def navigate_pattern(metalog, conf, viewer=None):
assert metalog is not None
can_log_name = metalog.getLog('can')
if metalog.replay:
if metalog.areAssertsEnabled():
can = CAN(ReplayLog(can_log_name), skipInit=True)
else:
can = CAN(ReplayLogInputsOnly(can_log_name), skipInit=True)
else:
can = CAN()
can.relog(can_log_name,
timestamps_log=open(metalog.getLog('timestamps'), 'w'))
can.resetModules(configFn=setup_faster_update)
if conf is not None and 'localization' in conf.data:
loc = SimpleOdometry.from_dict(conf.data['localization'])
else:
loc = SimpleOdometry(pose=(0.0, 2.5, 0.0))
loc.global_map = [(0.0, 0.0), (15.0, 0.0), (15.0, 5.0), (0.0, 5.0)]
jd_config = None
if conf is not None and 'johndeere' in conf.data:
jd_config = conf.data['johndeere']
robot = JohnDeere(can=can, localization=loc, config=jd_config)
robot.UPDATE_TIME_FREQUENCY = 20.0 # TODO change internal and integrate setup
for sensor_name in ['gps', 'laser', 'camera']:
attach_sensor(robot, sensor_name, metalog)
attach_processor(robot, metalog, image_callback)
long_side = max([x for x, y in robot.localization.global_map])
robot.canproxy.stop()
robot.canproxy.set_turn_raw(0)
if viewer is not None:
robot.extensions.append(('viewer', viewer_extension))
speed = 0.5
try:
robot.extensions.append(('detect_near', detect_near_extension))
robot.extensions.append(('emergency_stop', emergency_stop_extension))
for i in xrange(10):
# run_oval(robot, speed)
run_there_and_back(robot, long_side, speed)
except NearObstacle:
print "Near Exception Raised!"
robot.extensions = [] # hack
except EmergencyStopException:
print "Emergency STOP Exception!"
robot.extensions = [] # hack
robot.canproxy.stop()
robot.canproxy.stop_turn()
robot.wait(3.0)
detach_all_sensors(robot)
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)
def robot_go_straight(metalog):
assert metalog is not None
can_log_name = metalog.getLog('can')
if metalog.replay:
if metalog.areAssertsEnabled():
can = CAN(ReplayLog(can_log_name), skipInit=True)
else:
can = CAN(ReplayLogInputsOnly(can_log_name), skipInit=True)
else:
can = CAN()
can.relog(can_log_name, timestamps_log=open(metalog.getLog('timestamps'), 'w'))
can.resetModules(configFn=setup_faster_update)
robot = JohnDeere(can=can, localization=SimpleOdometry())
robot.UPDATE_TIME_FREQUENCY = 20.0 # TODO change internal and integrate setup
for sensor_name in ['gps', 'laser', 'camera']:
attach_sensor(robot, sensor_name, metalog)
robot.canproxy.stop()
robot.set_desired_steering(0.0) # i.e. go straight (!)
try:
robot.extensions.append(('emergency_stop', emergency_stop_extension))
print(robot.canproxy.buttons_and_LEDs)
wait_for_start(robot)
print(robot.canproxy.buttons_and_LEDs)
prev_laser = None
last_laser_update = None
moving = False
dist = None
distL, distR = None, None
prev_camera = None
global_offset = 0.0
while True:
robot.update()
if robot.laser_data is not None:
assert len(robot.laser_data) == 541, len(robot.laser_data)
if robot.laser_data != prev_laser:
prev_laser = robot.laser_data
last_laser_update = robot.time
distL = min_dist(robot.laser_data[:180], INFINITY)
dist = min_dist(robot.laser_data[180:360], INFINITY)
distR = min_dist(robot.laser_data[360:], INFINITY)
print("dist", distL, dist, distR)
if prev_camera != robot.camera_data:
print("CAMERA", robot.camera_data)
prev_camera = robot.camera_data
# filename = 'm:\\git\\osgar\\logs\\pisek170513\\game3\\' + os.path.basename(prev_camera[0])
filename = prev_camera[0]
img = cv2.imread(filename)
if img is not None:
img = img[2*768/3:,:,:]
r = img[:,:,0]
g = img[:,:,1]
b = img[:,:,2]
mask = np.logical_and(g > b, g > r)
img[mask] = 0
left = mask[:, :512].sum()
right = mask[:, 512:].sum()
# print "LEFT_RIGHT", filename, left, right
if left > GREEN_LIMIT or right > GREEN_LIMIT:
if left < right:
global_offset = math.radians(2.5)
else:
global_offset = math.radians(-2.5)
else:
global_offset = 0.0
robot.set_desired_steering(0.0 + global_offset)
if moving:
if dist is None or dist < SAFE_DISTANCE_STOP or min(distL, distR) < SAFE_SIDE_DISTANCE_STOP:
print("!!! STOP !!!", distL, dist, distR)
robot.canproxy.stop()
moving = False
else: # not moving
if dist is not None and dist > SAFE_DISTANCE_GO and min(distL, distR) > SAFE_SIDE_DISTANCE_GO:
print("GO", distL, dist, distR)
robot.set_desired_speed(DESIRED_SPEED)
moving = True
if last_laser_update is not None and robot.time - last_laser_update > 0.3:
print("!!!WARNING!!! Missing laser updates for last {:.1f}s".format(robot.time - last_laser_update))
dist = None # no longer valid distance measurements
except EmergencyStopException:
print("Emergency STOP Exception!")
robot.extensions = [] # hack
robot.canproxy.stop()
robot.canproxy.stop_turn()
robot.wait(3.0)
detach_all_sensors(robot)
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)
def demo(metalog):
assert metalog is not None
can_log_name = metalog.getLog('can')
if metalog.replay:
if metalog.areAssertsEnabled():
can = CAN(ReplayLog(can_log_name), skipInit=True)
else:
can = CAN(ReplayLogInputsOnly(can_log_name), skipInit=True)
else:
can = CAN()
can.relog(can_log_name,
timestamps_log=open(metalog.getLog('timestamps'), 'w'))
can.resetModules(configFn=setup_faster_update)
robot = JohnDeere(can=can)
robot.UPDATE_TIME_FREQUENCY = 20.0 # TODO change internal and integrate setup
robot.localization = None # TODO
for sensor_name in ['gps', 'laser', 'camera']:
attach_sensor(robot, sensor_name, metalog)
print "Wait for gas"
while robot.canproxy.gas is None:
robot.update()
print "Wait for center"
robot.canproxy.stop()
# not available now :( ... wait_for_start(robot)
moving = False
robot.desired_speed = 0.5
start_time = robot.time
prev_gps = robot.gps_data
prev_destination_dist = None
last_laser_update = None
prev_laser = None
while robot.time - start_time < 3 * 60: # 3min
robot.update()
dist = None
turn_angle = None
if robot.laser_data is not None:
assert len(robot.laser_data) == 541, len(robot.laser_data)
if robot.laser_data != prev_laser:
prev_laser = robot.laser_data
last_laser_update = robot.time
distL, distR = min_dist_arr(robot.laser_data[200:-200])
distL = 20.0 if distL is None else distL
distR = 20.0 if distR is None else distR
dist = min(distL, distR)
turn_angle = follow_wall_angle(robot.laser_data, radius=1.5)
if last_laser_update is not None and robot.time - last_laser_update > 0.3:
print "!!!WARNING!!! Missing laser updates for last {:.1f}s".format(
robot.time - last_laser_update)
dist = None # no longer valid distance measurements
if robot.gps_data != prev_gps:
if turn_angle is not None:
print robot.time, robot.canproxy.gas, "(%.3f, %.3f)" % (
distL, distR), math.degrees(turn_angle)
else:
print robot.time, robot.canproxy.gas, "(%.3f, %.3f)" % (
distL, distR), turn_angle
prev_gps = robot.gps_data
if moving:
if dist is None or dist < SAFE_DISTANCE_STOP:
print "!!! STOP !!!", dist, (distL, distR)
robot.canproxy.stop()
moving = False
else: # not moving
if dist is not None and dist > SAFE_DISTANCE_GO:
print "GO", dist
robot.set_desired_speed(DESIRED_SPEED)
moving = True
if turn_angle is not None:
turn_cmd = max(-120, min(120, 2 * math.degrees(turn_angle)))
robot.canproxy.set_turn_raw(turn_cmd)
# print turn_cmd
# if not robot.buttonGo:
# print "STOP!"
# break
robot.canproxy.stop_turn()
robot.canproxy.stop()
for i in xrange(20):
robot.update()
detach_all_sensors(robot)
def demo(metalog):
assert metalog is not None
can_log_name = metalog.getLog('can')
if metalog.replay:
if metalog.areAssertsEnabled():
can = CAN(ReplayLog(can_log_name), skipInit=True)
else:
can = CAN(ReplayLogInputsOnly(can_log_name), skipInit=True)
else:
can = CAN()
can.relog(can_log_name, timestamps_log=open(metalog.getLog('timestamps'), 'w'))
can.resetModules(configFn=setup_faster_update)
robot = JohnDeere(can=can)
robot.UPDATE_TIME_FREQUENCY = 20.0 # TODO change internal and integrate setup
robot.localization = None # TODO
for sensor_name in ['gps', 'laser', 'camera']:
attach_sensor(robot, sensor_name, metalog)
print("Wait for gas")
while robot.canproxy.gas is None:
robot.update()
print("Wait for center")
robot.canproxy.stop()
# not available now :( ... wait_for_start(robot)
moving = False
robot.desired_speed = 0.5
start_time = robot.time
prev_gps = robot.gps_data
prev_destination_dist = None
last_laser_update = None
prev_laser = None
while robot.time - start_time < 3*60: # 3min
robot.update()
dist = None
turn_angle = None
if robot.laser_data is not None:
assert len(robot.laser_data) == 541, len(robot.laser_data)
if robot.laser_data != prev_laser:
prev_laser = robot.laser_data
last_laser_update = robot.time
distL, distR = min_dist_arr(robot.laser_data[200:-200])
distL = 20.0 if distL is None else distL
distR = 20.0 if distR is None else distR
dist = min(distL, distR)
turn_angle = follow_wall_angle(robot.laser_data, radius=1.5)
if last_laser_update is not None and robot.time - last_laser_update > 0.3:
print("!!!WARNING!!! Missing laser updates for last {:.1f}s".format(robot.time - last_laser_update))
dist = None # no longer valid distance measurements
if robot.gps_data != prev_gps:
if turn_angle is not None:
print(robot.time, robot.canproxy.gas, "(%.3f, %.3f)" % (distL, distR), math.degrees(turn_angle))
else:
print(robot.time, robot.canproxy.gas, "(%.3f, %.3f)" % (distL, distR), turn_angle)
prev_gps = robot.gps_data
if moving:
if dist is None or dist < SAFE_DISTANCE_STOP:
print("!!! STOP !!!", dist, (distL, distR))
robot.canproxy.stop()
moving = False
else: # not moving
if dist is not None and dist > SAFE_DISTANCE_GO:
print("GO", dist)
robot.set_desired_speed(DESIRED_SPEED)
moving = True
if turn_angle is not None:
turn_cmd = max(-120, min(120, 2*math.degrees(turn_angle)))
robot.canproxy.set_turn_raw(turn_cmd)
# print turn_cmd
# if not robot.buttonGo:
# print "STOP!"
# break
robot.canproxy.stop_turn()
robot.canproxy.stop()
for i in range(20):
robot.update()
detach_all_sensors(robot)