From e915d9ad434ab2ff8e92f01fa000e4a114723267 Mon Sep 17 00:00:00 2001 From: Gabryel Reyes Date: Fri, 12 Jul 2024 10:26:53 +0200 Subject: [PATCH 01/38] Joined DCS to RU using slot --- webots/protos/Zumo32U4.proto | 44 ++++++------- webots/protos/ZumoComSystem.proto | 66 +++++++++---------- .../zumo_with_com_system/PlatoonTrack.wbt | 24 +++---- 3 files changed, 61 insertions(+), 73 deletions(-) diff --git a/webots/protos/Zumo32U4.proto b/webots/protos/Zumo32U4.proto index 913c24f7..e6b2297a 100644 --- a/webots/protos/Zumo32U4.proto +++ b/webots/protos/Zumo32U4.proto @@ -3,10 +3,11 @@ EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/appearances/protos/Rubber.proto" PROTO Zumo32U4 [ - field SFVec3f translation 0 0 0 - field SFRotation rotation 0 0 1 0 - field SFString name "Zumo" - field SFString contactMaterial "default" # Contact material of the tracks + field SFVec3f translation 0 0 0 + field SFRotation rotation 0 0 1 0 + field SFString name "Zumo" + field SFString contactMaterial "default" # Contact material of the tracks + field SFNode zumoComSystemSlot NULL # Slot for the ZumoComSystem ] { Robot { @@ -23,6 +24,10 @@ PROTO Zumo32U4 [ } Speaker { } + Slot { + type "ZumoComSystem" + endPoint IS zumoComSystemSlot + } DEF SHIELD Group { children [ Transform { @@ -42,7 +47,6 @@ PROTO Zumo32U4 [ ] } DEF TRACK_LEFT Track { - contactMaterial IS contactMaterial translation 0 0.0375 0 rotation 0 1 0 0 children [ @@ -77,6 +81,7 @@ PROTO Zumo32U4 [ } ] name "left_track" + contactMaterial IS contactMaterial boundingObject DEF TRACK_BO Group { children [ Transform { @@ -128,7 +133,6 @@ PROTO Zumo32U4 [ geometriesCount 70 } DEF TRACK_RIGHT Track { - contactMaterial IS contactMaterial translation 0 -0.0375 0 children [ DEF WHEEL_FR TrackWheel { @@ -162,6 +166,7 @@ PROTO Zumo32U4 [ } ] name "track_right" + contactMaterial IS contactMaterial boundingObject USE TRACK_BO physics USE TRACK_PH device [ @@ -435,8 +440,8 @@ PROTO Zumo32U4 [ 0.301 0 0 ] type "infra-red" - aperture 0.4 numberOfRays 5 + aperture 0.4 gaussianWidth 1000 } DistanceSensor { @@ -460,47 +465,36 @@ PROTO Zumo32U4 [ } ] } - DEF IMU Group { + DEF IMU Group { children [ Accelerometer { - name "accelerometer" - xAxis TRUE - yAxis TRUE - zAxis TRUE - resolution 0.001 lookupTable [ -19.62 -32768 0.001 - 0 0 0.001 + 0 0 0.001 19.62 32767 0.001 ] + resolution 0.001 } Gyro { name "gyro" - xAxis TRUE - yAxis TRUE - zAxis TRUE - resolution 0.001 lookupTable [ -9.32 -32768 0 0 0 0 9.32 32767 0 ] + resolution 0.001 } Compass { name "magnetometer" - xAxis TRUE - yAxis TRUE - zAxis TRUE - resolution 0.001 lookupTable [ -1 -32000 0 0 0 0 1 32000 0 ] + resolution 0.001 } ] } - DEF LEDS Group { children [ LED { @@ -576,12 +570,12 @@ PROTO Zumo32U4 [ ] } ] + name IS name boundingObject USE BODY physics Physics { - mass 0.2 density -1 + mass 0.2 } - name IS name controller "" } } \ No newline at end of file diff --git a/webots/protos/ZumoComSystem.proto b/webots/protos/ZumoComSystem.proto index 0569cc42..cac4ff8a 100644 --- a/webots/protos/ZumoComSystem.proto +++ b/webots/protos/ZumoComSystem.proto @@ -1,43 +1,43 @@ #VRML_SIM R2023a utf8 PROTO ZumoComSystem [ - field SFVec3f translation 0 0 0 - field SFRotation rotation 0 0 1 0 - field SFString name "ZumoComSystem" + field SFString name "ZumoComSystem" ] { - Robot { - translation IS translation - rotation IS rotation - children [ - DEF BODY Group { - children [ - Shape { - geometry Box { - size 0.06 0.05 0.01 + Slot { + type "ZumoComSystem" + endPoint Robot { + translation 0 0 0.1 + children [ + DEF BODY Group { + children [ + Shape { + geometry Box { + size 0.06 0.05 0.01 + } } - } - ] + ] + } + Receiver { + name "serialComRx" + type "serial" + } + Emitter { + name "serialComTx" + type "serial" + } + GPS { + name "gps" + } + ] + name IS name + description "DroidControlShip" + boundingObject USE BODY + physics Physics { + density -1 + mass 0.1 } - Receiver { - name "serialComRx" - type "serial" - } - Emitter { - name "serialComTx" - type "serial" - } - GPS { - name "gps" - } - ] - name IS name - description "DroidControlShip" - boundingObject USE BODY - physics Physics { - density -1 - mass 0.1 + controller "" } - controller "" } } \ No newline at end of file diff --git a/webots/worlds/zumo_with_com_system/PlatoonTrack.wbt b/webots/worlds/zumo_with_com_system/PlatoonTrack.wbt index a8d2a94b..b76406f9 100644 --- a/webots/worlds/zumo_with_com_system/PlatoonTrack.wbt +++ b/webots/worlds/zumo_with_com_system/PlatoonTrack.wbt @@ -41,33 +41,27 @@ DEF LEADER Zumo32U4 { rotation -1.0564747468923541e-06 8.746699709178704e-07 0.9999999999990595 1.5880805820884731 name "leader" contactMaterial "rubber" -} -ZumoComSystem { - translation 0 0 0 - rotation 0 0 1 0 - name "ZumoComSystemLeader" + zumoComSystemSlot ZumoComSystem { + name "ZumoComSystemLeader" + } } DEF FOLLOWER1 Zumo32U4 { translation -3.15 -1.2 0.013994298332013683 rotation -1.0564747468923541e-06 8.746699709178704e-07 0.9999999999990595 1.5880805820884731 name "follower_1" contactMaterial "rubber" -} -ZumoComSystem { - translation 0 0 0 - rotation 0 0 1 0 - name "ZumoComSystemFollower1" + zumoComSystemSlot ZumoComSystem { + name "ZumoComSystemFollower1" + } } DEF FOLLOWER2 Zumo32U4 { translation -3.15 -1.35 0.013994298332013683 rotation -1.0564747468923541e-06 8.746699709178704e-07 0.9999999999990595 1.5880805820884731 name "follower_2" contactMaterial "rubber" -} -ZumoComSystem { - translation 0 0 0 - rotation 0 0 1 0 - name "ZumoComSystemFollower2" + zumoComSystemSlot ZumoComSystem { + name "ZumoComSystemFollower2" + } } Supervisor { name "PlatoonSupervisor" From bcbf5a054777048bfac8ab3949b08ed264b89c70 Mon Sep 17 00:00:00 2001 From: Gabryel Reyes Date: Tue, 16 Jul 2024 10:30:50 +0200 Subject: [PATCH 02/38] Ignore tmp directory --- .gitignore | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/.gitignore b/.gitignore index 853a505f..e0690d08 100644 --- a/.gitignore +++ b/.gitignore @@ -8,4 +8,5 @@ lib/Webots *.wbproj webots/worlds/*.jpg doc/doxygen/*/* -__pycache__ \ No newline at end of file +__pycache__ +tmp/ \ No newline at end of file From 40237b523fe3a9aedf0192c935070567f2ac7a18 Mon Sep 17 00:00:00 2001 From: Gabryel Reyes Date: Tue, 16 Jul 2024 11:49:49 +0200 Subject: [PATCH 03/38] Updated all worlds using the ZumoComSystem --- webots/worlds/zumo_with_com_system/LineFollowerTrack.wbt | 8 +++----- webots/worlds/zumo_with_com_system/SensorFusionTrack.wbt | 8 +++----- 2 files changed, 6 insertions(+), 10 deletions(-) diff --git a/webots/worlds/zumo_with_com_system/LineFollowerTrack.wbt b/webots/worlds/zumo_with_com_system/LineFollowerTrack.wbt index bc65515e..9f71bcd6 100644 --- a/webots/worlds/zumo_with_com_system/LineFollowerTrack.wbt +++ b/webots/worlds/zumo_with_com_system/LineFollowerTrack.wbt @@ -39,11 +39,9 @@ DEF ROBOT Zumo32U4 { rotation -1.0564747468923541e-06 8.746699709178704e-07 0.9999999999990595 1.5880805820884731 name "Zumo" contactMaterial "rubber" -} -ZumoComSystem { - translation 0 0 0 - rotation 0 0 1 0 - name "ZumoComSystem" + zumoComSystemSlot ZumoComSystem { + name "ZumoComSystem" + } } Supervisor { name "Supervisor" diff --git a/webots/worlds/zumo_with_com_system/SensorFusionTrack.wbt b/webots/worlds/zumo_with_com_system/SensorFusionTrack.wbt index 638f43e7..43bb6b25 100644 --- a/webots/worlds/zumo_with_com_system/SensorFusionTrack.wbt +++ b/webots/worlds/zumo_with_com_system/SensorFusionTrack.wbt @@ -39,11 +39,9 @@ DEF ROBOT Zumo32U4 { rotation -1.0564747468923541e-06 8.746699709178704e-07 0.9999999999990595 1.5880805820884731 name "Zumo" contactMaterial "rubber" -} -ZumoComSystem { - translation 0 0 0 - rotation 0 0 1 0 - name "ZumoComSystem" + zumoComSystemSlot ZumoComSystem { + name "ZumoComSystem" + } } Supervisor { name "Supervisor" From e00a7cb12e1b5ff6a17dd78e9dae83b7243a07e0 Mon Sep 17 00:00:00 2001 From: Gabryel Reyes Date: Mon, 15 Jul 2024 15:37:23 +0200 Subject: [PATCH 04/38] Enable Python linting --- .github/workflows/main.yml | 29 ++++++++++++++++++++++++++++- 1 file changed, 28 insertions(+), 1 deletion(-) diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml index df06bc38..86ef6fa4 100644 --- a/.github/workflows/main.yml +++ b/.github/workflows/main.yml @@ -189,4 +189,31 @@ jobs: - name: Print doxygen warnings if: ${{ failure() }} - run: cat ./doc/doxygen/doxygen_warnings.txt \ No newline at end of file + run: cat ./doc/doxygen/doxygen_warnings.txt + + # Lint Python code + lint: + # The type of runner that the job will run on. + runs-on: ubuntu-latest + needs: intro + strategy: + matrix: + python-version: ["3.9", "3.10", "3.11"] + + # Steps represent a sequence of tasks that will be executed as part of the job. + steps: + - name: Checkout repository + uses: actions/checkout@v4 + + - name: Set up Python ${{ matrix.python-version }} + uses: actions/setup-python@v5 + with: + python-version: ${{ matrix.python-version }} + + - name: Install dependencies + run: | + pip install pylint + + - name: Analysing the code with pylint + run: | + pylint ./webots/controllers/*/*.py From c93a53fa4d50dc9e25e0d6a71ea4a7ef02093445 Mon Sep 17 00:00:00 2001 From: Gabryel Reyes Date: Mon, 15 Jul 2024 16:12:36 +0200 Subject: [PATCH 05/38] Fixed pylint findings --- .../Obstacle/{Obstacle.py => obstacle.py} | 2 +- .../PlatoonSupervisor/PlatoonSupervisor.py | 85 ------------------ .../controllers/Supervisor/robot_observer.py | 8 +- .../{Supervisor.py => supervisor.py} | 74 ++++++---------- .../platoon_supervisor/platoon_supervisor.py | 88 +++++++++++++++++++ webots/protos/Obstacle.proto | 2 +- webots/worlds/ETrack.wbt | 2 +- webots/worlds/GridWithMarkers.wbt | 2 +- webots/worlds/LargeTrack.wbt | 2 +- webots/worlds/LineFollowerTrack.wbt | 2 +- .../LineFollowerTrack.wbt | 2 +- .../zumo_with_com_system/PlatoonTrack.wbt | 2 +- .../SensorFusionTrack.wbt | 2 +- 13 files changed, 129 insertions(+), 144 deletions(-) rename webots/controllers/Obstacle/{Obstacle.py => obstacle.py} (95%) delete mode 100644 webots/controllers/PlatoonSupervisor/PlatoonSupervisor.py rename webots/controllers/Supervisor/{Supervisor.py => supervisor.py} (74%) create mode 100644 webots/controllers/platoon_supervisor/platoon_supervisor.py diff --git a/webots/controllers/Obstacle/Obstacle.py b/webots/controllers/Obstacle/obstacle.py similarity index 95% rename from webots/controllers/Obstacle/Obstacle.py rename to webots/controllers/Obstacle/obstacle.py index 9b7ec60a..c7cd9e10 100644 --- a/webots/controllers/Obstacle/Obstacle.py +++ b/webots/controllers/Obstacle/obstacle.py @@ -1,7 +1,7 @@ """ Controller for Obstacle proto.""" import sys -from controller import Robot +from controller import Robot # pylint: disable=import-error # Debounce time of collision in seconds. DEBOUNCE_TIME = 1 diff --git a/webots/controllers/PlatoonSupervisor/PlatoonSupervisor.py b/webots/controllers/PlatoonSupervisor/PlatoonSupervisor.py deleted file mode 100644 index c74a2daf..00000000 --- a/webots/controllers/PlatoonSupervisor/PlatoonSupervisor.py +++ /dev/null @@ -1,85 +0,0 @@ -""" Platoon Supervisor controller for Webots. Moves the obstacle up and down when the space key is pressed. """ - -import sys -from controller import Supervisor - -DEBOUNCE_TIME = 0.2 # Debounce time for the spacebar in seconds -OBSTACLE_NAME = "OBSTACLE" # Name of the obstacle node -TRANSLATION_FIELD = "translation" # Field name for the translation - -RAISED_HEIGHT = 0.4 # Active height in meters -LOWERED_HEIGHT = 0.06 # Rest height in meters - -# Create the Supervisor instance. -supervisor = Supervisor() - -# Get the keyboard device -keyboard = supervisor.getKeyboard() - - -def main_loop(): - """Main loop: - - Perform simulation steps until Webots is stopping the controller- - - Returns: - number: Status - """ - - # Get the obstacle node - obstacle_node = supervisor.getFromDef(OBSTACLE_NAME) - - if obstacle_node is None: - - print(f"Robot DEF {OBSTACLE_NAME} not found.") - status = -1 - - else: - # Get the translation field of the obstacle node - translation_field = obstacle_node.getField(TRANSLATION_FIELD) - - if translation_field is None: - print( - f"Translation field {TRANSLATION_FIELD} of {OBSTACLE_NAME} not found.") - status = -1 - - else: - # Get the time step of the current world. - timestep = int(supervisor.getBasicTimeStep()) - - # Enable the keyboard device - keyboard.enable(timestep) - - # Get current time for debouncing - last_time = supervisor.getTime() - - # Set the initial state to raised obstacle - is_obstacle_lowered = False - curr_pos = translation_field.getSFVec3f() - translation_field.setSFVec3f( - [curr_pos[0], curr_pos[1], RAISED_HEIGHT]) - - while supervisor.step(timestep) != -1: - if keyboard.getKey() == ord(' '): # If space key is pressed - if (supervisor.getTime() - last_time) > DEBOUNCE_TIME: # Debounce space key - - # Update last time - last_time = supervisor.getTime() - - # Get the current position of the obstacle - curr_pos = translation_field.getSFVec3f() - - # Move the obstacle - if is_obstacle_lowered is True: # Raise the obstacle - translation_field.setSFVec3f( - [curr_pos[0], curr_pos[1], RAISED_HEIGHT]) - else: # Lower the obstacle - translation_field.setSFVec3f( - [curr_pos[0], curr_pos[1], LOWERED_HEIGHT]) - - # Toggle the obstacle state - is_obstacle_lowered = not is_obstacle_lowered - - return status - - -sys.exit(main_loop()) diff --git a/webots/controllers/Supervisor/robot_observer.py b/webots/controllers/Supervisor/robot_observer.py index eb56e372..0ddfcf9a 100644 --- a/webots/controllers/Supervisor/robot_observer.py +++ b/webots/controllers/Supervisor/robot_observer.py @@ -4,14 +4,16 @@ import math + class RobotObserver(): """The robot observer provides position and orientation information about a robot by using a supervisor. """ + def __init__(self, robot_node): self._robot_node = robot_node - self._ref_position = [0, 0, 0] # x, y, z - self._ref_orientation_euler = [0, 0, 0, 0] # roll, pitch and yaw angle + self._ref_position = [0, 0, 0] # x, y, z + self._ref_orientation_euler = [0, 0, 0, 0] # roll, pitch and yaw angle self._factor_m_to_mm = 1000 def _get_position(self): @@ -133,6 +135,7 @@ def rad_to_deg(angle_rad): """ return angle_rad * 180 / math.pi + def has_position_changed(position, position_old): """Returns whether the position changed. @@ -152,6 +155,7 @@ def has_position_changed(position, position_old): return has_changed + def has_orientation_changed(orientation, orientation_old): """Returns whether the orientation changed. diff --git a/webots/controllers/Supervisor/Supervisor.py b/webots/controllers/Supervisor/supervisor.py similarity index 74% rename from webots/controllers/Supervisor/Supervisor.py rename to webots/controllers/Supervisor/supervisor.py index 6e528e82..ec3a24ef 100644 --- a/webots/controllers/Supervisor/Supervisor.py +++ b/webots/controllers/Supervisor/supervisor.py @@ -4,8 +4,8 @@ import math import sys -from controller import Supervisor -from robot_observer import RobotObserver +from controller import Supervisor # pylint: disable=import-error +from robot_observer import RobotObserver, has_position_changed, has_orientation_changed # The PROTO DEF name must be given! ROBOT_NAME = "ROBOT" @@ -13,6 +13,7 @@ # The supervisor receiver name. SUPERVISOR_RX_NAME = "serialComRx" + def serial_com_read(serial_com_rx_device): """Read from serial communication device. @@ -30,6 +31,7 @@ def serial_com_read(serial_com_rx_device): return rx_data + def rad_to_deg(angle_rad): """Convert angle in rad to degree. @@ -41,6 +43,7 @@ def rad_to_deg(angle_rad): """ return angle_rad * 180 / math.pi + def convert_angle_to_2pi(angle): """Convert angle from range [-PI; PI] in rad to [0; 2PI]. @@ -55,6 +58,7 @@ def convert_angle_to_2pi(angle): return angle + def convert_webots_angle_to_ru_angle(webots_angle): """Convert Webots angle to RadonUlzer angle. @@ -73,51 +77,15 @@ def convert_webots_angle_to_ru_angle(webots_angle): webots_angle_2pi = convert_angle_to_2pi(webots_angle) - # TODO Handling the negative range. + # TO DO Handling the negative range. return webots_angle_2pi -def has_position_changed(position, position_old): - """Returns whether the position changed. - - Args: - position (list[float]): Position 1 - position_old (list[float]): Position 2 - - Returns: - bool: If changed, it will return True otherwise False. - """ - has_changed = False - - for idx, value in enumerate(position): - if int(value) != int(position_old[idx]): - has_changed = True - break - - return has_changed -def has_orientation_changed(orientation, orientation_old): - """Returns whether the orientation changed. - - Args: - orientation (list[float]): Orientation 1 - orientation_old (list[float]): Orientation 2 - - Returns: - bool: If changed, it will return True otherwise False. - """ - has_changed = False - - for idx, value in enumerate(orientation): - if int(rad_to_deg(value)) != int(rad_to_deg(orientation_old[idx])): - has_changed = True - break - - return has_changed - -class OdometryData(): # pylint: disable=too-few-public-methods +class OdometryData(): # pylint: disable=too-few-public-methods """Odometry data container. """ + def __init__(self) -> None: self.x = 0 self.y = 0 @@ -130,6 +98,10 @@ def reset(self): self.y = 0 self.yaw_angle = 0 + +# pylint: disable=too-many-branches +# pylint: disable=too-many-statements +# pylint: disable=too-many-locals def main_loop(): """Main loop: - Perform simulation steps until Webots is stopping the controller- @@ -150,7 +122,8 @@ def main_loop(): supervisor_com_rx = supervisor.getDevice(SUPERVISOR_RX_NAME) if supervisor_com_rx is None: - print(f"No supervisor communication possible, because {SUPERVISOR_RX_NAME} not found.") + print( + f"No supervisor communication possible, because {SUPERVISOR_RX_NAME} not found.") else: supervisor_com_rx.enable(timestep) @@ -192,9 +165,10 @@ def main_loop(): # Robot odometry data received? elif command[0] == "ODO": - robot_odometry.x = int(command[1]) # [mm] - robot_odometry.y = int(command[2]) # [mm] - robot_odometry.yaw_angle = float(command[3]) / 1000.0 # [rad] + robot_odometry.x = int(command[1]) # [mm] + robot_odometry.y = int(command[2]) # [mm] + robot_odometry.yaw_angle = float( + command[3]) / 1000.0 # [rad] # Unknown command. else: @@ -203,15 +177,18 @@ def main_loop(): robot_position = robot_observer.get_rel_position() robot_orientation = robot_observer.get_rel_orientation() - any_change = has_position_changed(robot_position, robot_position_old) + any_change = has_position_changed( + robot_position, robot_position_old) if any_change is False: - any_change = has_orientation_changed(robot_orientation, robot_orientation_old) + any_change = has_orientation_changed( + robot_orientation, robot_orientation_old) if any_change is True: robot_yaw_angle = robot_orientation[2] - yaw_ru_angle = convert_webots_angle_to_ru_angle(robot_yaw_angle) + yaw_ru_angle = convert_webots_angle_to_ru_angle( + robot_yaw_angle) print(f"{int(robot_position[0])}, ", end="") print(f"{int(robot_position[1])}, ", end="") @@ -225,4 +202,5 @@ def main_loop(): return status + sys.exit(main_loop()) diff --git a/webots/controllers/platoon_supervisor/platoon_supervisor.py b/webots/controllers/platoon_supervisor/platoon_supervisor.py new file mode 100644 index 00000000..62d213d1 --- /dev/null +++ b/webots/controllers/platoon_supervisor/platoon_supervisor.py @@ -0,0 +1,88 @@ +""" Platoon Supervisor controller for Webots. +Moves the obstacle up and down when the space key is pressed. """ + +import sys +from controller import Supervisor # pylint: disable=import-error + +DEBOUNCE_TIME = 0.2 # Debounce time for the spacebar in seconds +OBSTACLE_NAME = "OBSTACLE" # Name of the obstacle node +TRANSLATION_FIELD = "translation" # Field name for the translation + +RAISED_HEIGHT = 0.4 # Active height in meters +LOWERED_HEIGHT = 0.06 # Rest height in meters + +# Create the Supervisor instance. +supervisor = Supervisor() + +# Get the keyboard device +keyboard = supervisor.getKeyboard() + + +def main_loop(): + """Main loop: + - Perform simulation steps until Webots is stopping the controller- + + Returns: + number: Status + """ + + status = 0 + + # Get the obstacle node + obstacle_node = supervisor.getFromDef(OBSTACLE_NAME) + + if obstacle_node is None: + + print(f"Robot DEF {OBSTACLE_NAME} not found.") + status = -1 + + else: + # Get the translation field of the obstacle node + translation_field = obstacle_node.getField(TRANSLATION_FIELD) + + if translation_field is None: + print( + f"Translation field {TRANSLATION_FIELD} of {OBSTACLE_NAME} not found.") + status = -1 + + if status == 0: + # Get the time step of the current world. + timestep = int(supervisor.getBasicTimeStep()) + + # Enable the keyboard device + keyboard.enable(timestep) + + # Get current time for debouncing + last_time = supervisor.getTime() + + # Set the initial state to raised obstacle + is_obstacle_lowered = False + curr_pos = translation_field.getSFVec3f() + translation_field.setSFVec3f( + [curr_pos[0], curr_pos[1], RAISED_HEIGHT]) + + while supervisor.step(timestep) != -1: + if keyboard.getKey() == ord(' '): # If space key is pressed + if (supervisor.getTime() - last_time) > DEBOUNCE_TIME: # Debounce space key + + # Update last time + last_time = supervisor.getTime() + + # Get the current position of the obstacle + curr_pos = translation_field.getSFVec3f() + + # Move the obstacle + if is_obstacle_lowered is True: # Raise the obstacle + translation_field.setSFVec3f( + [curr_pos[0], curr_pos[1], RAISED_HEIGHT]) + else: # Lower the obstacle + translation_field.setSFVec3f( + [curr_pos[0], curr_pos[1], LOWERED_HEIGHT]) + + # Toggle the obstacle state + is_obstacle_lowered = not is_obstacle_lowered + + return status + + +sys.exit(main_loop()) diff --git a/webots/protos/Obstacle.proto b/webots/protos/Obstacle.proto index d14f9a7d..3f0f3c28 100644 --- a/webots/protos/Obstacle.proto +++ b/webots/protos/Obstacle.proto @@ -35,6 +35,6 @@ PROTO Obstacle [ ] name IS name boundingObject USE BODY - controller "Obstacle" + controller "obstacle" } } \ No newline at end of file diff --git a/webots/worlds/ETrack.wbt b/webots/worlds/ETrack.wbt index 9d73de1f..c2de750c 100644 --- a/webots/worlds/ETrack.wbt +++ b/webots/worlds/ETrack.wbt @@ -55,6 +55,6 @@ DEF ROBOT Zumo32U4 { } Supervisor { name "Supervisor" - controller "Supervisor" + controller "supervisor" supervisor TRUE } diff --git a/webots/worlds/GridWithMarkers.wbt b/webots/worlds/GridWithMarkers.wbt index 4efbd47d..6eabc165 100644 --- a/webots/worlds/GridWithMarkers.wbt +++ b/webots/worlds/GridWithMarkers.wbt @@ -42,7 +42,7 @@ DEF ROBOT Zumo32U4 { } Supervisor { name "Supervisor" - controller "Supervisor" + controller "supervisor" supervisor TRUE } Marker { diff --git a/webots/worlds/LargeTrack.wbt b/webots/worlds/LargeTrack.wbt index dc8d4dbb..814b4501 100644 --- a/webots/worlds/LargeTrack.wbt +++ b/webots/worlds/LargeTrack.wbt @@ -55,6 +55,6 @@ DEF ROBOT Zumo32U4 { } Supervisor { name "Supervisor" - controller "Supervisor" + controller "supervisor" supervisor TRUE } diff --git a/webots/worlds/LineFollowerTrack.wbt b/webots/worlds/LineFollowerTrack.wbt index 2e39442b..628d7780 100644 --- a/webots/worlds/LineFollowerTrack.wbt +++ b/webots/worlds/LineFollowerTrack.wbt @@ -41,6 +41,6 @@ DEF ROBOT Zumo32U4 { } Supervisor { name "Supervisor" - controller "Supervisor" + controller "supervisor" supervisor TRUE } diff --git a/webots/worlds/zumo_with_com_system/LineFollowerTrack.wbt b/webots/worlds/zumo_with_com_system/LineFollowerTrack.wbt index 9f71bcd6..7552f849 100644 --- a/webots/worlds/zumo_with_com_system/LineFollowerTrack.wbt +++ b/webots/worlds/zumo_with_com_system/LineFollowerTrack.wbt @@ -45,6 +45,6 @@ DEF ROBOT Zumo32U4 { } Supervisor { name "Supervisor" - controller "Supervisor" + controller "supervisor" supervisor TRUE } diff --git a/webots/worlds/zumo_with_com_system/PlatoonTrack.wbt b/webots/worlds/zumo_with_com_system/PlatoonTrack.wbt index b76406f9..c7608663 100644 --- a/webots/worlds/zumo_with_com_system/PlatoonTrack.wbt +++ b/webots/worlds/zumo_with_com_system/PlatoonTrack.wbt @@ -65,7 +65,7 @@ DEF FOLLOWER2 Zumo32U4 { } Supervisor { name "PlatoonSupervisor" - controller "PlatoonSupervisor" + controller "platoon_supervisor" supervisor TRUE } DEF OBSTACLE Obstacle { diff --git a/webots/worlds/zumo_with_com_system/SensorFusionTrack.wbt b/webots/worlds/zumo_with_com_system/SensorFusionTrack.wbt index 43bb6b25..97afb27b 100644 --- a/webots/worlds/zumo_with_com_system/SensorFusionTrack.wbt +++ b/webots/worlds/zumo_with_com_system/SensorFusionTrack.wbt @@ -45,6 +45,6 @@ DEF ROBOT Zumo32U4 { } Supervisor { name "Supervisor" - controller "Supervisor" + controller "supervisor" supervisor TRUE } From f88f454db028889f1b5f0a2f2b28982872ed8f48 Mon Sep 17 00:00:00 2001 From: Gabryel Reyes Date: Tue, 23 Jul 2024 14:43:57 +0200 Subject: [PATCH 06/38] Fixed Motor Calibration by going to the correct state --- lib/APPLineFollower/src/StartupState.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/lib/APPLineFollower/src/StartupState.cpp b/lib/APPLineFollower/src/StartupState.cpp index fbe9f82d..b5e4c1e8 100644 --- a/lib/APPLineFollower/src/StartupState.cpp +++ b/lib/APPLineFollower/src/StartupState.cpp @@ -97,10 +97,10 @@ void StartupState::process(StateMachine& sm) Board& board = Board::getInstance(); IButton& buttonA = board.getButtonA(); - /* Start line sensor calibration? */ + /* Start motor calibration? */ if (true == Util::isButtonTriggered(buttonA, m_isButtonAPressed)) { - sm.setState(&LineSensorsCalibrationState::getInstance()); + sm.setState(&MotorSpeedCalibrationState::getInstance()); } /* If the max. motor speed calibration is done, it will be possible to From c71f8e000f8c92e11aab2634b64b1060a7ffe6cc Mon Sep 17 00:00:00 2001 From: Gabryel Reyes Date: Wed, 24 Jul 2024 16:35:49 +0200 Subject: [PATCH 07/38] Conditional use of 3D mesh for Zumo32U4 Models --- webots/protos/Zumo32U4.proto | 153 +++++++++++++----- .../protos/mesh_Zumo32U4/blade_default_1.stl | Bin 0 -> 177884 bytes .../ir-emitter-led-holder_default_1.stl | Bin 0 -> 163284 bytes webots/protos/mesh_Zumo32U4/ir-led_left_1.stl | Bin 0 -> 269684 bytes .../protos/mesh_Zumo32U4/ir-led_right_1.stl | Bin 0 -> 269784 bytes .../protos/mesh_Zumo32U4/irs08a_default_1.stl | Bin 0 -> 611284 bytes webots/protos/mesh_Zumo32U4/lcd_1.stl | Bin 0 -> 355284 bytes 7 files changed, 117 insertions(+), 36 deletions(-) create mode 100644 webots/protos/mesh_Zumo32U4/blade_default_1.stl create mode 100644 webots/protos/mesh_Zumo32U4/ir-emitter-led-holder_default_1.stl create mode 100644 webots/protos/mesh_Zumo32U4/ir-led_left_1.stl create mode 100644 webots/protos/mesh_Zumo32U4/ir-led_right_1.stl create mode 100644 webots/protos/mesh_Zumo32U4/irs08a_default_1.stl create mode 100644 webots/protos/mesh_Zumo32U4/lcd_1.stl diff --git a/webots/protos/Zumo32U4.proto b/webots/protos/Zumo32U4.proto index e6b2297a..90b919d2 100644 --- a/webots/protos/Zumo32U4.proto +++ b/webots/protos/Zumo32U4.proto @@ -1,4 +1,5 @@ #VRML_SIM R2023a utf8 +# template language: javascript EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/appearances/protos/Rubber.proto" @@ -8,6 +9,7 @@ PROTO Zumo32U4 [ field SFString name "Zumo" field SFString contactMaterial "default" # Contact material of the tracks field SFNode zumoComSystemSlot NULL # Slot for the ZumoComSystem + field SFBool performanceMode FALSE # Use basic blocks for the robot instead of meshes. Increases performance. ] { Robot { @@ -30,9 +32,10 @@ PROTO Zumo32U4 [ } DEF SHIELD Group { children [ + %< if (true == fields.performanceMode.value) { >% Transform { - translation 0.047 0 0.007 - rotation 0 1 0 -0.42 + translation 0.046 0 0.006 + rotation 0 1 0 -0.26 children [ Shape { appearance PBRAppearance { @@ -44,6 +47,7 @@ PROTO Zumo32U4 [ } ] } + %<}>% ] } DEF TRACK_LEFT Track { @@ -184,38 +188,20 @@ PROTO Zumo32U4 [ } DEF BODY Group { children [ - Shape { + Shape { appearance DEF BODY_COLOR PBRAppearance { - emissiveColor 0.2 0.2 0.2 + baseColor 0.2 0.2 0.2 + metalness 0 } geometry DEF BODY_GEOMETRY Box { - size 0.06 0.065 0.02 + size 0.085 0.065 0.023 } } - Transform { - translation 0.0325 0 0.0025 - children [ - Shape { - appearance USE BODY_COLOR - geometry Box { - size 0.025 0.065 0.015 - } - } - ] - } - Transform { - translation -0.01 0 0 - children [ - Shape { - appearance USE BODY_COLOR - geometry USE BODY_GEOMETRY - } - ] - } ] } DEF LINE_SENSOR_ARRAY Group { children [ + %< if (true == fields.performanceMode.value) { >% Transform { translation 0.0425 0 -0.0075 children [ @@ -228,7 +214,7 @@ PROTO Zumo32U4 [ ] } Transform { - translation 0.049 0 -0.009 + translation 0.044 0 -0.009 children [ Shape { appearance USE BODY_COLOR @@ -238,14 +224,18 @@ PROTO Zumo32U4 [ } ] } + %<}>% DistanceSensor { - translation 0.05 0.001 -0.01 + translation 0.045 0.001 -0.01 rotation 0 1 0 1.5708 children [ Shape { appearance DEF LSAPPEARANCE PBRAppearance { baseColor 0 0 0 metalness 0 + %< if (false == fields.performanceMode.value) { >% + transparency 1 + %<}>% } geometry DEF LIGHTSENSOR Box { size 0.00025 0.002 0.004 @@ -265,13 +255,16 @@ PROTO Zumo32U4 [ aperture 0.4 } Emitter { - translation 0.05 -0.001 -0.01 + translation 0.045 -0.001 -0.01 rotation 0 1 0 1.5708 children [ Shape { appearance DEF EMAPPEARANCE PBRAppearance { baseColor 1 0 0 metalness 0 + %< if (false == fields.performanceMode.value) { >% + transparency 1 + %<}>% } geometry DEF EMITTER Box { size 0.00025 0.002 0.004 @@ -286,7 +279,7 @@ PROTO Zumo32U4 [ aperture 0.35 } DistanceSensor { - translation 0.05 0.011 -0.01 + translation 0.045 0.011 -0.01 rotation 0 1 0 1.5708 children [ Shape { @@ -306,7 +299,7 @@ PROTO Zumo32U4 [ aperture 0.4 } Emitter { - translation 0.05 0.009 -0.01 + translation 0.045 0.009 -0.01 rotation 0 1 0 1.5708 children [ Shape { @@ -321,7 +314,7 @@ PROTO Zumo32U4 [ aperture 0.35 } DistanceSensor { - translation 0.05 -0.009 -0.01 + translation 0.045 -0.009 -0.01 rotation 0 1 0 1.5708 children [ Shape { @@ -341,7 +334,7 @@ PROTO Zumo32U4 [ aperture 0.4 } Emitter { - translation 0.05 -0.011 -0.01 + translation 0.045 -0.011 -0.01 rotation 0 1 0 1.5708 children [ Shape { @@ -356,7 +349,7 @@ PROTO Zumo32U4 [ aperture 0.35 } DistanceSensor { - translation 0.05 0.046 -0.01 + translation 0.045 0.046 -0.01 rotation 0 1 0 1.5708 children [ Shape { @@ -376,7 +369,7 @@ PROTO Zumo32U4 [ aperture 0.4 } Emitter { - translation 0.05 0.044 -0.01 + translation 0.045 0.044 -0.01 rotation 0 1 0 1.5708 children [ Shape { @@ -391,7 +384,7 @@ PROTO Zumo32U4 [ aperture 0.35 } DistanceSensor { - translation 0.05 -0.044 -0.01 + translation 0.045 -0.044 -0.01 rotation 0 1 0 1.5708 children [ Shape { @@ -411,7 +404,7 @@ PROTO Zumo32U4 [ aperture 0.4 } Emitter { - translation 0.05 -0.046 -0.01 + translation 0.045 -0.046 -0.01 rotation 0 1 0 1.5708 children [ Shape { @@ -569,6 +562,94 @@ PROTO Zumo32U4 [ } ] } + %< if (false == fields.performanceMode.value) { >% + DEF MESH Transform { + translation 0 0 -0.01 + scale 0.001 0.001 0.001 + children [ + %< if (undefined == fields.zumoComSystemSlot.value) { >% + Shape { + appearance PBRAppearance { + baseColor 0.1 0.4 0.1 + metalness 0 + } + geometry Mesh { + url [ + "./mesh_Zumo32U4/lcd_1.stl" + ] + name "LCD" + } + castShadows FALSE + } + %<}>% + Shape { + appearance PBRAppearance { + baseColor 0.74902 0.737255 0.694118 + metalness 0 + } + geometry Mesh { + url [ + "./mesh_Zumo32U4/blade_default_1.stl" + ] + name "Blade" + } + castShadows FALSE + } + Shape { + appearance PBRAppearance { + baseColor 0.180392 0.172549 0.160784 + metalness 0 + } + geometry Mesh { + url [ + "./mesh_Zumo32U4/ir-emitter-led-holder_default_1.stl" + ] + name "Emitter_holder" + } + castShadows FALSE + } + Shape { + appearance PBRAppearance { + baseColor 0.858824 0.843137 0.8 + metalness 0 + } + geometry Mesh { + url [ + "./mesh_Zumo32U4/ir-led_left_1.stl" + ] + name "IR_Left" + } + castShadows FALSE + } + Shape { + appearance PBRAppearance { + baseColor 0.858824 0.839216 0.796078 + metalness 0 + } + geometry Mesh { + url [ + "./mesh_Zumo32U4/ir-led_right_1.stl" + ] + name "IR_Right" + } + castShadows FALSE + } + Shape { + appearance PBRAppearance { + baseColor 0.0941176 0.0941176 0.0862745 + metalness 0 + } + geometry Mesh { + url [ + "./mesh_Zumo32U4/irs08a_default_1.stl" + ] + name "IRS" + } + castShadows FALSE + } + ] + } + %<}>% ] name IS name boundingObject USE BODY diff --git 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z@87RvMU-~dw_mTUJQ3t`y!s>8E4gRX%xcv`zAHk8bAQm!X2&)k{XZkzKhm=z%suOo zQFLwQ7>IR0*OLfV2FLgNxqOMz&ieN2m6a!ge2$kMc^;H|M$N2Bk9yxt&x(-Y<=OuL Du*EE7 literal 0 HcmV?d00001 From 0c1ea31021da38704d8424aa2ac79e4115888580 Mon Sep 17 00:00:00 2001 From: Gabryel Reyes Date: Wed, 24 Jul 2024 17:01:39 +0200 Subject: [PATCH 08/38] Conditional use of mesh in ZumoComSystem --- webots/protos/ZumoComSystem.proto | 26 +- .../mesh_ZumoComSystem/ZumoComSystem.mtl | 32 + .../mesh_ZumoComSystem/ZumoComSystem.obj | 254259 +++++++++++++++ 3 files changed, 254310 insertions(+), 7 deletions(-) create mode 100644 webots/protos/mesh_ZumoComSystem/ZumoComSystem.mtl create mode 100644 webots/protos/mesh_ZumoComSystem/ZumoComSystem.obj diff --git a/webots/protos/ZumoComSystem.proto b/webots/protos/ZumoComSystem.proto index cac4ff8a..450f9d03 100644 --- a/webots/protos/ZumoComSystem.proto +++ b/webots/protos/ZumoComSystem.proto @@ -1,21 +1,38 @@ #VRML_SIM R2023a utf8 +# template language: javascript PROTO ZumoComSystem [ - field SFString name "ZumoComSystem" + field SFString name "ZumoComSystem" + field SFBool performanceMode FALSE # Use basic blocks for the robot instead of meshes. Increases performance. ] { Slot { type "ZumoComSystem" endPoint Robot { - translation 0 0 0.1 + translation -0.005 0 0.018 children [ DEF BODY Group { children [ + %< if (false == fields.performanceMode.value) { >% + Transform { + translation -0.05 0.033 0 + rotation 8.8992e-07 1.07489e-06 1 -1.5535153071795866 + scale 0.01 0.01 0.01 + children [ + CadShape { + url [ + "./mesh_ZumoComSystem/ZumoComSystem.obj" + ] + } + ] + } + %< } else { >% Shape { geometry Box { size 0.06 0.05 0.01 } } + %<}>% ] } Receiver { @@ -32,11 +49,6 @@ PROTO ZumoComSystem [ ] name IS name description "DroidControlShip" - boundingObject USE BODY - physics Physics { - density -1 - mass 0.1 - } controller "" } } diff --git a/webots/protos/mesh_ZumoComSystem/ZumoComSystem.mtl b/webots/protos/mesh_ZumoComSystem/ZumoComSystem.mtl new file mode 100644 index 00000000..3b82e216 --- /dev/null +++ b/webots/protos/mesh_ZumoComSystem/ZumoComSystem.mtl @@ -0,0 +1,32 @@ +# WaveFront *.mtl file (generated by Autodesk ATF) + +newmtl Opaque(255,255,255) +Kd 1.000000 1.000000 1.000000 + +newmtl Opaque(64,64,64) +Kd 0.250980 0.250980 0.250980 + +newmtl Steel_-_Satin +Kd 0.627451 0.627451 0.627451 + +newmtl Opaque(202,209,238) +Kd 0.792157 0.819608 0.933333 + +newmtl Opaque(211,175,56) +Kd 0.827451 0.686275 0.219608 + +newmtl Opaque(192,192,192) +Kd 0.752941 0.752941 0.752941 + +newmtl Opaque(57,57,57) +Kd 0.223529 0.223529 0.223529 + +newmtl Opaque(165,158,150) +Kd 0.647059 0.619608 0.588235 + +newmtl Opaque(165,132,0) +Kd 0.647059 0.517647 0.000000 + +newmtl Opaque(80,124,105) +Kd 0.313725 0.486275 0.411765 + diff --git a/webots/protos/mesh_ZumoComSystem/ZumoComSystem.obj b/webots/protos/mesh_ZumoComSystem/ZumoComSystem.obj new file mode 100644 index 00000000..241b3e4f --- /dev/null +++ b/webots/protos/mesh_ZumoComSystem/ZumoComSystem.obj @@ -0,0 +1,254259 @@ +# WaveFront *.obj file (generated by Autodesk ATF) + +mtllib ZumoComSystem v2.mtl + +g Body1 + +v 5.560000 8.386365 -0.095432 +v 5.560000 8.372294 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37896/72072/65208 +f 37896/72072/65208 38991/72071/65207 38990/72073/65209 +f 37896/72072/65208 38990/72073/65209 37897/72074/65210 +f 37897/72074/65210 38990/72073/65209 38989/72075/65211 +f 37897/72074/65210 38989/72075/65211 37898/72026/65164 +f 37898/72026/65164 38989/72075/65211 38988/72027/65165 +# 39010 vertices +# 72075 texture params +# 65211 normals +# 77432 facets + +# 250 groups From d34f0859b5e0e7d23d39f416558a4b2d5bea372f Mon Sep 17 00:00:00 2001 From: Gabryel Reyes Date: Wed, 24 Jul 2024 16:36:23 +0200 Subject: [PATCH 09/38] Platoon uses performance mode due to high number of robots --- webots/worlds/zumo_with_com_system/PlatoonTrack.wbt | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/webots/worlds/zumo_with_com_system/PlatoonTrack.wbt b/webots/worlds/zumo_with_com_system/PlatoonTrack.wbt index b76406f9..5aa8240c 100644 --- a/webots/worlds/zumo_with_com_system/PlatoonTrack.wbt +++ b/webots/worlds/zumo_with_com_system/PlatoonTrack.wbt @@ -43,7 +43,9 @@ DEF LEADER Zumo32U4 { contactMaterial "rubber" zumoComSystemSlot ZumoComSystem { name "ZumoComSystemLeader" + performanceMode TRUE } + performanceMode TRUE } DEF FOLLOWER1 Zumo32U4 { translation -3.15 -1.2 0.013994298332013683 @@ -52,7 +54,9 @@ DEF FOLLOWER1 Zumo32U4 { contactMaterial "rubber" zumoComSystemSlot ZumoComSystem { name "ZumoComSystemFollower1" + performanceMode TRUE } + performanceMode TRUE } DEF FOLLOWER2 Zumo32U4 { translation -3.15 -1.35 0.013994298332013683 @@ -61,7 +65,9 @@ DEF FOLLOWER2 Zumo32U4 { contactMaterial "rubber" zumoComSystemSlot ZumoComSystem { name "ZumoComSystemFollower2" + performanceMode TRUE } + performanceMode TRUE } Supervisor { name "PlatoonSupervisor" From 2ac1e26b57f7ccb217b6518b95c4ae2ea70f899f Mon Sep 17 00:00:00 2001 From: Gabryel Reyes Date: Fri, 26 Jul 2024 14:35:48 +0200 Subject: [PATCH 10/38] Removed explicit init of dataclass. --- webots/controllers/Supervisor/supervisor.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/webots/controllers/Supervisor/supervisor.py b/webots/controllers/Supervisor/supervisor.py index ec3a24ef..7a15e485 100644 --- a/webots/controllers/Supervisor/supervisor.py +++ b/webots/controllers/Supervisor/supervisor.py @@ -4,6 +4,7 @@ import math import sys +from dataclasses import dataclass from controller import Supervisor # pylint: disable=import-error from robot_observer import RobotObserver, has_position_changed, has_orientation_changed @@ -82,14 +83,13 @@ def convert_webots_angle_to_ru_angle(webots_angle): return webots_angle_2pi -class OdometryData(): # pylint: disable=too-few-public-methods +@dataclass +class OdometryData(): """Odometry data container. """ - - def __init__(self) -> None: - self.x = 0 - self.y = 0 - self.yaw_angle = 0 + x: int = 0 + y: int = 0 + yaw_angle: float = 0 def reset(self): """Reset odometry data. From 78816cd8a3a7d27914913d96b562f91db032ed30 Mon Sep 17 00:00:00 2001 From: Gabryel Reyes Date: Thu, 1 Aug 2024 10:47:53 +0200 Subject: [PATCH 11/38] ZumoComSystem is placed in the middle of the Zumo32U4. Prevents error on GPS coordinates --- webots/protos/ZumoComSystem.proto | 14 +++++++++----- 1 file changed, 9 insertions(+), 5 deletions(-) diff --git a/webots/protos/ZumoComSystem.proto b/webots/protos/ZumoComSystem.proto index 450f9d03..584d89bf 100644 --- a/webots/protos/ZumoComSystem.proto +++ b/webots/protos/ZumoComSystem.proto @@ -9,7 +9,6 @@ PROTO ZumoComSystem [ Slot { type "ZumoComSystem" endPoint Robot { - translation -0.005 0 0.018 children [ DEF BODY Group { children [ @@ -27,10 +26,15 @@ PROTO ZumoComSystem [ ] } %< } else { >% - Shape { - geometry Box { - size 0.06 0.05 0.01 - } + Transform { + translation -0.005 0 0.018 + children [ + Shape { + geometry Box { + size 0.06 0.05 0.01 + } + } + ] } %<}>% ] From 3fc706f215da90d6be7774bdc3c749f8f22b6dc6 Mon Sep 17 00:00:00 2001 From: Gabryel Reyes Date: Thu, 1 Aug 2024 15:59:29 +0200 Subject: [PATCH 12/38] Added compass to ZumoComSystem --- webots/protos/ZumoComSystem.proto | 3 +++ 1 file changed, 3 insertions(+) diff --git a/webots/protos/ZumoComSystem.proto b/webots/protos/ZumoComSystem.proto index 584d89bf..a51d08c4 100644 --- a/webots/protos/ZumoComSystem.proto +++ b/webots/protos/ZumoComSystem.proto @@ -50,6 +50,9 @@ PROTO ZumoComSystem [ GPS { name "gps" } + Compass { + name "compass" + } ] name IS name description "DroidControlShip" From e621a1fad5290071d084cec4aef5ee6184a060cd Mon Sep 17 00:00:00 2001 From: Gabryel Reyes Date: Fri, 2 Aug 2024 09:56:14 +0200 Subject: [PATCH 13/38] Separated obstacle into own class --- .../platoon_supervisor/platoon_supervisor.py | 153 ++++++++++-------- 1 file changed, 89 insertions(+), 64 deletions(-) diff --git a/webots/controllers/platoon_supervisor/platoon_supervisor.py b/webots/controllers/platoon_supervisor/platoon_supervisor.py index 62d213d1..5317b1b8 100644 --- a/webots/controllers/platoon_supervisor/platoon_supervisor.py +++ b/webots/controllers/platoon_supervisor/platoon_supervisor.py @@ -1,21 +1,77 @@ -""" Platoon Supervisor controller for Webots. -Moves the obstacle up and down when the space key is pressed. """ +""" Platoon Supervisor controller for Webots. """ import sys -from controller import Supervisor # pylint: disable=import-error +from controller import Supervisor, Keyboard, Node, Field # pylint: disable=import-error -DEBOUNCE_TIME = 0.2 # Debounce time for the spacebar in seconds -OBSTACLE_NAME = "OBSTACLE" # Name of the obstacle node -TRANSLATION_FIELD = "translation" # Field name for the translation -RAISED_HEIGHT = 0.4 # Active height in meters -LOWERED_HEIGHT = 0.06 # Rest height in meters - -# Create the Supervisor instance. -supervisor = Supervisor() +class Obstacle: + """ + Class to represent the obstacle. + """ -# Get the keyboard device -keyboard = supervisor.getKeyboard() + DEBOUNCE_TIME = 0.2 # Debounce time for the spacebar in seconds + OBSTACLE_NAME = "OBSTACLE" # Name of the obstacle node + TRANSLATION_FIELD = "translation" # Field name for the translation + RAISED_HEIGHT = 0.4 # Active height in meters + LOWERED_HEIGHT = 0.06 # Rest height in meters + + def __init__(self) -> None: + """ Initialize the obstacle. """ + self.obstacle_node: Node = None + self.translation_field: Field = None + self.is_obstacle_lowered: bool = False + self.last_time: float = 0 + + def setup(self, supervisor: Supervisor) -> bool: + """ Setup the obstacle. """ + is_successful: bool = False + + # Get the obstacle node + self.obstacle_node = supervisor.getFromDef(self.OBSTACLE_NAME) + + if self.obstacle_node is not None: + # Get the translation field of the obstacle node + self.translation_field = self.obstacle_node.getField( + self.TRANSLATION_FIELD) + + if self.translation_field is None: + print( + f"Translation field {self.TRANSLATION_FIELD} \ + of {self.OBSTACLE_NAME} not found.") + else: + # Get current time for debouncing + self.last_time = supervisor.getTime() + curr_pos = self.translation_field.getSFVec3f() + self.translation_field.setSFVec3f([curr_pos[0], + curr_pos[1], + self.RAISED_HEIGHT]) + is_successful = True + + return is_successful + + def process(self, supervisor: Supervisor, keyboard: Keyboard) -> None: + """ Process the obstacle. """ + + if keyboard.getKey() == ord(' '): # If space key is pressed + if (supervisor.getTime() - self.last_time) > self.DEBOUNCE_TIME: # Debounce space key + # Update last time + self.last_time = supervisor.getTime() + + # Get the current position of the obstacle + curr_pos = self.translation_field.getSFVec3f() + + # Move the obstacle + if self.is_obstacle_lowered is True: # Raise the obstacle + print("Obstacle raised") + self.translation_field.setSFVec3f( + [curr_pos[0], curr_pos[1], self.RAISED_HEIGHT]) + else: # Lower the obstacle + print("Obstacle lowered") + self.translation_field.setSFVec3f( + [curr_pos[0], curr_pos[1], self.LOWERED_HEIGHT]) + + # Toggle the obstacle state + self.is_obstacle_lowered = not self.is_obstacle_lowered def main_loop(): @@ -26,63 +82,32 @@ def main_loop(): number: Status """ - status = 0 - - # Get the obstacle node - obstacle_node = supervisor.getFromDef(OBSTACLE_NAME) - - if obstacle_node is None: - - print(f"Robot DEF {OBSTACLE_NAME} not found.") - status = -1 - - else: - # Get the translation field of the obstacle node - translation_field = obstacle_node.getField(TRANSLATION_FIELD) - - if translation_field is None: - print( - f"Translation field {TRANSLATION_FIELD} of {OBSTACLE_NAME} not found.") - status = -1 - - if status == 0: - # Get the time step of the current world. - timestep = int(supervisor.getBasicTimeStep()) - - # Enable the keyboard device - keyboard.enable(timestep) - - # Get current time for debouncing - last_time = supervisor.getTime() + # Create the Supervisor instance. + supervisor = Supervisor() - # Set the initial state to raised obstacle - is_obstacle_lowered = False - curr_pos = translation_field.getSFVec3f() - translation_field.setSFVec3f( - [curr_pos[0], curr_pos[1], RAISED_HEIGHT]) + # Get the keyboard device + keyboard = supervisor.getKeyboard() - while supervisor.step(timestep) != -1: - if keyboard.getKey() == ord(' '): # If space key is pressed - if (supervisor.getTime() - last_time) > DEBOUNCE_TIME: # Debounce space key + # Create the obstacle instance + obstacle = Obstacle() - # Update last time - last_time = supervisor.getTime() + # Setup the obstacle + if obstacle.setup(supervisor) is False: + # No obstacle found. + obstacle = None - # Get the current position of the obstacle - curr_pos = translation_field.getSFVec3f() + # Get the time step of the current world. + timestep = int(supervisor.getBasicTimeStep()) - # Move the obstacle - if is_obstacle_lowered is True: # Raise the obstacle - translation_field.setSFVec3f( - [curr_pos[0], curr_pos[1], RAISED_HEIGHT]) - else: # Lower the obstacle - translation_field.setSFVec3f( - [curr_pos[0], curr_pos[1], LOWERED_HEIGHT]) + # Enable the keyboard device + keyboard.enable(timestep) - # Toggle the obstacle state - is_obstacle_lowered = not is_obstacle_lowered + while supervisor.step(timestep) != -1: + if obstacle is not None: + obstacle.process(supervisor, keyboard) - return status + return 0 -sys.exit(main_loop()) +if __name__ == "__main__": + sys.exit(main_loop()) From 3eec036077c704835385ccd0ceb5bd722d91f1c2 Mon Sep 17 00:00:00 2001 From: Gabryel Reyes Date: Mon, 5 Aug 2024 10:40:48 +0200 Subject: [PATCH 14/38] Improved Pip caching and setup in the CI --- .github/workflows/main.yml | 113 ++++++++++------------------- .github/workflows/requirements.txt | 3 + 2 files changed, 40 insertions(+), 76 deletions(-) create mode 100644 .github/workflows/requirements.txt diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml index 86ef6fa4..5cc4a945 100644 --- a/.github/workflows/main.yml +++ b/.github/workflows/main.yml @@ -23,6 +23,20 @@ jobs: - run: echo "The job was automatically triggered by a ${{ github.event_name }} event." - run: echo "The name of the branch is ${{ github.ref }} and the repository is ${{ github.repository }}." + - name: Checkout repository + uses: actions/checkout@v4 + + - name: Set up Python + uses: actions/setup-python@v5 + with: + python-version: '3.9' + cache: 'pip' + cache-dependency-path: .github/workflows/requirements.txt + + - name: Install dependencies + run: | + pip install -r .github/workflows/requirements.txt + # Build all targets build: # The type of runner that the job will run on. @@ -37,29 +51,16 @@ jobs: - name: Checkout repository uses: actions/checkout@v4 - - name: Cache pip - uses: actions/cache@v4 - with: - path: ~/.cache/pip - key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }} - restore-keys: | - ${{ runner.os }}-pip- - - - name: Cache PlatformIO - uses: actions/cache@v4 - with: - path: ~/.platformio - key: ${{ runner.os }}-${{ hashFiles('**/lockfiles') }} - - name: Set up Python uses: actions/setup-python@v5 with: python-version: '3.9' + cache: 'pip' + cache-dependency-path: .github/workflows/requirements.txt - - name: Install PlatformIO + - name: Install dependencies run: | - python -m pip install --upgrade pip - pip install --upgrade platformio + pip install -r .github/workflows/requirements.txt - name: Compile ${{ matrix.environment }} firmware run: platformio run --environment ${{ matrix.environment }} @@ -77,29 +78,16 @@ jobs: - name: Checkout repository uses: actions/checkout@v4 - - name: Cache pip - uses: actions/cache@v4 - with: - path: ~/.cache/pip - key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }} - restore-keys: | - ${{ runner.os }}-pip- - - - name: Cache PlatformIO - uses: actions/cache@v4 - with: - path: ~/.platformio - key: ${{ runner.os }}-${{ hashFiles('**/lockfiles') }} - - name: Set up Python uses: actions/setup-python@v5 with: python-version: '3.9' + cache: 'pip' + cache-dependency-path: .github/workflows/requirements.txt - - name: Install PlatformIO + - name: Install dependencies run: | - python -m pip install --upgrade pip - pip install --upgrade platformio + pip install -r .github/workflows/requirements.txt - name: Perform static checks on ${{ matrix.environment }} run: platformio check --environment ${{ matrix.environment }} --fail-on-defect=medium --fail-on-defect=high @@ -114,29 +102,16 @@ jobs: - name: Checkout repository uses: actions/checkout@v4 - - name: Cache pip - uses: actions/cache@v4 - with: - path: ~/.cache/pip - key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }} - restore-keys: | - ${{ runner.os }}-pip- - - - name: Cache PlatformIO - uses: actions/cache@v4 - with: - path: ~/.platformio - key: ${{ runner.os }}-${{ hashFiles('**/lockfiles') }} - - name: Set up Python uses: actions/setup-python@v5 with: python-version: '3.9' + cache: 'pip' + cache-dependency-path: .github/workflows/requirements.txt - - name: Install PlatformIO + - name: Install dependencies run: | - python -m pip install --upgrade pip - pip install --upgrade platformio + pip install -r .github/workflows/requirements.txt - name: Run tests on native environment run: platformio test --environment TestSim -vvv @@ -154,29 +129,16 @@ jobs: - name: Checkout repository uses: actions/checkout@v4 - - name: Cache pip - uses: actions/cache@v4 - with: - path: ~/.cache/pip - key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }} - restore-keys: | - ${{ runner.os }}-pip- - - - name: Cache PlatformIO - uses: actions/cache@v4 - with: - path: ~/.platformio - key: ${{ runner.os }}-${{ hashFiles('**/lockfiles') }} - - name: Set up Python uses: actions/setup-python@v5 with: python-version: '3.9' - - - name: Install PlatformIO + cache: 'pip' + cache-dependency-path: .github/workflows/requirements.txt + + - name: Install dependencies run: | - python -m pip install --upgrade pip - pip install --upgrade platformio + pip install -r .github/workflows/requirements.txt - name: Set up graphviz uses: ts-graphviz/setup-graphviz@v2 @@ -196,23 +158,22 @@ jobs: # The type of runner that the job will run on. runs-on: ubuntu-latest needs: intro - strategy: - matrix: - python-version: ["3.9", "3.10", "3.11"] # Steps represent a sequence of tasks that will be executed as part of the job. steps: - name: Checkout repository uses: actions/checkout@v4 - - name: Set up Python ${{ matrix.python-version }} + - name: Set up Python uses: actions/setup-python@v5 with: - python-version: ${{ matrix.python-version }} - + python-version: '3.9' + cache: 'pip' + cache-dependency-path: .github/workflows/requirements.txt + - name: Install dependencies run: | - pip install pylint + pip install -r .github/workflows/requirements.txt - name: Analysing the code with pylint run: | diff --git a/.github/workflows/requirements.txt b/.github/workflows/requirements.txt new file mode 100644 index 00000000..2c15021d --- /dev/null +++ b/.github/workflows/requirements.txt @@ -0,0 +1,3 @@ +platformio==6.1.15 +pylint==3.2.6 +SerialMuxProt @ git+https://github.com/gabryelreyes/SerialMuxProt.git@10270033b0eb5e19cae39c35978745a778eb6acc#subdirectory=python/SerialMuxProt \ No newline at end of file From e28aaff936f915fa3057f67d31374a0ec3894b0b Mon Sep 17 00:00:00 2001 From: Gabryel Reyes Date: Mon, 5 Aug 2024 11:29:09 +0200 Subject: [PATCH 15/38] Pull requests are already checked on pushed commit --- .github/workflows/main.yml | 2 -- 1 file changed, 2 deletions(-) diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml index 5cc4a945..2f54ca7d 100644 --- a/.github/workflows/main.yml +++ b/.github/workflows/main.yml @@ -4,8 +4,6 @@ name: main on: push: branches: [ '**' ] - pull_request: - branches: [ main ] release: # A release, pre-release, or draft of a release is published. types: [ published ] From 436d392a130f227e7100ad1ba054df78e0b771ac Mon Sep 17 00:00:00 2001 From: greyes Date: Fri, 16 Aug 2024 10:42:46 +0200 Subject: [PATCH 16/38] Added util to convert encoders and millimeters per second --- .../src/MotorSpeedCalibrationState.cpp | 3 +- .../src/MotorSpeedCalibrationState.cpp | 2 +- lib/Service/src/Util.cpp | 12 ++++++++ lib/Service/src/Util.h | 30 +++++++++++++++---- 4 files changed, 38 insertions(+), 9 deletions(-) diff --git a/lib/APPCalib/src/MotorSpeedCalibrationState.cpp b/lib/APPCalib/src/MotorSpeedCalibrationState.cpp index 1d80eef7..77d47017 100644 --- a/lib/APPCalib/src/MotorSpeedCalibrationState.cpp +++ b/lib/APPCalib/src/MotorSpeedCalibrationState.cpp @@ -227,8 +227,7 @@ void MotorSpeedCalibrationState::finishCalibration(StateMachine& sm) } else { - int32_t maxSpeed32 = - static_cast(maxSpeed) * 1000 / static_cast(RobotConstants::ENCODER_STEPS_PER_M); + int32_t maxSpeed32 = Util::stepsPerSecondToMillimetersPerSecond(maxSpeed); LOG_INFO_VAL("Calibrated max. speed (steps/s): ", maxSpeed); LOG_INFO_VAL("Calibrated max. speed (mm/s): ", maxSpeed32); diff --git a/lib/APPLineFollower/src/MotorSpeedCalibrationState.cpp b/lib/APPLineFollower/src/MotorSpeedCalibrationState.cpp index f9547662..133ad99c 100644 --- a/lib/APPLineFollower/src/MotorSpeedCalibrationState.cpp +++ b/lib/APPLineFollower/src/MotorSpeedCalibrationState.cpp @@ -227,7 +227,7 @@ void MotorSpeedCalibrationState::finishCalibration(StateMachine& sm) } else { - int32_t maxSpeed32 = static_cast(maxSpeed) * 1000 / static_cast(RobotConstants::ENCODER_STEPS_PER_M); + int32_t maxSpeed32 = Util::stepsPerSecondToMillimetersPerSecond(maxSpeed); LOG_INFO_VAL("Calibrated max. speed (steps/s): ", maxSpeed); LOG_INFO_VAL("Calibrated max. speed (mm/s): ", maxSpeed32); diff --git a/lib/Service/src/Util.cpp b/lib/Service/src/Util.cpp index 84d7d608..621ecd86 100644 --- a/lib/Service/src/Util.cpp +++ b/lib/Service/src/Util.cpp @@ -33,6 +33,7 @@ * Includes *****************************************************************************/ #include +#include /****************************************************************************** * Compiler Switches @@ -210,6 +211,17 @@ bool Util::isButtonTriggered(IButton& button, bool& lastState) return isTriggered; } +int32_t Util::stepsPerSecondToMillimetersPerSecond(int16_t speedStepsPerSec) +{ + return (static_cast(speedStepsPerSec) * 1000 / static_cast(RobotConstants::ENCODER_STEPS_PER_M)); +} + +int16_t Util::millimetersPerSecondToStepsPerSecond(int32_t speedMmPerSec) +{ + int32_t speedStepsPerSec = speedMmPerSec * static_cast(RobotConstants::ENCODER_STEPS_PER_M); + return (static_cast(speedStepsPerSec / 1000)); +} + /****************************************************************************** * Local Functions *****************************************************************************/ diff --git a/lib/Service/src/Util.h b/lib/Service/src/Util.h index df96fa15..3a94d1fa 100644 --- a/lib/Service/src/Util.h +++ b/lib/Service/src/Util.h @@ -85,20 +85,20 @@ namespace Util /** * Divide and round. - * + * * @param[in] numerator The numerator. * @param[in] denominator The denominator. - * + * * @return Result */ uint32_t divRoundUp(uint32_t numerator, uint32_t denominator); /** * Divide and round. - * + * * @param[in] numerator The numerator. * @param[in] denominator The denominator. - * + * * @return Result */ int32_t divRoundUp(int32_t numerator, int32_t denominator); @@ -106,14 +106,32 @@ namespace Util /** * Is button triggered? * Triggered means a pressed/released change. - * + * * @param[in] button The button. * @param[inout] lastState The last button state. - * + * * @return If button is triggered, it will return true otherwise false. */ bool isButtonTriggered(IButton& button, bool& lastState); + /** + * Convert a speed in encoder steps per second to a speed in mm/s. + * + * @param[in] speedStepsPerSec Speed in encoder steps per second + * + * @return Speed in mm/s + */ + int32_t stepsPerSecondToMillimetersPerSecond(int16_t speedStepsPerSec); + + /** + * Convert a speed in mm/s to a speed in encoder steps per second. + * + * @param[in] speedMmPerSec Speed in mm/s + * + * @return Speed in encoder steps per second + */ + int16_t millimetersPerSecondToStepsPerSecond(int32_t speedMmPerSec); + } /* namespace Util */ #endif /* UTIL_H */ From 8784e9f516d2af8357a0e54cd17c95d76be8229a Mon Sep 17 00:00:00 2001 From: greyes Date: Fri, 16 Aug 2024 11:05:03 +0200 Subject: [PATCH 17/38] Applications send a receive speeds in mm/s instead of steps/s --- lib/APPConvoyFollower/src/App.cpp | 17 ++++++++++++----- lib/APPConvoyFollower/src/SerialMuxChannels.h | 14 +++++++------- lib/APPConvoyLeader/src/App.cpp | 16 +++++++++++----- lib/APPConvoyLeader/src/SerialMuxChannels.h | 14 +++++++------- lib/APPRemoteControl/src/App.cpp | 13 +++++++++---- lib/APPRemoteControl/src/SerialMuxChannels.h | 14 +++++++------- 6 files changed, 53 insertions(+), 35 deletions(-) diff --git a/lib/APPConvoyFollower/src/App.cpp b/lib/APPConvoyFollower/src/App.cpp index 76253f32..eb480a5f 100644 --- a/lib/APPConvoyFollower/src/App.cpp +++ b/lib/APPConvoyFollower/src/App.cpp @@ -42,6 +42,7 @@ #include #include #include +#include /****************************************************************************** * Compiler Switches @@ -189,7 +190,8 @@ void App::handleRemoteCommand(const Command& cmd) break; case SMPChannelPayload::CmdId::CMD_ID_GET_MAX_SPEED: - rsp.maxMotorSpeed = Board::getInstance().getSettings().getMaxSpeed(); + rsp.maxMotorSpeed = + Util::stepsPerSecondToMillimetersPerSecond(Board::getInstance().getSettings().getMaxSpeed()); break; case SMPChannelPayload::CmdId::CMD_ID_SET_INIT_POS: @@ -252,6 +254,9 @@ void App::reportVehicleData() uint8_t averageCounts = 0U; uint8_t leftCounts = 0U; uint8_t rightCounts = 0U; + int16_t leftSpeed = speedometer.getLinearSpeedLeft(); + int16_t rightSpeed = speedometer.getLinearSpeedRight(); + int16_t centerSpeed = speedometer.getLinearSpeedCenter(); proximitySensors.read(); leftCounts = proximitySensors.countsFrontWithLeftLeds(); @@ -265,9 +270,9 @@ void App::reportVehicleData() payload.xPos = xPos; payload.yPos = yPos; payload.orientation = odometry.getOrientation(); - payload.left = speedometer.getLinearSpeedLeft(); - payload.right = speedometer.getLinearSpeedRight(); - payload.center = speedometer.getLinearSpeedCenter(); + payload.left = Util::stepsPerSecondToMillimetersPerSecond(leftSpeed); + payload.right = Util::stepsPerSecondToMillimetersPerSecond(rightSpeed); + payload.center = Util::stepsPerSecondToMillimetersPerSecond(centerSpeed); payload.proximity = static_cast(averageCounts); /* Ignoring return value, as error handling is not available. */ @@ -359,7 +364,9 @@ void App_motorSpeedSetpointsChannelCallback(const uint8_t* payload, const uint8_ if ((nullptr != payload) && (SPEED_SETPOINT_CHANNEL_DLC == payloadSize)) { const SpeedData* motorSpeedData = reinterpret_cast(payload); - DrivingState::getInstance().setTargetSpeeds(motorSpeedData->left, motorSpeedData->right); + int16_t leftSpeed = Util::millimetersPerSecondToStepsPerSecond(motorSpeedData->left); + int16_t rightSpeed = Util::millimetersPerSecondToStepsPerSecond(motorSpeedData->right); + DrivingState::getInstance().setTargetSpeeds(leftSpeed, rightSpeed); } } diff --git a/lib/APPConvoyFollower/src/SerialMuxChannels.h b/lib/APPConvoyFollower/src/SerialMuxChannels.h index c79b9754..29838c30 100644 --- a/lib/APPConvoyFollower/src/SerialMuxChannels.h +++ b/lib/APPConvoyFollower/src/SerialMuxChannels.h @@ -169,16 +169,16 @@ typedef struct _CommandResponse /** Response Payload. */ union { - int16_t maxMotorSpeed; /**< Max speed [steps/s]. */ + int32_t maxMotorSpeed; /**< Max speed [mm/s]. */ }; } __attribute__((packed)) CommandResponse; /** Struct of the "Speed" channel payload. */ typedef struct _SpeedData { - int16_t left; /**< Left motor speed [steps/s] */ - int16_t right; /**< Right motor speed [steps/s] */ - int16_t center; /**< Center motor speed [steps/s] */ + int32_t left; /**< Left motor speed [mm/s] */ + int32_t right; /**< Right motor speed [mm/s] */ + int32_t center; /**< Center motor speed [mm/s] */ } __attribute__((packed)) SpeedData; /** Struct of the "Current Vehicle Data" channel payload. */ @@ -187,9 +187,9 @@ typedef struct _VehicleData int32_t xPos; /**< X position [mm]. */ int32_t yPos; /**< Y position [mm]. */ int32_t orientation; /**< Orientation [mrad]. */ - int16_t left; /**< Left motor speed [steps/s]. */ - int16_t right; /**< Right motor speed [steps/s]. */ - int16_t center; /**< Center speed [steps/s]. */ + int32_t left; /**< Left motor speed [mm/s]. */ + int32_t right; /**< Right motor speed [mm/s]. */ + int32_t center; /**< Center speed [mm/s]. */ SMPChannelPayload::Range proximity; /**< Range at which object is found [range]. */ } __attribute__((packed)) VehicleData; diff --git a/lib/APPConvoyLeader/src/App.cpp b/lib/APPConvoyLeader/src/App.cpp index b4ad13aa..a09da528 100644 --- a/lib/APPConvoyLeader/src/App.cpp +++ b/lib/APPConvoyLeader/src/App.cpp @@ -42,6 +42,7 @@ #include #include #include +#include /****************************************************************************** * Compiler Switches @@ -182,7 +183,8 @@ void App::handleRemoteCommand(const Command& cmd) switch (cmd.commandId) { case SMPChannelPayload::CmdId::CMD_ID_GET_MAX_SPEED: - rsp.maxMotorSpeed = ParameterSets::getInstance().getParameterSet().topSpeed; + rsp.maxMotorSpeed = + Util::stepsPerSecondToMillimetersPerSecond(ParameterSets::getInstance().getParameterSet().topSpeed); break; case SMPChannelPayload::CmdId::CMD_ID_SET_INIT_POS: @@ -245,6 +247,9 @@ void App::reportVehicleData() uint8_t averageCounts = 0U; uint8_t leftCounts = 0U; uint8_t rightCounts = 0U; + int16_t leftSpeed = speedometer.getLinearSpeedLeft(); + int16_t rightSpeed = speedometer.getLinearSpeedRight(); + int16_t centerSpeed = speedometer.getLinearSpeedCenter(); proximitySensors.read(); leftCounts = proximitySensors.countsFrontWithLeftLeds(); @@ -258,9 +263,9 @@ void App::reportVehicleData() payload.xPos = xPos; payload.yPos = yPos; payload.orientation = odometry.getOrientation(); - payload.left = speedometer.getLinearSpeedLeft(); - payload.right = speedometer.getLinearSpeedRight(); - payload.center = speedometer.getLinearSpeedCenter(); + payload.left = Util::stepsPerSecondToMillimetersPerSecond(leftSpeed); + payload.right = Util::stepsPerSecondToMillimetersPerSecond(rightSpeed); + payload.center = Util::stepsPerSecondToMillimetersPerSecond(centerSpeed); payload.proximity = static_cast(averageCounts); /* Ignoring return value, as error handling is not available. */ @@ -331,7 +336,8 @@ void App_motorSpeedSetpointsChannelCallback(const uint8_t* payload, const uint8_ if ((nullptr != payload) && (SPEED_SETPOINT_CHANNEL_DLC == payloadSize)) { const SpeedData* motorSpeedData = reinterpret_cast(payload); - DrivingState::getInstance().setTopSpeed(motorSpeedData->center); + int16_t topSpeed = Util::millimetersPerSecondToStepsPerSecond(motorSpeedData->center); + DrivingState::getInstance().setTopSpeed(topSpeed); } } diff --git a/lib/APPConvoyLeader/src/SerialMuxChannels.h b/lib/APPConvoyLeader/src/SerialMuxChannels.h index a4440d77..396586e4 100644 --- a/lib/APPConvoyLeader/src/SerialMuxChannels.h +++ b/lib/APPConvoyLeader/src/SerialMuxChannels.h @@ -163,16 +163,16 @@ typedef struct _CommandResponse /** Response Payload. */ union { - int16_t maxMotorSpeed; /**< Max speed [steps/s]. */ + int32_t maxMotorSpeed; /**< Max speed [mm/s]. */ }; } __attribute__((packed)) CommandResponse; /** Struct of the "Speed" channel payload. */ typedef struct _SpeedData { - int16_t left; /**< Left motor speed [steps/s] */ - int16_t right; /**< Right motor speed [steps/s] */ - int16_t center; /**< Center motor speed [steps/s] */ + int32_t left; /**< Left motor speed [mm/s] */ + int32_t right; /**< Right motor speed [mm/s] */ + int32_t center; /**< Center motor speed [mm/s] */ } __attribute__((packed)) SpeedData; /** Struct of the "Current Vehicle Data" channel payload. */ @@ -181,9 +181,9 @@ typedef struct _VehicleData int32_t xPos; /**< X position [mm]. */ int32_t yPos; /**< Y position [mm]. */ int32_t orientation; /**< Orientation [mrad]. */ - int16_t left; /**< Left motor speed [steps/s]. */ - int16_t right; /**< Right motor speed [steps/s]. */ - int16_t center; /**< Center speed [steps/s]. */ + int32_t left; /**< Left motor speed [mm/s]. */ + int32_t right; /**< Right motor speed [mm/s]. */ + int32_t center; /**< Center speed [mm/s]. */ SMPChannelPayload::Range proximity; /**< Range at which object is found [range]. */ } __attribute__((packed)) VehicleData; diff --git a/lib/APPRemoteControl/src/App.cpp b/lib/APPRemoteControl/src/App.cpp index 76253f32..28675f2d 100644 --- a/lib/APPRemoteControl/src/App.cpp +++ b/lib/APPRemoteControl/src/App.cpp @@ -42,6 +42,7 @@ #include #include #include +#include /****************************************************************************** * Compiler Switches @@ -189,7 +190,8 @@ void App::handleRemoteCommand(const Command& cmd) break; case SMPChannelPayload::CmdId::CMD_ID_GET_MAX_SPEED: - rsp.maxMotorSpeed = Board::getInstance().getSettings().getMaxSpeed(); + rsp.maxMotorSpeed = + Util::stepsPerSecondToMillimetersPerSecond(Board::getInstance().getSettings().getMaxSpeed()); break; case SMPChannelPayload::CmdId::CMD_ID_SET_INIT_POS: @@ -252,6 +254,9 @@ void App::reportVehicleData() uint8_t averageCounts = 0U; uint8_t leftCounts = 0U; uint8_t rightCounts = 0U; + int16_t leftSpeed = speedometer.getLinearSpeedLeft(); + int16_t rightSpeed = speedometer.getLinearSpeedRight(); + int16_t centerSpeed = speedometer.getLinearSpeedCenter(); proximitySensors.read(); leftCounts = proximitySensors.countsFrontWithLeftLeds(); @@ -265,9 +270,9 @@ void App::reportVehicleData() payload.xPos = xPos; payload.yPos = yPos; payload.orientation = odometry.getOrientation(); - payload.left = speedometer.getLinearSpeedLeft(); - payload.right = speedometer.getLinearSpeedRight(); - payload.center = speedometer.getLinearSpeedCenter(); + payload.left = Util::stepsPerSecondToMillimetersPerSecond(leftSpeed); + payload.right = Util::stepsPerSecondToMillimetersPerSecond(rightSpeed); + payload.center = Util::stepsPerSecondToMillimetersPerSecond(centerSpeed); payload.proximity = static_cast(averageCounts); /* Ignoring return value, as error handling is not available. */ diff --git a/lib/APPRemoteControl/src/SerialMuxChannels.h b/lib/APPRemoteControl/src/SerialMuxChannels.h index c79b9754..29838c30 100644 --- a/lib/APPRemoteControl/src/SerialMuxChannels.h +++ b/lib/APPRemoteControl/src/SerialMuxChannels.h @@ -169,16 +169,16 @@ typedef struct _CommandResponse /** Response Payload. */ union { - int16_t maxMotorSpeed; /**< Max speed [steps/s]. */ + int32_t maxMotorSpeed; /**< Max speed [mm/s]. */ }; } __attribute__((packed)) CommandResponse; /** Struct of the "Speed" channel payload. */ typedef struct _SpeedData { - int16_t left; /**< Left motor speed [steps/s] */ - int16_t right; /**< Right motor speed [steps/s] */ - int16_t center; /**< Center motor speed [steps/s] */ + int32_t left; /**< Left motor speed [mm/s] */ + int32_t right; /**< Right motor speed [mm/s] */ + int32_t center; /**< Center motor speed [mm/s] */ } __attribute__((packed)) SpeedData; /** Struct of the "Current Vehicle Data" channel payload. */ @@ -187,9 +187,9 @@ typedef struct _VehicleData int32_t xPos; /**< X position [mm]. */ int32_t yPos; /**< Y position [mm]. */ int32_t orientation; /**< Orientation [mrad]. */ - int16_t left; /**< Left motor speed [steps/s]. */ - int16_t right; /**< Right motor speed [steps/s]. */ - int16_t center; /**< Center speed [steps/s]. */ + int32_t left; /**< Left motor speed [mm/s]. */ + int32_t right; /**< Right motor speed [mm/s]. */ + int32_t center; /**< Center speed [mm/s]. */ SMPChannelPayload::Range proximity; /**< Range at which object is found [range]. */ } __attribute__((packed)) VehicleData; From 9570fe8d9eacba0773c79d2f25dfa2bc8b7f7c23 Mon Sep 17 00:00:00 2001 From: greyes Date: Fri, 16 Aug 2024 13:06:26 +0200 Subject: [PATCH 18/38] Moved utils from source to header file to aid compiler optimization --- lib/Service/src/Util.cpp | 12 ------------ lib/Service/src/Util.h | 13 +++++++++++-- 2 files changed, 11 insertions(+), 14 deletions(-) diff --git a/lib/Service/src/Util.cpp b/lib/Service/src/Util.cpp index 621ecd86..84d7d608 100644 --- a/lib/Service/src/Util.cpp +++ b/lib/Service/src/Util.cpp @@ -33,7 +33,6 @@ * Includes *****************************************************************************/ #include -#include /****************************************************************************** * Compiler Switches @@ -211,17 +210,6 @@ bool Util::isButtonTriggered(IButton& button, bool& lastState) return isTriggered; } -int32_t Util::stepsPerSecondToMillimetersPerSecond(int16_t speedStepsPerSec) -{ - return (static_cast(speedStepsPerSec) * 1000 / static_cast(RobotConstants::ENCODER_STEPS_PER_M)); -} - -int16_t Util::millimetersPerSecondToStepsPerSecond(int32_t speedMmPerSec) -{ - int32_t speedStepsPerSec = speedMmPerSec * static_cast(RobotConstants::ENCODER_STEPS_PER_M); - return (static_cast(speedStepsPerSec / 1000)); -} - /****************************************************************************** * Local Functions *****************************************************************************/ diff --git a/lib/Service/src/Util.h b/lib/Service/src/Util.h index 3a94d1fa..566a3e55 100644 --- a/lib/Service/src/Util.h +++ b/lib/Service/src/Util.h @@ -46,6 +46,7 @@ #include #include #include +#include /** * Utilities @@ -121,7 +122,11 @@ namespace Util * * @return Speed in mm/s */ - int32_t stepsPerSecondToMillimetersPerSecond(int16_t speedStepsPerSec); + inline int32_t stepsPerSecondToMillimetersPerSecond(int16_t speedStepsPerSec) + { + return (static_cast(speedStepsPerSec) * 1000 / + static_cast(RobotConstants::ENCODER_STEPS_PER_M)); + } /** * Convert a speed in mm/s to a speed in encoder steps per second. @@ -130,7 +135,11 @@ namespace Util * * @return Speed in encoder steps per second */ - int16_t millimetersPerSecondToStepsPerSecond(int32_t speedMmPerSec); + inline int16_t millimetersPerSecondToStepsPerSecond(int32_t speedMmPerSec) + { + int32_t speedStepsPerSec = speedMmPerSec * static_cast(RobotConstants::ENCODER_STEPS_PER_M); + return (static_cast(speedStepsPerSec / 1000)); + } } /* namespace Util */ From 7b4a767bf6b62d3dc19f524add2e9ffec852c3eb Mon Sep 17 00:00:00 2001 From: Gabryel Reyes Date: Mon, 19 Aug 2024 16:20:23 +0200 Subject: [PATCH 19/38] Apply speeds to the differential drive according to Turtle SMP message --- lib/APPRemoteControl/src/App.cpp | 32 ++++++++++++++++++++ lib/APPRemoteControl/src/SerialMuxChannels.h | 13 ++++++++ 2 files changed, 45 insertions(+) diff --git a/lib/APPRemoteControl/src/App.cpp b/lib/APPRemoteControl/src/App.cpp index 28675f2d..823ec6f1 100644 --- a/lib/APPRemoteControl/src/App.cpp +++ b/lib/APPRemoteControl/src/App.cpp @@ -63,6 +63,7 @@ static void App_cmdChannelCallback(const uint8_t* payload, const uint8_t payloadSize, void* userData); static void App_motorSpeedSetpointsChannelCallback(const uint8_t* payload, const uint8_t payloadSize, void* userData); static void App_statusChannelCallback(const uint8_t* payload, const uint8_t payloadSize, void* userData); +static void App_turtleChannelCallback(const uint8_t* payload, const uint8_t payloadSize, void* userData); /****************************************************************************** * Local Variables @@ -287,6 +288,7 @@ bool App::setupSerialMuxProt() m_smpServer.subscribeToChannel(COMMAND_CHANNEL_NAME, App_cmdChannelCallback); m_smpServer.subscribeToChannel(SPEED_SETPOINT_CHANNEL_NAME, App_motorSpeedSetpointsChannelCallback); m_smpServer.subscribeToChannel(STATUS_CHANNEL_NAME, App_statusChannelCallback); + m_smpServer.subscribeToChannel(TURTLE_CHANNEL_NAME, App_turtleChannelCallback); /* Channel creation. */ m_serialMuxProtChannelIdRemoteCtrlRsp = @@ -384,3 +386,33 @@ void App_statusChannelCallback(const uint8_t* payload, const uint8_t payloadSize application->systemStatusCallback(currentStatus->status); } } + +/** + * Receives Turtle speed setpoints over SerialMuxProt channel. + * + * @param[in] payload Linear and angular speed setpoints in a TurtleSpeed structure. + * @param[in] payloadSize Size of the TurtleSpeed structure. + * @param[in] userData Instance of App class. + */ +void App_turtleChannelCallback(const uint8_t* payload, const uint8_t payloadSize, void* userData) +{ + (void)userData; + if ((nullptr != payload) && (TURTLE_CHANNEL_DLC == payloadSize)) + { + const TurtleSpeed* turtleSpeedData = reinterpret_cast(payload); + DifferentialDrive& diffDrive = DifferentialDrive::getInstance(); + int16_t angularSpeed = static_cast(turtleSpeedData->angular); + + /* Convert to [steps/s] */ + int16_t centerSpeed = Util::millimetersPerSecondToStepsPerSecond(turtleSpeedData->linearCenter); + + /* Linear speed is set first. Overwrites all speed setpoints. */ + diffDrive.setLinearSpeed(centerSpeed); + + /* Angular speed is set on-top of the linear speed. Must be called after setLinearSpeed(). */ + diffDrive.setAngularSpeed(angularSpeed); + + /* Turtle expects no initial data. Can be called without side-effects when no longer in StartupState. */ + StartupState::getInstance().notifyInitialDataIsSet(); + } +} \ No newline at end of file diff --git a/lib/APPRemoteControl/src/SerialMuxChannels.h b/lib/APPRemoteControl/src/SerialMuxChannels.h index 29838c30..6e49caca 100644 --- a/lib/APPRemoteControl/src/SerialMuxChannels.h +++ b/lib/APPRemoteControl/src/SerialMuxChannels.h @@ -82,6 +82,12 @@ /** DLC of Line Sensor Channel */ #define LINE_SENSOR_CHANNEL_DLC (sizeof(LineSensorData)) +/** Name of the Channel to send Turtle Speeds. */ +#define TURTLE_CHANNEL_NAME "TURTLE" + +/** DLC of Turtle Channel */ +#define TURTLE_CHANNEL_DLC (sizeof(TurtleSpeed)) + /****************************************************************************** * Types and Classes *****************************************************************************/ @@ -205,6 +211,13 @@ typedef struct _LineSensorData uint16_t lineSensorData[5U]; /**< Line sensor data [digits] normalized to max 1000 digits. */ } __attribute__((packed)) LineSensorData; +/** Struct of the "Turtle" channel payload. */ +typedef struct _TurtleSpeed +{ + int32_t linearCenter; /**< Linear speed of the vehicle center. [mm/s] */ + int32_t angular; /**< Angular speed. [mrad/s] */ +} __attribute__((packed)) TurtleSpeed; + /****************************************************************************** * Functions *****************************************************************************/ From 6f167f76bdbcb5a77e0712d2e1d4846d9077bc55 Mon Sep 17 00:00:00 2001 From: Gabryel Reyes Date: Tue, 20 Aug 2024 10:51:43 +0200 Subject: [PATCH 20/38] Improved angular speed in linear speed calculation --- lib/Service/src/DifferentialDrive.cpp | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/lib/Service/src/DifferentialDrive.cpp b/lib/Service/src/DifferentialDrive.cpp index c8699c23..29d9877a 100644 --- a/lib/Service/src/DifferentialDrive.cpp +++ b/lib/Service/src/DifferentialDrive.cpp @@ -245,9 +245,10 @@ DifferentialDrive::DifferentialDrive() : void DifferentialDrive::calculateLinearSpeedLeftRight(int16_t linearSpeedCenter, int16_t angularSpeed, int16_t& linearSpeedLeft, int16_t& linearSpeedRight) { - int32_t linearSpeedCenter32 = static_cast(linearSpeedCenter); /* [steps/s] */ - int32_t angularSpeed32 = static_cast(angularSpeed); /* [mrad/s] */ - int32_t wheelBase32 = static_cast(RobotConstants::WHEEL_BASE); /* [mm] */ + int32_t linearSpeedCenter32 = static_cast(linearSpeedCenter); /* [steps/s] */ + int32_t angularSpeed32 = static_cast(angularSpeed); /* [mrad/s] */ + int32_t wheelBase32 = static_cast(RobotConstants::WHEEL_BASE); /* [mm] */ + int32_t encoderSteps32 = static_cast(RobotConstants::ENCODER_STEPS_PER_M); /* [steps/m] */ /* angular speed = 2 * (linear speed right - linear speed left ) / wheel base * linear speed right - linear speed left = angular speed * wheel base / 2 @@ -255,8 +256,8 @@ void DifferentialDrive::calculateLinearSpeedLeftRight(int16_t linearSpeedCenter, * linear speed right = - linear speed left */ - linearSpeedLeft = linearSpeedCenter32 - (angularSpeed32 * wheelBase32) / 2; - linearSpeedRight = linearSpeedCenter32 + (angularSpeed32 * wheelBase32) / 2; + linearSpeedLeft = (linearSpeedCenter32 / 2) - ((angularSpeed32 / 1000) * (wheelBase32) * (encoderSteps32 / 1000)); + linearSpeedRight = (linearSpeedCenter32 / 2) + ((angularSpeed32 / 1000) * (wheelBase32) * (encoderSteps32 / 1000)); } void DifferentialDrive::calculateLinearAndAngularSpeedCenter(int16_t linearSpeedLeft, int16_t linearSpeedRight, From 1df025cedafb46fcd70714321efd3b9d71ce87b3 Mon Sep 17 00:00:00 2001 From: BlueAndi Date: Wed, 21 Aug 2024 00:49:48 +0200 Subject: [PATCH 21/38] Calculation of the robot angular speed from the linear speed left and right fixed. #148 --- doc/architecture/README.md | 43 +++++++++++++++++++++++++++ lib/Service/src/DifferentialDrive.cpp | 31 ++++++++----------- 2 files changed, 55 insertions(+), 19 deletions(-) diff --git a/doc/architecture/README.md b/doc/architecture/README.md index 5c0786c5..bc747270 100644 --- a/doc/architecture/README.md +++ b/doc/architecture/README.md @@ -58,6 +58,49 @@ The following applications are supported: ![differentialDrive](http://www.plantuml.com/plantuml/proxy?cache=no&src=https://raw.githubusercontent.com/BlueAndi/RadonUlzer/main/doc/architecture/uml/LogicalView/DifferentialDrive.plantuml) +Robot angular speed vs wheel linear speed\ +$v [\frac{mm}{s}] = \frac{w_r [\frac{rad}{s}] \cdot W [mm]}{2}$ + +* $v$: The linear speed of one wheel relative to the other $[\frac{mm}{s}]$. +* $w_r$: The robot's angular speed $[\frac{rad}{s}]$. +* $W$: The robot's wheel base $[mm]$. +* $v_L = -v_R$ by rotation about midpoint of the wheel axis. + +Linear speed left\ +$v_L [\frac{mm}{s}] = -\frac{w_r [\frac{rad}{s}] \cdot W [mm]}{2}$ + +Linear speed right\ +$v_R [\frac{mm}{s}] = \frac{w_r [\frac{rad}{s}] \cdot W [mm]}{2}$ + +Consider encoder steps per m\ +$v [\frac{steps}{s}] = \frac{w_r [\frac{rad}{s}] \cdot W [mm]}{2} \cdot \frac{ENC [\frac{steps}{m}]}{1000}$ + +* $v$: The linear speed of one wheel relative to the other $[\frac{steps}{s}]$. +* $w_r$: The robot's angular speed $[\frac{rad}{s}]$. +* $W$: The robot's wheel base $[mm]$. +* $ENC$: The number of encoder steps per m $[\frac{steps}{m}]$. + +Linear speed left\ +$v_L [\frac{steps}{s}] = -\frac{w_r [\frac{rad}{s}] \cdot W [mm]}{2} \cdot \frac{ENC [\frac{steps}{m}]}{1000}$ + +Linear speed right\ +$v_R [\frac{steps}{s}] = \frac{w_r [\frac{rad}{s}] \cdot W [mm]}{2} \cdot \frac{ENC [\frac{steps}{m}]}{1000}$ + +Consider robot linear speed center\ + +Linear speed left\ +$v_L [\frac{steps}{s}] = \frac{v_{Linear}}{2} [\frac{steps}{s}] -\frac{w_r [\frac{rad}{s}] \cdot W [mm]}{2} \cdot \frac{ENC [\frac{steps}{m}]}{1000}$ + +Linear speed right\ +$v_R [\frac{steps}{s}] = \frac{v_{Linear}}{2} [\frac{steps}{s}] + \frac{w_r [\frac{rad}{s}] \cdot W [mm]}{2} \cdot \frac{ENC [\frac{steps}{m}]}{1000}$ + +Consider angular speed in mrad per s\ +Linear speed left\ +$v_L [\frac{steps}{s}] = \frac{v_{Linear}}{2} [\frac{steps}{s}] -\frac{w_r [\frac{mrad}{s}] \cdot W [mm]}{2 \cdot 1000} \cdot \frac{ENC [\frac{steps}{m}]}{1000}$ + +Linear speed right\ +$v_R [\frac{steps}{s}] = \frac{v_{Linear}}{2} [\frac{steps}{s}] + \frac{w_r [\frac{mrad}{s}] \cdot W [mm]}{2 \cdot 1000} \cdot \frac{ENC [\frac{steps}{m}]}{1000}$ + #### Odometry ![odometry](http://www.plantuml.com/plantuml/proxy?cache=no&src=https://raw.githubusercontent.com/BlueAndi/RadonUlzer/main/doc/architecture/uml/LogicalView/Odometry.plantuml) diff --git a/lib/Service/src/DifferentialDrive.cpp b/lib/Service/src/DifferentialDrive.cpp index c8699c23..069ad5fe 100644 --- a/lib/Service/src/DifferentialDrive.cpp +++ b/lib/Service/src/DifferentialDrive.cpp @@ -245,18 +245,16 @@ DifferentialDrive::DifferentialDrive() : void DifferentialDrive::calculateLinearSpeedLeftRight(int16_t linearSpeedCenter, int16_t angularSpeed, int16_t& linearSpeedLeft, int16_t& linearSpeedRight) { - int32_t linearSpeedCenter32 = static_cast(linearSpeedCenter); /* [steps/s] */ - int32_t angularSpeed32 = static_cast(angularSpeed); /* [mrad/s] */ - int32_t wheelBase32 = static_cast(RobotConstants::WHEEL_BASE); /* [mm] */ - - /* angular speed = 2 * (linear speed right - linear speed left ) / wheel base - * linear speed right - linear speed left = angular speed * wheel base / 2 - * - * linear speed right = - linear speed left - */ - - linearSpeedLeft = linearSpeedCenter32 - (angularSpeed32 * wheelBase32) / 2; - linearSpeedRight = linearSpeedCenter32 + (angularSpeed32 * wheelBase32) / 2; + int32_t linearSpeedCenter32 = static_cast(linearSpeedCenter); /* [steps/s] */ + int32_t halfLinearSpeedCenter32 = linearSpeedCenter32 / 2; /* [steps/s] */ + int32_t angularSpeed32 = static_cast(angularSpeed); /* [mrad/s] */ + int32_t wheelBase32 = static_cast(RobotConstants::WHEEL_BASE); /* [mm] */ + int32_t encoderStepsPerM32 = static_cast(RobotConstants::ENCODER_STEPS_PER_M); /* [steps/m] */ + int32_t linearSpeedTurnInPlace32 = + (angularSpeed32 * wheelBase32 * encoderStepsPerM32) / (2 * 1000 * 1000); /* [steps/s] */ + + linearSpeedLeft = halfLinearSpeedCenter32 - linearSpeedTurnInPlace32; /* [steps/s] */ + linearSpeedRight = halfLinearSpeedCenter32 + linearSpeedTurnInPlace32; /* [steps/s] */ } void DifferentialDrive::calculateLinearAndAngularSpeedCenter(int16_t linearSpeedLeft, int16_t linearSpeedRight, @@ -268,13 +266,8 @@ void DifferentialDrive::calculateLinearAndAngularSpeedCenter(int16_t linearSpeed int32_t linearSpeedCenter32 = (linearSpeedRight32 + linearSpeedLeft32) / 2; /* [steps/s] */ int32_t angularSpeed32 = (2 * (linearSpeedRight32 - linearSpeedLeft32)) / wheelBase32; /* [mrad/s] */ - /* linear speed = (linear speed right + linear speed left) / 2 - * - * angular speed = 2 * (linear speed right - linear speed left ) / wheel base - */ - - linearSpeedCenter = static_cast(linearSpeedCenter32); - angularSpeed = static_cast(angularSpeed32); + linearSpeedCenter = static_cast(linearSpeedCenter32); /* [steps/s] */ + angularSpeed = static_cast(angularSpeed32); /* [mrad/s] */ } /****************************************************************************** From 8a411e49f0e013377525ac6f2a93a35cb258695a Mon Sep 17 00:00:00 2001 From: BlueAndi Date: Wed, 21 Aug 2024 00:57:04 +0200 Subject: [PATCH 22/38] Use int32_t number to avoid integer overflow. --- lib/Service/src/DifferentialDrive.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/lib/Service/src/DifferentialDrive.cpp b/lib/Service/src/DifferentialDrive.cpp index 069ad5fe..2ce2c077 100644 --- a/lib/Service/src/DifferentialDrive.cpp +++ b/lib/Service/src/DifferentialDrive.cpp @@ -251,7 +251,7 @@ void DifferentialDrive::calculateLinearSpeedLeftRight(int16_t linearSpeedCenter, int32_t wheelBase32 = static_cast(RobotConstants::WHEEL_BASE); /* [mm] */ int32_t encoderStepsPerM32 = static_cast(RobotConstants::ENCODER_STEPS_PER_M); /* [steps/m] */ int32_t linearSpeedTurnInPlace32 = - (angularSpeed32 * wheelBase32 * encoderStepsPerM32) / (2 * 1000 * 1000); /* [steps/s] */ + (angularSpeed32 * wheelBase32 * encoderStepsPerM32) / static_cast(2000000); /* [steps/s] */ linearSpeedLeft = halfLinearSpeedCenter32 - linearSpeedTurnInPlace32; /* [steps/s] */ linearSpeedRight = halfLinearSpeedCenter32 + linearSpeedTurnInPlace32; /* [steps/s] */ From 3ac917b83ed6b8bd4ce09fd963d33d5a9dcc831b Mon Sep 17 00:00:00 2001 From: gabryelreyes Date: Wed, 21 Aug 2024 08:27:29 +0200 Subject: [PATCH 23/38] Revert wrong calculations --- lib/Service/src/DifferentialDrive.cpp | 11 +++++------ 1 file changed, 5 insertions(+), 6 deletions(-) diff --git a/lib/Service/src/DifferentialDrive.cpp b/lib/Service/src/DifferentialDrive.cpp index 29d9877a..c8699c23 100644 --- a/lib/Service/src/DifferentialDrive.cpp +++ b/lib/Service/src/DifferentialDrive.cpp @@ -245,10 +245,9 @@ DifferentialDrive::DifferentialDrive() : void DifferentialDrive::calculateLinearSpeedLeftRight(int16_t linearSpeedCenter, int16_t angularSpeed, int16_t& linearSpeedLeft, int16_t& linearSpeedRight) { - int32_t linearSpeedCenter32 = static_cast(linearSpeedCenter); /* [steps/s] */ - int32_t angularSpeed32 = static_cast(angularSpeed); /* [mrad/s] */ - int32_t wheelBase32 = static_cast(RobotConstants::WHEEL_BASE); /* [mm] */ - int32_t encoderSteps32 = static_cast(RobotConstants::ENCODER_STEPS_PER_M); /* [steps/m] */ + int32_t linearSpeedCenter32 = static_cast(linearSpeedCenter); /* [steps/s] */ + int32_t angularSpeed32 = static_cast(angularSpeed); /* [mrad/s] */ + int32_t wheelBase32 = static_cast(RobotConstants::WHEEL_BASE); /* [mm] */ /* angular speed = 2 * (linear speed right - linear speed left ) / wheel base * linear speed right - linear speed left = angular speed * wheel base / 2 @@ -256,8 +255,8 @@ void DifferentialDrive::calculateLinearSpeedLeftRight(int16_t linearSpeedCenter, * linear speed right = - linear speed left */ - linearSpeedLeft = (linearSpeedCenter32 / 2) - ((angularSpeed32 / 1000) * (wheelBase32) * (encoderSteps32 / 1000)); - linearSpeedRight = (linearSpeedCenter32 / 2) + ((angularSpeed32 / 1000) * (wheelBase32) * (encoderSteps32 / 1000)); + linearSpeedLeft = linearSpeedCenter32 - (angularSpeed32 * wheelBase32) / 2; + linearSpeedRight = linearSpeedCenter32 + (angularSpeed32 * wheelBase32) / 2; } void DifferentialDrive::calculateLinearAndAngularSpeedCenter(int16_t linearSpeedLeft, int16_t linearSpeedRight, From d90bfc966837750165d5c5e2a4cf632854283844 Mon Sep 17 00:00:00 2001 From: Norbert Schulz Date: Thu, 29 Aug 2024 16:27:58 +0200 Subject: [PATCH 24/38] Add --cwd

option for setting working directory. --- lib/MainNative/src/main.cpp | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/lib/MainNative/src/main.cpp b/lib/MainNative/src/main.cpp index 03299b0e..1cb9294b 100644 --- a/lib/MainNative/src/main.cpp +++ b/lib/MainNative/src/main.cpp @@ -35,6 +35,7 @@ #include #include #include +#include #include #include #include @@ -77,6 +78,7 @@ static void systemDelay(unsigned long ms); static const struct option LONG_OPTIONS[] = {{"help", no_argument, nullptr, 0}, {"serialRxCh", required_argument, nullptr, 0}, {"serialTxCh", required_argument, nullptr, 0}, + {"cwd", required_argument, nullptr, 0}, {nullptr, no_argument, nullptr, 0}}; /* Marks the end. */ /** Program argument default value of the robot name. */ @@ -263,6 +265,10 @@ static int handleCommandLineArguments(PrgArguments& prgArguments, int argc, char { prgArguments.serialTxChannel = optarg; } + else if (0 == strcmp(LONG_OPTIONS[optionIndex].name, "cwd")) + { + chdir(optarg); + } else { status = -1; @@ -307,6 +313,7 @@ static int handleCommandLineArguments(PrgArguments& prgArguments, int argc, char printf("\t--serialTxCh \t\tSet serial tx channel (ZumoComSystem)."); /* Serial txchannel */ printf(" Default: %s\n", PRG_ARG_SERIAL_TX_CH_DEFAULT); /* Serial tx channel default value */ printf("\t-v\t\t\tVerbose mode. Default: Disabled\n"); /* Flag */ + printf("\t--cwd \t\tSpecify working directory."); /* Set process working directory */ } return status; From 216343d6e6a1e9913d33f9e4fbe6ec270ad44d38 Mon Sep 17 00:00:00 2001 From: Norbert Schulz Date: Fri, 30 Aug 2024 16:02:30 +0200 Subject: [PATCH 25/38] Fix #152 Wrong motor reset on direction change. The speedometer wrongly reseted the speed of the left motor when it detects a direction change of the "right" one. --- lib/Service/src/Speedometer.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/lib/Service/src/Speedometer.cpp b/lib/Service/src/Speedometer.cpp index fb8973da..a7309521 100644 --- a/lib/Service/src/Speedometer.cpp +++ b/lib/Service/src/Speedometer.cpp @@ -98,7 +98,7 @@ void Speedometer::process() if (currentDrivingDirection != m_lastDirectionRight) { - resetLeft = true; + resetRight = true; } m_lastDirectionRight = currentDrivingDirection; From 7dc4260f1ff389208b0165480217614af5c472a8 Mon Sep 17 00:00:00 2001 From: Norbert Schulz Date: Fri, 30 Aug 2024 16:02:30 +0200 Subject: [PATCH 26/38] Fix #152 Wrong motor reset on direction change. The speedometer wrongly reseted the speed of the left motor when it detects a direction change of the "right" one. --- lib/Service/src/Speedometer.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/lib/Service/src/Speedometer.cpp b/lib/Service/src/Speedometer.cpp index fb8973da..a7309521 100644 --- a/lib/Service/src/Speedometer.cpp +++ b/lib/Service/src/Speedometer.cpp @@ -98,7 +98,7 @@ void Speedometer::process() if (currentDrivingDirection != m_lastDirectionRight) { - resetLeft = true; + resetRight = true; } m_lastDirectionRight = currentDrivingDirection; From bd17b739e202735badf5b68b30eea4ee295caaff Mon Sep 17 00:00:00 2001 From: Gabryel Reyes Date: Mon, 2 Sep 2024 15:47:57 +0200 Subject: [PATCH 27/38] Removed unnecessary method --- lib/APPRemoteControl/src/App.cpp | 5 ----- lib/APPRemoteControl/src/StartupState.cpp | 2 +- lib/APPRemoteControl/src/StartupState.h | 15 +-------------- 3 files changed, 2 insertions(+), 20 deletions(-) diff --git a/lib/APPRemoteControl/src/App.cpp b/lib/APPRemoteControl/src/App.cpp index 823ec6f1..628193a3 100644 --- a/lib/APPRemoteControl/src/App.cpp +++ b/lib/APPRemoteControl/src/App.cpp @@ -200,8 +200,6 @@ void App::handleRemoteCommand(const Command& cmd) Odometry::getInstance().clearMileage(); Odometry::getInstance().setPosition(cmd.xPos, cmd.yPos); Odometry::getInstance().setOrientation(cmd.orientation); - - StartupState::getInstance().notifyInitialDataIsSet(); break; default: @@ -411,8 +409,5 @@ void App_turtleChannelCallback(const uint8_t* payload, const uint8_t payloadSize /* Angular speed is set on-top of the linear speed. Must be called after setLinearSpeed(). */ diffDrive.setAngularSpeed(angularSpeed); - - /* Turtle expects no initial data. Can be called without side-effects when no longer in StartupState. */ - StartupState::getInstance().notifyInitialDataIsSet(); } } \ No newline at end of file diff --git a/lib/APPRemoteControl/src/StartupState.cpp b/lib/APPRemoteControl/src/StartupState.cpp index dc1ad8c0..16dccfc0 100644 --- a/lib/APPRemoteControl/src/StartupState.cpp +++ b/lib/APPRemoteControl/src/StartupState.cpp @@ -96,7 +96,7 @@ void StartupState::process(StateMachine& sm) ErrorState::getInstance().setErrorMsg("MCAL=0"); sm.setState(&ErrorState::getInstance()); } - else if (true == m_initialDataSet) + else { sm.setState(&DrivingState::getInstance()); } diff --git a/lib/APPRemoteControl/src/StartupState.h b/lib/APPRemoteControl/src/StartupState.h index 29d3e00b..8722b895 100644 --- a/lib/APPRemoteControl/src/StartupState.h +++ b/lib/APPRemoteControl/src/StartupState.h @@ -89,14 +89,6 @@ class StartupState : public IState */ void exit() final; - /** - * Notify the state, that the initial data set was received. - */ - void notifyInitialDataIsSet() - { - m_initialDataSet = true; - } - protected: private: /** @@ -104,15 +96,10 @@ class StartupState : public IState */ static const uint32_t APP_NAME_DURATION = 2000U; - /** - * Flag to indicate, that the initial data was set. - */ - bool m_initialDataSet; - /** * Default constructor. */ - StartupState() : m_initialDataSet(false) + StartupState() { } From a29caeafb99c2bbfd8f3ad196b639af2f80ecc32 Mon Sep 17 00:00:00 2001 From: Gabryel Reyes Date: Mon, 2 Sep 2024 16:20:44 +0200 Subject: [PATCH 28/38] Renamed channels and structures to simplify interface to DCS --- lib/APPRemoteControl/src/App.cpp | 16 ++++---- lib/APPRemoteControl/src/SerialMuxChannels.h | 43 ++++++++++---------- 2 files changed, 29 insertions(+), 30 deletions(-) diff --git a/lib/APPRemoteControl/src/App.cpp b/lib/APPRemoteControl/src/App.cpp index 628193a3..4b198a72 100644 --- a/lib/APPRemoteControl/src/App.cpp +++ b/lib/APPRemoteControl/src/App.cpp @@ -284,9 +284,9 @@ bool App::setupSerialMuxProt() /* Channel subscription. */ m_smpServer.subscribeToChannel(COMMAND_CHANNEL_NAME, App_cmdChannelCallback); - m_smpServer.subscribeToChannel(SPEED_SETPOINT_CHANNEL_NAME, App_motorSpeedSetpointsChannelCallback); + m_smpServer.subscribeToChannel(MOTOR_SPEED_SETPOINT_CHANNEL_NAME, App_motorSpeedSetpointsChannelCallback); m_smpServer.subscribeToChannel(STATUS_CHANNEL_NAME, App_statusChannelCallback); - m_smpServer.subscribeToChannel(TURTLE_CHANNEL_NAME, App_turtleChannelCallback); + m_smpServer.subscribeToChannel(ROBOT_SPEED_SETPOINT_CHANNEL_NAME, App_turtleChannelCallback); /* Channel creation. */ m_serialMuxProtChannelIdRemoteCtrlRsp = @@ -361,9 +361,9 @@ static void App_cmdChannelCallback(const uint8_t* payload, const uint8_t payload void App_motorSpeedSetpointsChannelCallback(const uint8_t* payload, const uint8_t payloadSize, void* userData) { (void)userData; - if ((nullptr != payload) && (SPEED_SETPOINT_CHANNEL_DLC == payloadSize)) + if ((nullptr != payload) && (MOTOR_SPEED_SETPOINT_CHANNEL_DLC == payloadSize)) { - const SpeedData* motorSpeedData = reinterpret_cast(payload); + const MotorSpeed* motorSpeedData = reinterpret_cast(payload); DrivingState::getInstance().setTargetSpeeds(motorSpeedData->left, motorSpeedData->right); } } @@ -388,16 +388,16 @@ void App_statusChannelCallback(const uint8_t* payload, const uint8_t payloadSize /** * Receives Turtle speed setpoints over SerialMuxProt channel. * - * @param[in] payload Linear and angular speed setpoints in a TurtleSpeed structure. - * @param[in] payloadSize Size of the TurtleSpeed structure. + * @param[in] payload Linear and angular speed setpoints in a RobotSpeed structure. + * @param[in] payloadSize Size of the RobotSpeed structure. * @param[in] userData Instance of App class. */ void App_turtleChannelCallback(const uint8_t* payload, const uint8_t payloadSize, void* userData) { (void)userData; - if ((nullptr != payload) && (TURTLE_CHANNEL_DLC == payloadSize)) + if ((nullptr != payload) && (ROBOT_SPEED_SETPOINT_CHANNEL_DLC == payloadSize)) { - const TurtleSpeed* turtleSpeedData = reinterpret_cast(payload); + const RobotSpeed* turtleSpeedData = reinterpret_cast(payload); DifferentialDrive& diffDrive = DifferentialDrive::getInstance(); int16_t angularSpeed = static_cast(turtleSpeedData->angular); diff --git a/lib/APPRemoteControl/src/SerialMuxChannels.h b/lib/APPRemoteControl/src/SerialMuxChannels.h index 6e49caca..b08f2f6e 100644 --- a/lib/APPRemoteControl/src/SerialMuxChannels.h +++ b/lib/APPRemoteControl/src/SerialMuxChannels.h @@ -59,10 +59,16 @@ #define COMMAND_RESPONSE_CHANNEL_DLC (sizeof(CommandResponse)) /** Name of Channel to send Motor Speed Setpoints to. */ -#define SPEED_SETPOINT_CHANNEL_NAME "SPEED_SET" +#define MOTOR_SPEED_SETPOINT_CHANNEL_NAME "MOTOR_SET" -/** DLC of Speedometer Channel */ -#define SPEED_SETPOINT_CHANNEL_DLC (sizeof(SpeedData)) +/** DLC of Motor Speed Setpoint Channel */ +#define MOTOR_SPEED_SETPOINT_CHANNEL_DLC (sizeof(MotorSpeed)) + +/** Name of the Channel to send Robot Speed Setpoints to. */ +#define ROBOT_SPEED_SETPOINT_CHANNEL_NAME "ROBOT_SET" + +/** DLC of Robot Speed Setpoint Channel */ +#define ROBOT_SPEED_SETPOINT_CHANNEL_DLC (sizeof(RobotSpeed)) /** Name of Channel to send Current Vehicle Data to. */ #define CURRENT_VEHICLE_DATA_CHANNEL_NAME "CURR_DATA" @@ -82,12 +88,6 @@ /** DLC of Line Sensor Channel */ #define LINE_SENSOR_CHANNEL_DLC (sizeof(LineSensorData)) -/** Name of the Channel to send Turtle Speeds. */ -#define TURTLE_CHANNEL_NAME "TURTLE" - -/** DLC of Turtle Channel */ -#define TURTLE_CHANNEL_DLC (sizeof(TurtleSpeed)) - /****************************************************************************** * Types and Classes *****************************************************************************/ @@ -179,13 +179,19 @@ typedef struct _CommandResponse }; } __attribute__((packed)) CommandResponse; -/** Struct of the "Speed" channel payload. */ -typedef struct _SpeedData +/** Struct of the "Motor Speed Setpoints" channel payload. */ +typedef struct _MotorSpeed +{ + int32_t left; /**< Left motor speed [mm/s] */ + int32_t right; /**< Right motor speed [mm/s] */ +} __attribute__((packed)) MotorSpeed; + +/** Struct of the "Robot Speed Setpoints" channel payload. */ +typedef struct _RobotSpeed { - int32_t left; /**< Left motor speed [mm/s] */ - int32_t right; /**< Right motor speed [mm/s] */ - int32_t center; /**< Center motor speed [mm/s] */ -} __attribute__((packed)) SpeedData; + int32_t linearCenter; /**< Linear speed of the vehicle center. [mm/s] */ + int32_t angular; /**< Angular speed. [mrad/s] */ +} __attribute__((packed)) RobotSpeed; /** Struct of the "Current Vehicle Data" channel payload. */ typedef struct _VehicleData @@ -211,13 +217,6 @@ typedef struct _LineSensorData uint16_t lineSensorData[5U]; /**< Line sensor data [digits] normalized to max 1000 digits. */ } __attribute__((packed)) LineSensorData; -/** Struct of the "Turtle" channel payload. */ -typedef struct _TurtleSpeed -{ - int32_t linearCenter; /**< Linear speed of the vehicle center. [mm/s] */ - int32_t angular; /**< Angular speed. [mrad/s] */ -} __attribute__((packed)) TurtleSpeed; - /****************************************************************************** * Functions *****************************************************************************/ From a932aa4dffa891c77a47e60aeec583120d243bf5 Mon Sep 17 00:00:00 2001 From: Gabryel Reyes Date: Mon, 2 Sep 2024 16:31:31 +0200 Subject: [PATCH 29/38] Use DrivingState to set the robot speeds --- lib/APPRemoteControl/src/App.cpp | 9 +++------ lib/APPRemoteControl/src/DrivingState.cpp | 16 +++++++++++++++- lib/APPRemoteControl/src/DrivingState.h | 12 ++++++++++-- 3 files changed, 28 insertions(+), 9 deletions(-) diff --git a/lib/APPRemoteControl/src/App.cpp b/lib/APPRemoteControl/src/App.cpp index 4b198a72..89f4595e 100644 --- a/lib/APPRemoteControl/src/App.cpp +++ b/lib/APPRemoteControl/src/App.cpp @@ -364,7 +364,7 @@ void App_motorSpeedSetpointsChannelCallback(const uint8_t* payload, const uint8_ if ((nullptr != payload) && (MOTOR_SPEED_SETPOINT_CHANNEL_DLC == payloadSize)) { const MotorSpeed* motorSpeedData = reinterpret_cast(payload); - DrivingState::getInstance().setTargetSpeeds(motorSpeedData->left, motorSpeedData->right); + DrivingState::getInstance().setMotorSpeeds(motorSpeedData->left, motorSpeedData->right); } } @@ -404,10 +404,7 @@ void App_turtleChannelCallback(const uint8_t* payload, const uint8_t payloadSize /* Convert to [steps/s] */ int16_t centerSpeed = Util::millimetersPerSecondToStepsPerSecond(turtleSpeedData->linearCenter); - /* Linear speed is set first. Overwrites all speed setpoints. */ - diffDrive.setLinearSpeed(centerSpeed); - - /* Angular speed is set on-top of the linear speed. Must be called after setLinearSpeed(). */ - diffDrive.setAngularSpeed(angularSpeed); + /* Set the robot speeds. */ + DrivingState::getInstance().setRobotSpeeds(centerSpeed, angularSpeed); } } \ No newline at end of file diff --git a/lib/APPRemoteControl/src/DrivingState.cpp b/lib/APPRemoteControl/src/DrivingState.cpp index f4bd07e2..ed838c46 100644 --- a/lib/APPRemoteControl/src/DrivingState.cpp +++ b/lib/APPRemoteControl/src/DrivingState.cpp @@ -84,7 +84,7 @@ void DrivingState::exit() DifferentialDrive::getInstance().disable(); } -void DrivingState::setTargetSpeeds(int16_t leftMotor, int16_t rightMotor) +void DrivingState::setMotorSpeeds(int16_t leftMotor, int16_t rightMotor) { if (true == m_isActive) { @@ -92,6 +92,20 @@ void DrivingState::setTargetSpeeds(int16_t leftMotor, int16_t rightMotor) } } +void DrivingState::setRobotSpeeds(int16_t linearSpeed, int16_t angularSpeed) +{ + if (true == m_isActive) + { + DifferentialDrive& diffDrive = DifferentialDrive::getInstance(); + + /* Linear speed is set first. Overwrites all speed setpoints. */ + diffDrive.setLinearSpeed(linearSpeed); + + /* Angular speed is set on-top of the linear speed. Must be called after setLinearSpeed(). */ + diffDrive.setAngularSpeed(angularSpeed); + } +} + /****************************************************************************** * Protected Methods *****************************************************************************/ diff --git a/lib/APPRemoteControl/src/DrivingState.h b/lib/APPRemoteControl/src/DrivingState.h index b50d2377..588be3a2 100644 --- a/lib/APPRemoteControl/src/DrivingState.h +++ b/lib/APPRemoteControl/src/DrivingState.h @@ -91,12 +91,20 @@ class DrivingState : public IState void exit() final; /** - * Set target motor speeds. + * Set the motor speeds. * * @param[in] leftMotor Left motor speed. [steps/s] * @param[in] rightMotor Right motor speed. [steps/s] */ - void setTargetSpeeds(int16_t leftMotor, int16_t rightMotor); + void setMotorSpeeds(int16_t leftMotor, int16_t rightMotor); + + /** + * Set the robot speeds. + * + * @param[in] linearSpeed Linear speed in [steps/s] + * @param[in] angularSpeed Angular speed in [mrad/s] + */ + void setRobotSpeeds(int16_t linearSpeed, int16_t angularSpeed); protected: private: From 96c2f8f62c427b2e2b8ff610d762acf168689cd9 Mon Sep 17 00:00:00 2001 From: Gabryel Reyes Date: Mon, 2 Sep 2024 16:40:39 +0200 Subject: [PATCH 30/38] Fixed function name --- lib/APPRemoteControl/src/App.cpp | 15 +++++++-------- 1 file changed, 7 insertions(+), 8 deletions(-) diff --git a/lib/APPRemoteControl/src/App.cpp b/lib/APPRemoteControl/src/App.cpp index 89f4595e..6812456a 100644 --- a/lib/APPRemoteControl/src/App.cpp +++ b/lib/APPRemoteControl/src/App.cpp @@ -63,7 +63,7 @@ static void App_cmdChannelCallback(const uint8_t* payload, const uint8_t payloadSize, void* userData); static void App_motorSpeedSetpointsChannelCallback(const uint8_t* payload, const uint8_t payloadSize, void* userData); static void App_statusChannelCallback(const uint8_t* payload, const uint8_t payloadSize, void* userData); -static void App_turtleChannelCallback(const uint8_t* payload, const uint8_t payloadSize, void* userData); +static void App_robotSpeedSetpointChannelCallback(const uint8_t* payload, const uint8_t payloadSize, void* userData); /****************************************************************************** * Local Variables @@ -286,7 +286,7 @@ bool App::setupSerialMuxProt() m_smpServer.subscribeToChannel(COMMAND_CHANNEL_NAME, App_cmdChannelCallback); m_smpServer.subscribeToChannel(MOTOR_SPEED_SETPOINT_CHANNEL_NAME, App_motorSpeedSetpointsChannelCallback); m_smpServer.subscribeToChannel(STATUS_CHANNEL_NAME, App_statusChannelCallback); - m_smpServer.subscribeToChannel(ROBOT_SPEED_SETPOINT_CHANNEL_NAME, App_turtleChannelCallback); + m_smpServer.subscribeToChannel(ROBOT_SPEED_SETPOINT_CHANNEL_NAME, App_robotSpeedSetpointChannelCallback); /* Channel creation. */ m_serialMuxProtChannelIdRemoteCtrlRsp = @@ -386,23 +386,22 @@ void App_statusChannelCallback(const uint8_t* payload, const uint8_t payloadSize } /** - * Receives Turtle speed setpoints over SerialMuxProt channel. + * Receives robot speed setpoints over SerialMuxProt channel. * * @param[in] payload Linear and angular speed setpoints in a RobotSpeed structure. * @param[in] payloadSize Size of the RobotSpeed structure. * @param[in] userData Instance of App class. */ -void App_turtleChannelCallback(const uint8_t* payload, const uint8_t payloadSize, void* userData) +void App_robotSpeedSetpointChannelCallback(const uint8_t* payload, const uint8_t payloadSize, void* userData) { (void)userData; if ((nullptr != payload) && (ROBOT_SPEED_SETPOINT_CHANNEL_DLC == payloadSize)) { - const RobotSpeed* turtleSpeedData = reinterpret_cast(payload); - DifferentialDrive& diffDrive = DifferentialDrive::getInstance(); - int16_t angularSpeed = static_cast(turtleSpeedData->angular); + const RobotSpeed* robotSpeedData = reinterpret_cast(payload); + int16_t angularSpeed = static_cast(robotSpeedData->angular); /* Convert to [steps/s] */ - int16_t centerSpeed = Util::millimetersPerSecondToStepsPerSecond(turtleSpeedData->linearCenter); + int16_t centerSpeed = Util::millimetersPerSecondToStepsPerSecond(robotSpeedData->linearCenter); /* Set the robot speeds. */ DrivingState::getInstance().setRobotSpeeds(centerSpeed, angularSpeed); From ad602c45ef926598f70dd65fccca7353caa36953 Mon Sep 17 00:00:00 2001 From: Gabryel Reyes Date: Tue, 3 Sep 2024 08:18:38 +0200 Subject: [PATCH 31/38] Fixed review findings --- lib/APPRemoteControl/src/App.cpp | 6 ++++-- lib/MainNative/src/main.cpp | 20 ++++++++++++++++++-- 2 files changed, 22 insertions(+), 4 deletions(-) diff --git a/lib/APPRemoteControl/src/App.cpp b/lib/APPRemoteControl/src/App.cpp index 6812456a..2d76a1e1 100644 --- a/lib/APPRemoteControl/src/App.cpp +++ b/lib/APPRemoteControl/src/App.cpp @@ -363,8 +363,10 @@ void App_motorSpeedSetpointsChannelCallback(const uint8_t* payload, const uint8_ (void)userData; if ((nullptr != payload) && (MOTOR_SPEED_SETPOINT_CHANNEL_DLC == payloadSize)) { - const MotorSpeed* motorSpeedData = reinterpret_cast(payload); - DrivingState::getInstance().setMotorSpeeds(motorSpeedData->left, motorSpeedData->right); + const MotorSpeed* motorSpeedData = reinterpret_cast(payload); + int16_t leftMotorSpeed = Util::millimetersPerSecondToStepsPerSecond(motorSpeedData->left); + int16_t rightMotorSpeed = Util::millimetersPerSecondToStepsPerSecond(motorSpeedData->right); + DrivingState::getInstance().setMotorSpeeds(leftMotorSpeed, rightMotorSpeed); } } diff --git a/lib/MainNative/src/main.cpp b/lib/MainNative/src/main.cpp index 1cb9294b..71e9a76b 100644 --- a/lib/MainNative/src/main.cpp +++ b/lib/MainNative/src/main.cpp @@ -58,6 +58,7 @@ typedef struct bool isZumoComSystemEnabled; /**< Is the ZumoComSystem enabled? */ const char* serialRxChannel; /**< Serial Rx channel */ const char* serialTxChannel; /**< Serial Tx channel */ + const char* cwd; /**< Current working directory */ } PrgArguments; @@ -78,7 +79,7 @@ static void systemDelay(unsigned long ms); static const struct option LONG_OPTIONS[] = {{"help", no_argument, nullptr, 0}, {"serialRxCh", required_argument, nullptr, 0}, {"serialTxCh", required_argument, nullptr, 0}, - {"cwd", required_argument, nullptr, 0}, + {"cwd", required_argument, nullptr, 0}, {nullptr, no_argument, nullptr, 0}}; /* Marks the end. */ /** Program argument default value of the robot name. */ @@ -96,6 +97,9 @@ static const char PRG_ARG_SERIAL_RX_CH_DEFAULT[] = "1"; /** Program argument default value of the serial tx channel. */ static const char PRG_ARG_SERIAL_TX_CH_DEFAULT[] = "2"; +/** Program argument default value of the current working directory. */ +static const char* PRG_ARG_CWD_DEFAULT = "."; + /** * The maximum duration a simulated time step can have. * Everything above would cause missbehaviour in the application. @@ -144,6 +148,16 @@ extern int main(int argc, char** argv) showPrgArguments(prgArguments); } + /* Set the current working directory. */ + if (0 != strcmp(PRG_ARG_CWD_DEFAULT, prgArguments.cwd)) + { + if (0 != chdir(prgArguments.cwd)) + { + printf("Failed to set current working directory: %s\n", prgArguments.cwd); + status = -1; + } + } + /* It might happen that the user enables the ZumoComSystem, but the * choosen application doesn't support it. */ @@ -246,6 +260,7 @@ static int handleCommandLineArguments(PrgArguments& prgArguments, int argc, char prgArguments.isZumoComSystemEnabled = PRG_ARG_IS_ZUMO_COM_SYSTEM_ENABLED_DEFAULT; prgArguments.serialRxChannel = PRG_ARG_SERIAL_RX_CH_DEFAULT; prgArguments.serialTxChannel = PRG_ARG_SERIAL_TX_CH_DEFAULT; + prgArguments.cwd = PRG_ARG_CWD_DEFAULT; while ((-1 != option) && (0 == status)) { @@ -267,7 +282,7 @@ static int handleCommandLineArguments(PrgArguments& prgArguments, int argc, char } else if (0 == strcmp(LONG_OPTIONS[optionIndex].name, "cwd")) { - chdir(optarg); + prgArguments.cwd = optarg; } else { @@ -330,6 +345,7 @@ static void showPrgArguments(const PrgArguments& prgArgs) printf("ZumoComSystem : %s\n", (false == prgArgs.isZumoComSystemEnabled) ? "disabled" : "enabled"); printf("Serial rx channel: %s\n", prgArgs.serialRxChannel); printf("Serial tx channel: %s\n", prgArgs.serialTxChannel); + printf("Current working directory: %s\n", prgArgs.cwd); /* Skip verbose flag. */ } From 9f229422eb51e3e620979580023804b25800c85c Mon Sep 17 00:00:00 2001 From: greyes Date: Wed, 18 Sep 2024 22:53:11 +0200 Subject: [PATCH 32/38] Added script to convert hex to bin file for OTA updates --- platformio.ini | 1 + scripts/create_binary.py | 79 ++++++++++++++++++++++++++++++++++++++++ 2 files changed, 80 insertions(+) create mode 100644 scripts/create_binary.py diff --git a/platformio.ini b/platformio.ini index d153a00e..7a4ab9a5 100644 --- a/platformio.ini +++ b/platformio.ini @@ -67,6 +67,7 @@ lib_deps = lib_ignore = HALTest extra_scripts = + post:./scripts/create_binary.py monitor_speed = 115200 diff --git a/scripts/create_binary.py b/scripts/create_binary.py new file mode 100644 index 00000000..e67b2830 --- /dev/null +++ b/scripts/create_binary.py @@ -0,0 +1,79 @@ +"""Create a binary file from the .hex file. +Required for flashing the firmware through the DCS.""" + +# MIT License +# +# Copyright (c) 2022 - 2024 Andreas Merkle (web@blue-andi.de) +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +################################################################################ +# Imports +################################################################################ + +import os +Import("env") # pylint: disable=undefined-variable + +################################################################################ +# Variables +################################################################################ + +BUILD_DIR = env["BUILD_DIR"] # pylint: disable=undefined-variable +PROGRAM_PATH = os.path.join(BUILD_DIR, "firmware") +INPUT_FILE = PROGRAM_PATH + ".hex" +OUTPUT_FILE = PROGRAM_PATH + ".bin" + +# Command to convert .hex into .bin. +# Use the objcopy tool, which is part of the toolchain. +CMD = "${OBJCOPY} -I ihex \"" + INPUT_FILE +\ + "\" -O binary \"" + OUTPUT_FILE + "\"" + +################################################################################ +# Classes +################################################################################ + +################################################################################ +# Functions +################################################################################ + + +def create_binary(source, target, env): + """Create a binary file from the .hex file.""" + # pylint: disable=unused-argument + + # Convert .hex into .bin using objcopy. + print("Creating binary file...") + print(CMD) + + if 0 != env.Execute(CMD): + print("Command failed!") + Exit(1) # pylint: disable=undefined-variable + + +################################################################################ +# Main +################################################################################ + +# Always build .hex file. Assume it is always out-of-date +# pylint: disable=undefined-variable +env.AlwaysBuild(INPUT_FILE) # type: ignore + +# Register the callback to the creation of the .hex file +# pylint: disable=undefined-variable +env.AddPostAction(INPUT_FILE, create_binary) # type: ignore From 3d5f7df1981647bdab919eb132324af58039d763 Mon Sep 17 00:00:00 2001 From: Gabryel Reyes Date: Thu, 26 Sep 2024 08:51:15 +0200 Subject: [PATCH 33/38] Added missing documentation --- scripts/create_binary.py | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/scripts/create_binary.py b/scripts/create_binary.py index e67b2830..321efc8c 100644 --- a/scripts/create_binary.py +++ b/scripts/create_binary.py @@ -53,8 +53,16 @@ ################################################################################ -def create_binary(source, target, env): - """Create a binary file from the .hex file.""" +def create_binary(source, target, env) -> None: + """Create a binary file from the .hex file. + Arguments: + source: Output binary of build process. + target: File that triggered this callback. INPUT_FILE in this case. + env: SCons build environment + + Return: + None. Exits on fail. + """ # pylint: disable=unused-argument # Convert .hex into .bin using objcopy. From 551d9ab1c963594a0a2f0edc42c41928104c72d8 Mon Sep 17 00:00:00 2001 From: greyes Date: Sat, 28 Sep 2024 21:21:06 +0200 Subject: [PATCH 34/38] User can specify the type that holds the sum of the Moving Average to prevent wrapping and overflows. --- doc/architecture/uml/LogicalView/Service.plantuml | 2 +- lib/APPConvoyFollower/src/App.h | 2 +- lib/APPConvoyLeader/src/App.h | 2 +- lib/APPConvoyLeader/src/DrivingState.h | 2 +- lib/APPRemoteControl/src/App.h | 2 +- lib/Service/src/MovAvg.hpp | 5 +++-- 6 files changed, 8 insertions(+), 7 deletions(-) diff --git a/doc/architecture/uml/LogicalView/Service.plantuml b/doc/architecture/uml/LogicalView/Service.plantuml index d2528ec8..6982642d 100644 --- a/doc/architecture/uml/LogicalView/Service.plantuml +++ b/doc/architecture/uml/LogicalView/Service.plantuml @@ -36,7 +36,7 @@ package "Service" as serviceLayer { on the track. end note - class MovAvg < T, length > <> + class MovAvg < T, U, length > <> note top of MovAvg Moving average filter which can be diff --git a/lib/APPConvoyFollower/src/App.h b/lib/APPConvoyFollower/src/App.h index 9b9ca35f..9bad6259 100644 --- a/lib/APPConvoyFollower/src/App.h +++ b/lib/APPConvoyFollower/src/App.h @@ -171,7 +171,7 @@ class App /** * Moving average filter for proximity sensors. */ - MovAvg m_movAvgProximitySensor; + MovAvg m_movAvgProximitySensor; /** * Report the current vehicle data. diff --git a/lib/APPConvoyLeader/src/App.h b/lib/APPConvoyLeader/src/App.h index a3568197..b78ba2f3 100644 --- a/lib/APPConvoyLeader/src/App.h +++ b/lib/APPConvoyLeader/src/App.h @@ -172,7 +172,7 @@ class App /** * Moving average filter for proximity sensors. */ - MovAvg m_movAvgProximitySensor; + MovAvg m_movAvgProximitySensor; /** * Report the current vehicle data. diff --git a/lib/APPConvoyLeader/src/DrivingState.h b/lib/APPConvoyLeader/src/DrivingState.h index daf4d09d..6b5423e0 100644 --- a/lib/APPConvoyLeader/src/DrivingState.h +++ b/lib/APPConvoyLeader/src/DrivingState.h @@ -141,7 +141,7 @@ class DrivingState : public IState LineStatus m_lineStatus; /**< Status of start-/end line detection */ TrackStatus m_trackStatus; /**< Status of track which means on track or track lost, etc. */ uint8_t m_startEndLineDebounce; /**< Counter used for easys debouncing of the start-/end line detection. */ - MovAvg m_posMovAvg; /**< The moving average of the position over 2 calling cycles. */ + MovAvg m_posMovAvg; /**< The moving average of the position over 2 calling cycles. */ /** * Default constructor. diff --git a/lib/APPRemoteControl/src/App.h b/lib/APPRemoteControl/src/App.h index 9f9f21c2..eab2e93e 100644 --- a/lib/APPRemoteControl/src/App.h +++ b/lib/APPRemoteControl/src/App.h @@ -171,7 +171,7 @@ class App /** * Moving average filter for proximity sensors. */ - MovAvg m_movAvgProximitySensor; + MovAvg m_movAvgProximitySensor; /** * Report the current vehicle data. diff --git a/lib/Service/src/MovAvg.hpp b/lib/Service/src/MovAvg.hpp index 1d9f7313..e68fce1c 100644 --- a/lib/Service/src/MovAvg.hpp +++ b/lib/Service/src/MovAvg.hpp @@ -58,9 +58,10 @@ * It is designed for fix point integers. * * @tparam T The data type of the moving average result and input values. + * @tparam U The data type of the moving average sum. Must be able to store the maximum value of T * length. * @tparam length The number of values, which are considered in the moving average calculation. */ -template +template class MovAvg { public: @@ -149,7 +150,7 @@ class MovAvg T m_values[length]; /**< List of values, used for moving average calculation. */ uint8_t m_wrIdx; /**< Write index to list of values */ uint8_t m_written; /**< The number of written values to the list of values, till length is reached. */ - T m_sum; /**< Sum of all values */ + U m_sum; /**< Sum of all values */ /** * Copy construction of an instance. From 9ece128c88c9eb4cbf8bffa190e0bd5f08a5bfdd Mon Sep 17 00:00:00 2001 From: Gabryel Reyes Date: Mon, 30 Sep 2024 09:12:32 +0200 Subject: [PATCH 35/38] Added missing decorator --- lib/APPConvoyLeader/src/DrivingState.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/lib/APPConvoyLeader/src/DrivingState.h b/lib/APPConvoyLeader/src/DrivingState.h index 6b5423e0..853abdc3 100644 --- a/lib/APPConvoyLeader/src/DrivingState.h +++ b/lib/APPConvoyLeader/src/DrivingState.h @@ -141,7 +141,7 @@ class DrivingState : public IState LineStatus m_lineStatus; /**< Status of start-/end line detection */ TrackStatus m_trackStatus; /**< Status of track which means on track or track lost, etc. */ uint8_t m_startEndLineDebounce; /**< Counter used for easys debouncing of the start-/end line detection. */ - MovAvg m_posMovAvg; /**< The moving average of the position over 2 calling cycles. */ + MovAvg m_posMovAvg; /**< The moving average of the position over 2 calling cycles. */ /** * Default constructor. From 363148bc9646b2599e790bf2e467a2d6c970025b Mon Sep 17 00:00:00 2001 From: Gabryel Reyes Date: Fri, 18 Oct 2024 10:53:42 +0200 Subject: [PATCH 36/38] Fixed review findings --- doc/architecture/README.md | 1 - lib/Service/src/DifferentialDrive.cpp | 15 ++++++++------- lib/Service/src/Util.h | 8 ++++---- 3 files changed, 12 insertions(+), 12 deletions(-) diff --git a/doc/architecture/README.md b/doc/architecture/README.md index bc747270..5e304d55 100644 --- a/doc/architecture/README.md +++ b/doc/architecture/README.md @@ -87,7 +87,6 @@ Linear speed right\ $v_R [\frac{steps}{s}] = \frac{w_r [\frac{rad}{s}] \cdot W [mm]}{2} \cdot \frac{ENC [\frac{steps}{m}]}{1000}$ Consider robot linear speed center\ - Linear speed left\ $v_L [\frac{steps}{s}] = \frac{v_{Linear}}{2} [\frac{steps}{s}] -\frac{w_r [\frac{rad}{s}] \cdot W [mm]}{2} \cdot \frac{ENC [\frac{steps}{m}]}{1000}$ diff --git a/lib/Service/src/DifferentialDrive.cpp b/lib/Service/src/DifferentialDrive.cpp index 2ce2c077..84861e31 100644 --- a/lib/Service/src/DifferentialDrive.cpp +++ b/lib/Service/src/DifferentialDrive.cpp @@ -245,13 +245,14 @@ DifferentialDrive::DifferentialDrive() : void DifferentialDrive::calculateLinearSpeedLeftRight(int16_t linearSpeedCenter, int16_t angularSpeed, int16_t& linearSpeedLeft, int16_t& linearSpeedRight) { - int32_t linearSpeedCenter32 = static_cast(linearSpeedCenter); /* [steps/s] */ - int32_t halfLinearSpeedCenter32 = linearSpeedCenter32 / 2; /* [steps/s] */ - int32_t angularSpeed32 = static_cast(angularSpeed); /* [mrad/s] */ - int32_t wheelBase32 = static_cast(RobotConstants::WHEEL_BASE); /* [mm] */ - int32_t encoderStepsPerM32 = static_cast(RobotConstants::ENCODER_STEPS_PER_M); /* [steps/m] */ - int32_t linearSpeedTurnInPlace32 = - (angularSpeed32 * wheelBase32 * encoderStepsPerM32) / static_cast(2000000); /* [steps/s] */ + static const int32_t ANGULAR_TO_LINEAR_SPEED_FACTOR = 2000000; /* 2 * 1000 mrad */ + int32_t linearSpeedCenter32 = static_cast(linearSpeedCenter); /* [steps/s] */ + int32_t halfLinearSpeedCenter32 = linearSpeedCenter32 / 2; /* [steps/s] */ + int32_t angularSpeed32 = static_cast(angularSpeed); /* [mrad/s] */ + int32_t wheelBase32 = static_cast(RobotConstants::WHEEL_BASE); /* [mm] */ + int32_t encoderStepsPerM32 = static_cast(RobotConstants::ENCODER_STEPS_PER_M); /* [steps/m] */ + int32_t linearSpeedTurnInPlace32 = (angularSpeed32 * wheelBase32 * encoderStepsPerM32) / + static_cast(ANGULAR_TO_LINEAR_SPEED_FACTOR); /* [steps/s] */ linearSpeedLeft = halfLinearSpeedCenter32 - linearSpeedTurnInPlace32; /* [steps/s] */ linearSpeedRight = halfLinearSpeedCenter32 + linearSpeedTurnInPlace32; /* [steps/s] */ diff --git a/lib/Service/src/Util.h b/lib/Service/src/Util.h index 566a3e55..179b7170 100644 --- a/lib/Service/src/Util.h +++ b/lib/Service/src/Util.h @@ -118,9 +118,9 @@ namespace Util /** * Convert a speed in encoder steps per second to a speed in mm/s. * - * @param[in] speedStepsPerSec Speed in encoder steps per second + * @param[in] speedStepsPerSec Speed in encoder steps per second. * - * @return Speed in mm/s + * @return Speed in mm/s. */ inline int32_t stepsPerSecondToMillimetersPerSecond(int16_t speedStepsPerSec) { @@ -131,9 +131,9 @@ namespace Util /** * Convert a speed in mm/s to a speed in encoder steps per second. * - * @param[in] speedMmPerSec Speed in mm/s + * @param[in] speedMmPerSec Speed in mm/s. * - * @return Speed in encoder steps per second + * @return Speed in encoder steps per second. */ inline int16_t millimetersPerSecondToStepsPerSecond(int32_t speedMmPerSec) { From fa27e05f4199bf9949dcec80718bba5d08b34302 Mon Sep 17 00:00:00 2001 From: Andreas Merkle Date: Tue, 15 Oct 2024 17:30:44 +0200 Subject: [PATCH 37/38] WEBOTS_HOME was not correct set for linux and MacOS. --- scripts/webots_launcher.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/scripts/webots_launcher.py b/scripts/webots_launcher.py index e62171a9..4515bb7b 100644 --- a/scripts/webots_launcher.py +++ b/scripts/webots_launcher.py @@ -48,21 +48,21 @@ + '--serialTxCh ' + ROBOT_SERIAL_TX_CHANNEL + ' ' \ + '-v' WEBOTS_CONTROLLER_OPTIONS = '--robot-name=' + ROBOT_NAME + ' --stdout-redirect' +WEBOTS_HOME = os.getenv('WEBOTS_HOME') if OS_PLATFORM_TYPE == OS_PLATFORM_TYPE_WIN: - WEBOTS_HOME = os.getenv('WEBOTS_HOME').replace('\\', '/') - WEBOTS_CONTROLLER = '"' + WEBOTS_HOME + '/msys64/mingw64/bin/webots-controller.exe"' + WEBOTS_CONTROLLER = f"\"{WEBOTS_HOME.replace('\\', '/')}/msys64/mingw64/bin/webots-controller.exe\"" PROGRAM_NAME = "${PROGNAME}.exe" elif OS_PLATFORM_TYPE == OS_PLATFORM_TYPE_LINUX: - WEBOTS_CONTROLLER = "$WEBOTS_HOME/webots-controller" + WEBOTS_CONTROLLER = f"{WEBOTS_HOME}/webots-controller" PROGRAM_NAME = "${PROGNAME}" elif OS_PLATFORM_TYPE == OS_PLATFORM_TYPE_MACOS: - WEBOTS_CONTROLLER = "$WEBOTS_HOME/Contents/MacOS/webots-controller" + WEBOTS_CONTROLLER = f"{WEBOTS_HOME}/Contents/MacOS/webots-controller" PROGRAM_NAME = "${PROGNAME}" else: From 417ab8238c7fd09bf01b32ad7abbf828b287f777 Mon Sep 17 00:00:00 2001 From: BlueAndi Date: Sun, 20 Oct 2024 23:10:49 +0200 Subject: [PATCH 38/38] Backslashes not allowed in python f-string. --- scripts/webots_launcher.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/scripts/webots_launcher.py b/scripts/webots_launcher.py index 4515bb7b..7e013fdd 100644 --- a/scripts/webots_launcher.py +++ b/scripts/webots_launcher.py @@ -52,7 +52,10 @@ if OS_PLATFORM_TYPE == OS_PLATFORM_TYPE_WIN: - WEBOTS_CONTROLLER = f"\"{WEBOTS_HOME.replace('\\', '/')}/msys64/mingw64/bin/webots-controller.exe\"" + WEBOTS_HOME = WEBOTS_HOME.replace('\\', '/') + WEBOTS_CONTROLLER = "\"" + WEBOTS_CONTROLLER += f"{WEBOTS_HOME}/msys64/mingw64/bin/webots-controller.exe" + WEBOTS_CONTROLLER += "\"" PROGRAM_NAME = "${PROGNAME}.exe" elif OS_PLATFORM_TYPE == OS_PLATFORM_TYPE_LINUX: