def place_cube(self):
pos = combinedPose(self.robot.localisation.pose(), (0.2, 0, 0))[:2] # TODO check proper offset
print "place cube at ({:.2f}, {:.2f} (time = {:.1f}))".format(pos[0], pos[1], self.robot.time - self.start_time)
viewlog.dumpBeacon(pos, color=(255, 255, 255))
viewlog.dumpObstacles([[pos]])
gripperOpen(self.robot)
self.driver.goStraight(-0.4, timeout=30)
def competeAirRace(drone, desiredHeight=1.7):
loops = []
drone.speed = 0.1
maxVideoDelay = 0.0
maxControlGap = 0.0
loc = StripsLocalisation()
remainingFastStrips = 0
desiredSpeed = TRANSITION_SPEED
updateFailedCount = 0
try:
drone.wait(1.0)
drone.setVideoChannel(front=False)
drone.takeoff()
poseHistory = []
startTime = drone.time
while drone.time < startTime + 1.0:
drone.update("AT*PCMD=%i,0,0,0,0,0\r") # drone.hover(1.0)
poseHistory.append(
(drone.time, (drone.coord[0], drone.coord[1], drone.heading),
(drone.angleFB, drone.angleLR)))
magnetoOnStart = drone.magneto[:3]
print "NAVI-ON"
pathType = PATH_TURN_LEFT
virtualRefCircle = None
startTime = drone.time
sx, sy, sz, sa = 0, 0, 0, 0
lastUpdate = None
while drone.time < startTime + 600.0:
sz = max(-0.2, min(0.2, desiredHeight - drone.coord[2]))
sx = max(0, min(drone.speed, desiredSpeed - drone.vx))
if drone.lastImageResult:
lastUpdate = drone.time
assert len(drone.lastImageResult) == 2 and len(
drone.lastImageResult[0]) == 2, drone.lastImageResult
(frameNumber, timestamp), rects = drone.lastImageResult
viewlog.dumpCamera("tmp_%04d.jpg" % (frameNumber / 15, ), 0)
# keep history small
videoTime = correctTimePeriod(timestamp / 1000.,
ref=drone.time)
videoDelay = drone.time - videoTime
if videoDelay > 1.0:
print "!DANGER! - video delay", videoDelay
maxVideoDelay = max(videoDelay, maxVideoDelay)
toDel = 0
for oldTime, oldPose, oldAngles in poseHistory:
toDel += 1
if oldTime >= videoTime:
break
poseHistory = poseHistory[:toDel]
tiltCompensation = Pose(desiredHeight * oldAngles[0],
desiredHeight * oldAngles[1],
0) # TODO real height?
print "FRAME", frameNumber / 15, "[%.1f %.1f]" % (math.degrees(
oldAngles[0]), math.degrees(oldAngles[1])),
loc.updateFrame(
Pose(*oldPose).add(tiltCompensation),
allStripPoses(rects,
highResolution=drone.videoHighResolution))
if loc.pathType != pathType:
print "TRANS", pathType, "->", loc.pathType
if pathType == PATH_TURN_LEFT and loc.pathType == PATH_STRAIGHT:
if len(loops) > 0:
print "Loop %d, time %d" % (len(loops),
drone.time - loops[-1])
print "-----------------------------------------------"
loops.append(drone.time)
if drone.magneto[:3] == magnetoOnStart:
print "!!!!!!!! COMPASS FAILURE !!!!!!!!"
pathType = loc.pathType
print "----"
remainingFastStrips = NUM_FAST_STRIPS
if loc.crossing:
print "X", True, remainingFastStrips
else:
print pathType, loc.pathUpdated, remainingFastStrips
if not loc.pathUpdated:
updateFailedCount += 1
if updateFailedCount > 1:
print "UPDATE FAILED", updateFailedCount
else:
updateFailedCount = 0
if remainingFastStrips > 0:
remainingFastStrips -= 1
desiredSpeed = MAX_ALLOWED_SPEED
if not loc.pathUpdated and not loc.crossing:
desiredSpeed = STRIPS_FAILURE_SPEED
else:
desiredSpeed = TRANSITION_SPEED
if videoDelay > MAX_ALLOWED_VIDEO_DELAY:
desiredSpeed = 0.0
if drone.battery < 10:
print "BATTERY LOW!", drone.battery
# height debugging
#print "HEIGHT\t%d\t%d\t%.2f\t%d\t%d\t%d\t%d\t%d\t%d" % tuple([max([0]+[w for ((x,y),(w,h),a) in rects])] + list(drone.altitudeData[:4]) + list(drone.pressure) )
for sp in allStripPoses(
rects, highResolution=drone.videoHighResolution):
sPose = Pose(*oldPose).add(tiltCompensation).add(sp)
viewlog.dumpBeacon(sPose.coord(), index=3)
viewlog.dumpObstacles([[
(sPose.x - 0.15 * math.cos(sPose.heading),
sPose.y - 0.15 * math.sin(sPose.heading)),
(sPose.x + 0.15 * math.cos(sPose.heading),
sPose.y + 0.15 * math.sin(sPose.heading))
]])
refCircle, refLine = loc.getRefCircleLine(
Pose(drone.coord[0], drone.coord[1], drone.heading))
if refCircle == None and refLine == None and virtualRefCircle != None:
refCircle = virtualRefCircle
# error definition ... if you substract that you get desired position or angle
# error is taken from the path point of view, x-path direction, y-positive left, angle-anticlockwise
errY, errA = 0.0, 0.0
assert refCircle == None or refLine == None # they cannot be both active at the same time
if refCircle:
if pathType == PATH_TURN_LEFT:
errY = refCircle[1] - math.hypot(
drone.coord[0] - refCircle[0][0],
drone.coord[1] - refCircle[0][1])
errA = normalizeAnglePIPI(
-math.atan2(refCircle[0][1] - drone.coord[1],
refCircle[0][0] - drone.coord[0]) -
math.radians(-90) + drone.heading)
if pathType == PATH_TURN_RIGHT:
errY = math.hypot(
drone.coord[0] - refCircle[0][0],
drone.coord[1] - refCircle[0][1]) - refCircle[1]
errA = normalizeAnglePIPI(
-math.atan2(refCircle[0][1] - drone.coord[1],
refCircle[0][0] - drone.coord[0]) -
math.radians(90) + drone.heading)
if refLine:
errY = refLine.signedDistance(drone.coord)
errA = normalizeAnglePIPI(drone.heading - refLine.angle)
# get the height first
if drone.coord[
2] < desiredHeight - 0.1 and drone.time - startTime < 5.0:
sx = 0.0
if refCircle == None and refLine == None and virtualRefCircle == None:
sx = 0.0 # wait for Z-up
if drone.coord[2] > desiredHeight - 0.1:
print "USING VIRTUAL LEFT TURN CIRCLE!"
circCenter = Pose(drone.coord[0], drone.coord[1],
drone.heading).add(
Pose(0.0, REF_CIRCLE_RADIUS,
0)).coord()
viewlog.dumpBeacon(circCenter, index=0)
virtualRefCircle = circCenter, REF_CIRCLE_RADIUS
# error correction
# the goal is to have errY and errA zero in 1 second -> errY defines desired speed at given distance from path
sy = max(-0.2, min(0.2, -errY - drone.vy)) / 2.0
# there is no drone.va (i.e. derivative of heading) available at the moment ...
sa = max(-0.1, min(0.1, -errA / 2.0)) * 1.35 * (
desiredSpeed / 0.4) # originally set for 0.4=OK
# print "%0.2f\t%d\t%0.2f\t%0.2f\t%0.2f" % (errY, int(math.degrees(errA)), drone.vy, sy, sa)
prevTime = drone.time
drone.moveXYZA(sx, sy, sz, sa)
maxControlGap = max(drone.time - prevTime, maxControlGap)
poseHistory.append(
(drone.time, (drone.coord[0], drone.coord[1], drone.heading),
(drone.angleFB, drone.angleLR)))
print "NAVI-OFF", drone.time - startTime
drone.hover(0.5)
drone.land()
drone.setVideoChannel(front=True)
except ManualControlException, e:
print "ManualControlException"
if drone.ctrlState == 3: # CTRL_FLYING=3 ... i.e. stop the current motion
drone.hover(0.1)
drone.land()
def competeAirRace( drone, desiredHeight = 1.7 ):
loops = []
drone.speed = 0.1
maxVideoDelay = 0.0
maxControlGap = 0.0
loc = StripsLocalisation()
remainingFastStrips = 0
desiredSpeed = TRANSITION_SPEED
updateFailedCount = 0
try:
drone.wait(1.0)
drone.setVideoChannel( front=False )
drone.takeoff()
poseHistory = []
startTime = drone.time
while drone.time < startTime + 1.0:
drone.update("AT*PCMD=%i,0,0,0,0,0\r") # drone.hover(1.0)
poseHistory.append( (drone.time, (drone.coord[0], drone.coord[1], drone.heading), (drone.angleFB, drone.angleLR)) )
magnetoOnStart = drone.magneto[:3]
print "NAVI-ON"
pathType = PATH_TURN_LEFT
virtualRefCircle = None
startTime = drone.time
sx,sy,sz,sa = 0,0,0,0
lastUpdate = None
while drone.time < startTime + 600.0:
sz = max( -0.2, min( 0.2, desiredHeight - drone.coord[2] ))
sx = max( 0, min( drone.speed, desiredSpeed - drone.vx ))
if drone.lastImageResult:
lastUpdate = drone.time
assert len( drone.lastImageResult ) == 2 and len( drone.lastImageResult[0] ) == 2, drone.lastImageResult
(frameNumber, timestamp), rects = drone.lastImageResult
viewlog.dumpCamera( "tmp_%04d.jpg" % (frameNumber/15,), 0 )
# keep history small
videoTime = correctTimePeriod( timestamp/1000., ref=drone.time )
videoDelay = drone.time - videoTime
if videoDelay > 1.0:
print "!DANGER! - video delay", videoDelay
maxVideoDelay = max( videoDelay, maxVideoDelay )
toDel = 0
for oldTime, oldPose, oldAngles in poseHistory:
toDel += 1
if oldTime >= videoTime:
break
poseHistory = poseHistory[:toDel]
tiltCompensation = Pose(desiredHeight*oldAngles[0], desiredHeight*oldAngles[1], 0) # TODO real height?
print "FRAME", frameNumber/15, "[%.1f %.1f]" % (math.degrees(oldAngles[0]), math.degrees(oldAngles[1])),
loc.updateFrame( Pose( *oldPose ).add(tiltCompensation), allStripPoses( rects, highResolution=drone.videoHighResolution ) )
if loc.pathType != pathType:
print "TRANS", pathType, "->", loc.pathType
if pathType == PATH_TURN_LEFT and loc.pathType == PATH_STRAIGHT:
if len(loops) > 0:
print "Loop %d, time %d" % (len(loops), drone.time-loops[-1])
print "-----------------------------------------------"
loops.append( drone.time )
if drone.magneto[:3] == magnetoOnStart:
print "!!!!!!!! COMPASS FAILURE !!!!!!!!"
pathType = loc.pathType
print "----"
remainingFastStrips = NUM_FAST_STRIPS
if loc.crossing:
print "X", True, remainingFastStrips
else:
print pathType, loc.pathUpdated, remainingFastStrips
if not loc.pathUpdated:
updateFailedCount += 1
if updateFailedCount > 1:
print "UPDATE FAILED", updateFailedCount
else:
updateFailedCount = 0
if remainingFastStrips > 0:
remainingFastStrips -= 1
desiredSpeed = MAX_ALLOWED_SPEED
if not loc.pathUpdated and not loc.crossing:
desiredSpeed = STRIPS_FAILURE_SPEED
else:
desiredSpeed = TRANSITION_SPEED
if videoDelay > MAX_ALLOWED_VIDEO_DELAY:
desiredSpeed = 0.0
if drone.battery < 10:
print "BATTERY LOW!", drone.battery
# height debugging
#print "HEIGHT\t%d\t%d\t%.2f\t%d\t%d\t%d\t%d\t%d\t%d" % tuple([max([0]+[w for ((x,y),(w,h),a) in rects])] + list(drone.altitudeData[:4]) + list(drone.pressure) )
for sp in allStripPoses( rects, highResolution=drone.videoHighResolution ):
sPose = Pose( *oldPose ).add(tiltCompensation).add( sp )
viewlog.dumpBeacon( sPose.coord(), index=3 )
viewlog.dumpObstacles( [[(sPose.x-0.15*math.cos(sPose.heading), sPose.y-0.15*math.sin(sPose.heading)),
(sPose.x+0.15*math.cos(sPose.heading), sPose.y+0.15*math.sin(sPose.heading))]] )
refCircle,refLine = loc.getRefCircleLine( Pose(drone.coord[0], drone.coord[1], drone.heading) )
if refCircle == None and refLine == None and virtualRefCircle != None:
refCircle = virtualRefCircle
# error definition ... if you substract that you get desired position or angle
# error is taken from the path point of view, x-path direction, y-positive left, angle-anticlockwise
errY, errA = 0.0, 0.0
assert refCircle == None or refLine == None # they cannot be both active at the same time
if refCircle:
if pathType == PATH_TURN_LEFT:
errY = refCircle[1] - math.hypot( drone.coord[0]-refCircle[0][0], drone.coord[1]-refCircle[0][1] )
errA = normalizeAnglePIPI( - math.atan2( refCircle[0][1] - drone.coord[1], refCircle[0][0] - drone.coord[0] )
- math.radians(-90) + drone.heading )
if pathType == PATH_TURN_RIGHT:
errY = math.hypot( drone.coord[0]-refCircle[0][0], drone.coord[1]-refCircle[0][1] ) - refCircle[1]
errA = normalizeAnglePIPI( - math.atan2( refCircle[0][1] - drone.coord[1], refCircle[0][0] - drone.coord[0] )
- math.radians(90) + drone.heading )
if refLine:
errY = refLine.signedDistance( drone.coord )
errA = normalizeAnglePIPI( drone.heading - refLine.angle )
# get the height first
if drone.coord[2] < desiredHeight - 0.1 and drone.time-startTime < 5.0:
sx = 0.0
if refCircle == None and refLine == None and virtualRefCircle == None:
sx = 0.0 # wait for Z-up
if drone.coord[2] > desiredHeight - 0.1:
print "USING VIRTUAL LEFT TURN CIRCLE!"
circCenter = Pose( drone.coord[0], drone.coord[1], drone.heading ).add( Pose(0.0, REF_CIRCLE_RADIUS, 0 )).coord()
viewlog.dumpBeacon( circCenter, index=0 )
virtualRefCircle = circCenter, REF_CIRCLE_RADIUS
# error correction
# the goal is to have errY and errA zero in 1 second -> errY defines desired speed at given distance from path
sy = max( -0.2, min( 0.2, -errY-drone.vy ))/2.0
# there is no drone.va (i.e. derivative of heading) available at the moment ...
sa = max( -0.1, min( 0.1, -errA/2.0 ))*1.35*(desiredSpeed/0.4) # originally set for 0.4=OK
# print "%0.2f\t%d\t%0.2f\t%0.2f\t%0.2f" % (errY, int(math.degrees(errA)), drone.vy, sy, sa)
prevTime = drone.time
drone.moveXYZA( sx, sy, sz, sa )
maxControlGap = max( drone.time - prevTime, maxControlGap )
poseHistory.append( (drone.time, (drone.coord[0], drone.coord[1], drone.heading), (drone.angleFB, drone.angleLR)) )
print "NAVI-OFF", drone.time - startTime
drone.hover(0.5)
drone.land()
drone.setVideoChannel( front=True )
except ManualControlException, e:
print "ManualControlException"
if drone.ctrlState == 3: # CTRL_FLYING=3 ... i.e. stop the current motion
drone.hover(0.1)
drone.land()
