def connectProxies(self):
cfg = config.load(sys.argv[1])
self.jdrc = comm.init(cfg, "precise_landing")
self.myCMDVel = self.jdrc.getCMDVelClient("precise_landing.myCMDVel")
if not self.myCMDVel:
raise Exception("could not create client with name:myCMDVel")
print("myCMDVel is connected")
self.myCamera = self.jdrc.getCameraClient("precise_landing.myCamera")
if not self.myCamera:
raise Exception("could not create client with name:myCamera")
print("myCamera is connected")
self.myDroneExtra = self.jdrc.getArDroneExtraClient(
"precise_landing.myDroneExtra")
if not self.myDroneExtra:
raise Exception("could not create client with name:myDroneExtra")
print("myDroneExtra is connected")
self.myNavData = self.jdrc.getNavdataClient(
"precise_landing.myNavData")
if not self.myNavData:
raise Exception("could not create client with name:myNavData")
print("myNavData is connected")
self.myPose3D = self.jdrc.getPose3dClient("precise_landing.myPose3D")
if not self.myPose3D:
raise Exception("could not create client with name:myPose3D")
print("myPose3D is connected")
def getCamera(cfg):
cfg = config.load(sys.argv[1])
jdrc = comm.init(cfg, 'Color_Filter')
proxy = jdrc.getCameraClient('Color_Filter')
from Camera.cameraSegment import CameraSegment
cam = CameraSegment(proxy)
return cam
def connectProxies(self):
cfg = config.load(sys.argv[1])
self.jdrc = comm.init(cfg, "force_landing")
self.myExtra = self.jdrc.getArDroneExtraClient("force_landing.myExtra")
if not self.myExtra:
raise Exception("could not create client with name:myExtra")
print("myExtra is connected")
def __init__(self,argv=sys.argv):
self.lock = threading.Lock()
self.dist=0
self.ic = None
try:
cfg = config.load(sys.argv[1])
jdrc = comm.init(cfg, 'Referee')
self.ic = jdrc.getIc()
self.properties = self.ic.getProperties()
proxyStr = jdrc.getConfig().getProperty("Referee.CatPose3D.Proxy")
self.basePoseAr = self.ic.stringToProxy(proxyStr)
self.poseProxy = jderobot.Pose3DPrx.checkedCast(self.basePoseAr)
print self.poseProxy
if not self.basePoseAr:
raise Runtime("Cat Pose3D -> Invalid proxy")
proxyStr = jdrc.getConfig().getProperty("Referee.MousePose3D.Proxy")
self.baseRedPoseAr = self.ic.stringToProxy(proxyStr)
self.poseRedProxy = jderobot.Pose3DPrx.checkedCast(self.baseRedPoseAr)
print self.poseRedProxy
if not self.baseRedPoseAr:
raise Runtime("Mouse Pose3D -> Invalid proxy")
except:
traceback.print_exc()
status = 1
def __init__(self, configFile, cam):
cfg = config.load(configFile)
#starting comm
jdrc = comm.init(cfg, '3DReconstruction')
ic = jdrc.getIc()
properties = ic.getProperties()
data = jdrc.getConfig().getProperty("3DReconstruction." + cam +
".data")
print(data)
self.K = np.array([
data["K"][0], data["K"][1], data["K"][2], data["K"][4],
data["K"][5], data["K"][6], data["K"][8], data["K"][9],
data["K"][10]
],
dtype=np.double).reshape(3, 3)
self.RT = np.array([
data["RT"][0], data["RT"][1], data["RT"][2], data["RT"][3],
data["RT"][4], data["RT"][5], data["RT"][6], data["RT"][7],
data["RT"][8], data["RT"][9], data["RT"][10], data["RT"][11], 0, 0,
0, 1
],
dtype=np.double).reshape(4, 4)
self.width = data["Size"][0]
self.height = data["Size"][1]
def selectVideoSource(cfg):
"""
@param cfg: configuration
@return cam: selected camera
@raise SystemExit in case of unsupported video source
"""
source = cfg['ObjectDetector']['Source']
if source.lower() == 'local':
from Camera.local_camera import Camera
cam_idx = cfg['ObjectDetector']['Local']['DeviceNo']
print(' Chosen source: local camera (index %d)' % (cam_idx))
cam = Camera(cam_idx)
elif source.lower() == 'video':
from Camera.local_video import Camera
video_path = cfg['ObjectDetector']['Video']['Path']
print(' Chosen source: local video (%s)' % (video_path))
cam = Camera(video_path)
elif source.lower() == 'stream':
# comm already prints the source technology (ICE/ROS)
import comm
import config
cfg = config.load(sys.argv[1])
jdrc = comm.init(cfg, 'ObjectDetector')
proxy = jdrc.getCameraClient('ObjectDetector.Stream')
from Camera.stream_camera import Camera
cam = Camera(proxy)
else:
raise SystemExit(
('%s not supported! Supported source: Local, Video, Stream') %
(source))
return cam
def __init__(self, argv=sys.argv):
self.lock = threading.Lock()
self.dist = 0
self.ic = None
try:
cfg = config.load(sys.argv[1])
jdrc = comm.init(cfg, 'Referee')
self.ic = jdrc.getIc()
self.properties = self.ic.getProperties()
proxyStr = jdrc.getConfig().getProperty("Referee.CatPose3D.Proxy")
self.basePoseAr = self.ic.stringToProxy(proxyStr)
self.poseProxy = jderobot.Pose3DPrx.checkedCast(self.basePoseAr)
print self.poseProxy
if not self.basePoseAr:
raise Runtime("Cat Pose3D -> Invalid proxy")
proxyStr = jdrc.getConfig().getProperty(
"Referee.MousePose3D.Proxy")
self.baseRedPoseAr = self.ic.stringToProxy(proxyStr)
self.poseRedProxy = jderobot.Pose3DPrx.checkedCast(
self.baseRedPoseAr)
print self.poseRedProxy
if not self.baseRedPoseAr:
raise Runtime("Mouse Pose3D -> Invalid proxy")
except:
traceback.print_exc()
status = 1
def __init__(self):
"""
Camera object constructor
@param data: parsed YAML config. file
"""
# Creation of the Camera through the comm-ICE proxy.
try:
cfg = config.load(sys.argv[1])
except IndexError:
raise SystemExit("Error: Missing YML file. \n Usage: python2"
"digitclassifier.py digitclassifier.yml")
jdrc = comm.init(cfg, "DigitClassifier")
self.lock = threading.Lock()
# Acquire first image
try:
self.cam = jdrc.getCameraClient("DigitClassifier.Camera")
if self.cam.hasproxy():
self.im = self.cam.getImage()
else:
print("Interface camera not connected")
exit()
except:
traceback.print_exc()
exit()
def connectProxies(self):
cfg = config.load(sys.argv[1])
self.jdrc = comm.init(cfg, "sample1")
self.myMotors = self.jdrc.getMotorsClient("sample1.myMotors")
if not self.myMotors:
raise Exception("could not create client with name:myMotors")
print("myMotors is connected")
def init(port: str, baudrate: int):
comm.init(port, baudrate)
# test device
comm.execute('AT')
# disable echo
# comm.execute('ATE0')
# enable call indication
# comm.execute('AT+CLIP=1')
comm.execute('AT+CMGF=0')
comm.execute('AT+CPMS=?')
comm.execute('AT+CPMS?')
comm.execute('AT+CPMS="MT","ME","SM"')
comm.execute('AT+CPMS="SM"')
# comm.execute('AT+CMGD=1,4')
logging.info('init serial')
def __init__(self):
cfg = config.load("follow_line_conf.yml")
#starting comm
jdrc = comm.init(cfg, 'FollowLineF1')
self.camera = jdrc.getCameraClient("FollowLineF1.Camera")
self.motors = jdrc.getMotorsClient("FollowLineF1.Motors")
self.algorithm = MyAlgorithm(self.camera, self.motors)
print "Follow_Line Components initialized OK"
def connectProxies(self):
cfg = config.load(sys.argv[1])
self.jdrc = comm.init(cfg, "pose_simulated")
self.myCmdvel = self.jdrc.getCMDVelClient("pose_simulated.myCmdvel")
if not self.myCmdvel:
raise Exception("could not create client with name:myCmdvel")
print("myCmdvel is connected")
self.myCamera = self.jdrc.getCameraClient("pose_simulated.myCamera")
if not self.myCamera:
raise Exception("could not create client with name:myCamera")
print("myCamera is connected")
def __init__(self, cfg):
print("En constructor")
cfg = config.load(cfg)
#starting comm
jdrc = comm.init(cfg, 'JdeRobotKids.Sim')
self.camera = jdrc.getCameraClient("JdeRobotKids.Sim.Camera")
self.motors = jdrc.getMotorsClient("JdeRobotKids.Sim.Motors")
self.irLeft = jdrc.getIRClient("JdeRobotKids.Sim.IRLeft")
self.irRight = jdrc.getIRClient("JdeRobotKids.Sim.IRRight")
self.us = jdrc.getSonarClient("JdeRobotKids.Sim.Sonar")
def __init__(self, cfg):
print("En constructor")
cfg = config.load(cfg)
#starting comm
jdrc= comm.init(cfg, 'JdeRobotKids.Sim')
self.camera = jdrc.getCameraClient("JdeRobotKids.Sim.Camera")
self.motors = jdrc.getMotorsClient("JdeRobotKids.Sim.Motors")
self.irLeft = jdrc.getIRClient("JdeRobotKids.Sim.IRLeft")
self.irRight = jdrc.getIRClient("JdeRobotKids.Sim.IRRight")
self.us = jdrc.getSonarClient("JdeRobotKids.Sim.Sonar")
def __init__(self):
cfg = config.load("Kibotics.yml")
print("En constructor")
Kibotics.__init__(self)
#cfg = config.load(cfg)
#starting comm
jdrc = comm.init(cfg, 'Kibotics.Sim')
self.camera = jdrc.getCameraClient("Kibotics.Sim.Camera")
self.motors = jdrc.getMotorsClient("Kibotics.Sim.Motors")
self.irLeft = jdrc.getIRClient("Kibotics.Sim.IRLeft")
self.irRight = jdrc.getIRClient("Kibotics.Sim.IRRight")
self.us = jdrc.getSonarClient("Kibotics.Sim.Sonar")
def connectProxies(self):
cfg = config.load(sys.argv[1])
self.jdrc = comm.init(cfg, "bump_and_go")
self.myMotors = self.jdrc.getMotorsClient("bump_and_go.myMotors")
if not self.myMotors:
raise Exception("could not create client with name:myMotors")
print("myMotors is connected")
self.myLaser = self.jdrc.getLaserClient("bump_and_go.myLaser")
if not self.myLaser:
raise Exception("could not create client with name:myLaser")
print("myLaser is connected")
self.myPose = self.jdrc.getPose3dClient("bump_and_go.myPose")
if not self.myPose:
raise Exception("could not create client with name:myPose")
print("myPose is connected")
def __init__(self):
cfg = config.load("vacuum_cleaner_conf.yml")
#starting comm
jdrc= comm.init(cfg,'VacuumCleaner')
self.motors = jdrc.getMotorsClient("VacuumCleaner.Motors")
self.pose3d = jdrc.getPose3dClient("VacuumCleaner.Pose3D")
self.laser = jdrc.getLaserClient("VacuumCleaner.Laser").hasproxy()
self.bumper = jdrc.getBumperClient("VacuumCleaner.Bumper")
self.algorithm = MyAlgorithm(self.motors, self.pose3d, self.laser, self.bumper)
print "Vacuum_Cleaner initialized OK"
def __init__(self,configFile,cam):
cfg = config.load(configFile)
#starting comm
jdrc= comm.init(cfg, '3DReconstruction')
ic = jdrc.getIc()
properties = ic.getProperties()
data = jdrc.getConfig().getProperty("3DReconstruction."+cam+".data")
print(data)
self.K=np.array([data["K"][0],data["K"][1],data["K"][2],data["K"][4], data["K"][5],data["K"][6],data["K"][8],data["K"][9],data["K"][10]],dtype=np.double).reshape(3,3)
self.RT=np.array([data["RT"][0],data["RT"][1],data["RT"][2],data["RT"][3], data["RT"][4],data["RT"][5],data["RT"][6],data["RT"][7],data["RT"][8],data["RT"][9],data["RT"][10],data["RT"][11],0,0,0,1],dtype=np.double).reshape(4,4)
self.width=data["Size"][0]
self.height=data["Size"][1]
def connectProxies(self):
cfg = config.load(sys.argv[1])
self.jdrc = comm.init(cfg, "escenario_combinado")
self.myCmdvel = self.jdrc.getCMDVelClient("escenario_combinado.myCmdvel")
if not self.myCmdvel:
raise Exception("could not create client with name:myCmdvel")
print("myCmdvel is connected")
self.myCamera = self.jdrc.getCameraClient("escenario_combinado.myCamera")
if not self.myCamera:
raise Exception("could not create client with name:myCamera")
print("myCamera is connected")
self.myExtra = self.jdrc.getArDroneExtraClient("escenario_combinado.myExtra")
if not self.myExtra:
raise Exception("could not create client with name:myExtra")
print("myExtra is connected")
def __init__(self):
cfg = config.load("vacuum_conf.yml")
#starting comm
jdrc = comm.init(cfg, 'VacuumSLAM')
self.motors = jdrc.getMotorsClient("VacuumSLAM.Motors")
self.pose3d = jdrc.getPose3dClient("VacuumSLAM.Pose3D")
self.laser = jdrc.getLaserClient("VacuumSLAM.Laser").hasproxy()
self.bumper = jdrc.getBumperClient("VacuumSLAM.Bumper")
#algorithm=MyAlgorithm(pose3d, motors,laser,bumper)
self.algorithm = MyAlgorithm(self.pose3d, self.motors, self.laser,
self.bumper)
print "Vacuum SLAM Component initialized OK"
def __init__(self, cfg):
"""
Init method.
@param cfg:
"""
jdrc = comm.init(cfg, 'robot')
# variables
self.__vel = CMDVel()
# get clients
self.__pose3d_client = jdrc.getPose3dClient("robot.Pose3D")
self.__motors_client = jdrc.getMotorsClient("robot.Motors")
self.__laser_client = jdrc.getLaserClient("robot.Laser")
def connectProxies(self):
cfg = config.load(sys.argv[1])
self.jdrc = comm.init(cfg, "prueba2")
self.myCMDVel = self.jdrc.getCMDVelClient("prueba2.myCMDVel")
if not self.myCMDVel:
raise Exception("could not create client with name:myCMDVel")
print("myCMDVel is connected")
self.myPose3d = self.jdrc.getPose3dClient("prueba2.myPose3d")
if not self.myPose3d:
raise Exception("could not create client with name:myPose3d")
print("myPose3d is connected")
self.myDroneExtra = self.jdrc.getArDroneExtraClient(
"prueba2.myDroneExtra")
if not self.myDroneExtra:
raise Exception("could not create client with name:myDroneExtra")
print("myDroneExtra is connected")
def __init__(self, cfg):
"""
Init method.
@param cfg:
"""
#starting comm
jdrc = comm.init(cfg, 'drone')
self.frontalCamera = False
#get clients
self.__pose3d_client = jdrc.getPose3dClient("drone.Pose3D")
self.__camera_client = jdrc.getCameraClient("drone.Camera1")
self.__cmdvel_client = jdrc.getCMDVelClient("drone.CMDVel")
self.__extra_client = jdrc.getArDroneExtraClient("drone.Extra")
self.__navdata_client = jdrc.getNavdataClient("drone.Navdata")
def __init__(self):
cfg = config.load('/home/abhay/Desktop/autopark.cfg')
jdrc = comm.init(cfg, 'Autopark')
self.motors = jdrc.getMotorsClient ("Autopark.Motors")
self.pose3d = jdrc.getPose3dClient("Autopark.Pose3D")
self.laser = jdrc.getLaserClient("Autopark.Laser").hasproxy()
self.goal = {}
self.state = {}
self.epsLen = 10 # in cm
self.epsyaw = 5.*np.pi/180.
self.dt = 1
self.ticks = 0
self.tPnlty = .001
self.rewardParameter = 200
self.action_space = np.zeros((2, ))
self.observation_space = np.zeros((64, ))
self.maxV = .4 # in m/s
self.maxW = .5 # in rad/s
self.death = 'Time'
self.info = ''
self.ERASE_LINE = '\x1b[2K'
def __init__(self, cfgPath):
''' Camera class gets images from live video and transform them
in order to predict the digit in the image.
'''
status = 0
print "in cam"
print cfgPath
# Creation of the camera through the comm-ICE proxy.
try:
cfg = config.load(cfgPath)
except IndexError:
raise SystemExit(
'Missing YML file. Usage: python2 objectdetector.py objectdetector.yml'
)
jdrc = comm.init(cfg, 'ObjectDetector')
self.lock = threading.Lock()
try:
self.cam = jdrc.getCameraClient('ObjectDetector.Camera')
if self.cam.hasproxy():
self.im = self.cam.getImage()
self.im_height = self.im.height
self.im_width = self.im.width
print('Image size: {0}x{1} px'.format(self.im_width,
self.im_height))
else:
print("Interface camera not connected")
except:
traceback.print_exc()
exit()
status = 1
def __init__(self):
try:
cfg = config.load(sys.argv[1])
except IndexError:
raise SystemExit(
'Missing YML file. Usage: python2 objectdetector.py objectdetector.yml'
)
self.lock = threading.Lock()
try:
jdrc = comm.init(cfg, 'ObjectDetector')
self.cam = jdrc.getCameraClient('ObjectDetector.Camera')
if (self.cam.hasproxy()):
self.im = self.cam.getImage()
self.im_height = self.im.height
self.im_width = self.im.width
print(str(self.im_height) + " " + str(self.im_width))
else:
print("No camera interface is connected")
exit()
except:
traceback.print_exc()
exit()
status = 1
import comm
from gui.threadGUI import ThreadGUI
from gui.GUI import MainWindow
from PyQt5.QtWidgets import QApplication
import config
import signal
signal.signal(signal.SIGINT, signal.SIG_DFL)
if __name__ == '__main__':
cfg = config.load(sys.argv[1])
#starting comm
jdrc = comm.init(cfg, 'basic_component')
camera = jdrc.getCameraClient("basic_component.Camera")
motors = jdrc.getMotorsClient("basic_component.Motors")
app = QApplication(sys.argv)
frame = MainWindow()
frame.setMotors(motors)
frame.setCamera(camera)
frame.show()
t2 = ThreadGUI(frame)
t2.daemon = True
t2.start()
sys.exit(app.exec_())
def __init__(self):
self.lock = threading.Lock()
self.playButton = False
try:
cfg = config.load(sys.argv[1])
#starting comm
jdrc = comm.init(cfg, '3DReconstruction')
ic = jdrc.getIc()
properties = ic.getProperties()
proxyStrCL = jdrc.getConfig().getProperty(
"3DReconstruction.CameraLeft.Proxy")
basecameraL = ic.stringToProxy(proxyStrCL)
#ic = EasyIce.initialize(sys.argv)
#properties = ic.getProperties()
#basecameraL = ic.propertyToProxy("FollowLine.CameraLeft.Proxy")
self.cameraProxyL = jderobot.CameraPrx.checkedCast(basecameraL)
if self.cameraProxyL:
self.imageLeft = self.cameraProxyL.getImageData("RGB8")
self.imageLeft_h = self.imageLeft.description.height
self.imageLeft_w = self.imageLeft.description.width
else:
print('Interface for left camera not connected')
proxyStrCR = jdrc.getConfig().getProperty(
"3DReconstruction.CameraRight.Proxy")
basecameraR = ic.stringToProxy(proxyStrCL)
#basecameraR = ic.propertyToProxy("FollowLine.CameraRight.Proxy")
self.cameraProxyR = jderobot.CameraPrx.checkedCast(basecameraR)
if self.cameraProxyR:
self.imageRight = self.cameraProxyR.getImageData("RGB8")
self.imageRight_h = self.imageRight.description.height
self.imageRight_w = self.imageRight.description.width
else:
print('Interface for right camera not connected')
proxyStrM = jdrc.getConfig().getProperty(
"3DReconstruction.Motors.Proxy")
motorsBase = ic.stringToProxy(proxyStrM)
#motorsBase = ic.propertyToProxy("FolowLine.motors.Proxy")
self.motorsProxy = jderobot.MotorsPrx.checkedCast(motorsBase)
if self.motorsProxy:
print('Interface for motors connected')
else:
print('Interface for motors not connected')
self.maxSpeedV = 1
self.maxSpeedW = 1
#visualization
proxyStrV = jdrc.getConfig().getProperty(
"3DReconstruction.Viewer.Proxy")
baseViewer = ic.stringToProxy(proxyStrV)
#baseViewer = ic.propertyToProxy("FollowLine.Viewer.Proxy")
self.viewerProxy = jderobot.VisualizationPrx.checkedCast(
baseViewer)
if self.viewerProxy:
print('Interface for viewer connected')
else:
print('Interface for viewer not connected')
#draw floor:
self.MAXWORLD = 30
colorJDE = jderobot.Color()
colorJDE.r = 0
colorJDE.g = 0
colorJDE.b = 0
for i in range(0, self.MAXWORLD + 1):
pointJde1 = jderobot.Point()
pointJde2 = jderobot.Point()
pointJde3 = jderobot.Point()
pointJde4 = jderobot.Point()
pointJde1.x = -self.MAXWORLD * 10 / 2 + i * 10
pointJde1.y = -self.MAXWORLD * 10 / 2
pointJde1.z = 0
pointJde2.x = -self.MAXWORLD * 10 / 2 + i * 10
pointJde2.y = self.MAXWORLD * 10 / 2
pointJde2.z = 0
pointJde3.x = -self.MAXWORLD * 10 / 2
pointJde3.y = -self.MAXWORLD * 10 / 2. + i * 10
pointJde3.z = 0
pointJde4.x = self.MAXWORLD * 10 / 2
pointJde4.y = -self.MAXWORLD * 10 / 2. + i * 10
pointJde4.z = 0
seg1 = jderobot.Segment()
seg1.fromPoint = pointJde1
seg1.toPoint = pointJde2
seg2 = jderobot.Segment()
seg2.fromPoint = pointJde3
seg2.toPoint = pointJde4
self.viewerProxy.drawSegment(seg1, colorJDE)
self.viewerProxy.drawSegment(seg2, colorJDE)
except:
traceback.print_exc()
exit()
status = 1
if len(sys.argv) < 2:
print(
'ERROR: python2 globalNavigation.py [MAP CONFIG file] [YAML CONFIG file]'
)
sys.exit(-1)
app = QApplication(sys.argv)
frame = MainWindow()
grid = Grid(frame)
removeMapFromArgs()
cfg = config.load(sys.argv[1])
#starting comm
jdrc = comm.init(cfg, 'TeleTaxi')
motors = jdrc.getMotorsClient("TeleTaxi.Motors")
pose = jdrc.getPose3dClient("TeleTaxi.Pose3D")
vel = Velocity(0, 0, motors.getMaxV(), motors.getMaxW())
frame.setVelocity(vel)
sensor = Sensor(grid, pose, True)
sensor.setGetPathSignal(frame.getPathSig)
frame.setGrid(grid)
frame.setSensor(sensor)
algorithm = MyAlgorithm(grid, sensor, vel)
frame.setAlgorithm(algorithm)
frame.show()
from gui.GUI import MainWindow
from PyQt5.QtWidgets import QApplication
from gui.cameraSegment import CameraSegment
import signal
signal.signal(signal.SIGINT, signal.SIG_DFL)
if __name__ == '__main__':
cfg = config.load(sys.argv[1])
#starting comm
jdrc= comm.init(cfg, 'Follow_face')
cameraCli = jdrc.getCameraClient("Follow_face.Camera")
camera = CameraSegment(cameraCli)
motors = jdrc.getPTMotorsClient("Follow_face.PTMotors")
algorithm=MyAlgorithm(camera, motors)
app = QApplication(sys.argv)
frame = MainWindow()
frame.setMotors(motors)
frame.setCamera(camera)
frame.setAlgorithm(algorithm)
frame.show()
t2 = ThreadGUI(frame)
from parallelIce.cmdvel import CMDVel
from parallelIce.extra import Extra
from parallelIce.pose3dClient import Pose3DClient
from gui.GUI import MainWindow
from PyQt5.QtWidgets import QApplication
import signal
signal.signal(signal.SIGINT, signal.SIG_DFL)
if __name__ == '__main__':
cfg = config.load(sys.argv[1])
# starting comm
jdrc = comm.init(cfg, 'Introrob')
cameraCli = jdrc.getCameraClient("Introrob.Camera")
camera = CameraFilter(cameraCli)
navdata = jdrc.getNavdataClient("Introrob.Navdata")
pose = jdrc.getPose3dClient("Introrob.Pose3D")
cmdvel = jdrc.getCMDVelClient("Introrob.CMDVel")
extra = jdrc.getArDroneExtraClient("Introrob.Extra")
algorithm = MyAlgorithm(camera, navdata, pose, cmdvel, extra)
app = QApplication(sys.argv)
frame = MainWindow()
frame.setCamera(camera)
frame.setNavData(navdata)
frame.setPose3D(pose)
#from parallelIce.extra import Extra
#from parallelIce.pose3dClient import Pose3DClient
from gui.GUI import MainWindow
from PyQt5.QtWidgets import QApplication
import signal
signal.signal(signal.SIGINT, signal.SIG_DFL)
if __name__ == '__main__':
cfg = config.load(sys.argv[1])
#starting comm
jdrc= comm.init(cfg, 'Introrob')
cameraCli = jdrc.getCameraClient("Introrob.cameraA")
camera = CameraFilter(cameraCli)
algorithm=MyAlgorithm(camera)
app = QApplication(sys.argv)
frame = MainWindow()
frame.setCamera(camera)
frame.setAlgorithm(algorithm)
frame.show()
t2 = ThreadGUI(frame)
t2.daemon=True
import comm
from gui.threadGUI import ThreadGUI
from gui.GUI import MainWindow
from PyQt5.QtWidgets import QApplication
import config
import signal
signal.signal(signal.SIGINT, signal.SIG_DFL)
if __name__ == '__main__':
cfg = config.load(sys.argv[1])
#starting comm
jdrc= comm.init(cfg, 'pantilt_teleop')
camera = jdrc.getCameraClient("pantilt_teleop.Camera")
motors = jdrc.getPTMotorsClient("pantilt_teleop.PTMotors")
app = QApplication(sys.argv)
frame = MainWindow()
frame.setMotors(motors)
frame.setCamera(camera)
frame.show()
t2 = ThreadGUI(frame)
t2.daemon = True
t2.start()
sys.exit(app.exec_())
from parallelIce.cmdvel import CMDVel
from parallelIce.extra import Extra
from parallelIce.pose3dClient import Pose3DClient
from gui.GUI import MainWindow
from PyQt5.QtWidgets import QApplication
import signal
signal.signal(signal.SIGINT, signal.SIG_DFL)
if __name__ == '__main__':
cfg = config.load(sys.argv[1])
#starting comm
jdrc= comm.init(cfg, 'UAVViewer')
camera = jdrc.getCameraClient("UAVViewer.Camera")
navdata = jdrc.getNavdataClient("UAVViewer.Navdata")
pose = jdrc.getPose3dClient("UAVViewer.Pose3D")
cmdvel = jdrc.getCMDVelClient("UAVViewer.CMDVel")
extra = jdrc.getArDroneExtraClient("UAVViewer.Extra")
app = QApplication(sys.argv)
frame = MainWindow()
frame.setCamera(camera)
frame.setNavData(navdata)
frame.setPose3D(pose)
frame.setCMDVel(cmdvel)
frame.setExtra(extra)
frame.show()
found = False
xRobot = self.pose3d.getPose3d().x
yRobot = self.pose3d.getPose3d().y
xdest = self.dist.destiny[0]
ydest = self.dist.destiny[1]
if (abs(xRobot)<(abs(xdest)+5) and abs(xRobot)>(abs(xdest)-5)) and (abs(yRobot)<(abs(ydest)+5) and abs(yRobot)>(abs(ydest)-5)):
found = True
return found
def updateG(self):
self.update()
if __name__ == "__main__":
app = QApplication(sys.argv)
cfg = config.load(sys.argv[1])
#starting comm
jdrc= comm.init(cfg, 'Referee')
pose3d = jdrc.getPose3dClient("Referee.Pose3D")
myGUI = MainWindowReferee(pose3d)
myGUI.show()
t2 = ThreadGUI(myGUI)
t2.daemon=True
t2.start()
sys.exit(app.exec_())
path = os.getcwd()
open_path = path[:path.rfind('src')] + 'cfg/'
filename = sys.argv[1]
else:
sys.exit("ERROR: Example:python my_generated_script.py cfgfile.yml")
# loading the ICE and ROS parameters
cfg = config.load(open_path + filename)
stream = open(open_path + filename, "r")
yml_file = yaml.load(stream)
for section in yml_file:
if section == 'drone':
#starting comm
jdrc = comm.init(cfg,'drone')
# creating the object
robot = Drone(jdrc)
break
elif section == 'robot':
#starting comm
jdrc = comm.init(cfg,'robot')
# creating the object
robot = Robot(jdrc)
break
# executing the scratch program
execute(robot)
rgbsegment = jderobot.RGBSegment()
rgbsegment.seg = seg
rgbsegment.c = color
bufferline.append(rgbsegment)
def getbufferPoint(point, color):
rgbpoint = jderobot.RGBPoint()
rgbpoint.x = point.x
rgbpoint.y = point.y
rgbpoint.z = point.z
rgbpoint.r = color.r
rgbpoint.g = color.g
rgbpoint.b = color.b
bufferpoints.append(rgbpoint)
try:
cfg = config.load(sys.argv[1])
jdrc= comm.init(cfg, '3DReconstruction')
endpoint = jdrc.getConfig().getProperty("3DReconstruction.Viewer.Endpoint")
proxy = jdrc.getConfig().getProperty("3DReconstruction.Viewer.Proxy")
refresh = jdrc.getConfig().getProperty("3DReconstruction.Viewer.Refresh")
id = Ice.InitializationData()
ic = Ice.initialize(None, id)
adapter = ic.createObjectAdapterWithEndpoints(proxy, endpoint)
object = PointI()
adapter.add(object, ic.stringToIdentity("3DViz"))
adapter.activate()
except KeyboardInterrupt:
del(ic)
sys.exit()
from gui.threadGUI import ThreadGUI
#from parallelIce.motors import Motors
#from parallelIce.pose3dClient import Pose3DClient
#from parallelIce.cameraClient import CameraClient
#from parallelIce.laserClient import LaserClient
#import easyiceconfig as EasyIce
from MyAlgorithm import MyAlgorithm
if __name__ == "__main__":
cfg = config.load(sys.argv[1])
#starting comm
jdrc= comm.init(cfg, 'Stop')
cameraC = jdrc.getCameraClient("Stop.CameraC")
cameraL = jdrc.getCameraClient("Stop.CameraL")
cameraR = jdrc.getCameraClient("Stop.CameraR")
motors = jdrc.getMotorsClient ("Stop.Motors")
pose3d = jdrc.getPose3dClient("Stop.Pose3D")
algorithm=MyAlgorithm(pose3d, cameraC, cameraL, cameraR, motors)
app = QApplication(sys.argv)
myGUI = MainWindow()
myGUI.setMotors(motors)
myGUI.setCameraC(cameraC)
myGUI.setCameraL(cameraL)
myGUI.setCameraR(cameraR)
from parallelIce.extra import Extra
from parallelIce.pose3dClient import Pose3DClient
from gui.GUI import MainWindow
from PyQt5.QtWidgets import QApplication
import signal
signal.signal(signal.SIGINT, signal.SIG_DFL)
if __name__ == '__main__':
cfg = config.load(sys.argv[1])
#starting comm
jdrc= comm.init(cfg, 'VisualLander')
camera = jdrc.getCameraClient("VisualLander.Camera")
navdata = jdrc.getNavdataClient("VisualLander.Navdata")
pose = jdrc.getPose3dClient("VisualLander.Pose3D")
cmdvel = jdrc.getCMDVelClient("VisualLander.CMDVel")
extra = jdrc.getArDroneExtraClient("VisualLander.Extra")
algorithm=MyAlgorithm(camera, navdata, pose, cmdvel, extra)
app = QApplication(sys.argv)
frame = MainWindow()
frame.setCamera(camera)
frame.setNavData(navdata)
frame.setPose3D(pose)
import signal
signal.signal(signal.SIGINT, signal.SIG_DFL)
if __name__ == '__main__':
cfg = config.load(sys.argv[1])
try:
img_path=sys.argv[2]
except IndexError:
img_path=None
#starting comm
jdrc= comm.init(cfg, 'ColorTuner')
cameraCli = jdrc.getCameraClient("ColorTuner.Camera")
camera = CameraFilter(cameraCli)
app = QApplication(sys.argv)
frame = MainWindow(img_path)
frame.setCamera(camera)
frame.show()
app.setStyleSheet(qdarkstyle.load_stylesheet_pyqt5())
t2 = ThreadGUI(frame)
t2.daemon=True
t2.start()
sys.exit(app.exec_())
import controller import comm import time import math def update_servo_pos(conn): state = controller.get_state() new_pos = int((-1 * math.degrees( math.asin( state['trigger'] ) )) + 90) print new_pos comm.send(conn,new_pos) # Main entry if __name__ == "__main__": conn = comm.init(6,115200) controller.init() while True: controller.processEvents() update_servo_pos(conn) conn.close()
import comm
from gui.threadGUI import ThreadGUI
from gui.GUI import MainWindow
from PyQt5.QtWidgets import QApplication
import config
import signal
signal.signal(signal.SIGINT, signal.SIG_DFL)
if __name__ == '__main__':
cfg = config.load(sys.argv[1])
#starting comm
jdrc= comm.init(cfg, 'mbotSuite_py')
camera = jdrc.getCameraClient("mbotSuite_py.PiCamera")
irl = jdrc.getCameraClient("mbotSuite_py.IRLeft")
irr = jdrc.getCameraClient("mbotSuite_py.IRRight")
sonar = jdrc.getSonarClient("mbotSuite_py.Sonar")
motors = jdrc.getMotorsClient("mbotSuite_py.Motors")
app = QApplication(sys.argv)
frame = MainWindow()
frame.setMotors(motors)
frame.setCamera(camera, irl, irr)
frame.setSonar(sonar)
frame.show()
#!/usr/bin/env python3
import config
import comm
import sys
import time
import signal
from jderobotTypes import CMDVel
if __name__ == '__main__':
cfg = config.load(sys.argv[1])
jdrc= comm.init(cfg, "Test")
vel = CMDVel()
vel.vx = 1
vel.az = 0.1
client = jdrc.getMotorsClient("Test.Motors")
for i in range (10):
client.sendVelocities(vel)
time.sleep(1)
jdrc.destroy()
def __init__(self):
self.lock = threading.Lock()
self.playButton=False
try:
cfg = config.load(sys.argv[1])
#starting comm
jdrc= comm.init(cfg, '3DReconstruction')
ic = jdrc.getIc()
properties = ic.getProperties()
proxyStrCL = jdrc.getConfig().getProperty("3DReconstruction.CameraLeft.Proxy")
basecameraL = ic.stringToProxy(proxyStrCL)
#ic = EasyIce.initialize(sys.argv)
#properties = ic.getProperties()
#basecameraL = ic.propertyToProxy("FollowLine.CameraLeft.Proxy")
self.cameraProxyL = jderobot.CameraPrx.checkedCast(basecameraL)
if self.cameraProxyL:
self.imageLeft = self.cameraProxyL.getImageData("RGB8")
self.imageLeft_h= self.imageLeft.description.height
self.imageLeft_w = self.imageLeft.description.width
else:
print ('Interface for left camera not connected')
proxyStrCR = jdrc.getConfig().getProperty("3DReconstruction.CameraRight.Proxy")
basecameraR = ic.stringToProxy(proxyStrCR)
#basecameraR = ic.propertyToProxy("FollowLine.CameraRight.Proxy")
self.cameraProxyR = jderobot.CameraPrx.checkedCast(basecameraR)
if self.cameraProxyR:
self.imageRight = self.cameraProxyR.getImageData("RGB8")
self.imageRight_h= self.imageRight.description.height
self.imageRight_w = self.imageRight.description.width
else:
print ('Interface for right camera not connected')
proxyStrM = jdrc.getConfig().getProperty("3DReconstruction.Motors.Proxy")
motorsBase = ic.stringToProxy(proxyStrM)
#motorsBase = ic.propertyToProxy("FolowLine.motors.Proxy")
self.motorsProxy = jderobot.MotorsPrx.checkedCast(motorsBase)
if self.motorsProxy:
print ('Interface for motors connected')
else:
print ('Interface for motors not connected')
self.maxSpeedV=1
self.maxSpeedW=1
#visualization
# proxyStrV = jdrc.getConfig().getProperty("3DReconstruction.Viewer.Proxy")
# baseViewer = ic.stringToProxy(proxyStrV)
#baseViewer = ic.propertyToProxy("FollowLine.Viewer.Proxy")
# self.viewerProxy = jderobot.VisualizationPrx.checkedCast(baseViewer)
#if self.viewerProxy:
# print ('Interface for viewer connected')
# else:
# print ('Interface for viewer not connected')
#draw floor:
self.MAXWORLD=30
colorJDE= jderobot.Color()
colorJDE.r=0
colorJDE.g=0
colorJDE.b=0
for i in range(0,self.MAXWORLD+1):
pointJde1= jderobot.Point()
pointJde2= jderobot.Point()
pointJde3= jderobot.Point()
pointJde4= jderobot.Point()
pointJde1.x=-self.MAXWORLD * 10 / 2 + i * 10
pointJde1.y= -self.MAXWORLD * 10 / 2
pointJde1.z=0
pointJde2.x=-self.MAXWORLD * 10 / 2 + i * 10
pointJde2.y= self.MAXWORLD * 10 / 2
pointJde2.z=0
pointJde3.x=-self.MAXWORLD * 10 / 2
pointJde3.y=-self.MAXWORLD * 10 / 2. + i * 10
pointJde3.z=0
pointJde4.x=self.MAXWORLD * 10 / 2
pointJde4.y=-self.MAXWORLD * 10 / 2. + i * 10
pointJde4.z=0
seg1= jderobot.Segment()
seg1.fromPoint=pointJde1
seg1.toPoint=pointJde2
seg2= jderobot.Segment()
seg2.fromPoint=pointJde3
seg2.toPoint=pointJde4
pointBuffer.getbufferSegment(seg1, colorJDE, True)
#self.viewerProxy.drawSegment(seg1,colorJDE)
pointBuffer.getbufferSegment(seg2, colorJDE, True)
#self.viewerProxy.drawSegment(seg2,colorJDE)
except:
traceback.print_exc()
exit()
status = 1
from PyQt5.QtWidgets import QApplication
from gui.GUI import MainWindow
from gui.threadGUI import ThreadGUI
#from parallelIce.motors import Motors
#from parallelIce.pose3dClient import Pose3DClient
#from parallelIce.cameraClient import CameraClient
#from parallelIce.laserClient import LaserClient
#import easyiceconfig as EasyIce
from MyAlgorithm import MyAlgorithm
if __name__ == "__main__":
cfg = config.load(sys.argv[1])
# starting comm
jdrc = comm.init(cfg, 'Stop')
cameraC = jdrc.getCameraClient("Stop.CameraC")
cameraL = jdrc.getCameraClient("Stop.CameraL")
cameraR = jdrc.getCameraClient("Stop.CameraR")
motors = jdrc.getMotorsClient("Stop.Motors")
pose3d = jdrc.getPose3dClient("Stop.Pose3D")
algorithm = MyAlgorithm(pose3d, cameraC, cameraL, cameraR, motors)
app = QApplication(sys.argv)
myGUI = MainWindow()
myGUI.setMotors(motors)
myGUI.setCameraC(cameraC)
myGUI.setCameraL(cameraL)
myGUI.setCameraR(cameraR)
import comm
import config
from PyQt5.QtWidgets import QApplication
from gui.GUI import MainWindow
from gui.threadGUI import ThreadGUI
from MyAlgorithm import MyAlgorithm
if __name__ == "__main__":
cfg = config.load(sys.argv[1])
#starting comm
jdrc= comm.init(cfg, 'Autopark')
motors = jdrc.getMotorsClient ("Autopark.Motors")
pose3d = jdrc.getPose3dClient("Autopark.Pose3D")
laser1 = jdrc.getLaserClient("Autopark.Laser1").hasproxy()
laser2 = jdrc.getLaserClient("Autopark.Laser2").hasproxy()
laser3 = jdrc.getLaserClient("Autopark.Laser3").hasproxy()
algorithm=MyAlgorithm(pose3d, laser1, laser2, laser3, motors)
app = QApplication(sys.argv)
myGUI = MainWindow()
myGUI.setMotors(motors)
myGUI.setPose3D(pose3d)
myGUI.setLaser1(laser1)
myGUI.setLaser2(laser2)
path = os.getcwd()
open_path = path[:path.rfind('src')] + 'cfg/'
filename = sys.argv[1]
else:
sys.exit("ERROR: Example:python my_generated_script.py cfgfile.yml")
# loading the ICE and ROS parameters
cfg = config.load(open_path + filename)
stream = open(open_path + filename, "r")
yml_file = yaml.load(stream)
for section in yml_file:
if section == 'drone':
#starting comm
jdrc = comm.init(cfg,'drone')
# creating the object
robot = Drone(jdrc)
break
elif section == 'robot':
#starting comm
jdrc = comm.init(cfg,'robot')
# creating the object
robot = Robot(jdrc)
break
# executing the scratch program
execute(robot)
#!/usr/bin/env python3
import config
import comm
import sys
import time
import signal
if __name__ == '__main__':
cfg = config.load(sys.argv[1])
jdrc= comm.init(cfg, "Test")
client = jdrc.getArDroneExtraClient("Test.Extra")
client.takeoff()
time.sleep(4)
client.land()
jdrc.destroy()
