def __init__(self,r_name,r_id,x_off,y_off,theta_off, capacity):
Robot.__init__(self,r_name,r_id,x_off,y_off,theta_off)
self.carrier_pub = rospy.Publisher("carrier_position",String, queue_size=10)
self.carrier_sub = rospy.Subscriber("carrier_position", String, self.carrier_callback)
self.picker_sub = rospy.Subscriber("picker_position", String, self.picker_callback)
self.kiwi_sub = rospy.Subscriber("picker_kiwi_transfer", String, self.kiwi_callback)
self.kiwi_pub = rospy.Publisher("carrier_kiwi_transfer",String, queue_size=10)
self.queue_pub = rospy.Publisher("carrier_allocation_request", String, queue_size=10)
self.queue_sub = rospy.Subscriber("carrier_allocation_response", String, self.queue_callback)
self.next_robot_id = None
self.carrier_robots = ["0,0,0","0,0,0","0,0,0","0,0,0","0,0,0","0,0,0","0,0,0","0,0,0","0,0,0","0,0,0"]
self.picker_robots = ["0,0,0","0,0,0","0,0,0","0,0,0","0,0,0","0,0,0","0,0,0","0,0,0","0,0,0","0,0,0"]
self.max_load = capacity
self.previousState = self.CarrierState.WAITINGFORPICKER
self.is_going_home = False
#these variables are used to help the laser callback, it will help in dealing with entities/debris on
# it's path to the picker robot
#self.StageLaser_sub = rospy.Subscriber(self.robot_node_identifier+"/base_scan",sensor_msgs.msg.LaserScan,self.StageLaser_callback)
self.ReadLaser = False
self.FiveCounter = 0
self._divertingPath_ = False
def __init__(self):
Robot.__init__(self)
self.wheel_radius = 0.02
self.encoder_ticks_per_wheel_rev = 225
self.wheel_base_length = 0.09
self.max_speed = 0.3
self._x, self._y, self._heading = STARTING_LOCATION
# for getting velocities
self.labyrinth = Labyrinth(
MazeGenerator(LENGTH_OF_MAZE, LENGTH_OF_MAZE))
self.position = Position(*STARTING_LOCATION, self.wheel_radius,
self.encoder_ticks_per_wheel_rev)
self.micro_state = MicroRobotState.UNKNOWN
self.macro_state = MacroRobotState.MAPPING
self.clew = DFS()
self.previous_ticks = (0, 0)
self.angle_ticker = 0
self.angle_pid = PIDLoop(5, 0, 0.1)
self.power_val = 2
self.acceptable_angle_error = .1
self.acceptable_physical_offset = 0.01
self.angle_ticks_needed = 100
self.next_cell = tuple()
# for printing the graph
self.real_xs = []
self.determined_xs = []
self.real_ys = []
self.determined_ys = []
self.race_start = 0
return
def __init__(self,
parent=None,
instanceName=None,
instanceType = Sensation.InstanceType.Real,
level=0):
print("We are in Connection, not Robot")
Robot.__init__(self,
parent=parent,
instanceName=instanceName,
instanceType=instanceType,
level=level)
def __init__(self,
parent=None,
instanceName=None,
instanceType = Sensation.InstanceType.SubInstance,
level=0):
Robot.__init__(self,
parent=parent,
instanceName=instanceName,
instanceType=instanceType,
level=level)
print("We are in Hearing, not Robot")
def __init__(self,
parent=None,
instanceName=None,
instanceType = Sensation.InstanceType.SubInstance,
level=0):
print("We are in TensorFlowClassification, not Robot")
Robot.__init__(self,
parent=parent,
instanceName=instanceName,
instanceType=instanceType,
level=level)
def __init__(self,r_name,r_id,x_off,y_off,theta_off,capacity):
Robot.__init__(self,r_name,r_id,x_off,y_off,theta_off)
self.max_load = capacity
self.timeLastAdded = time.clock()
self.disableSideLaser = False
self.picker_pub = rospy.Publisher("picker_position",String, queue_size=10)
self.kiwi_sub = rospy.Subscriber("carrier_kiwi_transfer", String, self.kiwi_callback)
self.kiwi_pub = rospy.Publisher("picker_kiwi_transfer",String, queue_size=10)
self.picker_sub = rospy.Subscriber("picker_position", String, self.picker_callback)
self.picker_robots = ["0,0,0","0,0,0","0,0,0","0,0,0","0,0,0","0,0,0"]
def __init__(self, position, id, scale):
Robot.__init__(self,position,id,scale)
self.type = randint(0,1)
if self.type == 0:
taskMgr.add( self.randomWalk, 'walk')
self.destination = Point2()
self.setRandomPoint( self.destination )
else:
taskMgr.add( self.hunt, 'hunt')
self.target = None
self.time = 0
self.bulletTime = 0
def __init__(self, r_name, r_id, x_off, y_off, theta_off, capacity):
Robot.__init__(self, r_name, r_id, x_off, y_off, theta_off)
self.carrier_pub = rospy.Publisher("carrier_position",
String,
queue_size=10)
self.carrier_sub = rospy.Subscriber("carrier_position", String,
self.carrier_callback)
self.picker_sub = rospy.Subscriber("picker_position", String,
self.picker_callback)
self.kiwi_sub = rospy.Subscriber("picker_kiwi_transfer", String,
self.kiwi_callback)
self.kiwi_pub = rospy.Publisher("carrier_kiwi_transfer",
String,
queue_size=10)
self.queue_pub = rospy.Publisher("carrier_allocation_request",
String,
queue_size=10)
self.queue_sub = rospy.Subscriber("carrier_allocation_response",
String, self.queue_callback)
self.next_robot_id = None
self.carrier_robots = [
"0,0,0", "0,0,0", "0,0,0", "0,0,0", "0,0,0", "0,0,0", "0,0,0",
"0,0,0", "0,0,0", "0,0,0"
]
self.picker_robots = [
"0,0,0", "0,0,0", "0,0,0", "0,0,0", "0,0,0", "0,0,0", "0,0,0",
"0,0,0", "0,0,0", "0,0,0"
]
self.max_load = capacity
self.previousState = self.CarrierState.WAITINGFORPICKER
self.is_going_home = False
#these variables are used to help the laser callback, it will help in dealing with entities/debris on
# it's path to the picker robot
#self.StageLaser_sub = rospy.Subscriber(self.robot_node_identifier+"/base_scan",sensor_msgs.msg.LaserScan,self.StageLaser_callback)
self.ReadLaser = False
self.FiveCounter = 0
self._divertingPath_ = False
def __init__(self,
socket,
address,
parent=None,
instance=None,
is_virtualInstance=False,
is_subInstance=False,
level=0):
Robot.__init__(self,
parent=parent,
instance=instance,
is_virtualInstance=is_virtualInstance,
is_subInstance=is_subInstance,
level=level)
print("We are in SocketServer, not Robot")
self.socket=socket
self.address=address
self.name = str(address)
def __init__(self,
parent=None,
instanceName=None,
instanceType = Sensation.InstanceType.SubInstance,
level=0):
print("We are in RaspberryPiCamera, not Robot")
Robot.__init__(self,
parent=parent,
instanceName=instanceName,
instanceType=instanceType,
level=level)
# from settings
self.camera = picamera.PiCamera()
self.camera.rotation = 180
self.lastImage = None
self.running=False
self.debug_time=time.time()
def __init__(self, r_name, r_id, x_off, y_off, theta_off, capacity):
Robot.__init__(self, r_name, r_id, x_off, y_off, theta_off)
self.max_load = capacity
self.timeLastAdded = time.clock()
self.disableSideLaser = False
self.picker_pub = rospy.Publisher("picker_position",
String,
queue_size=10)
self.kiwi_sub = rospy.Subscriber("carrier_kiwi_transfer", String,
self.kiwi_callback)
self.kiwi_pub = rospy.Publisher("picker_kiwi_transfer",
String,
queue_size=10)
self.picker_sub = rospy.Subscriber("picker_position", String,
self.picker_callback)
self.picker_robots = [
"0,0,0", "0,0,0", "0,0,0", "0,0,0", "0,0,0", "0,0,0"
]
def __init__(self, reports=None, driver_name=None, mode=None, driverDirectory=None):
if reports is None:
reports = []
Robot.__init__(self, reports)
if driver_name is None:
driver_name = self.config.robot['driverName']
env = self.config.robot["env"]
if mode is None:
mode = self.get_mode_from_config()
service_args_value = ""
if driver_name == 'Firefox':
ff_profile = webdriver.FirefoxProfile()
ff_profile.set_preference("network.proxy.type", 1)
ff_profile.set_preference("network.proxy.http_port", 8080)
ff_profile.set_preference("network.proxy.http", "surf-sccc.pasi.log.intra.laposte.fr")
ff_profile.set_preference("network.proxy.ssl_port", 8080)
ff_profile.set_preference("network.proxy.ssl", "surf-sccc.pasi.log.intra.laposte.fr")
ff_profile.set_preference("network.proxy.socks_port", 8080)
ff_profile.set_preference("network.proxy.socks", "surf-sccc.pasi.log.intra.laposte.fr")
ff_profile.set_preference("network.proxy.ftp_port", 8080)
ff_profile.set_preference("network.proxy.ftp", "surf-sccc.pasi.log.intra.laposte.fr")
ff_profile.set_preference("network.proxy.socks_username", "PPDJ824")
ff_profile.set_preference("network.proxy.socks_password", "Lilalou07PANDORE")
ff_profile.set_preference('browser.cache.disk.enable', False)
ff_profile.set_preference('browser.cache.memory.enable', False)
ff_profile.set_preference('browser.cache.offline.enable', False)
ff_profile.set_preference('network.cookie.cookieBehavior', 2)
ff_profile.update_preferences()
options_ff = OptionsFF()
if mode == "headless":
options_ff.add_argument("--no-sandbox")
# optionsFF.add_argument("--window-size=1900,1080")
options_ff.add_argument("--width=1920")
options_ff.add_argument("--height=1080")
options_ff.add_argument("--disable-extensions")
options_ff.add_argument("--disable-dev-shm-usage")
options_ff.add_argument("--ignore-certificate-errors")
options_ff.add_argument("--disable-gpu")
options_ff.add_argument("--headless")
self.driver = webdriver.Firefox(
firefox_profile=ff_profile,
options=options_ff
)
elif driver_name == 'IE':
if driverDirectory is None:
self.driver = webdriver.Ie(self.config.robot["repertoireDriver"])
else:
self.driver = webdriver.Ie(driverDirectory)
else: # Chrome
options = OptionsChrome()
options.add_argument("--incognito")
# if env != 'dev':
# # options.add_argument('--proxy-server=http://localhost:3128')
# service_args_value = ['--verbose', '--log-path=/tmp/chromedriver.log']
if mode == "headless":
options.add_argument("--no-sandbox")
options.add_argument("--headless")
options.add_argument("--window-size=1900,1080")
options.add_argument("--disable-extensions")
options.add_argument("--disable-dev-shm-usage")
options.add_argument("--ignore-certificate-errors")
options.add_argument("--disable-gpu")
options.add_argument("--start-maximized")
if "download_directory" in self.config.robot:
prefs = {'download.default_directory': self.config.robot["download_directory"]}
options.add_experimental_option('prefs', prefs)
driver_path = self.config.robot["repertoireDriver"]
self.driver = webdriver.Chrome(chrome_options=options, executable_path=driver_path)
def __init__(self, position, id, scale):
Robot.__init__(self,position,id,scale)
self.rotationX = 0
self.rotationY = 0
self.rotationZ = 0
self.playerDirection = Vec3()
self.playerDirection.set(0.0,1.0,0.0)
self.scale = scale
#Sets up a Third Person Camera View#
self.ThirdPerson = True
self.cameraDirection = Vec3()
self.cameraDirection.set(0.0,1.0,0.0)
self.fpvec = Vec3() #Used to set the correct camera location for First Person View
self.fpvec.set(0,2.0, 0)
self.CAMERA_HEIGHT = 12*self.scale
self.CAMERA_LENGTH = 25*self.scale
self.setCamera()
####################################
#Control Schemes##############################
base.accept("arrow_up", self.up)
base.accept("arrow_up-repeat", self.up)
base.accept("arrow_down", self.down)
base.accept("arrow_down-repeat", self.down)
base.accept("arrow_left", self.left)
base.accept("arrow_left-repeat", self.left)
base.accept("arrow_right", self.right)
base.accept("arrow_right-repeat", self.right)
base.accept("w", self.up)
base.accept("w-repeat", self.up)
base.accept("a", self.left)
base.accept("a-repeat",self.left)
base.accept("s", self.down)
base.accept("s-repeat", self.down)
base.accept("d", self.right)
base.accept("d-repeat",self.right)
base.accept("q",self.lookLeft)
base.accept("q-repeat",self.lookLeft)
base.accept("e",self.lookRight)
base.accept("e-repeat",self.lookRight)
base.accept("page_up", self.lookUp)
base.accept("page_up-repeat", self.lookUp)
base.accept("page_down",self.lookDown)
base.accept("page_down-repeat",self.lookDown)
base.accept("[",self.tiltLeft)
base.accept("[-repeat",self.tiltLeft)
base.accept("]",self.tiltRight)
base.accept("]-repeat",self.tiltRight)
base.accept( 'mouse1', self.fire)
#base.accept( 'mouse1-up', self.setMouseButton)
base.accept( 'mouse2', self.ResetZoom)
#base.accept( 'mouse2-up', self.setMouseButton)
#base.accept( 'mouse3', self.setMouseButton)
#base.accept( 'mouse3-up', self.setMouseButton)
base.accept( 'wheel_up', self.ZoomIn)
base.accept( 'wheel_down', self.ZoomOut)
base.accept("t",self.TogglePerson)#Allows you to toggle between first and third person view
base.accept("space", self.fire);
