def main(nh):
s = yield json_server_proxy.get_server(nh)
try:
#url_was_set = s.interact('http://ec2-52-7-253-202.compute-1.amazonaws.com:80','openTest')
url = raw_input('url: ')
course = raw_input('Course:')
url_was_set = yield s.interact('http://' + url, course)
if url_was_set.was_set:
print "Url and course were set succesfully"
challenge_was_set = (yield s.set_current_challenge('gates')).was_set
if challenge_was_set:
print "Challenge was set succesfully"
yield s.end_run()
print 'Ended last run'
run_started = (yield s.start_run()).success
if run_started:
print "Run started succesfully"
images = yield s.get_server_images()
print images
sent_image = yield s.send_image_info('0.png', 'ZERO')
print sent_image
dock = yield s.get_dock_info()
print dock
gates = yield s.get_gate_info()
print gates
color = 'blue'
for c in ['blue', 'green', 'red', 'yellow', 'black']:
check = yield s.send_buoy_info(c)
if check.is_right_buoy:
print 'Got the right buoy: ' + c
color = c
break
else:
print 'Got the wrong buoy: ' + c
print test
print '____Beat?____'
yield util.sleep(60)
finally:
yield s.end_run()
print 'Ended run'
def main(nh):
global course
global obstical_info
global docking_info
global images_info
global sent_image
# Grab interfaces for boat and JSON server
boat = yield boat_scripting.get_boat(nh)
s = yield json_server_proxy.get_server(nh)
# Grab mission input such as JSON server ip, and course
ip_port = raw_input('Enter ip:port (ex. 10.0.2.1:8080): ')
course = raw_input('Enter course with corect spelling! (courseA, courseB, ...): ')
# Check that the course is in the dictionaries
assert course in DOCK.keys(), '%s is not in %s' % (course, DOCK.keys())
shape1 = None
shape2 = None
color1 = None
color2 = None
boat.default_state()
# Giant try finally to make sure boat ends run and returns to its default state
try:
# Main mission code
# JSON initilization
# TODO: if any failures start over
# IP - http://10.0.2.1:8080
url_was_set = (yield s.interact('http://'+ip_port, course)).was_set
assert url_was_set, 'Failed to set URL to ' + 'http://'+ip_port + ' on course ' + course
# Set the current challange
set_challenge = (yield s.set_current_challenge('gates')).was_set
print "Url and course were set succesfully"
# end run before start just in case
end_run = yield s.end_run()
run_started = (yield s.start_run()).success
assert run_started, 'Run failed to start'
print "Run started succesfully"
##------------------------------- Grab all JSON data --------------------------------------------------
print 'Starting mass JSON download'
obstical_info = s.get_gate_info()
docking_info = s.get_dock_info()
images_info = s.get_server_images()
##-------------------------------- GATES ---------------------------------------------------------------
try:
yield util.wrap_timeout(start_gates(nh, boat, s), START_GATE_TIME)
print 'succesfully'
except Exception as e:
print 'Could not complete start gates: ' + str(e)
finally:
print 'Finally start gate'
#boat.default_state()
##-------------------------------- OBS COURSE ------------------------------------------------------------
print 'obstical'
try:
yield util.wrap_timeout(obstical_course(nh, boat, s), OBS_COURSE_TIME)
print 'util'
except:
print 'Could not complete obstacle course'
finally: pass
#boat.default_state()
##-------------------------------- DOCKING ---------------------------------------------------------------
try:
yield util.wrap_timeout(docking(nh, boat, s), DOCK_TIME)
except:
print 'Could not complete docking'
finally: pass
#boat.default_state()
##-------------------------------- QUAD ---------------------------------------------------------------
try:
yield util.wrap_timeout(interoperability(nh, boat, s), NTROP_TIME)
except:
print 'Could not complete interoperability'
finally: pass
#boat.default_state()
##-------------------------------- PINGER ---------------------------------------------------------------
try:
yield util.wrap_timeout(pinger(nh, boat, s), HYDRO_TIME)
except:
print 'Could not complete pinger'
finally: pass
#boat.default_state()
##-------------------------------- RETURN ---------------------------------------------------------------
print "Run complete, coming back to the dock"
s.set_current_challenge('return')
"""
if course is 'courseA':
print "Moving to safe point to avoid fountain"
yield util.wrap_timeout(go_to_ecef_pos.main(nh, SAFE_POINT_1[course]), ECEF_TIME)
"""
print "Moving to zero point to get home"
try:
yield util.wrap_timeout(go_to_ecef_pos.main(nh, HOME_0[course]), ECEF_TIME)
except:
print 'ECEF timeout'
print "Moving to first point to get home"
try:
yield util.wrap_timeout(go_to_ecef_pos.main(nh, HOME_1[course]), ECEF_TIME)
except:
print 'ECEF timeout'
print "Moving to second point to get home"
try:
yield util.wrap_timeout(go_to_ecef_pos.main(nh, HOME_2[course]), ECEF_TIME)
except:
print 'ECEF timeout'
print "Moving to third point to get home"
try:
yield util.wrap_timeout(go_to_ecef_pos.main(nh, HOME_3[course]), ECEF_TIME)
except:
print 'ECEF timeout'
print "Adjusting heading"
yield boat.move.heading(HOME_3_HEADING[course]).go()
##------------------------------ CLEAN UP -----------------------------------------------------
print 'Returned to dock'
# Make sure quad copter image sent before we end the mission
yield sent_image
print 'Eneded run succesfully! Go Gators!'
s.end_run()
finally:
# We do not yield here because if something hangs we still want everything else to complete
print 'Finally: Ending run and returning to default state'
s.end_run()
boat.default_state()
def main(nh):
assert TOTAL_TIME > CIRCLE_TIME + CROSS_TIME + TRIANGLE_TIME + (
ECEF_TIME * 4) + START_GATE_TIME
'''
Test Main Mission:
1. Go to point A and turn North, then begin speed gate challenge - One minute timeout
2. Do speedgates, then go to point F and turn South - One minute timeout
3. Go to position E to begin docking challenges - One minute each
4. When done with docking move back to point A and turn north
SPEED ONLY SET TO ONE TO START
'''
boat = yield boat_scripting.get_boat(nh)
################## Start server like this ########################
s = yield json_server_proxy.get_server(nh)
url_was_set = (yield s.interact(
'http://ec2-52-7-253-202.compute-1.amazonaws.com:80',
'openTest')).was_set
if url_was_set:
print "Url and course were set succesfully"
challenge_was_set = (yield s.set_current_challenge('gates')).was_set
if challenge_was_set:
print "Challenge was set succesfully"
run_started = (yield s.start_run()).success
if run_started:
print "Run started succesfully"
##################################################################
############## Get gate info #####################################
#request that the gate info be retrieved
gate_info = s.get_gate_info()
############### Get the docking bay info like so ##################
#request that the dock info be retrieved
dock_info = s.get_dock_info()
#################################################################
################# Get server images #############################
print "Downloading images..."
#requests that the images be dowloaded
images_info = s.get_server_images()
################################################################
print "Starting main mission"
print "Moving to first position: ", str(WAYPOINT_A)
try:
yield util.wrap_timeout(go_to_ecef_pos.main(nh, WAYPOINT_A, SPEED),
ECEF_TIME)
yield boat.move.heading(NORTH).go()
print "Arrived at first position"
except Exception:
print "Could not make it to first position in " + str(
ECEF_TIME) + " seconds"
finally:
boat.default_state()
print "Starting speed gates now"
try:
# Set the current challenge to gates
s.set_current_challenge('gates')
##################### Recover gate info #######################
gate_info = yield gate_info
entrance_gate = gate_info.entrance
exit_gate = gate_info.exit
print "Gate info: " + entrance_gate + " " + exit_gate
##############################################################
start_gate = yield util.wrap_timeout(start_gate_laser.main(nh),
ONE_MINUTE)
print "Startgates completed succesfully!"
except Exception:
print "Could not complete stargates in" + str(
START_GATE_TIME) + " seconds"
finally:
boat.default_state()
print "Moving to safe position now: ", str(WAYPOINT_F)
try:
yield util.wrap_timeout(go_to_ecef_pos.main(nh, WAYPOINT_F, SPEED),
ONE_MINUTE)
yield boat.move.heading(EAST).go()
print "Moved to " + str(WAYPOINT_F) + ", now moving to " + str(
WAYPOINT_E) + " to begin docking"
except Exception:
print "Could not make it to second position in " + str(
ONE_MINUTE) + " seconds"
finally:
boat.default_state()
try:
yield util.wrap_timeout(go_to_ecef_pos.main(nh, WAYPOINT_E, SPEED),
ONE_MINUTE)
yield boat.move.heading(EAST).go()
print "Moved to " + str(WAYPOINT_E) + ", starting docking challenge"
except Exception:
print "Could not make it to third position in " + str(
ONE_MINUTE) + " seconds"
finally:
boat.default_state()
try:
# Set the current challenge to docking
s.set_current_challenge('docking')
######################## Recover docking info ###################
dock_info = yield dock_info
dock_one_symbol = dock_info.first_dock_symbol
dock_one_color = dock_info.first_dock_color
dock_two_symbol = dock_info.second_dock_symbol
dock_two_color = dock_info.second_dock_color
print "Dock info: " + dock_one_symbol + " " + dock_one_color + " " + dock_two_symbol + " " + dock_two_color
#################################################################
yield do_dock(nh, 'circle')
except Exception:
pass
finally:
boat.default_state()
try:
s.set_current_challenge('docking')
yield do_dock(nh, 'triangle')
except Exception:
pass
finally:
boat.default_state()
try:
yield s.set_current_challenge('docking')
yield do_dock(nh, 'cross')
except Exception:
pass
finally:
boat.default_state()
print "Docking complete"
print "Moving back to startate begining position", str(WAYPOINT_A)
# Set current challenge to interop
s.set_current_challenge('interop')
################ Recover image path and image count #############
images_info = yield images_info
images_path = images_info.file_path
images_count = images_info.image_count
print "Images info: " + images_path + " " + str(images_count)
################################################################
############### Report an image to te server ####################
print "Sending image to server..."
#The paramenters would be the information regarding the identified image
send_image = yield s.send_image_info('1.jpg', 'ONE')
#Only yield the server response right away if you need to work with the respose
#right away. This might take some time if the server is slow and the mission will
#halt at this point until you get a server response
print "Is it the right image?: " + str(send_image.is_right_image)
#################################################################
############## Report the pinger buoy to the server #############
#Set challenge to pinger
s.set_current_challenge('pinger')
print "Sending buoy color to server..."
#The paramenter is the identified color
send_buoy = yield s.send_buoy_info('yellow')
#Only yield the server response right away if you need to work with the respose
#right away. This might take some time if the server is slow and the mission will
#halt at this point until you get a server response
print "Is this the right buoy?: " + str(send_buoy.is_right_buoy)
#################################################################
try:
s.set_current_challenge('return')
yield util.wrap_timeout(go_to_ecef_pos.main(nh, WAYPOINT_A, SPEED),
ONE_MINUTE)
yield boat.move.heading(NORTH).go()
print "Arrived at ", str(WAYPOINT_A)
except Exception:
print "Could not make it to third position in " + str(
ONE_MINUTE) + " seconds"
finally:
######### Make sure the run is ended with the server ###############
print "Ending run"
yield s.end_run()
####################################################################
boat.default_state()
def main(nh):
assert TOTAL_TIME > CIRCLE_TIME + CROSS_TIME + TRIANGLE_TIME + (ECEF_TIME * 4) + START_GATE_TIME
'''
Test Main Mission:
1. Go to point A and turn North, then begin speed gate challenge - One minute timeout
2. Do speedgates, then go to point F and turn South - One minute timeout
3. Go to position E to begin docking challenges - One minute each
4. When done with docking move back to point A and turn north
SPEED ONLY SET TO ONE TO START
'''
boat = yield boat_scripting.get_boat(nh)
################## Start server like this ########################
s = yield json_server_proxy.get_server(nh)
url_was_set = (yield s.interact('http://ec2-52-7-253-202.compute-1.amazonaws.com:80','openTest')).was_set
if url_was_set:
print "Url and course were set succesfully"
challenge_was_set = (yield s.set_current_challenge('gates')).was_set
if challenge_was_set:
print "Challenge was set succesfully"
run_started = (yield s.start_run()).success
if run_started:
print "Run started succesfully"
##################################################################
############## Get gate info #####################################
#request that the gate info be retrieved
gate_info = s.get_gate_info()
############### Get the docking bay info like so ##################
#request that the dock info be retrieved
dock_info = s.get_dock_info()
#################################################################
################# Get server images #############################
print "Downloading images..."
#requests that the images be dowloaded
images_info = s.get_server_images()
################################################################
print "Starting main mission"
print "Moving to first position: ", str(WAYPOINT_A)
try:
yield util.wrap_timeout(go_to_ecef_pos.main(nh, WAYPOINT_A, SPEED), ECEF_TIME)
yield boat.move.heading(NORTH).go()
print "Arrived at first position"
except Exception:
print "Could not make it to first position in " + str(ECEF_TIME) + " seconds"
finally:
boat.default_state()
print "Starting speed gates now"
try:
# Set the current challenge to gates
s.set_current_challenge('gates')
##################### Recover gate info #######################
gate_info = yield gate_info
entrance_gate = gate_info.entrance
exit_gate = gate_info.exit
print "Gate info: " + entrance_gate +" "+ exit_gate
##############################################################
start_gate = yield util.wrap_timeout(start_gate_laser.main(nh), ONE_MINUTE)
print "Startgates completed succesfully!"
except Exception:
print "Could not complete stargates in" + str(START_GATE_TIME) + " seconds"
finally:
boat.default_state()
print "Moving to safe position now: ", str(WAYPOINT_F)
try:
yield util.wrap_timeout(go_to_ecef_pos.main(nh, WAYPOINT_F, SPEED), ONE_MINUTE)
yield boat.move.heading(EAST).go()
print "Moved to " + str(WAYPOINT_F) + ", now moving to " + str(WAYPOINT_E) + " to begin docking"
except Exception:
print "Could not make it to second position in " + str(ONE_MINUTE) + " seconds"
finally:
boat.default_state()
try:
yield util.wrap_timeout(go_to_ecef_pos.main(nh, WAYPOINT_E, SPEED), ONE_MINUTE)
yield boat.move.heading(EAST).go()
print "Moved to " + str(WAYPOINT_E) + ", starting docking challenge"
except Exception:
print "Could not make it to third position in " + str(ONE_MINUTE) + " seconds"
finally:
boat.default_state()
try:
# Set the current challenge to docking
s.set_current_challenge('docking')
######################## Recover docking info ###################
dock_info = yield dock_info
dock_one_symbol = dock_info.first_dock_symbol
dock_one_color = dock_info.first_dock_color
dock_two_symbol = dock_info.second_dock_symbol
dock_two_color = dock_info.second_dock_color
print "Dock info: " + dock_one_symbol +" "+ dock_one_color +" "+ dock_two_symbol +" "+ dock_two_color
#################################################################
yield do_dock(nh, 'circle')
except Exception:
pass
finally:
boat.default_state()
try:
s.set_current_challenge('docking')
yield do_dock(nh, 'triangle')
except Exception:
pass
finally:
boat.default_state()
try:
yield s.set_current_challenge('docking')
yield do_dock(nh, 'cross')
except Exception:
pass
finally:
boat.default_state()
print "Docking complete"
print "Moving back to startate begining position", str(WAYPOINT_A)
# Set current challenge to interop
s.set_current_challenge('interop')
################ Recover image path and image count #############
images_info = yield images_info
images_path = images_info.file_path
images_count = images_info.image_count
print "Images info: " + images_path +" "+ str(images_count)
################################################################
############### Report an image to te server ####################
print "Sending image to server..."
#The paramenters would be the information regarding the identified image
send_image = yield s.send_image_info('1.jpg','ONE')
#Only yield the server response right away if you need to work with the respose
#right away. This might take some time if the server is slow and the mission will
#halt at this point until you get a server response
print "Is it the right image?: " + str(send_image.is_right_image)
#################################################################
############## Report the pinger buoy to the server #############
#Set challenge to pinger
s.set_current_challenge('pinger')
print "Sending buoy color to server..."
#The paramenter is the identified color
send_buoy = yield s.send_buoy_info('yellow')
#Only yield the server response right away if you need to work with the respose
#right away. This might take some time if the server is slow and the mission will
#halt at this point until you get a server response
print "Is this the right buoy?: " + str(send_buoy.is_right_buoy)
#################################################################
try:
s.set_current_challenge('return')
yield util.wrap_timeout(go_to_ecef_pos.main(nh, WAYPOINT_A, SPEED), ONE_MINUTE)
yield boat.move.heading(NORTH).go()
print "Arrived at ", str(WAYPOINT_A)
except Exception:
print "Could not make it to third position in " + str(ONE_MINUTE) + " seconds"
finally:
######### Make sure the run is ended with the server ###############
print "Ending run"
yield s.end_run()
####################################################################
boat.default_state()
def main(nh):
global course
global obstical_info
global docking_info
global images_info
global sent_image
# Grab interfaces for boat and JSON server
boat = yield boat_scripting.get_boat(nh)
s = yield json_server_proxy.get_server(nh)
# Grab mission input such as JSON server ip, and course
ip_port = raw_input('Enter ip:port (ex. 10.0.2.1:8080): ')
course = raw_input(
'Enter course with corect spelling! (courseA, courseB, ...): ')
# Check that the course is in the dictionaries
assert course in DOCK.keys(), '%s is not in %s' % (course, DOCK.keys())
shape1 = None
shape2 = None
color1 = None
color2 = None
boat.default_state()
# Giant try finally to make sure boat ends run and returns to its default state
try:
# Main mission code
# JSON initilization
# TODO: if any failures start over
# IP - http://10.0.2.1:8080
url_was_set = (yield s.interact('http://' + ip_port, course)).was_set
assert url_was_set, 'Failed to set URL to ' + 'http://' + ip_port + ' on course ' + course
# Set the current challange
set_challenge = (yield s.set_current_challenge('gates')).was_set
print "Url and course were set succesfully"
# end run before start just in case
end_run = yield s.end_run()
run_started = (yield s.start_run()).success
assert run_started, 'Run failed to start'
print "Run started succesfully"
##------------------------------- Grab all JSON data --------------------------------------------------
print 'Starting mass JSON download'
obstical_info = s.get_gate_info()
docking_info = s.get_dock_info()
images_info = s.get_server_images()
##-------------------------------- GATES ---------------------------------------------------------------
try:
yield util.wrap_timeout(start_gates(nh, boat, s), START_GATE_TIME)
print 'succesfully'
except Exception as e:
print 'Could not complete start gates: ' + str(e)
finally:
print 'Finally start gate'
#boat.default_state()
##-------------------------------- OBS COURSE ------------------------------------------------------------
print 'obstical'
try:
yield util.wrap_timeout(obstical_course(nh, boat, s),
OBS_COURSE_TIME)
print 'util'
except:
print 'Could not complete obstacle course'
finally:
pass
#boat.default_state()
##-------------------------------- DOCKING ---------------------------------------------------------------
try:
yield util.wrap_timeout(docking(nh, boat, s), DOCK_TIME)
except:
print 'Could not complete docking'
finally:
pass
#boat.default_state()
##-------------------------------- QUAD ---------------------------------------------------------------
try:
yield util.wrap_timeout(interoperability(nh, boat, s), NTROP_TIME)
except:
print 'Could not complete interoperability'
finally:
pass
#boat.default_state()
##-------------------------------- PINGER ---------------------------------------------------------------
try:
yield util.wrap_timeout(pinger(nh, boat, s), HYDRO_TIME)
except:
print 'Could not complete pinger'
finally:
pass
#boat.default_state()
##-------------------------------- RETURN ---------------------------------------------------------------
print "Run complete, coming back to the dock"
s.set_current_challenge('return')
"""
if course is 'courseA':
print "Moving to safe point to avoid fountain"
yield util.wrap_timeout(go_to_ecef_pos.main(nh, SAFE_POINT_1[course]), ECEF_TIME)
"""
print "Moving to zero point to get home"
try:
yield util.wrap_timeout(go_to_ecef_pos.main(nh, HOME_0[course]),
ECEF_TIME)
except:
print 'ECEF timeout'
print "Moving to first point to get home"
try:
yield util.wrap_timeout(go_to_ecef_pos.main(nh, HOME_1[course]),
ECEF_TIME)
except:
print 'ECEF timeout'
print "Moving to second point to get home"
try:
yield util.wrap_timeout(go_to_ecef_pos.main(nh, HOME_2[course]),
ECEF_TIME)
except:
print 'ECEF timeout'
print "Moving to third point to get home"
try:
yield util.wrap_timeout(go_to_ecef_pos.main(nh, HOME_3[course]),
ECEF_TIME)
except:
print 'ECEF timeout'
print "Adjusting heading"
yield boat.move.heading(HOME_3_HEADING[course]).go()
##------------------------------ CLEAN UP -----------------------------------------------------
print 'Returned to dock'
# Make sure quad copter image sent before we end the mission
yield sent_image
print 'Eneded run succesfully! Go Gators!'
s.end_run()
finally:
# We do not yield here because if something hangs we still want everything else to complete
print 'Finally: Ending run and returning to default state'
s.end_run()
boat.default_state()