identificationNode.cpp

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#include <labust/control/SOIdentification.hpp>
#include <labust/vehicles/vehiclesfwd.hpp>
#include <labust/xml/GyrosReader.hpp>
#include <labust/xml/GyrosWriter.hpp>
#include <labust/tools/TimingTools.hpp>
#include <labust/control/PIDController.hpp>

#include <std_msgs/String.h>
#include <ros/ros.h>

#include <map>

double yaw(0);
double lastTime(labust::tools::unix_time());

struct TuningParameters
{
        double alpha,beta,betaa;
        double w;
        double max;
};

template <class PID>
void tuneController(const TuningParameters& param, PID* pid)
{
  double a3 = 1/(param.w*param.w*param.w), a2 = 3/(param.w*param.w), a1 = 3/(param.w);

  double K_Ipsi = param.alpha/a3;
  double K_Ppsi = param.alpha*a1/a3;
  double K_Dpsi = (param.alpha*a2/a3 - param.beta);

  /*K_Ipsi = 1.55139;
  K_Ppsi = 6.64881;
  K_Dpsi = 8.0083;*/

  //pid->setGains(a1*param.alpha/a3,param.alpha*a3,a2/a3*param.alpha - param.beta,0);
  pid->setGains(K_Ppsi,K_Ipsi,K_Dpsi,K_Dpsi/10);

  std::cout<<"Param:"<<param.alpha<<","<<param.beta<<","<<param.w<<std::endl;
  std::cout<<"K_Ppsi:"<<K_Ppsi<<",K_Ipsi:"<<K_Ipsi<<",K_Dpsi:"<<K_Dpsi<<std::endl;

  labust::math::Limit<double> limit(-param.max,param.max);
  pid->setLimits(limit);

  //pid->setGains(10,0,0,0);
}

void onState(const std_msgs::String::ConstPtr& msg)
{
        labust::xml::GyrosReader reader(msg->data);
        labust::vehicles::stateMap state;
        reader.dictionary(state);

        yaw = state[labust::vehicles::state::yaw];
        lastTime = reader.GetTimeStamp();

        std::cout<<"Received."<<std::endl;
}

void sendTau(double torque,
                const ros::Publisher& tau,  double lat = 0)
{
  //send all zeros at the end.
  std::map<int,double> tauM;
  for (int i=labust::vehicles::tau::X; i<=labust::vehicles::tau::N; ++i)
  {
        tauM[i] = 0;
  }

  tauM[labust::vehicles::tau::N] = torque;
  tauM[labust::vehicles::tau::Y] = lat;
  tauM[labust::vehicles::tau::Z] = 0;

  labust::xml::GyrosWriter writer(tauM.begin(),tauM.end());
  writer.SetTimeStamp(true);
  std_msgs::String str;
  str.data = writer.GyrosXML();
  tau.publish(str);
}

int main(int argc, char* argv[])
try
{
        ros::init(argc, argv, "vehicleNode");

        ros::NodeHandle n;


        ros::Publisher tau = n.advertise<std_msgs::String>("tau", 10);
        ros::Subscriber state = n.subscribe("state",10,&onState);

  ros::Rate loop_rate(10);
  labust::control::SOIdentification ident;

 ident.setRelay(50,15*M_PI/180);
  ident.reset();

        
 labust::control::IPD ipd;
 //ipd.setStructure(0,1,0);

  double yaw_ref = 0;
 double ditter = 0*2.5;
  double lat = 0*80;

  //sendTau(0,tau);
  int i=0;

  while (ros::ok())
  {
        ++i;
        if (!ident.isFinished())
        {
                sendTau(ident.step(yaw_ref-yaw,0.1),tau);
                //sendTau(60,tau);

                std::cout<<yaw<<std::endl;
        }
        else
        {
                labust::control::SOIdentification::ParameterContainer param;
                ident.parameters(&param);

                std::cout<<"Alpha:"<<param[ident.alpha];
                std::cout<<", beta:"<<param[ident.kx];
                std::cout<<", betaa:"<<param[ident.kxx];
                std::cout<<", delta:"<<param[ident.delta]<<std::endl;

                TuningParameters tparam;

                tparam.w = 0.4;
                tparam.alpha = param[ident.alpha];//128;
                tparam.beta = param[ident.kx];//41.8;
                tparam.betaa = param[ident.kxx];
                tparam.max = 80;

                tuneController(tparam,&ipd);

          //send all zeros at the end.
                //sendTau(0,tau);
                //Do control.
                if ((i%100) == 0) lat = -lat;
          sendTau(ipd.step(yaw_ref, yaw) + ditter,tau, lat);
        }

    ros::spinOnce();
    //std::cout<<"Timing:"<<labust::tools::unix_time() - lastTime<<std::endl;
    loop_rate.sleep();

  }

  //send all zeros at the end.
  sendTau(0,tau);

        return 0;
}
catch (std::exception& e)
{
        std::cerr<<e.what()<<std::endl;
}