class RecorderInterface(object):
"""A curses interface for recording robot missions."""
def __init__(self, robot, download_filepath):
self._robot = robot
# Flag indicating whether mission is currently being recorded
self._recording = False
# Filepath for the location to put the downloaded graph and snapshots.
self._download_filepath = download_filepath
# List of visited waypoints in current mission
self._waypoint_path = []
# Current waypoint id
self._waypoint_id = 'NONE'
# Create clients -- do not use the for communication yet.
self._lease_client = robot.ensure_client(
LeaseClient.default_service_name)
try:
self._estop_client = self._robot.ensure_client(
EstopClient.default_service_name)
self._estop_endpoint = EstopEndpoint(self._estop_client,
'GNClient', 9.0)
except:
# Not the estop.
self._estop_client = None
self._estop_endpoint = None
self._power_client = robot.ensure_client(
PowerClient.default_service_name)
self._robot_state_client = robot.ensure_client(
RobotStateClient.default_service_name)
self._robot_command_client = robot.ensure_client(
RobotCommandClient.default_service_name)
self._world_object_client = robot.ensure_client(
WorldObjectClient.default_service_name)
# Setup the recording service client.
self._recording_client = self._robot.ensure_client(
GraphNavRecordingServiceClient.default_service_name)
# Setup the graph nav service client.
self._graph_nav_client = robot.ensure_client(
GraphNavClient.default_service_name)
self._robot_state_task = AsyncRobotState(self._robot_state_client)
self._async_tasks = AsyncTasks([self._robot_state_task])
self._lock = threading.Lock()
self._command_dictionary = {
ord('\t'): self._quit_program,
ord('T'): self._toggle_time_sync,
ord(' '): self._toggle_estop,
ord('r'): self._self_right,
ord('P'): self._toggle_power,
ord('v'): self._sit,
ord('f'): self._stand,
ord('w'): self._move_forward,
ord('s'): self._move_backward,
ord('a'): self._strafe_left,
ord('d'): self._strafe_right,
ord('q'): self._turn_left,
ord('e'): self._turn_right,
ord('m'): self._start_recording,
ord('l'): self._relocalize,
ord('g'): self._generate_mission,
}
self._locked_messages = ['', '',
''] # string: displayed message for user
self._estop_keepalive = None
self._exit_check = None
# Stuff that is set in start()
self._robot_id = None
self._lease = None
def start(self):
"""Begin communication with the robot."""
self._lease = self._lease_client.acquire()
self._robot_id = self._robot.get_id()
if self._estop_endpoint is not None:
self._estop_endpoint.force_simple_setup(
) # Set this endpoint as the robot's sole estop.
# Clear existing graph nav map
self._graph_nav_client.clear_graph()
def shutdown(self):
"""Release control of robot as gracefully as posssible."""
LOGGER.info("Shutting down WasdInterface.")
if self._estop_keepalive:
# This stops the check-in thread but does not stop the robot.
self._estop_keepalive.shutdown()
if self._lease:
_grpc_or_log("returning lease",
lambda: self._lease_client.return_lease(self._lease))
self._lease = None
def __del__(self):
self.shutdown()
def flush_and_estop_buffer(self, stdscr):
"""Manually flush the curses input buffer but trigger any estop requests (space)"""
key = ''
while key != -1:
key = stdscr.getch()
if key == ord(' '):
self._toggle_estop()
def add_message(self, msg_text):
"""Display the given message string to the user in the curses interface."""
with self._lock:
self._locked_messages = [msg_text] + self._locked_messages[:-1]
def message(self, idx):
"""Grab one of the 3 last messages added."""
with self._lock:
return self._locked_messages[idx]
@property
def robot_state(self):
"""Get latest robot state proto."""
return self._robot_state_task.proto
def drive(self, stdscr):
"""User interface to control the robot via the passed-in curses screen interface object."""
with LeaseKeepAlive(self._lease_client) as lease_keep_alive, \
ExitCheck() as self._exit_check:
curses_handler = CursesHandler(self)
curses_handler.setLevel(logging.INFO)
LOGGER.addHandler(curses_handler)
stdscr.nodelay(True) # Don't block for user input.
stdscr.resize(26, 96)
stdscr.refresh()
# for debug
curses.echo()
try:
while not self._exit_check.kill_now:
self._async_tasks.update()
self._drive_draw(stdscr, lease_keep_alive)
try:
cmd = stdscr.getch()
# Do not queue up commands on client
self.flush_and_estop_buffer(stdscr)
self._drive_cmd(cmd)
time.sleep(COMMAND_INPUT_RATE)
except Exception:
# On robot command fault, sit down safely before killing the program.
self._safe_power_off()
time.sleep(2.0)
self.shutdown()
raise
finally:
LOGGER.removeHandler(curses_handler)
def _count_visible_fiducials(self):
"""Return number of fiducials visible to robot."""
request_fiducials = [world_object_pb2.WORLD_OBJECT_APRILTAG]
fiducial_objects = self._world_object_client.list_world_objects(
object_type=request_fiducials).world_objects
return len(fiducial_objects)
def _drive_draw(self, stdscr, lease_keep_alive):
"""Draw the interface screen at each update."""
stdscr.clear() # clear screen
stdscr.resize(26, 96)
stdscr.addstr(
0, 0, '{:20s} {}'.format(self._robot_id.nickname,
self._robot_id.serial_number))
stdscr.addstr(1, 0, self._lease_str(lease_keep_alive))
stdscr.addstr(2, 0, self._battery_str())
stdscr.addstr(3, 0, self._estop_str())
stdscr.addstr(4, 0, self._power_state_str())
stdscr.addstr(5, 0, self._time_sync_str())
stdscr.addstr(6, 0, self._waypoint_str())
stdscr.addstr(7, 0, self._fiducial_str())
for i in range(3):
stdscr.addstr(9 + i, 2, self.message(i))
stdscr.addstr(13, 0,
"Commands: [TAB]: quit ")
stdscr.addstr(14, 0,
" [T]: Time-sync, [SPACE]: Estop, [P]: Power")
stdscr.addstr(15, 0,
" [v]: Sit, [f]: Stand, [r]: Self-right ")
stdscr.addstr(16, 0,
" [wasd]: Directional strafing ")
stdscr.addstr(17, 0,
" [qe]: Turning ")
stdscr.addstr(18, 0,
" [m]: Start recording mission ")
stdscr.addstr(19, 0,
" [l]: Add fiducial localization to mission ")
stdscr.addstr(20, 0,
" [g]: Stop recording and generate mission ")
stdscr.refresh()
def _drive_cmd(self, key):
"""Run user commands at each update."""
try:
cmd_function = self._command_dictionary[key]
cmd_function()
except KeyError:
if key and key != -1 and key < 256:
self.add_message("Unrecognized keyboard command: '{}'".format(
chr(key)))
def _try_grpc(self, desc, thunk):
try:
return thunk()
except (ResponseError, RpcError) as err:
self.add_message("Failed {}: {}".format(desc, err))
return None
def _quit_program(self):
self._robot.power_off()
self.shutdown()
if self._exit_check is not None:
self._exit_check.request_exit()
def _toggle_time_sync(self):
if self._robot.time_sync.stopped:
self._robot.time_sync.start()
else:
self._robot.time_sync.stop()
def _toggle_estop(self):
"""toggle estop on/off. Initial state is ON"""
if self._estop_client is not None and self._estop_endpoint is not None:
if not self._estop_keepalive:
self._estop_keepalive = EstopKeepAlive(self._estop_endpoint)
else:
self._try_grpc("stopping estop", self._estop_keepalive.stop)
self._estop_keepalive.shutdown()
self._estop_keepalive = None
def _start_robot_command(self, desc, command_proto, end_time_secs=None):
def _start_command():
self._robot_command_client.robot_command(
lease=None, command=command_proto, end_time_secs=end_time_secs)
self._try_grpc(desc, _start_command)
def _self_right(self):
self._start_robot_command('self_right',
RobotCommandBuilder.selfright_command())
def _sit(self):
self._start_robot_command('sit', RobotCommandBuilder.sit_command())
def _stand(self):
self._start_robot_command('stand', RobotCommandBuilder.stand_command())
def _move_forward(self):
self._velocity_cmd_helper('move_forward', v_x=VELOCITY_BASE_SPEED)
def _move_backward(self):
self._velocity_cmd_helper('move_backward', v_x=-VELOCITY_BASE_SPEED)
def _strafe_left(self):
self._velocity_cmd_helper('strafe_left', v_y=VELOCITY_BASE_SPEED)
def _strafe_right(self):
self._velocity_cmd_helper('strafe_right', v_y=-VELOCITY_BASE_SPEED)
def _turn_left(self):
self._velocity_cmd_helper('turn_left', v_rot=VELOCITY_BASE_ANGULAR)
def _turn_right(self):
self._velocity_cmd_helper('turn_right', v_rot=-VELOCITY_BASE_ANGULAR)
def _velocity_cmd_helper(self, desc='', v_x=0.0, v_y=0.0, v_rot=0.0):
self._start_robot_command(
desc,
RobotCommandBuilder.velocity_command(v_x=v_x, v_y=v_y,
v_rot=v_rot),
end_time_secs=time.time() + VELOCITY_CMD_DURATION)
def _return_to_origin(self):
self._start_robot_command(
'fwd_and_rotate',
RobotCommandBuilder.trajectory_command(
goal_x=0.0,
goal_y=0.0,
goal_heading=0.0,
frame_name=ODOM_FRAME_NAME,
params=None,
body_height=0.0,
locomotion_hint=spot_command_pb2.HINT_SPEED_SELECT_TROT),
end_time_secs=time.time() + 20)
def _toggle_power(self):
power_state = self._power_state()
if power_state is None:
self.add_message(
'Could not toggle power because power state is unknown')
return
if power_state == robot_state_proto.PowerState.STATE_OFF:
self._try_grpc("powering-on", self._request_power_on)
else:
self._try_grpc("powering-off", self._safe_power_off)
def _request_power_on(self):
bosdyn.client.power.power_on(self._power_client)
def _safe_power_off(self):
self._start_robot_command('safe_power_off',
RobotCommandBuilder.safe_power_off_command())
def _power_state(self):
state = self.robot_state
if not state:
return None
return state.power_state.motor_power_state
def _lease_str(self, lease_keep_alive):
alive = 'RUNNING' if lease_keep_alive.is_alive() else 'STOPPED'
lease = '{}:{}'.format(self._lease.lease_proto.resource,
self._lease.lease_proto.sequence)
return 'Lease {} THREAD:{}'.format(lease, alive)
def _power_state_str(self):
power_state = self._power_state()
if power_state is None:
return ''
state_str = robot_state_proto.PowerState.MotorPowerState.Name(
power_state)
return 'Power: {}'.format(state_str[6:]) # get rid of STATE_ prefix
def _estop_str(self):
if not self._estop_client:
thread_status = 'NOT ESTOP'
else:
thread_status = 'RUNNING' if self._estop_keepalive else 'STOPPED'
estop_status = '??'
state = self.robot_state
if state:
for estop_state in state.estop_states:
if estop_state.type == estop_state.TYPE_SOFTWARE:
estop_status = estop_state.State.Name(
estop_state.state)[6:] # s/STATE_//
break
return 'Estop {} (thread: {})'.format(estop_status, thread_status)
def _time_sync_str(self):
if not self._robot.time_sync:
return 'Time sync: (none)'
if self._robot.time_sync.stopped:
status = 'STOPPED'
exception = self._robot.time_sync.thread_exception
if exception:
status = '{} Exception: {}'.format(status, exception)
else:
status = 'RUNNING'
try:
skew = self._robot.time_sync.get_robot_clock_skew()
if skew:
skew_str = 'offset={}'.format(duration_str(skew))
else:
skew_str = "(Skew undetermined)"
except (TimeSyncError, RpcError) as err:
skew_str = '({})'.format(err)
return 'Time sync: {} {}'.format(status, skew_str)
def _waypoint_str(self):
state = self._graph_nav_client.get_localization_state()
try:
self._waypoint_id = state.localization.waypoint_id
if self._waypoint_id == '':
self._waypoint_id = 'NONE'
except:
self._waypoint_id = 'ERROR'
if self._recording and self._waypoint_id != 'NONE' and self._waypoint_id != 'ERROR':
if (self._waypoint_path
== []) or (self._waypoint_id != self._waypoint_path[-1]):
self._waypoint_path += [self._waypoint_id]
return 'Current waypoint: {} [ RECORDING ]'.format(
self._waypoint_id)
return 'Current waypoint: {}'.format(self._waypoint_id)
def _fiducial_str(self):
return 'Visible fiducials: {}'.format(
str(self._count_visible_fiducials()))
def _battery_str(self):
if not self.robot_state:
return ''
battery_state = self.robot_state.battery_states[0]
status = battery_state.Status.Name(battery_state.status)
status = status[7:] # get rid of STATUS_ prefix
if battery_state.charge_percentage.value:
bar_len = int(battery_state.charge_percentage.value) // 10
bat_bar = '|{}{}|'.format('=' * bar_len, ' ' * (10 - bar_len))
else:
bat_bar = ''
time_left = ''
if battery_state.estimated_runtime:
time_left = ' ({})'.format(
secs_to_hms(battery_state.estimated_runtime.seconds))
return 'Battery: {}{}{}'.format(status, bat_bar, time_left)
def _fiducial_visible(self):
"""Return True if robot can see fiducial."""
request_fiducials = [world_object_pb2.WORLD_OBJECT_APRILTAG]
fiducial_objects = self._world_object_client.list_world_objects(
object_type=request_fiducials).world_objects
self.add_message("Fiducial objects: " + str(fiducial_objects))
if len(fiducial_objects) > 0:
return True
return False
def _start_recording(self):
"""Start recording a map."""
if self._count_visible_fiducials() == 0:
self.add_message(
"ERROR: Can't start recording -- No fiducials in view.")
return
self._waypoint_path = []
status = self._recording_client.start_recording()
if status != recording_pb2.StartRecordingResponse.STATUS_OK:
self.add_message("Start recording failed.")
else:
self.add_message("Successfully started recording a map.")
self._recording = True
def _stop_recording(self):
"""Stop or pause recording a map."""
if not self._recording:
return True
self._recording = False
try:
status = self._recording_client.stop_recording()
if status != recording_pb2.StopRecordingResponse.STATUS_OK:
self.add_message("Stop recording failed.")
return False
self.add_message("Successfully stopped recording a map.")
return True
except NotLocalizedToEndError:
self.add_message(
"ERROR: Move to final waypoint before stopping recording.")
return False
def _relocalize(self):
"""Insert localization node into mission."""
if not self._recording:
print('Not recording mission.')
return False
self.add_message("Adding fiducial localization to mission.")
self._waypoint_path += ['LOCALIZE']
return True
def _generate_mission(self):
"""Save graph map and mission file."""
# Check whether mission has been recorded
if not self._recording:
self.add_message("ERROR: No mission recorded.")
return
# Stop recording mission
if not self._stop_recording():
self.add_message("ERROR: Error while stopping recording.")
return
# Save graph map
os.mkdir(self._download_filepath)
self._download_full_graph()
# Generate mission
mission = self._make_mission()
# Save mission file
os.mkdir(self._download_filepath + "/missions")
mission_filepath = self._download_filepath + "/missions/autogenerated"
write_mission(mission, mission_filepath)
# Quit program
self._quit_program()
def _download_full_graph(self):
"""Download the graph and snapshots from the robot."""
graph = self._graph_nav_client.download_graph()
if graph is None:
self.add_message("Failed to download the graph.")
return
self._write_full_graph(graph)
self.add_message(
"Graph downloaded with {} waypoints and {} edges".format(
len(graph.waypoints), len(graph.edges)))
# Download the waypoint and edge snapshots.
self._download_and_write_waypoint_snapshots(graph.waypoints)
self._download_and_write_edge_snapshots(graph.edges)
def _write_full_graph(self, graph):
"""Download the graph from robot to the specified, local filepath location."""
graph_bytes = graph.SerializeToString()
write_bytes(self._download_filepath, '/graph', graph_bytes)
def _download_and_write_waypoint_snapshots(self, waypoints):
"""Download the waypoint snapshots from robot to the specified, local filepath location."""
num_waypoint_snapshots_downloaded = 0
for waypoint in waypoints:
try:
waypoint_snapshot = self._graph_nav_client.download_waypoint_snapshot(
waypoint.snapshot_id)
except Exception:
# Failure in downloading waypoint snapshot. Continue to next snapshot.
self.add_message("Failed to download waypoint snapshot: " +
waypoint.snapshot_id)
continue
write_bytes(self._download_filepath + '/waypoint_snapshots',
'/' + waypoint.snapshot_id,
waypoint_snapshot.SerializeToString())
num_waypoint_snapshots_downloaded += 1
self.add_message(
"Downloaded {} of the total {} waypoint snapshots.".format(
num_waypoint_snapshots_downloaded, len(waypoints)))
def _download_and_write_edge_snapshots(self, edges):
"""Download the edge snapshots from robot to the specified, local filepath location."""
num_edge_snapshots_downloaded = 0
for edge in edges:
try:
edge_snapshot = self._graph_nav_client.download_edge_snapshot(
edge.snapshot_id)
except Exception:
# Failure in downloading edge snapshot. Continue to next snapshot.
self.add_message("Failed to download edge snapshot: " +
edge.snapshot_id)
continue
write_bytes(self._download_filepath + '/edge_snapshots',
'/' + edge.snapshot_id,
edge_snapshot.SerializeToString())
num_edge_snapshots_downloaded += 1
self.add_message(
"Downloaded {} of the total {} edge snapshots.".format(
num_edge_snapshots_downloaded, len(edges)))
def _make_mission(self):
""" Create a mission that visits each waypoint on stored path."""
# Create a Sequence that visits all the waypoints.
sequence = nodes_pb2.Sequence()
sequence.children.add().CopyFrom(self._make_localize_node())
for waypoint_id in self._waypoint_path:
if waypoint_id == 'LOCALIZE':
sequence.children.add().CopyFrom(self._make_localize_node())
else:
sequence.children.add().CopyFrom(
self._make_goto_node(waypoint_id))
# Return a Node with the Sequence.
ret = nodes_pb2.Node()
ret.name = "visit %d waypoints" % len(self._waypoint_path)
ret.impl.Pack(sequence)
return ret
def _make_goto_node(self, waypoint_id):
""" Create a leaf node that will go to the waypoint. """
ret = nodes_pb2.Node()
ret.name = "goto %s" % waypoint_id
impl = nodes_pb2.BosdynNavigateTo()
impl.destination_waypoint_id = waypoint_id
ret.impl.Pack(impl)
return ret
def _make_localize_node(self):
"""Make localization node."""
loc = nodes_pb2.Node()
loc.name = "localize robot"
impl = nodes_pb2.BosdynGraphNavLocalize()
loc.impl.Pack(impl)
return loc
class EstopGui(QtWidgets.QMainWindow):
"""The GUI for the estop Button. Provides software estop."""
disable_signal = QtCore.pyqtSignal()
checkin_status_signal = QtCore.pyqtSignal('QString')
got_status_signal = QtCore.pyqtSignal('QString')
def __init__(self, client, timeout_sec, name=None, unique_id=None):
QtWidgets.QMainWindow.__init__(self)
self.logger = logging.getLogger("Estop GUI")
self.disable_signal.connect(self.disable_buttons)
self.checkin_status_signal.connect(self.set_status_label)
self.got_status_signal.connect(self._launch_estop_status_dialog)
self.status_extant = False
self.quitting = False # Used to tell threads to shutdown
# Force server to set up a single endpoint system
ep = EstopEndpoint(client, name, timeout_sec)
ep.force_simple_setup()
# Begin periodic check-in between keep-alive and robot
self.estop_keep_alive = EstopKeepAlive(ep)
# Configure UI.
self.setCentralWidget(QtWidgets.QWidget())
self.center_layout = QtWidgets.QVBoxLayout(self.centralWidget())
self.center_layout.setAlignment(QtCore.Qt.AlignTop)
self.center_layout.setSpacing(1)
self.center_layout.setContentsMargins(1, 1, 1, 1)
self.stop_button = QtWidgets.QPushButton(self)
self.stop_button.setText('STOP')
self.stop_button.clicked.connect(self.estop_keep_alive.stop)
self.stop_button.setStyleSheet(STOP_BUTTON_STYLESHEET)
self.stop_button.setSizePolicy(QtWidgets.QSizePolicy.Expanding,
QtWidgets.QSizePolicy.Expanding)
self.center_layout.addWidget(self.stop_button)
self.status_label = QtWidgets.QLabel('Starting...')
self.status_label.setAlignment(QtCore.Qt.AlignCenter)
self.status_label.setStyleSheet(ERROR_LABEL_STYLESHEET)
self.center_layout.addWidget(self.status_label)
self.release_button = QtWidgets.QPushButton(self)
self.release_button.setText('Release')
self.release_button.clicked.connect(self.estop_keep_alive.allow)
self.release_button.setStyleSheet(RELEASE_BUTTON_STYLESHEET)
self.center_layout.addWidget(self.release_button)
self.status_button = QtWidgets.QPushButton(self)
self.status_button.setText('Status')
self.status_button.clicked.connect(self.status)
self.center_layout.addWidget(self.status_button)
self.setWindowTitle("E-Stop ({} {}sec)".format("TEST ADDRESS",
timeout_sec))
# Begin monitoring the keep-alive status
thread = threading.Thread(target=self._check_keep_alive_status)
thread.start()
def do_status_rpc(self):
"""Make an rpc call to get the robot estop status."""
try:
status = self.estop_keep_alive.client.get_status()
#pylint: disable=broad-except
except Exception as exc:
markup = 'Exception while getting status!'
traceback.print_exc()
else:
markup = status_response_to_markup(
status, my_id=self.estop_keep_alive.endpoint.unique_id)
self.got_status_signal.emit(markup)
def status(self):
"""Asynchronously request and print the endpoint status."""
if self.status_extant:
self.logger.info('Ignoring duplicate request for status')
return
self.status_extant = True
self.logger.info('Getting estop system status')
thread = threading.Thread(target=self.do_status_rpc)
thread.start()
def _check_keep_alive_status(self):
"""Monitor estop keep alive status and display status in GUI via Qt signals."""
while not self.quitting:
# Wait for queue to be populated. After timeout, check if GUI is still running.
try:
status, msg = self.estop_keep_alive.status_queue.get(
timeout=1) # blocking
except queue.Empty:
continue
if status == EstopKeepAlive.KeepAliveStatus.OK:
self.checkin_status_signal.emit('OK! {:%H:%M:%S}'.format(
datetime.now()))
elif status == EstopKeepAlive.KeepAliveStatus.ERROR:
self.checkin_status_signal.emit(msg)
elif status == EstopKeepAlive.KeepAliveStatus.DISABLED:
self.disable_signal.emit()
else:
raise Exception(
"Unknown estop keep alive status seen: {}.".format(status))
def disable_buttons(self):
"""Disable the estop buttons."""
self.stop_button.setEnabled(False)
self.release_button.setEnabled(False)
self.stop_button.setText('(disabled)')
self.release_button.setText('(disabled)')
def set_status_label(self, status_msg):
self.status_label.setText(status_msg)
def _launch_estop_status_dialog(self, markup):
self.status_extant = False
d = QtWidgets.QMessageBox()
d.setWindowTitle('SW Estop Status')
d.setText(markup)
d.exec_()
def quit(self):
"""Shutdown estop keep-alive and all GUI threads."""
self.estop_keep_alive.shutdown()
self.quitting = True
class WasdInterface(object):
"""A curses interface for driving the robot."""
def __init__(self, robot):
self._robot = robot
# Create clients -- do not use the for communication yet.
self._lease_client = robot.ensure_client(
LeaseClient.default_service_name)
self._estop_client = robot.ensure_client(
EstopClient.default_service_name)
self._estop_endpoint = EstopEndpoint(self._estop_client, 'wasd', 9.0)
self._power_client = robot.ensure_client(
PowerClient.default_service_name)
self._robot_state_client = robot.ensure_client(
RobotStateClient.default_service_name)
self._robot_command_client = robot.ensure_client(
RobotCommandClient.default_service_name)
self._robot_metrics_task = AsyncMetrics(self._robot_state_client)
self._robot_state_task = AsyncRobotState(self._robot_state_client)
self._image_task = AsyncImageCapture(robot)
self._async_tasks = AsyncTasks([
self._robot_metrics_task, self._robot_state_task, self._image_task
])
self._lock = threading.Lock()
self._command_dictionary = {
ord('\t'): self._quit_program,
ord('T'): self._toggle_time_sync,
ord(' '): self._toggle_estop,
ord('r'): self._self_right,
ord('P'): self._toggle_power,
ord('v'): self._sit,
ord('f'): self._stand,
ord('w'): self._move_forward,
ord('s'): self._move_backward,
ord('a'): self._strafe_left,
ord('d'): self._strafe_right,
ord('q'): self._turn_left,
ord('e'): self._turn_right,
ord('I'): self._image_task.take_image,
ord('O'): self._image_task.toggle_video_mode,
}
self._locked_messages = ['', '',
''] # string: displayed message for user
self._estop_keepalive = None
self._exit_check = None
# Stuff that is set in start()
self._robot_id = None
self._lease = None
def start(self):
"""Begin communication with the robot."""
self._robot_id = self._robot.get_id()
self._lease = self._lease_client.acquire()
self._estop_endpoint.force_simple_setup(
) # Set this endpoint as the robot's sole estop.
def shutdown(self):
"""Release control of robot as gracefully as posssible."""
LOGGER.info("Shutting down WasdInterface.")
if self._robot.time_sync:
self._robot.time_sync.stop()
if self._estop_keepalive:
_grpc_or_log("stopping estop", self._estop_keepalive.stop)
self._estop_keepalive = None
if self._lease:
_grpc_or_log("returning lease",
lambda: self._lease_client.return_lease(self._lease))
self._lease = None
def __del__(self):
self.shutdown()
def flush_and_estop_buffer(self, stdscr):
"""Manually flush the curses input buffer but trigger any estop requests (space)"""
key = ''
while key != -1:
key = stdscr.getch()
if key == ord(' '):
self._toggle_estop()
def add_message(self, msg_text):
"""Display the given message string to the user in the curses interface."""
with self._lock:
self._locked_messages = [msg_text] + self._locked_messages[:-1]
def message(self, idx):
"""Grab one of the 3 last messages added."""
with self._lock:
return self._locked_messages[idx]
@property
def robot_state(self):
"""Get latest robot state proto."""
return self._robot_state_task.proto
@property
def robot_metrics(self):
"""Get latest robot metrics proto."""
return self._robot_metrics_task.proto
def drive(self, stdscr):
"""User interface to control the robot via the passed-in curses screen interface object."""
with ExitCheck(exit_delay_secs=2.0) as self._exit_check, \
LeaseKeepAlive(self._lease_client,
keep_running_cb=lambda: self._exit_check.keep_alive) \
as lease_keep_alive:
curses_handler = CursesHandler(self)
curses_handler.setLevel(logging.INFO)
LOGGER.addHandler(curses_handler)
stdscr.nodelay(True) # Don't block for user input.
# for debug
curses.echo()
try:
while self._exit_check.keep_alive:
self._async_tasks.update()
self._drive_draw(stdscr, lease_keep_alive)
if not self._exit_check.exit_requested:
try:
cmd = stdscr.getch()
# Do not queue up commands on client
self.flush_and_estop_buffer(stdscr)
self._drive_cmd(cmd)
except Exception:
# On robot command fault, sit down safely before killing the program.
self._safe_power_off()
time.sleep(2.0)
raise
time.sleep(COMMAND_INPUT_RATE)
finally:
LOGGER.removeHandler(curses_handler)
def _drive_draw(self, stdscr, lease_keep_alive):
"""Draw the interface screen at each update."""
stdscr.clear() # clear screen
stdscr.addstr(
0, 0, '{:20s} {}'.format(self._robot_id.nickname,
self._robot_id.serial_number))
stdscr.addstr(1, 0, self._lease_str(lease_keep_alive))
stdscr.addstr(2, 0, self._battery_str())
stdscr.addstr(3, 0, self._estop_str())
stdscr.addstr(4, 0, self._power_state_str())
stdscr.addstr(5, 0, self._time_sync_str())
for i in range(3):
stdscr.addstr(7 + i, 2, self.message(i))
self._show_metrics(stdscr)
stdscr.addstr(10, 0, "Commands: [TAB]: quit")
stdscr.addstr(11, 0,
" [T]: Time-sync, [SPACE]: Estop, [P]: Power")
stdscr.addstr(12, 0, " [I]: Take image, [O]: Video mode")
stdscr.addstr(13, 0, " [v]: Sit, [f]: Stand, [r]: Self-right")
stdscr.addstr(14, 0, " [wasd]: Directional strafing")
stdscr.addstr(15, 0, " [qe]: Turning")
# print as many lines of the image as will fit on the curses screen
if self._image_task.ascii_image != None:
max_y, _max_x = stdscr.getmaxyx()
for y_i, img_line in enumerate(self._image_task.ascii_image):
if y_i + 16 >= max_y:
break
stdscr.addstr('\n' + img_line)
stdscr.refresh()
def _drive_cmd(self, key):
"""Run user commands at each update."""
try:
cmd_function = self._command_dictionary[key]
cmd_function()
except KeyError:
if key and key != -1 and key < 256:
self.add_message("Unrecognized keyboard command: '{}'".format(
chr(key)))
def _try_grpc(self, desc, thunk):
try:
return thunk()
except (ResponseError, RpcError) as err:
self.add_message("Failed {}: {}".format(desc, err))
return None
def _quit_program(self):
self._sit()
self._exit_check.request_exit()
def _toggle_time_sync(self):
if self._robot.time_sync.stopped:
self._robot.time_sync.start()
else:
self._robot.time_sync.stop()
def _toggle_estop(self):
"""toggle estop on/off. Initial state is ON"""
if not self._estop_keepalive:
self._estop_keepalive = EstopKeepAlive(self._estop_endpoint)
else:
self._try_grpc("stopping estop", self._estop_keepalive.stop)
self._estop_keepalive.shutdown()
self._estop_keepalive = None
def _start_robot_command(self, desc, command_proto, end_time_secs=None):
def _start_command():
self._robot_command_client.robot_command(
lease=None, command=command_proto, end_time_secs=end_time_secs)
self._try_grpc(desc, _start_command)
def _self_right(self):
self._start_robot_command('self_right',
RobotCommandBuilder.selfright_command())
def _sit(self):
self._start_robot_command('sit', RobotCommandBuilder.sit_command())
def _stand(self):
self._start_robot_command('stand', RobotCommandBuilder.stand_command())
def _move_forward(self):
self._velocity_cmd_helper('move_forward', v_x=VELOCITY_BASE_SPEED)
def _move_backward(self):
self._velocity_cmd_helper('move_backward', v_x=-VELOCITY_BASE_SPEED)
def _strafe_left(self):
self._velocity_cmd_helper('strafe_left', v_y=VELOCITY_BASE_SPEED)
def _strafe_right(self):
self._velocity_cmd_helper('strafe_right', v_y=-VELOCITY_BASE_SPEED)
def _turn_left(self):
self._velocity_cmd_helper('turn_left', v_rot=VELOCITY_BASE_ANGULAR)
def _turn_right(self):
self._velocity_cmd_helper('turn_right', v_rot=-VELOCITY_BASE_ANGULAR)
def _velocity_cmd_helper(self, desc='', v_x=0.0, v_y=0.0, v_rot=0.0):
self._start_robot_command(
desc,
RobotCommandBuilder.velocity_command(v_x=v_x, v_y=v_y,
v_rot=v_rot),
end_time_secs=time.time() + VELOCITY_CMD_DURATION)
# This command makes the robot move very fast and the 'origin' is very unpredictable.
def _return_to_origin(self):
self._start_robot_command(
'fwd_and_rotate',
RobotCommandBuilder.trajectory_command(
goal_x=0.0,
goal_y=0.0,
goal_heading=0.0,
frame=geometry_pb2.Frame(base_frame=geometry_pb2.FRAME_KO),
params=None,
body_height=0.0,
locomotion_hint=spot_command_pb2.HINT_SPEED_SELECT_TROT),
end_time_secs=time.time() + 20)
def _take_ascii_image(self):
source_name = "frontright_fisheye_image"
image_response = self._image_client.get_image_from_sources(
[source_name])
image = Image.open(io.BytesIO(image_response[0].shot.image.data))
ascii_image = self._ascii_converter.convert_to_ascii(image,
new_width=70)
self._last_image_ascii = ascii_image
def _toggle_ascii_video(self):
if self._video_mode:
self._video_mode = False
else:
self._video_mode = True
# def _clear_behavior_faults(self):
# cmd = robot_state_proto.GetRobotState()
# self._start_robot_command(cmd)
# robot_command_pb2.clear_behavior_fault(behavior_fault_id = , lease = self._lease)
def _toggle_power(self):
power_state = self._power_state()
if power_state is None:
self.add_message(
'Could not toggle power because power state is unknown')
return
if power_state == robot_state_proto.PowerState.STATE_OFF:
self._try_grpc("powering-on", self._request_power_on)
else:
self._try_grpc("powering-off", self._safe_power_off)
def _request_power_on(self):
bosdyn.client.power.power_on(self._power_client)
def _safe_power_off(self):
self._start_robot_command('safe_power_off',
RobotCommandBuilder.safe_power_off_command())
def _show_metrics(self, stdscr):
metrics = self.robot_metrics
if not metrics:
return
for idx, metric in enumerate(metrics.metrics):
stdscr.addstr(2 + idx, 50, format_metric(metric))
def _power_state(self):
state = self.robot_state
if not state:
return None
return state.power_state.motor_power_state
def _lease_str(self, lease_keep_alive):
alive = 'RUNNING' if lease_keep_alive.is_alive() else 'STOPPED'
lease = '{}:{}'.format(self._lease.lease_proto.resource,
self._lease.lease_proto.sequence)
return 'Lease {} THREAD:{}'.format(lease, alive)
def _power_state_str(self):
power_state = self._power_state()
if power_state is None:
return ''
state_str = robot_state_proto.PowerState.MotorPowerState.Name(
power_state)
return 'Power: {}'.format(state_str[6:]) # get rid of STATE_ prefix
def _estop_str(self):
thread_status = 'RUNNING' if self._estop_keepalive else 'STOPPED'
estop_status = '??'
state = self.robot_state
if state:
for estop_state in state.estop_states:
if estop_state.type == estop_state.TYPE_SOFTWARE:
estop_status = estop_state.State.Name(
estop_state.state)[6:] # s/STATE_//
break
return 'Estop {} (thread: {})'.format(estop_status, thread_status)
def _time_sync_str(self):
if not self._robot.time_sync:
return 'Time sync: (none)'
if self._robot.time_sync.stopped:
status = 'STOPPED'
exception = self._robot.time_sync.thread_exception
if exception:
status = '{} Exception: {}'.format(status, exception)
else:
status = 'RUNNING'
try:
skew = self._robot.time_sync.get_robot_clock_skew()
if skew:
skew_str = 'offset={}'.format(duration_str(skew))
else:
skew_str = "(Skew undetermined)"
except (TimeSyncError, RpcError) as err:
skew_str = '({})'.format(err)
return 'Time sync: {} {}'.format(status, skew_str)
def _battery_str(self):
if not self.robot_state:
return ''
battery_state = self.robot_state.battery_states[0]
status = battery_state.Status.Name(battery_state.status)
status = status[7:] # get rid of STATUS_ prefix
if battery_state.charge_percentage.value:
bar_len = int(battery_state.charge_percentage.value) // 10
bat_bar = '|{}{}|'.format('=' * bar_len, ' ' * (10 - bar_len))
else:
bat_bar = ''
time_left = ''
if battery_state.estimated_runtime:
time_left = ' ({})'.format(
secs_to_hms(battery_state.estimated_runtime.seconds))
return 'Battery: {}{}{}'.format(status, bat_bar, time_left)
class RecorderInterface(object):
"""A curses interface for recording robot missions."""
def __init__(self, robot, download_filepath):
self._robot = robot
# Flag indicating whether mission is currently being recorded
self._recording = False
# Flag indicating whether robot is in feature desert mode
self._desert_mode = False
# Filepath for the location to put the downloaded graph and snapshots.
self._download_filepath = download_filepath
# List of waypoint commands
self._waypoint_commands = []
# Dictionary indicating which waypoints are deserts
self._desert_flag = {}
# Current waypoint id
self._waypoint_id = 'NONE'
# Create clients -- do not use the for communication yet.
self._lease_client = robot.ensure_client(
LeaseClient.default_service_name)
try:
self._estop_client = self._robot.ensure_client(
EstopClient.default_service_name)
self._estop_endpoint = EstopEndpoint(self._estop_client,
'GNClient', 9.0)
except:
# Not the estop.
self._estop_client = None
self._estop_endpoint = None
self._map_processing_client = robot.ensure_client(
MapProcessingServiceClient.default_service_name)
self._power_client = robot.ensure_client(
PowerClient.default_service_name)
self._robot_state_client = robot.ensure_client(
RobotStateClient.default_service_name)
self._robot_command_client = robot.ensure_client(
RobotCommandClient.default_service_name)
self._world_object_client = robot.ensure_client(
WorldObjectClient.default_service_name)
# Setup the recording service client.
self._recording_client = self._robot.ensure_client(
GraphNavRecordingServiceClient.default_service_name)
# Setup the graph nav service client.
self._graph_nav_client = robot.ensure_client(
GraphNavClient.default_service_name)
# Local copy of the graph.
self._graph = None
self._all_graph_wps_in_order = []
self._robot_state_task = AsyncRobotState(self._robot_state_client)
self._async_tasks = AsyncTasks([self._robot_state_task])
self._lock = threading.Lock()
self._command_dictionary = {
27: self._stop, # ESC key
ord('\t'): self._quit_program,
ord('T'): self._toggle_time_sync,
ord(' '): self._toggle_estop,
ord('r'): self._self_right,
ord('P'): self._toggle_power,
ord('v'): self._sit,
ord('f'): self._stand,
ord('w'): self._move_forward,
ord('s'): self._move_backward,
ord('a'): self._strafe_left,
ord('c'): self._auto_close_loops,
ord('d'): self._strafe_right,
ord('q'): self._turn_left,
ord('e'): self._turn_right,
ord('m'): self._start_recording,
ord('l'): self._relocalize,
ord('z'): self._enter_desert,
ord('x'): self._exit_desert,
ord('g'): self._generate_mission
}
self._locked_messages = ['', '',
''] # string: displayed message for user
self._estop_keepalive = None
self._exit_check = None
# Stuff that is set in start()
self._robot_id = None
self._lease = None
def start(self):
"""Begin communication with the robot."""
self._lease = self._lease_client.acquire()
self._robot_id = self._robot.get_id()
if self._estop_endpoint is not None:
self._estop_endpoint.force_simple_setup(
) # Set this endpoint as the robot's sole estop.
# Clear existing graph nav map
self._graph_nav_client.clear_graph()
def shutdown(self):
"""Release control of robot as gracefully as possible."""
LOGGER.info("Shutting down WasdInterface.")
if self._estop_keepalive:
# This stops the check-in thread but does not stop the robot.
self._estop_keepalive.shutdown()
if self._lease:
_grpc_or_log("returning lease",
lambda: self._lease_client.return_lease(self._lease))
self._lease = None
def __del__(self):
self.shutdown()
def flush_and_estop_buffer(self, stdscr):
"""Manually flush the curses input buffer but trigger any estop requests (space)"""
key = ''
while key != -1:
key = stdscr.getch()
if key == ord(' '):
self._toggle_estop()
def add_message(self, msg_text):
"""Display the given message string to the user in the curses interface."""
with self._lock:
self._locked_messages = [msg_text] + self._locked_messages[:-1]
def message(self, idx):
"""Grab one of the 3 last messages added."""
with self._lock:
return self._locked_messages[idx]
@property
def robot_state(self):
"""Get latest robot state proto."""
return self._robot_state_task.proto
def drive(self, stdscr):
"""User interface to control the robot via the passed-in curses screen interface object."""
with LeaseKeepAlive(self._lease_client) as lease_keep_alive, \
ExitCheck() as self._exit_check:
curses_handler = CursesHandler(self)
curses_handler.setLevel(logging.INFO)
LOGGER.addHandler(curses_handler)
stdscr.nodelay(True) # Don't block for user input.
stdscr.resize(26, 96)
stdscr.refresh()
# for debug
curses.echo()
try:
while not self._exit_check.kill_now:
self._async_tasks.update()
self._drive_draw(stdscr, lease_keep_alive)
try:
cmd = stdscr.getch()
# Do not queue up commands on client
self.flush_and_estop_buffer(stdscr)
self._drive_cmd(cmd)
time.sleep(COMMAND_INPUT_RATE)
except Exception:
# On robot command fault, sit down safely before killing the program.
self._safe_power_off()
time.sleep(2.0)
self.shutdown()
raise
finally:
LOGGER.removeHandler(curses_handler)
def _count_visible_fiducials(self):
"""Return number of fiducials visible to robot."""
request_fiducials = [world_object_pb2.WORLD_OBJECT_APRILTAG]
fiducial_objects = self._world_object_client.list_world_objects(
object_type=request_fiducials).world_objects
return len(fiducial_objects)
def _drive_draw(self, stdscr, lease_keep_alive):
"""Draw the interface screen at each update."""
stdscr.clear() # clear screen
stdscr.resize(26, 96)
stdscr.addstr(
0, 0, '{:20s} {}'.format(self._robot_id.nickname,
self._robot_id.serial_number))
stdscr.addstr(1, 0, self._lease_str(lease_keep_alive))
stdscr.addstr(2, 0, self._battery_str())
stdscr.addstr(3, 0, self._estop_str())
stdscr.addstr(4, 0, self._power_state_str())
stdscr.addstr(5, 0, self._time_sync_str())
stdscr.addstr(6, 0, self._waypoint_str())
stdscr.addstr(7, 0, self._fiducial_str())
stdscr.addstr(8, 0, self._desert_str())
for i in range(3):
stdscr.addstr(10 + i, 2, self.message(i))
stdscr.addstr(14, 0,
"Commands: [TAB]: quit ")
stdscr.addstr(15, 0,
" [T]: Time-sync, [SPACE]: Estop, [P]: Power")
stdscr.addstr(16, 0,
" [v]: Sit, [f]: Stand, [r]: Self-right ")
stdscr.addstr(17, 0,
" [wasd]: Directional strafing ")
stdscr.addstr(18, 0,
" [qe]: Turning, [ESC]: Stop ")
stdscr.addstr(19, 0,
" [m]: Start recording mission ")
stdscr.addstr(20, 0,
" [l]: Add fiducial localization to mission ")
stdscr.addstr(21, 0,
" [z]: Enter desert mode ")
stdscr.addstr(22, 0,
" [x]: Exit desert mode ")
stdscr.addstr(23, 0,
" [g]: Stop recording and generate mission ")
stdscr.refresh()
def _drive_cmd(self, key):
"""Run user commands at each update."""
try:
cmd_function = self._command_dictionary[key]
cmd_function()
except KeyError:
if key and key != -1 and key < 256:
self.add_message("Unrecognized keyboard command: '{}'".format(
chr(key)))
def _try_grpc(self, desc, thunk):
try:
return thunk()
except (ResponseError, RpcError) as err:
self.add_message("Failed {}: {}".format(desc, err))
return None
def _quit_program(self):
if self._recording:
self._stop_recording()
self._robot.power_off()
self.shutdown()
if self._exit_check is not None:
self._exit_check.request_exit()
def _toggle_time_sync(self):
if self._robot.time_sync.stopped:
self._robot.time_sync.start()
else:
self._robot.time_sync.stop()
def _toggle_estop(self):
"""toggle estop on/off. Initial state is ON"""
if self._estop_client is not None and self._estop_endpoint is not None:
if not self._estop_keepalive:
self._estop_keepalive = EstopKeepAlive(self._estop_endpoint)
else:
self._try_grpc("stopping estop", self._estop_keepalive.stop)
self._estop_keepalive.shutdown()
self._estop_keepalive = None
def _start_robot_command(self, desc, command_proto, end_time_secs=None):
def _start_command():
self._robot_command_client.robot_command(
lease=None, command=command_proto, end_time_secs=end_time_secs)
self._try_grpc(desc, _start_command)
def _self_right(self):
self._start_robot_command('self_right',
RobotCommandBuilder.selfright_command())
def _sit(self):
self._start_robot_command('sit',
RobotCommandBuilder.synchro_sit_command())
def _stand(self):
self._start_robot_command('stand',
RobotCommandBuilder.synchro_stand_command())
def _move_forward(self):
self._velocity_cmd_helper('move_forward', v_x=VELOCITY_BASE_SPEED)
def _move_backward(self):
self._velocity_cmd_helper('move_backward', v_x=-VELOCITY_BASE_SPEED)
def _strafe_left(self):
self._velocity_cmd_helper('strafe_left', v_y=VELOCITY_BASE_SPEED)
def _strafe_right(self):
self._velocity_cmd_helper('strafe_right', v_y=-VELOCITY_BASE_SPEED)
def _turn_left(self):
self._velocity_cmd_helper('turn_left', v_rot=VELOCITY_BASE_ANGULAR)
def _turn_right(self):
self._velocity_cmd_helper('turn_right', v_rot=-VELOCITY_BASE_ANGULAR)
def _stop(self):
self._start_robot_command('stop', RobotCommandBuilder.stop_command())
def _velocity_cmd_helper(self, desc='', v_x=0.0, v_y=0.0, v_rot=0.0):
self._start_robot_command(
desc,
RobotCommandBuilder.synchro_velocity_command(v_x=v_x,
v_y=v_y,
v_rot=v_rot),
end_time_secs=time.time() + VELOCITY_CMD_DURATION)
def _return_to_origin(self):
self._start_robot_command(
'fwd_and_rotate',
RobotCommandBuilder.synchro_se2_trajectory_point_command(
goal_x=0.0,
goal_y=0.0,
goal_heading=0.0,
frame_name=ODOM_FRAME_NAME,
params=None,
body_height=0.0,
locomotion_hint=spot_command_pb2.HINT_SPEED_SELECT_TROT),
end_time_secs=time.time() + 20)
def _toggle_power(self):
power_state = self._power_state()
if power_state is None:
self.add_message(
'Could not toggle power because power state is unknown')
return
if power_state == robot_state_proto.PowerState.STATE_OFF:
self._try_grpc("powering-on", self._request_power_on)
else:
self._try_grpc("powering-off", self._safe_power_off)
def _request_power_on(self):
bosdyn.client.power.power_on(self._power_client)
def _safe_power_off(self):
self._start_robot_command('safe_power_off',
RobotCommandBuilder.safe_power_off_command())
def _power_state(self):
state = self.robot_state
if not state:
return None
return state.power_state.motor_power_state
def _lease_str(self, lease_keep_alive):
alive = 'RUNNING' if lease_keep_alive.is_alive() else 'STOPPED'
lease = '{}:{}'.format(self._lease.lease_proto.resource,
self._lease.lease_proto.sequence)
return 'Lease {} THREAD:{}'.format(lease, alive)
def _power_state_str(self):
power_state = self._power_state()
if power_state is None:
return ''
state_str = robot_state_proto.PowerState.MotorPowerState.Name(
power_state)
return 'Power: {}'.format(state_str[6:]) # get rid of STATE_ prefix
def _estop_str(self):
if not self._estop_client:
thread_status = 'NOT ESTOP'
else:
thread_status = 'RUNNING' if self._estop_keepalive else 'STOPPED'
estop_status = '??'
state = self.robot_state
if state:
for estop_state in state.estop_states:
if estop_state.type == estop_state.TYPE_SOFTWARE:
estop_status = estop_state.State.Name(
estop_state.state)[6:] # s/STATE_//
break
return 'Estop {} (thread: {})'.format(estop_status, thread_status)
def _time_sync_str(self):
if not self._robot.time_sync:
return 'Time sync: (none)'
if self._robot.time_sync.stopped:
status = 'STOPPED'
exception = self._robot.time_sync.thread_exception
if exception:
status = '{} Exception: {}'.format(status, exception)
else:
status = 'RUNNING'
try:
skew = self._robot.time_sync.get_robot_clock_skew()
if skew:
skew_str = 'offset={}'.format(duration_str(skew))
else:
skew_str = "(Skew undetermined)"
except (TimeSyncError, RpcError) as err:
skew_str = '({})'.format(err)
return 'Time sync: {} {}'.format(status, skew_str)
def _waypoint_str(self):
state = self._graph_nav_client.get_localization_state()
try:
self._waypoint_id = state.localization.waypoint_id
if self._waypoint_id == '':
self._waypoint_id = 'NONE'
except:
self._waypoint_id = 'ERROR'
if self._recording and self._waypoint_id != 'NONE' and self._waypoint_id != 'ERROR':
if self._waypoint_id not in self._desert_flag:
self._desert_flag[self._waypoint_id] = self._desert_mode
return 'Current waypoint: {} [ RECORDING ]'.format(
self._waypoint_id)
return 'Current waypoint: {}'.format(self._waypoint_id)
def _fiducial_str(self):
return 'Visible fiducials: {}'.format(
str(self._count_visible_fiducials()))
def _desert_str(self):
if self._desert_mode:
return '[ FEATURE DESERT MODE ]'
else:
return ''
def _battery_str(self):
if not self.robot_state:
return ''
battery_state = self.robot_state.battery_states[0]
status = battery_state.Status.Name(battery_state.status)
status = status[7:] # get rid of STATUS_ prefix
if battery_state.charge_percentage.value:
bar_len = int(battery_state.charge_percentage.value) // 10
bat_bar = '|{}{}|'.format('=' * bar_len, ' ' * (10 - bar_len))
else:
bat_bar = ''
time_left = ''
if battery_state.estimated_runtime:
time_left = ' ({})'.format(
secs_to_hms(battery_state.estimated_runtime.seconds))
return 'Battery: {}{}{}'.format(status, bat_bar, time_left)
def _fiducial_visible(self):
"""Return True if robot can see fiducial."""
request_fiducials = [world_object_pb2.WORLD_OBJECT_APRILTAG]
fiducial_objects = self._world_object_client.list_world_objects(
object_type=request_fiducials).world_objects
self.add_message("Fiducial objects: " + str(fiducial_objects))
if len(fiducial_objects) > 0:
return True
return False
def _start_recording(self):
"""Start recording a map."""
if self._count_visible_fiducials() == 0:
self.add_message(
"ERROR: Can't start recording -- No fiducials in view.")
return
if self._waypoint_id is None:
self.add_message("ERROR: Not localized to waypoint.")
return
# Tell graph nav to start recording map
status = self._recording_client.start_recording()
if status != recording_pb2.StartRecordingResponse.STATUS_OK:
self.add_message("Start recording failed.")
return
self.add_message("Started recording map.")
self._graph = None
self._all_graph_wps_in_order = []
state = self._graph_nav_client.get_localization_state()
if '' == state.localization.waypoint_id:
self.add_message("No localization after start recording.")
self._recording_client.stop_recording()
return
self._waypoint_commands = []
# Treat this sort of like RPN / postfix, where operators follow their operands.
# waypoint_id LOCALIZE means "localize to waypoint_id".
# INITIALIZE takes no argument.
# Implicitly, we make routes between pairs of waypoint ids as they occur.
# `w0 w1 LOCALIZE w2` will give a route w0->w1, whereupon we localize,
# and then a route w1->w2.
self._waypoint_commands.append('INITIALIZE')
# Start with the first waypoint.
self._waypoint_commands.append(state.localization.waypoint_id)
self._recording = True
def _stop_recording(self):
"""Stop or pause recording a map."""
if not self._recording:
return True
self._recording = False
if self._waypoint_id != self._waypoint_commands[-1]:
self._waypoint_commands += [self._waypoint_id]
try:
status = self._recording_client.stop_recording()
if status != recording_pb2.StopRecordingResponse.STATUS_OK:
self.add_message("Stop recording failed.")
return False
self.add_message("Successfully stopped recording a map.")
return True
except NotLocalizedToEndError:
self.add_message(
"ERROR: Move to final waypoint before stopping recording.")
return False
def _relocalize(self):
"""Insert localization node into mission."""
if not self._recording:
print('Not recording mission.')
return False
self.add_message("Adding fiducial localization to mission.")
self._waypoint_commands += [self._waypoint_id]
self._waypoint_commands += ['LOCALIZE']
# Return to waypoint (in case localization shifted to another waypoint)
self._waypoint_commands += [self._waypoint_id]
return True
def _enter_desert(self):
self._desert_mode = True
if self._recording:
if self._waypoint_commands == [] or self._waypoint_commands[
-1] != self._waypoint_id:
self._waypoint_commands += [self._waypoint_id]
def _exit_desert(self):
self._desert_mode = False
if self._recording:
if self._waypoint_commands == [] or self._waypoint_commands[
-1] != self._waypoint_id:
self._waypoint_commands += [self._waypoint_id]
def _generate_mission(self):
"""Save graph map and mission file."""
# Check whether mission has been recorded
if not self._recording:
self.add_message("ERROR: No mission recorded.")
return
# Check for empty mission
if len(self._waypoint_commands) == 0:
self.add_message("ERROR: No waypoints in mission.")
return
# Stop recording mission
if not self._stop_recording():
self.add_message("ERROR: Error while stopping recording.")
return
# Save graph map
os.mkdir(self._download_filepath)
if not self._download_full_graph():
self.add_message("ERROR: Error downloading graph.")
return
# Generate mission
mission = self._make_mission()
# Save mission file
os.mkdir(os.path.join(self._download_filepath, "missions"))
mission_filepath = os.path.join(self._download_filepath, "missions",
"autogenerated")
write_mission(mission, mission_filepath)
# Quit program
self._quit_program()
def _make_desert(self, waypoint):
waypoint.annotations.scan_match_region.empty.CopyFrom(
map_pb2.Waypoint.Annotations.LocalizeRegion.Empty())
def _download_full_graph(self, overwrite_desert_flag=None):
"""Download the graph and snapshots from the robot."""
graph = self._graph_nav_client.download_graph()
if graph is None:
self.add_message("Failed to download the graph.")
return False
if overwrite_desert_flag is not None:
for wp in graph.waypoints:
if wp.id in overwrite_desert_flag:
# Overwrite anything that we passed in.
self._desert_flag[wp.id] = overwrite_desert_flag[wp.id]
elif wp.id not in self._desert_flag:
self._desert_flag[wp.id] = False
# Mark desert waypoints
for waypoint in graph.waypoints:
if self._desert_flag[waypoint.id]:
self._make_desert(waypoint)
# Write graph map
self._write_full_graph(graph)
self.add_message(
"Graph downloaded with {} waypoints and {} edges".format(
len(graph.waypoints), len(graph.edges)))
# Download the waypoint and edge snapshots.
self._download_and_write_waypoint_snapshots(graph.waypoints)
self._download_and_write_edge_snapshots(graph.edges)
# Cache a list of all graph waypoints, ordered by creation time.
# Because we only record one (non-branching) chain, all possible routes are contained
# in ranges in this list.
self._graph = graph
wp_to_time = []
for wp in graph.waypoints:
time = wp.annotations.creation_time.seconds + wp.annotations.creation_time.nanos / 1e9
wp_to_time.append((wp.id, time))
# Switch inner and outer grouping and grab only the waypoint names after sorting by time.
self._all_graph_wps_in_order = list(
zip(*sorted(wp_to_time, key=lambda x: x[1])))[0]
return True
def _write_full_graph(self, graph):
"""Download the graph from robot to the specified, local filepath location."""
graph_bytes = graph.SerializeToString()
write_bytes(self._download_filepath, 'graph', graph_bytes)
def _download_and_write_waypoint_snapshots(self, waypoints):
"""Download the waypoint snapshots from robot to the specified, local filepath location."""
num_waypoint_snapshots_downloaded = 0
for waypoint in waypoints:
try:
waypoint_snapshot = self._graph_nav_client.download_waypoint_snapshot(
waypoint.snapshot_id)
except Exception:
# Failure in downloading waypoint snapshot. Continue to next snapshot.
self.add_message("Failed to download waypoint snapshot: " +
waypoint.snapshot_id)
continue
write_bytes(
os.path.join(self._download_filepath, 'waypoint_snapshots'),
waypoint.snapshot_id, waypoint_snapshot.SerializeToString())
num_waypoint_snapshots_downloaded += 1
self.add_message(
"Downloaded {} of the total {} waypoint snapshots.".format(
num_waypoint_snapshots_downloaded, len(waypoints)))
def _download_and_write_edge_snapshots(self, edges):
"""Download the edge snapshots from robot to the specified, local filepath location."""
num_edge_snapshots_downloaded = 0
num_to_download = 0
for edge in edges:
if len(edge.snapshot_id) == 0:
continue
num_to_download += 1
try:
edge_snapshot = self._graph_nav_client.download_edge_snapshot(
edge.snapshot_id)
except Exception:
# Failure in downloading edge snapshot. Continue to next snapshot.
self.add_message("Failed to download edge snapshot: " +
edge.snapshot_id)
continue
write_bytes(
os.path.join(self._download_filepath, 'edge_snapshots'),
edge.snapshot_id, edge_snapshot.SerializeToString())
num_edge_snapshots_downloaded += 1
self.add_message(
"Downloaded {} of the total {} edge snapshots.".format(
num_edge_snapshots_downloaded, num_to_download))
def _auto_close_loops(self):
"""Automatically find and close all loops in the graph."""
close_fiducial_loops = True
close_odometry_loops = True
response = self._map_processing_client.process_topology(
params=map_processing_pb2.ProcessTopologyRequest.Params(
do_fiducial_loop_closure=wrappers.BoolValue(
value=close_fiducial_loops),
do_odometry_loop_closure=wrappers.BoolValue(
value=close_odometry_loops)),
modify_map_on_server=True)
self.add_message("Created {} new edge(s).".format(
len(response.new_subgraph.edges)))
def _make_mission(self):
""" Create a mission that visits each waypoint on stored path."""
self.add_message("Mission: " + str(self._waypoint_commands))
# Create a Sequence that visits all the waypoints.
sequence = nodes_pb2.Sequence()
prev_waypoint_command = None
first_waypoint = True
for waypoint_command in self._waypoint_commands:
if waypoint_command == 'LOCALIZE':
if prev_waypoint_command is None:
raise RuntimeError(f'No prev waypoint; LOCALIZE')
sequence.children.add().CopyFrom(
self._make_localize_node(prev_waypoint_command))
elif waypoint_command == 'INITIALIZE':
# Initialize to any fiducial.
sequence.children.add().CopyFrom(self._make_initialize_node())
else:
if first_waypoint:
# Go to the beginning of the mission using any path. May be a no-op.
sequence.children.add().CopyFrom(
self._make_goto_node(waypoint_command))
else:
if prev_waypoint_command is None:
raise RuntimeError(
f'No prev waypoint; route to {waypoint_command}')
sequence.children.add().CopyFrom(
self._make_go_route_node(prev_waypoint_command,
waypoint_command))
prev_waypoint_command = waypoint_command
first_waypoint = False
# Return a Node with the Sequence.
ret = nodes_pb2.Node()
ret.name = "Visit %d goals" % len(self._waypoint_commands)
ret.impl.Pack(sequence)
return ret
def _make_goto_node(self, waypoint_id):
""" Create a leaf node that will go to the waypoint. """
ret = nodes_pb2.Node()
ret.name = "goto %s" % waypoint_id
vel_limit = NAV_VELOCITY_LIMITS
# We don't actually know which path we will plan. It could have many feature deserts.
# So, let's just allow feature deserts.
tolerance = graph_nav_pb2.TravelParams.TOLERANCE_IGNORE_POOR_FEATURE_QUALITY
travel_params = graph_nav_pb2.TravelParams(
velocity_limit=vel_limit, feature_quality_tolerance=tolerance)
impl = nodes_pb2.BosdynNavigateTo(travel_params=travel_params)
impl.destination_waypoint_id = waypoint_id
ret.impl.Pack(impl)
return ret
def _make_go_route_node(self, prev_waypoint_id, waypoint_id):
""" Create a leaf node that will go to the waypoint along a route. """
ret = nodes_pb2.Node()
ret.name = "go route %s -> %s" % (prev_waypoint_id, waypoint_id)
vel_limit = NAV_VELOCITY_LIMITS
if prev_waypoint_id not in self._all_graph_wps_in_order:
raise RuntimeError(
f'{prev_waypoint_id} (FROM) not in {self._all_graph_wps_in_order}'
)
if waypoint_id not in self._all_graph_wps_in_order:
raise RuntimeError(
f'{waypoint_id} (TO) not in {self._all_graph_wps_in_order}')
prev_wp_idx = self._all_graph_wps_in_order.index(prev_waypoint_id)
wp_idx = self._all_graph_wps_in_order.index(waypoint_id)
impl = nodes_pb2.BosdynNavigateRoute()
backwards = False
if wp_idx >= prev_wp_idx:
impl.route.waypoint_id[:] = self._all_graph_wps_in_order[
prev_wp_idx:wp_idx + 1]
else:
backwards = True
# Switch the indices and reverse the output order.
impl.route.waypoint_id[:] = reversed(
self._all_graph_wps_in_order[wp_idx:prev_wp_idx + 1])
edge_ids = [e.id for e in self._graph.edges]
for i in range(len(impl.route.waypoint_id) - 1):
eid = map_pb2.Edge.Id()
# Because we only record one (non-branching) chain, and we only create routes from
# older to newer waypoints, we can just follow the time-sorted list of all waypoints.
if backwards:
from_i = i + 1
to_i = i
else:
from_i = i
to_i = i + 1
eid.from_waypoint = impl.route.waypoint_id[from_i]
eid.to_waypoint = impl.route.waypoint_id[to_i]
impl.route.edge_id.extend([eid])
if eid not in edge_ids:
raise RuntimeError(
f'Was map recorded in linear chain? {eid} not in graph')
if any(self._desert_flag[wp_id] for wp_id in impl.route.waypoint_id):
tolerance = graph_nav_pb2.TravelParams.TOLERANCE_IGNORE_POOR_FEATURE_QUALITY
else:
tolerance = graph_nav_pb2.TravelParams.TOLERANCE_DEFAULT
travel_params = graph_nav_pb2.TravelParams(
velocity_limit=vel_limit, feature_quality_tolerance=tolerance)
impl.travel_params.CopyFrom(travel_params)
ret.impl.Pack(impl)
return ret
def _make_localize_node(self, waypoint_id):
"""Make localization node."""
loc = nodes_pb2.Node()
loc.name = "localize robot"
impl = nodes_pb2.BosdynGraphNavLocalize()
impl.localization_request.fiducial_init = graph_nav_pb2.SetLocalizationRequest.FIDUCIAL_INIT_NEAREST_AT_TARGET
impl.localization_request.initial_guess.waypoint_id = waypoint_id
loc.impl.Pack(impl)
return loc
def _make_initialize_node(self):
"""Make initialization node."""
loc = nodes_pb2.Node()
loc.name = "initialize robot"
impl = nodes_pb2.BosdynGraphNavLocalize()
impl.localization_request.fiducial_init = graph_nav_pb2.SetLocalizationRequest.FIDUCIAL_INIT_NEAREST
loc.impl.Pack(impl)
return loc