/
remi_joy_teleop.py
executable file
·187 lines (156 loc) · 7.04 KB
/
remi_joy_teleop.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
#!/usr/bin/env python
import remi.gui as gui
from remi import start, App
import rospy
from geometry_msgs.msg import Twist
import threading
import time
MAX_LINEAR_SPEED = 1.0
MAX_ANGULAR_SPEED = 1.0
PUB_PERIOD = 1.0/10.0 # 10hz
PING_PERIOD = 1.0
class HeartbeatWidget(gui.Tag):
def __init__(self, beat_rate_millisec=1000, timeout_millisec=1500 ):
super(HeartbeatWidget, self).__init__()
self.timeout_millisec = timeout_millisec
self.beat_rate_millisec = beat_rate_millisec
self.eventManager = gui.EventManager()
self.type = 'script'
self.attributes['type'] = 'text/javascript'
self.EVENT_ONBEAT = 'onbeat'
self.EVENT_ONTIMEOUT = 'ontimeout'
self.EVENT_ONRECONNECT = 'onreconnect'
self.append( 'javascript_code' , """
function sendHeartBeat%(id)s(){
sendCallback('%(id)s','%(event)s');
};
setInterval( sendHeartBeat%(id)s, %(beat_rate)s );
""" % {'id':id(self), 'beat_rate':beat_rate_millisec, 'event':self.EVENT_ONBEAT })
self.last_beat_millisec = -1
self.disconnected = True
def onbeat(self):
#print('beat')
self.last_beat_millisec = time.time()*1000
threading.Timer(self.timeout_millisec/1000.0, self.check_timeout).start()
if self.disconnected:
self.disconnected = False
self.eventManager.propagate(self.EVENT_ONRECONNECT, [])
print('We were disconnected, reconnecting!')
def check_timeout(self):
#print('Checking timeout...')
tnow = time.time()*1000
if (tnow - self.last_beat_millisec) > self.beat_rate_millisec:
self.eventManager.propagate(self.EVENT_ONTIMEOUT, [])
self.disconnected = True
print('We are too late! disconnected!')
def set_on_timeout_listener(self, listener, funcname):
self.eventManager.register_listener(self.EVENT_ONTIMEOUT, listener, funcname)
def set_on_reconnect_listener(self, listener, funcname):
self.eventManager.register_listener(self.EVENT_ONRECONNECT, listener, funcname)
class JoystickWidget(gui.Svg):
def __init__(self, width, height):
super(JoystickWidget, self).__init__(width, height)
self.width = width
self.height = height
# self.maxDragLength = min(width, height)/3.0*2.0
self.maxDragLength = min(width, height)/3.0
self.startPointIndicator = gui.SvgCircle(0, 0, 20)
self.startPointIndicator.set_fill('rgb(255,200,50)')
self.startPointIndicator.set_stroke(1, 'white')
self.endPointIndicator = gui.SvgCircle(0, 0, 10)
self.endPointIndicator.set_fill('rgb(200,255,50)')
self.endPointIndicator.set_stroke(1, 'white')
self.pathLine = gui.SvgLine(0, 0, 0, 0)
self.startX = 0
self.startY = 0
self.append('path_line', self.pathLine)
self.append('start_point', self.startPointIndicator)
self.append('end_point', self.endPointIndicator)
self.drag_state = False
self.set_on_mouseup_listener(self, 'mouseup')
self.set_on_mousedown_listener(self, 'mousedown')
self.set_on_mousemove_listener(self, 'mousemove')
self.set_on_touchend_listener(self, 'mouseup')
self.set_on_touchstart_listener(self, 'mousedown')
self.set_on_touchmove_listener(self, 'mousemove')
self.EVENT_ONMOVE = "ONJOYSTICKMOVE"
self.reset_joystick(0, 0)
def mousemove(self, x, y):
if self.drag_state:
self.endPointIndicator.set_position(x, y)
self.pathLine.set_p2(x, y)
moveX = min(abs(x-self.startX),self.maxDragLength)/self.maxDragLength * (-1 if x < self.startX else 1)
moveY = min(abs(y-self.startY),self.maxDragLength)/self.maxDragLength * (1 if y < self.startY else -1)
params = [moveX,moveY]
self.eventManager.propagate(self.EVENT_ONMOVE, params)
def mousedown(self, x, y):
self.drag_state = True
#self.startPointIndicator.set_position(x, y)
self.startPointIndicator.set_position(self.width/2, self.height/2)
#self.pathLine.set_p1(x, y)
self.pathLine.set_p1(self.width/2, self.height/2)
# self.startX = x
# self.startY = y
self.startX = self.width/2
self.startY = self.height/2
def mouseup(self, x, y):
self.reset_joystick(x, y)
def reset_joystick(self, x, y):
self.drag_state = False
self.startPointIndicator.set_position(self.width/2, self.height/2)
self.endPointIndicator.set_position(self.width/2, self.height/2)
self.pathLine.set_coords(self.width/2, self.height/2, self.width/2, self.height/2)
params = [0,0]
self.eventManager.propagate(self.EVENT_ONMOVE, params)
def set_onmove_listener(self, listener, funcname):
self.eventManager.register_listener(self.EVENT_ONMOVE, listener, funcname)
class MyApp(App):
def __init__(self, *args, **kwargs):
super(MyApp, self).__init__(*args, **kwargs)
def main(self, name='world'):
self.twist_pub = rospy.Publisher('/key_vel', Twist, queue_size=1)
rospy.Timer(rospy.Duration(PUB_PERIOD), self.pub_twist)
self.wid = gui.Widget(620, 650, False, 10)
self.infoLabel = gui.Label(300, 30, "coords")
self.last_x = 0.0
self.last_y = 0.0
self.joystick = JoystickWidget(600, 600)
self.joystick.style['background-color'] = 'rgb(255,255,255)'
self.joystick.set_onmove_listener(self, "joystick_moved")
self.wid.append('infolabel', self.infoLabel)
self.wid.append('joystick', self.joystick)
self.wid.set_on_mousemove_listener(self.joystick, 'reset_joystick')
self.client_connected = True
self.heartbeat = HeartbeatWidget()
self.heartbeat.set_on_timeout_listener(self, "disconnection")
self.heartbeat.set_on_reconnect_listener(self, "reconnection")
self.wid.append('heartbeat', self.heartbeat)
# returning the root widget
return self.wid
def disconnection(self):
rospy.logerr("Disconnection of the client!")
self.client_connected = False
def reconnection(self):
rospy.logwarn("Reconnection of the client!")
self.client_connected = True
def joystick_moved(self, x, y): # 0 <= x <= 1 0 <= y <= 1
self.infoLabel.set_text("move x:%s y:%s" % (x, y))
self.last_x = x
self.last_y = y
def pub_twist(self, timerevent):
if self.joystick.drag_state and self.client_connected:
t = Twist()
if self.last_y >= 0:
t.linear.x = self.last_y * MAX_LINEAR_SPEED
else:
t.linear.x = self.last_y * MAX_ANGULAR_SPEED / 2.0
t.angular.z = -self.last_x * MAX_ANGULAR_SPEED
self.twist_pub.publish(t)
if __name__ == "__main__":
rospy.init_node('remi_joy')
start(MyApp,
address='0.0.0.0',
multiple_instance=True,
port=8092,
websocket_timeout_timer_ms=1000,
pending_messages_queue_length=1000)