From e3497ffb1dd89be77a67b4e1b24655928bb10471 Mon Sep 17 00:00:00 2001
From: StaY <stephane.yang@ensea.fr>
Date: Tue, 10 Oct 2023 11:25:47 +0200
Subject: [PATCH] Updated drone script to send joystick inputs to the shared
memory, and added a checkbox for visual control (on vmotors) Added a new
commands script to save experiments
---
Promethe_scripts/navigation/drone/drone.draw | 32 ++++-
Promethe_scripts/navigation/drone/drone.gcd | 10 +-
Promethe_scripts/navigation/drone/drone.res | Bin 18546 -> 18928 bytes
.../navigation/drone/drone.script | 86 +++++++++---
Promethe_scripts/navigation/drone/drone.symb | 132 +++++++++++++++---
Promethe_scripts/navigation/drone/drone.var | 6 +-
Promethe_scripts/navigation/save_the_saves.sh | 27 ++++
7 files changed, 244 insertions(+), 49 deletions(-)
create mode 100755 Promethe_scripts/navigation/save_the_saves.sh
diff --git a/Promethe_scripts/navigation/drone/drone.draw b/Promethe_scripts/navigation/drone/drone.draw
index 1c888f5..e07c83e 100644
--- a/Promethe_scripts/navigation/drone/drone.draw
+++ b/Promethe_scripts/navigation/drone/drone.draw
@@ -14,7 +14,7 @@
</liaison>
<liaison>
<depart>v_motors</depart>
- <arrivee>motors</arrivee>
+ <arrivee>95</arrivee>
<style>0</style>
<coude_list />
</liaison>
@@ -789,4 +789,34 @@
<style>0</style>
<coude_list />
</liaison>
+ <liaison>
+ <depart>12</depart>
+ <arrivee>activate_visual_control</arrivee>
+ <style>0</style>
+ <coude_list />
+ </liaison>
+ <liaison>
+ <depart>95</depart>
+ <arrivee>motors</arrivee>
+ <style>0</style>
+ <coude_list />
+ </liaison>
+ <liaison>
+ <depart>activate_visual_control</depart>
+ <arrivee>95</arrivee>
+ <style>0</style>
+ <coude_list />
+ </liaison>
+ <liaison>
+ <depart>axis_centered</depart>
+ <arrivee>4</arrivee>
+ <style>0</style>
+ <coude_list />
+ </liaison>
+ <liaison>
+ <depart>buttons</depart>
+ <arrivee>5</arrivee>
+ <style>0</style>
+ <coude_list />
+ </liaison>
</liaison_list>
diff --git a/Promethe_scripts/navigation/drone/drone.gcd b/Promethe_scripts/navigation/drone/drone.gcd
index 9f2a0b1..420a95a 100644
--- a/Promethe_scripts/navigation/drone/drone.gcd
+++ b/Promethe_scripts/navigation/drone/drone.gcd
@@ -2,7 +2,7 @@
begin dimensions
fenetre1 745 300 0
fenetre2 400 300 0
-image1 400 300 0
+image1 612 300 0
image2 400 300 0
end dimensions
groupe = 30
@@ -282,8 +282,8 @@ groupe = 97
p_posx = 24 , p_posy = 2212
debug = 1
Begin positions
-fenetre1 479 104
-fenetre2 256 336
-image1 602 291
-image2 681 283
+fenetre1 417 55
+fenetre2 0 677
+image1 745 47
+image2 929 398
End positions
diff --git a/Promethe_scripts/navigation/drone/drone.res b/Promethe_scripts/navigation/drone/drone.res
index 4e9f43b4d9ae0ab49f9359d7c5b6c8ff9999c51f..094eeeeabca2735fa09b6d5a85c0b5ff3e50db1a 100644
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diff --git a/Promethe_scripts/navigation/drone/drone.script b/Promethe_scripts/navigation/drone/drone.script
index cc1c18b..6eb2a50 100644
--- a/Promethe_scripts/navigation/drone/drone.script
+++ b/Promethe_scripts/navigation/drone/drone.script
@@ -1,4 +1,4 @@
-nombre de groupes = 92
+nombre de groupes = 94
%
groupe = 30 , type = 14 , nbre neurones = 1 , seuil = 0.000000
taillex = 1 , tailley = 1
@@ -149,7 +149,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 916 , posy = 171
+posx = 928 , posy = 169
reverse = 0
p_posx = 664 , p_posy = 196
debug = -4
@@ -188,7 +188,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_multiply
-posx = 856 , posy = 231
+posx = 860 , posy = 225
reverse = 0
p_posx = 24 , p_posy = 364
debug = -4
@@ -240,7 +240,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 796 , posy = 290
+posx = 813 , posy = 290
reverse = 0
p_posx = 664 , p_posy = 364
debug = -4
@@ -292,7 +292,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_display_image_activity
-posx = 856 , posy = 344
+posx = 890 , posy = 347
reverse = -2
p_posx = 184 , p_posy = 532
debug = -4
@@ -370,7 +370,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_checkbox
-posx = 637 , posy = 231
+posx = 673 , posy = 224
reverse = 0
p_posx = 24 , p_posy = 700
debug = -4
@@ -716,7 +716,7 @@ p_posx = 824 , p_posy = 1204
debug = -4
ech_temps = 0
-%
+%avant/arrière [0-1] | gauche/droite [0-1] | tourne gauche/tourne droite [0-1] | haut/bas [0-1]
groupe = axis , type = 14 , nbre neurones = 4 , seuil = 0.000000
taillex = 1 , tailley = 4
learning rate = 1.000000
@@ -724,9 +724,9 @@ simulation speed = 1.000000
type2 = 0
groupe = f_joystick_axe_to_single_neuron
posx = 291 , posy = 171
-reverse = 0
+reverse = -1
p_posx = 984 , p_posy = 1204
-debug = -4
+debug = -3
ech_temps = 0
%
@@ -892,10 +892,10 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_save_images_to_disk
-posx = 601 , posy = 1363
+posx = 618 , posy = 1361
reverse = -2
p_posx = 824 , p_posy = 1540
-debug = -4
+debug = -3
ech_temps = 0
%
@@ -944,7 +944,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 717 , posy = 290
+posx = 732 , posy = 290
reverse = 0
p_posx = 344 , p_posy = 1708
debug = -4
@@ -957,7 +957,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_modulo
-posx = 638 , posy = 290
+posx = 630 , posy = 289
reverse = 0
p_posx = 504 , p_posy = 1708
debug = -4
@@ -1197,7 +1197,33 @@ p_posx = 24 , p_posy = 2212
debug = -3
ech_temps = 0
-nombre de liaisons = 127
+%
+groupe = activate_visual_control , type = 14 , nbre neurones = 1 , seuil = 0.000000
+taillex = 1 , tailley = 1
+learning rate = 1.000000
+simulation speed = 1.000000
+type2 = 0
+groupe = f_checkbox
+posx = 201 , posy = 134
+reverse = -121
+p_posx = 184 , p_posy = 2212
+debug = -3
+ech_temps = 0
+
+%Les commentaires doivent etre mis ici.
+groupe = 95 , type = 14 , nbre neurones = 1 , seuil = 0.000000
+taillex = 1 , tailley = 1
+learning rate = 1.000000
+simulation speed = 1.000000
+type2 = 0
+groupe = f_multiply
+posx = 1056 , posy = 134
+reverse = -1
+p_posx = 344 , p_posy = 2212
+debug = -3
+ech_temps = 0
+
+nombre de liaisons = 130
%Les commentaires doivent etre mis ici.
liaison entre v_motors et 30 , type = 5 , nbre = 1 , norme = 0.100000
temps de memorisation entree= 0.000000
@@ -1215,7 +1241,7 @@ liaison entre motors et 7 , type = 5 , nbre = 1 , norme = 0.100000
nom = -bpixhawk.control-s1-v
proba = 1.000000
%Les commentaires doivent etre mis ici.
-liaison entre v_motors et motors , type = 3 , nbre = 1 , norme = 0.500000
+liaison entre v_motors et 95 , type = 3 , nbre = 1 , norme = 2.000000
temps de memorisation entree= 0.000000
temps de memorisation sortie= 0.000000
mode de calcul = 0
@@ -1478,7 +1504,7 @@ liaison entre compass_error et modulo_360 , type = 3 , nbre = 1 , norme = 1.00
secondaire = 0
proba = 1.000000
%Les commentaires doivent etre mis ici.
-liaison entre error_modulo et rotation_centered , type = 3 , nbre = 1 , norme = 0.002700
+liaison entre error_modulo et rotation_centered , type = 3 , nbre = 1 , norme = 0.005500
temps de memorisation entree= 0.000000
temps de memorisation sortie= 0.000000
mode de calcul = 0
@@ -1575,7 +1601,7 @@ liaison entre altitude_2 et 33 , type = 3 , nbre = 1 , norme = 0.001000
secondaire = 0
proba = 1.000000
%Les commentaires doivent etre mis ici.
-liaison entre rotation_to_axis et axis_centered2 , type = 3 , nbre = 1 , norme = 1.000000
+liaison entre rotation_to_axis et axis_centered2 , type = 3 , nbre = 1 , norme = -1.000000
temps de memorisation entree= 0.000000
temps de memorisation sortie= 0.000000
mode de calcul = 0
@@ -1618,7 +1644,7 @@ liaison entre negative_error et gas_low2 , type = 3 , nbre = 1 , norme = 1.000
secondaire = 0
proba = 1.000000
%Les commentaires doivent etre mis ici.
-liaison entre gas_high et gas_high2 , type = 3 , nbre = 1 , norme = 0.700000
+liaison entre gas_high et gas_high2 , type = 3 , nbre = 1 , norme = 0.750000
temps de memorisation entree= 0.000000
temps de memorisation sortie= 0.000000
mode de calcul = 0
@@ -1692,7 +1718,7 @@ liaison entre more_negative_error et gas_lower2 , type = 3 , nbre = 1 , norme
secondaire = 0
proba = 1.000000
%Les commentaires doivent etre mis ici.
-liaison entre gas_low et gas_lower2 , type = 3 , nbre = 1 , norme = 0.100000
+liaison entre gas_low et gas_lower2 , type = 3 , nbre = 1 , norme = 0.300000
temps de memorisation entree= 0.000000
temps de memorisation sortie= 0.000000
mode de calcul = 0
@@ -2151,3 +2177,25 @@ liaison entre 97 et mem , type = 3 , nbre = 1 , norme = 1.000000
mode de calcul = 0
secondaire = 0
proba = 1.000000
+%Les commentaires doivent etre mis ici.
+liaison entre 12 et activate_visual_control , type = 5 , nbre = 1 , norme = 0.100000
+ temps de memorisation entree= 0.000000
+ temps de memorisation sortie= 0.000000
+ mode de calcul = 0
+ secondaire = 0
+ nom = -nactivate_visual_control
+ proba = 1.000000
+%Les commentaires doivent etre mis ici.
+liaison entre 95 et motors , type = 3 , nbre = 1 , norme = 1.000000
+ temps de memorisation entree= 0.000000
+ temps de memorisation sortie= 0.000000
+ mode de calcul = 0
+ secondaire = 0
+ proba = 1.000000
+%Les commentaires doivent etre mis ici.
+liaison entre activate_visual_control et 95 , type = 3 , nbre = 1 , norme = 1.000000
+ temps de memorisation entree= 0.000000
+ temps de memorisation sortie= 0.000000
+ mode de calcul = 0
+ secondaire = 0
+ proba = 1.000000
diff --git a/Promethe_scripts/navigation/drone/drone.symb b/Promethe_scripts/navigation/drone/drone.symb
index d411f62..7f7d374 100644
--- a/Promethe_scripts/navigation/drone/drone.symb
+++ b/Promethe_scripts/navigation/drone/drone.symb
@@ -1,4 +1,4 @@
-nombre de groupes = 92
+nombre de groupes = 96
%
groupe = 30 , type = 14 , nbre neurones = 1 , seuil = 0.000000
taillex = 1 , tailley = 1
@@ -20,9 +20,9 @@ simulation speed = 1.000000
type2 = 0
groupe = f_out
posx = 1270 , posy = 156
-reverse = 0
+reverse = -1
p_posx = 184 , p_posy = 28
-debug = -4
+debug = 1
ech_temps = 0
%
@@ -149,7 +149,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 916 , posy = 171
+posx = 928 , posy = 169
reverse = 0
p_posx = 664 , p_posy = 196
debug = -4
@@ -188,7 +188,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_multiply
-posx = 856 , posy = 231
+posx = 860 , posy = 225
reverse = 0
p_posx = 24 , p_posy = 364
debug = -4
@@ -240,7 +240,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 796 , posy = 290
+posx = 813 , posy = 290
reverse = 0
p_posx = 664 , p_posy = 364
debug = -4
@@ -292,7 +292,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_display_image_activity
-posx = 856 , posy = 344
+posx = 890 , posy = 347
reverse = -2
p_posx = 184 , p_posy = 532
debug = -4
@@ -370,7 +370,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_checkbox
-posx = 637 , posy = 231
+posx = 673 , posy = 224
reverse = 0
p_posx = 24 , p_posy = 700
debug = -4
@@ -425,9 +425,9 @@ simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
posx = 567 , posy = 171
-reverse = 0
+reverse = -1
p_posx = 664 , p_posy = 700
-debug = -4
+debug = 1
ech_temps = 0
%
@@ -716,7 +716,7 @@ p_posx = 824 , p_posy = 1204
debug = -4
ech_temps = 0
-%
+%avant/arrière [0-1] | gauche/droite [0-1] | tourne gauche/tourne droite [0-1] | haut/bas [0-1]
groupe = axis , type = 14 , nbre neurones = 1 , seuil = 0.000000
taillex = 1 , tailley = 4
learning rate = 1.000000
@@ -724,9 +724,9 @@ simulation speed = 1.000000
type2 = 0
groupe = f_joystick_axe_to_single_neuron
posx = 291 , posy = 171
-reverse = 0
+reverse = -1
p_posx = 984 , p_posy = 1204
-debug = -4
+debug = 1
ech_temps = 0
%
@@ -892,10 +892,10 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_save_images_to_disk
-posx = 601 , posy = 1363
+posx = 618 , posy = 1361
reverse = -2
p_posx = 824 , p_posy = 1540
-debug = -4
+debug = -3
ech_temps = 0
%
@@ -944,7 +944,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 717 , posy = 290
+posx = 732 , posy = 290
reverse = 0
p_posx = 344 , p_posy = 1708
debug = -4
@@ -957,7 +957,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_modulo
-posx = 638 , posy = 290
+posx = 630 , posy = 289
reverse = 0
p_posx = 504 , p_posy = 1708
debug = -4
@@ -1116,7 +1116,7 @@ groupe = f_concatenation
posx = 709 , posy = 390
reverse = -1
p_posx = 184 , p_posy = 2044
-debug = 1
+debug = -3
ech_temps = 0
%Les commentaires doivent etre mis ici.
@@ -1197,7 +1197,59 @@ p_posx = 24 , p_posy = 2212
debug = -3
ech_temps = 0
-nombre de liaisons = 127
+%
+groupe = activate_visual_control , type = 14 , nbre neurones = 1 , seuil = 0.000000
+taillex = 1 , tailley = 1
+learning rate = 1.000000
+simulation speed = 1.000000
+type2 = 0
+groupe = f_checkbox
+posx = 201 , posy = 134
+reverse = -121
+p_posx = 184 , p_posy = 2212
+debug = 1
+ech_temps = 0
+
+%Les commentaires doivent etre mis ici.
+groupe = 95 , type = 14 , nbre neurones = 1 , seuil = 0.000000
+taillex = 1 , tailley = 1
+learning rate = 1.000000
+simulation speed = 1.000000
+type2 = 0
+groupe = f_multiply
+posx = 1056 , posy = 134
+reverse = -1
+p_posx = 0 , p_posy = 0
+debug = 1
+ech_temps = 0
+
+%
+groupe = 4 , type = 14 , nbre neurones = 1 , seuil = 0.000000
+taillex = 1 , tailley = 1
+learning rate = 1.000000
+simulation speed = 1.000000
+type2 = 0
+groupe = f_out
+posx = 705 , posy = 104
+reverse = -128
+p_posx = 504 , p_posy = 2212
+debug = -4
+ech_temps = 0
+
+%
+groupe = 5 , type = 14 , nbre neurones = 1 , seuil = 0.000000
+taillex = 1 , tailley = 1
+learning rate = 1.000000
+simulation speed = 1.000000
+type2 = 0
+groupe = f_out
+posx = 381 , posy = 925
+reverse = -135
+p_posx = 664 , p_posy = 2212
+debug = -4
+ech_temps = 0
+
+nombre de liaisons = 132
%Les commentaires doivent etre mis ici.
liaison entre v_motors et 30 , type = 5 , nbre = 1 , norme = 0.100000
temps de memorisation entree= 0.000000
@@ -1215,7 +1267,7 @@ liaison entre motors et 7 , type = 5 , nbre = 1 , norme = 0.100000
nom = -bpixhawk.control-s1-v
proba = 1.000000
%Les commentaires doivent etre mis ici.
-liaison entre v_motors et motors , type = 3 , nbre = 1 , norme = 0.5
+liaison entre v_motors et 95 , type = 3 , nbre = 1 , norme = 2.
temps de memorisation entree= 0.000000
temps de memorisation sortie= 0.000000
mode de calcul = 0
@@ -1575,7 +1627,7 @@ liaison entre altitude_2 et 33 , type = 3 , nbre = 1 , norme = {5#1./MAX_ALT_C
secondaire = 0
proba = 1.000000
%Les commentaires doivent etre mis ici.
-liaison entre rotation_to_axis et axis_centered2 , type = 3 , nbre = 1 , norme = 1.000000
+liaison entre rotation_to_axis et axis_centered2 , type = 3 , nbre = 1 , norme = -1.000000
temps de memorisation entree= 0.000000
temps de memorisation sortie= 0.000000
mode de calcul = 0
@@ -2151,3 +2203,41 @@ liaison entre 97 et mem , type = 3 , nbre = 1 , norme = 1.000000
mode de calcul = 0
secondaire = 0
proba = 1.000000
+%Les commentaires doivent etre mis ici.
+liaison entre 12 et activate_visual_control , type = 5 , nbre = 1 , norme = 0.100000
+ temps de memorisation entree= 0.000000
+ temps de memorisation sortie= 0.000000
+ mode de calcul = 0
+ secondaire = 0
+ nom = -nactivate_visual_control
+ proba = 1.000000
+%Les commentaires doivent etre mis ici.
+liaison entre 95 et motors , type = 3 , nbre = 1 , norme = 1.000000
+ temps de memorisation entree= 0.000000
+ temps de memorisation sortie= 0.000000
+ mode de calcul = 0
+ secondaire = 0
+ proba = 1.000000
+%Les commentaires doivent etre mis ici.
+liaison entre activate_visual_control et 95 , type = 3 , nbre = 1 , norme = 1.000000
+ temps de memorisation entree= 0.000000
+ temps de memorisation sortie= 0.000000
+ mode de calcul = 0
+ secondaire = 0
+ proba = 1.000000
+%Les commentaires doivent etre mis ici.
+liaison entre axis_centered et 4 , type = 5 , nbre = 1 , norme = 0.100000
+ temps de memorisation entree= 0.000000
+ temps de memorisation sortie= 0.000000
+ mode de calcul = 0
+ secondaire = 0
+ nom = -bjoystick-s1-v
+ proba = 1.000000
+%Les commentaires doivent etre mis ici.
+liaison entre buttons et 5 , type = 5 , nbre = 1 , norme = 0.100000
+ temps de memorisation entree= 0.000000
+ temps de memorisation sortie= 0.000000
+ mode de calcul = 0
+ secondaire = 0
+ nom = -bjoystick-s1-v
+ proba = 1.000000
diff --git a/Promethe_scripts/navigation/drone/drone.var b/Promethe_scripts/navigation/drone/drone.var
index 74b9f17..ffb84da 100644
--- a/Promethe_scripts/navigation/drone/drone.var
+++ b/Promethe_scripts/navigation/drone/drone.var
@@ -1,15 +1,15 @@
@DYNAMIC_GAIN 0.5
-@COMPASS_GAIN 0.5
+@COMPASS_GAIN 1.0
% convert altitude from cm to [0-1] range, for example 200 means 200 cm = 1
@MAX_ALT_CM 1000
% gas percentage enough to climb if desired altitude is above measured
-@GAS_HIGH 0.7
+@GAS_HIGH 0.75
% gas percentage enough to stay stabilized if measured altitude is a little below desired altitude
@GAS_LOW 0.5
% value to substract to gas_low which will lower gas to descent/land when measured altitude is clearly below desired altitude
-@GAS_MORE_LOW 0.1
+@GAS_MORE_LOW 0.3
diff --git a/Promethe_scripts/navigation/save_the_saves.sh b/Promethe_scripts/navigation/save_the_saves.sh
new file mode 100755
index 0000000..d8f282a
--- /dev/null
+++ b/Promethe_scripts/navigation/save_the_saves.sh
@@ -0,0 +1,27 @@
+#!/bin/bash
+
+# This script move all the saves in a new separate folder. This is useful when you want to save multiple time in a different folder, launch this script everytime you finished an experiment.
+
+# Generate an unique folder name based on time and date
+save="save_$(date '+%Y_%m_%d_%Hh%Mm%Ss')"
+
+mkdir "$save"
+mkdir "$save/all_images"
+mkdir "$save/save_drone"
+mkdir "$save/save_drone/img"
+mkdir "$save/save_flot"
+mkdir "$save/save_flot/img"
+mkdir "$save/save_vpc"
+mkdir "$save/save_vpc/img"
+
+mv cam_f_out/outputs/*.png "$save/all_images/"
+cp drone/plot/*.m "$save/save_drone/"
+mv drone/plot/*.SAVE "$save/save_drone/"
+mv drone/plot/images/*.png "$save/save_drone/img/"
+cp flot/plot/*.m "$save/save_flot/"
+mv flot/plot/*.SAVE "$save/save_flot/"
+mv flot/plot/images/*.png "$save/save_flot/img/"
+cp vpc/plot/*.m "$save/save_vpc/"
+mv vpc/plot/*.SAVE "$save/save_vpc/"
+mv vpc/plot/images/*.png "$save/save_vpc/img/"
+
--
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