int main(int argc, char *argv[])
{
#if !DISABLE_IMU
#if SIMULATE_ALTITUDE
#error No se puede simular altura con la IMU activada!
#endif
#endif
/// mensajes al usuario
#if PC_TEST
printf("----------------------\n WARN: Modo 'PC test' - Ver common/quadcop_config.h \n----------------------\n");
sleep_ms(500);
#endif
#if SIMULATE_GPS
printf("----------------------\n WARN: GPS simulado - Ver common/quadcop_config.h \n----------------------\n");
sleep_ms(500);
#endif
#if DISABLE_UAVTALK
printf("----------------------\n WARN: UAVTalk desabilitado - Ver common/quadcop_config.h \n----------------------\n");
sleep_ms(500);
#endif
#if DISABLE_IMU
printf("----------------------\n WARN: IMU desabilitada - Ver common/quadcop_config.h \n----------------------\n");
sleep_ms(500);
#endif
/// Init socket comm
#if SOCKET_TEST
socket_comm_init();
#endif
int retval;
int err_imu = 0; //Aumenta si no hay datos nuevos de imu
int err_count_no_data = 0; //si no tengo datos nuevos varias veces es peligroso
int no_gps_data = 0;
// Para log
char* log_name;
char buff_log[512]; //TODO determinar valor
char buff_log_aux[512]; //TODO determinar valor
int buff_log_len;
bool first_time = true; // para saber cuando es la primer ejecucion del loop
int8_t count_50 = 1; // controla tiempo de loop 100ms
if(argc<3)
{
err_log("USAGE: ./auto_pilot log_name thrust_hovering");
exit(1);
}
else
{
log_name = argv[1];
thrust_hovering = atoi(argv[2]);
if( thrust_hovering < 16 || thrust_hovering > 40) {
puts("Con este throttle dudo que hagas hovering, cerrando");
//exit(0);
}
printf("Throttle hovering: %u\n", (uint16_t) (thrust_hovering*17.41+1212.53) );
}
// Configurar pin de uart1 tx
#if !PC_TEST
retval = system("echo 2 > /sys/kernel/debug/omap_mux/dss_data6");
if (retval < 0)
{
err_log("system() failed - UART1 mux config");
exit(0);
}
#endif
//setea senales y mascara
set_signals();
// Control de tiempos
struct timeval tv_in_loop,
tv_out_loop, tv_out_last_loop,
tv_start_main,
tv_diff;
#if DEBUG
struct timeval dt;
#endif
// -- -- -- -- -- -- -- -- --
// Inicializacion
// -- -- -- -- -- -- -- -- --
/// Tiempo
set_main_start_time();
tv_start_main = get_main_start_time(); //uquad_aux_time.h
#if SOCKET_TEST
if (socket_comm_wait_client() == -1)
exit(0);
#endif
/// Path planning & Following
// init lista path
lista_path = (Lista_path *)malloc(sizeof(struct ListaIdentificar_path));
inicializacion_path(lista_path);
// init lista wp
lista_way_point = (Lista_wp *)malloc(sizeof(struct ListaIdentificar_wp));
inicializacion_wp(lista_way_point);
retval = way_points_input(lista_way_point); //carga waypoints en la lista desde un archivo de texto
if (retval < 0) {
puts("No se pudo cargar lista de waypoints, cerrando");
exit(0);
}
// Generacion de trayectoria
path_planning(lista_way_point, lista_path);
log_trayectoria(lista_path); //dbg
//visualizacion_path(lista_path); // dbg
#if SOCKET_TEST
if (socket_comm_send_path(lista_path) == -1)
exit(0);
#endif
/// Control yaw
#if CONTROL_YAW_ADD_DERIVATIVE
control_yaw_init_error_buff();
#endif
/// Control velocidad
// TODO
// Se calcula el valor de pitch necesario para alcanzar la velocidad deseada.
// El signo negativo es para que sea coherente con el sentido de giro de la cc3d (angulo positivo = giro horario)
pitch = -atan(B_ROZ*VEL_DESIRED/MASA/G);
//printf("pitch: %lf\n", pitch*180/M_PI); //dbg
/// Control altura
control_alt_init_error_buff();
//thrust_hovering = throttle_hovering*0.0694-88.81;
printf("Thrust hovering: %lf\n", thrust_hovering);
/// Log
log_fd = open(log_name, O_RDWR | O_CREAT | O_NONBLOCK );
if(log_fd < 0)
{
err_log_stderr("Failed to open log file!");
exit(0);
}
bool log_writeOK;
///GPS config - Envia comandos al gps a traves del puerto serie - //
#if !SIMULATE_GPS
retval = preconfigure_gps();
if(retval < 0)
{
err_log("Failed to preconfigure gps!");
exit(0);
}
/// Ejecuta GPS daemon - proceso independiente
gpsd_child_pid = init_gps();
if(gpsd_child_pid == -1)
{
err_log_stderr("Failed to init gps!");
exit(0);
}
#endif //!SIMULATE_GPS
/// Ejecuta Demonio S-BUS - proceso independiente
sbusd_child_pid = futaba_sbus_start_daemon();
if(sbusd_child_pid == -1)
{
err_log_stderr("Failed to start child process (sbusd)!");
quit(1);
}
/// inicializa kernel messages queues - para comunicacion con sbusd
kmsgq = uquad_kmsgq_init(SERVER_KEY, DRIVER_KEY);
if(kmsgq == NULL)
{
quit_log_if(ERROR_FAIL,"Failed to start message queue!");
}
//Doy tiempo a que inicien bien los procesos secundarios
sleep_ms(500); //TODO verificar cuanto es necesario
/// inicializa UAVTalk
#if !DISABLE_UAVTALK
uavtalk_child_pid = uavtalk_parser_start(tv_start_main);
if(uavtalk_child_pid == -1)
{
err_log_stderr("Failed to start child process (uavtalk)!");
quit(3);
}
#endif
/// init IMU
#if !DISABLE_IMU
fd_IMU = imu_comm_init(IMU_DEVICE);
if(fd_IMU < 0)
{
err_log("Failed to init IMU!");
quit(0);
}
//imu_data_alloc(&imu_data);
//magn_calib_init();
int bytes_avail = 0; // Para obener bytes disponibles en el RX buffer de IMU
#endif
#if !DISABLE_IMU
// Clean IMU serial buffer
err_log("Clearing IMU input buffer...");
serial_flush(fd_IMU);
sleep_ms(40);
#endif
#if !DISABLE_UAVTALK
retval = uavtalk_init_shm();
if (retval < 0) {
puts("Error al inicializar shm, cerrando");
quit(0);
}
#endif //!DISABLE_UAVTALK
printf("----------------------\n Entrando al loop \n----------------------\n");
// -- -- -- -- -- -- -- -- --
// Loop
// -- -- -- -- -- -- -- -- --
for(;;)
{
//para tener tiempo de entrada en cada loop
gettimeofday(&tv_in_loop,NULL);
//TODO Mejorar control de errores
if(err_count_no_data > 10)
{
err_log("mas de 10 errores en recepcion de datos!");
// TODO que hago? me quedo en hovering hasta obtener datos?
err_count_no_data = 0; //por ahora...
}
#if !DISABLE_IMU
/// Lectura de datos de la IMU
//--------------------------------------------------------------------------------------------------------
leer_imu: // Vuelvo a leer si es necesario
if(err_imu > 2) {
err_log("No hay datos nuevos de IMU, cerrando.");
quit(0);
}
// Reviso si tengo una trama de datos completa antes de leer
ioctl(fd_IMU, FIONREAD, &bytes_avail);
if(bytes_avail < 34) {
//puts("datos no completos IMU!"); //dbg
sleep_ms(5);
err_imu++;
goto leer_imu;
}
IMU_readOK = check_read_locks(fd_IMU);
if (IMU_readOK) {
// Leo datos
retval = imu_comm_read(fd_IMU);
if (retval < 0 ) {
puts("WARN: unable to read IMU data!");
}
// Paso los datos del buffer RX a imu_raw.
imu_comm_parse_frame_binary(&imu_raw);
//print_imu_raw(&imu_raw); // dbg
// Si no estoy calibrando convierto datos para usarlos
if (baro_calibrated) {
imu_raw2data(&imu_raw, &imu_data);
//print_imu_data(&imu_data); //dbg
}
imu_updated = true;
IMU_readOK = false;
err_imu = 0;
} else {
err_log("IMU: read NOT ok");
}
/* /// Reviso si quedan datos para no atrasarme
IMU_readOK = check_read_locks(fd_IMU);
if (IMU_readOK) {
printf("todavia quedan datos IMU!\n");
IMU_readOK = false;
ioctl(fd_IMU, FIONREAD, &bytes_avail);
//printf("%d\n ",bytes_avail);
if(bytes_avail > 33) goto leer_imu; //continue;
}*/
// Reviso si tengo una trama de datos completa atrasada
retval = ioctl(fd_IMU, FIONREAD, &bytes_avail);
if (retval == ERROR_OK) {
if(bytes_avail > 33) {
//puts("todavia quedan datos IMU!"); //dbg
goto leer_imu;
}
} else puts("FIONREAD failed!");
if (!baro_calibrated) {
if(imu_updated) {
po += imu_raw.pres;
baro_calib_cont++;
if (baro_calib_cont == BARO_CALIB_SAMPLES) {
pres_calib_init(po/BARO_CALIB_SAMPLES);
baro_calibrated = true;
puts("Barometro calibrado!");
} }
goto end_loop; //si estoy calibrando no hago nada mas!
}
//--------------------------------------------------------------------------------------------------------
#endif
/** loop 50 ms **/
#if !DISABLE_UAVTALK
/// Leo datos de CC3D
retval = uavtalk_read(&act);
if(retval < 0) {
err_log("No hay datos nuevos de actitud, cerrando.");
quit(0);
}
uavtalk_updated = true;
//uav_talk_print_attitude(act); //dbg
#endif
// Calcula diferencia respecto a cero
act.yaw = act.yaw - get_yaw_zero();
++count_50; // control de loop 100ms
/// Check stdin
stdin_readOK = check_read_locks(STDIN_FILENO);
if (stdin_readOK) {
read_from_stdin();
}
/** loop 100 ms **/
if(count_50 > 1)
{
#if !SIMULATE_GPS
/// Obener datos del GPS
retval = get_gps_data(&gps);
if (retval < 0 )
{
//que hago si NO hay datos!?
err_log("No hay datos de gps");
} else {
//que hago si SI hay datos!?
printf("%lf\t%lf\t%lf\t%lf\t%lf\n", \
gps.latitude,gps.longitude,gps.altitude,gps.speed,gps.track);
gps_updated = true;
}
#else //GPS SIMULADO
if(control_status == STARTED && !first_time)
gps_simulate_position(&position, &velocity, act.yaw, pitch);
gps_updated = true;
#endif //!SIMULATE_GPS
count_50 = 0;
} /** end loop 100 ms **/
if(control_status == STARTED)
{
if (first_time)
first_time = false;
//#if 0
/// Con datos de actitud hago control de yaw y path following (si tengo gps)
if(uavtalk_updated)
{
/// Path Follower - si hay datos de gps y de yaw hago carrot chase
if(gps_updated) {
#if !SIMULATE_GPS
/* guardo en waypoint p los valores de (x,y) hallados mediante el gps.
* primero deberia hacer convert_gps2utm(&utm, gps) y restarle la utm inicial
*/
//convert_gps2waypoint(&wp, gps); // TODO no implementado!!
wp.angulo = act.yaw;
#else
wp.x = position.x;
wp.y = position.y;
wp.z = position.z;
wp.angulo = act.yaw;
#endif //!SIMULATE_GPS
//carrot chase
retval = path_following(wp, lista_path, &yaw_d);
if (retval == -1) {
control_status = FINISHED;
puts("¡¡ Trayectoria finalizada !!");
ch_buff[THROTTLE_CH_INDEX] = THROTTLE_NEUTRAL; // detengo los motores
}
no_gps_data = 0;
} else {
no_gps_data++;
if (no_gps_data > 1) { // Debo tener datos del gps cada 2 loops de 50 ms
err_count_no_data++;
no_gps_data = 0;
err_log("No tengo datos de gps para seguimiento de trayectorias");
}
}
/// Control Yaw - necesito solo medida de yaw
u_yaw = control_yaw_calc_input(yaw_d, act.yaw);
//printf("senal de control: %lf\n", u); // dbg
//Convertir velocidad en comando
ch_buff[YAW_CH_INDEX] = (uint16_t) (u_yaw*25/11 + 1500);
//printf(" %u\n", ch_buff[YAW_CH_INDEX]); // dbg
if (err_count_no_data > 0)
err_count_no_data--;
} else {
err_log("No tengo datos para control de yaw");
err_count_no_data++;
}
/// Control de Velocidad
if(gps_updated) {
//TODO...
}
//#endif //if 0
/// Despegue
if (takeoff == 1) {
retval = control_altitude_takeoff(&h_d);
if (retval > 0)
takeoff = 0;
}
/// Aterrizaje
if (takeoff == -1) {
retval = control_altitude_land(&h_d);
if (retval > 0) {
takeoff = 0;
//ch_buff[THROTTLE_CH_INDEX] = THROTTLE_NEUTRAL;
puts("Pronto para aterrizar!");
//control_status = STOPPED;
}
}
#if SIMULATE_ALTITUDE
/// Control de Altura
u_h = control_alt_calc_input(h_d, h);
//U_h = u_h + 18.1485;
U_h = u_h + thrust_hovering + control_alt_integral(h_d, h);
//sim
imu_simulate_altitude(&h, U_h, 0, 0);
//Convertir empuje en comando
if (U_h <= 0) {
ch_buff[THROTTLE_CH_INDEX] = THROTTLE_NEUTRAL;
} else if (U_h > 43.6) {
ch_buff[THROTTLE_CH_INDEX] = MAX_COMMAND;
} else {
ch_buff[THROTTLE_CH_INDEX] = (uint16_t) (-0.2984*pow(U_h,2) + 26.0289*U_h + 1168.8);
}
//printf("h: %lf\th_d: %lf\tu_h: %lf\tU_h: %lf\tThrot: %u\n",h,h_d,u_h,U_h,ch_buff[THROTTLE_CH_INDEX]); // dbg
#endif
#if !DISABLE_IMU
/// Control de Altura
u_h = control_alt_calc_input(h_d, imu_data.us_altitude);
//U_h = u_h + 18.1485;
U_h = u_h + thrust_hovering + control_alt_integral(h_d, imu_data.us_altitude);
//Convertir empuje en comando
if (U_h <= 0) {
ch_buff[THROTTLE_CH_INDEX] = THROTTLE_NEUTRAL;
} else if (U_h > 22) {
ch_buff[THROTTLE_CH_INDEX] = (uint16_t) (17.41*U_h+1212.53);
} else {
ch_buff[THROTTLE_CH_INDEX] = (uint16_t) (-0.2984*pow(U_h,2) + 26.0289*U_h + 1168.8);
}
#endif
// Luego de finalizados los controles reseteo flags
uavtalk_updated = false;
gps_updated = false;
imu_updated = false;
} // end if(control_started)
// Envia actitud y throttle deseados a sbusd (a traves de mensajes de kernel)
retval = uquad_kmsgq_send(kmsgq, buff_out, MSGSZ);
if(retval != ERROR_OK)
{
quit_log_if(ERROR_FAIL,"Failed to send message!");
}
#if SOCKET_TEST
if (socket_comm_update_position(position) == -1)
quit(1);
#endif
/** Log - T_s_act/T_us_act/roll/pitch/yaw/C_roll/C_pitch/C_yaw/C_throt/T_s_main/T_us_main/pos.x/pos.y/pos.z/yaw_d **/
//Timestamp main
uquad_timeval_substract(&tv_diff, tv_in_loop, tv_start_main);
// Duracion del main
gettimeofday(&tv_out_loop,NULL);
uquad_timeval_substract(&dt, tv_out_loop, tv_out_last_loop);
//datos de CC3D para log
buff_log_len = uavtalk_to_str(buff_log, act);
//otros logs
buff_log_len += sprintf(buff_log_aux, "%u %u %u %u %lu %lu %lf %lf %lf %lf %lf %lf %lf",
ch_buff[ROLL_CH_INDEX],
ch_buff[PITCH_CH_INDEX],
ch_buff[YAW_CH_INDEX],
ch_buff[THROTTLE_CH_INDEX],
tv_diff.tv_sec,
tv_diff.tv_usec,
position.x,
position.y,
position.z,
yaw_d,
u_yaw,
h_d,
U_h);
strcat(buff_log, buff_log_aux);
//datos de IMU para log
buff_log_len += imu_to_str(buff_log_aux, imu_data);
strcat(buff_log, buff_log_aux);
log_writeOK = check_write_locks(log_fd);
if (log_writeOK) {
retval = write(log_fd, buff_log, buff_log_len);
if(retval < 0)
err_log_stderr("Failed to write to log file!");
}
end_loop:
/*#if DEBUG
// checkeo de tiempos del main
gettimeofday(&tv_out_loop,NULL);
retval = uquad_timeval_substract(&dt, tv_out_loop, tv_in_loop);
if(retval > 0) {
if(dt.tv_usec > 50000) {
err_log("WARN: se atraso main");
}
} else {
err_log("WARN: Main absurd timing!");
}
#endif // DEBUG*/
/// Control de tiempos del loop
wait_loop_T_US(MAIN_LOOP_50_MS,tv_in_loop);
} // for(;;)
return 0; //nunca llego aca
} //FIN MAIN
int main(int argc, char *argv[]){
int retval;
char * device_imu;
char * device_file;
FILE * file;
if(argc<3){
fprintf(stderr,IO_TEST_HOW_TO);
exit(1);
}else{
device_imu = argv[1];
device_file = argv[2];
}
io_t * io = io_init();
if(io==NULL){
err_check(ERROR_FAIL,"io test failed");
}
// Lets add the IMU and some random file
// The plan is to have the constant stream of data from the imu, a
// sporadic data from the file, which would represent the diff in
// update rate from the GPS and the IMU.
/// -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
/// Init
/// -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
// Init IMU
imu_t * imu = imu_comm_init(device_imu);
if(imu == NULL){
err_check(ERROR_FAIL,"Failed to init imu");
}
// Init some other file
file = fopen(device_file,"r+");
if(file == NULL){
err_check(ERROR_FAIL,"Failed to open file");
}
/// -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
/// Register IO devices
/// -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
// imu
int imu_fds;
retval = imu_comm_get_fds(imu,& imu_fds);
FREE_N_DIE_IF_ERROR(retval,"Failed to get imu fds!!");
retval = io_add_dev(io,imu_fds);
FREE_N_DIE_IF_ERROR(retval,"Failed to add imu to dev list");
if(io->dev_list.dev_count != 1){
FREE_N_DIE_IF_ERROR(retval,"Reg device counter error!");
}
// Pipe
// To create a pipe, do:
// mknode my.pipe p
// Then open my.pipe as a regular file.
int file_fds;
file_fds = fileno(file);
retval = io_add_dev(io,file_fds);
FREE_N_DIE_IF_ERROR(retval,"Failed to add file to dev list");
if(io->dev_list.dev_count != 2){
FREE_N_DIE_IF_ERROR(retval,"Reg device counter error!");
}
// stdin
retval = io_add_dev(io,STDIN_FILENO);
FREE_N_DIE_IF_ERROR(retval,"Failed to add STDIN to dev list");
if(io->dev_list.dev_count != 3){
FREE_N_DIE_IF_ERROR(retval,"Reg device counter error!");
}
/// -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
/// Poll n read loop
/// -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
uquad_bool_t read = false,write = false;
uquad_bool_t reg_imu = true, reg_pipe = true, reg_stdin = true;
uquad_bool_t imu_ready = false;
imu_data_t imu_data;
unsigned char tmp_buff[2];
int counter = 0;
poll_n_read:
while(1){
retval = io_poll(io);
FREE_N_DIE_IF_ERROR(retval,"io_poll() error");
// imu
if(reg_imu){
retval = io_dev_ready(io,imu_fds,&read,&write);
FREE_N_DIE_IF_ERROR(retval,"io_dev_ready() error");
if(read){
retval = imu_comm_read(imu,&imu_ready);
if(imu_ready)
{
if(retval != ERROR_OK){
fprintf(stdout,"\nIMU missed frame?\n\n");
}else{
retval = imu_comm_get_data_latest_unread(imu,&imu_data);
if(retval != ERROR_OK)
fprintf(stdout,"\nIMU had no data!\n\n");
}
}
}
}
// pipe
if(reg_pipe){
retval = io_dev_ready(io,file_fds,&read,&write);
FREE_N_DIE_IF_ERROR(retval,"io_dev_ready() error");
if(read){
retval = fgetc(file);
if(retval<0)
fprintf(stdout,"\nEOF or error!!\n\n");
if(retval>0){
fprintf(stdout,"Read data from file.\n");
}
if(retval==0)
fprintf(stdout,"File had no data!.\n");
}
}
// stdin
if(reg_stdin){
retval = io_dev_ready(io,STDIN_FILENO,&read,&write);
FREE_N_DIE_IF_ERROR(retval,"io_dev_ready() error");
if(read){
retval = fread(tmp_buff,1,1,stdin);
if(retval<=0)
fprintf(stdout,"\nNo user input!!\n\n");
else
// Each time user presses RET a device will be removed from
// the registered dev list.
goto rm;
}
}
fflush(stdout);
}
/// -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
/// Remove test
/// -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
rm:
switch (counter){
case 0:
retval = io_rm_dev(io,file_fds);
FREE_N_DIE_IF_ERROR(retval,"Failed to remove PIPE from dev list");
fprintf(stdout,"Removed PIPE from dev list.\n");
reg_pipe = false;
fflush(stdout);
break;
case 1:
retval = io_rm_dev(io,imu_fds);
FREE_N_DIE_IF_ERROR(retval,"Failed to remove IMU from dev list");
fprintf(stdout,"Removed IMU from dev list.\n");
reg_imu = false;
fflush(stdout);
break;
case 2:
fprintf(stdout,"Removed STDIN from dev list.\n");
retval = io_rm_dev(io,STDIN_FILENO);
FREE_N_DIE_IF_ERROR(retval,"Failed to remove STDIN from dev list");
reg_stdin = false;
fflush(stdout);
break;
default:
FREE_N_DIE_IF_ERROR(ERROR_FAIL,"COUNTER out of bounds!");
break;
}
if(++counter < 3)
goto poll_n_read;
/// -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
/// Free everything
/// -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
kill_n_close:
retval = io_deinit(io);
if(retval != ERROR_OK){
fprintf(stderr,"Warning! Failed to free io structure!\nIgnoring error...\n");
}
retval = imu_comm_deinit(imu);
if(retval != ERROR_OK){
fprintf(stderr,"Warning! Failed to free imu structure!\nIgnoring error...\n");
}
return 0;
}