Resolve "Implement CI/CD"

.gitignore

@@ -0,0 +1,4 @@
+*.exe
+*.csv
+output
+public

.gitlab-ci.yml

@@ -0,0 +1,47 @@
+# This file is a template, and might need editing before it works on your project.
+# To contribute improvements to CI/CD templates, please follow the Development guide at:
+# https://docs.gitlab.com/ee/development/cicd/templates.html
+# This specific template is located at:
+# https://gitlab.com/gitlab-org/gitlab/-/blob/master/lib/gitlab/ci/templates/C++.gitlab-ci.yml
+
+# use the official gcc image, based on debian
+# can use verions as well, like gcc:5.2
+# see https://hub.docker.com/_/gcc/
+
+
+build:
+  image: gcc
+  stage: build
+  script:
+    - mkdir public
+    - g++ ./src/main.cpp -I include -o ./public/sim.out
+    - ./public/sim.out
+    - mv simOut.csv public
+  artifacts:
+    paths:
+      - public
+
+plots:
+  # stage: build
+  image: python:3.9-buster
+  dependencies:
+    - build
+  script:
+    - pip install --no-cache-dir -U -r ./pythonHelpers/requirements.txt
+    - python ./pythonHelpers/plots.py
+  artifacts:
+    paths:
+      - public
+      
+pages:
+  stage: deploy
+  dependencies:
+    - build
+    - plots
+  script:
+      - ""
+  artifacts:
+    paths:
+      - public
+  only:
+    - master

.vscode/tasks.json

@@ -9,31 +9,9 @@
 				"-g",
 				"${workspaceFolder}\\src\\main.cpp",
 				"-o",
-				"${workspaceFolder}\\build\\debug\\main.exe",
+				"${workspaceFolder}\\main.exe",
 				"-I",
-				"${workspaceFolder}\\include",
+				"${workspaceFolder}\\include"
-			],
-			"options": {
-				"cwd": "${fileDirname}"
-			},
-			"problemMatcher": [
-				"$gcc"
-			],
-			"group": {
-				"kind": "build",
-				"isDefault": true
-			},
-		},
-		{
-			"type": "cppbuild",
-			"label": "Release",
-			"command": "g++",
-			"args": [
-				"${workspaceFolder}\\src\\main.cpp",
-				"-o",
-				"${workspaceFolder}\\build\\release\\main.exe",
-				"-I",
-				"${workspaceFolder}\\include",
 			],
 			"options": {
 				"cwd": "${fileDirname}"

README.md

@@ -20,8 +20,12 @@ The json files are already configured, so if you need any assistance with instal
 
 ## Results
 
-![Accel-Vel-Alt vs Time](build/debug/outputs/Accel-Vel-Alt vs Time.png)
+Download the raw CSV: https://lander-team.gitlab.io/lander-cpp/simOut.csv
 
-![Euler Angles vs Time](build/debug/outputs/Euler Angles vs Time.png)
+Download Linux Binaries: https://lander-team.gitlab.io/lander-cpp/sim.out
 
-![Servo Position vs Time](build/debug/outputs/Servo Position vs Time.png)
+![Accel-Vel-Alt vs Time](https://lander-team.gitlab.io/lander-cpp/AVA.png)
+
+![Euler Angles vs Time](https://lander-team.gitlab.io/lander-cpp/Angles.png)
+
+![Servo Position vs Time](https://lander-team.gitlab.io/lander-cpp/Servos.png)

build/release/LQR.m

@@ -1,30 +0,0 @@
-clear all; clc;
-
-syms R11 R22 R33
-R = [R11 0 0; 
-     0 R22 0; 
-     0 0 R33];
- 
-syms I33
-Q = eye(6) * I33;
-
-syms F11 F22 F33
-F = [F11   0   0;
-       0 F22   0
-       0   0 F33];
-   
-syms G13 G31
-G = [0   0 G13;
-     0   0   0;
-     G31 0   0];
- 
-syms I11 I22 d
-I = [I11   0   0;
-       0 I22   0;
-       0   0 I33];
-   
-A = [zeros(3,3), d * eye(3); F, G];
-B = [zeros(3,3); inv(I)];
-P = [-Q, -A'] * pinv([A, -B*inv(R)*B']);
-
-K = simplify((R^-1) * B' * P)

build/release/gainCalc.m

@@ -1,66 +0,0 @@
-clear all; clc;
-%% User Defined Values
-M0              = 1.2;                                                      % [kg]
-vehicleHeight   = 0.5318;                                                   % [m]
-vehicleRadius   = 0.05105;                                                  % [m]
-
-%% Calcs
-I11         = (1/12) * vehicleHeight^2 + 0.25 * vehicleRadius^2;            % (1/12) * h^2 + 0.25 * r^2
-I22         = (1/12) * vehicleHeight^2 + 0.25 * vehicleRadius^2;            % (1/12) * h^2 + 0.25 * r^2
-I33         = 0.5 * vehicleRadius^2;                                        % 0.5 * r^2
-I           = M0 * [I11 0 0; 0 I22 0; 0 0 I33];
-
-Q = eye(6) * I(3, 3);
-Mu = 398600;
-r0 = [6678; 0; 0];
-
-k1 = (I(2,2) - I(3,3)) / I(1,1);
-k2 = (I(1,1) - I(3,3)) / I(2,2);
-k3 = (I(2,2) - I(1,1)) / I(3,3);
-
-n = sqrt(Mu/(norm(r0)^3));
-
-F = -2 * n^2 * [4 * k1, 0, 0; 0, 3 * k2, 0; 0, 0, k3];
-G = n * [0, 0, (1 - k1); 0, 0, 0; (k3 - 1), 0, 0];
-
-Iinv = [1 / I(1,1), 0, 0; 0, 1 / I(2,2), 0; 0, 0, 1 / I(3,3)];
-
-A = [zeros(3,3), 0.5 * eye(3); F, G];
-B = [zeros(3,3); Iinv];
-
-R = eye(3)*10^-6;
-Rinv = R^-1;
-
-S = icare(A, B, Q, R);
-
-K = Rinv * B' * S;
-
-%% Outputs
-%  Copy results in command window to LQRcalc function in C++
-fprintf("double K11 = %3.5f;\n", K(1, 1))
-fprintf("double K12 = %3.5f;\n", K(1, 2))
-fprintf("double K13 = %3.5f;\n", K(1, 3))
-fprintf("double K14 = %3.5f;\n", K(1, 4))
-fprintf("double K15 = %3.5f;\n", K(1, 5))
-fprintf("double K16 = %3.5f;\n", K(1, 6))
-fprintf("double K21 = %3.5f;\n", K(2, 1))
-fprintf("double K22 = %3.5f;\n", K(2, 2))
-fprintf("double K23 = %3.5f;\n", K(2, 3))
-fprintf("double K24 = %3.5f;\n", K(2, 4))
-fprintf("double K25 = %3.5f;\n", K(2, 5))
-fprintf("double K26 = %3.5f;\n", K(2, 6))
-fprintf("double K31 = %3.5f;\n", K(3, 1))
-fprintf("double K32 = %3.5f;\n", K(3, 2))
-fprintf("double K33 = %3.5f;\n", K(3, 3))
-fprintf("double K34 = %3.5f;\n", K(3, 4))
-fprintf("double K35 = %3.5f;\n", K(3, 5))
-fprintf("double K36 = %3.5f;\n", K(3, 6))
-
-syms yaw pitch roll yawdot pitchdot rolldot gain
-w = [0.5*yaw 0.5*pitch 0.5*roll yawdot pitchdot rolldot]';
-
-syms K11 K12 K13 K14 K15 K16 K21 K22 K23 K24 K25 K26 K31 K32 K33 K34 K35 K36
-K = gain * [K11 K12 K13 K14 K15 K16; K21 K22 K23 K24 K25 K26; K31 K32 K33 K34 K35 K36];
-
-simplify(K*w)
-

build/release/simPlot.m

@@ -1,81 +0,0 @@
-clear all; close all; clc;
-
-% Read data and transfer to variables
-T = readmatrix('simOut.csv');
-t           = T(:, 1);
-x           = T(:, 2);
-y           = T(:, 3);
-z           = T(:, 4);
-vx          = T(:, 5);
-vy          = T(:, 6);
-vz          = T(:, 7);
-ax          = T(:, 8);
-ay          = T(:, 9);
-az          = T(:, 10);
-yaw         = T(:, 11);
-pitch       = T(:, 12);
-roll        = T(:, 13);
-yawdot      = T(:, 14);
-pitchdot    = T(:, 15);	 
-rolldot     = T(:, 16);
-Servo1      = T(:, 17);
-Servo2      = T(:, 18);
-m           = T(:, 19);
-thrust      = T(:, 20);
-
-% Acceleration
-subplot(3, 1, 1)
-plot(t, az)
-title('Acceleration vs Time')
-xlabel('Time (s)')
-ylabel('Acceleration (g''s)')
-
-% Velocity
-subplot(3, 1, 2)
-plot(t, vz)
-title('Velocity vs Time')
-xlabel('Time (s)')
-ylabel('Velocity (m/s)')
-
-% Altitude
-subplot(3, 1, 3)
-plot(t, z)
-title('Altitude vs Time')
-xlabel('Time (s)')
-ylabel('Altitude (m)')
-ylim([0 z(1)+5])
-saveas(gcf,'outputs/Accel-Vel-Alt vs Time.png')
-
-figure(2)
-
-% Euler Angles
-subplot(2, 1, 1)
-plot(t, yaw, pitch, roll)
-title('Euler Angles vs Time')
-xlabel('Time (ms)')
-ylabel('Euler Angles (deg)')
-
-% Angular Velocity
-subplot(2, 1, 2)
-plot(t, yawdot, pitchdot, rolldot)
-title('Angular Velocity vs Time')
-xlabel('Time (ms)')
-ylabel('Angular Velocity (deg/s)')
-saveas(gcf,'outputs/Euler Angles vs Time.png')
-
-figure(3)
-
-% Servo 1 Position
-subplot(2, 1, 1)
-plot(t, Servo1)
-title('Servo 1 Position vs Time')
-xlabel('Time (ms)')
-ylabel('Servo 1 Position (rad)')
-
-% Servo 2 Position
-subplot(2, 1, 2)
-plot(t, Servo2)
-title('Servo 2 Position vs Time')
-xlabel('Time (ms)')
-ylabel('Servo 2 Position (rad)')
-saveas(gcf,'outputs/Servo Position vs Time.png')

matlabHelpers/simPlot.m

@@ -1,7 +1,7 @@
 clear all; close all; clc;
 
 % Read data and transfer to variables
-T = readmatrix('simOut.csv');
+T = readmatrix('../simOut.csv');
 t           = T(:, 1);
 x           = T(:, 2);
 y           = T(:, 3);

pythonHelpers/plots.py

@@ -0,0 +1,73 @@
+import matplotlib.pyplot as plt
+import pandas as pd
+
+from pathlib import Path
+
+for path in Path(".").iterdir():
+    print(path)
+
+plt.style.use("ggplot")
+
+df = pd.read_csv("./public/simOut.csv", delimiter=", ")
+
+
+# Acceleration
+plt.subplot(3, 1, 1)
+plt.title("Acceleration, Velocity, and Altitude Plots")
+plt.plot(df.t, df.az)
+# plt.title("Acceleration vs Time")
+plt.xlabel("Time (s)")
+plt.ylabel("Acceleration (g" "s)")
+
+# Velocity
+plt.subplot(3, 1, 2)
+plt.plot(df.t, df.vz)
+# plt.title("Velocity vs Time")
+plt.xlabel("Time (s)")
+plt.ylabel("Velocity (m/s)")
+
+# Altitude
+plt.subplot(3, 1, 3)
+plt.plot(df.t, df.z)
+# plt.title("Altitude vs Time")
+plt.xlabel("Time (s)")
+plt.ylabel("Altitude (m)\n")
+
+plt.savefig("./public/AVA.png")
+
+
+# Euler Angles
+plt.figure(2)
+
+plt.subplot(2, 1, 1)
+plt.title("Deflection and Angular Velocity Plots")
+plt.plot(df.t, df.yaw, label="Yaw")
+plt.plot(df.t, df.pitch, label="Pitch")
+plt.plot(df.t, df.roll, label="Roll")
+plt.xlabel("Time (ms)")
+plt.ylabel("Euler Angles (deg)")
+plt.legend()
+
+# Angular Velocity
+plt.subplot(2, 1, 2)
+plt.plot(df.t, df.yawdot, label="Yaw")
+plt.plot(df.t, df.pitchdot, label="Pitch")
+plt.plot(df.t, df.rolldot, label="Roll")
+plt.xlabel("Time (ms)")
+plt.legend()
+
+plt.savefig("./public/Angles.png")
+
+# Servo Positions
+plt.figure(3)
+
+plt.plot(df.t, df.Servo1, label="Servo1")
+plt.plot(df.t, df.Servo2, label="Servo2")
+plt.xlabel("Time (ms)")
+plt.ylabel("Position (rad)")
+plt.legend()
+plt.title("Servo Positions")
+
+plt.savefig("./public/Servos.png")
+
+plt.show()

pythonHelpers/requirements.txt

@@ -0,0 +1,2 @@
+matplotlib==3.4.3
+pandas==1.3.3