def set_analog_voltage(self, v):
""" Sets the robot's analog output voltage.
Args:
v (float): The output voltage to set. This is limited to the range of 0-10V.
"""
if self.simulated:
raise SoarIOError('Cannot set the analog output of a simulated robot (yet)') # TODO: CMax integration
else: # Sent the analog-digital output required to read it later
try:
self.arcos.send_command(DIGOUT, int(clip(v, 0, 10)*25.5) | 0xff00)
except Timeout as e: # Recast arcos errors as Soar errors
raise SoarIOError(str(e)) from e
def on_stop(self):
if not self.simulated:
try:
self.arcos.send_command(STOP) # Stop the robot from moving
self.arcos.send_command(ENABLE, 0) # Disable the motors after we've stopped
except Timeout as e: # Recast arcos errors as Soar errors
raise SoarIOError(str(e)) from e
def on_load(self):
if self.simulated:
self.arcos = None
print('Connected to Pioneer p3dx-sh MIT_0042 (12.0 Volts) [Simulated]')
print('Your robot\'s name is \'Denny\'') # Hi Denny Freeman!
else:
try:
self.arcos = ARCOSClient()
self.arcos.connect(forced_ports=self._serial_ports)
self.arcos.send_command(ENABLE, 0) # We disable the motors so that the robot is easily movable
# Continuously request IOpacs, and make sure we receive at least one
self.arcos.send_command(IOREQUEST, 2)
self.arcos.wait_or_timeout(self.arcos.io_event, 1.0, 'Could not access robot IO information')
# Request a CONFIGpac and make sure we receive one
self.arcos.send_command(CONFIG)
self.arcos.wait_or_timeout(self.arcos.config_event, 1.0, 'Could not access robot configuration')
config = self.arcos.config
serial_num = str(getnode())
battery_volts = self.arcos.standard['BATTERY'] / 10.0
# Set the serial device for viewing
self.serial_device = self.arcos.ser.name
# Print the standard connection message and warn if the battery is low
print('Connected to', ' '.join([config[field] for field in ['ROBOT_TYPE', 'SUBTYPE', 'NAME']]), 'on',
self.serial_device, '(%s Volts)' % battery_volts)
print('Your robot\'s name is \'%s\'' % name_from_sernum(serial_num))
if battery_volts < self.arcos.config['LOWBATTERY']/10.0:
printerr('WARNING: The robot\'s battery is low. Consider recharging or finding a new one.')
except ARCOSError as e: # If anything goes wrong, raise a SoarIOError
raise SoarIOError(str(e)) from e
def analogs(self):
""" Get the robot's 4 analog inputs, so long as it is real and not simulated, as a 4 tuple. """
if self.simulated:
raise SoarIOError('Cannot access the inputs of a simulated robot (yet)') # TODO: CMax integration
else:
# Assume that the io information is relatively current
return tuple([round(a*10.0/1023.0, 3) for a in self.arcos.io['ANALOGS'][4:]])
def rv(self, value):
self._rv = clip(value, -self.RV_CAP, self.RV_CAP)
if not self.simulated:
try:
self.arcos.send_command(RVEL, int(self._rv * 180 / pi)) # Convert radians/sec to degrees/sec
except Timeout as e: # Recast arcos errors as Soar errors
raise SoarIOError(str(e)) from e
def fv(self, value):
self._fv = clip(value, -self.FV_CAP, self.FV_CAP)
if not self.simulated: # For real robots, must send an ARCOS command
try:
self.arcos.send_command(VEL, int(self._fv*1000)) # Convert m/s to mm/s
except Timeout as e: # Recast arcos errors as Soar errors
raise SoarIOError(str(e)) from e
def on_start(self):
if not self.simulated:
for _ in range(5): # Try enabling motors a few times
if self.arcos.standard['FLAGS'] & 0x1 != 0x1: # If the motors have not been enabled
try:
self.arcos.send_command(ENABLE, 1) # Re-enable them
except Timeout as e: # Recast arcos errors as Soar errors
raise SoarIOError(str(e)) from e
sleep(1.0)
else: # If they have been, we're all set
break
if self.arcos.standard['FLAGS'] & 0x1 != 0x1: # If they still aren't enabled, raise an error
raise SoarIOError('Unable to enable the robot\'s motors')
try:
self.arcos.send_command(SETO)
except Timeout as e: # Recast arcos errors as Soar errors
raise SoarIOError(str(e)) from e
def on_load(self):
""" Called when the controller of the robot is loaded.
The behavior of this method should differ depending on the value of `simulated`; if it is `False`, this
method should be used to connect with the real robot. If a connection error occurs, a
:class:`soar.errors.SoarIOError` should be raised to notify the client that the error was not due to other
causes.
"""
if not self.simulated:
raise SoarIOError('BaseRobot has no real interface to connect to')