Merge "Improve variable names and comments in blob code"
diff --git a/BUILD b/BUILD
new file mode 100644
index 0000000..4509a20
--- /dev/null
+++ b/BUILD
@@ -0,0 +1 @@
+exports_files(["tsconfig.json"])
diff --git a/WORKSPACE b/WORKSPACE
index b1199c7..f5428db 100644
--- a/WORKSPACE
+++ b/WORKSPACE
@@ -407,3 +407,31 @@
"http://www.frc971.org/Build-Dependencies/core-5.14.1-headers.zip",
],
)
+
+http_archive(
+ name = "build_bazel_rules_typescript",
+ strip_prefix = "rules_typescript-0.21.0",
+ url = "https://github.com/bazelbuild/rules_typescript/archive/0.21.0.zip",
+)
+
+# Fetch our Bazel dependencies that aren't distributed on npm
+load("@build_bazel_rules_typescript//:package.bzl", "rules_typescript_dependencies")
+
+rules_typescript_dependencies()
+
+# Setup TypeScript toolchain
+load("@build_bazel_rules_typescript//:defs.bzl", "ts_setup_workspace")
+
+ts_setup_workspace()
+
+# Setup the NodeJS toolchain
+load("@build_bazel_rules_nodejs//:defs.bzl", "node_repositories", "yarn_install")
+
+node_repositories()
+
+# Setup Bazel managed npm dependencies with the `yarn_install` rule.
+yarn_install(
+ name = "npm",
+ package_json = "//:package.json",
+ yarn_lock = "//:yarn.lock",
+)
diff --git a/aos/input/action_joystick_input.cc b/aos/input/action_joystick_input.cc
index 991ea17..81e277d 100644
--- a/aos/input/action_joystick_input.cc
+++ b/aos/input/action_joystick_input.cc
@@ -16,13 +16,18 @@
data.GetControlBit(ControlBit::kEnabled);
if (auto_running_ != last_auto_running) {
if (auto_running_) {
+ auto_was_running_ = true;
StartAuto();
} else {
StopAuto();
}
}
- if (!auto_running_) {
+ if (!auto_running_ || (run_teleop_in_auto_ && !action_queue_.Running())) {
+ if (auto_was_running_) {
+ AutoEnded();
+ auto_was_running_ = false;
+ }
if (!data.GetControlBit(ControlBit::kEnabled)) {
action_queue_.CancelAllActions();
LOG(DEBUG, "Canceling\n");
diff --git a/aos/input/action_joystick_input.h b/aos/input/action_joystick_input.h
index d4023ca..87b980e 100644
--- a/aos/input/action_joystick_input.h
+++ b/aos/input/action_joystick_input.h
@@ -24,7 +24,14 @@
virtual ~ActionJoystickInput() {}
+ protected:
+ void set_run_teleop_in_auto(bool run_teleop_in_auto) {
+ run_teleop_in_auto_ = run_teleop_in_auto;
+ }
+
private:
+ // Handles anything that needs to be cleaned up when the auto action exits.
+ virtual void AutoEnded() {}
// Handles any year specific superstructure code.
virtual void HandleTeleop(const ::aos::input::driver_station::Data &data) = 0;
@@ -38,6 +45,16 @@
// True if an action was running last cycle.
bool was_running_ = false;
+ // If true, we will run teleop during auto mode after auto mode ends. This is
+ // to support the 2019 sandstorm mode. Auto will run, and then when the
+ // action ends (either when it's done, or when the driver triggers it to
+ // finish early), we will run teleop regardless of the mode.
+ bool run_teleop_in_auto_ = false;
+
+ // Bool to track if auto was running the last cycle through. This lets us
+ // call AutoEnded when the auto mode function stops.
+ bool auto_was_running_ = false;
+
::std::unique_ptr<DrivetrainInputReader> drivetrain_input_reader_;
::aos::common::actions::ActionQueue action_queue_;
};
diff --git a/aos/input/drivetrain_input.cc b/aos/input/drivetrain_input.cc
index 02957a8..248f1ce 100644
--- a/aos/input/drivetrain_input.cc
+++ b/aos/input/drivetrain_input.cc
@@ -62,12 +62,15 @@
}
}
- if (is_control_loop_driving) {
- if (drivetrain_queue.status.get()) {
- left_goal_ = drivetrain_queue.status->estimated_left_position;
- right_goal_ = drivetrain_queue.status->estimated_right_position;
+ if (drivetrain_queue.status.get()) {
+ if (is_control_loop_driving && !last_is_control_loop_driving_) {
+ left_goal_ = drivetrain_queue.status->estimated_left_position +
+ wheel * wheel_multiplier_;
+ right_goal_ = drivetrain_queue.status->estimated_right_position -
+ wheel * wheel_multiplier_;
}
}
+
const double current_left_goal =
left_goal_ - wheel * wheel_multiplier_ + throttle * 0.3;
const double current_right_goal =
@@ -92,6 +95,8 @@
if (!new_drivetrain_goal.Send()) {
LOG(WARNING, "sending stick values failed\n");
}
+
+ last_is_control_loop_driving_ = is_control_loop_driving;
}
DrivetrainInputReader::WheelAndThrottle
@@ -242,10 +247,13 @@
// TODO(james): Make a copy assignment operator for ButtonLocation so we don't
// have to shoehorn in these ternary operators.
- const ButtonLocation kTurn1 =
+ const ButtonLocation kTurn1 = (top_button_use == TopButtonUse::kLineFollow)
+ ? SecondButton
+ : DummyButton;
+ // Turn2 does closed loop driving.
+ const ButtonLocation kTurn2 =
(top_button_use == TopButtonUse::kLineFollow) ? TopButton : DummyButton;
- // Turn2 currently does nothing on the pistol grip, ever.
- const ButtonLocation kTurn2 = DummyButton;
+
const ButtonLocation kShiftHigh =
(top_button_use == TopButtonUse::kShift) ? TopButton : DummyButton;
const ButtonLocation kShiftLow =
diff --git a/aos/input/drivetrain_input.h b/aos/input/drivetrain_input.h
index 80046ee..f4b0212 100644
--- a/aos/input/drivetrain_input.h
+++ b/aos/input/drivetrain_input.h
@@ -96,6 +96,8 @@
const driver_station::ButtonLocation turn2_;
const TurnButtonUse turn2_use_;
+ bool last_is_control_loop_driving_ = false;
+
// Structure containing the (potentially adjusted) steering and throttle
// values from the joysticks.
struct WheelAndThrottle {
@@ -183,7 +185,7 @@
driver_station::ButtonLocation turn2)
: DrivetrainInputReader(wheel_high, throttle_high, quick_turn, turn1,
TurnButtonUse::kLineFollow, turn2,
- TurnButtonUse::kLineFollow),
+ TurnButtonUse::kControlLoopDriving),
wheel_low_(wheel_low),
wheel_velocity_high_(wheel_velocity_high),
wheel_velocity_low_(wheel_velocity_low),
diff --git a/aos/logging/implementations.cc b/aos/logging/implementations.cc
index efeb704..78b6724 100644
--- a/aos/logging/implementations.cc
+++ b/aos/logging/implementations.cc
@@ -112,8 +112,10 @@
FillInMessageBase(level, message);
if (message_string.size() + size > sizeof(message->structure.serialized)) {
- LOG(FATAL, "serialized struct %s (size %zd) and message %s too big\n",
- type->name.c_str(), size, message_string.c_str());
+ LOG(FATAL,
+ "serialized struct %s (size %zd + %zd > %zd) and message %s too big\n",
+ type->name.c_str(), message_string.size(), size,
+ sizeof(message->structure.serialized), message_string.c_str());
}
message->structure.string_length = message_string.size();
memcpy(message->structure.serialized, message_string.data(),
diff --git a/aos/logging/sizes.h b/aos/logging/sizes.h
index b624a61..d7cfd4e 100644
--- a/aos/logging/sizes.h
+++ b/aos/logging/sizes.h
@@ -3,7 +3,7 @@
// This file exists so C code and context.h can both get at these constants...
-#define LOG_MESSAGE_LEN 500
+#define LOG_MESSAGE_LEN 512
#define LOG_MESSAGE_NAME_LEN 100
#endif // AOS_LOGGING_SIZES_H_
diff --git a/aos/seasocks/gen_embedded.bzl b/aos/seasocks/gen_embedded.bzl
index 60930b4..34d4bd8 100644
--- a/aos/seasocks/gen_embedded.bzl
+++ b/aos/seasocks/gen_embedded.bzl
@@ -1,45 +1,46 @@
def _gen_embedded_impl(ctx):
ctx.action(
inputs = ctx.files.srcs,
- outputs = [ ctx.outputs.header ],
+ outputs = [ ctx.outputs.source ],
executable = ctx.executable._gen_embedded,
- arguments = [ ctx.outputs.header.path ] + [f.path for f in ctx.files.srcs],
- progress_message = 'Generating %s' % ctx.outputs.header.short_path,
+ arguments = [ ctx.outputs.source.path ] + [f.path for f in ctx.files.srcs],
+ progress_message = 'Generating %s' % ctx.outputs.source.short_path,
mnemonic = 'GenEmbedded',
)
return struct(
- files = depset([ ctx.outputs.header ]),
+ files = depset([ ctx.outputs.source ]),
)
_do_gen_embedded = rule(
- implementation = _gen_embedded_impl,
- attrs = {
- 'srcs': attr.label_list(
- mandatory = True,
- non_empty = True,
- allow_files = True,
- ),
- '_gen_embedded': attr.label(
- executable = True,
- default = Label('//aos/seasocks:gen_embedded'),
- cfg = 'host',
- ),
- },
- outputs = {
- 'header': 'embedded.h',
- },
- output_to_genfiles = True,
+ attrs = {
+ "srcs": attr.label_list(
+ mandatory = True,
+ non_empty = True,
+ allow_files = True,
+ ),
+ "_gen_embedded": attr.label(
+ executable = True,
+ default = Label("//aos/seasocks:gen_embedded"),
+ cfg = "host",
+ ),
+ },
+ output_to_genfiles = True,
+ outputs = {
+ "source": "embedded.cc",
+ },
+ implementation = _gen_embedded_impl,
)
-'''Generates the header for Seasocks to load the embedded files.
+"""Generates the header for Seasocks to load the embedded files.
This always outputs a file named "embedded.h" in the current package, so there
can be a maximum of one of these rules in each package.
Attrs:
srcs: Files to allow loading.
-'''
+"""
+
def gen_embedded(name, srcs, visibility = None):
_do_gen_embedded(
name = name + '__do_gen',
@@ -48,8 +49,12 @@
)
native.cc_library(
name = name,
- visibiltity = visibility,
- hdrs = [
+ visibility = visibility,
+ linkstatic = True,
+ srcs = [
':%s__do_gen' % name,
],
+ deps = [
+ '@//third_party/seasocks',
+ ],
)
diff --git a/aos/vision/blob/threshold.cc b/aos/vision/blob/threshold.cc
index 74809d1..36dcafe 100644
--- a/aos/vision/blob/threshold.cc
+++ b/aos/vision/blob/threshold.cc
@@ -4,20 +4,17 @@
namespace aos {
namespace vision {
+namespace {
-// Expands to a unique value for each combination of values for 5 bools.
-#define MASH(v0, v1, v2, v3, v4) \
- ((uint8_t(v0) << 4) | (uint8_t(v1) << 3) | (uint8_t(v2) << 2) | \
- (uint8_t(v3) << 1) | (uint8_t(v4)))
+constexpr int kChunkSize = 8;
+
+} // namespace
// At a high level, the algorithm is the same as the slow thresholding, except
-// it operates in 4-pixel chunks. The handling for each of these chunks is
-// manually flattened (via codegen) into a 32-case switch statement. There are
-// 2^4 cases for each pixel being in or out, along with another set of cases
-// depending on whether the start of the chunk is in a range or not.
+// it operates in kChunkSize-pixel chunks.
RangeImage FastYuyvYThreshold(ImageFormat fmt, const char *data,
uint8_t value) {
- CHECK_EQ(0, fmt.w % 4);
+ CHECK_EQ(0, fmt.w % kChunkSize);
std::vector<std::vector<ImageRange>> result;
result.reserve(fmt.h);
@@ -28,195 +25,22 @@
bool in_range = false;
int current_range_start = -1;
std::vector<ImageRange> current_row_ranges;
- // Iterate through each 4-pixel chunk
- for (int x = 0; x < fmt.w / 4; ++x) {
+ // Iterate through each kChunkSize-pixel chunk
+ for (int x = 0; x < fmt.w / kChunkSize; ++x) {
// The per-channel (YUYV) values in the current chunk.
- uint8_t chunk_channels[8];
- memcpy(&chunk_channels[0], current_row + x * 4 * 2, 8);
- const uint8_t pattern =
- MASH(in_range, chunk_channels[0] > value, chunk_channels[2] > value,
- chunk_channels[4] > value, chunk_channels[6] > value);
- switch (pattern) {
- // clang-format off
-/*
-# Ruby code to generate the below code:
-32.times do |v|
- puts "case MASH(#{[v[4], v[3], v[2], v[1], v[0]].join(", ")}):"
- in_range = v[4]
- current_range_start = "current_range_start"
- 4.times do |i|
- if v[3 - i] != in_range
- if (in_range == 1)
- puts " current_row_ranges.emplace_back(ImageRange(#{current_range_start}, x * 4 + #{i}));"
- else
- current_range_start = "x * 4 + #{i}"
- end
- in_range = v[3 - i]
- end
- end
- if (current_range_start != "current_range_start")
- puts " current_range_start = #{current_range_start};"
- end
- if (in_range != v[4])
- puts " in_range = #{["false", "true"][v[0]]};"
- end
- puts " break;"
-end
-*/
- // clang-format on
- case MASH(0, 0, 0, 0, 0):
- break;
- case MASH(0, 0, 0, 0, 1):
- current_range_start = x * 4 + 3;
- in_range = true;
- break;
- case MASH(0, 0, 0, 1, 0):
- current_row_ranges.emplace_back(ImageRange(x * 4 + 2, x * 4 + 3));
- current_range_start = x * 4 + 2;
- break;
- case MASH(0, 0, 0, 1, 1):
- current_range_start = x * 4 + 2;
- in_range = true;
- break;
- case MASH(0, 0, 1, 0, 0):
- current_row_ranges.emplace_back(ImageRange(x * 4 + 1, x * 4 + 2));
- current_range_start = x * 4 + 1;
- break;
- case MASH(0, 0, 1, 0, 1):
- current_row_ranges.emplace_back(ImageRange(x * 4 + 1, x * 4 + 2));
- current_range_start = x * 4 + 3;
- in_range = true;
- break;
- case MASH(0, 0, 1, 1, 0):
- current_row_ranges.emplace_back(ImageRange(x * 4 + 1, x * 4 + 3));
- current_range_start = x * 4 + 1;
- break;
- case MASH(0, 0, 1, 1, 1):
- current_range_start = x * 4 + 1;
- in_range = true;
- break;
- case MASH(0, 1, 0, 0, 0):
- current_row_ranges.emplace_back(ImageRange(x * 4 + 0, x * 4 + 1));
- current_range_start = x * 4 + 0;
- break;
- case MASH(0, 1, 0, 0, 1):
- current_row_ranges.emplace_back(ImageRange(x * 4 + 0, x * 4 + 1));
- current_range_start = x * 4 + 3;
- in_range = true;
- break;
- case MASH(0, 1, 0, 1, 0):
- current_row_ranges.emplace_back(ImageRange(x * 4 + 0, x * 4 + 1));
- current_row_ranges.emplace_back(ImageRange(x * 4 + 2, x * 4 + 3));
- current_range_start = x * 4 + 2;
- break;
- case MASH(0, 1, 0, 1, 1):
- current_row_ranges.emplace_back(ImageRange(x * 4 + 0, x * 4 + 1));
- current_range_start = x * 4 + 2;
- in_range = true;
- break;
- case MASH(0, 1, 1, 0, 0):
- current_row_ranges.emplace_back(ImageRange(x * 4 + 0, x * 4 + 2));
- current_range_start = x * 4 + 0;
- break;
- case MASH(0, 1, 1, 0, 1):
- current_row_ranges.emplace_back(ImageRange(x * 4 + 0, x * 4 + 2));
- current_range_start = x * 4 + 3;
- in_range = true;
- break;
- case MASH(0, 1, 1, 1, 0):
- current_row_ranges.emplace_back(ImageRange(x * 4 + 0, x * 4 + 3));
- current_range_start = x * 4 + 0;
- break;
- case MASH(0, 1, 1, 1, 1):
- current_range_start = x * 4 + 0;
- in_range = true;
- break;
- case MASH(1, 0, 0, 0, 0):
- current_row_ranges.emplace_back(
- ImageRange(current_range_start, x * 4 + 0));
- in_range = false;
- break;
- case MASH(1, 0, 0, 0, 1):
- current_row_ranges.emplace_back(
- ImageRange(current_range_start, x * 4 + 0));
- current_range_start = x * 4 + 3;
- break;
- case MASH(1, 0, 0, 1, 0):
- current_row_ranges.emplace_back(
- ImageRange(current_range_start, x * 4 + 0));
- current_row_ranges.emplace_back(ImageRange(x * 4 + 2, x * 4 + 3));
- current_range_start = x * 4 + 2;
- in_range = false;
- break;
- case MASH(1, 0, 0, 1, 1):
- current_row_ranges.emplace_back(
- ImageRange(current_range_start, x * 4 + 0));
- current_range_start = x * 4 + 2;
- break;
- case MASH(1, 0, 1, 0, 0):
- current_row_ranges.emplace_back(
- ImageRange(current_range_start, x * 4 + 0));
- current_row_ranges.emplace_back(ImageRange(x * 4 + 1, x * 4 + 2));
- current_range_start = x * 4 + 1;
- in_range = false;
- break;
- case MASH(1, 0, 1, 0, 1):
- current_row_ranges.emplace_back(
- ImageRange(current_range_start, x * 4 + 0));
- current_row_ranges.emplace_back(ImageRange(x * 4 + 1, x * 4 + 2));
- current_range_start = x * 4 + 3;
- break;
- case MASH(1, 0, 1, 1, 0):
- current_row_ranges.emplace_back(
- ImageRange(current_range_start, x * 4 + 0));
- current_row_ranges.emplace_back(ImageRange(x * 4 + 1, x * 4 + 3));
- current_range_start = x * 4 + 1;
- in_range = false;
- break;
- case MASH(1, 0, 1, 1, 1):
- current_row_ranges.emplace_back(
- ImageRange(current_range_start, x * 4 + 0));
- current_range_start = x * 4 + 1;
- break;
- case MASH(1, 1, 0, 0, 0):
- current_row_ranges.emplace_back(
- ImageRange(current_range_start, x * 4 + 1));
- in_range = false;
- break;
- case MASH(1, 1, 0, 0, 1):
- current_row_ranges.emplace_back(
- ImageRange(current_range_start, x * 4 + 1));
- current_range_start = x * 4 + 3;
- break;
- case MASH(1, 1, 0, 1, 0):
- current_row_ranges.emplace_back(
- ImageRange(current_range_start, x * 4 + 1));
- current_row_ranges.emplace_back(ImageRange(x * 4 + 2, x * 4 + 3));
- current_range_start = x * 4 + 2;
- in_range = false;
- break;
- case MASH(1, 1, 0, 1, 1):
- current_row_ranges.emplace_back(
- ImageRange(current_range_start, x * 4 + 1));
- current_range_start = x * 4 + 2;
- break;
- case MASH(1, 1, 1, 0, 0):
- current_row_ranges.emplace_back(
- ImageRange(current_range_start, x * 4 + 2));
- in_range = false;
- break;
- case MASH(1, 1, 1, 0, 1):
- current_row_ranges.emplace_back(
- ImageRange(current_range_start, x * 4 + 2));
- current_range_start = x * 4 + 3;
- break;
- case MASH(1, 1, 1, 1, 0):
- current_row_ranges.emplace_back(
- ImageRange(current_range_start, x * 4 + 3));
- in_range = false;
- break;
- case MASH(1, 1, 1, 1, 1):
- break;
+ uint8_t chunk_channels[2 * kChunkSize];
+ memcpy(&chunk_channels[0], current_row + x * kChunkSize * 2, 2 * kChunkSize);
+
+ for (int i = 0; i < kChunkSize; ++i) {
+ if ((chunk_channels[i * 2] > value) != in_range) {
+ const int here = x * kChunkSize + i;
+ if (in_range) {
+ current_row_ranges.emplace_back(ImageRange(current_range_start, here));
+ } else {
+ current_range_start = here;
+ }
+ in_range = !in_range;
+ }
}
}
if (in_range) {
@@ -227,7 +51,5 @@
return RangeImage(0, std::move(result));
}
-#undef MASH
-
} // namespace vision
} // namespace aos
diff --git a/aos/vision/image/camera_params.proto b/aos/vision/image/camera_params.proto
index c109154..947de96 100644
--- a/aos/vision/image/camera_params.proto
+++ b/aos/vision/image/camera_params.proto
@@ -10,7 +10,7 @@
optional int32 height = 2 [default = 960];
// Exposure setting.
- optional int32 exposure = 3 [default = 10];
+ optional int32 exposure = 3 [default = 200];
// Brightness setting.
optional int32 brightness = 4 [default = 128];
diff --git a/aos/vision/tools/jpeg_vision_test.cc b/aos/vision/tools/jpeg_vision_test.cc
index 806fd80..5267041 100644
--- a/aos/vision/tools/jpeg_vision_test.cc
+++ b/aos/vision/tools/jpeg_vision_test.cc
@@ -74,7 +74,7 @@
prev_data_ = data.to_string();
// Threshold the image with the given lambda.
- RangeImage rimg = ThresholdImageWithFunction(img_ptr, [](PixelRef &px) {
+ RangeImage rimg = ThresholdImageWithFunction(img_ptr, [](PixelRef px) {
if (px.g > 88) {
uint8_t min = std::min(px.b, px.r);
uint8_t max = std::max(px.b, px.r);
diff --git a/frc971/autonomous/base_autonomous_actor.cc b/frc971/autonomous/base_autonomous_actor.cc
index ac1b3b7..ade396e 100644
--- a/frc971/autonomous/base_autonomous_actor.cc
+++ b/frc971/autonomous/base_autonomous_actor.cc
@@ -66,7 +66,7 @@
drivetrain_message->linear = linear;
drivetrain_message->angular = angular;
- LOG_STRUCT(DEBUG, "drivetrain_goal", *drivetrain_message);
+ LOG_STRUCT(DEBUG, "dtg", *drivetrain_message);
drivetrain_message.Send();
}
@@ -349,6 +349,96 @@
}
}
+BaseAutonomousActor::SplineHandle BaseAutonomousActor::PlanSpline(
+ const ::frc971::MultiSpline &spline) {
+ LOG(INFO, "Planning spline\n");
+
+ int32_t spline_handle = (++spline_handle_) | ((getpid() & 0xFFFF) << 15);
+
+ drivetrain_queue.goal.FetchLatest();
+
+ auto drivetrain_message = drivetrain_queue.goal.MakeMessage();
+ drivetrain_message->controller_type = 2;
+
+ drivetrain_message->spline = spline;
+ drivetrain_message->spline.spline_idx = spline_handle;
+ drivetrain_message->spline_handle = goal_spline_handle_;
+
+ LOG_STRUCT(DEBUG, "dtg", *drivetrain_message);
+
+ drivetrain_message.Send();
+
+ return BaseAutonomousActor::SplineHandle(spline_handle, this);
+}
+
+bool BaseAutonomousActor::SplineHandle::IsPlanned() {
+ drivetrain_queue.status.FetchLatest();
+ LOG_STRUCT(INFO, "dts", *drivetrain_queue.status.get());
+ if (drivetrain_queue.status.get() &&
+ ((drivetrain_queue.status->trajectory_logging.planning_spline_idx ==
+ spline_handle_ &&
+ drivetrain_queue.status->trajectory_logging.planning_state == 3) ||
+ drivetrain_queue.status->trajectory_logging.current_spline_idx ==
+ spline_handle_)) {
+ return true;
+ }
+ return false;
+}
+
+bool BaseAutonomousActor::SplineHandle::WaitForPlan() {
+ ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::std::chrono::milliseconds(5) / 2);
+ while (true) {
+ if (base_autonomous_actor_->ShouldCancel()) {
+ return false;
+ }
+ phased_loop.SleepUntilNext();
+ if (IsPlanned()) {
+ return true;
+ }
+ }
+}
+
+void BaseAutonomousActor::SplineHandle::Start() {
+ auto drivetrain_message = drivetrain_queue.goal.MakeMessage();
+ drivetrain_message->controller_type = 2;
+
+ LOG(INFO, "Starting spline\n");
+
+ drivetrain_message->spline_handle = spline_handle_;
+ base_autonomous_actor_->goal_spline_handle_ = spline_handle_;
+
+ LOG_STRUCT(DEBUG, "dtg", *drivetrain_message);
+
+ drivetrain_message.Send();
+}
+
+bool BaseAutonomousActor::SplineHandle::IsDone() {
+ drivetrain_queue.status.FetchLatest();
+ LOG_STRUCT(INFO, "dts", *drivetrain_queue.status.get());
+
+ if (drivetrain_queue.status.get() &&
+ drivetrain_queue.status->trajectory_logging.current_spline_idx ==
+ spline_handle_) {
+ return false;
+ }
+ return true;
+}
+
+bool BaseAutonomousActor::SplineHandle::WaitForDone() {
+ ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::std::chrono::milliseconds(5) / 2);
+ while (true) {
+ if (base_autonomous_actor_->ShouldCancel()) {
+ return false;
+ }
+ phased_loop.SleepUntilNext();
+ if (IsDone()) {
+ return true;
+ }
+ }
+}
+
::std::unique_ptr<AutonomousAction> MakeAutonomousAction(
const AutonomousActionParams ¶ms) {
return ::std::unique_ptr<AutonomousAction>(
diff --git a/frc971/autonomous/base_autonomous_actor.h b/frc971/autonomous/base_autonomous_actor.h
index dd53a7d..7e3ef35 100644
--- a/frc971/autonomous/base_autonomous_actor.h
+++ b/frc971/autonomous/base_autonomous_actor.h
@@ -20,6 +20,32 @@
const control_loops::drivetrain::DrivetrainConfig<double> &dt_config);
protected:
+ class SplineHandle {
+ public:
+ bool IsPlanned();
+ bool WaitForPlan();
+ void Start();
+
+ bool IsDone();
+ bool WaitForDone();
+
+ // Wait for done, wait until X from the end, wait for distance from the end
+
+ private:
+ friend BaseAutonomousActor;
+ SplineHandle(int32_t spline_handle,
+ BaseAutonomousActor *base_autonomous_actor)
+ : spline_handle_(spline_handle),
+ base_autonomous_actor_(base_autonomous_actor) {}
+
+ int32_t spline_handle_;
+ BaseAutonomousActor *base_autonomous_actor_;
+ };
+
+ // Starts planning the spline, and returns a handle to be used to manipulate
+ // it.
+ SplineHandle PlanSpline(const ::frc971::MultiSpline &spline);
+
void ResetDrivetrain();
void InitializeEncoders();
void StartDrive(double distance, double angle, ProfileParameters linear,
@@ -67,7 +93,14 @@
}
private:
+ friend class SplineHandle;
+
double max_drivetrain_voltage_ = 12.0;
+
+ // Unique counter so we get unique spline handles.
+ int spline_handle_ = 0;
+ // Last goal spline handle;
+ int32_t goal_spline_handle_ = 0;
};
using AutonomousAction =
diff --git a/frc971/control_loops/drivetrain/BUILD b/frc971/control_loops/drivetrain/BUILD
index d3ed728..1480e4e 100644
--- a/frc971/control_loops/drivetrain/BUILD
+++ b/frc971/control_loops/drivetrain/BUILD
@@ -499,7 +499,7 @@
"//aos/network:team_number",
"//third_party/eigen",
"//third_party/matplotlib-cpp",
- "//y2016/control_loops/drivetrain:drivetrain_base",
+ "//y2019/control_loops/drivetrain:drivetrain_base",
"@com_github_gflags_gflags//:gflags",
],
)
diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index 1b37612..6a2ea76 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -151,6 +151,9 @@
case IMUType::IMU_X:
last_accel_ = -::frc971::imu_values->accelerometer_x;
break;
+ case IMUType::IMU_FLIPPED_X:
+ last_accel_ = ::frc971::imu_values->accelerometer_x;
+ break;
case IMUType::IMU_Y:
last_accel_ = -::frc971::imu_values->accelerometer_y;
break;
@@ -239,7 +242,8 @@
// TODO(james): Use a watcher (instead of a fetcher) once we support it in
// simulation.
if (localizer_control_fetcher_.Fetch()) {
- localizer_->ResetPosition(localizer_control_fetcher_->x,
+ LOG_STRUCT(DEBUG, "localizer_control", *localizer_control_fetcher_);
+ localizer_->ResetPosition(monotonic_now, localizer_control_fetcher_->x,
localizer_control_fetcher_->y,
localizer_control_fetcher_->theta);
}
@@ -257,7 +261,7 @@
dt_closedloop_.SetGoal(*goal);
dt_openloop_.SetGoal(*goal);
dt_spline_.SetGoal(*goal);
- dt_line_follow_.SetGoal(*goal);
+ dt_line_follow_.SetGoal(monotonic_now, *goal);
}
dt_openloop_.Update(robot_state().voltage_battery);
@@ -272,7 +276,7 @@
dt_spline_.Update(output != NULL && controller_type == 2, trajectory_state);
- dt_line_follow_.Update(trajectory_state);
+ dt_line_follow_.Update(monotonic_now, trajectory_state);
switch (controller_type) {
case 0:
diff --git a/frc971/control_loops/drivetrain/drivetrain.q b/frc971/control_loops/drivetrain/drivetrain.q
index 74be414..73ebe10 100644
--- a/frc971/control_loops/drivetrain/drivetrain.q
+++ b/frc971/control_loops/drivetrain/drivetrain.q
@@ -46,8 +46,14 @@
// State of the spline execution.
bool is_executing;
- int32_t current_spline_handle;
+ // The handle of the goal spline. 0 means stop requested.
+ int32_t goal_spline_handle;
+ // Handle of the executing spline. -1 means none requested. If there was no
+ // spline executing when a spline finished optimizing, it will become the
+ // current spline even if we aren't ready to start yet.
int32_t current_spline_idx;
+ // Handle of the spline that is being optimized and staged.
+ int32_t planning_spline_idx;
// Expected position and velocity on the spline
float x;
@@ -67,6 +73,14 @@
float x;
float y;
float theta;
+ // Current lateral offset from line pointing straight out of the target.
+ float offset;
+ // Current distance from the plane of the target, in meters.
+ float distance_to_target;
+ // Current goal heading.
+ float goal_theta;
+ // Current relative heading.
+ float rel_theta;
};
queue_group DrivetrainQueue {
diff --git a/frc971/control_loops/drivetrain/drivetrain_config.h b/frc971/control_loops/drivetrain/drivetrain_config.h
index 53c2315..685516f 100644
--- a/frc971/control_loops/drivetrain/drivetrain_config.h
+++ b/frc971/control_loops/drivetrain/drivetrain_config.h
@@ -34,8 +34,9 @@
};
enum class IMUType : int32_t {
- IMU_X = 0, // Use the x-axis of the IMU.
- IMU_Y = 1, // Use the y-axis of the IMU.
+ IMU_X = 0, // Use the x-axis of the IMU.
+ IMU_Y = 1, // Use the y-axis of the IMU.
+ IMU_FLIPPED_X = 2, // Use the flipped x-axis of the IMU.
};
template <typename Scalar = double>
diff --git a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
index b00ab3f..d4c765f 100644
--- a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
+++ b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
@@ -111,8 +111,8 @@
double expected_x = my_drivetrain_queue_.status->trajectory_logging.x;
double expected_y = my_drivetrain_queue_.status->trajectory_logging.y;
auto actual = drivetrain_motor_plant_.GetPosition();
- EXPECT_NEAR(actual(0), expected_x, 3e-3);
- EXPECT_NEAR(actual(1), expected_y, 3e-3);
+ EXPECT_NEAR(actual(0), expected_x, 1e-2);
+ EXPECT_NEAR(actual(1), expected_y, 1e-2);
}
void WaitForTrajectoryPlan() {
@@ -744,7 +744,7 @@
// Should have run off the end of the target, running along the y=x line.
EXPECT_LT(1.0, drivetrain_motor_plant_.GetPosition().x());
EXPECT_NEAR(drivetrain_motor_plant_.GetPosition().x(),
- drivetrain_motor_plant_.GetPosition().y(), 1e-4);
+ drivetrain_motor_plant_.GetPosition().y(), 0.1);
}
// Tests that the line follower will not run and defer to regular open-loop
diff --git a/frc971/control_loops/drivetrain/hybrid_ekf.h b/frc971/control_loops/drivetrain/hybrid_ekf.h
index 119386a..42dc67a 100644
--- a/frc971/control_loops/drivetrain/hybrid_ekf.h
+++ b/frc971/control_loops/drivetrain/hybrid_ekf.h
@@ -49,8 +49,11 @@
kLeftVelocity = 4,
kRightEncoder = 5,
kRightVelocity = 6,
+ kLeftVoltageError = 7,
+ kRightVoltageError = 8 ,
+ kAngularError = 9,
};
- static constexpr int kNStates = 7;
+ static constexpr int kNStates = 10;
static constexpr int kNInputs = 2;
// Number of previous samples to save.
static constexpr int kSaveSamples = 50;
@@ -68,11 +71,19 @@
// variable-size measurement updates.
typedef Eigen::Matrix<Scalar, kNOutputs, 1> Output;
typedef Eigen::Matrix<Scalar, kNStates, kNStates> StateSquare;
- // State is [x_position, y_position, theta, left encoder, left ground vel,
- // right encoder, right ground vel]. left/right encoder should correspond
- // directly to encoder readings left/right velocities are the velocity of the
- // left/right sides over the
+ // State is [x_position, y_position, theta, Kalman States], where
+ // Kalman States are the states from the standard drivetrain Kalman Filter,
+ // which is: [left encoder, left ground vel, right encoder, right ground vel,
+ // left voltage error, right voltage error, angular_error], where:
+ // left/right encoder should correspond directly to encoder readings
+ // left/right velocities are the velocity of the left/right sides over the
// ground (i.e., corrected for angular_error).
+ // voltage errors are the difference between commanded and effective voltage,
+ // used to estimate consistent modelling errors (e.g., friction).
+ // angular error is the difference between the angular velocity as estimated
+ // by the encoders vs. estimated by the gyro, such as might be caused by
+ // wheels on one side of the drivetrain being too small or one side's
+ // wheels slipping more than the other.
typedef Eigen::Matrix<Scalar, kNStates, 1> State;
// Constructs a HybridEkf for a particular drivetrain.
@@ -96,6 +107,7 @@
const State &state, const StateSquare &P) {
observations_.clear();
X_hat_ = state;
+ have_zeroed_encoders_ = true;
P_ = P;
observations_.PushFromBottom(
{t,
@@ -140,6 +152,27 @@
const Scalar right_encoder, const Scalar gyro_rate,
const Input &U,
::aos::monotonic_clock::time_point t) {
+ // Because the check below for have_zeroed_encoders_ will add an
+ // Observation, do a check here to ensure that initialization has been
+ // performed and so there is at least one observation.
+ CHECK(!observations_.empty());
+ if (!have_zeroed_encoders_) {
+ // This logic handles ensuring that on the first encoder reading, we
+ // update the internal state for the encoders to match the reading.
+ // Otherwise, if we restart the drivetrain without restarting
+ // wpilib_interface, then we can get some obnoxious initial corrections
+ // that mess up the localization.
+ State newstate = X_hat_;
+ newstate(kLeftEncoder, 0) = left_encoder;
+ newstate(kRightEncoder, 0) = right_encoder;
+ newstate(kLeftVoltageError, 0) = 0.0;
+ newstate(kRightVoltageError, 0) = 0.0;
+ newstate(kAngularError, 0) = 0.0;
+ ResetInitialState(t, newstate, P_);
+ // We need to set have_zeroed_encoders_ after ResetInitialPosition because
+ // the reset clears have_zeroed_encoders_...
+ have_zeroed_encoders_ = true;
+ }
Output z(left_encoder, right_encoder, gyro_rate);
Eigen::Matrix<Scalar, kNOutputs, kNOutputs> R;
R.setZero();
@@ -294,6 +327,8 @@
Scalar encoder_noise_, gyro_noise_;
Eigen::Matrix<Scalar, kNStates, kNInputs> B_continuous_;
+ bool have_zeroed_encoders_ = false;
+
aos::PriorityQueue<Observation, kSaveSamples, ::std::less<Observation>>
observations_;
@@ -396,7 +431,9 @@
// Encoder derivatives
A_continuous_(kLeftEncoder, kLeftVelocity) = 1.0;
+ A_continuous_(kLeftEncoder, kAngularError) = 1.0;
A_continuous_(kRightEncoder, kRightVelocity) = 1.0;
+ A_continuous_(kRightEncoder, kAngularError) = -1.0;
// Pull velocity derivatives from velocity matrices.
// Note that this looks really awkward (doesn't use
@@ -413,22 +450,26 @@
B_continuous_.setZero();
B_continuous_.row(kLeftVelocity) = vel_coefs.B_continuous.row(0);
B_continuous_.row(kRightVelocity) = vel_coefs.B_continuous.row(1);
+ A_continuous_.template block<kNStates, kNInputs>(0, 7) = B_continuous_;
Q_continuous_.setZero();
// TODO(james): Improve estimates of process noise--e.g., X/Y noise can
// probably be reduced when we are stopped because you rarely jump randomly.
// Or maybe it's more appropriate to scale wheelspeed noise with wheelspeed,
// since the wheels aren't likely to slip much stopped.
- Q_continuous_(kX, kX) = 0.01;
- Q_continuous_(kY, kY) = 0.01;
+ Q_continuous_(kX, kX) = 0.002;
+ Q_continuous_(kY, kY) = 0.002;
Q_continuous_(kTheta, kTheta) = 0.0002;
- Q_continuous_(kLeftEncoder, kLeftEncoder) = ::std::pow(0.03, 2.0);
- Q_continuous_(kRightEncoder, kRightEncoder) = ::std::pow(0.03, 2.0);
- Q_continuous_(kLeftVelocity, kLeftVelocity) = ::std::pow(0.1, 2.0);
- Q_continuous_(kRightVelocity, kRightVelocity) = ::std::pow(0.1, 2.0);
+ Q_continuous_(kLeftEncoder, kLeftEncoder) = ::std::pow(0.15, 2.0);
+ Q_continuous_(kRightEncoder, kRightEncoder) = ::std::pow(0.15, 2.0);
+ Q_continuous_(kLeftVelocity, kLeftVelocity) = ::std::pow(0.5, 2.0);
+ Q_continuous_(kRightVelocity, kRightVelocity) = ::std::pow(0.5, 2.0);
+ Q_continuous_(kLeftVoltageError, kLeftVoltageError) = ::std::pow(10.0, 2.0);
+ Q_continuous_(kRightVoltageError, kRightVoltageError) = ::std::pow(10.0, 2.0);
+ Q_continuous_(kAngularError, kAngularError) = ::std::pow(2.0, 2.0);
P_.setZero();
- P_.diagonal() << 0.1, 0.1, 0.01, 0.02, 0.01, 0.02, 0.01;
+ P_.diagonal() << 0.1, 0.1, 0.01, 0.02, 0.01, 0.02, 0.01, 1, 1, 0.03;
H_encoders_and_gyro_.setZero();
// Encoders are stored directly in the state matrix, so are a minor
@@ -441,8 +482,10 @@
const Eigen::Matrix<Scalar, 4, 4> R_kf_drivetrain =
dt_config_.make_kf_drivetrain_loop().observer().coefficients().R;
- encoder_noise_ = R_kf_drivetrain(0, 0);
- gyro_noise_ = R_kf_drivetrain(2, 2);
+ // TODO(james): The multipliers here are hand-waving things that I put in when
+ // tuning things. I haven't yet tried messing with these values again.
+ encoder_noise_ = 0.05 * R_kf_drivetrain(0, 0);
+ gyro_noise_ = 0.1 * R_kf_drivetrain(2, 2);
}
} // namespace drivetrain
diff --git a/frc971/control_loops/drivetrain/hybrid_ekf_test.cc b/frc971/control_loops/drivetrain/hybrid_ekf_test.cc
index 1702ec4..80ce95c 100644
--- a/frc971/control_loops/drivetrain/hybrid_ekf_test.cc
+++ b/frc971/control_loops/drivetrain/hybrid_ekf_test.cc
@@ -52,16 +52,22 @@
EXPECT_EQ(Xdot_ekf(StateIdx::kX, 0), ctheta * (left_vel + right_vel) / 2.0);
EXPECT_EQ(Xdot_ekf(StateIdx::kY, 0), stheta * (left_vel + right_vel) / 2.0);
EXPECT_EQ(Xdot_ekf(StateIdx::kTheta, 0), (right_vel - left_vel) / diameter);
- EXPECT_EQ(Xdot_ekf(StateIdx::kLeftEncoder, 0), left_vel);
- EXPECT_EQ(Xdot_ekf(StateIdx::kRightEncoder, 0), right_vel);
+ EXPECT_EQ(Xdot_ekf(StateIdx::kLeftEncoder, 0),
+ left_vel + X(StateIdx::kAngularError, 0));
+ EXPECT_EQ(Xdot_ekf(StateIdx::kRightEncoder, 0),
+ right_vel - X(StateIdx::kAngularError, 0));
Eigen::Matrix<double, 2, 1> vel_x(X(StateIdx::kLeftVelocity, 0),
X(StateIdx::kRightVelocity, 0));
Eigen::Matrix<double, 2, 1> expected_vel_X =
velocity_plant_coefs_.A_continuous * vel_x +
- velocity_plant_coefs_.B_continuous * U;
+ velocity_plant_coefs_.B_continuous *
+ (U + X.middleRows<2>(StateIdx::kLeftVoltageError));
EXPECT_EQ(Xdot_ekf(StateIdx::kLeftVelocity, 0), expected_vel_X(0, 0));
EXPECT_EQ(Xdot_ekf(StateIdx::kRightVelocity, 0), expected_vel_X(1, 0));
+
+ // Dynamics don't expect error terms to change:
+ EXPECT_EQ(0.0, Xdot_ekf.bottomRows<3>().squaredNorm());
}
State DiffEq(const State &X, const Input &U) {
return ekf_.DiffEq(X, U);
@@ -87,14 +93,18 @@
CheckDiffEq(State::Zero(), Input::Zero());
CheckDiffEq(State::Zero(), {-5.0, 5.0});
CheckDiffEq(State::Zero(), {12.0, -3.0});
- CheckDiffEq((State() << 100.0, 200.0, M_PI, 1.234, 0.5, 1.2, 0.6).finished(),
+ CheckDiffEq((State() << 100.0, 200.0, M_PI, 1.234, 0.5, 1.2, 0.6, 3.0, -4.0,
+ 0.3).finished(),
{5.0, 6.0});
- CheckDiffEq((State() << 100.0, 200.0, 2.0, 1.234, 0.5, 1.2, 0.6).finished(),
+ CheckDiffEq((State() << 100.0, 200.0, 2.0, 1.234, 0.5, 1.2, 0.6, 3.0, -4.0,
+ 0.3).finished(),
{5.0, 6.0});
- CheckDiffEq((State() << 100.0, 200.0, -2.0, 1.234, 0.5, 1.2, 0.6).finished(),
+ CheckDiffEq((State() << 100.0, 200.0, -2.0, 1.234, 0.5, 1.2, 0.6, 3.0, -4.0,
+ 0.3).finished(),
{5.0, 6.0});
// And check that a theta outisde of [-M_PI, M_PI] works.
- CheckDiffEq((State() << 100.0, 200.0, 200.0, 1.234, 0.5, 1.2, 0.6).finished(),
+ CheckDiffEq((State() << 100.0, 200.0, 200.0, 1.234, 0.5, 1.2, 0.6, 3.0, -4.0,
+ 0.3).finished(),
{5.0, 6.0});
}
@@ -102,7 +112,7 @@
// with zero change in time, the state should approach the estimation.
TEST_F(HybridEkfTest, ZeroTimeCorrect) {
HybridEkf<>::Output Z(0.5, 0.5, 1);
- Eigen::Matrix<double, 3, 7> H;
+ Eigen::Matrix<double, 3, 10> H;
H.setIdentity();
auto h = [H](const State &X, const Input &) { return H * X; };
auto dhdx = [H](const State &) { return H; };
@@ -130,7 +140,7 @@
HybridEkf<>::Output Z(0, 0, 0);
// Use true_X to track what we think the true robot state is.
State true_X = ekf_.X_hat();
- Eigen::Matrix<double, 3, 7> H;
+ Eigen::Matrix<double, 3, 10> H;
H.setZero();
auto h = [H](const State &X, const Input &) { return H * X; };
auto dhdx = [H](const State &) { return H; };
@@ -161,6 +171,9 @@
EXPECT_NEAR(ekf_.X_hat(StateIdx::kLeftVelocity) * 0.8,
ekf_.X_hat(StateIdx::kRightVelocity),
ekf_.X_hat(StateIdx::kLeftVelocity) * 0.1);
+ EXPECT_EQ(0.0, ekf_.X_hat(StateIdx::kLeftVoltageError));
+ EXPECT_EQ(0.0, ekf_.X_hat(StateIdx::kRightVoltageError));
+ EXPECT_EQ(0.0, ekf_.X_hat(StateIdx::kAngularError));
const double ending_p_norm = ekf_.P().norm();
// Due to lack of corrections, noise should've increased.
EXPECT_GT(ending_p_norm, starting_p_norm * 1.10);
@@ -180,7 +193,7 @@
TEST_P(HybridEkfOldCorrectionsTest, CreateOldCorrection) {
HybridEkf<>::Output Z;
Z.setZero();
- Eigen::Matrix<double, 3, 7> H;
+ Eigen::Matrix<double, 3, 10> H;
H.setZero();
auto h_zero = [H](const State &X, const Input &) { return H * X; };
auto dhdx_zero = [H](const State &) { return H; };
@@ -218,7 +231,7 @@
expected_X_hat(0, 0) = Z(0, 0);
expected_X_hat(1, 0) = Z(1, 0) + modeled_X_hat(0, 0);
expected_X_hat(2, 0) = Z(2, 0);
- EXPECT_LT((expected_X_hat - ekf_.X_hat()).norm(),
+ EXPECT_LT((expected_X_hat.topRows<7>() - ekf_.X_hat().topRows<7>()).norm(),
1e-3)
<< "X_hat: " << ekf_.X_hat() << " expected " << expected_X_hat;
// The covariance after the predictions but before the corrections should
@@ -236,7 +249,7 @@
TEST_F(HybridEkfTest, DiscardTooOldCorrection) {
HybridEkf<>::Output Z;
Z.setZero();
- Eigen::Matrix<double, 3, 7> H;
+ Eigen::Matrix<double, 3, 10> H;
H.setZero();
auto h_zero = [H](const State &X, const Input &) { return H * X; };
auto dhdx_zero = [H](const State &) { return H; };
@@ -291,11 +304,11 @@
}
// Tests that encoder updates cause everything to converge properly in the
-// presence of an initial velocity error.
+// presence of voltage error.
TEST_F(HybridEkfTest, PerfectEncoderUpdatesWithVoltageError) {
State true_X = ekf_.X_hat();
- true_X(StateIdx::kLeftVelocity, 0) = 0.2;
- true_X(StateIdx::kRightVelocity, 0) = 0.2;
+ true_X(StateIdx::kLeftVoltageError, 0) = 2.0;
+ true_X(StateIdx::kRightVoltageError, 0) = 2.0;
Input U(5.0, 5.0);
for (int ii = 0; ii < 1000; ++ii) {
true_X = Update(true_X, U);
@@ -306,7 +319,7 @@
dt_config_.robot_radius / 2.0,
U, t0_ + (ii + 1) * dt_config_.dt);
}
- EXPECT_NEAR((true_X - ekf_.X_hat()).norm(), 0.0, 5e-3)
+ EXPECT_NEAR((true_X - ekf_.X_hat()).norm(), 0.0, 5e-2)
<< "Expected non-x/y estimates to converge to correct. "
"Estimated X_hat:\n"
<< ekf_.X_hat() << "\ntrue X:\n"
@@ -315,11 +328,11 @@
// Tests encoder/gyro updates when we have some errors in our estimate.
TEST_F(HybridEkfTest, PerfectEncoderUpdateConverges) {
- // In order to simulate modelling errors, we start the encoder values slightly
- // off.
+ // In order to simulate modelling errors, we add an angular_error and start
+ // the encoder values slightly off.
State true_X = ekf_.X_hat();
+ true_X(StateIdx::kAngularError, 0) = 1.0;
true_X(StateIdx::kLeftEncoder, 0) += 2.0;
- true_X(StateIdx::kLeftVelocity, 0) = 0.1;
true_X(StateIdx::kRightEncoder, 0) -= 2.0;
// After enough time, everything should converge to near-perfect (if there
// were any errors in the original absolute state (x/y/theta) state, then we
@@ -337,7 +350,7 @@
dt_config_.robot_radius / 2.0,
U, t0_ + (ii + 1) * dt_config_.dt);
}
- EXPECT_NEAR((true_X - ekf_.X_hat()).norm(), 0.0, 1e-4)
+ EXPECT_NEAR((true_X - ekf_.X_hat()).norm(), 0.0, 3e-5)
<< "Expected non-x/y estimates to converge to correct. "
"Estimated X_hat:\n"
<< ekf_.X_hat() << "\ntrue X:\n"
@@ -346,11 +359,11 @@
// Tests encoder/gyro updates in a realistic-ish scenario with noise:
TEST_F(HybridEkfTest, RealisticEncoderUpdateConverges) {
- // In order to simulate modelling errors, we start the encoder values slightly
- // off.
+ // In order to simulate modelling errors, we add an angular_error and start
+ // the encoder values slightly off.
State true_X = ekf_.X_hat();
+ true_X(StateIdx::kAngularError, 0) = 1.0;
true_X(StateIdx::kLeftEncoder, 0) += 2.0;
- true_X(StateIdx::kLeftVelocity, 0) = 0.1;
true_X(StateIdx::kRightEncoder, 0) -= 2.0;
Input U(10.0, 5.0);
for (int ii = 0; ii < 100; ++ii) {
@@ -364,7 +377,7 @@
U, t0_ + (ii + 1) * dt_config_.dt);
}
EXPECT_NEAR(
- (true_X.bottomRows<6>() - ekf_.X_hat().bottomRows<6>()).squaredNorm(),
+ (true_X.bottomRows<9>() - ekf_.X_hat().bottomRows<9>()).squaredNorm(),
0.0, 2e-3)
<< "Expected non-x/y estimates to converge to correct. "
"Estimated X_hat:\n" << ekf_.X_hat() << "\ntrue X:\n" << true_X;
@@ -398,7 +411,7 @@
// Check that we die when only one of h and dhdx are provided:
EXPECT_DEATH(ekf_.Correct({1, 2, 3}, &U, {}, {},
[](const State &) {
- return Eigen::Matrix<double, 3, 7>::Zero();
+ return Eigen::Matrix<double, 3, 10>::Zero();
},
{}, t0_ + ::std::chrono::seconds(1)),
"make_h");
diff --git a/frc971/control_loops/drivetrain/line_follow_drivetrain.cc b/frc971/control_loops/drivetrain/line_follow_drivetrain.cc
index b5417af..4c51569 100644
--- a/frc971/control_loops/drivetrain/line_follow_drivetrain.cc
+++ b/frc971/control_loops/drivetrain/line_follow_drivetrain.cc
@@ -1,7 +1,9 @@
-#include <iostream>
#include "frc971/control_loops/drivetrain/line_follow_drivetrain.h"
+#include <chrono>
+
#include "aos/commonmath.h"
+#include "aos/time/time.h"
#include "aos/util/math.h"
#include "frc971/control_loops/c2d.h"
#include "frc971/control_loops/dlqr.h"
@@ -9,9 +11,11 @@
namespace frc971 {
namespace control_loops {
namespace drivetrain {
+namespace {
+namespace chrono = ::std::chrono;
+} // namespace
constexpr double LineFollowDrivetrain::kMaxVoltage;
-constexpr double LineFollowDrivetrain::kPolyN;
namespace {
::Eigen::Matrix<double, 3, 3> AContinuous(
@@ -99,71 +103,34 @@
target_selector_(target_selector),
U_(0, 0) {}
-double LineFollowDrivetrain::GoalTheta(
- const ::Eigen::Matrix<double, 5, 1> &state) const {
- // TODO(james): Consider latching the sign of the goal so that the driver
- // can back up without the robot trying to turn around...
- // On the other hand, we may just want to force the driver to take over
- // entirely if they need to backup.
- int sign = ::aos::sign(goal_velocity_);
- // Given a Nth degree polynomial with just a single term that
- // has its minimum (with a slope of zero) at (0, 0) and passing
- // through (x0, y0), we will have:
- // y = a * x^N
- // a = y0 / x0^N
- // And the slope of the tangent line at (x0, y0) will be
- // N * a * x0^(N-1)
- // = N * y0 / x0^N * x0^(N-1)
- // = N * y0 / x0
- // Giving a heading of
- // atan2(-N * y0, -x0)
- // where we add the negative signs to make things work out properly when we
- // are trying to drive forwards towards zero. We reverse the sign of both
- // terms if we want to drive backwards.
- return ::std::atan2(-sign * kPolyN * state.y(), -sign * state.x());
-}
-
-double LineFollowDrivetrain::GoalThetaDot(
- const ::Eigen::Matrix<double, 5, 1> &state) const {
- // theta = atan2(-N * y0, -x0)
- // Note: d(atan2(p(t), q(t)))/dt
- // = (p(t) * q'(t) - q(t) * p'(t)) / (p(t)^2 + q(t)^2)
- // Note: x0' = cos(theta) * v, y0' = sin(theta) * v
- // Note that for the sin/cos calculations we discard the
- // negatives in the arctangent to make the signs work out (the
- // dtheta/dt needs to be correct as we travel along the path). This
- // also corresponds with the fact that thetadot is agnostic towards
- // whether the robot is driving forwards or backwards, so long as it is
- // trying to drive towards the target.
- // Note: sin(theta) = sin(atan2(N * y0, x0))
- // = N * y0 / sqrt(N^2 * y0^2 + x0^2)
- // Note: cos(theta) = cos(atan2(N * y0, x0))
- // = x0 / sqrt(N^2 * y0^2 + x0^2)
- // dtheta/dt
- // = (-x0 * (-N * y0') - -N * y0 * (-x0')) / (N^2 * y0^2 + x0^2)
- // = N * (x0 * v * sin(theta) - y0 * v * cos(theta)) / (N^2 * y0^2 + x0^2)
- // = N * v * (x0 * (N * y0) - y0 * (x0)) / (N^2 * y0^2 + x0^2)^1.5
- // = N * v * (N - 1) * x0 * y0 / (N^2 * y0^2 + x0^2)^1.5
- const double linear_vel = (state(3, 0) + state(4, 0)) / 2.0;
- const double x2 = ::std::pow(state.x(), 2);
- const double y2 = ::std::pow(state.y(), 2);
- const double norm = y2 * kPolyN * kPolyN + x2;
- // When we get too near the goal, avoid singularity in a sane manner.
- if (norm < 1e-3) {
- return 0.0;
- }
- return kPolyN * (kPolyN - 1) * linear_vel * state.x() * state.y() /
- (norm * ::std::sqrt(norm));
-}
-
void LineFollowDrivetrain::SetGoal(
+ ::aos::monotonic_clock::time_point now,
const ::frc971::control_loops::DrivetrainQueue::Goal &goal) {
// TODO(james): More properly calculate goal velocity from throttle.
- goal_velocity_ = goal.throttle;
+ goal_velocity_ = 4.0 * goal.throttle;
+ // The amount of time to freeze the target choice after the driver releases
+ // the button. Depending on the current state, we vary how long this timeout
+ // is so that we can avoid button glitches causing issues.
+ chrono::nanoseconds freeze_delay = chrono::seconds(0);
// Freeze the target once the driver presses the button; if we haven't yet
// confirmed a target when the driver presses the button, we will not do
// anything and report not ready until we have a target.
- freeze_target_ = goal.controller_type == 3;
+ if (goal.controller_type == 3) {
+ last_enable_ = now;
+ // If we already acquired a target, we want to keep track if it.
+ if (have_target_) {
+ freeze_delay = chrono::milliseconds(500);
+ // If we've had the target acquired for a while, the driver is probably
+ // happy with the current target selection, so we really want to keep it.
+ if (now > chrono::milliseconds(1000) + start_of_target_acquire_) {
+ freeze_delay = chrono::milliseconds(2000);
+ }
+ }
+ }
+ freeze_target_ = now <= freeze_delay + last_enable_;
+ // Set an adjustment that lets the driver tweak the offset for where we place
+ // the target left/right.
+ side_adjust_ = -goal.wheel * 0.1;
}
bool LineFollowDrivetrain::SetOutput(
@@ -177,7 +144,48 @@
return have_target_;
}
+double LineFollowDrivetrain::GoalTheta(
+ const ::Eigen::Matrix<double, 5, 1> &abs_state, double relative_y_offset,
+ double velocity_sign) {
+ // Calculates the goal angle for the drivetrain given our position.
+ // The calculated goal will be such that a point disc_rad to one side of the
+ // drivetrain (the side depends on where we approach from) will end up hitting
+ // the plane of the target exactly disc_rad from the center of the target.
+ // This allows us to better approach targets in the 2019 game from an
+ // angle--radii of zero imply driving straight in.
+ const double disc_rad = target_selector_->TargetRadius();
+ // Depending on whether we are to the right or left of the target, we work off
+ // of a different side of the robot.
+ const double edge_sign = relative_y_offset > 0 ? 1.0 : -1.0;
+ // Note side_adjust which is the input from the driver's wheel to allow
+ // shifting the goal target left/right.
+ const double edge_offset = edge_sign * disc_rad - side_adjust_;
+ // The point that we are trying to get the disc to hit.
+ const Pose corner = Pose(&target_pose_, {0.0, edge_offset, 0.0}, 0.0);
+ // A pose for the current robot position that is square to the target.
+ Pose square_robot =
+ Pose({abs_state.x(), abs_state.y(), 0.0}, 0.0).Rebase(&corner);
+ // To prevent numerical issues, we limit x so that when the localizer isn't
+ // working properly and ends up driving past the target, we still get sane
+ // results.
+ square_robot.mutable_pos()->x() =
+ ::std::min(::std::min(square_robot.mutable_pos()->x(), -disc_rad), -0.01);
+ // Distance from the edge of the disc on the robot to the velcro we want to
+ // hit on the target.
+ const double dist_to_corner = square_robot.xy_norm();
+ // The following actually handles calculating the heading we need the robot to
+ // take (relative to the plane of the target).
+ const double alpha = ::std::acos(disc_rad / dist_to_corner);
+ const double heading_to_robot = edge_sign * square_robot.heading();
+ double theta = -edge_sign * (M_PI - alpha - (heading_to_robot - M_PI_2));
+ if (velocity_sign < 0) {
+ theta = ::aos::math::NormalizeAngle(theta + M_PI);
+ }
+ return theta;
+}
+
void LineFollowDrivetrain::Update(
+ ::aos::monotonic_clock::time_point now,
const ::Eigen::Matrix<double, 5, 1> &abs_state) {
// Because we assume the target selector may have some internal state (e.g.,
// not confirming a target until some time as passed), we should call
@@ -189,6 +197,8 @@
// target before.
if (!have_target_ && new_target) {
have_target_ = true;
+ start_of_target_acquire_ = now;
+ velocity_sign_ = goal_velocity_ >= 0.0 ? 1.0 : -1.0;
target_pose_ = target_selector_->TargetPose();
}
} else {
@@ -197,12 +207,15 @@
have_target_ = new_target;
if (have_target_) {
target_pose_ = target_selector_->TargetPose();
+ velocity_sign_ = goal_velocity_ >= 0.0 ? 1.0 : -1.0;
}
}
-
// Get the robot pose in the target coordinate frame.
- const Pose relative_robot_pose = Pose({abs_state.x(), abs_state.y(), 0.0},
- abs_state(2, 0)).Rebase(&target_pose_);
+ relative_pose_ = Pose({abs_state.x(), abs_state.y(), 0.0}, abs_state(2, 0))
+ .Rebase(&target_pose_);
+ double goal_theta =
+ GoalTheta(abs_state, relative_pose_.rel_pos().y(), velocity_sign_);
+
// Always force a slight negative X, so that the driver can continue to drive
// past zero if they want.
// The "slight negative" needs to be large enough that we won't force
@@ -210,28 +223,38 @@
// line--because, in practice, the driver should never be trying to drive to a
// target where they are significantly off laterally at <0.1m from the target,
// this should not be a problem.
- const double relative_x = ::std::min(relative_robot_pose.rel_pos().x(), -0.1);
+ const double relative_x = ::std::min(relative_pose_.rel_pos().x(), -0.1);
const ::Eigen::Matrix<double, 5, 1> rel_state =
(::Eigen::Matrix<double, 5, 1>() << relative_x,
- relative_robot_pose.rel_pos().y(), relative_robot_pose.rel_theta(),
- abs_state(3, 0), abs_state(4, 0))
- .finished();
- ::Eigen::Matrix<double, 3, 1> controls_goal(
- GoalTheta(rel_state), goal_velocity_, GoalThetaDot(rel_state));
+ relative_pose_.rel_pos().y(), relative_pose_.rel_theta(),
+ abs_state(3, 0), abs_state(4, 0)).finished();
+ if (velocity_sign_ * goal_velocity_ < 0) {
+ goal_theta = rel_state(2, 0);
+ }
+ controls_goal_ << goal_theta, goal_velocity_, 0.0;
::Eigen::Matrix<double, 3, 1> controls_state;
controls_state(0, 0) = rel_state(2, 0);
controls_state.block<2, 1>(1, 0) =
dt_config_.Tlr_to_la() * rel_state.block<2, 1>(3, 0);
- ::Eigen::Matrix<double, 3, 1> controls_err = controls_goal - controls_state;
+ ::Eigen::Matrix<double, 3, 1> controls_err = controls_goal_ - controls_state;
// Because we are taking the difference of an angle, normaliez to [-pi, pi].
controls_err(0, 0) = ::aos::math::NormalizeAngle(controls_err(0, 0));
// TODO(james): Calculate the next goal so that we are properly doing
// feed-forwards.
::Eigen::Matrix<double, 2, 1> U_ff =
- Kff_ * (controls_goal - A_d_ * controls_goal);
+ Kff_ * (controls_goal_ - A_d_ * controls_goal_);
U_ = K_ * controls_err + U_ff;
- const double maxU = U_.lpNorm<::Eigen::Infinity>();
- U_ *= (maxU > kMaxVoltage) ? kMaxVoltage / maxU : 1.0;
+ const double maxU = ::std::max(U_(0, 0), U_(1, 0));
+ const double minU = ::std::min(U_(0, 0), U_(1, 0));
+ const double diffU = ::std::abs(U_(1, 0) - U_(0, 0));
+ const double maxAbsU = ::std::max(maxU, -minU);
+ if (diffU > 24.0) {
+ U_ *= (maxAbsU > kMaxVoltage) ? kMaxVoltage / maxAbsU : 1.0;
+ } else if (maxU > 12.0) {
+ U_ = U_ + U_.Ones() * (12.0 - maxU);
+ } else if (minU < -12.0) {
+ U_ = U_ - U_.Ones() * (minU + 12.0);
+ }
}
void LineFollowDrivetrain::PopulateStatus(
@@ -241,6 +264,11 @@
status->line_follow_logging.x = target_pose_.abs_pos().x();
status->line_follow_logging.y = target_pose_.abs_pos().y();
status->line_follow_logging.theta = target_pose_.abs_theta();
+ status->line_follow_logging.offset = relative_pose_.rel_pos().y();
+ status->line_follow_logging.distance_to_target =
+ -relative_pose_.rel_pos().x();
+ status->line_follow_logging.goal_theta = controls_goal_(0, 0);
+ status->line_follow_logging.rel_theta = relative_pose_.rel_theta();
}
} // namespace drivetrain
diff --git a/frc971/control_loops/drivetrain/line_follow_drivetrain.h b/frc971/control_loops/drivetrain/line_follow_drivetrain.h
index de9ff5a..09b2080 100644
--- a/frc971/control_loops/drivetrain/line_follow_drivetrain.h
+++ b/frc971/control_loops/drivetrain/line_follow_drivetrain.h
@@ -17,25 +17,22 @@
// A drivetrain that permits a velocity input from the driver while controlling
// lateral motion.
-// TODO(james): Do we want to allow some driver input on lateral control? It may
-// just be too confusing to make work effectively, but it also wouldn't be too
-// hard to just allow the driver to specify an offset to the angle/angular
-// velocity.
class LineFollowDrivetrain {
public:
typedef TypedPose<double> Pose;
- LineFollowDrivetrain(
- const DrivetrainConfig<double> &dt_config,
- TargetSelectorInterface *target_selector);
+ LineFollowDrivetrain(const DrivetrainConfig<double> &dt_config,
+ TargetSelectorInterface *target_selector);
// Sets the current goal; the drivetrain queue contains throttle_velocity
// which is used to command overall robot velocity. The goal_pose is a Pose
- // representing where we are tring to go. This would typically be the Pose of
+ // representing where we are trying to go. This would typically be the Pose of
// a Target; the positive X-axis in the Pose's frame represents the direction
// we want to go (we approach the pose from the left-half plane).
- void SetGoal(const ::frc971::control_loops::DrivetrainQueue::Goal &goal);
+ void SetGoal(::aos::monotonic_clock::time_point now,
+ const ::frc971::control_loops::DrivetrainQueue::Goal &goal);
// State: [x, y, theta, left_vel, right_vel]
- void Update(const ::Eigen::Matrix<double, 5, 1> &state);
+ void Update(::aos::monotonic_clock::time_point now,
+ const ::Eigen::Matrix<double, 5, 1> &state);
// Returns whether we set the output. If false, that implies that we do not
// yet have a target to track into and so some other drivetrain should take
// over.
@@ -48,24 +45,18 @@
// Nominal max voltage.
// TODO(james): Is there a config for this or anything?
static constexpr double kMaxVoltage = 12.0;
- // Degree of the polynomial to follow in. Should be strictly greater than 1.
- // A value of 1 would imply that we drive straight to the target (but not hit
- // it straight on, unless we happened to start right in front of it). A value
- // of zero would imply driving straight until we hit the plane of the target.
- // Values between 0 and 1 would imply hitting the target from the side.
- static constexpr double kPolyN = 3.0;
- static_assert(kPolyN > 1.0,
- "We want to hit targets straight on (see above comments).");
- double GoalTheta(const ::Eigen::Matrix<double, 5, 1> &state) const;
- double GoalThetaDot(const ::Eigen::Matrix<double, 5, 1> &state) const;
+ double GoalTheta(const ::Eigen::Matrix<double, 5, 1> &abs_state,
+ double relative_y_offset, double velocity_sign);
const DrivetrainConfig<double> dt_config_;
// TODO(james): These should probably be factored out somewhere.
+ // TODO(james): This controller is not actually asymptotically stable, due to
+ // the varying goal theta.
const ::Eigen::DiagonalMatrix<double, 3> Q_ =
(::Eigen::DiagonalMatrix<double, 3>().diagonal()
- << 1.0 / ::std::pow(0.01, 2),
- 1.0 / ::std::pow(0.1, 2), 1.0 / ::std::pow(10.0, 2))
+ << 1.0 / ::std::pow(0.1, 2),
+ 1.0 / ::std::pow(1.0, 2), 1.0 / ::std::pow(1.0, 2))
.finished()
.asDiagonal();
const ::Eigen::DiagonalMatrix<double, 2> R_ =
@@ -86,6 +77,20 @@
bool have_target_ = false;
Pose target_pose_;
double goal_velocity_ = 0.0;
+ // The amount to shift the center of the goal target side-to-side, to give the
+ // driver an input that lets them account for panels that are offset on the
+ // grabber.
+ double side_adjust_ = 0.0; // meters
+ double velocity_sign_ = 1.0;
+
+ // The last time at which we saw an enable button.
+ ::aos::monotonic_clock::time_point last_enable_;
+ // The time at which we first acquired the current target.
+ ::aos::monotonic_clock::time_point start_of_target_acquire_;
+ // Most recent relative pose to target, used for debugging.
+ Pose relative_pose_;
+ // Current goal state, used for debugging.
+ ::Eigen::Matrix<double, 3, 1> controls_goal_;
// Voltage output to apply
::Eigen::Matrix<double, 2, 1> U_;
diff --git a/frc971/control_loops/drivetrain/line_follow_drivetrain_test.cc b/frc971/control_loops/drivetrain/line_follow_drivetrain_test.cc
index 65cf9bf..414ec81 100644
--- a/frc971/control_loops/drivetrain/line_follow_drivetrain_test.cc
+++ b/frc971/control_loops/drivetrain/line_follow_drivetrain_test.cc
@@ -53,8 +53,8 @@
::frc971::control_loops::DrivetrainQueue::Goal goal;
goal.throttle = driver_model_(state_);
goal.controller_type = freeze_target_ ? 3 : 0;
- drivetrain_.SetGoal(goal);
- drivetrain_.Update(state_);
+ drivetrain_.SetGoal(t_, goal);
+ drivetrain_.Update(t_, state_);
::frc971::control_loops::DrivetrainQueue::Output output;
EXPECT_EQ(expect_output_, drivetrain_.SetOutput(&output));
@@ -85,51 +85,26 @@
simulation_ur_.push_back(U(1, 0));
simulation_x_.push_back(state_.x());
simulation_y_.push_back(state_.y());
+ simulation_theta_.push_back(state_(3, 0));
}
// Check that left/right velocities are near zero and the absolute position is
// near that of the goal Pose.
void VerifyNearGoal() const {
- EXPECT_NEAR(goal_pose().abs_pos().x(), state_(0, 0), 1e-3);
- EXPECT_NEAR(goal_pose().abs_pos().y(), state_(1, 0), 1e-3);
- // state should be at 0 or PI (we should've come in striaght on or straight
- // backwards).
- const double angle_err =
- ::aos::math::DiffAngle(goal_pose().abs_theta(), state_(2, 0));
- const double angle_pi_err = ::aos::math::DiffAngle(angle_err, M_PI);
- EXPECT_LT(::std::min(::std::abs(angle_err), ::std::abs(angle_pi_err)),
- 1e-3);
+ EXPECT_NEAR(goal_pose().abs_pos().x(), state_(0, 0), 1e-2);
+ EXPECT_NEAR(goal_pose().abs_pos().y(), state_(1, 0), 1e-2);
// Left/right velocities are zero:
- EXPECT_NEAR(0.0, state_(3, 0), 1e-3);
- EXPECT_NEAR(0.0, state_(4, 0), 1e-3);
+ EXPECT_NEAR(0.0, state_(3, 0), 1e-2);
+ EXPECT_NEAR(0.0, state_(4, 0), 1e-2);
}
- void CheckGoalTheta(double x, double y, double v, double expected_theta,
- double expected_thetadot) {
+ double GoalTheta(double x, double y, double v, double throttle) {
+ ::frc971::control_loops::DrivetrainQueue::Goal goal;
+ goal.throttle = throttle;
+ drivetrain_.SetGoal(t_, goal);
::Eigen::Matrix<double, 5, 1> state;
state << x, y, 0.0, v, v;
- const double theta = drivetrain_.GoalTheta(state);
- const double thetadot = drivetrain_.GoalThetaDot(state);
- EXPECT_EQ(expected_theta, theta) << "x " << x << " y " << y << " v " << v;
- EXPECT_EQ(expected_thetadot, thetadot)
- << "x " << x << " y " << y << " v " << v;
- }
-
- void CheckGoalThetaDotAtState(double x, double y, double v) {
- ::Eigen::Matrix<double, 5, 1> state;
- state << x, y, 0.0, v, v;
- const double theta = drivetrain_.GoalTheta(state);
- const double thetadot = drivetrain_.GoalThetaDot(state);
- const double dx = v * ::std::cos(theta);
- const double dy = v * ::std::sin(theta);
- constexpr double kEps = 1e-5;
- state(0, 0) += dx * kEps;
- state(1, 0) += dy * kEps;
- const double next_theta = drivetrain_.GoalTheta(state);
- EXPECT_NEAR(thetadot, ::aos::math::DiffAngle(next_theta, theta) / kEps,
- 1e-4)
- << "theta: " << theta << " nexttheta: " << next_theta << " x " << x
- << " y " << y << " v " << v;
+ return drivetrain_.GoalTheta(state, y, throttle > 0.0 ? 1.0 : -1.0);
}
void TearDown() override {
@@ -137,6 +112,7 @@
matplotlibcpp::figure();
matplotlibcpp::plot(time_, simulation_ul_, {{"label", "ul"}});
matplotlibcpp::plot(time_, simulation_ur_, {{"label", "ur"}});
+ matplotlibcpp::plot(time_, simulation_theta_, {{"label", "theta"}});
matplotlibcpp::legend();
TypedPose<double> target = goal_pose();
@@ -194,18 +170,33 @@
::std::vector<double> simulation_ur_;
::std::vector<double> simulation_x_;
::std::vector<double> simulation_y_;
+ ::std::vector<double> simulation_theta_;
};
-TEST_F(LineFollowDrivetrainTest, ValidGoalThetaDot) {
+TEST_F(LineFollowDrivetrainTest, BasicGoalThetaCheck) {
for (double x : {1.0, 0.0, -1.0, -2.0, -3.0}) {
for (double y : {-3.0, -2.0, -1.0, 0.0, 1.0, 2.0, 3.0}) {
for (double v : {-3.0, -2.0, -1.0, 0.0, 1.0, 2.0, 3.0}) {
- if (x == 0.0 && y == 0.0) {
- // When x/y are zero, we can encounter singularities. The code should
- // just provide zeros in this case.
- CheckGoalTheta(x, y, v, 0.0, 0.0);
- } else {
- CheckGoalThetaDotAtState(x, y, v);
+ for (double throttle : {-1.0, 1.0}) {
+ target_selector_.set_target_radius(0.0);
+ const double zero_rad_theta = GoalTheta(x, y, v, throttle);
+ EXPECT_NEAR(
+ 0.0,
+ ::aos::math::DiffAngle((throttle > 0.0 ? M_PI : 0.0) +
+ ::std::atan2(y, ::std::min(-0.01, x)),
+ zero_rad_theta),
+ 1e-14);
+ target_selector_.set_target_radius(0.05);
+ const double small_rad_theta = GoalTheta(x, y, v, throttle);
+ if (y > 0) {
+ EXPECT_LT(small_rad_theta, zero_rad_theta);
+ } else if (y == 0) {
+ EXPECT_NEAR(0.0,
+ ::aos::math::DiffAngle(small_rad_theta, zero_rad_theta),
+ 1e-14);
+ } else {
+ EXPECT_GT(small_rad_theta, zero_rad_theta);
+ }
}
}
}
@@ -215,8 +206,12 @@
// If the driver commands the robot to keep going, we should just run straight
// off the end and keep going along the line:
TEST_F(LineFollowDrivetrainTest, RunOffEnd) {
- state_ << -1.0, 0.1, 0.0, 0.0, 0.0;
- driver_model_ = [](const ::Eigen::Matrix<double, 5, 1> &) { return 1.0; };
+ freeze_target_ = true;
+ state_ << -1.0, 0.0, 0.0, 0.0, 0.0;
+ // TODO(james): This test currently relies on the scalar on the throttle to
+ // velocity conversion being 4.0. This should probably be moved out into a
+ // config.
+ driver_model_ = [](const ::Eigen::Matrix<double, 5, 1> &) { return 0.25; };
RunForTime(chrono::seconds(10));
EXPECT_LT(6.0, state_.x());
EXPECT_NEAR(0.0, state_.y(), 1e-4);
@@ -250,7 +245,8 @@
set_goal_pose({{1.0, 1.0, 0.0}, M_PI_2});
RunForTime(::std::chrono::seconds(5));
- EXPECT_NEAR(0.0, state_.squaredNorm(), 1e-25);
+ EXPECT_NEAR(0.0, state_.squaredNorm(), 1e-25)
+ << "Expected state of zero, got: " << state_.transpose();
}
// Tests that when we freeze the controller without having acquired a target, we
@@ -268,9 +264,9 @@
// Now, provide a target:
target_selector_.set_has_target(true);
- set_goal_pose({{1.0, 1.0, 0.0}, M_PI_2});
+ set_goal_pose({{1.0, 2.0, 0.0}, M_PI_2});
driver_model_ = [this](const ::Eigen::Matrix<double, 5, 1> &state) {
- return (state.topRows<2>() - goal_pose().abs_pos().topRows<2>()).norm();
+ return -(state.y() - goal_pose().abs_pos().y());
};
expect_output_ = true;
@@ -289,10 +285,13 @@
: public LineFollowDrivetrainTest,
public ::testing::WithParamInterface<Pose> {};
TEST_P(LineFollowDrivetrainTargetParamTest, NonZeroTargetTest) {
+ freeze_target_ = true;
+ target_selector_.set_has_target(true);
// Start the state at zero and then put the target in a
state_.setZero();
driver_model_ = [this](const ::Eigen::Matrix<double, 5, 1> &state) {
- return (state.topRows<2>() - GetParam().abs_pos().topRows<2>()).norm();
+ return 0.2 *
+ (state.topRows<2>() - GetParam().abs_pos().topRows<2>()).norm();
};
set_goal_pose(GetParam());
RunForTime(chrono::seconds(10));
@@ -353,13 +352,13 @@
.finished()),
::testing::Values(
[](const ::Eigen::Matrix<double, 5, 1> &state) {
- return -5.0 * state.x();
+ return -1.0 * state.x();
},
[](const ::Eigen::Matrix<double, 5, 1> &state) {
- return 5.0 * state.x();
+ return 1.0 * state.x();
},
[](const ::Eigen::Matrix<double, 5, 1> &state) {
- return -1.0 * ::std::abs(state.x()) - 0.5 * state.x() * state.x();
+ return -0.25 * ::std::abs(state.x()) - 0.125 * state.x() * state.x();
})));
} // namespace testing
diff --git a/frc971/control_loops/drivetrain/localizer.h b/frc971/control_loops/drivetrain/localizer.h
index f0685dd..9866803 100644
--- a/frc971/control_loops/drivetrain/localizer.h
+++ b/frc971/control_loops/drivetrain/localizer.h
@@ -25,6 +25,11 @@
// Gets the current target pose. Should only be called if UpdateSelection has
// returned true.
virtual TypedPose<double> TargetPose() const = 0;
+ // The "radius" of the target--for y2019, we wanted to drive in so that a disc
+ // with radius r would hit the plane of the target at an offset of exactly r
+ // from the TargetPose--this is distinct from wanting the center of the
+ // robot to project straight onto the center of the target.
+ virtual double TargetRadius() const = 0;
};
// Defines an interface for classes that provide field-global localization.
@@ -44,7 +49,8 @@
double left_encoder, double right_encoder,
double gyro_rate, double longitudinal_accelerometer) = 0;
// Reset the absolute position of the estimator.
- virtual void ResetPosition(double x, double y, double theta) = 0;
+ virtual void ResetPosition(::aos::monotonic_clock::time_point t, double x,
+ double y, double theta) = 0;
// There are several subtly different norms floating around for state
// matrices. In order to avoid that mess, we jus tprovide direct accessors for
// the values that most people care about.
@@ -53,6 +59,8 @@
virtual double theta() const = 0;
virtual double left_velocity() const = 0;
virtual double right_velocity() const = 0;
+ virtual double left_encoder() const = 0;
+ virtual double right_encoder() const = 0;
virtual double left_voltage_error() const = 0;
virtual double right_voltage_error() const = 0;
virtual TargetSelectorInterface *target_selector() = 0;
@@ -66,14 +74,17 @@
return has_target_;
}
TypedPose<double> TargetPose() const override { return pose_; }
+ double TargetRadius() const override { return target_radius_; }
void set_pose(const TypedPose<double> &pose) { pose_ = pose; }
+ void set_target_radius(double radius) { target_radius_ = radius; }
void set_has_target(bool has_target) { has_target_ = has_target; }
bool has_target() const { return has_target_; }
private:
bool has_target_ = true;
TypedPose<double> pose_;
+ double target_radius_ = 0.0;
};
// Uses the generic HybridEkf implementation to provide a basic field estimator.
@@ -97,27 +108,36 @@
ekf_.UpdateEncodersAndGyro(left_encoder, right_encoder, gyro_rate, U, now);
}
- void ResetPosition(double x, double y, double theta) override {
+ void ResetPosition(::aos::monotonic_clock::time_point t, double x, double y,
+ double theta) override {
const double left_encoder = ekf_.X_hat(StateIdx::kLeftEncoder);
const double right_encoder = ekf_.X_hat(StateIdx::kRightEncoder);
- ekf_.ResetInitialState(
- ::aos::monotonic_clock::now(),
- (Ekf::State() << x, y, theta, left_encoder, 0, right_encoder, 0)
- .finished(),
- ekf_.P());
+ ekf_.ResetInitialState(t, (Ekf::State() << x, y, theta, left_encoder, 0,
+ right_encoder, 0, 0, 0, 0).finished(),
+ ekf_.P());
};
double x() const override { return ekf_.X_hat(StateIdx::kX); }
double y() const override { return ekf_.X_hat(StateIdx::kY); }
double theta() const override { return ekf_.X_hat(StateIdx::kTheta); }
+ double left_encoder() const override {
+ return ekf_.X_hat(StateIdx::kLeftEncoder);
+ }
+ double right_encoder() const override {
+ return ekf_.X_hat(StateIdx::kRightEncoder);
+ }
double left_velocity() const override {
return ekf_.X_hat(StateIdx::kLeftVelocity);
}
double right_velocity() const override {
return ekf_.X_hat(StateIdx::kRightVelocity);
}
- double left_voltage_error() const override { return 0.0; }
- double right_voltage_error() const override { return 0.0; }
+ double left_voltage_error() const override {
+ return ekf_.X_hat(StateIdx::kLeftVoltageError);
+ }
+ double right_voltage_error() const override {
+ return ekf_.X_hat(StateIdx::kRightVoltageError);
+ }
TrivialTargetSelector *target_selector() override {
return &target_selector_;
diff --git a/frc971/control_loops/drivetrain/splinedrivetrain.cc b/frc971/control_loops/drivetrain/splinedrivetrain.cc
index 2621007..0b6026d 100644
--- a/frc971/control_loops/drivetrain/splinedrivetrain.cc
+++ b/frc971/control_loops/drivetrain/splinedrivetrain.cc
@@ -41,6 +41,7 @@
plan_state_ = PlanState::kBuildingTrajectory;
const ::frc971::MultiSpline &multispline = goal_.spline;
future_spline_idx_ = multispline.spline_idx;
+ planning_spline_idx_ = future_spline_idx_;
auto x = multispline.spline_x;
auto y = multispline.spline_y;
::std::vector<Spline> splines = ::std::vector<Spline>();
@@ -187,8 +188,15 @@
}
status->trajectory_logging.planning_state = static_cast<int8_t>(plan_state_.load());
status->trajectory_logging.is_executing = !IsAtEnd();
- status->trajectory_logging.current_spline_handle = current_spline_handle_;
+ status->trajectory_logging.goal_spline_handle = current_spline_handle_;
status->trajectory_logging.current_spline_idx = current_spline_idx_;
+
+ int32_t planning_spline_idx = planning_spline_idx_;
+ if (current_spline_idx_ == planning_spline_idx) {
+ status->trajectory_logging.planning_spline_idx = 0;
+ } else {
+ status->trajectory_logging.planning_spline_idx = planning_spline_idx_;
+ }
}
}
diff --git a/frc971/control_loops/drivetrain/splinedrivetrain.h b/frc971/control_loops/drivetrain/splinedrivetrain.h
index c9ebbe4..3e47f5a 100644
--- a/frc971/control_loops/drivetrain/splinedrivetrain.h
+++ b/frc971/control_loops/drivetrain/splinedrivetrain.h
@@ -99,13 +99,14 @@
::std::unique_ptr<Trajectory> past_trajectory_;
::std::unique_ptr<Trajectory> future_trajectory_;
int32_t future_spline_idx_ = 0; // Current spline being computed.
+ ::std::atomic<int32_t> planning_spline_idx_{-1};
// TODO(alex): pull this out of dt_config.
const ::Eigen::DiagonalMatrix<double, 5> Q =
(::Eigen::DiagonalMatrix<double, 5>().diagonal()
- << 1.0 / ::std::pow(0.05, 2),
- 1.0 / ::std::pow(0.05, 2), 1.0 / ::std::pow(0.2, 2),
- 1.0 / ::std::pow(0.5, 2), 1.0 / ::std::pow(0.5, 2))
+ << 1.0 / ::std::pow(0.07, 2),
+ 1.0 / ::std::pow(0.07, 2), 1.0 / ::std::pow(0.2, 2),
+ 1.0 / ::std::pow(1.5, 2), 1.0 / ::std::pow(1.5, 2))
.finished()
.asDiagonal();
const ::Eigen::DiagonalMatrix<double, 2> R =
diff --git a/frc971/control_loops/drivetrain/trajectory_plot.cc b/frc971/control_loops/drivetrain/trajectory_plot.cc
index fec90f1..8508099 100644
--- a/frc971/control_loops/drivetrain/trajectory_plot.cc
+++ b/frc971/control_loops/drivetrain/trajectory_plot.cc
@@ -9,7 +9,7 @@
#include "frc971/control_loops/dlqr.h"
#include "gflags/gflags.h"
#include "third_party/matplotlib-cpp/matplotlibcpp.h"
-#include "y2016/control_loops/drivetrain/drivetrain_base.h"
+#include "y2019/control_loops/drivetrain/drivetrain_base.h"
// Notes:
// Basic ideas from spline following are from Jared Russell and
@@ -55,7 +55,7 @@
.finished())));
Trajectory trajectory(
&distance_spline,
- ::y2016::control_loops::drivetrain::GetDrivetrainConfig());
+ ::y2019::control_loops::drivetrain::GetDrivetrainConfig());
trajectory.set_lateral_acceleration(2.0);
trajectory.set_longitudal_acceleration(1.0);
diff --git a/package.json b/package.json
new file mode 100644
index 0000000..0b20391
--- /dev/null
+++ b/package.json
@@ -0,0 +1,9 @@
+{
+ "name": "971-Robot-Code",
+ "license": "MIT",
+ "devDependencies": {
+ "@bazel/bazel": "^0.19.1",
+ "@bazel/typescript": "0.21.0",
+ "typescript": "^3.1.6"
+ }
+}
diff --git a/third_party/seasocks/BUILD b/third_party/seasocks/BUILD
index 0daf8ea..974b131 100644
--- a/third_party/seasocks/BUILD
+++ b/third_party/seasocks/BUILD
@@ -1,22 +1,24 @@
-licenses(['notice'])
+licenses(["notice"])
cc_library(
- name = 'seasocks',
- visibility = ['//visibility:public'],
- srcs = glob(['src/main/c/**/*.cpp']),
- hdrs = glob([
- 'src/main/c/**/*.h',
- ], exclude=[
- 'src/main/internal/**/*',
- ]),
- includes = ['src/main/c'],
- copts = [
- # TODO(Brian): Don't apply this to all of the code...
- '-Wno-cast-align',
- '-Wno-cast-qual',
-
- '-Wno-switch-enum',
- '-Wno-format-nonliteral',
- '-Wno-unused-parameter',
- ],
+ name = "seasocks",
+ srcs = glob(include = ["src/main/c/**/*.cpp"]),
+ hdrs = glob(
+ include = [
+ "src/main/c/**/*.h",
+ ],
+ exclude = [
+ "src/main/internal/**/*",
+ ],
+ ),
+ copts = [
+ # TODO(Brian): Don't apply this to all of the code...
+ "-Wno-cast-align",
+ "-Wno-cast-qual",
+ "-Wno-switch-enum",
+ "-Wno-format-nonliteral",
+ "-Wno-unused-parameter",
+ ],
+ includes = ["src/main/c"],
+ visibility = ["//visibility:public"],
)
diff --git a/tsconfig.json b/tsconfig.json
new file mode 100644
index 0000000..91093d3
--- /dev/null
+++ b/tsconfig.json
@@ -0,0 +1,10 @@
+{
+ "compilerOptions": {
+ "experimentalDecorators": true,
+ "strict": true,
+ "noImplicitAny": false
+ },
+ "bazelOptions": {
+ "workspaceName": "971-Robot-Code"
+ }
+}
diff --git a/y2016/dashboard/dashboard.cc b/y2016/dashboard/dashboard.cc
index ceb4358..5f0a33f 100644
--- a/y2016/dashboard/dashboard.cc
+++ b/y2016/dashboard/dashboard.cc
@@ -8,6 +8,7 @@
#include <thread>
#include <vector>
+#include "internal/Embedded.h"
#include "seasocks/Server.h"
#include "aos/init.h"
@@ -22,8 +23,6 @@
#include "y2016/control_loops/superstructure/superstructure.q.h"
#include "y2016/queues/ball_detector.q.h"
-#include "y2016/dashboard/embedded.h"
-
namespace chrono = ::std::chrono;
namespace y2016 {
@@ -292,6 +291,9 @@
} // namespace y2016
int main(int, char *[]) {
+ // Make sure to reference this to force the linker to include it.
+ findEmbeddedContent("");
+
::aos::InitNRT();
::seasocks::Server server(::std::shared_ptr<seasocks::Logger>(
diff --git a/y2019/BUILD b/y2019/BUILD
index 276f09c..c49e7c4 100644
--- a/y2019/BUILD
+++ b/y2019/BUILD
@@ -3,11 +3,16 @@
load("@com_google_protobuf//:protobuf.bzl", "cc_proto_library")
robot_downloader(
+ dirs = [
+ "//y2019/vision/server:www_files",
+ ],
start_binaries = [
":joystick_reader",
":wpilib_interface",
"//y2019/control_loops/drivetrain:drivetrain",
"//y2019/control_loops/superstructure:superstructure",
+ "//y2019/actors:binaries",
+ "//y2019/vision/server",
],
)
@@ -131,6 +136,7 @@
"//frc971/control_loops/drivetrain:drivetrain_queue",
"//frc971/control_loops/drivetrain:localizer_queue",
"//y2019/control_loops/drivetrain:drivetrain_base",
+ "//y2019/control_loops/drivetrain:target_selector_queue",
"//y2019/control_loops/superstructure:superstructure_queue",
"@com_google_protobuf//:protobuf",
],
diff --git a/y2019/actors/BUILD b/y2019/actors/BUILD
new file mode 100644
index 0000000..ee70772
--- /dev/null
+++ b/y2019/actors/BUILD
@@ -0,0 +1,50 @@
+filegroup(
+ name = "binaries.stripped",
+ srcs = [
+ ":autonomous_action.stripped",
+ ],
+ visibility = ["//visibility:public"],
+)
+
+filegroup(
+ name = "binaries",
+ srcs = [
+ ":autonomous_action",
+ ],
+ visibility = ["//visibility:public"],
+)
+
+cc_library(
+ name = "autonomous_action_lib",
+ srcs = [
+ "auto_splines.cc",
+ "autonomous_actor.cc",
+ ],
+ hdrs = [
+ "auto_splines.h",
+ "autonomous_actor.h",
+ ],
+ deps = [
+ "//aos/logging",
+ "//aos/util:phased_loop",
+ "//frc971/autonomous:base_autonomous_actor",
+ "//frc971/control_loops:queues",
+ "//frc971/control_loops/drivetrain:drivetrain_config",
+ "//frc971/control_loops/drivetrain:drivetrain_queue",
+ "//frc971/control_loops/drivetrain:localizer_queue",
+ "//y2019/control_loops/drivetrain:drivetrain_base",
+ "//y2019/control_loops/superstructure:superstructure_queue",
+ ],
+)
+
+cc_binary(
+ name = "autonomous_action",
+ srcs = [
+ "autonomous_actor_main.cc",
+ ],
+ deps = [
+ ":autonomous_action_lib",
+ "//aos:init",
+ "//frc971/autonomous:auto_queue",
+ ],
+)
diff --git a/y2019/actors/auto_splines.cc b/y2019/actors/auto_splines.cc
new file mode 100644
index 0000000..f316037
--- /dev/null
+++ b/y2019/actors/auto_splines.cc
@@ -0,0 +1,75 @@
+#include "y2019/actors/auto_splines.h"
+
+#include "frc971/control_loops/control_loops.q.h"
+
+namespace y2019 {
+namespace actors {
+
+::frc971::MultiSpline AutonomousSplines::HPToNearRocket() {
+ ::frc971::MultiSpline spline;
+ ::frc971::Constraint longitudinal_constraint;
+ ::frc971::Constraint lateral_constraint;
+ ::frc971::Constraint voltage_constraint;
+
+ longitudinal_constraint.constraint_type = 1;
+ longitudinal_constraint.value = 1.0;
+
+ lateral_constraint.constraint_type = 2;
+ lateral_constraint.value = 1.0;
+
+ voltage_constraint.constraint_type = 3;
+ voltage_constraint.value = 12.0;
+
+ spline.spline_count = 1;
+ spline.spline_x = {{0.4, 1.0, 3.0, 4.0, 4.5, 5.05}};
+ spline.spline_y = {{3.4, 3.4, 3.4, 3.0, 3.0, 3.5}};
+ spline.constraints = {
+ {longitudinal_constraint, lateral_constraint, voltage_constraint}};
+ return spline;
+}
+
+::frc971::MultiSpline AutonomousSplines::BasicSSpline() {
+ ::frc971::MultiSpline spline;
+ ::frc971::Constraint longitudinal_constraint;
+ ::frc971::Constraint lateral_constraint;
+ ::frc971::Constraint voltage_constraint;
+
+ longitudinal_constraint.constraint_type = 1;
+ longitudinal_constraint.value = 1.0;
+
+ lateral_constraint.constraint_type = 2;
+ lateral_constraint.value = 1.0;
+
+ voltage_constraint.constraint_type = 3;
+ voltage_constraint.value = 6.0;
+
+ spline.spline_count = 1;
+ const float startx = 0.4;
+ const float starty = 3.4;
+ spline.spline_x = {{0.0f + startx, 0.6f + startx, 0.6f + startx,
+ 0.4f + startx, 0.4f + startx, 1.0f + startx}};
+ spline.spline_y = {{starty - 0.0f, starty - 0.0f, starty - 0.3f,
+ starty - 0.7f, starty - 1.0f, starty - 1.0f}};
+ spline.constraints = {
+ {longitudinal_constraint, lateral_constraint, voltage_constraint}};
+ return spline;
+}
+
+::frc971::MultiSpline AutonomousSplines::StraightLine() {
+ ::frc971::MultiSpline spline;
+ ::frc971::Constraint contraints;
+
+ contraints.constraint_type = 0;
+ contraints.value = 0.0;
+ contraints.start_distance = 0.0;
+ contraints.end_distance = 0.0;
+
+ spline.spline_count = 1;
+ spline.spline_x = {{-12.3, -11.9, -11.5, -11.1, -10.6, -10.0}};
+ spline.spline_y = {{1.25, 1.25, 1.25, 1.25, 1.25, 1.25}};
+ spline.constraints = {{contraints}};
+ return spline;
+}
+
+} // namespace actors
+} // namespace y2019
diff --git a/y2019/actors/auto_splines.h b/y2019/actors/auto_splines.h
new file mode 100644
index 0000000..7e79d1f
--- /dev/null
+++ b/y2019/actors/auto_splines.h
@@ -0,0 +1,30 @@
+#ifndef Y2019_ACTORS_AUTO_SPLINES_H_
+#define Y2019_ACTORS_AUTO_SPLINES_H_
+
+#include "frc971/control_loops/control_loops.q.h"
+/*
+
+ The cooridinate system for the autonomous splines is the same as the spline
+ python generator and drivetrain spline systems.
+
+*/
+
+namespace y2019 {
+namespace actors {
+
+class AutonomousSplines {
+ public:
+ // A spline that does an 's' cause that's what he wanted.
+ static ::frc971::MultiSpline BasicSSpline();
+
+ // Straight
+ static ::frc971::MultiSpline StraightLine();
+
+ // HP to near side rocket
+ static ::frc971::MultiSpline HPToNearRocket();
+};
+
+} // namespace actors
+} // namespace y2019
+
+#endif // Y2019_ACTORS_AUTO_SPLINES_H_
diff --git a/y2019/actors/autonomous_actor.cc b/y2019/actors/autonomous_actor.cc
new file mode 100644
index 0000000..85d516c
--- /dev/null
+++ b/y2019/actors/autonomous_actor.cc
@@ -0,0 +1,133 @@
+#include "y2019/actors/autonomous_actor.h"
+
+#include <inttypes.h>
+
+#include <chrono>
+#include <cmath>
+
+#include "aos/logging/logging.h"
+#include "aos/util/phased_loop.h"
+
+#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/drivetrain/localizer.q.h"
+#include "y2019/actors/auto_splines.h"
+#include "y2019/control_loops/drivetrain/drivetrain_base.h"
+
+namespace y2019 {
+namespace actors {
+using ::frc971::control_loops::drivetrain_queue;
+using ::frc971::control_loops::drivetrain::localizer_control;
+using ::aos::monotonic_clock;
+namespace chrono = ::std::chrono;
+
+namespace {
+
+double DoubleSeconds(monotonic_clock::duration duration) {
+ return ::std::chrono::duration_cast<::std::chrono::duration<double>>(duration)
+ .count();
+}
+
+constexpr bool is_left = false;
+
+constexpr double turn_scalar = is_left ? 1.0 : -1.0;
+
+} // namespace
+
+AutonomousActor::AutonomousActor(
+ ::frc971::autonomous::AutonomousActionQueueGroup *s)
+ : frc971::autonomous::BaseAutonomousActor(
+ s, control_loops::drivetrain::GetDrivetrainConfig()) {}
+
+void AutonomousActor::Reset() {
+ elevator_goal_ = 0.01;
+ wrist_goal_ = -M_PI / 2.0;
+ intake_goal_ = -1.2;
+
+ suction_on_ = false;
+ suction_gamepiece_ = 1;
+
+ elevator_max_velocity_ = 0.0;
+ elevator_max_acceleration_ = 0.0;
+ wrist_max_velocity_ = 0.0;
+ wrist_max_acceleration_ = 0.0;
+
+ InitializeEncoders();
+ SendSuperstructureGoal();
+
+ {
+ auto localizer_resetter = localizer_control.MakeMessage();
+ // Start on the left l2.
+ localizer_resetter->x = 1.0;
+ localizer_resetter->y = 1.5 * turn_scalar;
+ localizer_resetter->theta = M_PI;
+ if (!localizer_resetter.Send()) {
+ LOG(ERROR, "Failed to reset localizer.\n");
+ }
+ }
+
+ // Wait for the drivetrain to run so it has time to reset the heading.
+ // Otherwise our drivetrain reset will do a 180 right at the start.
+ drivetrain_queue.status.FetchAnother();
+ LOG(INFO, "Heading is %f\n", drivetrain_queue.status->estimated_heading);
+ InitializeEncoders();
+ ResetDrivetrain();
+ drivetrain_queue.status.FetchAnother();
+ LOG(INFO, "Heading is %f\n", drivetrain_queue.status->estimated_heading);
+
+ ResetDrivetrain();
+ InitializeEncoders();
+}
+
+const ProfileParameters kJumpDrive = {2.0, 3.0};
+const ProfileParameters kDrive = {4.0, 3.0};
+const ProfileParameters kTurn = {5.0, 15.0};
+
+bool AutonomousActor::RunAction(
+ const ::frc971::autonomous::AutonomousActionParams ¶ms) {
+ monotonic_clock::time_point start_time = monotonic_clock::now();
+ LOG(INFO, "Starting autonomous action with mode %" PRId32 "\n", params.mode);
+ Reset();
+
+ // Grab the disk, wait until we have vacuum, then jump
+ set_elevator_goal(0.01);
+ set_wrist_goal(-M_PI / 2.0);
+ set_intake_goal(-1.2);
+ set_suction_goal(true, 1);
+ SendSuperstructureGoal();
+
+ if (!WaitForGamePiece()) return true;
+ LOG(INFO, "Has game piece\n");
+
+ StartDrive(-4.0, 0.0, kJumpDrive, kTurn);
+ if (!WaitForDriveNear(3.3, 10.0)) return true;
+ LOG(INFO, "Lifting\n");
+ set_elevator_goal(0.30);
+ SendSuperstructureGoal();
+
+ if (!WaitForDriveNear(2.8, 10.0)) return true;
+ LOG(INFO, "Off the platform\n");
+
+ StartDrive(0.0, 1.00 * turn_scalar, kDrive, kTurn);
+ LOG(INFO, "Turn started\n");
+ if (!WaitForSuperstructureDone()) return true;
+ LOG(INFO, "Superstructure done\n");
+
+ if (!WaitForDriveNear(0.7, 10.0)) return true;
+ StartDrive(0.0, -0.35 * turn_scalar, kDrive, kTurn);
+
+ LOG(INFO, "Elevator up\n");
+ set_elevator_goal(0.78);
+ SendSuperstructureGoal();
+
+ if (!WaitForDriveDone()) return true;
+ LOG(INFO, "Done driving\n");
+
+ if (!WaitForSuperstructureDone()) return true;
+
+ LOG(INFO, "Done %f\n", DoubleSeconds(monotonic_clock::now() - start_time));
+
+ return true;
+}
+
+} // namespace actors
+} // namespace y2019
diff --git a/y2019/actors/autonomous_actor.h b/y2019/actors/autonomous_actor.h
new file mode 100644
index 0000000..82e1aeb
--- /dev/null
+++ b/y2019/actors/autonomous_actor.h
@@ -0,0 +1,158 @@
+#ifndef Y2019_ACTORS_AUTONOMOUS_ACTOR_H_
+#define Y2019_ACTORS_AUTONOMOUS_ACTOR_H_
+
+#include <chrono>
+#include <memory>
+
+#include "aos/actions/actions.h"
+#include "aos/actions/actor.h"
+#include "frc971/autonomous/base_autonomous_actor.h"
+#include "frc971/control_loops/control_loops.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+#include "y2019/control_loops/superstructure/superstructure.q.h"
+
+namespace y2019 {
+namespace actors {
+
+using ::frc971::ProfileParameters;
+using ::y2019::control_loops::superstructure::superstructure_queue;
+
+class AutonomousActor : public ::frc971::autonomous::BaseAutonomousActor {
+ public:
+ explicit AutonomousActor(::frc971::autonomous::AutonomousActionQueueGroup *s);
+
+ bool RunAction(
+ const ::frc971::autonomous::AutonomousActionParams ¶ms) override;
+
+ private:
+ void Reset();
+
+ double elevator_goal_ = 0.0;
+ double wrist_goal_ = 0.0;
+ double intake_goal_ = 0.0;
+
+ bool suction_on_ = true;
+ int suction_gamepiece_ = 1;
+
+ double elevator_max_velocity_ = 0.0;
+ double elevator_max_acceleration_ = 0.0;
+ double wrist_max_velocity_ = 0.0;
+ double wrist_max_acceleration_ = 0.0;
+
+ void set_elevator_goal(double elevator_goal) {
+ elevator_goal_ = elevator_goal;
+ }
+ void set_wrist_goal(double wrist_goal) { wrist_goal_ = wrist_goal; }
+ void set_intake_goal(double intake_goal) { intake_goal_ = intake_goal; }
+
+ void set_suction_goal(bool on, int gamepiece_mode) {
+ suction_on_ = on;
+ suction_gamepiece_ = gamepiece_mode;
+ }
+
+ void set_elevator_max_velocity(double elevator_max_velocity) {
+ elevator_max_velocity_ = elevator_max_velocity;
+ }
+ void set_elevator_max_acceleration(double elevator_max_acceleration) {
+ elevator_max_acceleration_ = elevator_max_acceleration;
+ }
+ void set_wrist_max_velocity(double wrist_max_velocity) {
+ wrist_max_velocity_ = wrist_max_velocity;
+ }
+ void set_wrist_max_acceleration(double wrist_max_acceleration) {
+ wrist_max_acceleration_ = wrist_max_acceleration;
+ }
+
+ void SendSuperstructureGoal() {
+ auto new_superstructure_goal = superstructure_queue.goal.MakeMessage();
+ new_superstructure_goal->elevator.unsafe_goal = elevator_goal_;
+ new_superstructure_goal->wrist.unsafe_goal = wrist_goal_;
+ new_superstructure_goal->intake.unsafe_goal = intake_goal_;
+
+ new_superstructure_goal->suction.grab_piece = suction_on_;
+ new_superstructure_goal->suction.gamepiece_mode = suction_gamepiece_;
+
+ new_superstructure_goal->elevator.profile_params.max_velocity =
+ elevator_max_velocity_;
+ new_superstructure_goal->elevator.profile_params.max_acceleration =
+ elevator_max_acceleration_;
+
+ new_superstructure_goal->wrist.profile_params.max_velocity =
+ wrist_max_velocity_;
+ new_superstructure_goal->wrist.profile_params.max_acceleration =
+ wrist_max_acceleration_;
+
+ if (!new_superstructure_goal.Send()) {
+ LOG(ERROR, "Sending superstructure goal failed.\n");
+ }
+ }
+
+ bool IsSucked() {
+ superstructure_queue.status.FetchLatest();
+
+ if (superstructure_queue.status.get()) {
+ return superstructure_queue.status->has_piece;
+ }
+ return false;
+ }
+
+ bool WaitForGamePiece() {
+ ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::std::chrono::milliseconds(5) / 2);
+
+ while (true) {
+ if (ShouldCancel()) {
+ return false;
+ }
+ phased_loop.SleepUntilNext();
+ if (IsSucked()) {
+ return true;
+ }
+ }
+ }
+
+ bool IsSuperstructureDone() {
+ superstructure_queue.status.FetchLatest();
+
+ double kElevatorTolerance = 0.01;
+ double kWristTolerance = 0.05;
+
+ if (superstructure_queue.status.get()) {
+ const bool elevator_at_goal =
+ ::std::abs(elevator_goal_ -
+ superstructure_queue.status->elevator.position) <
+ kElevatorTolerance;
+
+ const bool wrist_at_goal =
+ ::std::abs(wrist_goal_ -
+ superstructure_queue.status->wrist.position) <
+ kWristTolerance;
+
+ return elevator_at_goal && wrist_at_goal;
+ }
+ return false;
+ }
+
+ bool WaitForSuperstructureDone() {
+ ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::std::chrono::milliseconds(5) / 2);
+
+ while (true) {
+ if (ShouldCancel()) {
+ return false;
+ }
+ phased_loop.SleepUntilNext();
+ superstructure_queue.status.FetchLatest();
+ superstructure_queue.goal.FetchLatest();
+ if (IsSuperstructureDone()) {
+ return true;
+ }
+ }
+ }
+};
+
+} // namespace actors
+} // namespace y2019
+
+#endif // Y2019_ACTORS_AUTONOMOUS_ACTOR_H_
diff --git a/y2019/actors/autonomous_actor_main.cc b/y2019/actors/autonomous_actor_main.cc
new file mode 100644
index 0000000..0a77eb9
--- /dev/null
+++ b/y2019/actors/autonomous_actor_main.cc
@@ -0,0 +1,16 @@
+#include <stdio.h>
+
+#include "aos/init.h"
+#include "frc971/autonomous/auto.q.h"
+#include "y2019/actors/autonomous_actor.h"
+
+int main(int /*argc*/, char * /*argv*/ []) {
+ ::aos::Init(-1);
+
+ ::y2019::actors::AutonomousActor autonomous(
+ &::frc971::autonomous::autonomous_action);
+ autonomous.Run();
+
+ ::aos::Cleanup();
+ return 0;
+}
diff --git a/y2019/constants.cc b/y2019/constants.cc
index 285cb21..7406488 100644
--- a/y2019/constants.cc
+++ b/y2019/constants.cc
@@ -143,15 +143,15 @@
stilts_params->zeroing_constants.allowable_encoder_error = 0.9;
r->camera_noise_parameters = {.max_viewable_distance = 10.0,
- .heading_noise = 0.2,
- .nominal_distance_noise = 0.3,
- .nominal_skew_noise = 0.35,
+ .heading_noise = 0.1,
+ .nominal_distance_noise = 0.15,
+ .nominal_skew_noise = 0.45,
.nominal_height_noise = 0.01};
// Deliberately make FOV a bit large so that we are overly conservative in
// our EKF.
for (auto &camera : r->cameras) {
- camera.fov = M_PI_2 * 1.1;
+ camera.fov = M_PI_2 * 1.5;
}
switch (team) {
@@ -178,29 +178,32 @@
break;
case kCompTeamNumber:
- elevator_params->zeroing_constants.measured_absolute_position = 0.024407;
- elevator->potentiometer_offset = -0.075017 + 0.015837 + 0.009793 - 0.012017;
+ elevator_params->zeroing_constants.measured_absolute_position = 0.160736;
+ elevator->potentiometer_offset =
+ -0.075017 + 0.015837 + 0.009793 - 0.012017 + 0.019915 + 0.010126 +
+ 0.005541 + 0.006088 - 0.039687 + 0.005843;
intake->zeroing_constants.measured_absolute_position = 1.860016;
- wrist_params->zeroing_constants.measured_absolute_position = 0.163840;
- wrist->potentiometer_offset = -4.257454;
+ wrist_params->zeroing_constants.measured_absolute_position = 0.164498;
+ wrist->potentiometer_offset = -4.257454 - 0.058039;
- stilts_params->zeroing_constants.measured_absolute_position = 0.030049;
- stilts->potentiometer_offset = -0.015760 + 0.011604;
+ stilts_params->zeroing_constants.measured_absolute_position = 0.066843;
+ stilts->potentiometer_offset = -0.015760 + 0.011604 - 0.061213 + 0.006690;
+ FillCameraPoses(vision::CompBotTeensyId(), &r->cameras);
break;
case kPracticeTeamNumber:
- elevator_params->zeroing_constants.measured_absolute_position = 0.147809;
- elevator->potentiometer_offset = -0.022320 + 0.020567 - 0.022355 - 0.006497 + 0.019690;
+ elevator_params->zeroing_constants.measured_absolute_position = 0.132216;
+ elevator->potentiometer_offset = -0.022320 + 0.020567 - 0.022355 - 0.006497 + 0.019690 + 0.009151;
intake->zeroing_constants.measured_absolute_position = 1.756847;
wrist_params->zeroing_constants.measured_absolute_position = 0.192576;
wrist->potentiometer_offset = -4.200894 - 0.187134;
- stilts_params->zeroing_constants.measured_absolute_position = 0.043580;
- stilts->potentiometer_offset = -0.093820 + 0.0124 - 0.008334 + 0.004507;
+ stilts_params->zeroing_constants.measured_absolute_position = 0.050550;
+ stilts->potentiometer_offset = -0.093820 + 0.0124 - 0.008334 + 0.004507 - 0.007973 + -0.001221;
FillCameraPoses(vision::PracticeBotTeensyId(), &r->cameras);
break;
@@ -308,59 +311,74 @@
constexpr double kHpSlotY = InchToMeters((26 * 12 + 10.5) / 2.0 - 25.9);
constexpr double kHpSlotTheta = M_PI;
- constexpr double kNormalZ = 0.85;
- constexpr double kPortZ = 1.04;
+ constexpr double kNormalZ = 0.80;
+ constexpr double kPortZ = 1.00;
- const Pose far_side_cargo_bay({kFarSideCargoBayX, kSideCargoBayY, kNormalZ},
- kSideCargoBayTheta);
- const Pose mid_side_cargo_bay({kMidSideCargoBayX, kSideCargoBayY, kNormalZ},
- kSideCargoBayTheta);
- const Pose near_side_cargo_bay({kNearSideCargoBayX, kSideCargoBayY, kNormalZ},
- kSideCargoBayTheta);
+ constexpr double kDiscRadius = InchToMeters(19.0 / 2.0);
- const Pose face_cargo_bay({kFaceCargoBayX, kFaceCargoBayY, kNormalZ},
- kFaceCargoBayTheta);
+ constexpr Target::GoalType kBothGoal = Target::GoalType::kBoth;
+ constexpr Target::GoalType kBallGoal = Target::GoalType::kBalls;
+ constexpr Target::GoalType kDiscGoal = Target::GoalType::kHatches;
+ constexpr Target::GoalType kNoneGoal = Target::GoalType::kNone;
+ using TargetType = Target::TargetType;
- const Pose rocket_port({kRocketPortX, kRocketPortY, kPortZ},
- kRocketPortTheta);
+ const Target far_side_cargo_bay(
+ {{kFarSideCargoBayX, kSideCargoBayY, kNormalZ}, kSideCargoBayTheta},
+ kDiscRadius, TargetType::kFarSideCargoBay, kBothGoal);
+ const Target mid_side_cargo_bay(
+ {{kMidSideCargoBayX, kSideCargoBayY, kNormalZ}, kSideCargoBayTheta},
+ kDiscRadius, TargetType::kMidSideCargoBay, kBothGoal);
+ const Target near_side_cargo_bay(
+ {{kNearSideCargoBayX, kSideCargoBayY, kNormalZ}, kSideCargoBayTheta},
+ kDiscRadius, TargetType::kNearSideCargoBay, kBothGoal);
- const Pose rocket_near({kRocketNearX, kRocketHatchY, kNormalZ},
- kRocketNearTheta);
- const Pose rocket_far({kRocketFarX, kRocketHatchY, kNormalZ},
- kRocketFarTheta);
+ const Target face_cargo_bay(
+ {{kFaceCargoBayX, kFaceCargoBayY, kNormalZ}, kFaceCargoBayTheta},
+ kDiscRadius, TargetType::kFaceCargoBay, kBothGoal);
- const Pose hp_slot({0.0, kHpSlotY, kNormalZ}, kHpSlotTheta);
+ // The rocket port, since it is only for balls, has no meaningful radius
+ // to work with (and is over-ridden with zero in target_selector).
+ const Target rocket_port(
+ {{kRocketPortX, kRocketPortY, kPortZ}, kRocketPortTheta}, 0.0,
+ TargetType::kRocketPortal, kBallGoal);
- const ::std::array<Pose, 8> quarter_field_targets{
+ const Target rocket_near(
+ {{kRocketNearX, kRocketHatchY, kNormalZ}, kRocketNearTheta}, kDiscRadius,
+ TargetType::kNearRocket, kDiscGoal);
+ const Target rocket_far(
+ {{kRocketFarX, kRocketHatchY, kNormalZ}, kRocketFarTheta}, kDiscRadius,
+ TargetType::kFarRocket, kDiscGoal);
+
+ const Target hp_slot({{0.0, kHpSlotY, kNormalZ}, kHpSlotTheta}, 0.00,
+ TargetType::kHPSlot, kBothGoal);
+
+ const ::std::array<Target, 8> quarter_field_targets{
{far_side_cargo_bay, mid_side_cargo_bay, near_side_cargo_bay,
face_cargo_bay, rocket_port, rocket_near, rocket_far, hp_slot}};
// Mirror across center field mid-line (short field axis):
- ::std::array<Pose, 16> half_field_targets;
+ ::std::array<Target, 16> half_field_targets;
::std::copy(quarter_field_targets.begin(), quarter_field_targets.end(),
half_field_targets.begin());
for (int ii = 0; ii < 8; ++ii) {
const int jj = ii + 8;
half_field_targets[jj] = quarter_field_targets[ii];
- half_field_targets[jj].mutable_pos()->x() =
- 2.0 * kCenterFieldX - half_field_targets[jj].rel_pos().x();
- half_field_targets[jj].set_theta(
- aos::math::NormalizeAngle(M_PI - half_field_targets[jj].rel_theta()));
+ half_field_targets[jj].mutable_pose()->mutable_pos()->x() =
+ 2.0 * kCenterFieldX - half_field_targets[jj].pose().rel_pos().x();
+ half_field_targets[jj].mutable_pose()->set_theta(aos::math::NormalizeAngle(
+ M_PI - half_field_targets[jj].pose().rel_theta()));
+ // Targets on the opposite side of the field can't be driven to.
+ half_field_targets[jj].set_goal_type(kNoneGoal);
}
- ::std::array<Pose, 32> target_poses_;
-
// Mirror across x-axis (long field axis):
::std::copy(half_field_targets.begin(), half_field_targets.end(),
- target_poses_.begin());
+ targets_.begin());
for (int ii = 0; ii < 16; ++ii) {
const int jj = ii + 16;
- target_poses_[jj] = half_field_targets[ii];
- target_poses_[jj].mutable_pos()->y() *= -1;
- target_poses_[jj].set_theta(-target_poses_[jj].rel_theta());
- }
- for (int ii = 0; ii < 32; ++ii) {
- targets_[ii] = {target_poses_[ii]};
+ targets_[jj] = half_field_targets[ii];
+ targets_[jj].mutable_pose()->mutable_pos()->y() *= -1;
+ targets_[jj].mutable_pose()->set_theta(-targets_[jj].pose().rel_theta());
}
// Define rocket obstacles as just being a single line that should block any
diff --git a/y2019/control_loops/drivetrain/BUILD b/y2019/control_loops/drivetrain/BUILD
index 5a4dd40..49cda13 100644
--- a/y2019/control_loops/drivetrain/BUILD
+++ b/y2019/control_loops/drivetrain/BUILD
@@ -84,6 +84,14 @@
)
queue_library(
+ name = "target_selector_queue",
+ srcs = [
+ "target_selector.q",
+ ],
+ visibility = ["//visibility:public"],
+)
+
+queue_library(
name = "camera_queue",
srcs = [
"camera.q",
@@ -126,9 +134,11 @@
hdrs = ["target_selector.h"],
deps = [
":camera",
+ ":target_selector_queue",
"//frc971/control_loops:pose",
"//frc971/control_loops/drivetrain:localizer",
"//y2019:constants",
+ "//y2019/control_loops/superstructure:superstructure_queue",
],
)
@@ -138,6 +148,7 @@
deps = [
":target_selector",
"//aos/testing:googletest",
+ "//aos/testing:test_shm",
],
)
diff --git a/y2019/control_loops/drivetrain/camera.h b/y2019/control_loops/drivetrain/camera.h
index d59ac21..e21bf87 100644
--- a/y2019/control_loops/drivetrain/camera.h
+++ b/y2019/control_loops/drivetrain/camera.h
@@ -34,12 +34,49 @@
class TypedTarget {
public:
typedef ::frc971::control_loops::TypedPose<Scalar> Pose;
- TypedTarget(const Pose &pose) : pose_(pose) {}
+ // The nature of the target as a goal--to mark what modes it is a valid
+ // potential goal pose and to mark targets on the opposite side of the field
+ // as not being viable targets.
+ enum class GoalType {
+ // None marks targets that are on the opposite side of the field and not
+ // viable goal poses.
+ kNone,
+ // Spots where we can touch hatch panels.
+ kHatches,
+ // Spots where we can mess with balls.
+ kBalls,
+ // Spots for both (cargo ship, human loading).
+ kBoth,
+ };
+ // Which target this is within a given field quadrant:
+ enum class TargetType {
+ kHPSlot,
+ kFaceCargoBay,
+ kNearSideCargoBay,
+ kMidSideCargoBay,
+ kFarSideCargoBay,
+ kNearRocket,
+ kFarRocket,
+ kRocketPortal,
+ };
+ TypedTarget(const Pose &pose, double radius = 0,
+ TargetType target_type = TargetType::kHPSlot,
+ GoalType goal_type = GoalType::kBoth)
+ : pose_(pose),
+ radius_(radius),
+ target_type_(target_type),
+ goal_type_(goal_type) {}
TypedTarget() {}
Pose pose() const { return pose_; }
+ Pose *mutable_pose() { return &pose_; }
bool occluded() const { return occluded_; }
void set_occluded(bool occluded) { occluded_ = occluded; }
+ double radius() const { return radius_; }
+ GoalType goal_type() const { return goal_type_; }
+ void set_goal_type(GoalType goal_type) { goal_type_ = goal_type; }
+ TargetType target_type() const { return target_type_; }
+ void set_target_type(TargetType target_type) { target_type_ = target_type; }
// Get a list of points for plotting. These points should be plotted on
// an x/y plane in the global frame with lines connecting the points.
@@ -63,6 +100,14 @@
private:
Pose pose_;
bool occluded_ = false;
+ // The effective radius of the target--for placing discs, this should be the
+ // radius of the disc; for fetching discs and working with balls this should
+ // be near zero.
+ // TODO(james): We may actually want a non-zero (possibly negative?) number
+ // here for balls.
+ double radius_ = 0.0;
+ TargetType target_type_ = TargetType::kHPSlot;
+ GoalType goal_type_ = GoalType::kBoth;
}; // class TypedTarget
typedef TypedTarget<double> Target;
diff --git a/y2019/control_loops/drivetrain/camera_test.cc b/y2019/control_loops/drivetrain/camera_test.cc
index d0a4b85..f9b6e8d 100644
--- a/y2019/control_loops/drivetrain/camera_test.cc
+++ b/y2019/control_loops/drivetrain/camera_test.cc
@@ -8,12 +8,16 @@
// Check that a Target's basic operations work.
TEST(TargetTest, BasicTargetTest) {
- Target target({{1, 2, 3}, M_PI / 2.0});
+ Target target({{1, 2, 3}, M_PI / 2.0}, 1.234,
+ Target::TargetType::kFaceCargoBay, Target::GoalType::kHatches);
EXPECT_EQ(1.0, target.pose().abs_pos().x());
EXPECT_EQ(2.0, target.pose().abs_pos().y());
EXPECT_EQ(3.0, target.pose().abs_pos().z());
EXPECT_EQ(M_PI / 2.0, target.pose().abs_theta());
+ EXPECT_EQ(1.234, target.radius());
+ EXPECT_EQ(Target::GoalType::kHatches, target.goal_type());
+ EXPECT_EQ(Target::TargetType::kFaceCargoBay, target.target_type());
EXPECT_FALSE(target.occluded());
target.set_occluded(true);
diff --git a/y2019/control_loops/drivetrain/drivetrain_base.cc b/y2019/control_loops/drivetrain/drivetrain_base.cc
index 1dfe99a..089bdf0 100644
--- a/y2019/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2019/control_loops/drivetrain/drivetrain_base.cc
@@ -26,7 +26,7 @@
::frc971::control_loops::drivetrain::ShifterType::SIMPLE_SHIFTER,
::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
::frc971::control_loops::drivetrain::GyroType::IMU_Z_GYRO,
- ::frc971::control_loops::drivetrain::IMUType::IMU_X,
+ ::frc971::control_loops::drivetrain::IMUType::IMU_FLIPPED_X,
drivetrain::MakeDrivetrainLoop,
drivetrain::MakeVelocityDrivetrainLoop,
diff --git a/y2019/control_loops/drivetrain/event_loop_localizer.cc b/y2019/control_loops/drivetrain/event_loop_localizer.cc
index dad667f..f33f4e5 100644
--- a/y2019/control_loops/drivetrain/event_loop_localizer.cc
+++ b/y2019/control_loops/drivetrain/event_loop_localizer.cc
@@ -25,22 +25,23 @@
}
EventLoopLocalizer::EventLoopLocalizer(
- const ::frc971::control_loops::drivetrain::DrivetrainConfig<double>
- &dt_config,
+ const ::frc971::control_loops::drivetrain::DrivetrainConfig<double> &
+ dt_config,
::aos::EventLoop *event_loop)
: event_loop_(event_loop),
cameras_(MakeCameras(&robot_pose_)),
- localizer_(dt_config, &robot_pose_) {
+ localizer_(dt_config, &robot_pose_),
+ target_selector_(event_loop) {
localizer_.ResetInitialState(::aos::monotonic_clock::now(),
Localizer::State::Zero(), localizer_.P());
- ResetPosition(0.5, 3.4, 0.0);
+ ResetPosition(::aos::monotonic_clock::now(), 0.5, 3.4, 0.0);
frame_fetcher_ = event_loop_->MakeFetcher<CameraFrame>(
".y2019.control_loops.drivetrain.camera_frames");
}
-void EventLoopLocalizer::Reset(const Localizer::State &state) {
- localizer_.ResetInitialState(::aos::monotonic_clock::now(), state,
- localizer_.P());
+void EventLoopLocalizer::Reset(::aos::monotonic_clock::time_point now,
+ const Localizer::State &state) {
+ localizer_.ResetInitialState(now, state, localizer_.P());
}
void EventLoopLocalizer::Update(
diff --git a/y2019/control_loops/drivetrain/event_loop_localizer.h b/y2019/control_loops/drivetrain/event_loop_localizer.h
index 9207ec1..6d5ca29 100644
--- a/y2019/control_loops/drivetrain/event_loop_localizer.h
+++ b/y2019/control_loops/drivetrain/event_loop_localizer.h
@@ -33,8 +33,10 @@
&dt_config,
::aos::EventLoop *event_loop);
- void Reset(const Localizer::State &state);
- void ResetPosition(double x, double y, double theta) override {
+ void Reset(::aos::monotonic_clock::time_point t,
+ const Localizer::State &state);
+ void ResetPosition(::aos::monotonic_clock::time_point t, double x, double y,
+ double theta) override {
// When we reset the state, we want to keep the encoder positions intact, so
// we copy from the original state and reset everything else.
Localizer::State new_state = localizer_.X_hat();
@@ -44,7 +46,11 @@
// Velocity terms.
new_state(4, 0) = 0.0;
new_state(6, 0) = 0.0;
- Reset(new_state);
+ // Voltage/angular error terms.
+ new_state(7, 0) = 0.0;
+ new_state(8, 0) = 0.0;
+ new_state(9, 0) = 0.0;
+ Reset(t, new_state);
}
void Update(const ::Eigen::Matrix<double, 2, 1> &U,
@@ -58,14 +64,24 @@
return localizer_.X_hat(StateIdx::kY); }
double theta() const override {
return localizer_.X_hat(StateIdx::kTheta); }
+ double left_encoder() const override {
+ return localizer_.X_hat(StateIdx::kLeftEncoder);
+ }
+ double right_encoder() const override {
+ return localizer_.X_hat(StateIdx::kRightEncoder);
+ }
double left_velocity() const override {
return localizer_.X_hat(StateIdx::kLeftVelocity);
}
double right_velocity() const override {
return localizer_.X_hat(StateIdx::kRightVelocity);
}
- double left_voltage_error() const override { return 0.0; }
- double right_voltage_error() const override { return 0.0; }
+ double left_voltage_error() const override {
+ return localizer_.X_hat(StateIdx::kLeftVoltageError);
+ }
+ double right_voltage_error() const override {
+ return localizer_.X_hat(StateIdx::kRightVoltageError);
+ }
TargetSelector *target_selector() override {
return &target_selector_;
diff --git a/y2019/control_loops/drivetrain/localized_drivetrain_test.cc b/y2019/control_loops/drivetrain/localized_drivetrain_test.cc
index e086e36..b405588 100644
--- a/y2019/control_loops/drivetrain/localized_drivetrain_test.cc
+++ b/y2019/control_loops/drivetrain/localized_drivetrain_test.cc
@@ -67,10 +67,11 @@
void SetStartingPosition(const Eigen::Matrix<double, 3, 1> &xytheta) {
*drivetrain_motor_plant_.mutable_state() << xytheta.x(), xytheta.y(),
xytheta(2, 0), 0.0, 0.0;
- Eigen::Matrix<double, 7, 1> localizer_state;
+ Eigen::Matrix<double, EventLoopLocalizer::Localizer::kNStates, 1>
+ localizer_state;
localizer_state.setZero();
localizer_state.block<3, 1>(0, 0) = xytheta;
- localizer_.Reset(localizer_state);
+ localizer_.Reset(monotonic_clock::now(), localizer_state);
}
void RunIteration() {
@@ -296,7 +297,7 @@
.Send();
RunForTime(chrono::seconds(3));
VerifyNearGoal();
- VerifyEstimatorAccurate(1e-4);
+ VerifyEstimatorAccurate(5e-4);
}
namespace {
@@ -307,12 +308,12 @@
// forward from roughly the right spot gets us to the HP slot.
TEST_F(LocalizedDrivetrainTest, LineFollowToHPSlot) {
set_enable_cameras(false);
- SetStartingPosition({4, 3, M_PI});
+ SetStartingPosition({4, HPSlotLeft().abs_pos().y(), M_PI});
my_drivetrain_queue_.goal.MakeWithBuilder()
.controller_type(3)
- .throttle(0.9)
+ .throttle(0.5)
.Send();
- RunForTime(chrono::seconds(10));
+ RunForTime(chrono::seconds(6));
VerifyEstimatorAccurate(1e-8);
// Due to the fact that we aren't modulating the throttle, we don't try to hit
diff --git a/y2019/control_loops/drivetrain/localizer.h b/y2019/control_loops/drivetrain/localizer.h
index b717837..58b6901 100644
--- a/y2019/control_loops/drivetrain/localizer.h
+++ b/y2019/control_loops/drivetrain/localizer.h
@@ -100,7 +100,7 @@
// The threshold to use for completely rejecting potentially bad target
// matches.
// TODO(james): Tune
- static constexpr Scalar kRejectionScore = 1.0;
+ static constexpr Scalar kRejectionScore = 1000000.0;
// Checks that the targets coming in make some sense--mostly to prevent NaNs
// or the such from propagating.
@@ -306,6 +306,11 @@
size_t view_idx = best_frames[ii];
if (view_idx < 0 || view_idx >= camera_views.size()) {
LOG(ERROR, "Somehow, the view scorer failed.\n");
+ h_functions->push_back(
+ [](const State &, const Input &) { return Output::Zero(); });
+ dhdx_functions->push_back([](const State &) {
+ return Eigen::Matrix<Scalar, kNOutputs, kNStates>::Zero();
+ });
continue;
}
const Eigen::Matrix<Scalar, kNOutputs, kNStates> best_H =
diff --git a/y2019/control_loops/drivetrain/localizer_test.cc b/y2019/control_loops/drivetrain/localizer_test.cc
index f062234..281abdc 100644
--- a/y2019/control_loops/drivetrain/localizer_test.cc
+++ b/y2019/control_loops/drivetrain/localizer_test.cc
@@ -399,7 +399,7 @@
U(1, 0) = ::std::max(::std::min(U(1, 0), 12.0), -12.0);
state = ::frc971::control_loops::RungeKuttaU(
- [this](const ::Eigen::Matrix<double, 7, 1> &X,
+ [this](const ::Eigen::Matrix<double, 10, 1> &X,
const ::Eigen::Matrix<double, 2, 1> &U) { return DiffEq(X, U); },
state, U,
::std::chrono::duration_cast<::std::chrono::duration<double>>(
@@ -418,7 +418,7 @@
::std::pow(state(StateIdx::kRightVelocity, 0), 2)) /
3.0);
TestLocalizer::State disturbance;
- disturbance << 0.02, 0.02, 0.001, 0.03, 0.02, 0.0, 0.0;
+ disturbance << 0.02, 0.02, 0.001, 0.03, 0.02, 0.0, 0.0, 0.0, 0.0, 0.0;
disturbance *= disturbance_scale;
state += disturbance;
}
@@ -498,9 +498,11 @@
LocalizerTestParams({
/*control_pts_x=*/{{0.0, 3.0, 3.0, 0.0, 1.0, 1.0}},
/*control_pts_y=*/{{-5.0, -5.0, 2.0, 2.0, 2.0, 3.0}},
- (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0)
+ (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+ 0.0, 0.0)
.finished(),
- (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0)
+ (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+ 0.0, 0.0)
.finished(),
/*noisify=*/false,
/*disturb=*/false,
@@ -512,9 +514,11 @@
LocalizerTestParams({
/*control_pts_x=*/{{0.0, 3.0, 3.0, 0.0, 1.0, 1.0}},
/*control_pts_y=*/{{-5.0, -5.0, 2.0, 2.0, 2.0, 3.0}},
- (TestLocalizer::State() << 0.0, -4.0, 0.0, 0.0, 0.0, 0.0, 0.0)
+ (TestLocalizer::State() << 0.0, -4.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+ 0.0, 0.0)
.finished(),
- (TestLocalizer::State() << 0.0, -4.0, 0.0, 0.0, 0.0, 0.0, 0.0)
+ (TestLocalizer::State() << 0.0, -4.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+ 0.0, 0.0)
.finished(),
/*noisify=*/false,
/*disturb=*/false,
@@ -525,22 +529,41 @@
LocalizerTestParams({
/*control_pts_x=*/{{0.0, 3.0, 3.0, 0.0, 1.0, 1.0}},
/*control_pts_y=*/{{-5.0, -5.0, 2.0, 2.0, 2.0, 3.0}},
- (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0)
+ (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+ 0.0, 0.0)
.finished(),
- (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0)
+ (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+ 0.0, 0.0)
.finished(),
/*noisify=*/true,
/*disturb=*/false,
/*estimate_tolerance=*/0.2,
- /*goal_tolerance=*/0.2,
+ /*goal_tolerance=*/0.4,
}),
// Repeats perfect scenario, but add initial estimator error.
LocalizerTestParams({
/*control_pts_x=*/{{0.0, 3.0, 3.0, 0.0, 1.0, 1.0}},
/*control_pts_y=*/{{-5.0, -5.0, 2.0, 2.0, 2.0, 3.0}},
- (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0)
+ (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+ 0.0, 0.0)
.finished(),
- (TestLocalizer::State() << 0.1, -5.1, -0.01, 0.0, 0.0, 0.0, 0.0)
+ (TestLocalizer::State() << 0.1, -5.1, -0.01, 0.0, 0.0, 0.0, 0.0,
+ 0.0, 0.0, 0.0)
+ .finished(),
+ /*noisify=*/false,
+ /*disturb=*/false,
+ /*estimate_tolerance=*/1e-4,
+ /*goal_tolerance=*/2e-2,
+ }),
+ // Repeats perfect scenario, but add voltage + angular errors:
+ LocalizerTestParams({
+ /*control_pts_x=*/{{0.0, 3.0, 3.0, 0.0, 1.0, 1.0}},
+ /*control_pts_y=*/{{-5.0, -5.0, 2.0, 2.0, 2.0, 3.0}},
+ (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0,
+ 0.5, 0.02)
+ .finished(),
+ (TestLocalizer::State() << 0.1, -5.1, -0.01, 0.0, 0.0, 0.0, 0.0,
+ 0.0, 0.0, 0.0)
.finished(),
/*noisify=*/false,
/*disturb=*/false,
@@ -551,9 +574,11 @@
LocalizerTestParams({
/*control_pts_x=*/{{0.0, 3.0, 3.0, 0.0, 1.0, 1.0}},
/*control_pts_y=*/{{-5.0, -5.0, 2.0, 2.0, 2.0, 3.0}},
- (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0)
+ (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+ 0.0, 0.0)
.finished(),
- (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0)
+ (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+ 0.0, 0.0)
.finished(),
/*noisify=*/false,
/*disturb=*/true,
@@ -564,14 +589,16 @@
LocalizerTestParams({
/*control_pts_x=*/{{0.0, 3.0, 3.0, 0.0, 1.0, 1.0}},
/*control_pts_y=*/{{-5.0, -5.0, 2.0, 2.0, 2.0, 3.0}},
- (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0)
+ (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+ 0.0, 0.0)
.finished(),
- (TestLocalizer::State() << 0.1, -5.1, 0.03, 0.0, 0.0, 0.0, 0.0)
+ (TestLocalizer::State() << 0.1, -5.1, 0.03, 0.0, 0.0, 0.0, 0.0, 0.0,
+ 0.0, 0.0)
.finished(),
/*noisify=*/true,
/*disturb=*/true,
/*estimate_tolerance=*/0.15,
- /*goal_tolerance=*/0.8,
+ /*goal_tolerance=*/0.5,
}),
// Try another spline, just in case the one I was using is special for
// some reason; this path will also go straight up to a target, to
@@ -579,14 +606,16 @@
LocalizerTestParams({
/*control_pts_x=*/{{0.5, 3.5, 4.0, 8.0, 11.0, 10.2}},
/*control_pts_y=*/{{1.0, 1.0, -3.0, -2.0, -3.5, -3.65}},
- (TestLocalizer::State() << 0.6, 1.01, 0.01, 0.0, 0.0, 0.0, 0.0)
+ (TestLocalizer::State() << 0.6, 1.01, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0,
+ 0.0, 0.0)
.finished(),
- (TestLocalizer::State() << 0.5, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0)
+ (TestLocalizer::State() << 0.5, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+ 0.0, 0.0)
.finished(),
/*noisify=*/true,
/*disturb=*/false,
- /*estimate_tolerance=*/0.15,
- /*goal_tolerance=*/0.5,
+ /*estimate_tolerance=*/0.25,
+ /*goal_tolerance=*/0.7,
})));
} // namespace testing
diff --git a/y2019/control_loops/drivetrain/target_selector.cc b/y2019/control_loops/drivetrain/target_selector.cc
index 449ce64..7b6918a 100644
--- a/y2019/control_loops/drivetrain/target_selector.cc
+++ b/y2019/control_loops/drivetrain/target_selector.cc
@@ -5,17 +5,35 @@
constexpr double TargetSelector::kFakeFov;
-TargetSelector::TargetSelector()
+TargetSelector::TargetSelector(::aos::EventLoop *event_loop)
: front_viewer_({&robot_pose_, {0.0, 0.0, 0.0}, 0.0}, kFakeFov, fake_noise_,
constants::Field().targets(), {}),
back_viewer_({&robot_pose_, {0.0, 0.0, 0.0}, M_PI}, kFakeFov, fake_noise_,
- constants::Field().targets(), {}) {}
+ constants::Field().targets(), {}),
+ hint_fetcher_(event_loop->MakeFetcher<drivetrain::TargetSelectorHint>(
+ ".y2019.control_loops.drivetrain.target_selector_hint")),
+ superstructure_goal_fetcher_(event_loop->MakeFetcher<
+ superstructure::SuperstructureQueue::Goal>(
+ ".y2019.control_loops.superstructure.superstructure_queue.goal")) {}
bool TargetSelector::UpdateSelection(const ::Eigen::Matrix<double, 5, 1> &state,
double command_speed) {
if (::std::abs(command_speed) < kMinDecisionSpeed) {
return false;
}
+ if (superstructure_goal_fetcher_.Fetch()) {
+ ball_mode_ = superstructure_goal_fetcher_->suction.gamepiece_mode == 0;
+ }
+ if (hint_fetcher_.Fetch()) {
+ LOG_STRUCT(DEBUG, "selector_hint", *hint_fetcher_);
+ // suggested_target is unsigned so we don't check for >= 0.
+ if (hint_fetcher_->suggested_target < 4) {
+ target_hint_ =
+ static_cast<SelectionHint>(hint_fetcher_->suggested_target);
+ } else {
+ LOG(ERROR, "Got invalid suggested target.\n");
+ }
+ }
*robot_pose_.mutable_pos() << state.x(), state.y(), 0.0;
robot_pose_.set_theta(state(2, 0));
::aos::SizedArray<FakeCamera::TargetView,
@@ -36,8 +54,41 @@
// means the largest target in the camera view).
double largest_target_noise = ::std::numeric_limits<double>::infinity();
for (const auto &view : target_views) {
+ // Skip targets that aren't viable for going to (e.g., on the opposite side
+ // of the field).
+ // TODO(james): Support ball vs. hatch mode filtering.
+ if (view.target->goal_type() == Target::GoalType::kNone ||
+ view.target->goal_type() == (ball_mode_ ? Target::GoalType::kHatches
+ : Target::GoalType::kBalls)) {
+ continue;
+ }
+ switch (target_hint_) {
+ case SelectionHint::kNearShip:
+ if (view.target->target_type() !=
+ Target::TargetType::kNearSideCargoBay) {
+ continue;
+ }
+ break;
+ case SelectionHint::kMidShip:
+ if (view.target->target_type() !=
+ Target::TargetType::kMidSideCargoBay) {
+ continue;
+ }
+ break;
+ case SelectionHint::kFarShip:
+ if (view.target->target_type() !=
+ Target::TargetType::kFarSideCargoBay) {
+ continue;
+ }
+ break;
+ case SelectionHint::kNone:
+ default:
+ break;
+ }
if (view.noise.distance < largest_target_noise) {
target_pose_ = view.target->pose();
+ // If we are in ball mode, use a radius of zero.
+ target_radius_ = ball_mode_ ? 0.0 : view.target->radius();
largest_target_noise = view.noise.distance;
}
}
diff --git a/y2019/control_loops/drivetrain/target_selector.h b/y2019/control_loops/drivetrain/target_selector.h
index 965d7cc..4c001ad 100644
--- a/y2019/control_loops/drivetrain/target_selector.h
+++ b/y2019/control_loops/drivetrain/target_selector.h
@@ -5,6 +5,8 @@
#include "frc971/control_loops/drivetrain/localizer.h"
#include "y2019/constants.h"
#include "y2019/control_loops/drivetrain/camera.h"
+#include "y2019/control_loops/drivetrain/target_selector.q.h"
+#include "y2019/control_loops/superstructure/superstructure.q.h"
namespace y2019 {
namespace control_loops {
@@ -27,12 +29,23 @@
typedef TypedCamera<y2019::constants::Field::kNumTargets,
/*num_obstacles=*/0, double> FakeCamera;
- TargetSelector();
+ enum class SelectionHint {
+ // No hint
+ kNone = 0,
+ // Cargo ship bays
+ kNearShip = 1,
+ kMidShip = 2,
+ kFarShip = 3,
+ };
+
+ TargetSelector(::aos::EventLoop *event_loop);
bool UpdateSelection(const ::Eigen::Matrix<double, 5, 1> &state,
double command_speed) override;
Pose TargetPose() const override { return target_pose_; }
+ double TargetRadius() const override { return target_radius_; }
+
private:
static constexpr double kFakeFov = M_PI * 0.7;
// Longitudinal speed at which the robot must be going in order for us to make
@@ -40,6 +53,7 @@
static constexpr double kMinDecisionSpeed = 0.7; // m/s
Pose robot_pose_;
Pose target_pose_;
+ double target_radius_;
// For the noise of our fake cameras, we only really care about the max
// distance, which will be the maximum distance we let ourselves guide in
// from. The distance noise is set so that we can use the camera's estimate of
@@ -51,6 +65,14 @@
.nominal_height_noise = 0};
FakeCamera front_viewer_;
FakeCamera back_viewer_;
+
+ ::aos::Fetcher<drivetrain::TargetSelectorHint> hint_fetcher_;
+ ::aos::Fetcher<superstructure::SuperstructureQueue::Goal>
+ superstructure_goal_fetcher_;
+
+ // Whether we are currently in ball mode.
+ bool ball_mode_ = false;
+ SelectionHint target_hint_ = SelectionHint::kNone;
};
} // namespace control_loops
diff --git a/y2019/control_loops/drivetrain/target_selector.q b/y2019/control_loops/drivetrain/target_selector.q
new file mode 100644
index 0000000..c917d39
--- /dev/null
+++ b/y2019/control_loops/drivetrain/target_selector.q
@@ -0,0 +1,12 @@
+package y2019.control_loops.drivetrain;
+
+// A message to provide information to the target selector about what it should
+message TargetSelectorHint {
+ // Which target we should go for:
+ // 0 implies no selection, we should just default to whatever.
+ // 1, 2, and 3 imply the near, middle, and far targets.
+ // These should match the SelectionHint enum in target_selector.h.
+ uint8_t suggested_target;
+};
+
+queue TargetSelectorHint target_selector_hint;
diff --git a/y2019/control_loops/drivetrain/target_selector_test.cc b/y2019/control_loops/drivetrain/target_selector_test.cc
index 4b440c2..aa655e6 100644
--- a/y2019/control_loops/drivetrain/target_selector_test.cc
+++ b/y2019/control_loops/drivetrain/target_selector_test.cc
@@ -1,6 +1,8 @@
#include "y2019/control_loops/drivetrain/target_selector.h"
+#include "aos/testing/test_shm.h"
#include "gtest/gtest.h"
+#include "y2019/control_loops/superstructure/superstructure.q.h"
namespace y2019 {
namespace control_loops {
@@ -8,12 +10,15 @@
typedef ::frc971::control_loops::TypedPose<double> Pose;
typedef ::Eigen::Matrix<double, 5, 1> State;
+using SelectionHint = TargetSelector::SelectionHint;
namespace {
// Accessors to get some useful particular targets on the field:
Pose HPSlotLeft() { return constants::Field().targets()[7].pose(); }
Pose CargoNearLeft() { return constants::Field().targets()[2].pose(); }
-Pose RocketPortalLeft() { return constants::Field().targets()[4].pose(); }
+Pose RocketHatchFarLeft() { return constants::Field().targets()[6].pose(); }
+Pose RocketPortal() { return constants::Field().targets()[4].pose(); }
+double HatchRadius() { return constants::Field().targets()[6].radius(); }
} // namespace
// Tests the target selector with:
@@ -23,14 +28,40 @@
// -If (1) is true, the pose we expect to get back.
struct TestParams {
State state;
+ bool ball_mode;
+ SelectionHint selection_hint;
double command_speed;
bool expect_target;
Pose expected_pose;
+ double expected_radius;
};
-class TargetSelectorParamTest : public ::testing::TestWithParam<TestParams> {};
+class TargetSelectorParamTest : public ::testing::TestWithParam<TestParams> {
+ protected:
+ virtual void TearDown() override {
+ ::y2019::control_loops::superstructure::superstructure_queue.goal.Clear();
+ ::y2019::control_loops::drivetrain::target_selector_hint.Clear();
+ }
+ ::aos::ShmEventLoop event_loop_;
+
+ private:
+ ::aos::testing::TestSharedMemory my_shm_;
+};
TEST_P(TargetSelectorParamTest, ExpectReturn) {
- TargetSelector selector;
+ TargetSelector selector(&event_loop_);
+ {
+ auto super_goal =
+ ::y2019::control_loops::superstructure::superstructure_queue.goal
+ .MakeMessage();
+ super_goal->suction.gamepiece_mode = GetParam().ball_mode ? 0 : 1;
+ ASSERT_TRUE(super_goal.Send());
+ }
+ {
+ auto hint =
+ ::y2019::control_loops::drivetrain::target_selector_hint.MakeMessage();
+ hint->suggested_target = static_cast<int>(GetParam().selection_hint);
+ ASSERT_TRUE(hint.Send());
+ }
bool expect_target = GetParam().expect_target;
const State state = GetParam().state;
ASSERT_EQ(expect_target,
@@ -49,6 +80,8 @@
<< " but got " << actual_pos.transpose() << " with the robot at "
<< state.transpose();
EXPECT_EQ(expected_angle, actual_angle);
+ EXPECT_EQ(GetParam().expected_radius, selector.TargetRadius());
+ EXPECT_EQ(expected_angle, actual_angle);
}
}
@@ -57,42 +90,82 @@
::testing::Values(
// When we are far away from anything, we should not register any
// targets:
- TestParams{
- (State() << 0.0, 0.0, 0.0, 1.0, 1.0).finished(), 1.0, false, {}},
+ TestParams{(State() << 0.0, 0.0, 0.0, 1.0, 1.0).finished(),
+ /*ball_mode=*/false,
+ SelectionHint::kNone,
+ 1.0,
+ false,
+ {},
+ /*expected_radius=*/0.0},
// Aim for a human-player spot; at low speeds we should not register
// anything.
TestParams{(State() << 4.0, 2.0, M_PI, 0.05, 0.05).finished(),
+ /*ball_mode=*/false,
+ SelectionHint::kNone,
0.05,
false,
- {}},
+ {},
+ /*expected_radius=*/0.0},
TestParams{(State() << 4.0, 2.0, M_PI, -0.05, -0.05).finished(),
+ /*ball_mode=*/false,
+ SelectionHint::kNone,
-0.05,
false,
- {}},
- TestParams{(State() << 4.0, 2.0, M_PI, 0.5, 0.5).finished(), 1.0, true,
- HPSlotLeft()},
+ {},
+ /*expected_radius=*/0.0},
+ TestParams{(State() << 4.0, 2.0, M_PI, 0.5, 0.5).finished(),
+ /*ball_mode=*/false, SelectionHint::kNone, 1.0, true,
+ HPSlotLeft(), /*expected_radius=*/0.0},
// Put ourselves between the rocket and cargo ship; we should see the
- // portal driving one direction and the near cargo ship port the other.
+ // hatches driving one direction and the near cargo ship port the other.
// We also command a speed opposite the current direction of motion and
// confirm that that behaves as expected.
- TestParams{(State() << 6.0, 2.0, -M_PI_2, -0.5, -0.5).finished(), 1.0,
- true, CargoNearLeft()},
- TestParams{(State() << 6.0, 2.0, M_PI_2, 0.5, 0.5).finished(), -1.0,
- true, CargoNearLeft()},
- TestParams{(State() << 6.0, 2.0, -M_PI_2, 0.5, 0.5).finished(), -1.0,
- true, RocketPortalLeft()},
- TestParams{(State() << 6.0, 2.0, M_PI_2, -0.5, -0.5).finished(), 1.0,
- true, RocketPortalLeft()},
+ TestParams{(State() << 6.0, 2.0, -M_PI_2, -0.5, -0.5).finished(),
+ /*ball_mode=*/false, SelectionHint::kNone, 1.0, true,
+ CargoNearLeft(), /*expected_radius=*/HatchRadius()},
+ TestParams{(State() << 6.0, 2.0, M_PI_2, 0.5, 0.5).finished(),
+ /*ball_mode=*/false, SelectionHint::kNone, -1.0, true,
+ CargoNearLeft(), /*expected_radius=*/HatchRadius()},
+ TestParams{(State() << 6.0, 2.0, -M_PI_2, 0.5, 0.5).finished(),
+ /*ball_mode=*/false, SelectionHint::kNone, -1.0, true,
+ RocketHatchFarLeft(), /*expected_radius=*/HatchRadius()},
+ TestParams{(State() << 6.0, 2.0, M_PI_2, -0.5, -0.5).finished(),
+ /*ball_mode=*/false, SelectionHint::kNone, 1.0, true,
+ RocketHatchFarLeft(), /*expected_radius=*/HatchRadius()},
// And we shouldn't see anything spinning in place:
TestParams{(State() << 6.0, 2.0, M_PI_2, -0.5, 0.5).finished(),
+ /*ball_mode=*/false,
+ SelectionHint::kNone,
0.0,
false,
- {}},
+ {},
+ /*expected_radius=*/0.0},
// Drive backwards off the field--we should not see anything.
TestParams{(State() << -0.1, 0.0, 0.0, -0.5, -0.5).finished(),
+ /*ball_mode=*/false,
+ SelectionHint::kNone,
-1.0,
false,
- {}}));
+ {},
+ /*expected_radius=*/0.0},
+ // In ball mode, we should be able to see the portal, and get zero
+ // radius.
+ TestParams{(State() << 6.0, 2.0, M_PI_2, 0.5, 0.5).finished(),
+ /*ball_mode=*/true,
+ SelectionHint::kNone,
+ 1.0,
+ true,
+ RocketPortal(),
+ /*expected_radius=*/0.0},
+ // Reversing direction should get cargo ship with zero radius.
+ TestParams{(State() << 6.0, 2.0, M_PI_2, 0.5, 0.5).finished(),
+ /*ball_mode=*/true,
+ SelectionHint::kNone,
+ -1.0,
+ true,
+ CargoNearLeft(),
+ /*expected_radius=*/0.0}
+ ));
} // namespace testing
} // namespace control_loops
diff --git a/y2019/control_loops/python/drivetrain.py b/y2019/control_loops/python/drivetrain.py
index e2d6eec..4a68fde 100644
--- a/y2019/control_loops/python/drivetrain.py
+++ b/y2019/control_loops/python/drivetrain.py
@@ -25,7 +25,7 @@
wheel_radius=4.0 * 0.0254 / 2.0,
G=9.0 / 52.0,
q_pos=0.14,
- q_vel=0.95,
+ q_vel=1.30,
efficiency=0.80,
has_imu=True,
force=True,
diff --git a/y2019/control_loops/superstructure/BUILD b/y2019/control_loops/superstructure/BUILD
index 524a1ba..87afdfa 100644
--- a/y2019/control_loops/superstructure/BUILD
+++ b/y2019/control_loops/superstructure/BUILD
@@ -27,6 +27,7 @@
":superstructure_queue",
":vacuum",
"//aos/controls:control_loop",
+ "//frc971/control_loops/drivetrain:drivetrain_queue",
"//y2019:constants",
"//y2019:status_light",
],
@@ -48,6 +49,7 @@
"//frc971/control_loops:capped_test_plant",
"//frc971/control_loops:position_sensor_sim",
"//frc971/control_loops:team_number_test_environment",
+ "//frc971/control_loops/drivetrain:drivetrain_queue",
"//y2019:status_light",
"//y2019/control_loops/superstructure/intake:intake_plants",
],
diff --git a/y2019/control_loops/superstructure/collision_avoidance.h b/y2019/control_loops/superstructure/collision_avoidance.h
index 7fc80cd..90a45f6 100644
--- a/y2019/control_loops/superstructure/collision_avoidance.h
+++ b/y2019/control_loops/superstructure/collision_avoidance.h
@@ -60,7 +60,7 @@
// Angle constraints for the wrist when below kElevatorClearDownHeight
static constexpr double kWristMaxAngle = M_PI / 2.0 + 0.05;
- static constexpr double kWristMinAngle = -M_PI / 2.0 - 0.05;
+ static constexpr double kWristMinAngle = -M_PI / 2.0 - 0.25;
// Angles outside of which the intake is fully clear of the wrist.
static constexpr double kIntakeOutAngle = 0.3;
diff --git a/y2019/control_loops/superstructure/superstructure.cc b/y2019/control_loops/superstructure/superstructure.cc
index dd332b8..8fe02a3 100644
--- a/y2019/control_loops/superstructure/superstructure.cc
+++ b/y2019/control_loops/superstructure/superstructure.cc
@@ -2,6 +2,7 @@
#include "aos/controls/control_loops.q.h"
#include "frc971/control_loops/control_loops.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain.q.h"
#include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h"
#include "y2019/status_light.q.h"
@@ -92,19 +93,54 @@
intake_.set_min_position(collision_avoidance_.min_intake_goal());
intake_.set_max_position(collision_avoidance_.max_intake_goal());
+ ::frc971::control_loops::drivetrain_queue.status.FetchLatest();
+
if (status && unsafe_goal) {
// Light Logic
if (status->estopped) {
// Estop is red
- SendColors(0.5, 0.0, 0.0);
- } else if (unsafe_goal->suction.gamepiece_mode == 0) {
- // Ball mode is blue
- SendColors(0.0, 0.0, 0.5);
- } else if (unsafe_goal->suction.gamepiece_mode == 1) {
- // Disk mode is yellow
- SendColors(0.5, 0.5, 0.0);
+ SendColors(1.0, 0.0, 0.0);
+ } else if (::frc971::control_loops::drivetrain_queue.status.get() &&
+ ::frc971::control_loops::drivetrain_queue.status
+ ->line_follow_logging.frozen) {
+ // Vision align is flashing white for button pressed, purple for target
+ // acquired.
+ ++line_blink_count_;
+ if (line_blink_count_ < 20) {
+ if (::frc971::control_loops::drivetrain_queue.status
+ ->line_follow_logging.have_target) {
+ SendColors(1.0, 0.0, 1.0);
+ } else {
+ SendColors(1.0, 1.0, 1.0);
+ }
+ } else {
+ // And then flash with green if we have a game piece.
+ if (status->has_piece) {
+ SendColors(0.0, 1.0, 0.0);
+ } else {
+ SendColors(0.0, 0.0, 0.0);
+ }
+ }
+
+ if (line_blink_count_ > 40) {
+ line_blink_count_ = 0;
+ }
} else {
- SendColors(0.0, 0.0, 0.0);
+ line_blink_count_ = 0;
+ if (status->has_piece) {
+ // Green if we have a game piece.
+ SendColors(0.0, 1.0, 0.0);
+ } else if (unsafe_goal->suction.gamepiece_mode == 0 &&
+ !status->has_piece) {
+ // Ball mode is orange
+ SendColors(1.0, 0.1, 0.0);
+ } else if (unsafe_goal->suction.gamepiece_mode == 1 &&
+ !status->has_piece) {
+ // Disk mode is deep blue
+ SendColors(0.05, 0.1, 0.5);
+ } else {
+ SendColors(0.0, 0.0, 0.0);
+ }
}
}
}
diff --git a/y2019/control_loops/superstructure/superstructure.h b/y2019/control_loops/superstructure/superstructure.h
index 626c84b..2df9026 100644
--- a/y2019/control_loops/superstructure/superstructure.h
+++ b/y2019/control_loops/superstructure/superstructure.h
@@ -50,6 +50,8 @@
CollisionAvoidance collision_avoidance_;
+ int line_blink_count_ = 0;
+
static constexpr double kMinIntakeAngleForRollers = -0.7;
DISALLOW_COPY_AND_ASSIGN(Superstructure);
diff --git a/y2019/control_loops/superstructure/superstructure_lib_test.cc b/y2019/control_loops/superstructure/superstructure_lib_test.cc
index 4d3de51..dd327ee 100644
--- a/y2019/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2019/control_loops/superstructure/superstructure_lib_test.cc
@@ -6,16 +6,17 @@
#include "aos/controls/control_loop_test.h"
#include "aos/queue.h"
#include "frc971/control_loops/capped_test_plant.h"
+#include "frc971/control_loops/drivetrain/drivetrain.q.h"
#include "frc971/control_loops/position_sensor_sim.h"
#include "frc971/control_loops/team_number_test_environment.h"
#include "gtest/gtest.h"
#include "y2019/constants.h"
-#include "y2019/status_light.q.h"
#include "y2019/control_loops/superstructure/elevator/elevator_plant.h"
#include "y2019/control_loops/superstructure/intake/intake_plant.h"
#include "y2019/control_loops/superstructure/stilts/stilts_plant.h"
#include "y2019/control_loops/superstructure/superstructure.h"
#include "y2019/control_loops/superstructure/wrist/wrist_plant.h"
+#include "y2019/status_light.q.h"
namespace y2019 {
namespace control_loops {
@@ -290,6 +291,7 @@
"position"),
superstructure_(&event_loop_) {
status_light.Clear();
+ ::frc971::control_loops::drivetrain_queue.status.Clear();
set_team_id(::frc971::control_loops::testing::kTeamNumber);
}
diff --git a/y2019/image_streamer/flip_image.cc b/y2019/image_streamer/flip_image.cc
index 6ff00ed..2db20b2 100644
--- a/y2019/image_streamer/flip_image.cc
+++ b/y2019/image_streamer/flip_image.cc
@@ -6,10 +6,12 @@
#include "third_party/cimg/CImg.h"
void flip_image(const char *input, const int input_size, JOCTET *buffer,
- unsigned int *buffer_size) {
+ unsigned int *buffer_size, bool flip) {
::cimg_library::CImg<unsigned char> image;
image.load_jpeg_buffer((JOCTET *)(input), input_size);
- image.mirror("xy");
+ if (flip) {
+ image.mirror("xy");
+ }
image.save_jpeg_buffer(buffer, *buffer_size, 80);
}
diff --git a/y2019/image_streamer/flip_image.h b/y2019/image_streamer/flip_image.h
index 6a59e96..7c31774 100644
--- a/y2019/image_streamer/flip_image.h
+++ b/y2019/image_streamer/flip_image.h
@@ -7,6 +7,6 @@
#include "third_party/libjpeg/jpeglib.h"
void flip_image(const char *input, const int input_size, JOCTET *buffer,
- unsigned int *buffer_size);
+ unsigned int *buffer_size, bool flip_image);
#endif // Y2019_IMAGE_STREAMER_FLIP_IMAGE_H
diff --git a/y2019/image_streamer/image_streamer.cc b/y2019/image_streamer/image_streamer.cc
index ed581e2..ebcd0b2 100644
--- a/y2019/image_streamer/image_streamer.cc
+++ b/y2019/image_streamer/image_streamer.cc
@@ -280,15 +280,12 @@
sampling = 0;
}
- std::string image_out;
+ ::std::string image_out;
- if (flip_) {
- unsigned int out_size = image_buffer_out_.size();
- flip_image(data.data(), data.size(), &image_buffer_out_[0], &out_size);
- image_out.assign(&image_buffer_out_[0], &image_buffer_out_[out_size]);
- } else {
- image_out = std::string(data);
- }
+ unsigned int out_size = image_buffer_out_.size();
+ flip_image(data.data(), data.size(), &image_buffer_out_[0], &out_size,
+ flip_);
+ image_out.assign(&image_buffer_out_[0], &image_buffer_out_[out_size]);
if (active_) {
auto frame = std::make_shared<Frame>(Frame{image_out});
diff --git a/y2019/joystick_reader.cc b/y2019/joystick_reader.cc
index c4a1caf..7b714be 100644
--- a/y2019/joystick_reader.cc
+++ b/y2019/joystick_reader.cc
@@ -22,11 +22,13 @@
#include "frc971/control_loops/drivetrain/localizer.q.h"
#include "y2019/control_loops/drivetrain/drivetrain_base.h"
+#include "y2019/control_loops/drivetrain/target_selector.q.h"
#include "y2019/control_loops/superstructure/superstructure.q.h"
#include "y2019/status_light.q.h"
#include "y2019/vision.pb.h"
using ::y2019::control_loops::superstructure::superstructure_queue;
+using ::y2019::control_loops::drivetrain::target_selector_hint;
using ::frc971::control_loops::drivetrain::localizer_control;
using ::aos::input::driver_station::ButtonLocation;
using ::aos::input::driver_station::ControlBit;
@@ -34,6 +36,8 @@
using ::aos::input::driver_station::POVLocation;
using ::aos::events::ProtoTXUdpSocket;
+namespace chrono = ::std::chrono;
+
namespace y2019 {
namespace input {
namespace joysticks {
@@ -74,18 +78,21 @@
const ButtonLocation kPanelHPIntakeBackward(5, 5);
const ButtonLocation kRelease(2, 4);
-const ButtonLocation kResetLocalizer(4, 3);
+const ButtonLocation kResetLocalizerLeftForwards(3, 14);
+const ButtonLocation kResetLocalizerLeftBackwards(4, 12);
-const ButtonLocation kAutoPanel(3, 10);
-const ButtonLocation kAutoPanelIntermediate(4, 6);
+const ButtonLocation kResetLocalizerRightForwards(4, 1);
+const ButtonLocation kResetLocalizerRightBackwards(4, 11);
-const ElevatorWristPosition kAutoPanelPos{0.0, -M_PI / 2.0};
-const ElevatorWristPosition kAutoPanelIntermediatePos{0.34, -M_PI / 2.0};
+const ButtonLocation kNearCargoHint(3, 15);
+const ButtonLocation kMidCargoHint(3, 16);
+const ButtonLocation kFarCargoHint(4, 2);
const ElevatorWristPosition kStowPos{0.36, 0.0};
+const ElevatorWristPosition kClimbPos{0.0, M_PI / 4.0};
-const ElevatorWristPosition kPanelHPIntakeForwrdPos{0.04, M_PI / 2.0};
-const ElevatorWristPosition kPanelHPIntakeBackwardPos{0.05, -M_PI / 2.0};
+const ElevatorWristPosition kPanelHPIntakeForwrdPos{0.01, M_PI / 2.0};
+const ElevatorWristPosition kPanelHPIntakeBackwardPos{0.015, -M_PI / 2.0};
const ElevatorWristPosition kPanelForwardLowerPos{0.0, M_PI / 2.0};
const ElevatorWristPosition kPanelBackwardLowerPos{0.0, -M_PI / 2.0};
@@ -99,17 +106,17 @@
const ElevatorWristPosition kPanelCargoForwardPos{0.0, M_PI / 2.0};
const ElevatorWristPosition kPanelCargoBackwardPos{0.0, -M_PI / 2.0};
-const ElevatorWristPosition kBallForwardLowerPos{0.46, M_PI / 2.0};
-const ElevatorWristPosition kBallBackwardLowerPos{0.15, -M_PI / 2.0};
+const ElevatorWristPosition kBallForwardLowerPos{0.42, M_PI / 2.0};
+const ElevatorWristPosition kBallBackwardLowerPos{0.14, -M_PI / 2.0};
const ElevatorWristPosition kBallForwardMiddlePos{1.16, 1.546};
-const ElevatorWristPosition kBallBackwardMiddlePos{0.876021, -1.546};
+const ElevatorWristPosition kBallBackwardMiddlePos{0.90, -1.546};
-const ElevatorWristPosition kBallForwardUpperPos{1.50, 0.961};
-const ElevatorWristPosition kBallBackwardUpperPos{1.41, -1.217};
+const ElevatorWristPosition kBallForwardUpperPos{1.51, 0.961};
+const ElevatorWristPosition kBallBackwardUpperPos{1.44, -1.217};
-const ElevatorWristPosition kBallCargoForwardPos{0.699044, 1.353};
-const ElevatorWristPosition kBallCargoBackwardPos{0.828265, -1.999};
+const ElevatorWristPosition kBallCargoForwardPos{0.739044, 1.353};
+const ElevatorWristPosition kBallCargoBackwardPos{0.868265, -1.999};
const ElevatorWristPosition kBallHPIntakeForwardPos{0.55, 1.097};
const ElevatorWristPosition kBallHPIntakeBackwardPos{0.89, -2.018};
@@ -122,16 +129,28 @@
: ::aos::input::ActionJoystickInput(
event_loop,
::y2019::control_loops::drivetrain::GetDrivetrainConfig()) {
+ // Set teleop to immediately resume after auto ends for sandstorm mode.
+ set_run_teleop_in_auto(true);
+
const uint16_t team = ::aos::network::GetTeamNumber();
superstructure_queue.goal.FetchLatest();
if (superstructure_queue.goal.get()) {
grab_piece_ = superstructure_queue.goal->suction.grab_piece;
+ switch_ball_ = superstructure_queue.goal->suction.gamepiece_mode == 0;
}
video_tx_.reset(new ProtoTXUdpSocket<VisionControl>(
StringPrintf("10.%d.%d.179", team / 100, team % 100), 5000));
}
- void HandleTeleop(const ::aos::input::driver_station::Data &data) {
+ void AutoEnded() override {
+ LOG(INFO, "Auto ended, assuming disc and have piece\n");
+ grab_piece_ = true;
+ switch_ball_ = false;
+ }
+
+ void HandleTeleop(const ::aos::input::driver_station::Data &data) override {
+ ::aos::monotonic_clock::time_point monotonic_now =
+ ::aos::monotonic_clock::now();
superstructure_queue.position.FetchLatest();
superstructure_queue.status.FetchLatest();
if (!superstructure_queue.status.get() ||
@@ -140,13 +159,71 @@
return;
}
+ if (!superstructure_queue.status->has_piece) {
+ last_not_has_piece_ = monotonic_now;
+ }
+
auto new_superstructure_goal = superstructure_queue.goal.MakeMessage();
- if (data.PosEdge(kResetLocalizer)) {
+ {
+ auto target_hint = target_selector_hint.MakeMessage();
+ if (data.IsPressed(kNearCargoHint)) {
+ target_hint->suggested_target = 1;
+ } else if (data.IsPressed(kMidCargoHint)) {
+ target_hint->suggested_target = 2;
+ } else if (data.IsPressed(kFarCargoHint)) {
+ target_hint->suggested_target = 3;
+ } else {
+ target_hint->suggested_target = 0;
+ }
+ if (!target_hint.Send()) {
+ LOG(ERROR, "Failed to send target selector hint.\n");
+ }
+ }
+
+ if (data.PosEdge(kResetLocalizerLeftForwards)) {
auto localizer_resetter = localizer_control.MakeMessage();
+ // Start at the left feeder station.
localizer_resetter->x = 0.4;
localizer_resetter->y = 3.4;
localizer_resetter->theta = 0.0;
+
+ if (!localizer_resetter.Send()) {
+ LOG(ERROR, "Failed to reset localizer.\n");
+ }
+ }
+
+ if (data.PosEdge(kResetLocalizerLeftBackwards)) {
+ auto localizer_resetter = localizer_control.MakeMessage();
+ // Start at the left feeder station.
+ localizer_resetter->x = 0.4;
+ localizer_resetter->y = 3.4;
+ localizer_resetter->theta = M_PI;
+
+ if (!localizer_resetter.Send()) {
+ LOG(ERROR, "Failed to reset localizer.\n");
+ }
+ }
+
+ if (data.PosEdge(kResetLocalizerRightForwards)) {
+ auto localizer_resetter = localizer_control.MakeMessage();
+ // Start at the right feeder station.
+ localizer_resetter->x = 0.4;
+ localizer_resetter->y = -3.4;
+ localizer_resetter->theta = 0.0;
+
+ if (!localizer_resetter.Send()) {
+ LOG(ERROR, "Failed to reset localizer.\n");
+ }
+ }
+
+ if (data.PosEdge(kResetLocalizerRightBackwards)) {
+ auto localizer_resetter = localizer_control.MakeMessage();
+ // Start at the right feeder station.
+ localizer_resetter->x = 0.4;
+ localizer_resetter->y = -3.4;
+ localizer_resetter->theta = M_PI;
+
if (!localizer_resetter.Send()) {
LOG(ERROR, "Failed to reset localizer.\n");
}
@@ -176,41 +253,6 @@
switch_ball_ = true;
}
- // TODO(sabina): max height please?
- if (data.IsPressed(kFallOver)) {
- new_superstructure_goal->stilts.unsafe_goal = 0.71;
- new_superstructure_goal->stilts.profile_params.max_velocity = 0.65;
- new_superstructure_goal->stilts.profile_params.max_acceleration = 2.0;
- } else if (data.IsPressed(kDeployStilt)) {
- new_superstructure_goal->stilts.unsafe_goal = 0.50;
- new_superstructure_goal->stilts.profile_params.max_velocity = 0.65;
- if (stilts_was_above_) {
- new_superstructure_goal->stilts.profile_params.max_acceleration = 0.75;
- } else {
- new_superstructure_goal->stilts.profile_params.max_acceleration = 2.0;
- }
- } else if (data.IsPressed(kHalfStilt)) {
- new_superstructure_goal->stilts.unsafe_goal = 0.345;
- new_superstructure_goal->stilts.profile_params.max_velocity = 0.65;
- new_superstructure_goal->stilts.profile_params.max_acceleration = 0.75;
- } else {
- new_superstructure_goal->stilts.unsafe_goal = 0.005;
- new_superstructure_goal->stilts.profile_params.max_velocity = 0.25;
- new_superstructure_goal->stilts.profile_params.max_acceleration = 2.0;
- }
-
- if (superstructure_queue.status->stilts.position > 0.65) {
- stilts_was_above_ = true;
- } else if (superstructure_queue.status->stilts.position < 0.1) {
- stilts_was_above_ = false;
- }
-
- if (data.IsPressed(kAutoPanel)) {
- elevator_wrist_pos_ = kAutoPanelPos;
- } else if (data.IsPressed(kAutoPanelIntermediate)) {
- elevator_wrist_pos_ = kAutoPanelIntermediatePos;
- }
-
if (switch_ball_) {
if (superstructure_queue.status->has_piece) {
new_superstructure_goal->wrist.profile_params.max_acceleration = 20;
@@ -276,7 +318,8 @@
if (switch_ball_) {
if (kDoBallOutake ||
- (kDoBallIntake && !superstructure_queue.status->has_piece)) {
+ (kDoBallIntake &&
+ monotonic_now < last_not_has_piece_ + chrono::milliseconds(100))) {
new_superstructure_goal->intake.unsafe_goal = 0.959327;
}
@@ -288,12 +331,42 @@
if (kDoBallOutake) {
new_superstructure_goal->roller_voltage = -6.0;
} else {
- new_superstructure_goal->intake.unsafe_goal = -1.2;
new_superstructure_goal->roller_voltage = 0.0;
}
}
}
+ constexpr double kDeployStiltPosition = 0.5;
+
+ // TODO(sabina): max height please?
+ if (data.IsPressed(kFallOver)) {
+ new_superstructure_goal->stilts.unsafe_goal = 0.71;
+ new_superstructure_goal->stilts.profile_params.max_velocity = 0.65;
+ new_superstructure_goal->stilts.profile_params.max_acceleration = 1.25;
+ } else if (data.IsPressed(kDeployStilt)) {
+ new_superstructure_goal->stilts.unsafe_goal = kDeployStiltPosition;
+ new_superstructure_goal->stilts.profile_params.max_velocity = 0.65;
+ new_superstructure_goal->stilts.profile_params.max_acceleration = 2.0;
+ } else if (data.IsPressed(kHalfStilt)) {
+ new_superstructure_goal->stilts.unsafe_goal = 0.345;
+ new_superstructure_goal->stilts.profile_params.max_velocity = 0.65;
+ } else {
+ new_superstructure_goal->stilts.unsafe_goal = 0.005;
+ new_superstructure_goal->stilts.profile_params.max_velocity = 0.65;
+ new_superstructure_goal->stilts.profile_params.max_acceleration = 2.0;
+ }
+
+ if (superstructure_queue.status->stilts.position > 0.3) {
+ elevator_wrist_pos_ = kClimbPos;
+ }
+
+ if (superstructure_queue.status->stilts.position > kDeployStiltPosition &&
+ new_superstructure_goal->stilts.unsafe_goal == kDeployStiltPosition) {
+ new_superstructure_goal->stilts.profile_params.max_velocity = 0.30;
+ new_superstructure_goal->stilts.profile_params.max_acceleration = 0.75;
+ }
+
+
if (data.IsPressed(kRelease)) {
grab_piece_ = false;
}
@@ -317,10 +390,10 @@
LOG(ERROR, "Sending superstructure goal failed.\n");
}
- auto time_now = ::aos::monotonic_clock::now();
- if (time_now > last_vision_control_ + ::std::chrono::milliseconds(50)) {
+ if (monotonic_now >
+ last_vision_control_ + ::std::chrono::milliseconds(50)) {
video_tx_->Send(vision_control_);
- last_vision_control_ = time_now;
+ last_vision_control_ = monotonic_now;
}
}
@@ -330,12 +403,15 @@
bool grab_piece_ = false;
bool switch_ball_ = false;
- bool stilts_was_above_ = false;
VisionControl vision_control_;
::std::unique_ptr<ProtoTXUdpSocket<VisionControl>> video_tx_;
::aos::monotonic_clock::time_point last_vision_control_ =
::aos::monotonic_clock::time_point::min();
+
+ // Time at which we last did not have a game piece.
+ ::aos::monotonic_clock::time_point last_not_has_piece_ =
+ ::aos::monotonic_clock::time_point::min();
};
} // namespace joysticks
diff --git a/y2019/vision/BUILD b/y2019/vision/BUILD
index 5cfc52b..344e4da 100644
--- a/y2019/vision/BUILD
+++ b/y2019/vision/BUILD
@@ -60,6 +60,7 @@
restricted_to = VISION_TARGETS,
deps = [
":constants",
+ "//aos/util:math",
"//aos/vision/blob:contour",
"//aos/vision/blob:hierarchical_contour_merge",
"//aos/vision/blob:region_alloc",
diff --git a/y2019/vision/calibrate_9971.sh b/y2019/vision/calibrate_9971.sh
index 9a05ce2..5951059 100755
--- a/y2019/vision/calibrate_9971.sh
+++ b/y2019/vision/calibrate_9971.sh
@@ -17,7 +17,7 @@
calibration \
--camera_id 1 \
--tape_start_x=-12.5 \
- --tape_start_y=0.0 \
+ --tape_start_y=-1.0 \
--tape_direction_x=-1.0 \
--tape_direction_y=0.0 \
--beginning_tape_measure_reading=16 \
diff --git a/y2019/vision/constants.cc b/y2019/vision/constants.cc
index 310faf6..36694f8 100644
--- a/y2019/vision/constants.cc
+++ b/y2019/vision/constants.cc
@@ -7,16 +7,16 @@
CameraCalibration camera_1 = {
{
- -0.873939 / 180.0 * M_PI, 338.976, 2.44587 / 180.0 * M_PI,
+ -1.01208 / 180.0 * M_PI, 342.679, 1.79649 / 180.0 * M_PI,
},
{
- {{-5.46283 * kInchesToMeters, 2.98951 * kInchesToMeters,
- 33.0848 * kInchesToMeters}},
- 181.951 / 180.0 * M_PI,
+ {{-5.08996 * kInchesToMeters, 1.82468 * kInchesToMeters,
+ 33.2047 * kInchesToMeters}},
+ -178.111 / 180.0 * M_PI,
},
{
1,
- {{-12.5 * kInchesToMeters, 0.0}},
+ {{-12.5 * kInchesToMeters, -1 * kInchesToMeters}},
{{-1 * kInchesToMeters, 0.0}},
16,
"/home/alex/cam1/debug_viewer_jpeg_",
diff --git a/y2019/vision/constants.h b/y2019/vision/constants.h
index faa16e1..b61bff7 100644
--- a/y2019/vision/constants.h
+++ b/y2019/vision/constants.h
@@ -82,6 +82,7 @@
// Serial number of the teensy for each robot.
constexpr uint32_t CodeBotTeensyId() { return 0xffff322e; }
constexpr uint32_t PracticeBotTeensyId() { return 0xffff3215; }
+constexpr uint32_t CompBotTeensyId() { return 0xffff3210; }
// Get the IDs of the cameras in each port for a particular teensy board.
// inlined so that we don't have to deal with including it in the autogenerated
@@ -92,6 +93,8 @@
return {{0, 0, 0, 16, 19}};
case PracticeBotTeensyId():
return {{14, 15, 18, 17, 1}};
+ case CompBotTeensyId():
+ return {{6, 7, 8, 9, 10}};
default:
return {{0, 0, 0, 0, 0}};
}
diff --git a/y2019/vision/server/BUILD b/y2019/vision/server/BUILD
new file mode 100644
index 0000000..180b41e
--- /dev/null
+++ b/y2019/vision/server/BUILD
@@ -0,0 +1,50 @@
+load("//aos/seasocks:gen_embedded.bzl", "gen_embedded")
+load("//aos/downloader:downloader.bzl", "aos_downloader_dir")
+load("@build_bazel_rules_typescript//:defs.bzl", "ts_library")
+load("@build_bazel_rules_nodejs//:defs.bzl", "rollup_bundle")
+
+ts_library(
+ name = "demo",
+ srcs = [
+ "demo.ts",
+ ],
+)
+
+gen_embedded(
+ name = "gen_embedded",
+ srcs = glob(
+ include = ["www_defaults/**/*"],
+ exclude = ["www/**/*"],
+ ),
+)
+
+aos_downloader_dir(
+ name = "www_files",
+ srcs = [
+ "//y2019/vision/server/www:visualizer_bundle",
+ "//y2019/vision/server/www:files",
+ ],
+ dir = "www",
+ visibility = ["//visibility:public"],
+)
+
+cc_binary(
+ name = "server",
+ srcs = [
+ "server.cc",
+ ],
+ data = [
+ "//y2019/vision/server/www:visualizer_bundle",
+ "//y2019/vision/server/www:files",
+ ],
+ visibility = ["//visibility:public"],
+ deps = [
+ ":gen_embedded",
+ "//aos:init",
+ "//aos/logging",
+ "//aos/time",
+ "//frc971/control_loops/drivetrain:drivetrain_queue",
+ "//third_party/seasocks",
+ "//y2019/control_loops/drivetrain:camera_queue",
+ ],
+)
diff --git a/y2019/vision/server/demo.ts b/y2019/vision/server/demo.ts
new file mode 100644
index 0000000..b310758
--- /dev/null
+++ b/y2019/vision/server/demo.ts
@@ -0,0 +1,5 @@
+declare var foo: number;
+
+foo = 5;
+
+console.log("Half the number of widgets is " + (foo / 2));
diff --git a/y2019/vision/server/server.cc b/y2019/vision/server/server.cc
new file mode 100644
index 0000000..54eb399
--- /dev/null
+++ b/y2019/vision/server/server.cc
@@ -0,0 +1,214 @@
+#include <sys/stat.h>
+#include <sys/types.h>
+#include <unistd.h>
+#include <array>
+#include <memory>
+#include <set>
+#include <sstream>
+
+#include "aos/init.h"
+#include "aos/logging/logging.h"
+#include "aos/time/time.h"
+#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "internal/Embedded.h"
+#include "seasocks/PrintfLogger.h"
+#include "seasocks/Server.h"
+#include "seasocks/StringUtil.h"
+#include "seasocks/WebSocket.h"
+#include "y2019/control_loops/drivetrain/camera.q.h"
+
+namespace y2019 {
+namespace vision {
+
+class WebsocketHandler : public seasocks::WebSocket::Handler {
+ public:
+ WebsocketHandler();
+ void onConnect(seasocks::WebSocket* connection) override;
+ void onData(seasocks::WebSocket* connection, const char* data) override;
+ void onDisconnect(seasocks::WebSocket* connection) override;
+
+ void SendData(const std::string &data);
+
+ private:
+ std::set<seasocks::WebSocket *> connections_;
+};
+
+WebsocketHandler::WebsocketHandler() {
+}
+
+void WebsocketHandler::onConnect(seasocks::WebSocket *connection) {
+ connections_.insert(connection);
+ LOG(INFO, "Connected: %s : %s\n", connection->getRequestUri().c_str(),
+ seasocks::formatAddress(connection->getRemoteAddress()).c_str());
+}
+
+void WebsocketHandler::onData(seasocks::WebSocket * /*connection*/,
+ const char *data) {
+ LOG(INFO, "Got data: %s\n", data);
+}
+
+void WebsocketHandler::onDisconnect(seasocks::WebSocket *connection) {
+ connections_.erase(connection);
+ LOG(INFO, "Disconnected: %s : %s\n", connection->getRequestUri().c_str(),
+ seasocks::formatAddress(connection->getRemoteAddress()).c_str());
+}
+
+void WebsocketHandler::SendData(const std::string &data) {
+ for (seasocks::WebSocket *websocket : connections_) {
+ websocket->send(reinterpret_cast<const uint8_t *>(data.data()),
+ data.size());
+ }
+}
+
+// TODO(Brian): Put this somewhere shared.
+class SeasocksLogger : public seasocks::PrintfLogger {
+ public:
+ SeasocksLogger(Level min_level_to_log) : PrintfLogger(min_level_to_log) {}
+ void log(Level level, const char* message) override;
+};
+
+void SeasocksLogger::log(Level level, const char *message) {
+ // Convert Seasocks error codes to AOS.
+ log_level aos_level;
+ switch (level) {
+ case seasocks::Logger::INFO:
+ aos_level = INFO;
+ break;
+ case seasocks::Logger::WARNING:
+ aos_level = WARNING;
+ break;
+ case seasocks::Logger::ERROR:
+ case seasocks::Logger::SEVERE:
+ aos_level = ERROR;
+ break;
+ case seasocks::Logger::DEBUG:
+ case seasocks::Logger::ACCESS:
+ default:
+ aos_level = DEBUG;
+ break;
+ }
+ LOG(aos_level, "Seasocks: %s\n", message);
+}
+
+struct LocalCameraTarget {
+ double x, y, theta;
+};
+
+struct LocalCameraFrame {
+ aos::monotonic_clock::time_point capture_time =
+ aos::monotonic_clock::min_time;
+ std::vector<LocalCameraTarget> targets;
+
+ bool IsValid(aos::monotonic_clock::time_point now) {
+ return capture_time + std::chrono::seconds(1) > now;
+ }
+};
+
+// Sends a new chunk of data to all the websocket clients.
+class UpdateData : public seasocks::Server::Runnable {
+ public:
+ UpdateData(WebsocketHandler *websocket_handler, std::string &&data)
+ : websocket_handler_(websocket_handler), data_(std::move(data)) {}
+ ~UpdateData() override = default;
+ UpdateData(const UpdateData &) = delete;
+ UpdateData &operator=(const UpdateData &) = delete;
+
+ void run() override { websocket_handler_->SendData(data_); }
+
+ private:
+ WebsocketHandler *const websocket_handler_;
+ const std::string data_;
+};
+
+void DataThread(seasocks::Server *server, WebsocketHandler *websocket_handler) {
+ auto &camera_frames = y2019::control_loops::drivetrain::camera_frames;
+ auto &drivetrain_status = frc971::control_loops::drivetrain_queue.status;
+
+ std::array<LocalCameraFrame, 5> latest_frames;
+ aos::monotonic_clock::time_point last_send_time = aos::monotonic_clock::now();
+
+ while (true) {
+ camera_frames.FetchNextBlocking();
+ drivetrain_status.FetchLatest();
+ if (!drivetrain_status.get()) {
+ // Try again if we don't have any drivetrain statuses.
+ continue;
+ }
+
+ {
+ const auto &new_frame = *camera_frames;
+ if (new_frame.camera < latest_frames.size()) {
+ latest_frames[new_frame.camera].capture_time =
+ aos::monotonic_clock::time_point(
+ std::chrono::nanoseconds(new_frame.timestamp));
+ latest_frames[new_frame.camera].targets.clear();
+ for (int target = 0; target < new_frame.num_targets; ++target) {
+ latest_frames[new_frame.camera].targets.emplace_back();
+ // TODO: Do something useful.
+ }
+ }
+ }
+
+ const auto now = aos::monotonic_clock::now();
+ if (now > last_send_time + std::chrono::milliseconds(100)) {
+ last_send_time = now;
+ std::ostringstream stream;
+ stream << "{\n";
+
+ stream << "\"robot\": {";
+ stream << "\"x\": " << drivetrain_status->x << ",";
+ stream << "\"y\": " << drivetrain_status->y << ",";
+ stream << "\"theta\": " << drivetrain_status->theta;
+ stream << "}\n";
+ stream << ",\"target\": {";
+ stream << "\"x\": " << drivetrain_status->line_follow_logging.x << ",";
+ stream << "\"y\": " << drivetrain_status->line_follow_logging.y << ",";
+ stream << "\"theta\": " << drivetrain_status->line_follow_logging.theta
+ << ",";
+ stream << "\"frozen\": " << drivetrain_status->line_follow_logging.frozen
+ << ",";
+ stream << "\"have_target\": "
+ << drivetrain_status->line_follow_logging.have_target;
+ stream << "} ";
+
+ stream << "}";
+ server->execute(
+ std::make_shared<UpdateData>(websocket_handler, stream.str()));
+ }
+ }
+}
+
+} // namespace vision
+} // namespace y2019
+
+int main(int, char *[]) {
+ // Make sure to reference this to force the linker to include it.
+ findEmbeddedContent("");
+
+ aos::InitNRT();
+
+ seasocks::Server server(::std::shared_ptr<seasocks::Logger>(
+ new y2019::vision::SeasocksLogger(seasocks::Logger::INFO)));
+
+ auto websocket_handler = std::make_shared<y2019::vision::WebsocketHandler>();
+ server.addWebSocketHandler("/ws", websocket_handler);
+
+ std::thread data_thread{[&server, websocket_handler]() {
+ y2019::vision::DataThread(&server, websocket_handler.get());
+ }};
+
+ // See if we are on a robot. If so, serve the robot www folder.
+ bool serve_www = false;
+ {
+ struct stat result;
+ if (stat("/home/admin/robot_code/www", &result) == 0) {
+ serve_www = true;
+ }
+ }
+
+ server.serve(
+ serve_www ? "/home/admin/robot_code/www" : "y2019/vision/server/www",
+ 1180);
+
+ return 0;
+}
diff --git a/y2019/vision/server/www/BUILD b/y2019/vision/server/www/BUILD
new file mode 100644
index 0000000..937b495
--- /dev/null
+++ b/y2019/vision/server/www/BUILD
@@ -0,0 +1,26 @@
+load("@build_bazel_rules_typescript//:defs.bzl", "ts_library")
+load("@build_bazel_rules_nodejs//:defs.bzl", "rollup_bundle")
+
+package(default_visibility = ["//visibility:public"])
+
+filegroup(
+ name = "files",
+ srcs = glob([
+ "**/*",
+ ]),
+)
+
+ts_library(
+ name = "visualizer",
+ srcs = glob([
+ "*.ts",
+ ]),
+)
+
+rollup_bundle(
+ name = "visualizer_bundle",
+ entry_point = "y2019/vision/server/www/main",
+ deps = [
+ ":visualizer",
+ ],
+)
diff --git a/y2019/vision/server/www/constants.ts b/y2019/vision/server/www/constants.ts
new file mode 100644
index 0000000..6180df1
--- /dev/null
+++ b/y2019/vision/server/www/constants.ts
@@ -0,0 +1,5 @@
+// Conversion constants to meters
+export const IN_TO_M = 0.0254;
+export const FT_TO_M = 0.3048;
+// Width of the field in meters
+export const FIELD_WIDTH = 27 * FT_TO_M;
diff --git a/y2019/vision/server/www/field.ts b/y2019/vision/server/www/field.ts
new file mode 100644
index 0000000..8cb1282
--- /dev/null
+++ b/y2019/vision/server/www/field.ts
@@ -0,0 +1,94 @@
+import {IN_TO_M, FT_TO_M} from './constants';
+
+const CENTER_FIELD_X = 27 * FT_TO_M + 1.125 * IN_TO_M;
+
+const FAR_CARGO_X = CENTER_FIELD_X - 20.875 * IN_TO_M;
+const MID_CARGO_X = FAR_CARGO_X - 21.75 * IN_TO_M;
+const NEAR_CARGO_X = MID_CARGO_X - 21.75 * IN_TO_M;
+const SIDE_CARGO_Y = (24 + 3 + 0.875) * IN_TO_M;
+const SIDE_CARGO_THETA = -Math.PI / 2;
+
+const FACE_CARGO_X = CENTER_FIELD_X - (7 * 12 + 11.75 + 9) * IN_TO_M;
+const FACE_CARGO_Y = (10.875) * IN_TO_M;
+const FACE_CARGO_THETA = 0;
+
+const ROCKET_X = CENTER_FIELD_X - 8 * FT_TO_M;
+const ROCKET_Y = (26 * 12 + 10.5) / 2.0 * IN_TO_M;
+
+const ROCKET_PORT_X = ROCKET_X;
+const ROCKET_PORT_Y = ROCKET_Y - 0.7;
+const ROCKET_PORT_THETA = Math.PI / 2;
+
+const ROCKET_HATCH_X_OFFSET = 14.634 * IN_TO_M;
+const ROCKET_HATCH_Y = ROCKET_PORT_Y + 9.326 * IN_TO_M;
+const ROCKET_NEAR_X = ROCKET_X - ROCKET_HATCH_X_OFFSET;
+const ROCKET_FAR_X = ROCKET_X + ROCKET_HATCH_X_OFFSET;
+const ROCKET_NEAR_THETA = -28.5 * 180 / Math.PI;
+const ROCKET_FAR_THETA = Math.PI - ROCKET_NEAR_THETA;
+
+const HP_Y = ((26 * 12 + 10.5) / 2 - 25.9) * IN_TO_M;
+const HP_THETA = Math.PI;
+
+export function drawField(ctx : CanvasRenderingContext2D) : void {
+ drawTargets(ctx);
+}
+
+function drawHab(ctx : CanvasRenderingContext2D) : void {
+ ctx.fillstyle = 'rgb(100,100,100)';
+ const habLeft = 5 * FT_TO_M;
+ const habWidth = 5 * FT_TO_M;
+ const habTop = -5 * FT_TO_M;
+ const habHeight = 10 * FT_TO_M;
+ ctx.fillRect(habLeft,habTop,habWidth,habHeight);
+}
+
+function drawTargets(ctx : CanvasRenderingContext2D) : void {
+ drawHalfCargo(ctx);
+ drawRocket(ctx);
+ drawHP(ctx);
+ ctx.save();
+
+ ctx.scale(1, -1);
+ drawHalfCargo(ctx);
+ drawRocket(ctx);
+ drawHP(ctx);
+
+ ctx.restore();
+}
+
+function drawHP(ctx : CanvasRenderingContext2D) : void {
+ drawTarget(ctx, 0, HP_Y, HP_THETA);
+}
+
+function drawRocket(ctx : CanvasRenderingContext2D) : void {
+ drawTarget(ctx, ROCKET_PORT_X, ROCKET_PORT_Y, ROCKET_PORT_THETA);
+
+ drawTarget(ctx, ROCKET_NEAR_X, ROCKET_HATCH_Y, ROCKET_NEAR_THETA);
+
+ drawTarget(ctx, ROCKET_FAR_X, ROCKET_HATCH_Y, ROCKET_FAR_THETA);
+}
+
+function drawHalfCargo(ctx : CanvasRenderingContext2D) : void {
+ drawTarget(ctx, FAR_CARGO_X, SIDE_CARGO_Y, SIDE_CARGO_THETA);
+
+ drawTarget(ctx, MID_CARGO_X, SIDE_CARGO_Y, SIDE_CARGO_THETA);
+
+ drawTarget(ctx, NEAR_CARGO_X, SIDE_CARGO_Y, SIDE_CARGO_THETA);
+
+ drawTarget(ctx, FACE_CARGO_X, FACE_CARGO_Y, FACE_CARGO_THETA);
+}
+
+export function drawTarget(ctx : CanvasRenderingContext2D, x: number, y: number, theta: number) : void {
+ ctx.save();
+ ctx.translate(x, y);
+ ctx.rotate(theta);
+
+ ctx.beginPath();
+ ctx.moveTo(0, -0.15);
+ ctx.lineTo(0, 0.15);
+ ctx.moveTo(0, 0);
+ ctx.lineTo(-0.15, 0);
+ ctx.stroke();
+
+ ctx.restore();
+}
diff --git a/y2019/vision/server/www/index.html b/y2019/vision/server/www/index.html
new file mode 100644
index 0000000..4e6e316
--- /dev/null
+++ b/y2019/vision/server/www/index.html
@@ -0,0 +1,10 @@
+<!doctype html>
+<html>
+ <head>
+ <title>Vision Debug Server</title>
+ </head>
+ <body style="overflow:hidden">
+ <canvas id="field" style="border: 1px solid"></canvas>
+ </body>
+ <script src="visualizer_bundle.min.js"></script>
+</html>
diff --git a/y2019/vision/server/www/main.ts b/y2019/vision/server/www/main.ts
new file mode 100644
index 0000000..8dc0ea9
--- /dev/null
+++ b/y2019/vision/server/www/main.ts
@@ -0,0 +1,81 @@
+import {FT_TO_M, FIELD_WIDTH} from './constants';
+import {drawField, drawTarget} from './field';
+import {drawRobot} from './robot';
+
+const FIELD_WIDTH = 27 * FT_TO_M;
+
+function main(): void {
+ const vis = new Visualiser();
+}
+
+class Visualiser {
+ private x = 3;
+ private y = 0;
+ private theta = 0;
+
+ private drawLocked = false;
+ private lockedX = 0;
+ private lockedY = 0;
+ private lockedTheta = 0;
+
+ constructor() {
+ const canvas = <HTMLCanvasElement>document.getElementById('field');
+ const ctx = canvas.getContext('2d');
+
+ const server = location.host;
+ const socket = new WebSocket(`ws://${server}/ws`);
+ const reader = new FileReader();
+ reader.addEventListener('loadend', (e) => {
+ const text = e.srcElement.result;
+ const j = JSON.parse(text);
+ this.x = j.robot.x;
+ this.y = j.robot.y;
+ this.theta = j.robot.theta;
+
+ if(j.target) {
+ this.targetLocked = j.target.frozen && j.target.have_target;
+ this.targetX = j.target.x;
+ this.targetY = j.target.y;
+ this.targetTheta = j.target.theta;
+ }
+ });
+ socket.addEventListener('message', (event) => {
+ reader.readAsText(event.data);
+ });
+ window.requestAnimationFrame(() => this.draw(ctx));
+ }
+
+ reset(ctx : CanvasRenderingContext2D) : void {
+ ctx.setTransform(1,0,0,1,0,0);
+ const size = Math.min(window.innerHeight, window.innerWidth) * 0.98;
+ ctx.canvas.height = size;
+ ctx.canvas.width = size;
+ ctx.clearRect(0,0,size,size);
+
+ ctx.translate(size/2, size);
+ ctx.rotate(-Math.PI / 2);
+ ctx.scale(1, -1);
+ const M_TO_PX = size / FIELD_WIDTH
+ ctx.scale(M_TO_PX, M_TO_PX);
+ ctx.lineWidth = 1 / M_TO_PX;
+ }
+
+ draw(ctx : CanvasRenderingContext2D) : void {
+ this.reset(ctx);
+
+ drawField(ctx);
+ drawRobot(ctx, this.x, this.y, this.theta);
+ ctx.save();
+ ctx.lineWidth = 2.0 * ctx.lineWidth;
+ if (this.targetLocked) {
+ ctx.strokeStyle = 'blue';
+ } else {
+ ctx.strokeStyle = 'red';
+ }
+ drawTarget(ctx, this.targetX, this.targetY, this.targetTheta);
+ ctx.restore();
+ window.requestAnimationFrame(() => this.draw(ctx));
+ }
+}
+
+main();
diff --git a/y2019/vision/server/www/robot.ts b/y2019/vision/server/www/robot.ts
new file mode 100644
index 0000000..bc1f47f
--- /dev/null
+++ b/y2019/vision/server/www/robot.ts
@@ -0,0 +1,21 @@
+import {IN_TO_M, FT_TO_M} from './constants';
+
+const ROBOT_WIDTH = 25 * IN_TO_M;
+const ROBOT_LENGTH = 31 * IN_TO_M;
+
+export function drawRobot(ctx : CanvasRenderingContext2D, x : number, y : number, theta : number) : void {
+ ctx.save();
+ ctx.translate(x, y);
+ ctx.rotate(theta);
+
+ ctx.fillStyle = 'blue';
+ ctx.fillRect(-ROBOT_LENGTH / 2, -ROBOT_WIDTH / 2, ROBOT_LENGTH, ROBOT_WIDTH);
+
+ ctx.moveTo(ROBOT_LENGTH / 2, -ROBOT_WIDTH/2);
+ ctx.lineTo(ROBOT_LENGTH / 2 + 0.1, 0);
+ ctx.lineTo(ROBOT_LENGTH / 2, ROBOT_WIDTH/2);
+ ctx.closePath();
+ ctx.stroke();
+
+ ctx.restore();
+}
diff --git a/y2019/vision/server/www_defaults/_404.png b/y2019/vision/server/www_defaults/_404.png
new file mode 100644
index 0000000..8a43cb8
--- /dev/null
+++ b/y2019/vision/server/www_defaults/_404.png
Binary files differ
diff --git a/y2019/vision/server/www_defaults/_error.css b/y2019/vision/server/www_defaults/_error.css
new file mode 100644
index 0000000..8238d6d
--- /dev/null
+++ b/y2019/vision/server/www_defaults/_error.css
@@ -0,0 +1,33 @@
+body {
+ font-family: segoe ui, tahoma, arial, sans-serif;
+ color: #ffffff;
+ background-color: #c21e29;
+ text-align: center;
+}
+
+a {
+ color: #ffff00;
+}
+
+.footer {
+ font-style: italic;
+}
+
+.message {
+ display: inline-block;
+ border: 1px solid white;
+ padding: 50px;
+ font-size: 20px;
+}
+
+.headline {
+ padding: 50px;
+ font-weight: bold;
+ font-size: 32px;
+}
+
+.footer {
+ padding-top: 50px;
+ font-size: 12px;
+}
+
diff --git a/y2019/vision/server/www_defaults/_error.html b/y2019/vision/server/www_defaults/_error.html
new file mode 100644
index 0000000..ecf5e32
--- /dev/null
+++ b/y2019/vision/server/www_defaults/_error.html
@@ -0,0 +1,15 @@
+<html DOCTYPE=html>
+<head>
+ <title>%%ERRORCODE%% - %%MESSAGE%% - Keep Calm And Carry On!</title>
+ <link href="/_error.css" rel="stylesheet">
+</head>
+<body>
+ <div class="message">
+ <img src="/_404.png" height="200" width="107">
+ <div class="headline">%%ERRORCODE%% — %%MESSAGE%%</div>
+ <div class="info">%%BODY%%</div>
+ </div>
+
+ <div class="footer">Powered by <a href="https://github.com/mattgodbolt/seasocks">SeaSocks</a></div>
+</body>
+</html>
diff --git a/y2019/vision/server/www_defaults/_jquery.min.js b/y2019/vision/server/www_defaults/_jquery.min.js
new file mode 100644
index 0000000..f78f96a
--- /dev/null
+++ b/y2019/vision/server/www_defaults/_jquery.min.js
@@ -0,0 +1,16 @@
+/*!
+ * jQuery JavaScript Library v1.5.2
+ * http://jquery.com/
+ *
+ * Copyright 2011, John Resig
+ * Dual licensed under the MIT or GPL Version 2 licenses.
+ * http://jquery.org/license
+ *
+ * Includes Sizzle.js
+ * http://sizzlejs.com/
+ * Copyright 2011, The Dojo Foundation
+ * Released under the MIT, BSD, and GPL Licenses.
+ *
+ * Date: Thu Mar 31 15:28:23 2011 -0400
+ */
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diff --git a/y2019/vision/server/www_defaults/_seasocks.css b/y2019/vision/server/www_defaults/_seasocks.css
new file mode 100644
index 0000000..03a7287
--- /dev/null
+++ b/y2019/vision/server/www_defaults/_seasocks.css
@@ -0,0 +1,22 @@
+body {
+ font-family: segoe ui, tahoma, arial, sans-serif;
+ font-size: 12px;
+ color: #ffffff;
+ background-color: #333333;
+ margin: 0;
+}
+
+a {
+ color: #ffff00;
+}
+
+table {
+ border-collapse: collapse;
+ width: 100%;
+ text-align: center;
+}
+
+.template {
+ display: none;
+}
+
diff --git a/y2019/vision/server/www_defaults/_stats.html b/y2019/vision/server/www_defaults/_stats.html
new file mode 100644
index 0000000..d34e932
--- /dev/null
+++ b/y2019/vision/server/www_defaults/_stats.html
@@ -0,0 +1,60 @@
+<html DOCTYPE=html>
+<head>
+ <title>SeaSocks Stats</title>
+ <link href="/_seasocks.css" rel="stylesheet">
+ <script src="/_jquery.min.js" type="text/javascript"></script>
+ <script>
+ function clear() {
+ $('#cx tbody tr:visible').remove();
+ }
+ function connection(stats) {
+ c = $('#cx .template').clone().removeClass('template').appendTo('#cx');
+ for (stat in stats) {
+ c.find('.' + stat).text(stats[stat]);
+ }
+ }
+ function refresh() {
+ var stats = new XMLHttpRequest();
+ stats.open("GET", "/_livestats.js", false);
+ stats.send(null);
+ eval(stats.responseText);
+ }
+ $(function() {
+ setInterval(refresh, 1000);
+ refresh();
+ });
+ </script>
+</head>
+<body><h1>SeaSocks Stats</h1></body>
+
+<h2>Connections</h2>
+<table id="cx">
+ <thead>
+ <tr>
+ <th>Connection time</th>
+ <th>Fd</th>
+ <th>Addr</th>
+ <th>URI</th>
+ <th>Username</th>
+ <th>Pending read</th>
+ <th>Bytes read</th>
+ <th>Pending send</th>
+ <th>Bytes sent</th>
+ </tr>
+ </thead>
+ <tbody>
+ <tr class="template">
+ <td class="since"></td>
+ <td class="fd"></td>
+ <td class="addr"></td>
+ <td class="uri"></td>
+ <td class="user"></td>
+ <td class="input"></td>
+ <td class="read"></td>
+ <td class="output"></td>
+ <td class="written"></td>
+ </tr>
+ </tbody>
+</table>
+
+</body></html>
diff --git a/y2019/vision/server/www_defaults/favicon.ico b/y2019/vision/server/www_defaults/favicon.ico
new file mode 100644
index 0000000..30a95b9
--- /dev/null
+++ b/y2019/vision/server/www_defaults/favicon.ico
Binary files differ
diff --git a/y2019/vision/target_finder.cc b/y2019/vision/target_finder.cc
index a56d82c..77806d5 100644
--- a/y2019/vision/target_finder.cc
+++ b/y2019/vision/target_finder.cc
@@ -1,13 +1,18 @@
#include "y2019/vision/target_finder.h"
#include "aos/vision/blob/hierarchical_contour_merge.h"
+#include "ceres/ceres.h"
using namespace aos::vision;
namespace y2019 {
namespace vision {
-TargetFinder::TargetFinder() : target_template_(Target::MakeTemplate()) {}
+TargetFinder::TargetFinder()
+ : target_template_(Target::MakeTemplate()),
+ ceres_context_(ceres::Context::Create()) {}
+
+TargetFinder::~TargetFinder() {}
aos::vision::RangeImage TargetFinder::Threshold(aos::vision::ImagePtr image) {
const uint8_t threshold_value = GetThresholdValue();
@@ -512,7 +517,7 @@
// Based on a linear regression between error and distance to target.
// Closer targets can have a higher error because they are bigger.
const double acceptable_error =
- std::max(2 * (21 - 12 * result->extrinsics.z), 50.0);
+ std::max(2 * (75 - 12 * result->extrinsics.z), 75.0);
if (result->solver_error < acceptable_error) {
if (verbose) {
printf("Using an 8 point solve: %f < %f \n", result->solver_error,
@@ -550,8 +555,9 @@
valid_result_count_++;
}
if (print_rate > 0 && frame_count_ > print_rate) {
- LOG(INFO, "Found (%zu / %zu)(%.2f) targets.\n", valid_result_count_,
- frame_count_, (double)valid_result_count_ / (double)frame_count_);
+ LOG(INFO) << "Found (" << valid_result_count_ << " / " << frame_count_
+ << ")(" << ((double)valid_result_count_ / (double)frame_count_)
+ << " targets.";
frame_count_ = 0;
valid_result_count_ = 0;
}
diff --git a/y2019/vision/target_finder.h b/y2019/vision/target_finder.h
index c7de67a..3da5373 100644
--- a/y2019/vision/target_finder.h
+++ b/y2019/vision/target_finder.h
@@ -1,14 +1,21 @@
#ifndef _Y2019_VISION_TARGET_FINDER_H_
#define _Y2019_VISION_TARGET_FINDER_H_
+#include <memory>
+
+#include "aos/vision/blob/contour.h"
#include "aos/vision/blob/region_alloc.h"
#include "aos/vision/blob/threshold.h"
#include "aos/vision/blob/transpose.h"
-#include "aos/vision/blob/contour.h"
#include "aos/vision/debug/overlay.h"
#include "aos/vision/math/vector.h"
#include "y2019/vision/target_types.h"
+namespace ceres {
+
+class Context;
+
+} // namespace ceres
namespace y2019 {
namespace vision {
@@ -26,6 +33,8 @@
class TargetFinder {
public:
TargetFinder();
+ ~TargetFinder();
+
// Turn a raw image into blob range image.
aos::vision::RangeImage Threshold(aos::vision::ImagePtr image);
@@ -88,6 +97,8 @@
ExtrinsicParams default_extrinsics_;
+ const std::unique_ptr<ceres::Context> ceres_context_;
+
// Counts for logging.
size_t frame_count_;
size_t valid_result_count_;
diff --git a/y2019/vision/target_geometry.cc b/y2019/vision/target_geometry.cc
index 6df1a27..e647f1f 100644
--- a/y2019/vision/target_geometry.cc
+++ b/y2019/vision/target_geometry.cc
@@ -4,6 +4,8 @@
#include <math.h>
+#include "aos/util/math.h"
+
using ceres::NumericDiffCostFunction;
using ceres::CENTRAL;
using ceres::CostFunction;
@@ -234,8 +236,10 @@
double params_4point[ExtrinsicParams::kNumParams];
default_extrinsics_.set(¶ms_4point[0]);
- Problem problem_8point;
- Problem problem_4point;
+ Problem::Options problem_options;
+ problem_options.context = ceres_context_.get();
+ Problem problem_8point(problem_options);
+ Problem problem_4point(problem_options);
::std::array<aos::vision::Vector<2>, 8> target_value = target.ToPointList();
::std::array<aos::vision::Vector<2>, 8> template_value =
@@ -306,6 +310,12 @@
IR.backup_extrinsics = ExtrinsicParams::get(¶ms_4point[0]);
IR.backup_solver_error = summary_4point2.final_cost;
+ // Normalize all angles to (-M_PI, M_PI]
+ IR.extrinsics.r1 = ::aos::math::NormalizeAngle(IR.extrinsics.r1);
+ IR.extrinsics.r2 = ::aos::math::NormalizeAngle(IR.extrinsics.r2);
+ IR.backup_extrinsics.r1 = ::aos::math::NormalizeAngle(IR.backup_extrinsics.r1);
+ IR.backup_extrinsics.r2 = ::aos::math::NormalizeAngle(IR.backup_extrinsics.r2);
+
if (verbose) {
std::cout << "rup = " << intrinsics_.mount_angle * 180 / M_PI << ";\n";
std::cout << "fl = " << intrinsics_.focal_length << ";\n";
diff --git a/y2019/vision/target_sender.cc b/y2019/vision/target_sender.cc
index 3a6fbfe..52b81ad 100644
--- a/y2019/vision/target_sender.cc
+++ b/y2019/vision/target_sender.cc
@@ -95,7 +95,7 @@
monotonic_clock::time_point monotonic_now) {
aos::vision::ImageFormat fmt{640, 480};
aos::vision::BlobList imgs = aos::vision::FindBlobs(
- aos::vision::SlowYuyvYThreshold(fmt, data.data(), 120));
+ aos::vision::FastYuyvYThreshold(fmt, data.data(), 120));
finder_.PreFilter(&imgs);
LOG(INFO, "Blobs: (%zu).\n", imgs.size());
@@ -103,7 +103,7 @@
::std::vector<Polygon> raw_polys;
for (const RangeImage &blob : imgs) {
// Convert blobs to contours in the corrected space.
- ContourNode* contour = finder_.GetContour(blob);
+ ContourNode *contour = finder_.GetContour(blob);
::std::vector<::Eigen::Vector2f> unwarped_contour =
finder_.UnWarpContour(contour);
const Polygon polygon =
@@ -149,8 +149,8 @@
frame.age = std::chrono::duration_cast<frc971::jevois::camera_duration>(
aos::monotonic_clock::now() - monotonic_now);
- // If we succeed in writing our delimiter, then write out the rest of the
- // frame. If not, no point in continuing.
+ // If we succeed in writing our delimiter, then write out the rest of
+ // the frame. If not, no point in continuing.
if (write(itsDev, "\0", 1) == 1) {
const auto serialized_frame = frc971::jevois::UartPackToTeensy(frame);
// We don't really care if this succeeds or not. If it fails for some
@@ -176,7 +176,6 @@
char data[kBufferSize];
ssize_t n = read(itsDev, &data[0], kBufferSize);
if (n >= 1) {
- LOG(INFO, "Serial bytes: %zd", n);
cobs.ParseData(gsl::span<const char>(&data[0], n));
auto packet = cobs.received_packet();
if (!packet.empty()) {
diff --git a/y2019/vision/tools/deploy.sh b/y2019/vision/tools/deploy.sh
index 3c16b03..2538239 100755
--- a/y2019/vision/tools/deploy.sh
+++ b/y2019/vision/tools/deploy.sh
@@ -1,6 +1,19 @@
-#!/bin/sh
+#!/bin/bash
set -e
+BRANCH=$(git rev-parse --symbolic-full-name --abbrev-ref HEAD)
+if [[ "$BRANCH" != "master" ]]; then
+ read -p "Not on master, deploy anyway (y/n) " ANSWER
+ if [[ $ANSWER =~ ^[Yy]$ ]]; then
+ echo "Master check overridden, deploying anyway"
+ else
+ echo "Cancelling deploy"
+ exit 1
+ fi
+else
+ echo "On master, deploying"
+fi
+
echo "Building executables"
readonly BAZEL_OPTIONS="-c opt --cpu=armhf-debian"
readonly BAZEL_BIN="$(bazel info ${BAZEL_OPTIONS} bazel-bin)"
@@ -10,10 +23,46 @@
//y2019/vision:target_sender \
//y2019/vision:serial_waiter
-if [ ! -d "${TARGET_DIR}" ]
+JEVOIS_DEV="/dev/null"
+for dev in /dev/ttyACM*; do
+ if udevadm info -a -n "${dev}" | grep "JeVois-A33 Smart Camera" -q;
+ then
+ JEVOIS_DEV="${dev}"
+ fi
+done
+
+if [[ "${JEVOIS_DEV}" == "/dev/null" ]];
+then
+ echo "Can't find jevois"
+ exit 1;
+fi;
+
+if ! mount | grep "${TARGET_DIR}" -q
then
echo "Mount jevois at ${TARGET_DIR} ..."
- ./jevois-cmd usbsd
+ ./jevois-cmd -d "${JEVOIS_DEV}" usbsd
+fi
+
+sleep 5
+
+JEVOIS_SD=
+for SD in /dev/sd[a-z]; do
+ if udevadm info -a -n "${SD}" | grep JeVois -q; then
+ echo "Jevois at ${SD}"
+ JEVOIS_SD="${SD}"
+ break
+ fi
+done
+if [[ -z ${JEVOIS_SD} ]]; then
+ echo "Failed to find Jevois. Stopping now"
+ exit 1
+fi
+
+if ! mount | grep "${TARGET_DIR}" -q
+then
+ sudo mkdir -p "${TARGET_DIR}"
+
+ sudo mount "${JEVOIS_SD}" "${TARGET_DIR}"
fi
echo "Waiting for fs ..."
@@ -24,16 +73,20 @@
echo "OK"
echo "Copying files ..."
-cp ./austin_cam.sh "${TARGET_DIR}"/
-cp ./launch.sh "${TARGET_DIR}"/deploy/
+sudo cp ./austin_cam.sh "${TARGET_DIR}"/
+sudo cp ./launch.sh "${TARGET_DIR}"/deploy/
-cp "${BAZEL_BIN}/y2019/vision/target_sender" \
+(echo "git log"; git log -1; echo "git status"; git status) > /tmp/jevois_deploy_version
+
+sudo cp /tmp/jevois_deploy_version "${TARGET_DIR}"/version
+
+sudo cp "${BAZEL_BIN}/y2019/vision/target_sender" \
"${BAZEL_BIN}/y2019/vision/serial_waiter" \
"${TARGET_DIR}"/deploy/
echo "Unmount sd card ..."
-umount "${TARGET_DIR}"
+sudo umount "${TARGET_DIR}"
echo "OK"
echo "Rebooting Jevois."
-./jevois-cmd restart
+./jevois-cmd -d "${JEVOIS_DEV}" restart
diff --git a/y2019/wpilib_interface.cc b/y2019/wpilib_interface.cc
index 2a21274..fd9df73 100644
--- a/y2019/wpilib_interface.cc
+++ b/y2019/wpilib_interface.cc
@@ -563,20 +563,20 @@
time_since_last_send = 0;
}
if (status_light.green != last_green_ || time_since_last_send == 0) {
- canifier_.SetLEDOutput(1.0 - status_light.green,
- ::ctre::phoenix::CANifier::LEDChannelB);
+ canifier_.SetLEDOutput(status_light.green,
+ ::ctre::phoenix::CANifier::LEDChannelA);
last_green_ = status_light.green;
}
if (status_light.blue != last_blue_ || time_since_last_send == 0) {
- canifier_.SetLEDOutput(1.0 - status_light.blue,
- ::ctre::phoenix::CANifier::LEDChannelA);
+ canifier_.SetLEDOutput(status_light.blue,
+ ::ctre::phoenix::CANifier::LEDChannelC);
last_blue_ = status_light.blue;
}
if (status_light.red != last_red_ || time_since_last_send == 0) {
- canifier_.SetLEDOutput(1.0 - status_light.red,
- ::ctre::phoenix::CANifier::LEDChannelC);
+ canifier_.SetLEDOutput(status_light.red,
+ ::ctre::phoenix::CANifier::LEDChannelB);
last_red_ = status_light.red;
}
}
diff --git a/yarn.lock b/yarn.lock
new file mode 100644
index 0000000..5fb2c43
--- /dev/null
+++ b/yarn.lock
@@ -0,0 +1,246 @@
+# THIS IS AN AUTOGENERATED FILE. DO NOT EDIT THIS FILE DIRECTLY.
+# yarn lockfile v1
+
+
+"@bazel/bazel-darwin_x64@0.19.1":
+ version "0.19.1"
+ resolved "https://registry.yarnpkg.com/@bazel/bazel-darwin_x64/-/bazel-darwin_x64-0.19.1.tgz#58d779c8938bd1c136cab55e2f6473121f83741b"
+
+"@bazel/bazel-linux_x64@0.19.1":
+ version "0.19.1"
+ resolved "https://registry.yarnpkg.com/@bazel/bazel-linux_x64/-/bazel-linux_x64-0.19.1.tgz#aef363e0932d29d1bb48980da139d74bfb4b1ffb"
+
+"@bazel/bazel-win32_x64@0.19.1":
+ version "0.19.1"
+ resolved "https://registry.yarnpkg.com/@bazel/bazel-win32_x64/-/bazel-win32_x64-0.19.1.tgz#273c43b0febc11675614c402ec82ae44b519f9ee"
+
+"@bazel/bazel@^0.19.1":
+ version "0.19.1"
+ resolved "https://registry.yarnpkg.com/@bazel/bazel/-/bazel-0.19.1.tgz#22ce225b5172a4ad2a94496be66b14b7c7facca2"
+ optionalDependencies:
+ "@bazel/bazel-darwin_x64" "0.19.1"
+ "@bazel/bazel-linux_x64" "0.19.1"
+ "@bazel/bazel-win32_x64" "0.19.1"
+
+"@bazel/typescript@0.21.0":
+ version "0.21.0"
+ resolved "https://registry.yarnpkg.com/@bazel/typescript/-/typescript-0.21.0.tgz#41c304f77a42c6a016280d0f4c20e0749c3f4b2a"
+ dependencies:
+ protobufjs "5.0.3"
+ source-map-support "0.5.9"
+ tsutils "2.27.2"
+
+ansi-regex@^2.0.0:
+ version "2.1.1"
+ resolved "https://registry.yarnpkg.com/ansi-regex/-/ansi-regex-2.1.1.tgz#c3b33ab5ee360d86e0e628f0468ae7ef27d654df"
+
+ascli@~1:
+ version "1.0.1"
+ resolved "https://registry.yarnpkg.com/ascli/-/ascli-1.0.1.tgz#bcfa5974a62f18e81cabaeb49732ab4a88f906bc"
+ dependencies:
+ colour "~0.7.1"
+ optjs "~3.2.2"
+
+balanced-match@^1.0.0:
+ version "1.0.0"
+ resolved "https://registry.yarnpkg.com/balanced-match/-/balanced-match-1.0.0.tgz#89b4d199ab2bee49de164ea02b89ce462d71b767"
+
+brace-expansion@^1.1.7:
+ version "1.1.11"
+ resolved "https://registry.yarnpkg.com/brace-expansion/-/brace-expansion-1.1.11.tgz#3c7fcbf529d87226f3d2f52b966ff5271eb441dd"
+ dependencies:
+ balanced-match "^1.0.0"
+ concat-map "0.0.1"
+
+buffer-from@^1.0.0:
+ version "1.1.1"
+ resolved "https://registry.yarnpkg.com/buffer-from/-/buffer-from-1.1.1.tgz#32713bc028f75c02fdb710d7c7bcec1f2c6070ef"
+
+bytebuffer@~5:
+ version "5.0.1"
+ resolved "https://registry.yarnpkg.com/bytebuffer/-/bytebuffer-5.0.1.tgz#582eea4b1a873b6d020a48d58df85f0bba6cfddd"
+ dependencies:
+ long "~3"
+
+camelcase@^2.0.1:
+ version "2.1.1"
+ resolved "https://registry.yarnpkg.com/camelcase/-/camelcase-2.1.1.tgz#7c1d16d679a1bbe59ca02cacecfb011e201f5a1f"
+
+cliui@^3.0.3:
+ version "3.2.0"
+ resolved "https://registry.yarnpkg.com/cliui/-/cliui-3.2.0.tgz#120601537a916d29940f934da3b48d585a39213d"
+ dependencies:
+ string-width "^1.0.1"
+ strip-ansi "^3.0.1"
+ wrap-ansi "^2.0.0"
+
+code-point-at@^1.0.0:
+ version "1.1.0"
+ resolved "https://registry.yarnpkg.com/code-point-at/-/code-point-at-1.1.0.tgz#0d070b4d043a5bea33a2f1a40e2edb3d9a4ccf77"
+
+colour@~0.7.1:
+ version "0.7.1"
+ resolved "https://registry.yarnpkg.com/colour/-/colour-0.7.1.tgz#9cb169917ec5d12c0736d3e8685746df1cadf778"
+
+concat-map@0.0.1:
+ version "0.0.1"
+ resolved "https://registry.yarnpkg.com/concat-map/-/concat-map-0.0.1.tgz#d8a96bd77fd68df7793a73036a3ba0d5405d477b"
+
+decamelize@^1.1.1:
+ version "1.2.0"
+ resolved "https://registry.yarnpkg.com/decamelize/-/decamelize-1.2.0.tgz#f6534d15148269b20352e7bee26f501f9a191290"
+
+fs.realpath@^1.0.0:
+ version "1.0.0"
+ resolved "https://registry.yarnpkg.com/fs.realpath/-/fs.realpath-1.0.0.tgz#1504ad2523158caa40db4a2787cb01411994ea4f"
+
+glob@^7.0.5:
+ version "7.1.3"
+ resolved "https://registry.yarnpkg.com/glob/-/glob-7.1.3.tgz#3960832d3f1574108342dafd3a67b332c0969df1"
+ dependencies:
+ fs.realpath "^1.0.0"
+ inflight "^1.0.4"
+ inherits "2"
+ minimatch "^3.0.4"
+ once "^1.3.0"
+ path-is-absolute "^1.0.0"
+
+inflight@^1.0.4:
+ version "1.0.6"
+ resolved "https://registry.yarnpkg.com/inflight/-/inflight-1.0.6.tgz#49bd6331d7d02d0c09bc910a1075ba8165b56df9"
+ dependencies:
+ once "^1.3.0"
+ wrappy "1"
+
+inherits@2:
+ version "2.0.3"
+ resolved "https://registry.yarnpkg.com/inherits/-/inherits-2.0.3.tgz#633c2c83e3da42a502f52466022480f4208261de"
+
+invert-kv@^1.0.0:
+ version "1.0.0"
+ resolved "https://registry.yarnpkg.com/invert-kv/-/invert-kv-1.0.0.tgz#104a8e4aaca6d3d8cd157a8ef8bfab2d7a3ffdb6"
+
+is-fullwidth-code-point@^1.0.0:
+ version "1.0.0"
+ resolved "https://registry.yarnpkg.com/is-fullwidth-code-point/-/is-fullwidth-code-point-1.0.0.tgz#ef9e31386f031a7f0d643af82fde50c457ef00cb"
+ dependencies:
+ number-is-nan "^1.0.0"
+
+lcid@^1.0.0:
+ version "1.0.0"
+ resolved "https://registry.yarnpkg.com/lcid/-/lcid-1.0.0.tgz#308accafa0bc483a3867b4b6f2b9506251d1b835"
+ dependencies:
+ invert-kv "^1.0.0"
+
+long@~3:
+ version "3.2.0"
+ resolved "https://registry.yarnpkg.com/long/-/long-3.2.0.tgz#d821b7138ca1cb581c172990ef14db200b5c474b"
+
+minimatch@^3.0.4:
+ version "3.0.4"
+ resolved "https://registry.yarnpkg.com/minimatch/-/minimatch-3.0.4.tgz#5166e286457f03306064be5497e8dbb0c3d32083"
+ dependencies:
+ brace-expansion "^1.1.7"
+
+number-is-nan@^1.0.0:
+ version "1.0.1"
+ resolved "https://registry.yarnpkg.com/number-is-nan/-/number-is-nan-1.0.1.tgz#097b602b53422a522c1afb8790318336941a011d"
+
+once@^1.3.0:
+ version "1.4.0"
+ resolved "https://registry.yarnpkg.com/once/-/once-1.4.0.tgz#583b1aa775961d4b113ac17d9c50baef9dd76bd1"
+ dependencies:
+ wrappy "1"
+
+optjs@~3.2.2:
+ version "3.2.2"
+ resolved "https://registry.yarnpkg.com/optjs/-/optjs-3.2.2.tgz#69a6ce89c442a44403141ad2f9b370bd5bb6f4ee"
+
+os-locale@^1.4.0:
+ version "1.4.0"
+ resolved "http://registry.npmjs.org/os-locale/-/os-locale-1.4.0.tgz#20f9f17ae29ed345e8bde583b13d2009803c14d9"
+ dependencies:
+ lcid "^1.0.0"
+
+path-is-absolute@^1.0.0:
+ version "1.0.1"
+ resolved "http://registry.npmjs.org/path-is-absolute/-/path-is-absolute-1.0.1.tgz#174b9268735534ffbc7ace6bf53a5a9e1b5c5f5f"
+
+protobufjs@5.0.3:
+ version "5.0.3"
+ resolved "https://registry.yarnpkg.com/protobufjs/-/protobufjs-5.0.3.tgz#e4dfe9fb67c90b2630d15868249bcc4961467a17"
+ dependencies:
+ ascli "~1"
+ bytebuffer "~5"
+ glob "^7.0.5"
+ yargs "^3.10.0"
+
+source-map-support@0.5.9:
+ version "0.5.9"
+ resolved "https://registry.yarnpkg.com/source-map-support/-/source-map-support-0.5.9.tgz#41bc953b2534267ea2d605bccfa7bfa3111ced5f"
+ dependencies:
+ buffer-from "^1.0.0"
+ source-map "^0.6.0"
+
+source-map@^0.6.0:
+ version "0.6.1"
+ resolved "https://registry.yarnpkg.com/source-map/-/source-map-0.6.1.tgz#74722af32e9614e9c287a8d0bbde48b5e2f1a263"
+
+string-width@^1.0.1:
+ version "1.0.2"
+ resolved "https://registry.yarnpkg.com/string-width/-/string-width-1.0.2.tgz#118bdf5b8cdc51a2a7e70d211e07e2b0b9b107d3"
+ dependencies:
+ code-point-at "^1.0.0"
+ is-fullwidth-code-point "^1.0.0"
+ strip-ansi "^3.0.0"
+
+strip-ansi@^3.0.0, strip-ansi@^3.0.1:
+ version "3.0.1"
+ resolved "http://registry.npmjs.org/strip-ansi/-/strip-ansi-3.0.1.tgz#6a385fb8853d952d5ff05d0e8aaf94278dc63dcf"
+ dependencies:
+ ansi-regex "^2.0.0"
+
+tslib@^1.8.1:
+ version "1.9.3"
+ resolved "https://registry.yarnpkg.com/tslib/-/tslib-1.9.3.tgz#d7e4dd79245d85428c4d7e4822a79917954ca286"
+
+tsutils@2.27.2:
+ version "2.27.2"
+ resolved "https://registry.yarnpkg.com/tsutils/-/tsutils-2.27.2.tgz#60ba88a23d6f785ec4b89c6e8179cac9b431f1c7"
+ dependencies:
+ tslib "^1.8.1"
+
+typescript@^3.1.6:
+ version "3.1.6"
+ resolved "https://registry.yarnpkg.com/typescript/-/typescript-3.1.6.tgz#b6543a83cfc8c2befb3f4c8fba6896f5b0c9be68"
+
+window-size@^0.1.4:
+ version "0.1.4"
+ resolved "https://registry.yarnpkg.com/window-size/-/window-size-0.1.4.tgz#f8e1aa1ee5a53ec5bf151ffa09742a6ad7697876"
+
+wrap-ansi@^2.0.0:
+ version "2.1.0"
+ resolved "http://registry.npmjs.org/wrap-ansi/-/wrap-ansi-2.1.0.tgz#d8fc3d284dd05794fe84973caecdd1cf824fdd85"
+ dependencies:
+ string-width "^1.0.1"
+ strip-ansi "^3.0.1"
+
+wrappy@1:
+ version "1.0.2"
+ resolved "https://registry.yarnpkg.com/wrappy/-/wrappy-1.0.2.tgz#b5243d8f3ec1aa35f1364605bc0d1036e30ab69f"
+
+y18n@^3.2.0:
+ version "3.2.1"
+ resolved "https://registry.yarnpkg.com/y18n/-/y18n-3.2.1.tgz#6d15fba884c08679c0d77e88e7759e811e07fa41"
+
+yargs@^3.10.0:
+ version "3.32.0"
+ resolved "http://registry.npmjs.org/yargs/-/yargs-3.32.0.tgz#03088e9ebf9e756b69751611d2a5ef591482c995"
+ dependencies:
+ camelcase "^2.0.1"
+ cliui "^3.0.3"
+ decamelize "^1.1.1"
+ os-locale "^1.4.0"
+ string-width "^1.0.1"
+ window-size "^0.1.4"
+ y18n "^3.2.0"
