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test.hpp
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test.hpp
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#include "aci_comm_engine.hpp"
#include "aci_comm_uav.hpp"
#include "utilities/synchronizer.hpp"
/////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////
void
testcase() {
using namespace acc;
Engine<SerialBus>* ae;
try {
std::string port = "/dev/tty.usbserial-A504DRSI";
//std::string port = "/dev/tty.usbserial-AL00XNUW";
// Create an Engine with a SerialBus.
// The init arguments are the SerialBus
// args. *ae* is a pointer to the singleton
// instance of Engine.
ae = &Engine<SerialBus>::init(port, B57600);
// Add variables to read, to packet 1.
ae->add_read(0, Var::motor_rpm_1, Var::motor_rpm_2, Var::motor_rpm_3, Var::motor_rpm_4);
// ae->add_read(0, Var::acc_x, Var::acc_y, Var::acc_z);
// Add commands to write, packet 0.
ae->add_write(0, Cmd::DIMC_motor_1,
Cmd::DIMC_motor_2,
Cmd::DIMC_motor_3,
Cmd::DIMC_motor_4,
Cmd::ctrl_mode,
Cmd::ctrl_enabled,
Cmd::disable_motor_onoff_by_stick);
// Start the engine.
// Returns when the variables and
// commands callbacks are executed.
// Default engine params: 100, 10
ae->start(1000, 100);
// For each key_write, write the
// specified value.
ae->write(Cmd::ctrl_mode, 0);
ae->write(Cmd::ctrl_enabled, 1);
ae->write(Cmd::disable_motor_onoff_by_stick, 1);
// sleep(5);
std::cout << "READY TO ACC" << std::endl;
ae->write(Cmd::DIMC_motor_1, DIMC_motor_write_conv(1100));
// std::cout << "ACC" << std::endl;
sleep(2);
int i = 0;
while(i < 1000) {
// auto yaw = uav.attitude.yaw.read();
// auto pitch = uav.attitude.pitch.read();
// auto roll = uav.attitude.roll.read();
// std::cout << ae->read(Var::acc_x) << "\t" << ae->read(Var::acc_y) << "\t" << ae->read(Var::acc_z) << std::endl;
// ae->write(Cmd::DIMC_motor_1, 10);
if(i == 500) ae->write(Cmd::DIMC_motor_1, DIMC_motor_write_conv(2000));
std::cout << motor_rpm_read_conv(ae->read(Var::motor_rpm_1)) << std::endl;
i++;
usleep(10000);
}
std::cout << "STOP" << std::endl;
ae->write(Cmd::DIMC_motor_1, 0);
std::cout << "STOP" << std::endl;
sleep(5);
} catch (std::runtime_error e) {
std::cout << "Exception: " << e.what() << std::endl;
ae->stop();
} catch (...) {
std::cout << "!!! Unexpected error !!!" << std::endl;
ae->stop();
}
}
/////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////
void
testcase2() {
using namespace acc;
std::string port = "/dev/tty.usbserial-A504DRSI";
UAV uav(port, B57600, CTRL_MODE::DIMC);
try {
// Enable
//auto pitch = uav.angles.pitch;
//pitch.enable_read(0).enable_write(0);
//uav.angles.pitch.enable_write(0).enable_read(0);
// uav.attitude.yaw.enable_read(0);
// uav.attitude.pitch.enable_read(0);
// uav.attitude.roll.enable_read(0);
for (int i = 0; i < 4; i++) {
uav.motors[i].enable_read(0);
uav.motors[i].enable_write(0);
}
uav.start().control_enable(true);
// Write
//uav.angles.pitch.write(30.0);
//uav.angles.roll.write(30.0);
sleep(2);
std::cout << "READY" << std::endl;
// Read
for (int i = 0; i < 4; i++) {
uav.motors[i].write(1500);
sleep(2);
uav.motors[i].write(1075);
sleep(2);
}
} catch (std::runtime_error e) {
std::cout << "Exception: " << e.what() << std::endl;
uav.stop();
} catch (...) {
std::cout << "!!! Unexpected error !!!" << std::endl;
uav.stop();
}
}
/////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////
void
testcase3() {
using namespace acc;
std::string port = "/dev/tty.usbserial-A504DRSI";
UAV uav(port, B57600, CTRL_MODE::DIMC);
try {
uav.motors.enable_read(0).enable_write(0);
uav.start().control_enable(true);
// sleep(2);
// uav.motors.write({1500, 1500, 1500, 1500});
std::cout << "START" << std::endl;
uav.motors.start();
sleep(3);
uav.motors.stop();
std::cout << "STOP" << std::endl;
// uav.motors.write(std::array<FLOATING_POINT_PRECISION, 4>{{1075, 1075, 1075, 1075}});
} catch (std::runtime_error e) {
std::cout << "Exception: " << e.what() << std::endl;
uav.stop();
} catch (...) {
std::cout << "!!! Unexpected error !!!" << std::endl;
uav.stop();
}
}
/////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////
void
testcase_read() {
using namespace acc;
using namespace std;
// std::string port = "/dev/ttyUSB0";
std::string port = "/dev/tty.usbserial-A504DRSI";
UAV uav(port, B57600, CTRL_MODE::READ_ONLY);
// uav.orientation = UAV_Z::DOWNWARD;
uav.orientation = UAV_Z::UPWARD;
Logger lg(std::cout);
lg.floating_point_digits = 2;
std::ofstream myfile;
myfile.open ("./utilities/data.csv");
Logger lg_file(myfile);
lg_file.separator = ",\t";
lg_file.log("time", "roll", "pitch", "yaw", "eta", "eps1", "eps2", "eps3", "norm");
try {
// frame read test
uav.frame.enable_read_angles(0);
// uav.frame.enable_read_angles_d(1);
// uav.frame.enable_read_acc(1);
//magnetometer
// uav.magnetometer.enable_read(0);
// enable read info
// uav.info.status.enable_read(1);
// uav.info.flight_time.enable_read(1);
// uav.info.battery_voltage.enable_read(1);
// uav.info.cpu_load.enable_read(1);
// uav.info.up_time.enable_read(1);
// enable read RC channels
// uav.rc_ch[0].enable_read(1);
// uav.rc_ch[1].enable_read(1);
// uav.rc_ch[2].enable_read(1);
// uav.rc_ch[3].enable_read(1);
// uav.rc_ch[4].enable_read(1);
// uav.rc_ch[5].enable_read(1);
// uav.rc_ch[6].enable_read(1);
// uav.rc_ch[7].enable_read(1);
uav.start();
double freq = 100;
lg.timer.reset_start_time(); // set timer in logger to 0
// while(lg.timer.time() < 10.0) {
while(true) {
// print angles
lg.log(lg.timer.time(), uav.frame.roll.read(), uav.frame.pitch.read(), uav.frame.yaw.read());
auto q = uav.frame.quaternion();
lg_file.log(lg.timer.time(), uav.frame.roll.read(), uav.frame.pitch.read(), uav.frame.yaw.read(), q[0], q[1], q[2], q[3], sqrt(pow(q[0], 2) + pow(q[1], 2) + pow(q[2], 2) + pow(q[3], 2)));
// print angles dot
// lg.log(lg.time(), uav.frame.roll_d.read(), uav.frame.pitch_d.read(), uav.frame.yaw_d.read());
// print acc
// lg.log(lg.timer.time(), uav.frame.x_dd.read(), uav.frame.y_dd.read(), uav.frame.z_dd.read());
// print magentometer
// lg.log(lg.timer.time(), uav.magnetometer.x.read(), uav.magnetometer.y.read(), uav.magnetometer.z.read());
// print infos
// lg.log(lg.timer.time(), uav.info.status.read(), uav.info.flight_time.read(), uav.info.battery_voltage.read(), uav.info.cpu_load.read(), uav.info.up_time.read());
// print RC channels
// lg.log(lg.timer.time(), uav.rc_ch[0].read(), uav.rc_ch[1].read(), uav.rc_ch[2].read(), uav.rc_ch[3].read(), uav.rc_ch[4].read(), uav.rc_ch[5].read(), uav.rc_ch[6].read(), uav.rc_ch[7].read());
usleep(1E6/freq);
}
} catch (std::runtime_error e) {
std::cout << "Exception: " << e.what() << std::endl;
uav.stop();
} catch (...) {
std::cout << "!!! Unexpected error !!!" << std::endl;
uav.stop();
}
}
/////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////
void
testcase_motors_start_stop() {
using namespace acc;
std::string port = "/dev/tty.usbserial-A504DRSI";
UAV uav(port, B57600, CTRL_MODE::DIMC);
try {
uav.motors.enable_write(0);
uav.start().control_enable(true);
sleep(2);
std::cout << "START" << std::endl;
uav.motors.start();
sleep(4);
std::cout << "STOP" << std::endl;
uav.motors.stop();
} catch (std::runtime_error e) {
std::cout << "Exception: " << e.what() << std::endl;
uav.stop();
} catch (...) {
std::cout << "!!! Unexpected error !!!" << std::endl;
uav.stop();
}
}
/////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////
void
testcase_motors_dynamics() {
using namespace acc;
std::string port = "/dev/tty.usbserial-A504DRSI";
UAV uav(port, B57600, CTRL_MODE::DIMC);
std::ofstream myfile;
myfile.open ("./utilities/motors_dynamics_log.csv");
Logger lg_file(myfile);
lg_file.separator = ",\t";
lg_file.log("time", "rpm_d", "rmp");
Logger lg_console(std::cout);
double freq = 300;
mb::Syncronizer syncro(freq);
double rpm_d = 0.0;
try {
uav.motors[0].enable_read(0);
// uav.motors[1].enable_read(0);
uav.motors.enable_write(0);
uav.start(900, 1000, 3000, 2);
uav.control_enable(true);
sleep(1);
std::cout << "STOP MOTORS" << std::endl;
uav.motors.stop();
sleep(2);
std::cout << "START MOTORS" << std::endl;
uav.motors[0].start();
// uav.motors[1].start();
sleep(4);
lg_file.timer.reset_start_time(); // set timer in logger to 0
std::cout << "START WHILE" << std::endl;
while(lg_file.timer.time() < 60.0) {
syncro.start();
rpm_d = mb::signal_builder(lg_file.timer.time());
uav.motors[0].write(rpm_d);
// uav.motors[1].write(rpm_d);
int motor_read = uav.motors[0].read();
// int motor_read2 = uav.motors[1].read();
lg_file.log(lg_file.timer.time(), rpm_d, motor_read);
// lg_console.log(lg_file.timer.time(), rpm_d, motor_read);
syncro.stop();
}
std::cout << "EXIT WHILE" << std::endl;
uav.motors[0].start(); // to take the motor to the min speed
// uav.motors[1].start(); // to take the motor to the min speed
sleep(2);
std::cout << "STOP" << std::endl;
uav.motors[0].stop();
// uav.motors[1].stop();
} catch (std::runtime_error e) {
std::cout << "Exception: " << e.what() << std::endl;
uav.stop();
} catch (...) {
std::cout << "!!! Unexpected error !!!" << std::endl;
uav.stop();
}
}
/////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////
void
testcase_motors_dynamics_engine() {
using namespace acc;
std::string port = "/dev/tty.usbserial-A504DRSI";
Engine<SerialBus>* ae;
std::ofstream myfile;
myfile.open ("./utilities/motors_dynamics_log.csv");
Logger lg_file(myfile);
lg_file.separator = ",\t";
lg_file.log("time", "rpm_d", "rmp");
Logger lg_console(std::cout);
double freq = 200;
mb::Syncronizer syncro(freq);
double rpm_d = 0.0;
try {
ae = &Engine<SerialBus>::init(port, B57600);
ae->add_read(0, Var::motor_rpm_1);
ae->add_write(0, Cmd::DIMC_motor_1,
Cmd::DIMC_motor_2,
Cmd::DIMC_motor_3,
Cmd::DIMC_motor_4,
Cmd::ctrl_mode,
Cmd::ctrl_enabled,
Cmd::disable_motor_onoff_by_stick);
ae->start(1000, 10);
ae->write(Cmd::ctrl_mode, 0);
ae->write(Cmd::ctrl_enabled, 1);
ae->write(Cmd::disable_motor_onoff_by_stick, 0);
sleep(1);
std::cout << "STOP MOTORS" << std::endl;
ae->write(Cmd::DIMC_motor_1, 0,
Cmd::DIMC_motor_2, 0,
Cmd::DIMC_motor_3, 0,
Cmd::DIMC_motor_4, 0); // motors stop
sleep(2);
std::cout << "START MOTORS" << std::endl;
ae->write(Cmd::DIMC_motor_1, 1);
sleep(4);
lg_file.timer.reset_start_time(); // set timer in logger to 0
std::cout << "START WHILE" << std::endl;
while(lg_file.timer.time() < 10.0) {
syncro.start();
rpm_d = mb::signal_builder(lg_file.timer.time());
ae->write(Cmd::DIMC_motor_1, DIMC_motor_write_conv(rpm_d));
int motor_read = motor_rpm_read_conv(ae->read(Var::motor_rpm_1));
lg_file.log(lg_file.timer.time(), rpm_d, motor_read);
lg_console.log(lg_file.timer.time(), rpm_d, motor_read);
syncro.stop();
}
std::cout << "EXIT WHILE" << std::endl;
ae->write(Cmd::DIMC_motor_1, 1);
sleep(2);
std::cout << "STOP" << std::endl;
ae->write(Cmd::DIMC_motor_1, 0);
} catch (std::runtime_error e) {
std::cout << "Exception: " << e.what() << std::endl;
ae->stop();
} catch (...) {
std::cout << "!!! Unexpected error !!!" << std::endl;
ae->stop();
}
}