def test_block_escaping(lidar_data):
global STEP
set_lidar_values(lidar_data)
if not TURTLE.is_occupied():
if STEP == 1:
TURTLE.set_speed("normal")
# TURTLE.go_turn("right", 1, angular=2, speed=0.15)
front = get_object_distance("front")
rospy.logdebug("front: {}".format(front))
if front == 0 or front > 0.40:
return
else:
TURTLE.turn(0.15, -6)
elif STEP == 2:
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(0.13, 6)
elif STEP == 3:
TURTLE.set_speed("slow")
else:
return
STEP += 1
else:
print("IS OCCUPIED!")
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 image """
if not SCHEDULER.is_lidar_enable():
return
if SCHEDULER.is_lidar_occupied() or TURTLE.is_occupied():
return
state = SCHEDULER.get_state()
if SCHEDULER.debug_option["show_timer"] and (state != "construction"):
SCHEDULER.check_time("lidar", min=0.4, stop_when_delay=False)
set_lidar_values(lidar_data)
state = SCHEDULER.get_state()
front = get_object_distance("front")
if (front < 0.15) and (front > 0):
TURTLE.stop()
return
if state is "default":
leftside = get_object_distance("leftside")
print(leftside)
if (leftside < 0.35) and (leftside > 0):
rospy.Timer(rospy.Duration(5),
SCHEDULER.release_lidar_occupied,
oneshot=True)
SCHEDULER.set_state("to_construction")
return
elif state is "to_construction":
leftside = get_object_distance("leftside")
print("to_construction: " + str(leftside))
if (leftside < 0.35) and (leftside > 0):
SCHEDULER.set_state("construction")
return
# rospy.Timer(
# rospy.Duration(0.15), SCHEDULER.release_lidar_occupied, oneshot=True
# )
# process_construction()
elif state is "construction":
process_construction()
elif state is "parking":
process_parking()
def process_lidar(lidar_data):
""" process the lidar image """
if not SCHEDULER.is_lidar_enable():
return
if SCHEDULER.is_lidar_occupied() or TURTLE.is_occupied():
return
state = SCHEDULER.get_state()
if SCHEDULER.debug_option["show_timer"] and (state != "construction"):
SCHEDULER.check_time("lidar", min=0.4, stop_when_delay=False)
set_lidar_values(lidar_data)
state = SCHEDULER.get_state()
front = get_object_distance("front")
if (front < 0.15) and (front > 0):
TURTLE.stop()
return
# if STEP >= 10:
# process_parking()
# else:
# process_construction()
# return
if state is "intersection_left":
left = get_object_distance("left")
if (left > 0) and (left < 0.50):
TURTLE.set_speed("slow")
SCHEDULER.set_state("to_construction")
elif state is "to_construction":
rospy.Timer(rospy.Duration(0.15),
SCHEDULER.release_lidar_occupied,
oneshot=True)
process_construction_new()
elif state is "construction":
process_construction_new()
elif state is "parking":
process_parking()
elif state is "tunnel":
process_tunnel()
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_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(0.13, 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
# TODO : turn to left
TURTLE.turn(-0.3, -6)
elif STEP == 35:
# NOTE: ending step
TURTLE.set_speed("normal")
else:
return
STEP += 1
def process_subcam(image):
""" process the subcam image """
if not SCHEDULER.is_subcam_enable():
return
if EYE.is_sub_occupied() or TURTLE.is_occupied():
return
if SCHEDULER.debug_option["show_timer"]:
SCHEDULER.check_time("subcam", min=0.25)
info = EYE.see_sub(image)
if info is None:
# rospy.logwarn("[PROC] No Information!")
return
center = info["center"]
slope = info["slope"]
if slope < -0.5:
# limit = 1.6
limit = 1.5 # For slow speed
amplitude = 1.6
# elif slope > 0.5:
# limit = 1.6
# amplitude = 1.2
else:
# limit = 1.2
# amplitude = 1.2
limit = 1.2 # For slow speed
amplitude = 1.2 # For slow speed
if EYE.get_front_state() == "straight":
if (abs(center) < 30) and slope < -0.4:
degree = pow(abs(slope) / 1.8, 1.1) * amplitude
elif center < 0:
degree = pow(abs(center) / 100, 2.0) * amplitude
elif center > 0:
degree = - pow(abs(center) / 100, 2.0) * amplitude
else:
degree = 0
else:
if (abs(center) < 30) and slope < -0.4:
degree = pow(abs(slope) / 1.8, 0.9) * amplitude
elif center < 0:
degree = pow(abs(center) / 100, 1.9) * amplitude
elif center > 0:
degree = - pow(abs(center) / 100, 1.9) * amplitude
else:
degree = 0
buf_sum = sum(BUF_ANGULAR)
if EYE.get_front_state() == "straight":
adjust_angular = BUF_ANGULAR.pop(0) * 0.9
BUF_ANGULAR.append(degree)
degree -= adjust_angular
# if abs(buf_sum) > 1:
else:
reset_buffer()
adjust_angular = 0
degree = max(min(degree, limit), -limit)
if not info["has_line"]:
if center < -55:
# degree = 1.6
degree = 1.4 # For slow speed
elif center > 50:
degree = -1.2
# degree = -1.2 # For slow speed
elif center > 10: # editing...
degree = -0.9 # editing...
else:
degree = 1.4
# if SCHEDULER.debug_option["show_center_slope"]:
# rospy.logdebug(
# "[PROC] center: {:.2f} slope: {:.2f} degree: {:.2f} adj: {:.2f} buf_sum: {:.2f} {} {}".format(
# center, slope, degree, adjust_angular, buf_sum, EYE.get_front_state(), info["has_line"])
# )
rospy.Timer(
rospy.Duration(0.15), EYE.release_sub_occupied, oneshot=True
)
TURTLE.turn(0.13, degree)
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_subcam(image):
""" process the subcam image """
if not SCHEDULER.is_subcam_enable():
return
if SCHEDULER.is_subcam_occupied() or TURTLE.is_occupied():
return
info = EYE.see_sub(image)
if SCHEDULER.debug_option["show_timer"]:
# Check delay only if has line
# SCHEDULER.check_time("subcam", min=0.28, stop_when_delay=info["has_line"])
SCHEDULER.check_time("subcam", min=0.28, stop_when_delay=False)
if info is None:
rospy.logwarn("[PROC] No Information!")
return
center = info["center"]
slope = info["slope"]
if slope < -0.5:
limit = 1.6
amplitude = 1.0
else:
limit = 1.2
amplitude = 0.8
limit /= 1.9
# amplitude /= 2
state = SCHEDULER.get_state()
if (EYE.get_front_state() == "straight") and (state is not "zigzag"):
if (abs(center) < 30) and slope < -0.4:
degree = pow(abs(slope) / 1.8, 1.1) * amplitude
elif center < 0:
degree = pow(abs(center) / 100, 2.0) * amplitude / 2
elif center > 0:
degree = -pow(abs(center) / 100, 2.0) * amplitude
else:
degree = 0
else:
if slope < 0:
degree = -pow(abs(slope) / 1.8, 2.9) * amplitude * 28.0
else:
degree = pow(abs(slope) / 1.0, 1.2) * amplitude * 4.0
# degree = pow(abs(slope) / 1.8, 0.9) * amplitude
# elif center < 0:
# degree = pow(abs(center) / 100, 1.9) * amplitude
# elif center > 0:
# degree = - pow(abs(center) / 100, 1.9) * amplitude
# else:
# degree = 0
buf_sum = sum(BUF_ANGULAR)
if EYE.get_front_state() == "straight":
adjust_angular = BUF_ANGULAR.pop(0) * 0.9
BUF_ANGULAR.append(degree)
degree -= adjust_angular
# if abs(buf_sum) > 1:
else:
reset_buffer()
adjust_angular = 0
degree = max(min(degree, limit), -limit)
if not info["has_line"]:
if center > 200:
# degree = -1.2
degree = -1.1 # For enhancing frequency
# elif EYE.get_front_state() == "straight":
# degree = 0.6
else:
# degree = 1.4
degree = 1.3 # For enhancing frequency
# if not info["has_line"]:
# if center < -55:
# # degree = 1.6
# degree = 1.4 # For slow speed
# elif center > 50:
# degree = -1.2
# # degree = -1.2 # For slow speed
# # elif center > 19:
# # degree = -1.2
# else:
# degree = 1.4
if SCHEDULER.debug_option["show_center_slope"]:
rospy.logdebug(
"[PROC] center: {:.2f} slope: {:.2f} degree: {:.2f} adj: {:.2f} buf_sum: {:.2f} {} {}"
.format(center, slope, degree, adjust_angular, buf_sum,
EYE.get_front_state(), info["has_line"]))
rospy.Timer(rospy.Duration(0.15),
SCHEDULER.release_subcam_occupied,
oneshot=True)
TURTLE.turn(0.13, degree)
