DemoControllerService.h

#pragma once

//    Copyright (C) 2017, ETH Zurich, D-ITET, Paul Beuchat
//
//    This file is part of D-FaLL-System.
//    
//    D-FaLL-System is free software: you can redistribute it and/or modify
//    it under the terms of the GNU General Public License as published by
//    the Free Software Foundation, either version 3 of the License, or
//    (at your option) any later version.
//    
//    D-FaLL-System is distributed in the hope that it will be useful,
//    but WITHOUT ANY WARRANTY; without even the implied warranty of
//    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
//    GNU General Public License for more details.
//    
//    You should have received a copy of the GNU General Public License
//    along with D-FaLL-System.  If not, see <http://www.gnu.org/licenses/>.
//    
//
//    ----------------------------------------------------------------------------------
//    DDDD        FFFFF        L     L           SSSS  Y   Y   SSSS  TTTTT  EEEEE  M   M
//    D   D       F      aaa   L     L          S       Y Y   S        T    E      MM MM
//    D   D  ---  FFFF  a   a  L     L     ---   SSS     Y     SSS     T    EEE    M M M
//    D   D       F     a  aa  L     L              S    Y        S    T    E      M   M
//    DDDD        F      aa a  LLLL  LLLL       SSSS     Y    SSSS     T    EEEEE  M   M
//
//
//    DESCRIPTION:
//    Place for students to implement their controller
//
//    ----------------------------------------------------------------------------------





//    ----------------------------------------------------------------------------------
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//    ----------------------------------------------------------------------------------

// These various headers need to be included so that this controller service can be
// connected with the D-FaLL system.

//some useful libraries
#include <math.h>
#include <stdlib.h>
#include "ros/ros.h"
#include <ros/package.h>

//the generated structs from the msg-files have to be included
#include "d_fall_pps/ViconData.h"
#include "d_fall_pps/Setpoint.h"
#include "d_fall_pps/ControlCommand.h"
#include "d_fall_pps/Controller.h"
#include "d_fall_pps/DebugMsg.h"
#include "d_fall_pps/CustomButton.h"

// Include the Parameter Service shared definitions
#include "nodes/ParameterServiceDefinitions.h"

#include <std_msgs/Int32.h>





//    ----------------------------------------------------------------------------------
//    DDDD   EEEEE  FFFFF  III  N   N  EEEEE   SSSS
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//    DDDD   EEEEE  F      III  N   N  EEEEE  SSSS
//    ----------------------------------------------------------------------------------

// These constants are defined to make the code more readable and adaptable.

// Universal constants
#define PI 3.1415926535

// These constants define the modes that can be used for controller the Crazyflie 2.0,
// the constants defined here need to be in agreement with those defined in the
// firmware running on the Crazyflie 2.0.
// The following is a short description about each mode:
// MOTOR_MODE    In this mode the Crazyflie will apply the requested 16-bit per motor
//               command directly to each of the motors
// RATE_MODE     In this mode the Crazyflie will apply the requested 16-bit per motor
//               command directly to each of the motors, and additionally request the
//               body frame roll, pitch, and yaw angular rates from the PID rate
//               controllers implemented in the Crazyflie 2.0 firmware.
// ANGE_MODE     In this mode the Crazyflie will apply the requested 16-bit per motor
//               command directly to each of the motors, and additionally request the
//               body frame roll, pitch, and yaw angles from the PID attitude
//               controllers implemented in the Crazyflie 2.0 firmware.
#define CF_COMMAND_TYPE_MOTOR   6
#define CF_COMMAND_TYPE_RATE    7
#define CF_COMMAND_TYPE_ANGLE   8


// These constants define the controller used for computing the response in the
// "calculateControlOutput" function
// The following is a short description about each mode:
//
// LQR_MODE_MOTOR     LQR controller based on the state vector:
//                    [position,velocity,angles,angular velocity]
//                    commands per motor thrusts
//
// LQR_MODE_ACTUATOR  LQR controller based on the state vector:
//                    [position,velocity,angles,angular velocity]
//                    commands actuators of total force and bodz torques
//
// LQR_MODE_RATE      LQR controller based on the state vector:
//                    [position,velocity,angles]
//
// LQR_MODE_ANGLE     LQR controller based on the state vector:
//                    [position,velocity]
//
#define CONTROLLER_MODE_LQR_MOTOR               1
#define CONTROLLER_MODE_LQR_ACTUATOR            2
#define CONTROLLER_MODE_LQR_RATE                3   // (DEFAULT)
#define CONTROLLER_MODE_LQR_ANGLE               4
#define CONTROLLER_MODE_LQR_ANGLE_RATE_NESTED   5
#define CONTROLLER_MODE_ANGLE_RESPONSE_TEST     6


// These constants define the method used for estimating the Inertial
// frame state.
// All methods are run at all times, this flag indicates which estimate
// is passed onto the controller.
// The following is a short description about each mode:
//
// ESTIMATOR_METHOD_FINITE_DIFFERENCE
//       Takes the poisition and angles directly as measured,
//       and estimates the velocities as a finite different to the
//       previous measurement
//
// ESTIMATOR_METHOD_POINT_MASS_PER_DIMENSION
//       Uses a 2nd order random walk estimator independently for
//       each of (x,y,z,roll,pitch,yaw)
//
// ESTIMATOR_METHOD_QUADROTOR_MODEL_BASED
//       Uses the model of the quad-rotor and the previous inputs
//
#define ESTIMATOR_METHOD_FINITE_DIFFERENCE          1
#define ESTIMATOR_METHOD_POINT_MASS_PER_DIMENSION   2   // (DEFAULT)
#define ESTIMATOR_METHOD_QUADROTOR_MODEL_BASED      3


// Namespacing the package
using namespace d_fall_pps;





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//     V V   AAAAA  R  R    I   AAAAA  B   B  L      E          S
//      V    A   A  R   R  III  A   A  BBBB   LLLLL  EEEEE  SSSS
//    ----------------------------------------------------------------------------------

// VARIABLES FOR SOME "ALMOST CONSTANTS"
// > Mass of the Crazyflie quad-rotor, in [grams]
float cf_mass;
// > Coefficients of the 16-bit command to thrust conversion
std::vector<float> motorPoly(3);
// The weight of the Crazyflie in [Newtons], i.e., mg
float gravity_force;
// One quarter of the "gravity_force"
float gravity_force_quarter;




// VARIABLES FOR THE CONTROLLER

// Frequency at which the controller is running
float vicon_frequency;

// Frequency at which the controller is running
float control_frequency;


// > The setpoints for (x,y,z) position and yaw angle, in that order
float setpoint[4] = {0.0,0.0,0.4,0.0};




// The controller type to run in the "calculateControlOutput" function
int controller_mode = CONTROLLER_MODE_LQR_RATE;


// The LQR Controller parameters for "CONTROLLER_MODE_LQR_MOTOR"
std::vector<float> gainMatrixMotor1 (12,0.0);
std::vector<float> gainMatrixMotor2 (12,0.0);
std::vector<float> gainMatrixMotor3 (12,0.0);
std::vector<float> gainMatrixMotor4 (12,0.0);

// The LQR Controller parameters for "CONTROLLER_MODE_LQR_ACTUATOR"
std::vector<float> gainMatrixThrust_TwelveStateVector (12,0.0);
std::vector<float> gainMatrixRollTorque               (12,0.0);
std::vector<float> gainMatrixPitchTorque              (12,0.0);
std::vector<float> gainMatrixYawTorque                (12,0.0);

// The LQR Controller parameters for "CONTROLLER_MODE_LQR_RATE"
std::vector<float> gainMatrixThrust_NineStateVector (9,0.0);
std::vector<float> gainMatrixRollRate               (9,0.0);
std::vector<float> gainMatrixPitchRate              (9,0.0);
std::vector<float> gainMatrixYawRate                (9,0.0);

// The LQR Controller parameters for "CONTROLLER_MODE_LQR_ANGLE"
std::vector<float> gainMatrixThrust_SixStateVector (6,0.0);
std::vector<float> gainMatrixRollAngle             (6,0.0);
std::vector<float> gainMatrixPitchAngle            (6,0.0);

// The LQR Controller parameters for "CONTROLLER_MODE_LQR_ANGLE_RATE_NESTED"
std::vector<float> gainMatrixThrust_SixStateVector_50Hz (6,0.0);
std::vector<float> gainMatrixRollAngle_50Hz             (6,0.0);
std::vector<float> gainMatrixPitchAngle_50Hz            (6,0.0);

std::vector<float> gainMatrixRollRate_Nested            (3,0.0);
std::vector<float> gainMatrixPitchRate_Nested           (3,0.0);
std::vector<float> gainMatrixYawRate_Nested             (3,0.0);

int   lqr_angleRateNested_counter = 4;
float lqr_angleRateNested_prev_thrustAdjustment = 0.0;
float lqr_angleRateNested_prev_rollAngle        = 0.0;
float lqr_angleRateNested_prev_pitchAngle       = 0.0;
float lqr_angleRateNested_prev_yawAngle         = 0.0;

// The LQR Controller parameters for "CONTROLLER_MODE_ANGLE_RESPONSE_TEST"
int   angleResponseTest_counter = 4;
float angleResponseTest_prev_thrustAdjustment = 0.0;
float angleResponseTest_prev_rollAngle        = 0.0;
float angleResponseTest_prev_pitchAngle       = 0.0;
float angleResponseTest_prev_yawAngle         = 0.0;
float angleResponseTest_pitchAngle_degrees;
float angleResponseTest_pitchAngle_radians;
float angleResponseTest_distance_meters;




// The 16-bit command limits
float cmd_sixteenbit_min;
float cmd_sixteenbit_max;


// VARIABLES FOR THE ESTIMATOR

// Frequency at which the controller is running
float estimator_frequency;

// > A flag for which estimator to use:
int estimator_method = ESTIMATOR_METHOD_FINITE_DIFFERENCE;
// > The current state interial estimate,
//   for use by the controller
float current_stateInertialEstimate[12];

// > The measurement of the Crazyflie at the "current" time step,
//   to avoid confusion
float current_xzy_rpy_measurement[6];

// > The measurement of the Crazyflie at the "previous" time step,
//   used for computing finite difference velocities
float previous_xzy_rpy_measurement[6];

// > The full 12 state estimate maintained by the finite
//   difference state estimator
float stateInterialEstimate_viaFiniteDifference[12];

// > The full 12 state estimate maintained by the point mass
//   kalman filter state estimator
float stateInterialEstimate_viaPointMassKalmanFilter[12];

// THE POINT MASS KALMAN FILTER (PMKF) GAINS AND ERROR EVOLUATION
// > For the (x,y,z) position
std::vector<float> PMKF_Ahat_row1_for_positions (2,0.0);
std::vector<float> PMKF_Ahat_row2_for_positions (2,0.0);
std::vector<float> PMKF_Kinf_for_positions      (2,0.0);
// > For the (roll,pitch,yaw) angles
std::vector<float> PMKF_Ahat_row1_for_angles    (2,0.0);
std::vector<float> PMKF_Ahat_row2_for_angles    (2,0.0);
std::vector<float> PMKF_Kinf_for_angles         (2,0.0);



// VARIABLES FOR THE NAMESPACES FOR THE PARAMETER SERVICES
// > For the paramter service of this agent
std::string namespace_to_own_agent_parameter_service;
// > For the parameter service of the coordinator
std::string namespace_to_coordinator_parameter_service;


// ROS PUBLISHER FOR SENDING OUT THE DEBUG MESSAGES
ros::Publisher debugPublisher;


// VARIABLES RELATING TO PERFORMING THE CONVERSION INTO BODY FRAME

// Boolean whether to execute the convert into body frame function
bool shouldPerformConvertIntoBodyFrame = false;


// VARIABLES RELATING TO THE PUBLISHING OF A DEBUG MESSAGE

// Boolean indiciating whether the "Debug Message" of this agent should be published or not
bool shouldPublishDebugMessage = false;

// Boolean indiciating whether the debugging ROS_INFO_STREAM should be displayed or not
bool shouldDisplayDebugInfo = false;


// VARIABLES RELATING TO PUBLISHING CURRENT POSITION AND FOLLOWING ANOTHER AGENT'S
// POSITION

// The ID of this agent, i.e., the ID of this compute
int my_agentID = 0;

// Boolean indicating whether the (x,y,z,yaw) of this agent should be published or not
// > The default behaviour is: do not publish,
// > This varaible is changed based on parameters loaded from the YAML file
bool shouldPublishCurrent_xyz_yaw = false;

// Boolean indicating whether the (x,y,z,yaw) setpoint of this agent should adapted in
// an attempt to follow the "my_current_xyz_yaw_topic" from another agent
// > The default behaviour is: do not follow,
// > This varaible is changed based on parameters loaded from the YAML file
bool shouldFollowAnotherAgent = false;

// The order in which agents should follow eachother
// > This parameter is a vector of integers that specifies  agent ID's
// > The order of the agent ID's is the ordering of the line formation
// > i.e., the first ID is the leader, the second ID should follow the first ID, and so on
std::vector<int> follow_in_a_line_agentIDs(100);

// Integer specifying the ID of the agent that will be followed by this agent
// > The default behaviour not to follow any agent, indicated by ID zero
// > This varaible is changed based on parameters loaded from the YAML file
int agentID_to_follow = 0;

// ROS Publisher for my current (x,y,z,yaw) position
ros::Publisher my_current_xyz_yaw_publisher;

// ROS Subscriber for my position
ros::Subscriber xyz_yaw_to_follow_subscriber;


// RELEVANT NOTES ABOUT THE VARIABLES DECLARE HERE:
// The "CrazyflieData" type used for the "request" variable is a
// structure as defined in the file "CrazyflieData.msg" which has the following
// properties:
//     string crazyflieName              The name given to the Crazyflie in the Vicon software
//     float64 x                         The x position of the Crazyflie [metres]
//     float64 y                         The y position of the Crazyflie [metres]
//     float64 z                         The z position of the Crazyflie [metres]
//     float64 roll                      The roll component of the intrinsic Euler angles [radians]
//     float64 pitch                     The pitch component of the intrinsic Euler angles [radians]
//     float64 yaw                       The yaw component of the intrinsic Euler angles [radians]
//     float64 acquiringTime #delta t    The time elapsed since the previous "CrazyflieData" was received [seconds]
//     bool occluded                     A boolean indicted whether the Crazyflie for visible at the time of this measurement





//    ----------------------------------------------------------------------------------
//    FFFFF  U   U  N   N   CCCC  TTTTT  III   OOO   N   N
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//
//    PPPP   RRRR    OOO   TTTTT   OOO   TTTTT  Y   Y  PPPP   EEEEE   SSSS
//    P   P  R   R  O   O    T    O   O    T     Y Y   P   P  E      S
//    PPPP   RRRR   O   O    T    O   O    T      Y    PPPP   EEE     SSS
//    P      R  R   O   O    T    O   O    T      Y    P      E          S
//    P      R   R   OOO     T     OOO     T      Y    P      EEEEE  SSSS
//    ----------------------------------------------------------------------------------

// These function prototypes are not strictly required for this code to complile, but
// adding the function prototypes here means the the functions can be written below in
// any order. If the function prototypes are not included then the function need to
// written below in an order that ensure each function is implemented before it is
// called from another function, hence why the "main" function is at the bottom.

// CONTROLLER COMPUTATIONS
// > The function that is called to "start" all estimation and control computations
bool calculateControlOutput(Controller::Request &request, Controller::Response &response);

// > The various functions that implement an LQR controller
void calculateControlOutput_viaLQR(                     float stateErrorBody[12], Controller::Request &request, Controller::Response &response);
void calculateControlOutput_viaLQRforMotors(            float stateErrorBody[12], Controller::Request &request, Controller::Response &response);
void calculateControlOutput_viaLQRforActuators(         float stateErrorBody[12], Controller::Request &request, Controller::Response &response);
void calculateControlOutput_viaLQRforRates(             float stateErrorBody[12], Controller::Request &request, Controller::Response &response);
void calculateControlOutput_viaLQRforAngles(            float stateErrorBody[12], Controller::Request &request, Controller::Response &response);
void calculateControlOutput_viaLQRforAnglesRatesNested( float stateErrorBody[12], Controller::Request &request, Controller::Response &response);
void calculateControlOutput_viaAngleResponseTest(       float stateErrorBody[12], Controller::Request &request, Controller::Response &response);

// ESTIMATOR COMPUTATIONS
void performEstimatorUpdate_forStateInterial(Controller::Request &request);
void performEstimatorUpdate_forStateInterial_viaFiniteDifference();
void performEstimatorUpdate_forStateInterial_viaPointMassKalmanFilter();


// PUBLISHING OF THE DEBUG MESSAGE
void construct_and_publish_debug_message(Controller::Request &request, Controller::Response &response);


// TRANSFORMATION FROM INTERIAL ESTIMATE TO BODY FRAME ERROR
void convert_stateInertial_to_bodyFrameError(float stateInertial[12], float setpoint[4], float (&bodyFrameError)[12]);

// TRANSFORMATION OF THE (x,y) INERTIAL FRAME ERROR INTO AN (x,y) BODY FRAME ERROR
void convertIntoBodyFrame(float stateInertial[12], float (&stateBody)[12], float yaw_measured);

// CONVERSION FROM THRUST IN NEWTONS TO 16-BIT COMMAND
float computeMotorPolyBackward(float thrust);

// SETPOINT CHANGE CALLBACK
void setpointCallback(const Setpoint& newSetpoint);
void xyz_yaw_to_follow_callback(const Setpoint& newSetpoint);

// CUSTOM COMMAND RECEIVED CALLBACK
void customCommandReceivedCallback(const CustomButton& commandReceived);

// PUBLISH THE CURRENT X,Y,Z, AND YAW
void publish_current_xyz_yaw(float x, float y, float z, float yaw);

// LOAD PARAMETERS
float getParameterFloat(ros::NodeHandle& nodeHandle, std::string name);
void  getParameterFloatVector(ros::NodeHandle& nodeHandle, std::string name, std::vector<float>& val, int length);
int   getParameterInt(ros::NodeHandle& nodeHandle, std::string name);
void  getParameterIntVectorWithKnownLength(ros::NodeHandle& nodeHandle, std::string name, std::vector<int>& val, int length);
int   getParameterIntVectorWithUnknownLength(ros::NodeHandle& nodeHandle, std::string name, std::vector<int>& val);
bool  getParameterBool(ros::NodeHandle& nodeHandle, std::string name);

void yamlReadyForFetchCallback(const std_msgs::Int32& msg);
void fetchYamlParameters(ros::NodeHandle& nodeHandle);
void processFetchedParameters();