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@ufechner7
ufechner7 committed Mar 30, 2024
1 parent 372b600 commit f78e147
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25 changes: 15 additions & 10 deletions examples/autopilot.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -9,23 +9,28 @@ using KiteControllers, KiteViewers, KiteModels, StatsBase, ControlPlots, NativeF
using Printf
import KiteViewers.GLMakie

kcu::KCU = KCU(se())
set = se()
kcu::KCU = KCU(set)
kps4::KPS4 = KPS4(kcu)

wcs = WCSettings(); update(wcs); wcs.dt = 1/se().sample_freq
wcs = WCSettings(); update(wcs); wcs.dt = 1/set.sample_freq
fcs::FPCSettings = FPCSettings(); fcs.dt = wcs.dt
fpps::FPPSettings = FPPSettings()
ssc::SystemStateControl = SystemStateControl(wcs, fcs, fpps)
dt::Float64 = wcs.dt
initialized = true

function init_globals()
global kcu, kps4, wcs, fcs, fpps, ssc
kcu = KCU(se())
kps4 = KPS4(kcu)
wcs = WCSettings(); update(wcs); wcs.dt = 1/se().sample_freq
fcs = FPCSettings(); fcs.dt = wcs.dt
fpps = FPPSettings()
ssc = SystemStateControl(wcs, fcs, fpps)
global kcu, kps4, wcs, fcs, fpps, ssc, initialized
if ! initialized
kcu = KCU(set)
kps4 = KPS4(kcu)
wcs = WCSettings(); update(wcs); wcs.dt = 1/set.sample_freq
fcs = FPCSettings(); fcs.dt = wcs.dt
fpps = FPPSettings()
ssc = SystemStateControl(wcs, fcs, fpps)
end
initialized = false
KiteViewers.plot_file[]="last_sim_log"
end

Expand All @@ -35,7 +40,7 @@ TIME_LAPSE_RATIO = 4
SHOW_KITE = true
# end of user parameter section #

viewer::Viewer3D = Viewer3D(SHOW_KITE)
viewer::Viewer3D = Viewer3D(set, SHOW_KITE; menus=true)
viewer.menu.options[]=["plot_main", "plot_power", "plot_control", "plot_elev_az", "plot_side_view", "plot_timing", "print_stats", "load logfile", "save logfile"]
viewer.menu_rel_tol.options[]=["0.0005","0.0001","0.00005", "0.00001","0.000005","0.000001"]
viewer.menu_rel_tol.i_selected[]=1
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271 changes: 137 additions & 134 deletions examples/minipilot_12.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -6,27 +6,30 @@ using Timers; tic()

using KiteControllers, KiteViewers, KiteModels, StatsBase

se().segments=12
set = deepcopy(se())
set.segments=12

kcu::KCU = KCU(se())
kcu::KCU = KCU(set)
kps4::KPS4 = KPS4(kcu)

wcs = WCSettings(); update(wcs); wcs.dt = 1/se().sample_freq
wcs = WCSettings(); update(wcs); wcs.dt = 1/set.sample_freq
fcs::FPCSettings = FPCSettings(); fcs.dt = wcs.dt
fpps::FPPSettings = FPPSettings()
ssc::SystemStateControl = SystemStateControl(wcs, fcs, fpps)
dt::Float64 = wcs.dt
set=deepcopy(se())
set.segments=12
initialized = true

function init_globals()
global kcu, kps4, wcs, fcs, fpps, ssc
kcu = KCU(set)
kps4 = KPS4(kcu)
wcs = WCSettings(); update(wcs); wcs.dt = 1/se().sample_freq
fcs = FPCSettings(); fcs.dt = wcs.dt
fpps = FPPSettings()
ssc = SystemStateControl(wcs, fcs, fpps)
global kcu, kps4, wcs, fcs, fpps, ssc, initialized
if ! initialized
kcu = KCU(set)
kps4 = KPS4(kcu)
wcs = WCSettings(); update(wcs); wcs.dt = 1/set.sample_freq
fcs = FPCSettings(); fcs.dt = wcs.dt
fpps = FPPSettings()
ssc = SystemStateControl(wcs, fcs, fpps)
end
initialized = false
end

# the following values can be changed to match your interest
Expand All @@ -42,125 +45,125 @@ phi_set = 21.48
viewer::Viewer3D = Viewer3D(set, SHOW_KITE)
PARKING::Bool = false

# steps = 0
# if ! @isdefined T; const T = zeros(Int64(MAX_TIME/dt)); end
# if ! @isdefined DELTA_T; const DELTA_T = zeros(Int64(MAX_TIME/dt)); end
# if ! @isdefined STEERING; const STEERING = zeros(Int64(MAX_TIME/dt)); end
# if ! @isdefined DEPOWER_; const DEPOWER_ = zeros(Int64(MAX_TIME/dt)); end
# LAST_I::Int64=0

# function simulate(integrator, stopped=true)
# global LAST_I
# start_time_ns = time_ns()
# clear_viewer(viewer)
# KiteViewers.running[] = ! stopped
# viewer.stop = stopped
# if ! stopped
# set_status(viewer, "ssParking")
# end
# i=1
# j=0; k=0
# GC.gc()
# if Sys.total_memory()/1e9 > 24 && MAX_TIME < 500
# GC.enable(false)
# end
# t_gc_tot = 0
# sys_state = SysState(kps4)
# on_new_systate(ssc, sys_state)
# KiteViewers.update_system(viewer, sys_state; scale = 0.04/1.1, kite_scale=6.6)
# while true
# if viewer.stop
# sleep(dt)
# else
# if i > 100
# dp = KiteControllers.get_depower(ssc)
# if dp < 0.22 dp = 0.22 end
# steering = calc_steering(ssc)
# set_depower_steering(kps4.kcu, dp, steering)
# end
# if i == 200 && ! PARKING
# on_autopilot(ssc)
# end
# # execute winch controller
# v_ro = calc_v_set(ssc)
# #
# t_sim = @elapsed KiteModels.next_step!(kps4, integrator, v_ro=v_ro, dt=dt)
# sys_state = SysState(kps4)
# if i <= length(T)
# T[i] = dt * i
# if i > 10/dt
# DELTA_T[i] = t_sim * 1000
# STEERING[i] = sys_state.steering
# DEPOWER_[i] = sys_state.depower
# LAST_I=i
# end
# end
# on_new_systate(ssc, sys_state)
# if mod(i, TIME_LAPSE_RATIO) == 0
# KiteViewers.update_system(viewer, sys_state; scale = 0.04/1.1, kite_scale=6.6)
# set_status(viewer, String(Symbol(ssc.state)))
# # turn garbage collection back on if we are short of memory
# if Sys.free_memory()/1e9 < 2.0
# GC.enable(true)
# end
# wait_until(start_time_ns + 1e9*dt, always_sleep=true)
# start_time_ns = time_ns()
# t_gc_tot = 0
# end
# i += 1
# end
# if ! isopen(viewer.fig.scene) break end
# if KiteViewers.status[] == "Stopped" && i > 10 break end
# if i*dt > MAX_TIME break end
# end
# return div(i, TIME_LAPSE_RATIO)
# end

# function play(stopped=false)
# global steps, kcu, kps4, wcs, fcs, fpps, ssc
# init_globals()
# on_parking(ssc)
# integrator = KiteModels.init_sim!(kps4, stiffness_factor=0.04)
# toc()
# steps = simulate(integrator, stopped)
# stopped = ! viewer.sw.active[]
# GC.enable(true)
# end

# function parking()
# global PARKING
# PARKING = true
# viewer.stop=false
# on_parking(ssc)
# end

# function autopilot()
# global PARKING
# PARKING = false
# viewer.stop=false
# on_autopilot(ssc)
# end

# function stop_()
# println("Stopping...")
# on_stop(ssc)
# clear!(kps4)
# clear_viewer(viewer)
# end

# stop_()
# on(viewer.btn_PARKING.clicks) do c; parking(); end
# on(viewer.btn_AUTO.clicks) do c; autopilot(); end
# on(viewer.btn_STOP.clicks) do c; stop_(); end
# on(viewer.btn_PLAY.clicks) do c;
# global PARKING
# if ! viewer.stop
# PARKING = false
# end
# end

# play(false)
# stop_()
# KiteViewers.GLMakie.closeall()

# GC.enable(true)
steps = 0
if ! @isdefined T; const T = zeros(Int64(MAX_TIME/dt)); end
if ! @isdefined DELTA_T; const DELTA_T = zeros(Int64(MAX_TIME/dt)); end
if ! @isdefined STEERING; const STEERING = zeros(Int64(MAX_TIME/dt)); end
if ! @isdefined DEPOWER_; const DEPOWER_ = zeros(Int64(MAX_TIME/dt)); end
LAST_I::Int64=0

function simulate(integrator, stopped=true)
global LAST_I
start_time_ns = time_ns()
clear_viewer(viewer)
KiteViewers.running[] = ! stopped
viewer.stop = stopped
if ! stopped
set_status(viewer, "ssParking")
end
i=1
j=0; k=0
GC.gc()
if Sys.total_memory()/1e9 > 24 && MAX_TIME < 500
GC.enable(false)
end
t_gc_tot = 0
sys_state = SysState(kps4)
on_new_systate(ssc, sys_state)
KiteViewers.update_system(viewer, sys_state; scale = 0.04/1.1, kite_scale=6.6)
while true
if viewer.stop
sleep(dt)
else
if i > 100
dp = KiteControllers.get_depower(ssc)
if dp < 0.22 dp = 0.22 end
steering = calc_steering(ssc)
set_depower_steering(kps4.kcu, dp, steering)
end
if i == 200 && ! PARKING
on_autopilot(ssc)
end
# execute winch controller
v_ro = calc_v_set(ssc)
#
t_sim = @elapsed KiteModels.next_step!(kps4, integrator, v_ro=v_ro, dt=dt)
sys_state = SysState(kps4)
if i <= length(T)
T[i] = dt * i
if i > 10/dt
DELTA_T[i] = t_sim * 1000
STEERING[i] = sys_state.steering
DEPOWER_[i] = sys_state.depower
LAST_I=i
end
end
on_new_systate(ssc, sys_state)
if mod(i, TIME_LAPSE_RATIO) == 0
KiteViewers.update_system(viewer, sys_state; scale = 0.04/1.1, kite_scale=6.6)
set_status(viewer, String(Symbol(ssc.state)))
# turn garbage collection back on if we are short of memory
if Sys.free_memory()/1e9 < 2.0
GC.enable(true)
end
wait_until(start_time_ns + 1e9*dt, always_sleep=true)
start_time_ns = time_ns()
t_gc_tot = 0
end
i += 1
end
if ! isopen(viewer.fig.scene) break end
if KiteViewers.status[] == "Stopped" && i > 10 break end
if i*dt > MAX_TIME break end
end
return div(i, TIME_LAPSE_RATIO)
end

function play(stopped=false)
global steps, kcu, kps4, wcs, fcs, fpps, ssc
init_globals()
on_parking(ssc)
integrator = KiteModels.init_sim!(kps4, stiffness_factor=0.04)
toc()
steps = simulate(integrator, stopped)
stopped = ! viewer.sw.active[]
GC.enable(true)
end

function parking()
global PARKING
PARKING = true
viewer.stop=false
on_parking(ssc)
end

function autopilot()
global PARKING
PARKING = false
viewer.stop=false
on_autopilot(ssc)
end

function stop_()
println("Stopping...")
on_stop(ssc)
clear!(kps4)
clear_viewer(viewer)
end

stop_()
on(viewer.btn_PARKING.clicks) do c; parking(); end
on(viewer.btn_AUTO.clicks) do c; autopilot(); end
on(viewer.btn_STOP.clicks) do c; stop_(); end
on(viewer.btn_PLAY.clicks) do c;
global PARKING
if ! viewer.stop
PARKING = false
end
end

play(false)
stop_()
KiteViewers.GLMakie.closeall()

GC.enable(true)

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