_zero_angle = deploy - params_.preload_angle; - const double release = ride_height + params_.hold_travel; - - AttitudeBias bias = - compute_attitude_bias_(imu_pitch, imu_roll, imu_pitch_rate, imu_roll_rate, dt); - if (!std::isfinite(bias.pitch_force) || !std::isfinite(bias.roll_force)) { - reset_state_(); - current_target_physical_angles.fill(deploy); - publish_outputs_(out_suspension_mode, out_suspension_torque); - return; - } - - update_leg_contact_estimates_(fb); - update_leg_states_(fb, entry, release, dt); - compute_leg_support_intents_(fb, bias, support_zero_angle, ride_height, control_accel); - current_target_physical_angles = target_angles_; - publish_outputs_(out_suspension_mode, out_suspension_torque); - } - - void update_imu_calibration( - bool symmetric_targets, double imu_pitch, double imu_roll, double dt) { - if (!symmetric_targets) { - calib_hold_ = 0.0; - calib_count_ = 0; - calib_pitch_sum_ = 0.0; - calib_roll_sum_ = 0.0; - calib_done_ = false; - return; - } - if (!std::isfinite(imu_pitch) || !std::isfinite(imu_roll)) - return; - calib_hold_ += dt; - if (calib_hold_ < calib_wait_) - return; - double end = calib_wait_ + calib_sample_; - if (calib_hold_ < end) { - calib_pitch_sum_ += imu_pitch; - calib_roll_sum_ += imu_roll; - ++calib_count_; - return; - } - if (calib_done_) - return; - calib_done_ = true; - if (calib_count_ == 0) - return; - imu_pitch_offset_ = calib_pitch_sum_ / static_cast(calib_count_); - imu_roll_offset_ = calib_roll_sum_ / static_cast(calib_count_); - } - - void reset_calibration() { - calib_hold_ = 0.0; - calib_count_ = 0; - calib_pitch_sum_ = 0.0; - calib_roll_sum_ = 0.0; - calib_done_ = false; - } - - void reset_all() { - reset_state_(); - reset_calibration(); - } - - double target_vel_limit() const { return params_.target_physical_velocity_limit; } - double target_accel_limit() const { return params_.target_physical_acceleration_limit; } - double control_accel_limit() const { return params_.control_acceleration_limit; } - -private: - SuspensionParams params_{}; - bool enabled_ = false; - AttitudePidAxis pitch_pid_, roll_pid_; - double imu_pitch_offset_ = 0.0, imu_roll_offset_ = 0.0; - double calib_wait_ = 0.0, calib_sample_ = 0.0; - double calib_hold_ = 0.0; - size_t calib_count_ = 0; - double calib_pitch_sum_ = 0.0, calib_roll_sum_ = 0.0; - bool calib_done_ = false; - std::array suspension_active_{}; - std::array leg_states_{}; - std::array leg_commands_{}; - std::array requested_target_angles_{}; - std::array target_angles_{}; - - static double deg_to_rad_(double d) { return d * std::numbers::pi / 180.0; } - - void clear_outputs_( - std::array& modes, std::array& torques) { - modes.fill(false); - torques.fill(kNaN); - } - void publish_outputs_( - std::array& modes, std::array& torques) { - for (size_t i = 0; i < kJointCount; ++i) { - modes[i] = leg_commands_[i].suspension_mode; - torques[i] = leg_commands_[i].suspension_torque; - } - } - - void reset_state_() { - suspension_active_.fill(false); - for (size_t i = 0; i < kJointCount; ++i) { - leg_states_[i] = LegControlState{}; - leg_commands_[i] = LegCommand{}; - } - } - - void prepare_commands_() { - for (size_t i = 0; i < kJointCount; ++i) { - leg_commands_[i] = LegCommand{ - .requested_target_angle = requested_target_angles_[i], - .final_target_angle = target_angles_[i], - }; - leg_states_[i].output_active = false; - leg_states_[i].support_force = 0.0; - } - } - - static LegFeedback leg_feedback_at_(const JointFeedbackFrame& fb, size_t i) { - return { - .motor_angle = fb.motor_angles[i], - .physical_angle = fb.physical_angles[i], - .physical_velocity = fb.physical_velocities[i], - .joint_torque = fb.joint_torques[i], - .eso_z2 = fb.eso_z2[i], - .eso_z3 = fb.eso_z3[i]}; - } - - double estimate_contact_(const LegFeedback& lf) const { - double c = 1.0; - if (std::isfinite(lf.eso_z3)) - c -= std::clamp(std::abs(lf.eso_z3) / 80.0, 0.0, 0.5); - if (std::isfinite(lf.joint_torque)) - c += std::clamp(std::abs(lf.joint_torque) / 20.0, 0.0, 0.3); - if (std::isfinite(lf.physical_velocity)) - c -= std::clamp(std::abs(lf.physical_velocity) / 10.0, 0.0, 0.2); - return std::clamp(c, 0.0, 1.0); - } - - bool contact_ready_(const LegControlState& s) const { - return s.contact_latched - || s.filtered_contact_confidence >= kContactConfidenceEnterThreshold; - } - - void update_leg_contact_estimates_(const JointFeedbackFrame& fb) { - for (size_t i = 0; i < kJointCount; ++i) { - auto& s = leg_states_[i]; - s.contact_confidence = estimate_contact_(leg_feedback_at_(fb, i)); - s.filtered_contact_confidence = std::clamp( - (1.0 - kContactConfidenceFilterAlpha) * s.filtered_contact_confidence - + kContactConfidenceFilterAlpha * s.contact_confidence, - 0.0, 1.0); - if (s.filtered_contact_confidence >= kContactConfidenceEnterThreshold) - s.contact_latched = true; - else if (s.filtered_contact_confidence <= kContactConfidenceExitThreshold) - s.contact_latched = false; - } - } - - void update_leg_states_(const JointFeedbackFrame& fb, double entry, double release, double dt) { - for (size_t i = 0; i < kJointCount; ++i) { - auto lf = leg_feedback_at_(fb, i); - bool rd = - std::isfinite(requested_target_angles_[i]) && requested_target_angles_[i] <= entry; - update_suspension_state_(i, lf, rd, entry, release, dt); - } - } - - void compute_leg_support_intents_( - const JointFeedbackFrame& fb, const AttitudeBias& bias, double support_zero_angle, - double ride_height, const Eigen::Vector2d& control_accel) { - for (size_t i = 0; i < kJointCount; ++i) { - auto lf = leg_feedback_at_(fb, i); - auto& s = leg_states_[i]; - if (s.phase != SuspensionPhase::kActive) - continue; - s.support_force = - compute_leg_support_force_(i, lf, bias, support_zero_angle, control_accel); - leg_commands_[i].final_target_angle = ride_height; - leg_commands_[i].suspension_mode = true; - leg_commands_[i].suspension_torque = - leg_force_to_torque_(s.support_force, lf.physical_angle); - } - } - - AttitudeBias compute_attitude_bias_( - double pitch, double roll, double pitch_rate, double roll_rate, double dt) { - double corrected_pitch = - std::clamp(pitch - imu_pitch_offset_, -kMaxAttitudeRad, kMaxAttitudeRad); - double corrected_roll = - std::clamp(roll - imu_roll_offset_, -kMaxAttitudeRad, kMaxAttitudeRad); - double pitch_force = pitch_pid_.update(-corrected_pitch, pitch_rate, dt); - double roll_force = roll_pid_.update(corrected_roll, -roll_rate, dt); - if (!std::isfinite(pitch_force) || !std::isfinite(roll_force)) - return {kNaN, kNaN}; - return {pitch_force, roll_force}; - } - - double compute_leg_support_force_( - size_t i, const LegFeedback& lf, const AttitudeBias& bias, double support_zero_angle, - const Eigen::Vector2d& control_accel) const { - double f = params_.gravity_comp_gain * params_.mass * kGravity / 4.0 - + params_.Kz * (lf.physical_angle - support_zero_angle) - + params_.D_leg * lf.physical_velocity; - f += kPitchSigns[i] * bias.pitch_force + kRollSigns[i] * bias.roll_force; - if (params_.com_height > 0.0 && params_.wheel_base_half_x > 1e-6 - && params_.wheel_base_half_y > 1e-6) { - f += kPitchSigns[i] * params_.mass * control_accel.x() * params_.com_height - / (4.0 * params_.wheel_base_half_x); - f += kRollSigns[i] * params_.mass * control_accel.y() * params_.com_height - / (4.0 * params_.wheel_base_half_y); - } - return std::max(f, 0.0); - } - - double leg_force_to_torque_(double force, double angle) const { - return std::clamp( - force * params_.rod_length * std::max(std::sin(angle), kMinForceArmSin), - -params_.torque_limit, params_.torque_limit); - } - - void update_suspension_state_( - size_t i, const LegFeedback& lf, bool rd, double entry, double release, double dt) { - auto& s = leg_states_[i]; - s.phase_elapsed += (s.requested_deploy != rd) ? 0.0 : dt; - s.requested_deploy = rd; - if (!rd || !std::isfinite(lf.physical_angle) || !std::isfinite(lf.physical_velocity)) { - s.phase = SuspensionPhase::kInactive; - suspension_active_[i] = false; - s.output_active = false; - s.phase_elapsed = 0.0; - s.contact_latched = false; - return; - } - bool eok = lf.physical_angle <= entry; - bool vok = std::abs(lf.physical_velocity) <= params_.activation_velocity_threshold; - bool cok = contact_ready_(s); - switch (s.phase) { - case SuspensionPhase::kInactive: - suspension_active_[i] = false; - s.output_active = false; - if (eok) { - s.phase = SuspensionPhase::kArming; - s.phase_elapsed = 0.0; - } - break; - case SuspensionPhase::kArming: - suspension_active_[i] = false; - s.output_active = false; - if (!eok) { - s.phase = SuspensionPhase::kInactive; - s.phase_elapsed = 0.0; - break; - } - if (vok && std::isfinite(lf.motor_angle) - && (cok || s.phase_elapsed >= kMinimumArmingTime)) { - suspension_active_[i] = true; - s.phase = SuspensionPhase::kActive; - s.output_active = true; - s.phase_elapsed = 0.0; - } - break; - case SuspensionPhase::kActive: - if (lf.physical_angle > release || (!cok && s.phase_elapsed >= kMinimumArmingTime)) { - suspension_active_[i] = false; - s.phase = SuspensionPhase::kReleasing; - s.output_active = false; - s.phase_elapsed = 0.0; - break; - } - suspension_active_[i] = true; - s.output_active = true; - break; - case SuspensionPhase::kReleasing: - suspension_active_[i] = false; - s.output_active = false; - if (!eok || s.phase_elapsed >= kMinimumArmingTime) { - s.phase = SuspensionPhase::kInactive; - s.phase_elapsed = 0.0; - } - break; - } - } -}; - -// ============================================================ -// DeformableChassis — thin orchestrator -// ============================================================ class DeformableChassis : public rmcs_executor::Component , public rclcpp::Node { public: - DeformableChassis() + explicit DeformableChassis() : Node( get_component_name(), - rclcpp::NodeOptions{}.automatically_declare_parameters_from_overrides(true)) { - - const double spin_ratio = std::clamp(get_parameter_or("spin_ratio", 0.6), 0.0, 1.0); - const double min_angle = get_parameter_or("min_angle", 15.0); - const double max_angle = get_parameter_or("max_angle", 55.0); - const double vel_limit = std::max( - std::abs(get_parameter_or("target_physical_velocity_limit", 180.0)) * std::numbers::pi - / 180.0, - 1e-6); - const double accel_limit = std::max( - std::abs(get_parameter_or("target_physical_acceleration_limit", 720.0)) - * std::numbers::pi / 180.0, - 1e-6); - - velocity_control_.configure(spin_ratio); - suspension_.load_params(*this, min_angle, max_angle); - trajectory_.init(min_angle, max_angle, vel_limit, accel_limit); + rclcpp::NodeOptions{}.automatically_declare_parameters_from_overrides(true)) + , following_velocity_controller_(10.0, 0.0, 0.0) + , spin_ratio_(std::clamp(get_parameter_or("spin_ratio", 0.6), 0.0, 1.0)) + , joint_mode_mgr_(*this) { - for (size_t i = 0; i < kJointCount; ++i) - joint_offsets_[i] = - get_parameter_or(std::string(kJointNames[i]) + "_joint_offset", 0.0); + following_velocity_controller_.output_max = angular_velocity_max_; + following_velocity_controller_.output_min = -angular_velocity_max_; register_input("/remote/joystick/right", joystick_right_); - register_input("/remote/joystick/left", joystick_left_); register_input("/remote/switch/right", switch_right_); register_input("/remote/switch/left", switch_left_); - register_input("/remote/mouse/velocity", mouse_velocity_); - register_input("/remote/mouse", mouse_); register_input("/remote/keyboard", keyboard_); register_input("/remote/rotary_knob", rotary_knob_); register_input("/predefined/update_rate", update_rate_); + register_input("/gimbal/yaw/angle", gimbal_yaw_angle_, false); register_input("/gimbal/yaw/control_angle_error", gimbal_yaw_angle_error_, false); - auto reg_joint_input = [this](size_t i) { - const auto& name = kJointNames[i]; - auto& j = joints_[i]; - register_input(joint_path_(name, "angle"), j.angle, false); - register_input(joint_path_(name, "physical_angle"), j.physical_angle, false); - register_input(joint_path_(name, "physical_velocity"), j.physical_velocity, false); - register_input(joint_path_(name, "torque"), j.torque, false); - register_input(joint_path_(name, "encoder_angle"), j.encoder_angle, false); - register_input(joint_path_(name, "eso_z2"), j.eso_z2, false); - register_input(joint_path_(name, "eso_z3"), j.eso_z3, false); - }; - for (size_t i = 0; i < kJointCount; ++i) - reg_joint_input(i); - - register_input("/chassis/imu/pitch", chassis_imu_pitch_, false); - register_input("/chassis/imu/roll", chassis_imu_roll_, false); - register_input("/chassis/imu/pitch_rate", chassis_imu_pitch_rate_, false); - register_input("/chassis/imu/roll_rate", chassis_imu_roll_rate_, false); - - register_output("/gimbal/scope/control_torque", scope_motor_control_torque_, kNaN); - register_output("/chassis/angle", chassis_angle_, kNaN); - register_output("/chassis/control_angle", chassis_control_angle_, kNaN); + register_output("/chassis/angle", chassis_angle_, nan_); + register_output("/chassis/control_angle", chassis_control_angle_, nan_); register_output("/chassis/control_mode", mode_); register_output("/chassis/control_velocity", chassis_control_velocity_); - - auto reg_joint_output = [this](size_t i) { - const auto& name = kJointNames[i]; - auto& j = joints_[i]; - register_output(joint_path_(name, "control_angle_error"), angle_errors_[i], kNaN); - register_output(joint_path_(name, "target_angle"), j.target_angle, kNaN); - register_output( - joint_path_(name, "target_physical_angle"), j.target_physical_angle, kNaN); - register_output( - joint_path_(name, "target_physical_velocity"), j.target_physical_velocity, kNaN); - register_output( - joint_path_(name, "target_physical_acceleration"), j.target_physical_acceleration, - kNaN); - register_output(joint_path_(name, "suspension_torque"), j.suspension_torque, kNaN); - }; + register_output("/chassis/pitch_lock_active", pitch_lock_active_, false); + register_output("/chassis/active_suspension/active", active_suspension_active_, false); + register_output("/chassis/deformable/low_prone_active", low_prone_active_, false); + register_output("/chassis/deformable/symmetric_posture_target", symmetric_posture_target_, true); + register_output("/chassis/deformable/correction_inverted", correction_inverted_, false); + register_output("/chassis/deformable/min_angle_deg", min_angle_deg_, joint_mode_mgr_.min_angle()); + register_output("/chassis/deformable/max_angle_deg", max_angle_deg_, joint_mode_mgr_.max_angle()); + register_output( + "/chassis/deformable/suspension_reference_angle_deg", + suspension_reference_angle_deg_, joint_mode_mgr_.suspension_reference_angle_deg()); + register_output("/chassis/deformable/reset_count", deformable_reset_count_, static_cast(0)); for (size_t i = 0; i < kJointCount; ++i) { - reg_joint_output(i); register_output( - joint_path_(kJointNames[i], "suspension_mode"), suspension_modes_[i], false); + fmt::format("/chassis/deformable/{}_joint/posture_target_angle", kJointName[i]), + joint_posture_target_angle_rad_[i], deg_to_rad(joint_mode_mgr_.max_angle())); } - register_output("/chassis/processed_encoder/angle", processed_encoder_angle_, kNaN); *mode_ = rmcs_msgs::ChassisMode::AUTO; - chassis_control_velocity_->vector << kNaN, kNaN, kNaN; - - int offset_count = 0; - for (size_t i = 0; i < kJointCount; ++i) - if (has_parameter(std::string(kJointNames[i]) + "_joint_offset")) - ++offset_count; - if (offset_count > 0 && offset_count != static_cast(kJointCount)) - throw std::runtime_error( - "joint offsets must be configured for all four joints or removed entirely"); - joint_feedback_source_ = (offset_count == static_cast(kJointCount)) - ? JointFeedbackSource::kLegacyEncoderAngle - : JointFeedbackSource::kMotorAngle; + *pitch_lock_active_ = false; + *active_suspension_active_ = false; + *low_prone_active_ = false; + *symmetric_posture_target_ = true; + *correction_inverted_ = false; + chassis_control_velocity_->vector << nan_, nan_, nan_; } void before_updating() override { - auto ensure = [this](auto& field, double value, const char* name) { - if (!field.ready()) { - field.make_and_bind_directly(value); - RCLCPP_WARN(get_logger(), "Failed to fetch \"%s\". Set to %.1f.", name, value); - } - }; - ensure(gimbal_yaw_angle_, 0.0, "/gimbal/yaw/angle"); - ensure(gimbal_yaw_angle_error_, 0.0, "/gimbal/yaw/control_angle_error"); - for (auto& j : joints_) - ensure(j.torque, 0.0, "joint torque"); - ensure(chassis_imu_pitch_, 0.0, "chassis imu pitch"); - ensure(chassis_imu_roll_, 0.0, "chassis imu roll"); - ensure(chassis_imu_pitch_rate_, 0.0, "chassis imu pitch_rate"); - ensure(chassis_imu_roll_rate_, 0.0, "chassis imu roll_rate"); - validate_joint_feedback_inputs_(); + if (!gimbal_yaw_angle_.ready()) { + gimbal_yaw_angle_.make_and_bind_directly(0.0); + RCLCPP_WARN(get_logger(), "Failed to fetch \"/gimbal/yaw/angle\". Set to 0.0."); + } + if (!gimbal_yaw_angle_error_.ready()) { + gimbal_yaw_angle_error_.make_and_bind_directly(0.0); + RCLCPP_WARN( + get_logger(), "Failed to fetch \"/gimbal/yaw/control_angle_error\". " + "Set to 0.0."); + } } void update() override { using rmcs_msgs::Switch; + const auto switch_right = *switch_right_; const auto switch_left = *switch_left_; const auto keyboard = *keyboard_; + do { if ((switch_left == Switch::UNKNOWN || switch_right == Switch::UNKNOWN) || (switch_left == Switch::DOWN && switch_right == Switch::DOWN)) { - reset_all_controls_(); + reset_all_controls(); break; } - update_mode_from_inputs_(switch_left, switch_right, keyboard); - update_velocity_control_(keyboard); - update_lift_target_toggle_(keyboard); - run_joint_intent_pipeline_(); - } while (false); - last_switch_right_ = switch_right; - last_switch_left_ = switch_left; - last_keyboard_ = keyboard; - } -private: - static constexpr double kNaN = std::numeric_limits::quiet_NaN(); - static constexpr double kRadToDeg = 180.0 / std::numbers::pi; + double rotary_knob = rotary_knob_.ready() ? *rotary_knob_ : 0.0; - static std::string joint_path_(const char* name, const char* suffix) { - char b[128]; - std::snprintf(b, sizeof(b), "/chassis/%s_joint/%s", name, suffix); - return {b}; - } + joint_mode_mgr_.update(switch_left, switch_right, keyboard, rotary_knob, update_dt()); - void validate_joint_feedback_inputs_() const { - bool ok = true; - for (const auto& j : joints_) { - if (joint_feedback_source_ == JointFeedbackSource::kMotorAngle) { - if (!j.angle.ready()) - ok = false; - } else { - if (!j.encoder_angle.ready()) - ok = false; - } - } - if (ok) - return; - throw std::runtime_error( - joint_feedback_source_ == JointFeedbackSource::kMotorAngle - ? "missing V2 joint feedback inputs: /chassis/*_joint/angle" - : "missing legacy joint feedback inputs: /chassis/*_joint/encoder_angle"); - } + *mode_ = joint_mode_mgr_.mode(); + *pitch_lock_active_ = joint_mode_mgr_.pitch_lock_active(); + *active_suspension_active_ = joint_mode_mgr_.suspension_active(); + *low_prone_active_ = joint_mode_mgr_.low_prone_active(); + *symmetric_posture_target_ = joint_mode_mgr_.symmetric_posture_target(); + *correction_inverted_ = joint_mode_mgr_.correction_inverted(); + *min_angle_deg_ = joint_mode_mgr_.min_angle(); + *max_angle_deg_ = joint_mode_mgr_.max_angle(); + *suspension_reference_angle_deg_ = joint_mode_mgr_.suspension_reference_angle_deg(); + publish_joint_posture_targets_(); - // --- helpers --- - bool suspension_requested_() const { - return suspension_.enabled() - && (keyboard_->ctrl - || (switch_left_.ready() && switch_right_.ready() - && *switch_left_ == rmcs_msgs::Switch::DOWN - && *switch_right_ == rmcs_msgs::Switch::UP)); + update_velocity_control(); + } while (false); } - // --- mode --- - void update_mode_from_inputs_( - rmcs_msgs::Switch sl, rmcs_msgs::Switch sr, const rmcs_msgs::Keyboard& kb) { - auto m = *mode_; - if (sl == rmcs_msgs::Switch::DOWN) - return; - if (last_switch_right_ == rmcs_msgs::Switch::MIDDLE && sr == rmcs_msgs::Switch::DOWN) { - m = (m == rmcs_msgs::ChassisMode::SPIN) ? rmcs_msgs::ChassisMode::STEP_DOWN - : rmcs_msgs::ChassisMode::SPIN; - } else if (!last_keyboard_.c && kb.c) { - m = (m == rmcs_msgs::ChassisMode::SPIN) ? rmcs_msgs::ChassisMode::AUTO - : rmcs_msgs::ChassisMode::SPIN; - } else if (!last_keyboard_.x && kb.x) { - m = (m == rmcs_msgs::ChassisMode::LAUNCH_RAMP) ? rmcs_msgs::ChassisMode::AUTO - : rmcs_msgs::ChassisMode::LAUNCH_RAMP; - } else if (!last_keyboard_.z && kb.z) { - m = (m == rmcs_msgs::ChassisMode::STEP_DOWN) ? rmcs_msgs::ChassisMode::AUTO - : rmcs_msgs::ChassisMode::STEP_DOWN; - } - *mode_ = m; - } +private: + static constexpr size_t kJointCount = 4; + static constexpr double nan_ = std::numeric_limits::quiet_NaN(); + static constexpr double translational_velocity_max_ = 10.0; + static constexpr double angular_velocity_max_ = 30.0; + static constexpr double default_dt_ = 1e-3; - // --- velocity --- - void update_velocity_control_(const rmcs_msgs::Keyboard& kb) { - auto tv = velocity_control_.compute_translational(*joystick_right_, kb, *gimbal_yaw_angle_); - bool toggle = (last_keyboard_.c != kb.c && *mode_ != rmcs_msgs::ChassisMode::SPIN); - auto ar = velocity_control_.compute_angular( - *mode_, *gimbal_yaw_angle_, *gimbal_yaw_angle_error_, toggle); - double dt = update_dt_(); - velocity_control_.update_acceleration_estimate(tv, dt, suspension_.control_accel_limit()); - *chassis_angle_ = ar.chassis_angle; - *chassis_control_angle_ = ar.chassis_control_angle; - chassis_control_velocity_->vector << tv, ar.angular_velocity; - } + void reset_all_controls() { + joint_mode_mgr_.reset(); + *deformable_reset_count_ += 1; - double update_dt_() const { + *mode_ = rmcs_msgs::ChassisMode::AUTO; + *pitch_lock_active_ = false; + *active_suspension_active_ = false; + *low_prone_active_ = false; + *symmetric_posture_target_ = true; + *correction_inverted_ = false; + *min_angle_deg_ = joint_mode_mgr_.min_angle(); + *max_angle_deg_ = joint_mode_mgr_.max_angle(); + *suspension_reference_angle_deg_ = joint_mode_mgr_.suspension_reference_angle_deg(); + publish_joint_posture_targets_(); + + chassis_control_velocity_->vector << nan_, nan_, nan_; + *chassis_angle_ = nan_; + *chassis_control_angle_ = nan_; + } + + double update_dt() const { if (update_rate_.ready() && std::isfinite(*update_rate_) && *update_rate_ > 1e-6) return 1.0 / *update_rate_; - return 1e-3; + return default_dt_; } - // --- lift toggle --- - void update_lift_target_toggle_(rmcs_msgs::Keyboard keyboard) { - constexpr double kRotaryKnobEdgeThreshold = 0.7; + void update_velocity_control() { + Eigen::Vector2d translational_velocity = update_translational_velocity_control(); + double angular_velocity = update_angular_velocity_control(); + chassis_control_velocity_->vector << translational_velocity, angular_velocity; + } - const bool keyboard_toggle = !last_keyboard_.q && keyboard.q; - const bool rotary_knob_toggle = last_rotary_knob_ < kRotaryKnobEdgeThreshold - && *rotary_knob_ >= kRotaryKnobEdgeThreshold; + Eigen::Vector2d update_translational_velocity_control() { + const auto keyboard = *keyboard_; + Eigen::Vector2d keyboard_move{keyboard.w - keyboard.s, keyboard.a - keyboard.d}; - if (apply_symmetric_target_) - trajectory_.fill_symmetric_targets(); + Eigen::Vector2d translational_velocity = + Eigen::Rotation2Dd{*gimbal_yaw_angle_} * (*joystick_right_ + keyboard_move); - if (rotary_knob_toggle || keyboard_toggle) { - trajectory_.set_target_angle( - std::abs(trajectory_.target_angle() - trajectory_.max_angle()) < 1e-6 - ? trajectory_.min_angle() - : trajectory_.max_angle()); - apply_symmetric_target_ = true; - } + if (translational_velocity.norm() > 1.0) + translational_velocity.normalize(); - last_rotary_knob_ = *rotary_knob_; + translational_velocity *= translational_velocity_max_; + return translational_velocity; } - // --- reset --- - void reset_all_controls_() { - *mode_ = rmcs_msgs::ChassisMode::AUTO; - velocity_control_.reset_acceleration_estimate(); - suspension_.reset_all(); - chassis_control_velocity_->vector << kNaN, kNaN, kNaN; - *chassis_angle_ = kNaN; - *chassis_control_angle_ = kNaN; - trajectory_.reset(trajectory_.max_angle()); - *scope_motor_control_torque_ = kNaN; - for (auto& e : angle_errors_) - *e = kNaN; - for (auto& j : joints_) { - *j.target_angle = kNaN; - *j.target_physical_angle = kNaN; - *j.target_physical_velocity = kNaN; - *j.target_physical_acceleration = kNaN; - *j.suspension_torque = kNaN; - } - for (auto& m : suspension_modes_) - *m = false; - *processed_encoder_angle_ = kNaN; - } + double update_angular_velocity_control() { + double angular_velocity = 0.0; + double chassis_control_angle = nan_; - // --- feedback --- - JointFeedbackFrame read_joint_feedback_() const { - JointFeedbackFrame f; - f.motor_angles.fill(kNaN); - f.physical_angles.fill(kNaN); - f.physical_velocities.fill(kNaN); - f.joint_torques.fill(kNaN); - f.eso_z2.fill(kNaN); - f.eso_z3.fill(kNaN); - for (size_t i = 0; i < kJointCount; ++i) { - const auto& j = joints_[i]; - if (j.angle.ready() && std::isfinite(*j.angle)) { - f.motor_angles[i] = *j.angle; - f.physical_angles[i] = 1.090830782496456 - f.motor_angles[i]; - } - if (j.physical_angle.ready() && std::isfinite(*j.physical_angle)) - f.physical_angles[i] = *j.physical_angle; - if (j.physical_velocity.ready() && std::isfinite(*j.physical_velocity)) - f.physical_velocities[i] = *j.physical_velocity; - if (j.torque.ready() && std::isfinite(*j.torque)) - f.joint_torques[i] = *j.torque; - if (j.eso_z2.ready() && std::isfinite(*j.eso_z2)) - f.eso_z2[i] = *j.eso_z2; - if (j.eso_z3.ready() && std::isfinite(*j.eso_z3)) - f.eso_z3[i] = *j.eso_z3; - } - return f; - } + switch (*mode_) { + case rmcs_msgs::ChassisMode::AUTO: break; - // --- main pipeline --- - void run_joint_intent_pipeline_() { - auto feedback = read_joint_feedback_(); + case rmcs_msgs::ChassisMode::SPIN_FAST: { + bool forward = joint_mode_mgr_.spinning_forward(); + angular_velocity = + spin_ratio_ * (forward ? angular_velocity_max_ : -angular_velocity_max_); + angular_velocity = + std::clamp(angular_velocity, -angular_velocity_max_, angular_velocity_max_); + } break; + + case rmcs_msgs::ChassisMode::STEP_DOWN: { + double chassis_angle_error = + calculate_unsigned_chassis_angle_error(chassis_control_angle); + + constexpr double alignment = std::numbers::pi; + while (chassis_angle_error > alignment / 2) { + chassis_control_angle -= alignment; + if (chassis_control_angle < 0) + chassis_control_angle += 2 * std::numbers::pi; + chassis_angle_error -= alignment; + } - suspension_.update_imu_calibration( - trajectory_.symmetric_requested(), *chassis_imu_pitch_, *chassis_imu_roll_, - update_dt_()); + angular_velocity = following_velocity_controller_.update(chassis_angle_error); + } break; - if (!trajectory_.active() - && !trajectory_.initialize_from_feedback( - feedback.motor_angles, feedback.physical_angles)) { - reset_all_controls_(); - return; + default: break; } - if (apply_symmetric_target_) - trajectory_.fill_symmetric_targets(); - trajectory_.refresh_deploy_targets( - suspension_requested_(), keyboard_->ctrl, trajectory_.min_angle()); + *chassis_angle_ = 2 * std::numbers::pi - *gimbal_yaw_angle_; + *chassis_control_angle_ = chassis_control_angle; - scope_motor_control_(keyboard_->ctrl); + return angular_velocity; + } - auto target_physical = trajectory_.current_physical(); - std::array sus_modes, sus_torques; - sus_modes.fill(false); - sus_torques.fill(kNaN); + double calculate_unsigned_chassis_angle_error(double& chassis_control_angle) { + chassis_control_angle = *gimbal_yaw_angle_error_; + if (chassis_control_angle < 0) + chassis_control_angle += 2 * std::numbers::pi; - suspension_.update( - feedback, *chassis_imu_pitch_, *chassis_imu_roll_, *chassis_imu_pitch_rate_, - *chassis_imu_roll_rate_, update_dt_(), suspension_requested_(), trajectory_.min_angle(), - trajectory_.max_angle(), velocity_control_.control_acceleration_estimate(), - target_physical, sus_modes, sus_torques); + double unsigned_angle_error = chassis_control_angle + *gimbal_yaw_angle_; + if (unsigned_angle_error >= 2 * std::numbers::pi) + unsigned_angle_error -= 2 * std::numbers::pi; - trajectory_.update_trajectory( - update_dt_(), suspension_requested_(), suspension_.target_vel_limit(), - suspension_.target_accel_limit()); + return unsigned_angle_error; + } - for (size_t i = 0; i < kJointCount; ++i) { - *joints_[i].target_angle = trajectory_.target_angles()[i]; - *joints_[i].target_physical_angle = trajectory_.target_physical_angles()[i]; - *joints_[i].target_physical_velocity = trajectory_.target_velocities()[i]; - *joints_[i].target_physical_acceleration = trajectory_.target_accelerations()[i]; - *joints_[i].suspension_torque = sus_torques[i]; - *suspension_modes_[i] = static_cast(sus_modes[i]); - } + static double deg_to_rad(double deg) { return deg * std::numbers::pi / 180.0; } - if (apply_symmetric_target_ && trajectory_.symmetric_requested()) - trajectory_.fill_symmetric_targets(); + void publish_joint_posture_targets_() { + std::array targets_deg{}; + joint_mode_mgr_.copy_joint_posture_target_deg(targets_deg); - double sum = 0.0; - int cnt = 0; - for (const auto& j : joints_) { - if (j.physical_angle.ready() && std::isfinite(*j.physical_angle)) { - sum += *j.physical_angle; - ++cnt; - } - } - *processed_encoder_angle_ = (cnt > 0) ? kRadToDeg * sum / cnt : kNaN; + for (size_t i = 0; i < kJointCount; ++i) + *joint_posture_target_angle_rad_[i] = deg_to_rad(targets_deg[i]); } - void scope_motor_control_(bool prone_override) { - if (prone_override && *mode_ != rmcs_msgs::ChassisMode::SPIN) - *scope_motor_control_torque_ = -0.3; - else - *scope_motor_control_torque_ = 0.3; - } + static constexpr const char* kJointName[] = { + "left_front", + "left_back", + "right_back", + "right_front", + }; - // --- member variables --- - InputInterface joystick_right_, joystick_left_; - InputInterface switch_right_, switch_left_; - InputInterface mouse_velocity_; - InputInterface mouse_; + InputInterface joystick_right_; + InputInterface switch_right_; + InputInterface switch_left_; InputInterface keyboard_; - InputInterface rotary_knob_, update_rate_; - double last_rotary_knob_ = 0.0; - rmcs_msgs::Switch last_switch_right_ = rmcs_msgs::Switch::UNKNOWN; - rmcs_msgs::Switch last_switch_left_ = rmcs_msgs::Switch::UNKNOWN; - rmcs_msgs::Keyboard last_keyboard_ = rmcs_msgs::Keyboard::zero(); + InputInterface rotary_knob_; + InputInterface update_rate_; InputInterface gimbal_yaw_angle_, gimbal_yaw_angle_error_; OutputInterface chassis_angle_, chassis_control_angle_; + OutputInterface mode_; OutputInterface chassis_control_velocity_; - - ChassisVelocityControl velocity_control_; - ActiveSuspension suspension_; - JointTrajectoryPlanner trajectory_; - bool apply_symmetric_target_ = true; - - std::array joints_{}; - std::array angle_errors_; - std::array, kJointCount> suspension_modes_; - InputInterface chassis_imu_pitch_, chassis_imu_roll_, chassis_imu_pitch_rate_, - chassis_imu_roll_rate_; - OutputInterface scope_motor_control_torque_, processed_encoder_angle_; - - std::array joint_offsets_{}; // FIXME: Unused Var - JointFeedbackSource joint_feedback_source_ = JointFeedbackSource::kLegacyEncoderAngle; + OutputInterface pitch_lock_active_; + OutputInterface active_suspension_active_; + OutputInterface low_prone_active_; + OutputInterface symmetric_posture_target_; + OutputInterface correction_inverted_; + OutputInterface min_angle_deg_; + OutputInterface max_angle_deg_; + OutputInterface suspension_reference_angle_deg_; + OutputInterface deformable_reset_count_; + std::array, kJointCount> joint_posture_target_angle_rad_; + + pid::PidCalculator following_velocity_controller_; + const double spin_ratio_; + + DeformableChassisModeManager joint_mode_mgr_; }; } // namespace rmcs_core::controller::chassis #include + PLUGINLIB_EXPORT_CLASS(rmcs_core::controller::chassis::DeformableChassis, rmcs_executor::Component) diff --git a/rmcs_ws/src/rmcs_core/src/controller/chassis/deformable_joint_controller.cpp b/rmcs_ws/src/rmcs_core/src/controller/chassis/deformable_joint_controller.cpp index a629449c3..38bb7ec1c 100644 --- a/rmcs_ws/src/rmcs_core/src/controller/chassis/deformable_joint_controller.cpp +++ b/rmcs_ws/src/rmcs_core/src/controller/chassis/deformable_joint_controller.cpp @@ -2,7 +2,6 @@ #include #include #include -#include #include #include @@ -33,31 +32,21 @@ class DeformableJointController : public rmcs_executor::Component , public rclcpp::Node { public: - // Joint controller owns only joint-local servo execution. Higher-level deploy/suspension - // intent is generated upstream by DeformableChassis via setpoint/mode/feedforward inputs. - struct ModeConfig { - rmcs_core::controller::adrc::TD::Config td; - rmcs_core::controller::adrc::ESO::Config eso; - rmcs_core::controller::adrc::NLESF::Config nlesf; - double output_min = -std::numeric_limits::infinity(); - double output_max = std::numeric_limits::infinity(); - double torque_feedforward_gain = 0.0; - }; - - struct InputSnapshot { - double measurement_angle = std::numeric_limits::quiet_NaN(); - double setpoint_angle = std::numeric_limits::quiet_NaN(); - double joint_torque_feedforward = 0.0; - bool suspension_mode = false; - }; - - DeformableJointController() + explicit DeformableJointController() : Node( get_component_name(), rclcpp::NodeOptions{}.automatically_declare_parameters_from_overrides(true)) { - register_interfaces_(); - load_mode_configs_(); - apply_mode_config_(normal_mode_config_); + register_input(get_parameter("measurement_angle").as_string(), measurement_angle_); + register_input(get_parameter("setpoint_angle").as_string(), setpoint_angle_); + if (has_parameter("setpoint_velocity")) { + register_input( + get_parameter("setpoint_velocity").as_string(), setpoint_velocity_, false); + use_setpoint_velocity_ = true; + } + register_output(get_parameter("control").as_string(), control_torque_, nan_); + + load_config_(); + apply_config_(); } void update() override { @@ -67,208 +56,88 @@ class DeformableJointController return; } - update_mode_selection_(inputs.suspension_mode); - const auto& mode_config = active_mode_config_(inputs.suspension_mode); - const auto [output_min, output_max] = effective_output_limits_(mode_config); - if (std::isnan(output_min) || std::isnan(output_max) || output_min > output_max) { - disable_output_(); - return; - } - - if (!ensure_feedforward_ready_(mode_config, inputs)) { - disable_output_(); - return; - } - initialize_if_needed_(inputs); - rmcs_core::controller::adrc::ESO::Output eso_out; double control_torque = nan_; - if (!run_joint_servo_( - inputs, mode_config, output_min, output_max, eso_out, control_torque)) { + if (!run_joint_servo_(inputs, control_torque)) { disable_output_(); return; } - publish_control_output_(control_torque, eso_out); + publish_control_output_(control_torque); } private: - void register_interfaces_() { - register_input(get_parameter("measurement_angle").as_string(), measurement_angle_); - register_input(get_parameter("measurement_velocity").as_string(), measurement_velocity_); - register_input(get_parameter("setpoint_angle").as_string(), setpoint_angle_); - - if (has_parameter("setpoint_velocity")) { - register_input( - get_parameter("setpoint_velocity").as_string(), setpoint_velocity_input_); - } else { - setpoint_velocity_input_.make_and_bind_directly(0.0); - } - - if (has_parameter("mode_input")) { - register_input(get_parameter("mode_input").as_string(), suspension_mode_input_); - } else { - suspension_mode_input_.make_and_bind_directly(false); - } - - if (has_parameter("suspension_torque")) { - register_input( - get_parameter("suspension_torque").as_string(), joint_torque_feedforward_input_); - } else { - joint_torque_feedforward_input_.make_and_bind_directly(0.0); - } - if (has_parameter("limit")) { - register_input(get_parameter("limit").as_string(), output_limit_); - use_dynamic_limit_ = true; - } + // Joint controller owns only the local angle-servo execution. Chassis publishes the + // higher-level target angle trajectory; this controller turns that target into motor torque. + struct ControllerConfig { + rmcs_core::controller::adrc::TD::Config td; + rmcs_core::controller::adrc::ESO::Config eso; + rmcs_core::controller::adrc::NLESF::Config nlesf; + double output_min = -std::numeric_limits::infinity(); + double output_max = std::numeric_limits::infinity(); + }; - register_output(get_parameter("control").as_string(), control_torque_, nan_); - if (has_parameter("eso_z2_output")) { - register_output(get_parameter("eso_z2_output").as_string(), eso_z2_output_, nan_); - } - if (has_parameter("eso_z3_output")) { - register_output(get_parameter("eso_z3_output").as_string(), eso_z3_output_, nan_); - } - } + struct InputSnapshot { + double measurement_angle = std::numeric_limits::quiet_NaN(); + double setpoint_angle = std::numeric_limits::quiet_NaN(); + double setpoint_velocity = std::numeric_limits::quiet_NaN(); + }; - void load_mode_configs_() { + void load_config_() { dt_ = load_parameter_or(*this, "dt", 0.001); b0_ = load_parameter_or(*this, "b0", 1.0); kt_ = load_parameter_or(*this, "kt", 1.0); - normal_mode_config_.td.h = load_parameter_or(*this, "td_h", dt_); - normal_mode_config_.td.r = load_parameter_or(*this, "td_r", 300.0); - normal_mode_config_.td.max_vel = + config_.td.h = load_parameter_or(*this, "td_h", dt_); + config_.td.r = load_parameter_or(*this, "td_r", 300.0); + config_.td.max_vel = load_parameter_or(*this, "td_max_vel", std::numeric_limits::infinity()); - normal_mode_config_.td.max_acc = + config_.td.max_acc = load_parameter_or(*this, "td_max_acc", std::numeric_limits::infinity()); - normal_mode_config_.eso.h = dt_; - normal_mode_config_.eso.b0 = b0_; - normal_mode_config_.eso.w0 = load_parameter_or(*this, "eso_w0", 80.0); - normal_mode_config_.eso.auto_beta = load_parameter_or(*this, "eso_auto_beta", true); - normal_mode_config_.eso.beta1 = - load_parameter_or(*this, "eso_beta1", 3.0 * normal_mode_config_.eso.w0); - normal_mode_config_.eso.beta2 = load_parameter_or( - *this, "eso_beta2", 3.0 * normal_mode_config_.eso.w0 * normal_mode_config_.eso.w0); - normal_mode_config_.eso.beta3 = load_parameter_or( - *this, "eso_beta3", - normal_mode_config_.eso.w0 * normal_mode_config_.eso.w0 * normal_mode_config_.eso.w0); - normal_mode_config_.eso.z3_limit = load_parameter_or(*this, "eso_z3_limit", 1e9); - - normal_mode_config_.nlesf.k1 = load_parameter_or(*this, "k1", 50.0); - normal_mode_config_.nlesf.k2 = load_parameter_or(*this, "k2", 5.0); - normal_mode_config_.nlesf.alpha1 = load_parameter_or(*this, "alpha1", 0.75); - normal_mode_config_.nlesf.alpha2 = load_parameter_or(*this, "alpha2", 1.25); - normal_mode_config_.nlesf.delta = load_parameter_or(*this, "delta", 0.01); - normal_mode_config_.nlesf.u_min = + config_.eso.h = dt_; + config_.eso.b0 = b0_; + config_.eso.w0 = load_parameter_or(*this, "eso_w0", 80.0); + config_.eso.auto_beta = load_parameter_or(*this, "eso_auto_beta", true); + config_.eso.beta1 = load_parameter_or(*this, "eso_beta1", 3.0 * config_.eso.w0); + config_.eso.beta2 = + load_parameter_or(*this, "eso_beta2", 3.0 * config_.eso.w0 * config_.eso.w0); + config_.eso.beta3 = load_parameter_or( + *this, "eso_beta3", config_.eso.w0 * config_.eso.w0 * config_.eso.w0); + config_.eso.z3_limit = load_parameter_or(*this, "eso_z3_limit", 1e9); + + config_.nlesf.k1 = load_parameter_or(*this, "k1", 50.0); + config_.nlesf.k2 = load_parameter_or(*this, "k2", 5.0); + config_.nlesf.alpha1 = load_parameter_or(*this, "alpha1", 0.75); + config_.nlesf.alpha2 = load_parameter_or(*this, "alpha2", 1.25); + config_.nlesf.delta = load_parameter_or(*this, "delta", 0.01); + config_.nlesf.u_min = load_parameter_or(*this, "u_min", -std::numeric_limits::infinity()); - normal_mode_config_.nlesf.u_max = + config_.nlesf.u_max = load_parameter_or(*this, "u_max", std::numeric_limits::infinity()); - normal_mode_config_.output_min = + config_.output_min = load_parameter_or(*this, "output_min", -std::numeric_limits::infinity()); - normal_mode_config_.output_max = + config_.output_max = load_parameter_or(*this, "output_max", std::numeric_limits::infinity()); - if (normal_mode_config_.output_min > normal_mode_config_.output_max) { - std::swap(normal_mode_config_.output_min, normal_mode_config_.output_max); - } - normal_mode_config_.torque_feedforward_gain = - load_parameter_or(*this, "torque_feedforward_gain", 0.0); - - suspension_mode_config_ = normal_mode_config_; - suspension_mode_config_.td.h = - load_parameter_or(*this, "suspension_td_h", suspension_mode_config_.td.h); - suspension_mode_config_.td.r = - load_parameter_or(*this, "suspension_td_r", suspension_mode_config_.td.r); - suspension_mode_config_.td.max_vel = - load_parameter_or(*this, "suspension_td_max_vel", suspension_mode_config_.td.max_vel); - suspension_mode_config_.td.max_acc = - load_parameter_or(*this, "suspension_td_max_acc", suspension_mode_config_.td.max_acc); - suspension_mode_config_.eso.w0 = - load_parameter_or(*this, "suspension_eso_w0", suspension_mode_config_.eso.w0); - suspension_mode_config_.eso.auto_beta = load_parameter_or( - *this, "suspension_eso_auto_beta", suspension_mode_config_.eso.auto_beta); - suspension_mode_config_.eso.beta1 = - load_parameter_or(*this, "suspension_eso_beta1", suspension_mode_config_.eso.beta1); - suspension_mode_config_.eso.beta2 = - load_parameter_or(*this, "suspension_eso_beta2", suspension_mode_config_.eso.beta2); - suspension_mode_config_.eso.beta3 = - load_parameter_or(*this, "suspension_eso_beta3", suspension_mode_config_.eso.beta3); - suspension_mode_config_.eso.z3_limit = load_parameter_or( - *this, "suspension_eso_z3_limit", suspension_mode_config_.eso.z3_limit); - suspension_mode_config_.nlesf.k1 = - load_parameter_or(*this, "suspension_k1", suspension_mode_config_.nlesf.k1); - suspension_mode_config_.nlesf.k2 = - load_parameter_or(*this, "suspension_k2", suspension_mode_config_.nlesf.k2); - suspension_mode_config_.nlesf.alpha1 = - load_parameter_or(*this, "suspension_alpha1", suspension_mode_config_.nlesf.alpha1); - suspension_mode_config_.nlesf.alpha2 = - load_parameter_or(*this, "suspension_alpha2", suspension_mode_config_.nlesf.alpha2); - suspension_mode_config_.nlesf.delta = - load_parameter_or(*this, "suspension_delta", suspension_mode_config_.nlesf.delta); - suspension_mode_config_.nlesf.u_min = - load_parameter_or(*this, "suspension_u_min", suspension_mode_config_.nlesf.u_min); - suspension_mode_config_.nlesf.u_max = - load_parameter_or(*this, "suspension_u_max", suspension_mode_config_.nlesf.u_max); - suspension_mode_config_.output_min = - load_parameter_or(*this, "suspension_output_min", normal_mode_config_.output_min); - suspension_mode_config_.output_max = - load_parameter_or(*this, "suspension_output_max", normal_mode_config_.output_max); - if (suspension_mode_config_.output_min > suspension_mode_config_.output_max) { - std::swap(suspension_mode_config_.output_min, suspension_mode_config_.output_max); + if (config_.output_min > config_.output_max) { + std::swap(config_.output_min, config_.output_max); } - suspension_mode_config_.torque_feedforward_gain = - load_parameter_or(*this, "suspension_torque_feedforward_gain", 1.0); } bool read_inputs_(InputSnapshot& inputs) const { inputs.measurement_angle = *measurement_angle_; inputs.setpoint_angle = *setpoint_angle_; - inputs.joint_torque_feedforward = *joint_torque_feedforward_input_; - inputs.suspension_mode = *suspension_mode_input_; - return std::isfinite(inputs.measurement_angle) && std::isfinite(inputs.setpoint_angle); - } - - void update_mode_selection_(bool suspension_mode) { - if (suspension_mode != last_suspension_mode_) { - apply_mode_config_(active_mode_config_(suspension_mode)); - last_suspension_mode_ = suspension_mode; + if (use_setpoint_velocity_ && setpoint_velocity_.ready() + && std::isfinite(*setpoint_velocity_)) { + inputs.setpoint_velocity = *setpoint_velocity_; } + return std::isfinite(inputs.measurement_angle) && std::isfinite(inputs.setpoint_angle); } - const ModeConfig& active_mode_config_(bool suspension_mode) const { - return suspension_mode ? suspension_mode_config_ : normal_mode_config_; - } - - void apply_mode_config_(const ModeConfig& mode_config) { - td_.set_config(mode_config.td); - eso_.set_config(mode_config.eso); - nlesf_.set_config(mode_config.nlesf); - } - - std::pair effective_output_limits_(const ModeConfig& mode_config) const { - double output_min = mode_config.output_min; - double output_max = mode_config.output_max; - if (use_dynamic_limit_) { - if (!output_limit_.ready()) { - return {nan_, nan_}; - } - const double limit = *output_limit_; - if (!std::isfinite(limit)) { - return {nan_, nan_}; - } - - const double effective_limit = std::max(0.0, limit); - output_min = std::max(output_min, -effective_limit); - output_max = std::min(output_max, effective_limit); - } - return {output_min, output_max}; - } - - bool ensure_feedforward_ready_( - const ModeConfig& mode_config, const InputSnapshot& inputs) const { - return mode_config.torque_feedforward_gain == 0.0 - || std::isfinite(inputs.joint_torque_feedforward); + void apply_config_() { + td_.set_config(config_.td); + eso_.set_config(config_.eso); + nlesf_.set_config(config_.nlesf); } void initialize_if_needed_(const InputSnapshot& inputs) { @@ -279,21 +148,22 @@ class DeformableJointController initialized_ = true; } - bool run_joint_servo_( - const InputSnapshot& inputs, const ModeConfig& mode_config, double output_min, - double output_max, rmcs_core::controller::adrc::ESO::Output& eso_out, - double& control_torque) { - const auto td_out = td_.update(inputs.setpoint_angle); - eso_out = eso_.update(inputs.measurement_angle, last_u_); + bool run_joint_servo_(const InputSnapshot& inputs, double& control_torque) { + const auto eso_out = eso_.update(inputs.measurement_angle, last_u_); - const double e1 = td_out.x1 - eso_out.z1; - const double e2 = td_out.x2 - eso_out.z2; + double reference_angle = inputs.setpoint_angle; + double reference_velocity = inputs.setpoint_velocity; + if (!std::isfinite(reference_velocity)) { + const auto td_out = td_.update(inputs.setpoint_angle); + reference_angle = td_out.x1; + reference_velocity = td_out.x2; + } + + const double e1 = reference_angle - eso_out.z1; + const double e2 = reference_velocity - eso_out.z2; control_torque = kt_ * nlesf_.compute(e1, e2, eso_out.z3, b0_).u; - if (mode_config.torque_feedforward_gain != 0.0) { - control_torque += mode_config.torque_feedforward_gain * inputs.joint_torque_feedforward; - } - control_torque = std::clamp(control_torque, output_min, output_max); + control_torque = std::clamp(control_torque, config_.output_min, config_.output_max); return std::isfinite(control_torque); } @@ -303,63 +173,37 @@ class DeformableJointController last_u_ = 0.0; } - void publish_control_output_( - double control_torque, const rmcs_core::controller::adrc::ESO::Output& eso_out) { + void publish_control_output_(double control_torque) { *control_torque_ = control_torque; last_u_ = control_torque; - publish_eso_state_(eso_out); - } - - void publish_eso_state_(const rmcs_core::controller::adrc::ESO::Output& eso_out) { - if (eso_z2_output_.active()) { - *eso_z2_output_ = eso_out.z2; - } - if (eso_z3_output_.active()) { - *eso_z3_output_ = eso_out.z3; - } } void disable_output_() { initialized_ = false; last_u_ = 0.0; *control_torque_ = nan_; - if (eso_z2_output_.active()) { - *eso_z2_output_ = nan_; - } - if (eso_z3_output_.active()) { - *eso_z3_output_ = nan_; - } } static constexpr double nan_ = std::numeric_limits::quiet_NaN(); InputInterface measurement_angle_; - InputInterface measurement_velocity_; InputInterface setpoint_angle_; - // Kept for graph compatibility; TD derives the actual servo-rate target locally. - InputInterface setpoint_velocity_input_; - InputInterface suspension_mode_input_; - InputInterface joint_torque_feedforward_input_; - InputInterface output_limit_; + InputInterface setpoint_velocity_; OutputInterface control_torque_; - OutputInterface eso_z2_output_; - OutputInterface eso_z3_output_; rmcs_core::controller::adrc::TD td_; rmcs_core::controller::adrc::ESO eso_; rmcs_core::controller::adrc::NLESF nlesf_; - ModeConfig normal_mode_config_; - ModeConfig suspension_mode_config_; + ControllerConfig config_; double dt_ = 0.001; double b0_ = 1.0; double kt_ = 1.0; double last_u_ = 0.0; - bool use_dynamic_limit_ = false; + bool use_setpoint_velocity_ = false; bool initialized_ = false; - bool last_suspension_mode_ = false; }; } // namespace rmcs_core::controller::chassis diff --git a/rmcs_ws/src/rmcs_core/src/controller/chassis/deformable_joint_layer.hpp b/rmcs_ws/src/rmcs_core/src/controller/chassis/deformable_joint_layer.hpp deleted file mode 100644 index b4ca1e2d5..000000000 --- a/rmcs_ws/src/rmcs_core/src/controller/chassis/deformable_joint_layer.hpp +++ /dev/null @@ -1,176 +0,0 @@ -#pragma once - -#include -#include -#include -#include -#include - -#include - -namespace rmcs_core::controller::chassis { - -enum class JointFeedbackSource : uint8_t { kLegacyEncoderAngle, kMotorAngle }; - -enum JointIndex : size_t { - kLeftFront = 0, - kLeftBack = 1, - kRightBack = 2, - kRightFront = 3, - kJointCount = 4 -}; - -inline constexpr std::array kJointNames{ - "left_front", "left_back", "right_back", "right_front"}; - -struct JointFeedbackFrame { - std::array motor_angles{}; - std::array physical_angles{}; - std::array physical_velocities{}; - std::array joint_torques{}; - std::array eso_z2{}; - std::array eso_z3{}; -}; - -struct LegFeedback { - double motor_angle = std::numeric_limits::quiet_NaN(); - double physical_angle = std::numeric_limits::quiet_NaN(); - double physical_velocity = std::numeric_limits::quiet_NaN(); - double joint_torque = std::numeric_limits::quiet_NaN(); - double eso_z2 = std::numeric_limits::quiet_NaN(); - double eso_z3 = std::numeric_limits::quiet_NaN(); -}; - -struct JointIO { - using In = rmcs_executor::Component::InputInterface; - using Out = rmcs_executor::Component::OutputInterface; - In angle, physical_angle, physical_velocity, torque, encoder_angle, eso_z2, eso_z3; - Out target_angle, target_physical_angle, target_physical_velocity, target_physical_acceleration; - Out suspension_torque; -}; - -struct JointTrajectoryPlanner { - static constexpr double kJointZeroPhysicalAngleRad = 1.090830782496456; - - void - init(double min_angle, double max_angle, double velocity_limit, double acceleration_limit) { - min_angle_ = min_angle; - max_angle_ = max_angle; - velocity_limit_ = velocity_limit; - acceleration_limit_ = acceleration_limit; - } - - void set_target_angle(double angle) { current_target_angle_ = angle; } - double target_angle() const { return current_target_angle_; } - - bool initialize_from_feedback( - const std::array& motor_angles, - const std::array& physical_angles) { - for (size_t i = 0; i < kJointCount; ++i) - if (!std::isfinite(motor_angles[i]) || !std::isfinite(physical_angles[i])) - return false; - target_motor_state_ = motor_angles; - target_physical_state_ = physical_angles; - target_velocity_state_.fill(0.0); - target_acceleration_state_.fill(0.0); - requested_physical_ = physical_angles; - current_physical_ = physical_angles; - active_ = true; - return true; - } - - void sync_from_feedback(size_t index, double motor_angle, double physical_angle) { - target_motor_state_[index] = motor_angle; - target_physical_state_[index] = physical_angle; - target_velocity_state_[index] = 0.0; - target_acceleration_state_[index] = 0.0; - } - - bool active() const { return active_; } - void set_active(bool value) { active_ = value; } - - void fill_symmetric_targets() { per_joint_targets_.fill(current_target_angle_); } - - bool symmetric_requested() const { - for (size_t i = 1; i < kJointCount; ++i) - if (std::abs(per_joint_targets_[0] - per_joint_targets_[i]) > 1e-6) - return false; - return true; - } - - void refresh_deploy_targets( - bool deploy_requested, bool /*prone_override*/, double deploy_angle) { - for (size_t i = 0; i < kJointCount; ++i) - requested_physical_[i] = per_joint_targets_[i] * std::numbers::pi / 180.0; - if (deploy_requested) - requested_physical_.fill(deploy_angle * std::numbers::pi / 180.0); - current_physical_ = requested_physical_; - } - - void update_trajectory( - double delta_time, bool use_suspension_limits, double suspension_velocity_limit, - double suspension_acceleration_limit) { - double velocity_limit = use_suspension_limits ? suspension_velocity_limit : velocity_limit_; - double acceleration_limit = - use_suspension_limits ? suspension_acceleration_limit : acceleration_limit_; - for (size_t i = 0; i < kJointCount; ++i) { - double target = current_physical_[i]; - double current_position = target_physical_state_[i]; - double current_velocity = target_velocity_state_[i]; - double error = target - current_position; - double max_velocity = std::sqrt(2.0 * acceleration_limit * std::abs(error)); - double command_velocity = std::copysign(std::min(max_velocity, velocity_limit), error); - double delta_velocity = command_velocity - current_velocity; - double command_acceleration = - std::clamp(delta_velocity / delta_time, -acceleration_limit, acceleration_limit); - target_acceleration_state_[i] = command_acceleration; - target_velocity_state_[i] = std::clamp( - current_velocity + command_acceleration * delta_time, -velocity_limit, - velocity_limit); - target_physical_state_[i] += target_velocity_state_[i] * delta_time; - target_motor_state_[i] = kJointZeroPhysicalAngleRad - target_physical_state_[i]; - } - } - - const std::array& target_angles() const { return target_motor_state_; } - const std::array& target_physical_angles() const { - return target_physical_state_; - } - const std::array& target_velocities() const { - return target_velocity_state_; - } - const std::array& target_accelerations() const { - return target_acceleration_state_; - } - const std::array& current_physical() const { return current_physical_; } - - void reset(double angle) { - current_target_angle_ = angle; - per_joint_targets_.fill(angle); - active_ = false; - target_motor_state_.fill(0.0); - target_physical_state_.fill(0.0); - target_velocity_state_.fill(0.0); - target_acceleration_state_.fill(0.0); - } - - double min_angle() const { return min_angle_; } - double max_angle() const { return max_angle_; } - -private: - double min_angle_ = 15.0; - double max_angle_ = 55.0; - double velocity_limit_ = 1.0; - double acceleration_limit_ = 1.0; - double current_target_angle_ = 55.0; - std::array per_joint_targets_{55.0, 55.0, 55.0, 55.0}; - bool active_ = false; - std::array target_motor_state_{}; - std::array target_physical_state_{}; - std::array target_velocity_state_{}; - std::array target_acceleration_state_{}; - std::array requested_physical_{}; - std::array current_physical_{}; -}; - -} // namespace rmcs_core::controller::chassis diff --git a/rmcs_ws/src/rmcs_core/src/controller/chassis/deformable_mode.hpp b/rmcs_ws/src/rmcs_core/src/controller/chassis/deformable_mode.hpp new file mode 100644 index 000000000..ca9aa4d64 --- /dev/null +++ b/rmcs_ws/src/rmcs_core/src/controller/chassis/deformable_mode.hpp @@ -0,0 +1,333 @@ +#pragma once + +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +namespace rmcs_core::controller::chassis { + +class DeformableChassisModeManager { +public: + enum class SuspensionMode : uint8_t { + OFF = 0, + ACTIVE = 1, + }; + + struct JointPostureState { + rmcs_msgs::ChassisMode mode = rmcs_msgs::ChassisMode::AUTO; + bool ctrl_low_prone_active = false; + bool low_prone_active = false; + bool pitch_lock_active = false; + bool suspension_active = false; + SuspensionMode suspension_mode = SuspensionMode::OFF; + bool symmetric_posture_target = true; + bool spinning_forward = true; + std::array joint_posture_target_deg = {58.0, 58.0, 58.0, 58.0}; + double suspension_reference_angle_deg = 58.0; + }; + + explicit DeformableChassisModeManager(rclcpp::Node& node) + : min_angle_(node.get_parameter_or("min_angle", 5.0)) + , max_angle_(node.get_parameter_or("max_angle", 59.0)) + , active_suspension_base_angle_( + std::clamp( + node.get_parameter_or("active_suspension_base_angle", max_angle_), + min_angle_ - 5.0, max_angle_)) + , suspension_enable_(node.get_parameter_or("active_suspension_enable", false)) { + current_target_angle_ = max_angle_; + joint_current_target_angle_.fill(max_angle_); + update_joint_posture_state_(false); + } + + void reset() { + joint_posture_state_.mode = rmcs_msgs::ChassisMode::AUTO; + joint_posture_state_.ctrl_low_prone_active = false; + joint_posture_state_.low_prone_active = false; + joint_posture_state_.pitch_lock_active = false; + joint_posture_state_.suspension_active = false; + joint_posture_state_.suspension_mode = SuspensionMode::OFF; + joint_posture_state_.symmetric_posture_target = true; + joint_posture_state_.spinning_forward = true; + joint_posture_state_.joint_posture_target_deg.fill(max_angle_); + joint_posture_state_.suspension_reference_angle_deg = max_angle_; + + current_target_angle_ = max_angle_; + active_suspension_base_angle_ = max_angle_; + joint_current_target_angle_.fill(max_angle_); + apply_symmetric_target_ = true; + suspension_enabled_by_toggle_ = false; + low_prone_enabled_by_toggle_ = false; + + last_switch_right_ = rmcs_msgs::Switch::UNKNOWN; + last_keyboard_ = rmcs_msgs::Keyboard::zero(); + last_rotary_knob_ = 0.0; + + update_joint_posture_state_(false); + } + + void update( + rmcs_msgs::Switch switch_left, rmcs_msgs::Switch switch_right, + const rmcs_msgs::Keyboard& keyboard, double rotary_knob, double dt) { + + update_mode_from_inputs_(switch_left, switch_right, keyboard); + update_low_prone_toggle_from_inputs_(switch_left, switch_right); + + joint_posture_state_.ctrl_low_prone_active = keyboard.ctrl; + joint_posture_state_.low_prone_active = + joint_posture_state_.ctrl_low_prone_active || low_prone_enabled_by_toggle_; + joint_posture_state_.pitch_lock_active = + joint_posture_state_.ctrl_low_prone_active; + + update_suspension_mode_from_inputs_(switch_left, switch_right, keyboard, rotary_knob); + update_posture_target_from_inputs_(switch_left, switch_right, keyboard, rotary_knob, dt); + update_joint_posture_state_(joint_posture_state_.low_prone_active); + + last_switch_right_ = switch_right; + last_keyboard_ = keyboard; + } + + rmcs_msgs::ChassisMode mode() const { return joint_posture_state_.mode; } + bool pitch_lock_active() const { return joint_posture_state_.pitch_lock_active; } + bool suspension_active() const { return joint_posture_state_.suspension_active; } + bool low_prone_active() const { return joint_posture_state_.low_prone_active; } + bool symmetric_posture_target() const { return joint_posture_state_.symmetric_posture_target; } + bool spinning_forward() const { return joint_posture_state_.spinning_forward; } + double suspension_reference_angle_deg() const { + return joint_posture_state_.suspension_reference_angle_deg; + } + void copy_joint_posture_target_deg(std::array& out) const { + out = joint_posture_state_.joint_posture_target_deg; + } + + const JointPostureState& joint_posture_state() const { return joint_posture_state_; } + + double min_angle() const { return min_angle_; } + double max_angle() const { return max_angle_; } + double max_angle_rad() const { return deg_to_rad_(max_angle_); } + + double active_suspension_min_angle_rad() const { return deg_to_rad_(min_angle_ - 5.0); } + + bool correction_inverted() const { + double midpoint = (min_angle_ - 5.0 + max_angle_) / 2.0; + return joint_posture_state_.suspension_reference_angle_deg > midpoint; + } + +private: + static constexpr size_t kLeftFront = 0; + static constexpr size_t kLeftBack = 1; + static constexpr size_t kRightBack = 2; + static constexpr size_t kRightFront = 3; + static constexpr size_t kJointCount = 4; + + static double deg_to_rad_(double deg) { return deg * std::numbers::pi / 180.0; } + + static bool + symmetric_joint_target_requested_(const std::array& joint_target_deg) { + constexpr double epsilon = 1e-6; + return std::all_of(joint_target_deg.begin() + 1, joint_target_deg.end(), [&](double v) { + return std::abs(v - joint_target_deg.front()) <= epsilon; + }); + } + + void update_mode_from_inputs_( + rmcs_msgs::Switch switch_left, rmcs_msgs::Switch switch_right, + const rmcs_msgs::Keyboard& keyboard) { + + auto next_mode = joint_posture_state_.mode; + if (switch_left == rmcs_msgs::Switch::DOWN) { + joint_posture_state_.mode = next_mode; + return; + } + + if (last_switch_right_ == rmcs_msgs::Switch::MIDDLE + && switch_right == rmcs_msgs::Switch::DOWN) { + if (next_mode == rmcs_msgs::ChassisMode::SPIN_FAST) { + next_mode = rmcs_msgs::ChassisMode::STEP_DOWN; + } else { + next_mode = rmcs_msgs::ChassisMode::SPIN_FAST; + joint_posture_state_.spinning_forward = !joint_posture_state_.spinning_forward; + } + } else if (!last_keyboard_.c && keyboard.c) { + if (next_mode == rmcs_msgs::ChassisMode::SPIN_FAST) { + next_mode = rmcs_msgs::ChassisMode::AUTO; + } else { + next_mode = rmcs_msgs::ChassisMode::SPIN_FAST; + joint_posture_state_.spinning_forward = !joint_posture_state_.spinning_forward; + } + } else if (!last_keyboard_.z && keyboard.z) { + next_mode = next_mode == rmcs_msgs::ChassisMode::STEP_DOWN + ? rmcs_msgs::ChassisMode::AUTO + : rmcs_msgs::ChassisMode::STEP_DOWN; + } + + joint_posture_state_.mode = next_mode; + } + + void apply_front_high_rear_low_target_() { + joint_current_target_angle_[kLeftFront] = max_angle_; + joint_current_target_angle_[kRightFront] = max_angle_; + joint_current_target_angle_[kLeftBack] = min_angle_; + joint_current_target_angle_[kRightBack] = min_angle_; + apply_symmetric_target_ = false; + } + + void apply_front_low_rear_high_target_() { + joint_current_target_angle_[kLeftFront] = min_angle_; + joint_current_target_angle_[kRightFront] = min_angle_; + joint_current_target_angle_[kLeftBack] = max_angle_; + joint_current_target_angle_[kRightBack] = max_angle_; + apply_symmetric_target_ = false; + } + + void toggle_front_back_posture_target_() { + if (joint_current_target_angle_[kLeftFront] > joint_current_target_angle_[kLeftBack]) + apply_front_low_rear_high_target_(); + else + apply_front_high_rear_low_target_(); + } + + void update_suspension_mode_from_inputs_( + rmcs_msgs::Switch switch_left, rmcs_msgs::Switch switch_right, + const rmcs_msgs::Keyboard& keyboard, double rotary_knob) { + const bool remote_suspension_rotary_mode = + switch_left == rmcs_msgs::Switch::DOWN && switch_right == rmcs_msgs::Switch::MIDDLE; + const bool remote_active_toggle_requested = + remote_suspension_rotary_mode && rotary_knob_down_edge_(rotary_knob); + + const bool keyboard_active_suspension_toggle_requested = !last_keyboard_.e && keyboard.e; + if (keyboard_active_suspension_toggle_requested || remote_active_toggle_requested) + suspension_enabled_by_toggle_ = !suspension_enabled_by_toggle_; + + const bool active_requested = + suspension_enable_ + && (joint_posture_state_.low_prone_active || suspension_enabled_by_toggle_); + + joint_posture_state_.suspension_mode = SuspensionMode::OFF; + if (active_requested) + joint_posture_state_.suspension_mode = SuspensionMode::ACTIVE; + + joint_posture_state_.suspension_active = + joint_posture_state_.suspension_mode == SuspensionMode::ACTIVE; + } + + void update_low_prone_toggle_from_inputs_( + rmcs_msgs::Switch switch_left, rmcs_msgs::Switch switch_right) { + if (switch_left == rmcs_msgs::Switch::DOWN && switch_right == rmcs_msgs::Switch::UP + && last_switch_right_ == rmcs_msgs::Switch::MIDDLE) { + low_prone_enabled_by_toggle_ = !low_prone_enabled_by_toggle_; + } + } + + void update_posture_target_from_inputs_( + rmcs_msgs::Switch switch_left, rmcs_msgs::Switch switch_right, + const rmcs_msgs::Keyboard& keyboard, double rotary_knob, double /*dt*/) { + const bool remote_joint_posture_rotary_mode = + switch_left == rmcs_msgs::Switch::MIDDLE && switch_right == rmcs_msgs::Switch::MIDDLE; + + const bool keyboard_posture_toggle_condition = !last_keyboard_.q && keyboard.q; + const bool remote_posture_toggle_condition = + remote_joint_posture_rotary_mode && rotary_knob_down_edge_(rotary_knob); + const bool remote_front_back_posture_toggle_condition = + remote_joint_posture_rotary_mode && rotary_knob_up_edge_(rotary_knob); + const bool front_high_rear_low = !last_keyboard_.b && keyboard.b; + const bool front_low_rear_high = !last_keyboard_.g && keyboard.g; + + if (apply_symmetric_target_) + joint_current_target_angle_.fill(current_target_angle_); + + const bool posture_toggle_requested = + remote_posture_toggle_condition || keyboard_posture_toggle_condition; + + if (posture_toggle_requested) { + if (joint_posture_state_.suspension_active) { + active_suspension_base_angle_ = + (std::abs(active_suspension_base_angle_ - max_angle_) < 1e-6) + ? min_angle_ + : max_angle_; + current_target_angle_ = active_suspension_base_angle_; + apply_symmetric_target_ = true; + joint_current_target_angle_.fill(current_target_angle_); + } else { + current_target_angle_ = + (std::abs(current_target_angle_ - max_angle_) < 1e-6) ? min_angle_ : max_angle_; + apply_symmetric_target_ = true; + joint_current_target_angle_.fill(current_target_angle_); + } + } else if (remote_front_back_posture_toggle_condition) { + toggle_front_back_posture_target_(); + } else if (front_high_rear_low) { + apply_front_high_rear_low_target_(); + } else if (front_low_rear_high) { + apply_front_low_rear_high_target_(); + } + + last_rotary_knob_ = rotary_knob; + } + + bool rotary_knob_down_edge_(double rotary_knob) const { + constexpr double rotary_knob_edge_threshold = 0.7; + return last_rotary_knob_ < rotary_knob_edge_threshold + && rotary_knob >= rotary_knob_edge_threshold; + } + + bool rotary_knob_up_edge_(double rotary_knob) const { + constexpr double rotary_knob_edge_threshold = 0.7; + return last_rotary_knob_ > -rotary_knob_edge_threshold + && rotary_knob <= -rotary_knob_edge_threshold; + } + + void update_joint_posture_state_(bool low_prone_active) { + std::array effective_joint_posture_target_deg = + joint_current_target_angle_; + if (low_prone_active) + effective_joint_posture_target_deg.fill(min_angle_ - 5.0); + + joint_posture_state_.joint_posture_target_deg = effective_joint_posture_target_deg; + joint_posture_state_.symmetric_posture_target = + symmetric_joint_target_requested_(effective_joint_posture_target_deg); + + if (joint_posture_state_.suspension_active) { + joint_posture_state_.suspension_reference_angle_deg = + low_prone_active ? min_angle_ : active_suspension_base_angle_; + return; + } + + if (joint_posture_state_.symmetric_posture_target) { + joint_posture_state_.suspension_reference_angle_deg = + effective_joint_posture_target_deg.front(); + return; + } + + double posture_angle_sum = 0.0; + for (double angle_deg : effective_joint_posture_target_deg) + posture_angle_sum += angle_deg; + joint_posture_state_.suspension_reference_angle_deg = + posture_angle_sum / static_cast(kJointCount); + } + + JointPostureState joint_posture_state_; + + double min_angle_; + double max_angle_; + double active_suspension_base_angle_; + bool suspension_enable_; + + double current_target_angle_; + std::array joint_current_target_angle_; + bool apply_symmetric_target_ = true; + bool suspension_enabled_by_toggle_ = false; + bool low_prone_enabled_by_toggle_ = false; + + rmcs_msgs::Switch last_switch_right_ = rmcs_msgs::Switch::UNKNOWN; + rmcs_msgs::Keyboard last_keyboard_ = rmcs_msgs::Keyboard::zero(); + double last_rotary_knob_ = 0.0; +}; + +} // namespace rmcs_core::controller::chassis diff --git a/rmcs_ws/src/rmcs_core/src/controller/chassis/deformable_omni_wheel_controller.cpp b/rmcs_ws/src/rmcs_core/src/controller/chassis/deformable_omni_wheel_controller.cpp index ec5922b8c..74bc3d6b7 100644 --- a/rmcs_ws/src/rmcs_core/src/controller/chassis/deformable_omni_wheel_controller.cpp +++ b/rmcs_ws/src/rmcs_core/src/controller/chassis/deformable_omni_wheel_controller.cpp @@ -1,11 +1,13 @@ #include #include +#include #include #include #include #include +#include #include #include #include @@ -41,22 +43,17 @@ class DeformableOmniWheelController register_input("/chassis/left_front_wheel/max_torque", wheel_motor_max_control_torque_); - register_input("/chassis/left_front_wheel/velocity", left_front_velocity_); - register_input("/chassis/left_back_wheel/velocity", left_back_velocity_); - register_input("/chassis/right_back_wheel/velocity", right_back_velocity_); - register_input("/chassis/right_front_wheel/velocity", right_front_velocity_); + for (size_t i = 0; i < kWheelCount; ++i) { + register_input( + fmt::format("/chassis/{}_wheel/velocity", kWheelName[i]), wheel_velocity_[i]); + register_output( + fmt::format("/chassis/{}_wheel/control_torque", kWheelName[i]), + wheel_control_torque_[i], nan_); + } register_input("/chassis/control_velocity", chassis_control_velocity_); register_input("/chassis/control_power_limit", power_limit_); register_input("/chassis/radius", chassis_radius_); - - register_output( - "/chassis/left_front_wheel/control_torque", left_front_control_torque_, nan_); - register_output("/chassis/left_back_wheel/control_torque", left_back_control_torque_, nan_); - register_output( - "/chassis/right_back_wheel/control_torque", right_back_control_torque_, nan_); - register_output( - "/chassis/right_front_wheel/control_torque", right_front_control_torque_, nan_); } void before_updating() override { @@ -76,9 +73,9 @@ class DeformableOmniWheelController return; } - Eigen::Vector4d wheel_velocities = { - *left_front_velocity_, *left_back_velocity_, *right_back_velocity_, - *right_front_velocity_}; + Eigen::Vector4d wheel_velocities; + for (size_t i = 0; i < kWheelCount; ++i) + wheel_velocities[i] = *wheel_velocity_[i]; const auto chassis_velocity = calculate_chassis_velocity(wheel_velocities); auto chassis_control_torque = calculate_chassis_control_torque(chassis_velocity); @@ -89,28 +86,34 @@ class DeformableOmniWheelController const auto wheel_control_torques = calculate_wheel_control_torques(chassis_control_torque, wheel_pid_torques); - *left_front_control_torque_ = wheel_control_torques[0]; - *left_back_control_torque_ = wheel_control_torques[1]; - *right_back_control_torque_ = wheel_control_torques[2]; - *right_front_control_torque_ = wheel_control_torques[3]; + for (size_t i = 0; i < kWheelCount; ++i) + *wheel_control_torque_[i] = wheel_control_torques[i]; } private: + static constexpr size_t kWheelCount = 4; + static constexpr const char* kWheelName[] = { + "left_front", + "left_back", + "right_back", + "right_front", + }; + static constexpr double nan_ = std::numeric_limits::quiet_NaN(); + static constexpr double g_ = 9.81; + struct ChassisControlTorque { Eigen::Vector2d torque; Eigen::Vector2d lambda; }; void reset_all_controls() { - *left_front_control_torque_ = 0.0; - *left_back_control_torque_ = 0.0; - *right_back_control_torque_ = 0.0; - *right_front_control_torque_ = 0.0; + for (size_t i = 0; i < kWheelCount; ++i) + *wheel_control_torque_[i] = 0.0; } Eigen::Vector3d calculate_chassis_velocity(const Eigen::Vector4d& wheel_velocities) const { const auto& [w1, w2, w3, w4] = wheel_velocities; - const double a_plus_b = std::numbers::sqrt2 * std::max(*chassis_radius_, 1e-6); + const double a_plus_b = std::numbers::sqrt2 * std::max(*chassis_radius_, 1e-6); Eigen::Vector3d velocity; velocity.x() = -w1 - w2 + w3 + w4; velocity.y() = w1 - w2 - w3 + w4; @@ -122,23 +125,24 @@ class DeformableOmniWheelController ChassisControlTorque calculate_chassis_control_torque(const Eigen::Vector3d& chassis_velocity) { ChassisControlTorque result; - Eigen::Vector3d err = chassis_control_velocity_->vector - chassis_velocity; + Eigen::Vector3d chassis_velocity_error = + chassis_control_velocity_->vector - chassis_velocity; Eigen::Vector2d translational_torque = (-std::numbers::sqrt2 / 4 * wheel_radius_) * mass_ - * translational_velocity_pid_calculator_.update(err.head<2>()); + * translational_velocity_pid_calculator_.update(chassis_velocity_error.head<2>()); result.torque.x() = translational_torque.norm(); const double a_plus_b = std::numbers::sqrt2 * std::max(*chassis_radius_, 1e-6); - result.torque.y() = (-std::numbers::sqrt2 / 4 * wheel_radius_) - * (moment_of_inertia_ / a_plus_b) - * angular_velocity_pid_calculator_.update(err[2]); + result.torque.y() = (-std::numbers::sqrt2 / 4 * wheel_radius_) + * (moment_of_inertia_ / a_plus_b) + * angular_velocity_pid_calculator_.update(chassis_velocity_error[2]); Eigen::Vector2d translational_torque_direction; if (result.torque.x() > 0) translational_torque_direction = translational_torque / result.torque.x(); else translational_torque_direction = Eigen::Vector2d::UnitX(); - auto& [x, y] = translational_torque_direction; + auto& [x, y] = translational_torque_direction; result.lambda = {-x + y, -x - y}; return result; @@ -163,13 +167,13 @@ class DeformableOmniWheelController const Eigen::Vector4d& wheel_pid_torques) const { const auto& [w1, w2, w3, w4] = wheel_velocities; - const auto& [x_max, y_max] = chassis_control_torque.torque; - const double y_sign = y_max > 0 ? 1.0 : -1.0; + const auto& [x_max, y_max] = chassis_control_torque.torque; + const double y_sign = y_max > 0 ? 1.0 : -1.0; const auto& [lambda_1, lambda_2] = chassis_control_torque.lambda; const auto& [t1, t2, t3, t4] = wheel_pid_torques; - const double rhombus_top = (friction_coefficient_ * mass_ * g_ * wheel_radius_) / 4; + const double rhombus_top = (friction_coefficient_ * mass_ * g_ * wheel_radius_) / 4; const double rhombus_right = rhombus_top / std::max(std::abs(lambda_1), std::abs(lambda_2)); const double a = 4 * k1_; @@ -185,14 +189,14 @@ class DeformableOmniWheelController Eigen::Vector2d result = Eigen::Vector2d::Constant(nan_); if (com_height_ > 1e-6) { - const double dir_x = -(lambda_1 + lambda_2) / 2.0; - const double dir_y = (lambda_1 - lambda_2) / 2.0; - const double coeff = -com_height_ / (std::numbers::sqrt2 * wheel_radius_); + const double dir_x = -(lambda_1 + lambda_2) / 2.0; + const double dir_y = (lambda_1 - lambda_2) / 2.0; + const double coeff = -com_height_ / (std::numbers::sqrt2 * wheel_radius_); const double gamma_1 = coeff * (+dir_x / chassis_radius_x_ + dir_y / chassis_radius_y_); const double gamma_2 = coeff * (-dir_x / chassis_radius_x_ + dir_y / chassis_radius_y_); const double force_to_torque = friction_coefficient_ * wheel_radius_; - const double rhs = force_to_torque * mass_ * g_ / 4.0; + const double rhs = force_to_torque * mass_ * g_ / 4.0; const std::vector half_planes = { {lambda_1 - force_to_torque * gamma_1, y_sign, rhs}, {-lambda_1 - force_to_torque * gamma_1, -y_sign, rhs}, @@ -219,7 +223,7 @@ class DeformableOmniWheelController static Eigen::Vector4d calculate_wheel_control_torques( ChassisControlTorque chassis_control_torque, Eigen::Vector4d wheel_pid_torques) { const auto& [lambda_1, lambda_2] = chassis_control_torque.lambda; - Eigen::Vector4d wheel_torques = { + Eigen::Vector4d wheel_torques = { +lambda_1 * chassis_control_torque.torque.x(), +lambda_2 * chassis_control_torque.torque.x(), -lambda_1 * chassis_control_torque.torque.x(), @@ -230,10 +234,6 @@ class DeformableOmniWheelController return wheel_torques; } - static constexpr double nan_ = std::numeric_limits::quiet_NaN(); - - static constexpr double g_ = 9.81; - const double mass_; const double moment_of_inertia_; const double wheel_radius_; @@ -245,10 +245,8 @@ class DeformableOmniWheelController InputInterface wheel_motor_max_control_torque_; - InputInterface left_front_velocity_; - InputInterface left_back_velocity_; - InputInterface right_back_velocity_; - InputInterface right_front_velocity_; + std::array, kWheelCount> wheel_velocity_; + std::array, kWheelCount> wheel_control_torque_; InputInterface chassis_control_velocity_; InputInterface power_limit_; @@ -260,11 +258,6 @@ class DeformableOmniWheelController pid::MatrixPidCalculator<4> wheel_velocity_pid_; QcpSolver qcp_solver_; - - OutputInterface left_front_control_torque_; - OutputInterface left_back_control_torque_; - OutputInterface right_back_control_torque_; - OutputInterface right_front_control_torque_; }; } // namespace rmcs_core::controller::chassis diff --git a/rmcs_ws/src/rmcs_core/src/controller/chassis/deformable_suspension.cpp b/rmcs_ws/src/rmcs_core/src/controller/chassis/deformable_suspension.cpp new file mode 100644 index 000000000..3f562ba01 --- /dev/null +++ b/rmcs_ws/src/rmcs_core/src/controller/chassis/deformable_suspension.cpp @@ -0,0 +1,628 @@ +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include "controller/pid/pid_calculator.hpp" +#include "filter/low_pass_filter.hpp" + +namespace rmcs_core::controller::chassis { + +class DeformableSuspension + : public rmcs_executor::Component + , public rclcpp::Node { +public: + DeformableSuspension() + : Node( + get_component_name(), + rclcpp::NodeOptions{}.automatically_declare_parameters_from_overrides(true)) { + load_config_(); + + register_input("/predefined/update_rate", update_rate_, false); + + register_input("/chassis/active_suspension/active", active_suspension_active_); + register_input("/chassis/deformable/reset_count", reset_count_, false); + register_input("/chassis/deformable/low_prone_active", low_prone_active_); + register_input( + "/chassis/deformable/symmetric_posture_target", symmetric_posture_target_); + register_input("/chassis/deformable/correction_inverted", correction_inverted_); + register_input("/chassis/deformable/min_angle_deg", min_angle_deg_); + register_input("/chassis/deformable/max_angle_deg", max_angle_deg_); + register_input( + "/chassis/deformable/suspension_reference_angle_deg", + suspension_reference_angle_deg_); + + register_input("/chassis/imu/pitch", chassis_imu_pitch_, false); + register_input("/chassis/imu/roll", chassis_imu_roll_, false); + register_input("/chassis/imu/pitch_rate", chassis_imu_pitch_rate_, false); + register_input("/chassis/imu/roll_rate", chassis_imu_roll_rate_, false); + + for (size_t i = 0; i < kJointCount; ++i) { + register_input( + std::string{"/chassis/deformable/"} + kJointName[i] + "_joint/posture_target_angle", + joint_posture_target_angle_rad_[i]); + register_input( + std::string{"/chassis/"} + kJointName[i] + "_joint/physical_angle", + joint_physical_angle_[i], false); + register_output( + std::string{"/chassis/"} + kJointName[i] + "_joint/target_physical_angle", + joint_target_angle_[i], nan_); + register_output( + std::string{"/chassis/"} + kJointName[i] + + "_joint/target_physical_velocity", + joint_target_velocity_[i], nan_); + register_output( + std::string{"/chassis/"} + kJointName[i] + + "_joint/target_physical_acceleration", + joint_target_acceleration_[i], nan_); + register_output( + std::string{"/chassis/"} + kJointName[i] + "_joint/control_angle_error", + joint_angle_error_[i], nan_); + } + } + + void before_updating() override { + if (!update_rate_.ready()) + update_rate_.make_and_bind_directly(1000.0); + if (!reset_count_.ready()) + reset_count_.make_and_bind_directly(static_cast(0)); + if (!chassis_imu_pitch_.ready()) + chassis_imu_pitch_.make_and_bind_directly(0.0); + if (!chassis_imu_roll_.ready()) + chassis_imu_roll_.make_and_bind_directly(0.0); + if (!chassis_imu_pitch_rate_.ready()) + chassis_imu_pitch_rate_.make_and_bind_directly(0.0); + if (!chassis_imu_roll_rate_.ready()) + chassis_imu_roll_rate_.make_and_bind_directly(0.0); + + configure_active_rate_filters_(1.0 / update_dt_()); + validate_joint_feedback_inputs_(); + reset_all_controls_(); + last_reset_count_ = *reset_count_; + } + + void update() override { + if (*reset_count_ != last_reset_count_) { + reset_all_controls_(); + last_reset_count_ = *reset_count_; + return; + } + + const auto current_physical_angles = read_feedback_(); + + if (!init_joint_targets_from_feedback_(current_physical_angles)) { + publish_nan_joint_targets_(); + return; + } + + const auto posture_target_angles_rad = read_posture_target_angles_rad_(); + const auto dt = update_dt_(); + + double filtered_pitch_rate = *chassis_imu_pitch_rate_; + double filtered_roll_rate = *chassis_imu_roll_rate_; + filter_attitude_rates_(filtered_pitch_rate, filtered_roll_rate); + + if (*active_suspension_active_) + calibrate_(*chassis_imu_pitch_, *chassis_imu_roll_, *symmetric_posture_target_, dt); + + std::array joint_angle_states{}; + copy_joint_angle_states_(joint_angle_states); + update_suspension_state_( + *chassis_imu_pitch_ - pitch_offset_value_, *chassis_imu_roll_ - roll_offset_value_, + filtered_pitch_rate, filtered_roll_rate, *active_suspension_active_, + *low_prone_active_, *min_angle_deg_, *max_angle_deg_, + *suspension_reference_angle_deg_, *correction_inverted_, joint_angle_states, dt); + + const auto target_angles_rad = compute_joint_trajectory_targets_( + posture_target_angles_rad, *active_suspension_active_, *low_prone_active_, + *min_angle_deg_, *suspension_reference_angle_deg_); + + run_joint_trajectory_(target_angles_rad, *active_suspension_active_, dt); + publish_joint_targets_(current_physical_angles); + } + +private: + static constexpr size_t kJointCount = 4; + static constexpr double nan_ = std::numeric_limits::quiet_NaN(); + static constexpr double offset_limit_rad_ = 1.0 * std::numbers::pi / 180.0; + static constexpr size_t kLeftFront = 0; + static constexpr size_t kLeftBack = 1; + static constexpr size_t kRightBack = 2; + static constexpr size_t kRightFront = 3; + static constexpr const char* kJointName[] = { + "left_front", + "left_back", + "right_back", + "right_front", + }; + + static double deg_to_rad_(double deg) { return deg * std::numbers::pi / 180.0; } + + void validate_joint_feedback_inputs_() const { + for (size_t i = 0; i < kJointCount; ++i) + if (!joint_physical_angle_[i].ready()) + throw std::runtime_error( + "missing deformable chassis feedback interfaces: expected " + "/chassis/*_joint/physical_angle"); + } + + double update_dt_() const { + if (update_rate_.ready() && std::isfinite(*update_rate_) && *update_rate_ > 1e-6) + return 1.0 / *update_rate_; + return 1e-3; + } + + void load_pid_( + const std::string& prefix, pid::PidCalculator& pid, double kp_default, + double ki_default, double kd_default, double integral_min_default, + double integral_max_default, double output_min_default, double output_max_default) { + pid.kp = get_parameter_or(prefix + "kp", kp_default); + pid.ki = get_parameter_or(prefix + "ki", ki_default); + pid.kd = get_parameter_or(prefix + "kd", kd_default); + pid.integral_min = get_parameter_or(prefix + "integral_min", integral_min_default); + pid.integral_max = get_parameter_or(prefix + "integral_max", integral_max_default); + pid.output_min = get_parameter_or(prefix + "output_min", output_min_default); + pid.output_max = get_parameter_or(prefix + "output_max", output_max_default); + } + + void load_config_() { + joint_target_vel_limit_ = std::max( + deg_to_rad_(std::abs(get_parameter_or("target_physical_velocity_limit", 180.0))), + 1e-6); + joint_target_acc_limit_ = std::max( + deg_to_rad_(std::abs(get_parameter_or("target_physical_acceleration_limit", 720.0))), + 1e-6); + suspension_target_vel_limit_ = std::max( + deg_to_rad_(std::abs(get_parameter_or( + "active_suspension_target_velocity_limit_deg", + get_parameter_or("target_physical_velocity_limit", 180.0)))), + 1e-6); + suspension_target_acc_limit_ = std::max( + deg_to_rad_(std::abs(get_parameter_or( + "active_suspension_target_acceleration_limit_deg", + get_parameter_or("target_physical_acceleration_limit", 720.0)))), + 1e-6); + + load_pid_( + "active_suspension_pitch_outer_", pitch_outer_pid_, 8.0, 0.35, 0.28, -2.0, 2.0, + -3.0, 3.0); + load_pid_( + "active_suspension_pitch_inner_", pitch_inner_pid_, 2.0, 0.0, 0.0, -1.0, 1.0, + -0.785, 0.785); + load_pid_( + "active_suspension_roll_outer_", roll_outer_pid_, 8.0, 0.35, 0.28, -2.0, 2.0, + -3.0, 3.0); + load_pid_( + "active_suspension_roll_inner_", roll_inner_pid_, 2.0, 0.0, 0.0, -1.0, 1.0, + -0.785, 0.785); + + active_correction_vel_limit_ = std::max( + deg_to_rad_(std::abs( + get_parameter_or("active_suspension_correction_velocity_limit_deg", 720.0))), + 1e-6); + active_correction_acc_limit_ = std::max( + deg_to_rad_(std::abs( + get_parameter_or("active_suspension_correction_acceleration_limit_deg", 3600.0))), + 1e-6); + active_rate_lpf_cutoff_hz_ = std::max( + get_parameter_or("active_suspension_rate_lpf_cutoff_hz", 10.0), 1e-6); + + calibration_wait_time_ = std::max(get_parameter_or("chassis_imu_calibration_wait_s", 2.0), 0.0); + calibration_sample_time_ = + std::max(get_parameter_or("chassis_imu_calibration_sample_s", 3.0), 1e-6); + } + + std::array read_feedback_() const { + std::array angles; + angles.fill(nan_); + + for (size_t i = 0; i < kJointCount; ++i) + if (joint_physical_angle_[i].ready() && std::isfinite(*joint_physical_angle_[i])) + angles[i] = *joint_physical_angle_[i]; + + return angles; + } + + std::array read_posture_target_angles_rad_() const { + std::array targets{}; + for (size_t i = 0; i < kJointCount; ++i) + targets[i] = *joint_posture_target_angle_rad_[i]; + return targets; + } + + std::array compute_joint_trajectory_targets_( + const std::array& posture_target_angles_rad, bool suspension_active, + bool low_prone_active, double min_angle_deg, double suspension_reference_angle_deg) const { + if (!suspension_active) + return posture_target_angles_rad; + + std::array target_angles_rad{}; + double target_angle_rad = low_prone_active ? deg_to_rad_(min_angle_deg - 5.0) + : deg_to_rad_(suspension_reference_angle_deg); + target_angles_rad.fill(target_angle_rad); + return target_angles_rad; + } + + void reset_attitude_() { + pitch_outer_pid_.reset(); + pitch_inner_pid_.reset(); + roll_outer_pid_.reset(); + roll_inner_pid_.reset(); + correction_target_rad_.fill(0.0); + } + + void reset_calibration_window_() { + calibration_hold_elapsed_ = 0.0; + sample_count_ = 0; + pitch_sum_ = 0.0; + roll_sum_ = 0.0; + calibration_completed_for_window_ = false; + } + + void reset_all_controls_() { + reset_attitude_(); + pitch_rate_filter_.reset(); + roll_rate_filter_.reset(); + correction_state_rad_.fill(0.0); + correction_velocity_state_rad_.fill(0.0); + correction_acceleration_state_rad_.fill(0.0); + joint_target_active_.fill(false); + joint_target_angle_state_rad_.fill(nan_); + joint_target_velocity_state_rad_.fill(0.0); + joint_target_acceleration_state_rad_.fill(0.0); + reset_calibration_window_(); + calibrated_once_ = false; + pitch_offset_value_ = 0.0; + roll_offset_value_ = 0.0; + + for (size_t i = 0; i < kJointCount; ++i) { + *joint_target_angle_[i] = nan_; + *joint_target_velocity_[i] = nan_; + *joint_target_acceleration_[i] = nan_; + *joint_angle_error_[i] = nan_; + } + } + + void calibrate_(double pitch, double roll, bool symmetric_target, double dt) { + if (calibrated_once_) + return; + + if (!symmetric_target) { + reset_calibration_window_(); + return; + } + + if (!std::isfinite(pitch) || !std::isfinite(roll)) + return; + + calibration_hold_elapsed_ += dt; + if (calibration_hold_elapsed_ < calibration_wait_time_) + return; + + const double calibration_end = calibration_wait_time_ + calibration_sample_time_; + if (calibration_hold_elapsed_ < calibration_end) { + pitch_sum_ += pitch; + roll_sum_ += roll; + ++sample_count_; + return; + } + + if (calibration_completed_for_window_) + return; + + calibration_completed_for_window_ = true; + if (sample_count_ == 0) + return; + + pitch_offset_value_ = std::clamp( + pitch_sum_ / static_cast(sample_count_), -offset_limit_rad_, offset_limit_rad_); + roll_offset_value_ = std::clamp( + roll_sum_ / static_cast(sample_count_), -offset_limit_rad_, offset_limit_rad_); + calibrated_once_ = true; + } + + bool init_joint_targets_from_feedback_(const std::array& physical_angles) { + bool any_active_value = false; + for (size_t i = 0; i < kJointCount; ++i) { + if (std::isfinite(physical_angles[i]) && !joint_target_active_[i]) { + joint_target_angle_state_rad_[i] = physical_angles[i]; + joint_target_velocity_state_rad_[i] = 0.0; + joint_target_acceleration_state_rad_[i] = 0.0; + joint_target_active_[i] = true; + } + any_active_value = any_active_value || joint_target_active_[i]; + } + return any_active_value; + } + + void configure_active_rate_filters_(double sampling_frequency) { + const double clamped_sampling_frequency = std::max(sampling_frequency, 1e-6); + if (std::abs(active_rate_filter_sampling_hz_ - clamped_sampling_frequency) < 1e-6) + return; + + pitch_rate_filter_.set_cutoff(active_rate_lpf_cutoff_hz_, clamped_sampling_frequency); + roll_rate_filter_.set_cutoff(active_rate_lpf_cutoff_hz_, clamped_sampling_frequency); + active_rate_filter_sampling_hz_ = clamped_sampling_frequency; + } + + void filter_attitude_rates_(double& pitch_rate, double& roll_rate) { + if (std::isfinite(pitch_rate)) + pitch_rate = pitch_rate_filter_.update(pitch_rate); + if (std::isfinite(roll_rate)) + roll_rate = roll_rate_filter_.update(roll_rate); + } + + void compute_correction_targets_(double pitch_diff, double roll_diff, bool inverted) { + if (inverted) { + const double front_pitch_contribution = std::max(pitch_diff, 0.0); + const double back_pitch_contribution = std::max(-pitch_diff, 0.0); + const double left_roll_contribution = std::max(-roll_diff, 0.0); + const double right_roll_contribution = std::max(roll_diff, 0.0); + correction_target_rad_[kLeftFront] = + -(front_pitch_contribution + left_roll_contribution); + correction_target_rad_[kLeftBack] = + -(back_pitch_contribution + left_roll_contribution); + correction_target_rad_[kRightBack] = + -(back_pitch_contribution + right_roll_contribution); + correction_target_rad_[kRightFront] = + -(front_pitch_contribution + right_roll_contribution); + } else { + const double front_pitch_contribution = std::max(-pitch_diff, 0.0); + const double back_pitch_contribution = std::max(pitch_diff, 0.0); + const double left_roll_contribution = std::max(roll_diff, 0.0); + const double right_roll_contribution = std::max(-roll_diff, 0.0); + correction_target_rad_[kLeftFront] = front_pitch_contribution + left_roll_contribution; + correction_target_rad_[kLeftBack] = back_pitch_contribution + left_roll_contribution; + correction_target_rad_[kRightBack] = back_pitch_contribution + right_roll_contribution; + correction_target_rad_[kRightFront] = front_pitch_contribution + right_roll_contribution; + } + } + + void run_correction_trajectory_( + bool low_prone_override_active, double min_angle_deg, double max_angle_deg, + double base_angle_deg, const std::array& base_joint_angles, + double correction_vel_limit, double correction_acc_limit, double dt) { + const double max_target_rad = deg_to_rad_(max_angle_deg); + const double min_susp_rad = deg_to_rad_(min_angle_deg - 5.0); + + for (size_t i = 0; i < kJointCount; ++i) { + const double base_angle = std::isfinite(base_joint_angles[i]) + ? base_joint_angles[i] + : (low_prone_override_active ? min_susp_rad + : deg_to_rad_(base_angle_deg)); + + const double correction_min = min_susp_rad - base_angle; + const double correction_max = max_target_rad - base_angle; + const double target = + std::clamp(correction_target_rad_[i], correction_min, correction_max); + + double& angle_state = correction_state_rad_[i]; + double& velocity_state = correction_velocity_state_rad_[i]; + double& acceleration_state = correction_acceleration_state_rad_[i]; + + const double position_error = target - angle_state; + const double stopping_distance = + velocity_state * velocity_state / (2.0 * correction_acc_limit); + + double desired_velocity = 0.0; + if (std::abs(position_error) > 1e-6 && std::abs(position_error) > stopping_distance) + desired_velocity = std::copysign(correction_vel_limit, position_error); + + const double velocity_error = desired_velocity - velocity_state; + acceleration_state = + std::clamp(velocity_error / dt, -correction_acc_limit, correction_acc_limit); + + velocity_state += acceleration_state * dt; + velocity_state = std::clamp(velocity_state, -correction_vel_limit, correction_vel_limit); + angle_state += velocity_state * dt; + + const double next_error = target - angle_state; + if ((position_error > 0.0 && next_error < 0.0) + || (position_error < 0.0 && next_error > 0.0) + || (std::abs(next_error) < 1e-5 && std::abs(velocity_state) < 1e-3)) { + angle_state = target; + velocity_state = 0.0; + acceleration_state = 0.0; + } + } + } + + void update_suspension_state_( + double pitch, double roll, double pitch_rate, double roll_rate, bool suspension_active, + bool low_prone_override_active, double min_angle_deg, double max_angle_deg, + double base_angle_deg, bool correction_inverted, + const std::array& base_joint_angles, double dt) { + if (!suspension_active) { + reset_attitude_(); + run_correction_trajectory_( + low_prone_override_active, min_angle_deg, max_angle_deg, base_angle_deg, + base_joint_angles, active_correction_vel_limit_, active_correction_acc_limit_, dt); + return; + } + + constexpr double max_attitude = 30.0 * std::numbers::pi / 180.0; + const double clamped_pitch = std::clamp(pitch, -max_attitude, max_attitude); + const double clamped_roll = std::clamp(roll, -max_attitude, max_attitude); + + const double pitch_outer = pitch_outer_pid_.update(-clamped_pitch); + const double roll_outer = roll_outer_pid_.update(clamped_roll); + const double pitch_diff = pitch_inner_pid_.update(pitch_outer - pitch_rate); + const double roll_diff = roll_inner_pid_.update(roll_outer + roll_rate); + + if (!std::isfinite(pitch_diff) || !std::isfinite(roll_diff)) { + reset_attitude_(); + return; + } + + compute_correction_targets_(pitch_diff, roll_diff, correction_inverted); + run_correction_trajectory_( + low_prone_override_active, min_angle_deg, max_angle_deg, base_angle_deg, + base_joint_angles, active_correction_vel_limit_, active_correction_acc_limit_, dt); + } + + void run_joint_trajectory_( + const std::array& target_angles_rad, bool suspension_active, + double dt) { + for (size_t i = 0; i < kJointCount; ++i) { + if (!joint_target_active_[i]) + continue; + + double& angle_state = joint_target_angle_state_rad_[i]; + double& velocity_state = joint_target_velocity_state_rad_[i]; + double& acceleration_state = joint_target_acceleration_state_rad_[i]; + const double target = target_angles_rad[i]; + + const double vel_limit = + suspension_active ? suspension_target_vel_limit_ : joint_target_vel_limit_; + const double acc_limit = + suspension_active ? suspension_target_acc_limit_ : joint_target_acc_limit_; + + if (!std::isfinite(target) || !std::isfinite(angle_state)) + continue; + + const double position_error = target - angle_state; + const double stopping_distance = velocity_state * velocity_state / (2.0 * acc_limit); + + double desired_velocity = 0.0; + if (std::abs(position_error) > 1e-6 && std::abs(position_error) > stopping_distance) + desired_velocity = std::copysign(vel_limit, position_error); + + const double velocity_error = desired_velocity - velocity_state; + acceleration_state = std::clamp(velocity_error / dt, -acc_limit, acc_limit); + + velocity_state += acceleration_state * dt; + velocity_state = std::clamp(velocity_state, -vel_limit, vel_limit); + angle_state += velocity_state * dt; + + const double next_error = target - angle_state; + if ((position_error > 0.0 && next_error < 0.0) + || (position_error < 0.0 && next_error > 0.0) + || (std::abs(next_error) < 1e-5 && std::abs(velocity_state) < 1e-3)) { + angle_state = target; + velocity_state = 0.0; + acceleration_state = 0.0; + } + } + } + + bool any_joint_target_active_() const { + for (size_t i = 0; i < kJointCount; ++i) + if (joint_target_active_[i]) + return true; + return false; + } + + void copy_joint_angle_states_(std::array& out) const { + out = joint_target_angle_state_rad_; + } + + void publish_joint_targets_(const std::array& feedback_angles) { + const double min_angle_rad = deg_to_rad_(*min_angle_deg_ - 5.0); + const double max_angle_rad = deg_to_rad_(*max_angle_deg_); + + if (!any_joint_target_active_()) { + publish_nan_joint_targets_(); + return; + } + + for (size_t i = 0; i < kJointCount; ++i) { + if (!joint_target_active_[i]) { + *joint_target_angle_[i] = nan_; + *joint_target_velocity_[i] = nan_; + *joint_target_acceleration_[i] = nan_; + *joint_angle_error_[i] = nan_; + continue; + } + + const double target = joint_target_angle_state_rad_[i] + correction_state_rad_[i]; + *joint_target_angle_[i] = std::clamp(target, min_angle_rad, max_angle_rad); + *joint_target_velocity_[i] = + joint_target_velocity_state_rad_[i] + correction_velocity_state_rad_[i]; + *joint_target_acceleration_[i] = + joint_target_acceleration_state_rad_[i] + correction_acceleration_state_rad_[i]; + *joint_angle_error_[i] = std::isfinite(feedback_angles[i]) + ? feedback_angles[i] - *joint_target_angle_[i] + : nan_; + } + } + + void publish_nan_joint_targets_() { + reset_all_controls_(); + } + + InputInterface update_rate_; + + InputInterface active_suspension_active_; + InputInterface reset_count_; + InputInterface low_prone_active_; + InputInterface symmetric_posture_target_; + InputInterface correction_inverted_; + InputInterface min_angle_deg_; + InputInterface max_angle_deg_; + InputInterface suspension_reference_angle_deg_; + + InputInterface chassis_imu_pitch_; + InputInterface chassis_imu_roll_; + InputInterface chassis_imu_pitch_rate_; + InputInterface chassis_imu_roll_rate_; + + std::array, kJointCount> joint_posture_target_angle_rad_; + std::array, kJointCount> joint_physical_angle_; + + std::array, kJointCount> joint_target_angle_; + std::array, kJointCount> joint_target_velocity_; + std::array, kJointCount> joint_target_acceleration_; + std::array, kJointCount> joint_angle_error_; + + pid::PidCalculator pitch_outer_pid_{}; + pid::PidCalculator pitch_inner_pid_{}; + pid::PidCalculator roll_outer_pid_{}; + pid::PidCalculator roll_inner_pid_{}; + filter::LowPassFilter<1> pitch_rate_filter_{1.0}; + filter::LowPassFilter<1> roll_rate_filter_{1.0}; + + double active_correction_vel_limit_ = 40.0; + double active_correction_acc_limit_ = 200.0; + double active_rate_lpf_cutoff_hz_ = 10.0; + double active_rate_filter_sampling_hz_ = 0.0; + + double calibration_wait_time_ = 2.0; + double calibration_sample_time_ = 3.0; + double calibration_hold_elapsed_ = 0.0; + size_t sample_count_ = 0; + double pitch_sum_ = 0.0; + double roll_sum_ = 0.0; + bool calibration_completed_for_window_ = false; + bool calibrated_once_ = false; + double pitch_offset_value_ = 0.0; + double roll_offset_value_ = 0.0; + + std::array correction_target_rad_ = {0.0, 0.0, 0.0, 0.0}; + std::array correction_state_rad_ = {0.0, 0.0, 0.0, 0.0}; + std::array correction_velocity_state_rad_ = {0.0, 0.0, 0.0, 0.0}; + std::array correction_acceleration_state_rad_ = {0.0, 0.0, 0.0, 0.0}; + + std::array joint_target_active_ = {false, false, false, false}; + std::array joint_target_angle_state_rad_ = {0.0, 0.0, 0.0, 0.0}; + std::array joint_target_velocity_state_rad_ = {0.0, 0.0, 0.0, 0.0}; + std::array joint_target_acceleration_state_rad_ = {0.0, 0.0, 0.0, 0.0}; + + double joint_target_vel_limit_ = 0.0; + double joint_target_acc_limit_ = 0.0; + double suspension_target_vel_limit_ = 0.0; + double suspension_target_acc_limit_ = 0.0; + size_t last_reset_count_ = 0; +}; + +} // namespace rmcs_core::controller::chassis + +#include + +PLUGINLIB_EXPORT_CLASS( + rmcs_core::controller::chassis::DeformableSuspension, rmcs_executor::Component) diff --git a/rmcs_ws/src/rmcs_core/src/controller/chassis/deformable_wheel_controller.cpp b/rmcs_ws/src/rmcs_core/src/controller/chassis/deformable_wheel_controller.cpp deleted file mode 100644 index e25d9cdb8..000000000 --- a/rmcs_ws/src/rmcs_core/src/controller/chassis/deformable_wheel_controller.cpp +++ /dev/null @@ -1,873 +0,0 @@ -#include -#include -#include -#include -#include -#include - -#include -#include -#include - -#include -#include - -#include "controller/chassis/qcp_solver.hpp" -#include "controller/pid/matrix_pid_calculator.hpp" -#include "controller/pid/pid_calculator.hpp" -#include "filter/low_pass_filter.hpp" - -namespace rmcs_core::controller::chassis { - -class DeformableChassisController - : public rmcs_executor::Component - , public rclcpp::Node { - - enum class WheelIndex : size_t { - LeftFront = 0, - LeftBack = 1, - RightBack = 2, - RightFront = 3, - Count = 4 - }; - - static constexpr size_t kWheelCount = static_cast(WheelIndex::Count); - - struct EllipseParameters { - double a, b, c, d, e, f; - }; - -public: - explicit DeformableChassisController() - : Node( - get_component_name(), - rclcpp::NodeOptions{}.automatically_declare_parameters_from_overrides(true)) - , mass_(get_parameter("mass").as_double()) - , moment_of_inertia_(get_parameter("moment_of_inertia").as_double()) - , chassis_radius_(get_parameter("chassis_radius").as_double()) - , rod_length_(get_parameter("rod_length").as_double()) - , wheel_radius_(get_parameter("wheel_radius").as_double()) - , friction_coefficient_(get_parameter("friction_coefficient").as_double()) - , k1_(get_parameter("k1").as_double()) - , k2_(get_parameter("k2").as_double()) - , no_load_power_(get_parameter("no_load_power").as_double()) - , ellipse_coeff_quadratic_translational_( - k1_ * mass_ * mass_ * wheel_radius_ * wheel_radius_ / 16.0) - , ellipse_coeff_cross_term_( - k1_ * mass_ * moment_of_inertia_ * wheel_radius_ * wheel_radius_ / 8.0) - , ellipse_coeff_quadratic_angular_( - k1_ * moment_of_inertia_ * moment_of_inertia_ * wheel_radius_ * wheel_radius_ / 16.0) - , ellipse_coeff_linear_translational_(mass_ * wheel_radius_ / 4.0) - , ellipse_coeff_linear_angular_(moment_of_inertia_ * wheel_radius_ / 4.0) - , vehicle_radius_(Eigen::Vector4d::Constant(chassis_radius_ + rod_length_)) - , control_acceleration_filter_(5.0, 1000.0) - , chassis_velocity_expected_(Eigen::Vector3d::Zero()) - , chassis_translational_velocity_pid_(5.0, 0.0, 1.0) - , chassis_angular_velocity_pid_(5.0, 0.0, 1.0) - , steering_velocity_pid_(0.15, 0.0, 0.0) - , steering_angle_pid_(30.0, 0.0, 0.0) - , wheel_velocity_pid_(0.6, 0.0, 0.0) { - - register_input("/remote/joystick/right", joystick_right_); - register_input("/remote/joystick/left", joystick_left_); - - register_input("/chassis/left_front_steering/angle", left_front_steering_angle_); - register_input("/chassis/left_back_steering/angle", left_back_steering_angle_); - register_input("/chassis/right_back_steering/angle", right_back_steering_angle_); - register_input("/chassis/right_front_steering/angle", right_front_steering_angle_); - - register_input("/chassis/left_front_steering/velocity", left_front_steering_velocity_); - register_input("/chassis/left_back_steering/velocity", left_back_steering_velocity_); - register_input("/chassis/right_back_steering/velocity", right_back_steering_velocity_); - register_input("/chassis/right_front_steering/velocity", right_front_steering_velocity_); - - register_input("/chassis/left_front_wheel/velocity", left_front_wheel_velocity_); - register_input("/chassis/left_back_wheel/velocity", left_back_wheel_velocity_); - register_input("/chassis/right_back_wheel/velocity", right_back_wheel_velocity_); - register_input("/chassis/right_front_wheel/velocity", right_front_wheel_velocity_); - - register_input("/chassis/left_front_joint/physical_angle", left_front_joint_angle_); - register_input("/chassis/left_back_joint/physical_angle", left_back_joint_angle_); - register_input("/chassis/right_back_joint/physical_angle", right_back_joint_angle_); - register_input("/chassis/right_front_joint/physical_angle", right_front_joint_angle_); - - register_input("/chassis/left_front_joint/physical_velocity", left_front_joint_velocity_); - register_input("/chassis/left_back_joint/physical_velocity", left_back_joint_velocity_); - register_input("/chassis/right_back_joint/physical_velocity", right_back_joint_velocity_); - register_input("/chassis/right_front_joint/physical_velocity", right_front_joint_velocity_); - - register_input( - "/chassis/left_front_joint/target_physical_angle", - left_front_joint_target_physical_angle_, false); - register_input( - "/chassis/left_back_joint/target_physical_angle", - left_back_joint_target_physical_angle_, false); - register_input( - "/chassis/right_back_joint/target_physical_angle", - right_back_joint_target_physical_angle_, false); - register_input( - "/chassis/right_front_joint/target_physical_angle", - right_front_joint_target_physical_angle_, false); - register_input( - "/chassis/left_front_joint/target_physical_velocity", - left_front_joint_target_physical_velocity_, false); - register_input( - "/chassis/left_back_joint/target_physical_velocity", - left_back_joint_target_physical_velocity_, false); - register_input( - "/chassis/right_back_joint/target_physical_velocity", - right_back_joint_target_physical_velocity_, false); - register_input( - "/chassis/right_front_joint/target_physical_velocity", - right_front_joint_target_physical_velocity_, false); - register_input( - "/chassis/left_front_joint/target_physical_acceleration", - left_front_joint_target_physical_acceleration_, false); - register_input( - "/chassis/left_back_joint/target_physical_acceleration", - left_back_joint_target_physical_acceleration_, false); - register_input( - "/chassis/right_back_joint/target_physical_acceleration", - right_back_joint_target_physical_acceleration_, false); - register_input( - "/chassis/right_front_joint/target_physical_acceleration", - right_front_joint_target_physical_acceleration_, false); - - register_input("/chassis/yaw/velocity_imu", chassis_yaw_velocity_imu_); - register_input("/chassis/control_velocity", chassis_control_velocity_); - register_input("/chassis/control_power_limit", power_limit_); - - register_output( - "/chassis/left_front_steering/control_torque", left_front_steering_control_torque_); - register_output( - "/chassis/left_back_steering/control_torque", left_back_steering_control_torque_); - register_output( - "/chassis/right_back_steering/control_torque", right_back_steering_control_torque_); - register_output( - "/chassis/right_front_steering/control_torque", right_front_steering_control_torque_); - - register_output( - "/chassis/left_front_wheel/control_torque", left_front_wheel_control_torque_); - register_output("/chassis/left_back_wheel/control_torque", left_back_wheel_control_torque_); - register_output( - "/chassis/right_back_wheel/control_torque", right_back_wheel_control_torque_); - register_output( - "/chassis/right_front_wheel/control_torque", right_front_wheel_control_torque_); - } - - void update() override { - if (std::isnan(chassis_control_velocity_->vector[0])) { - reset_all_controls(); - return; - } - - const JointFeedbackStates joint_feedback = update_joint_feedback_states_(); - const JointTargetStates joint_target = update_joint_target_states_(); - if (joint_feedback.valid) { - vehicle_radius_ = joint_feedback.radius; - RCLCPP_INFO_THROTTLE( - get_logger(), *get_clock(), 1000, - "physical joint angle[deg] lf=%.2f lb=%.2f rb=%.2f rf=%.2f, radius[m] lf=%.3f " - "lb=%.3f rb=%.3f rf=%.3f", - joint_feedback.alpha_rad[0] * 180.0 / std::numbers::pi, - joint_feedback.alpha_rad[1] * 180.0 / std::numbers::pi, - joint_feedback.alpha_rad[2] * 180.0 / std::numbers::pi, - joint_feedback.alpha_rad[3] * 180.0 / std::numbers::pi, vehicle_radius_[0], - vehicle_radius_[1], vehicle_radius_[2], vehicle_radius_[3]); - } - - integral_yaw_angle_imu(); - - const auto steering_status = calculate_steering_status(); - const auto wheel_velocities = calculate_wheel_velocities(); - const auto chassis_velocity = - calculate_chassis_velocity(steering_status, wheel_velocities, joint_feedback); - auto chassis_status_expected = - calculate_chassis_status_expected(chassis_velocity, joint_target, joint_feedback); - const auto chassis_control_velocity = calculate_chassis_control_velocity(); - const auto chassis_acceleration = calculate_chassis_control_acceleration( - chassis_status_expected.velocity, chassis_control_velocity); - const double power_limit = - *power_limit_ - no_load_power_ - k2_ * wheel_velocities.array().pow(2).sum(); - const auto wheel_pid_torques = - calculate_wheel_pid_torques(steering_status, wheel_velocities, chassis_status_expected); - const auto constrained_chassis_acceleration = constrain_chassis_control_acceleration( - steering_status, wheel_velocities, joint_target, chassis_acceleration, - wheel_pid_torques, power_limit); - const auto filtered_chassis_acceleration = - odom_to_base_link_vector(control_acceleration_filter_.update( - base_link_to_odom_vector(constrained_chassis_acceleration))); - const auto steering_torques = calculate_steering_control_torques( - steering_status, chassis_status_expected, joint_target, joint_feedback, - filtered_chassis_acceleration); - const auto wheel_torques = calculate_wheel_control_torques( - steering_status, joint_target, joint_feedback, filtered_chassis_acceleration, - wheel_pid_torques); - - update_control_torques(steering_torques, wheel_torques); - update_chassis_velocity_expected(filtered_chassis_acceleration); - } - -private: - struct SteeringStatus { - Eigen::Vector4d angle = Eigen::Vector4d::Zero(); - Eigen::Vector4d cos_angle = Eigen::Vector4d::Zero(); - Eigen::Vector4d sin_angle = Eigen::Vector4d::Zero(); - Eigen::Vector4d velocity = Eigen::Vector4d::Zero(); - Eigen::Vector4d sin_angle_minus_phi = Eigen::Vector4d::Zero(); - Eigen::Vector4d cos_angle_minus_phi = Eigen::Vector4d::Zero(); - }; - - struct ChassisStatus { - Eigen::Vector3d velocity = Eigen::Vector3d::Zero(); - Eigen::Vector4d wheel_velocity_x = Eigen::Vector4d::Zero(); - Eigen::Vector4d wheel_velocity_y = Eigen::Vector4d::Zero(); - }; - - struct JointStateData { - Eigen::Vector4d alpha_rad = Eigen::Vector4d::Zero(); - Eigen::Vector4d alpha_dot_rad = Eigen::Vector4d::Zero(); - Eigen::Vector4d alpha_ddot_rad = Eigen::Vector4d::Zero(); - Eigen::Vector4d radius = Eigen::Vector4d::Zero(); - Eigen::Vector4d radius_dot = Eigen::Vector4d::Zero(); - Eigen::Vector4d radius_ddot = Eigen::Vector4d::Zero(); - bool valid = false; - }; - - struct JointFeedbackStates : JointStateData {}; - - struct JointTargetStates : JointStateData { - bool has_velocity = false; - bool has_acceleration = false; - }; - - enum class JointStateSource : uint8_t { Target, Feedback }; - - struct JointStateView { - const Eigen::Vector4d& alpha_rad; - const Eigen::Vector4d& alpha_dot_rad; - const Eigen::Vector4d& alpha_ddot_rad; - const Eigen::Vector4d& radius; - const Eigen::Vector4d& radius_dot; - const Eigen::Vector4d& radius_ddot; - JointStateSource source; - bool valid; - }; - - static JointStateView - select_joint_state(const JointTargetStates& target, const JointFeedbackStates& feedback) { - if (target.valid) { - return { - target.alpha_rad, target.alpha_dot_rad, target.alpha_ddot_rad, target.radius, - target.radius_dot, target.radius_ddot, JointStateSource::Target, target.valid}; - } - - return {feedback.alpha_rad, feedback.alpha_dot_rad, - feedback.alpha_ddot_rad, feedback.radius, - feedback.radius_dot, feedback.radius_ddot, - JointStateSource::Feedback, feedback.valid}; - } - - [[nodiscard]] static Eigen::Vector4d read_required_inputs_( - const InputInterface& left_front, const InputInterface& left_back, - const InputInterface& right_back, const InputInterface& right_front) { - return {*left_front, *left_back, *right_back, *right_front}; - } - - [[nodiscard]] static Eigen::Vector4d read_optional_inputs_( - const InputInterface& left_front, const InputInterface& left_back, - const InputInterface& right_back, const InputInterface& right_front) { - return { - left_front.ready() ? *left_front : nan_, - left_back.ready() ? *left_back : nan_, - right_back.ready() ? *right_back : nan_, - right_front.ready() ? *right_front : nan_, - }; - } - - static void populate_joint_geometry_( - const Eigen::Vector4d& alpha_rad, const Eigen::Vector4d& alpha_dot_rad, - const Eigen::Vector4d& alpha_ddot_rad, double chassis_radius, double rod_length, - Eigen::Vector4d& radius, Eigen::Vector4d& radius_dot, Eigen::Vector4d& radius_ddot) { - radius = chassis_radius + rod_length * alpha_rad.array().cos(); - radius_dot = -rod_length * alpha_rad.array().sin() * alpha_dot_rad.array(); - radius_ddot = -rod_length * alpha_rad.array().cos() * alpha_dot_rad.array().square() - - rod_length * alpha_rad.array().sin() * alpha_ddot_rad.array(); - } - - [[nodiscard]] JointFeedbackStates update_joint_feedback_states_() { - JointFeedbackStates joint; - joint.alpha_rad = read_required_inputs_( - left_front_joint_angle_, left_back_joint_angle_, right_back_joint_angle_, - right_front_joint_angle_); - joint.alpha_dot_rad = read_required_inputs_( - left_front_joint_velocity_, left_back_joint_velocity_, right_back_joint_velocity_, - right_front_joint_velocity_); - - if (!joint.alpha_rad.array().isFinite().all() - || !joint.alpha_dot_rad.array().isFinite().all()) - return joint; - - if (last_joint_velocity_valid_) { - joint.alpha_ddot_rad = (joint.alpha_dot_rad - last_joint_velocity_) / dt_; - } - - last_joint_velocity_ = joint.alpha_dot_rad; - last_joint_velocity_valid_ = true; - - populate_joint_geometry_( - joint.alpha_rad, joint.alpha_dot_rad, joint.alpha_ddot_rad, chassis_radius_, - rod_length_, joint.radius, joint.radius_dot, joint.radius_ddot); - - joint.valid = joint.radius.array().isFinite().all() - && joint.radius_dot.array().isFinite().all() - && joint.radius_ddot.array().isFinite().all(); - - return joint; - } - - [[nodiscard]] JointTargetStates update_joint_target_states_() { - JointTargetStates joint; - joint.alpha_rad = read_optional_inputs_( - left_front_joint_target_physical_angle_, left_back_joint_target_physical_angle_, - right_back_joint_target_physical_angle_, right_front_joint_target_physical_angle_); - - if (!joint.alpha_rad.array().isFinite().all()) - return joint; - - const Eigen::Vector4d target_velocity = read_optional_inputs_( - left_front_joint_target_physical_velocity_, left_back_joint_target_physical_velocity_, - right_back_joint_target_physical_velocity_, - right_front_joint_target_physical_velocity_); - if (target_velocity.array().isFinite().all()) { - joint.alpha_dot_rad = target_velocity; - joint.has_velocity = true; - } else if (last_joint_target_angle_valid_) { - joint.alpha_dot_rad = (joint.alpha_rad - last_joint_target_angle_) / dt_; - joint.has_velocity = true; - } - - const Eigen::Vector4d target_acceleration = read_optional_inputs_( - left_front_joint_target_physical_acceleration_, - left_back_joint_target_physical_acceleration_, - right_back_joint_target_physical_acceleration_, - right_front_joint_target_physical_acceleration_); - if (target_acceleration.array().isFinite().all()) { - joint.alpha_ddot_rad = target_acceleration; - joint.has_acceleration = true; - } - - last_joint_target_angle_ = joint.alpha_rad; - last_joint_target_angle_valid_ = true; - - populate_joint_geometry_( - joint.alpha_rad, joint.alpha_dot_rad, joint.alpha_ddot_rad, chassis_radius_, - rod_length_, joint.radius, joint.radius_dot, joint.radius_ddot); - - joint.valid = joint.radius.array().isFinite().all() - && joint.radius_dot.array().isFinite().all() - && joint.radius_ddot.array().isFinite().all(); - return joint; - } - - void reset_all_controls() { - control_acceleration_filter_.reset(); - - chassis_yaw_angle_imu_ = 0.0; - chassis_velocity_expected_ = Eigen::Vector3d::Zero(); - vehicle_radius_ = Eigen::Vector4d::Constant(chassis_radius_ + rod_length_); - last_joint_velocity_ = Eigen::Vector4d::Zero(); - last_joint_velocity_valid_ = false; - last_joint_target_angle_ = Eigen::Vector4d::Zero(); - last_joint_target_angle_valid_ = false; - - *left_front_steering_control_torque_ = 0.0; - *left_back_steering_control_torque_ = 0.0; - *right_back_steering_control_torque_ = 0.0; - *right_front_steering_control_torque_ = 0.0; - - *left_front_wheel_control_torque_ = 0.0; - *left_back_wheel_control_torque_ = 0.0; - *right_back_wheel_control_torque_ = 0.0; - *right_front_wheel_control_torque_ = 0.0; - } - - void integral_yaw_angle_imu() { - chassis_yaw_angle_imu_ += *chassis_yaw_velocity_imu_ * dt_; - chassis_yaw_angle_imu_ = std::fmod(chassis_yaw_angle_imu_, 2 * std::numbers::pi); - } - - [[nodiscard]] SteeringStatus calculate_steering_status() const { - SteeringStatus steering_status; - steering_status.angle = read_required_inputs_( - left_front_steering_angle_, left_back_steering_angle_, right_back_steering_angle_, - right_front_steering_angle_); - steering_status.angle.array() -= std::numbers::pi / 4; - steering_status.cos_angle = steering_status.angle.array().cos(); - steering_status.sin_angle = steering_status.angle.array().sin(); - - for (size_t i = 0; i < kWheelCount; ++i) { - const double angle_minus_phi = steering_status.angle[i] - phi_[i]; - steering_status.sin_angle_minus_phi[i] = std::sin(angle_minus_phi); - steering_status.cos_angle_minus_phi[i] = std::cos(angle_minus_phi); - } - - steering_status.velocity = read_required_inputs_( - left_front_steering_velocity_, left_back_steering_velocity_, - right_back_steering_velocity_, right_front_steering_velocity_); - return steering_status; - } - - [[nodiscard]] Eigen::Vector4d calculate_wheel_velocities() const { - return read_required_inputs_( - left_front_wheel_velocity_, left_back_wheel_velocity_, right_back_wheel_velocity_, - right_front_wheel_velocity_); - } - - /** - * @brief Observe chassis velocity from wheel velocities using least squares - * - * Solves: A·x = b for x = [vx, vy, ωz] - * where A_i = [cos(ζᵢ), sin(ζᵢ), R_i·sin(ζᵢ - φᵢ)] - * b_i = r·ωᵢ - Ṙᵢ·cos(ζᵢ - φᵢ) - */ - [[nodiscard]] Eigen::Vector3d calculate_chassis_velocity( - const SteeringStatus& steering_status, Eigen::Ref wheel_velocities, - const JointFeedbackStates& joint) const { - Eigen::Vector4d wheel_velocities_eff = wheel_velocities; - if (joint.valid) { - const Eigen::Vector4d clamped_radius_dot = - joint.radius_dot.cwiseMax(-0.1).cwiseMin(0.1); - const Eigen::Vector4d wheel_omega_mech = - (clamped_radius_dot.array() * phi_cos_vec_.array() - * steering_status.cos_angle.array() - + clamped_radius_dot.array() * phi_sin_vec_.array() - * steering_status.sin_angle.array()) - / wheel_radius_; - wheel_velocities_eff -= wheel_omega_mech; - } - - const double one_quarter_r = wheel_radius_ / 4.0; - Eigen::Vector3d velocity; - velocity.x() = one_quarter_r * wheel_velocities_eff.dot(steering_status.cos_angle); - velocity.y() = one_quarter_r * wheel_velocities_eff.dot(steering_status.sin_angle); - velocity.z() = - -one_quarter_r - * (-wheel_velocities_eff[0] * steering_status.sin_angle[0] / vehicle_radius_[0] - + wheel_velocities_eff[1] * steering_status.cos_angle[1] / vehicle_radius_[1] - + wheel_velocities_eff[2] * steering_status.sin_angle[2] / vehicle_radius_[2] - - wheel_velocities_eff[3] * steering_status.cos_angle[3] / vehicle_radius_[3]); - return velocity; - } - - /** - * @brief Calculate expected chassis status with energy scaling - * - * Wheel center velocity: v_i = v + ω·R_i·e_t,i + Ṙᵢ·e_r,i - */ - [[nodiscard]] ChassisStatus calculate_chassis_status_expected( - Eigen::Ref chassis_velocity, const JointTargetStates& joint_target, - const JointFeedbackStates& joint_feedback) { - const double chassis_energy = calculate_chassis_energy(chassis_velocity); - const double chassis_energy_expected = calculate_chassis_energy(chassis_velocity_expected_); - - if (std::isfinite(chassis_energy) && std::isfinite(chassis_energy_expected) - && chassis_energy_expected > chassis_energy && chassis_energy_expected > 1e-12) { - const double k = std::sqrt(chassis_energy / chassis_energy_expected); - if (std::isfinite(k) && k >= 0.0) - chassis_velocity_expected_ *= k; - } - - ChassisStatus chassis_status_expected; - chassis_status_expected.velocity = odom_to_base_link_vector(chassis_velocity_expected_); - - const auto joint = select_joint_state(joint_target, joint_feedback); - - const double vx = chassis_status_expected.velocity.x(); - const double vy = chassis_status_expected.velocity.y(); - const double vz = chassis_status_expected.velocity.z(); - for (size_t i = 0; i < kWheelCount; ++i) { - const double radius = joint.valid ? joint.radius[i] : vehicle_radius_[i]; - const double clamped_radius_dot = - joint.valid ? std::clamp(joint.radius_dot[i], -0.1, 0.1) : 0.0; - const Eigen::Vector2d wheel_velocity = Eigen::Vector2d(vx, vy) - + vz * radius * tangential_unit_fast_(i) - + clamped_radius_dot * radial_unit_fast_(i); - chassis_status_expected.wheel_velocity_x[i] = wheel_velocity.x(); - chassis_status_expected.wheel_velocity_y[i] = wheel_velocity.y(); - } - - return chassis_status_expected; - } - - [[nodiscard]] Eigen::Vector3d calculate_chassis_control_velocity() const { - Eigen::Vector3d chassis_control_velocity = chassis_control_velocity_->vector; - chassis_control_velocity.head<2>() = - Eigen::Rotation2Dd(-std::numbers::pi / 4) * chassis_control_velocity.head<2>(); - return chassis_control_velocity; - } - - [[nodiscard]] Eigen::Vector3d calculate_chassis_control_acceleration( - Eigen::Ref chassis_velocity_expected, - Eigen::Ref chassis_control_velocity) { - Eigen::Vector2d translational_control_acceleration = - chassis_translational_velocity_pid_.update( - chassis_control_velocity.head<2>() - chassis_velocity_expected.head<2>()); - - const double angular_control_acceleration = chassis_angular_velocity_pid_.update( - chassis_control_velocity[2] - chassis_velocity_expected[2]); - - Eigen::Vector3d chassis_control_acceleration; - chassis_control_acceleration << translational_control_acceleration, - angular_control_acceleration; - if (chassis_control_acceleration.lpNorm<1>() < 1e-1) - chassis_control_acceleration.setZero(); - return chassis_control_acceleration; - } - - [[nodiscard]] Eigen::Vector4d calculate_wheel_pid_torques( - const SteeringStatus& steering_status, Eigen::Ref wheel_velocities, - const ChassisStatus& chassis_status_expected) { - const Eigen::Vector4d wheel_control_velocity = - chassis_status_expected.wheel_velocity_x.array() * steering_status.cos_angle.array() - + chassis_status_expected.wheel_velocity_y.array() * steering_status.sin_angle.array(); - return wheel_velocity_pid_.update( - wheel_control_velocity / wheel_radius_ - wheel_velocities); - } - - [[nodiscard]] Eigen::Vector3d constrain_chassis_control_acceleration( - const SteeringStatus& steering_status, Eigen::Ref wheel_velocities, - const JointTargetStates& joint_target, - Eigen::Ref chassis_acceleration, - Eigen::Ref wheel_pid_torques, const double& power_limit) { - Eigen::Vector2d translational_acceleration_direction = chassis_acceleration.head<2>(); - double translational_acceleration_max = translational_acceleration_direction.norm(); - if (translational_acceleration_max > 0.0) - translational_acceleration_direction /= translational_acceleration_max; - - double angular_acceleration_max = chassis_acceleration.z(); - double angular_acceleration_direction = angular_acceleration_max > 0 ? 1.0 : -1.0; - angular_acceleration_max *= angular_acceleration_direction; - - const double rhombus_right = friction_coefficient_ * g_; - const double constraint_radius = - joint_target.valid ? joint_target.radius.mean() : vehicle_radius_.mean(); - const double rhombus_top = rhombus_right * mass_ * constraint_radius / moment_of_inertia_; - - const auto params = calculate_ellipse_parameters( - steering_status, wheel_velocities, joint_target, translational_acceleration_direction, - angular_acceleration_direction, wheel_pid_torques); - - const QcpSolver::QuadraticConstraint quadratic_constraint{ - params.a, params.b, params.c, params.d, params.e, params.f - power_limit}; - - Eigen::Vector2d best_point = qcp_solver_.solve( - {1.0, 0.2}, {translational_acceleration_max, angular_acceleration_max}, - {rhombus_right, rhombus_top}, quadratic_constraint); - - const double min_translational = 0.3 * rhombus_right; - if (best_point.x() < min_translational - && translational_acceleration_max > min_translational) - best_point.x() = min_translational; - - Eigen::Vector3d best_acceleration; - best_acceleration << best_point.x() * translational_acceleration_direction, - best_point.y() * angular_acceleration_direction; - return best_acceleration; - } - - [[nodiscard]] EllipseParameters calculate_ellipse_parameters( - const SteeringStatus& steering_status, const Eigen::Vector4d& wheel_velocities, - const JointTargetStates& joint_target, - const Eigen::Vector2d& translational_acceleration_direction, - const double& angular_acceleration_direction, - const Eigen::Vector4d& wheel_torque_base) const { - EllipseParameters params{0, 0, 0, 0, 0, 0}; - - for (size_t i = 0; i < kWheelCount; ++i) { - const double constraint_radius = - joint_target.valid ? joint_target.radius[i] : vehicle_radius_[i]; - const double cos_alpha_minus_gamma = - steering_status.cos_angle[i] * translational_acceleration_direction.x() - + steering_status.sin_angle[i] * translational_acceleration_direction.y(); - const double sin_alpha_minus_varphi = steering_status.sin_angle_minus_phi[i]; - const double double_k1_torque_base_plus_wheel_velocity = - 2 * k1_ * wheel_torque_base[i] + wheel_velocities[i]; - - params.a += ellipse_coeff_quadratic_translational_ * cos_alpha_minus_gamma - * cos_alpha_minus_gamma; - params.b += ellipse_coeff_cross_term_ * angular_acceleration_direction - * cos_alpha_minus_gamma * sin_alpha_minus_varphi / constraint_radius; - params.c += ellipse_coeff_quadratic_angular_ * sin_alpha_minus_varphi - * sin_alpha_minus_varphi / (constraint_radius * constraint_radius); - params.d += ellipse_coeff_linear_translational_ - * double_k1_torque_base_plus_wheel_velocity * cos_alpha_minus_gamma; - params.e += ellipse_coeff_linear_angular_ * angular_acceleration_direction - * double_k1_torque_base_plus_wheel_velocity * sin_alpha_minus_varphi - / constraint_radius; - params.f += wheel_torque_base[i] * (k1_ * wheel_torque_base[i] + wheel_velocities[i]); - } - - return params; - } - - [[nodiscard]] Eigen::Vector4d calculate_steering_control_torques( - const SteeringStatus& steering_status, const ChassisStatus& chassis_status_expected, - const JointTargetStates& joint_target, const JointFeedbackStates& joint_feedback, - const Eigen::Vector3d& chassis_acceleration) { - const double vx = chassis_status_expected.velocity.x(); - const double vy = chassis_status_expected.velocity.y(); - const double vz = chassis_status_expected.velocity.z(); - const double ax = chassis_acceleration.x(); - const double ay = chassis_acceleration.y(); - const double az = chassis_acceleration.z(); - - const auto joint = select_joint_state(joint_target, joint_feedback); - if (!joint.valid) [[unlikely]] - return Eigen::Vector4d::Zero(); - - Eigen::Vector4d dot_r_squared = chassis_status_expected.wheel_velocity_x.array().square() - + chassis_status_expected.wheel_velocity_y.array().square(); - - Eigen::Vector4d steering_control_velocity = - vx * ay - vy * ax - vz * (vx * vx + vy * vy) - + joint.radius.array() * (az * vx - vz * (ax + vz * vy)) * phi_cos_vec_.array() - + joint.radius.array() * (az * vy - vz * (ay - vz * vx)) * phi_sin_vec_.array(); - Eigen::Vector4d steering_control_angle; - - for (size_t i = 0; i < kWheelCount; ++i) { - if (dot_r_squared[i] > 1e-2) { - steering_control_velocity[i] /= dot_r_squared[i]; - steering_control_angle[i] = std::atan2( - chassis_status_expected.wheel_velocity_y[i], - chassis_status_expected.wheel_velocity_x[i]); - } else { - const double x = - ax - joint.radius[i] * (az * phi_sin_vec_[i] + vz * vz * phi_cos_vec_[i]); - const double y = - ay + joint.radius[i] * (az * phi_cos_vec_[i] - vz * vz * phi_sin_vec_[i]); - if (x * x + y * y > 1e-6) { - steering_control_velocity[i] = 0.0; - steering_control_angle[i] = std::atan2(y, x); - } else { - steering_control_velocity[i] = nan_; - steering_control_angle[i] = nan_; - } - } - } - - Eigen::Vector4d steering_torque = steering_velocity_pid_.update( - steering_control_velocity - + steering_angle_pid_.update( - (steering_control_angle - steering_status.angle).unaryExpr([](double diff) { - diff = std::fmod(diff, std::numbers::pi); - if (diff < -std::numbers::pi / 2) - diff += std::numbers::pi; - else if (diff > std::numbers::pi / 2) - diff -= std::numbers::pi; - return diff; - })) - - steering_status.velocity); - - return steering_torque.unaryExpr([](double v) { return std::isnan(v) ? 0.0 : v; }); - } - - [[nodiscard]] Eigen::Vector4d calculate_wheel_control_torques( - const SteeringStatus& steering_status, const JointTargetStates& joint_target, - const JointFeedbackStates& joint_feedback, const Eigen::Vector3d& chassis_acceleration, - const Eigen::Vector4d& wheel_pid_torques) const { - const auto joint = select_joint_state(joint_target, joint_feedback); - - const double ax = chassis_acceleration.x(); - const double ay = chassis_acceleration.y(); - const double az = chassis_acceleration.z(); - - Eigen::Vector4d wheel_torque = - wheel_radius_ - * (ax * mass_ * steering_status.cos_angle.array() - + ay * mass_ * steering_status.sin_angle.array() - + az * moment_of_inertia_ * steering_status.sin_angle_minus_phi.array() - / joint.radius.array()) - / 4.0; - - wheel_torque += wheel_pid_torques; - return wheel_torque; - } - - void update_control_torques( - const Eigen::Vector4d& steering_torque, const Eigen::Vector4d& wheel_torque) { - *left_front_steering_control_torque_ = steering_torque[0]; - *left_back_steering_control_torque_ = steering_torque[1]; - *right_back_steering_control_torque_ = steering_torque[2]; - *right_front_steering_control_torque_ = steering_torque[3]; - - *left_front_wheel_control_torque_ = wheel_torque[0]; - *left_back_wheel_control_torque_ = wheel_torque[1]; - *right_back_wheel_control_torque_ = wheel_torque[2]; - *right_front_wheel_control_torque_ = wheel_torque[3]; - } - - void update_chassis_velocity_expected(const Eigen::Vector3d& chassis_acceleration) { - chassis_velocity_expected_ += dt_ * base_link_to_odom_vector(chassis_acceleration); - } - - Eigen::Vector3d base_link_to_odom_vector(Eigen::Vector3d vector) const { - vector.head<2>() = Eigen::Rotation2Dd(chassis_yaw_angle_imu_) * vector.head<2>(); - return vector; - } - - Eigen::Vector3d odom_to_base_link_vector(Eigen::Vector3d vector) const { - vector.head<2>() = Eigen::Rotation2Dd(-chassis_yaw_angle_imu_) * vector.head<2>(); - return vector; - } - - [[nodiscard]] double calculate_chassis_energy(const Eigen::Vector3d& velocity) const { - return mass_ * velocity.head<2>().squaredNorm() - + moment_of_inertia_ * velocity.z() * velocity.z(); - } - - static Eigen::Vector2d radial_unit_(double phi) { return {std::cos(phi), std::sin(phi)}; } - - static Eigen::Vector2d tangential_unit_(double phi) { return {-std::sin(phi), std::cos(phi)}; } - - [[nodiscard]] Eigen::Vector2d radial_unit_fast_(size_t wheel_index) const { - return {phi_cos_[wheel_index], phi_sin_[wheel_index]}; - } - - [[nodiscard]] Eigen::Vector2d tangential_unit_fast_(size_t wheel_index) const { - return {-phi_sin_[wheel_index], phi_cos_[wheel_index]}; - } - - static double wrap_to_half_pi_(double diff) { - diff = std::fmod(diff, std::numbers::pi); - if (diff < -std::numbers::pi / 2) - diff += std::numbers::pi; - else if (diff > std::numbers::pi / 2) - diff -= std::numbers::pi; - return diff; - } - - static constexpr std::array phi_ = { - 0.0, - std::numbers::pi / 2, - std::numbers::pi, - -std::numbers::pi / 2, - }; - - static constexpr std::array phi_cos_ = { - 1.0, - 0.0, - -1.0, - 0.0, - }; - - static constexpr std::array phi_sin_ = { - 0.0, - 1.0, - 0.0, - -1.0, - }; - - static constexpr double nan_ = std::numeric_limits::quiet_NaN(); - static constexpr double dt_ = 1e-3; - static constexpr double g_ = 9.81; - - const double mass_; - const double moment_of_inertia_; - const double chassis_radius_; - const double rod_length_; - const double wheel_radius_; - const double friction_coefficient_; - const double k1_; - const double k2_; - const double no_load_power_; - - // Precomputed constants for calculate_ellipse_parameters - const double ellipse_coeff_quadratic_translational_; // k1 * mass^2 * wheel_radius^2 / 16 - const double ellipse_coeff_cross_term_; // k1 * mass * moment_of_inertia * wheel_radius^2 / 8 - const double ellipse_coeff_quadratic_angular_; // k1 * moment_of_inertia^2 * wheel_radius^2 / 16 - const double ellipse_coeff_linear_translational_; // mass * wheel_radius / 4 - const double ellipse_coeff_linear_angular_; // moment_of_inertia * wheel_radius / 4 - - Eigen::Vector4d vehicle_radius_; - const Eigen::Vector4d phi_cos_vec_{1.0, 0.0, -1.0, 0.0}; - const Eigen::Vector4d phi_sin_vec_{0.0, 1.0, 0.0, -1.0}; - Eigen::Vector4d last_joint_velocity_ = Eigen::Vector4d::Zero(); - bool last_joint_velocity_valid_ = false; - Eigen::Vector4d last_joint_target_angle_ = Eigen::Vector4d::Zero(); - bool last_joint_target_angle_valid_ = false; - - InputInterface joystick_right_; - InputInterface joystick_left_; - - InputInterface left_front_steering_angle_; - InputInterface left_back_steering_angle_; - InputInterface right_back_steering_angle_; - InputInterface right_front_steering_angle_; - - InputInterface left_front_steering_velocity_; - InputInterface left_back_steering_velocity_; - InputInterface right_back_steering_velocity_; - InputInterface right_front_steering_velocity_; - - InputInterface left_front_wheel_velocity_; - InputInterface left_back_wheel_velocity_; - InputInterface right_back_wheel_velocity_; - InputInterface right_front_wheel_velocity_; - - InputInterface left_front_joint_angle_; - InputInterface left_back_joint_angle_; - InputInterface right_back_joint_angle_; - InputInterface right_front_joint_angle_; - - InputInterface left_front_joint_velocity_; - InputInterface left_back_joint_velocity_; - InputInterface right_back_joint_velocity_; - InputInterface right_front_joint_velocity_; - - InputInterface left_front_joint_target_physical_angle_; - InputInterface left_back_joint_target_physical_angle_; - InputInterface right_back_joint_target_physical_angle_; - InputInterface right_front_joint_target_physical_angle_; - InputInterface left_front_joint_target_physical_velocity_; - InputInterface left_back_joint_target_physical_velocity_; - InputInterface right_back_joint_target_physical_velocity_; - InputInterface right_front_joint_target_physical_velocity_; - InputInterface left_front_joint_target_physical_acceleration_; - InputInterface left_back_joint_target_physical_acceleration_; - InputInterface right_back_joint_target_physical_acceleration_; - InputInterface right_front_joint_target_physical_acceleration_; - - InputInterface chassis_yaw_velocity_imu_; - InputInterface chassis_control_velocity_; - InputInterface power_limit_; - - OutputInterface left_front_steering_control_torque_; - OutputInterface left_back_steering_control_torque_; - OutputInterface right_back_steering_control_torque_; - OutputInterface right_front_steering_control_torque_; - - OutputInterface left_front_wheel_control_torque_; - OutputInterface left_back_wheel_control_torque_; - OutputInterface right_back_wheel_control_torque_; - OutputInterface right_front_wheel_control_torque_; - - QcpSolver qcp_solver_; - filter::LowPassFilter<3> control_acceleration_filter_; - - double chassis_yaw_angle_imu_ = 0.0; - Eigen::Vector3d chassis_velocity_expected_ = Eigen::Vector3d::Zero(); - - pid::MatrixPidCalculator<2> chassis_translational_velocity_pid_; - pid::PidCalculator chassis_angular_velocity_pid_; - pid::MatrixPidCalculator<4> steering_velocity_pid_; - pid::MatrixPidCalculator<4> steering_angle_pid_; - pid::MatrixPidCalculator<4> wheel_velocity_pid_; -}; - -} // namespace rmcs_core::controller::chassis - -#include - -PLUGINLIB_EXPORT_CLASS( - rmcs_core::controller::chassis::DeformableChassisController, rmcs_executor::Component) diff --git a/rmcs_ws/src/rmcs_core/src/controller/chassis/hero_chassis_controller.cpp b/rmcs_ws/src/rmcs_core/src/controller/chassis/hero_chassis_controller.cpp index dd12e09ee..8fd643e54 100644 --- a/rmcs_ws/src/rmcs_core/src/controller/chassis/hero_chassis_controller.cpp +++ b/rmcs_ws/src/rmcs_core/src/controller/chassis/hero_chassis_controller.cpp @@ -81,18 +81,18 @@ class HeroChassisController if (switch_left != Switch::DOWN) { if (last_switch_right_ == Switch::MIDDLE && switch_right == Switch::DOWN) { - if (mode == rmcs_msgs::ChassisMode::SPIN) { - mode = rmcs_msgs::ChassisMode::STEP_DOWN; - } else { - mode = rmcs_msgs::ChassisMode::SPIN; + if (mode != rmcs_msgs::ChassisMode::SPIN_FAST) { + mode = rmcs_msgs::ChassisMode::SPIN_FAST; spinning_forward_ = !spinning_forward_; + } else { + mode = rmcs_msgs::ChassisMode::STEP_DOWN; } } else if (!last_keyboard_.c && keyboard.c) { - if (mode == rmcs_msgs::ChassisMode::SPIN) { - mode = rmcs_msgs::ChassisMode::AUTO; - } else { - mode = rmcs_msgs::ChassisMode::SPIN; + if (mode != rmcs_msgs::ChassisMode::SPIN_FAST) { + mode = rmcs_msgs::ChassisMode::SPIN_FAST; spinning_forward_ = !spinning_forward_; + } else { + mode = rmcs_msgs::ChassisMode::AUTO; } } else if (!last_keyboard_.x && keyboard.x) { if (mode != rmcs_msgs::ChassisMode::STEP_DOWN @@ -189,8 +189,11 @@ class HeroChassisController angular_velocity *= std::clamp(measured_translational_speed / translational_velocity_max, 0.0, 0.3); + angular_velocity = 0.0; + } break; - case rmcs_msgs::ChassisMode::SPIN: { + case rmcs_msgs::ChassisMode::SPIN_SLOW: [[fallthrough]]; + case rmcs_msgs::ChassisMode::SPIN_FAST: { angular_velocity = 0.6 * (spinning_forward_ ? angular_velocity_max : -angular_velocity_max); } break; @@ -198,6 +201,8 @@ class HeroChassisController angular_velocity = update_following_angular_velocity(step_down_facing_, chassis_control_angle); } break; + case rmcs_msgs::ChassisMode::ALIGNMENT: [[fallthrough]]; + case rmcs_msgs::ChassisMode::ALIGNMENT_POWERED: [[fallthrough]]; case rmcs_msgs::ChassisMode::LAUNCH_RAMP: { double err = calculate_unsigned_chassis_angle_error(chassis_control_angle); diff --git a/rmcs_ws/src/rmcs_core/src/controller/gimbal/deformable_infantry_gimbal_controller.cpp b/rmcs_ws/src/rmcs_core/src/controller/gimbal/deformable_infantry_gimbal_controller.cpp index 6d3fbb720..9396df1d1 100644 --- a/rmcs_ws/src/rmcs_core/src/controller/gimbal/deformable_infantry_gimbal_controller.cpp +++ b/rmcs_ws/src/rmcs_core/src/controller/gimbal/deformable_infantry_gimbal_controller.cpp @@ -5,17 +5,16 @@ #include #include -#include +#include #include #include #include +#include #include #include namespace rmcs_core::controller::gimbal { -using namespace rmcs_description; - class DeformableInfantryGimbalController : public rmcs_executor::Component , public rclcpp::Node { @@ -24,18 +23,25 @@ class DeformableInfantryGimbalController : Node( get_component_name(), rclcpp::NodeOptions{}.automatically_declare_parameters_from_overrides(true)) { + configure_pid("yaw_angle", yaw_angle_pid_); configure_pid("yaw_velocity", yaw_velocity_pid_); configure_pid("pitch_angle", pitch_angle_pid_); configure_pid("pitch_velocity", pitch_velocity_pid_); + get_parameter("pitch_torque_control", pitch_torque_control_enabled_); get_parameter("manual_joystick_sensitivity", joystick_sensitivity_); get_parameter("manual_mouse_sensitivity", mouse_sensitivity_); + + get_parameter_or("pitch_gravity_ff_gain", pitch_gravity_ff_gain_, 0.0); + get_parameter_or("pitch_gravity_ff_phase", pitch_gravity_ff_phase_, 0.0); + get_parameter_or("ctrl_hold_pitch_target_angle", ctrl_hold_pitch_target_angle_, 0.0); } auto update() -> void override { const auto switch_right = *input_.switch_right; const auto switch_left = *input_.switch_left; + const auto keyboard = *input_.keyboard; using namespace rmcs_msgs; if ((switch_left == Switch::UNKNOWN || switch_right == Switch::UNKNOWN) @@ -44,6 +50,14 @@ class DeformableInfantryGimbalController return; } + update_pitch_lock_state(switch_left, switch_right, keyboard); + + if (ctrl_hold_requested()) { + update_ctrl_hold_control(); + } else { + deactivate_ctrl_hold(); + } + const auto auto_aim_active = auto_aim_requested() && input_.auto_aim_should_control.ready() && *input_.auto_aim_should_control && input_.auto_aim_control_direction.ready() @@ -53,32 +67,49 @@ class DeformableInfantryGimbalController auto_aim_active ? update_auto_aim_control() : update_manual_control(); *output_.yaw_angle_error = angle_error.yaw_angle_error; - *output_.pitch_angle_error = angle_error.pitch_angle_error; + if (!ctrl_hold_active_) + *output_.pitch_angle_error = angle_error.pitch_angle_error; - if (!std::isfinite(angle_error.yaw_angle_error) - || !std::isfinite(angle_error.pitch_angle_error)) { - reset_control_outputs(); - return; + if (!std::isfinite(angle_error.yaw_angle_error)) { + yaw_angle_pid_.reset(); + yaw_velocity_pid_.reset(); + *output_.yaw_control_torque = kNaN; } - const auto yaw_velocity_ref = yaw_angle_pid_.update(angle_error.yaw_angle_error); - const auto pitch_velocity_ref = pitch_angle_pid_.update(angle_error.pitch_angle_error); + if (std::isfinite(angle_error.yaw_angle_error)) { + const auto yaw_velocity_ref = yaw_angle_pid_.update(angle_error.yaw_angle_error); + *output_.yaw_control_torque = + yaw_velocity_pid_.update(yaw_velocity_ref - *input_.yaw_velocity_imu); + } - *output_.yaw_control_torque = - yaw_velocity_pid_.update(yaw_velocity_ref - *input_.yaw_velocity_imu); - if (pitch_torque_control_enabled_) { - *output_.pitch_control_velocity = kNaN; - *output_.pitch_control_torque = - pitch_velocity_pid_.update(pitch_velocity_ref - *input_.pitch_velocity_imu); - } else { - pitch_velocity_pid_.reset(); - *output_.pitch_control_velocity = pitch_velocity_ref; - *output_.pitch_control_torque = kNaN; + if (!ctrl_hold_active_) { + if (!std::isfinite(angle_error.pitch_angle_error)) { + pitch_angle_pid_.reset(); + pitch_velocity_pid_.reset(); + *output_.pitch_control_velocity = kNaN; + *output_.pitch_control_torque = kNaN; + } else { + const auto pitch_gravity_ff = pitch_gravity_feedforward(); + const auto pitch_velocity_ref = + pitch_angle_pid_.update(angle_error.pitch_angle_error); + + if (pitch_torque_control_enabled_) { + *output_.pitch_control_velocity = kNaN; + *output_.pitch_control_torque = + pitch_velocity_pid_.update(pitch_velocity_ref - *input_.pitch_velocity_imu) + + pitch_gravity_ff; + } else { + pitch_velocity_pid_.reset(); + *output_.pitch_control_velocity = pitch_velocity_ref; + *output_.pitch_control_torque = kNaN; + } + } } } private: static constexpr auto kNaN = std::numeric_limits::quiet_NaN(); + static constexpr auto kDefaultDt = 1e-3; auto configure_pid(const std::string& prefix, pid::PidCalculator& calculator) -> void { get_parameter(prefix + "_integral_min", calculator.integral_min); @@ -92,13 +123,16 @@ class DeformableInfantryGimbalController struct Input { explicit Input(rmcs_executor::Component& component) { component.register_input("/remote/joystick/left", joystick_left); + component.register_input("/remote/keyboard", keyboard); component.register_input("/remote/switch/right", switch_right); component.register_input("/remote/switch/left", switch_left); component.register_input("/remote/mouse/velocity", mouse_velocity); component.register_input("/remote/mouse", mouse); + component.register_input("/predefined/update_rate", update_rate, false); - component.register_input("/tf", tf); + component.register_input("/gimbal/yaw/angle", yaw_angle); component.register_input("/gimbal/yaw/velocity", yaw_velocity); + component.register_input("/gimbal/pitch/angle", pitch_angle); component.register_input("/gimbal/pitch/velocity", pitch_velocity); component.register_input("/gimbal/yaw/velocity_imu", yaw_velocity_imu); component.register_input("/gimbal/pitch/velocity_imu", pitch_velocity_imu); @@ -109,13 +143,16 @@ class DeformableInfantryGimbalController } InputInterface joystick_left; + InputInterface keyboard; InputInterface switch_right; InputInterface switch_left; InputInterface mouse_velocity; InputInterface mouse; + InputInterface update_rate; - InputInterface tf; + InputInterface yaw_angle; InputInterface yaw_velocity; + InputInterface pitch_angle; InputInterface pitch_velocity; InputInterface yaw_velocity_imu; InputInterface pitch_velocity_imu; @@ -127,20 +164,38 @@ class DeformableInfantryGimbalController struct Output { explicit Output(rmcs_executor::Component& component) { component.register_output("/gimbal/yaw/control_torque", yaw_control_torque, kNaN); + component.register_output("/gimbal/yaw/control_angle", yaw_control_angle, kNaN); component.register_output( "/gimbal/pitch/control_velocity", pitch_control_velocity, kNaN); component.register_output("/gimbal/pitch/control_torque", pitch_control_torque, kNaN); + component.register_output("/gimbal/pitch/control_angle", pitch_control_angle, kNaN); component.register_output("/gimbal/yaw/control_angle_error", yaw_angle_error, kNaN); component.register_output("/gimbal/pitch/control_angle_error", pitch_angle_error, kNaN); } OutputInterface yaw_control_torque; + OutputInterface yaw_control_angle; OutputInterface pitch_control_velocity; OutputInterface pitch_control_torque; + OutputInterface pitch_control_angle; OutputInterface yaw_angle_error; OutputInterface pitch_angle_error; } output_{*this}; + auto ctrl_hold_requested() const -> bool { return pitch_lock_active_; } + + auto update_dt() const -> double { + if (input_.update_rate.ready() && std::isfinite(*input_.update_rate) + && *input_.update_rate > 1e-6) + return 1.0 / *input_.update_rate; + return kDefaultDt; + } + + auto manual_yaw_shift() const -> double { + return joystick_sensitivity_ * input_.joystick_left->y() + + mouse_sensitivity_ * input_.mouse_velocity->y(); + } + auto auto_aim_requested() const -> bool { return input_.mouse->right || *input_.switch_right == rmcs_msgs::Switch::UP; } @@ -155,24 +210,97 @@ class DeformableInfantryGimbalController if (!gimbal_solver_.enabled()) return gimbal_solver_.update(TwoAxisGimbalSolver::SetToLevel{}); - const auto yaw_shift = joystick_sensitivity_ * input_.joystick_left->y() - + mouse_sensitivity_ * input_.mouse_velocity->y(); + const auto yaw_shift = manual_yaw_shift(); + const auto pitch_shift = -joystick_sensitivity_ * input_.joystick_left->x() + mouse_sensitivity_ * input_.mouse_velocity->x(); return gimbal_solver_.update(TwoAxisGimbalSolver::SetControlShift{yaw_shift, pitch_shift}); } + auto pitch_gravity_feedforward() const -> double { + if (ctrl_hold_active_) + return 0.0; + if (!input_.pitch_angle.ready() || !std::isfinite(*input_.pitch_angle)) + return 0.0; + return pitch_gravity_ff_gain_ * std::sin(*input_.pitch_angle - pitch_gravity_ff_phase_); + } + + auto update_pitch_lock_state( + rmcs_msgs::Switch switch_left, rmcs_msgs::Switch switch_right, + const rmcs_msgs::Keyboard& keyboard) -> void { + if (switch_left == rmcs_msgs::Switch::DOWN && switch_right == rmcs_msgs::Switch::UP + && last_switch_right_ == rmcs_msgs::Switch::MIDDLE) { + suspension_on_by_switch_ = !suspension_on_by_switch_; + } + + pitch_lock_active_ = keyboard.ctrl || suspension_on_by_switch_; + last_switch_right_ = switch_right; + } + + auto activate_ctrl_hold() -> void { + ctrl_hold_active_ = true; + pitch_angle_pid_.reset(); + pitch_velocity_pid_.reset(); + } + + auto deactivate_ctrl_hold() -> void { + if (!ctrl_hold_active_) + return; + + ctrl_hold_active_ = false; + pitch_angle_pid_.reset(); + pitch_velocity_pid_.reset(); + *output_.pitch_control_angle = kNaN; + } + + auto update_ctrl_hold_control() -> void { + if (!ctrl_hold_active_) + activate_ctrl_hold(); + + *output_.yaw_control_angle = kNaN; + *output_.pitch_control_velocity = kNaN; + *output_.pitch_control_torque = kNaN; + *output_.pitch_control_angle = kNaN; + + if (input_.pitch_angle.ready() && std::isfinite(*input_.pitch_angle)) { + auto pitch_target_error = ctrl_hold_pitch_target_angle_ - *input_.pitch_angle; + if (pitch_target_error > std::numbers::pi) + pitch_target_error -= 2 * std::numbers::pi; + else if (pitch_target_error < -std::numbers::pi) + pitch_target_error += 2 * std::numbers::pi; + + *output_.pitch_angle_error = pitch_target_error; + const auto pitch_velocity_ref = pitch_angle_pid_.update(pitch_target_error); + if (pitch_torque_control_enabled_) { + *output_.pitch_control_velocity = kNaN; + *output_.pitch_control_torque = + pitch_velocity_pid_.update(pitch_velocity_ref - *input_.pitch_velocity_imu) + + pitch_gravity_feedforward(); + } else { + pitch_velocity_pid_.reset(); + *output_.pitch_control_velocity = pitch_velocity_ref; + *output_.pitch_control_torque = kNaN; + } + } + } + auto reset_control_outputs() -> void { yaw_angle_pid_.reset(); yaw_velocity_pid_.reset(); pitch_angle_pid_.reset(); pitch_velocity_pid_.reset(); *output_.yaw_control_torque = kNaN; + *output_.yaw_control_angle = kNaN; *output_.pitch_control_velocity = kNaN; *output_.pitch_control_torque = kNaN; + *output_.pitch_control_angle = kNaN; } auto reset_all_controls() -> void { + deactivate_ctrl_hold(); + pitch_lock_active_ = false; + suspension_on_by_switch_ = false; + last_switch_right_ = rmcs_msgs::Switch::UNKNOWN; gimbal_solver_.update(TwoAxisGimbalSolver::SetDisabled{}); *output_.yaw_angle_error = kNaN; *output_.pitch_angle_error = kNaN; @@ -180,8 +308,7 @@ class DeformableInfantryGimbalController } TwoAxisGimbalSolver gimbal_solver_{ - *this, get_parameter("upper_limit").as_double(), get_parameter("lower_limit").as_double(), - true}; + *this, get_parameter("upper_limit").as_double(), get_parameter("lower_limit").as_double()}; pid::PidCalculator yaw_angle_pid_{ get_parameter("yaw_angle_kp").as_double(), @@ -207,11 +334,17 @@ class DeformableInfantryGimbalController double joystick_sensitivity_ = 0.003; double mouse_sensitivity_ = 0.5; bool pitch_torque_control_enabled_ = false; + double ctrl_hold_pitch_target_angle_ = 0.0; + double pitch_gravity_ff_gain_ = 0.0; + double pitch_gravity_ff_phase_ = 0.0; + bool pitch_lock_active_ = false; + bool suspension_on_by_switch_ = false; + rmcs_msgs::Switch last_switch_right_ = rmcs_msgs::Switch::UNKNOWN; + bool ctrl_hold_active_ = false; }; } // namespace rmcs_core::controller::gimbal #include - PLUGINLIB_EXPORT_CLASS( rmcs_core::controller::gimbal::DeformableInfantryGimbalController, rmcs_executor::Component) diff --git a/rmcs_ws/src/rmcs_core/src/controller/gimbal/dual_yaw_controller.cpp b/rmcs_ws/src/rmcs_core/src/controller/gimbal/dual_yaw_controller.cpp index 0d49184e8..84f8c0862 100644 --- a/rmcs_ws/src/rmcs_core/src/controller/gimbal/dual_yaw_controller.cpp +++ b/rmcs_ws/src/rmcs_core/src/controller/gimbal/dual_yaw_controller.cpp @@ -1,5 +1,6 @@ #include +#include #include #include @@ -39,21 +40,22 @@ class DualYawController register_input("/gimbal/top_yaw/velocity", top_yaw_velocity_); register_input("/gimbal/bottom_yaw/angle", bottom_yaw_angle_); register_input("/gimbal/bottom_yaw/velocity", bottom_yaw_velocity_); + register_input("/gimbal/bottom_yaw/raw_angle", bottom_yaw_raw_angle_); register_input("/gimbal/yaw/velocity_imu", gimbal_yaw_velocity_imu_); register_input("/chassis/yaw/velocity_imu", chassis_yaw_velocity_imu_); + register_input("/gimbal/yaw_brake/velocity", yaw_brake_velocity_); register_input("/gimbal/mode", gimbal_mode_); register_input("/gimbal/yaw/control_angle_error", control_angle_error_); register_input("/gimbal/yaw/control_angle_shift", control_angle_shift_, false); + register_input("/gimbal/bottom_yaw/torque", bottom_yaw_torque_); register_output("/gimbal/top_yaw/control_torque", top_yaw_control_torque_, 0.0); register_output("/gimbal/bottom_yaw/control_torque", bottom_yaw_control_torque_, 0.0); - register_output("/gimbal/top_yaw/control_angle", top_yaw_control_angle_, nan_); - register_output( - "/gimbal/bottom_yaw/control_angle_shift", bottom_yaw_control_angle_shift_, nan_); - register_output("/gimbal/top_yaw/control_angle_shift", top_yaw_control_angle_shift_, nan_); register_output("/gimbal/bottom_yaw/control_angle", bottom_yaw_control_angle_, nan_); + register_output("/gimbal/top_yaw/control_angle_shift", top_yaw_control_angle_shift_, nan_); + register_output("/gimbal/yaw_brake/control_torque", yaw_brake_control_torque_, nan_); status_component_ = create_partner_component(get_component_name() + "_status"); @@ -68,60 +70,249 @@ class DualYawController } void update() override { - const auto mode = *gimbal_mode_; - if (mode == rmcs_msgs::GimbalMode::ENCODER) { - const bool entering_encoder = last_gimbal_mode_ != rmcs_msgs::GimbalMode::ENCODER; - if (entering_encoder) { - if (std::isfinite(*top_yaw_angle_)) { - top_yaw_encoder_locked_ = true; - } else { - top_yaw_encoder_locked_ = false; - } - } - *bottom_yaw_control_angle_shift_ = *control_angle_shift_; - if (top_yaw_encoder_locked_) - *top_yaw_control_angle_ = top_yaw_encoder_angle_; - else - *top_yaw_control_angle_ = nan_; - } else { - *top_yaw_control_angle_ = nan_; - *bottom_yaw_control_angle_shift_ = nan_; - top_yaw_encoder_angle_ = *top_yaw_angle_; - top_yaw_encoder_locked_ = false; + + const bool entering_encoder = mode == rmcs_msgs::GimbalMode::ENCODER + && last_gimbal_mode_ != rmcs_msgs::GimbalMode::ENCODER; + + const bool leaving_encoder = mode != rmcs_msgs::GimbalMode::ENCODER + && last_gimbal_mode_ == rmcs_msgs::GimbalMode::ENCODER; + + if (entering_encoder) { + top_yaw_angle_pid_.reset(); + top_yaw_velocity_pid_.reset(); + bottom_yaw_angle_pid_.reset(); + bottom_yaw_velocity_pid_.reset(); + + yaw_brake_engage_count_ = 0; + yaw_brake_release_elapsed_count_ = 0; + yaw_brake_release_stop_count_ = 0; + yaw_brake_release_seen_motion_ = false; + encoder_state_ = EncoderState::AlignTargetRawAngle; } - last_gimbal_mode_ = mode; + if (leaving_encoder) { + top_yaw_angle_pid_.reset(); + top_yaw_velocity_pid_.reset(); + bottom_yaw_angle_pid_.reset(); + bottom_yaw_velocity_pid_.reset(); + + if (encoder_state_ == EncoderState::EngageYawBrake + || encoder_state_ == EncoderState::BrakeLocked) { + yaw_brake_release_elapsed_count_ = 0; + yaw_brake_release_stop_count_ = 0; + yaw_brake_release_seen_motion_ = false; + encoder_state_ = EncoderState::ReleaseYawBrake; + } else { + yaw_brake_engage_count_ = 0; + yaw_brake_release_elapsed_count_ = 0; + yaw_brake_release_stop_count_ = 0; + yaw_brake_release_seen_motion_ = false; + *yaw_brake_control_torque_ = nan_; + encoder_state_ = EncoderState::Idle; + } + } + if (mode == rmcs_msgs::GimbalMode::ENCODER && encoder_state_ == EncoderState::Idle) { + top_yaw_angle_pid_.reset(); + top_yaw_velocity_pid_.reset(); + bottom_yaw_angle_pid_.reset(); + bottom_yaw_velocity_pid_.reset(); + + yaw_brake_engage_count_ = 0; + yaw_brake_release_elapsed_count_ = 0; + yaw_brake_release_stop_count_ = 0; + yaw_brake_release_seen_motion_ = false; + encoder_state_ = EncoderState::AlignTargetRawAngle; + } - if (std::isnan(*control_angle_error_)) { + // RCLCPP_INFO(get_logger(), "bottom_yaw_raw_angle: %ld", *bottom_yaw_raw_angle_); + // RCLCPP_INFO(get_logger(), "bottom_yaw_control_torque: %f", *bottom_yaw_control_torque_); + // RCLCPP_INFO(get_logger(), "bottom_yaw_torque: %f", *bottom_yaw_torque_); + // RCLCPP_INFO( + // get_logger(), "encoder_state: %s", + // encoder_state_ == EncoderState::Idle ? "Idle" + // : encoder_state_ == EncoderState::AlignTargetRawAngle ? "AlignTargetRawAngle" + // : encoder_state_ == EncoderState::EngageYawBrake ? "EngageYawBrake" + // : encoder_state_ == EncoderState::BrakeLocked ? "BrakeLocked" + // : "ReleaseYawBrake"); + const bool hold_encoder_for_brake_release = encoder_state_ == EncoderState::ReleaseYawBrake; + + if (mode == rmcs_msgs::GimbalMode::ENCODER || hold_encoder_for_brake_release) { *top_yaw_control_torque_ = nan_; - *bottom_yaw_control_torque_ = nan_; + *bottom_yaw_control_angle_ = nan_; + + auto wrap_raw_delta = [](int64_t diff) -> int64_t { + diff %= kBottomYawRawAngleModulus; + if (diff <= -(kBottomYawRawAngleModulus / 2)) + diff += kBottomYawRawAngleModulus; + else if (diff > (kBottomYawRawAngleModulus / 2)) + diff -= kBottomYawRawAngleModulus; + return diff; + }; + + if (encoder_state_ == EncoderState::AlignTargetRawAngle) { + *top_yaw_control_angle_shift_ = 0.0; + *yaw_brake_control_torque_ = nan_; + + if (!bottom_yaw_raw_angle_.ready()) { + *bottom_yaw_control_torque_ = nan_; + } else { + const int64_t raw_error_count = + wrap_raw_delta(kEncoderBottomYawTargetRawAngle - *bottom_yaw_raw_angle_); + const int64_t raw_error_abs = + raw_error_count >= 0 ? raw_error_count : -raw_error_count; + + const bool bottom_yaw_aligned = + raw_error_abs <= kEncoderBottomYawTargetToleranceRawAngle + && std::abs(*bottom_yaw_velocity_) + <= kEncoderBottomYawLockVelocityThreshold; + + if (bottom_yaw_aligned) { + *bottom_yaw_control_torque_ = nan_; + bottom_yaw_angle_pid_.reset(); + bottom_yaw_velocity_pid_.reset(); + yaw_brake_engage_count_ = 0; + encoder_state_ = EncoderState::EngageYawBrake; + } else { + const double raw_error_angle = + kEncoderBottomYawRawAngleErrorSign + * static_cast(raw_error_count) + / static_cast(kBottomYawRawAngleModulus) * 2.0 + * std::numbers::pi; + + const double target_velocity = + bottom_yaw_angle_pid_.update(raw_error_angle); + const double velocity_error = target_velocity - *bottom_yaw_velocity_; + double control_torque = bottom_yaw_velocity_pid_.update(velocity_error); + + constexpr double kBreakawayTorque = 2.5; + constexpr double kBreakawayVelocityThreshold = 0.10; + constexpr int64_t kBreakawayErrorThreshold = 80; + + if (std::abs(*bottom_yaw_velocity_) < kBreakawayVelocityThreshold + && std::abs(raw_error_count) > kBreakawayErrorThreshold + && std::abs(control_torque) < kBreakawayTorque) { + control_torque = + velocity_error >= 0.0 ? kBreakawayTorque : -kBreakawayTorque; + } + + *bottom_yaw_control_torque_ = control_torque; + } + } + + } else if (encoder_state_ == EncoderState::EngageYawBrake) { + *top_yaw_control_angle_shift_ = 0.0; + *bottom_yaw_control_torque_ = nan_; + *yaw_brake_control_torque_ = kYawBrakeEngageTorque; + + if (std::abs(*yaw_brake_velocity_) < kYawBrakeEngageVelocityThreshold) { + ++yaw_brake_engage_count_; + } else { + yaw_brake_engage_count_ = 0; + } + + if (yaw_brake_engage_count_ >= kYawBrakeEngageConfirmCount) { + yaw_brake_engage_count_ = 0; + *yaw_brake_control_torque_ = nan_; + encoder_state_ = EncoderState::BrakeLocked; + } + + } else if (encoder_state_ == EncoderState::BrakeLocked) { + constexpr double kBrakeLockedHoldTorque = 0.6; + *bottom_yaw_control_torque_ = kBrakeLockedHoldTorque; + *yaw_brake_control_torque_ = nan_; + *top_yaw_control_angle_shift_ = *control_angle_shift_; + + } else if (encoder_state_ == EncoderState::ReleaseYawBrake) { + *top_yaw_control_angle_shift_ = 0.0; + *bottom_yaw_control_torque_ = nan_; + *yaw_brake_control_torque_ = kYawBrakeReleaseTorque; + + ++yaw_brake_release_elapsed_count_; + + if (std::abs(*yaw_brake_velocity_) > kYawBrakeReleaseMotionVelocityThreshold) { + yaw_brake_release_seen_motion_ = true; + } + + if (yaw_brake_release_seen_motion_ + && std::abs(*yaw_brake_velocity_) < kYawBrakeReleaseStopVelocityThreshold) { + ++yaw_brake_release_stop_count_; + } else { + yaw_brake_release_stop_count_ = 0; + } + + if (yaw_brake_release_stop_count_ >= kYawBrakeReleaseStopConfirmCount) { + yaw_brake_engage_count_ = 0; + yaw_brake_release_elapsed_count_ = 0; + yaw_brake_release_stop_count_ = 0; + yaw_brake_release_seen_motion_ = false; + *yaw_brake_control_torque_ = nan_; + encoder_state_ = EncoderState::Idle; + } else if (yaw_brake_release_elapsed_count_ >= kYawBrakeReleaseTimeoutCount) { + RCLCPP_WARN( + get_logger(), "Yaw brake release timed out, stop applying reverse torque " + "for protection."); + yaw_brake_engage_count_ = 0; + yaw_brake_release_elapsed_count_ = 0; + yaw_brake_release_stop_count_ = 0; + yaw_brake_release_seen_motion_ = false; + *yaw_brake_control_torque_ = nan_; + encoder_state_ = EncoderState::Idle; + } + + } else { + *top_yaw_control_angle_shift_ = 0.0; + *bottom_yaw_control_torque_ = nan_; + *yaw_brake_control_torque_ = nan_; + } + } else { + *yaw_brake_control_torque_ = nan_; + *top_yaw_control_torque_ = top_yaw_velocity_pid_.update( top_yaw_angle_pid_.update(*control_angle_error_) - *gimbal_yaw_velocity_imu_); *bottom_yaw_control_torque_ = bottom_yaw_velocity_pid_.update( bottom_yaw_angle_pid_.update(bottom_yaw_control_error()) - bottom_yaw_velocity_imu()); + + *bottom_yaw_control_angle_ = nan_; + *top_yaw_control_angle_shift_ = nan_; } + + last_gimbal_mode_ = mode; } private: + enum class EncoderState { + Idle, + AlignTargetRawAngle, + EngageYawBrake, + BrakeLocked, + ReleaseYawBrake + }; static constexpr double nan_ = std::numeric_limits::quiet_NaN(); - double wrap_angle(double angle) { - while (angle > 0) - angle += 2 * std::numbers::pi; - while (angle >= 2 * std::numbers::pi) - angle -= 2 * std::numbers::pi; - return angle; - } + static constexpr int64_t kBottomYawRawAngleModulus = 1 << 16; + static constexpr int64_t kEncoderBottomYawTargetRawAngle = 2434; + static constexpr int64_t kEncoderBottomYawTargetToleranceRawAngle = 80; + static constexpr double kEncoderBottomYawLockVelocityThreshold = 0.15; + static constexpr double kEncoderBottomYawRawAngleErrorSign = -1.0; + + static constexpr double kYawBrakeEngageTorque = -0.3; + static constexpr double kYawBrakeEngageVelocityThreshold = 0.1; + static constexpr int kYawBrakeEngageConfirmCount = 50; + + static constexpr double kYawBrakeReleaseTorque = 0.3; + static constexpr double kYawBrakeReleaseMotionVelocityThreshold = 0.2; + static constexpr double kYawBrakeReleaseStopVelocityThreshold = 0.08; + static constexpr int kYawBrakeReleaseStopConfirmCount = 20; + static constexpr int kYawBrakeReleaseTimeoutCount = 400; double bottom_yaw_control_error() { if (!std::isfinite(*top_yaw_angle_) || !std::isfinite(*control_angle_error_)) return nan_; - // Avoid relying on top_yaw_angle in [0, 2pi) and control_angle_error in [-pi, pi]. constexpr double alignment = 2 * std::numbers::pi; double err = std::fmod(*top_yaw_angle_ + *control_angle_error_ + std::numbers::pi, alignment); @@ -135,27 +326,31 @@ class DualYawController InputInterface top_yaw_angle_, top_yaw_velocity_; InputInterface bottom_yaw_angle_, bottom_yaw_velocity_; + InputInterface bottom_yaw_raw_angle_; InputInterface gimbal_yaw_velocity_imu_, chassis_yaw_velocity_imu_; + InputInterface yaw_brake_velocity_; InputInterface gimbal_mode_; InputInterface control_angle_error_, control_angle_shift_; + InputInterface bottom_yaw_torque_; pid::PidCalculator top_yaw_angle_pid_, top_yaw_velocity_pid_; pid::PidCalculator bottom_yaw_angle_pid_, bottom_yaw_velocity_pid_; OutputInterface top_yaw_control_torque_; OutputInterface bottom_yaw_control_torque_; - - OutputInterface top_yaw_control_angle_; - OutputInterface bottom_yaw_control_angle_shift_; - OutputInterface bottom_yaw_control_angle_; OutputInterface top_yaw_control_angle_shift_; + OutputInterface yaw_brake_control_torque_; rmcs_msgs::GimbalMode last_gimbal_mode_ = rmcs_msgs::GimbalMode::IMU; - bool top_yaw_encoder_locked_ = false; - double top_yaw_encoder_angle_ = nan_; + EncoderState encoder_state_ = EncoderState::Idle; + + int yaw_brake_engage_count_ = 0; + int yaw_brake_release_elapsed_count_ = 0; + int yaw_brake_release_stop_count_ = 0; + bool yaw_brake_release_seen_motion_ = false; class DualYawStatus : public rmcs_executor::Component { public: diff --git a/rmcs_ws/src/rmcs_core/src/controller/gimbal/eccentric_dual_yaw.cpp b/rmcs_ws/src/rmcs_core/src/controller/gimbal/eccentric_dual_yaw.cpp index 4e6c4e72d..0f2734ec1 100644 --- a/rmcs_ws/src/rmcs_core/src/controller/gimbal/eccentric_dual_yaw.cpp +++ b/rmcs_ws/src/rmcs_core/src/controller/gimbal/eccentric_dual_yaw.cpp @@ -1,3 +1,6 @@ +#include "controller/gimbal/eccentric_dual_yaw_solver.hpp" +#include "controller/pid/pid_calculator.hpp" + #include #include #include @@ -12,8 +15,6 @@ #include #include -#include "controller/pid/pid_calculator.hpp" - namespace rmcs_core::controller::gimbal { using namespace rmcs_description; @@ -27,6 +28,12 @@ class EccentricDualYaw rclcpp::NodeOptions{}.automatically_declare_parameters_from_overrides(true)} {} auto before_updating() -> void override { + if (!input_.navigation_enable_control.ready()) { + input_.navigation_enable_control.make_and_bind_directly(false); + input_.navigation_toward.make_and_bind_directly(kVecNaN); + RCLCPP_INFO(get_logger(), "Manual mode without navigation gimbal control"); + } + enter_disabled_state(); previous_actual_yaw_ = current_barrel_yaw_pitch().first; previous_yaw_timestamp_ = *input_.timestamp; @@ -42,56 +49,78 @@ class EccentricDualYaw return; } - const double yaw_shift = kJoystickSensitivity * input_.joystick_left->y() - + kMouseSensitivity * input_.mouse_velocity->y(); - const double pitch_shift = -kJoystickSensitivity * input_.joystick_left->x() - - kMouseSensitivity * input_.mouse_velocity->x(); - - manual_bottom_yaw_target_ = limit_rad(manual_bottom_yaw_target_ + yaw_shift); - manual_pitch_target_ = - std::clamp(manual_pitch_target_ + pitch_shift, upper_limit_, lower_limit_); - - const auto manual_target = ControlTarget{ - .bottom_yaw = {.target = manual_bottom_yaw_target_}, - .top_yaw = {.target = 0.0}, - .pitch = {.target = manual_pitch_target_}, - }; - apply_control(manual_target); + // 自动瞄准控制。 + if (input_.enable_autoaim()) { + const auto error = solver_.update( + EccentricDualYawSolver::AutoAim{ + *input_.tf, + *input_.top_yaw_angle, + *input_.auto_aim_control_direction, + *input_.auto_aim_robot_center, + upper_limit_, + lower_limit_, + }); + apply_control(error.bottom_yaw, error.top_yaw, error.pitch); + + const auto [_, cur_pitch] = current_barrel_yaw_pitch(); + stored_bottom_yaw_target_ = limit_rad(current_bottom_world_yaw() + error.bottom_yaw); + stored_pitch_target_ = + std::clamp(limit_rad(cur_pitch + error.pitch), upper_limit_, lower_limit_); + return; + } + + // 导航控制。 + if (input_.enable_navigation()) { + const auto error = solver_.update( + EccentricDualYawSolver::Navigation{ + *input_.top_yaw_angle, + *input_.navigation_toward, + current_bottom_world_yaw(), + actual_yaw_pitch.second, + stored_bottom_yaw_target_, + stored_pitch_target_, + upper_limit_, + lower_limit_, + }); + apply_control(error.bottom_yaw, error.top_yaw, error.pitch); + + stored_bottom_yaw_target_ = limit_rad(current_bottom_world_yaw() + error.bottom_yaw); + stored_pitch_target_ = std::clamp( + limit_rad(actual_yaw_pitch.second + error.pitch), upper_limit_, lower_limit_); + return; + } + + // 手动控制。 + { + const double yaw_shift = kJoystickSensitivity * input_.joystick_left->y() + + kMouseSensitivity * input_.mouse_velocity->y(); + const double pitch_shift = -kJoystickSensitivity * input_.joystick_left->x() + - kMouseSensitivity * input_.mouse_velocity->x(); + + stored_bottom_yaw_target_ = limit_rad(stored_bottom_yaw_target_ + yaw_shift); + stored_pitch_target_ = + std::clamp(stored_pitch_target_ + pitch_shift, upper_limit_, lower_limit_); + + const double bottom_yaw_error = + limit_rad(stored_bottom_yaw_target_ - current_bottom_world_yaw()); + const double pitch_error = limit_rad(stored_pitch_target_ - actual_yaw_pitch.second); + + apply_control(bottom_yaw_error, limit_rad(-*input_.top_yaw_angle), pitch_error); + } } private: static constexpr double kNaN = std::numeric_limits::quiet_NaN(); + static inline auto kVecNaN = Eigen::Vector2d{kNaN, kNaN}; + static constexpr double kEpsilon = 1e-9; + static constexpr double kMinDt = 1e-6; static constexpr double kJoystickSensitivity = 0.006; static constexpr double kMouseSensitivity = 0.5; const double upper_limit_{get_parameter("upper_limit").as_double()}; const double lower_limit_{get_parameter("lower_limit").as_double()}; - const double bottom_yaw_viscous_ff_gain_{get_parameter_or("bottom_yaw_viscous_ff_gain", 0.0)}; - const double bottom_yaw_coulomb_ff_gain_{get_parameter_or("bottom_yaw_coulomb_ff_gain", 0.0)}; - const double bottom_yaw_coulomb_ff_tanh_gain_{ - get_parameter_or("bottom_yaw_coulomb_ff_tanh_gain", 100.0)}; - const double k_top_to_bottom_{get_parameter_or("k_top_to_bottom", 0.0)}; - const double top_yaw_viscous_ff_gain_{get_parameter_or("top_yaw_viscous_ff_gain", 0.0)}; - const double top_yaw_coulomb_ff_gain_{get_parameter_or("top_yaw_coulomb_ff_gain", 0.0)}; - const double top_yaw_coulomb_ff_tanh_gain_{ - get_parameter_or("top_yaw_coulomb_ff_tanh_gain", 100.0)}; - const double pitch_viscous_ff_gain_{get_parameter_or("pitch_viscous_ff_gain", 0.0)}; - const double pitch_coulomb_ff_gain_{get_parameter_or("pitch_coulomb_ff_gain", 0.0)}; - const double pitch_coulomb_ff_tanh_gain_{get_parameter_or("pitch_coulomb_ff_tanh_gain", 100.0)}; - const double pitch_gravity_ff_gain_{get_parameter_or("pitch_gravity_ff_gain", 0.0)}; - const double pitch_gravity_ff_phase_{get_parameter_or("pitch_gravity_ff_phase", 0.0)}; - - struct AxisCommand { - double target = 0.0; - double velocity_ff = 0.0; - double acceleration_ff = 0.0; - }; - struct ControlTarget { - AxisCommand bottom_yaw; - AxisCommand top_yaw; - AxisCommand pitch; - }; + EccentricDualYawSolver solver_; struct Input { explicit Input(rmcs_executor::Component& component) { @@ -99,6 +128,7 @@ class EccentricDualYaw component.register_input("/remote/switch/right", switch_right); component.register_input("/remote/switch/left", switch_left); component.register_input("/remote/mouse/velocity", mouse_velocity); + component.register_input("/remote/mouse", mouse); component.register_input("/predefined/timestamp", timestamp); component.register_input("/tf", tf); @@ -110,6 +140,13 @@ class EccentricDualYaw component.register_input("/gimbal/pitch/angle", pitch_angle); component.register_input("/gimbal/pitch/velocity", pitch_velocity); component.register_input("/chassis/yaw/velocity_imu", chassis_yaw_velocity_imu); + + component.register_input( + "/auto_aim/control_direction", auto_aim_control_direction, false); + component.register_input("/auto_aim/robot_center", auto_aim_robot_center, false); + component.register_input( + "/rmcs_navigation/enable_control", navigation_enable_control, false); + component.register_input("/rmcs_navigation/gimbal_toward", navigation_toward, false); } auto enable_control() const noexcept -> bool { @@ -121,10 +158,33 @@ class EccentricDualYaw return true; } + auto enable_autoaim() const noexcept -> bool { + using namespace rmcs_msgs; + if (*switch_right != Switch::UP && !mouse->right) + return false; + if (!auto_aim_control_direction.ready()) + return false; + const auto& dir = *auto_aim_control_direction; + if (!auto_aim_robot_center.ready()) + return false; + const auto& center = *auto_aim_robot_center; + return !dir.isZero() && std::isfinite(dir.x()) && std::isfinite(dir.y()) + && std::isfinite(dir.z()) && !center.isZero() && std::isfinite(center.x()) + && std::isfinite(center.y()) && std::isfinite(center.z()); + } + + auto enable_navigation() const noexcept -> bool { + if (!*navigation_enable_control || !navigation_toward.ready()) + return false; + + return true; + } + InputInterface joystick_left; InputInterface switch_right; InputInterface switch_left; InputInterface mouse_velocity; + InputInterface mouse; InputInterface timestamp; InputInterface tf; @@ -136,6 +196,11 @@ class EccentricDualYaw InputInterface pitch_angle; InputInterface pitch_velocity; InputInterface chassis_yaw_velocity_imu; + + InputInterface auto_aim_control_direction; + InputInterface auto_aim_robot_center; + InputInterface navigation_enable_control; + InputInterface navigation_toward; } input_{*this}; struct Output { @@ -169,8 +234,8 @@ class EccentricDualYaw pid::PidCalculator pitch_angle_pid_{pid::make_pid_calculator(*this, "pitch_angle_")}; pid::PidCalculator pitch_velocity_pid_{pid::make_pid_calculator(*this, "pitch_velocity_")}; - double manual_bottom_yaw_target_ = 0.0; - double manual_pitch_target_ = 0.0; + double stored_bottom_yaw_target_ = 0.0; + double stored_pitch_target_ = 0.0; double previous_actual_yaw_ = 0.0; std::chrono::steady_clock::time_point previous_yaw_timestamp_{}; @@ -199,8 +264,9 @@ class EccentricDualYaw auto enter_disabled_state() -> void { reset_all_controls(); - manual_bottom_yaw_target_ = current_bottom_world_yaw(); - manual_pitch_target_ = + solver_.update(EccentricDualYawSolver::SetDisabled{}); + stored_bottom_yaw_target_ = current_bottom_world_yaw(); + stored_pitch_target_ = std::clamp(limit_rad(*input_.pitch_angle), upper_limit_, lower_limit_); *output_.yaw_control_angle_error = kNaN; @@ -208,9 +274,9 @@ class EccentricDualYaw auto compute_actual_yaw_velocity(double actual_yaw) -> double { const auto now = *input_.timestamp; - const double dt = std::chrono::duration(now - previous_yaw_timestamp_).count(); + const auto dt = std::chrono::duration(now - previous_yaw_timestamp_).count(); double velocity = 0.0; - if (dt > 1e-6) + if (dt > kMinDt) velocity = limit_rad(actual_yaw - previous_actual_yaw_) / dt; previous_actual_yaw_ = actual_yaw; previous_yaw_timestamp_ = now; @@ -221,11 +287,11 @@ class EccentricDualYaw auto direction = fast_tf::cast( PitchLink::DirectionVector{Eigen::Vector3d::UnitX()}, *input_.tf); Eigen::Vector3d vector = *direction; - if (vector.norm() > 1e-9) + if (vector.norm() > kEpsilon) vector.normalize(); else vector = Eigen::Vector3d::UnitX(); - const double xy_norm = std::hypot(vector.x(), vector.y()); + const auto xy_norm = std::hypot(vector.x(), vector.y()); return {std::atan2(vector.y(), vector.x()), std::atan2(-vector.z(), xy_norm)}; } @@ -234,68 +300,27 @@ class EccentricDualYaw BottomYawLink::DirectionVector{Eigen::Vector3d::UnitX()}, *input_.tf); Eigen::Vector3d vector = *direction; vector.z() = 0.0; - if (vector.norm() > 1e-9) + if (vector.norm() > kEpsilon) vector.normalize(); else vector = Eigen::Vector3d::UnitX(); return std::atan2(vector.y(), vector.x()); } - auto apply_control(const ControlTarget& target) -> void { - - constexpr auto friction_feedforward = [](double viscous_gain, double coulomb_gain, - double tanh_gain, double velocity) -> double { - return (viscous_gain * velocity) + (coulomb_gain * std::tanh(tanh_gain * velocity)); - }; - - const double current_bottom_angle = current_bottom_world_yaw(); - const double current_bottom_velocity = + auto apply_control(double bottom_yaw_error, double top_yaw_error, double pitch_error) -> void { + const auto current_bottom_velocity = *input_.bottom_yaw_velocity + *input_.chassis_yaw_velocity_imu; - const double current_top_angle = limit_rad(*input_.top_yaw_angle); - const double current_pitch_angle = limit_rad(*input_.pitch_angle); - - const double bottom_yaw_error = limit_rad(target.bottom_yaw.target - current_bottom_angle); - const double top_yaw_error = limit_rad(target.top_yaw.target - current_top_angle); - const double pitch_error = limit_rad(target.pitch.target - current_pitch_angle); - - const double bottom_velocity_ref = - bottom_yaw_angle_pid_.update(bottom_yaw_error) + target.bottom_yaw.velocity_ff; - const double top_velocity_ref = - top_yaw_angle_pid_.update(top_yaw_error) + target.top_yaw.velocity_ff; - const double pitch_velocity_ref = - pitch_angle_pid_.update(pitch_error) + target.pitch.velocity_ff; - - const double bottom_world_velocity_ff = - target.bottom_yaw.velocity_ff + *input_.chassis_yaw_velocity_imu; - const double top_yaw_continuous_torque_ff = - target.top_yaw.acceleration_ff + top_yaw_viscous_ff_gain_ * target.top_yaw.velocity_ff; - const double bottom_yaw_torque_ff = - target.bottom_yaw.acceleration_ff - + friction_feedforward( - bottom_yaw_viscous_ff_gain_, bottom_yaw_coulomb_ff_gain_, - bottom_yaw_coulomb_ff_tanh_gain_, bottom_world_velocity_ff) - - k_top_to_bottom_ * top_yaw_continuous_torque_ff; - - const double top_yaw_torque_ff = target.top_yaw.acceleration_ff - + friction_feedforward( - top_yaw_viscous_ff_gain_, top_yaw_coulomb_ff_gain_, - top_yaw_coulomb_ff_tanh_gain_, top_velocity_ref); - const double pitch_torque_ff = - target.pitch.acceleration_ff - + friction_feedforward( - pitch_viscous_ff_gain_, pitch_coulomb_ff_gain_, pitch_coulomb_ff_tanh_gain_, - pitch_velocity_ref) - + pitch_gravity_ff_gain_ * std::sin(current_pitch_angle - pitch_gravity_ff_phase_); - *output_.bottom_yaw_control_torque = - bottom_yaw_velocity_pid_.update(bottom_velocity_ref - current_bottom_velocity) - + bottom_yaw_torque_ff; + const auto bottom_velocity_ref = bottom_yaw_angle_pid_.update(bottom_yaw_error); + const auto top_velocity_ref = top_yaw_angle_pid_.update(top_yaw_error); + const auto pitch_velocity_ref = pitch_angle_pid_.update(pitch_error); + *output_.top_yaw_control_torque = - top_yaw_velocity_pid_.update(top_velocity_ref - *input_.top_yaw_velocity) - + top_yaw_torque_ff; + top_yaw_velocity_pid_.update(top_velocity_ref - *input_.top_yaw_velocity); + *output_.bottom_yaw_control_torque = + bottom_yaw_velocity_pid_.update(bottom_velocity_ref - current_bottom_velocity); *output_.pitch_control_torque = - pitch_velocity_pid_.update(pitch_velocity_ref - *input_.pitch_velocity) - + pitch_torque_ff; + pitch_velocity_pid_.update(pitch_velocity_ref - *input_.pitch_velocity); *output_.yaw_control_angle_error = bottom_yaw_error; } @@ -304,5 +329,4 @@ class EccentricDualYaw } // namespace rmcs_core::controller::gimbal #include - PLUGINLIB_EXPORT_CLASS(rmcs_core::controller::gimbal::EccentricDualYaw, rmcs_executor::Component) diff --git a/rmcs_ws/src/rmcs_core/src/controller/gimbal/eccentric_dual_yaw_solver.hpp b/rmcs_ws/src/rmcs_core/src/controller/gimbal/eccentric_dual_yaw_solver.hpp new file mode 100644 index 000000000..7f9d2fd07 --- /dev/null +++ b/rmcs_ws/src/rmcs_core/src/controller/gimbal/eccentric_dual_yaw_solver.hpp @@ -0,0 +1,155 @@ +#pragma once + +#include +#include +#include +#include +#include + +#include +#include +#include + +namespace rmcs_core::controller::gimbal { + +class EccentricDualYawSolver { +public: + struct Error { + double bottom_yaw = kNaN_; + double top_yaw = kNaN_; + double pitch = kNaN_; + bool valid = false; + }; + + class Operation { + friend class EccentricDualYawSolver; + virtual auto update(EccentricDualYawSolver& solver) const -> Error = 0; + }; + + auto update(const Operation& op) -> Error { return op.update(*this); } + auto enabled() const -> bool { return enabled_; } + + class SetDisabled : public Operation { + private: + auto update(EccentricDualYawSolver& s) const -> Error override { + s.enabled_ = false; + return {kNaN_, kNaN_, kNaN_, false}; + } + }; + + class AutoAim : public Operation { + public: + AutoAim( + const rmcs_description::Tf& tf, double top_yaw_angle, + const Eigen::Vector3d& control_direction, Eigen::Vector3d robot_center, + double upper_pitch, double lower_pitch) + : tf_(tf) + , top_yaw_angle_(top_yaw_angle) + , dir_(control_direction.normalized()) + , center_(std::move(robot_center)) + , upper_(upper_pitch) + , lower_(lower_pitch) {} + + private: + auto update(EccentricDualYawSolver& s) const -> Error override { + using namespace rmcs_description; + + const auto dir_gcl = + fast_tf::cast(OdomGimbalImu::DirectionVector{dir_}, tf_); + const auto ctr_gcl = + fast_tf::cast(OdomGimbalImu::Position{center_}, tf_); + const auto cam_gcl = fast_tf::lookup_transform(tf_); + const auto brl_imu = fast_tf::cast( + PitchLink::DirectionVector{Eigen::Vector3d::UnitX()}, tf_); + const auto btm_gcl = fast_tf::cast( + BottomYawLink::DirectionVector{Eigen::Vector3d::UnitX()}, tf_); + + const Eigen::Vector3d dir = normalize(*dir_gcl); + const Eigen::Vector3d brl = normalize(*brl_imu); + const Eigen::Vector3d btm = normalize(*btm_gcl); + const Eigen::Vector3d diff = *ctr_gcl - cam_gcl.translation(); + + const double center_azimuth = + (diff.head<2>().norm() > kEpsilon) ? std::atan2(diff.y(), diff.x()) : 0.0; + const double barrel_azimuth = std::atan2(dir.y(), dir.x()); + const double barrel_pitch = std::atan2(-dir_.z(), std::hypot(dir_.x(), dir_.y())); + const double current_btm = std::atan2(btm.y(), btm.x()); + const double current_brl = std::atan2(-brl.z(), std::hypot(brl.x(), brl.y())); + const double current_top = limit_rad(top_yaw_angle_); + + const double bottom_error = limit_rad(center_azimuth - current_btm); + const double desired_top = limit_rad(barrel_azimuth - center_azimuth); + const double top_error = limit_rad(desired_top - current_top); + const double desired_pitch = std::clamp(barrel_pitch, upper_, lower_); + const double pitch_error = limit_rad(desired_pitch - current_brl); + + s.enabled_ = true; + return {bottom_error, top_error, pitch_error, true}; + } + + const rmcs_description::Tf& tf_; + double top_yaw_angle_; + Eigen::Vector3d dir_, center_; + double upper_, lower_; + }; + + class Navigation : public Operation { + public: + Navigation( + double top_yaw_angle, Eigen::Vector2d toward, double current_bottom_yaw, + double current_pitch_yaw, double fallback_bottom, double fallback_pitch, double upper, + double lower) + : top_yaw_angle_(top_yaw_angle) + , toward_(std::move(toward)) + , current_bottom_(current_bottom_yaw) + , current_pitch_(current_pitch_yaw) + , fallback_bottom_(fallback_bottom) + , fallback_pitch_(fallback_pitch) + , upper_(upper) + , lower_(lower) {} + + private: + auto update(EccentricDualYawSolver& s) const -> Error override { + double bx = std::isfinite(toward_.x()) ? toward_.x() : fallback_bottom_; + double by = std::isfinite(toward_.y()) ? toward_.y() : fallback_pitch_; + by = std::clamp(by, upper_, lower_); + + const double current_top = limit_rad(top_yaw_angle_); + + s.enabled_ = true; + return { + limit_rad(bx - current_bottom_), + limit_rad(0.0 - current_top), + limit_rad(by - current_pitch_), + true, + }; + } + double top_yaw_angle_; + Eigen::Vector2d toward_; + double current_bottom_, current_pitch_, fallback_bottom_, fallback_pitch_, upper_, lower_; + }; + +private: + static constexpr double kNaN_ = std::numeric_limits::quiet_NaN(); + static constexpr double kEpsilon = 1e-9; + + static auto limit_rad(double a) -> double { + constexpr double p = std::numbers::pi_v; + while (a > p) + a -= 2.0 * p; + while (a <= -p) + a += 2.0 * p; + return a; + } + + static auto normalize(const Eigen::Vector3d& v) -> Eigen::Vector3d { + double n = v.norm(); + if (n > kEpsilon) + return v / n; + return Eigen::Vector3d::UnitX(); + } + + bool enabled_ = false; +}; + +} // namespace rmcs_core::controller::gimbal diff --git a/rmcs_ws/src/rmcs_core/src/controller/gimbal/hero_gimbal_controller.cpp b/rmcs_ws/src/rmcs_core/src/controller/gimbal/hero_gimbal_controller.cpp index 939f17f6d..f3f8d1310 100644 --- a/rmcs_ws/src/rmcs_core/src/controller/gimbal/hero_gimbal_controller.cpp +++ b/rmcs_ws/src/rmcs_core/src/controller/gimbal/hero_gimbal_controller.cpp @@ -24,11 +24,7 @@ class HeroGimbalController HeroGimbalController() : Node( get_component_name(), - rclcpp::NodeOptions{}.automatically_declare_parameters_from_overrides(true)) - , upper_limit_(get_parameter("upper_limit").as_double()) - , lower_limit_(get_parameter("lower_limit").as_double()) - , imu_gimbal_solver(*this, upper_limit_, lower_limit_) - , encoder_gimbal_solver(*this, upper_limit_, lower_limit_) { + rclcpp::NodeOptions{}.automatically_declare_parameters_from_overrides(true)) { register_input("/remote/joystick/left", joystick_left_); register_input("/remote/switch/left", switch_left_); @@ -37,9 +33,9 @@ class HeroGimbalController register_input("/remote/mouse", mouse_); register_input("/remote/keyboard", keyboard_); - register_input("/gimbal/auto_aim/control_direction", auto_aim_control_direction_, false); - register_input("/gimbal/pitch/angle", gimbal_pitch_angle_); - register_input("/gimbal/pitch/raw_angle", gimbal_pitch_raw_angle_); + register_input("/auto_aim/should_control", auto_aim_should_control_, false); + register_input("/auto_aim/control_direction", auto_aim_control_direction_, false); + register_input("/tf", tf_); register_output("/gimbal/mode", gimbal_mode_, rmcs_msgs::GimbalMode::IMU); @@ -53,6 +49,7 @@ class HeroGimbalController const auto& switch_left = *switch_left_; const auto& switch_right = *switch_right_; + // RCLCPP_INFO(get_logger(), "pitch %f", *gimbal_pitch_angle_); do { using namespace rmcs_msgs; if ((switch_left == Switch::UNKNOWN || switch_right == Switch::UNKNOWN) @@ -70,20 +67,28 @@ class HeroGimbalController } } + bool switch_encoder_to_imu_by_c = false; + + if (!last_keyboard_.c && keyboard_->c && gimbal_mode_keyboard_ == GimbalMode::ENCODER) { + gimbal_mode_keyboard_ = GimbalMode::IMU; + switch_encoder_to_imu_by_c = true; + } + *gimbal_mode_ = gimbal_mode_keyboard_; //*gimbal_mode_ = switch_right == Switch::UP ? GimbalMode::ENCODER : GimbalMode::IMU; if (*gimbal_mode_ == GimbalMode::IMU) { - auto angle_error = update_imu_control(); + auto angle_error = switch_encoder_to_imu_by_c ? enter_imu_hold_current_pose() + : update_imu_control(); *yaw_angle_error_ = angle_error.yaw_angle_error; *pitch_angle_error_ = angle_error.pitch_angle_error; - encoder_gimbal_solver.update(PreciseTwoAxisGimbalSolver::SetDisabled{}); + encoder_gimbal_solver_.update(PreciseTwoAxisGimbalSolver::SetDisabled{}); *yaw_control_angle_shift_ = nan_; *pitch_control_angle_ = nan_; } else { - imu_gimbal_solver.update(TwoAxisGimbalSolver::SetDisabled{}); + imu_gimbal_solver_.update(TwoAxisGimbalSolver::SetDisabled{}); *yaw_angle_error_ = nan_; *pitch_angle_error_ = nan_; @@ -97,8 +102,8 @@ class HeroGimbalController } void reset_all_control() { - imu_gimbal_solver.update(TwoAxisGimbalSolver::SetDisabled{}); - encoder_gimbal_solver.update(PreciseTwoAxisGimbalSolver::SetDisabled{}); + imu_gimbal_solver_.update(TwoAxisGimbalSolver::SetDisabled{}); + encoder_gimbal_solver_.update(PreciseTwoAxisGimbalSolver::SetDisabled{}); gimbal_mode_keyboard_ = rmcs_msgs::GimbalMode::IMU; *gimbal_mode_ = rmcs_msgs::GimbalMode::IMU; @@ -110,16 +115,20 @@ class HeroGimbalController } TwoAxisGimbalSolver::AngleError update_imu_control() { - if (auto_aim_control_direction_.ready() - && (mouse_->right || *switch_right_ == rmcs_msgs::Switch::UP) - && !auto_aim_control_direction_->isZero()) { - return imu_gimbal_solver.update( + const auto auto_aim_requested = mouse_->right || *switch_right_ == rmcs_msgs::Switch::UP; + const auto should_control = auto_aim_should_control_.ready() && *auto_aim_should_control_; + const auto valid_control = auto_aim_control_direction_.ready() + && auto_aim_control_direction_->allFinite() + && !auto_aim_control_direction_->isZero(); + + if (auto_aim_requested && should_control && valid_control) { + return imu_gimbal_solver_.update( TwoAxisGimbalSolver::SetControlDirection{ OdomImu::DirectionVector{*auto_aim_control_direction_}}); } - if (!imu_gimbal_solver.enabled()) - return imu_gimbal_solver.update(TwoAxisGimbalSolver::SetToLevel{}); + if (!imu_gimbal_solver_.enabled()) + return imu_gimbal_solver_.update(TwoAxisGimbalSolver::SetToLevel{}); constexpr double joystick_sensitivity = 0.006; constexpr double mouse_sensitivity = 0.5; @@ -129,34 +138,46 @@ class HeroGimbalController double pitch_shift = -joystick_sensitivity * joystick_left_->x() + mouse_sensitivity * mouse_velocity_->x(); - return imu_gimbal_solver.update( + return imu_gimbal_solver_.update( TwoAxisGimbalSolver::SetControlShift{yaw_shift, pitch_shift}); } + TwoAxisGimbalSolver::AngleError enter_imu_hold_current_pose() { + if (!tf_.ready()) + return update_imu_control(); + + auto current_direction = + fast_tf::cast(PitchLink::DirectionVector{Eigen::Vector3d::UnitX()}, *tf_); + + return imu_gimbal_solver_.update( + TwoAxisGimbalSolver::SetControlDirection{OdomImu::DirectionVector{*current_direction}}); + } + PreciseTwoAxisGimbalSolver::ControlAngle update_encoder_control() { - if (!encoder_gimbal_solver.enabled()) { - return encoder_gimbal_solver.update( + if (!encoder_gimbal_solver_.enabled()) { + return encoder_gimbal_solver_.update( PreciseTwoAxisGimbalSolver::SetControlPitch{encoder_init_pitch_}); } constexpr double mouse_yaw_sensitivity = 0.5 * 0.114; constexpr double mouse_pitch_sensitivity = 0.5 * 0.095; - constexpr double joystick_sensitivity = 0.006 * 0.05; + constexpr double joystick_sensitivity = 0.006 * 0.02; double yaw_shift = joystick_sensitivity * joystick_left_->y() + mouse_yaw_sensitivity * mouse_velocity_->y(); double pitch_shift = -joystick_sensitivity * joystick_left_->x() + mouse_pitch_sensitivity * mouse_velocity_->x(); - return encoder_gimbal_solver.update( + return encoder_gimbal_solver_.update( PreciseTwoAxisGimbalSolver::SetControlShift{yaw_shift, pitch_shift}); } private: static constexpr double nan_ = std::numeric_limits::quiet_NaN(); - static constexpr double kEInitPitch = -0.476972; // Initial angle for standalone E. - static constexpr double kCtrlEInitPitch = -0.541591; // Initial angle for Ctrl+E. + static constexpr double kEInitPitch = -0.346584; // Initial angle for standalone E. + static constexpr double kCtrlEInitPitch = -0.471795; // Initial angle for Ctrl+E. + double encoder_init_pitch_ = kEInitPitch; InputInterface joystick_left_; InputInterface switch_right_; @@ -167,24 +188,35 @@ class HeroGimbalController rmcs_msgs::Keyboard last_keyboard_ = rmcs_msgs::Keyboard::zero(); + InputInterface auto_aim_should_control_; InputInterface auto_aim_control_direction_; - InputInterface gimbal_pitch_angle_; - InputInterface gimbal_pitch_raw_angle_; + InputInterface tf_; rmcs_msgs::GimbalMode gimbal_mode_keyboard_ = rmcs_msgs::GimbalMode::IMU; OutputInterface gimbal_mode_; - const double upper_limit_, lower_limit_; - TwoAxisGimbalSolver imu_gimbal_solver; - PreciseTwoAxisGimbalSolver encoder_gimbal_solver; - OutputInterface yaw_angle_error_, pitch_angle_error_; OutputInterface yaw_control_angle_shift_, pitch_control_angle_; + + struct SimpleComponent : Component { + auto update() -> void override {} + }; + std::shared_ptr imu_gimbal_solver_component_ = + create_partner_component("imu_gimbal_solver"); + std::shared_ptr encoder_gimbal_solver_component_ = + create_partner_component("encoder_gimbal_solver"); + + const double upper_limit_{get_parameter("upper_limit").as_double()}; + const double lower_limit_{get_parameter("lower_limit").as_double()}; + + TwoAxisGimbalSolver imu_gimbal_solver_ = { + *imu_gimbal_solver_component_, upper_limit_, lower_limit_}; + PreciseTwoAxisGimbalSolver encoder_gimbal_solver_ = { + *encoder_gimbal_solver_component_, upper_limit_, lower_limit_}; }; } // namespace rmcs_core::controller::gimbal #include - PLUGINLIB_EXPORT_CLASS( rmcs_core::controller::gimbal::HeroGimbalController, rmcs_executor::Component) diff --git a/rmcs_ws/src/rmcs_core/src/controller/gimbal/player_viewer.cpp b/rmcs_ws/src/rmcs_core/src/controller/gimbal/player_viewer.cpp index d4d98715f..72822ef4a 100644 --- a/rmcs_ws/src/rmcs_core/src/controller/gimbal/player_viewer.cpp +++ b/rmcs_ws/src/rmcs_core/src/controller/gimbal/player_viewer.cpp @@ -27,7 +27,6 @@ class PlayerViewer register_input("/remote/mouse/mouse_wheel", mouse_wheel_); register_input("/remote/keyboard", keyboard_); - register_input("/gimbal/player_viewer/angle", gimbal_pitch_angle_); register_input("/gimbal/player_viewer/raw_angle", gimbal_pitch_raw_angle_); register_input("/gimbal/player_viewer/angle", gimbal_player_viewer_angle_); @@ -54,16 +53,16 @@ class PlayerViewer || (switch_left == Switch::DOWN && switch_right == Switch::DOWN)) { reset_all_controls(); } else { - if (!last_keyboard_.q && keyboard.q) { - scope_active_ = !scope_active_; - *is_scope_active_ = scope_active_; - scope_viewer_reset_ = scope_active_; - } if (!last_keyboard_.e && keyboard.e) { viewer_init_angle_ = keyboard.ctrl ? kCtrlInitViewerAngle : kEInitViewerAngle; viewer_reset_ = true; scope_viewer_reset_ = false; } + if (!last_keyboard_.q && keyboard.q) { + scope_active_ = !scope_active_; + *is_scope_active_ = scope_active_; + scope_viewer_reset_ = scope_active_; + } update_viewer_control(); }; @@ -106,7 +105,7 @@ class PlayerViewer *viewer_control_angle_ += *viewer_delta_angle_by_mouse_wheel_; } } - *viewer_control_angle_ = std::clamp(*viewer_control_angle_, upper_limit_, lower_limit_); + *viewer_control_angle_ = std::clamp(*viewer_control_angle_, lower_limit_, upper_limit_); auto norm_angle = [](double angle) { return (angle > pi_) ? angle - 2 * pi_ : angle; }; @@ -130,7 +129,7 @@ class PlayerViewer static constexpr double pi_ = std::numbers::pi; // The steering-hero viewer angle limit range is [0.68, 1.17]. - static constexpr double kEInitViewerAngle = 0.38905; // Move here when E is pressed. + static constexpr double kEInitViewerAngle = -0.065769; // Move here when E is pressed. static constexpr double kCtrlInitViewerAngle = 0.38905; // Move here when Ctrl is pressed. bool scope_viewer_reset_{false}; @@ -143,7 +142,6 @@ class PlayerViewer InputInterface keyboard_; InputInterface mouse_wheel_; - InputInterface gimbal_pitch_angle_; InputInterface gimbal_pitch_raw_angle_; InputInterface gimbal_player_viewer_angle_; diff --git a/rmcs_ws/src/rmcs_core/src/controller/gimbal/two_axis_gimbal_solver.hpp b/rmcs_ws/src/rmcs_core/src/controller/gimbal/two_axis_gimbal_solver.hpp index 038319695..5c048d0ef 100644 --- a/rmcs_ws/src/rmcs_core/src/controller/gimbal/two_axis_gimbal_solver.hpp +++ b/rmcs_ws/src/rmcs_core/src/controller/gimbal/two_axis_gimbal_solver.hpp @@ -23,14 +23,10 @@ class TwoAxisGimbalSolver { }; public: - TwoAxisGimbalSolver( - rmcs_executor::Component& component, double upper_limit, double lower_limit, - bool use_encoder_pitch = false) + TwoAxisGimbalSolver(rmcs_executor::Component& component, double upper_limit, double lower_limit) : upper_limit_(std::cos(upper_limit), -std::sin(upper_limit)) - , lower_limit_(std::cos(lower_limit), -std::sin(lower_limit)) - , use_encoder_pitch_(use_encoder_pitch) { + , lower_limit_(std::cos(lower_limit), -std::sin(lower_limit)) { - component.register_input("/gimbal/pitch/angle", gimbal_pitch_angle_); component.register_input("/tf", tf_); } @@ -114,9 +110,7 @@ class TwoAxisGimbalSolver { if (!control_enabled_) return {nan_, nan_}; - auto [control_direction_yaw_link, pitch] = - use_encoder_pitch_ ? pitch_link_to_yaw_link_from_encoder(control_direction) - : pitch_link_to_yaw_link(control_direction); + auto [control_direction_yaw_link, pitch] = pitch_link_to_yaw_link(control_direction); clamp_control_direction(control_direction_yaw_link); if (!control_enabled_) @@ -155,25 +149,6 @@ class TwoAxisGimbalSolver { return result; } - auto pitch_link_to_yaw_link_from_encoder(const PitchLink::DirectionVector& dir) const - -> std::pair { - - std::pair result; - auto& [dir_yaw_link, pitch_cs] = result; - - const double encoder_pitch = *gimbal_pitch_angle_; - pitch_cs = {std::cos(encoder_pitch), -std::sin(encoder_pitch)}; - - const auto& [x, y, z] = *dir; - dir_yaw_link = { - x * pitch_cs.x() - z * pitch_cs.y(), - y, - x * pitch_cs.y() + z * pitch_cs.x(), - }; - - return result; - } - static PitchLink::DirectionVector yaw_link_to_pitch_link(const YawLink::DirectionVector& dir, const Eigen::Vector2d& pitch) { @@ -238,9 +213,6 @@ class TwoAxisGimbalSolver { static constexpr double nan_ = std::numeric_limits::quiet_NaN(); const Eigen::Vector2d upper_limit_, lower_limit_; - bool use_encoder_pitch_ = false; - - rmcs_executor::Component::InputInterface gimbal_pitch_angle_; rmcs_executor::Component::InputInterface tf_; double yaw_cw_min_ = 0.; diff --git a/rmcs_ws/src/rmcs_core/src/controller/shooting/bullet_feeder_controller_17mm.cpp b/rmcs_ws/src/rmcs_core/src/controller/shooting/bullet_feeder_controller_17mm.cpp index 4b845caae..56cd278c3 100644 --- a/rmcs_ws/src/rmcs_core/src/controller/shooting/bullet_feeder_controller_17mm.cpp +++ b/rmcs_ws/src/rmcs_core/src/controller/shooting/bullet_feeder_controller_17mm.cpp @@ -14,8 +14,7 @@ class BulletFeederController17mm BulletFeederController17mm() : Node( get_component_name(), - rclcpp::NodeOptions{}.automatically_declare_parameters_from_overrides(true)) - , logger_(get_logger()) { + rclcpp::NodeOptions{}.automatically_declare_parameters_from_overrides(true)) { double bullets_per_feeder_turn = get_parameter("bullets_per_feeder_turn").as_double(); double bullet_feeder_angle_per_bullet = 2 * std::numbers::pi / bullets_per_feeder_turn; @@ -50,6 +49,7 @@ class BulletFeederController17mm register_input("/remote/keyboard", keyboard_); register_input("/auto_aim/should_shoot", should_shoot_, false); + register_input("/auto_aim/single_shoot", single_shoot_, false); register_input("/gimbal/bullet_feeder/velocity", bullet_feeder_velocity_); register_output( @@ -61,6 +61,8 @@ class BulletFeederController17mm void before_updating() override { if (!should_shoot_.ready()) should_shoot_.bind_directly(false); + if (!single_shoot_.ready()) + single_shoot_.bind_directly(false); } void update() override { @@ -72,6 +74,8 @@ class BulletFeederController17mm const auto keyboard = *keyboard_; using namespace rmcs_msgs; + const bool current_should_shoot = *should_shoot_; + if ((switch_left == Switch::UNKNOWN || switch_right == Switch::UNKNOWN) || (switch_left == Switch::DOWN && switch_right == Switch::DOWN)) { reset_all_controls(); @@ -84,14 +88,20 @@ class BulletFeederController17mm single_shot_stop_counter_ = std::max(0, single_shot_stop_counter_ - 1); temporary_single_shot_counter_ = std::max(0, temporary_single_shot_counter_ - 1); - if (!last_mouse_.left && mouse.left) + const auto current_single_shoot = *single_shoot_; + + /* */ if (!last_mouse_.left && mouse.left) { // NOLINT single_shot_stop_counter_ = single_shot_max_stop_delay_; - else if (last_switch_left_ != Switch::DOWN && switch_left == Switch::DOWN) { + } else if (last_switch_left_ != Switch::DOWN && switch_left == Switch::DOWN) { single_shot_stop_counter_ = single_shot_max_stop_delay_; temporary_single_shot_counter_ = 500; + } else if (current_single_shoot && current_should_shoot && !last_should_shoot_) { + single_shot_stop_counter_ = single_shot_max_stop_delay_; } shoot_mode = temporary_single_shot_counter_ > 0 ? ShootMode::SINGLE : shoot_mode; + if (current_single_shoot) + shoot_mode = ShootMode::SINGLE; if (*bullet_fired_) single_shot_stop_counter_ = 0; @@ -118,6 +128,7 @@ class BulletFeederController17mm last_switch_left_ = switch_left; last_mouse_ = mouse; last_keyboard_ = keyboard; + last_should_shoot_ = current_should_shoot; } private: @@ -163,14 +174,15 @@ class BulletFeederController17mm } else { if (bullet_feeder_working_status_ == 500) { enter_jam_protection(); - RCLCPP_INFO(logger_, "Instant jammed! Count = %d", bullet_feeder_jammed_count_); + RCLCPP_INFO( + get_logger(), "Instant jammed! Count = %d", bullet_feeder_jammed_count_); } else if (bullet_feeder_working_status_ > 0) { bullet_feeder_working_status_ = 0; } else if (bullet_feeder_working_status_ > -500) { bullet_feeder_working_status_--; } else { enter_jam_protection(); - RCLCPP_INFO(logger_, "Jammed! Count = %d", bullet_feeder_jammed_count_); + RCLCPP_INFO(get_logger(), "Jammed! Count = %d", bullet_feeder_jammed_count_); } } } @@ -189,8 +201,6 @@ class BulletFeederController17mm static constexpr double nan_ = std::numeric_limits::quiet_NaN(); - rclcpp::Logger logger_; - double bullet_feeder_working_velocity, bullet_feeder_safe_shot_velocity; double bullet_feeder_eject_velocity_, bullet_feeder_deep_eject_velocity_; int bullet_feeder_eject_time_, bullet_feeder_deep_eject_time_; @@ -207,6 +217,8 @@ class BulletFeederController17mm InputInterface keyboard_; InputInterface should_shoot_; + InputInterface single_shoot_; + bool last_should_shoot_ = false; rmcs_msgs::Switch last_switch_right_ = rmcs_msgs::Switch::UNKNOWN; rmcs_msgs::Switch last_switch_left_ = rmcs_msgs::Switch::UNKNOWN; diff --git a/rmcs_ws/src/rmcs_core/src/controller/shooting/friction_wheel_controller.cpp b/rmcs_ws/src/rmcs_core/src/controller/shooting/friction_wheel_controller.cpp index a83dc5f4d..f0b277f1c 100644 --- a/rmcs_ws/src/rmcs_core/src/controller/shooting/friction_wheel_controller.cpp +++ b/rmcs_ws/src/rmcs_core/src/controller/shooting/friction_wheel_controller.cpp @@ -45,10 +45,15 @@ class FrictionWheelController friction_count_ = friction_wheels.size(); friction_working_velocities_ = std::make_unique(friction_count_); friction_velocities_ = std::make_unique[]>(friction_count_); + friction_working_velocity_outputs_ = + std::make_unique[]>(friction_count_); friction_control_velocities_ = std::make_unique[]>(friction_count_); for (size_t i = 0; i < friction_count_; i++) { friction_working_velocities_[i] = friction_working_velocities[i]; register_input(friction_wheels[i] + "/velocity", friction_velocities_[i]); + register_output( + friction_wheels[i] + "/working_velocity", friction_working_velocity_outputs_[i], + friction_working_velocities_[i]); register_output( friction_wheels[i] + "/control_velocity", friction_control_velocities_[i], nan_); } @@ -74,6 +79,8 @@ class FrictionWheelController } if (switch_right != Switch::DOWN) { + update_friction_working_velocity_outputs(); + if ((!last_keyboard_.v && keyboard.v) || (last_switch_left_ == Switch::MIDDLE && switch_left == Switch::UP)) { friction_enabled_ = !friction_enabled_; @@ -90,6 +97,7 @@ class FrictionWheelController last_switch_left_ = switch_left; last_keyboard_ = keyboard; } + } private: @@ -107,6 +115,11 @@ class FrictionWheelController *friction_ready_ = *friction_jammed_ = *bullet_fired_ = false; } + void update_friction_working_velocity_outputs() { + for (size_t i = 0; i < friction_count_; i++) + *friction_working_velocity_outputs_[i] = friction_working_velocities_[i]; + } + void update_friction_velocities() { if (std::isnan(friction_soft_start_stop_percentage_)) { friction_soft_start_stop_percentage_ = 0.0; @@ -197,6 +210,7 @@ class FrictionWheelController std::unique_ptr friction_working_velocities_; std::unique_ptr[]> friction_velocities_; + std::unique_ptr[]> friction_working_velocity_outputs_; bool friction_enabled_ = false; @@ -219,4 +233,4 @@ class FrictionWheelController #include PLUGINLIB_EXPORT_CLASS( - rmcs_core::controller::shooting::FrictionWheelController, rmcs_executor::Component) \ No newline at end of file + rmcs_core::controller::shooting::FrictionWheelController, rmcs_executor::Component) diff --git a/rmcs_ws/src/rmcs_core/src/controller/shooting/hero_friction_wheel_controller.cpp b/rmcs_ws/src/rmcs_core/src/controller/shooting/hero_friction_wheel_controller.cpp index 9f4e62f01..1656d2276 100644 --- a/rmcs_ws/src/rmcs_core/src/controller/shooting/hero_friction_wheel_controller.cpp +++ b/rmcs_ws/src/rmcs_core/src/controller/shooting/hero_friction_wheel_controller.cpp @@ -183,7 +183,7 @@ class HeroFrictionWheelController bool detect_friction_faulty() { for (size_t i = 0; i < friction_count_; i++) { if (abs(*friction_velocities_[i]) < abs(*friction_control_velocities_[i] * 0.5)) - return true; + return false; } return false; } @@ -192,13 +192,8 @@ class HeroFrictionWheelController bool detect_bullet_fire() { bool fired = false; - - // TODO(steering-hero): This intentionally keeps the legacy merge behavior by monitoring - // friction_velocities_[2]. Historically, hero config ordering mapped [2,3] to the first - // stage used for fire detection. Replace this hard-coded index with an explicit first- - // stage mapping once the wheel ordering semantics are unified. if (!std::isnan(last_primary_friction_velocity_)) { - double differential = *friction_velocities_[2] - last_primary_friction_velocity_; + double differential = *friction_velocities_[0] - last_primary_friction_velocity_; if (differential < 0.1) primary_friction_velocity_decrease_integral_ += differential; else { @@ -209,7 +204,7 @@ class HeroFrictionWheelController primary_friction_velocity_decrease_integral_ = 0; } } - last_primary_friction_velocity_ = *friction_velocities_[2]; + last_primary_friction_velocity_ = *friction_velocities_[0]; return fired; } diff --git a/rmcs_ws/src/rmcs_core/src/controller/shooting/hero_heat_controller.cpp b/rmcs_ws/src/rmcs_core/src/controller/shooting/hero_heat_controller.cpp index dfd2df620..86a136c63 100644 --- a/rmcs_ws/src/rmcs_core/src/controller/shooting/hero_heat_controller.cpp +++ b/rmcs_ws/src/rmcs_core/src/controller/shooting/hero_heat_controller.cpp @@ -31,8 +31,10 @@ class HeroHeatController void update() override { shooter_heat_ = std::max(0, shooter_heat_ - *shooter_cooling_); - if (*bullet_fired_) + const bool bullet_fired = *bullet_fired_; + if (bullet_fired && !last_bullet_fired_) shooter_heat_ += heat_per_shot; + last_bullet_fired_ = bullet_fired; *control_bullet_allowance_ = std::max( 0, (*shooter_heat_limit_ - shooter_heat_ - reserved_heat) / heat_per_shot); @@ -49,6 +51,7 @@ class HeroHeatController const int64_t heat_per_shot; const int64_t reserved_heat; + bool last_bullet_fired_ = false; int64_t shooter_heat_ = 0; OutputInterface shooting_heat_; diff --git a/rmcs_ws/src/rmcs_core/src/controller/shooting/putter_controller.cpp b/rmcs_ws/src/rmcs_core/src/controller/shooting/putter_controller.cpp index 0b0c63755..eadb30281 100644 --- a/rmcs_ws/src/rmcs_core/src/controller/shooting/putter_controller.cpp +++ b/rmcs_ws/src/rmcs_core/src/controller/shooting/putter_controller.cpp @@ -68,16 +68,6 @@ class PutterController set_pid_parameter(bullet_feeder_velocity_pid_, "bullet_feeder_velocity"); set_pid_parameter(putter_return_velocity_pid_, "putter_return_velocity"); - putter_velocity_pid_.kp = 0.004; - putter_velocity_pid_.ki = 0.0001; - putter_velocity_pid_.kd = 0.001; - putter_velocity_pid_.integral_max = 0.03; - putter_velocity_pid_.integral_min = 0.; - - putter_return_angle_pid.kp = 0.0001; - // putter_return_angle_pid.ki = 0.000001; - putter_return_angle_pid.kd = 0.; - register_output( "/gimbal/bullet_feeder/control_torque", bullet_feeder_control_torque_, nan_); register_output("/gimbal/putter/control_torque", putter_control_torque_, nan_); @@ -85,13 +75,17 @@ class PutterController register_output("/gimbal/shoot/delay_ms", shoot_delay_ms_, nan_); // auto_aim - register_input("/gimbal/auto_aim/fire_control", fire_control_, false); + register_input("/auto_aim/should_shoot", should_shoot_, false); register_output("/gimbal/shooter/mode", shoot_mode_, rmcs_msgs::ShootMode::SINGLE); register_output("/gimbal/shooter/condiction", shoot_condiction_); + register_output("/gimbal/shooter/preloaded_ready", preloaded_ready_, false); } - ~PutterController() {} + void before_updating() override { + if (!should_shoot_.ready()) + should_shoot_.bind_directly(false); + } void update() override { const auto switch_right = *switch_right_; @@ -108,13 +102,13 @@ class PutterController } // Normal control flow after the putter has been initialized. - if (putter_is_initialized_) { + if (putter_initialized) { // Handling during bullet-feeder jam-protection cooldown. if (bullet_feeder_reverse_end_ > 0) { bullet_feeder_reverse_end_--; // Early cooldown stage: reverse the feeder to clear the jam. - if (bullet_feeder_reverse_end_ > 500) + if (bullet_feeder_reverse_end_ > 300) *bullet_feeder_control_torque_ = bullet_feeder_velocity_pid_.update( -low_latency_velocity_ / 2 - *bullet_feeder_velocity_); else { @@ -123,6 +117,14 @@ class PutterController *bullet_feeder_control_torque_ = 0.0; } + if (!bullet_feeder_reverse_end_ && shoot_stage_ == ShootStage::PRELOADED) + // RCLCPP_INFO(get_logger(), "Reverse finished"); + { + *preloaded_ready_ = true; + } else { + *preloaded_ready_ = false; + } + } else { // Normal operating mode: only fire when the friction wheels are ready. if (*friction_ready_) { @@ -146,8 +148,7 @@ class PutterController && switch_left == rmcs_msgs::Switch::DOWN); const bool auto_fire_now = - (switch_right == Switch::UP || (mouse.right && mouse.left)) - && (*fire_control_); + (switch_right == Switch::UP || mouse.right) && *should_shoot_; const bool auto_trigger_emergence = mouse.right && (click_count_ >= 2); @@ -157,10 +158,10 @@ class PutterController if (manual_trigger || auto_trigger || auto_trigger_emergence) { if (*control_bullet_allowance_limited_by_heat_ > 0 - && (shoot_stage_ == ShootStage::PRELOADED || first_shot_)) { + && (shoot_stage_ == ShootStage::PRELOADED || shoot_first)) { set_shooting(); last_fire_time_ = now; - first_shot_ = false; + shoot_first = false; } } if (auto_trigger_emergence) { @@ -174,36 +175,32 @@ class PutterController low_latency_velocity_ - *bullet_feeder_velocity_); // Velocity loop. update_locked_detection(); - // This includes the photoelectric-sensor logic: if triggered, switch to // preloaded; otherwise reverse briefly and continue rotating. } if (shoot_stage_ == ShootStage::SHOOTING) { // Firing state: detect whether the bullet has been fired. - if (*bullet_fired_ - || *putter_angle_ - putter_start_point_ >= putter_stroke_) { - shot_fired_ = true; - } + // if (*bullet_fired_ && !shooted) { + // RCLCPP_INFO(get_logger(), "DETECT: Bullet fired!"); + // shooted = true; + // } - update_putter_jam_detection(); + // if (*putter_angle_ - putter_startpoint >= putter_stroke_ && !shooted) { + // RCLCPP_INFO(get_logger(), "DETECT: Putter stroke completed!"); + // shooted = true; + // } - if (shot_fired_) { + if (shooted) { // Bullet fired: return the putter. - const auto angle_err = putter_start_point_ - *putter_angle_; - if (angle_err > -0.1) { - *putter_control_torque_ = 0.; - set_preloading(); - shot_fired_ = false; - } else { - *putter_control_torque_ = - putter_return_velocity_pid_.update(-80. - *putter_velocity_); - putter_timeout_detection(); - } + *putter_control_torque_ = + putter_return_velocity_pid_.update(-50. - *putter_velocity_); + putter_timeout_detection(); } else { // Bullet not fired yet: continue advancing. *putter_control_torque_ = - putter_return_velocity_pid_.update(60. - *putter_velocity_); + putter_return_velocity_pid_.update(120. - *putter_velocity_); + update_putter_jam_detection(); } } } else { @@ -240,11 +237,9 @@ class PutterController shoot_stage_ = ShootStage::PRELOADED; - putter_is_initialized_ = false; - putter_start_point_ = nan_; + putter_initialized = false; + putter_startpoint = nan_; putter_return_velocity_pid_.reset(); - putter_velocity_pid_.reset(); - putter_return_angle_pid.reset(); *putter_control_torque_ = nan_; bullet_feeder_faulty_count_ = 0; @@ -252,54 +247,60 @@ class PutterController *shoot_delay_ms_ = nan_; } - void set_preloading() { shoot_stage_ = ShootStage::PRELOADING; } + void set_preloading() { + RCLCPP_INFO(get_logger(), "PRELOADING"); + shoot_stage_ = ShootStage::PRELOADING; + } - void set_preloaded() { shoot_stage_ = ShootStage::PRELOADED; } + void set_preloaded() { + RCLCPP_INFO(get_logger(), "PRELOADED"); + shoot_stage_ = ShootStage::PRELOADED; + } - void set_shooting() { shoot_stage_ = ShootStage::SHOOTING; } + void set_shooting() { + RCLCPP_INFO(get_logger(), "SHOOTING"); + shoot_stage_ = ShootStage::SHOOTING; + } void update_locked_detection() { // If feeder speed is near zero and the photoelectric sensor is triggered, // treat it as locked and start reversing. - if (*bullet_feeder_velocity_ < 0.5 && *bullet_feeder_control_torque_ > 0.1) { locked_detect_count_++; } else { locked_detect_count_ = 0; } - if (locked_detect_count_ > 300) { + if (locked_detect_count_ > 150) { if (*photoelectric_sensor_status_) { set_preloaded(); } // If the photoelectric sensor was not triggered, treat it as a simple jam, // reverse briefly, then continue until stall. locked_detect_count_ = 0; - enter_jam_protection(); + enter_reverse_protection(); } } void update_putter_jam_detection() { - if ((*putter_control_torque_ > -0.03 && shoot_stage_ == ShootStage::PRELOADING) - || (*putter_control_torque_ < 0.05 && shoot_stage_ == ShootStage::SHOOTING) - || std::isnan(*putter_control_torque_)) { + if (std::abs(*putter_velocity_) > 0.1 || std::isnan(*putter_control_torque_)) { putter_faulty_count_ = 0; - return; + } else { + putter_faulty_count_++; } // Accumulate a fault count when the torque is abnormal. - if (putter_faulty_count_ < 500) - ++putter_faulty_count_; - else { + if (putter_faulty_count_ >= 50) { putter_faulty_count_ = 0; if (shoot_stage_ != ShootStage::SHOOTING) { // Stall detected outside the firing state: the putter is in position, // so mark it initialized. - putter_is_initialized_ = true; - putter_start_point_ = *putter_angle_; + putter_initialized = true; + putter_startpoint = *putter_angle_; } else { // Stall detected during firing: treat the bullet as fired. - shot_fired_ = true; + RCLCPP_INFO(get_logger(), "DETECT: Putter freezed"); + shooted = true; } } } @@ -308,23 +309,23 @@ class PutterController // If the putter stays in the firing state too long without extending, // treat it as finished and move to the next state. if (shoot_stage_ == ShootStage::SHOOTING) { - if (shot_fired_) { - if (putter_timeout_count_ < 1600) + if (shooted) { + if (putter_timeout_count_ < 400) ++putter_timeout_count_; else { putter_timeout_count_ = 0; + RCLCPP_INFO(get_logger(), "PUTTER TIMEOUT"); set_preloading(); - shot_fired_ = false; + shooted = false; } } } } - void enter_jam_protection() { - // Set the target angle to 60 degrees behind the current angle. + void enter_reverse_protection() { locked_detect_count_ = 0; bullet_feeder_faulty_count_ = 0; - bullet_feeder_reverse_end_ = 800; + bullet_feeder_reverse_end_ = 400; bullet_feeder_velocity_pid_.reset(); } @@ -332,7 +333,7 @@ class PutterController std::numeric_limits::quiet_NaN(); ///< Not-a-number constant. static constexpr double inf_ = std::numeric_limits::infinity(); ///< Infinity constant. - static constexpr double putter_stroke_ = 11.5; ///< Putter stroke length. + static constexpr double putter_stroke_ = 12.0; ///< Putter stroke length. static constexpr double max_bullet_feeder_control_torque_ = 0.1; static constexpr double bullet_feeder_angle_per_bullet_ = 2 * std::numbers::pi / 6; @@ -341,8 +342,8 @@ class PutterController InputInterface photoelectric_sensor_status_; InputInterface grayscale_sensor_status_; InputInterface bullet_fired_; - bool shot_fired_{false}; - bool first_shot_{true}; + bool shooted{false}; + bool shoot_first{true}; InputInterface friction_ready_; @@ -361,15 +362,13 @@ class PutterController InputInterface control_bullet_allowance_limited_by_heat_; - bool putter_is_initialized_ = false; + bool putter_initialized = false; int putter_faulty_count_ = 0; int putter_timeout_count_ = 0; - double putter_start_point_ = nan_; + double putter_startpoint = nan_; pid::PidCalculator putter_return_velocity_pid_; InputInterface putter_velocity_; - pid::PidCalculator putter_velocity_pid_; - enum class ShootStage { PRELOADING, PRELOADED, SHOOTING }; ShootStage shoot_stage_ = ShootStage::PRELOADING; @@ -378,14 +377,13 @@ class PutterController OutputInterface bullet_feeder_control_torque_; InputInterface putter_angle_; - pid::PidCalculator putter_return_angle_pid; OutputInterface putter_control_torque_; int bullet_feeder_faulty_count_ = 0; OutputInterface shoot_delay_ms_; - InputInterface fire_control_; + InputInterface should_shoot_; std::chrono::steady_clock::time_point last_fire_time_{}; std::chrono::steady_clock::time_point last_click_time_{}; int click_count_ = 0; @@ -398,6 +396,7 @@ class PutterController OutputInterface shoot_mode_; OutputInterface shoot_condiction_; + OutputInterface preloaded_ready_; }; } // namespace rmcs_core::controller::shooting diff --git a/rmcs_ws/src/rmcs_core/src/controller/shooting/shooting_recorder.cpp b/rmcs_ws/src/rmcs_core/src/controller/shooting/shooting_recorder.cpp index 6cefe2753..a3ee4b704 100644 --- a/rmcs_ws/src/rmcs_core/src/controller/shooting/shooting_recorder.cpp +++ b/rmcs_ws/src/rmcs_core/src/controller/shooting/shooting_recorder.cpp @@ -62,12 +62,12 @@ class ShootingRecorder velocities.erase(velocities.begin()); } - analysis3(); + analysis1(); auto log_text = std::string{}; auto timestamp = timestamp_to_string(*shoot_timestamp_); - if (friction_wheel_count_ == 4) { + if (friction_wheel_count_ == 6) { log_text = fmt::format( "{},{},{:.3f},{:.3f},{:.3f},{:.3f},{:.3f},{:.3f},{:.3f}", *initial_speed_, (int)velocities.size(), // @@ -97,7 +97,7 @@ class ShootingRecorder InputInterface initial_speed_; InputInterface shoot_timestamp_; - std::size_t friction_wheel_count_ = 2; + std::size_t friction_wheel_count_ = 6; std::array, 2> friction_wheels_velocity_; /// @brief For log @@ -165,10 +165,10 @@ class ShootingRecorder int excellence_count = 0; int pass_count = 0; for (int i = 0; i < int(velocities.size()); i++) { - if (velocities[i] >= velocity_ - 0.1 && velocities[i] <= velocity_ + 0.1) { + if (velocities[i] >= velocity_ - 0.05 && velocities[i] <= velocity_ + 0.05) { pass_count += 1; } - if (velocities[i] >= velocity_ - 0.05 && velocities[i] <= velocity_ + 0.05) { + if (velocities[i] >= velocity_ - 0.025 && velocities[i] <= velocity_ + 0.025) { excellence_count += 1; } } @@ -224,10 +224,10 @@ class ShootingRecorder int pass_count = 0; for (const auto& v : velocities) { - if (v >= aim_velocity - 0.05 && v <= aim_velocity + 0.05) { + if (v >= aim_velocity - 0.025 && v <= aim_velocity + 0.025) { excellence_count += 1; } - if (v >= aim_velocity - 0.1 && v <= aim_velocity + 0.1) { + if (v >= aim_velocity - 0.05 && v <= aim_velocity + 0.05) { pass_count += 1; } } diff --git a/rmcs_ws/src/rmcs_core/src/debug/value_collector.cpp b/rmcs_ws/src/rmcs_core/src/debug/value_collector.cpp new file mode 100644 index 000000000..d5099e8fc --- /dev/null +++ b/rmcs_ws/src/rmcs_core/src/debug/value_collector.cpp @@ -0,0 +1,120 @@ +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +namespace rmcs_core::debug { + +class ValueCollector + : public rmcs_executor::Component + , public rclcpp::Node + , public rmcs_utility::NodeMixin { +public: + ValueCollector() + : Node( + get_component_name(), + rclcpp::NodeOptions{}.automatically_declare_parameters_from_overrides(true)) {} + + auto before_pairing(const OutputInfoMap& output_map) -> void override { + node::param("csv_path", csv_path_); + + { + constexpr auto kPlaceholder = std::string_view{""}; + const auto pos = csv_path_.find(kPlaceholder); + if (pos != std::string::npos) { + const auto now = std::chrono::system_clock::now(); + const auto time = std::chrono::system_clock::to_time_t(now); + + auto ss = std::ostringstream{}; + ss << std::put_time(std::localtime(&time), "%Y-%m-%d_%H-%M-%S"); + csv_path_.replace(pos, kPlaceholder.size(), ss.str()); + } + } + + node::param("signals", signal_names_); + node::param("write_interval", write_interval_); + node::param("flush_interval", flush_interval_); + + if (csv_path_.empty() || signal_names_.empty()) + return; + + for (const auto& name : signal_names_) { + const auto it = output_map.find(name); + if (it == output_map.end()) { + node::error("signal '{}' not found", name); + continue; + } + if (it->second.type.get() != typeid(double)) { + node::error("signal '{}' type is not double", name); + continue; + } + + auto unit = std::make_unique(); + unit->name = name; + register_input(name, unit->value); + units_.push_back(std::move(unit)); + } + + if (units_.empty()) + return; + + csv_file_.open(csv_path_, std::ios::out | std::ios::trunc); + if (!csv_file_.is_open()) { + node::error("failed to open {}", csv_path_); + return; + } + + csv_file_ << "index"; + for (const auto& unit : units_) + csv_file_ << "," << unit->name; + csv_file_ << "\n"; + csv_file_.flush(); + + node::info("collecting {} signals to {}", units_.size(), csv_path_); + } + + auto update() -> void override { + if (units_.empty() || !csv_file_.is_open()) + return; + + if (tick_++ % write_interval_ != 0) + return; + + csv_file_ << sample_count_++; + for (const auto& unit : units_) + csv_file_ << "," << *unit->value; + csv_file_ << "\n"; + + if (sample_count_ % flush_interval_ == 0) + csv_file_.flush(); + } + +private: + struct SignalUnit { + std::string name; + InputInterface value; + }; + + std::string csv_path_; + std::vector signal_names_; + int write_interval_ = 1; + int flush_interval_ = 100; + + std::vector> units_; + std::ofstream csv_file_; + + int tick_ = 0; + int sample_count_ = 0; +}; + +} // namespace rmcs_core::debug + +#include +PLUGINLIB_EXPORT_CLASS(rmcs_core::debug::ValueCollector, rmcs_executor::Component) diff --git a/rmcs_ws/src/rmcs_core/src/hardware/deformable-infantry-omni-b.cpp b/rmcs_ws/src/rmcs_core/src/hardware/deformable-infantry-omni-b.cpp new file mode 100644 index 000000000..8efa589ba --- /dev/null +++ b/rmcs_ws/src/rmcs_core/src/hardware/deformable-infantry-omni-b.cpp @@ -0,0 +1,876 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +#include "hardware/device/bmi088.hpp" +#include "hardware/device/bmi088_ekf.hpp" +#include "hardware/device/board_clock_lifter.hpp" +#include "hardware/device/can_packet.hpp" +#include "hardware/device/dji_motor.hpp" +#include "hardware/device/dr16.hpp" +#include "hardware/device/lk_motor.hpp" +#include "hardware/device/remote_control.hpp" +#include "hardware/device/supercap.hpp" +#include "hardware/device/vt13.hpp" +#include "hardware/util/status_monitor.hpp" + +namespace rmcs_core::hardware { + +using Clock = std::chrono::steady_clock; + +class DeformableInfantryOmniB + : public rmcs_executor::Component + , public rclcpp::Node { +public: + DeformableInfantryOmniB() + : Node( + get_component_name(), + rclcpp::NodeOptions().automatically_declare_parameters_from_overrides(true)) + , command_(create_partner_component(get_component_name() + "_command", *this)) { + using namespace rmcs_description; + + register_input("/predefined/timestamp", timestamp_); + register_output("/tf", tf_); + register_output( + "/auto_aim/camera_transform", camera_transform_, Eigen::Isometry3d::Identity()); + register_output("/auto_aim/barrel_direction", barrel_direction_, Eigen::Vector3d::UnitX()); + register_output("/auto_aim/yaw_velocity", auto_aim_yaw_velocity_, 0.0); + + tf_->set_transform(Eigen::Translation3d{0.058, -0.08, 0.0}); + + remote_control_ = std::make_unique(*this); + + bottom_board_ = std::make_unique( + *this, *command_, get_parameter("serial_filter_bottom_board").as_string()); + top_board_ = std::make_unique( + *this, *command_, get_parameter("serial_filter_top_board").as_string()); + + // For command: remote-status + using Srv = std_srvs::srv::Trigger; + status_service_ = create_service( + "/rmcs/service/robot_status", + [this](const Srv::Request::SharedPtr&, const Srv::Response::SharedPtr& response) { + status_service_callback(response); + }); + } + + ~DeformableInfantryOmniB() override = default; + + void before_updating() override { top_board_->request_hard_sync_read(); } + + void update() override { + bottom_board_->update(); + top_board_->update(); + remote_control_->update(); + + using namespace rmcs_description; + *camera_transform_ = fast_tf::lookup_transform(*tf_); + *barrel_direction_ = + *fast_tf::cast(PitchLink::DirectionVector{Eigen::Vector3d::UnitX()}, *tf_); + *auto_aim_yaw_velocity_ = top_board_->gimbal_yaw_velocity(); + } + + void command_update() { + const bool even = ((cmd_tick_++ & 1u) == 0u); + bottom_board_->command_update(even); + top_board_->command_update(); + } + +private: + static constexpr auto kNaN = std::numeric_limits::quiet_NaN(); + static constexpr auto kLeftFront = 0; + static constexpr auto kLeftBack = 1; + static constexpr auto kRightBack = 2; + static constexpr auto kRightFront = 3; + static constexpr auto kJointName = std::array{ + "left_front", + "left_back", + "right_back", + "right_front", + }; + + class Command : public Component { + public: + explicit Command(DeformableInfantryOmniB& deformableInfantry) + : deformableInfantry(deformableInfantry) {} + + void update() override { deformableInfantry.command_update(); } + + DeformableInfantryOmniB& deformableInfantry; + }; + + struct TopBoard final : public librmcs::board::RmcsBoardLite::Callback { + public: + explicit TopBoard( + DeformableInfantryOmniB& status, Component& command, + const std::string& serial_filter = {}) + : status_{status} + , tf_{status.tf_} + , bmi088_{device::Bmi088Ekf::Config{ + .body_to_sensor = + Eigen::AngleAxisd{std::numbers::pi / 2.0, Eigen::Vector3d::UnitX()} + .toRotationMatrix()}} + , gimbal_pitch_motor_(status, command, "/gimbal/pitch") + , gimbal_left_friction_(status, command, "/gimbal/left_friction") + , gimbal_right_friction_(status, command, "/gimbal/right_friction") { + + gimbal_pitch_motor_.configure( + device::LkMotor::Config{device::LkMotor::Type::kMG4010Ei10} + .set_reversed() + .set_encoder_zero_point( + static_cast(status.get_parameter("pitch_motor_zero_point").as_int()))); + + gimbal_left_friction_.configure( + device::DjiMotor::Config{device::DjiMotor::Type::kM3508, 1} + .set_reduction_ratio(1.) + .set_reversed()); + gimbal_right_friction_.configure( + device::DjiMotor::Config{device::DjiMotor::Type::kM3508, 2}.set_reduction_ratio( + 1.)); + + status.register_output("/gimbal/yaw/velocity_imu", gimbal_yaw_velocity_bmi088_); + status.register_output("/gimbal/pitch/velocity_imu", gimbal_pitch_velocity_bmi088_); + status.register_output("/gimbal/auto_aim/imu_snapshot", imu_snapshot_output_); + status.register_output("/gimbal/auto_aim/exposure_signal", camera_signal_output_); + + auto options = librmcs::board::AdvancedOptions{}; + options.dangerously_skip_version_checks = true; + board_ = std::make_unique(*this, serial_filter, options); + + board_->start_transmit().gpio_digital_read( + Spec::kGpios.kUart1Rx, // + { + .period_ms = 0, + .asap = false, + .rising_edge = false, + .falling_edge = true, + .capture_timestamp = true, + .pull = librmcs::data::GpioPull::kUp, + }); + + board_->start_transmit().uart_config(Spec::kUarts.kUart0, {.baudrate = 921600}); + + status_.remote_control_->register_vt13(&vt13_); + } + ~TopBoard() override = default; + + [[nodiscard]] auto gimbal_yaw_velocity() const -> double { + return *gimbal_yaw_velocity_bmi088_; + } + + void request_hard_sync_read() { + // RMCS-lite top board variant currently has no GPIO hard-sync request + // path. + } + + void update() { + vt13_.update_status(); + gimbal_pitch_motor_.update_status(); + gimbal_left_friction_.update_status(); + gimbal_right_friction_.update_status(); + + const double pitch_encoder_angle = gimbal_pitch_motor_.angle(); + + if (auto snapshot = bmi088_.snapshot()) { + *gimbal_pitch_velocity_bmi088_ = snapshot->gyro_body.y(); + *gimbal_yaw_velocity_bmi088_ = snapshot->gyro_body.z(); + tf_->set_transform( + snapshot->orientation.conjugate()); + } + + tf_->set_state( + pitch_encoder_angle); + } + + void command_update() const { + auto builder = board_->start_transmit(); + { + auto packet = gimbal_pitch_motor_.generate_torque_command(); + builder.can_transmit( + Spec::kCans.kCan0, // + { + .can_id = 0x141, + .can_data = packet.as_bytes(), + }); + } + { + auto packet = device::CanPacket8{uint64_t{0}}; + packet << gimbal_right_friction_; + builder.can_transmit( + Spec::kCans.kCan1, // + { + .can_id = gimbal_right_friction_.send_id(), + .can_data = packet.as_bytes(), + }); + } + { + auto packet = device::CanPacket8{uint64_t{0}}; + packet << gimbal_left_friction_; + builder.can_transmit( + Spec::kCans.kCan2, // + { + .can_id = gimbal_left_friction_.send_id(), + .can_data = packet.as_bytes(), + }); + } + } + + void can_receive_callback(const Spec::Can& can, const View::Can& data) override { + if (data.is_extended_can_id || data.is_remote_transmission) [[unlikely]] + return; + if (can == Spec::kCans.kCan0) { + if (data.can_id == 0x141) + gimbal_pitch_motor_.store_status(data.can_data); + monitor_.tick("Top::Can0", data.can_id); + } else if (can == Spec::kCans.kCan1) { + gimbal_right_friction_.match_then_store_status(data.can_id, data.can_data); + monitor_.tick("Top::Can1", data.can_id); + } else if (can == Spec::kCans.kCan2) { + gimbal_left_friction_.match_then_store_status(data.can_id, data.can_data); + monitor_.tick("Top::Can2", data.can_id); + } + } + + void uart_receive_callback(const Spec::Uart& uart, const View::Uart& data) override { + if (uart == Spec::kUarts.kUart0) + vt13_.store_status(data.uart_data); + } + + void accelerometer_receive_callback(const View::ImuAccelerometer& data) override { + const auto timestamp = board_clock_lifter_.advance_timebase(data.timestamp_quarter_us); + bmi088_.push_accelerometer_sample(data.x, data.y, data.z, timestamp); + monitor_.tick("Top::Imu", "Acc"); + } + + void gyroscope_receive_callback(const View::ImuGyroscope& data) override { + const auto timestamp = board_clock_lifter_.lift_timestamp(data.timestamp_quarter_us); + monitor_.tick("Top::Imu", "Gyr"); + if (!timestamp.has_value()) + return; + auto snapshot = + bmi088_.try_update_with_gyroscope_sample(data.x, data.y, data.z, *timestamp); + if (snapshot) + imu_snapshot_output_.emit(*snapshot); + } + + void gpio_digital_read_result_callback( + const Spec::Gpio& gpio, const View::GpioDigital& data) override { + if (gpio != Spec::kGpios.kUart1Rx) + return; + if (!data.timestamp_quarter_us) + return; + + const auto timestamp = board_clock_lifter_.lift_timestamp(*data.timestamp_quarter_us); + if (!timestamp.has_value()) + return; + + camera_signal_output_.emit(*timestamp); + monitor_.tick("Top::CameraSync", "Active"); + } + + auto status() const -> std::vector { return monitor_.text(); } + + DeformableInfantryOmniB& status_; + OutputInterface& tf_; + OutputInterface gimbal_yaw_velocity_bmi088_; + OutputInterface gimbal_pitch_velocity_bmi088_; + + EventOutputInterface imu_snapshot_output_; + EventOutputInterface camera_signal_output_; + + device::Bmi088Ekf bmi088_; + device::BoardClockLifter board_clock_lifter_; + device::Vt13 vt13_; + device::LkMotor gimbal_pitch_motor_; + device::DjiMotor gimbal_left_friction_; + device::DjiMotor gimbal_right_friction_; + + StatusMonitor monitor_{}; + std::unique_ptr board_; + }; + + struct BottomBoard final : public librmcs::board::RmcsBoardLite::Callback { + public: + explicit BottomBoard( + DeformableInfantryOmniB& status, Component& command, + const std::string& serial_filter = {}) + : status_{status} + , command_{command} + , kChassisRadiusBase(status.get_parameter("chassis_radius").as_double()) + , kRodLength(status.get_parameter("rod_length").as_double()) + , kDefaultRadius(kChassisRadiusBase + kRodLength) { + + status.register_output("/referee/serial", referee_serial_); + referee_serial_->read = [this](std::byte* buffer, size_t size) { + return referee_ring_buffer_receive_.pop_front_n( + [&buffer](std::byte byte) noexcept { *buffer++ = byte; }, size); + }; + referee_serial_->write = [this](const std::byte* buffer, size_t size) { + board_->start_transmit().uart_transmit( + Spec::kUarts.kUart0, {.uart_data = std::span{buffer, size}}); + return size; + }; + + gimbal_yaw_motor_.configure( + device::LkMotor::Config{device::LkMotor::Type::kMG4010Ei10}.set_encoder_zero_point( + static_cast(status.get_parameter("yaw_motor_zero_point").as_int()))); + + for (auto& motor : chassis_wheel_motors_) + motor.configure( + device::DjiMotor::Config{device::DjiMotor::Type::kM3508, 1} + .set_reversed() + .set_reduction_ratio(13.0) + .enable_multi_turn_angle()); + + for (auto& motor : chassis_joint_motors_) + motor.configure( + device::LkMotor::Config{device::LkMotor::Type::kMG5010Ei36} + .set_reversed() + .enable_multi_turn_angle()); + + imu_.set_coordinate_mapping([](double x, double y, double z) { + // Keep the existing chassis yaw axis mapping explicit until the bottom-board IMU + // installation is re-validated on hardware. + return std::make_tuple(-y, x, z); + }); + + gimbal_bullet_feeder_.configure( + device::DjiMotor::Config{device::DjiMotor::Type::kM2006, 3} + .enable_multi_turn_angle()); + + status.register_output("/chassis/yaw/velocity_imu", chassis_yaw_velocity_imu_, 0); + status.register_output("/chassis/imu/pitch", chassis_imu_pitch_, 0.0); + status.register_output("/chassis/imu/roll", chassis_imu_roll_, 0.0); + status.register_output("/chassis/imu/pitch_rate", chassis_imu_pitch_rate_, 0.0); + status.register_output("/chassis/imu/roll_rate", chassis_imu_roll_rate_, 0.0); + for (size_t i = 0; i < 4; ++i) { + status.register_output( + std::format( + "/chassis/{}_joint/physical_angle", DeformableInfantryOmniB::kJointName[i]), + joint_physical_angle_[i], kNaN); + status.register_output( + std::format( + "/chassis/{}_joint/physical_velocity", + DeformableInfantryOmniB::kJointName[i]), + joint_physical_velocity_[i], kNaN); + } + status.register_output("/chassis/encoder/alpha", encoder_alpha_, kNaN); + status.register_output("/chassis/encoder/alpha_dot", encoder_alpha_dot_, kNaN); + status.register_output("/chassis/radius", radius_, kDefaultRadius); + + status.get_parameter_or("debug_log_supercap", debug_log_supercap_, false); + status.get_parameter_or("debug_log_wheel_motor", debug_log_wheel_motor_, false); + status.get_parameter_or( + "debug_log_deformable_joint_motor", debug_log_deformable_joint_motor_, false); + + auto options = librmcs::board::AdvancedOptions{}; + options.dangerously_skip_version_checks = true; + board_ = std::make_unique(*this, serial_filter, options); + + status_.remote_control_->register_dr16(&dr16_); + } + void update() { + imu_.update_status(); + *chassis_yaw_velocity_imu_ = imu_.gz(); + { + const double q0 = imu_.q0(); + const double q1 = imu_.q1(); + const double q2 = imu_.q2(); + const double q3 = imu_.q3(); + + double sin_pitch = 2.0 * (q0 * q2 - q3 * q1); + sin_pitch = std::clamp(sin_pitch, -1.0, 1.0); + + const double standard_pitch = std::asin(sin_pitch); + const double standard_roll = + std::atan2(2.0 * (q0 * q1 + q2 * q3), 1.0 - 2.0 * (q1 * q1 + q2 * q2)); + + // Export chassis attitude using the requested convention: + // pitch < 0 when the front is higher, roll > 0 when the left side is higher. + *chassis_imu_pitch_ = -standard_pitch; + *chassis_imu_roll_ = standard_roll; + *chassis_imu_pitch_rate_ = -imu_.gy(); + *chassis_imu_roll_rate_ = imu_.gx(); + } + + for (auto& motor : chassis_wheel_motors_) + motor.update_status(); + for (auto& motor : chassis_joint_motors_) + motor.update_status(); + + for (size_t i = 0; i < 4; ++i) + update_joint_physical_feedback_( + i, joint_physical_angle_[i], joint_physical_velocity_[i]); + + update_geometry_feedback_(); + if (debug_log_wheel_motor_ || debug_log_deformable_joint_motor_) + log_chassis_feedback_once_per_second_(); + + dr16_.update_status(); + gimbal_yaw_motor_.update_status(); + if (supercap_status_received_.load(std::memory_order_relaxed)) + supercap_.update_status(); + if (debug_log_supercap_) + log_supercap_feedback_once_per_second_(); + gimbal_bullet_feeder_.update_status(); + + tf_->set_state( + gimbal_yaw_motor_.angle()); + } + + void command_update(bool even) { + auto builder = board_->start_transmit(); + if (even) { + builder.can_transmit( + Spec::kCans.kCan0, // + { + .can_id = 0x200, + .can_data = + device::CanPacket8{ + chassis_wheel_motors_[kLeftFront].generate_command(), + device::CanPacket8::PaddingQuarter{}, + device::CanPacket8::PaddingQuarter{}, + device::CanPacket8::PaddingQuarter{}, + } + .as_bytes(), + }); + builder.can_transmit( + Spec::kCans.kCan1, // + { + .can_id = 0x200, + .can_data = + device::CanPacket8{ + chassis_wheel_motors_[kLeftBack].generate_command(), + device::CanPacket8::PaddingQuarter{}, + device::CanPacket8::PaddingQuarter{}, + device::CanPacket8::PaddingQuarter{}, + } + .as_bytes(), + }); + builder.can_transmit( + Spec::kCans.kCan2, // + { + .can_id = 0x200, + .can_data = + device::CanPacket8{ + chassis_wheel_motors_[kRightBack].generate_command(), + device::CanPacket8::PaddingQuarter{}, + gimbal_bullet_feeder_.generate_command(), + device::CanPacket8::PaddingQuarter{}, + } + .as_bytes(), + }); + builder.can_transmit( + Spec::kCans.kCan3, // + { + .can_id = 0x200, + .can_data = + device::CanPacket8{ + chassis_wheel_motors_[kRightFront].generate_command(), + device::CanPacket8::PaddingQuarter{}, + device::CanPacket8::PaddingQuarter{}, + device::CanPacket8::PaddingQuarter{}, + } + .as_bytes(), + }); + builder.can_transmit( + Spec::kCans.kCan2, // + { + .can_id = 0x142, + .can_data = gimbal_yaw_motor_.generate_command().as_bytes(), + }); + builder.can_transmit( + Spec::kCans.kCan1, // + { + .can_id = 0x1FE, + .can_data = + device::CanPacket8{ + device::CanPacket8::PaddingQuarter{}, + device::CanPacket8::PaddingQuarter{}, + device::CanPacket8::PaddingQuarter{}, + supercap_.generate_command(), + } + .as_bytes(), + }); + } else { + for (size_t i = 0; i < 4; ++i) { + switch (i) { + case kLeftFront: + builder.can_transmit( + Spec::kCans.kCan0, // + { + .can_id = 0x141, + .can_data = chassis_joint_motors_[i].generate_command().as_bytes(), + }); + break; + case kLeftBack: + builder.can_transmit( + Spec::kCans.kCan1, // + { + .can_id = 0x141, + .can_data = chassis_joint_motors_[i].generate_command().as_bytes(), + }); + break; + case kRightBack: + builder.can_transmit( + Spec::kCans.kCan2, // + { + .can_id = 0x141, + .can_data = chassis_joint_motors_[i].generate_command().as_bytes(), + }); + break; + case kRightFront: + builder.can_transmit( + Spec::kCans.kCan3, // + { + .can_id = 0x141, + .can_data = chassis_joint_motors_[i].generate_command().as_bytes(), + }); + break; + default: break; + } + } + } + } + + static constexpr double kJointZeroPhysicalAngleRad = 62.5 * std::numbers::pi / 180.0; + + DeformableInfantryOmniB& status_; + Component& command_; + + std::unique_ptr board_; + + // Interfaces + + OutputInterface& tf_{status_.tf_}; + + OutputInterface chassis_yaw_velocity_imu_; + OutputInterface chassis_imu_pitch_; + OutputInterface chassis_imu_roll_; + OutputInterface chassis_imu_pitch_rate_; + OutputInterface chassis_imu_roll_rate_; + + std::array, 4> joint_physical_angle_; + std::array, 4> joint_physical_velocity_; + + OutputInterface encoder_alpha_; + OutputInterface encoder_alpha_dot_; + OutputInterface radius_; + + rmcs_utility::RingBuffer referee_ring_buffer_receive_{256}; + OutputInterface referee_serial_; + + // State + + std::atomic wheel_status_received_[4] = {false, false, false, false}; + std::atomic joint_status_received_[4] = {false, false, false, false}; + + bool debug_log_supercap_ = false; + bool debug_log_wheel_motor_ = false; + bool debug_log_deformable_joint_motor_ = false; + + const double kChassisRadiusBase; + const double kRodLength; + const double kDefaultRadius; + + Clock::time_point next_chassis_feedback_log_time_{Clock::now() + std::chrono::seconds(1)}; + Clock::time_point next_supercap_feedback_log_time_{Clock::now() + std::chrono::seconds(1)}; + + // Device + + device::Bmi088 imu_{1000, 0.2, 0.0}; + device::LkMotor gimbal_yaw_motor_{status_, command_, "/gimbal/yaw"}; + device::Dr16 dr16_; + + device::DjiMotor chassis_wheel_motors_[4]{ + device::DjiMotor{status_, command_, "/chassis/left_front_wheel"}, + device::DjiMotor{status_, command_, "/chassis/left_back_wheel"}, + device::DjiMotor{status_, command_, "/chassis/right_back_wheel"}, + device::DjiMotor{status_, command_, "/chassis/right_front_wheel"}, + }; + device::LkMotor chassis_joint_motors_[4]{ + device::LkMotor{status_, command_, "/chassis/left_front_joint"}, + device::LkMotor{status_, command_, "/chassis/left_back_joint"}, + device::LkMotor{status_, command_, "/chassis/right_back_joint"}, + device::LkMotor{status_, command_, "/chassis/right_front_joint"}, + }; + + std::atomic latest_supercap_status_{device::CanPacket8{uint64_t{0}}}; + std::atomic supercap_status_received_{false}; + device::Supercap supercap_{status_, command_}; + + device::DjiMotor gimbal_bullet_feeder_{status_, command_, "/gimbal/bullet_feeder"}; + + void process_chassis_can_receive_(size_t index, const View::Can& data) { + if (data.is_extended_can_id || data.is_remote_transmission) + return; + if (data.can_id == 0x201) { + chassis_wheel_motors_[index].store_status(data.can_data); + wheel_status_received_[index].store(true, std::memory_order_relaxed); + } else if (data.can_id == 0x141) { + chassis_joint_motors_[index].store_status(data.can_data); + joint_status_received_[index].store(true, std::memory_order_relaxed); + } + } + + void update_joint_physical_feedback_( + size_t index, OutputInterface& angle_output, + OutputInterface& velocity_output) { + + if (!joint_status_received_[index].load(std::memory_order_relaxed)) { + *angle_output = kNaN; + *velocity_output = kNaN; + return; + } + + const auto to_physical_angle = [](double motor_angle) { + return kJointZeroPhysicalAngleRad - motor_angle; + }; + const auto to_physical_velocity = [](double motor_velocity) { return -motor_velocity; }; + + *angle_output = to_physical_angle(chassis_joint_motors_[index].angle()); + *velocity_output = to_physical_velocity(chassis_joint_motors_[index].velocity()); + } + + void update_geometry_feedback_() { + const Eigen::Vector4d alpha_rad{ + *joint_physical_angle_[kLeftFront], *joint_physical_angle_[kLeftBack], + *joint_physical_angle_[kRightBack], *joint_physical_angle_[kRightFront]}; + const Eigen::Vector4d alpha_dot_rad{ + *joint_physical_velocity_[kLeftFront], *joint_physical_velocity_[kLeftBack], + *joint_physical_velocity_[kRightBack], *joint_physical_velocity_[kRightFront]}; + + if (!alpha_rad.array().isFinite().all() || !alpha_dot_rad.array().isFinite().all()) { + *encoder_alpha_ = kNaN; + *encoder_alpha_dot_ = kNaN; + *radius_ = kDefaultRadius; + RCLCPP_WARN_THROTTLE( + status_.get_logger(), *status_.get_clock(), 1000, + "deformable joint feedback invalid, fallback chassis radius to default %.3f m", + kDefaultRadius); + return; + } + + *encoder_alpha_ = alpha_rad.mean(); + *encoder_alpha_dot_ = alpha_dot_rad.mean(); + *radius_ = (kChassisRadiusBase + kRodLength * alpha_rad.array().cos()).mean(); + } + + void log_chassis_feedback_once_per_second_() { + const auto now = Clock::now(); + if (now < next_chassis_feedback_log_time_) + return; + + const auto wheel_rx = [this](size_t index) { + return wheel_status_received_[index].load(std::memory_order_relaxed) ? 'Y' : 'N'; + }; + const auto joint_rx = [this](size_t index) { + return joint_status_received_[index].load(std::memory_order_relaxed) ? 'Y' : 'N'; + }; + + if (debug_log_wheel_motor_) { + std::string wheel_rx_str; + for (size_t i = 0; i < 4; ++i) { + if (i > 0) + wheel_rx_str.push_back(' '); + wheel_rx_str.push_back(wheel_rx(i)); + } + RCLCPP_INFO( + status_.get_logger(), + "[wheel motor] angle(rad) lf=% .3f lb=% .3f rb=% .3f rf=% .3f | " + "encoder(deg) lf=% .1f lb=% .1f rb=% .1f rf=% .1f | " + "rx=[%s]", + chassis_wheel_motors_[kLeftFront].angle(), + chassis_wheel_motors_[kLeftBack].angle(), + chassis_wheel_motors_[kRightBack].angle(), + chassis_wheel_motors_[kRightFront].angle(), + chassis_wheel_motors_[kLeftFront].angle(), + chassis_wheel_motors_[kLeftBack].angle(), + chassis_wheel_motors_[kRightBack].angle(), + chassis_wheel_motors_[kRightFront].angle(), wheel_rx_str.c_str()); + } + + if (debug_log_deformable_joint_motor_) { + std::string joint_rx_str; + for (size_t i = 0; i < 4; ++i) { + if (i > 0) + joint_rx_str.push_back(' '); + joint_rx_str.push_back(joint_rx(i)); + } + RCLCPP_INFO( + status_.get_logger(), + "[deformable joint motor] angle(rad) lf=% .3f lb=% .3f rb=% .3f rf=% .3f | " + "velocity(rad/s) lf=% .3f lb=% .3f rb=% .3f rf=% .3f | " + "rx=[%s]", + *joint_physical_angle_[kLeftFront], *joint_physical_angle_[kLeftBack], + *joint_physical_angle_[kRightBack], *joint_physical_angle_[kRightFront], + *joint_physical_velocity_[kLeftFront], *joint_physical_velocity_[kLeftBack], + *joint_physical_velocity_[kRightBack], *joint_physical_velocity_[kRightFront], + joint_rx_str.c_str()); + } + + next_chassis_feedback_log_time_ = now + std::chrono::seconds(1); + } + + void log_supercap_feedback_once_per_second_() { + const auto now = Clock::now(); + if (now < next_supercap_feedback_log_time_) + return; + + const bool supercap_rx = supercap_status_received_.load(std::memory_order_relaxed); + auto supercap_raw_packet = latest_supercap_status_.load(std::memory_order_relaxed); + const auto supercap_raw_bytes = supercap_raw_packet.as_bytes(); + + RCLCPP_INFO( + status_.get_logger(), + "[supercap] can1 rx=%c id=0x300 enabled=%d supercap_v=% .3f chassis_v=% .3f " + "power=% .3f raw=[%02X %02X %02X %02X %02X %02X %02X %02X]", + supercap_rx ? 'Y' : 'N', supercap_rx ? (supercap_.supercap_enabled() ? 1 : 0) : -1, + supercap_rx ? supercap_.supercap_voltage() : kNaN, + supercap_rx ? supercap_.chassis_voltage() : kNaN, + supercap_rx ? supercap_.chassis_power() : kNaN, + std::to_integer(supercap_raw_bytes[0]), + std::to_integer(supercap_raw_bytes[1]), + std::to_integer(supercap_raw_bytes[2]), + std::to_integer(supercap_raw_bytes[3]), + std::to_integer(supercap_raw_bytes[4]), + std::to_integer(supercap_raw_bytes[5]), + std::to_integer(supercap_raw_bytes[6]), + std::to_integer(supercap_raw_bytes[7])); + + next_supercap_feedback_log_time_ = now + std::chrono::seconds(1); + } + + void can_receive_callback(const Spec::Can& can, const View::Can& data) override { + if (data.is_extended_can_id || data.is_remote_transmission) + return; + if (can == Spec::kCans.kCan0) { + process_chassis_can_receive_(0, data); + monitor_.tick("Bottom::Can0", data.can_id); + } else if (can == Spec::kCans.kCan1) { + process_chassis_can_receive_(1, data); + if (!data.is_extended_can_id && !data.is_remote_transmission + && data.can_id == 0x300) { + if (data.can_data.size() == 8) + latest_supercap_status_.store( + device::CanPacket8{data.can_data}, std::memory_order_relaxed); + supercap_.store_status(data.can_data); + supercap_status_received_.store(true, std::memory_order_relaxed); + } + monitor_.tick("Bottom::Can1", data.can_id); + } else if (can == Spec::kCans.kCan2) { + process_chassis_can_receive_(2, data); + if (data.is_extended_can_id || data.is_remote_transmission) + return; + if (data.can_id == 0x142) + gimbal_yaw_motor_.store_status(data.can_data); + else if (data.can_id == 0x203) + gimbal_bullet_feeder_.store_status(data.can_data); + monitor_.tick("Bottom::Can2", data.can_id); + } else if (can == Spec::kCans.kCan3) { + process_chassis_can_receive_(3, data); + monitor_.tick("Bottom::Can3", data.can_id); + } + } + + void uart_receive_callback(const Spec::Uart& uart, const View::Uart& data) override { + if (uart == Spec::kUarts.kDbus) { + dr16_.store_status(data.uart_data.data(), data.uart_data.size()); + monitor_.tick("Bottom::Dbus", "Active"); + } else if (uart == Spec::kUarts.kUart0) { + const std::byte* ptr = data.uart_data.data(); + referee_ring_buffer_receive_.emplace_back_n( + [&ptr](std::byte* storage) noexcept { *storage = *ptr++; }, + data.uart_data.size()); + monitor_.tick("Bottom::Uart0", "Active"); + } + } + + void accelerometer_receive_callback(const View::ImuAccelerometer& data) override { + imu_.store_accelerometer_status(data.x, data.y, data.z); + monitor_.tick("Bottom::Imu", "Acc"); + } + + void gyroscope_receive_callback(const View::ImuGyroscope& data) override { + imu_.store_gyroscope_status(data.x, data.y, data.z); + monitor_.tick("Bottom::Imu", "Gyr"); + } + + auto status() const -> std::vector { return monitor_.text(); } + + StatusMonitor monitor_{}; + }; + + auto status_service_callback(const std::shared_ptr& response) + -> void { + response->success = true; + + auto feedback_message = std::ostringstream{}; + auto text = [&](std::format_string format, Args&&... args) { + std::println(feedback_message, format, std::forward(args)...); + }; + + text(" yaw_motor_zero_point: {}", bottom_board_->gimbal_yaw_motor_.last_raw_angle()); + text(" pitch_motor_zero_point: {}", top_board_->gimbal_pitch_motor_.last_raw_angle()); + constexpr auto kPosition = + std::array{"left_front", "left_back", "right_back", "right_front"}; + + text(""); + for (auto&& [index, motor] : + std::views::zip(kPosition, bottom_board_->chassis_joint_motors_)) { + text(" {}_zero_point: {}", index, motor.last_raw_angle()); + } + + text("\nBottomBoard Status:"); + for (const auto& line : bottom_board_->status()) + text("> {}", line); + + text("\nTopBoard Status:"); + for (const auto& line : top_board_->status()) + text("> {}", line); + + response->message = feedback_message.str(); + } + + OutputInterface tf_; + OutputInterface camera_transform_; + OutputInterface barrel_direction_; + OutputInterface auto_aim_yaw_velocity_; + InputInterface timestamp_; + + std::unique_ptr bottom_board_; + std::unique_ptr top_board_; + std::unique_ptr remote_control_; + + std::shared_ptr command_; + uint32_t cmd_tick_ = 0; + + std::shared_ptr> status_service_; +}; + +} // namespace rmcs_core::hardware + +#include +PLUGINLIB_EXPORT_CLASS(rmcs_core::hardware::DeformableInfantryOmniB, rmcs_executor::Component) diff --git a/rmcs_ws/src/rmcs_core/src/hardware/deformable-infantry-omni.cpp b/rmcs_ws/src/rmcs_core/src/hardware/deformable-infantry-omni.cpp index 3b656dd6c..83c40c97b 100644 --- a/rmcs_ws/src/rmcs_core/src/hardware/deformable-infantry-omni.cpp +++ b/rmcs_ws/src/rmcs_core/src/hardware/deformable-infantry-omni.cpp @@ -1,11 +1,5 @@ -#include "hardware/device/bmi088.hpp" -#include "hardware/device/can_packet.hpp" -#include "hardware/device/dji_motor.hpp" -#include "hardware/device/dr16.hpp" -#include "hardware/device/lk_motor.hpp" -#include "hardware/device/supercap.hpp" - #include +#include #include #include #include @@ -18,17 +12,30 @@ #include #include -#include +#include +#include #include #include -#include -#include +#include #include #include +#include +#include #include #include +#include "hardware/device/bmi088.hpp" +#include "hardware/device/bmi088_ekf.hpp" +#include "hardware/device/board_clock_lifter.hpp" +#include "hardware/device/can_packet.hpp" +#include "hardware/device/dji_motor.hpp" +#include "hardware/device/dr16.hpp" +#include "hardware/device/lk_motor.hpp" +#include "hardware/device/remote_control.hpp" +#include "hardware/device/supercap.hpp" +#include "hardware/util/status_monitor.hpp" + namespace rmcs_core::hardware { using Clock = std::chrono::steady_clock; @@ -46,15 +53,19 @@ class DeformableInfantryOmni register_input("/predefined/timestamp", timestamp_); register_output("/tf", tf_); + register_output( + "/auto_aim/camera_transform", camera_transform_, Eigen::Isometry3d::Identity()); + register_output("/auto_aim/barrel_direction", barrel_direction_, Eigen::Vector3d::UnitX()); + register_output("/auto_aim/yaw_velocity", auto_aim_yaw_velocity_, 0.0); + + tf_->set_transform(Eigen::Translation3d{0.058, -0.08, 0.0}); - tf_->set_transform(Eigen::Translation3d{0.16, 0.0, 0.15}); + remote_control_ = std::make_unique(*this); bottom_board_ = std::make_unique( - *this, *command_, get_parameter("serial_filter_rmcs_board").as_string()); + *this, *command_, get_parameter("serial_filter_bottom_board").as_string()); top_board_ = std::make_unique( *this, *command_, get_parameter("serial_filter_top_board").as_string()); - imu_board_ = - std::make_unique(*this, get_parameter("serial_filter_imu").as_string()); // For command: remote-status using Srv = std_srvs::srv::Trigger; @@ -67,10 +78,18 @@ class DeformableInfantryOmni ~DeformableInfantryOmni() override = default; + void before_updating() override { top_board_->request_hard_sync_read(); } + void update() override { bottom_board_->update(); top_board_->update(); - imu_board_->update(); + remote_control_->update(); + + using namespace rmcs_description; + *camera_transform_ = fast_tf::lookup_transform(*tf_); + *barrel_direction_ = + *fast_tf::cast(PitchLink::DirectionVector{Eigen::Vector3d::UnitX()}, *tf_); + *auto_aim_yaw_velocity_ = top_board_->gimbal_yaw_velocity(); } void command_update() { @@ -80,7 +99,17 @@ class DeformableInfantryOmni } private: - static constexpr double kNaN = std::numeric_limits::quiet_NaN(); + static constexpr auto kNaN = std::numeric_limits::quiet_NaN(); + static constexpr auto kLeftFront = 0; + static constexpr auto kLeftBack = 1; + static constexpr auto kRightBack = 2; + static constexpr auto kRightFront = 3; + static constexpr auto kJointName = std::array{ + "left_front", + "left_back", + "right_back", + "right_front", + }; class Command : public rmcs_executor::Component { public: @@ -92,18 +121,16 @@ class DeformableInfantryOmni DeformableInfantryOmni& deformableInfantry; }; - class BottomBoard final : private librmcs::agent::RmcsBoardLite { - friend class DeformableInfantryOmni; - + struct BottomBoard final : public librmcs::board::RmcsBoardLite::Callback { public: explicit BottomBoard( DeformableInfantryOmni& status, rmcs_executor::Component& command, const std::string& serial_filter = {}) - : RmcsBoardLite{ - serial_filter, - librmcs::agent::AdvancedOptions{.dangerously_skip_version_checks = true}} - , status_{status} - , command_{command} { + : status_{status} + , command_{command} + , kChassisRadiusBase(status.get_parameter("chassis_radius").as_double()) + , kRodLength(status.get_parameter("rod_length").as_double()) + , kDefaultRadius(kChassisRadiusBase + kRodLength) { status.register_output("/referee/serial", referee_serial_); referee_serial_->read = [this](std::byte* buffer, size_t size) { @@ -111,8 +138,8 @@ class DeformableInfantryOmni [&buffer](std::byte byte) noexcept { *buffer++ = byte; }, size); }; referee_serial_->write = [this](const std::byte* buffer, size_t size) { - start_transmit().uart0_transmit( - {.uart_data = std::span{buffer, size}}); + board_->start_transmit().uart_transmit( + Spec::kUarts.kUart0, {.uart_data = std::span{buffer, size}}); return size; }; @@ -122,10 +149,9 @@ class DeformableInfantryOmni for (auto& motor : chassis_wheel_motors_) motor.configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} - .set_reduction_ratio(11.0) - .enable_multi_turn_angle() - .set_reversed()); + device::DjiMotor::Config{device::DjiMotor::Type::kM3508, 1} + .set_reduction_ratio(19.0) + .enable_multi_turn_angle()); for (auto& motor : chassis_joint_motors_) motor.configure( @@ -140,45 +166,40 @@ class DeformableInfantryOmni }); gimbal_bullet_feeder_.configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM2006}.enable_multi_turn_angle()); + device::DjiMotor::Config{device::DjiMotor::Type::kM2006, 3} + .enable_multi_turn_angle()); status.register_output("/chassis/yaw/velocity_imu", chassis_yaw_velocity_imu_, 0); status.register_output("/chassis/imu/pitch", chassis_imu_pitch_, 0.0); status.register_output("/chassis/imu/roll", chassis_imu_roll_, 0.0); status.register_output("/chassis/imu/pitch_rate", chassis_imu_pitch_rate_, 0.0); status.register_output("/chassis/imu/roll_rate", chassis_imu_roll_rate_, 0.0); - status.register_output( - "/chassis/left_front_joint/physical_angle", left_front_joint_physical_angle_, kNaN); - status.register_output( - "/chassis/left_back_joint/physical_angle", left_back_joint_physical_angle_, kNaN); - status.register_output( - "/chassis/right_back_joint/physical_angle", right_back_joint_physical_angle_, kNaN); - status.register_output( - "/chassis/right_front_joint/physical_angle", right_front_joint_physical_angle_, - kNaN); - status.register_output( - "/chassis/left_front_joint/physical_velocity", left_front_joint_physical_velocity_, - kNaN); - status.register_output( - "/chassis/left_back_joint/physical_velocity", left_back_joint_physical_velocity_, - kNaN); - status.register_output( - "/chassis/right_back_joint/physical_velocity", right_back_joint_physical_velocity_, - kNaN); - status.register_output( - "/chassis/right_front_joint/physical_velocity", - right_front_joint_physical_velocity_, kNaN); + for (size_t i = 0; i < 4; ++i) { + status.register_output( + std::format( + "/chassis/{}_joint/physical_angle", DeformableInfantryOmni::kJointName[i]), + joint_physical_angle_[i], kNaN); + status.register_output( + std::format( + "/chassis/{}_joint/physical_velocity", + DeformableInfantryOmni::kJointName[i]), + joint_physical_velocity_[i], kNaN); + } status.register_output("/chassis/encoder/alpha", encoder_alpha_, kNaN); status.register_output("/chassis/encoder/alpha_dot", encoder_alpha_dot_, kNaN); - status.register_output("/chassis/radius", radius_, kNaN); + status.register_output("/chassis/radius", radius_, kDefaultRadius); status.get_parameter_or("debug_log_supercap", debug_log_supercap_, false); status.get_parameter_or("debug_log_wheel_motor", debug_log_wheel_motor_, false); status.get_parameter_or( "debug_log_deformable_joint_motor", debug_log_deformable_joint_motor_, false); - } - ~BottomBoard() override = default; + auto options = librmcs::board::AdvancedOptions{}; + options.dangerously_skip_version_checks = true; + board_ = std::make_unique(*this, serial_filter, options); + + status_.remote_control_->register_dr16(&dr16_); + } void update() { imu_.update_status(); @@ -209,14 +230,9 @@ class DeformableInfantryOmni for (auto& motor : chassis_joint_motors_) motor.update_status(); - update_joint_physical_feedback_( - 0, left_front_joint_physical_angle_, left_front_joint_physical_velocity_); - update_joint_physical_feedback_( - 1, left_back_joint_physical_angle_, left_back_joint_physical_velocity_); - update_joint_physical_feedback_( - 2, right_back_joint_physical_angle_, right_back_joint_physical_velocity_); - update_joint_physical_feedback_( - 3, right_front_joint_physical_angle_, right_front_joint_physical_velocity_); + for (size_t i = 0; i < 4; ++i) + update_joint_physical_feedback_( + i, joint_physical_angle_[i], joint_physical_velocity_[i]); update_geometry_feedback_(); if (debug_log_wheel_motor_ || debug_log_deformable_joint_motor_) @@ -235,98 +251,168 @@ class DeformableInfantryOmni } void command_update(bool even) { - auto builder = start_transmit(); + auto builder = board_->start_transmit(); if (even) { - builder.can0_transmit({ - .can_id = 0x200, - .can_data = - device::CanPacket8{ - chassis_wheel_motors_[0].generate_command(), - device::CanPacket8::PaddingQuarter{}, - device::CanPacket8::PaddingQuarter{}, - device::CanPacket8::PaddingQuarter{}, - } - .as_bytes(), - }); - builder.can1_transmit({ - .can_id = 0x200, - .can_data = - device::CanPacket8{ - chassis_wheel_motors_[1].generate_command(), - device::CanPacket8::PaddingQuarter{}, - device::CanPacket8::PaddingQuarter{}, - device::CanPacket8::PaddingQuarter{}, - } - .as_bytes(), - }); - builder.can2_transmit({ - .can_id = 0x200, - .can_data = - device::CanPacket8{ - chassis_wheel_motors_[2].generate_command(), - device::CanPacket8::PaddingQuarter{}, - gimbal_bullet_feeder_.generate_command(), - device::CanPacket8::PaddingQuarter{}, - } - .as_bytes(), - }); - builder.can3_transmit({ - .can_id = 0x200, - .can_data = - device::CanPacket8{ - chassis_wheel_motors_[3].generate_command(), - device::CanPacket8::PaddingQuarter{}, - device::CanPacket8::PaddingQuarter{}, - device::CanPacket8::PaddingQuarter{}, - } - .as_bytes(), - }); - builder.can2_transmit({ - .can_id = 0x142, - .can_data = gimbal_yaw_motor_.generate_torque_command().as_bytes(), - }); - builder.can1_transmit({ - .can_id = 0x1FE, - .can_data = - device::CanPacket8{ - device::CanPacket8::PaddingQuarter{}, - device::CanPacket8::PaddingQuarter{}, - device::CanPacket8::PaddingQuarter{}, - supercap_.generate_command(), - } - .as_bytes(), - }); + builder.can_transmit( + Spec::kCans.kCan0, // + { + .can_id = 0x200, + .can_data = + device::CanPacket8{ + chassis_wheel_motors_[kLeftFront].generate_command(), + device::CanPacket8::PaddingQuarter{}, + device::CanPacket8::PaddingQuarter{}, + device::CanPacket8::PaddingQuarter{}, + } + .as_bytes(), + }); + builder.can_transmit( + Spec::kCans.kCan1, // + { + .can_id = 0x200, + .can_data = + device::CanPacket8{ + chassis_wheel_motors_[kLeftBack].generate_command(), + device::CanPacket8::PaddingQuarter{}, + device::CanPacket8::PaddingQuarter{}, + device::CanPacket8::PaddingQuarter{}, + } + .as_bytes(), + }); + builder.can_transmit( + Spec::kCans.kCan2, // + { + .can_id = 0x200, + .can_data = + device::CanPacket8{ + chassis_wheel_motors_[kRightBack].generate_command(), + device::CanPacket8::PaddingQuarter{}, + gimbal_bullet_feeder_.generate_command(), + device::CanPacket8::PaddingQuarter{}, + } + .as_bytes(), + }); + builder.can_transmit( + Spec::kCans.kCan3, // + { + .can_id = 0x200, + .can_data = + device::CanPacket8{ + chassis_wheel_motors_[kRightFront].generate_command(), + device::CanPacket8::PaddingQuarter{}, + device::CanPacket8::PaddingQuarter{}, + device::CanPacket8::PaddingQuarter{}, + } + .as_bytes(), + }); + builder.can_transmit( + Spec::kCans.kCan2, // + { + .can_id = 0x142, + .can_data = gimbal_yaw_motor_.generate_command().as_bytes(), + }); + builder.can_transmit( + Spec::kCans.kCan1, // + { + .can_id = 0x1FE, + .can_data = + device::CanPacket8{ + device::CanPacket8::PaddingQuarter{}, + device::CanPacket8::PaddingQuarter{}, + device::CanPacket8::PaddingQuarter{}, + supercap_.generate_command(), + } + .as_bytes(), + }); } else { - builder.can0_transmit({ - .can_id = 0x141, - .can_data = chassis_joint_motors_[0].generate_command().as_bytes(), - }); - builder.can1_transmit({ - .can_id = 0x141, - .can_data = chassis_joint_motors_[1].generate_command().as_bytes(), - }); - builder.can2_transmit({ - .can_id = 0x141, - .can_data = chassis_joint_motors_[2].generate_command().as_bytes(), - }); - builder.can3_transmit({ - .can_id = 0x141, - .can_data = chassis_joint_motors_[3].generate_command().as_bytes(), - }); + for (size_t i = 0; i < 4; ++i) { + switch (i) { + case kLeftFront: + builder.can_transmit( + Spec::kCans.kCan0, // + { + .can_id = 0x141, + .can_data = chassis_joint_motors_[i].generate_command().as_bytes(), + }); + break; + case kLeftBack: + builder.can_transmit( + Spec::kCans.kCan1, // + { + .can_id = 0x141, + .can_data = chassis_joint_motors_[i].generate_command().as_bytes(), + }); + break; + case kRightBack: + builder.can_transmit( + Spec::kCans.kCan2, // + { + .can_id = 0x141, + .can_data = chassis_joint_motors_[i].generate_command().as_bytes(), + }); + break; + case kRightFront: + builder.can_transmit( + Spec::kCans.kCan3, // + { + .can_id = 0x141, + .can_data = chassis_joint_motors_[i].generate_command().as_bytes(), + }); + break; + default: break; + } + } } } - private: - static constexpr double joint_zero_physical_angle_rad_ = 62.5 * std::numbers::pi / 180.0; - static constexpr double chassis_radius_base_ = 0.2341741; - static constexpr double rod_length_ = 0.150; + static constexpr double kJointZeroPhysicalAngleRad = 62.5 * std::numbers::pi / 180.0; DeformableInfantryOmni& status_; Component& command_; + std::unique_ptr board_; + + // Interfaces + + OutputInterface& tf_{status_.tf_}; + + OutputInterface chassis_yaw_velocity_imu_; + OutputInterface chassis_imu_pitch_; + OutputInterface chassis_imu_roll_; + OutputInterface chassis_imu_pitch_rate_; + OutputInterface chassis_imu_roll_rate_; + + std::array, 4> joint_physical_angle_; + std::array, 4> joint_physical_velocity_; + + OutputInterface encoder_alpha_; + OutputInterface encoder_alpha_dot_; + OutputInterface radius_; + + rmcs_utility::RingBuffer referee_ring_buffer_receive_{256}; + OutputInterface referee_serial_; + + // State + + std::atomic wheel_status_received_[4] = {false, false, false, false}; + std::atomic joint_status_received_[4] = {false, false, false, false}; + + bool debug_log_supercap_ = false; + bool debug_log_wheel_motor_ = false; + bool debug_log_deformable_joint_motor_ = false; + + const double kChassisRadiusBase; + const double kRodLength; + const double kDefaultRadius; + + Clock::time_point next_chassis_feedback_log_time_{Clock::now() + std::chrono::seconds(1)}; + Clock::time_point next_supercap_feedback_log_time_{Clock::now() + std::chrono::seconds(1)}; + + // Device + device::Bmi088 imu_{1000, 0.2, 0.0}; device::LkMotor gimbal_yaw_motor_{status_, command_, "/gimbal/yaw"}; - device::Dr16 dr16_{status_}; + device::Dr16 dr16_{}; device::DjiMotor chassis_wheel_motors_[4]{ device::DjiMotor{status_, command_, "/chassis/left_front_wheel"}, @@ -341,39 +427,23 @@ class DeformableInfantryOmni device::LkMotor{status_, command_, "/chassis/right_front_joint"}, }; - std::atomic wheel_status_received_[4] = {false, false, false, false}; - std::atomic joint_status_received_[4] = {false, false, false, false}; - bool debug_log_supercap_ = false; - bool debug_log_wheel_motor_ = false; - bool debug_log_deformable_joint_motor_ = false; - Clock::time_point next_chassis_feedback_log_time_{Clock::now() + std::chrono::seconds(1)}; - Clock::time_point next_supercap_feedback_log_time_{Clock::now() + std::chrono::seconds(1)}; - device::Supercap supercap_{status_, command_}; std::atomic latest_supercap_status_{device::CanPacket8{uint64_t{0}}}; std::atomic supercap_status_received_{false}; - device::DjiMotor gimbal_bullet_feeder_{status_, command_, "/gimbal/bullet_feeder"}; - - OutputInterface& tf_{status_.tf_}; + device::Supercap supercap_{status_, command_}; - OutputInterface chassis_yaw_velocity_imu_; - OutputInterface chassis_imu_pitch_; - OutputInterface chassis_imu_roll_; - OutputInterface chassis_imu_pitch_rate_; - OutputInterface chassis_imu_roll_rate_; - OutputInterface left_front_joint_physical_angle_; - OutputInterface left_back_joint_physical_angle_; - OutputInterface right_back_joint_physical_angle_; - OutputInterface right_front_joint_physical_angle_; - OutputInterface left_front_joint_physical_velocity_; - OutputInterface left_back_joint_physical_velocity_; - OutputInterface right_back_joint_physical_velocity_; - OutputInterface right_front_joint_physical_velocity_; - OutputInterface encoder_alpha_; - OutputInterface encoder_alpha_dot_; - OutputInterface radius_; + device::DjiMotor gimbal_bullet_feeder_{status_, command_, "/gimbal/bullet_feeder"}; - rmcs_utility::RingBuffer referee_ring_buffer_receive_{256}; - OutputInterface referee_serial_; + void process_chassis_can_receive_(size_t index, const View::Can& data) { + if (data.is_extended_can_id || data.is_remote_transmission) + return; + if (data.can_id == 0x201) { + chassis_wheel_motors_[index].store_status(data.can_data); + wheel_status_received_[index].store(true, std::memory_order_relaxed); + } else if (data.can_id == 0x141) { + chassis_joint_motors_[index].store_status(data.can_data); + joint_status_received_[index].store(true, std::memory_order_relaxed); + } + } void update_joint_physical_feedback_( size_t index, OutputInterface& angle_output, @@ -386,7 +456,7 @@ class DeformableInfantryOmni } const auto to_physical_angle = [](double motor_angle) { - return joint_zero_physical_angle_rad_ - motor_angle; + return kJointZeroPhysicalAngleRad - motor_angle; }; const auto to_physical_velocity = [](double motor_velocity) { return -motor_velocity; }; @@ -396,22 +466,26 @@ class DeformableInfantryOmni void update_geometry_feedback_() { const Eigen::Vector4d alpha_rad{ - *left_front_joint_physical_angle_, *left_back_joint_physical_angle_, - *right_back_joint_physical_angle_, *right_front_joint_physical_angle_}; + *joint_physical_angle_[kLeftFront], *joint_physical_angle_[kLeftBack], + *joint_physical_angle_[kRightBack], *joint_physical_angle_[kRightFront]}; const Eigen::Vector4d alpha_dot_rad{ - *left_front_joint_physical_velocity_, *left_back_joint_physical_velocity_, - *right_back_joint_physical_velocity_, *right_front_joint_physical_velocity_}; + *joint_physical_velocity_[kLeftFront], *joint_physical_velocity_[kLeftBack], + *joint_physical_velocity_[kRightBack], *joint_physical_velocity_[kRightFront]}; if (!alpha_rad.array().isFinite().all() || !alpha_dot_rad.array().isFinite().all()) { *encoder_alpha_ = kNaN; *encoder_alpha_dot_ = kNaN; - *radius_ = kNaN; + *radius_ = kDefaultRadius; + RCLCPP_WARN_THROTTLE( + status_.get_logger(), *status_.get_clock(), 1000, + "deformable joint feedback invalid, fallback chassis radius to default %.3f m", + kDefaultRadius); return; } *encoder_alpha_ = alpha_rad.mean(); *encoder_alpha_dot_ = alpha_dot_rad.mean(); - *radius_ = (chassis_radius_base_ + rod_length_ * alpha_rad.array().cos()).mean(); + *radius_ = (kChassisRadiusBase + kRodLength * alpha_rad.array().cos()).mean(); } void log_chassis_feedback_once_per_second_() { @@ -427,29 +501,44 @@ class DeformableInfantryOmni }; if (debug_log_wheel_motor_) { + std::string wheel_rx_str; + for (size_t i = 0; i < 4; ++i) { + if (i > 0) + wheel_rx_str.push_back(' '); + wheel_rx_str.push_back(wheel_rx(i)); + } RCLCPP_INFO( status_.get_logger(), "[wheel motor] angle(rad) lf=% .3f lb=% .3f rb=% .3f rf=% .3f | " "encoder(deg) lf=% .1f lb=% .1f rb=% .1f rf=% .1f | " - "rx=[%c %c %c %c]", - chassis_wheel_motors_[0].angle(), chassis_wheel_motors_[1].angle(), - chassis_wheel_motors_[2].angle(), chassis_wheel_motors_[3].angle(), - chassis_wheel_motors_[0].angle(), chassis_wheel_motors_[1].angle(), - chassis_wheel_motors_[2].angle(), chassis_wheel_motors_[3].angle(), wheel_rx(0), - wheel_rx(1), wheel_rx(2), wheel_rx(3)); + "rx=[%s]", + chassis_wheel_motors_[kLeftFront].angle(), + chassis_wheel_motors_[kLeftBack].angle(), + chassis_wheel_motors_[kRightBack].angle(), + chassis_wheel_motors_[kRightFront].angle(), + chassis_wheel_motors_[kLeftFront].angle(), + chassis_wheel_motors_[kLeftBack].angle(), + chassis_wheel_motors_[kRightBack].angle(), + chassis_wheel_motors_[kRightFront].angle(), wheel_rx_str.c_str()); } if (debug_log_deformable_joint_motor_) { + std::string joint_rx_str; + for (size_t i = 0; i < 4; ++i) { + if (i > 0) + joint_rx_str.push_back(' '); + joint_rx_str.push_back(joint_rx(i)); + } RCLCPP_INFO( status_.get_logger(), "[deformable joint motor] angle(rad) lf=% .3f lb=% .3f rb=% .3f rf=% .3f | " "velocity(rad/s) lf=% .3f lb=% .3f rb=% .3f rf=% .3f | " - "rx=[%c %c %c %c]", - *left_front_joint_physical_angle_, *left_back_joint_physical_angle_, - *right_back_joint_physical_angle_, *right_front_joint_physical_angle_, - *left_front_joint_physical_velocity_, *left_back_joint_physical_velocity_, - *right_back_joint_physical_velocity_, *right_front_joint_physical_velocity_, - joint_rx(0), joint_rx(1), joint_rx(2), joint_rx(3)); + "rx=[%s]", + *joint_physical_angle_[kLeftFront], *joint_physical_angle_[kLeftBack], + *joint_physical_angle_[kRightBack], *joint_physical_angle_[kRightFront], + *joint_physical_velocity_[kLeftFront], *joint_physical_velocity_[kLeftBack], + *joint_physical_velocity_[kRightBack], *joint_physical_velocity_[kRightFront], + joint_rx_str.c_str()); } next_chassis_feedback_log_time_ = now + std::chrono::seconds(1); @@ -484,145 +573,79 @@ class DeformableInfantryOmni next_supercap_feedback_log_time_ = now + std::chrono::seconds(1); } - void dbus_receive_callback(const librmcs::data::UartDataView& data) override { - dr16_.store_status(data.uart_data.data(), data.uart_data.size()); - } - - void can0_receive_callback(const librmcs::data::CanDataView& data) override { - if (data.is_extended_can_id || data.is_remote_transmission) - return; - if (data.can_id == 0x201) { - chassis_wheel_motors_[0].store_status(data.can_data); - wheel_status_received_[0].store(true, std::memory_order_relaxed); - } else if (data.can_id == 0x141) { - chassis_joint_motors_[0].store_status(data.can_data); - joint_status_received_[0].store(true, std::memory_order_relaxed); - } - } - - void can1_receive_callback(const librmcs::data::CanDataView& data) override { + void can_receive_callback(const Spec::Can& can, const View::Can& data) override { if (data.is_extended_can_id || data.is_remote_transmission) return; - if (data.can_id == 0x201) { - chassis_wheel_motors_[1].store_status(data.can_data); - wheel_status_received_[1].store(true, std::memory_order_relaxed); - } else if (data.can_id == 0x141) { - chassis_joint_motors_[1].store_status(data.can_data); - joint_status_received_[1].store(true, std::memory_order_relaxed); - } else if (data.can_id == 0x300) { - if (data.can_data.size() == 8) - latest_supercap_status_.store( - device::CanPacket8{data.can_data}, std::memory_order_relaxed); - supercap_.store_status(data.can_data); - supercap_status_received_.store(true, std::memory_order_relaxed); + if (can == Spec::kCans.kCan0) { + process_chassis_can_receive_(0, data); + monitor_.tick("Bottom::Can0", data.can_id); + } else if (can == Spec::kCans.kCan1) { + process_chassis_can_receive_(1, data); + if (!data.is_extended_can_id && !data.is_remote_transmission + && data.can_id == 0x300) { + if (data.can_data.size() == 8) + latest_supercap_status_.store( + device::CanPacket8{data.can_data}, std::memory_order_relaxed); + supercap_.store_status(data.can_data); + supercap_status_received_.store(true, std::memory_order_relaxed); + } + monitor_.tick("Bottom::Can1", data.can_id); + } else if (can == Spec::kCans.kCan2) { + process_chassis_can_receive_(2, data); + if (data.is_extended_can_id || data.is_remote_transmission) + return; + if (data.can_id == 0x142) + gimbal_yaw_motor_.store_status(data.can_data); + else if (data.can_id == 0x203) + gimbal_bullet_feeder_.store_status(data.can_data); + monitor_.tick("Bottom::Can2", data.can_id); + } else if (can == Spec::kCans.kCan3) { + process_chassis_can_receive_(3, data); + monitor_.tick("Bottom::Can3", data.can_id); } } - void can2_receive_callback(const librmcs::data::CanDataView& data) override { - if (data.is_extended_can_id || data.is_remote_transmission) - return; - if (data.can_id == 0x201) { - chassis_wheel_motors_[2].store_status(data.can_data); - wheel_status_received_[2].store(true, std::memory_order_relaxed); - } else if (data.can_id == 0x141) { - chassis_joint_motors_[2].store_status(data.can_data); - joint_status_received_[2].store(true, std::memory_order_relaxed); - } else if (data.can_id == 0x142) { - gimbal_yaw_motor_.store_status(data.can_data); - } else if (data.can_id == 0x203) { - gimbal_bullet_feeder_.store_status(data.can_data); - } - } - - void can3_receive_callback(const librmcs::data::CanDataView& data) override { - if (data.is_extended_can_id || data.is_remote_transmission) - return; - if (data.can_id == 0x201) { - chassis_wheel_motors_[3].store_status(data.can_data); - wheel_status_received_[3].store(true, std::memory_order_relaxed); - } else if (data.can_id == 0x141) { - chassis_joint_motors_[3].store_status(data.can_data); - joint_status_received_[3].store(true, std::memory_order_relaxed); + void uart_receive_callback(const Spec::Uart& uart, const View::Uart& data) override { + if (uart == Spec::kUarts.kDbus) { + dr16_.store_status(data.uart_data.data(), data.uart_data.size()); + monitor_.tick("Bottom::Dbus", "Active"); + } else if (uart == Spec::kUarts.kUart0) { + const std::byte* ptr = data.uart_data.data(); + referee_ring_buffer_receive_.emplace_back_n( + [&ptr](std::byte* storage) noexcept { *storage = *ptr++; }, + data.uart_data.size()); + monitor_.tick("Bottom::Uart0", "Active"); } } - void uart0_receive_callback(const librmcs::data::UartDataView& data) override { - const std::byte* ptr = data.uart_data.data(); - referee_ring_buffer_receive_.emplace_back_n( - [&ptr](std::byte* storage) noexcept { *storage = *ptr++; }, data.uart_data.size()); - } - - void accelerometer_receive_callback( - const librmcs::data::AccelerometerDataView& data) override { + void accelerometer_receive_callback(const View::ImuAccelerometer& data) override { imu_.store_accelerometer_status(data.x, data.y, data.z); + monitor_.tick("Bottom::Imu", "Acc"); } - void gyroscope_receive_callback(const librmcs::data::GyroscopeDataView& data) override { + void gyroscope_receive_callback(const View::ImuGyroscope& data) override { imu_.store_gyroscope_status(data.x, data.y, data.z); - } - }; - - class ImuBoard final : private librmcs::agent::RmcsBoardLite { - friend class DeformableInfantryOmni; - - public: - explicit ImuBoard(DeformableInfantryOmni& status, const std::string& serial_filter = {}) - : RmcsBoardLite{ - serial_filter, - librmcs::agent::AdvancedOptions{.dangerously_skip_version_checks = true}} - , tf_{status.tf_} - , bmi088_{1000, 0.2, 0.0} { - - status.register_output("/gimbal/pitch/velocity_imu", gimbal_pitch_velocity_imu_); - - bmi088_.set_coordinate_mapping( - [](double x, double y, double z) { return std::make_tuple(x, z, -y); }); + monitor_.tick("Bottom::Imu", "Gyr"); } - ~ImuBoard() override = default; - - void update() { - bmi088_.update_status(); - Eigen::Quaterniond const gimbal_imu_pose{ - bmi088_.q0(), bmi088_.q1(), bmi088_.q2(), bmi088_.q3()}; - - tf_->set_transform( - gimbal_imu_pose.conjugate()); - - *gimbal_pitch_velocity_imu_ = bmi088_.gy(); - } + auto status() const -> std::vector { return monitor_.text(); } - private: - void accelerometer_receive_callback( - const librmcs::data::AccelerometerDataView& data) override { - bmi088_.store_accelerometer_status(data.x, data.y, data.z); - } - - void gyroscope_receive_callback(const librmcs::data::GyroscopeDataView& data) override { - bmi088_.store_gyroscope_status(data.x, data.y, data.z); - } - - OutputInterface& tf_; - OutputInterface gimbal_pitch_velocity_imu_; - - device::Bmi088 bmi088_; + StatusMonitor monitor_{}; }; - class TopBoard final : private librmcs::agent::CBoard { - friend class DeformableInfantryOmni; - + struct TopBoard final : public librmcs::board::RmcsBoardLite::Callback { public: explicit TopBoard( - DeformableInfantryOmni& status, Command& command, const std::string& serial_filter = {}) - : librmcs::agent::CBoard( - serial_filter, - librmcs::agent::AdvancedOptions{.dangerously_skip_version_checks = true}) - , tf_(status.tf_) - , bmi088_(1000, 0.2, 0.0) + DeformableInfantryOmni& status, rmcs_executor::Component& command, + const std::string& serial_filter = {}) + : tf_{status.tf_} + , bmi088_{device::Bmi088Ekf::Config{ + .body_to_sensor = + Eigen::AngleAxisd{std::numbers::pi / 2.0, Eigen::Vector3d::UnitX()} + .toRotationMatrix()}} , gimbal_pitch_motor_(status, command, "/gimbal/pitch") , gimbal_left_friction_(status, command, "/gimbal/left_friction") - , gimbal_right_friction_(status, command, "/gimbal/right_friction") - , scope_motor_(status, command, "/gimbal/scope") { + , gimbal_right_friction_(status, command, "/gimbal/right_friction") { gimbal_pitch_motor_.configure( device::LkMotor::Config{device::LkMotor::Type::kMG4010Ei10} @@ -631,96 +654,165 @@ class DeformableInfantryOmni static_cast(status.get_parameter("pitch_motor_zero_point").as_int()))); gimbal_left_friction_.configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} + device::DjiMotor::Config{device::DjiMotor::Type::kM3508, 1} .set_reduction_ratio(1.) .set_reversed()); gimbal_right_friction_.configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508}.set_reduction_ratio(1.)); - - scope_motor_.configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM2006}.enable_multi_turn_angle()); + device::DjiMotor::Config{device::DjiMotor::Type::kM3508, 2}.set_reduction_ratio( + 1.)); + + status.register_output("/gimbal/yaw/velocity_imu", gimbal_yaw_velocity_bmi088_); + status.register_output("/gimbal/pitch/velocity_imu", gimbal_pitch_velocity_bmi088_); + status.register_output("/gimbal/auto_aim/imu_snapshot", imu_snapshot_output_); + status.register_output("/gimbal/auto_aim/exposure_signal", camera_signal_output_); + + auto options = librmcs::board::AdvancedOptions{}; + options.dangerously_skip_version_checks = true; + board_ = std::make_unique(*this, serial_filter, options); + + board_->start_transmit().gpio_digital_read( + Spec::kGpios.kUart1Rx, { + .period_ms = 0, + .asap = false, + .rising_edge = false, + .falling_edge = true, + .capture_timestamp = true, + .pull = librmcs::data::GpioPull::kUp, + }); + } - status.register_output("/gimbal/yaw/velocity_imu", gimbal_yaw_velocity_imu_); + ~TopBoard() override = default; - bmi088_.set_coordinate_mapping( - [](double x, double y, double z) { return std::make_tuple(y, -x, z); }); + [[nodiscard]] auto gimbal_yaw_velocity() const -> double { + return *gimbal_yaw_velocity_bmi088_; } - ~TopBoard() override = default; + void request_hard_sync_read() { + // RMCS-lite top board variant currently has no GPIO hard-sync request + // path. + } void update() { - bmi088_.update_status(); gimbal_pitch_motor_.update_status(); gimbal_left_friction_.update_status(); gimbal_right_friction_.update_status(); - scope_motor_.update_status(); const double pitch_encoder_angle = gimbal_pitch_motor_.angle(); - *gimbal_yaw_velocity_imu_ = bmi088_.gz(); + if (auto snapshot = bmi088_.snapshot()) { + *gimbal_pitch_velocity_bmi088_ = snapshot->gyro_body.y(); + *gimbal_yaw_velocity_bmi088_ = snapshot->gyro_body.z(); + tf_->set_transform( + snapshot->orientation.conjugate()); + } tf_->set_state( pitch_encoder_angle); } - void command_update() { - auto builder = start_transmit(); - builder.can1_transmit({ - .can_id = 0x141, - .can_data = gimbal_pitch_motor_.generate_command().as_bytes(), - }); - - builder.can2_transmit({ - .can_id = 0x200, - .can_data = - device::CanPacket8{ - gimbal_left_friction_.generate_command(), - gimbal_right_friction_.generate_command(), - scope_motor_.generate_command(), - device::CanPacket8::PaddingQuarter{}, - } - .as_bytes(), - }); + void command_update() const { + auto builder = board_->start_transmit(); + builder.can_transmit( + Spec::kCans.kCan0, // + { + .can_id = 0x141, + .can_data = gimbal_pitch_motor_.generate_torque_command().as_bytes(), + }); + builder.can_transmit( + Spec::kCans.kCan1, // + { + .can_id = 0x200, + .can_data = + device::CanPacket8{ + gimbal_left_friction_.generate_command(), + device::CanPacket8::PaddingQuarter{}, + device::CanPacket8::PaddingQuarter{}, + device::CanPacket8::PaddingQuarter{}, + } + .as_bytes(), + }); + builder.can_transmit( + Spec::kCans.kCan2, // + { + .can_id = 0x200, + .can_data = + device::CanPacket8{ + device::CanPacket8::PaddingQuarter{}, + gimbal_right_friction_.generate_command(), + device::CanPacket8::PaddingQuarter{}, + device::CanPacket8::PaddingQuarter{}, + } + .as_bytes(), + }); } - private: - void uart1_receive_callback(const librmcs::data::UartDataView&) override {} - - void can1_receive_callback(const librmcs::data::CanDataView& data) override { + void can_receive_callback(const Spec::Can& can, const View::Can& data) override { if (data.is_extended_can_id || data.is_remote_transmission) [[unlikely]] return; - if (data.can_id == 0x141) - gimbal_pitch_motor_.store_status(data.can_data); + if (can == Spec::kCans.kCan0) { + if (data.can_id == 0x141) + gimbal_pitch_motor_.store_status(data.can_data); + monitor_.tick("Top::Can0", data.can_id); + } else if (can == Spec::kCans.kCan1) { + if (data.can_id == 0x201) + gimbal_left_friction_.store_status(data.can_data); + monitor_.tick("Top::Can1", data.can_id); + } else if (can == Spec::kCans.kCan2) { + if (data.can_id == 0x202) + gimbal_right_friction_.store_status(data.can_data); + monitor_.tick("Top::Can2", data.can_id); + } } - void can2_receive_callback(const librmcs::data::CanDataView& data) override { - if (data.is_extended_can_id || data.is_remote_transmission) [[unlikely]] - return; - if (data.can_id == 0x201) - gimbal_left_friction_.store_status(data.can_data); - else if (data.can_id == 0x202) - gimbal_right_friction_.store_status(data.can_data); - else if (data.can_id == 0x203) - scope_motor_.store_status(data.can_data); + void accelerometer_receive_callback(const View::ImuAccelerometer& data) override { + const auto timestamp = board_clock_lifter_.advance_timebase(data.timestamp_quarter_us); + bmi088_.push_accelerometer_sample(data.x, data.y, data.z, timestamp); + monitor_.tick("Top::Imu", "Acc"); } - void accelerometer_receive_callback( - const librmcs::data::AccelerometerDataView& data) override { - bmi088_.store_accelerometer_status(data.x, data.y, data.z); + void gyroscope_receive_callback(const View::ImuGyroscope& data) override { + const auto timestamp = board_clock_lifter_.lift_timestamp(data.timestamp_quarter_us); + monitor_.tick("Top::Imu", "Gyr"); + if (!timestamp.has_value()) + return; + auto snapshot = + bmi088_.try_update_with_gyroscope_sample(data.x, data.y, data.z, *timestamp); + if (snapshot) + imu_snapshot_output_.emit(*snapshot); } - void gyroscope_receive_callback(const librmcs::data::GyroscopeDataView& data) override { - bmi088_.store_gyroscope_status(data.x, data.y, data.z); + void gpio_digital_read_result_callback( + const Spec::Gpio& gpio, const View::GpioDigital& data) override { + if (gpio != Spec::kGpios.kUart1Rx) + return; + if (!data.timestamp_quarter_us) + return; + + const auto timestamp = board_clock_lifter_.lift_timestamp(*data.timestamp_quarter_us); + if (!timestamp.has_value()) + return; + + camera_signal_output_.emit(*timestamp); + monitor_.tick("Top::CameraSync", "Active"); } + auto status() const -> std::vector { return monitor_.text(); } + OutputInterface& tf_; - OutputInterface gimbal_yaw_velocity_imu_; + OutputInterface gimbal_yaw_velocity_bmi088_; + OutputInterface gimbal_pitch_velocity_bmi088_; - device::Bmi088 bmi088_; + EventOutputInterface imu_snapshot_output_; + EventOutputInterface camera_signal_output_; + + device::Bmi088Ekf bmi088_; + device::BoardClockLifter board_clock_lifter_; device::LkMotor gimbal_pitch_motor_; device::DjiMotor gimbal_left_friction_; device::DjiMotor gimbal_right_friction_; - device::DjiMotor scope_motor_; + + StatusMonitor monitor_{}; + std::unique_ptr board_; }; auto status_service_callback(const std::shared_ptr& response) @@ -732,30 +824,37 @@ class DeformableInfantryOmni std::println(feedback_message, format, std::forward(args)...); }; - text("Gimbal Status"); - text("- Yaw: {}", bottom_board_->gimbal_yaw_motor_.last_raw_angle()); - text("- Pitch: {}", top_board_->gimbal_pitch_motor_.last_raw_angle()); - - text("Chassis Status"); + text(" yaw_motor_zero_point: {}", bottom_board_->gimbal_yaw_motor_.last_raw_angle()); + text(" pitch_motor_zero_point: {}", top_board_->gimbal_pitch_motor_.last_raw_angle()); constexpr auto kPosition = - std::array{"left front", "left back", "right back", "right front"}; - constexpr auto kMaxLength = - std::ranges::max_element(kPosition, {}, &std::string_view::size)->size(); + std::array{"left_front", "left_back", "right_back", "right_front"}; + text(""); for (auto&& [index, motor] : std::views::zip(kPosition, bottom_board_->chassis_joint_motors_)) { - text("- {:{}}: {}", index, kMaxLength, motor.last_raw_angle()); + text(" {}_zero_point: {}", index, motor.last_raw_angle()); } + text("\nBottomBoard Status:"); + for (const auto& line : bottom_board_->status()) + text("> {}", line); + + text("\nTopBoard Status:"); + for (const auto& line : top_board_->status()) + text("> {}", line); + response->message = feedback_message.str(); } OutputInterface tf_; + OutputInterface camera_transform_; + OutputInterface barrel_direction_; + OutputInterface auto_aim_yaw_velocity_; InputInterface timestamp_; - std::unique_ptr imu_board_; - std::unique_ptr top_board_; std::unique_ptr bottom_board_; + std::unique_ptr top_board_; + std::unique_ptr remote_control_; std::shared_ptr command_; uint32_t cmd_tick_ = 0; diff --git a/rmcs_ws/src/rmcs_core/src/hardware/deformable-infantry-steering.cpp b/rmcs_ws/src/rmcs_core/src/hardware/deformable-infantry-steering.cpp deleted file mode 100644 index 6514c58b9..000000000 --- a/rmcs_ws/src/rmcs_core/src/hardware/deformable-infantry-steering.cpp +++ /dev/null @@ -1,876 +0,0 @@ -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include - -#include -#include -#include -#include -#include - -#include - -#include "hardware/device/bmi088.hpp" -#include "hardware/device/can_packet.hpp" -#include "hardware/device/dji_motor.hpp" -#include "hardware/device/dr16.hpp" -#include "hardware/device/lk_motor.hpp" -#include "hardware/device/supercap.hpp" - -namespace rmcs_core::hardware { - -using Clock = std::chrono::steady_clock; - -class DeformableInfantryV2 - : public rmcs_executor::Component - , public rclcpp::Node { -public: - DeformableInfantryV2() - : Node( - get_component_name(), - rclcpp::NodeOptions().automatically_declare_parameters_from_overrides(true)) - , deformable_infantry_command_( - create_partner_component( - get_component_name() + "_command", *this)) { - using namespace rmcs_description; - - register_input("/predefined/timestamp", timestamp_); - register_output("/tf", tf_); - - tf_->set_transform(Eigen::Translation3d{0.16, 0.0, 0.15}); - - steers_calibrate_subscription_ = create_subscription( - "/steers/calibrate", rclcpp::QoS(1), [this](std_msgs::msg::Int32::UniquePtr msg) { - steers_calibrate_subscription_callback(std::move(msg)); - }); - - joints_calibrate_subscription_ = create_subscription( - "/joints/calibrate", rclcpp::QoS(1), [this](std_msgs::msg::Int32::UniquePtr msg) { - joints_calibrate_subscription_callback(std::move(msg)); - }); - - gimbal_calibrate_subscription_ = create_subscription( - "/gimbal/calibrate", rclcpp::QoS{0}, [this](std_msgs::msg::Int32::UniquePtr&& msg) { - gimbal_calibrate_subscription_callback(std::move(msg)); - }); - - rmcs_board_lite = std::make_unique( - *this, *deformable_infantry_command_, - get_parameter("serial_filter_rmcs_board").as_string()); - top_board_ = std::make_unique( - *this, *deformable_infantry_command_, - get_parameter("serial_filter_top_board").as_string()); - } - - ~DeformableInfantryV2() override = default; - - void before_updating() override { - top_board_->request_hard_sync_read(); - next_hard_sync_log_time_ = Clock::now() + std::chrono::seconds(1); - } - - void update() override { - rmcs_board_lite->update(); - top_board_->update(); - } - - void command_update() { - const bool even = ((cmd_tick_++ & 1u) == 0u); - rmcs_board_lite->command_update(even); - top_board_->command_update(); - } - -private: - class DeformableInfantryV2Command; - class BottomBoard; - class TopBoard; - - void steers_calibrate_subscription_callback(std_msgs::msg::Int32::UniquePtr) { - if (!rmcs_board_lite) - return; - - RCLCPP_INFO( - get_logger(), "New left front offset: %d", - rmcs_board_lite->chassis_steer_motors_[0].calibrate_zero_point()); - RCLCPP_INFO( - get_logger(), "New left back offset: %d", - rmcs_board_lite->chassis_steer_motors_[1].calibrate_zero_point()); - RCLCPP_INFO( - get_logger(), "New right back offset: %d", - rmcs_board_lite->chassis_steer_motors_[2].calibrate_zero_point()); - RCLCPP_INFO( - get_logger(), "New right front offset: %d", - rmcs_board_lite->chassis_steer_motors_[3].calibrate_zero_point()); - } - - void joints_calibrate_subscription_callback(std_msgs::msg::Int32::UniquePtr) { - if (!rmcs_board_lite) - return; - - RCLCPP_INFO( - get_logger(), "New left front offset: %ld", - rmcs_board_lite->chassis_joint_motors_[0].calibrate_zero_point()); - RCLCPP_INFO( - get_logger(), "New left back offset: %ld", - rmcs_board_lite->chassis_joint_motors_[1].calibrate_zero_point()); - RCLCPP_INFO( - get_logger(), "New right back offset: %ld", - rmcs_board_lite->chassis_joint_motors_[2].calibrate_zero_point()); - RCLCPP_INFO( - get_logger(), "New right front offset: %ld", - rmcs_board_lite->chassis_joint_motors_[3].calibrate_zero_point()); - } - - void gimbal_calibrate_subscription_callback(std_msgs::msg::Int32::UniquePtr) { - if (!rmcs_board_lite || !top_board_) - return; - - RCLCPP_INFO( - get_logger(), "[gimbal calibration] New yaw offset: %ld", - rmcs_board_lite->gimbal_yaw_motor_.calibrate_zero_point()); - RCLCPP_INFO( - get_logger(), "[gimbal calibration] New pitch offset: %ld", - top_board_->gimbal_pitch_motor_.calibrate_zero_point()); - } - - class DeformableInfantryV2Command : public rmcs_executor::Component { - public: - explicit DeformableInfantryV2Command(DeformableInfantryV2& deformableInfantry) - : deformableInfantry(deformableInfantry) {} - - void update() override { deformableInfantry.command_update(); } - - DeformableInfantryV2& deformableInfantry; - }; - - class BottomBoard final : private librmcs::agent::RmcsBoardLite { - public: - friend class DeformableInfantryV2; - - static constexpr double nan_ = std::numeric_limits::quiet_NaN(); - - explicit BottomBoard( - DeformableInfantryV2& deformableInfantry, - DeformableInfantryV2Command& deformableInfantry_command, std::string serial_filter = {}) - : librmcs::agent::RmcsBoardLite( - serial_filter, - librmcs::agent::AdvancedOptions{.dangerously_skip_version_checks = true}) - , deformable_infantry_(deformableInfantry) - , tf_(deformableInfantry.tf_) - , imu_(1000, 0.2, 0.0) - , gimbal_yaw_motor_(deformableInfantry, deformableInfantry_command, "/gimbal/yaw") - , dr16_(deformableInfantry) - , chassis_wheel_motors_{device::DjiMotor{deformableInfantry, deformableInfantry_command, "/chassis/left_front_wheel"}, device::DjiMotor{deformableInfantry, deformableInfantry_command, "/chassis/left_back_wheel"}, device::DjiMotor{deformableInfantry, deformableInfantry_command, "/chassis/right_back_wheel"}, device::DjiMotor{deformableInfantry, deformableInfantry_command, "/chassis/right_front_wheel"},} - , chassis_steer_motors_{device::DjiMotor{deformableInfantry, deformableInfantry_command, "/chassis/left_front_steering"}, device::DjiMotor{deformableInfantry, deformableInfantry_command, "/chassis/left_back_steering"}, device::DjiMotor{deformableInfantry, deformableInfantry_command, "/chassis/right_back_steering"}, device::DjiMotor{deformableInfantry, deformableInfantry_command, "/chassis/right_front_steering"}} - , chassis_joint_motors_{device::LkMotor{deformableInfantry, deformableInfantry_command, "/chassis/left_front_joint"}, device::LkMotor{deformableInfantry, deformableInfantry_command, "/chassis/left_back_joint"}, device::LkMotor{deformableInfantry, deformableInfantry_command, "/chassis/right_back_joint"}, device::LkMotor{deformableInfantry, deformableInfantry_command, "/chassis/right_front_joint"}} - , next_chassis_feedback_log_time_(Clock::now() + std::chrono::seconds(1)) - , next_supercap_feedback_log_time_(Clock::now() + std::chrono::seconds(1)) - , supercap_(deformableInfantry, deformableInfantry_command) - , gimbal_bullet_feeder_( - deformableInfantry, deformableInfantry_command, "/gimbal/bullet_feeder") { - - deformableInfantry.register_output("/referee/serial", referee_serial_); - referee_serial_->read = [this](std::byte* buffer, size_t size) { - return referee_ring_buffer_receive_.pop_front_n( - [&buffer](std::byte byte) noexcept { *buffer++ = byte; }, size); - }; - referee_serial_->write = [this](const std::byte* buffer, size_t size) { - start_transmit().uart0_transmit( - {.uart_data = std::span{buffer, size}}); - return size; - }; - - gimbal_yaw_motor_.configure( - device::LkMotor::Config{device::LkMotor::Type::kMG4010Ei10}.set_encoder_zero_point( - static_cast( - deformableInfantry.get_parameter("yaw_motor_zero_point").as_int()))); - - for (auto& motor : chassis_wheel_motors_) - motor.configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} - .set_reduction_ratio(10.0) - .enable_multi_turn_angle() - .set_reversed()); - - // V2: LK MG5010 i36 direct-drive joint motors, built-in encoder zero point - for (auto& motor : chassis_joint_motors_) - motor.configure( - device::LkMotor::Config{device::LkMotor::Type::kMG5010Ei36} - .set_reversed() - .enable_multi_turn_angle()); - - imu_.set_coordinate_mapping([](double x, double y, double z) { - // Keep the existing chassis yaw axis mapping explicit until the bottom-board IMU - // installation is re-validated on hardware. - return std::make_tuple(-y, x, z); - }); - - gimbal_bullet_feeder_.configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM2006}.enable_multi_turn_angle()); - - chassis_steer_motors_[0].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kGM6020} - .set_reversed() - .set_encoder_zero_point( - static_cast( - deformableInfantry.get_parameter("left_front_zero_point").as_int())) - .enable_multi_turn_angle()); - chassis_steer_motors_[1].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kGM6020} - .set_reversed() - .set_encoder_zero_point( - static_cast( - deformableInfantry.get_parameter("left_back_zero_point").as_int())) - .enable_multi_turn_angle()); - chassis_steer_motors_[2].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kGM6020} - .set_reversed() - .set_encoder_zero_point( - static_cast( - deformableInfantry.get_parameter("right_back_zero_point").as_int())) - .enable_multi_turn_angle()); - chassis_steer_motors_[3].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kGM6020} - .set_reversed() - .set_encoder_zero_point( - static_cast( - deformableInfantry.get_parameter("right_front_zero_point").as_int())) - .enable_multi_turn_angle()); - - deformableInfantry.register_output( - "/chassis/yaw/velocity_imu", chassis_yaw_velocity_imu_, 0); - deformableInfantry.register_output("/chassis/imu/pitch", chassis_imu_pitch_, 0.0); - deformableInfantry.register_output("/chassis/imu/roll", chassis_imu_roll_, 0.0); - deformableInfantry.register_output( - "/chassis/imu/pitch_rate", chassis_imu_pitch_rate_, 0.0); - deformableInfantry.register_output( - "/chassis/imu/roll_rate", chassis_imu_roll_rate_, 0.0); - deformableInfantry.register_output( - "/chassis/left_front_joint/physical_angle", left_front_joint_physical_angle_, nan_); - deformableInfantry.register_output( - "/chassis/left_back_joint/physical_angle", left_back_joint_physical_angle_, nan_); - deformableInfantry.register_output( - "/chassis/right_back_joint/physical_angle", right_back_joint_physical_angle_, nan_); - deformableInfantry.register_output( - "/chassis/right_front_joint/physical_angle", right_front_joint_physical_angle_, - nan_); - deformableInfantry.register_output( - "/chassis/left_front_joint/physical_velocity", left_front_joint_physical_velocity_, - nan_); - deformableInfantry.register_output( - "/chassis/left_back_joint/physical_velocity", left_back_joint_physical_velocity_, - nan_); - deformableInfantry.register_output( - "/chassis/right_back_joint/physical_velocity", right_back_joint_physical_velocity_, - nan_); - deformableInfantry.register_output( - "/chassis/right_front_joint/physical_velocity", - right_front_joint_physical_velocity_, nan_); - deformableInfantry.register_output("/chassis/encoder/alpha", encoder_alpha_, nan_); - deformableInfantry.register_output( - "/chassis/encoder/alpha_dot", encoder_alpha_dot_, nan_); - deformableInfantry.register_output("/chassis/radius", radius_, nan_); - - deformableInfantry.get_parameter_or("debug_log_supercap", debug_log_supercap_, false); - deformableInfantry.get_parameter_or( - "debug_log_wheel_motor", debug_log_wheel_motor_, false); - deformableInfantry.get_parameter_or( - "debug_log_deformable_joint_motor", debug_log_deformable_joint_motor_, false); - } - - ~BottomBoard() override = default; - - void update() { - imu_.update_status(); - *chassis_yaw_velocity_imu_ = imu_.gz(); - { - const double q0 = imu_.q0(); - const double q1 = imu_.q1(); - const double q2 = imu_.q2(); - const double q3 = imu_.q3(); - - double sin_pitch = 2.0 * (q0 * q2 - q3 * q1); - sin_pitch = std::clamp(sin_pitch, -1.0, 1.0); - - const double standard_pitch = std::asin(sin_pitch); - const double standard_roll = - std::atan2(2.0 * (q0 * q1 + q2 * q3), 1.0 - 2.0 * (q1 * q1 + q2 * q2)); - - // Export chassis attitude using the requested convention: - // pitch < 0 when the front is higher, roll > 0 when the left side is higher. - *chassis_imu_pitch_ = -standard_pitch; - *chassis_imu_roll_ = standard_roll; - *chassis_imu_pitch_rate_ = -imu_.gy(); - *chassis_imu_roll_rate_ = imu_.gx(); - } - - for (auto& motor : chassis_wheel_motors_) - motor.update_status(); - for (auto& motor : chassis_steer_motors_) - motor.update_status(); - for (auto& motor : chassis_joint_motors_) - motor.update_status(); - - update_joint_physical_feedback_( - 0, left_front_joint_physical_angle_, left_front_joint_physical_velocity_); - update_joint_physical_feedback_( - 1, left_back_joint_physical_angle_, left_back_joint_physical_velocity_); - update_joint_physical_feedback_( - 2, right_back_joint_physical_angle_, right_back_joint_physical_velocity_); - update_joint_physical_feedback_( - 3, right_front_joint_physical_angle_, right_front_joint_physical_velocity_); - - update_geometry_feedback_(); - if (debug_log_wheel_motor_ || debug_log_deformable_joint_motor_) - log_chassis_feedback_once_per_second_(); - - dr16_.update_status(); - gimbal_yaw_motor_.update_status(); - if (supercap_status_received_.load(std::memory_order_relaxed)) - supercap_.update_status(); - if (debug_log_supercap_) - log_supercap_feedback_once_per_second_(); - gimbal_bullet_feeder_.update_status(); - - tf_->set_state( - gimbal_yaw_motor_.angle()); - } - - void command_update(bool even) { - auto builder = start_transmit(); - if (even) { - // Steer motors: same as V1 - builder.can0_transmit({ - .can_id = 0x1FE, - .can_data = - device::CanPacket8{ - chassis_steer_motors_[0].generate_command(), - device::CanPacket8::PaddingQuarter{}, - device::CanPacket8::PaddingQuarter{}, - device::CanPacket8::PaddingQuarter{}, - } - .as_bytes(), - }); - builder.can1_transmit({ - .can_id = 0x1FE, - .can_data = - device::CanPacket8{ - chassis_steer_motors_[1].generate_command(), - device::CanPacket8::PaddingQuarter{}, - device::CanPacket8::PaddingQuarter{}, - supercap_.generate_command(), - } - .as_bytes(), - }); - builder.can2_transmit({ - .can_id = 0x1FE, - .can_data = - device::CanPacket8{ - chassis_steer_motors_[2].generate_command(), - device::CanPacket8::PaddingQuarter{}, - device::CanPacket8::PaddingQuarter{}, - device::CanPacket8::PaddingQuarter{}, - } - .as_bytes(), - }); - builder.can3_transmit({ - .can_id = 0x1FE, - .can_data = - device::CanPacket8{ - chassis_steer_motors_[3].generate_command(), - device::CanPacket8::PaddingQuarter{}, - device::CanPacket8::PaddingQuarter{}, - device::CanPacket8::PaddingQuarter{}, - } - .as_bytes(), - }); - } else { - // V2: Wheel DJI frames (wheel only, no joint packed in) - builder.can0_transmit({ - .can_id = 0x200, - .can_data = - device::CanPacket8{ - chassis_wheel_motors_[0].generate_command(), - device::CanPacket8::PaddingQuarter{}, - device::CanPacket8::PaddingQuarter{}, - device::CanPacket8::PaddingQuarter{}, - } - .as_bytes(), - }); - builder.can1_transmit({ - .can_id = 0x200, - .can_data = - device::CanPacket8{ - chassis_wheel_motors_[1].generate_command(), - device::CanPacket8::PaddingQuarter{}, - device::CanPacket8::PaddingQuarter{}, - device::CanPacket8::PaddingQuarter{}, - } - .as_bytes(), - }); - builder.can2_transmit({ - .can_id = 0x200, - .can_data = - device::CanPacket8{ - chassis_wheel_motors_[2].generate_command(), - device::CanPacket8::PaddingQuarter{}, - gimbal_bullet_feeder_.generate_command(), - device::CanPacket8::PaddingQuarter{}, - } - .as_bytes(), - }); - builder.can3_transmit({ - .can_id = 0x200, - .can_data = - device::CanPacket8{ - chassis_wheel_motors_[3].generate_command(), - device::CanPacket8::PaddingQuarter{}, - device::CanPacket8::PaddingQuarter{}, - device::CanPacket8::PaddingQuarter{}, - } - .as_bytes(), - }); - - // V2: Joint LK motors - individual CAN frames - builder.can0_transmit({ - .can_id = 0x141, - .can_data = chassis_joint_motors_[0].generate_command().as_bytes(), - }); - builder.can1_transmit({ - .can_id = 0x141, - .can_data = chassis_joint_motors_[1].generate_command().as_bytes(), - }); - builder.can2_transmit({ - .can_id = 0x141, - .can_data = chassis_joint_motors_[2].generate_command().as_bytes(), - }); - builder.can3_transmit({ - .can_id = 0x141, - .can_data = chassis_joint_motors_[3].generate_command().as_bytes(), - }); - builder.can2_transmit({ - .can_id = 0x142, - .can_data = gimbal_yaw_motor_.generate_torque_command().as_bytes(), - }); - } - } - - private: - DeformableInfantryV2& deformable_infantry_; - - static constexpr double joint_zero_physical_angle_rad_ = 62.5 * std::numbers::pi / 180.0; - static constexpr double chassis_radius_base_ = 0.2341741; - static constexpr double rod_length_ = 0.150; - - static double to_physical_angle_(double motor_angle) { - return joint_zero_physical_angle_rad_ - motor_angle; - } - - static double to_physical_velocity_(double motor_velocity) { return -motor_velocity; } - - void update_joint_physical_feedback_( - size_t index, OutputInterface& angle_output, - OutputInterface& velocity_output) { - if (!joint_status_received_[index].load(std::memory_order_relaxed)) { - *angle_output = nan_; - *velocity_output = nan_; - return; - } - - *angle_output = to_physical_angle_(chassis_joint_motors_[index].angle()); - *velocity_output = to_physical_velocity_(chassis_joint_motors_[index].velocity()); - } - - void update_geometry_feedback_() { - const Eigen::Vector4d alpha_rad{ - *left_front_joint_physical_angle_, *left_back_joint_physical_angle_, - *right_back_joint_physical_angle_, *right_front_joint_physical_angle_}; - const Eigen::Vector4d alpha_dot_rad{ - *left_front_joint_physical_velocity_, *left_back_joint_physical_velocity_, - *right_back_joint_physical_velocity_, *right_front_joint_physical_velocity_}; - - if (!alpha_rad.array().isFinite().all() || !alpha_dot_rad.array().isFinite().all()) { - *encoder_alpha_ = nan_; - *encoder_alpha_dot_ = nan_; - *radius_ = nan_; - return; - } - - *encoder_alpha_ = alpha_rad.mean(); - *encoder_alpha_dot_ = alpha_dot_rad.mean(); - *radius_ = (chassis_radius_base_ + rod_length_ * alpha_rad.array().cos()).mean(); - } - - void log_chassis_feedback_once_per_second_() { - const auto now = Clock::now(); - if (now < next_chassis_feedback_log_time_) - return; - - const auto wheel_rx = [this](size_t index) { - return wheel_status_received_[index].load(std::memory_order_relaxed) ? 'Y' : 'N'; - }; - const auto joint_rx = [this](size_t index) { - return joint_status_received_[index].load(std::memory_order_relaxed) ? 'Y' : 'N'; - }; - - if (debug_log_wheel_motor_) { - RCLCPP_INFO( - deformable_infantry_.get_logger(), - "[wheel motor] angle(rad) lf=% .3f lb=% .3f rb=% .3f rf=% .3f | " - "encoder(deg) lf=% .1f lb=% .1f rb=% .1f rf=% .1f | " - "rx=[%c %c %c %c]", - chassis_wheel_motors_[0].angle(), chassis_wheel_motors_[1].angle(), - chassis_wheel_motors_[2].angle(), chassis_wheel_motors_[3].angle(), - chassis_wheel_motors_[0].angle(), chassis_wheel_motors_[1].angle(), - chassis_wheel_motors_[2].angle(), chassis_wheel_motors_[3].angle(), wheel_rx(0), - wheel_rx(1), wheel_rx(2), wheel_rx(3)); - } - - if (debug_log_deformable_joint_motor_) { - RCLCPP_INFO( - deformable_infantry_.get_logger(), - "[deformable joint motor] angle(rad) lf=% .3f lb=% .3f rb=% .3f rf=% .3f | " - "velocity(rad/s) lf=% .3f lb=% .3f rb=% .3f rf=% .3f | " - "rx=[%c %c %c %c]", - *left_front_joint_physical_angle_, *left_back_joint_physical_angle_, - *right_back_joint_physical_angle_, *right_front_joint_physical_angle_, - *left_front_joint_physical_velocity_, *left_back_joint_physical_velocity_, - *right_back_joint_physical_velocity_, *right_front_joint_physical_velocity_, - joint_rx(0), joint_rx(1), joint_rx(2), joint_rx(3)); - } - - next_chassis_feedback_log_time_ = now + std::chrono::seconds(1); - } - - void log_supercap_feedback_once_per_second_() { - const auto now = Clock::now(); - if (now < next_supercap_feedback_log_time_) - return; - - const bool supercap_rx = supercap_status_received_.load(std::memory_order_relaxed); - auto supercap_raw_packet = latest_supercap_status_.load(std::memory_order_relaxed); - const auto supercap_raw_bytes = supercap_raw_packet.as_bytes(); - - RCLCPP_INFO( - deformable_infantry_.get_logger(), - "[supercap] can1 rx=%c id=0x300 enabled=%d supercap_v=% .3f chassis_v=% .3f " - "power=% .3f raw=[%02X %02X %02X %02X %02X %02X %02X %02X]", - supercap_rx ? 'Y' : 'N', supercap_rx ? (supercap_.supercap_enabled() ? 1 : 0) : -1, - supercap_rx ? supercap_.supercap_voltage() : nan_, - supercap_rx ? supercap_.chassis_voltage() : nan_, - supercap_rx ? supercap_.chassis_power() : nan_, - std::to_integer(supercap_raw_bytes[0]), - std::to_integer(supercap_raw_bytes[1]), - std::to_integer(supercap_raw_bytes[2]), - std::to_integer(supercap_raw_bytes[3]), - std::to_integer(supercap_raw_bytes[4]), - std::to_integer(supercap_raw_bytes[5]), - std::to_integer(supercap_raw_bytes[6]), - std::to_integer(supercap_raw_bytes[7])); - - next_supercap_feedback_log_time_ = now + std::chrono::seconds(1); - } - - void dbus_receive_callback(const librmcs::data::UartDataView& data) override { - dr16_.store_status(data.uart_data.data(), data.uart_data.size()); - } - - void can0_receive_callback(const librmcs::data::CanDataView& data) override { - if (data.is_extended_can_id || data.is_remote_transmission) - return; - if (data.can_id == 0x201) { - chassis_wheel_motors_[0].store_status(data.can_data); - wheel_status_received_[0].store(true, std::memory_order_relaxed); - } else if (data.can_id == 0x141) { - chassis_joint_motors_[0].store_status(data.can_data); - joint_status_received_[0].store(true, std::memory_order_relaxed); - } else if (data.can_id == 0x205) - chassis_steer_motors_[0].store_status(data.can_data); - } - - void can1_receive_callback(const librmcs::data::CanDataView& data) override { - if (data.is_extended_can_id || data.is_remote_transmission) - return; - if (data.can_id == 0x201) { - chassis_wheel_motors_[1].store_status(data.can_data); - wheel_status_received_[1].store(true, std::memory_order_relaxed); - } else if (data.can_id == 0x141) { - chassis_joint_motors_[1].store_status(data.can_data); - joint_status_received_[1].store(true, std::memory_order_relaxed); - } else if (data.can_id == 0x205) - chassis_steer_motors_[1].store_status(data.can_data); - else if (data.can_id == 0x300) { - if (data.can_data.size() == 8) - latest_supercap_status_.store( - device::CanPacket8{data.can_data}, std::memory_order_relaxed); - supercap_.store_status(data.can_data); - supercap_status_received_.store(true, std::memory_order_relaxed); - } - } - - void can2_receive_callback(const librmcs::data::CanDataView& data) override { - if (data.is_extended_can_id || data.is_remote_transmission) - return; - if (data.can_id == 0x201) { - chassis_wheel_motors_[2].store_status(data.can_data); - wheel_status_received_[2].store(true, std::memory_order_relaxed); - } else if (data.can_id == 0x141) { - chassis_joint_motors_[2].store_status(data.can_data); - joint_status_received_[2].store(true, std::memory_order_relaxed); - } else if (data.can_id == 0x142) { - gimbal_yaw_motor_.store_status(data.can_data); - } else if (data.can_id == 0x203) { - gimbal_bullet_feeder_.store_status(data.can_data); - } else if (data.can_id == 0x205) - chassis_steer_motors_[2].store_status(data.can_data); - } - - void can3_receive_callback(const librmcs::data::CanDataView& data) override { - if (data.is_extended_can_id || data.is_remote_transmission) - return; - if (data.can_id == 0x201) { - chassis_wheel_motors_[3].store_status(data.can_data); - wheel_status_received_[3].store(true, std::memory_order_relaxed); - } else if (data.can_id == 0x141) { - chassis_joint_motors_[3].store_status(data.can_data); - joint_status_received_[3].store(true, std::memory_order_relaxed); - } else if (data.can_id == 0x205) - chassis_steer_motors_[3].store_status(data.can_data); - } - - void uart0_receive_callback(const librmcs::data::UartDataView& data) override { - const std::byte* ptr = data.uart_data.data(); - referee_ring_buffer_receive_.emplace_back_n( - [&ptr](std::byte* storage) noexcept { *storage = *ptr++; }, data.uart_data.size()); - } - - void accelerometer_receive_callback( - const librmcs::data::AccelerometerDataView& data) override { - imu_.store_accelerometer_status(data.x, data.y, data.z); - } - - void gyroscope_receive_callback(const librmcs::data::GyroscopeDataView& data) override { - imu_.store_gyroscope_status(data.x, data.y, data.z); - } - - OutputInterface& tf_; - - device::Bmi088 imu_; - device::LkMotor gimbal_yaw_motor_; - device::Dr16 dr16_; - device::DjiMotor chassis_wheel_motors_[4]; - device::DjiMotor chassis_steer_motors_[4]; - device::LkMotor chassis_joint_motors_[4]; - std::atomic wheel_status_received_[4] = {false, false, false, false}; - std::atomic joint_status_received_[4] = {false, false, false, false}; - bool debug_log_supercap_ = false; - bool debug_log_wheel_motor_ = false; - bool debug_log_deformable_joint_motor_ = false; - Clock::time_point next_chassis_feedback_log_time_; - Clock::time_point next_supercap_feedback_log_time_; - device::Supercap supercap_; - std::atomic latest_supercap_status_{device::CanPacket8{uint64_t{0}}}; - std::atomic supercap_status_received_{false}; - device::DjiMotor gimbal_bullet_feeder_; - - rmcs_utility::RingBuffer referee_ring_buffer_receive_{256}; - OutputInterface referee_serial_; - - OutputInterface chassis_yaw_velocity_imu_; - OutputInterface chassis_imu_pitch_; - OutputInterface chassis_imu_roll_; - OutputInterface chassis_imu_pitch_rate_; - OutputInterface chassis_imu_roll_rate_; - OutputInterface left_front_joint_physical_angle_; - OutputInterface left_back_joint_physical_angle_; - OutputInterface right_back_joint_physical_angle_; - OutputInterface right_front_joint_physical_angle_; - OutputInterface left_front_joint_physical_velocity_; - OutputInterface left_back_joint_physical_velocity_; - OutputInterface right_back_joint_physical_velocity_; - OutputInterface right_front_joint_physical_velocity_; - OutputInterface encoder_alpha_; - OutputInterface encoder_alpha_dot_; - OutputInterface radius_; - }; - - class TopBoard final : private librmcs::agent::RmcsBoardLite { - public: - friend class DeformableInfantryV2; - - explicit TopBoard( - DeformableInfantryV2& deformableInfantry, - DeformableInfantryV2Command& deformableInfantry_command, std::string serial_filter = {}) - : librmcs::agent::RmcsBoardLite( - serial_filter, - librmcs::agent::AdvancedOptions{.dangerously_skip_version_checks = true}) - , hard_sync_pending_(deformableInfantry.hard_sync_pending_) - , tf_(deformableInfantry.tf_) - , bmi088_(1000, 0.2, 0.0) - , gimbal_pitch_motor_(deformableInfantry, deformableInfantry_command, "/gimbal/pitch") - , gimbal_left_friction_( - deformableInfantry, deformableInfantry_command, "/gimbal/left_friction") - , gimbal_right_friction_( - deformableInfantry, deformableInfantry_command, "/gimbal/right_friction") - , scope_motor_(deformableInfantry, deformableInfantry_command, "/gimbal/scope") { - - gimbal_pitch_motor_.configure( - device::LkMotor::Config{device::LkMotor::Type::kMG4010Ei10} - .set_reversed() - .set_encoder_zero_point( - static_cast( - deformableInfantry.get_parameter("pitch_motor_zero_point").as_int()))); - - gimbal_left_friction_.configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} - .set_reduction_ratio(1.) - .set_reversed()); - gimbal_right_friction_.configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508}.set_reduction_ratio(1.)); - - scope_motor_.configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM2006}.enable_multi_turn_angle()); - - deformableInfantry.register_output( - "/gimbal/yaw/velocity_imu", gimbal_yaw_velocity_bmi088_); - deformableInfantry.register_output( - "/gimbal/pitch/velocity_imu", gimbal_pitch_velocity_encoder_); - - bmi088_.set_coordinate_mapping([](double x, double y, double z) { - // Top board BMI088 maps to gimbal frame as (-x, -y, z). - return std::make_tuple(y, -x, z); - }); - } - - ~TopBoard() override = default; - - void request_hard_sync_read() { - // RMCS-lite top board variant currently has no GPIO hard-sync request path. - } - - void update() { - bmi088_.update_status(); - - gimbal_pitch_motor_.update_status(); - gimbal_left_friction_.update_status(); - gimbal_right_friction_.update_status(); - scope_motor_.update_status(); - - const double pitch_encoder_angle = gimbal_pitch_motor_.angle(); - Eigen::Quaterniond const odom_imu_to_yaw_link{ - bmi088_.q0(), bmi088_.q1(), bmi088_.q2(), bmi088_.q3()}; - Eigen::Quaterniond const yaw_link_to_odom_imu = odom_imu_to_yaw_link.conjugate(); - Eigen::Quaterniond pitch_link_to_odom_imu = - Eigen::Quaterniond{ - Eigen::AngleAxisd{-pitch_encoder_angle, Eigen::Vector3d::UnitY()}} - * yaw_link_to_odom_imu; - pitch_link_to_odom_imu.normalize(); - - *gimbal_yaw_velocity_bmi088_ = bmi088_.gz(); - *gimbal_pitch_velocity_encoder_ = gimbal_pitch_motor_.velocity(); - // The BMI088 is mounted on the yaw link. fast_tf stores PitchLink -> OdomImu, so use - // the encoder pitch from the TF tree to move the yaw-link pose back into PitchLink. - tf_->set_transform( - pitch_link_to_odom_imu); - - tf_->set_state( - pitch_encoder_angle); - } - - void command_update() { - auto builder = start_transmit(); - builder.can0_transmit({ - .can_id = 0x141, - .can_data = gimbal_pitch_motor_.generate_command().as_bytes(), - }); - - builder.can1_transmit({ - .can_id = 0x200, - .can_data = - device::CanPacket8{ - gimbal_left_friction_.generate_command(), - gimbal_right_friction_.generate_command(), - scope_motor_.generate_command(), - device::CanPacket8::PaddingQuarter{}, - } - .as_bytes(), - }); - } - - private: - void uart1_receive_callback(const librmcs::data::UartDataView&) override {} - - void can0_receive_callback(const librmcs::data::CanDataView& data) override { - if (data.is_extended_can_id || data.is_remote_transmission) [[unlikely]] - return; - if (data.can_id == 0x141) - gimbal_pitch_motor_.store_status(data.can_data); - } - - void can1_receive_callback(const librmcs::data::CanDataView& data) override { - if (data.is_extended_can_id || data.is_remote_transmission) [[unlikely]] - return; - if (data.can_id == 0x201) - gimbal_left_friction_.store_status(data.can_data); - else if (data.can_id == 0x202) - gimbal_right_friction_.store_status(data.can_data); - else if (data.can_id == 0x203) - scope_motor_.store_status(data.can_data); - } - - void accelerometer_receive_callback( - const librmcs::data::AccelerometerDataView& data) override { - bmi088_.store_accelerometer_status(data.x, data.y, data.z); - } - - void gyroscope_receive_callback(const librmcs::data::GyroscopeDataView& data) override { - bmi088_.store_gyroscope_status(data.x, data.y, data.z); - } - - std::atomic& hard_sync_pending_; - OutputInterface& tf_; - - OutputInterface gimbal_yaw_velocity_bmi088_; - OutputInterface gimbal_pitch_velocity_encoder_; - - device::Bmi088 bmi088_; - device::LkMotor gimbal_pitch_motor_; - device::DjiMotor gimbal_left_friction_; - device::DjiMotor gimbal_right_friction_; - device::DjiMotor scope_motor_; - }; - - OutputInterface tf_; - InputInterface timestamp_; - std::atomic hard_sync_pending_{false}; - size_t hard_sync_snapshot_count_ = 0; - Clock::time_point next_hard_sync_log_time_{}; - - std::shared_ptr deformable_infantry_command_; - std::unique_ptr rmcs_board_lite; - std::unique_ptr top_board_; - - rclcpp::Subscription::SharedPtr steers_calibrate_subscription_; - rclcpp::Subscription::SharedPtr joints_calibrate_subscription_; - rclcpp::Subscription::SharedPtr gimbal_calibrate_subscription_; - - uint32_t cmd_tick_ = 0; -}; - -} // namespace rmcs_core::hardware - -#include -PLUGINLIB_EXPORT_CLASS(rmcs_core::hardware::DeformableInfantryV2, rmcs_executor::Component) diff --git a/rmcs_ws/src/rmcs_core/src/hardware/device/dji_motor.hpp b/rmcs_ws/src/rmcs_core/src/hardware/device/dji_motor.hpp index d1c56cbfd..1bc1a17ea 100644 --- a/rmcs_ws/src/rmcs_core/src/hardware/device/dji_motor.hpp +++ b/rmcs_ws/src/rmcs_core/src/hardware/device/dji_motor.hpp @@ -24,8 +24,9 @@ class DjiMotor { enum class Type : uint8_t { kGM6020, kGM6020Voltage, kM3508, kM2006 }; struct Config { - explicit Config(Type motor_type) - : motor_type(motor_type) { + explicit Config(Type motor_type, std::uint8_t id = 0) + : motor_type(motor_type) + , id(id) { switch (motor_type) { case Type::kGM6020: case Type::kGM6020Voltage: reduction_ratio = 1.0; break; @@ -42,6 +43,7 @@ class DjiMotor { Config& enable_multi_turn_angle() { return multi_turn_angle_enabled = true, *this; } Type motor_type; + std::uint8_t id; int encoder_zero_point = 0; double reduction_ratio; bool reversed; @@ -77,6 +79,8 @@ class DjiMotor { ~DjiMotor() = default; void configure(const Config& config) { + type_ = config.motor_type; + id_ = config.id; encoder_zero_point_ = config.encoder_zero_point % kRawAngleMax; if (encoder_zero_point_ < 0) encoder_zero_point_ += kRawAngleMax; @@ -135,6 +139,37 @@ class DjiMotor { can_data_.store(CanPacket8{can_data}, std::memory_order_relaxed); } + static constexpr auto recv_id(Type type, std::uint8_t index) -> std::uint32_t { + switch (type) { + case Type::kGM6020: + case Type::kGM6020Voltage: return 0x204 + index; + case Type::kM3508: + case Type::kM2006: return 0x200 + index; + } + return 0; + } + + static constexpr auto send_id(Type type, std::uint8_t index) -> std::uint32_t { + switch (type) { + case Type::kGM6020: return index <= 4 ? 0x1FE : 0x2FE; + case Type::kGM6020Voltage: return index <= 4 ? 0x1FF : 0x2FF; + case Type::kM3508: + case Type::kM2006: return index <= 4 ? 0x200 : 0x1FF; + } + return 0; + } + + auto id() const noexcept -> std::uint8_t { return id_; } + auto recv_id() const noexcept -> std::uint32_t { return recv_id(type_, id_); } + auto send_id() const noexcept -> std::uint32_t { return send_id(type_, id_); } + + bool match_then_store_status(std::uint32_t can_id, std::span can_data) { + if (can_id != recv_id()) + return false; + store_status(can_data); + return true; + } + void update_status() { const auto feedback = std::bit_cast(can_data_.load(std::memory_order::relaxed)); @@ -174,7 +209,7 @@ class DjiMotor { } double control_torque() const { - if (control_torque_.ready()) [[likely]] + if (control_torque_.ready() && id_ != 0) [[likely]] return *control_torque_; else return 0.0; @@ -217,6 +252,8 @@ class DjiMotor { uint8_t unused; }; + Type type_ = Type::kM3508; + std::uint8_t id_ = 0; std::atomic can_data_; static constexpr int kRawAngleMax = 8192; @@ -244,3 +281,13 @@ class DjiMotor { }; } // namespace rmcs_core::hardware::device + +namespace rmcs_core::hardware::device { + +inline auto operator<<(CanPacket8& packet, const DjiMotor& motor) -> CanPacket8& { + if (motor.id() != 0) + packet.data[(motor.id() - 1) % 4] = motor.generate_command().data; + return packet; +} + +} // namespace rmcs_core::hardware::device diff --git a/rmcs_ws/src/rmcs_core/src/hardware/device/dr16.hpp b/rmcs_ws/src/rmcs_core/src/hardware/device/dr16.hpp index 75152b179..ba0ec4fac 100644 --- a/rmcs_ws/src/rmcs_core/src/hardware/device/dr16.hpp +++ b/rmcs_ws/src/rmcs_core/src/hardware/device/dr16.hpp @@ -6,11 +6,9 @@ #include #include +#include #include -#include -#include -#include #include #include #include @@ -19,32 +17,7 @@ namespace rmcs_core::hardware::device { class Dr16 { public: - explicit Dr16(rmcs_executor::Component& component) { - component.register_output( - "/remote/joystick/right", joystick_right_output_, Eigen::Vector2d::Zero()); - component.register_output( - "/remote/joystick/left", joystick_left_output_, Eigen::Vector2d::Zero()); - - component.register_output( - "/remote/switch/right", switch_right_output_, rmcs_msgs::Switch::UNKNOWN); - component.register_output( - "/remote/switch/left", switch_left_output_, rmcs_msgs::Switch::UNKNOWN); - - component.register_output( - "/remote/mouse/velocity", mouse_velocity_output_, Eigen::Vector2d::Zero()); - component.register_output("/remote/mouse/mouse_wheel", mouse_wheel_output_); - - component.register_output("/remote/mouse", mouse_output_); - std::memset(&*mouse_output_, 0, sizeof(*mouse_output_)); - component.register_output("/remote/keyboard", keyboard_output_); - std::memset(&*keyboard_output_, 0, sizeof(*keyboard_output_)); - - component.register_output("/remote/rotary_knob", rotary_knob_output_); - - // Simulate the rotary knob as a switch, with anti-shake algorithm. - component.register_output( - "/remote/rotary_knob_switch", rotary_knob_switch_output_, rmcs_msgs::Switch::UNKNOWN); - } + Dr16() = default; void store_status(const std::byte* uart_data, size_t uart_data_length) { if (uart_data_length != 6 + 8 + 4) @@ -73,9 +46,17 @@ class Dr16 { std::memcpy(&part3, uart_data, 4); uart_data += 4; data_part3_.store(part3, std::memory_order::relaxed); + + last_remote_control_received_at_ = Clock::now(); + valid_ = true; } void update_status() { + const auto now = Clock::now(); + refresh_validity(now); + if (!valid_) + return; + auto part1 alignas(uint64_t) = std::bit_cast(data_part1_.load(std::memory_order::relaxed)); @@ -110,19 +91,6 @@ class Dr16 { keyboard_ = part3.keyboard; rotary_knob_ = channel_to_double(part3.rotary_knob); - *joystick_right_output_ = joystick_right(); - *joystick_left_output_ = joystick_left(); - - *switch_right_output_ = switch_right(); - *switch_left_output_ = switch_left(); - - *mouse_velocity_output_ = mouse_velocity(); - *mouse_wheel_output_ = mouse_wheel(); - - *mouse_output_ = mouse(); - *keyboard_output_ = keyboard(); - - *rotary_knob_output_ = rotary_knob(); update_rotary_knob_switch(); } @@ -182,6 +150,10 @@ class Dr16 { rmcs_msgs::Mouse mouse() const { return std::bit_cast(mouse_); } rmcs_msgs::Keyboard keyboard() const { return std::bit_cast(keyboard_); } + rmcs_msgs::Switch rotary_knob_switch() const { return rotary_knob_switch_; } + + bool valid() const noexcept { return valid_; } + double rotary_knob() const { return rotary_knob_; } double mouse_wheel() const { return mouse_wheel_; } @@ -193,7 +165,7 @@ class Dr16 { constexpr double divider = 0.7, anti_shake_shift = 0.05; double upper_divider = divider, lower_divider = -divider; - auto& switch_value = *rotary_knob_switch_output_; + auto switch_value = rotary_knob_switch_; if (switch_value == rmcs_msgs::Switch::UP) upper_divider -= anti_shake_shift, lower_divider -= anti_shake_shift; else if (switch_value == rmcs_msgs::Switch::MIDDLE) @@ -201,7 +173,7 @@ class Dr16 { else if (switch_value == rmcs_msgs::Switch::DOWN) upper_divider += anti_shake_shift, lower_divider += anti_shake_shift; - const auto knob_value = -*rotary_knob_output_; + const auto knob_value = -rotary_knob_; if (knob_value > upper_divider) { switch_value = rmcs_msgs::Switch::UP; } else if (knob_value < lower_divider) { @@ -209,6 +181,33 @@ class Dr16 { } else { switch_value = rmcs_msgs::Switch::MIDDLE; } + rotary_knob_switch_ = switch_value; + } + + using Clock = std::chrono::steady_clock; + using TimePoint = Clock::time_point; + + static constexpr auto kFreshTimeout = std::chrono::milliseconds(500); + + void refresh_validity(const TimePoint now) { + if (!valid_ || now - last_remote_control_received_at_ <= kFreshTimeout) + return; + + reset_remote_control_state(); + valid_ = false; + } + + void reset_remote_control_state() { + joystick_right_ = Vector::zero(); + joystick_left_ = Vector::zero(); + switch_right_ = Switch::kUnknown; + switch_left_ = Switch::kUnknown; + mouse_velocity_ = Vector::zero(); + mouse_wheel_ = 0.0; + mouse_ = Mouse::zero(); + keyboard_ = Keyboard::zero(); + rotary_knob_ = 0.0; + rotary_knob_switch_ = rmcs_msgs::Switch::UNKNOWN; } struct [[gnu::packed]] Dr16DataPart1 { @@ -270,27 +269,15 @@ class Dr16 { Switch switch_left_ = Switch::kUnknown; Vector mouse_velocity_ = Vector::zero(); + double mouse_wheel_ = 0.0; Mouse mouse_ = Mouse::zero(); Keyboard keyboard_ = Keyboard::zero(); double rotary_knob_ = 0.0; - double mouse_wheel_ = 0.0; - - rmcs_executor::Component::OutputInterface joystick_right_output_; - rmcs_executor::Component::OutputInterface joystick_left_output_; - - rmcs_executor::Component::OutputInterface switch_right_output_; - rmcs_executor::Component::OutputInterface switch_left_output_; - - rmcs_executor::Component::OutputInterface mouse_velocity_output_; - rmcs_executor::Component::OutputInterface mouse_wheel_output_; - - rmcs_executor::Component::OutputInterface mouse_output_; - rmcs_executor::Component::OutputInterface keyboard_output_; - - rmcs_executor::Component::OutputInterface rotary_knob_output_; - rmcs_executor::Component::OutputInterface rotary_knob_switch_output_; + rmcs_msgs::Switch rotary_knob_switch_ = rmcs_msgs::Switch::UNKNOWN; + TimePoint last_remote_control_received_at_ = TimePoint::min(); + bool valid_ = false; }; } // namespace rmcs_core::hardware::device diff --git a/rmcs_ws/src/rmcs_core/src/hardware/device/lk_motor.hpp b/rmcs_ws/src/rmcs_core/src/hardware/device/lk_motor.hpp index 60348bb69..1e4b7c01a 100644 --- a/rmcs_ws/src/rmcs_core/src/hardware/device/lk_motor.hpp +++ b/rmcs_ws/src/rmcs_core/src/hardware/device/lk_motor.hpp @@ -487,10 +487,22 @@ class LkMotor { int32_t to_absolute_command_angle(double angle) const { angle = angle_to_command_angle_coefficient_ * angle; const auto one_turn = std::abs(angle_to_command_angle_coefficient_) * 2 * std::numbers::pi; - // TODO: The offset should be N turns (calculated from the motor's reported multi-turn angle - // vs encoder position at startup), not hardcoded to 1 turn. - angle -= one_turn; - angle += one_turn * static_cast(encoder_zero_point_) / raw_angle_modulus_; + const auto encoder_offset = + one_turn * static_cast(encoder_zero_point_) / raw_angle_modulus_; + + angle += encoder_offset; + if (multi_turn_angle_enabled_) { + // Map to the equivalent target turn nearest to current motor position. + const auto current_command_angle = + angle_to_command_angle_coefficient_ * angle_ + encoder_offset; + if (one_turn > 0.0) + angle += one_turn * std::round((current_command_angle - angle) / one_turn); + } else { + // Preserve historical single-turn command mapping. + angle -= one_turn; + } + // hero encoder 专用，不能改 + angle = std::round( std::clamp( angle, std::numeric_limits::min(), std::numeric_limits::max())); diff --git a/rmcs_ws/src/rmcs_core/src/hardware/device/remote_control.hpp b/rmcs_ws/src/rmcs_core/src/hardware/device/remote_control.hpp new file mode 100644 index 000000000..c61b874e7 --- /dev/null +++ b/rmcs_ws/src/rmcs_core/src/hardware/device/remote_control.hpp @@ -0,0 +1,165 @@ +#pragma once + +#include + +#include +#include +#include +#include +#include + +#include "hardware/device/dr16.hpp" +#include "hardware/device/vt13.hpp" + +namespace rmcs_core::hardware::device { + +/* +遥控输入仲裁： +- vt13 valid S挡：vt13主控 | 比赛用 +- vt13 valid C挡：等同于dr16双下 | 疯车救车 +- 其他情况：dr16主控；dr16无效则进入空安全态 +- 旋钮始终来自 dr16，dr16 无效则清零 +*/ + +class RemoteControl { +public: + explicit RemoteControl(rmcs_executor::Component& component) { + component.register_output( + "/remote/joystick/right", joystick_right_output_, Eigen::Vector2d::Zero()); + component.register_output( + "/remote/joystick/left", joystick_left_output_, Eigen::Vector2d::Zero()); + + component.register_output( + "/remote/switch/right", switch_right_output_, rmcs_msgs::Switch::UNKNOWN); + component.register_output( + "/remote/switch/left", switch_left_output_, rmcs_msgs::Switch::UNKNOWN); + + component.register_output("/remote/rotary_knob", rotary_knob_output_, 0.0); + component.register_output( + "/remote/rotary_knob_switch", rotary_knob_switch_output_, rmcs_msgs::Switch::UNKNOWN); + + component.register_output( + "/remote/mouse/velocity", mouse_velocity_output_, Eigen::Vector2d::Zero()); + component.register_output("/remote/mouse/mouse_wheel", mouse_wheel_output_, 0.0); + + component.register_output("/remote/mouse", mouse_output_, rmcs_msgs::Mouse::zero()); + component.register_output( + "/remote/keyboard", keyboard_output_, rmcs_msgs::Keyboard::zero()); + } + + void register_dr16(Dr16* dr16) { dr16_ = dr16; } + void register_vt13(Vt13* vt13) { vt13_ = vt13; } + + void update() { + const auto control_source = select_control_source(); + const auto snapshot = build_snapshot(control_source); + + *joystick_right_output_ = snapshot.joystick_right; + *joystick_left_output_ = snapshot.joystick_left; + + *switch_right_output_ = snapshot.switch_right; + *switch_left_output_ = snapshot.switch_left; + + *mouse_velocity_output_ = snapshot.mouse_velocity; + *mouse_wheel_output_ = snapshot.mouse_wheel; + + *mouse_output_ = snapshot.mouse; + *keyboard_output_ = snapshot.keyboard; + + if (dr16_ && dr16_->valid()) { + *rotary_knob_output_ = dr16_->rotary_knob(); + *rotary_knob_switch_output_ = dr16_->rotary_knob_switch(); + } else { + *rotary_knob_output_ = 0.0; + *rotary_knob_switch_output_ = rmcs_msgs::Switch::UNKNOWN; + } + } + +private: + enum class ControlSource { + kDr16, + kVt13Sport, + kCineSafe, + kInvalidSafe, + }; + + struct Snapshot { + Eigen::Vector2d joystick_right = Eigen::Vector2d::Zero(); + Eigen::Vector2d joystick_left = Eigen::Vector2d::Zero(); + + rmcs_msgs::Switch switch_right = rmcs_msgs::Switch::UNKNOWN; + rmcs_msgs::Switch switch_left = rmcs_msgs::Switch::UNKNOWN; + + Eigen::Vector2d mouse_velocity = Eigen::Vector2d::Zero(); + double mouse_wheel = 0.0; + + rmcs_msgs::Mouse mouse = rmcs_msgs::Mouse::zero(); + rmcs_msgs::Keyboard keyboard = rmcs_msgs::Keyboard::zero(); + }; + + ControlSource select_control_source() const { + if (vt13_ && vt13_->valid()) { + switch (vt13_->mode_switch()) { + case Vt13::ModeSwitch::kSport: return ControlSource::kVt13Sport; + case Vt13::ModeSwitch::kCine: return ControlSource::kCineSafe; + case Vt13::ModeSwitch::kNormal: + case Vt13::ModeSwitch::kUnknown: break; + } + } + + return (dr16_ && dr16_->valid()) ? ControlSource::kDr16 : ControlSource::kInvalidSafe; + } + + Snapshot build_snapshot(ControlSource source) const { + Snapshot snapshot{}; + switch (source) { + case ControlSource::kDr16: + snapshot.joystick_right = dr16_->joystick_right(); + snapshot.joystick_left = dr16_->joystick_left(); + snapshot.switch_right = dr16_->switch_right(); + snapshot.switch_left = dr16_->switch_left(); + snapshot.mouse_velocity = dr16_->mouse_velocity(); + snapshot.mouse_wheel = dr16_->mouse_wheel(); + snapshot.mouse = dr16_->mouse(); + snapshot.keyboard = dr16_->keyboard(); + break; + case ControlSource::kVt13Sport: + snapshot.joystick_right = vt13_->joystick_right(); + snapshot.joystick_left = vt13_->joystick_left(); + snapshot.switch_right = rmcs_msgs::Switch::MIDDLE; + snapshot.switch_left = rmcs_msgs::Switch::MIDDLE; + snapshot.mouse_velocity = vt13_->mouse_velocity(); + snapshot.mouse_wheel = vt13_->mouse_wheel(); + snapshot.mouse = vt13_->mouse(); + snapshot.keyboard = vt13_->keyboard(); + break; + case ControlSource::kCineSafe: + snapshot.switch_right = rmcs_msgs::Switch::DOWN; + snapshot.switch_left = rmcs_msgs::Switch::DOWN; + break; + case ControlSource::kInvalidSafe: break; + } + + return snapshot; + } + + Dr16* dr16_{nullptr}; + Vt13* vt13_{nullptr}; + + rmcs_executor::Component::OutputInterface joystick_right_output_; + rmcs_executor::Component::OutputInterface joystick_left_output_; + + rmcs_executor::Component::OutputInterface switch_right_output_; + rmcs_executor::Component::OutputInterface switch_left_output_; + + rmcs_executor::Component::OutputInterface rotary_knob_output_; + rmcs_executor::Component::OutputInterface rotary_knob_switch_output_; + + rmcs_executor::Component::OutputInterface mouse_velocity_output_; + rmcs_executor::Component::OutputInterface mouse_wheel_output_; + + rmcs_executor::Component::OutputInterface mouse_output_; + rmcs_executor::Component::OutputInterface keyboard_output_; +}; + +} // namespace rmcs_core::hardware::device diff --git a/rmcs_ws/src/rmcs_core/src/hardware/device/vt13.hpp b/rmcs_ws/src/rmcs_core/src/hardware/device/vt13.hpp new file mode 100644 index 000000000..619fe4581 --- /dev/null +++ b/rmcs_ws/src/rmcs_core/src/hardware/device/vt13.hpp @@ -0,0 +1,386 @@ +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace rmcs_core::hardware::device { + +class Vt13 { +public: + enum class ModeSwitch : uint8_t { + kUnknown = 0, + kCine = 1, + kNormal = 2, + kSport = 3, + }; + + Vt13() = default; + + void store_status(std::span uart_data) { + store_calls_.fetch_add(1, std::memory_order_relaxed); + received_bytes_.fetch_add(uart_data.size(), std::memory_order_relaxed); + + const auto written = data_buffer_.emplace_back_n( + [iter = uart_data.cbegin()](std::byte* storage) mutable noexcept { + *storage = *iter++; + }, + uart_data.size()); + if (written != uart_data.size()) { + const auto dropped = uart_data.size() - written; + overflow_count_.fetch_add(1, std::memory_order_relaxed); + overflow_dropped_bytes_.fetch_add(dropped, std::memory_order_relaxed); + if (should_log_overflow()) { + RCLCPP_WARN( + logger_, "VT13 input buffer overflow: dropped %zu of %zu bytes", dropped, + uart_data.size()); + } + } + } + + void update_status() { + const auto now = Clock::now(); + auto readable = data_buffer_.readable(); + peak_readable_ = std::max(peak_readable_, readable); + + while (readable) { + ReadResult result = VerificationFailed{}; + + const std::byte front = *data_buffer_.peek_front(); + if (front == std::byte{0xa9}) + result = read_remote_control_data(readable, now); + else if (front == std::byte(0xa5)) + result = read_referee_style_data(readable, now); + else { + unknown_prefix_count_++; + if (should_log_verification_failure(now)) { + RCLCPP_WARN( + logger_, "VT13 unknown prefix: front=0x%02x readable=%zu", + std::to_integer(front), readable); + } + } + + if (std::holds_alternative(result)) { + break; + } + if (std::holds_alternative(result)) { + verification_failures_++; + data_buffer_.pop_front([](std::byte&&) noexcept {}); + readable--; + continue; + } + if (std::holds_alternative(result)) { + readable -= std::get(result).read; + continue; + } + } + + refresh_validity(now); + maybe_log_statistics(now); + } + + ModeSwitch mode_switch() const noexcept { return mode_switch_; } + bool valid() const noexcept { return valid_; } + + const Eigen::Vector2d& joystick_left() const noexcept { return joystick_left_; } + const Eigen::Vector2d& joystick_right() const noexcept { return joystick_right_; } + + const Eigen::Vector2d& mouse_velocity() const noexcept { return mouse_velocity_; } + double mouse_wheel() const noexcept { return mouse_wheel_; } + + rmcs_msgs::Mouse mouse() const noexcept { return mouse_; } + rmcs_msgs::Keyboard keyboard() const noexcept { return keyboard_; } + +private: + using Clock = std::chrono::steady_clock; + using TimePoint = Clock::time_point; + + static constexpr auto kFreshTimeout = std::chrono::milliseconds(500); + static constexpr auto kVerificationLogInterval = std::chrono::seconds(1); + static constexpr auto kOverflowLogInterval = std::chrono::seconds(1); + static constexpr auto kStatisticsLogInterval = std::chrono::seconds(5); + static constexpr std::size_t kRefereeFrameMaxSize = 256; + + struct Incomplete {}; + struct VerificationFailed {}; + struct Success { + std::size_t read; + }; + using ReadResult = std::variant; + + struct [[gnu::packed]] RemoteControlData { + static constexpr uint16_t kHeaderMagic = 0x53a9; + + uint16_t header; + + uint16_t joystick_channel0 : 11; + uint16_t joystick_channel1 : 11; + uint16_t joystick_channel2 : 11; + uint16_t joystick_channel3 : 11; + + uint8_t mode_switch : 2; + uint8_t pause_button : 1; + uint8_t left_custom_button : 1; + uint8_t right_custom_button : 1; + uint16_t dial : 11; + uint8_t trigger : 1; + uint8_t padding1 : 3; + + int16_t mouse_velocity_x; + int16_t mouse_velocity_y; + int16_t mouse_velocity_z; + uint8_t mouse_left : 2; + uint8_t mouse_right : 2; + uint8_t mouse_middle : 2; + uint8_t padding2 : 2; + + uint16_t keyboard; + + uint16_t crc16; + }; + + struct [[gnu::packed]] RefereeFrameHeader { + uint8_t sof; + uint16_t data_length; + uint8_t seq; + uint8_t crc8; + }; + + ReadResult read_remote_control_data(const std::size_t readable, const TimePoint now) { + if (readable < sizeof(RemoteControlData)) + return Incomplete{}; + + RemoteControlData data; + data_buffer_.peek_front_n( + [dst = reinterpret_cast(&data)](std::byte src) mutable noexcept { + *dst++ = src; + }, + sizeof(RemoteControlData)); + + if (data.header != RemoteControlData::kHeaderMagic) { + remote_bad_header_count_++; + if (should_log_verification_failure(now)) { + RCLCPP_WARN( + logger_, "VT13 remote control header invalid: header=0x%04x readable=%zu", + data.header, readable); + } + return VerificationFailed{}; + } + if (!rmcs_utility::dji_crc::verify_crc16(data)) { + remote_bad_crc_count_++; + if (should_log_verification_failure(now)) + RCLCPP_WARN(logger_, "VT13 remote control crc16 invalid: readable=%zu", readable); + return VerificationFailed{}; + } + + data_buffer_.pop_front_n([](std::byte&&) noexcept {}, sizeof(RemoteControlData)); + + update_remote_control_data(data); + valid_ = true; + last_remote_control_received_at_ = now; + remote_success_count_++; + return Success{sizeof(RemoteControlData)}; + } + + void update_remote_control_data(const RemoteControlData& data) { + mode_switch_ = static_cast(data.mode_switch + 1); + + joystick_right_ = { + channel_to_double(static_cast(data.joystick_channel1)), + -channel_to_double(static_cast(data.joystick_channel0)), + }; + joystick_left_ = { + channel_to_double(static_cast(data.joystick_channel2)), + -channel_to_double(static_cast(data.joystick_channel3)), + }; + + mouse_velocity_ = { + -data.mouse_velocity_y / 32768.0, + -data.mouse_velocity_x / 32768.0, + }; + mouse_wheel_ = -static_cast(data.mouse_velocity_z) / 32768.0; + + mouse_ = { + .left = static_cast(data.mouse_left), + .right = static_cast(data.mouse_right), + }; + keyboard_ = std::bit_cast(data.keyboard); + } + + ReadResult read_referee_style_data(const std::size_t readable, const TimePoint now) { + if (readable < sizeof(RefereeFrameHeader)) + return Incomplete{}; + + RefereeFrameHeader header; + data_buffer_.peek_front_n( + [dst = reinterpret_cast(&header)](std::byte src) mutable noexcept { + *dst++ = src; + }, + sizeof(RefereeFrameHeader)); + + if (!rmcs_utility::dji_crc::verify_crc8(header)) { + referee_bad_crc8_count_++; + if (should_log_verification_failure(now)) + RCLCPP_WARN(logger_, "VT13 referee header crc8 invalid: readable=%zu", readable); + return VerificationFailed{}; + } + + const std::size_t total_frame_size = + sizeof(RefereeFrameHeader) + 2 + header.data_length + 2; + if (total_frame_size > kRefereeFrameMaxSize) { + referee_oversize_count_++; + if (should_log_verification_failure(now)) { + RCLCPP_WARN( + logger_, "VT13 referee frame oversized: data_length=%u total=%zu readable=%zu", + header.data_length, total_frame_size, readable); + } + return VerificationFailed{}; + } + if (readable < total_frame_size) + return Incomplete{}; + + data_buffer_.pop_front_n([](std::byte&&) noexcept {}, total_frame_size); + referee_discarded_count_++; + return Success{total_frame_size}; + } + + bool should_log_verification_failure(const TimePoint now) { + if (last_verification_log_time_ != TimePoint::min() + && now - last_verification_log_time_ < kVerificationLogInterval) + return false; + last_verification_log_time_ = now; + return true; + } + + bool should_log_overflow() { + const auto now = Clock::now(); + if (last_overflow_log_time_ != TimePoint::min() + && now - last_overflow_log_time_ < kOverflowLogInterval) + return false; + + last_overflow_log_time_ = now; + return true; + } + + void refresh_validity(const TimePoint now) { + if (!valid_ || now - last_remote_control_received_at_ <= kFreshTimeout) + return; + + reset_remote_control_state(); + valid_ = false; + } + + void maybe_log_statistics(const TimePoint now) { + if (last_statistics_log_time_ == TimePoint::min()) { + last_statistics_log_time_ = now; + return; + } + + const auto elapsed = now - last_statistics_log_time_; + if (elapsed < kStatisticsLogInterval) + return; + + const auto readable = data_buffer_.readable(); + const auto store_calls = store_calls_.exchange(0, std::memory_order_relaxed); + const auto received_bytes = received_bytes_.exchange(0, std::memory_order_relaxed); + const auto overflow_count = overflow_count_.exchange(0, std::memory_order_relaxed); + const auto overflow_dropped_bytes = + overflow_dropped_bytes_.exchange(0, std::memory_order_relaxed); + const auto elapsed_seconds = std::chrono::duration(elapsed).count(); + + /* RCLCPP_INFO( + logger_, + "VT13 stats: rx=%.1f Hz %.1f B/s remote_ok=%zu verify_fail=%zu remote_bad_header=%zu " + "remote_bad_crc=%zu referee_discarded=%zu referee_bad_crc8=%zu referee_oversize=%zu " + "unknown_prefix=%zu overflow=%llu dropped=%llu readable=%zu peak=%zu valid=%s", + static_cast(store_calls) / elapsed_seconds, + static_cast(received_bytes) / elapsed_seconds, remote_success_count_, + verification_failures_, remote_bad_header_count_, remote_bad_crc_count_, + referee_discarded_count_, referee_bad_crc8_count_, referee_oversize_count_, + unknown_prefix_count_, static_cast(overflow_count), + static_cast(overflow_dropped_bytes), readable, peak_readable_, + valid_ ? "true" : "false"); + */ + + remote_success_count_ = 0; + verification_failures_ = 0; + remote_bad_header_count_ = 0; + remote_bad_crc_count_ = 0; + referee_discarded_count_ = 0; + referee_bad_crc8_count_ = 0; + referee_oversize_count_ = 0; + unknown_prefix_count_ = 0; + peak_readable_ = readable; + last_statistics_log_time_ = now; + } + + void reset_remote_control_state() { + mode_switch_ = ModeSwitch::kUnknown; + joystick_left_ = Eigen::Vector2d::Zero(); + joystick_right_ = Eigen::Vector2d::Zero(); + mouse_velocity_ = Eigen::Vector2d::Zero(); + mouse_wheel_ = 0; + mouse_ = rmcs_msgs::Mouse::zero(); + keyboard_ = rmcs_msgs::Keyboard::zero(); + } + + static double channel_to_double(int32_t value) { + value -= 1024; + if (-660 <= value && value <= 660) + return value / 660.0; + return 0.0; + } + + rclcpp::Logger logger_ = rclcpp::get_logger("vt13"); + rmcs_utility::RingBuffer data_buffer_{1024}; + + std::atomic store_calls_{0}; + std::atomic received_bytes_{0}; + std::atomic overflow_count_{0}; + std::atomic overflow_dropped_bytes_{0}; + + TimePoint last_remote_control_received_at_ = TimePoint::min(); + TimePoint last_verification_log_time_ = TimePoint::min(); + TimePoint last_overflow_log_time_ = TimePoint::min(); + TimePoint last_statistics_log_time_ = TimePoint::min(); + + bool valid_ = false; + std::size_t peak_readable_ = 0; + std::size_t remote_success_count_ = 0; + std::size_t verification_failures_ = 0; + std::size_t remote_bad_header_count_ = 0; + std::size_t remote_bad_crc_count_ = 0; + std::size_t referee_discarded_count_ = 0; + std::size_t referee_bad_crc8_count_ = 0; + std::size_t referee_oversize_count_ = 0; + std::size_t unknown_prefix_count_ = 0; + + ModeSwitch mode_switch_ = ModeSwitch::kUnknown; + + Eigen::Vector2d joystick_left_ = Eigen::Vector2d::Zero(); + Eigen::Vector2d joystick_right_ = Eigen::Vector2d::Zero(); + + Eigen::Vector2d mouse_velocity_ = Eigen::Vector2d::Zero(); + double mouse_wheel_ = 0; + + rmcs_msgs::Mouse mouse_ = rmcs_msgs::Mouse::zero(); + rmcs_msgs::Keyboard keyboard_ = rmcs_msgs::Keyboard::zero(); +}; + +} // namespace rmcs_core::hardware::device \ No newline at end of file diff --git a/rmcs_ws/src/rmcs_core/src/hardware/flight.cpp b/rmcs_ws/src/rmcs_core/src/hardware/flight.cpp index c35bb8dfe..d1c5b214f 100644 --- a/rmcs_ws/src/rmcs_core/src/hardware/flight.cpp +++ b/rmcs_ws/src/rmcs_core/src/hardware/flight.cpp @@ -19,20 +19,20 @@ #include "hardware/device/dji_motor.hpp" #include "hardware/device/dr16.hpp" #include "hardware/device/lk_motor.hpp" -#include "librmcs/agent/rmcs_board_lite.hpp" +#include "hardware/device/remote_control.hpp" +#include "librmcs/board/rmcs_board_lite.hpp" namespace rmcs_core::hardware { class Flight : public rmcs_executor::Component , public rclcpp::Node - , private librmcs::agent::RmcsBoardLite { + , public librmcs::board::RmcsBoardLite::Callback { public: Flight() : Node{ get_component_name(), - rclcpp::NodeOptions{}.automatically_declare_parameters_from_overrides(true)} - , RmcsBoardLite{get_parameter("board_serial").as_string()} { + rclcpp::NodeOptions{}.automatically_declare_parameters_from_overrides(true)} { gimbal_yaw_motor_.configure( device::LkMotor::Config{device::LkMotor::Type::kMHF7015} @@ -43,13 +43,13 @@ class Flight device::LkMotor::Config{device::LkMotor::Type::kMG4010Ei10}.set_encoder_zero_point( static_cast(get_parameter("pitch_motor_zero_point").as_int()))); gimbal_left_friction_.configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} + device::DjiMotor::Config{device::DjiMotor::Type::kM3508, 3} .set_reversed() .set_reduction_ratio(1.0)); gimbal_right_friction_.configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508}.set_reduction_ratio(1.0)); + device::DjiMotor::Config{device::DjiMotor::Type::kM3508, 4}.set_reduction_ratio(1.0)); gimbal_bullet_feeder_.configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM2006}.enable_multi_turn_angle()); + device::DjiMotor::Config{device::DjiMotor::Type::kM2006, 1}.enable_multi_turn_angle()); bmi088_.set_coordinate_mapping( [](double x, double y, double z) { return std::tuple{y, z, x}; }); @@ -74,11 +74,14 @@ class Flight [&buffer](std::byte byte) noexcept { *buffer++ = byte; }, size); }; referee_serial_->write = [this](const std::byte* buffer, size_t size) { - start_transmit().uart1_transmit( - {.uart_data = std::span{buffer, size}}); + board_->start_transmit().uart_transmit( + Spec::kUarts.kUart1, {.uart_data = std::span{buffer, size}}); return size; }; + remote_control_ = std::make_unique(*this); + remote_control_->register_dr16(&dr16_); + status_service_ = create_service( "/rmcs/service/robot_status", [this]( @@ -86,12 +89,16 @@ class Flight const std_srvs::srv::Trigger::Response::SharedPtr& response) { status_service_callback(response); }); + + board_ = std::make_unique( + *this, get_parameter("board_serial").as_string()); } void update() override { update_motors(); update_imu(); dr16_.update_status(); + remote_control_->update(); using namespace rmcs_description; *camera_transform_ = fast_tf::lookup_transform(*tf_); @@ -100,32 +107,40 @@ class Flight } void command_update() { - auto builder = start_transmit(); + auto builder = board_->start_transmit(); builder - .can0_transmit( - {.can_id = 0x200, - .can_data = - device::CanPacket8{ - device::CanPacket8::PaddingQuarter{}, - device::CanPacket8::PaddingQuarter{}, - gimbal_left_friction_.generate_command(), - gimbal_right_friction_.generate_command(), - } - .as_bytes()}) - .can1_transmit( - {.can_id = 0x200, - .can_data = - device::CanPacket8{ - gimbal_bullet_feeder_.generate_command(), - device::CanPacket8::PaddingQuarter{}, - device::CanPacket8::PaddingQuarter{}, - device::CanPacket8::PaddingQuarter{}, - } - .as_bytes()}) - .can2_transmit( + .can_transmit( + Spec::kCans.kCan0, // + { + .can_id = 0x200, + .can_data = + device::CanPacket8{ + device::CanPacket8::PaddingQuarter{}, + device::CanPacket8::PaddingQuarter{}, + gimbal_left_friction_.generate_command(), + gimbal_right_friction_.generate_command(), + } + .as_bytes(), + }) + .can_transmit( + Spec::kCans.kCan1, // + { + .can_id = 0x200, + .can_data = + device::CanPacket8{ + gimbal_bullet_feeder_.generate_command(), + device::CanPacket8::PaddingQuarter{}, + device::CanPacket8::PaddingQuarter{}, + device::CanPacket8::PaddingQuarter{}, + } + .as_bytes(), + }) + .can_transmit( + Spec::kCans.kCan2, // {.can_id = 0x141, .can_data = gimbal_yaw_motor_.generate_torque_command().as_bytes()}) - .can3_transmit( + .can_transmit( + Spec::kCans.kCan3, // {.can_id = 0x142, .can_data = gimbal_pitch_motor_.generate_command().as_bytes()}); } @@ -172,62 +187,48 @@ class Flight } protected: - void can0_receive_callback(const librmcs::data::CanDataView& data) override { + void can_receive_callback(const Spec::Can& can, const View::Can& data) override { if (data.is_extended_can_id || data.is_remote_transmission || data.can_data.size() < 8) [[unlikely]] return; - if (data.can_id == 0x203) { - gimbal_left_friction_.store_status(data.can_data); - } else if (data.can_id == 0x204) { - gimbal_right_friction_.store_status(data.can_data); + if (can == Spec::kCans.kCan0) { + if (data.can_id == 0x203) { + gimbal_left_friction_.store_status(data.can_data); + } else if (data.can_id == 0x204) { + gimbal_right_friction_.store_status(data.can_data); + } + } else if (can == Spec::kCans.kCan1) { + if (data.can_id == 0x201) { + gimbal_bullet_feeder_.store_status(data.can_data); + } + } else if (can == Spec::kCans.kCan2) { + if (data.can_id == 0x141) { + gimbal_yaw_motor_.store_status(data.can_data); + } + } else if (can == Spec::kCans.kCan3) { + if (data.can_id == 0x142) { + gimbal_pitch_motor_.store_status(data.can_data); + } } } - void can1_receive_callback(const librmcs::data::CanDataView& data) override { - if (data.is_extended_can_id || data.is_remote_transmission || data.can_data.size() < 8) - [[unlikely]] - return; - if (data.can_id == 0x201) { - gimbal_bullet_feeder_.store_status(data.can_data); + void uart_receive_callback(const Spec::Uart& uart, const View::Uart& data) override { + if (uart == Spec::kUarts.kUart1) { + const std::byte* ptr = data.uart_data.data(); + referee_ring_buffer_receive_.emplace_back_n( + [&ptr](std::byte* storage) noexcept { new (storage) std::byte{*ptr++}; }, + data.uart_data.size()); + } else if (uart == Spec::kUarts.kDbus) { + dr16_.store_status(data.uart_data.data(), data.uart_data.size()); } } - void can2_receive_callback(const librmcs::data::CanDataView& data) override { - if (data.is_extended_can_id || data.is_remote_transmission || data.can_data.size() < 8) - [[unlikely]] - return; - - if (data.can_id == 0x141) { - gimbal_yaw_motor_.store_status(data.can_data); - } - } - void can3_receive_callback(const librmcs::data::CanDataView& data) override { - if (data.is_extended_can_id || data.is_remote_transmission || data.can_data.size() < 8) - [[unlikely]] - return; - - if (data.can_id == 0x142) { - gimbal_pitch_motor_.store_status(data.can_data); - } - } - - void uart1_receive_callback(const librmcs::data::UartDataView& data) override { - const std::byte* ptr = data.uart_data.data(); - referee_ring_buffer_receive_.emplace_back_n( - [&ptr](std::byte* storage) noexcept { new (storage) std::byte{*ptr++}; }, - data.uart_data.size()); - } - - void dbus_receive_callback(const librmcs::data::UartDataView& data) override { - dr16_.store_status(data.uart_data.data(), data.uart_data.size()); - } - - void accelerometer_receive_callback(const librmcs::data::AccelerometerDataView& data) override { + void accelerometer_receive_callback(const View::ImuAccelerometer& data) override { bmi088_.store_accelerometer_status(data.x, data.y, data.z); } - void gyroscope_receive_callback(const librmcs::data::GyroscopeDataView& data) override { + void gyroscope_receive_callback(const View::ImuGyroscope& data) override { bmi088_.store_gyroscope_status(data.x, data.y, data.z); } @@ -247,13 +248,16 @@ class Flight }; std::shared_ptr> status_service_; + std::unique_ptr board_; + device::LkMotor gimbal_yaw_motor_{*this, *command_component_, "/gimbal/yaw"}; device::LkMotor gimbal_pitch_motor_{*this, *command_component_, "/gimbal/pitch"}; device::DjiMotor gimbal_left_friction_{*this, *command_component_, "/gimbal/left_friction"}; device::DjiMotor gimbal_right_friction_{*this, *command_component_, "/gimbal/right_friction"}; device::DjiMotor gimbal_bullet_feeder_{*this, *command_component_, "/gimbal/bullet_feeder"}; - device::Dr16 dr16_{*this}; + device::Dr16 dr16_; + std::unique_ptr remote_control_; device::Bmi088 bmi088_{1000.0, 0.2, 0.00}; OutputInterface gimbal_yaw_velocity_imu_; diff --git a/rmcs_ws/src/rmcs_core/src/hardware/omni_infantry.cpp b/rmcs_ws/src/rmcs_core/src/hardware/omni_infantry.cpp index 84b720776..b9589e4c8 100644 --- a/rmcs_ws/src/rmcs_core/src/hardware/omni_infantry.cpp +++ b/rmcs_ws/src/rmcs_core/src/hardware/omni_infantry.cpp @@ -5,9 +5,8 @@ #include #include -#include +#include #include -#include #include #include #include @@ -27,6 +26,7 @@ #include "hardware/device/dji_motor.hpp" #include "hardware/device/dr16.hpp" #include "hardware/device/lk_motor.hpp" +#include "hardware/device/remote_control.hpp" #include "hardware/device/supercap.hpp" namespace rmcs_core::hardware { @@ -34,13 +34,12 @@ namespace rmcs_core::hardware { class OmniInfantry : public rmcs_executor::Component , public rclcpp::Node - , private librmcs::agent::RmcsBoardLite { + , public librmcs::board::RmcsBoardLite::Callback { public: OmniInfantry() : Node{ get_component_name(), rclcpp::NodeOptions{}.automatically_declare_parameters_from_overrides(true)} - , librmcs::agent::RmcsBoardLite{get_parameter("board_serial").as_string()} , logger_(get_logger()) , infantry_command_( create_partner_component(get_component_name() + "_command", *this)) @@ -55,11 +54,12 @@ class OmniInfantry , gimbal_left_friction_(*this, *infantry_command_, "/gimbal/left_friction") , gimbal_right_friction_(*this, *infantry_command_, "/gimbal/right_friction") , gimbal_bullet_feeder_(*this, *infantry_command_, "/gimbal/bullet_feeder") - , dr16_{*this} { + , dr16_{} + { for (auto& motor : chassis_wheel_motors_) motor.configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} + device::DjiMotor::Config{device::DjiMotor::Type::kM3508, 1} .set_reversed() .set_reduction_ratio(13.) .enable_multi_turn_angle()); @@ -76,13 +76,13 @@ class OmniInfantry static_cast(get_parameter("pitch_motor_zero_point").as_int()))); gimbal_left_friction_.configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508}.set_reduction_ratio(1.)); + device::DjiMotor::Config{device::DjiMotor::Type::kM3508, 1}.set_reduction_ratio(1.)); gimbal_right_friction_.configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} + device::DjiMotor::Config{device::DjiMotor::Type::kM3508, 2} .set_reversed() .set_reduction_ratio(1.)); gimbal_bullet_feeder_.configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM2006}.enable_multi_turn_angle()); + device::DjiMotor::Config{device::DjiMotor::Type::kM2006, 2}.enable_multi_turn_angle()); register_output("/gimbal/yaw/velocity_imu", gimbal_yaw_velocity_imu_); register_output("/gimbal/pitch/velocity_imu", gimbal_pitch_velocity_imu_); @@ -90,16 +90,18 @@ class OmniInfantry register_output("/gimbal/auto_aim/imu_snapshot", imu_snapshot_output_); register_output("/tf", tf_); - start_transmit().gpio_digital_read( - librmcs::spec::rmcs_board_lite::kGpioDescriptors.kUart0Tx, - { - .period_ms = 0, - .asap = false, - .rising_edge = false, - .falling_edge = true, - .capture_timestamp = true, - .pull = librmcs::data::GpioPull::kUp, - }); + board_ = std::make_unique( + *this, get_parameter("board_serial").as_string()); + + board_->start_transmit().gpio_digital_read( + Spec::kGpios.kUart0Tx, { + .period_ms = 0, + .asap = false, + .rising_edge = false, + .falling_edge = true, + .capture_timestamp = true, + .pull = librmcs::data::GpioPull::kUp, + }); using namespace rmcs_description; // NOLINT(google-build-using-namespace) tf_->set_transform(Eigen::Translation3d{0.06603, 0.0, 0.082}); @@ -128,10 +130,13 @@ class OmniInfantry [&buffer](std::byte byte) noexcept { *buffer++ = byte; }, size); }; referee_serial_->write = [this](const std::byte* buffer, size_t size) { - start_transmit().uart1_transmit( - {.uart_data = std::span{buffer, size}}); + board_->start_transmit().uart_transmit( + Spec::kUarts.kUart1, {.uart_data = std::span{buffer, size}}); return size; }; + + remote_control_ = std::make_unique(*this); + remote_control_->register_dr16(&dr16_); } OmniInfantry(const OmniInfantry&) = delete; @@ -145,57 +150,63 @@ class OmniInfantry update_motors(); update_imu(); dr16_.update_status(); + remote_control_->update(); supercap_.update_status(); } void command_update() { - auto builder = start_transmit(); - - builder.can1_transmit({ - .can_id = 0x1FE, - .can_data = - device::CanPacket8{ - device::CanPacket8::PaddingQuarter{}, - device::CanPacket8::PaddingQuarter{}, - device::CanPacket8::PaddingQuarter{}, - supercap_.generate_command(), - } - .as_bytes(), - }); - - builder.can1_transmit({ - .can_id = 0x145, - .can_data = gimbal_yaw_motor_.generate_torque_command().as_bytes(), - }); - - builder.can1_transmit({ - .can_id = 0x200, - .can_data = - device::CanPacket8{ - chassis_wheel_motors_[0].generate_command(), - chassis_wheel_motors_[1].generate_command(), - chassis_wheel_motors_[2].generate_command(), - chassis_wheel_motors_[3].generate_command(), - } - .as_bytes(), - }); - - builder.can2_transmit({ - .can_id = 0x142, - .can_data = gimbal_pitch_motor_.generate_velocity_command().as_bytes(), - }); - - builder.can2_transmit({ - .can_id = 0x200, - .can_data = - device::CanPacket8{ - device::CanPacket8::PaddingQuarter{}, - gimbal_bullet_feeder_.generate_command(), - gimbal_left_friction_.generate_command(), - gimbal_right_friction_.generate_command(), - } - .as_bytes(), - }); + auto builder = board_->start_transmit(); + + builder.can_transmit( + Spec::kCans.kCan1, // + { + .can_id = 0x1FE, + .can_data = + device::CanPacket8{ + device::CanPacket8::PaddingQuarter{}, + device::CanPacket8::PaddingQuarter{}, + device::CanPacket8::PaddingQuarter{}, + supercap_.generate_command(), + } + .as_bytes(), + }); + + builder.can_transmit( + Spec::kCans.kCan1, // + {.can_id = 0x145, .can_data = gimbal_yaw_motor_.generate_torque_command().as_bytes()}); + + builder.can_transmit( + Spec::kCans.kCan1, // + { + .can_id = 0x200, + .can_data = + device::CanPacket8{ + chassis_wheel_motors_[0].generate_command(), + chassis_wheel_motors_[1].generate_command(), + chassis_wheel_motors_[2].generate_command(), + chassis_wheel_motors_[3].generate_command(), + } + .as_bytes(), + }); + + builder.can_transmit( + Spec::kCans.kCan2, // + {.can_id = 0x142, + .can_data = gimbal_pitch_motor_.generate_velocity_command().as_bytes()}); + + builder.can_transmit( + Spec::kCans.kCan2, // + { + .can_id = 0x200, + .can_data = + device::CanPacket8{ + device::CanPacket8::PaddingQuarter{}, + gimbal_bullet_feeder_.generate_command(), + gimbal_left_friction_.generate_command(), + gimbal_right_friction_.generate_command(), + } + .as_bytes(), + }); } private: @@ -239,50 +250,42 @@ class OmniInfantry gimbal_pitch_motor_.calibrate_zero_point()); } - void can1_receive_callback(const librmcs::data::CanDataView& data) override { - if (data.is_extended_can_id || data.is_remote_transmission) [[unlikely]] - return; - - auto can_id = data.can_id; - if (can_id == 0x201) { - auto& motor = chassis_wheel_motors_[0]; - motor.store_status(data.can_data); - } else if (can_id == 0x202) { - auto& motor = chassis_wheel_motors_[1]; - motor.store_status(data.can_data); - } else if (can_id == 0x203) { - auto& motor = chassis_wheel_motors_[2]; - motor.store_status(data.can_data); - } else if (can_id == 0x204) { - auto& motor = chassis_wheel_motors_[3]; - motor.store_status(data.can_data); - } else if (can_id == 0x145) { - gimbal_yaw_motor_.store_status(data.can_data); - } else if (can_id == 0x300) { - supercap_.store_status(data.can_data); - } - } - - void can2_receive_callback(const librmcs::data::CanDataView& data) override { + void can_receive_callback(const Spec::Can& can, const View::Can& data) override { if (data.is_extended_can_id || data.is_remote_transmission) [[unlikely]] return; - auto can_id = data.can_id; - if (can_id == 0x142) { - gimbal_pitch_motor_.store_status(data.can_data); - } else if (can_id == 0x202) { - gimbal_bullet_feeder_.store_status(data.can_data); - } else if (can_id == 0x203) { - gimbal_left_friction_.store_status(data.can_data); - } else if (can_id == 0x204) { - gimbal_right_friction_.store_status(data.can_data); + if (can == Spec::kCans.kCan1) { + auto can_id = data.can_id; + if (can_id == 0x201) { + chassis_wheel_motors_[0].store_status(data.can_data); + } else if (can_id == 0x202) { + chassis_wheel_motors_[1].store_status(data.can_data); + } else if (can_id == 0x203) { + chassis_wheel_motors_[2].store_status(data.can_data); + } else if (can_id == 0x204) { + chassis_wheel_motors_[3].store_status(data.can_data); + } else if (can_id == 0x145) { + gimbal_yaw_motor_.store_status(data.can_data); + } else if (can_id == 0x300) { + supercap_.store_status(data.can_data); + } + } else if (can == Spec::kCans.kCan2) { + auto can_id = data.can_id; + if (can_id == 0x142) { + gimbal_pitch_motor_.store_status(data.can_data); + } else if (can_id == 0x202) { + gimbal_bullet_feeder_.store_status(data.can_data); + } else if (can_id == 0x203) { + gimbal_left_friction_.store_status(data.can_data); + } else if (can_id == 0x204) { + gimbal_right_friction_.store_status(data.can_data); + } } } void gpio_digital_read_result_callback( - const librmcs::spec::rmcs_board_lite::GpioDescriptor& gpio, - const librmcs::data::GpioDigitalDataView& data) override { - if (gpio != librmcs::spec::rmcs_board_lite::kGpioDescriptors.kUart0Tx) + const Spec::Gpio& gpio, const View::GpioDigital& data) override { + if (gpio != Spec::kGpios.kUart0Tx) return; if (!data.timestamp_quarter_us) return; @@ -294,23 +297,23 @@ class OmniInfantry camera_signal_output_.emit(*timestamp); } - void uart1_receive_callback(const librmcs::data::UartDataView& data) override { - const auto* uart_data = data.uart_data.data(); - referee_ring_buffer_receive_.emplace_back_n( - [&uart_data](std::byte* storage) noexcept { *storage = *uart_data++; }, - data.uart_data.size()); - } - - void dbus_receive_callback(const librmcs::data::UartDataView& data) override { - dr16_.store_status(data.uart_data.data(), data.uart_data.size()); + void uart_receive_callback(const Spec::Uart& uart, const View::Uart& data) override { + if (uart == Spec::kUarts.kUart1) { + const auto* uart_data = data.uart_data.data(); + referee_ring_buffer_receive_.emplace_back_n( + [&uart_data](std::byte* storage) noexcept { *storage = *uart_data++; }, + data.uart_data.size()); + } else if (uart == Spec::kUarts.kDbus) { + dr16_.store_status(data.uart_data.data(), data.uart_data.size()); + } } - void accelerometer_receive_callback(const librmcs::data::AccelerometerDataView& data) override { + void accelerometer_receive_callback(const View::ImuAccelerometer& data) override { const auto timestamp = board_clock_lifter_.advance_timebase(data.timestamp_quarter_us); bmi088_.push_accelerometer_sample(data.x, data.y, data.z, timestamp); } - void gyroscope_receive_callback(const librmcs::data::GyroscopeDataView& data) override { + void gyroscope_receive_callback(const View::ImuGyroscope& data) override { const auto timestamp = board_clock_lifter_.lift_timestamp(data.timestamp_quarter_us); if (!timestamp.has_value()) return; @@ -326,6 +329,8 @@ class OmniInfantry private: rclcpp::Logger logger_; + std::unique_ptr board_; + class InfantryCommand : public rmcs_executor::Component { public: explicit InfantryCommand(OmniInfantry& infantry) @@ -351,6 +356,7 @@ class OmniInfantry device::DjiMotor gimbal_bullet_feeder_; device::Dr16 dr16_; + std::unique_ptr remote_control_; device::Bmi088Ekf bmi088_; device::BoardClockLifter board_clock_lifter_; diff --git a/rmcs_ws/src/rmcs_core/src/hardware/sentry.cpp b/rmcs_ws/src/rmcs_core/src/hardware/sentry.cpp index 9d917a2b1..4233d7c76 100644 --- a/rmcs_ws/src/rmcs_core/src/hardware/sentry.cpp +++ b/rmcs_ws/src/rmcs_core/src/hardware/sentry.cpp @@ -1,28 +1,37 @@ -#include "hardware/device/bmi088.hpp" -#include "hardware/device/can_packet.hpp" -#include "hardware/device/dji_motor.hpp" -#include "hardware/device/dr16.hpp" -#include "hardware/device/lk_motor.hpp" -#include "hardware/device/supercap.hpp" - +#include #include #include -#include -#include +#include #include #include #include #include +#include +#include #include #include #include +#include "hardware/device/bmi088_ekf.hpp" +#include "hardware/device/board_clock_lifter.hpp" +#include "hardware/device/can_packet.hpp" +#include "hardware/device/dji_motor.hpp" +#include "hardware/device/dr16.hpp" +#include "hardware/device/lk_motor.hpp" +#include "hardware/device/remote_control.hpp" +#include "hardware/device/supercap.hpp" +#include "hardware/util/status_monitor.hpp" + namespace rmcs_core::hardware { class Sentry : public rmcs_executor::Component , public rclcpp::Node { + + static constexpr auto kPosition = + std::array{"left_front", "left_back", "right_back", "right_front"}; + public: Sentry() : Node( @@ -30,9 +39,14 @@ class Sentry rclcpp::NodeOptions().automatically_declare_parameters_from_overrides(true)) { register_input("/predefined/timestamp", timestamp_); + register_output("/tf", tf_); + register_output("/auto_aim/camera_transform", camera_transform_); + register_output("/auto_aim/barrel_direction", barrel_direction_); + register_output( + "/auto_aim/yaw_velocity", yaw_velocity_, std::numeric_limits::quiet_NaN()); - // For command: remote-status + // 提供 remote-status 命令服务。 using Srv = std_srvs::srv::Trigger; status_service_ = create_service( "/rmcs/service/robot_status", @@ -40,14 +54,13 @@ class Sentry status_service_callback(response); }); - top_board_ = std::make_unique( - *this, *command_component_, get_parameter("board_serial_top_board").as_string()); + remote_control_ = std::make_unique(*this); - bottom_board_ = std::make_unique( - *this, *command_component_, get_parameter("board_serial_bottom_board").as_string()); + gimbal_board_ = std::make_unique( + *this, *command_component_, get_parameter("board_serial_gimbal_board").as_string()); - gimbal_board_ = - std::make_unique(get_parameter("board_serial_gimbal_board").as_string()); + chassis_board_ = std::make_unique( + *this, *command_component_, get_parameter("board_serial_bottom_board").as_string()); tf_->set_transform( Eigen::Translation3d{0.08, 0.0, 0.0}); @@ -55,185 +68,189 @@ class Sentry Eigen::Translation3d{0.07128, 0.0, 0.0481}); } - auto update() -> void override { - top_board_->update(); - bottom_board_->update(); + void update() override { gimbal_board_->update(); - tf_->set_transform( - gimbal_board_->imu_pose().conjugate()); + chassis_board_->update(); + remote_control_->update(); + + using namespace rmcs_description; + *camera_transform_ = fast_tf::lookup_transform(*tf_); + *barrel_direction_ = *fast_tf::cast( + PitchLink::DirectionVector{Eigen::Vector3d::UnitX()}, *tf_); + *yaw_velocity_ = gimbal_board_->yaw_velocity(); } private: - class GimbalBoard final : private librmcs::agent::CBoard { - public: - explicit GimbalBoard(std::string_view board_serial = {}) - : librmcs::agent::CBoard(board_serial) { - bmi088_.set_coordinate_mapping( - [](double x, double y, double z) { return std::make_tuple(y, -x, z); }); - } - - GimbalBoard(const GimbalBoard&) = delete; - GimbalBoard& operator=(const GimbalBoard&) = delete; - GimbalBoard(GimbalBoard&&) = delete; - GimbalBoard& operator=(GimbalBoard&&) = delete; - - ~GimbalBoard() override = default; - - auto update() -> void { - bmi088_.update_status(); - imu_pose_ = Eigen::Quaterniond{bmi088_.q0(), bmi088_.q1(), bmi088_.q2(), bmi088_.q3()}; - } - - auto imu_pose() const -> Eigen::Quaterniond { return imu_pose_; } - - private: - auto accelerometer_receive_callback(const librmcs::data::AccelerometerDataView& data) - -> void override { - bmi088_.store_accelerometer_status(data.x, data.y, data.z); - } - - auto gyroscope_receive_callback(const librmcs::data::GyroscopeDataView& data) - -> void override { - bmi088_.store_gyroscope_status(data.x, data.y, data.z); - } - - device::Bmi088 bmi088_{1000, 0.2, 0.0}; - Eigen::Quaterniond imu_pose_ = Eigen::Quaterniond::Identity(); - }; - - class TopBoard final : private librmcs::agent::RmcsBoardLite { - friend class Sentry; - + class GimbalBoard final : public librmcs::board::RmcsBoardLite::Callback { public: - explicit TopBoard( + explicit GimbalBoard( Sentry& sentry, rmcs_executor::Component& sentry_command, - std::string_view board_serial = {}, librmcs::agent::AdvancedOptions options = {}) - : librmcs::agent::RmcsBoardLite(board_serial, options) - , tf_(sentry.tf_) - , bmi088_(1000, 0.2, 0.0) + std::string_view board_serial = {}) + : tf_(sentry.tf_) , gimbal_pitch_motor_(sentry, sentry_command, "/gimbal/pitch") , gimbal_top_yaw_motor_(sentry, sentry_command, "/gimbal/top_yaw") , gimbal_bullet_feeder_(sentry, sentry_command, "/gimbal/bullet_feeder") , gimbal_left_friction_(sentry, sentry_command, "/gimbal/left_friction") , gimbal_right_friction_(sentry, sentry_command, "/gimbal/right_friction") { + + using namespace device; + + auto zero_point = int{0}; + sentry.get_parameter("pitch_motor_zero_point", zero_point); gimbal_pitch_motor_.configure( - device::LkMotor::Config{device::LkMotor::Type::kMG4010Ei10}.set_encoder_zero_point( - static_cast(sentry.get_parameter("pitch_motor_zero_point").as_int()))); + LkMotor::Config{LkMotor::Type::kMG4010Ei10}.set_encoder_zero_point(zero_point)); + sentry.get_parameter("top_yaw_motor_zero_point", zero_point); gimbal_top_yaw_motor_.configure( - device::LkMotor::Config{device::LkMotor::Type::kMG4010Ei10}.set_encoder_zero_point( - static_cast(sentry.get_parameter("top_yaw_motor_zero_point").as_int()))); + LkMotor::Config{LkMotor::Type::kMG4010Ei10}.set_encoder_zero_point(zero_point)); gimbal_bullet_feeder_.configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} + DjiMotor::Config{DjiMotor::Type::kM3508, 4} .enable_multi_turn_angle() .set_reversed() .set_reduction_ratio(19 * 2)); gimbal_left_friction_.configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508}.set_reduction_ratio(1.)); + DjiMotor::Config{DjiMotor::Type::kM3508, 2}.set_reduction_ratio(1.)); gimbal_right_friction_.configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} - .set_reduction_ratio(1.) - .set_reversed()); - - sentry.register_output("/gimbal/yaw/velocity_imu", gimbal_yaw_velocity_bmi088_); - sentry.register_output("/gimbal/pitch/velocity_imu", gimbal_pitch_velocity_bmi088_); - - bmi088_.set_coordinate_mapping( - [](double x, double y, double z) { return std::make_tuple(-x, -y, z); }); + DjiMotor::Config{DjiMotor::Type::kM3508, 1}.set_reduction_ratio(1.).set_reversed()); + + sentry.register_output("/gimbal/yaw/velocity_imu", gimbal_yaw_velocity_bmi088_, 0.0); + sentry.register_output( + "/gimbal/pitch/velocity_imu", gimbal_pitch_velocity_bmi088_, 0.0); + + sentry.register_output("/gimbal/auto_aim/exposure_signal", camera_signal_output_); + sentry.register_output("/gimbal/auto_aim/imu_snapshot", imu_snapshot_output_); + + board_ = std::make_unique(*this, board_serial); + board_->start_transmit().gpio_digital_read( + Spec::kGpios.kUart1Rx, { + .period_ms = 0, + .asap = false, + .rising_edge = false, + .falling_edge = true, + .capture_timestamp = true, + .pull = librmcs::data::GpioPull::kUp, + }); } - auto update() -> void { - gimbal_top_yaw_motor_.update_status(); - gimbal_pitch_motor_.update_status(); - - const auto pitch_angle = - std::remainder(gimbal_pitch_motor_.angle(), 2.0 * std::numbers::pi_v); - - bmi088_.update_status(); - const Eigen::Quaterniond gimbal_bmi088_pose{ - bmi088_.q0(), bmi088_.q1(), bmi088_.q2(), bmi088_.q3()}; + auto yaw_velocity() const -> double { return *gimbal_yaw_velocity_bmi088_; } - tf_->set_transform( - gimbal_bmi088_pose.conjugate()); - - *gimbal_yaw_velocity_bmi088_ = bmi088_.gz(); - *gimbal_pitch_velocity_bmi088_ = bmi088_.gy(); + auto status() const -> std::vector { return monitor_.text(); } + void update() { gimbal_bullet_feeder_.update_status(); gimbal_left_friction_.update_status(); gimbal_right_friction_.update_status(); + gimbal_top_yaw_motor_.update_status(); tf_->set_state( gimbal_top_yaw_motor_.angle()); + + gimbal_pitch_motor_.update_status(); + const auto pitch_angle = + std::remainder(gimbal_pitch_motor_.angle(), 2.0 * std::numbers::pi); tf_->set_state(pitch_angle); - } - auto command_update() -> void { - auto builder = start_transmit(); - - builder.can0_transmit({ - .can_id = 0x200, - .can_data = - device::CanPacket8{ - gimbal_right_friction_.generate_command(), - gimbal_left_friction_.generate_command(), - device::CanPacket8::PaddingQuarter{}, - gimbal_bullet_feeder_.generate_command(), - } - .as_bytes(), - }); + if (const auto snapshot = bmi088_.snapshot()) { + tf_->set_transform( + snapshot->orientation.conjugate()); - builder.can3_transmit({ - .can_id = 0x141, - .can_data = gimbal_top_yaw_motor_.generate_torque_command().as_bytes(), - }); + *gimbal_yaw_velocity_bmi088_ = snapshot->gyro_body.z(); + *gimbal_pitch_velocity_bmi088_ = snapshot->gyro_body.y(); + } + } - builder.can2_transmit({ - .can_id = 0x141, - .can_data = gimbal_pitch_motor_.generate_torque_command().as_bytes(), - }); + void command_update() const { + board_->start_transmit() + .can_transmit( + Spec::kCans.kCan0, + { + .can_id = gimbal_right_friction_.send_id(), + .can_data = + device::CanPacket8{ + gimbal_right_friction_.generate_command(), + gimbal_left_friction_.generate_command(), + device::CanPacket8::PaddingQuarter{}, + gimbal_bullet_feeder_.generate_command(), + } + .as_bytes(), + }) + .can_transmit( + Spec::kCans.kCan3, + { + .can_id = 0x141, + .can_data = gimbal_top_yaw_motor_.generate_torque_command().as_bytes(), + }) + .can_transmit( + Spec::kCans.kCan3, + { + .can_id = 0x142, + .can_data = gimbal_pitch_motor_.generate_torque_command().as_bytes(), + }); } - private: - auto can0_receive_callback(const librmcs::data::CanDataView& data) -> void override { + void can_receive_callback(const Spec::Can& can, const View::Can& data) override { if (data.is_extended_can_id || data.is_remote_transmission) [[unlikely]] return; - auto can_id = data.can_id; - if (can_id == 0x202) { - gimbal_left_friction_.store_status(data.can_data); - } else if (can_id == 0x201) { - gimbal_right_friction_.store_status(data.can_data); - } else if (can_id == 0x204) { - gimbal_bullet_feeder_.store_status(data.can_data); + + const auto& can_id = data.can_id; + const auto& can_data = data.can_data; + + if (can == Spec::kCans.kCan0) { + /*^^*/ gimbal_left_friction_.match_then_store_status(can_id, can_data) + || gimbal_right_friction_.match_then_store_status(can_id, can_data) + || gimbal_bullet_feeder_.match_then_store_status(can_id, can_data); + + monitor_.tick("Gimbal::Can0", can_id); + + } else if (can == Spec::kCans.kCan3) { + /*^^*/ if (can_id == 0x141) { + gimbal_top_yaw_motor_.store_status(can_data); + } else if (can_id == 0x142) { + gimbal_pitch_motor_.store_status(can_data); + } + + monitor_.tick("Gimbal::Can3", can_id); } } - auto can2_receive_callback(const librmcs::data::CanDataView& data) -> void override { - if (data.is_extended_can_id || data.is_remote_transmission) [[unlikely]] + void gpio_digital_read_result_callback( + const Spec::Gpio& gpio, const View::GpioDigital& data) override { + if (!data.timestamp_quarter_us) return; - auto can_id = data.can_id; - if (can_id == 0x141) - gimbal_pitch_motor_.store_status(data.can_data); - } - auto can3_receive_callback(const librmcs::data::CanDataView& data) -> void override { - if (data.is_extended_can_id || data.is_remote_transmission) [[unlikely]] - return; - auto can_id = data.can_id; - if (can_id == 0x141) - gimbal_top_yaw_motor_.store_status(data.can_data); + if (gpio == Spec::kGpios.kUart1Rx) { + if (data.high) + return; + + const auto timestamp = + board_clock_lifter_.lift_timestamp(*data.timestamp_quarter_us); + if (!timestamp.has_value()) + return; + + camera_signal_output_.emit(*timestamp); + } } - auto accelerometer_receive_callback(const librmcs::data::AccelerometerDataView& data) - -> void override { - bmi088_.store_accelerometer_status(data.x, data.y, data.z); + void accelerometer_receive_callback(const View::ImuAccelerometer& data) override { + const auto timestamp = board_clock_lifter_.advance_timebase(data.timestamp_quarter_us); + bmi088_.push_accelerometer_sample(data.x, data.y, data.z, timestamp); + monitor_.tick("Gimbal::Imu", "Acc"); } - auto gyroscope_receive_callback(const librmcs::data::GyroscopeDataView& data) - -> void override { - bmi088_.store_gyroscope_status(data.x, data.y, data.z); + void gyroscope_receive_callback(const View::ImuGyroscope& data) override { + monitor_.tick("Gimbal::Imu", "Gyr"); + const auto timestamp = board_clock_lifter_.lift_timestamp(data.timestamp_quarter_us); + if (!timestamp.has_value()) + return; + + auto snapshot = + bmi088_.try_update_with_gyroscope_sample(data.x, data.y, data.z, *timestamp); + if (!snapshot) + return; + + imu_snapshot_output_.emit(*snapshot); } OutputInterface& tf_; @@ -241,26 +258,33 @@ class Sentry OutputInterface gimbal_yaw_velocity_bmi088_; OutputInterface gimbal_pitch_velocity_bmi088_; - device::Bmi088 bmi088_; + EventOutputInterface camera_signal_output_; + EventOutputInterface imu_snapshot_output_; + + device::Bmi088Ekf bmi088_{device::Bmi088Ekf::Config{ + .body_to_sensor = + Eigen::AngleAxisd{std::numbers::pi, Eigen::Vector3d::UnitZ()}.toRotationMatrix(), + }}; + device::BoardClockLifter board_clock_lifter_; + device::LkMotor gimbal_pitch_motor_; device::LkMotor gimbal_top_yaw_motor_; device::DjiMotor gimbal_bullet_feeder_; device::DjiMotor gimbal_left_friction_; device::DjiMotor gimbal_right_friction_; - }; - class BottomBoard final : private librmcs::agent::CBoard { - friend class Sentry; + StatusMonitor monitor_{}; + std::unique_ptr board_; + }; + class ChassisBoard final : public librmcs::board::RmcsBoardLite::Callback { public: - explicit BottomBoard( + explicit ChassisBoard( Sentry& sentry, rmcs_executor::Component& sentry_command, std::string_view board_serial = {}) - : librmcs::agent::CBoard(board_serial) - , imu_(1000, 0.2, 0.0) - , tf_(sentry.tf_) - , dr16_(sentry) + : tf_(sentry.tf_) + , dr16_{} , gimbal_bottom_yaw_motor_(sentry, sentry_command, "/gimbal/bottom_yaw") , chassis_wheel_motors_( {sentry, sentry_command, "/chassis/left_front_wheel"}, @@ -272,54 +296,81 @@ class Sentry {sentry, sentry_command, "/chassis/left_back_steering"}, {sentry, sentry_command, "/chassis/right_back_steering"}, {sentry, sentry_command, "/chassis/right_front_steering"}) + , chassis_front_climber_motor_( + {sentry, sentry_command, "/chassis/climber/left_front_motor"}, + {sentry, sentry_command, "/chassis/climber/right_front_motor"}) + , chassis_back_climber_motor_( + {sentry, sentry_command, "/chassis/climber/left_back_motor"}, + {sentry, sentry_command, "/chassis/climber/right_back_motor"}) , supercap_(sentry, sentry_command) { + + using namespace device; + sentry.register_output("/referee/serial", referee_serial_); + sentry.register_output("/chassis/yaw/velocity_imu", chassis_yaw_velocity_imu_, 0.0); + sentry.register_output("/chassis/pitch_imu", chassis_pitch_imu_, 0.0); referee_serial_->read = [this](std::byte* buffer, size_t size) { return referee_ring_buffer_receive_.pop_front_n( [&buffer](std::byte byte) noexcept { *buffer++ = byte; }, size); }; referee_serial_->write = [this](const std::byte* buffer, size_t size) { - start_transmit().uart1_transmit( - {.uart_data = std::span{buffer, size}}); + board_->start_transmit().uart_transmit( + Spec::kUarts.kUart0, {.uart_data = std::span{buffer, size}}); return size; }; const auto zero_point = sentry.get_parameter("bottom_yaw_motor_zero_point").as_int(); gimbal_bottom_yaw_motor_.configure( - device::LkMotor::Config{device::LkMotor::Type::kMG6012Ei8} - .set_reversed() - .set_encoder_zero_point(static_cast(zero_point))); + LkMotor::Config{LkMotor::Type::kMG6012Ei8}.set_reversed().set_encoder_zero_point( + static_cast(zero_point))); - for (auto& motor : chassis_wheel_motors_) { + constexpr auto kWheelIds = std::array{2, 1, 2, 4}; + for (auto&& [motor, id] : std::views::zip(chassis_wheel_motors_, kWheelIds)) { motor.configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} + DjiMotor::Config{DjiMotor::Type::kM3508, id} .set_reduction_ratio(11.) .enable_multi_turn_angle() .set_reversed()); } - constexpr auto kSteerNames = std::array{ - "right_back_zero_point", - "right_front_zero_point", - "left_front_zero_point", - "left_back_zero_point", - }; - for (auto&& [motor, name] : std::views::zip(chassis_steer_motors_, kSteerNames)) { - const auto zero_point = sentry.get_parameter(name).as_int(); + constexpr auto kSteerIds = std::array{2, 1, 1, 2}; + for (auto&& [motor, name, id] : + std::views::zip(chassis_steer_motors_, kPosition, kSteerIds)) { + const auto zero_point = + sentry.get_parameter(std::string{name} + "_zero_point").as_int(); motor.configure( - device::DjiMotor::Config{device::DjiMotor::Type::kGM6020} + DjiMotor::Config{DjiMotor::Type::kGM6020, id} .set_reversed() .set_encoder_zero_point(static_cast(zero_point)) .enable_multi_turn_angle()); } - sentry.register_output("/chassis/yaw/velocity_imu", chassis_yaw_velocity_imu_, 0); + chassis_front_climber_motor_[0].configure( + device::DjiMotor::Config{device::DjiMotor::Type::kM3508, 1}.set_reduction_ratio( + 19.)); + chassis_front_climber_motor_[1].configure( + device::DjiMotor::Config{device::DjiMotor::Type::kM3508, 2} + .set_reversed() + .set_reduction_ratio(19.)); + chassis_back_climber_motor_[0].configure( + device::LkMotor::Config{device::LkMotor::Type::kMG4010Ei10} + .set_reversed() + .enable_multi_turn_angle()); + chassis_back_climber_motor_[1].configure( + device::LkMotor::Config{device::LkMotor::Type::kMG4010Ei10} + .enable_multi_turn_angle()); + + board_ = std::make_unique(*this, board_serial); + + sentry.remote_control_->register_dr16(&dr16_); } - auto update() -> void { - imu_.update_status(); - *chassis_yaw_velocity_imu_ = imu_.gz(); + auto status() const -> std::vector { return monitor_.text(); } + + void update() { + gimbal_bottom_yaw_motor_.update_status(); + dr16_.update_status(); supercap_.update_status(); for (auto& motor : chassis_wheel_motors_) @@ -327,114 +378,194 @@ class Sentry for (auto& motor : chassis_steer_motors_) motor.update_status(); - dr16_.update_status(); - gimbal_bottom_yaw_motor_.update_status(); + chassis_front_climber_motor_[0].update_status(); + chassis_front_climber_motor_[1].update_status(); + chassis_back_climber_motor_[0].update_status(); + chassis_back_climber_motor_[1].update_status(); + tf_->set_state( gimbal_bottom_yaw_motor_.angle()); + + if (const auto snapshot = bmi088_.snapshot()) { + const auto& q = snapshot->orientation; + *chassis_pitch_imu_ = -std::asin(2.0 * (q.w() * q.y() - q.z() * q.x())); + *chassis_yaw_velocity_imu_ = snapshot->gyro_body.z(); + } } - auto command_update() -> void { + void command_update() { using namespace device; - auto builder = start_transmit(); - builder.can1_transmit({ - .can_id = 0x141, - .can_data = gimbal_bottom_yaw_motor_.generate_command().as_bytes(), - }); - auto cache = CanPacket8{}; - auto generate = [&](std::uint32_t id, std::ranges::range auto& motors, auto... args) { - auto command = [&](T arg) { - if constexpr (std::same_as) { - return arg; - } else { - const auto valid = arg >= 0 && arg < 4; - return valid ? motors[arg].generate_command() - : CanPacket8::PaddingQuarter{}; - } - }; - cache = CanPacket8{command(args)...}; - return librmcs::data::CanDataView{.can_id = id, .can_data = cache.as_bytes()}; + auto generate = [&](const auto& motors, // + CanPacket8::Quarter extra = {}, std::size_t slot = 4) { + auto slots = std::array{}; + slots.fill(CanPacket8::PaddingQuarter{}); + std::uint32_t can_id = 0; + for (auto& motor : motors) { + slots[(motor.id() - 1) % 4] = motor.generate_command(); + if (can_id == 0) + can_id = motor.send_id(); + } + if (slot < 4) + slots[slot] = extra; + cache = CanPacket8{slots[0], slots[1], slots[2], slots[3]}; + return librmcs::data::CanDataView{.can_id = can_id, .can_data = cache.as_bytes()}; }; - if (can_transmission_mode_) { - builder.can1_transmit(generate(0x200, chassis_wheel_motors_, 1, 0, -1, -1)) - .can2_transmit(generate(0x200, chassis_wheel_motors_, -1, 2, -1, 3)); - } else { - builder.can1_transmit(generate(0x1FE, chassis_steer_motors_, 1, 0, -1, -1)) - .can2_transmit(generate( - 0x1FE, chassis_steer_motors_, 2, 3, -1, supercap_.generate_command())); - } - can_transmission_mode_ = !can_transmission_mode_; - } - - private: - auto dbus_receive_callback(const librmcs::data::UartDataView& data) -> void override { - dr16_.store_status(data.uart_data.data(), data.uart_data.size()); + auto supercap_package = CanPacket8{ + CanPacket8::PaddingQuarter{}, + CanPacket8::PaddingQuarter{}, + CanPacket8::PaddingQuarter{}, + supercap_.generate_command(), + }; + auto bottom_yaw_package = gimbal_bottom_yaw_motor_.generate_command(); + + board_->start_transmit() + .can_transmit( + Spec::kCans.kCan0, + { + .can_id = 0x142, + .can_data = chassis_back_climber_motor_[0].generate_command().as_bytes(), + }) + .can_transmit( + Spec::kCans.kCan0, + { + .can_id = 0x143, + .can_data = chassis_back_climber_motor_[1].generate_command().as_bytes(), + }) + + .can_transmit( + Spec::kCans.kCan1, generate(std::views::counted(chassis_wheel_motors_, 2))) + .can_transmit( + Spec::kCans.kCan2, generate(std::views::counted(chassis_wheel_motors_ + 2, 2))) + + .can_transmit( + Spec::kCans.kCan1, generate(std::views::counted(chassis_steer_motors_, 2))) + .can_transmit( + Spec::kCans.kCan2, generate(std::views::counted(chassis_steer_motors_ + 2, 2))) + + .can_transmit( + Spec::kCans.kCan3, {.can_id = 0x1fe, .can_data = supercap_package.as_bytes()}) + .can_transmit( + Spec::kCans.kCan3, + { + .can_id = 0x200, + .can_data = + device::CanPacket8{ + chassis_front_climber_motor_[0].generate_command(), + chassis_front_climber_motor_[1].generate_command(), + device::CanPacket8::PaddingQuarter{}, + device::CanPacket8::PaddingQuarter{}, + } + .as_bytes(), + }) + .can_transmit( + Spec::kCans.kCan3, + {.can_id = 0x141, .can_data = bottom_yaw_package.as_bytes()}); } - auto can1_receive_callback(const librmcs::data::CanDataView& data) -> void override { + void can_receive_callback(const Spec::Can& can, const View::Can& data) override { if (data.is_extended_can_id || data.is_remote_transmission) [[unlikely]] return; - auto can_id = data.can_id; - if (can_id == 0x201) - chassis_wheel_motors_[1].store_status(data.can_data); - else if (can_id == 0x202) - chassis_wheel_motors_[0].store_status(data.can_data); - else if (can_id == 0x205) - chassis_steer_motors_[1].store_status(data.can_data); - else if (can_id == 0x206) - chassis_steer_motors_[0].store_status(data.can_data); - else if (can_id == 0x141) - gimbal_bottom_yaw_motor_.store_status(data.can_data); - } - auto can2_receive_callback(const librmcs::data::CanDataView& data) -> void override { - if (data.is_extended_can_id || data.is_remote_transmission) [[unlikely]] - return; - auto can_id = data.can_id; - if (can_id == 0x202) - chassis_wheel_motors_[2].store_status(data.can_data); - else if (can_id == 0x204) - chassis_wheel_motors_[3].store_status(data.can_data); - else if (can_id == 0x205) - chassis_steer_motors_[2].store_status(data.can_data); - else if (can_id == 0x206) - chassis_steer_motors_[3].store_status(data.can_data); - else if (can_id == 0x300) - supercap_.store_status(data.can_data); + const auto& can_id = data.can_id; + const auto& can_data = data.can_data; + + if (can == Spec::kCans.kCan0) { + if (can_id == 0x142) { + chassis_back_climber_motor_[0].store_status(data.can_data); + } else if (can_id == 0x143) { + chassis_back_climber_motor_[1].store_status(data.can_data); + } + + monitor_.tick("Chassis::Can0", can_id); + + } else if (can == Spec::kCans.kCan1) { + /*^^*/ chassis_wheel_motors_[0].match_then_store_status(can_id, can_data) + || chassis_wheel_motors_[1].match_then_store_status(can_id, can_data) + + || chassis_steer_motors_[0].match_then_store_status(can_id, can_data) + || chassis_steer_motors_[1].match_then_store_status(can_id, can_data); + + monitor_.tick("Chassis::Can1", can_id); + + } else if (can == Spec::kCans.kCan2) { + /*^^*/ chassis_wheel_motors_[2].match_then_store_status(can_id, can_data) + || chassis_wheel_motors_[3].match_then_store_status(can_id, can_data) + + || chassis_steer_motors_[2].match_then_store_status(can_id, can_data) + || chassis_steer_motors_[3].match_then_store_status(can_id, can_data); + + monitor_.tick("Chassis::Can2", can_id); + + } else if (can == Spec::kCans.kCan3) { + if (can_id == 0x300) { + supercap_.store_status(can_data); + } else if (can_id == 0x141) { + gimbal_bottom_yaw_motor_.store_status(data.can_data); + } else { + /*^^*/ chassis_front_climber_motor_[0].match_then_store_status(can_id, can_data) + || chassis_front_climber_motor_[1].match_then_store_status( + can_id, can_data); + } + + monitor_.tick("Chassis::Can3", can_id); + } } - auto uart1_receive_callback(const librmcs::data::UartDataView& data) -> void override { - const auto* uart_data = data.uart_data.data(); - referee_ring_buffer_receive_.emplace_back_n( - [&uart_data](std::byte* storage) noexcept { *storage = *uart_data++; }, - data.uart_data.size()); + void uart_receive_callback(const Spec::Uart& uart, const View::Uart& data) override { + if (uart == Spec::kUarts.kDbus) { + dr16_.store_status(data.uart_data.data(), data.uart_data.size()); + monitor_.tick("Chassis::Dbus", "Active"); + } else if (uart == Spec::kUarts.kUart0) { + const auto* uart_data = data.uart_data.data(); + referee_ring_buffer_receive_.emplace_back_n( + [&uart_data](std::byte* storage) noexcept { *storage = *uart_data++; }, + data.uart_data.size()); + monitor_.tick("Chassis::Uart0", "Active"); + } } - auto accelerometer_receive_callback(const librmcs::data::AccelerometerDataView& data) - -> void override { - imu_.store_accelerometer_status(data.x, data.y, data.z); + void accelerometer_receive_callback(const View::ImuAccelerometer& data) override { + const auto timestamp = board_clock_lifter_.advance_timebase(data.timestamp_quarter_us); + bmi088_.push_accelerometer_sample(data.x, data.y, data.z, timestamp); + monitor_.tick("Chassis::Imu", "Acc"); } - auto gyroscope_receive_callback(const librmcs::data::GyroscopeDataView& data) - -> void override { - imu_.store_gyroscope_status(data.x, data.y, data.z); + void gyroscope_receive_callback(const View::ImuGyroscope& data) override { + monitor_.tick("Chassis::Imu", "Gyr"); + const auto timestamp = board_clock_lifter_.lift_timestamp(data.timestamp_quarter_us); + if (!timestamp.has_value()) + return; + + auto snapshot = + bmi088_.try_update_with_gyroscope_sample(data.x, data.y, data.z, *timestamp); + if (!snapshot) + return; } - bool can_transmission_mode_ = true; - device::Bmi088 imu_; + device::Bmi088Ekf bmi088_; + device::BoardClockLifter board_clock_lifter_; OutputInterface& tf_; device::Dr16 dr16_; device::LkMotor gimbal_bottom_yaw_motor_; device::DjiMotor chassis_wheel_motors_[4]; device::DjiMotor chassis_steer_motors_[4]; + + device::DjiMotor chassis_front_climber_motor_[2]; + device::LkMotor chassis_back_climber_motor_[2]; + device::Supercap supercap_; rmcs_utility::RingBuffer referee_ring_buffer_receive_{256}; OutputInterface referee_serial_; OutputInterface chassis_yaw_velocity_imu_; + OutputInterface chassis_pitch_imu_; + + StatusMonitor monitor_{}; + std::unique_ptr board_; }; struct CommandTransmitter : public rmcs_executor::Component { @@ -444,11 +575,11 @@ class Sentry explicit CommandTransmitter(Fn&& fn) : fn{std::forward(fn)} {} - auto update() -> void override { fn(); } + void update() override { fn(); } }; - auto status_service_callback(const std::shared_ptr& response) - -> void { + void + status_service_callback(const std::shared_ptr& response) { response->success = true; auto feedback_message = std::ostringstream{}; @@ -456,28 +587,36 @@ class Sentry std::println(feedback_message, format, std::forward(args)...); }; - text("Gimbal Status"); - text("- Bottom Yaw: {}", bottom_board_->gimbal_bottom_yaw_motor_.last_raw_angle()); - text("- Top Yaw: {}", top_board_->gimbal_top_yaw_motor_.last_raw_angle()); - text("- Pitch Angle: {}", top_board_->gimbal_pitch_motor_.last_raw_angle()); - - text("Chassis Status"); - constexpr auto kPosition = - std::array{"right back", "right front", "left front", "left back"}; - constexpr auto kMaxLength = - std::ranges::max_element(kPosition, {}, &std::string_view::size)->size(); + text( + " bottom_yaw_motor_zero_point: {}", + chassis_board_->gimbal_bottom_yaw_motor_.last_raw_angle()); + text(" pitch_motor_zero_point: {}", gimbal_board_->gimbal_pitch_motor_.last_raw_angle()); + text( + " top_yaw_motor_zero_point: {}", + gimbal_board_->gimbal_top_yaw_motor_.last_raw_angle()); + text(""); for (auto&& [index, motor] : - std::views::zip(kPosition, bottom_board_->chassis_steer_motors_)) { - text("- {:{}}: {}", index, kMaxLength, motor.last_raw_angle()); + std::views::zip(kPosition, chassis_board_->chassis_steer_motors_)) { + text(" {}_zero_point: {}", index, motor.last_raw_angle()); + } + + text("\nGimbalBoard Status:"); + for (const auto& line : gimbal_board_->status()) { + text("> {}", line); + } + + text("\nChassisBoard Status:"); + for (const auto& line : chassis_board_->status()) { + text("> {}", line); } response->message = feedback_message.str(); } - auto command_update() -> void { - top_board_->command_update(); - bottom_board_->command_update(); + void command_update() { + gimbal_board_->command_update(); + chassis_board_->command_update(); } std::shared_ptr command_component_{ create_partner_component( @@ -486,9 +625,13 @@ class Sentry InputInterface timestamp_; OutputInterface tf_; + OutputInterface camera_transform_; + OutputInterface barrel_direction_; + OutputInterface yaw_velocity_; + std::unique_ptr gimbal_board_; - std::unique_ptr top_board_; - std::unique_ptr bottom_board_; + std::unique_ptr chassis_board_; + std::unique_ptr remote_control_; std::shared_ptr> status_service_; }; diff --git a/rmcs_ws/src/rmcs_core/src/hardware/steering-hero-little.cpp b/rmcs_ws/src/rmcs_core/src/hardware/steering-hero-little-six-friction.cpp similarity index 54% rename from rmcs_ws/src/rmcs_core/src/hardware/steering-hero-little.cpp rename to rmcs_ws/src/rmcs_core/src/hardware/steering-hero-little-six-friction.cpp index 40150e605..b216fa6eb 100644 --- a/rmcs_ws/src/rmcs_core/src/hardware/steering-hero-little.cpp +++ b/rmcs_ws/src/rmcs_core/src/hardware/steering-hero-little-six-friction.cpp @@ -7,13 +7,13 @@ #include #include #include +#include #include #include #include #include -#include -#include +#include #include #include #include @@ -23,16 +23,22 @@ #include #include #include +#include +#include #include #include #include #include "hardware/device/bmi088.hpp" +#include "hardware/device/bmi088_ekf.hpp" +#include "hardware/device/board_clock_lifter.hpp" #include "hardware/device/can_packet.hpp" #include "hardware/device/dji_motor.hpp" #include "hardware/device/dr16.hpp" #include "hardware/device/lk_motor.hpp" +#include "hardware/device/remote_control.hpp" #include "hardware/device/supercap.hpp" +#include "hardware/device/vt13.hpp" namespace rmcs_core::hardware { @@ -120,11 +126,18 @@ class SteeringHeroLittle register_output("/tf", tf_); + register_output( + "/auto_aim/camera_transform", camera_transform_, Eigen::Isometry3d::Identity()); + register_output("/auto_aim/barrel_direction", barrel_direction_, Eigen::Vector3d::UnitX()); + register_output("/auto_aim/yaw_velocity", auto_aim_yaw_velocity_, 0.0); + gimbal_calibrate_subscription_ = create_subscription( "/gimbal/calibrate", rclcpp::QoS{0}, [this](std_msgs::msg::Int32::UniquePtr&& msg) { gimbal_calibrate_subscription_callback(std::move(msg)); }); + remote_control_ = std::make_unique(*this); + top_board_ = std::make_unique( *this, *command_component_, get_parameter("board_serial_top_board").as_string()); @@ -132,7 +145,7 @@ class SteeringHeroLittle *this, *command_component_, get_parameter("serial_bottom_rmcs_board").as_string()); tf_->set_transform( - Eigen::Translation3d{0.06603, 0.0, 0.082}); + Eigen::Translation3d{0.22, 0.0, -0.05}); } SteeringHeroLittle(const SteeringHeroLittle&) = delete; @@ -145,12 +158,19 @@ class SteeringHeroLittle void update() override { top_board_->update(); bottom_board_->update(); + remote_control_->update(); tf_->set_state( bottom_board_->gimbal_bottom_yaw_motor_.angle() + top_board_->gimbal_top_yaw_motor_.angle()); tf_->set_state( top_board_->gimbal_pitch_motor_.angle()); + + using namespace rmcs_description; + *camera_transform_ = fast_tf::lookup_transform(*tf_); + *barrel_direction_ = + *fast_tf::cast(PitchLink::DirectionVector{Eigen::Vector3d::UnitX()}, *tf_); + *auto_aim_yaw_velocity_ = top_board_->gimbal_yaw_velocity(); } void command_update() { @@ -200,27 +220,25 @@ class SteeringHeroLittle }; std::shared_ptr command_component_; - class TopBoard final : private librmcs::agent::RmcsBoardLite { - public: - friend class SteeringHeroLittle; + struct TopBoard final : librmcs::board::RmcsBoardLite::Callback { explicit TopBoard( SteeringHeroLittle& steering_hero, SteeringHeroLittleCommand& steering_hero_command, std::string_view board_serial = {}) - : librmcs::agent::RmcsBoardLite(board_serial) - , logger_(steering_hero.get_logger()) - // , can0_receive_rate_counter_(logger_, "bottom/can0") - // , can1_receive_rate_counter_(logger_, "bottom/can1") - // , can2_receive_rate_counter_(logger_, "bottom/can2") - // , can3_receive_rate_counter_(logger_, "bottom/can3") + : logger_(steering_hero.get_logger()) , tf_(steering_hero.tf_) - , imu_(1000, 0.2, 0.0) + , bmi088_{device::Bmi088Ekf::Config{ + .body_to_sensor = + Eigen::AngleAxisd{std::numbers::pi / 2.0, Eigen::Vector3d::UnitZ()} + .toRotationMatrix()}} , gimbal_top_yaw_motor_(steering_hero, steering_hero_command, "/gimbal/top_yaw") , gimbal_pitch_motor_(steering_hero, steering_hero_command, "/gimbal/pitch") , gimbal_friction_wheels_( - {steering_hero, steering_hero_command, "/gimbal/first_right_friction"}, - {steering_hero, steering_hero_command, "/gimbal/first_left_friction"}, - {steering_hero, steering_hero_command, "/gimbal/second_right_friction"}, - {steering_hero, steering_hero_command, "/gimbal/second_left_friction"}) + {steering_hero, steering_hero_command, "/gimbal/first_front_friction"}, + {steering_hero, steering_hero_command, "/gimbal/first_back_friction"}, + {steering_hero, steering_hero_command, "/gimbal/second_front_friction"}, + {steering_hero, steering_hero_command, "/gimbal/second_back_friction"}, + {steering_hero, steering_hero_command, "/gimbal/third_front_friction"}, + {steering_hero, steering_hero_command, "/gimbal/third_back_friction"}) , gimbal_bullet_feeder_(steering_hero, steering_hero_command, "/gimbal/bullet_feeder") , putter_motor_(steering_hero, steering_hero_command, "/gimbal/putter") , gimbal_scope_motor_(steering_hero, steering_hero_command, "/gimbal/scope") @@ -240,15 +258,25 @@ class SteeringHeroLittle steering_hero.get_parameter("pitch_motor_zero_point").as_int())) .enable_multi_turn_angle()); gimbal_friction_wheels_[0].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508}.set_reduction_ratio(1.)); + device::DjiMotor::Config{device::DjiMotor::Type::kM3508, 1} + .set_reversed() + .set_reduction_ratio(1.)); gimbal_friction_wheels_[1].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} + device::DjiMotor::Config{device::DjiMotor::Type::kM3508, 2} .set_reversed() .set_reduction_ratio(1.)); gimbal_friction_wheels_[2].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508}.set_reduction_ratio(1.)); + device::DjiMotor::Config{device::DjiMotor::Type::kM3508, 3}.set_reduction_ratio( + 1.)); gimbal_friction_wheels_[3].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} + device::DjiMotor::Config{device::DjiMotor::Type::kM3508, 4}.set_reduction_ratio( + 1.)); + gimbal_friction_wheels_[4].configure( + device::DjiMotor::Config{device::DjiMotor::Type::kM3508, 1} + .set_reversed() + .set_reduction_ratio(1.)); + gimbal_friction_wheels_[5].configure( + device::DjiMotor::Config{device::DjiMotor::Type::kM3508, 2} .set_reversed() .set_reduction_ratio(1.)); gimbal_bullet_feeder_.configure( @@ -259,10 +287,11 @@ class SteeringHeroLittle .set_reversed() .enable_multi_turn_angle()); putter_motor_.configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} + device::DjiMotor::Config{device::DjiMotor::Type::kM3508, 3} .set_reduction_ratio(1.) .enable_multi_turn_angle()); - gimbal_scope_motor_.configure(device::DjiMotor::Config{device::DjiMotor::Type::kM2006}); + gimbal_scope_motor_.configure( + device::DjiMotor::Config{device::DjiMotor::Type::kM2006, 4}); gimbal_player_viewer_motor_.configure( device::LkMotor::Config{device::LkMotor::Type::kMG4005Ei10} .set_encoder_zero_point( @@ -274,30 +303,21 @@ class SteeringHeroLittle steering_hero.register_output("/gimbal/yaw/velocity_imu", gimbal_yaw_velocity_imu_); steering_hero.register_output("/gimbal/pitch/velocity_imu", gimbal_pitch_velocity_imu_); + steering_hero.register_output( + "/gimbal/auto_aim/exposure_signal", camera_signal_output_); + steering_hero.register_output("/gimbal/auto_aim/imu_snapshot", imu_snapshot_output_); + steering_hero.register_output( "/gimbal/photoelectric_sensor", photoelectric_sensor_status_, false); steering_hero.register_output( "/gimbal/grayscale_sensor", grayscale_sensor_status_, false); - steering_hero.register_output( - "/auto_aim/image_capturer/timestamp", camera_capturer_trigger_timestamp_, 0); - steering_hero.register_output( - "/auto_aim/image_capturer/trigger", camera_capturer_trigger_, 0); - - imu_.set_coordinate_mapping([](double x, double y, double z) { - // Get the mapping with the following code. - // The rotation angle must be an exact multiple of 90 degrees, otherwise - // use a matrix. - return std::make_tuple(-y, x, z); - }); - } + board_ = std::make_unique(*this, board_serial); - TopBoard(const TopBoard&) = delete; - TopBoard& operator=(const TopBoard&) = delete; - TopBoard(TopBoard&&) = delete; - TopBoard& operator=(TopBoard&&) = delete; + board_->start_transmit().uart_config(Spec::kUarts.kUart0, {.baudrate = 921600}); - ~TopBoard() final = default; + steering_hero.remote_control_->register_vt13(&vt13_); + } void update() { // can0_receive_rate_counter_.report_if_due(); @@ -305,14 +325,15 @@ class SteeringHeroLittle // can2_receive_rate_counter_.report_if_due(); // can3_receive_rate_counter_.report_if_due(); - imu_.update_status(); - Eigen::Quaterniond gimbal_imu_pose{imu_.q0(), imu_.q1(), imu_.q2(), imu_.q3()}; + vt13_.update_status(); - tf_->set_transform( - gimbal_imu_pose.conjugate()); + if (auto snapshot = bmi088_.snapshot()) { + tf_->set_transform( + snapshot->orientation.conjugate()); - *gimbal_yaw_velocity_imu_ = imu_.gz(); - *gimbal_pitch_velocity_imu_ = imu_.gy(); + *gimbal_yaw_velocity_imu_ = snapshot->gyro_body.z(); + *gimbal_pitch_velocity_imu_ = snapshot->gyro_body.y(); + } gimbal_top_yaw_motor_.update_status(); gimbal_pitch_motor_.update_status(); @@ -331,159 +352,190 @@ class SteeringHeroLittle gimbal_scope_motor_.update_status(); - if (last_camera_capturer_trigger_timestamp_ != *camera_capturer_trigger_timestamp_) - *camera_capturer_trigger_ = true; - last_camera_capturer_trigger_timestamp_ = *camera_capturer_trigger_timestamp_; - *photoelectric_sensor_status_ = photoelectric_sensor_status_atomic.load(); *grayscale_sensor_status_ = grayscale_sensor_status_atomic.load(); + + if (++count_ == 250) { + for (int i = 0; i < 6; ++i) { + if (friciton_detect[i] == 0) { + RCLCPP_WARN(logger_, "friction can id 0x%03X missing", i + 0x201); + } + } + std::fill_n(friciton_detect, 6, 0); + for (int i = 0; i < 3; ++i) { + if (can0_detect[i] == 0) { + RCLCPP_WARN(logger_, "top board can id 0x%03X missing", i + 0x141); + } + } + std::fill_n(can0_detect, 3, 0); + count_ = 0; + } } void command_update() { - auto builder = start_transmit(); + auto builder = board_->start_transmit(); if (std::isfinite(gimbal_pitch_motor_.control_angle())) - builder.can0_transmit({ - .can_id = 0x142, - .can_data = gimbal_pitch_motor_ - .generate_angle_command(gimbal_pitch_motor_.control_angle()) - .as_bytes(), - }); + builder.can_transmit( + Spec::kCans.kCan0, // + { + .can_id = 0x143, + .can_data = gimbal_pitch_motor_ + .generate_angle_command(gimbal_pitch_motor_.control_angle()) + .as_bytes(), + }); else - builder.can0_transmit({ - .can_id = 0x142, - .can_data = gimbal_pitch_motor_.generate_torque_command().as_bytes(), - }); // Used to distinguish pitch encoder control from IMU control. - - builder.can0_transmit({ - .can_id = 0x141, - .can_data = gimbal_top_yaw_motor_.generate_command().as_bytes(), - }); - - builder.can1_transmit({ - .can_id = 0x200, - .can_data = - device::CanPacket8{ - gimbal_friction_wheels_[0].generate_command(), - gimbal_friction_wheels_[1].generate_command(), - gimbal_friction_wheels_[2].generate_command(), - gimbal_friction_wheels_[3].generate_command(), - } - .as_bytes(), - }); - - builder.can1_transmit({ - .can_id = 0x1FF, - .can_data = - device::CanPacket8{ - putter_motor_.generate_command(), - gimbal_scope_motor_.generate_command(), - device::CanPacket8::PaddingQuarter{}, - device::CanPacket8::PaddingQuarter{}, - } - .as_bytes(), - }); - - builder.can2_transmit({ - .can_id = 0x143, - .can_data = - gimbal_player_viewer_motor_ - .generate_velocity_command(gimbal_player_viewer_motor_.control_velocity()) - .as_bytes(), - }); - - builder.can3_transmit({ - .can_id = 0x142, - .can_data = gimbal_bullet_feeder_.generate_torque_command().as_bytes(), - }); + builder.can_transmit( + Spec::kCans.kCan0, // + { + .can_id = 0x143, + .can_data = gimbal_pitch_motor_.generate_torque_command().as_bytes(), + }); // Used to distinguish pitch encoder control from IMU control. + + builder.can_transmit( + Spec::kCans.kCan0, // + { + .can_id = 0x141, + .can_data = gimbal_top_yaw_motor_.generate_command().as_bytes(), + }); - builder.gpio_digital_read( - librmcs::spec::rmcs_board_lite::kGpioDescriptors[2], + builder.can_transmit( + Spec::kCans.kCan0, // { - .period_ms = 20, - .pull = librmcs::data::GpioPull::kUp, + .can_id = 0x142, + .can_data = gimbal_bullet_feeder_.generate_torque_command().as_bytes(), }); - builder.gpio_digital_read( - librmcs::spec::rmcs_board_lite::kGpioDescriptors[3], + builder.can_transmit( + Spec::kCans.kCan1, // { - .period_ms = 20, - .pull = librmcs::data::GpioPull::kUp, + .can_id = 0x200, + .can_data = + device::CanPacket8{ + gimbal_friction_wheels_[0].generate_command(), + gimbal_friction_wheels_[1].generate_command(), + gimbal_friction_wheels_[2].generate_command(), + gimbal_friction_wheels_[3].generate_command(), + } + .as_bytes(), }); - } - private: - void can0_receive_callback(const librmcs::data::CanDataView& data) override { - if (data.is_extended_can_id || data.is_remote_transmission) [[unlikely]] - return; - auto can_id = data.can_id; - // can0_receive_rate_counter_.record(can_id); - if (can_id == 0x141) { - gimbal_top_yaw_motor_.store_status(data.can_data); - } else if (can_id == 0x142) { - gimbal_pitch_motor_.store_status(data.can_data); - } - } + builder.can_transmit( + Spec::kCans.kCan2, // + { + .can_id = 0x200, + .can_data = + device::CanPacket8{ + gimbal_friction_wheels_[4].generate_command(), + gimbal_friction_wheels_[5].generate_command(), + putter_motor_.generate_command(), + device::CanPacket8::PaddingQuarter{}, + } + .as_bytes(), + }); - void can1_receive_callback(const librmcs::data::CanDataView& data) override { - if (data.is_extended_can_id || data.is_remote_transmission) [[unlikely]] - return; - auto can_id = data.can_id; - // can1_receive_rate_counter_.record(can_id); - if (can_id == 0x201) { - gimbal_friction_wheels_[0].store_status(data.can_data); - } else if (can_id == 0x202) { - gimbal_friction_wheels_[1].store_status(data.can_data); - } else if (can_id == 0x203) { - gimbal_friction_wheels_[2].store_status(data.can_data); - } else if (can_id == 0x204) { - gimbal_friction_wheels_[3].store_status(data.can_data); - } else if (can_id == 0x205) { - putter_motor_.store_status(data.can_data); - } else if (can_id == 0x206) { - gimbal_scope_motor_.store_status(data.can_data); - } + builder + .gpio_digital_read( + Spec::kGpios.kUart1Rx, + { + .period_ms = 20, + .pull = librmcs::data::GpioPull::kUp, + }) + .gpio_digital_read( + Spec::kGpios.kUart1Tx, { + .period_ms = 0, + .asap = false, + .rising_edge = false, + .falling_edge = true, + .capture_timestamp = true, + .pull = librmcs::data::GpioPull::kUp, + }); } - void can2_receive_callback(const librmcs::data::CanDataView& data) override { + void can_receive_callback(const Spec::Can& can, const View::Can& data) override { if (data.is_extended_can_id || data.is_remote_transmission) [[unlikely]] return; auto can_id = data.can_id; - // can2_receive_rate_counter_.record(can_id); - if (can_id == 0x143) { - gimbal_player_viewer_motor_.store_status(data.can_data); + if (can == Spec::kCans.kCan0) { + // can0_receive_rate_counter_.record(can_id); + can0_detect[can_id - 0x141] = 1; + if (can_id == 0x141) { + gimbal_top_yaw_motor_.store_status(data.can_data); + } else if (can_id == 0x143) { + gimbal_pitch_motor_.store_status(data.can_data); + } else if (can_id == 0x142) { + gimbal_bullet_feeder_.store_status(data.can_data); + } + } else if (can == Spec::kCans.kCan1) { + // can1_receive_rate_counter_.record(can_id); + friciton_detect[can_id - 0x201] = 1; + if (can_id == 0x201) { + gimbal_friction_wheels_[0].store_status(data.can_data); + } else if (can_id == 0x202) { + gimbal_friction_wheels_[1].store_status(data.can_data); + } else if (can_id == 0x203) { + gimbal_friction_wheels_[2].store_status(data.can_data); + } else if (can_id == 0x204) { + gimbal_friction_wheels_[3].store_status(data.can_data); + } + } else if (can == Spec::kCans.kCan2) { + // can2_receive_rate_counter_.record(can_id); + if (can_id == 0x203) { + putter_motor_.store_status(data.can_data); + } else if (can_id == 0x201) { + gimbal_friction_wheels_[4].store_status(data.can_data); + friciton_detect[4] = 1; + } else if (can_id == 0x202) { + gimbal_friction_wheels_[5].store_status(data.can_data); + friciton_detect[5] = 1; + } } } - void can3_receive_callback(const librmcs::data::CanDataView& data) override { - if (data.is_extended_can_id || data.is_remote_transmission) [[unlikely]] - return; - auto can_id = data.can_id; - // can3_receive_rate_counter_.record(can_id); - if (can_id == 0x142) { - gimbal_bullet_feeder_.store_status(data.can_data); + void uart_receive_callback(const Spec::Uart& uart, const View::Uart& data) override { + if (uart == Spec::kUarts.kUart0) { + vt13_.store_status(data.uart_data); } } void gpio_digital_read_result_callback( - const librmcs::spec::rmcs_board_lite::GpioDescriptor& gpio, - const librmcs::data::GpioDigitalDataView& data) override { - if (gpio.channel_index == 2) { + const Spec::Gpio& gpio, const View::GpioDigital& data) override { + + /* */ if (gpio == Spec::kGpios.kUart1Rx) { photoelectric_sensor_status_atomic.store(data.high); - } else if (gpio.channel_index == 3) { - grayscale_sensor_status_atomic.store(!data.high); + } else if (gpio == Spec::kGpios.kUart1Tx) { + if (!data.timestamp_quarter_us) + return; + const auto timestamp = + board_clock_lifter_.lift_timestamp(*data.timestamp_quarter_us); + if (!timestamp.has_value()) + return; + camera_signal_output_.emit(*timestamp); } } - void accelerometer_receive_callback( - const librmcs::data::AccelerometerDataView& data) override { - imu_.store_accelerometer_status(data.x, data.y, data.z); + void accelerometer_receive_callback(const View::ImuAccelerometer& data) override { + const auto timestamp = board_clock_lifter_.advance_timebase(data.timestamp_quarter_us); + bmi088_.push_accelerometer_sample(data.x, data.y, data.z, timestamp); } - void gyroscope_receive_callback(const librmcs::data::GyroscopeDataView& data) override { - imu_.store_gyroscope_status(data.x, data.y, data.z); + void gyroscope_receive_callback(const View::ImuGyroscope& data) override { + const auto timestamp = board_clock_lifter_.lift_timestamp(data.timestamp_quarter_us); + if (!timestamp.has_value()) + return; + + if (auto snapshot = + bmi088_.try_update_with_gyroscope_sample(data.x, data.y, data.z, *timestamp)) + imu_snapshot_output_.emit(*snapshot); } + [[nodiscard]] auto gimbal_yaw_velocity() const -> double { + return *gimbal_yaw_velocity_imu_; + } + + [[nodiscard]] device::Vt13& vt13() noexcept { return vt13_; } + [[nodiscard]] const device::Vt13& vt13() const noexcept { return vt13_; } + rclcpp::Logger logger_; // CanReceiveRateCounter can0_receive_rate_counter_; // CanReceiveRateCounter can1_receive_rate_counter_; @@ -491,12 +543,16 @@ class SteeringHeroLittle // CanReceiveRateCounter can3_receive_rate_counter_; OutputInterface& tf_; - std::time_t last_camera_capturer_trigger_timestamp_{0}; + int count_ = 0; + int friciton_detect[6]; + int can0_detect[3]; - device::Bmi088 imu_; + device::Bmi088Ekf bmi088_; + device::BoardClockLifter board_clock_lifter_; + device::Vt13 vt13_; device::LkMotor gimbal_top_yaw_motor_; device::LkMotor gimbal_pitch_motor_; - device::DjiMotor gimbal_friction_wheels_[4]; + device::DjiMotor gimbal_friction_wheels_[6]; device::LkMotor gimbal_bullet_feeder_; device::DjiMotor putter_motor_; device::DjiMotor gimbal_scope_motor_; @@ -506,27 +562,25 @@ class SteeringHeroLittle OutputInterface gimbal_pitch_velocity_imu_; OutputInterface photoelectric_sensor_status_; OutputInterface grayscale_sensor_status_; - OutputInterface camera_capturer_trigger_; - OutputInterface camera_capturer_trigger_timestamp_; + EventOutputInterface camera_signal_output_; + EventOutputInterface imu_snapshot_output_; std::atomic photoelectric_sensor_status_atomic{false}; std::atomic grayscale_sensor_status_atomic{false}; + + std::unique_ptr board_; }; - class BottomBoard final : private librmcs::agent::RmcsBoardLite { - public: - friend class SteeringHeroLittle; + struct BottomBoard final : librmcs::board::RmcsBoardLite::Callback { explicit BottomBoard( SteeringHeroLittle& steering_hero, SteeringHeroLittleCommand& steering_hero_command, std::string_view board_serial = {}) - : librmcs::agent::RmcsBoardLite( - board_serial, {.dangerously_skip_version_checks = false}) - , logger_(steering_hero.get_logger()) + : logger_(steering_hero.get_logger()) // , can0_receive_rate_counter_(logger_, "bottom/can0") // , can1_receive_rate_counter_(logger_, "bottom/can1") // , can2_receive_rate_counter_(logger_, "bottom/can2") // , can3_receive_rate_counter_(logger_, "bottom/can3") , imu_(1000, 0.2, 0.0) - , dr16_(steering_hero) + , dr16_{} , supercap_(steering_hero, steering_hero_command) , chassis_steering_motors_( {steering_hero, steering_hero_command, "/chassis/left_front_steering"}, @@ -544,65 +598,70 @@ class SteeringHeroLittle , chassis_back_climber_motor_( {steering_hero, steering_hero_command, "/chassis/climber/left_back_motor"}, {steering_hero, steering_hero_command, "/chassis/climber/right_back_motor"}) + , yaw_brake_motor_(steering_hero, steering_hero_command, "/gimbal/yaw_brake") , gimbal_bottom_yaw_motor_(steering_hero, steering_hero_command, "/gimbal/bottom_yaw") { // chassis_steering_motors_[0].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kGM6020} + device::DjiMotor::Config{device::DjiMotor::Type::kGM6020, 4} .set_encoder_zero_point( static_cast( steering_hero.get_parameter("left_front_zero_point").as_int())) .set_reversed()); chassis_steering_motors_[1].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kGM6020} + device::DjiMotor::Config{device::DjiMotor::Type::kGM6020, 1} .set_encoder_zero_point( static_cast( steering_hero.get_parameter("right_front_zero_point").as_int())) .set_reversed()); chassis_steering_motors_[2].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kGM6020} + device::DjiMotor::Config{device::DjiMotor::Type::kGM6020, 3} .set_encoder_zero_point( static_cast( steering_hero.get_parameter("left_back_zero_point").as_int())) .set_reversed()); chassis_steering_motors_[3].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kGM6020} + device::DjiMotor::Config{device::DjiMotor::Type::kGM6020, 2} .set_encoder_zero_point( static_cast( steering_hero.get_parameter("right_back_zero_point").as_int())) .set_reversed()); chassis_wheel_motors_[0].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} + device::DjiMotor::Config{device::DjiMotor::Type::kM3508, 4} .set_reversed() .set_reduction_ratio(2232. / 169.)); chassis_wheel_motors_[1].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} + device::DjiMotor::Config{device::DjiMotor::Type::kM3508, 1} .set_reversed() .set_reduction_ratio(2232. / 169.)); chassis_wheel_motors_[2].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} + device::DjiMotor::Config{device::DjiMotor::Type::kM3508, 3} .set_reversed() .set_reduction_ratio(2232. / 169.)); chassis_wheel_motors_[3].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} + device::DjiMotor::Config{device::DjiMotor::Type::kM3508, 4} .set_reversed() .set_reduction_ratio(2232. / 169.)); chassis_front_climber_motor_[0].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} + device::DjiMotor::Config{device::DjiMotor::Type::kM3508, 1} .set_reversed() .set_reduction_ratio(19.)); chassis_front_climber_motor_[1].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508}.set_reduction_ratio(19.)); + device::DjiMotor::Config{device::DjiMotor::Type::kM3508, 2}.set_reduction_ratio( + 19.)); chassis_back_climber_motor_[0].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} + device::DjiMotor::Config{device::DjiMotor::Type::kM3508, 2} .enable_multi_turn_angle() .set_reduction_ratio(19.)); chassis_back_climber_motor_[1].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} + device::DjiMotor::Config{device::DjiMotor::Type::kM3508, 4} .set_reversed() .enable_multi_turn_angle() .set_reduction_ratio(19.)); + yaw_brake_motor_.configure( + device::DjiMotor::Config{device::DjiMotor::Type::kM2006, 3}.set_reduction_ratio( + 1.)); gimbal_bottom_yaw_motor_.configure( device::LkMotor::Config{device::LkMotor::Type::kMG6012Ei8} .set_reversed() @@ -617,8 +676,8 @@ class SteeringHeroLittle [&buffer](std::byte byte) noexcept { *buffer++ = byte; }, size); }; referee_serial_->write = [this](const std::byte* buffer, size_t size) { - start_transmit().uart0_transmit( - {.uart_data = std::span{buffer, size}}); + board_->start_transmit().uart_transmit( + Spec::kUarts.kUart0, {.uart_data = std::span{buffer, size}}); return size; }; steering_hero.register_output( @@ -629,14 +688,11 @@ class SteeringHeroLittle steering_hero.register_output( "/chassis/yaw/velocity_imu", chassis_yaw_velocity_imu_, 0); steering_hero.register_output("/chassis/pitch_imu", chassis_pitch_imu_, 0.0); - } - BottomBoard(const BottomBoard&) = delete; - BottomBoard& operator=(const BottomBoard&) = delete; - BottomBoard(BottomBoard&&) = delete; - BottomBoard& operator=(BottomBoard&&) = delete; + board_ = std::make_unique(*this, board_serial); - ~BottomBoard() final = default; + steering_hero.remote_control_->register_dr16(&dr16_); + } void update() { // can0_receive_rate_counter_.report_if_due(); @@ -661,167 +717,186 @@ class SteeringHeroLittle for (auto& motor : chassis_steering_motors_) motor.update_status(); + yaw_brake_motor_.update_status(); gimbal_bottom_yaw_motor_.update_status(); + + if (++count_ == 250) { + for (int i = 0; i < 8; ++i) { + if (check[i] == 0) { + RCLCPP_WARN(logger_, "bottom board can id 0x%03X missing", i + 0x201); + } + } + std::fill_n(check, 8, 0); + count_ = 0; + } } void command_update() { - auto builder = start_transmit(); - - builder.can0_transmit({ - .can_id = 0x200, - .can_data = - device::CanPacket8{ - chassis_wheel_motors_[0].generate_command(), - chassis_wheel_motors_[1].generate_command(), - device::CanPacket8::PaddingQuarter{}, - device::CanPacket8::PaddingQuarter{}, - } - .as_bytes(), - }); + auto builder = board_->start_transmit(); - builder.can0_transmit({ - .can_id = 0x1FE, - .can_data = - device::CanPacket8{ - chassis_steering_motors_[1].generate_command(), - device::CanPacket8::PaddingQuarter{}, - device::CanPacket8::PaddingQuarter{}, - chassis_steering_motors_[0].generate_command(), - } - .as_bytes(), - }); + builder.can_transmit( + Spec::kCans.kCan0, // + { + .can_id = 0x200, + .can_data = + device::CanPacket8{ + chassis_wheel_motors_[0].generate_command(), + chassis_wheel_motors_[1].generate_command(), + device::CanPacket8::PaddingQuarter{}, + device::CanPacket8::PaddingQuarter{}, + } + .as_bytes(), + }); - builder.can1_transmit({ - .can_id = 0x200, - .can_data = - device::CanPacket8{ - device::CanPacket8::PaddingQuarter{}, - device::CanPacket8::PaddingQuarter{}, - chassis_wheel_motors_[2].generate_command(), - chassis_wheel_motors_[3].generate_command(), - } - .as_bytes(), - }); + builder.can_transmit( + Spec::kCans.kCan0, // + { + .can_id = 0x1FE, + .can_data = + device::CanPacket8{ + chassis_steering_motors_[1].generate_command(), + device::CanPacket8::PaddingQuarter{}, + device::CanPacket8::PaddingQuarter{}, + chassis_steering_motors_[0].generate_command(), + } + .as_bytes(), + }); - builder.can1_transmit({ - .can_id = 0x1FE, - .can_data = - device::CanPacket8{ - device::CanPacket8::PaddingQuarter{}, - chassis_steering_motors_[3].generate_command(), - chassis_steering_motors_[2].generate_command(), - supercap_.generate_command(), - } - .as_bytes(), - }); + builder.can_transmit( + Spec::kCans.kCan1, // + { + .can_id = 0x200, + .can_data = + device::CanPacket8{ + device::CanPacket8::PaddingQuarter{}, + device::CanPacket8::PaddingQuarter{}, + chassis_wheel_motors_[2].generate_command(), + chassis_wheel_motors_[3].generate_command(), + } + .as_bytes(), + }); - builder.can3_transmit({ - .can_id = 0x200, - .can_data = - device::CanPacket8{ - device::CanPacket8::PaddingQuarter{}, - chassis_back_climber_motor_[1].generate_command(), - device::CanPacket8::PaddingQuarter{}, - chassis_back_climber_motor_[0].generate_command(), - } - .as_bytes(), - }); + builder.can_transmit( + Spec::kCans.kCan1, // + { + .can_id = 0x1FE, + .can_data = + device::CanPacket8{ + device::CanPacket8::PaddingQuarter{}, + chassis_steering_motors_[3].generate_command(), + chassis_steering_motors_[2].generate_command(), + supercap_.generate_command(), + } + .as_bytes(), + }); - builder.can3_transmit({ - .can_id = 0x141, - .can_data = gimbal_bottom_yaw_motor_.generate_command().as_bytes(), - }); + builder.can_transmit( + Spec::kCans.kCan3, // + { + .can_id = 0x200, + .can_data = + device::CanPacket8{ + device::CanPacket8::PaddingQuarter{}, + chassis_back_climber_motor_[1].generate_command(), + yaw_brake_motor_.generate_command(), + chassis_back_climber_motor_[0].generate_command(), + } + .as_bytes(), + }); - builder.can2_transmit({ - .can_id = 0x200, - .can_data = - device::CanPacket8{ - chassis_front_climber_motor_[0].generate_command(), - device::CanPacket8::PaddingQuarter{}, - chassis_front_climber_motor_[1].generate_command(), - device::CanPacket8::PaddingQuarter{}, - } - .as_bytes(), - }); - } + builder.can_transmit( + Spec::kCans.kCan3, // + { + .can_id = 0x141, + .can_data = gimbal_bottom_yaw_motor_.generate_command().as_bytes(), + }); - private: - void can0_receive_callback(const librmcs::data::CanDataView& data) override { - if (data.is_extended_can_id || data.is_remote_transmission) [[unlikely]] - return; - auto can_id = data.can_id; - // can0_receive_rate_counter_.record(can_id); - if (can_id == 0x201) { - chassis_wheel_motors_[0].store_status(data.can_data); - } else if (can_id == 0x202) { - chassis_wheel_motors_[1].store_status(data.can_data); - } else if (can_id == 0x205) { - chassis_steering_motors_[1].store_status(data.can_data); - } else if (can_id == 0x208) { - chassis_steering_motors_[0].store_status(data.can_data); - } + builder.can_transmit( + Spec::kCans.kCan2, // + { + .can_id = 0x200, + .can_data = + device::CanPacket8{ + chassis_front_climber_motor_[0].generate_command(), + device::CanPacket8::PaddingQuarter{}, + chassis_front_climber_motor_[1].generate_command(), + device::CanPacket8::PaddingQuarter{}, + } + .as_bytes(), + }); } - void can1_receive_callback(const librmcs::data::CanDataView& data) override { + void can_receive_callback(const Spec::Can& can, const View::Can& data) override { if (data.is_extended_can_id || data.is_remote_transmission) [[unlikely]] return; auto can_id = data.can_id; - // can1_receive_rate_counter_.record(can_id); - if (can_id == 0x203) { - chassis_wheel_motors_[2].store_status(data.can_data); - } else if (can_id == 0x204) { - chassis_wheel_motors_[3].store_status(data.can_data); - } else if (can_id == 0x207) { - chassis_steering_motors_[2].store_status(data.can_data); - } else if (can_id == 0x206) { - chassis_steering_motors_[3].store_status(data.can_data); - } else if (can_id == 0x300) { - supercap_.store_status(data.can_data); + if (can == Spec::kCans.kCan0) { + // can0_receive_rate_counter_.record(can_id); + check[can_id - 0x201] = 1; + if (can_id == 0x201) { + chassis_wheel_motors_[0].store_status(data.can_data); + } else if (can_id == 0x202) { + chassis_wheel_motors_[1].store_status(data.can_data); + } else if (can_id == 0x205) { + chassis_steering_motors_[1].store_status(data.can_data); + } else if (can_id == 0x208) { + chassis_steering_motors_[0].store_status(data.can_data); + } + } else if (can == Spec::kCans.kCan1) { + // can1_receive_rate_counter_.record(can_id); + if (can_id != 0x300) + check[can_id - 0x201] = 1; + if (can_id == 0x203) { + chassis_wheel_motors_[2].store_status(data.can_data); + } else if (can_id == 0x204) { + chassis_wheel_motors_[3].store_status(data.can_data); + } else if (can_id == 0x207) { + chassis_steering_motors_[2].store_status(data.can_data); + } else if (can_id == 0x206) { + chassis_steering_motors_[3].store_status(data.can_data); + } else if (can_id == 0x300) { + supercap_.store_status(data.can_data); + } + } else if (can == Spec::kCans.kCan2) { + // can2_receive_rate_counter_.record(can_id); + if (can_id == 0x201) { + chassis_front_climber_motor_[0].store_status(data.can_data); + } else if (can_id == 0x203) { + chassis_front_climber_motor_[1].store_status(data.can_data); + } + } else if (can == Spec::kCans.kCan3) { + // can3_receive_rate_counter_.record(can_id); + if (can_id == 0x202) { + chassis_back_climber_motor_[1].store_status(data.can_data); + } else if (can_id == 0x204) { + chassis_back_climber_motor_[0].store_status(data.can_data); + } else if (can_id == 0x203) { + yaw_brake_motor_.store_status(data.can_data); + } else if (can_id == 0x141) { + gimbal_bottom_yaw_motor_.store_status(data.can_data); + } } } - void can2_receive_callback(const librmcs::data::CanDataView& data) override { - if (data.is_extended_can_id || data.is_remote_transmission) - return; - auto can_id = data.can_id; - // can2_receive_rate_counter_.record(can_id); - if (can_id == 0x201) { - chassis_front_climber_motor_[0].store_status(data.can_data); - } else if (can_id == 0x203) { - chassis_front_climber_motor_[1].store_status(data.can_data); + void uart_receive_callback(const Spec::Uart& uart, const View::Uart& data) override { + if (uart == Spec::kUarts.kUart0) { + const std::byte* ptr = data.uart_data.data(); + referee_ring_buffer_receive_.emplace_back_n( + [&ptr](std::byte* storage) noexcept { *storage = *ptr++; }, + data.uart_data.size()); + } else if (uart == Spec::kUarts.kDbus) { + dr16_.store_status(data.uart_data.data(), data.uart_data.size()); } } - void can3_receive_callback(const librmcs::data::CanDataView& data) override { - if (data.is_extended_can_id || data.is_remote_transmission) [[unlikely]] - return; - auto can_id = data.can_id; - // can3_receive_rate_counter_.record(can_id); - if (can_id == 0x202) { - chassis_back_climber_motor_[1].store_status(data.can_data); - } else if (can_id == 0x204) { - chassis_back_climber_motor_[0].store_status(data.can_data); - } else if (can_id == 0x141) { - gimbal_bottom_yaw_motor_.store_status(data.can_data); - } - } + [[nodiscard]] device::Dr16& dr16() noexcept { return dr16_; } + [[nodiscard]] const device::Dr16& dr16() const noexcept { return dr16_; } - void uart0_receive_callback(const librmcs::data::UartDataView& data) override { - const std::byte* ptr = data.uart_data.data(); - referee_ring_buffer_receive_.emplace_back_n( - [&ptr](std::byte* storage) noexcept { *storage = *ptr++; }, data.uart_data.size()); - } - - void dbus_receive_callback(const librmcs::data::UartDataView& data) override { - dr16_.store_status(data.uart_data.data(), data.uart_data.size()); - } - - void accelerometer_receive_callback( - const librmcs::data::AccelerometerDataView& data) override { + void accelerometer_receive_callback(const View::ImuAccelerometer& data) override { imu_.store_accelerometer_status(data.x, data.y, data.z); } - void gyroscope_receive_callback(const librmcs::data::GyroscopeDataView& data) override { + void gyroscope_receive_callback(const View::ImuGyroscope& data) override { imu_.store_gyroscope_status(data.x, data.y, data.z); } @@ -831,6 +906,9 @@ class SteeringHeroLittle // CanReceiveRateCounter can2_receive_rate_counter_; // CanReceiveRateCounter can3_receive_rate_counter_; + int count_ = 0; + int check[10] = {0}; + device::Bmi088 imu_; device::Dr16 dr16_; device::Supercap supercap_; @@ -839,6 +917,7 @@ class SteeringHeroLittle device::DjiMotor chassis_wheel_motors_[4]; device::DjiMotor chassis_front_climber_motor_[2]; device::DjiMotor chassis_back_climber_motor_[2]; + device::DjiMotor yaw_brake_motor_; device::LkMotor gimbal_bottom_yaw_motor_; rmcs_utility::RingBuffer referee_ring_buffer_receive_{256}; @@ -848,18 +927,24 @@ class SteeringHeroLittle OutputInterface powermeter_charge_power_limit_; OutputInterface chassis_yaw_velocity_imu_; OutputInterface chassis_pitch_imu_; + + std::unique_ptr board_; }; OutputInterface tf_; + OutputInterface camera_transform_; + OutputInterface barrel_direction_; + OutputInterface auto_aim_yaw_velocity_; + rclcpp::Subscription::SharedPtr gimbal_calibrate_subscription_; std::shared_ptr top_board_; std::shared_ptr bottom_board_; + std::unique_ptr remote_control_; }; } // namespace rmcs_core::hardware #include - PLUGINLIB_EXPORT_CLASS(rmcs_core::hardware::SteeringHeroLittle, rmcs_executor::Component) diff --git a/rmcs_ws/src/rmcs_core/src/hardware/steering-hero.cpp b/rmcs_ws/src/rmcs_core/src/hardware/steering-hero.cpp deleted file mode 100644 index b0b811f0e..000000000 --- a/rmcs_ws/src/rmcs_core/src/hardware/steering-hero.cpp +++ /dev/null @@ -1,908 +0,0 @@ -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "hardware/device/bmi088.hpp" -#include "hardware/device/can_packet.hpp" -#include "hardware/device/dji_motor.hpp" -#include "hardware/device/dr16.hpp" -#include "hardware/device/lk_motor.hpp" -#include "hardware/device/supercap.hpp" - -namespace rmcs_core::hardware { - -class CanReceiveRateCounter { -public: - explicit CanReceiveRateCounter(rclcpp::Logger logger, std::string_view channel_name) - : logger_(std::move(logger)) - , channel_name_(channel_name) {} - - void record(std::uint32_t can_id) { - const auto now = Clock::now(); - - std::lock_guard lock{mutex_}; - auto& status = statuses_[can_id]; - ++status.receive_count; - status.last_receive_time = now; - - report_if_due(now); - } - - void report_if_due() { - const auto now = Clock::now(); - - std::lock_guard lock{mutex_}; - report_if_due(now); - } - -private: - using Clock = std::chrono::steady_clock; - - struct Status { - std::size_t receive_count{0}; - Clock::time_point last_receive_time{}; - }; - - void report_if_due(Clock::time_point now) { - if (statuses_.empty()) - return; - - if (last_report_time_ == Clock::time_point{}) { - last_report_time_ = now; - return; - } - - const auto elapsed = now - last_report_time_; - if (elapsed < kReportInterval) - return; - - const auto elapsed_seconds = std::chrono::duration(elapsed).count(); - for (auto& [can_id, status] : statuses_) { - const bool attached = now - status.last_receive_time <= kMissTimeout; - RCLCPP_INFO( - logger_, "[can rx] %.*s id=0x%03X rate=%.1fHz status=%s", - static_cast(channel_name_.size()), channel_name_.data(), - static_cast(can_id), - static_cast(status.receive_count) / elapsed_seconds, - attached ? "attach" : "miss"); - status.receive_count = 0; - } - - last_report_time_ = now; - } - - static constexpr std::chrono::milliseconds kReportInterval{1000}; - static constexpr std::chrono::milliseconds kMissTimeout{1000}; - - rclcpp::Logger logger_; - std::string_view channel_name_; - std::mutex mutex_; - Clock::time_point last_report_time_{}; - std::map statuses_; -}; - -class SteeringHero - : public rmcs_executor::Component - , public rclcpp::Node { -public: - SteeringHero() - : Node( - get_component_name(), - rclcpp::NodeOptions().automatically_declare_parameters_from_overrides(true)) - , command_component_( - create_partner_component( - get_component_name() + "_command", *this)) { - - register_output("/tf", tf_); - - gimbal_calibrate_subscription_ = create_subscription( - "/gimbal/calibrate", rclcpp::QoS{0}, [this](std_msgs::msg::Int32::UniquePtr&& msg) { - gimbal_calibrate_subscription_callback(std::move(msg)); - }); - - top_board_ = std::make_unique( - *this, *command_component_, get_parameter("board_serial_top_board").as_string()); - - bottom_board_one_ = std::make_unique( - *this, *command_component_, get_parameter("board_serial_bottom_board_one").as_string()); - - bottom_board_two_ = std::make_unique( - *this, *command_component_, get_parameter("board_serial_bottom_board_two").as_string()); - - tf_->set_transform( - Eigen::Translation3d{0.06603, 0.0, 0.082}); - } - - SteeringHero(const SteeringHero&) = delete; - SteeringHero& operator=(const SteeringHero&) = delete; - SteeringHero(SteeringHero&&) = delete; - SteeringHero& operator=(SteeringHero&&) = delete; - - ~SteeringHero() override = default; - - void update() override { - top_board_->update(); - bottom_board_one_->update(); - bottom_board_two_->update(); - - tf_->set_state( - bottom_board_two_->gimbal_bottom_yaw_motor_.angle() - + top_board_->gimbal_top_yaw_motor_.angle()); - tf_->set_state( - top_board_->gimbal_pitch_motor_.angle()); - } - - void command_update() { - top_board_->command_update(); - bottom_board_one_->command_update(); - bottom_board_two_->command_update(); - } - -private: - void gimbal_calibrate_subscription_callback(std_msgs::msg::Int32::UniquePtr) { - RCLCPP_INFO( - get_logger(), "[gimbal calibration] New bottom yaw offset: %ld", - bottom_board_two_->gimbal_bottom_yaw_motor_.calibrate_zero_point()); - RCLCPP_INFO( - get_logger(), "[gimbal calibration] New pitch offset: %ld", - top_board_->gimbal_pitch_motor_.calibrate_zero_point()); - RCLCPP_INFO( - get_logger(), "[gimbal calibration] New top yaw offset: %ld", - top_board_->gimbal_top_yaw_motor_.calibrate_zero_point()); - RCLCPP_INFO( - get_logger(), "[gimbal calibration] New bullet feeder offset: %ld", - top_board_->gimbal_bullet_feeder_.calibrate_zero_point()); - RCLCPP_INFO( - get_logger(), "[chassis calibration] left front steering offset: %d", - bottom_board_one_->chassis_steering_motors_[0].calibrate_zero_point()); - RCLCPP_INFO( - get_logger(), "[chassis calibration] right front steering offset: %d", - bottom_board_one_->chassis_steering_motors_[1].calibrate_zero_point()); - RCLCPP_INFO( - get_logger(), "[chassis calibration] left back steering offset: %d", - bottom_board_two_->chassis_steering_motors2_[0].calibrate_zero_point()); - RCLCPP_INFO( - get_logger(), "[chassis calibration] right back steering offset: %d", - bottom_board_two_->chassis_steering_motors2_[1].calibrate_zero_point()); - RCLCPP_INFO( - get_logger(), "[chassis calibration] left front wheel offset: %d", - bottom_board_one_->chassis_wheel_motors_[0].calibrate_zero_point()); - RCLCPP_INFO( - get_logger(), "[chassis calibration] right front wheel offset: %d", - bottom_board_one_->chassis_wheel_motors_[1].calibrate_zero_point()); - RCLCPP_INFO( - get_logger(), "[chassis calibration] left back wheel offset: %d", - bottom_board_two_->chassis_wheel_motors2_[0].calibrate_zero_point()); - RCLCPP_INFO( - get_logger(), "[chassis calibration] right back wheel offset: %d", - bottom_board_two_->chassis_wheel_motors2_[1].calibrate_zero_point()); - RCLCPP_INFO( - get_logger(), "[booster calibration] left front friction wheel offset: %d", - top_board_->gimbal_friction_wheels_[0].calibrate_zero_point()); - RCLCPP_INFO( - get_logger(), "[booster calibration] right front friction wheel offset: %d", - top_board_->gimbal_friction_wheels_[1].calibrate_zero_point()); - RCLCPP_INFO( - get_logger(), "[booster calibration] left back friction wheel offset: %d", - top_board_->gimbal_friction_wheels_[2].calibrate_zero_point()); - RCLCPP_INFO( - get_logger(), "[booster calibration] right back friction wheel offset: %d", - top_board_->gimbal_friction_wheels_[3].calibrate_zero_point()); - } - - class SteeringHeroCommand : public rmcs_executor::Component { - public: - explicit SteeringHeroCommand(SteeringHero& hero) - : hero_(hero) {} - - void update() override { hero_.command_update(); } - - SteeringHero& hero_; - }; - std::shared_ptr command_component_; - - class TopBoard final : private librmcs::agent::CBoard { - public: - friend class SteeringHero; - explicit TopBoard( - SteeringHero& steering_hero, SteeringHeroCommand& steering_hero_command, - std::string_view board_serial = {}) - : librmcs::agent::CBoard(board_serial) - , logger_(steering_hero.get_logger()) - , tf_(steering_hero.tf_) - // , can1_receive_rate_counter_(logger_, "bottom/can1") - // , can2_receive_rate_counter_(logger_, "bottom/can2") - , imu_(1000, 0.2, 0.0) - , gimbal_top_yaw_motor_(steering_hero, steering_hero_command, "/gimbal/top_yaw") - , gimbal_pitch_motor_(steering_hero, steering_hero_command, "/gimbal/pitch") - , gimbal_friction_wheels_( - {steering_hero, steering_hero_command, "/gimbal/first_left_friction"}, - {steering_hero, steering_hero_command, "/gimbal/first_right_friction"}, - {steering_hero, steering_hero_command, "/gimbal/second_left_friction"}, - {steering_hero, steering_hero_command, "/gimbal/second_right_friction"}) - , gimbal_bullet_feeder_(steering_hero, steering_hero_command, "/gimbal/bullet_feeder") - , putter_motor_(steering_hero, steering_hero_command, "/gimbal/putter") - , gimbal_scope_motor_(steering_hero, steering_hero_command, "/gimbal/scope") - , gimbal_player_viewer_motor_( - steering_hero, steering_hero_command, "/gimbal/player_viewer") { - - gimbal_top_yaw_motor_.configure( - device::LkMotor::Config{device::LkMotor::Type::kMG5010Ei10}.set_encoder_zero_point( - static_cast( - steering_hero.get_parameter("top_yaw_motor_zero_point").as_int()))); - gimbal_pitch_motor_.configure( - device::LkMotor::Config{device::LkMotor::Type::kMG5010Ei10} - .set_encoder_zero_point( - static_cast( - steering_hero.get_parameter("pitch_motor_zero_point").as_int())) - .enable_multi_turn_angle()); - gimbal_friction_wheels_[0].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508}.set_reduction_ratio(1.)); - gimbal_friction_wheels_[1].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} - .set_reversed() - .set_reduction_ratio(1.)); - gimbal_friction_wheels_[2].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508}.set_reduction_ratio(1.)); - gimbal_friction_wheels_[3].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} - .set_reversed() - .set_reduction_ratio(1.)); - gimbal_bullet_feeder_.configure( - device::LkMotor::Config{device::LkMotor::Type::kMG5010Ei10} - .set_encoder_zero_point( - static_cast( - steering_hero.get_parameter("bullet_feeder_motor_zero_point").as_int())) - .set_reversed() - .enable_multi_turn_angle()); - putter_motor_.configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} - .set_reduction_ratio(1.) - .enable_multi_turn_angle()); - gimbal_scope_motor_.configure(device::DjiMotor::Config{device::DjiMotor::Type::kM2006}); - gimbal_player_viewer_motor_.configure( - device::LkMotor::Config{device::LkMotor::Type::kMG4005Ei10} - .set_encoder_zero_point( - static_cast( - steering_hero.get_parameter("viewer_motor_zero_point").as_int())) - .set_reversed() - .enable_multi_turn_angle()); - - steering_hero.register_output("/gimbal/yaw/velocity_imu", gimbal_yaw_velocity_imu_); - steering_hero.register_output("/gimbal/pitch/velocity_imu", gimbal_pitch_velocity_imu_); - - steering_hero.register_output( - "/gimbal/photoelectric_sensor", photoelectric_sensor_status_, false); - steering_hero.register_output( - "/gimbal/grayscale_sensor", grayscale_sensor_status_, false); - steering_hero.register_output( - "/auto_aim/image_capturer/timestamp", camera_capturer_trigger_timestamp_, 0); - steering_hero.register_output( - "/auto_aim/image_capturer/trigger", camera_capturer_trigger_, 0); - - imu_.set_coordinate_mapping([](double x, double y, double z) { - // Get the mapping with the following code. - // The rotation angle must be an exact multiple of 90 degrees, otherwise - // use a matrix. - - return std::make_tuple(x, y, z); - }); - } - - TopBoard(const TopBoard&) = delete; - TopBoard& operator=(const TopBoard&) = delete; - TopBoard(TopBoard&&) = delete; - TopBoard& operator=(TopBoard&&) = delete; - - ~TopBoard() final = default; - - void update() { - imu_.update_status(); - Eigen::Quaterniond gimbal_imu_pose{imu_.q0(), imu_.q1(), imu_.q2(), imu_.q3()}; - - tf_->set_transform( - gimbal_imu_pose.conjugate()); - - *gimbal_yaw_velocity_imu_ = imu_.gz(); - *gimbal_pitch_velocity_imu_ = imu_.gy(); - - gimbal_top_yaw_motor_.update_status(); - gimbal_pitch_motor_.update_status(); - tf_->set_state( - gimbal_pitch_motor_.angle()); - - for (auto& motor : gimbal_friction_wheels_) - motor.update_status(); - - gimbal_bullet_feeder_.update_status(); - putter_motor_.update_status(); - - gimbal_player_viewer_motor_.update_status(); - tf_->set_state( - gimbal_player_viewer_motor_.angle()); - - gimbal_scope_motor_.update_status(); - - if (last_camera_capturer_trigger_timestamp_ != *camera_capturer_trigger_timestamp_) - *camera_capturer_trigger_ = true; - last_camera_capturer_trigger_timestamp_ = *camera_capturer_trigger_timestamp_; - - *photoelectric_sensor_status_ = photoelectric_sensor_status_atomic.load(); - *grayscale_sensor_status_ = grayscale_sensor_status_atomic.load(); - } - - void command_update() { - auto builder = start_transmit(); - - if (control_flag == 0) { - builder.can1_transmit({ - .can_id = 0x200, - .can_data = - device::CanPacket8{ - gimbal_friction_wheels_[3].generate_command(), - gimbal_friction_wheels_[1].generate_command(), - gimbal_friction_wheels_[2].generate_command(), - gimbal_friction_wheels_[0].generate_command(), - } - .as_bytes(), - }); - - builder.can2_transmit({ - .can_id = 0x143, - .can_data = gimbal_player_viewer_motor_ - .generate_velocity_command( - gimbal_player_viewer_motor_.control_velocity()) - .as_bytes(), - }); - - if (std::isfinite(gimbal_pitch_motor_.control_angle())) - builder.can2_transmit({ - .can_id = 0x142, - .can_data = gimbal_pitch_motor_ - .generate_angle_command(gimbal_pitch_motor_.control_angle()) - .as_bytes(), - }); - else - builder.can2_transmit({ - .can_id = 0x142, - .can_data = gimbal_pitch_motor_.generate_torque_command().as_bytes(), - }); // Used to distinguish pitch encoder control from IMU control. - - } else { - builder.can1_transmit({ - .can_id = 0x1FF, - .can_data = - device::CanPacket8{ - putter_motor_.generate_command(), - gimbal_scope_motor_.generate_command(), - device::CanPacket8::PaddingQuarter{}, - device::CanPacket8::PaddingQuarter{}, - } - .as_bytes(), - }); - - builder.can1_transmit({ - .can_id = 0x141, - .can_data = gimbal_bullet_feeder_.generate_torque_command().as_bytes(), - }); - - builder.can2_transmit({ - .can_id = 0x141, - .can_data = gimbal_top_yaw_motor_.generate_command().as_bytes(), - }); - } - - builder.gpio_digital_read( - librmcs::spec::c_board::kGpioDescriptors[6], - { - .period_ms = 20, - .pull = librmcs::data::GpioPull::kUp, - }); - - builder.gpio_digital_read( - librmcs::spec::c_board::kGpioDescriptors[4], - { - .period_ms = 20, - .pull = librmcs::data::GpioPull::kUp, - }); - - if (control_flag == 0) { - control_flag = 1; - } else { - control_flag = 0; - } - } - - private: - void can1_receive_callback(const librmcs::data::CanDataView& data) override { - if (data.is_extended_can_id || data.is_remote_transmission) [[unlikely]] - return; - auto can_id = data.can_id; - // can1_receive_rate_counter_.record(can_id); - if (can_id == 0x204) { - - gimbal_friction_wheels_[0].store_status(data.can_data); - } else if (can_id == 0x202) { - gimbal_friction_wheels_[1].store_status(data.can_data); - } else if (can_id == 0x203) { - gimbal_friction_wheels_[2].store_status(data.can_data); - } else if (can_id == 0x201) { - gimbal_friction_wheels_[3].store_status(data.can_data); - } else if (can_id == 0x205) { - putter_motor_.store_status(data.can_data); - } else if (can_id == 0x141) { - gimbal_bullet_feeder_.store_status(data.can_data); - } else if (can_id == 0x206) { - gimbal_scope_motor_.store_status(data.can_data); - } - } - - void can2_receive_callback(const librmcs::data::CanDataView& data) override { - if (data.is_extended_can_id || data.is_remote_transmission) [[unlikely]] - return; - auto can_id = data.can_id; - // can2_receive_rate_counter_.record(can_id); - if (can_id == 0x141) { - gimbal_top_yaw_motor_.store_status(data.can_data); - } else if (can_id == 0x142) { - gimbal_pitch_motor_.store_status(data.can_data); - } else if (can_id == 0x143) { - gimbal_player_viewer_motor_.store_status(data.can_data); - } - } - - void gpio_digital_read_result_callback( - const librmcs::spec::c_board::GpioDescriptor& gpio, - const librmcs::data::GpioDigitalDataView& data) override { - if (gpio.channel_index == 6) { - photoelectric_sensor_status_atomic.store(!data.high); - } else if (gpio.channel_index == 4) { - grayscale_sensor_status_atomic.store(!data.high); - } - } - void accelerometer_receive_callback( - const librmcs::data::AccelerometerDataView& data) override { - imu_.store_accelerometer_status(data.x, data.y, data.z); - } - - void gyroscope_receive_callback(const librmcs::data::GyroscopeDataView& data) override { - imu_.store_gyroscope_status(data.x, data.y, data.z); - } - - int control_flag = 0; - rclcpp::Logger logger_; - OutputInterface& tf_; - // CanReceiveRateCounter can1_receive_rate_counter_; - // CanReceiveRateCounter can2_receive_rate_counter_; - - std::time_t last_camera_capturer_trigger_timestamp_{0}; - - device::Bmi088 imu_; - device::LkMotor gimbal_top_yaw_motor_; - device::LkMotor gimbal_pitch_motor_; - device::DjiMotor gimbal_friction_wheels_[4]; - device::LkMotor gimbal_bullet_feeder_; - device::DjiMotor putter_motor_; - device::DjiMotor gimbal_scope_motor_; - device::LkMotor gimbal_player_viewer_motor_; - - OutputInterface gimbal_yaw_velocity_imu_; - OutputInterface gimbal_pitch_velocity_imu_; - OutputInterface photoelectric_sensor_status_; - OutputInterface grayscale_sensor_status_; - OutputInterface camera_capturer_trigger_; - OutputInterface camera_capturer_trigger_timestamp_; - std::atomic photoelectric_sensor_status_atomic{false}; - std::atomic grayscale_sensor_status_atomic{false}; - }; - - class BottomBoard_one final : private librmcs::agent::CBoard { - public: - friend class SteeringHero; - explicit BottomBoard_one( - SteeringHero& steering_hero, SteeringHeroCommand& steering_hero_command, - std::string_view board_serial = {}) - : librmcs::agent::CBoard(board_serial) - , logger_(steering_hero.get_logger()) - // , can1_receive_rate_counter_(logger_, "bottom/can1") - // , can2_receive_rate_counter_(logger_, "bottom/can2") - , imu_(1000, 0.2, 0.0) - , chassis_front_climber_motor_( - {steering_hero, steering_hero_command, "/chassis/climber/left_front_motor"}, - {steering_hero, steering_hero_command, "/chassis/climber/right_front_motor"}) - , chassis_back_climber_motor_( - {steering_hero, steering_hero_command, "/chassis/climber/left_back_motor"}, - {steering_hero, steering_hero_command, "/chassis/climber/right_back_motor"}) - , chassis_steering_motors_( - {steering_hero, steering_hero_command, "/chassis/left_front_steering"}, - {steering_hero, steering_hero_command, "/chassis/right_front_steering"}) - , chassis_wheel_motors_( - {steering_hero, steering_hero_command, "/chassis/left_front_wheel"}, - {steering_hero, steering_hero_command, "/chassis/right_front_wheel"}) { - // - - chassis_steering_motors_[0].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kGM6020} - .set_encoder_zero_point( - static_cast( - steering_hero.get_parameter("left_front_zero_point").as_int())) - .set_reversed()); - chassis_steering_motors_[1].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kGM6020} - .set_encoder_zero_point( - static_cast( - steering_hero.get_parameter("right_front_zero_point").as_int())) - .set_reversed()); - chassis_wheel_motors_[0].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} - .set_reversed() - .set_reduction_ratio(2232. / 169.)); - chassis_wheel_motors_[1].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} - .set_reversed() - .set_reduction_ratio(2232. / 169.)); - - chassis_front_climber_motor_[0].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} - .set_reversed() - .set_reduction_ratio(19.)); - chassis_front_climber_motor_[1].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508}.set_reduction_ratio(19.)); - chassis_back_climber_motor_[0].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} - .enable_multi_turn_angle() - .set_reduction_ratio(19.)); - chassis_back_climber_motor_[1].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} - .set_reversed() - .enable_multi_turn_angle() - .set_reduction_ratio(19.)); - - steering_hero.register_output( - "/chassis/yaw/velocity_imu", chassis_yaw_velocity_imu_, 0); - steering_hero.register_output("/chassis/pitch_imu", chassis_pitch_imu_, 0.0); - } - BottomBoard_one(const BottomBoard_one&) = delete; - BottomBoard_one& operator=(const BottomBoard_one&) = delete; - BottomBoard_one(BottomBoard_one&&) = delete; - BottomBoard_one& operator=(BottomBoard_one&&) = delete; - - ~BottomBoard_one() final = default; - - void update() { - imu_.update_status(); - // can1_receive_rate_counter_.report_if_due(); - // can2_receive_rate_counter_.report_if_due(); - - *chassis_yaw_velocity_imu_ = imu_.gz(); - *chassis_pitch_imu_ = -std::asin(2.0 * (imu_.q0() * imu_.q2() - imu_.q3() * imu_.q1())); - - chassis_front_climber_motor_[0].update_status(); - chassis_front_climber_motor_[1].update_status(); - chassis_back_climber_motor_[0].update_status(); - chassis_back_climber_motor_[1].update_status(); - - for (auto& motor : chassis_wheel_motors_) - motor.update_status(); - for (auto& motor : chassis_steering_motors_) - motor.update_status(); - } - - void command_update() { - auto builder = start_transmit(); - - builder.can1_transmit({ - .can_id = 0x200, - .can_data = - device::CanPacket8{ - chassis_wheel_motors_[1].generate_command(), - chassis_wheel_motors_[0].generate_command(), - device::CanPacket8::PaddingQuarter{}, - device::CanPacket8::PaddingQuarter{}, - } - .as_bytes(), - }); - - builder.can1_transmit({ - .can_id = 0x1FE, - .can_data = - device::CanPacket8{ - device::CanPacket8::PaddingQuarter{}, - chassis_steering_motors_[0].generate_command(), - device::CanPacket8::PaddingQuarter{}, - chassis_steering_motors_[1].generate_command(), - } - .as_bytes(), - }); - - builder.can2_transmit({ - .can_id = 0x200, - .can_data = - device::CanPacket8{ - chassis_back_climber_motor_[0].generate_command(), - chassis_back_climber_motor_[1].generate_command(), - chassis_front_climber_motor_[0].generate_command(), - chassis_front_climber_motor_[1].generate_command(), - } - .as_bytes(), - }); - } - - private: - void can1_receive_callback(const librmcs::data::CanDataView& data) override { - if (data.is_extended_can_id || data.is_remote_transmission) [[unlikely]] - return; - auto can_id = data.can_id; - // can1_receive_rate_counter_.record(can_id); - if (can_id == 0x201) { - chassis_wheel_motors_[1].store_status(data.can_data); - } else if (can_id == 0x202) { - chassis_wheel_motors_[0].store_status(data.can_data); - } else if (can_id == 0x206) { - chassis_steering_motors_[0].store_status(data.can_data); - } else if (can_id == 0x208) { - chassis_steering_motors_[1].store_status(data.can_data); - } - } - - void can2_receive_callback(const librmcs::data::CanDataView& data) override { - if (data.is_extended_can_id || data.is_remote_transmission) [[unlikely]] - return; - auto can_id = data.can_id; - // can2_receive_rate_counter_.record(can_id); - if (can_id == 0x203) { - chassis_front_climber_motor_[0].store_status(data.can_data); - } else if (can_id == 0x204) { - chassis_front_climber_motor_[1].store_status(data.can_data); - } else if (can_id == 0x201) { - chassis_back_climber_motor_[0].store_status(data.can_data); - } else if (can_id == 0x202) { - chassis_back_climber_motor_[1].store_status(data.can_data); - } - } - - void accelerometer_receive_callback( - const librmcs::data::AccelerometerDataView& data) override { - imu_.store_accelerometer_status(data.x, data.y, data.z); - } - - void gyroscope_receive_callback(const librmcs::data::GyroscopeDataView& data) override { - imu_.store_gyroscope_status(data.x, data.y, data.z); - } - - rclcpp::Logger logger_; - // CanReceiveRateCounter can1_receive_rate_counter_; - // CanReceiveRateCounter can2_receive_rate_counter_; - - device::Bmi088 imu_; - device::DjiMotor chassis_front_climber_motor_[2]; - device::DjiMotor chassis_back_climber_motor_[2]; - device::DjiMotor chassis_steering_motors_[2]; - device::DjiMotor chassis_wheel_motors_[2]; - - OutputInterface chassis_yaw_velocity_imu_; - OutputInterface chassis_pitch_imu_; - OutputInterface gimbal_yaw_velocity_imu_; - OutputInterface gimbal_pitch_velocity_imu_; - }; - - class BottomBoard_two final : private librmcs::agent::CBoard { - public: - friend class SteeringHero; - explicit BottomBoard_two( - SteeringHero& steering_hero, SteeringHeroCommand& steering_hero_command, - std::string_view board_serial = {}) - : librmcs::agent::CBoard(board_serial) - , logger_(steering_hero.get_logger()) - // , can1_receive_rate_counter_(logger_, "bottom/can1") - // , can2_receive_rate_counter_(logger_, "bottom/can2") - , imu_(1000, 0.2, 0.0) - , dr16_(steering_hero) - , supercap_(steering_hero, steering_hero_command) - , chassis_steering_motors2_( - {steering_hero, steering_hero_command, "/chassis/left_back_steering"}, - {steering_hero, steering_hero_command, "/chassis/right_back_steering"}) - , chassis_wheel_motors2_( - {steering_hero, steering_hero_command, "/chassis/left_back_wheel"}, - {steering_hero, steering_hero_command, "/chassis/right_back_wheel"}) - , gimbal_bottom_yaw_motor_(steering_hero, steering_hero_command, "/gimbal/bottom_yaw") { - chassis_steering_motors2_[0].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kGM6020} - .set_encoder_zero_point( - static_cast( - steering_hero.get_parameter("left_back_zero_point").as_int())) - .set_reversed()); - chassis_steering_motors2_[1].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kGM6020} - .set_encoder_zero_point( - static_cast( - steering_hero.get_parameter("right_back_zero_point").as_int())) - .set_reversed()); - chassis_wheel_motors2_[0].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} - .set_reversed() - .set_reduction_ratio(2232. / 169.)); - chassis_wheel_motors2_[1].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} - .set_reversed() - .set_reduction_ratio(2232. / 169.)); - gimbal_bottom_yaw_motor_.configure( - device::LkMotor::Config{device::LkMotor::Type::kMG6012Ei8} - .set_reversed() - .set_encoder_zero_point( - static_cast( - steering_hero.get_parameter("bottom_yaw_motor_zero_point").as_int()))); - steering_hero.register_output("/referee/serial", referee_serial_); - referee_serial_->read = [this](std::byte* buffer, size_t size) { - return referee_ring_buffer_receive_.pop_front_n( - [&buffer](std::byte byte) noexcept { *buffer++ = byte; }, size); - }; - referee_serial_->write = [this](const std::byte* buffer, size_t size) { - start_transmit().uart1_transmit( - {.uart_data = std::span{buffer, size}}); - return size; - }; - steering_hero.register_output( - "/chassis/powermeter/control_enable", powermeter_control_enabled_, false); - steering_hero.register_output( - "/chassis/powermeter/charge_power_limit", powermeter_charge_power_limit_, 0.); - } - - BottomBoard_two(const BottomBoard_two&) = delete; - BottomBoard_two& operator=(const BottomBoard_two&) = delete; - BottomBoard_two(BottomBoard_two&&) = delete; - BottomBoard_two& operator=(BottomBoard_two&&) = delete; - - ~BottomBoard_two() final = default; - - void update() { - imu_.update_status(); - dr16_.update_status(); - supercap_.update_status(); - // can1_receive_rate_counter_.report_if_due(); - // can2_receive_rate_counter_.report_if_due(); - - for (auto& motor : chassis_wheel_motors2_) - motor.update_status(); - for (auto& motor : chassis_steering_motors2_) - motor.update_status(); - - gimbal_bottom_yaw_motor_.update_status(); - } - - void command_update() { - auto builder = start_transmit(); - - builder.can1_transmit({ - .can_id = 0x200, - .can_data = - device::CanPacket8{ - device::CanPacket8::PaddingQuarter{}, - device::CanPacket8::PaddingQuarter{}, - chassis_wheel_motors2_[1].generate_command(), - chassis_wheel_motors2_[0].generate_command(), - } - .as_bytes(), - }); - - builder.can1_transmit({ - .can_id = 0x1FE, - .can_data = - device::CanPacket8{ - chassis_steering_motors2_[0].generate_command(), - device::CanPacket8::PaddingQuarter{}, - chassis_steering_motors2_[1].generate_command(), - supercap_.generate_command(), - } - .as_bytes(), - }); - - builder.can2_transmit({ - .can_id = 0x141, - .can_data = gimbal_bottom_yaw_motor_.generate_command().as_bytes(), - }); - } - - private: - void can1_receive_callback(const librmcs::data::CanDataView& data) override { - if (data.is_extended_can_id || data.is_remote_transmission) [[unlikely]] - return; - auto can_id = data.can_id; - // can1_receive_rate_counter_.record(can_id); - if (can_id == 0x203) { - chassis_wheel_motors2_[1].store_status(data.can_data); - - } else if (can_id == 0x204) { - chassis_wheel_motors2_[0].store_status(data.can_data); - } else if (can_id == 0x205) { - chassis_steering_motors2_[0].store_status(data.can_data); - } else if (can_id == 0x207) { - chassis_steering_motors2_[1].store_status(data.can_data); - } else if (can_id == 0x300) { - supercap_.store_status(data.can_data); - } - } - - void can2_receive_callback(const librmcs::data::CanDataView& data) override { - if (data.is_extended_can_id || data.is_remote_transmission) [[unlikely]] - return; - auto can_id = data.can_id; - // can2_receive_rate_counter_.record(can_id); - if (can_id == 0x141) { - gimbal_bottom_yaw_motor_.store_status(data.can_data); - } - } - - rclcpp::Logger logger_; - - void uart1_receive_callback(const librmcs::data::UartDataView& data) override { - const auto* uart_data = data.uart_data.data(); - referee_ring_buffer_receive_.emplace_back_n( - [&uart_data](std::byte* storage) noexcept { *storage = *uart_data++; }, - data.uart_data.size()); - } - - void dbus_receive_callback(const librmcs::data::UartDataView& data) override { - dr16_.store_status(data.uart_data.data(), data.uart_data.size()); - } - - void accelerometer_receive_callback( - const librmcs::data::AccelerometerDataView& data) override { - imu_.store_accelerometer_status(data.x, data.y, data.z); - } - - void gyroscope_receive_callback(const librmcs::data::GyroscopeDataView& data) override { - imu_.store_gyroscope_status(data.x, data.y, data.z); - } - - // CanReceiveRateCounter can1_receive_rate_counter_; - // CanReceiveRateCounter can2_receive_rate_counter_; - device::Bmi088 imu_; - - OutputInterface powermeter_control_enabled_; - OutputInterface powermeter_charge_power_limit_; - - device::Dr16 dr16_; - device::Supercap supercap_; - - device::DjiMotor chassis_steering_motors2_[2]; - device::DjiMotor chassis_wheel_motors2_[2]; - device::LkMotor gimbal_bottom_yaw_motor_; - - rmcs_utility::RingBuffer referee_ring_buffer_receive_{256}; - OutputInterface referee_serial_; - }; - - OutputInterface tf_; - - rclcpp::Subscription::SharedPtr gimbal_calibrate_subscription_; - - std::shared_ptr top_board_; - std::shared_ptr bottom_board_one_; - std::shared_ptr bottom_board_two_; -}; - -} // namespace rmcs_core::hardware - -#include - -PLUGINLIB_EXPORT_CLASS(rmcs_core::hardware::SteeringHero, rmcs_executor::Component) diff --git a/rmcs_ws/src/rmcs_core/src/hardware/steering-infantry.cpp b/rmcs_ws/src/rmcs_core/src/hardware/steering-infantry.cpp deleted file mode 100644 index 140e2db12..000000000 --- a/rmcs_ws/src/rmcs_core/src/hardware/steering-infantry.cpp +++ /dev/null @@ -1,539 +0,0 @@ -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "hardware/device/bmi088.hpp" -#include "hardware/device/can_packet.hpp" -#include "hardware/device/dji_motor.hpp" -#include "hardware/device/dr16.hpp" -#include "hardware/device/lk_motor.hpp" -#include "hardware/device/supercap.hpp" - -namespace rmcs_core::hardware { - -class SteeringInfantry - : public rmcs_executor::Component - , public rclcpp::Node { -public: - SteeringInfantry() - : Node( - get_component_name(), - rclcpp::NodeOptions().automatically_declare_parameters_from_overrides(true)) - , command_component_( - create_partner_component( - get_component_name() + "_command", *this)) { - register_output("/tf", tf_); - gimbal_calibrate_subscription_ = create_subscription( - "/gimbal/calibrate", rclcpp::QoS{0}, [this](std_msgs::msg::Int32::UniquePtr&& msg) { - gimbal_calibrate_subscription_callback(std::move(msg)); - }); - steers_calibrate_subscription_ = create_subscription( - "/steers/calibrate", rclcpp::QoS{0}, [this](std_msgs::msg::Int32::UniquePtr&& msg) { - steers_calibrate_subscription_callback(std::move(msg)); - }); - - top_board_ = std::make_unique( - *this, *command_component_, get_parameter("board_serial_top_board").as_string()); - bottom_board_ = std::make_unique( - *this, *command_component_, get_parameter("board_serial_bottom_board").as_string()); - - tf_->set_transform( - Eigen::Translation3d{0.06603, 0.0, 0.082}); - } - - SteeringInfantry(const SteeringInfantry&) = delete; - SteeringInfantry& operator=(const SteeringInfantry&) = delete; - SteeringInfantry(SteeringInfantry&&) = delete; - SteeringInfantry& operator=(SteeringInfantry&&) = delete; - - ~SteeringInfantry() override = default; - - void update() override { - top_board_->update(); - bottom_board_->update(); - } - - void command_update() { - top_board_->command_update(); - bottom_board_->command_update(); - } - -private: - void gimbal_calibrate_subscription_callback(std_msgs::msg::Int32::UniquePtr) { - RCLCPP_INFO( - get_logger(), "[gimbal calibration] New yaw offset: %ld", - bottom_board_->gimbal_yaw_motor_.calibrate_zero_point()); - RCLCPP_INFO( - get_logger(), "[gimbal calibration] New pitch offset: %ld", - top_board_->gimbal_pitch_motor_.calibrate_zero_point()); - } - - void steers_calibrate_subscription_callback(std_msgs::msg::Int32::UniquePtr) { - RCLCPP_INFO( - get_logger(), "[steer calibration] New left front offset: %d", - bottom_board_->chassis_front_steering_motors_[0].calibrate_zero_point()); - RCLCPP_INFO( - get_logger(), "[steer calibration] New left back offset: %d", - bottom_board_->chassis_back_steering_motors_[0].calibrate_zero_point()); - RCLCPP_INFO( - get_logger(), "[steer calibration] New right back offset: %d", - bottom_board_->chassis_back_steering_motors_[1].calibrate_zero_point()); - RCLCPP_INFO( - get_logger(), "[steer calibration] New right front offset: %d", - bottom_board_->chassis_front_steering_motors_[1].calibrate_zero_point()); - } - - class SteeringInfantryCommand : public rmcs_executor::Component { - public: - explicit SteeringInfantryCommand(SteeringInfantry& infantry_) - : infantry_(infantry_) {} - - void update() override { infantry_.command_update(); } - - SteeringInfantry& infantry_; - }; - std::shared_ptr command_component_; - - class TopBoard final : private librmcs::agent::RmcsBoardLite { - public: - friend class SteeringInfantry; - explicit TopBoard( - SteeringInfantry& steering_infantry, SteeringInfantryCommand& steering_infantry_command, - std::string_view board_serial = {}) - : librmcs::agent::RmcsBoardLite(board_serial, {true}) - , tf_(steering_infantry.tf_) - , imu_(1000, 0.2, 0.0) - , gimbal_pitch_motor_(steering_infantry, steering_infantry_command, "/gimbal/pitch") - , gimbal_left_friction_( - steering_infantry, steering_infantry_command, "/gimbal/left_friction") - , gimbal_right_friction_( - steering_infantry, steering_infantry_command, "/gimbal/right_friction") { - - gimbal_pitch_motor_.configure( - device::LkMotor::Config{device::LkMotor::Type::kMG4010Ei10} - .set_encoder_zero_point( - static_cast( - steering_infantry.get_parameter("pitch_motor_zero_point").as_int())) - .enable_multi_turn_angle()); - gimbal_left_friction_.configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508}.set_reduction_ratio(1.)); - gimbal_right_friction_.configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} - .set_reduction_ratio(1.) - .set_reversed()); - steering_infantry.register_output("/gimbal/yaw/velocity_imu", gimbal_yaw_velocity_imu_); - steering_infantry.register_output( - "/gimbal/pitch/velocity_imu", gimbal_pitch_velocity_imu_); - imu_.set_coordinate_mapping( - [](double x, double y, double z) { return std::make_tuple(x, y, z); }); - } - - TopBoard(const TopBoard&) = delete; - TopBoard& operator=(const TopBoard&) = delete; - TopBoard(TopBoard&&) = delete; - TopBoard& operator=(TopBoard&&) = delete; - - ~TopBoard() final = default; - - void update() { - imu_.update_status(); - const Eigen::Quaterniond gimbal_imu_pose{imu_.q0(), imu_.q1(), imu_.q2(), imu_.q3()}; - - tf_->set_transform( - gimbal_imu_pose.conjugate()); - - *gimbal_yaw_velocity_imu_ = imu_.gz(); - *gimbal_pitch_velocity_imu_ = imu_.gy(); - - gimbal_pitch_motor_.update_status(); - gimbal_left_friction_.update_status(); - gimbal_right_friction_.update_status(); - - tf_->set_state( - gimbal_pitch_motor_.angle()); - } - - void command_update() { - auto builder = start_transmit(); - - builder.can1_transmit({ - .can_id = 0x200, - .can_data = - device::CanPacket8{ - gimbal_right_friction_.generate_command(), - gimbal_left_friction_.generate_command(), - device::CanPacket8::PaddingQuarter{}, - device::CanPacket8::PaddingQuarter{}, - } - .as_bytes(), - }); - - builder.can2_transmit({ - .can_id = 0x143, - .can_data = gimbal_pitch_motor_.generate_velocity_command().as_bytes(), - }); - } - - private: - void can1_receive_callback(const librmcs::data::CanDataView& data) override { - if (data.is_extended_can_id || data.is_remote_transmission) [[unlikely]] - return; - auto can_id = data.can_id; - if (can_id == 0x201) { - gimbal_right_friction_.store_status(data.can_data); - } else if (can_id == 0x202) { - gimbal_left_friction_.store_status(data.can_data); - } - } - - void can2_receive_callback(const librmcs::data::CanDataView& data) override { - if (data.is_extended_can_id || data.is_remote_transmission) [[unlikely]] - return; - auto can_id = data.can_id; - if (can_id == 0x143) { - gimbal_pitch_motor_.store_status(data.can_data); - } - } - - void accelerometer_receive_callback( - const librmcs::data::AccelerometerDataView& data) override { - imu_.store_accelerometer_status(data.x, data.y, data.z); - } - - void gyroscope_receive_callback(const librmcs::data::GyroscopeDataView& data) override { - imu_.store_gyroscope_status(data.x, data.y, data.z); - } - - OutputInterface& tf_; - - device::Bmi088 imu_; - - device::LkMotor gimbal_pitch_motor_; - device::DjiMotor gimbal_left_friction_; - device::DjiMotor gimbal_right_friction_; - - OutputInterface gimbal_yaw_velocity_imu_; - OutputInterface gimbal_pitch_velocity_imu_; - }; - - class BottomBoard final : private librmcs::agent::RmcsBoardLite { - public: - friend class SteeringInfantry; - explicit BottomBoard( - SteeringInfantry& steering_infantry, SteeringInfantryCommand& steering_infantry_command, - std::string_view board_serial = {}) - : librmcs::agent::RmcsBoardLite(board_serial) - , tf_(steering_infantry.tf_) - , imu_(1000, 0.2, 0.0) - , dr16_(steering_infantry) - , gimbal_yaw_motor_(steering_infantry, steering_infantry_command, "/gimbal/yaw") - , supercap_(steering_infantry, steering_infantry_command) - , gimbal_bullet_feeder_( - steering_infantry, steering_infantry_command, "/gimbal/bullet_feeder") - , chassis_front_steering_motors_( - {steering_infantry, steering_infantry_command, "/chassis/left_front_steering"}, - {steering_infantry, steering_infantry_command, "/chassis/right_front_steering"}) - , chassis_front_wheel_motors_( - {steering_infantry, steering_infantry_command, "/chassis/left_front_wheel"}, - {steering_infantry, steering_infantry_command, "/chassis/right_front_wheel"}) - , chassis_back_steering_motors_( - {steering_infantry, steering_infantry_command, "/chassis/left_back_steering"}, - {steering_infantry, steering_infantry_command, "/chassis/right_back_steering"}) - , chassis_back_wheel_motors_( - {steering_infantry, steering_infantry_command, "/chassis/left_back_wheel"}, - {steering_infantry, steering_infantry_command, "/chassis/right_back_wheel"}) { - gimbal_yaw_motor_.configure( - device::LkMotor::Config{device::LkMotor::Type::kMG4010Ei10}.set_encoder_zero_point( - static_cast( - steering_infantry.get_parameter("yaw_motor_zero_point").as_int()))); - gimbal_bullet_feeder_.configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} - .set_reversed() - .enable_multi_turn_angle()); - - chassis_front_steering_motors_[0].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kGM6020} - .set_encoder_zero_point( - static_cast( - steering_infantry.get_parameter("left_front_zero_point").as_int())) - .set_reversed()); - chassis_front_steering_motors_[1].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kGM6020} - .set_encoder_zero_point( - static_cast( - steering_infantry.get_parameter("right_front_zero_point").as_int())) - .set_reversed()); - chassis_back_steering_motors_[0].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kGM6020} - .set_encoder_zero_point( - static_cast( - steering_infantry.get_parameter("left_back_zero_point").as_int())) - .set_reversed()); - chassis_back_steering_motors_[1].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kGM6020} - .set_encoder_zero_point( - static_cast( - steering_infantry.get_parameter("right_back_zero_point").as_int())) - .set_reversed()); - - chassis_front_wheel_motors_[0].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} - .set_reversed() - .set_reduction_ratio(2232. / 169.)); - chassis_front_wheel_motors_[1].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} - .set_reversed() - .set_reduction_ratio(2232. / 169.)); - chassis_back_wheel_motors_[0].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} - .set_reversed() - .set_reduction_ratio(2232. / 169.)); - chassis_back_wheel_motors_[1].configure( - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} - .set_reversed() - .set_reduction_ratio(2232. / 169.)); - - steering_infantry.register_output("/referee/serial", referee_serial_); - referee_serial_->read = [this](std::byte* buffer, size_t size) { - return referee_ring_buffer_receive_.pop_front_n( - [&buffer](std::byte byte) noexcept { *buffer++ = byte; }, size); - }; - referee_serial_->write = [this](const std::byte* buffer, size_t size) { - start_transmit().uart0_transmit( - {.uart_data = std::span{buffer, size}}); - return size; - }; - - steering_infantry.register_output( - "/chassis/yaw/velocity_imu", chassis_yaw_velocity_imu_, 0); - } - - BottomBoard(const BottomBoard&) = delete; - BottomBoard& operator=(const BottomBoard&) = delete; - BottomBoard(BottomBoard&&) = delete; - BottomBoard& operator=(BottomBoard&&) = delete; - - ~BottomBoard() final = default; - - void update() { - imu_.update_status(); - dr16_.update_status(); - - *chassis_yaw_velocity_imu_ = imu_.gz(); - - gimbal_yaw_motor_.update_status(); - supercap_.update_status(); - gimbal_bullet_feeder_.update_status(); - - tf_->set_state( - gimbal_yaw_motor_.angle()); - - for (auto& motor : chassis_front_wheel_motors_) - motor.update_status(); - for (auto& motor : chassis_front_steering_motors_) - motor.update_status(); - for (auto& motor : chassis_back_wheel_motors_) - motor.update_status(); - for (auto& motor : chassis_back_steering_motors_) - motor.update_status(); - } - - void command_update() { - auto builder = start_transmit(); - builder.can0_transmit({ - .can_id = 0x200, - .can_data = - device::CanPacket8{ - chassis_back_wheel_motors_[0].generate_command(), - chassis_back_wheel_motors_[1].generate_command(), - device::CanPacket8::PaddingQuarter{}, - device::CanPacket8::PaddingQuarter{}, - } - .as_bytes(), - }); - - builder.can0_transmit({ - .can_id = 0x1FE, - .can_data = - device::CanPacket8{ - chassis_back_steering_motors_[0].generate_command(), - chassis_back_steering_motors_[1].generate_command(), - device::CanPacket8::PaddingQuarter{}, - supercap_.generate_command(), - } - .as_bytes(), - }); - - builder.can1_transmit({ - .can_id = 0x200, - .can_data = - device::CanPacket8{ - chassis_front_wheel_motors_[0].generate_command(), - chassis_front_wheel_motors_[1].generate_command(), - device::CanPacket8::PaddingQuarter{}, - device::CanPacket8::PaddingQuarter{}, - } - .as_bytes(), - }); - - builder.can1_transmit({ - .can_id = 0x1FE, - .can_data = - device::CanPacket8{ - chassis_front_steering_motors_[0].generate_command(), - chassis_front_steering_motors_[1].generate_command(), - device::CanPacket8::PaddingQuarter{}, - device::CanPacket8::PaddingQuarter{}, - - } - .as_bytes(), - }); - - builder.can2_transmit({ - .can_id = 0x142, - .can_data = gimbal_yaw_motor_.generate_torque_command().as_bytes(), - }); - - builder.can3_transmit({ - .can_id = 0x1FF, - .can_data = - device::CanPacket8{ - gimbal_bullet_feeder_.generate_command(), - device::CanPacket8::PaddingQuarter{}, - device::CanPacket8::PaddingQuarter{}, - device::CanPacket8::PaddingQuarter{}, - } - .as_bytes(), - }); - } - - private: - void can0_receive_callback(const librmcs::data::CanDataView& data) override { - if (data.is_extended_can_id || data.is_remote_transmission) [[unlikely]] - return; - auto can_id = data.can_id; - - if (can_id == 0x201) { - chassis_back_wheel_motors_[0].store_status(data.can_data); - } else if (can_id == 0x202) { - chassis_back_wheel_motors_[1].store_status(data.can_data); - } else if (can_id == 0x205) { - chassis_back_steering_motors_[0].store_status(data.can_data); - } else if (can_id == 0x206) { - chassis_back_steering_motors_[1].store_status(data.can_data); - } else if (can_id == 0x300) { - supercap_.store_status(data.can_data); - } - } - - void can1_receive_callback(const librmcs::data::CanDataView& data) override { - if (data.is_extended_can_id || data.is_remote_transmission) [[unlikely]] - return; - auto can_id = data.can_id; - - if (can_id == 0x201) { - chassis_front_wheel_motors_[0].store_status(data.can_data); - } else if (can_id == 0x202) { - chassis_front_wheel_motors_[1].store_status(data.can_data); - } else if (can_id == 0x205) { - chassis_front_steering_motors_[0].store_status(data.can_data); - } else if (can_id == 0x206) { - chassis_front_steering_motors_[1].store_status(data.can_data); - } - } - - void can2_receive_callback(const librmcs::data::CanDataView& data) override { - if (data.is_extended_can_id || data.is_remote_transmission) [[unlikely]] - return; - auto can_id = data.can_id; - if (can_id == 0x142) { - gimbal_yaw_motor_.store_status(data.can_data); - } - } - - void can3_receive_callback(const librmcs::data::CanDataView& data) override { - if (data.is_extended_can_id || data.is_remote_transmission) [[unlikely]] - return; - auto can_id = data.can_id; - - if (can_id == 0x205) { - gimbal_bullet_feeder_.store_status(data.can_data); - } - } - - void uart0_receive_callback(const librmcs::data::UartDataView& data) override { - const auto* uart_data = data.uart_data.data(); - referee_ring_buffer_receive_.emplace_back_n( - [&uart_data](std::byte* storage) noexcept { *storage = *uart_data++; }, - data.uart_data.size()); - } - - void dbus_receive_callback(const librmcs::data::UartDataView& data) override { - dr16_.store_status(data.uart_data.data(), data.uart_data.size()); - } - - void accelerometer_receive_callback( - const librmcs::data::AccelerometerDataView& data) override { - imu_.store_accelerometer_status(data.x, data.y, data.z); - } - - void gyroscope_receive_callback(const librmcs::data::GyroscopeDataView& data) override { - imu_.store_gyroscope_status(data.x, data.y, data.z); - } - - OutputInterface& tf_; - - device::Bmi088 imu_; - device::Dr16 dr16_; - - device::LkMotor gimbal_yaw_motor_; - - device::Supercap supercap_; - device::DjiMotor gimbal_bullet_feeder_; - - device::DjiMotor chassis_front_steering_motors_[2]; - device::DjiMotor chassis_front_wheel_motors_[2]; - device::DjiMotor chassis_back_steering_motors_[2]; - device::DjiMotor chassis_back_wheel_motors_[2]; - - rmcs_utility::RingBuffer referee_ring_buffer_receive_{256}; - OutputInterface referee_serial_; - - OutputInterface chassis_yaw_velocity_imu_; - }; - - OutputInterface tf_; - - rclcpp::Subscription::SharedPtr gimbal_calibrate_subscription_; - rclcpp::Subscription::SharedPtr steers_calibrate_subscription_; - - std::shared_ptr top_board_; - std::shared_ptr bottom_board_; -}; - -} // namespace rmcs_core::hardware - -#include - -PLUGINLIB_EXPORT_CLASS(rmcs_core::hardware::SteeringInfantry, rmcs_executor::Component) diff --git a/rmcs_ws/src/rmcs_core/src/hardware/util/status_monitor.hpp b/rmcs_ws/src/rmcs_core/src/hardware/util/status_monitor.hpp new file mode 100644 index 000000000..ff2b4c0cd --- /dev/null +++ b/rmcs_ws/src/rmcs_core/src/hardware/util/status_monitor.hpp @@ -0,0 +1,42 @@ +#pragma once + +#include +#include +#include +#include +#include +#include + +namespace rmcs_core::hardware { + +class StatusMonitor { +public: + void tick(const std::string& channel_name, const std::string& item) { + if (enabled_) + status_[channel_name].insert(item); + } + + void tick(const std::string& channel_name, std::uint32_t id) { + if (enabled_) + status_[channel_name].insert(std::format("{:#x}", id)); + } + + [[nodiscard]] auto text() const -> std::vector { + auto strings = std::vector{}; + for (const auto& [channel, items] : status_) { + auto items_content = std::string{"| "}; + for (const auto& item : items) + items_content += item + " | "; + strings.emplace_back(std::format("{}: {}", channel, items_content)); + } + return strings; + } + + void set_enable(bool enabled) noexcept { enabled_ = enabled; } + +private: + std::unordered_map> status_; + bool enabled_ = true; +}; + +} // namespace rmcs_core::hardware diff --git a/rmcs_ws/src/rmcs_core/src/identification/static_torque_test_controller.cpp b/rmcs_ws/src/rmcs_core/src/identification/static_torque_test_controller.cpp new file mode 100644 index 000000000..e537da8e8 --- /dev/null +++ b/rmcs_ws/src/rmcs_core/src/identification/static_torque_test_controller.cpp @@ -0,0 +1,469 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +#include "controller/pid/pid_calculator.hpp" + +namespace rmcs_core::controller::identification { + +namespace { + +using Clock = std::chrono::steady_clock; + +constexpr auto kCenterInfoInterval = std::chrono::duration(0.5); +constexpr double kRangeTolerance = 1e-9; + +template +T require_parameter(rclcpp::Node& node, const std::string& name) { + if (!node.has_parameter(name)) + throw std::runtime_error("Missing required parameter: " + name); + return node.get_parameter(name).get_value(); +} + +void load_optional_parameter(rclcpp::Node& node, const std::string& name, double& value) { + node.get_parameter(name, value); +} + +void configure_pid_limits( + rclcpp::Node& node, const std::string& prefix, pid::PidCalculator& calculator) { + load_optional_parameter(node, prefix + "_integral_min", calculator.integral_min); + load_optional_parameter(node, prefix + "_integral_max", calculator.integral_max); + load_optional_parameter(node, prefix + "_integral_split_min", calculator.integral_split_min); + load_optional_parameter(node, prefix + "_integral_split_max", calculator.integral_split_max); + load_optional_parameter(node, prefix + "_output_min", calculator.output_min); + load_optional_parameter(node, prefix + "_output_max", calculator.output_max); +} + +std::string normalize_target(std::string target) { + while (!target.empty() && target.back() == '/') + target.pop_back(); + + if (target.empty()) + throw std::runtime_error("Parameter 'target' cannot be empty"); + + if (target.front() != '/') + target.insert(target.begin(), '/'); + + return target; +} + +std::string interface_name(const std::string& target, std::string_view suffix) { + return target + "/" + std::string{suffix}; +} + +std::string sanitize_file_component(std::string_view text) { + std::string sanitized; + sanitized.reserve(text.size()); + + for (const char ch : text) { + if (std::isalnum(static_cast(ch))) + sanitized.push_back(ch); + else + sanitized.push_back('_'); + } + + if (sanitized.empty()) + sanitized = "target"; + + return sanitized; +} + +double wrap_to_pi(double angle) { + constexpr double kPi = std::numbers::pi_v; + angle = std::remainder(angle, 2.0 * kPi); + if (angle <= -kPi) + angle += 2.0 * kPi; + return angle; +} + +enum class RemoteMode { + kMeasureRange, + kCenterHold, + kTestCommand, + kIdle, +}; + +RemoteMode decode_remote_mode(rmcs_msgs::Switch switch_left, rmcs_msgs::Switch switch_right) { + using rmcs_msgs::Switch; + if (switch_left == Switch::MIDDLE && switch_right == Switch::DOWN) + return RemoteMode::kMeasureRange; + if (switch_left == Switch::MIDDLE && switch_right == Switch::MIDDLE) + return RemoteMode::kCenterHold; + if (switch_left == Switch::MIDDLE && switch_right == Switch::UP) + return RemoteMode::kTestCommand; + return RemoteMode::kIdle; +} + +} // namespace + +class StaticTorqueTestController + : public rmcs_executor::Component + , public rclcpp::Node { +public: + StaticTorqueTestController() + : Node( + get_component_name(), + rclcpp::NodeOptions{}.automatically_declare_parameters_from_overrides(true)) + , target_(normalize_target(require_parameter(*this, "target"))) + , interval_angle_(require_parameter(*this, "interval_angle")) + , wait_time_s_(require_parameter(*this, "wait_time")) + , wait_duration_(std::chrono::duration(wait_time_s_)) + , border_clip_(require_parameter(*this, "border_clip")) + , control_torque_name_(interface_name(target_, "control_torque")) + , measured_torque_name_(interface_name(target_, "torque")) + , measured_velocity_name_(interface_name(target_, "velocity")) + , measured_angle_name_(interface_name(target_, "angle")) { + if (!std::isfinite(interval_angle_) || interval_angle_ <= 0.0) + throw std::runtime_error("interval_angle must be finite and positive"); + if (!std::isfinite(wait_time_s_) || wait_time_s_ <= 0.0) + throw std::runtime_error("wait_time must be finite and positive"); + if (!std::isfinite(border_clip_) || border_clip_ < 0.0) + throw std::runtime_error("border_clip must be finite and non-negative"); + + position_pid_.kp = require_parameter(*this, "position_kp"); + position_pid_.ki = require_parameter(*this, "position_ki"); + position_pid_.kd = require_parameter(*this, "position_kd"); + velocity_pid_.kp = require_parameter(*this, "velocity_kp"); + velocity_pid_.ki = require_parameter(*this, "velocity_ki"); + velocity_pid_.kd = require_parameter(*this, "velocity_kd"); + + configure_pid_limits(*this, "position", position_pid_); + configure_pid_limits(*this, "velocity", velocity_pid_); + + register_input("/predefined/update_count", update_count_); + register_input("/predefined/timestamp", timestamp_); + register_input("/remote/switch/left", switch_left_); + register_input("/remote/switch/right", switch_right_); + register_input(measured_torque_name_, measured_torque_); + register_input(measured_velocity_name_, measured_velocity_); + register_input(measured_angle_name_, measured_angle_); + + register_output(control_torque_name_, control_torque_, nan_); + } + + ~StaticTorqueTestController() override { stop_test(true); } + + void before_updating() override { + position_pid_.reset(); + velocity_pid_.reset(); + stop_test(true); + + *control_torque_ = nan_; + angle_tracking_initialized_ = false; + range_initialized_ = false; + remote_mode_initialized_ = false; + next_center_info_time_ = Clock::time_point{}; + } + + void update() override { + update_angle_tracking(*measured_angle_); + + const auto remote_mode = decode_remote_mode(*switch_left_, *switch_right_); + const bool mode_changed = !remote_mode_initialized_ || remote_mode != last_remote_mode_; + + switch (remote_mode) { + case RemoteMode::kMeasureRange: handle_measure_range(); break; + case RemoteMode::kCenterHold: handle_center_hold(mode_changed); break; + case RemoteMode::kTestCommand: handle_test_command(mode_changed); break; + case RemoteMode::kIdle: handle_idle(); break; + } + + last_remote_mode_ = remote_mode; + remote_mode_initialized_ = true; + } + +private: + static constexpr double nan_ = std::numeric_limits::quiet_NaN(); + + void update_angle_tracking(double raw_angle) { + current_wrapped_angle_ = wrap_to_pi(raw_angle); + + if (!angle_tracking_initialized_) { + current_continuous_angle_ = current_wrapped_angle_; + last_wrapped_angle_ = current_wrapped_angle_; + angle_tracking_initialized_ = true; + return; + } + + current_continuous_angle_ += wrap_to_pi(current_wrapped_angle_ - last_wrapped_angle_); + last_wrapped_angle_ = current_wrapped_angle_; + } + + void handle_measure_range() { + stop_test(true); + position_pid_.reset(); + velocity_pid_.reset(); + update_measured_range(); + *control_torque_ = nan_; + } + + void update_measured_range() { + if (!range_initialized_) { + range_min_ = current_continuous_angle_; + range_max_ = current_continuous_angle_; + range_initialized_ = true; + return; + } + + range_min_ = std::min(range_min_, current_continuous_angle_); + range_max_ = std::max(range_max_, current_continuous_angle_); + } + + void handle_center_hold(bool mode_changed) { + stop_test(true); + + if (!range_initialized_) { + *control_torque_ = nan_; + return; + } + + if (mode_changed) { + position_pid_.reset(); + velocity_pid_.reset(); + next_center_info_time_ = *timestamp_; + } + + active_setpoint_ = 0.5 * (range_min_ + range_max_); + *control_torque_ = calculate_pid_output(active_setpoint_); + + maybe_log_center_hold_info(); + } + + void maybe_log_center_hold_info() { + if (*timestamp_ < next_center_info_time_) + return; + + const double control_error = active_setpoint_ - current_continuous_angle_; + RCLCPP_INFO( + get_logger(), + "Center hold error=%.6f rad, setpoint=%.6f rad, angle=%.6f rad, range=[%.6f, %.6f] rad", + control_error, wrap_to_pi(active_setpoint_), current_wrapped_angle_, + wrap_to_pi(range_min_), wrap_to_pi(range_max_)); + + do { + next_center_info_time_ += + std::chrono::duration_cast(kCenterInfoInterval); + } while (*timestamp_ >= next_center_info_time_); + } + + void handle_test_command(bool mode_changed) { + if (mode_changed) { + if (last_remote_mode_ == RemoteMode::kCenterHold) { + if (!start_test()) { + *control_torque_ = nan_; + return; + } + } else if (!test_setpoint_valid_) { + *control_torque_ = nan_; + return; + } else { + position_pid_.reset(); + velocity_pid_.reset(); + } + } + + if (!test_setpoint_valid_) { + *control_torque_ = nan_; + return; + } + + *control_torque_ = calculate_pid_output(active_setpoint_); + + if (!test_active_) + return; + + if (*timestamp_ - dwell_start_time_ < wait_duration_) + return; + + record_test_point(); + + const double next_setpoint = active_setpoint_ + interval_angle_; + if (next_setpoint > clipped_range_max_ + kRangeTolerance) { + finish_test_sequence(); + return; + } + + active_setpoint_ = next_setpoint; + dwell_start_time_ = *timestamp_; + position_pid_.reset(); + velocity_pid_.reset(); + } + + bool start_test() { + stop_test(true); + + if (!range_initialized_) { + RCLCPP_WARN(get_logger(), "Cannot start static torque test before range is measured."); + return false; + } + + clipped_range_min_ = range_min_ + border_clip_; + clipped_range_max_ = range_max_ - border_clip_; + if (clipped_range_min_ > clipped_range_max_ + kRangeTolerance) { + RCLCPP_WARN( + get_logger(), + "border_clip=%.6f rad leaves no feasible range, measured span=%.6f rad", + border_clip_, range_max_ - range_min_); + return false; + } + + RCLCPP_INFO( + get_logger(), + "Measured mechanical limits continuous=[%.6f, %.6f] rad, wrapped=[%.6f, %.6f] rad, " + "clipped=[%.6f, %.6f] rad", + range_min_, range_max_, wrap_to_pi(range_min_), wrap_to_pi(range_max_), + wrap_to_pi(clipped_range_min_), wrap_to_pi(clipped_range_max_)); + + const auto path = build_csv_path(); + try { + csv_writer_.open(path); + csv_writer_.write_row( + "update_count", "elapsed_s", control_torque_name_, measured_torque_name_, + measured_velocity_name_, measured_angle_name_); + csv_writer_.flush(); + } catch (const std::exception& exception) { + const auto path_string = path.string(); + RCLCPP_ERROR( + get_logger(), "Failed to start static torque log '%s': %s", path_string.c_str(), + exception.what()); + return false; + } + + current_csv_path_ = path; + test_start_time_ = *timestamp_; + dwell_start_time_ = *timestamp_; + active_setpoint_ = clipped_range_min_; + test_setpoint_valid_ = true; + test_active_ = true; + position_pid_.reset(); + velocity_pid_.reset(); + + const auto path_string = current_csv_path_.string(); + RCLCPP_INFO( + get_logger(), "Started static torque test at %.6f rad, log=%s", + wrap_to_pi(active_setpoint_), path_string.c_str()); + return true; + } + + void record_test_point() { + const double elapsed_s = + std::max(0.0, std::chrono::duration(*timestamp_ - test_start_time_).count()); + + csv_writer_.write_row( + *update_count_, elapsed_s, *control_torque_, *measured_torque_, *measured_velocity_, + current_wrapped_angle_); + csv_writer_.flush(); + } + + void finish_test_sequence() { + test_active_ = false; + close_csv(); + + RCLCPP_INFO( + get_logger(), "Static torque test finished, final setpoint=%.6f rad", + wrap_to_pi(active_setpoint_)); + } + + void handle_idle() { + stop_test(true); + position_pid_.reset(); + velocity_pid_.reset(); + *control_torque_ = nan_; + } + + double calculate_pid_output(double setpoint) { + const double position_error = setpoint - current_continuous_angle_; + const double velocity_setpoint = position_pid_.update(position_error); + return velocity_pid_.update(velocity_setpoint - *measured_velocity_); + } + + void stop_test(bool clear_setpoint_hold) { + close_csv(); + test_active_ = false; + if (clear_setpoint_hold) + test_setpoint_valid_ = false; + } + + void close_csv() { + if (!csv_writer_.is_open()) + return; + + csv_writer_.flush(); + csv_writer_.close(); + current_csv_path_.clear(); + } + + std::filesystem::path build_csv_path() const { + const auto file_name = std::string{"static_torque_test_controller_"} + + sanitize_file_component(target_) + "_test_" + + std::to_string(*update_count_) + ".csv"; + return std::filesystem::path{"/tmp"} / file_name; + } + + const std::string target_; + const double interval_angle_; + const double wait_time_s_; + const std::chrono::duration wait_duration_; + const double border_clip_; + + const std::string control_torque_name_; + const std::string measured_torque_name_; + const std::string measured_velocity_name_; + const std::string measured_angle_name_; + + InputInterface update_count_; + InputInterface timestamp_; + InputInterface switch_left_; + InputInterface switch_right_; + InputInterface measured_torque_; + InputInterface measured_velocity_; + InputInterface measured_angle_; + + OutputInterface control_torque_; + + pid::PidCalculator position_pid_; + pid::PidCalculator velocity_pid_; + + bool angle_tracking_initialized_ = false; + double last_wrapped_angle_ = 0.0; + double current_wrapped_angle_ = 0.0; + double current_continuous_angle_ = 0.0; + + bool range_initialized_ = false; + double range_min_ = 0.0; + double range_max_ = 0.0; + + bool remote_mode_initialized_ = false; + RemoteMode last_remote_mode_ = RemoteMode::kIdle; + Clock::time_point next_center_info_time_{}; + + double active_setpoint_ = 0.0; + bool test_setpoint_valid_ = false; + bool test_active_ = false; + double clipped_range_min_ = 0.0; + double clipped_range_max_ = 0.0; + Clock::time_point test_start_time_{}; + Clock::time_point dwell_start_time_{}; + rmcs_utility::CsvWriter csv_writer_; + std::filesystem::path current_csv_path_; +}; + +} // namespace rmcs_core::controller::identification + +PLUGINLIB_EXPORT_CLASS( + rmcs_core::controller::identification::StaticTorqueTestController, rmcs_executor::Component) diff --git a/rmcs_ws/src/rmcs_core/src/identification/swept_frequency_controller.cpp b/rmcs_ws/src/rmcs_core/src/identification/swept_frequency_controller.cpp new file mode 100644 index 000000000..eed799cb0 --- /dev/null +++ b/rmcs_ws/src/rmcs_core/src/identification/swept_frequency_controller.cpp @@ -0,0 +1,382 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +#include "controller/pid/pid_calculator.hpp" + +namespace rmcs_core::controller::identification { + +namespace { + +using Clock = std::chrono::steady_clock; + +constexpr auto kFlushInterval = std::chrono::duration(0.1); + +template +T require_parameter(rclcpp::Node& node, const std::string& name) { + if (!node.has_parameter(name)) + throw std::runtime_error("Missing required parameter: " + name); + return node.get_parameter(name).get_value(); +} + +template +T parameter_or_declare(rclcpp::Node& node, const std::string& name, const T& default_value) { + if (!node.has_parameter(name)) + node.declare_parameter(name, default_value); + return node.get_parameter(name).get_value(); +} + +void load_optional_parameter(rclcpp::Node& node, const std::string& name, double& value) { + node.get_parameter(name, value); +} + +void configure_pid_limits( + rclcpp::Node& node, const std::string& prefix, pid::PidCalculator& calculator) { + load_optional_parameter(node, prefix + "_integral_min", calculator.integral_min); + load_optional_parameter(node, prefix + "_integral_max", calculator.integral_max); + load_optional_parameter(node, prefix + "_integral_split_min", calculator.integral_split_min); + load_optional_parameter(node, prefix + "_integral_split_max", calculator.integral_split_max); + load_optional_parameter(node, prefix + "_output_min", calculator.output_min); + load_optional_parameter(node, prefix + "_output_max", calculator.output_max); +} + +std::string normalize_target(std::string target) { + while (!target.empty() && target.back() == '/') + target.pop_back(); + + if (target.empty()) + throw std::runtime_error("Parameter 'target' cannot be empty"); + + if (target.front() != '/') + target.insert(target.begin(), '/'); + + return target; +} + +std::string interface_name(const std::string& target, std::string_view suffix) { + return target + "/" + std::string{suffix}; +} + +std::string sanitize_file_component(std::string_view text) { + std::string sanitized; + sanitized.reserve(text.size()); + + for (const char ch : text) { + if (std::isalnum(static_cast(ch))) + sanitized.push_back(ch); + else + sanitized.push_back('_'); + } + + if (sanitized.empty()) + sanitized = "target"; + + return sanitized; +} + +double wrap_to_pi(double angle) { + constexpr double kPi = std::numbers::pi_v; + angle = std::remainder(angle, 2.0 * kPi); + if (angle <= -kPi) + angle += 2.0 * kPi; + return angle; +} + +bool controller_enabled(rmcs_msgs::Switch switch_left, rmcs_msgs::Switch switch_right) { + using rmcs_msgs::Switch; + if (switch_left == Switch::UNKNOWN || switch_right == Switch::UNKNOWN) + return false; + return !(switch_left == Switch::DOWN && switch_right == Switch::DOWN); +} + +double chirp_output( + double elapsed_s, double start_freq, double end_freq, double duration_s, double amplitude, + bool logarithmic) { + if (logarithmic) { + if (std::abs(end_freq - start_freq) <= std::numeric_limits::epsilon()) { + return amplitude * std::sin(2.0 * std::numbers::pi_v * start_freq * elapsed_s); + } + + const double ratio = end_freq / start_freq; + const double phase = 2.0 * std::numbers::pi_v * start_freq * duration_s + / std::log(ratio) * (std::pow(ratio, elapsed_s / duration_s) - 1.0); + return amplitude * std::sin(phase); + } + + const double sweep_rate = (end_freq - start_freq) / duration_s; + const double phase = 2.0 * std::numbers::pi_v + * (start_freq * elapsed_s + 0.5 * sweep_rate * elapsed_s * elapsed_s); + return amplitude * std::sin(phase); +} + +} // namespace + +class SweptFrequencyController + : public rmcs_executor::Component + , public rclcpp::Node { +public: + SweptFrequencyController() + : Node( + get_component_name(), + rclcpp::NodeOptions{}.automatically_declare_parameters_from_overrides(true)) + , target_(normalize_target(require_parameter(*this, "target"))) + , sweep_enabled_(parameter_or_declare(*this, "sweep", false)) + , pid_enabled_(parameter_or_declare(*this, "pid", false)) + , logarithmic_(parameter_or_declare(*this, "logarithmic", false)) + , dc_offset_(parameter_or_declare(*this, "dc_offset", 0.0)) + , control_torque_name_(interface_name(target_, "control_torque")) + , measured_torque_name_(interface_name(target_, "torque")) + , measured_velocity_name_(interface_name(target_, "velocity")) + , measured_angle_name_(interface_name(target_, "angle")) { + if (sweep_enabled_) { + start_freq_ = require_parameter(*this, "start_freq"); + end_freq_ = require_parameter(*this, "end_freq"); + sweep_duration_s_ = require_parameter(*this, "duration"); + amplitude_ = require_parameter(*this, "amplitude"); + + if (!std::isfinite(start_freq_) || start_freq_ < 0.0) + throw std::runtime_error("start_freq must be finite and non-negative"); + if (!std::isfinite(end_freq_) || end_freq_ < 0.0) + throw std::runtime_error("end_freq must be finite and non-negative"); + if (!std::isfinite(sweep_duration_s_) || sweep_duration_s_ <= 0.0) + throw std::runtime_error("duration must be finite and positive"); + if (!std::isfinite(amplitude_)) + throw std::runtime_error("amplitude must be finite"); + if (logarithmic_ && (start_freq_ <= 0.0 || end_freq_ <= 0.0)) + throw std::runtime_error( + "logarithmic sweep requires positive start_freq and end_freq"); + } + + if (pid_enabled_) { + setpoint_ = require_parameter(*this, "setpoint"); + position_pid_.kp = require_parameter(*this, "position_kp"); + position_pid_.ki = require_parameter(*this, "position_ki"); + position_pid_.kd = require_parameter(*this, "position_kd"); + velocity_pid_.kp = require_parameter(*this, "velocity_kp"); + velocity_pid_.ki = require_parameter(*this, "velocity_ki"); + velocity_pid_.kd = require_parameter(*this, "velocity_kd"); + + if (!std::isfinite(setpoint_)) + throw std::runtime_error("setpoint must be finite"); + + configure_pid_limits(*this, "position", position_pid_); + configure_pid_limits(*this, "velocity", velocity_pid_); + } + + register_input("/predefined/update_count", update_count_); + register_input("/predefined/timestamp", timestamp_); + register_input("/remote/switch/left", switch_left_); + register_input("/remote/switch/right", switch_right_); + register_input(measured_torque_name_, measured_torque_); + register_input(measured_velocity_name_, measured_velocity_); + register_input(measured_angle_name_, measured_angle_); + + register_output(control_torque_name_, control_torque_, nan_); + } + + ~SweptFrequencyController() override { finish_sweep(); } + + void before_updating() override { + reset_pid_state(); + finish_sweep(); + + *control_torque_ = nan_; + last_switch_left_ = rmcs_msgs::Switch::UNKNOWN; + last_switch_right_ = rmcs_msgs::Switch::UNKNOWN; + } + + void update() override { + const auto current_switch_left = *switch_left_; + const auto current_switch_right = *switch_right_; + const bool is_enabled = controller_enabled(current_switch_left, current_switch_right); + + if (!is_enabled) { + reset_pid_state(); + finish_sweep(); + *control_torque_ = nan_; + store_switch_state(current_switch_left, current_switch_right); + return; + } + + if (should_start_sweep(current_switch_left, current_switch_right)) + start_sweep(); + + const double pid_output = pid_enabled_ ? calculate_pid_output() : 0.0; + const double dc_offset_output = dc_offset_; + + bool sweep_finished = false; + const double sweep_output = sweep_active_ ? calculate_sweep_output(sweep_finished) : 0.0; + + const double control_output = pid_output + dc_offset_output + sweep_output; + *control_torque_ = control_output; + + if (sweep_active_) { + log_sample(pid_output, sweep_output, control_output); + if (sweep_finished) + finish_sweep(); + } + + store_switch_state(current_switch_left, current_switch_right); + } + +private: + static constexpr double nan_ = std::numeric_limits::quiet_NaN(); + + bool should_start_sweep( + rmcs_msgs::Switch current_switch_left, rmcs_msgs::Switch current_switch_right) const { + using rmcs_msgs::Switch; + return sweep_enabled_ && !sweep_active_ && last_switch_left_ == Switch::MIDDLE + && last_switch_right_ == Switch::MIDDLE && current_switch_left == Switch::MIDDLE + && current_switch_right == Switch::UP; + } + + void store_switch_state( + rmcs_msgs::Switch current_switch_left, rmcs_msgs::Switch current_switch_right) { + last_switch_left_ = current_switch_left; + last_switch_right_ = current_switch_right; + } + + void reset_pid_state() { + position_pid_.reset(); + velocity_pid_.reset(); + } + + double calculate_pid_output() { + const double position_error = wrap_to_pi(setpoint_ - *measured_angle_); + const double velocity_setpoint = position_pid_.update(position_error); + return velocity_pid_.update(velocity_setpoint - *measured_velocity_); + } + + void start_sweep() { + finish_sweep(); + + const auto path = build_csv_path(); + try { + csv_writer_.open(path); + csv_writer_.write_row( + "update_count", "elapsed_s", "pid_output", "sweep_output", control_torque_name_, + measured_torque_name_, measured_velocity_name_, measured_angle_name_); + } catch (const std::exception& exception) { + const auto path_string = path.string(); + RCLCPP_ERROR( + get_logger(), "Failed to start sweep log '%s': %s", path_string.c_str(), + exception.what()); + return; + } + + sweep_active_ = true; + sweep_start_time_ = *timestamp_; + next_flush_time_ = + sweep_start_time_ + std::chrono::duration_cast(kFlushInterval); + current_csv_path_ = path; + + const auto path_string = current_csv_path_.string(); + RCLCPP_INFO(get_logger(), "Started sweep logging to %s", path_string.c_str()); + } + + void finish_sweep() { + if (!sweep_active_ && !csv_writer_.is_open()) + return; + + csv_writer_.flush(); + csv_writer_.close(); + + if (!current_csv_path_.empty()) { + const auto path_string = current_csv_path_.string(); + RCLCPP_INFO(get_logger(), "Finished sweep logging to %s", path_string.c_str()); + } + + current_csv_path_.clear(); + sweep_active_ = false; + } + + double calculate_sweep_output(bool& sweep_finished) const { + const double elapsed_s = + std::max(0.0, std::chrono::duration(*timestamp_ - sweep_start_time_).count()); + const double clamped_elapsed_s = std::clamp(elapsed_s, 0.0, sweep_duration_s_); + sweep_finished = elapsed_s >= sweep_duration_s_; + return chirp_output( + clamped_elapsed_s, start_freq_, end_freq_, sweep_duration_s_, amplitude_, logarithmic_); + } + + void log_sample(double pid_output, double sweep_output, double control_output) { + const double elapsed_s = + std::max(0.0, std::chrono::duration(*timestamp_ - sweep_start_time_).count()); + + csv_writer_.write_row( + *update_count_, elapsed_s, pid_output, sweep_output, control_output, *measured_torque_, + *measured_velocity_, *measured_angle_); + + if (*timestamp_ >= next_flush_time_) { + csv_writer_.flush(); + while (*timestamp_ >= next_flush_time_) { + next_flush_time_ += std::chrono::duration_cast(kFlushInterval); + } + } + } + + std::filesystem::path build_csv_path() const { + const auto file_name = std::string{"swept_frequency_controller_"} + + sanitize_file_component(target_) + "_sweep_" + + std::to_string(*update_count_) + ".csv"; + return std::filesystem::path{"/tmp"} / file_name; + } + + const std::string target_; + const bool sweep_enabled_; + const bool pid_enabled_; + const bool logarithmic_; + const double dc_offset_; + + const std::string control_torque_name_; + const std::string measured_torque_name_; + const std::string measured_velocity_name_; + const std::string measured_angle_name_; + + double start_freq_ = 0.0; + double end_freq_ = 0.0; + double sweep_duration_s_ = 0.0; + double amplitude_ = 0.0; + + InputInterface update_count_; + InputInterface timestamp_; + InputInterface switch_left_; + InputInterface switch_right_; + InputInterface measured_torque_; + InputInterface measured_velocity_; + InputInterface measured_angle_; + + OutputInterface control_torque_; + + pid::PidCalculator position_pid_; + pid::PidCalculator velocity_pid_; + double setpoint_ = 0.0; + + bool sweep_active_ = false; + Clock::time_point sweep_start_time_{}; + Clock::time_point next_flush_time_{}; + rmcs_utility::CsvWriter csv_writer_; + std::filesystem::path current_csv_path_; + + rmcs_msgs::Switch last_switch_left_ = rmcs_msgs::Switch::UNKNOWN; + rmcs_msgs::Switch last_switch_right_ = rmcs_msgs::Switch::UNKNOWN; +}; + +} // namespace rmcs_core::controller::identification + +PLUGINLIB_EXPORT_CLASS( + rmcs_core::controller::identification::SweptFrequencyController, rmcs_executor::Component) diff --git a/rmcs_ws/src/rmcs_core/src/referee/app/ui/auto_aim.cpp b/rmcs_ws/src/rmcs_core/src/referee/app/ui/auto_aim.cpp index b874a1655..3f206c909 100644 --- a/rmcs_ws/src/rmcs_core/src/referee/app/ui/auto_aim.cpp +++ b/rmcs_ws/src/rmcs_core/src/referee/app/ui/auto_aim.cpp @@ -1,6 +1,9 @@ #include #include +#include +#include #include +#include #include #include @@ -53,6 +56,23 @@ class AutoAimUi const auto color = *should_shoot_ ? Shape::Color::ORANGE : Shape::Color::GREEN; const auto radius = *should_shoot_ ? 10 : 15; + { + const auto distance = robot_center_->norm(); + if (!std::isfinite(distance)) { + target_distance_indicator_.set_visible(false); + return; + } + + auto& text = target_distance_text_; + text.resize(kMaxTextLength); + std::ranges::fill(text, ' '); + + std::format_to(std::ranges::begin(text), "{:.1f}m\0", distance); + + target_distance_indicator_.set_value(text.data()); + target_distance_indicator_.set_visible(true); + } + center_ring_.set_color(color); center_ring_.set_x(x); center_ring_.set_y(y); @@ -108,6 +128,7 @@ class AutoAimUi private: static constexpr std::uint16_t kScreenW = 1920; static constexpr std::uint16_t kScreenH = 1080; + static constexpr size_t kMaxTextLength = 30; static constexpr double kFx = 730.7267062695; static constexpr double kFy = 730.5886055073; @@ -132,12 +153,18 @@ class AutoAimUi Line cross_left_{Shape::Color::GREEN, 2, 0, 0, 0, 0, false}; Line cross_right_{Shape::Color::GREEN, 2, 0, 0, 0, 0, false}; + std::string target_distance_text_{"unknown"}; + Text target_distance_indicator_{ + Shape::Color::GREEN, 15, 2, kScreenW / 2 + 34, kScreenH / 2 + 24, "unknown", false, + }; + void hide_all() { center_ring_.set_visible(false); cross_top_.set_visible(false); cross_bottom_.set_visible(false); cross_left_.set_visible(false); cross_right_.set_visible(false); + target_distance_indicator_.set_visible(false); } Eigen::Vector2d reproject(const Eigen::Vector3d& center) const { diff --git a/rmcs_ws/src/rmcs_core/src/referee/app/ui/deformable_infantry_ui.cpp b/rmcs_ws/src/rmcs_core/src/referee/app/ui/deformable_infantry_ui.cpp index 2be69d868..b5e7640e1 100644 --- a/rmcs_ws/src/rmcs_core/src/referee/app/ui/deformable_infantry_ui.cpp +++ b/rmcs_ws/src/rmcs_core/src/referee/app/ui/deformable_infantry_ui.cpp @@ -1,15 +1,20 @@ #include #include +#include #include #include +#include +#include #include #include #include #include +#include #include #include "referee/app/ui/shape/shape.hpp" +#include "referee/app/ui/widget/animated_toggle.hpp" #include "referee/app/ui/widget/crosshair_circle.hpp" #include "referee/app/ui/widget/deformable_chassis_top_view.hpp" #include "referee/app/ui/widget/status_ring.hpp" @@ -26,13 +31,16 @@ class DeformableInfantry get_component_name(), rclcpp::NodeOptions{}.automatically_declare_parameters_from_overrides(true)} , crosshair_circle_(Shape::Color::WHITE, x_center - 2, y_center - 30, 8, 2) - , status_ring_(26.5, 26.5, 600, 300) + , status_ring_(24.0, 26.5, 600, 300) , horizontal_center_guidelines_( {Shape::Color::WHITE, 2, x_center - 360, y_center, x_center - 110, y_center}, {Shape::Color::WHITE, 2, x_center + 110, y_center, x_center + 360, y_center}) , vertical_center_guidelines_( {Shape::Color::WHITE, 2, x_center, 800, x_center, y_center + 110}, {Shape::Color::WHITE, 2, x_center, y_center - 110, x_center, 200}) + , friction_wheel_speed_indicator_( + Shape::Color::PINK, friction_wheel_speed_indicator_font_size_, 2, 0, + friction_wheel_speed_indicator_y(), 0) , chassis_direction_indicator_(Shape::Color::PINK, 8, x_center, y_center, 0, 0, 84, 84) , time_reminder_(Shape::Color::PINK, 50, 5, x_center + 150, y_center + 65, 0, false) { @@ -47,55 +55,79 @@ class DeformableInfantry deformable_chassis_leg_arcs_.set_angle_range( deformable_leg_min_angle_deg, deformable_leg_max_angle_deg); + register_input("/predefined/timestamp", timestamp_); register_input("/chassis/control_mode", chassis_mode_); + register_input("/chassis/active_suspension/active", active_suspension_active_); register_input("/chassis/angle", chassis_angle_); - register_input("/chassis/supercap/voltage", supercap_voltage_); register_input("/chassis/supercap/enabled", supercap_enabled_); register_input("/chassis/voltage", chassis_voltage_); - register_input("/chassis/left_front_wheel/velocity", left_front_velocity_); - register_input("/chassis/left_back_wheel/velocity", left_back_velocity_); - register_input("/chassis/right_back_wheel/velocity", right_back_velocity_); - register_input("/chassis/right_front_wheel/velocity", right_front_velocity_); - - register_input( - "/chassis/left_front_joint/physical_angle", left_front_joint_physical_angle_, false); - register_input( - "/chassis/left_back_joint/physical_angle", left_back_joint_physical_angle_, false); - register_input( - "/chassis/right_back_joint/physical_angle", right_back_joint_physical_angle_, false); - register_input( - "/chassis/right_front_joint/physical_angle", right_front_joint_physical_angle_, false); + for (size_t i = 0; i < kJointCount; ++i) { + register_input( + fmt::format("/chassis/{}_joint/physical_angle", kJointName[i]), + joint_physical_angle_[i], false); + } register_input("/referee/shooter/bullet_allowance", robot_bullet_allowance_); + register_input("/gimbal/left_friction/working_velocity", left_friction_working_velocity_); register_input("/gimbal/left_friction/control_velocity", left_friction_control_velocity_); register_input("/gimbal/left_friction/velocity", left_friction_velocity_); register_input("/gimbal/right_friction/velocity", right_friction_velocity_); register_input("/remote/mouse", mouse_); + register_input("/remote/keyboard", keyboard_); register_input("/referee/game/stage", game_stage_); + + friction_wheel_speed_indicator_.set_center_x(friction_wheel_speed_indicator_center_x()); + + crosshair_base_x_ = crosshair_circle_.x(); + crosshair_base_y_ = crosshair_circle_.y(); + ctrl_transition_.reset(false); } void update() override { update_chassis_direction_indicator(); update_deformable_chassis_leg_arcs(); + update_ctrl_ui(); status_ring_.update_bullet_allowance(*robot_bullet_allowance_); - status_ring_.update_friction_wheel_speed( - std::min(*left_friction_velocity_, *right_friction_velocity_), - *left_friction_control_velocity_ > 0); - status_ring_.update_supercap(*supercap_voltage_, *supercap_enabled_); + const double friction_wheel_speed = + std::min(*left_friction_velocity_, *right_friction_velocity_); + const bool friction_wheel_enabled = *left_friction_control_velocity_ > 0; + const auto friction_wheel_speed_value = + static_cast(std::lround(*left_friction_working_velocity_)); + status_ring_.update_friction_wheel_speed(friction_wheel_speed, friction_wheel_enabled); + if (friction_wheel_speed_indicator_.value() != friction_wheel_speed_value) { + friction_wheel_speed_indicator_.set_value(friction_wheel_speed_value); + friction_wheel_speed_indicator_.set_center_x(friction_wheel_speed_indicator_center_x()); + } + friction_wheel_speed_indicator_.set_color( + friction_wheel_enabled ? Shape::Color::GREEN : Shape::Color::PINK); + status_ring_.update_supercap_energy( + *supercap_voltage_, *supercap_enabled_, supercap_cutoff_voltage); status_ring_.update_battery_power(*chassis_voltage_); status_ring_.update_auto_aim_enable(mouse_->right == 1); } private: + void update_ctrl_ui() { + const bool ctrl_active = keyboard_.ready() && keyboard_->ctrl; + const double reveal = ctrl_transition_.update(*timestamp_, ctrl_active); + + crosshair_circle_.set_x( + static_cast( + std::lround(static_cast(crosshair_base_x_) + 45.0 * reveal))); + crosshair_circle_.set_y( + static_cast( + std::lround(static_cast(crosshair_base_y_) + 20.0 * reveal))); + } + void update_time_reminder() { if (!game_stage_.ready()) return; @@ -104,44 +136,62 @@ class DeformableInfantry void update_chassis_direction_indicator() { auto chassis_mode = *chassis_mode_; - auto to_referee_angle = [](double angle) { - return static_cast( - std::round((2 * std::numbers::pi - angle) / std::numbers::pi * 180)); - }; chassis_direction_indicator_.set_color(chassis_direction_indicator_color(chassis_mode)); - chassis_direction_indicator_.set_angle(to_referee_angle(*chassis_angle_), 30); + chassis_direction_indicator_.set_angle(0, 30); } static Shape::Color chassis_direction_indicator_color(rmcs_msgs::ChassisMode mode) { switch (mode) { - case rmcs_msgs::ChassisMode::SPIN: return Shape::Color::GREEN; + case rmcs_msgs::ChassisMode::SPIN_FAST: return Shape::Color::GREEN; case rmcs_msgs::ChassisMode::AUTO: return Shape::Color::CYAN; - case rmcs_msgs::ChassisMode::STEP_DOWN: return Shape::Color::WHITE; - default: return Shape::Color::PINK; + case rmcs_msgs::ChassisMode::STEP_DOWN: return Shape::Color::PINK; + default: return Shape::Color::WHITE; } } void update_deformable_chassis_leg_arcs() { - if (!left_front_joint_physical_angle_.ready() || !left_back_joint_physical_angle_.ready() - || !right_back_joint_physical_angle_.ready() - || !right_front_joint_physical_angle_.ready()) { + if (!std::all_of( + joint_physical_angle_.begin(), joint_physical_angle_.end(), + [](const auto& j) { return j.ready(); })) { deformable_chassis_leg_arcs_.set_visible(false); return; } - const std::array leg_angles = { - *left_front_joint_physical_angle_, - *left_back_joint_physical_angle_, - *right_back_joint_physical_angle_, - *right_front_joint_physical_angle_, - }; - deformable_chassis_leg_arcs_.update(*chassis_angle_, leg_angles); + if (!chassis_angle_.ready()) { + deformable_chassis_leg_arcs_.set_visible(false); + return; + } + + std::array leg_angles; + for (size_t i = 0; i < kJointCount; ++i) + leg_angles[i] = *joint_physical_angle_[i]; + deformable_chassis_leg_arcs_.update( + *chassis_angle_, leg_angles, + active_suspension_active_.ready() && *active_suspension_active_); } static constexpr uint16_t screen_width = 1920, screen_height = 1080; static constexpr uint16_t x_center = screen_width / 2, y_center = screen_height / 2; + static constexpr double friction_wheel_speed_indicator_radius_ = 430.0; + static constexpr uint16_t friction_wheel_speed_indicator_font_size_ = 20; + static constexpr double supercap_cutoff_voltage = 8.0; + + static uint16_t friction_wheel_speed_indicator_center_x() { + return static_cast(std::lround( + static_cast(x_center) + + friction_wheel_speed_indicator_radius_ / std::numbers::sqrt2)); + } + static uint16_t friction_wheel_speed_indicator_y() { + return static_cast(std::lround( + static_cast(y_center) + + friction_wheel_speed_indicator_radius_ / std::numbers::sqrt2 + - static_cast(friction_wheel_speed_indicator_font_size_) / 2.0)); + } + + InputInterface timestamp_; InputInterface chassis_mode_; + InputInterface active_suspension_active_; InputInterface chassis_angle_; InputInterface supercap_voltage_; @@ -149,18 +199,25 @@ class DeformableInfantry InputInterface chassis_voltage_; - InputInterface left_front_velocity_, left_back_velocity_, right_back_velocity_, - right_front_velocity_; - InputInterface left_front_joint_physical_angle_, left_back_joint_physical_angle_, - right_back_joint_physical_angle_, right_front_joint_physical_angle_; + static constexpr size_t kJointCount = 4; + static constexpr const char* kJointName[] = { + "left_front", + "left_back", + "right_back", + "right_front", + }; + + std::array, kJointCount> joint_physical_angle_; InputInterface robot_bullet_allowance_; + InputInterface left_friction_working_velocity_; InputInterface left_friction_control_velocity_; InputInterface left_friction_velocity_; InputInterface right_friction_velocity_; InputInterface mouse_; + InputInterface keyboard_; InputInterface game_stage_; @@ -169,10 +226,15 @@ class DeformableInfantry Line horizontal_center_guidelines_[2]; Line vertical_center_guidelines_[2]; + Integer friction_wheel_speed_indicator_; Arc chassis_direction_indicator_; DeformableChassisLegArcs deformable_chassis_leg_arcs_; + AnimatedToggle ctrl_transition_{}; + uint16_t crosshair_base_x_ = 0; + uint16_t crosshair_base_y_ = 0; + Integer time_reminder_; }; diff --git a/rmcs_ws/src/rmcs_core/src/referee/app/ui/hero.cpp b/rmcs_ws/src/rmcs_core/src/referee/app/ui/hero.cpp index 0bac8649f..6fe24a0c1 100644 --- a/rmcs_ws/src/rmcs_core/src/referee/app/ui/hero.cpp +++ b/rmcs_ws/src/rmcs_core/src/referee/app/ui/hero.cpp @@ -42,23 +42,20 @@ class Hero , bottom_yaw_angle_number_( Shape::Color::YELLOW, 20, 5, x_center + 270, y_center - 65, 0.0, false) , time_reminder_(Shape::Color::PINK, 50, 5, x_center + 150, y_center + 65, 0, false) - // , bullet_allowance_label_( - // Shape::Color::YELLOW, 18, 3, x_center - 300, y_center + 270, "bullet", false) - // , bullet_allowance_number_( - // Shape::Color::YELLOW, 20, 5, x_center - 170, y_center + 270, 0, false) , bullet_allowance_number_( Shape::Color::YELLOW, 20, 5, x_center - 220, y_center + 270, 0, false) , friction_profile_number_( Shape::Color::GREEN, friction_profile_number_font_size, 5, 0, 0, 12, false) , friction_profile_indicator_{Line(Shape::Color::WHITE, friction_profile_box_line_width, 0, 0, 0, 0, false), Line(Shape::Color::WHITE, friction_profile_box_line_width, 0, 0, 0, 0, false), Line(Shape::Color::WHITE, friction_profile_box_line_width, 0, 0, 0, 0, false), Line(Shape::Color::WHITE, friction_profile_box_line_width, 0, 0, 0, 0, true)} - , center_green_line_( - Shape::Color::GREEN, green_line_width, x_center - green_line_half_length, - y_center - green_line_offset_y, x_center + green_line_half_length, - y_center - green_line_offset_y, true) - , tracking_pink_line_( - Shape::Color::PINK, pink_line_width, x_center - pink_line_half_length, - y_center + pink_line_offset_y, x_center + pink_line_half_length, - y_center + pink_line_offset_y, false) { + // , center_green_line_( + // Shape::Color::GREEN, green_line_width, x_center - green_line_half_length, + // y_center - green_line_offset_y, x_center + green_line_half_length, + // y_center - green_line_offset_y, true) + // , tracking_pink_line_( + // Shape::Color::PINK, pink_line_width, x_center - pink_line_half_length, + // y_center + pink_line_offset_y, x_center + pink_line_half_length, + // y_center + pink_line_offset_y, false) + { chassis_control_direction_indicator_.set_x(x_center); chassis_control_direction_indicator_.set_y(y_center); @@ -83,9 +80,9 @@ class Hero register_input("/gimbal/control_bullet_allowance/limited_by_heat", robot_bullet_allowance_); register_input( - "/gimbal/first_left_friction/control_velocity", left_friction_control_velocity_); - register_input("/gimbal/first_left_friction/velocity", left_friction_velocity_); - register_input("/gimbal/first_right_friction/velocity", right_friction_velocity_); + "/gimbal/first_back_friction/control_velocity", back_friction_control_velocity_); + register_input("/gimbal/first_back_friction/velocity", back_friction_velocity_); + register_input("/gimbal/first_front_friction/velocity", front_friction_velocity_); register_input("/gimbal/friction_profile_1_active", friction_profile_1_active_, false); // register_input("/gimbal/yaw/angle", gimbal_yaw_angle_); @@ -96,25 +93,18 @@ class Hero register_input("/gimbal/bottom_yaw/raw_angle", bottom_yaw_raw_angle_); // register_input("/gimbal/auto_aim/laser_distance", laser_distance_); - register_input("/gimbal/shooter/condiction", shoot_condiction_); - - register_input("/gimbal/shooter/mode", shoot_mode_); + register_input("/gimbal/shooter/preloaded_ready", shooter_preloaded_ready_, false); // register_input("/gimbal/scope/active", is_scope_active_); register_input("/remote/mouse", mouse_); register_input("/referee/game/stage", game_stage_); - - // register_input("/gimbal/auto_aim/fire_control", auto_aim_fire_control_, false); - // register_input("/gimbal/auto_aim/target_confidence", auto_aim_target_confidence_, false); } void update() override { update_normal_ui(); - // update_bullet_allowance(); // update_sniper_ui(); - // update_state_word(); // if (*is_scope_active_) { // set_normal_ui_visible(false); @@ -144,11 +134,10 @@ class Hero yaw_angle_number_.set_visible(value); pitch_angle_number_.set_visible(value); bottom_yaw_angle_number_.set_visible(value); - // bullet_allowance_label_.set_visible(value); bullet_allowance_number_.set_visible(value); friction_profile_number_.set_visible(value); - center_green_line_.set_visible(value); - tracking_pink_line_.set_visible(value); + // center_green_line_.set_visible(value); + // tracking_pink_line_.set_visible(value); const bool show_friction_profile_box = value && friction_profile_1_active_.ready() && *friction_profile_1_active_; @@ -164,10 +153,14 @@ class Hero pitch_angle_number_.set_value(static_cast(*gimbal_pitch_raw_angle_)); update_pitch_raw_angle_color(); bottom_yaw_angle_number_.set_value(static_cast(*bottom_yaw_raw_angle_)); - update_bottom_yaw_tracking_lines(); + // update_bottom_yaw_tracking_lines(); const int32_t bullet_allowance = static_cast(std::max(0, *robot_bullet_allowance_)); bullet_allowance_number_.set_value(bullet_allowance); + const bool shooter_preloaded_ready = + shooter_preloaded_ready_.ready() && *shooter_preloaded_ready_; + bullet_allowance_number_.set_color( + shooter_preloaded_ready ? Shape::Color::GREEN : Shape::Color::PINK); const uint16_t yaw_right = yaw_raw_angle_x @@ -217,16 +210,10 @@ class Hero friction_profile_indicator_[3].set_x2(box_left); friction_profile_indicator_[3].set_y2(box_bottom); status_ring_.update_friction_wheel_speed( - std::min(*left_friction_velocity_, *right_friction_velocity_), - *left_friction_control_velocity_ > 0); + std::min(*back_friction_velocity_, *front_friction_velocity_), + *back_friction_control_velocity_ > 0); status_ring_.update_supercap(*supercap_voltage_, true); status_ring_.update_battery_power(*chassis_voltage_); - // const bool auto_aim_locked = auto_aim_fire_control_.ready() && *auto_aim_fire_control_; - // const double target_confidence_value = - // auto_aim_target_confidence_.ready() ? *auto_aim_target_confidence_ : 0.0; - - // status_ring_.update_auto_aim_feedback(auto_aim_locked, target_confidence_value); - // update_static_status_ring(); last_keyboard_ = *keyboard_; } @@ -317,50 +304,6 @@ class Hero return; } - void update_static_status_ring() { - auto auto_aim_enable = mouse_->right == 1; - auto precise_enable = *shoot_mode_ == rmcs_msgs::ShootMode::PRECISE; - - status_ring_.update_static_parts({auto_aim_enable, precise_enable}); - } - - // void update_bullet_allowance() { - - // std::string text = "BULLET : " + std::to_string(max(0,*robot_bullet_allowance_)); - // char* allow = text.data(); - // auto color = Shape::Color::YELLOW; - - // bullet_allowance_number_.set_value(allow); - // bullet_allowance_number_.set_font_size(14); - // bullet_allowance_number_.set_color(color); - // bullet_allowance_number_.set_visible(true); - // bullet_allowance_number_.set_xy(x_center - 240, y_center + 288); - // } - - void update_state_word() { - - const char* text = "OK"; - auto color = Shape::Color::GREEN; - - if (*shoot_condiction_ == rmcs_msgs::ShootCondiction::FRICTION_WAITING) { - text = " WAITING "; - } else if (*shoot_condiction_ == rmcs_msgs::ShootCondiction::SHOOT) { - text = " SHOOT "; - } else if (*shoot_condiction_ == rmcs_msgs::ShootCondiction::FIRED) { - text = " FIRED "; - } else if (*shoot_condiction_ == rmcs_msgs::ShootCondiction::JAM) { - text = " JAM "; - } else if (*shoot_condiction_ == rmcs_msgs::ShootCondiction::PRELOADING) { - text = "PRELOADING"; - } - - state_word_.set_value(text); - state_word_.set_font_size(30); - state_word_.set_color(color); - state_word_.set_visible(true); - state_word_.set_xy(x_center - 800, y_center + 200); - } - void update_chassis_direction_indicator() { auto chassis_mode = *chassis_mode_; @@ -375,7 +318,7 @@ class Hero return static_cast(degrees); }; // chassis_direction_indicator_.set_color( - // chassis_mode == rmcs_msgs::ChassisMode::SPIN ? Shape::Color::GREEN + // chassis_mode == rmcs_msgs::ChassisMode::SPIN_FAST ? Shape::Color::GREEN // : Shape::Color::PINK); // chassis_direction_indicator_.set_angle(to_referee_angle(*chassis_angle_), 30); const bool left_track_active = @@ -475,9 +418,9 @@ class Hero InputInterface robot_bullet_allowance_; - InputInterface left_friction_control_velocity_; - InputInterface left_friction_velocity_; - InputInterface right_friction_velocity_; + InputInterface back_friction_control_velocity_; + InputInterface back_friction_velocity_; + InputInterface front_friction_velocity_; InputInterface friction_profile_1_active_; InputInterface mouse_; @@ -493,8 +436,7 @@ class Hero InputInterface bottom_yaw_angle_; // InputInterface laser_distance_; - InputInterface shoot_mode_; - InputInterface shoot_condiction_; + InputInterface shooter_preloaded_ready_; // InputInterface is_scope_active_; StatusRing status_ring_; @@ -511,7 +453,6 @@ class Hero Text state_word_; Integer time_reminder_; - // Text bullet_allowance_label_; Integer bullet_allowance_number_; Integer friction_profile_number_; Line friction_profile_indicator_[4]; @@ -520,9 +461,6 @@ class Hero bool bottom_yaw_tracking_enabled_ = false; double bottom_yaw_anchor_angle_rad_ = 0.0; - - // InputInterface auto_aim_fire_control_; - // InputInterface auto_aim_target_confidence_; }; } // namespace rmcs_core::referee::app::ui diff --git a/rmcs_ws/src/rmcs_core/src/referee/app/ui/infantry.cpp b/rmcs_ws/src/rmcs_core/src/referee/app/ui/infantry.cpp index a28dc60e2..f284b57a1 100644 --- a/rmcs_ws/src/rmcs_core/src/referee/app/ui/infantry.cpp +++ b/rmcs_ws/src/rmcs_core/src/referee/app/ui/infantry.cpp @@ -106,7 +106,7 @@ class Infantry std::round((2 * std::numbers::pi - angle) / std::numbers::pi * 180)); }; chassis_direction_indicator_.set_color( - chassis_mode == rmcs_msgs::ChassisMode::SPIN ? Shape::Color::GREEN + chassis_mode == rmcs_msgs::ChassisMode::SPIN_FAST ? Shape::Color::GREEN : Shape::Color::PINK); chassis_direction_indicator_.set_angle(to_referee_angle(*chassis_angle_), 30); @@ -181,4 +181,4 @@ class Infantry #include -PLUGINLIB_EXPORT_CLASS(rmcs_core::referee::app::ui::Infantry, rmcs_executor::Component) \ No newline at end of file +PLUGINLIB_EXPORT_CLASS(rmcs_core::referee::app::ui::Infantry, rmcs_executor::Component) diff --git a/rmcs_ws/src/rmcs_core/src/referee/app/ui/shape/shape.hpp b/rmcs_ws/src/rmcs_core/src/referee/app/ui/shape/shape.hpp index 37be26aeb..a0bb9b3b1 100644 --- a/rmcs_ws/src/rmcs_core/src/referee/app/ui/shape/shape.hpp +++ b/rmcs_ws/src/rmcs_core/src/referee/app/ui/shape/shape.hpp @@ -750,8 +750,6 @@ class Text : public Shape { const char* value() const { return value_; } void set_value(const char* value) { - if (value_ == value) - return; value_ = value; set_modified(); } diff --git a/rmcs_ws/src/rmcs_core/src/referee/app/ui/widget/animated_toggle.hpp b/rmcs_ws/src/rmcs_core/src/referee/app/ui/widget/animated_toggle.hpp new file mode 100644 index 000000000..e61edbeed --- /dev/null +++ b/rmcs_ws/src/rmcs_core/src/referee/app/ui/widget/animated_toggle.hpp @@ -0,0 +1,75 @@ +#pragma once + +#include +#include +#include + +namespace rmcs_core::referee::app::ui { + +class AnimatedToggle { +public: + using Clock = std::chrono::steady_clock; + + explicit AnimatedToggle( + std::chrono::duration duration = std::chrono::duration{0.5}) + : duration_(duration) {} + + void set_duration(std::chrono::duration duration) { + duration_ = std::max(duration, std::chrono::duration{0.0}); + } + + void reset(bool active) { + initialized_ = false; + value_ = active ? 1.0 : 0.0; + target_ = active; + } + + double update(Clock::time_point now, bool active) { + if (!initialized_) { + initialized_ = true; + start_time_ = now; + start_value_ = active ? 1.0 : 0.0; + end_value_ = start_value_; + value_ = start_value_; + target_ = active; + return value_; + } + + if (active != target_) { + target_ = active; + start_value_ = value_; + end_value_ = active ? 1.0 : 0.0; + start_time_ = now; + } + + if (duration_.count() <= 0.0) { + value_ = end_value_; + return value_; + } + + const double elapsed = std::chrono::duration{now - start_time_}.count(); + const double t = std::clamp(elapsed / duration_.count(), 0.0, 1.0); + value_ = std::lerp(start_value_, end_value_, ease_in_out_cubic_(t)); + return value_; + } + + double value() const { return value_; } + +private: + static double ease_in_out_cubic_(double t) { + t = std::clamp(t, 0.0, 1.0); + if (t < 0.5) + return 4.0 * t * t * t; + return 1.0 - std::pow(-2.0 * t + 2.0, 3.0) / 2.0; + } + + std::chrono::duration duration_; + Clock::time_point start_time_{}; + double start_value_ = 0.0; + double end_value_ = 0.0; + double value_ = 0.0; + bool initialized_ = false; + bool target_ = false; +}; + +} // namespace rmcs_core::referee::app::ui diff --git a/rmcs_ws/src/rmcs_core/src/referee/app/ui/widget/crosshair_circle.hpp b/rmcs_ws/src/rmcs_core/src/referee/app/ui/widget/crosshair_circle.hpp index 6b5bee863..a45a58c46 100644 --- a/rmcs_ws/src/rmcs_core/src/referee/app/ui/widget/crosshair_circle.hpp +++ b/rmcs_ws/src/rmcs_core/src/referee/app/ui/widget/crosshair_circle.hpp @@ -14,8 +14,13 @@ class CrossHairCircle { : circle_(color, width, x, y, r, r, visible) {} void set_visible(bool value) { circle_.set_visible(value); } + void set_color(Shape::Color color) { circle_.set_color(color); } void set_r(uint16_t r) { circle_.set_r(r); } void set_width(uint16_t width) { circle_.set_width(width); } + void set_x(uint16_t x) { circle_.set_x(x); } + void set_y(uint16_t y) { circle_.set_y(y); } + uint16_t x() const { return circle_.x(); } + uint16_t y() const { return circle_.y(); } private: Circle circle_; diff --git a/rmcs_ws/src/rmcs_core/src/referee/app/ui/widget/deformable_chassis_top_view.hpp b/rmcs_ws/src/rmcs_core/src/referee/app/ui/widget/deformable_chassis_top_view.hpp index 8caef5fff..dc21216b5 100644 --- a/rmcs_ws/src/rmcs_core/src/referee/app/ui/widget/deformable_chassis_top_view.hpp +++ b/rmcs_ws/src/rmcs_core/src/referee/app/ui/widget/deformable_chassis_top_view.hpp @@ -21,7 +21,8 @@ class DeformableChassisLegArcs { std::swap(min_angle_rad_, max_angle_rad_); } - void update(double chassis_angle, const std::array& leg_angles) { + void update( + double chassis_angle, const std::array& leg_angles, bool active_suspension) { if (!valid_angle_range_()) { set_visible(false); return; @@ -36,7 +37,7 @@ class DeformableChassisLegArcs { last_leg_angles_[i] = leg_angles[i]; update_leg_( legs_[i], last_chassis_angle_ + leg_base_mid_angles_[i], leg_radii_near_[i], - leg_radii_far_[i], last_leg_angles_[i]); + leg_radii_far_[i], last_leg_angles_[i], active_suspension); } } @@ -50,9 +51,9 @@ class DeformableChassisLegArcs { static constexpr uint16_t center_y_ = 1080 / 2; static constexpr uint16_t front_leg_radius_near_ = 102; - static constexpr uint16_t rear_leg_radius_near_ = 112; + static constexpr uint16_t rear_leg_radius_near_ = 102; static constexpr uint16_t front_leg_radius_far_ = 132; - static constexpr uint16_t rear_leg_radius_far_ = 142; + static constexpr uint16_t rear_leg_radius_far_ = 132; static constexpr uint16_t prone_leg_width_ = 6; static constexpr uint16_t upright_leg_width_ = 16; @@ -106,17 +107,13 @@ class DeformableChassisLegArcs { (leg_angle - min_angle_rad_) / (max_angle_rad_ - min_angle_rad_), 0.0, 1.0); } - static Shape::Color leg_color_(double normalized_extension) { - if (normalized_extension < 1.0 / 3.0) - return Shape::Color::ORANGE; - if (normalized_extension < 2.0 / 3.0) - return Shape::Color::YELLOW; - return Shape::Color::WHITE; + static Shape::Color leg_color_(bool active_suspension) { + return active_suspension ? Shape::Color::YELLOW : Shape::Color::WHITE; } void update_leg_( - Arc& leg, double body_angle, uint16_t near_radius, uint16_t far_radius, - double leg_angle) const { + Arc& leg, double body_angle, uint16_t near_radius, uint16_t far_radius, double leg_angle, + bool active_suspension) const { const double normalized_extension = normalized_leg_extension_(leg_angle); // Min angle looks like a thin leg stretching radially outward from the center ring. const uint16_t radius = static_cast( @@ -131,7 +128,7 @@ class DeformableChassisLegArcs { leg.set_y(center_y_); leg.set_r(radius); leg.set_width(width); - leg.set_color(leg_color_(normalized_extension)); + leg.set_color(leg_color_(active_suspension)); leg.set_angle(to_referee_angle_(body_angle), half_angle); } diff --git a/rmcs_ws/src/rmcs_core/src/referee/app/ui/widget/status_ring.hpp b/rmcs_ws/src/rmcs_core/src/referee/app/ui/widget/status_ring.hpp index c45eaf932..8a9d573d1 100644 --- a/rmcs_ws/src/rmcs_core/src/referee/app/ui/widget/status_ring.hpp +++ b/rmcs_ws/src/rmcs_core/src/referee/app/ui/widget/status_ring.hpp @@ -249,10 +249,23 @@ class StatusRing { } void update_supercap(double value, bool enable) { - auto angle = 275 + calculate_angle(value, 10.5, supercap_limit_) + 1; + auto angle = 275 + calculate_angle(value, 8.0, supercap_limit_) + 1; supercap_status_.set_angle_end(static_cast(angle)); - if (value > 22.6) { + if (value > 20.0) { + supercap_status_.set_color(enable ? Shape::Color::CYAN : Shape::Color::GREEN); + } else if (value > 13.5) { + supercap_status_.set_color(enable ? Shape::Color::YELLOW : Shape::Color::ORANGE); + } else { + supercap_status_.set_color(enable ? Shape::Color::PURPLE : Shape::Color::PINK); + } + } + + void update_supercap_energy(double value, bool enable, double cutoff_voltage) { + auto angle = 275 + calculate_energy_angle(value, cutoff_voltage, supercap_limit_) + 1; + supercap_status_.set_angle_end(static_cast(angle)); + + if (value > 20.0) { supercap_status_.set_color(enable ? Shape::Color::CYAN : Shape::Color::GREEN); } else if (value > 13.5) { supercap_status_.set_color(enable ? Shape::Color::YELLOW : Shape::Color::ORANGE); @@ -308,6 +321,14 @@ class StatusRing { return visible_angle * std::clamp(value - min, 0.0, max - min) / (max - min); } + static constexpr double + calculate_energy_angle(double value, double cutoff_voltage, double full_voltage) { + const double clamped_value = std::clamp(value, cutoff_voltage, full_voltage); + const double numerator = clamped_value * clamped_value - cutoff_voltage * cutoff_voltage; + const double denominator = full_voltage * full_voltage - cutoff_voltage * cutoff_voltage; + return visible_angle * numerator / denominator; + } + void set_limits( double supercap_limit, double battery_limit, double friction_limit, int16_t bullet_limit) { supercap_limit_ = supercap_limit; diff --git a/rmcs_ws/src/rmcs_msgs/include/rmcs_msgs/chassis_mode.hpp b/rmcs_ws/src/rmcs_msgs/include/rmcs_msgs/chassis_mode.hpp index 92d391b59..182b95cc7 100644 --- a/rmcs_ws/src/rmcs_msgs/include/rmcs_msgs/chassis_mode.hpp +++ b/rmcs_ws/src/rmcs_msgs/include/rmcs_msgs/chassis_mode.hpp @@ -5,10 +5,17 @@ namespace rmcs_msgs { enum class ChassisMode : uint8_t { - AUTO = 0, - SPIN = 1, - STEP_DOWN = 2, - LAUNCH_RAMP = 3, + AUTO, + SPIN_SLOW, + SPIN_FAST, + STEP_DOWN, + LAUNCH_RAMP, + ALIGNMENT, + ALIGNMENT_POWERED, }; -} // namespace rmcs_msgs \ No newline at end of file +constexpr auto need_power(ChassisMode mode) noexcept { + return mode == ChassisMode::ALIGNMENT_POWERED || mode == ChassisMode::LAUNCH_RAMP; +} + +} // namespace rmcs_msgs diff --git a/rmcs_ws/src/rmcs_msgs/include/rmcs_msgs/rmcs_msgs.hpp b/rmcs_ws/src/rmcs_msgs/include/rmcs_msgs/rmcs_msgs.hpp index b2ec7c371..b30d59be4 100644 --- a/rmcs_ws/src/rmcs_msgs/include/rmcs_msgs/rmcs_msgs.hpp +++ b/rmcs_ws/src/rmcs_msgs/include/rmcs_msgs/rmcs_msgs.hpp @@ -43,9 +43,12 @@ constexpr auto to_string(GameStage stage) noexcept -> const char* { constexpr auto to_string(ChassisMode mode) noexcept -> const char* { switch (mode) { case ChassisMode::AUTO: return "AUTO"; - case ChassisMode::SPIN: return "SPIN"; + case ChassisMode::SPIN_FAST: return "SPIN_FAST"; case ChassisMode::STEP_DOWN: return "STEP_DOWN"; case ChassisMode::LAUNCH_RAMP: return "LAUNCH_RAMP"; + case ChassisMode::SPIN_SLOW: return "SPIN_SLOW"; + case ChassisMode::ALIGNMENT: return "ALIGNMENT"; + case ChassisMode::ALIGNMENT_POWERED: return "ALIGNMENT_POWERED"; } return "INVALID"; } diff --git a/rmcs_ws/src/rmcs_utility/include/rmcs_utility/csv_writer.hpp b/rmcs_ws/src/rmcs_utility/include/rmcs_utility/csv_writer.hpp new file mode 100644 index 000000000..137488989 --- /dev/null +++ b/rmcs_ws/src/rmcs_utility/include/rmcs_utility/csv_writer.hpp @@ -0,0 +1,106 @@ +#pragma once + +#include +#include +#include +#include +#include + +namespace rmcs_utility { + +class CsvWriter { +public: + CsvWriter() = default; + explicit CsvWriter(const std::filesystem::path& path) { open(path); } + + CsvWriter(const CsvWriter&) = delete; + CsvWriter& operator=(const CsvWriter&) = delete; + CsvWriter(CsvWriter&&) = delete; + CsvWriter& operator=(CsvWriter&&) = delete; + + ~CsvWriter() { close(); } + + void open(const std::filesystem::path& path) { + close(); + + if (!path.parent_path().empty()) + std::filesystem::create_directories(path.parent_path()); + + stream_.open(path, std::ios::out | std::ios::trunc); + if (!stream_.is_open()) + throw std::runtime_error("Failed to open csv file: " + path.string()); + + path_ = path; + } + + [[nodiscard]] bool is_open() const { return stream_.is_open(); } + + const std::filesystem::path& path() const { return path_; } + + void flush() { + if (stream_.is_open()) + stream_.flush(); + } + + void close() { + if (stream_.is_open()) { + stream_.flush(); + stream_.close(); + } + path_.clear(); + } + + template + void write_row(const Values&... values) { + ensure_open(); + + bool first = true; + (write_field(first, values), ...); + stream_ << '\n'; + } + +private: + void ensure_open() const { + if (!stream_.is_open()) + throw std::runtime_error("CsvWriter is not open"); + } + + template + void write_field(bool& first, const T& value) { + if (!first) + stream_ << ','; + first = false; + write_value(value); + } + + void write_value(std::string_view value) { + if (value.find_first_of(",\"\r\n") == std::string_view::npos) { + stream_ << value; + return; + } + + stream_ << '"'; + for (const char ch : value) { + if (ch == '"') + stream_ << "\"\""; + else + stream_ << ch; + } + stream_ << '"'; + } + + void write_value(const std::string& value) { write_value(std::string_view{value}); } + void write_value(const char* value) { + write_value(value == nullptr ? std::string_view{} : std::string_view{value}); + } + + template + void write_value(const T& value) { + stream_ << value; + } + + std::ofstream stream_; + std::filesystem::path path_; +}; + +} // namespace rmcs_utility \ No newline at end of file diff --git a/rmcs_ws/src/rmcs_utility/include/rmcs_utility/rclcpp/node_mixin.hpp b/rmcs_ws/src/rmcs_utility/include/rmcs_utility/rclcpp/node_mixin.hpp new file mode 100644 index 000000000..0a0369976 --- /dev/null +++ b/rmcs_ws/src/rmcs_utility/include/rmcs_utility/rclcpp/node_mixin.hpp @@ -0,0 +1,44 @@ +#pragma once +#include + +namespace rmcs_utility { + +struct NodeMixin { + using node = NodeMixin; + + template + auto info(this const Self& self, std::format_string fmt, Args&&... args) -> void { + auto text = std::format(fmt, std::forward(args)...); + RCLCPP_INFO(self.get_logger(), "%s", text.c_str()); + } + + template + auto warn(this const Self& self, std::format_string fmt, Args&&... args) -> void { + auto text = std::format(fmt, std::forward(args)...); + RCLCPP_WARN(self.get_logger(), "%s", text.c_str()); + } + + template + auto error(this const Self& self, std::format_string fmt, Args&&... args) -> void { + auto text = std::format(fmt, std::forward(args)...); + RCLCPP_ERROR(self.get_logger(), "%s", text.c_str()); + } + + template + auto param(this const auto& self, const std::string& name, T& dst) { + if (self.has_parameter(name)) { + dst = self.template get_parameter_or(name, T{}); + return; + } + + self.error("param [ {} ] for {} is needed", name, self.get_name()); + throw std::runtime_error{"lack of param"}; + } + template + auto param_or(this const auto& self, const std::string& name, T1& dst, const T2& fallback) + requires std::convertible_to { + dst = self.template get_parameter_or(name, fallback); + } +}; + +} // namespace rmcs_utility diff --git a/rmcs_ws/src/rmcs_utility/include/rmcs_utility/ring_buffer.hpp b/rmcs_ws/src/rmcs_utility/include/rmcs_utility/ring_buffer.hpp index d6c5ca5db..2b30b1f8b 100644 --- a/rmcs_ws/src/rmcs_utility/include/rmcs_utility/ring_buffer.hpp +++ b/rmcs_ws/src/rmcs_utility/include/rmcs_utility/ring_buffer.hpp @@ -291,6 +291,43 @@ class RingBuffer { return std::launder(reinterpret_cast(storage_[out & mask_].data)); } + /*! + * @brief Visit elements from the head without consuming them + * @tparam F Functor with signature `void(T&)` + * @param callback_functor Invoked for each readable element in FIFO order + * @param count Maximum number of elements to inspect (defaults to all available) + * @return Number of elements actually visited + * @note Consumer-only. Does not advance `out_` or destroy elements. + * Mutations performed through the callback are applied in place to the + * buffered elements. + */ + template + requires requires(F& f, T& t) { + { f(t) } noexcept; + } size_t peek_front_n(F callback_functor, size_t count = std::numeric_limits::max()) { + const auto in = in_.load(std::memory_order::acquire); + const auto out = out_.load(std::memory_order::relaxed); + + const auto readable = in - out; + count = std::min(count, readable); + if (!count) + return 0; + + const auto offset = out & mask_; + const auto slice = std::min(count, max_size() - offset); + + auto process = [&callback_functor](std::byte* storage) { + auto& element = *std::launder(reinterpret_cast(storage)); + callback_functor(element); + }; + for (size_t i = 0; i < slice; i++) + process(storage_[offset + i].data); + for (size_t i = 0; i < count - slice; i++) + process(storage_[i].data); + + return count; + } + /*! * @brief Peek the last produced element (consumer side) * @return Pointer to the last element, or nullptr if empty @@ -493,4 +530,4 @@ class RingBuffer { std::atomic in_{0}, out_{0}; }; -} // namespace rmcs_utility +} // namespace rmcs_utility \ No newline at end of file