def __init__(self, parent):
self._init_ctrls(parent)
psyco.full()
self.laserscanner = HokuyoLaserScanner()
self.localisation = Localisation(400)
self.naofinder = NAOFinder(self.localisation)
self.network = Network()
## control variables
self.control = numpy.zeros(3)
# automatic
self.state = 'init' # states: init, chase, position, lost
self.statecount = 0
self.targetnumber = 0
#self.targets = [[250, -100], [250, 100], [50, 100], [50, -100]]
#self.targets = [[275, -10], [275, 10], [50, 10], [50, -10]]
self.targets = [[275, 0], [50, 0]]
# manual
self.up = False # set these to true when the key is pressed!
self.down = False
self.left = False
self.right = False
self.distance = 0
self.bearing = 0
self.orientation = 0
self.CartesianPanel.setNaoFinder(self.naofinder)
self.NaoPanel.setNaoFinder(self.naofinder)
self.NaoPanel.setLocalisation(self.localisation)
self.closed = False
def __init__(self, parent):
self._init_ctrls(parent)
psyco.full()
self.laserscanner = HokuyoLaserScanner()
self.localisation = Localisation(400)
self.naofinder = NAOFinder(self.localisation)
self.network = Network()
## control variables
self.control = numpy.zeros(3)
# automatic
self.state = 'init' # states: init, chase, position, lost
self.statecount = 0
self.targetnumber = 0
#self.targets = [[250, -100], [250, 100], [50, 100], [50, -100]]
#self.targets = [[275, -10], [275, 10], [50, 10], [50, -10]]
self.targets = [[275, 0], [50, 0]]
# manual
self.up = False # set these to true when the key is pressed!
self.down = False
self.left = False
self.right = False
self.distance = 0
self.bearing = 0
self.orientation = 0
self.CartesianPanel.setNaoFinder(self.naofinder)
self.NaoPanel.setNaoFinder(self.naofinder)
self.NaoPanel.setLocalisation(self.localisation)
self.closed = False
class MainFrame(wx.Frame):
_custom_classes = {'wx.Panel': ['CartesianPanel', 'VelocityPanel']}
def _init_ctrls(self, prnt):
wx.Frame.__init__(self,
id=wxID_MAINFRAME,
name='MainFrame',
parent=prnt,
pos=wx.Point(150, 80),
size=wx.Size(1016, 674),
style=wx.DEFAULT_FRAME_STYLE,
title='Laser Scanner GUI')
self.SetClientSize(wx.Size(1016, 674))
self.SetBackgroundColour(wx.Colour(0, 0, 255))
self.CartesianPanel = CartesianPanel(id=wxID_MAINFRAMEPANEL1,
name='CartesianPanel',
parent=self,
pos=wx.Point(8, 8),
size=wx.Size(200, 400),
style=wx.TAB_TRAVERSAL)
self.NaoPanel = NaoPanel(id=wxID_MAINFRAMEPANEL1,
name='NaoPanel',
parent=self,
pos=wx.Point(208, 8),
size=wx.Size(800, 400),
style=wx.TAB_TRAVERSAL)
self.VelocityPanel = VelocityPanel(id=wxID_MAINFRAMEPANEL2,
name='VelocityPanel',
parent=self,
pos=wx.Point(8, 416),
size=wx.Size(1008, 250),
style=wx.TAB_TRAVERSAL)
self.Bind(wx.EVT_CLOSE, self.OnMainFrameClose)
self.NumUpdates = 0
self.StartTime = time.time()
def __init__(self, parent):
self._init_ctrls(parent)
psyco.full()
self.laserscanner = HokuyoLaserScanner()
self.localisation = Localisation(400)
self.naofinder = NAOFinder(self.localisation)
self.network = Network()
## control variables
self.control = numpy.zeros(3)
# automatic
self.state = 'init' # states: init, chase, position, lost
self.statecount = 0
self.targetnumber = 0
#self.targets = [[250, -100], [250, 100], [50, 100], [50, -100]]
#self.targets = [[275, -10], [275, 10], [50, 10], [50, -10]]
self.targets = [[275, 0], [50, 0]]
# manual
self.up = False # set these to true when the key is pressed!
self.down = False
self.left = False
self.right = False
self.distance = 0
self.bearing = 0
self.orientation = 0
self.CartesianPanel.setNaoFinder(self.naofinder)
self.NaoPanel.setNaoFinder(self.naofinder)
self.NaoPanel.setLocalisation(self.localisation)
self.closed = False
def updateData(self):
if self.closed == False:
polardata, cartesiandata = self.laserscanner.getRangeData()
self.measurement = self.naofinder.findNAO(polardata, cartesiandata)
self.localisation.update(self.control, self.measurement)
if self.keyPressed() or self.distance != 0 or self.bearing != 0:
self.calculateWalkControl()
else:
self.automaticWalk()
self.network.send(self.localisation.VX, self.localisation.VY,
self.localisation.V, self.control[0],
self.control[1], self.control[2])
self.CartesianPanel.updateData(cartesiandata, self.localisation.X,
self.localisation.Y)
self.NaoPanel.updateData(cartesiandata)
self.VelocityPanel.updateData(self.localisation.VX,
self.localisation.VY,
self.localisation.V)
self.NumUpdates = self.NumUpdates + 1
#print self.NumUpdates/(time.time() - self.StartTime)
def automaticWalk(self):
""" """
# do state transitions if close then then switch to away, if far switch to toward
if self.state == 'init':
self.statecount += 1
if self.statecount > 20:
print "automaticWalk: init->chase"
self.state = 'chase'
self.statecount = 0
elif self._robotLost():
self.state = 'lost'
elif self.state == 'chase':
self.statecount += 1
if self.statecount > 30 and self._limitReached():
print "automaticWalk: chase->position"
self.state = 'position'
self.targetnumber = (self.targetnumber + 1) % len(self.targets)
self.statecount = 0
elif self.state == 'position':
self.statecount += 1
if self.statecount > 5 and self._facingTarget():
print "automaticWalk: position->chase"
self.state = 'chase'
self.statecount = 0
elif self.state == 'lost':
if self._robotLost() == False:
self.state = 'position'
if self.state == 'init' or self.state == 'chase':
self.control = [-1, 0, 0]
elif self.state == 'position':
x, y = self.calculateRelativeTarget(
self.targets[self.targetnumber])
bearing = numpy.arctan2(y, x)
self.control = [-1, bearing, 0]
elif self.state == 'lost':
self.control = [0, 0, 0]
else:
print "automaticWalk: ERROR. Unknown state", self.state
self.control = numpy.array(self.control)
if abs(self.control[1]) > 2.59:
self.control[1] = (self.control[1] / abs(self.control[1])) * 2.59
def _limitReached(self):
""" Returns true if the robot has reached the border of its play area """
innerlimit = 50
sidelimit = 150
outerlimit = 275
if self.localisation.X < innerlimit:
return True
if math.fabs(self.localisation.Y) > sidelimit:
return True
if numpy.sqrt(self.localisation.X**2 +
self.localisation.Y**2) > outerlimit:
return True
return False
def _targetReached(self):
""" Returns true if the current target (self.targets[self.targetnumber]) has been reached"""
target = self.targets[self.targetnumber]
if numpy.sqrt((target[0] - self.localisation.X)**2 +
(target[1] - self.localisation.Y)**2) < 20:
return True
else:
return False
def _facingTarget(self):
""" Returns true if we are facing the target """
target = self.targets[self.targetnumber]
x, y = self.calculateRelativeTarget(target)
bearing = numpy.arctan2(y, x)
if math.fabs(bearing) < 0.25:
return True
else:
return False
def _robotLost(self):
""" Returns true if the robot has gone beyond the border of its play area """
if self.localisation.X < 20:
return True
if numpy.sqrt(self.localisation.X**2 + self.localisation.Y**2) > 350:
return True
return False
def calculateRelativeTarget(self, target):
""" """
x = target[0]
y = target[1]
relativeX = (x - self.localisation.X) * math.cos(
self.localisation.Orientation
) + (y - self.localisation.Y) * math.sin(self.localisation.Orientation)
relativeY = -(x - self.localisation.X) * math.sin(
self.localisation.Orientation
) + (y - self.localisation.Y) * math.cos(self.localisation.Orientation)
return [relativeX, relativeY]
def calculateWalkControl(self):
deltadistance = 4
deltabearing = 0.1
if self.up == True:
if self.distance < 0:
self.distance = 0
self.distance += deltadistance
if self.distance > 100:
self.distance = 100
elif self.down == True:
if self.distance > 0:
self.distance = 0
self.distance -= deltadistance
if self.distance < -30:
self.distance = -30
else:
if self.distance > 0:
self.distance -= deltadistance
if self.distance < 0:
self.distance = 0
elif self.distance < 0:
self.distance += deltadistance
if self.distance > 0:
self.distance = 0
if self.left == True:
if self.bearing < 0:
self.bearing += 3 * deltabearing
else:
self.bearing += deltabearing
if self.bearing > 3:
self.bearing = 3
elif self.right == True:
if self.bearing > 0:
self.bearing = 0
self.bearing -= deltabearing
if self.bearing < -3:
self.bearing = -3
else:
if self.bearing > 0:
self.bearing -= deltabearing
if self.bearing < 0:
self.bearing = 0
elif self.bearing < 0:
self.bearing += deltabearing
if self.bearing > 0:
self.bearing = 0
if self.distance == 0:
# then I want to turn on the spot
self.control = [0, 0, self.bearing]
elif self.distance < 0:
## then I want to walk backwards
self.control = [-1 * self.distance, math.pi, 0]
else:
self.control = [-1, self.bearing, 1001]
self.control = numpy.array(self.control)
def keyPressed(self):
""" Returns True if we are manually controlling the robot """
return self.up or self.down or self.left or self.right
def OnMainKeyDown(self, event):
code = event.GetKeyCode()
if code == wx.WXK_UP:
self.up = True
elif code == wx.WXK_DOWN:
self.down = True
elif code == wx.WXK_LEFT:
self.left = True
elif code == wx.WXK_RIGHT:
self.right = True
event.Skip()
def OnMainKeyUp(self, event):
code = event.GetKeyCode()
if code == wx.WXK_UP:
self.up = False
elif code == wx.WXK_DOWN:
self.down = False
elif code == wx.WXK_LEFT:
self.left = False
elif code == wx.WXK_RIGHT:
self.right = False
event.Skip()
def OnMainFrameClose(self, event):
self.laserscanner.stop()
self.closed = True
event.Skip()
class MainFrame(wx.Frame):
_custom_classes = {'wx.Panel' : ['CartesianPanel','VelocityPanel']}
def _init_ctrls(self, prnt):
wx.Frame.__init__(self, id=wxID_MAINFRAME, name='MainFrame',
parent=prnt, pos=wx.Point(150, 80), size=wx.Size(1016, 674),
style=wx.DEFAULT_FRAME_STYLE, title='Laser Scanner GUI')
self.SetClientSize(wx.Size(1016, 674))
self.SetBackgroundColour(wx.Colour(0, 0, 255))
self.CartesianPanel = CartesianPanel(id=wxID_MAINFRAMEPANEL1, name='CartesianPanel',
parent=self, pos=wx.Point(8, 8), size=wx.Size(200, 400),
style=wx.TAB_TRAVERSAL)
self.NaoPanel = NaoPanel(id=wxID_MAINFRAMEPANEL1, name='NaoPanel',
parent=self, pos=wx.Point(208, 8), size=wx.Size(800, 400),
style=wx.TAB_TRAVERSAL)
self.VelocityPanel = VelocityPanel(id=wxID_MAINFRAMEPANEL2, name='VelocityPanel',
parent=self, pos=wx.Point(8, 416), size=wx.Size(1008, 250),
style=wx.TAB_TRAVERSAL)
self.Bind(wx.EVT_CLOSE, self.OnMainFrameClose)
self.NumUpdates = 0
self.StartTime = time.time()
def __init__(self, parent):
self._init_ctrls(parent)
psyco.full()
self.laserscanner = HokuyoLaserScanner()
self.localisation = Localisation(400)
self.naofinder = NAOFinder(self.localisation)
self.network = Network()
## control variables
self.control = numpy.zeros(3)
# automatic
self.state = 'init' # states: init, chase, position, lost
self.statecount = 0
self.targetnumber = 0
#self.targets = [[250, -100], [250, 100], [50, 100], [50, -100]]
#self.targets = [[275, -10], [275, 10], [50, 10], [50, -10]]
self.targets = [[275, 0], [50, 0]]
# manual
self.up = False # set these to true when the key is pressed!
self.down = False
self.left = False
self.right = False
self.distance = 0
self.bearing = 0
self.orientation = 0
self.CartesianPanel.setNaoFinder(self.naofinder)
self.NaoPanel.setNaoFinder(self.naofinder)
self.NaoPanel.setLocalisation(self.localisation)
self.closed = False
def updateData(self):
if self.closed == False:
polardata, cartesiandata = self.laserscanner.getRangeData()
self.measurement = self.naofinder.findNAO(polardata, cartesiandata)
self.localisation.update(self.control, self.measurement)
if self.keyPressed() or self.distance != 0 or self.bearing != 0:
self.calculateWalkControl()
else:
self.automaticWalk()
self.network.send(self.localisation.VX, self.localisation.VY, self.localisation.V, self.control[0], self.control[1], self.control[2])
self.CartesianPanel.updateData(cartesiandata, self.localisation.X, self.localisation.Y)
self.NaoPanel.updateData(cartesiandata)
self.VelocityPanel.updateData(self.localisation.VX, self.localisation.VY, self.localisation.V)
self.NumUpdates = self.NumUpdates + 1
#print self.NumUpdates/(time.time() - self.StartTime)
def automaticWalk(self):
""" """
# do state transitions if close then then switch to away, if far switch to toward
if self.state == 'init':
self.statecount += 1
if self.statecount > 20:
print "automaticWalk: init->chase"
self.state = 'chase'
self.statecount = 0
elif self._robotLost():
self.state = 'lost'
elif self.state == 'chase':
self.statecount += 1
if self.statecount > 30 and self._limitReached():
print "automaticWalk: chase->position"
self.state = 'position'
self.targetnumber = (self.targetnumber + 1)%len(self.targets)
self.statecount = 0
elif self.state == 'position':
self.statecount += 1
if self.statecount > 5 and self._facingTarget():
print "automaticWalk: position->chase"
self.state = 'chase'
self.statecount = 0
elif self.state == 'lost':
if self._robotLost() == False:
self.state = 'position'
if self.state == 'init' or self.state == 'chase':
self.control = [-1, 0, 0]
elif self.state == 'position':
x, y = self.calculateRelativeTarget(self.targets[self.targetnumber])
bearing = numpy.arctan2(y,x)
self.control = [-1, bearing, 0]
elif self.state == 'lost':
self.control = [0, 0, 0]
else:
print "automaticWalk: ERROR. Unknown state", self.state
self.control = numpy.array(self.control)
if abs(self.control[1]) > 2.59:
self.control[1] = (self.control[1]/abs(self.control[1]))*2.59
def _limitReached(self):
""" Returns true if the robot has reached the border of its play area """
innerlimit = 50
sidelimit = 150
outerlimit = 275
if self.localisation.X < innerlimit:
return True
if math.fabs(self.localisation.Y) > sidelimit:
return True
if numpy.sqrt(self.localisation.X**2 + self.localisation.Y**2) > outerlimit:
return True
return False
def _targetReached(self):
""" Returns true if the current target (self.targets[self.targetnumber]) has been reached"""
target = self.targets[self.targetnumber]
if numpy.sqrt((target[0] - self.localisation.X)**2 + (target[1] - self.localisation.Y)**2) < 20:
return True
else:
return False
def _facingTarget(self):
""" Returns true if we are facing the target """
target = self.targets[self.targetnumber]
x, y = self.calculateRelativeTarget(target)
bearing = numpy.arctan2(y,x)
if math.fabs(bearing) < 0.25:
return True
else:
return False
def _robotLost(self):
""" Returns true if the robot has gone beyond the border of its play area """
if self.localisation.X < 20:
return True
if numpy.sqrt(self.localisation.X**2 + self.localisation.Y**2) > 350:
return True
return False
def calculateRelativeTarget(self, target):
""" """
x = target[0]
y = target[1]
relativeX = (x - self.localisation.X)*math.cos(self.localisation.Orientation) + (y - self.localisation.Y)*math.sin(self.localisation.Orientation)
relativeY = -(x - self.localisation.X)*math.sin(self.localisation.Orientation) + (y - self.localisation.Y)*math.cos(self.localisation.Orientation)
return [relativeX, relativeY]
def calculateWalkControl(self):
deltadistance = 4
deltabearing = 0.1
if self.up == True:
if self.distance < 0:
self.distance = 0
self.distance += deltadistance
if self.distance > 100:
self.distance = 100
elif self.down == True:
if self.distance > 0:
self.distance = 0
self.distance -= deltadistance
if self.distance < -30:
self.distance = -30
else:
if self.distance > 0:
self.distance -= deltadistance
if self.distance < 0:
self.distance = 0
elif self.distance < 0:
self.distance += deltadistance
if self.distance > 0:
self.distance = 0
if self.left == True:
if self.bearing < 0:
self.bearing += 3*deltabearing
else:
self.bearing += deltabearing
if self.bearing > 3:
self.bearing = 3;
elif self.right == True:
if self.bearing > 0:
self.bearing = 0
self.bearing -= deltabearing
if self.bearing < -3:
self.bearing = -3;
else:
if self.bearing > 0:
self.bearing -= deltabearing
if self.bearing < 0:
self.bearing = 0
elif self.bearing < 0:
self.bearing += deltabearing
if self.bearing > 0:
self.bearing = 0
if self.distance == 0:
# then I want to turn on the spot
self.control = [0, 0, self.bearing]
elif self.distance < 0:
## then I want to walk backwards
self.control = [-1*self.distance, math.pi, 0]
else:
self.control = [-1, self.bearing, 1001]
self.control = numpy.array(self.control)
def keyPressed(self):
""" Returns True if we are manually controlling the robot """
return self.up or self.down or self.left or self.right
def OnMainKeyDown(self, event):
code = event.GetKeyCode()
if code == wx.WXK_UP:
self.up = True
elif code == wx.WXK_DOWN:
self.down = True
elif code == wx.WXK_LEFT:
self.left = True
elif code == wx.WXK_RIGHT:
self.right = True
event.Skip()
def OnMainKeyUp(self, event):
code = event.GetKeyCode()
if code == wx.WXK_UP:
self.up = False
elif code == wx.WXK_DOWN:
self.down = False
elif code == wx.WXK_LEFT:
self.left = False
elif code == wx.WXK_RIGHT:
self.right = False
event.Skip()
def OnMainFrameClose(self, event):
self.laserscanner.stop()
self.closed = True
event.Skip()