// Copyright (C) 2019, 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
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//
//
// DESCRIPTION:
// A CS1 Controller for students build from
//
// ----------------------------------------------------------------------------------
// ----------------------------------------------------------------------------------
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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>
// Include the standard message types
#include "std_msgs/Int32.h"
#include "std_msgs/Float32.h"
#include <std_msgs/String.h>
// Include the DFALL message types
#include "dfall_pkg/IntWithHeader.h"
//#include "dfall_pkg/StringWithHeader.h"
#include "dfall_pkg/SetpointWithHeader.h"
#include "dfall_pkg/CustomButtonWithHeader.h"
#include "dfall_pkg/ViconData.h"
#include "dfall_pkg/Setpoint.h"
#include "dfall_pkg/ControlCommand.h"
#include "dfall_pkg/Controller.h"
#include "dfall_pkg/DebugMsg.h"
// Include the DFALL service types
#include "dfall_pkg/LoadYamlFromFilename.h"
#include "dfall_pkg/GetSetpointService.h"
// Include the shared definitions
#include "nodes/Constants.h"
// Include other classes
#include "classes/GetParamtersAndNamespaces.h"
// Need for having a ROS "bag" to store data for post-analysis
//#include <rosbag/bag.h>
// Namespacing the package
using namespace dfall_pkg;
// ----------------------------------------------------------------------------------
// DDDD EEEEE FFFFF III N N EEEEE SSSS
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// ----------------------------------------------------------------------------------
// These constants are defined to make the code more readable and adaptable.
// NOTE: many constants are already defined in the
// "Constant.h" header file
// ----------------------------------------------------------------------------------
// V V A RRRR III A BBBB L EEEEE SSSS
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// ----------------------------------------------------------------------------------
// The ID of the agent that this node is monitoring
int m_agentID;
// The ID of the agent that can coordinate this node
int m_coordID;
// NAMESPACES FOR THE PARAMETER SERVICES
// > For the paramter service of this agent
std::string m_namespace_to_own_agent_parameter_service;
// > For the parameter service of the coordinator
std::string m_namespace_to_coordinator_parameter_service;
// VARAIBLES FOR VALUES LOADED FROM THE YAML FILE
// > the mass of the crazyflie, in [grams]
float yaml_cf_mass_in_grams = 25.0;
// > the frequency at which the controller is running
float yaml_control_frequency = 200.0;
// > the coefficients of the 16-bit command to thrust conversion
//std::vector<float> yaml_motorPoly(3);
std::vector<float> yaml_motorPoly = {5.484560e-4, 1.032633e-6, 2.130295e-11};
// The min and max for saturating 16 bit thrust commands
float yaml_command_sixteenbit_min = 1000;
float yaml_command_sixteenbit_max = 60000;
// > the default setpoint, the ordering is (x,y,z,yaw),
// with units [meters,meters,meters,radians]
std::vector<float> yaml_default_setpoint = {0.0,0.0,0.4,0.0};
// Boolean indiciating whether the "Debug Message" of this agent should be published or not
bool yaml_shouldPublishDebugMessage = false;
// Boolean indiciating whether the debugging ROS_INFO_STREAM should be displayed or not
bool yaml_shouldDisplayDebugInfo = false;
// The LQR Controller parameters for "LQR_RATE_MODE"
std::vector<float> yaml_gainMatrixThrust_NineStateVector = { 0.00, 0.00, 0.98, 0.00, 0.00, 0.25, 0.00, 0.00, 0.00};
std::vector<float> yaml_gainMatrixRollRate = { 0.00,-6.20, 0.00, 0.00,-3.00, 0.00, 5.20, 0.00, 0.00};
std::vector<float> yaml_gainMatrixPitchRate = { 6.20, 0.00, 0.00, 3.00, 0.00, 0.00, 0.00, 5.20, 0.00};
std::vector<float> yaml_gainMatrixYawRate = { 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 2.30};
// The weight of the Crazyflie in Newtons, i.e., mg
float m_cf_weight_in_newtons = 0.0;
// The state space matrices of lead compensator controller
float m_A=0,m_B=0,m_C=0,m_D=1;
// The state of lead compensator controller
float m_controller_state = 0.0;
// previous beta_ref given by controller
float m_beta_ref = 0;
// The inertial x measurement during a time window of 200 measurements
std::vector<float> m_x (200,0);
// The location error of the Crazyflie at the "previous" time step
float m_previous_stateErrorInertial[9];
// The setpoint to be tracked, the ordering is (x,y,z,yaw),
// with units [meters,meters,meters,radians]
std::vector<float> m_setpoint{0.0,0.0,0.4,0.0};
// ROS Publisher for debugging variables
ros::Publisher m_debugPublisher;
// ROS Publisher for inform the network about
// changes to the setpoin
ros::Publisher m_setpointChangedPublisher;
// ----------------------------------------------------------------------------------
// FFFFF U U N N CCCC TTTTT III OOO N N
// F U U NN N C T I O O NN 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
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// ----------------------------------------------------------------------------------
// 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
bool calculateControlOutput(Controller::Request &request, Controller::Response &response);
// TRANSFORMATION OF THE (x,y) INERTIAL FRAME ERROR
// INTO AN (x,y) BODY FRAME ERROR
void convertIntoBodyFrame(float stateInertial[9], float (&stateBody)[9], float yaw_measured);
// CONVERSION FROM THRUST IN NEWTONS TO 16-BIT COMMAND
float computeMotorPolyBackward(float thrust);
// REQUEST SETPOINT CHANGE CALLBACK
void requestSetpointChangeCallback(const SetpointWithHeader& newSetpoint);
// REQUEST CONTROLLER PARAMETERS CALLBACK
void requestControllerParametersCallback(const SetpointWithHeader& newSetpoint);
// CHANGE SETPOINT FUNCTION
void setNewSetpoint(float x, float y, float z, float yaw);
// CHANGE CONTROLLER PARAMETERS INTO DISCRETE TIME FUNCTION
void convertIntoDiscreteTimeParameters(float k, float T, float alpha);
// GET CURRENT SETPOINT SERVICE CALLBACK
bool getCurrentSetpointCallback(GetSetpointService::Request &request, GetSetpointService::Response &response);
// CUSTOM COMMAND RECEIVED CALLBACK
void customCommandReceivedCallback(const CustomButtonWithHeader& commandReceived);
// FOR LOADING THE YAML PARAMETERS
void timerCallback_initial_load_yaml(const ros::TimerEvent&);
void isReadyCsoneControllerYamlCallback(const IntWithHeader & msg);
void fetchCsoneControllerYamlParameters(ros::NodeHandle& nodeHandle);