VelocityControl.cpp

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2010, LABUST, UNIZG-FER
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the LABUST nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 *  Author: Dula Nad
 *  Created: 01.02.2013.
 *********************************************************************/
#include <labust/control/VelocityControl.hpp>
#include <labust/tools/MatrixLoader.hpp>
#include <labust/simulation/matrixfwd.hpp>
#include <labust/simulation/DynamicsParams.hpp>
#include <labust/tools/DynamicsLoader.hpp>
#include <labust/math/NumberManipulation.hpp>
#include <labust/tools/conversions.hpp>

#include <auv_msgs/BodyForceReq.h>
#include <boost/bind.hpp>

#include <cmath>
#include <vector>
#include <string>

using labust::control::VelocityControl;

const std::string VelocityControl::dofName[]=
{"Surge","Sway","Heave","Roll","Pitch","Yaw"};

VelocityControl::VelocityControl():
                        nh(ros::NodeHandle()),
                        ph(ros::NodeHandle("~")),
                        lastEst(ros::Time::now()),
                        lastRef(ros::Time::now()),
                        lastMan(ros::Time::now()),
                        lastMeas(ros::Time::now()),
                        timeout(0.5),
                        joy_scale(1),
                        Ts(0.1),
                        externalIdent(false),
                        server(serverMux)
{this->onInit();}

void VelocityControl::onInit()
{
        std::string name;
        //Initialize publishers
        tauOut = nh.advertise<auv_msgs::BodyForceReq>("tauOut", 1);
        tauAchW = nh.advertise<auv_msgs::BodyForceReq>("tauAchVelCon", 1);

        //Initialze subscribers
        velocityRef = nh.subscribe<auv_msgs::BodyVelocityReq>("nuRef", 1,
                        &VelocityControl::handleReference,this);
        stateHat = nh.subscribe<auv_msgs::NavSts>("stateHat", 1,
                        &VelocityControl::handleEstimates,this);
        measSub = nh.subscribe<auv_msgs::NavSts>("meas", 1,
                        &VelocityControl::handleMeasurement,this);
        tauAch = nh.subscribe<auv_msgs::BodyForceReq>("tauAch", 1,
                        &VelocityControl::handleWindup,this);
        manualIn = nh.subscribe<sensor_msgs::Joy>("joy",1,
                        &VelocityControl::handleManual,this, ros::TransportHints().unreliable());
        modelUpdate = nh.subscribe<navcon_msgs::ModelParamsUpdate>("model_update", 1,
                        &VelocityControl::handleModelUpdate,this);
        //Configure service
        highLevelSelect = nh.advertiseService("ConfigureVelocityController",
                        &VelocityControl::handleServerConfig, this);
        enableControl = nh.advertiseService("VelCon_enable",
                        &VelocityControl::handleEnableControl, this);

        nh.param("velocity_controller/joy_scale",joy_scale,joy_scale);
        nh.param("velocity_controller/timeout",timeout,timeout);
        nh.param("velocity_controller/external_ident",externalIdent, externalIdent);

        if (externalIdent)
        {
                identExt = nh.subscribe<auv_msgs::BodyForceReq>("tauIdent",1,
                                        &VelocityControl::handleExt,this);
                for (int i=0; i<5; ++i) tauExt[i] = 0;
        }

        //Configure the dynamic reconfigure server
        server.setCallback(boost::bind(&VelocityControl::dynrec_cb, this, _1, _2));

        initialize_controller();
        config.__fromServer__(ph);
        server.setConfigDefault(config);
        this->updateDynRecConfig();
}

bool VelocityControl::handleEnableControl(labust_uvapp::EnableControl::Request& req,
                labust_uvapp::EnableControl::Response& resp)
{
        if (!req.enable)
        {
                for (int i=u; i<=r;++i) axis_control[i] = disableAxis;
                this->updateDynRecConfig();
        }

        return true;
}

void VelocityControl::updateDynRecConfig()
{
        ROS_INFO("Updating the dynamic reconfigure parameters.");

        config.Surge_mode = axis_control[u];
        config.Sway_mode = axis_control[v];
        config.Heave_mode = axis_control[w];
        config.Roll_mode = axis_control[p];
        config.Pitch_mode = axis_control[q];
        config.Yaw_mode = axis_control[r];

        config.High_level_controller="0 - None\n 1 - DP";

        server.updateConfig(config);
}

bool VelocityControl::handleServerConfig(labust_uvapp::ConfigureVelocityController::Request& req,
                labust_uvapp::ConfigureVelocityController::Response& resp)
{
        axis_control = req.desired_mode;
        this->updateDynRecConfig();
        return true;
}

void VelocityControl::handleReference(const auv_msgs::BodyVelocityReq::ConstPtr& ref)
{
        //Copy into controller
        controller[u].desired = ref->twist.linear.x;
        controller[v].desired = ref->twist.linear.y;
        controller[w].desired = ref->twist.linear.z;
        controller[p].desired = ref->twist.angular.x;
        controller[q].desired = ref->twist.angular.y;
        controller[r].desired = ref->twist.angular.z;

        lastRef = ros::Time::now();
        //newReference = true;
        //if (newEstimate) step();
}

void VelocityControl::handleManual(const sensor_msgs::Joy::ConstPtr& joy)
{
        tauManual[X] = config.Surge_joy_scale * joy->axes[1];
        tauManual[Y] = -config.Sway_joy_scale * joy->axes[0];
        tauManual[Z] = -config.Heave_joy_scale * joy->axes[3];
        tauManual[K] = 0;
        tauManual[M] = 0;
        tauManual[N] = -config.Yaw_joy_scale * joy->axes[2];
        lastMan = ros::Time::now();
}

void VelocityControl::handleModelUpdate(const navcon_msgs::ModelParamsUpdate::ConstPtr& update)
{
        ROS_INFO("Updating controller parameters for %d DoF",update->dof);
        controller[update->dof].modelParams[alpha] = update->alpha;
        if (update->use_linear)
        {
                controller[update->dof].modelParams[beta] = update->beta;
                controller[update->dof].modelParams[betaa] = 0;
        }
        else
        {
                controller[update->dof].modelParams[beta] = 0;
                controller[update->dof].modelParams[betaa] = update->betaa;
        }

        //Tune controller
        PIFFController_tune(&controller[update->dof]);
}

void VelocityControl::dynrec_cb(labust_uvapp::VelConConfig& config, uint32_t level)
{
        this->config = config;

        config.__toServer__(ph);
        for(size_t i=u; i<=r; ++i)
        {
                int newMode(0);
                ph.getParam(dofName[i]+"_mode", newMode);
                //Stop the identification if it was aborted remotely.
                if ((axis_control[i] == identAxis) &&
                                (newMode != identAxis) &&
                                (ident[i] != 0)) ident[i].reset();

                axis_control[i] = newMode;
        }
}

void VelocityControl::handleWindup(const auv_msgs::BodyForceReq::ConstPtr& tau)
{
        if (!controller[u].autoTracking) controller[u].tracking = tau->wrench.force.x;
        if (!controller[v].autoTracking) controller[v].tracking = tau->wrench.force.y;
        if (!controller[w].autoTracking) controller[w].tracking = tau->wrench.force.z;
        if (!controller[p].autoTracking) controller[p].tracking = tau->wrench.torque.x;
        if (!controller[q].autoTracking) controller[q].tracking = tau->wrench.torque.y;
        if (!controller[r].autoTracking) controller[r].tracking = tau->wrench.torque.z;

        if (!controller[u].autoTracking) controller[u].windup = tau->disable_axis.x;
        if (!controller[v].autoTracking) controller[v].windup = tau->disable_axis.y;
        if (!controller[w].autoTracking) controller[w].windup = tau->disable_axis.z;
        if (!controller[p].autoTracking) controller[p].windup = tau->disable_axis.roll;
        if (!controller[q].autoTracking) controller[q].windup = tau->disable_axis.pitch;
        if (!controller[r].autoTracking) controller[r].windup = tau->disable_axis.yaw;
};

void VelocityControl::handleExt(const auv_msgs::BodyForceReq::ConstPtr& tau)
{
        labust::tools::pointToVector(tau->wrench.force, tauExt);
        labust::tools::pointToVector(tau->wrench.torque, tauExt, 3);
};

void VelocityControl::handleEstimates(const auv_msgs::NavSts::ConstPtr& estimate)
{
        //Copy into controller
        controller[u].state = estimate->body_velocity.x;
        controller[v].state = estimate->body_velocity.y;
        controller[w].state = estimate->body_velocity.z;
        controller[p].state = estimate->orientation_rate.roll;
        controller[q].state = estimate->orientation_rate.pitch;
        controller[r].state = estimate->orientation_rate.yaw;

        lastEst = ros::Time::now();
        //ROS_INFO("Semi-travel time:%f",(lastEst - estimate->header.stamp).toSec());
        //lastEst = estimate->header.stamp;
        //newEstimate = true;
        //if (newReference) step();
};

void VelocityControl::handleMeasurement(const auv_msgs::NavSts::ConstPtr& meas)
{
        //Copy into controller
        double dT = (ros::Time::now() - lastMeas).toSec();
        //ROS_INFO("Estimated rate for integration: %f",dT);
        measurement[u] += meas->body_velocity.x*dT;
        measurement[v] += meas->body_velocity.y*dT;
        measurement[w] = meas->position.depth;
        measurement[p] = meas->orientation.roll;
        measurement[q] = meas->orientation.pitch;
        measurement[r] = meas->orientation.yaw;

        lastMeas = ros::Time::now();
        //newEstimate = true;
        //if (newReference) step();
};

void VelocityControl::safetyTest()
{
        bool refTimeout = (ros::Time::now() - lastRef).toSec() > timeout;
        bool estTimeout = (ros::Time::now() - lastEst).toSec() > timeout;
        bool manTimeout = (ros::Time::now() - lastMan).toSec() > timeout;
        bool measTimeout = (ros::Time::now() - lastMeas).toSec() > timeout;
        bool changed = false;

        for (int i=u; i<=r;++i)
        {
                bool cntChannel = (refTimeout || estTimeout) && (axis_control[i] == controlAxis);
                if (cntChannel) ROS_WARN("Timeout on the control channel: %d. Controlled axes will be disabled.",i);
                bool measChannel = measTimeout && (axis_control[i] == identAxis);
                if (measChannel) ROS_WARN("Timeout on the measurement channel: %d. Stopping identifications in progress.",i);
                bool manChannel = manTimeout && (axis_control[i] == manualAxis);
                if (manChannel) ROS_WARN("Timeout on the manual channel: %d. Manual axes will be disabled.",i);

                suspend_axis[i] = (cntChannel || measChannel || manChannel);
        }

        //Update only on change.
        //if (changed) this->updateDynRecConfig();
}

double VelocityControl::doIdentification(int i)
{
        if (ident[i] == 0)
        {
                double C,X,ref;
                ph.getParam(dofName[i]+"_ident_amplitude",C);
                ph.getParam(dofName[i]+"_ident_hysteresis",X);
                ph.getParam(dofName[i]+"_ident_ref",ref);
                ident[i].reset(new SOIdentification());
                ident[i]->setRelay(C,X);
                ident[i]->Ref(ref);
                //Reset measurement
                measurement[i] = 0;
                ROS_INFO("Started indentification of %s DOF.",dofName[i].c_str());
        }

        if (ident[i]->isFinished())
        {
                //Get parameters
                SOIdentification::ParameterContainer params;
                ident[i]->parameters(&params);
                controller[i].modelParams[alpha] = params[SOIdentification::alpha];
                controller[i].modelParams[beta] = params[SOIdentification::kx];
                controller[i].modelParams[betaa] = params[SOIdentification::kxx];
                //Tune controller
                PIFFController_tune(&controller[i]);
                //Write parameters to server
                XmlRpc::XmlRpcValue vparam;
                vparam.setSize(SOIdentification::numParams);
                vparam[0] = params[SOIdentification::alpha];
                vparam[1] = params[SOIdentification::kx];
                vparam[2] = params[SOIdentification::kxx];
                vparam[3] = params[SOIdentification::delta];
                vparam[4] = params[SOIdentification::wn];
                nh.setParam(dofName[i]+"_identified_params", vparam);
                //Stop identification
                axis_control[i] = disableAxis;
                ident[i].reset();
                //Report
                ROS_INFO("Stoped indentification of %s DOF.",dofName[i].c_str());
                ROS_INFO("Identified parameters: %f %f %f %f",
                                params[SOIdentification::alpha],
                                params[SOIdentification::kx],
                                params[SOIdentification::kxx],
                                params[SOIdentification::delta],
                                params[SOIdentification::wn]);
                //Update dynamic parameters
                this->updateDynRecConfig();

                return 0;
        }

        if (i>=3)
        {
                return ident[i]->step(labust::math::wrapRad(labust::math::wrapRad(ident[i]->Ref())-labust::math::wrapRad(measurement[i])),Ts);
        }

        return ident[i]->step(ident[i]->Ref()-measurement[i],Ts);
}

void VelocityControl::step()
{
        auv_msgs::BodyForceReq tau, tauach;
        this->safetyTest();

        for (int i=u; i<=r;++i)
        {
                //If some of the axis are timed-out just ignore
                if (suspend_axis[i])
                {
                        controller[i].output = 0;
                        continue;
                }

                switch (axis_control[i])
                {
                case manualAxis:
                        controller[i].output = tauManual[i];
                        break;
                case controlAxis:
                        ROS_DEBUG("Controller %d : %f %f %f",
                                        i,
                                        controller[i].desired,
                                        controller[i].state,
                                        controller[i].output);
                        PIFFController_step(&controller[i], Ts);
                        break;
                case identAxis:
                        controller[i].output = externalIdent?tauExt[i]:doIdentification(i);
                        break;
                case directAxis:
                        controller[i].output = controller[i].desired;
                        if (controller[i].autoTracking)
                        {
                                if (fabs(controller[i].desired) > controller[i].outputLimit)
                                        controller[i].desired = controller[i].desired/fabs(controller[i].desired)*controller[i].outputLimit;
                                tau.wrench.force.x = controller[i].desired;
                        }
                        break;
                case disableAxis:
                default:
                        controller[i].output = 0;
                        break;
                }
        }
        //Copy to tau
        tau.wrench.force.x = controller[u].output;
        tau.wrench.force.y = controller[v].output;
        tau.wrench.force.z = controller[w].output;
        tau.wrench.torque.x = controller[p].output;
        tau.wrench.torque.y = controller[q].output;
        tau.wrench.torque.z = controller[r].output;

        tauach.wrench.force.x  = tau.wrench.force.x;
        tauach.wrench.force.y  = tau.wrench.force.y;
        tauach.wrench.force.z  = tau.wrench.force.z;
        tauach.wrench.torque.x = tau.wrench.torque.x;
        tauach.wrench.torque.y = tau.wrench.torque.y;
        tauach.wrench.torque.z = tau.wrench.torque.z;

        if (controller[u].autoTracking)
        {
                tauach.disable_axis.x = controller[u].windup;
                tauach.windup.x = controller[u].windup;
        }
        if (controller[v].autoTracking)
        {
                tauach.disable_axis.y = controller[v].windup;
                tauach.windup.y = controller[v].windup;
        }
        if (controller[w].autoTracking)
        {
                tauach.disable_axis.z = controller[w].windup;
                tauach.windup.z = controller[w].windup;
        }
        if (controller[p].autoTracking)
        {
                tauach.disable_axis.roll = controller[p].windup;
                tauach.windup.roll = controller[p].windup;
        }
        if (controller[q].autoTracking)
        {
                tauach.disable_axis.pitch = controller[q].windup;
                tauach.windup.pitch = controller[q].windup;
        }
        if (controller[r].autoTracking)
        {
                tauach.disable_axis.yaw = controller[r].windup;
                tauach.windup.yaw = controller[r].windup;
        }

        //Restart values
        //newReference = newEstimate = false;
        tauach.header.stamp = tau.header.stamp = lastEst;
        tauAchW.publish(tauach);
        tauOut.publish(tau);
}

void VelocityControl::start()
{
        ros::Rate rate(1/Ts);

        while (nh.ok())
        {
                ros::spinOnce();
                step();
                rate.sleep();
        }
}

void VelocityControl::initialize_controller()
{
        ROS_INFO("Initializing velocity controller...");

        typedef Eigen::Matrix<double,6,1> Vector6d;
        using labust::simulation::vector;
        vector closedLoopFreq(vector::Ones());
        labust::tools::getMatrixParam(nh,"velocity_controller/closed_loop_freq", closedLoopFreq);
        vector outputLimit(vector::Zero());
        labust::tools::getMatrixParam(nh,"velocity_controller/output_limits", outputLimit);
        vector disAxis(vector::Ones());
        labust::tools::getMatrixParam(nh,"velocity_controller/disable_axis", disAxis);
        vector manAxis(vector::Ones());
        labust::tools::getMatrixParam(nh,"velocity_controller/manual_axis", manAxis);
        vector autoTracking(vector::Zero());
        labust::tools::getMatrixParam(nh,"velocity_controller/auto_tracking", autoTracking);

        labust::simulation::DynamicsParams model;
        labust::tools::loadDynamicsParams(nh,model);
        vector alphas(model.Ma.diagonal());
        vector alpha_mass;
        alpha_mass<<model.m,model.m,model.m,model.Io.diagonal();
        alphas += alpha_mass;

        nh.param("velocity_controller/Ts",Ts,Ts);

        for (int32_t i = u; i <=r; ++i)
        {
                PIDController_init(&controller[i]);
                controller[i].closedLoopFreq = closedLoopFreq(i);
                controller[i].outputLimit = outputLimit(i);
                controller[i].modelParams[alpha] = alphas(i);
                controller[i].modelParams[beta] = model.Dlin(i,i);
                controller[i].modelParams[betaa] = model.Dquad(i,i);
                PIFFController_tune(&controller[i]);
                controller[i].autoTracking = autoTracking(i);

                if (!manAxis(i)) axis_control[i] = controlAxis;
                if (manAxis(i)) axis_control[i] = manualAxis;
                if (disAxis(i)) axis_control[i] = disableAxis;
                suspend_axis[i]=false;

                ph.setParam(dofName[i]+"_Kp",controller[i].gains[Kp]);
                ph.setParam(dofName[i]+"_Ki",controller[i].gains[Ki]);

                ROS_INFO("Controller %d:",i);
                ROS_INFO("ModelParams: %f %f %f",controller[i].modelParams[alpha], controller[i].modelParams[beta],
                                controller[i].modelParams[betaa]);
                ROS_INFO("Gains: %f %f %f",controller[i].gains[Kp], controller[i].gains[Ki],
                                controller[i].gains[Kt]);
        }

        ROS_INFO("Velocity controller initialized.");
}