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Multidrones.cpp
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Multidrones.cpp
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//./Tools/gazebo_sitl_multiple_run.sh
//cmake -Bbuild -H.
//cmake --build build -j4
//connect multiple vehicles and make them take off and land in parallel.
//build/multiple_drones udp://:14540 udp://:14541 udp://:14542
//
#include <random>
#include <cstring>
#include <mavsdk/mavsdk.h>
#include <mavsdk/plugins/action/action.h>
#include <mavsdk/plugins/telemetry/telemetry.h>
#include <mavsdk/plugins/offboard/offboard.h>
#include <cstdint>
#include <atomic>
#include <iostream>
#include <thread>
#include <future>
#include <chrono>
using namespace mavsdk;
using namespace std::this_thread;
using namespace std::chrono;
using std::chrono::milliseconds;
using std::chrono::seconds;
using std::this_thread::sleep_for;
static void takeoff(std::shared_ptr<System> system);
static void pso(std::shared_ptr<System> system1,std::shared_ptr<System> system2,std::shared_ptr<System> system3);
static void land(std::shared_ptr<System> system);
double pos1[3],pos2[3],pos3[3];
int num_dimensions=3;
std::default_random_engine generator;
std::uniform_real_distribution<double> distribution(-1,1); //doubles from -1 to 1
std::uniform_real_distribution<double> distri(0,1); //doubles from 0 to 1
double costFunc(double x[3])//3 because of longitude, latitude,height
{
double total=0;
for (int i=0;i<3;i++)
{
total+=x[i]*x[i];
}
return total;
}
class Particle
{
double pos[3],velocity[3],pos_best[3],err_best,err;//pos o,1,2 are latitude,longitude and height respectively
public:
Particle(){err_best=-1;err=-1;velocity[0]= distribution(generator);velocity[1]= distribution(generator);velocity[2]= distribution(generator);};
Particle(double longit,double latit,double altit){pos[0]=longit;pos[1]=latit;pos[2]=altit;err_best=-1;err=-1;velocity[0]= distribution(generator);velocity[1]= distribution(generator);velocity[2]= distribution(generator);};
void setpos(double uppos[3])
{
pos[0]=uppos[0];pos[1]=uppos[1];pos[2]=uppos[2];
};
void evaluate()
{
//evaluate current fitness
err=costFunc(pos);
if (err < err_best || err_best==-1)
{
memcpy(pos_best,pos,sizeof(pos));
err_best=err;
}
};
double* getpos()
{
return pos;
};
void printpos()
{
std::cout<<"In class current-position is: Longitude "<< pos[0]<<" Lattitude "<<pos[1]<<" Height "<<pos[2]<<"\n";
};
void update_velocity(double* pos_best_g)
{
double w=0.5; // constant inertia weight (how much to weigh the previous velocity)
double c1=1; //cognative constant
double c2=2; // social constant
for (int i=0;i<num_dimensions;i++)
{
double r1=distri(generator);
double r2=distri(generator);
double vel_cognitive=c1*r1 * (pos_best[i] - pos[i]);
double vel_social=c2*r2 * (pos_best_g[i] - pos[i]);
//std::cout<<"VELOCITY NO ATM IS "<<i<<"\n" ;
velocity[i]=w*velocity[i]+vel_cognitive+vel_social;
}
};
void update_position(double bounds[3][3])
{
for (int i=0;i<num_dimensions;i++)
{
pos[i]=pos[i]+velocity[i];
// adjust maximum position if necessary
/*
if (pos[i]>bounds[i][1])
{
pos[i]=bounds[i][1];
}
// adjust minimum position if neseccary
if (pos[i] < bounds[i][0])
{
pos[i]=bounds[i][0];
}*/
}
};
double geterr()
{
return err;
};
};
void usage(const std::string& bin_name)
{
std::cerr << "Usage : " << bin_name << " <connection_url_1> [<connection_url_2> ...]\n"
<< "Connection URL format should be :\n"
<< " For TCP : tcp://[server_host][:server_port]\n"
<< " For UDP : udp://[bind_host][:bind_port]\n"
<< " For Serial : serial:///path/to/serial/dev[:baudrate]\n"
<< "For example, to connect to the simulator use URL: udp://:14540\n";
}
//double initial[2]={3,2} // initial starting location[x1,x2...]
int main(int argc, char* argv[])
{
if (argc < 3) {
std::cerr << "Please specify connection\n";
usage(argv[0]);
return 1;
}
Mavsdk mavsdk;
size_t total_udp_ports = argc - 1;
std::cout<<"\n-------> ARGC:"<<argc;
std::cout<<"\n-------> ARG 0 :"<<argv[0];
// the loop below adds the number of ports the sdk monitors.
for (int i = 1; i < argc; ++i) {
ConnectionResult connection_result = mavsdk.add_any_connection(argv[i]);
if (connection_result != ConnectionResult::Success) {
std::cerr << "Connection error: " << connection_result << '\n';
return 1;
}
}
std::atomic<size_t> num_systems_discovered{0};
std::cout << "Waiting to discover system...\n";
mavsdk.subscribe_on_new_system([&mavsdk, &num_systems_discovered]() {
const auto systems = mavsdk.systems();
if (systems.size() > num_systems_discovered) {
std::cout << "Discovered system\n";
num_systems_discovered = systems.size();
}
});
// We usually receive heartbeats at 1Hz, therefore we should find a system after around 2
// seconds.
sleep_for(seconds(2));
if (num_systems_discovered != total_udp_ports) {
std::cerr << "Not all systems found, exiting.\n";
return 1;
}
std::vector<std::thread> threads;
int i=0;
auto l = mavsdk.systems().begin();
const auto systems = mavsdk.systems();
const auto system1=*(l++),system2=*(l++),system3=*l;
for (auto system : mavsdk.systems()) {
std::thread t(&takeoff, std::ref(system));
threads.push_back(std::move(t));
sleep_for(seconds(1));
std::cout<<"System at the moment is"<<system<<" no is "<<i<<"\n";
if(i==0)
{
auto system1=std::ref(system);
}
else if (i==1)
{
auto system2=std::ref(system);
}
else
{
auto system3=std::ref(system);
}
i++;
}
i=0;
/*for (auto& t : threads) {
t.join();
std::cout<<"at the moment is"<<system<<"no is "<<i;
}*/
pso(system1,system2,system3);
return 0;
}
static void pso(std::shared_ptr<System> system1,std::shared_ptr<System> system2,std::shared_ptr<System> system3)
{
double bounds[3][3]={(46,52),(4,12),(-10,20)}; // input bounds [(x1_min,x1_max),(x2_min,x2_max)...]
int num_particles=3;// no of drones
int maxiter=15;
double err_best_g=-1;//best error
double *pos_best_g,*curr_pos;pos1[0]=0;pos1[1]=0;pos1[2]=0;
std::cout<<"System at the moment is"<<system1<<" no is "<<0<<"\n";
std::cout<<"System at the moment is"<<system2<<" no is "<<1<<"\n";
std::cout<<"System at the moment is"<<system3<<" no is "<<2<<"\n";
auto telemetry1 = std::make_shared<Telemetry>(system1);
auto action1 = Action{system1};
auto offboard1 = Offboard{system1};
auto telemetry2 = std::make_shared<Telemetry>(system2);
auto action2 = Action{system2};
auto offboard2 = Offboard{system2};
auto telemetry3 = std::make_shared<Telemetry>(system3);
auto action3 = Action{system3};
auto offboard3 = Offboard{system3};
const Telemetry::Result set_rate_result= telemetry1->set_rate_position(1.0);
const Telemetry::Result set_rate_result1= telemetry2->set_rate_position(1.0);
const Telemetry::Result set_rate_result2= telemetry3->set_rate_position(1.0);
int i=0;
//double pos1[3],pos2[3],pos3[3];
pos1[0]=0;pos1[1]=0;pos1[2]=0;
telemetry1->subscribe_position([](Telemetry::Position position){std::cout << "Altitude 1: " << position.relative_altitude_m << " m\n";
std::cout << "Latitude 1: " << position.latitude_deg<< " deg\n";
std::cout << "Longitude 1: " << position.longitude_deg << " deg\n";
pos1[0]=position.latitude_deg;pos1[1]=position.longitude_deg;pos1[2]=position.relative_altitude_m;
});
telemetry2->subscribe_position([](Telemetry::Position position){std::cout << "Altitude 2: " << position.relative_altitude_m << " m\n";
std::cout << "Latitude 2: " << position.latitude_deg<< " deg\n";
std::cout << "Longitude 2: " << position.longitude_deg << " deg\n";
pos2[0]=position.latitude_deg;pos2[1]=position.longitude_deg;pos2[2]=position.relative_altitude_m;
});
telemetry3->subscribe_position([](Telemetry::Position position){std::cout << "Altitude 3: " << position.relative_altitude_m << " m\n";
std::cout << "Latitude 3: " << position.latitude_deg<< " deg\n";
std::cout << "Longitude 3: " << position.longitude_deg << " deg\n";
pos3[0]=position.latitude_deg;pos3[1]=position.longitude_deg;pos3[2]=position.relative_altitude_m;
});
const Telemetry::Position posi1=telemetry1->position();
const Telemetry::Position posi2=telemetry2->position();
const Telemetry::Position posi3=telemetry3->position();
pos3[0]=posi3.latitude_deg;pos3[1]=posi3.longitude_deg;pos3[2]=posi3.relative_altitude_m;
pos2[0]=posi2.latitude_deg;pos2[1]=posi2.longitude_deg;pos2[2]=posi2.relative_altitude_m;
pos1[0]=posi1.latitude_deg;pos1[1]=posi1.longitude_deg;pos1[2]=posi1.relative_altitude_m;
Particle drone1(pos1[0],pos1[1],pos1[2]);
Particle drone2(pos2[0],pos2[1],pos2[2]);
Particle drone3(pos3[0],pos3[1],pos3[2]);
std::cout<<"LATITUDEEE "<<pos1[0]<<"LOOONGIIITUDEEE "<<pos1[1]<<"HEIGHT "<<pos1[2];
//drone1.printpos();
while (i < maxiter)
{
//print i,err_best_g
//cycle through particles in swarm and evaluate fitness
for(int j=0;j<3;j++)
{
if(j==0)
{
drone1.setpos(pos1);
drone1.evaluate();
std::cout<<"Evaluated \n";
curr_pos=drone1.getpos();
std::cout<<"current-position is: Longitude "<< curr_pos[0]<<"Lattitude "<<curr_pos[1]<<"Height "<<curr_pos[2]<<"\n";
// determine if current particle is the best (globally)
if ((drone1.geterr() < err_best_g) || (err_best_g == -1))
{
pos_best_g = drone1.getpos();
err_best_g = drone1.geterr();
std::cout<<"best-position : Longitude "<< pos_best_g[0]<<"Lattitude "<<pos_best_g[1]<<"Height "<<pos_best_g[2]<<"\n";
std::cout<<"Best-Err"<< err_best_g<<"\n";
}
}
if(j==1)
{
drone2.setpos(pos2);
drone2.evaluate();
std::cout<<"Evaluated \n";
curr_pos=drone2.getpos();
std::cout<<"current-position is: Longitude "<< curr_pos[0]<<"Lattitude "<<curr_pos[1]<<"Height "<<curr_pos[2]<<"\n";
// determine if current particle is the best (globally)
if ((drone2.geterr() < err_best_g) || (err_best_g == -1))
{
//memcpy(pos_best_g,swarm[j].getpos,sizeof(swarm[j].getpos));
pos_best_g = drone2.getpos();
err_best_g = drone2.geterr();
std::cout<<"best-position : Longitude "<< pos_best_g[0]<<"Lattitude "<<pos_best_g[1]<<"Height "<<pos_best_g[2]<<"\n";
std::cout<<"Best-Err"<< err_best_g<<"\n";
}
}
if(j==2)
{
drone3.setpos(pos3);
drone3.evaluate();
std::cout<<"Evaluated \n";
curr_pos=drone3.getpos();
std::cout<<"current-position is: Longitude "<< curr_pos[0]<<"Lattitude "<<curr_pos[1]<<"Height "<<curr_pos[2]<<"\n";
// determine if current particle is the best (globally)
if ((drone3.geterr() < err_best_g) || (err_best_g == -1))
{
//memcpy(pos_best_g,swarm[j].getpos,sizeof(swarm[j].getpos));
pos_best_g = drone3.getpos();
err_best_g = drone3.geterr();
std::cout<<"Here\n";
std::cout<<"best-position : Longitude "<< pos_best_g[0]<<"Lattitude "<<pos_best_g[1]<<"Height "<<pos_best_g[2]<<"\n";
std::cout<<"Best-Err"<< err_best_g<<"\n";
}
}
}
// cycle through swarm and update velocities and position
double longitude[3],latitude[3],height[3];
//temporary initilaizing
//pos_best_g[0]=0;pos_best_g[1]=0;pos_best_g[2]=0;
//std::cout<<"Completed 1st loop\n";
for(int l=0;l<num_particles;l++)
{
if(l==0)
{
drone1.update_velocity(pos_best_g);
std::cout<<"Velocity updated \n";
drone1.update_position(bounds);
std::cout<<"Position updated \n";
drone1.printpos();
curr_pos=drone1.getpos();
//action1.goto_location(curr_pos[0],curr_pos[1],curr_pos[2],0); //const;
//const Action::Result result = action1.goto_location(48,8,5,0);
//if (result != Action::Result::Success) {
//std::cerr << "Action failed: " << result << '\n';}
//Action::ResultCallback Result = action1.goto_location(48,8,5,0);
std::cout<<"MOVING\n";
sleep_for(seconds(10));
std::cout<<"UPDATE POS for system no ------ Longitude "<<l<< curr_pos[0]<<" Lattitude "<<curr_pos[1]<<" Height "<<curr_pos[2]<<"\n";
}
if(l==1)
{
drone2.update_velocity(pos_best_g);
std::cout<<"Velocity updated \n";
drone2.update_position(bounds);
std::cout<<"Position updated \n";
curr_pos=drone2.getpos();
drone2.printpos();
//using mavsdk::Action::ResultCallback =
//const Action::Result result = action2.goto_location(48.004,8.002,5,0);
//if (result != Action::Result::Success) {
//std::cerr << "Action failed: " << result << '\n';
//}
//action2.goto_location(48,8,5,0);
std::cout<<"MOVING\n";
//action2.goto_location(curr_pos[0],curr_pos[1],curr_pos[2],0); //const;
sleep_for(seconds(10));
std::cout<<"UPDATE POS for system no ------ Longitude "<<l<< curr_pos[0]<<"Lattitude "<<curr_pos[1]<<"Height "<<curr_pos[2]<<"\n";
}
if(l==2)
{
drone3.update_velocity(pos_best_g);
std::cout<<"Velocity updated \n";
drone3.update_position(bounds);
std::cout<<"Position updated \n";
drone3.printpos();
curr_pos=drone3.getpos();
//sing mavsdk::Action::ResultCallback =action3.goto_location(46,7.002,4,0);
//const Action::Result result = action3.goto_location(48.0008,8.0004,5,0);
//if (result != Action::Result::Success) {
//std::cerr << "Action failed: " << result << '\n';
//}
//std::cout<<"MOVING\n";
//action3.goto_location(curr_pos[0],curr_pos[1],curr_pos[2],0); //const;
sleep_for(seconds(10));
std::cout<<"UPDATE POS for system no ------ Longitude "<<l<< curr_pos[0]<<"Lattitude "<<curr_pos[1]<<"Height "<<curr_pos[2]<<"\n";
}
}
}
std::cout<<"FINAL:\n";
std::cout<<"best-position : Longitude "<< pos_best_g[0]<<"Lattitude "<<pos_best_g[1]<<"Height "<<pos_best_g[2]<<"\n";
std::cout<<err_best_g;
sleep_for(seconds(20));
return;
}
void takeoff(std::shared_ptr<System> system)
{
auto telemetry = Telemetry{system};
auto action = Action{system};
auto offboard = Offboard{system};
// We want to listen to the altitude of the drone at 1 Hz.
const Telemetry::Result set_rate_result = telemetry.set_rate_position(1.0);
if (set_rate_result != Telemetry::Result::Success) {
std::cerr << "Setting rate failed:" << set_rate_result << '\n';
return;
}
// Set up callback to monitor altitude while the vehicle is in flight
telemetry.subscribe_position([](Telemetry::Position position) {
std::cout << "Altitude: " << position.relative_altitude_m << " m\n";
std::cout << "Latitude: " << position.latitude_deg << " deg\n";
std::cout << "Longitude: " << position.longitude_deg << " deg\n";
});
// Check if vehicle is ready to arm
while (telemetry.health_all_ok() != true) {
std::cout << "Vehicle is getting ready to arm\n";
sleep_for(seconds(1));
}
// Arm vehicle
std::cout << "Arming...\n";
const Action::Result arm_result = action.arm();
if (arm_result != Action::Result::Success) {
std::cerr << "Arming failed:" << arm_result << '\n';
}
// Take off
std::cout << "Taking off...\n";
const Action::Result takeoff_result = action.takeoff();
if (takeoff_result != Action::Result::Success) {
std::cerr << "Takeoff failed:" << takeoff_result << '\n';
}
//sleep_for(seconds(3));
//const Action::Result result = action.goto_location(47.3978,8.54565,10,0);
// if (result != Action::Result::Success) {
//std::cerr << "Action failed: " << result << '\n';
//}
/*
const mavsdk::Offboard::VelocityNedYaw stay{};
offboard.set_velocity_ned(stay);
Offboard::Result offboard_result = offboard.start();
if (offboard_result != mavsdk::Offboard::Result::Success) {
std::cerr << "Offboard start failed: " << offboard_result << '\n';
}
//Moving vehicle 5m north and 5m up
std::cout << "Offboard started\n";
mavsdk::Offboard::PositionNedYaw position_ned_yaw{};
position_ned_yaw.north_m=5.0;
position_ned_yaw.east_m=0.0;
position_ned_yaw.down_m=-5.0;
position_ned_yaw.yaw_deg=0;
offboard.set_position_ned(position_ned_yaw);
sleep_for(seconds(5));
// Let it hover for a bit before landing again.
sleep_for(seconds(20));
offboard_result = offboard.stop();
std::cout << "Landing...\n";
const Action::Result land_result = action.land();
if (land_result != Action::Result::Success) {
std::cerr << "Land failed:" << land_result << '\n';
}
// Check if vehicle is still in air
while (telemetry.in_air()) {
std::cout << "Vehicle is landing...\n";
sleep_for(seconds(1));
}
std::cout << "Landed!\n";
// We are relying on auto-disarming but let's keep watching the telemetry for a bit longer.
sleep_for(seconds(5));
std::cout << "Finished...\n";*/
return;
}
void land(std::shared_ptr<System> system)
{
auto telemetry = Telemetry{system};
auto action = Action{system};
auto offboard = Offboard{system};
// We want to listen to the altitude of the drone at 1 Hz.
const Telemetry::Result set_rate_result = telemetry.set_rate_position(1.0);
std::cout << "Landing...\n";
const Action::Result land_result = action.land();
if (land_result != Action::Result::Success) {
std::cerr << "Land failed:" << land_result << '\n';
}
// Check if vehicle is still in air
while (telemetry.in_air()) {
std::cout << "Vehicle is landing...\n";
sleep_for(seconds(1));
}
std::cout << "Landed!\n";
// We are relying on auto-disarming but let's keep watching the telemetry for a bit longer.
sleep_for(seconds(5));
std::cout << "Finished...\n";
return;
}