def
if __name__=='__main__':
aicontrol = AIControl()
count=5
while not rospy.is_shutdown() and not self.aicontrol.isFail(count):
aicontrol.stop()
count-=1
rospy.sleep(5)
def __init__(self):
print 'now do flare'
## vision service
gate_srv = 'gate'
rospy.wait_for_service(flare_srv)
print 'flare_srv start'
self.detect_gate = rospy.ServiceProxy(flare_srv)
self.check_flare = False
self.pos_center = self.detect_gate.data_gate.pos_flare
self.aicontrol = AIControl()
def __init__(self) :
self.data = vision_chip
self.aiccontrol = AIControl()
print '<===INIT BUY_GOLD_CHIP===>'
rospy.wait_for_service(vision_chip)
self.detect_chip = rospy.ServiceProxy('vision_chip', vision_srv_chip)
def __init__(self):
self.data = vision_slots()
self.aicontrol = AIControl()
print '<====INIT SLOTS===>'
print 'wait for vision service'
rospy.wait_for_service('vision_slots')
self.detect_slots = rospy.ServiceProxy('vision_slots',
vision_srv_slots)
def __init__(self) :
self.data = vision_path()
print '<===INIT PATH===>'
self.aicontrol = AIControl()
rospy.wait_for_service('vision_path')
self.detect_path = rospy.ServiceProxy('vision_path', vision_srv_path)
self.centerx = 0
self.resetx = 0
self.failed = False
def __init__(self):
rospy.init_node('mission_gate', anonymous=True)
print 'now do flare'
self.check_flare = False
self.detect = self.detect_flare.data_flare
self.aicontrol = AIControl()
def __init__(self):
print '<===INIT MARKER===>'
self.aicontrol = AIControl()
print '---wait for vision service---'
rospy.wait_for_service('vision_qualifying_marker')
self.marker_req = rospy.ServiceProxy('vision_qualifying_marker',
vision_srv_qualifying_marker)
self.data = vision_qualifying_marker()
def __init__(self):
print '<===INIT BIN===>'
self.aicontrol = AIControl()
self.data = vision_roulette
rospy.wait_for_service('vision_roulette')
self.detect_roulette = rospy.ServiceProxy('vision_roulette',
vision_srv_roulette)
self.center = 0
self.reset = 0
def __init__(self):
rospy.init_node('mission_gate', anonymous=True)
print 'now do gate'
## vision service
# print 'gate_srv start'
# self.detect = self.detect_gate.data_gate
self.aicontrol = AIControl()
def __init__(self):
print '<===INIT GATE===>'
self.aicontrol = AIControl()
# wait for vision service and declare variables for store data from vision
print '---wait for vision service---'
rospy.wait_for_service('vision_qualifying_gate')
self.gate_req = rospy.ServiceProxy('vision_qualifying_gate',
vision_srv_qualifying_gate)
self.gate_data = vision_qualifying_gate()
class Flare(object):
def __init__(self):
print 'now do flare'
## vision service
gate_srv = 'gate'
rospy.wait_for_service(flare_srv)
print 'flare_srv start'
self.detect_gate = rospy.ServiceProxy(flare_srv)
self.check_flare = False
self.pos_center = self.detect_gate.data_gate.pos_flare
self.aicontrol = AIControl()
def bump(self):
auv = self.aicontrol
count = 15
print "mv to center"
while rospy.is_shutdown() and self.aicontrol.isFail(count) :
if self.pos_center >= 152 and self.pos_center <= 168:
print("good aim")
break
elif self.pos_center < 152:
auv.move('right',cons.AUV_SPEED)
elif self.pos_center > 168:
auv.move('left',cons.AUV_SPEED)
count-=1
## move to center
print "move complete"
print "bump!!"
while rospy.is_shutdown() and self.aicontrol.isFail(count)
auv.move('forward',cons.FLARE_SPEED)
## bump flare
auv.stop()
if __init__ == '__main__':
mission_gate = Flare()
mission_gate.bump()
print "finish gate"
def __init__(self,x,y,z,yaw):
'''
- x,y,z, and yaw is relativeDistance. if the value is None that means equal to current state
- Task A to Task B
- Relative distance between task A and B
- Previous state is postion task A
- Next state is position task B
'''
self.aicontrol = AIControl()
self.relativeDistance = {'x':x, 'y': y, 'z': z, 'yaw': yaw}
self.previousState = {'x':0,'y': 0, 'z': z, 'yaw': 0}
def __init__(self):
print '<===INIT BUY_GOLD_CHIP===>'
self.data = vision_buy_a_gold_chip()
self.plate = vision_buy_a_gold_chip()
self.ball = vision_buy_a_gold_chip()
self.aicontrol = AIControl()
print 'wait for vision service'
rospy.wait_for_service('vision_buy_a_gold_chip')
self.detect_buy_a_gold_chip = rospy.ServiceProxy(
'vision_buy_a_gold_chip', vision_srv_buy_a_gold_chip)
self.center = 0
self.reset = 0
def __init__(self):
print '<===INIT QUALIFY===>'
self.aicontrol = AIControl()
self.marker = Marker()
self.gate = Gate()
def __init__(self):
print '<===INIT GATE _PATH===>'
self.aicontrol = AIControl()
self.gate = Gate()
self.path = Path()
#!/usr/bin/python2
from aicontrol import AIControl as aicontrol
import rospy
global AIControl
if __name__=='__main__':
aicontrol = AIControl()
count=5
while not rospy.is_shutdown():
aicontrol.stop()
count-=1
rospy.sleep(5)
#!/usr/bin/python2
from aicontrol import AIControl
import rospy
global aicontrol
if __name__ == '__main__':
aicontrol = AIControl()
cmd = raw_input(
'command \'stop or 1\' , \'depth or 2\' , \'move or 3\' : ')
if cmd == 'stop' or cmd == '1':
aicontrol.stop()
elif cmd == 'depth' or cmd == '2':
pos = int(raw_input('position : '))
aicontrol.depthAbs(pos)
elif cmd == 'move' or cmd == '3':
count = 5
pos = raw_input('pos : ')
speed = int(raw_input('speed : '))
while not rospy.is_shutdown() and not aicontrol.isFail(count):
aicontrol.move(pos, speed)
# rospy.loginfo('x: %f\ny: %f\nz: %f'%(aicontrol.auv_state[0], aicontrol.auv_state[1], aicontrol.auv_state[2]))
count -= 1
aicontrol.stop()
rospy.sleep(1)
def __init__(self):
self.data = vision_path
print '<===INIT PATH===>'
self.aicontrol = AIControl()
rospy.wait_for_service('vision_path')
self.detect_path = rospy.ServiceProxy('vision_path', vision_srv_path)