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gps_alignment.py
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gps_alignment.py
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# from PID import PID
from math import atan2, pi
from msgdev import MsgDevice, PeriodTimer
from utils import MovingAverage
class Interface(object):
def __init__(self, sub_addr, ahrs_port, gnss_port, motor_port):
self.dev = MsgDevice()
self.dev.open()
self.dev.sub_connect(sub_addr + ':' + ahrs_port)
self.dev.sub_add_url('ahrs.roll')
self.dev.sub_add_url('ahrs.pitch')
self.dev.sub_add_url('ahrs.yaw')
self.dev.sub_add_url('ahrs.roll_speed')
self.dev.sub_add_url('ahrs.pitch_speed')
self.dev.sub_add_url('ahrs.yaw_speed')
self.dev.sub_add_url('ahrs.acce_x')
self.dev.sub_add_url('ahrs.acce_y')
self.dev.sub_add_url('ahrs.acce_z')
self.dev.sub_connect(sub_addr + ':' + gnss_port)
self.dev.sub_add_url('gps.time')
self.dev.sub_add_url('gps.posx')
self.dev.sub_add_url('gps.posy')
self.dev.sub_add_url('gps.posz')
self.dev.sub_add_url('gps.stdx')
self.dev.sub_add_url('gps.stdy')
self.dev.sub_add_url('gps.stdz')
self.dev.sub_add_url('gps.satn')
self.dev.sub_add_url('gps.hspeed')
self.dev.sub_add_url('gps.vspeed')
self.dev.sub_add_url('gps.track')
def receive(self, *args):
data = []
for i in args:
data.append(self.dev.sub_get1(i))
return data
class PortPzh:
def __init__(self, sub_addr, object_port):
self.dev = MsgDevice()
self.dev.open()
self.dev.sub_connect(sub_addr + ':' + object_port)
self.dev.sub_add_url("det.data", [-100] * 7) # -100表示信号丢失，-99表示程序断了。
def receive(self):
data = self.dev.sub_get("det.data")
# assert isinstance(data, list), "data should be a list"
assert len(data) == 7, "data should have 3*2 position and 1 target, totally 7 numbers"
ret = {
"Object 0": [data[0], data[1]] if data[0] not in [-100, -99] else None,
"Object 1": [data[2], data[3]] if data[2] not in [-100, -99] else None,
"Object 2": [data[4], data[5]] if data[4] not in [-100, -99] else None,
"target": "Object {}".format(int(data[6])) if int(data[6]) in [0, 1, 2] else None,
"terminated": all([d == -99 for d in data])
}
return ret
def ship_initialize(USE_TLG001, USE_TLG002, USE_PZH):
if USE_TLG001:
sub_addr1 = 'tcp://192.168.1.150' # 'tcp://127.0.0.1'
ahrs_port1 = '55005'
gnss_port1 = '55004'
motor_port1 = '55002'
interface001 = Interface(sub_addr1, ahrs_port1, gnss_port1, motor_port1)
else:
interface001 = None
if USE_TLG002:
sub_addr2 = 'tcp://192.168.1.152' # 'tcp://127.0.0.1'
ahrs_port2 = '55205'
gnss_port2 = '55204'
motor_port2 = '55202'
interface002 = Interface(sub_addr2, ahrs_port2, gnss_port2, motor_port2)
else:
interface002 = None
if USE_PZH:
sub_addr3 = 'tcp://192.168.1.222'
object_port = '55019'
pzhdata = PortPzh(sub_addr3, object_port)
else:
pzhdata = None
return interface001, interface002, pzhdata
# 下标宏定义
POS_X = 0
POS_Y = 1
YAW = 2
YAW_SPEED = 3
SPD = 4
SPD_DIR = 5
def main():
USE_PZH = True
# initialize
interface001, interface002, pzhdata = ship_initialize(True, True, True)
t = PeriodTimer(0.2)
diff_x_average_gps = MovingAverage(100)
diff_y_average_gps = MovingAverage(100)
diff_x_average_lidar = MovingAverage(100)
diff_y_average_lidar = MovingAverage(100)
# t.start()
cnt = 0
end = 200
try:
while True:
with t:
self_state = interface001.receive('gps.posx', 'gps.posy', 'ahrs.yaw',
'ahrs.yaw_speed', 'gps.hspeed',
'gps.stdx', 'gps.stdy', 'gps.track')
target_state = interface002.receive('gps.posx', 'gps.posy', 'ahrs.yaw',
'ahrs.yaw_speed', 'gps.hspeed',
'gps.stdx', 'gps.stdy', 'gps.track')
assert pzhdata is not None
lidar_data = pzhdata.receive()
if lidar_data["terminated"]:
print(
"Peng Zhenghao's program is terminated. For safety we close this program.")
break
target = lidar_data["target"]
if not target:
print("No Target Specified!")
continue
else:
cnt += 1
# print("Current CNT")
goal = lidar_data[target] # goal = [x, y]
diff_x = target_state[POS_X] - self_state[POS_X]
diff_y = target_state[POS_Y] - self_state[POS_Y]
diff_x_average_gps.update(diff_x)
diff_y_average_gps.update(diff_y)
diff_x_average_lidar.update(goal[0])
diff_y_average_lidar.update(goal[1])
phi2 = -atan2(diff_y_average_gps.avg, diff_x_average_gps.avg) - pi / 2
phi1 = atan2(diff_y_average_lidar.avg, diff_x_average_lidar.avg)
out = phi1 + phi2 - pi / 2
# offset = atan2(diff_y_average_lidar.avg, diff_x_average_lidar.avg) - \
# atan2(diff_y_average_gps.avg, diff_x_average_gps.avg)
print("[CNT {}] Current GPS ({}, {}), LiDAR ({}, {}). \
ph1{}, ph2 {}, out {} ({} deg).".format(cnt, diff_x_average_gps.avg,
diff_y_average_gps.avg,
diff_x_average_lidar.avg,
diff_y_average_lidar.avg,
phi1, phi2, out,
out * 180 / pi))
if cnt >= end:
break
finally:
import pickle
import time
def get_formatted_time(timestamp=None):
if not timestamp:
return time.strftime('%Y-%m-%d_%H-%M-%S',
time.localtime())
else:
return time.strftime('%Y-%m-%d_%H-%M-%S',
time.localtime(timestamp))
if diff_y_average_lidar.avg is not None:
phi2 = -atan2(diff_y_average_gps.avg, diff_x_average_gps.avg) - pi / 2
phi1 = atan2(diff_y_average_lidar.avg, diff_x_average_lidar.avg)
out = phi1 + phi2 - pi / 2
out = atan2(diff_y_average_lidar.avg, diff_x_average_lidar.avg) - \
atan2(diff_y_average_gps.avg, diff_x_average_gps.avg)
pickle.dump({"offset": out, "timestamp": time.time(), "time": get_formatted_time()},
open("offset.pkl", "wb"))
print("Data have saved to offset.pkl")
else:
print("Data is not received.")
time.sleep(0.5)
interface001.dev.close()
interface002.dev.close()
pzhdata.dev.close()
print('dev closed')
if __name__ == "__main__":
main()