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run_state_machine_final.py
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run_state_machine_final.py
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"""Execute the state machine with ground truth information."""
import argparse
import numpy as np
import rospy
from controller.basic_controller import PDController
from env_interface.fg_vins_env import FgVinsEnv
from gate_estimator.simple_estimator import SimpleEstimator
from gate_estimator.bayesian_estimator import BayesianEstimator
from planner.missile_planner import MissilePlanner
import time
GATE_ORDER = [10, 21, 2, 13, 9, 14, 1, 22, 15, 23, 6]
TARGET_HEADING = [1, 1, -1, -1, -1, -1, 1, 1, 1, 1, 1]
class SystemState(object):
START = 0
HOVERING = 1
EXPLORING = 2
GATE_FOUND = 3
GATE_TRACKING = 4
GATE_PASSING = 5
GATE_ADJUST_POSE = 6
GATE_PASSED = 7
STOP = 8
class StateMachine(object):
def __init__(self, env_interface, controller_node, planner_node, localizer_node, explorer_node, gate_estimator):
self._env = env_interface
self._controller = controller_node
self._planner = planner_node
self._localizer = localizer_node
self._explorer = explorer_node
self._gate_estimator = gate_estimator
self._sys_state = SystemState.START
self._cur_gate_id = 0
self.hovering_height = self._env.height_offset + 2
def gate_searching(self):
pass
def gate_tracking(self):
pass
def spin(self):
if self._sys_state == SystemState.START:
self.try_state_transition(SystemState.HOVERING)
elif self._sys_state == SystemState.HOVERING:
self.try_state_transition(SystemState.GATE_FOUND)
elif self._sys_state == SystemState.GATE_FOUND:
self.try_state_transition(SystemState.GATE_TRACKING)
elif self._sys_state == SystemState.GATE_TRACKING:
self.try_state_transition(SystemState.GATE_PASSING)
elif self._sys_state == SystemState.GATE_PASSING:
self.try_state_transition(SystemState.GATE_ADJUST_POSE)
elif self._sys_state == SystemState.GATE_ADJUST_POSE:
self.try_state_transition(SystemState.GATE_PASSED)
def try_state_transition(self, target_sys_state):
if target_sys_state == SystemState.HOVERING:
"""
From start to hovering
"""
if np.abs(self._env.states[2] - self.hovering_height) < 0.3 and self._env.is_vins_inited:
self._sys_state = SystemState.HOVERING
if self._env.is_vins_inited:
desired_states = np.array(
[0, 0, self.hovering_height, 0, 0, 0,
0, 0, 0, 0, 0, 0])
else:
desired_states = np.array(
[0, 0, self.hovering_height, 0, 0, 0, 0, 0, 0, 0, 0, 0])
elif target_sys_state == SystemState.GATE_FOUND:
"""
Explorer only activates after passing the gate or at hovering state.
"""
if True:
self._sys_state = SystemState.GATE_FOUND
return
elif target_sys_state == SystemState.GATE_TRACKING:
if self._cur_gate_id < len(GATE_ORDER):
self._sys_state = SystemState.GATE_TRACKING
self._env.target_gate = GATE_ORDER[self._cur_gate_id]
# clear previous marker as we are entering a new gate.
self._env.ir_marker_queue.queue.clear()
self._planner._start_time = time.time()
return
else:
self._sys_state = SystemState.STOP
print('Passing all the gates')
raise rospy.ROSInterruptException('Stop program')
elif target_sys_state == SystemState.GATE_PASSING:
"""
if it is close enough to gate, transit to gate passing, otherwise stay
"""
gate_center = self._planner.gate_map.get(GATE_ORDER[self._cur_gate_id], None)
gate_vec_loc = self._planner.vec_map.get(GATE_ORDER[self._cur_gate_id], None)
gate_loc = gate_center - gate_vec_loc * 2 * TARGET_HEADING[self._cur_gate_id]
if np.linalg.norm(np.array(self._env.states[0:3]) - np.array(gate_loc)) < 3:
self._sys_state = SystemState.GATE_PASSING
desired_states = self._planner.get_desired_state(self._env.states, next_gate_loc=gate_loc)
elif target_sys_state == SystemState.GATE_ADJUST_POSE:
gate_center = self._planner.gate_map.get(GATE_ORDER[self._cur_gate_id], None)
gate_vec_loc = self._planner.vec_map.get(GATE_ORDER[self._cur_gate_id], None)
gate_loc = gate_center - gate_vec_loc * 2 * TARGET_HEADING[self._cur_gate_id] * np.sign(gate_center[0])
gate_width, gate_height = self._planner.dim_map[GATE_ORDER[self._cur_gate_id]]
if np.linalg.norm(np.array(self._env.states[0:3]) - np.array(gate_loc)) < (gate_width / 2.5):
self._sys_state = SystemState.GATE_ADJUST_POSE
if np.linalg.norm(np.array(self._env.states[0:3]) - np.array(gate_loc)) < 6:
gate_loc_ref = gate_center + gate_vec_loc * 3.5 * TARGET_HEADING[self._cur_gate_id]
desired_state_ref = self._planner.get_desired_state(self._env.states, next_gate_loc=gate_loc_ref)
else:
desired_state_ref = None
desired_states = self._planner.get_desired_state(self._env.states, next_gate_loc=gate_loc)
if desired_state_ref is not None:
desired_states[5] = desired_state_ref[5]
#print('adjust pose: ', self._cur_gate_id, gate_loc, self._env.states[5], desired_state_ref[5])
elif target_sys_state == SystemState.GATE_PASSED:
"""
if it is close enough to gate, transit to gate passing, otherwise stay
"""
gate_center = self._planner.gate_map.get(GATE_ORDER[self._cur_gate_id], None)
gate_vec_loc = self._planner.vec_map.get(GATE_ORDER[self._cur_gate_id], None)
gate_loc = gate_center + 4 * gate_vec_loc * TARGET_HEADING[self._cur_gate_id]
desired_states = self._planner.get_desired_state(self._env.states, next_gate_loc=gate_loc)
if np.linalg.norm(np.array(self._env.states[0:3]) - np.array(gate_loc)) < 1.5:
self._planner.reset()
self._cur_gate_id += 1
self._sys_state = SystemState.HOVERING
#print('flying after gate: ', self._cur_gate_id, gate_loc)
actions = self._controller.compute_action(self._env.states, desired_states)
"""
estimate_xyz = self._gate_estimator.estimate(self._env.ir_marker_queue, GATE_ORDER[self._cur_gate_id])
if estimate_xyz is not None:
print('est: ', estimate_xyz, 'true: ', self._planner.gate_map[GATE_ORDER[self._cur_gate_id]])
"""
self._env.step(actions)
if __name__ == '__main__':
start_time = time.time()
controller = PDController() # controller should be independent of time
env = FgVinsEnv(start_time)
env.spin_listeners()
planner = MissilePlanner(start_time)
localizer = None
explorer = None
gate_estimator = BayesianEstimator(planner.gate_map, planner.vec_map, planner.dim_map, planner.perturb_map)
state_machine = StateMachine(env, controller, planner, localizer, explorer, gate_estimator)
while True:
rospy.sleep(0.008)
try:
state_machine.spin()
except rospy.ROSInterruptException:
break