{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Line Following\n",
    "\n",
    "In this practical, you will learn how to put together your parameterization of a line detected from the downward camera with a flight controller to accurately follow a line.\n",
    "\n",
    "Key tools:\n",
    "\n",
    "- `opencv`\n",
    "- Closed-loop velocity control\n",
    "- `rosmsg`\n",
    "\n",
    "**SLIDES:** [Lecture Slides](https://docs.google.com/presentation/d/11v5SoH-QA0CIVtZMPHNX1Fvcs9RcCkRLHZL-UDwicCE/edit?usp=sharing)\n",
    "\n",
    "**Progress:** [Checkpoint Rubric](https://docs.google.com/spreadsheets/d/1t5B5U4Z-KhY2UVLqIjn44ZOjqOHGuVoQUOdF7e11geU/edit?usp=sharing)\n"
   ]
  },
  {
   "attachments": {
    "line_tracker_figure.png": {
     "image/png": "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"
    }
   },
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Breaking Down Line Following\n",
    "\n",
    "### Computer Vision (`line_tracker/src/detector.py`)\n",
    "\n",
    "Your computer vision algorithms must be precise and accurate when detecting the LED strip that will feature in the final race. \n",
    "\n",
    "Be sure to test your existing CV algorithms by publishing an Image message on `/line/img` that shows the line being tracked. You will be testing this on a `rosbag` **before you have the opportunity to fly your code**. Notify an instructor once you have the proper image displayed on top of the `rosbag` we have provided you. You will then be permitted to move on to the next stage of development in this task.\n",
    "\n",
    "### Control Systems (`line_tracker/src/tracker.py`)\n",
    "\n",
    "You will be controlling three degrees of freedom in the line following task: $x position$, $y position$, and $yaw$\n",
    "\n",
    "Using information about the image that the downward camera is publishing, you will calculate the error between your desired position on the line and your current position. \n",
    "\n",
    "This can be broken down into a few steps:\n",
    "\n",
    "- Find the point representing the center of the image $p_{frame-center}$, and take the point on the line published by detector $p_{line}$ (in pixel coordinates)\n",
    "- Find the unit vector in the direction of the line $\\vec{r}_{line-unit}$ (using `vx` and `vy` published by detector)\n",
    "- Find the point on the line closest to the center of the frame $p_{line-closest-center}$ \n",
    "- Extrapolate a point forward (from $p_{line-closest-center}$) on the line using the unit vector in the direction of the line, making sure that the unit vector is positive $p_{target}$\n",
    "- Calculate the vector from the center of the frame to the extrapolated point (this represents error) $\\vec{r}_{to-target}$ and draw it on the annotated image you are publishing\n",
    "- Use $\\vec{r}_{to-target}$ to calculate x, y, and yaw errors\n",
    "- Select safe, appropriate gains for your proportional velocity controller than enable the drone to change its velocity to track a the target on the line. Should its response be aggressive? Consider the pros and cons of aggressive vs non-aggressive control behavior. Your $K_{P_x}$, $K_{P_y}$, $K_{P_ZW}$ should always start below 1.\n",
    "- Calculate $v_x(t)$, $v_y(t)$, and $v_z(t)$ using your pre-determined $K_P$ values.\n",
    "\n",
    "\n",
    "Diagram:\n",
    "\n",
    "![line_tracker_figure.png](attachment:line_tracker_figure.png)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Setup for Test Flight\n",
    "\n",
    "Once `detector.py` and `tracker.py` have been completed and pulled onto the drone, run the flight test by following these procedures\n",
    "\n",
    "- Power on remote control\n",
    "- Power on the Intel RTF\n",
    "- Connect to the UAV via QGroundControl\n",
    "- SSH into the UAV (you will need to have at least four terminals SSHed into the UAV). use X-forwarding in order to pass graphics (i.e. stream the camera feed from the drone to your computer). Example replacing `<team-drone-name>` with the name of your drone:\n",
    "\n",
    "    ```\n",
    "    ssh -X uav@<team-drone-name>.beaver.works\n",
    "    ```\n",
    "    \n",
    "- In terminal 1, start distance sensor\n",
    "\n",
    "\t```\n",
    "    sudo systemctl start aero-teraranger.service\n",
    "\t```\n",
    "    \n",
    "- In terminal 1, start ROS\n",
    "\n",
    "\t```\n",
    "\troscore\n",
    "\t```\n",
    "\n",
    "- In terminal 2, start _patched_ optical flow + down-camera streaming. Note: this is different from _standard_ optical flow service that prevents streaming downward-facing camera. Needed for line detection. [See here for more info on setting up](https://github.mit.edu/ma23705/aero_downward_ros/blob/master/README.md)\n",
    "\n",
    "\t```\n",
    "\tcd ~/bwsi-uav/catkin_ws/src/aero-optical-flow/build\n",
    "\tsudo -E ./aero-optical-flow\n",
    "\t```\n",
    "\n",
    "- Without arming drone, switch to `POSITION CONTROL` mode to ensure previous steps worked as expect. If QGroundControl declares that that position control is rejected, use QGroundControl > Widgets > MAVLink Inspector to debug and potentially restart process.\n",
    "\n",
    "- In terminal 3, launch `mavros`, `detector`, and `tracker` using `detect_track.launch`\n",
    "\n",
    "\t```\n",
    "\tcd ~/bwsi-uav/catkin_ws\n",
    "\tsource devel/setup.bash\n",
    "\troslaunch aero_control detect_track.launch\n",
    "\t```\n",
    "    \n",
    "- (OPTIONAL) In terminal 4, visualize the downward camera feed for line detection.\n",
    "\n",
    "    ```\n",
    "    rqt_image_view\n",
    "    ```\n",
    "    \n",
    "    and select `/line/detector_image` from the dropdown menu"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "    \n",
    "## Test Flight\n",
    "\n",
    "<div class=\"alert alert-warning\">\n",
    "\n",
    "**WARNING:** \n",
    "\n",
    "Pilot-in-Command must always be ready to regain control by switching back to `POSCTL` mode. Never take your hands off the remote control!\n",
    "\n",
    "</div>\n",
    "\n",
    "\n",
    "In `POSITION CONTROL` mode \n",
    "\n",
    "1. Arm the quadrotor\n",
    "2. Takeoff\n",
    "3. Position in a safe location in the air\n",
    "4. Switch to `OFFBOARD` mode to run test\n",
    "5. Regain control with `POSITION` mode\n",
    "6. Land quadrotor\n",
    "7. Disarm\n",
    "8. Collect [flight log](flight_log_analysis.html)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.6.8"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 2
}