def process_eye(image):
""" process the Eye System """
global TRACKING
global TURNING_TO
# if TRACKING is not "front":
# return
# rospy.loginfo('\n[PROC] frontcam image received')
# rospy.loginfo(EYE.is_occupied())
if not SCHEDULER.is_frontcam_occupied():
info = EYE.see(image)
# rospy.loginfo("\n[PROC] info: " + str(info))
rospy.Timer(rospy.Duration(0.1), EYE.release_occupied, oneshot=True)
if TRACKING is not "front":
return
if info is None:
pass
else:
center = info["center"]
TURTLE.set_speed('normal')
if info["state"] is "straight":
# TURTLE.set_speed('normal')
pass
elif info["state"] is "lost_track":
rospy.loginfo("\n[PROC] state: lost_track")
TURNING_TO = info["turning_to"]
TURTLE.go_forward(1)
rospy.Timer(rospy.Duration(1),
track_fish,
oneshot=True,
reset=True)
# elif info["state"] is "turning":
# TURNING_TO = info["turning_to"]
# track_fish()
# rospy.Timer(rospy.Duration(5.5), track_fish, oneshot=True, reset=True)
if center > 500:
TURTLE.set_angular(0.27)
rospy.loginfo("\n[PROC] [!] turning to right at " +
str(center))
return
if center < -500:
TURTLE.set_angular(-0.27)
rospy.loginfo("\n[PROC] [!] turning to left at " + str(center))
return
if center > 60:
TURTLE.set_angular(0.12)
# TURTLE.set_angular(0.08)
rospy.loginfo("\n[PROC] turning to right at " + str(center))
return
elif center < -60:
TURTLE.set_angular(-0.12)
# TURTLE.set_angular(-0.08)
rospy.loginfo("\n[PROC] turning to left at " + str(center))
return
TURTLE.set_angular_smooth(0)
return
def process_blocking():
directions = ["front", "leftside", "rightside"]
distances = {}
rospy.loginfo("-------------")
for direction in directions:
distances[direction] = get_object_distance(direction)
rospy.loginfo("\n[PROC] " + str(direction) + ": " + distances[direction])
rospy.loginfo("-------------")
if distances["rightside"] < 0.3 and distances["rightside"] > 0:
TURTLE.enable_fish = False
TURTLE.go_forward(2)
SEEN_BLOCKING_BAR = True
elif SEEN_BLOCKING_BAR:
if distances["front"] > 0 or distances["leftside"] > 0 or distances["rightside"] > 0:
TURTLE.enable_fish = True
CURRENT_STATE = "tunnel"
print_state()
else:
rospy.Timer(rospy.Duration(5.0), go_anyway, oneshot=True, reset=True)
def test_parking(image):
global STEP
if not TURTLE.is_occupied():
if STEP == 1:
TURTLE.go_forward(0.5)
elif STEP == 2:
TURTLE.set_speed("normal")
TURTLE.go_turn("right", 2)
elif STEP == 3:
TURTLE.go_forward(0.7)
# for stopping for a while
rospy.sleep(rospy.Duration(0.5))
elif STEP == 4:
TURTLE.go_backward(1)
elif STEP == 5:
TURTLE.go_turn_backward(1.2)
elif STEP == 6:
TURTLE.go_forward(2)
elif STEP == 7:
TURTLE.set_speed("fast")
TURTLE.set_speed_smooth("normal")
# TURTLE.set_speed("normal")
else:
return
STEP += 1
def process_lidar(lidar_data):
""" process the lidar data """
global CURRENT_STATE
global IS_TURNING
global STATE_CONSTRUCTION
global DIRECTION
global TURN_COUNT
global ENABLE_LIDAR
global ENABLE_FRONT
if not ENABLE_LIDAR:
return
set_lidar_values(lidar_data)
if CURRENT_STATE is "construction":
if not TURTLE.is_settable():
return
rospy.loginfo(
str(STATE_CONSTRUCTION) + " " +
str(get_object_distance('left')) + " " +
str(get_object_distance('front')))
if STATE_CONSTRUCTION == "searching":
distance = get_object_distance("left")
if distance == 0:
return
elif distance < 0.35:
STATE_CONSTRUCTION = "ready"
elif distance > 0.35 and distance < 1:
STATE_CONSTRUCTION = "start"
DIRECTION = "right"
TURTLE.enable_fish = False
TURTLE.turn("left", 2.03, True)
return
elif STATE_CONSTRUCTION == "ready":
distance = get_object_distance("front")
if distance == 0:
return
elif distance < 0.5:
# TURTLE.change_line("left", 0.5)
DIRECTION = "left"
TURTLE.enable_fish = False
TURTLE.change_line("left", 1)
# TODO: FIX change_line()
STATE_CONSTRUCTION = "start"
return
elif STATE_CONSTRUCTION == "start":
if not IS_TURNING:
if DIRECTION == 'right':
distance = get_object_distance('leftside')
else:
distance = get_object_distance('rightside')
rospy.loginfo('\n[PROC] distance on ' + DIRECTION + ' : ' +
str(distance))
if distance == 0:
return
elif distance < 0.35:
TURTLE.turn(DIRECTION, 1.2)
IS_TURNING = True
# TURTLE.change_line(DIRECTION, 1)
reverse_direction()
TURN_COUNT = TURN_COUNT + 1
else:
TURTLE.set_speed('normal')
else:
if DIRECTION == 'right':
distance = get_object_distance('frontleft')
else:
distance = get_object_distance('frontright')
# rospy.loginfo('\n[PROC] turning distance on ' +
# DIRECTION + ' : ' + str(distance))
if distance > 0.34 or distance == 0:
reverse_direction()
TURN_COUNT = TURN_COUNT + 1
TURTLE.turn(DIRECTION, 1.2)
IS_TURNING = False
if TURN_COUNT == 3:
TURTLE.turn("left", 1.5, True)
STATE_CONSTRUCTION = "ending"
elif STATE_CONSTRUCTION == "ending":
TURTLE.go_forward(1.0)
CURRENT_STATE = "before_parking"
print_state()
# rospy.signal_shutdown("\n[PROC] Shutting down...")
if CURRENT_STATE is "blocking":
ENABLE_FRONT = False
process_blocking()
if CURRENT_STATE is "tunnel":
process_tunnel2()
def process_construction():
""" process construction state """
global STEP
global NUM_OBSTRUCTION
global LANE_TO
if TURTLE.is_occupied():
return
if STEP == 0:
leftside = get_object_distance("leftside")
left = get_object_distance("left")
if leftside > 0:
rospy.logdebug("[PROC] LIDAR LEFTSIDE: {}".format(
leftside))
if (leftside > 0) and (leftside < 0.40):
STEP = 1
rospy.logdebug("[PROC] STEP changed to {}".format(STEP))
SCHEDULER.disable_cams()
rospy.loginfo("[PROC] construction state started.")
TURTLE.go_forward(3.5)
rospy.sleep(rospy.Duration(0.5))
return
else:
return
# elif (left > 0) and (left < 1.5):
# STEP = 2
# rospy.logdebug("[PROC] STEP changed to {}".format(STEP))
# return
# rospy.sleep(rospy.Duration(2))
elif STEP == 1:
TURTLE.set_speed("normal")
TURTLE.set_speed_smooth("slow")
left = get_object_distance("left")
if left > 0:
rospy.logdebug("[PROC] LIDAR LEFT: {}".format(
left))
if (left < 0.50) or (left > 1.5):
return
else:
STEP = 3
rospy.logdebug("[PROC] STEP changed to {}".format(STEP))
return
elif STEP == 2:
# TODO: write code for first left lane
pass
elif STEP == 3:
TURTLE.go_turn("left", speed=0.11)
LANE_TO = "left"
elif STEP == 4:
TURTLE.set_speed("normal")
reverse_lane()
biased = get_object_distance(LANE_TO + "_biased")
if biased > 0:
rospy.logdebug("[PROC] LIDAR {:s}_BIASED: {}"
.format(LANE_TO, biased))
reverse_lane()
if (biased == 0) or (biased > 0.30):
return
TURTLE.go_turn(LANE_TO, duration=0.5, angular=4.2)
TURTLE.set_speed("normal")
# TURTLE.set_speed("fast")
# if LANE_TO is "left":
# TURTLE.turn(0.13, 1.3, consuming_time=1.5)
# else:
# TURTLE.turn(0.13, -1.3, consuming_time=1.5)
rospy.sleep(rospy.Duration(2.2))
reverse_lane()
elif STEP == 5:
TURTLE.go_turn(LANE_TO, duration=0.7, angular=4.2)
TURTLE.set_speed("normal")
# TURTLE.set_speed("fast")
# if LANE_TO is "left":
# TURTLE.turn(0.13, 1.3, consuming_time=1.5)
# else:
# TURTLE.turn(0.13, -1.3, consuming_time=1.5)
NUM_OBSTRUCTION += 1
if NUM_OBSTRUCTION < 2:
STEP = 4
return
elif STEP == 6:
TURTLE.go_forward(1)
rospy.sleep(rospy.Duration(0.6))
elif STEP == 7:
TURTLE.go_turn("left", duration=0.8, angular=3)
elif STEP == 8:
TURTLE.set_speed("fast")
TURTLE.set_speed_smooth("normal")
TURTLE.go_forward(5)
rospy.sleep(rospy.Duration(0.5))
elif STEP == 9:
# NOTE: turn to parking step
STEP = 10
SCHEDULER.set_state("parking")
else:
return
STEP += 1
rospy.logdebug("[PROC] STEP changed to {}".format(STEP))
def process_parking():
""" process parking state """
global STEP
# if TURTLE.is_occupied():
# return
if STEP == 10:
frontleft = get_object_distance("frontleft")
frontright = get_object_distance("frontright")
if SCHEDULER.debug_option["show_parking_lidar"]:
rospy.logdebug("front: {:.2f} frontleft: {:.2f}".format(
get_object_distance("front"), get_object_distance("frontleft")
))
if (frontleft > 0) and (frontleft < 0.5):
STEP = 11
rospy.logdebug("[PROC] STEP changed to {}".format(STEP))
elif (frontright > 0) and (frontright < 0.5):
STEP = 12
rospy.logdebug("[PROC] STEP changed to {}".format(STEP))
# NOTE: return is needed to prevent executing STEP += 1
return
elif STEP == 11:
SCHEDULER.disable_cams()
TURTLE.set_speed("normal")
TURTLE.go_turn("right", 2)
STEP = 13
rospy.logdebug("[PROC] STEP changed to {}".format(STEP))
return
elif STEP == 12:
SCHEDULER.disable_cams()
TURTLE.set_speed("normal")
TURTLE.go_turn("left", 2)
STEP = 13
rospy.logdebug("[PROC] STEP changed to {}".format(STEP))
return
elif STEP == 13:
TURTLE.go_forward(0.7)
# for stopping for a while
rospy.sleep(rospy.Duration(0.5))
elif STEP == 14:
TURTLE.go_backward(1.0)
elif STEP == 15:
TURTLE.go_turn_backward(1.1)
elif STEP == 16:
TURTLE.set_speed("normal")
TURTLE.go_forward(1)
elif STEP == 17:
# TURTLE.set_speed("fast")
# TURTLE.set_speed_smooth("normal")
TURTLE.set_speed("normal")
SCHEDULER.set_state("zigzag")
else:
return
STEP += 1
def process_construction_new():
""" process construction state """
global STEP
global NUM_OBSTRUCTION
global LANE_TO
global BUF_ANGULAR
global BUF_SIZE
if TURTLE.is_occupied():
return
if STEP == 0:
# TURTLE.set_speed("normal")
leftside = get_object_distance("leftside")
left = get_object_distance("left")
if leftside > 0:
rospy.logdebug("[PROC] LIDAR LEFTSIDE: {}".format(leftside))
if (leftside > 0) and (leftside < 0.50) and (left > 1.00):
EYE.check_yellow = False
SCHEDULER.set_state("construction")
rospy.loginfo("[PROC] construction state started.")
STEP = 1
rospy.logdebug("[PROC] STEP changed to {}".format(STEP))
TURTLE.go_forward(3.5)
return
else:
return
elif STEP == 1:
TURTLE.set_speed("normal")
TURTLE.set_speed_smooth("slow")
TURTLE.turn(0.13, 0)
left = get_object_distance("left")
leftback = get_object_distance("leftback")
rospy.logdebug("[PROC] LIDAR LEFT: {:.2f} LEFTBACK: {:.2f}}".format(
left, leftback))
if (left > 0) and (left < 0.50):
return
else:
TURTLE.set_speed("slow")
if (leftback > 0.5):
# TURTLE.go_forward(2.5)
STEP = 3
rospy.logdebug("[PROC] STEP changed to {}".format(STEP))
return
elif STEP == 2:
# TODO: write code for first left lane
pass
elif STEP == 3:
TURTLE.set_speed("normal")
TURTLE.set_speed_smooth("stop")
front = get_object_distance("front")
right_biased = get_object_distance("right_biased")
if (front > 1.0) and (right_biased < 1.0) and (right_biased > 0.0):
print("passed", front, right_biased)
print("BUF_SIZE: ", BUF_SIZE)
BUF_SIZE = 15
reset_buffer()
TURTLE.set_speed_smooth("slow")
pass
elif front * right_biased == 0:
return
else:
TURTLE.set_speed("stop")
print("turning...", front, right_biased)
TURTLE.turn(0.13, 1.0)
# rospy.sleep(rospy.Duration(5.0))
return
# TURTLE.go_turn("left")
elif STEP == 4:
right_biased = get_object_distance("right_biased")
left_biased = get_object_distance("left_biased")
front = get_object_distance("front")
if right_biased == 0.0:
right_biased = 3.0
if left_biased == 0.0:
left_biased = 3.0
if front == 0.0:
front = 3.0
elif front < 0.2:
TURTLE.set_speed_smooth("stop")
else:
TURTLE.set_speed_smooth("slow")
min_distance = min(right_biased, left_biased)
degree = 0
if (front < 1.0):
degree += max(pow(1.0 - front, 2), 0)
else:
degree += max(0.5 - min_distance, 0) * 3
# if min_distance < 0.5:
# degree += max((0.5 - min_distance), 0) * 1.5
# elif (min_distance > 1.0) and (min_distance < 3.0):
# degree = 0.2
if (left_biased == min_distance) and (min_distance < 0.5):
degree *= -1
# max_distance = max(right_biased, left_biased)
# if (left_biased == max_distance):
# degree *= -1
# degree = 0
# if min_distance > 0 and min_distance < 0.5:
# if right_biased > left_biased:
# degree = (0.5 - min_distance) * (-7)
# LANE_TO = "right"
# elif right_biased < left_biased:
# degree = (0.5 - min_distance) * (7)
# LANE_TO = "left"
# if is_left_crashable():
# degree = -1.7
# elif is_right_crashable():
# degree = 1.7
degree *= 3
degree = max(min(degree, 2.0), -2.0)
BUF_ANGULAR.append(degree)
degree -= BUF_ANGULAR.pop(0)
print("BUF_ANGULAR:", BUF_ANGULAR)
# if degree != 0:
# BUF_ANGULAR.append(degree)
# elif len(BUF_ANGULAR) > 9:
# STEP = 5
if SCHEDULER.debug_option["show_construction_lidar"]:
rospy.logdebug(
"[PROC] r_based: {:.2f} l_based: {:.2f} min: {:.2f} front: {:.2f} deg: {:.2f}"
.format(right_biased, left_biased, min_distance, front,
degree))
TURTLE.turn(0.13, degree)
return
elif STEP == 5:
print("[StEP 5]")
if len(BUF_ANGULAR) > 0:
TURTLE.turn(0.13, -BUF_ANGULAR.pop(0))
return
else:
front = get_object_distance("front")
print(front)
# if (front > 0) and (front < 1.0):
# if LANE_TO == "right":
# TURTLE.turn(0.13, 0.8)
# else:
# TURTLE.turn(0.13, -0.8)
# return
# else:
if NUM_OBSTRUCTION < 1:
NUM_OBSTRUCTION += 1
STEP = 4
return
elif STEP == 6:
TURTLE.go_forward(1)
TURTLE.set_speed("normal")
TURTLE.go_turn("left")
TURTLE.set_speed("normal")
TURTLE.set_speed("fast")
TURTLE.set_speed_smooth("normal")
TURTLE.go_forward(5)
STEP = 10
SCHEDULER.set_state("parking")
BUF_SIZE = 3
reset_buffer()
return
STEP += 1
rospy.logdebug("[PROC] STEP changed to {}".format(STEP))
def process_tunnel():
""" process tunnel state """
if TURTLE.is_occupied():
return
if STEP == 30:
# TODO: turn to 45 degrees
pass
elif STEP == 31:
TURTLE.set_speed("normal")
# TURTLE.go_turn("right", 1, angular=2, speed=0.15)
front = get_object_distance("front")
left = get_object_distance("left")
right = get_object_distance("right")
rospy.logdebug("front: {} left: {} right: {}".format(
front, left, right))
if left < 0.20:
# TODO: turn to variable degrees
TURTLE.turn(0.15, -6)
STEP = 34
return
elif right < 0.20:
# TODO: turn to variable degrees
TURTLE.turn(-0.15, -6)
STEP = 35
return
elif front == 0 or front > 0.40:
return
else:
TURTLE.turn(0.15, -6)
TURTLE.turn(0.15, -6)
elif STEP == 32:
TURTLE.set_speed("normal")
frontleft = get_object_distance("frontleft")
rospy.logdebug("frontleft: {}".format(frontleft))
if frontleft == 0 or frontleft < 0.40:
return
else:
rospy.sleep(rospy.Duration(1.8))
TURTLE.turn(0.10, 6)
elif STEP == 33:
TURTLE.set_speed("normal")
frontleft = get_object_distance("frontleft")
rospy.logdebug("frontleft: {}".format(frontleft))
if frontleft == 0 or frontleft < 0.40:
return
else:
STEP = 31
return
elif STEP == 34:
front = get_object_distance("front")
if front == 0 or front > 0.20:
return
TURTLE.go_forward(1.5)
# TODO : turn to left
TURTLE.turn(-0.3, -6)
TURTLE.go_forward(4)
elif STEP == 35:
# NOTE: ending step
TURTLE.set_speed("normal")
else:
return
STEP += 1
def process_parking():
""" process parking state """
global STEP
# if TURTLE.is_occupied():
# return
if STEP == 10:
frontleft = get_object_distance("frontleft")
frontright = get_object_distance("frontright")
left = get_object_distance("left")
right = get_object_distance("right")
if SCHEDULER.debug_option["show_parking_lidar"]:
rospy.logdebug("frontright: {:.2f} frontleft: {:.2f}".format(
frontright, frontleft))
if (frontleft > 0) and (frontleft < 1.0):
STEP = 11
rospy.logdebug("[PROC] STEP changed to {}".format(STEP))
elif (frontright > 0) and (frontright < 1.0):
STEP = 12
rospy.logdebug("[PROC] STEP changed to {}".format(STEP))
if (left > 0) and (left < 0.5):
STEP = 13
rospy.logdebug("[PROC] STEP changed to {}".format(STEP))
elif (right > 0) and (right < 0.5):
STEP = 14
rospy.logdebug("[PROC] STEP changed to {}".format(STEP))
# NOTE: return is needed to prevent executing STEP += 1
return
elif STEP == 11:
SCHEDULER.disable_cams()
TURTLE.set_speed("normal")
TURTLE.go_forward(2.5)
TURTLE.go_turn("right", 2)
STEP = 15
rospy.logdebug("[PROC] STEP changed to {}".format(STEP))
return
elif STEP == 12:
# Edit HERE
return
elif STEP == 13:
# Edit HERE
return
elif STEP == 14:
SCHEDULER.disable_cams()
TURTLE.set_speed("normal")
TURTLE.go_turn("left", angular=1.8, duration=1.2)
STEP = 15
rospy.logdebug("[PROC] STEP changed to {}".format(STEP))
return
elif STEP == 15:
# Edit HERE
return
elif STEP == 16:
# Edit HERE
return
elif STEP == 17:
# Edit HERE
return
elif STEP == 18:
# Edit HERE
return
elif STEP == 19:
TURTLE.set_speed("fast")
SCHEDULER.set_state("zigzag")
else:
return
STEP += 1
