import requests
import os
import pickle
from Queue import Queue
import config
from utils.logger2 import getLogger
logger = getLogger('utils.inspection_status')
logger.propagate = False
Robot_Task_Cache = Queue()
Robot_Task_Cache_File = '/robot_task_cache.pkl'
class File(object):
def __init__(self, file_path):
if not os.path.exists(file_path):
raise OSError('{file_path} not exist'.format(file_path=file_path))
self.file_path = os.path.abspath(file_path)
def status(self):
open_fd_list = self.__get_all_fd()
open_count = len(open_fd_list)
is_opened = False
if open_count > 0:
is_opened = True
return {'is_opened': is_opened, 'open_count': open_count}
def __get_all_pid(self):
import copy
import datetime
from influxdb import InfluxDBClient
import config
from utils.logger2 import getLogger
logger = getLogger('utils-tsdb')
body_pos = {
'measurement': config.Table_Name_Robot_Pos,
'time': 0,
'tags': {
'robot_id': 0,
'inspection_id': 0,
},
'fields': {
'pos_x': 0,
'pos_y': 0,
'pos_angle': 0
}
}
body_event = {
'measurement': config.Table_Name_Robot_Event,
'time': 0,
'tags': {
'robot_id': 0,
'inspection_id': 0,
'waypoint_no': 0
},
import rospy
from geometry_msgs.msg import Twist
from utils.logger2 import getLogger
logger = getLogger('RotateController')
logger.propagate = False
PI = 3.1415926535897
class RotateController():
def __init__(self, inspection_id, robot_id):
self.inspection_id = inspection_id
self.robot_id = robot_id
self.msg_head = 'inspection:{} robot: {}: '.format(
inspection_id, robot_id)
self.rotate_pub = rospy.Publisher('/{}/cmd_vel'.format(self.robot_id),
Twist,
queue_size=10)
self.rotate_command = Twist()
rospy.on_shutdown(self.shutdown)
def rotate(self, angle=90, speed=90, clockwise=True, stay=2):
#Converting from angles to radians
angular_speed = 1.0 #speed*PI/180
relative_angle = angle * PI / 180
#We wont use linear components
self.rotate_command.linear.x = 0
from tf.transformations import euler_from_quaternion
from geometry_msgs.msg import Point, Twist, Pose
from apscheduler.schedulers.background import BackgroundScheduler
import yaml
import config
from turtlebot_goto import GoToPose
from turtlebot_rotate import RotateController, PI
from turtlebot_initpose import PoseIniter
from tsdb import DBHelper
from nav_math import distance, radiou2dgree
from turtlebot_robot_status import setRobotIdel, setRobotWorking, isRobotWorking
from utils.logger2 import getLogger
from utils.turtlebot import checkRobotNode, shell_cmd, killNavProcess
logger = getLogger('turtlebot_cruise')
logger.propagate = False
def initParas():
dababody = {
'inspection_id': 0,
'robot_id': 0,
'original_pose': None,
'cur_x': 0,
'cur_y': 0,
'cur_theta': 0,
'cur_time': 0,
'pre_time': 0,
'robot_status': {
'id': 0,
#!/usr/bin/env python
import os
import re
import time
import requests
from wand.image import Image
import config
from utils.turtlebot import shell_cmd
from utils.logger2 import getLogger
logger = getLogger('map_utils')
logger.propagate = False
def saveMap(map_path):
if not os.path.exists(map_path):
os.makedirs(map_path)
#export map from ros map_server
mapfilepath = os.path.join(map_path, 'map')
cmd = 'rosrun map_server map_saver -f {}'.format(mapfilepath)
result, _ = shell_cmd(cmd)
if result == 1:
logger.error('saveMap: error in running ' + cmd)
return None
logger.info(
'saveMap: succeeded in export site map to path: {}'.format(map_path))
from django.shortcuts import render
from rest_framework.decorators import api_view
from rest_framework.decorators import parser_classes
from rest_framework import status
from rest_framework.response import Response
#from rest_framework.decorators import JSONParser
from nav_utils.turtlebot_launch import Turtlebot_Launcher
from nav_utils.turltlebot_cruise import runRoute
from nav_utils.turtlebot_robot_status import setRobotWorking, setRobotIdel, isRobotWorking
from config import Nav_Pickle_File, Inspection_Status_Codes, Task_Type, Robot_Model
from utils.turtlebot import killNavProcess, initROSNode, checkMapFile
from utils.msg_center import addTaskIntoMsgQueue, getTasksFromMsgQueue
from utils.logger2 import getLogger
logger = getLogger('launch_av endpoint')
logger.propagate = False
@api_view(['POST'])
#@parser_classes([parser_classes.JSONParser])
def index(request):
"""
the post data should be in json and like:
{
'inspection_id': 103,
'site_id': 'office12'
'robots': {
'robot_id1': {
'org_pos': "(1.4, 10.5, 0)",
'subtask': "[(1, x1, y1), (2, x2, y2), ...]"
#!/usr/bin/env python
import sys
import os
import getopt
from map_utils import deleteRemoteSite, createRemoteSite, saveMap
import config
from utils.turtlebot import checkRobotNode
from utils.logger2 import getLogger
logger = getLogger('createSite')
logger.propagate = False
def createSite(sitename='test', description='', forced=True):
if not checkRobotNode('map_server', trytimes=1):
logger.error('createsite exit! Not found map_server')
raise Exception('not found map_server from rosnode')
map_path = os.path.join(config.Map_Dir, sitename)
if os.path.exists(map_path):
if not forced:
logger.info(
'site {} existed! choose not to overwrite existed site!'.
format(sitename))
try:
deleteRemoteSite(sitename)
saveMap(map_path)
createRemoteSite(sitename, description)
import copy
import time
import pickle
import xml.etree.ElementTree as ET
from os.path import expanduser
import rospy
import tf
from config import ROS_Launch_File, Map_Dir, Launch_Max_Try, Nav_Pickle_File, DEBUG
from utils.turtlebot import checkRobotNode, shell_open
#from utils.logger import logger
from utils.logger2 import getLogger
logger = getLogger('Turtlebot_Launcher')
logger.propagate = False
class Turtlebot_Launcher():
def __init__(self, siteid, robots):
self.robots = robots
self.siteid = siteid
def launch(self):
launched = False
for i in range(Launch_Max_Try):
logger.info(
'Start trial no. {} to launch navigation in multirobot mode!'.
format(i + 1))
import requests
import json
from config import Msg_Center_Endpoint
from utils.logger2 import getLogger
logger = getLogger('utils.msg_center')
logger.propagate = False
def addTaskIntoMsgQueue(data, tasktype=-1):
is_error = False
try:
response = requests.post(Msg_Center_Endpoint,
data={tasktype: json.dumps(data)})
if response.status_code != 200:
is_error = True
except Exception as e:
logger.error(str(e))
is_error = True
if is_error:
msg = "Failed to upload task data to MSG center! "
logger.error(msg)
raise Exception(msg)
logger.info("Succeeded to upload task data to MSG center!")
def getTasksFromMsgQueue():
#!/usr/bin/env python
import os
import sys
#from utils.turtlebot import killNavProcess
from utils.logger2 import getLogger
logger = getLogger('manage.py')
logger.propagate = False
if __name__ == "__main__":
os.environ.setdefault("DJANGO_SETTINGS_MODULE", "robotmaster.settings")
#kill existed navigation process
# logger.info('try to kill existed navigation process!')
# killNavProcess()
try:
from django.core.management import execute_from_command_line
except ImportError:
# The above import may fail for some other reason. Ensure that the
# issue is really that Django is missing to avoid masking other
# exceptions on Python 2.
try:
import django
except ImportError:
raise ImportError(
"Couldn't import Django. Are you sure it's installed and "
"available on your PYTHONPATH environment variable? Did you "
"forget to activate a virtual environment?"
)
# -*- coding: utf-8 -*-
from __future__ import unicode_literals
from rest_framework.decorators import api_view
from rest_framework.decorators import parser_classes
from rest_framework import status
from rest_framework.response import Response
#from rest_framework.decorators import JSONParser
from msg_utils import putTask, getTask
from utils.logger2 import getLogger
logger = getLogger('msg_center endpoint')
logger.propagate = False
@api_view(['POST', 'GET'])
#@parser_classes([parser_classes.JSONParser])
def index(request):
if request.method == 'POST':
putTask(request.data)
logger.info("new task added into MSG queue!")
return Response("new task added into MSG queue!", status=status.HTTP_200_OK)
else:
task_data = getTask()
logger.info("get new task: {} from MSG queue!".format(task_data))
return Response(data=task_data, status=status.HTTP_200_OK)
# -*- coding: utf-8 -*-
from __future__ import unicode_literals
from django.shortcuts import render
from rest_framework.decorators import api_view
from rest_framework import status
from rest_framework.response import Response
from createsite import createSite
#from utils.logger import logger
from utils.logger2 import getLogger
logger = getLogger('createsite endpoint')
logger.propagate = False
@api_view(['GET'])
def index(request):
# print(request.query_params)
if 'name' not in request.query_params.keys():
return Response(('name required'), status=status.HTTP_400_BAD_REQUEST)
else:
name = request.query_params['name']
desc = ''
if 'desc' in request.query_params.keys():
desc = request.query_params['desc']
forced = True
if 'forced' in request.query_params.keys():
if request.query_params['forced'].lower() not in ['y', 'yes', 'true']:
forced = False
import rospy
import actionlib
from actionlib_msgs.msg import *
from geometry_msgs.msg import Pose, PoseWithCovarianceStamped
from tf.transformations import euler_from_quaternion, quaternion_from_euler
import math
from random import sample
from config import Trial_Set_Pose_Count
from utils.logger2 import getLogger
logger = getLogger('turtlebot_initpose')
logger.propagate = False
class PoseIniter():
def __init__(self, inspection_id, robot_id, init_x, init_y, init_a):
self.inspection_id = inspection_id
self.robot_id = robot_id
self.msg_head = 'inspection:{} robot: {}: '.format(
inspection_id, robot_id)
# self.setpose_pub = rospy.Publisher('/{}/initialpose'.format(self.robot_id), PoseWithCovarianceStamped, latch=True, queue_size=1)
self.setpose_pub = rospy.Publisher('/{}/initialpose'.format(
self.robot_id),
PoseWithCovarianceStamped,
queue_size=10)
self.trial_set_pose_flag = True
self.init_pose = {'x': init_x, 'y': init_y, 'a': init_a}
rospy.sleep(1)
rospy.on_shutdown(self.shutdown)
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
'''
# TurtleBot must have minimal.launch & amcl_demo.launch
# running prior to starting this script
# For simulation: launch gazebo world & amcl_demo prior to run this script
import rospy
from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal
import actionlib
from actionlib_msgs.msg import *
from geometry_msgs.msg import Pose, Point, Quaternion
from config import Wait_For_GoToPose_Time, DEBUG
from utils.logger2 import getLogger
logger = getLogger('GoToPose')
class GoToPose():
def __init__(self, inspection_id, robot_id):
self.inspection_id = inspection_id
self.robot_id = robot_id
self.msg_head = 'inspection:{} robot: {}: '.format(
inspection_id, robot_id)
self.goal_sent = False
# What to do if shut down (e.g. Ctrl-C or failure)
rospy.on_shutdown(self.shutdown)