def do_exit(self, arg):
'\nExits auv'
AUV.stop()
print('Closing Robosub')
return True
class Controller():
"""Controller for GUI"""
def __init__(self):
self.AUV = AUV()
self.AUV.start() # Magnet killswitch = 1
def load_default_params(self):
"""Change current parameters back to default parameters"""
self.AUV.config.reset_option('auv', 'tasks')
self.AUV.config.reset_option('auv', 'motor')
def change_params(self):
"""Opens the config file"""
os.system('gedit config/config.ini')
def start_auto_mode(self, value):
"""Checkbox to determine if AUV starts in auto mode when turned on"""
self.AUV.config.set_config('auv', 'start_auto_mode', value)
def manual_mode(self):
"""Manual mode selected (Keyboard)"""
# task.cv_controller.stop()
pass
def manual_move(self, direction, power, rotation, depth):
"""Manual movement of the sub based on button press"""
directions = {
'brake': '`',
'forward': 'w',
'backward': 's',
'strafe_l': 'q',
'strafe_r': 'e',
'rotate_l': 'a',
'rotate_r': 'd',
'up': 'r',
'down': 'f'
}
if any(x in directions[direction] for x in ['w', 'q', 'e', 's']):
self.AUV.keyboard.set_power(m_power=power)
elif any(x in directions[direction] for x in ['a', 'd']):
self.AUV.keyboard.set_power(r_power=power)
elif any(x in directions[direction] for x in ['r', 'f']):
self.AUV.keyboard.set_power(h_power=power)
self.AUV.keyboard.navigate(directions[direction], rotation, depth)
def do_drop(self, arg):
'\nSets state of dropper\
\n[0] to close both gates\
\n[1] to open both gates\
\n[2] to drop one ball'
# \n[state] or no argument to print current state\
if arg == '0' or arg == '1' or arg == '2':
AUV.dropper_state(arg)
else:
print('\nSets state of dropper\
\n[0] to close both gates\
\n[1] to open both gates\
\n[2] to drop one ball')
def do_tasks(self, arg):
'\n[view] to view tasks\
\n[set] to set tasks list\
\n[reset] to reset tasks list'
if arg.lower() == 'view':
print(AUV.tasks)
elif arg.lower() == 'set':
# TODO set tasks
# AUV.set_config('tasks', '0 1 2 3 4 5 6 7 8')
print('test')
elif arg.lower() == 'reset':
AUV.set_config('tasks', '', True)
else:
print(AUV.tasks)
def do_navigation(self, arg):
'\n[cv] toggle computer vision task manager\
\n[keyboard] keyboard manual navigation'
if arg.lower() == 'cv' or arg.lower() == 'tm':
# TODO cv taskmanager
print(arg)
elif arg.lower() == 'keyboard' or arg.lower() == 'kb':
AUV.keyboard_nav()
# elif len(arg.split()) == 4:
# AUV.navigation.navigate(*parse(arg))
else:
print(
'\n[cv] toggle computer vision task manager\
\n[keyboard] keyboard manual navigation'
)
def do_torpedo(self, arg):
'\nPrime or Fire torpedo\
\n[prime] [side] Prime the torpedo with given side/s\
\n[fire] [side] Fire the torpedo with given side/s\
\nside -- (str) left, right'
try:
arg1, arg2 = parse_torpedo(arg)
if arg1.lower() == 'prime':
AUV.prime_torpedo(arg2)
elif arg1.lower() == 'fire':
AUV.fire_torpedo(arg2)
else:
print('\nPrime or Fire torpedo\
\n[prime] [side] Prime the torpedo with given side/s\
\n[fire] [side] Fire the torpedo with given side/s\
\nside -- (str) left, right')
except ValueError:
print('\nIncorrect number of arguments.\
\nTorpedo takes [prime/fire] [side]\
\nside -- (str) left, right')
def do_navigation(self, arg):
'\n[cv] toggle computer vision (start/1 or stop/0)\
\n[keyboard] keyboard manual navigation'
if arg.lower() == 'cv start' or arg.lower() == 'cv 1':
# temp method for testing purposes
AUV.perform_tasks()
# print(arg)
elif arg.lower() == 'cv stop' or arg.lower() == 'cv 0':
AUV.stop_task()
# print(arg)
elif arg.lower() == 'keyboard' or arg.lower() == 'kb':
AUV.keyboard_nav()
else:
print('\n[cv] toggle computer vision (start/1 or stop/0)\
\n[keyboard] keyboard manual navigation')
def do_task(self, arg):
'\n\
\n[task] followed by a number'
AUV.display_tasks()
if arg.lower() == 'stop' or arg.lower() == '':
AUV.stop_task()
elif not arg == '':
try:
arg = int(arg)
except:
# print '\nINVALID NUMBER INPUT'
pass
if arg >= 0 and arg <= 10:
AUV.specific_task(arg)
else:
print '\nINVALID NUMBER INPUT'
def do_config(self, arg):
'\nOpens the config file and updates the parameters'
AUV.open_config()
def do_task(self, arg):
'\nto start please enter\
\n[task] <0-10>\
\nstop task by entering [task]\
\n'
print('type: [task ?] to see all options')
if arg.lower() == 'stop' or arg.lower() == '':
AUV.stop_task()
elif arg.lower() == 'all':
AUV.perform_tasks()
elif arg.lower() == 'heading' or arg.lower() == 'h':
AUV.save_heading()
elif arg == '?':
print('\nto start please enter:\
\n[task] (0-{})\
\nstop task by entering [task] or [task stop]\
\nrun all tasks by entering [task all]\
\nsave current heading by entering [task heading]\
\n'.format(len(AUV.houston.tasks) - 1))
AUV.display_tasks()
elif not arg == '':
try:
arg = int(arg)
except:
print('\nINVALID NUMBER INPUT')
pass
if arg >= 0 and arg <= len(AUV.houston.tasks):
AUV.specific_task(arg)
# AUV.display_tasks()
else:
print('\nto start please enter:\
\n[task] (0-{})\
\nstop task by entering [task] or [task stop]\
\nrun all tasks by entering [task all]\
\nsave current heading by entering [task heading]\
\n'.format(len(AUV.houston.tasks)))
AUV.display_tasks()
print('Setting up roscore.')
os.system('killall -9 roscore')
os.system('killall -9 rosmaster')
os.system('killall -9 rosout')
roscore = subprocess.Popen('roscore')
time.sleep(1)
return roscore
return False
if __name__ == '__main__':
roscore = start_roscore()
AUV = AUV() # initialize AUV() class
print(
'\n***Plug in magnet after setting up configurations to start AUV.***')
print('\n***Set motor state to on (4) to start motors.***')
AUV.start(
) # TESTING PURPOSES ONLY. REMOVE AFTER TESTING (simulates magnet killswitch = 1 ########################
CLI().cmdloop() # run AUV command interpreter
# close roscore and rosmaster on exit if opened by CLI
if (roscore):
subprocess.Popen.kill(roscore)
os.system('killall -9 rosmaster')
os.system('killall -9 rosout')
def __init__(self):
self.AUV = AUV()
self.AUV.start() # Magnet killswitch = 1
class Controller():
""" Controller for GUI"""
def __init__(self):
self.AUV = AUV()
self.AUV.start() # Magnet killswitch = 1
def load_default_params(self):
""" Change current parameters back to default parameters"""
config.reset_option('auv', 'tasks')
config.reset_option('auv', 'motor')
def change_params(self):
""" Opens the config file and updates the parameters"""
self.AUV.open_config()
def get_auto_mode_state(self):
""" Get the start_auto_mode from config.ini"""
return config.get_config('auv', 'start_auto_mode') == 1
def set_auto_mode_state(self, value):
""" Checkbox to determine if AUV starts in auto mode when turned on"""
config.set_config('auv', 'start_auto_mode', value)
def get_task_list(self):
""" Get the list of tasks from config.ini"""
return config.get_config('auv', 'tasks')
def read_task_button(self, text):
""" Read task string from button press"""
if text == 'start tasks':
self.AUV.perform_tasks()
elif text == 'stop tasks':
self.AUV.stop_task()
else:
self.AUV.specific_task_for_gui(text)
def get_color_task(self):
""" Get the task from lower_color"""
return config.get_config('cv', 'lower_color')[0]
def update_color(self, task_name, range0, range1, range2):
""" Read task name and slider range values from GUI"""
lower_color = (task_name + ', ' + str(range0[0]) + ', ' +
str(range1[0]) + ', ' + str(range2[0]))
upper_color = (task_name + ', ' + str(range0[1]) + ', ' +
str(range1[1]) + ', ' + str(range2[1]))
config.set_config('cv', 'lower_color', lower_color)
config.set_config('cv', 'upper_color', upper_color)
self.AUV.update_color()
def manual_mode(self):
""" Manual mode selected (Keyboard)"""
# task.cv_controller.stop()
pass
def manual_move(self, direction, power, rotation, depth):
""" Manual movement of the sub based on button press"""
directions = {
'brake': '`',
'forward': 'w',
'backward': 's',
'strafe_l': 'q',
'strafe_r': 'e',
'rotate_l': 'a',
'rotate_r': 'd',
'up': 'r',
'down': 'f'
}
if any(x in directions[direction] for x in ['w', 'q', 'e', 's']):
self.AUV.keyboard.set_power(m_power=power)
elif any(x in directions[direction] for x in ['a', 'd']):
self.AUV.keyboard.set_power(r_power=power)
elif any(x in directions[direction] for x in ['r', 'f']):
self.AUV.keyboard.set_power(h_power=power)
self.AUV.keyboard.navigate(directions[direction], rotation, depth)
