robot.canproxy.set_turn_raw(0)
go_straight(robot, distance=1.0, speed=0.3, with_stop=True)
for i in xrange(3):
turn(robot, math.radians(-45), radius=2.6, speed=0.5)
turn(robot, math.radians(-45), radius=2.6, speed=-0.5)
robot.canproxy.stop_turn()
robot.wait(3.0)
if __name__ == "__main__":
if len(sys.argv) < 2:
print __doc__
sys.exit(2)
metalog = None
if 'meta_' in sys.argv[1]:
metalog = MetaLog(filename=sys.argv[1])
elif len(sys.argv) > 2:
metalog = MetaLog(filename=sys.argv[2])
if len(sys.argv) > 2 and sys.argv[-1] == 'F':
disableAsserts()
if metalog is None:
metalog = MetaLog()
driver_self_test(Driver(), metalog)
# vim: expandtab sw=4 ts=4
def parse_and_launch():
"""parse sys.argv arguments and return initialized robot"""
parser = argparse.ArgumentParser(
description='Navigate given pattern in selected area')
subparsers = parser.add_subparsers(help='sub-command help', dest='command')
subparsers.required = True
parser_run = subparsers.add_parser('run', help='run on real HW')
parser_run.add_argument('config', help='configuration file')
parser_run.add_argument('--note', help='add description')
parser_replay = subparsers.add_parser('replay', help='replay from logfile')
parser_replay.add_argument('logfile', help='recorded log file')
parser_replay.add_argument('--view',
dest='view',
action='store_true',
help='view parsed log')
parser_replay.add_argument(
'--force',
'-F',
dest='force',
action='store_true',
help='force replay even for failing output asserts')
parser_replay.add_argument('--config',
dest='config',
help='use different configuration file')
args = parser.parse_args()
conf = None
if args.config is not None:
conf = Config.load(args.config)
viewer = None
if args.command == 'replay':
metalog = MetaLog(args.logfile)
if conf is None and args.logfile.endswith('.zip'):
if DEFAULT_ZIP_CONFIG in zipfile.ZipFile(args.logfile).namelist():
s = str(
zipfile.ZipFile(args.logfile).read(DEFAULT_ZIP_CONFIG),
'utf-8')
conf = Config.loads(s)
if args.view:
global g_img_dir
from tools.viewer import main as viewer_main
from tools.viewer import getCombinedPose
viewer = viewer_main
if args.logfile.endswith('.zip'):
g_img_dir = args.logfile
else:
g_img_dir = os.path.dirname(args.logfile)
if args.force:
disableAsserts()
elif args.command == 'run':
metalog = MetaLog()
else:
assert False, args.command # unsupported command
robot = create_robot(metalog, conf)
for sensor_name in ['gps', 'laser', 'camera']:
attach_sensor(robot, sensor_name, metalog)
if viewer is not None:
robot.extensions.append(('launcher_viewer', launcher_viewer_extension))
try:
robot.extensions.append(('emergency_stop', emergency_stop_extension))
yield robot, metalog, conf, viewer
except EmergencyStopException:
print("Emergency STOP Exception!")
robot.extensions = [] # hack
# TODO make this code conditional based on the state of finished application
robot.canproxy.stop()
robot.canproxy.stop_turn()
robot.wait(3.0)
detach_all_sensors(robot)
if viewer is not None:
viewer(filename=None, posesScanSet=viewer_data)
global g_lastImage
g_lastImage = frame[2]
def demo( robot ):
"panoramatic picture"
DEG_STEP = 30
robot.setVideoCallback( keepLastImage )
for absAngle in xrange(0, 360, DEG_STEP):
robot.update( cmd=addCapOffsetCmd(math.radians(DEG_STEP)) )
robot.wait(1.0)
assert g_lastImage is not None
open( "scan%03d.jpg" % absAngle, "wb" ).write( g_lastImage )
if __name__ == "__main__":
if len(sys.argv) < 2:
print __doc__
sys.exit(2)
metalog=None
if len(sys.argv) > 2:
metalog = MetaLog( filename=sys.argv[2] )
if len(sys.argv) > 3 and sys.argv[3] == 'F':
disableAsserts()
robot = JumpingSumo( metalog=metalog )
demo( robot )
print "Battery:", robot.battery
# vim: expandtab sw=4 ts=4
def parse_and_launch():
"""parse sys.argv arguments and return initialized robot"""
parser = argparse.ArgumentParser(description='Navigate given pattern in selected area')
subparsers = parser.add_subparsers(help='sub-command help', dest='command')
subparsers.required = True
parser_run = subparsers.add_parser('run', help='run on real HW')
parser_run.add_argument('config', help='configuration file')
parser_run.add_argument('--note', help='add description')
parser_replay = subparsers.add_parser('replay', help='replay from logfile')
parser_replay.add_argument('logfile', help='recorded log file')
parser_replay.add_argument('--view', dest='view', action='store_true', help='view parsed log')
parser_replay.add_argument('--force', '-F', dest='force', action='store_true', help='force replay even for failing output asserts')
parser_replay.add_argument('--config', dest='config', help='use different configuration file')
args = parser.parse_args()
conf = None
if args.config is not None:
conf = Config.load(args.config)
viewer = None
if args.command == 'replay':
metalog = MetaLog(args.logfile)
if conf is None and args.logfile.endswith('.zip'):
if DEFAULT_ZIP_CONFIG in zipfile.ZipFile(args.logfile).namelist():
s = str(zipfile.ZipFile(args.logfile).read(DEFAULT_ZIP_CONFIG), 'utf-8')
conf = Config.loads(s)
if args.view:
global g_img_dir
from tools.viewer import main as viewer_main
from tools.viewer import getCombinedPose
viewer = viewer_main
if args.logfile.endswith('.zip'):
g_img_dir = args.logfile
else:
g_img_dir = os.path.dirname(args.logfile)
if args.force:
disableAsserts()
elif args.command == 'run':
metalog = MetaLog()
else:
assert False, args.command # unsupported command
robot = create_robot(metalog, conf)
for sensor_name in ['gps', 'laser', 'camera']:
attach_sensor(robot, sensor_name, metalog)
if viewer is not None:
robot.extensions.append(('launcher_viewer', launcher_viewer_extension))
try:
robot.extensions.append(('emergency_stop', emergency_stop_extension))
yield robot, metalog, conf, viewer
except EmergencyStopException:
print("Emergency STOP Exception!")
robot.extensions = [] # hack
# TODO make this code conditional based on the state of finished application
robot.canproxy.stop()
robot.canproxy.stop_turn()
robot.wait(3.0)
detach_all_sensors(robot)
if viewer is not None:
viewer(filename=None, posesScanSet=viewer_data)
