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Commit f6c0ce23 authored by Paul Beuchat's avatar Paul Beuchat
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Added first draft of simulation to CS1 GUI

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dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/csonecontrollertab.ui
+ 113
− 10
View file @ f6c0ce23
......@@ -6,7 +6,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>2417</width>
<width>3197</width>
<height>1336</height>
</rect>
</property>
......@@ -421,6 +421,22 @@
<property name="rightMargin">
<number>0</number>
</property>
<item row="0" column="8">
<widget class="QLabel" name="label_simulation">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Simulation</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_time_delay">
<property name="font">
......@@ -437,7 +453,7 @@
</property>
</widget>
</item>
<item row="1" column="8">
<item row="1" column="10">
<layout class="QGridLayout" name="gridLayout_8">
<item row="2" column="0">
<widget class="QPushButton" name="reset_integrator_button">
......@@ -495,7 +511,7 @@
</item>
</layout>
</item>
<item row="0" column="7">
<item row="0" column="9">
<spacer name="horizontalSpacer_7">
<property name="orientation">
<enum>Qt::Horizontal</enum>
......@@ -543,7 +559,7 @@
</property>
</widget>
</item>
<item row="0" column="10">
<item row="0" column="12">
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
......@@ -592,7 +608,7 @@
</font>
</property>
<property name="text">
<string>0.1</string>
<string>0.10</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
......@@ -641,7 +657,7 @@
</property>
<property name="maximumSize">
<size>
<width>180</width>
<width>240</width>
<height>60</height>
</size>
</property>
......@@ -651,7 +667,7 @@
</font>
</property>
<property name="text">
<string>0.016</string>
<string>0.0160</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
......@@ -922,7 +938,7 @@
</font>
</property>
<property name="text">
<string>0.2</string>
<string>0.5</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
......@@ -1028,7 +1044,7 @@
</property>
</widget>
</item>
<item row="0" column="8">
<item row="0" column="10">
<widget class="QLabel" name="label_integrator">
<property name="font">
<font>
......@@ -1044,7 +1060,7 @@
</property>
</widget>
</item>
<item row="0" column="9">
<item row="0" column="11">
<spacer name="horizontalSpacer_8">
<property name="orientation">
<enum>Qt::Horizontal</enum>
......@@ -1123,6 +1139,80 @@
</item>
</layout>
</item>
<item row="0" column="7">
<spacer name="horizontalSpacer_simulation">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>100</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="8">
<layout class="QGridLayout" name="gridLayout_10">
<item row="2" column="0">
<widget class="QPushButton" name="clear_simulation_button">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximumSize">
<size>
<width>1000</width>
<height>60</height>
</size>
</property>
<property name="text">
<string>Clear</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QPushButton" name="simulate_step_response_button">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximumSize">
<size>
<width>1000</width>
<height>60</height>
</size>
</property>
<property name="text">
<string>Perform</string>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_simulation_blank">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
<item row="7" column="0">
......@@ -1167,15 +1257,28 @@
<tabstop>lineEdit_k</tabstop>
<tabstop>lineEdit_T</tabstop>
<tabstop>lineEdit_alpha</tabstop>
<tabstop>lineEdit_time_delay</tabstop>
<tabstop>lineEdit_kp</tabstop>
<tabstop>lineEdit_kd</tabstop>
<tabstop>lineEdit_step_size</tabstop>
<tabstop>lineEdit_step_duration</tabstop>
<tabstop>set_lead_compensator_parameters_button</tabstop>
<tabstop>set_time_delay_button</tabstop>
<tabstop>set_pd_controller_parameters_button</tabstop>
<tabstop>perform_step_button</tabstop>
<tabstop>log_data_button</tabstop>
<tabstop>simulate_step_response_button</tabstop>
<tabstop>clear_simulation_button</tabstop>
<tabstop>toggle_integrator_button</tabstop>
<tabstop>reset_integrator_button</tabstop>
<tabstop>lineEdit_rise_time</tabstop>
<tabstop>lineEdit_settling_time</tabstop>
<tabstop>lineEdit_step_end</tabstop>
<tabstop>lineEdit_step_start</tabstop>
<tabstop>chartView_for_x</tabstop>
<tabstop>chartView_for_pitch</tabstop>
<tabstop>lineEdit_overshoot_value</tabstop>
<tabstop>lineEdit_overshoot_percent</tabstop>
</tabstops>
<resources/>
<connections/>
......
dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/csonecontrollertab.h
+ 43
− 1
View file @ f6c0ce23
......@@ -59,6 +59,8 @@
// For the chart:
#include <QChart>
#include <QLineSeries>
#include <QList>
#include <QPointF>
using namespace QtCharts;
#ifdef CATKIN_MAKE
......@@ -118,6 +120,9 @@ public slots:
private slots:
float validate_and_get_value_from_lineEdit(QLineEdit * lineEdit, float min, float max, int decimals, float default_value);
void newDataForPerformingStepAndPlotting(float x, float pitch);
void analyseStepResponse();
void updateStepAnalysisLineEdit(float value, QLineEdit * lineEdit, int num_dec_places);
......@@ -126,6 +131,9 @@ private slots:
void on_perform_step_button_clicked();
void on_log_data_button_clicked();
void on_simulate_step_response_button_clicked();
void on_clear_simulation_button_clicked();
void on_set_lead_compensator_parameters_button_clicked();
void on_set_time_delay_button_clicked();
......@@ -142,10 +150,17 @@ private slots:
void on_lineEdit_step_size_returnPressed();
void on_lineEdit_step_duration_returnPressed();
void on_lineEdit_k_editingFinished();
void on_lineEdit_T_editingFinished();
void on_lineEdit_alpha_editingFinished();
void on_lineEdit_step_size_editingFinished();
void on_lineEdit_step_duration_editingFinished();
void simulate_step_response();
private:
Ui::CsoneControllerTab *ui;
......@@ -171,6 +186,9 @@ private:
float m_current_setpoint_z = 0.4;
float m_current_setpoint_yaw = 0.0;
// > Mutex for serialising acess to the controller variables
QMutex m_controller_parameter_mutex;
// FOR PLOTTING DATA ON THE CHART
// > Mutex for serialising acess to any charting variable
QMutex m_chart_mutex;
......@@ -183,7 +201,7 @@ private:
// > Time (as a float) for the horizontal axis
float m_time_for_step = 0.0f;
// > The duration for which to record the step
float m_step_response_data_recording_duration = 20.0f;
float m_step_response_data_recording_duration = 10.0f;
// > Line Series for the x position data
QLineSeries *m_lineSeries_for_setpoint_x;
QLineSeries *m_lineSeries_for_measured_x;
......@@ -192,6 +210,28 @@ private:
QLineSeries *m_lineSeries_for_measured_pitch;
// FOR SIMULATING THE CONTROLLER
// > Mutex for serialising acess to any simulation variables
QMutex m_simulation_mutex;
// Flag for whether a simulation is under way
bool m_simulationIsInProgress = false;
// The state space matrices of lead compensator controller
float m_lead_compensator_A=0.987578;
float m_lead_compensator_B=0.00496888;
float m_lead_compensator_C=-0.36;
float m_lead_compensator_D=0.16;
// The state of lead compensator controller
float m_lead_compensator_state = 0.0;
// Line Series for plotting the simulation results
QLineSeries *m_lineSeries_for_sim_setpoint_x;
QLineSeries *m_lineSeries_for_sim_measured_x;
QLineSeries *m_lineSeries_for_sim_measured_pitch;
#ifdef CATKIN_MAKE
// PUBLISHER
......@@ -248,6 +288,8 @@ private:
void publishRequestForTimeDelayChange(int time_delay_to_publish);
void convertIntoDiscreteTimeParameters(float k, float T, float alpha);
};
#endif // CSONECONTROLLERTAB_H
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