def main():
# instantiate COMM object
gMaxRobotNum = 1 # max number of robots to control
comm = RobotComm(gMaxRobotNum)
comm.start()
print 'Bluetooth starts'
robotList = comm.robotList
# settings
grid_map, all_paths, success_paths, best_path = find_best_path(
global_rows, global_cols, global_start, global_end, global_blocks)
root = tk.Tk()
# gui_handle.draw_virtual_world() # this method runs in main thread
gui_handle = GridGraphDisplay(frame=root,
blocks=global_blocks,
grid_map=grid_map,
all_path=all_paths,
success_paths=success_paths,
start=global_start,
end=global_end,
best_path=best_path)
behaviors = RobotBehaviorThread(robotList, best_path, global_orientation,
gui_handle)
behaviors.setDaemon(True)
behaviors.start()
root.mainloop()
return
def drive(instructions):
comm = RobotComm(numRobot)
comm.start()
gRobotList = comm.robotList
# return
while (len(gRobotList) < numRobot):
print "Waiting for robots"
time.sleep(1)
print "Robots on board. Driving start!"
time.sleep(3)
index = 0
# for i in range(numRobot):
# update(numRobot, 0)
while index < len(instructions[0]):
print "step #%d" % (index + 1)
threads = []
for i in range(numRobot):
t = Thread(name="Moving robot %d" % (i + 1),
target=indivDrive,
args=(instructions[i][index], gRobotList[i], i, index))
t.start()
# time.sleep(3)
threads.append(t)
for t in threads:
# print "Wait"
t.join()
# print "I'm done!"
index += 1
time.sleep(1)
def __init__(self):
gMaxRobotNum = 1
# max number of robots to control
self.comm = RobotComm(gMaxRobotNum)
self.comm.start()
print 'Bluetooth starts'
robotList = self.comm.robotList
self.robotList = robotList
self.go = False
self.done = False
return
def main():
max_robot_num = 2 # max number of robots to control
comm = RobotComm(max_robot_num)
comm.start()
print 'Bluetooth starts'
robotList = comm.robotList
root = tk.Tk()
root.geometry('850x850')
ui = GUI(root, robotList)
root.mainloop()
def main():
global robotList
comm = RobotComm(1)
comm.start()
robotList = comm.robotList
frame = tk.Tk()
graph = GridGraph()
# grid dimension
graph.set_grid_rows(4)
graph.set_grid_cols(3)
# origin of grid is (0, 0) lower left corner
# graph.obs_list = ([1,1],) # in case of one obs. COMMA
graph.obs_list = ([3, 0], [2, 2])
graph.set_start('0-0')
graph.set_goal('2-1')
graph.make_grid()
graph.connect_nodes()
graph.compute_node_locations()
bfs = BFS(graph.nodes)
shortest = bfs.bfs_shortest_path('0-0', '3-2')
program = GridGraphDisplay(frame, graph)
program.display_graph()
program.highlight_path(shortest[0])
print(shortest[0])
queue = Queue.Queue()
watcher = threading.Thread(name='watcher',
target=run_watcher,
args=(robotList, queue))
watcher.start()
walker = threading.Thread(name='walker',
target=run_walker,
args=(robotList, queue))
walker.start()
beeper = threading.Thread(name='beeper',
target=run_beeper,
args=(robotList, queue))
beeper.start()
def main():
maxRobotNum = 1
comm = RobotComm(maxRobotNum)
comm.start()
robotList = comm.robotList
action = RobotActionThread(robotList)
action.start()
root = tk.Tk()
root.geometry('1000x500')
gui = GUI(root, action)
action.line_limit = gui.lines
root.mainloop()
comm.stop()
comm.join()
return
def main():
q = Queue.Queue()
comm = RobotComm(gMaxRobotNum)
comm.start()
print 'Bluetooth starts'
global gRobotList
gRobotList = comm.robotList
frame = tk.Tk()
t_handle = BehaviorThreads()
gui = GUI(frame, t_handle)
#sm = StateMachine('Main FSM', q)
# tm = MyMachine(gui, sm)
frame.mainloop()
comm.stop()
comm.join()
print("terminated!")
def main():
global gRobotList
gMaxRobotNum = 1 # max number of robots to control
comm = RobotComm(gMaxRobotNum)
comm.start()
#print 'Bluetooth starts'
gRobotList = comm.robotList
root = tk.Tk() #root
world_handle = VirtualHamsterWorld()
t_update_world = threading.Thread(name='update_world', target=world_handle.update_virtual_world)
t_update_world.daemon = True
t_update_world.start()
gui_handle = GUIpart(root, world_handle.vworld)
gui_handle.draw_virtual_world() # this method runs in main thread
world_handle.set_numref(gui_handle.numref)
root.mainloop()
comm.stop()
comm.join()
def init_server(self):
self.comm = RobotComm(self.max_robot_num)
self.server = Flask(__name__)
CORS(self.server)
@self.server.route('/')
def ws_status():
return jsonify({
'online': True,
'robots': self.format_list()
})
@self.server.route('/post/<robot_id>/<path:cmd_path>')
def ws_raw_update(robot_id, cmd_path):
cmds = cmd_path.split('/')
if robot_id not in self.robot_list or not self.robot_list[robot_id].active:
return jsonify({'online': True, 'success': False, 'error': 'robot_not_found', 'cmd_path': cmds})
if cmds[0] == 'l_motor':
self.set_wheel(0, int(cmds[1]), robot_id=robot_id)
elif cmds[0] == 'r_motor':
self.set_wheel(1, int(cmds[1]), robot_id=robot_id)
elif cmds[0] == 'a_motor':
self.set_wheel(0, int(cmds[1]), robot_id=robot_id)
self.set_wheel(1, int(cmds[1]), robot_id=robot_id)
elif cmds[0] == 'e_stop':
self.set_wheel(0, 0, robot_id=robot_id)
self.set_wheel(1, 0, robot_id=robot_id)
elif cmds[0] == 't_tone':
self.set_musical_note(int(cmds[1]), robot_id=robot_id)
else:
return jsonify({'online': True, 'success': False, 'error': 'cmd_not_found', 'cmd_path': cmds})
return jsonify({
'online': True,
'success': True,
'robots': self.format_list(),
'cmd_path': cmds
})
self.s_thread = Thread(
name='web server', target=self.server.run,
kwargs={'debug': True, 'use_reloader': False}
)
self.s_thread.setDaemon(True)
self.ul_thread = Thread(name='list watcher', target=self.update_robot_list)
self.ul_thread.setDaemon(True)
def main():
width = input("Enter graph width, from 1-10: ")
height = input("Enter graph height, from 1-10: ")
start_col = input("Enter starting column, from 0-" + str(width - 1) + ": ")
start_row = input("Enter starting row, from 0-" + str(height - 1) + ": ")
if (width > 10 or height > 10 or start_row >= height
or start_col >= width):
print "Out of bounds"
return
graph = GridGraph()
# grid dimension
graph.set_grid_rows(width)
graph.set_grid_cols(height)
# origin of grid is (0, 0) lower left corner
# graph.obs_list = ([1,1],) # in case of one obs. COMMA
# graph.set_start('0-0')
# graph.obs_list = ("2-3", "1-1", "2-1", "2-2")
# graph.set_goal('1-2')
# graph.set_start('0-0')
# graph.obs_list = ("2-1", "1-2")
# graph.set_goal('2-2')
graph.make_grid()
graph.connect_nodes()
graph.compute_node_locations()
search = KnightSearch(start_row, start_col, width, height)
order = search.solve_tour()
# kt = KnightSearch(8, 8)
# kt.tour(1, [], (0,0))
# kt.print_board()
gMaxRobotNum = 1 # max number of robots to control
comm = RobotComm(gMaxRobotNum)
comm.start()
print 'Bluetooth starts'
robotList = comm.robotList
behaviors = RobotBehaviorThread(robotList)
path = list(behaviors.make_plan(order, width))
behaviors.path_to_plan()
behaviors.start()
root = tk.Tk()
graph_display = GridGraphDisplay(root, graph, path, behaviors)
graph_display.display_graph()
root.mainloop()
comm.stop()
comm.join()
return
def start():
comm = RobotComm(1)
comm.start()
RobotThread(comm.robotList, None).start()
frame = tk.Tk()
frame.mainloop()
comm.stop()
comm.join()
def main(argv=None):
global m
comm = RobotComm(gMaxRobotNum)
comm.start()
print 'Bluetooth starts'
m = tk.Tk() #root
drawQueue = Queue.Queue(0)
#creating the virtual appearance of the robot
canvas_width = 700 # half width
canvas_height = 380 # half height
rCanvas = tk.Canvas(m, bg="white", width=canvas_width*2, height=canvas_height*2)
vrobot = virtual_robot()
pi4 = 3.1415 / 4
#----- initialize position and angle of robot -----#
vrobot.set_robot_a_pos(-pi4*2, 230, 0)
joystick = Joystick(comm, m, rCanvas, vrobot)
# visual elements of the virtual robot
poly_points = [0,0,0,0,0,0,0,0]
joystick.vrobot.poly_id = rCanvas.create_polygon(poly_points, fill='blue') #robot
joystick.vrobot.prox_l_id = rCanvas.create_line(0,0,0,0, fill="red") #prox sensors ---- here
joystick.vrobot.prox_r_id = rCanvas.create_line(0,0,0,0, fill="red")
joystick.vrobot.floor_l_id = rCanvas.create_oval(0,0,0,0, outline="white", fill="white") #floor sensors
joystick.vrobot.floor_r_id = rCanvas.create_oval(0,0,0,0, outline="white", fill="white")
time.sleep(1)
update_vrobot_thread = threading.Thread(target=joystick.update_virtual_robot)
update_vrobot_thread.daemon = True
update_vrobot_thread.start()
#create the virtual worlds that contains the virtual robot, pass the joystick to reuse the move forward, stop, etc. functions
# joystick should then be renamed to 'set of functions used to move robot forwards, stop robot, etc.' b/c joystick functionality is not used
vWorld = virtual_world(drawQueue, joystick, joystick.vrobot, rCanvas, canvas_width, canvas_height)
rectA = [-260, -20, -220, 20]
vWorld.add_obstacle(rectA)
draw_world_thread = threading.Thread(target=draw_virtual_world, args=(vWorld, joystick))
draw_world_thread.daemon = True
draw_world_thread.start()
gui = VirtualWorldGui(vWorld, m)
gui.drawGrid()
gui.drawMap()
rCanvas.after(200, gui.updateCanvas, drawQueue)
m.mainloop()
for robot in joystick.gRobotList:
robot.reset()
comm.stop()
comm.join()
def main(argv=None):
gMaxRobotNum = 2 # max number of robots to control
comm = RobotComm(gMaxRobotNum)
comm.start()
print 'Bluetooth starts'
robotList = comm.robotList
robot_handle = Robots(robotList)
m = tk.Tk() #root
gui = UI(m, robot_handle)
print("I GOT HERE")
m.mainloop()
comm.stop()
comm.join()
def main(argv=None):
# instantiate COMM object
comm = RobotComm(1, -50) #maxRobot = 1, minRSSI = -50
if comm.start():
print 'Communication starts'
else:
print 'Error: communication'
return
# instanciate Robot
robotList = comm.get_robotList()
global gFrame
gFrame = tk.Tk()
gFrame.geometry('600x500')
#gFrame.focus_set()
#gFrame.bind('<KeyPress>', joystick)
gRobotDraw = draw.RobotDraw(gFrame, tk)
# create behaviors using set
global gBehaviors
gBehaviors = {}
# gBehaviors[0] = color.Behavior("color", robotList)
# gBehaviors[1] = sound.Behavior("sound", robotList)
# gBehaviors[2] = motion.Behavior("motion", robotList, 10)
# gBehaviors[3] = proxy.Behavior("proxy", robotList, 85, 0.01, gRobotDraw.get_queue())
gBehaviors[0] = scanning.Behavior("scanning", robotList, 16.0, gRobotDraw.get_queue())
# start behavior threads using list
behavior_threads = []
for i in range(0, len(gBehaviors)):
gBehaviors[i].set_bQuit(False)
behavior_threads.append(threading.Thread(target=gBehaviors[i].behavior_loop, name = gBehaviors[i].get_name()))
for thread in behavior_threads:
thread.daemon = True
thread.start()
gRobotDraw.start()
gFrame.mainloop()
for behavior in behavior_threads:
print "joining... ", behavior.getName()
behavior.join()
print behavior.getName(), "joined!"
for robot in robotList:
robot.reset()
comm.stop()
comm.join()
print("terminated!")
def drive(instructions):
comm = RobotComm(num_robot)
comm.start()
robot_list = comm.robotList
while len(robot_list) < num_robot:
print("Waiting for robots")
time.sleep(1)
print("Robots on board. Start driving.")
time.sleep(3)
index = 0
while index < len(instructions[0]):
print("step #%d" % (index + 1))
threads = []
for i in range(num_robot):
ti = Thread(name="Moving robot %d" % (i + 1), target=drive_one_instruction,
args=(instructions[i][index], robot_list[i], i, index))
ti.start()
threads.append(ti)
for ti in threads:
ti.join()
index += 1
time.sleep(1)
def main():
max_robot_num = 1 # max number of robots to control
comm = RobotComm(max_robot_num)
comm.start()
print 'Bluetooth starts'
robotList = comm.robotList
root = tk.Tk()
t_handle = BehaviorThreads(robotList)
gui = GUI(root, t_handle)
root.mainloop()
comm.stop()
comm.join()
def main(argv=None):
gMaxRobotNum = 1 # max number of robots to control
comm = RobotComm(gMaxRobotNum)
comm.start()
print 'Bluetooth starts'
robotList = comm.robotList
robot_handle = Robots(robotList)
m = tk.Tk() #m is tk.Tk() and root
gui = UI(m, robot_handle) #m is tk.Tk() and root
m.mainloop() # stop the program from ending. mainloop() is in tkinterface
comm.stop()
comm.join()
def main():
global gRobotList
gMaxRobotNum = 1
comm = RobotComm(gMaxRobotNum)
comm.start()
print 'Bluetooth starts'
gRobotList = comm.robotList
frame = tk.Tk()
frame.mainloop()
comm.stop()
comm.join()
print("terminated!")
def main():
gMaxRobotNum = 1 # max number of robots to control
comm = RobotComm(gMaxRobotNum)
comm.start()
print 'Bluetooth starts'
robot_list = comm.robotList
behaviors = RobotBehavior(robot_list)
frame = tk.Tk()
GUI(frame, behaviors)
frame.mainloop()
comm.stop()
comm.join()
return
def main():
global gRobotList
comm = RobotComm(gMaxRobotNum)
comm.start()
print 'Bluetooth starts'
gRobotList = comm.robotList
#if don't want to connect to real robot
#gRobotList = []
m = tk.Tk() #root
client = ThreadedVirtualWorld(m)
m.mainloop()
comm.stop()
comm.join()
def main(argv=None):
global m
global comm
comm = RobotComm(gMaxRobotNum)
comm.start()
print 'Bluetooth starts'
m = tk.Tk() #root
drawQueue = Queue.Queue(0)
#creating tje virtual appearance of the robot
canvas_width = 700 # half width
canvas_height = 380 # half height
rCanvas = tk.Canvas(m, bg="white", width=canvas_width*2, height=canvas_height*2)
joystick = Joystick(comm, m, rCanvas, robot1_config)
# visual elements of the virtual robot
poly_points = [0,0,0,0,0,0,0,0]
joystick.vrobot.poly_id = rCanvas.create_polygon(poly_points, fill='blue') #robot
joystick.vrobot.prox_l_id = rCanvas.create_line(0,0,0,0, fill="red") #prox sensors
joystick.vrobot.prox_r_id = rCanvas.create_line(0,0,0,0, fill="red")
joystick.vrobot.floor_l_id = rCanvas.create_oval(0,0,0,0, outline="white", fill="white") #floor sensors
joystick.vrobot.floor_r_id = rCanvas.create_oval(0,0,0,0, outline="white", fill="white")
time.sleep(1)
update_vrobot_thread = threading.Thread(target=joystick.update_virtual_robot)
update_vrobot_thread.daemon = True
update_vrobot_thread.start()
#create the virtual worlds that contains the virtual robot
vWorld = virtual_world(drawQueue, joystick.vrobot, rCanvas, canvas_width, canvas_height)
boxes = [[0, 0, 40, 100] ,[40, 80, 140, 120] ,[120, -80, 200, 0] ,[0, -80, 40, -180] ,[40, -180, 300, -220] ,[300, -180, 340, 200] ,[300, 200, 0, 240]]
for box in boxes:
vWorld.add_obstacle(box)
draw_world_thread = threading.Thread(target=draw_virtual_world, args=(vWorld, joystick))
draw_world_thread.daemon = True
draw_world_thread.start()
gui = VirtualWorldGui(vWorld, joystick, m)
rCanvas.after(200, gui.updateCanvas, drawQueue)
m.mainloop()
for robot in joystick.gRobotList:
robot.reset()
comm.stop()
comm.join()
def main():
# instantiate COMM object
gMaxRobotNum = 1; # max number of robots to control
comm = RobotComm(gMaxRobotNum)
comm.start()
print 'Bluetooth starts'
robotList = comm.robotList
behaviors = RobotBehaviorThread(robotList)
behaviors.start()
frame = tk.Tk()
GUI(frame, behaviors)
frame.mainloop()
comm.stop()
comm.join()
print("terminated!")
def main(argv=None):
gMaxRobotNum = 1 # max number of robots to control
comm = RobotComm(gMaxRobotNum)
comm.start()
print 'Bluetooth starts'
robotList = comm.robotList
robot_handle = Robots(robotList)
m = tk.Tk() #root
gui = UI(m, robot_handle)
b2 = tk.Button(m, text='Exit')
b2.pack(side='left')
b2.bind('<Button-2>', UI.stopProg)
m.mainloop()
comm.stop()
comm.join()
def main():
graph = GridGraph()
# grid dimension
graph.set_grid_rows(4)
graph.set_grid_cols(3)
# origin of grid is (0, 0) lower left corner
# graph.obs_list = ([1,1],) # in case of one obs. COMMA
graph.set_start('0-2')
graph.obs_list = ("2-3", "1-1", "2-1", "2-2")
graph.set_goal('3-2')
# graph.set_start('0-0')
# graph.obs_list = ("2-1", "1-2")
# graph.set_goal('2-2')
graph.make_grid()
graph.connect_nodes()
graph.compute_node_locations()
bfs = BFS(graph.nodes)
path = bfs.bfs_shortest_path(graph.get_start_node(), graph.get_goal_node())
gMaxRobotNum = 1 # max number of robots to control
comm = RobotComm(gMaxRobotNum)
comm.start()
print 'Bluetooth starts'
robotList = comm.robotList
behaviors = RobotBehaviorThread(robotList)
behaviors.make_plan(path)
behaviors.start()
root = tk.Tk()
graph_display = GridGraphDisplay(root, graph, behaviors)
graph_display.display_graph(path, graph.get_start_node(),
graph.get_goal_node())
comm.stop()
comm.join()
return
def main(argv=None):
paths = getPaths(1000, 600, 500, 200)
drawList.append((500, 200))
drawList.append((1500, 200))
drawList.append((500, 800))
drawList.append((1500, 800))
# instantiate COMM object
comm = RobotComm(2, -50) #maxRobot = 1, minRSSI = -50
if comm.start():
print 'Communication starts'
else:
print 'Error: communication'
return
# instantiate Robot
robotList = comm.get_robotList()
# create behaviors using set
global gBehaviors
gBehaviors = {}
# start behavior threads using list
behavior_threads = []
behavior_threads.append(threading.Thread(target=command, args=(paths, robotList)))
for thread in behavior_threads:
thread.daemon = True
thread.start()
# start the cv thread
main_thread()
for behavior in behavior_threads:
print "joining... ", behavior.getName()
behavior.join()
print behavior.getName(), "joined!"
for robot in robotList:
robot.reset()
comm.stop()
comm.join()
print("terminated!")
def main():
max_robot_num = 1 # max number of robots to control
comm = RobotComm(max_robot_num)
comm.start()
print 'Bluetooth starts'
robotList = comm.robotList
root = tk.Tk()
# t_handle = BehaviorThreads(robotList)
# gui = GUI(root, t_handle)
mThread = threading.Thread(name="main thread",
target=mainThread,
args=[robotList])
mThread.daemon = True
mThread.start()
root.mainloop()
comm.stop()
comm.join()
def main(argv=None):
gMaxRobotNum = 1
# max number of robots to control
comm = RobotComm(gMaxRobotNum)
comm.start()
print 'Bluetooth starts'
robotList = comm.robotList
robot_moves = RobotMoves(robotList)
m = tk.Tk() #root
gui = UI(m, robot_moves)
# start a watcher thread
display = SensorDisplayThread(gui.canvas, robotList)
display.setDaemon(True)
display.start()
m.mainloop()
comm.stop()
comm.join()
def main(argv=None):
# instantiate COMM object
comm = RobotComm(1, -50) #maxRobot = 1, minRSSI = -50
if comm.start():
print 'Communication starts'
else:
print 'Error: communication'
return
# instantiate Robot
robotList = comm.get_robotList()
# instantiate global variables gFrame and gBehavior
settings.init()
settings.gFrame = tk.Tk()
settings.gFrame.geometry('600x500')
gRobotDraw = draw.RobotDraw(settings.gFrame, tk)
# create behaviors
settings.gBehaviors[0] = scanning.Behavior("scanning", robotList, 4.0, gRobotDraw.get_queue())
settings.gBehaviors[1] = collision.Behavior("collision", robotList, -50)
gRobotDraw.start()
settings.gFrame.mainloop()
for behavior in behavior_threads:
print "joining... ", behavior.getName()
behavior.join()
print behavior.getName(), "joined!"
for robot in robotList:
robot.reset()
comm.stop()
comm.join()
print("terminated!")
def main():
grid = [4,4]
obs=[]
a = input("Enter an obs or enter 0")
while (a != 0):
obs.append(a)
a = input("Enter an obs or enter 0")
# start_node = str(input("Start Node (x-x):"))
# end_node = str(input("End Node (x-x):"))
start_node = '1-1'
start_int = [1,1]
end_node = '4-4'
end_int = [4,4]
graph, nodes_location = graphgen.main(grid,obs)
print 'graph:', graph
frame = tk.Tk()
frame.title('Simple Graph Display')
frame.geometry("400x400")
display = tk_simple_graph_display.SimpleGraphDisplay(frame, graph, nodes_location, start_node, end_node)
bfs = bfs_engine.BFS(graph)
p = bfs.bfs_shortest_path(start_node, end_node)
l = display.highlight_path(p)
gMaxRobotNum = 1; # max number of robots to control
comm = RobotComm(gMaxRobotNum)
comm.start()
print 'Bluetooth starts'
robotList = comm.robotList
movem = movements.move(l, start_int, end_int,robotList)
movem.start()
frame.mainloop()
comm.stop()
comm.join()
print("terminated!")
def start(periodicFunc):
global robotList, func
func = periodicFunc
comm = RobotComm(1)
comm.start()
print("Bluetooth running...")
robotList = comm.robotList
window = tk.Tk()
canvas = tk.Canvas(window, bg="white", width = 100, height = 100)
canvas.pack()
button = tk.Button(window, text="Exit")
button.pack()
button.bind("<Button-1>", lambda _: shutdown(window))
robotThread = Thread(target = runRobot)
robotThread.start()
window.mainloop()
comm.stop()
comm.join()
def main():
global gRobotList
gMaxRobotNum = 0 # max number of robots to control
comm = RobotComm(gMaxRobotNum)
comm.start()
print 'Bluetooth starts'
gRobotList = comm.robotList
root = tk.Tk() #root
root.geometry = "630x880"
world_handle = VirtualWorld(root)
t_update_world = threading.Thread(name='update_world',
target=world_handle.update_virtual_world)
t_update_world.daemon = True
t_update_world.start()
gui_handle = GUI(root, world_handle.vworld, world_handle.stopProg)
gui_handle.draw_virtual_world() # this method runs in main thread
root.mainloop()
comm.stop()
comm.join()
def start(periodicFunc, mapClickCallback, imageClickCallback):
global robotList, func
func = periodicFunc
comm = RobotComm(1)
comm.start()
print("Bluetooth running...")
robotList = comm.robotList
window = tk.Tk()
image = np.zeros((1080, 960, 3), dtype=np.uint8)
image = Image.fromarray(image)
image = ImageTk.PhotoImage(image)
imagePanel = tk.Label(image=image)
imagePanel.image = image
imagePanel.bind("<Button-1>", imageClickCallback)
imagePanel.pack(side="top", padx=10, pady=10)
def _updateImage(img):
img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
img = Image.fromarray(img)
img = ImageTk.PhotoImage(img)
imagePanel.configure(image=img)
imagePanel.image = img
image2 = np.zeros((1080, 960, 3), dtype=np.uint8)
image2 = Image.fromarray(image2)
image2 = ImageTk.PhotoImage(image2)
imagePanel2 = tk.Label(image=image2, borderwidth=2, relief="solid")
imagePanel2.image = image2
imagePanel2.bind("<Button-1>", mapClickCallback)
imagePanel2.pack(side="bottom", padx=10, pady=10)
def _updateImage2(img):
img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
img = Image.fromarray(img)
img = ImageTk.PhotoImage(img)
imagePanel2.configure(image=img)
imagePanel2.image = img
global updateImageFunc
updateImageFunc = _updateImage
global updateImage2Func
updateImage2Func = _updateImage2
button = tk.Button(window, text="Exit")
button.pack()
button.bind("<Button-1>", lambda _: shutdown(window))
robotThread = Thread(target=runRobot)
robotThread.start()
window.mainloop()
comm.stop()
comm.join()
def main(argv=None):
global m, comm
global sleepTime
sleepTime = 0.01
comm = RobotComm(gMaxRobotNum)
comm.start()
print 'Bluetooth starts'
m = tk.Tk() #root
drawQueue = Queue.Queue(0)
global lastMoveDirection
lastMoveDirection = "NORTH"
canvas_width = 500 #original: 700 # half width
canvas_height = 200 # original 380half height
rCanvas = tk.Canvas(m, bg="black", width=canvas_width*2, height=canvas_height*2)
global joystick
joystick = Joystick(comm, m, rCanvas)
# visual elements of the virtual robots
pacman_points = [0,0,0,0,0,0,0,0]
blinky_points = [120,120,120,120,120,120,120,120]
inky_points =[-120,-120,-120,-120,-120,-120,-120,-120]
poly_points = [pacman_points, blinky_points, inky_points]
colors = ['yellow', 'red', 'cyan']
for agentIndex in range(3):
joystick.vrobots[agentIndex].poly_id = rCanvas.create_polygon(poly_points[agentIndex], fill=colors[agentIndex]) #robots, pacman, blinky(top right), inky(bottom left)
joystick.vrobots[agentIndex].prox_l_id = rCanvas.create_line(0,0,0,0, fill="red") #prox sensors
joystick.vrobots[agentIndex].prox_r_id = rCanvas.create_line(0,0,0,0, fill="red")
joystick.vrobots[agentIndex].floor_l_id = rCanvas.create_oval(0,0,0,0, outline="white", fill="white") #floor sensors
joystick.vrobots[agentIndex].floor_r_id = rCanvas.create_oval(0,0,0,0, outline="white", fill="white")
time.sleep(1)
#create the virtual worlds that contains the virtual robot
vWorld = virtual_world(drawQueue, joystick.vrobots, rCanvas, canvas_width, canvas_height)
''' objects in the world '''
rectangles = []
pellets = []
super_pellets = []
# pacman map/walls
rectangles.append([-150, -150, 150, 150]) #overall square
rectangles.append([-90, 90, -30, 30])
rectangles.append([90, 90, 30, 30])
rectangles.append([-90, -90, -30, -30])
rectangles.append([90, -90, 30, -30])
#pacman pellets/capsules/food
for index_x in range(BOARD_SIZE):
for index_y in range(BOARD_SIZE):
x_position = -120 + (60*index_x)
y_position = -120 + (60*index_y)
if (index_x == 0 and index_y == 4) or (index_x == 4 and index_y == 0):
new_super_pellet = [x_position, y_position]
super_pellets.append(new_super_pellet)
elif not ((index_x == 0 and index_y == 0) or (index_x ==2 and index_y == 2) or (index_x ==4 and index_y ==4) or (index_x == 1 and index_y == 1) or (index_x == 3 and index_y == 1) or (index_x == 1 and index_y == 3) or (index_x==3 and index_y==3)):
new_pellet = [x_position, y_position]
pellets.append(new_pellet)
vWorld.add_score_label([175,-175])
for pill in pellets:
vWorld.add_pellet(pill)
for super_pill in super_pellets:
vWorld.add_super_pellet(super_pill)
for rect in rectangles:
vWorld.add_obstacle(rect)
draw_world_thread = threading.Thread(target=draw_virtual_world, args=(vWorld, joystick))
draw_world_thread.daemon = True
draw_world_thread.start()
gui = VirtualWorldGui(vWorld, m)
gui.drawGrid()
gui.drawMap()
rCanvas.after(200, gui.updateCanvas, drawQueue)
m.mainloop()
for robot in joystick.gRobotList:
robot.reset()
comm.stop()
comm.join()
def main():
global gRobotList, gQuit
global gCanvas, frame, gHamsterBox
global display_thread, monitor_thread, dispatch_thread
global gBeepQueue, gWheelQueue, drawQueue
global vWorld
comm = RobotComm(gMaxRobotNum)
comm.start()
print 'Bluetooth started'
gRobotList = comm.robotList
monitor_thread = False
dispatch_thread= False
display_thread = False
# create UI
frame = tk.Tk()
canvas_width = 700 # half width
canvas_height = 380 # half height
gCanvas = tk.Canvas(frame, bg="white", width=canvas_width*2, height=canvas_height*2)
draw_track()
vrobot = virtual_robot()
pi4 = 3.1415 / 4
# robot starting positions
vrobot.set_robot_a_pos(pi4*2, -520, 340)
# keyboard input
joystick = Joystick(comm, frame, gCanvas, vrobot)
poly_points = [0,0,0,0,0,0,0,0]
joystick.vrobot.poly_id = gCanvas.create_polygon(poly_points, fill='blue') #robot
joystick.vrobot.prox_l_id = gCanvas.create_line(0,0,0,0, fill="red") #prox sensors ---- here
joystick.vrobot.prox_r_id = gCanvas.create_line(0,0,0,0, fill="red")
joystick.vrobot.floor_l_id = gCanvas.create_oval(0,0,0,0, outline="white", fill="white") #floor sensors
joystick.vrobot.floor_r_id = gCanvas.create_oval(0,0,0,0, outline="white", fill="white")
time.sleep(1)
update_vrobot_thread = threading.Thread(target=joystick.update_virtual_robot)
update_vrobot_thread.daemon = True
update_vrobot_thread.start()
# virtual world UI
drawQueue = Queue.Queue(0)
vWorld = virtual_world(drawQueue, joystick, vrobot, gCanvas, canvas_width, canvas_height)
landmark = [-500, 220, -460, 180]
vWorld.add_obstacle(landmark)
draw_world_thread = threading.Thread(target=draw_virtual_world, args=(vWorld,))
draw_world_thread.daemon = True
draw_world_thread.start()
gui = VirtualWorldGui(vWorld, frame)
gui.drawGrid()
gui.drawMap()
gCanvas.after(200, gui.updateCanvas, drawQueue)
frame.mainloop()
gQuit = True
for robot in gRobotList:
robot.reset()
time.sleep(1.0)
comm.stop()
comm.join()
print 'Terminated'
def main(argv=None):
global m
comm = RobotComm(gMaxRobotNum)
comm.start()
print 'Bluetooth starts'
m = tk.Tk() #root
drawQueue = Queue.Queue(0)
#creating the virtual appearance of the robot
canvas_width = 700 # half width
canvas_height = 380 # half height
rCanvas = tk.Canvas(m,
bg="white",
width=canvas_width * 2,
height=canvas_height * 2)
vrobot = virtual_robot()
pi4 = 3.1415 / 4
#----- initialize position and angle of robot -----#
vrobot.set_robot_a_pos(-pi4 * 2, 230, 0)
joystick = Joystick(comm, m, rCanvas, vrobot)
# visual elements of the virtual robot
poly_points = [0, 0, 0, 0, 0, 0, 0, 0]
joystick.vrobot.poly_id = rCanvas.create_polygon(poly_points,
fill='blue') #robot
joystick.vrobot.prox_l_id = rCanvas.create_line(
0, 0, 0, 0, fill="red") #prox sensors ---- here
joystick.vrobot.prox_r_id = rCanvas.create_line(0, 0, 0, 0, fill="red")
joystick.vrobot.floor_l_id = rCanvas.create_oval(
0, 0, 0, 0, outline="white", fill="white") #floor sensors
joystick.vrobot.floor_r_id = rCanvas.create_oval(0,
0,
0,
0,
outline="white",
fill="white")
time.sleep(1)
update_vrobot_thread = threading.Thread(
target=joystick.update_virtual_robot)
update_vrobot_thread.daemon = True
update_vrobot_thread.start()
#create the virtual worlds that contains the virtual robot, pass the joystick to reuse the move forward, stop, etc. functions
# joystick should then be renamed to 'set of functions used to move robot forwards, stop robot, etc.' b/c joystick functionality is not used
vWorld = virtual_world(drawQueue, joystick, joystick.vrobot, rCanvas,
canvas_width, canvas_height)
#objects in the world
rectF = [0, -50, 40, 50]
rectE = [-100, -180, 0, -140]
rectD = [-140, -180, -100, -80]
rectC = [-100, 140, 0, 180]
rectB = [-140, 80, -100, 180]
rectA = [-260, -20, -220, 20]
vWorld.add_obstacle(rectF)
vWorld.add_obstacle(rectE)
vWorld.add_obstacle(rectD)
vWorld.add_obstacle(rectC)
vWorld.add_obstacle(rectB)
vWorld.add_obstacle(rectA)
draw_world_thread = threading.Thread(target=draw_virtual_world,
args=(vWorld, joystick))
draw_world_thread.daemon = True
draw_world_thread.start()
gui = VirtualWorldGui(vWorld, m)
# #---- create a new thread to update the physical robot
# update_probot_thread = threading.Thread(target=gui.nextStep)
# update_probot_thread.daemon = True
# update_probot_thread.start()
gui.drawGrid()
gui.drawMap()
rCanvas.after(200, gui.updateCanvas, drawQueue)
m.mainloop()
#---------------- Automatically scan for box (not needed for assignment) --------------#
# start a state machine and set initial state (unnecessary)
# set up event queue
# define dispatcher
# define handler
for robot in joystick.gRobotList:
robot.reset()
comm.stop()
comm.join()
class PathFollower():
def __init__(self):
gMaxRobotNum = 1
# max number of robots to control
self.comm = RobotComm(gMaxRobotNum)
self.comm.start()
print 'Bluetooth starts'
robotList = self.comm.robotList
self.robotList = robotList
self.go = False
self.done = False
return
def run(self, path):
robot = None
#0:N, 1:E, 2:S, 3:W
currentDir = 0
while not self.done:
for robot in self.robotList:
if robot and self.go:
#############################################
# START OF YOUR WORKING AREA!!!
#############################################
speed = 40
# robot.set_wheel(0, 0)
# robot.set_wheel(1,0)
robot.set_wheel(0, speed)
robot.set_wheel(1, speed)
left = robot.get_floor(0)
right = robot.get_floor(1)
# print("Left: " + str(left)+"\t"+"Right: "+str(right))
if right < 75 and left < 75:
#intersection??
robot.set_wheel(0, speed)
robot.set_wheel(1, speed)
time.sleep(0.2)
robot.set_wheel(0, 0)
robot.set_wheel(1, 0)
left = robot.get_floor(0)
right = robot.get_floor(1)
if (True):
nextDir = path[0]
del path[0]
robot.set_musical_note(40)
time.sleep(0.1)
robot.set_musical_note(0)
tTime = 0.6
#straight
if nextDir == currentDir:
print("GOING straight")
#right
elif nextDir == currentDir + 1 or (
nextDir == 0 and currentDir == 3):
print("TURNING RIGHT")
robot.set_wheel(0, 50)
robot.set_wheel(1, -50)
time.sleep(tTime)
#left
elif nextDir == currentDir - 1 or (
nextDir == 3 and currentDir == 0):
print("TURNING LEFT")
robot.set_wheel(0, -50)
robot.set_wheel(1, 50)
time.sleep(tTime)
elif nextDir == (currentDir + 2) % 4:
print("TURNING AROUND???")
robot.set_wheel(0, 50)
robot.set_wheel(1, -50)
time.sleep(2 * tTime)
currentDir = nextDir
elif (right - left) > 15:
robot.set_wheel(1, speed)
robot.set_wheel(0, 0)
# print("Turning Left")
time.sleep(0.03)
elif (left - right) > 15:
robot.set_wheel(0, speed)
robot.set_wheel(1, 0)
# print("Turning Right")
time.sleep(0.03)
def runPath(self, path):
self.go = True
thread = threading.Thread(name="Run Thread",
target=self.run,
args=[path])
thread.daemon = True
thread.start()
def exit(self):
self.go = False
self.done = True
self.comm.stop()
self.comm.join()
print("terminated!")
sys.exit(0)
def main():
global gRobotList, gQuit
global gCanvas, frame, gHamsterBox
global monitor_thread, dispatch_thread
global gBeepQueue, gWheelQueue, drawQueue
global vWorld
global joystick
comm = RobotComm(gMaxRobotNum)
comm.start()
print 'Bluetooth started'
gRobotList = comm.robotList
monitor_thread = False
dispatch_thread= False
# create UI: two separate Tkinter windows
# 1. frame = course track display
# 2. gFrame = localization scanning display
frame = tk.Tk()
canvas_width = 700 # half width
canvas_height = 380 # half height
gCanvas = tk.Canvas(frame, bg="white", width=canvas_width*2, height=canvas_height*2)
draw_track()
settings.init()
settings.gFrame = tk.Tk()
settings.gFrame.geometry('600x500')
gRobotDraw = draw.RobotDraw(settings.gFrame, tk)
# create scanning behavior
settings.gBehaviors[0] = scanning.Behavior("scanning", gRobotList, 4.0, gRobotDraw.get_queue())
gRobotDraw.start()
# create 2 virtual robot data objects
vrobot = []
joystick = []
keyBindings = []
for robot_i in range(gMaxRobotNum):
vrobot.append ( virtual_robot() )
pi4 = 3.1415 / 4
# robot starting positions
vrobot[robot_i].set_robot_a_pos(pi4*2, -520 + robot_i * 40, +340 - robot_i * 80)
# keyboard input
if robot_i == 0:
keyBindings = ['w','s','a','d','x']
elif robot_i == 1:
keyBindings = ['i','k','j','l',',']
joystick.append( Joystick(comm, frame, gCanvas, vrobot[robot_i], robot_i, keyBindings) )
poly_points = [0,0,0,0,0,0,0,0]
joystick[robot_i].vrobot.poly_id = gCanvas.create_polygon(poly_points, fill='blue') #robot
joystick[robot_i].vrobot.prox_l_id = gCanvas.create_line(0,0,0,0, fill="red") #prox sensors ---- here
joystick[robot_i].vrobot.prox_r_id = gCanvas.create_line(0,0,0,0, fill="red")
joystick[robot_i].vrobot.floor_l_id = gCanvas.create_oval(0,0,0,0, outline="white", fill="white") #floor sensors
joystick[robot_i].vrobot.floor_r_id = gCanvas.create_oval(0,0,0,0, outline="white", fill="white")
time.sleep(1)
update_vrobot_thread = threading.Thread(target=joystick[robot_i].update_virtual_robot)
update_vrobot_thread.daemon = True
update_vrobot_thread.start()
# virtual world UI
drawQueue = Queue.Queue(0)
vWorld = virtual_world(drawQueue, joystick[0], vrobot[0], gCanvas, canvas_width, canvas_height)
landmark = [-500, 220, -460, 180]
vWorld.add_obstacle(landmark)
draw_world_thread = threading.Thread(target=draw_virtual_world, args=(vWorld,))
draw_world_thread.daemon = True
draw_world_thread.start()
gui = VirtualWorldGui(vWorld, frame)
gui.drawGrid()
gui.drawMap()
gCanvas.after(200, gui.updateCanvas, drawQueue)
frame.mainloop()
gQuit = True
for robot in gRobotList:
robot.reset()
time.sleep(1.0)
comm.stop()
comm.join()
print 'Terminated'
def main(argv=None):
global m
comm = RobotComm(gMaxRobotNum)
comm.start()
print 'Bluetooth starts'
m = tk.Tk() #root
drawQueue = Queue.Queue(0)
#creating the virtual appearance of the robot
canvas_width = 700 # half width
canvas_height = 380 # half height
rCanvas = tk.Canvas(m, bg="white", width=canvas_width*2, height=canvas_height*2)
vrobot = virtual_robot()
pi4 = 3.1415 / 4
#----- initialize position and angle of robot -----#
vrobot.set_robot_a_pos(-pi4*2, 230, 0)
joystick = Joystick(comm, m, rCanvas, vrobot)
# visual elements of the virtual robot
poly_points = [0,0,0,0,0,0,0,0]
joystick.vrobot.poly_id = rCanvas.create_polygon(poly_points, fill='blue') #robot
joystick.vrobot.prox_l_id = rCanvas.create_line(0,0,0,0, fill="red") #prox sensors ---- here
joystick.vrobot.prox_r_id = rCanvas.create_line(0,0,0,0, fill="red")
joystick.vrobot.floor_l_id = rCanvas.create_oval(0,0,0,0, outline="white", fill="white") #floor sensors
joystick.vrobot.floor_r_id = rCanvas.create_oval(0,0,0,0, outline="white", fill="white")
time.sleep(1)
update_vrobot_thread = threading.Thread(target=joystick.update_virtual_robot)
update_vrobot_thread.daemon = True
update_vrobot_thread.start()
#create the virtual worlds that contains the virtual robot, pass the joystick to reuse the move forward, stop, etc. functions
# joystick should then be renamed to 'set of functions used to move robot forwards, stop robot, etc.' b/c joystick functionality is not used
vWorld = virtual_world(drawQueue, joystick, joystick.vrobot, rCanvas, canvas_width, canvas_height)
#objects in the world
rectF = [0, -50, 40, 50]
rectE = [-100, -180, 0, -140]
rectD = [-140, -180, -100, -80]
rectC = [-100, 140, 0, 180]
rectB = [-140, 80, -100, 180]
rectA = [-260, -20, -220, 20]
vWorld.add_obstacle(rectF)
vWorld.add_obstacle(rectE)
vWorld.add_obstacle(rectD)
vWorld.add_obstacle(rectC)
vWorld.add_obstacle(rectB)
vWorld.add_obstacle(rectA)
draw_world_thread = threading.Thread(target=draw_virtual_world, args=(vWorld, joystick))
draw_world_thread.daemon = True
draw_world_thread.start()
gui = VirtualWorldGui(vWorld, m)
# #---- create a new thread to update the physical robot
# update_probot_thread = threading.Thread(target=gui.nextStep)
# update_probot_thread.daemon = True
# update_probot_thread.start()
gui.drawGrid()
gui.drawMap()
rCanvas.after(200, gui.updateCanvas, drawQueue)
m.mainloop()
#---------------- Automatically scan for box (not needed for assignment) --------------#
# start a state machine and set initial state (unnecessary)
# set up event queue
# define dispatcher
# define handler
for robot in joystick.gRobotList:
robot.reset()
comm.stop()
comm.join()
