class MissionAll( StandardMission ):
def __init__( self , name ):
self.name = name
StandardMission.__init__( self , self.name , "/mission/all" , self.callback )
self.vision_gate = VisionCollector( "gate" )
self.vision_flare = VisionCollector( "flare" )
self.vision_drum = VisionCollector( "drum" )
self.state = False
self.echo( self.name , "ALL MISSION SETUP FINISHED")
self.time_start = time.time()
def callback( self , request ):
result = False
self.state = request.data
if( not self.ok_state() ):
return False
self.echo( self.name , "START MISSION GATE" )
self.reset_target( "yaw" )
self.reset_target( "xy" )
self.reset_velocity( "xy" )
self.target_state()
self.start_yaw = self.temp_state[5]
self.fix_z( -0.8 )
self.wait_state( "z" , 0.15 , 5 )
self.find_gate( 4 , 30 , 2 , 15 , 1 ) # d_f , t_f , d_s , t_s
self.echo( "CONNECTION" , "Now can go pass gate" )
self.over_move( 10 , 70 , True )
self.fix_z( -1.2 )
self.velocity_xy( 0.2 , 0 )
while( self.ok_state() ):
self.sleep( 0.1 )
if( self.over_move( 10 , 70 ) ):
break
self.reset_velocity( "xy")
self.fix_z( -0.7 )
play_pick = False
if( self.ok_state() ): play_pick = self.find_drum()
if( self.ok_state() and play_pick ): self.move_out_in()
self.find_flare( 6 , 50 , -1 )
self.reset_velocity( "xy" )
self.hold_gripper()
self.active_control( False )
return True
def over_move( self , distance , time , setup = False ):
if( setup ):
self.time_start = time.time()
self.collect_state()
return True
else:
if( self.distance() > distance ):
return True
# elif( ( time.time() - self.time_start ) > time ):
# return True
else:
return False
def play_flare( self ):
self.hold_gripper()
self.free_xy( True )
self.fix_z( -1.6 )
count_unfound = 0
while( self.ok_state() ):
self.sleep( 0.1 )
self.vision_flare( "flare" , "near" , 5 )
if( not self.vision_flare.have_object() ):
count_unfound += 1
if( count_unfound == 5 ):
break
continue
count_unfound = 0
if( abs( self.vision_flare.center_x() ) < 0.1 ):
self.velocity( { 'x' : 0.2 } )
else:
self.velocity( { 'y' : math.copysign( 0.25 , self.vision_flare.center_x()*-1 ) })
self.fix_z( -1.3 )
self.echo("NEAR" , "wait depth" )
while( self.ok_state() ){
self.sleep( 0.1 )
self.velocity({ 'x':0.01 } )
if( self.check_position( "z" , 0.15 ) ): break
}
self.free_xy( False )
time_start = time.time()
diff_time = 0
self.velocity_xy( 0.2 )
while( self.ok_state() and diff_time < 6 ):
self.sleep( 0.1 )
diff_time = time.time() - time_start
return True
def find_flare( self , distance_survey , time_survey , direction ):
mode = 1 # 1 forward 2 survey
setup_mode = True
direction_survey = direction
current_fix_velocity = False
finish_flare = False
self.fix_z( -1.4 )
while( self.ok_state() ):
self.sleep( 0.1 )
self.vision_flare( "flare" , "near" , 5 )
if( self.vision_flare.have_object() ):
finish_flare = self.play_flare()
if( finish_flare ):
self.reset_velocity( "xy" )
break
self.vision_flare( "flare" , "far" , 5 )
if( self.vision_flare.have_object() ):
if( current_fix_velocity ):
self.reset_velocity( "xy" )
current_fix_velocity = False
setup_mode = True
if( abs( self.vision_flare.center_x() ) < 0.15 ):
self.velocity( { 'x' : 0.1 } )
else: self.velocity( {'y' : math.copysign( 0.12, self.vision_flare.center_x())} )
continue
if( setup_mode ):
if( mode == 1 ):
self.over_move( 1 , 15 , True )
else:
self.over_move( distance_survey ,time_survey , True )
setup_mode = False
if( not current_fix_velocity ):
if( mode == 1 ):
self.velocity_xy( 0.2 , 0 )
else:
self.velocity_xy( 0 , 0.2 * direction_survey )
current_fix_velocity = True
if( mode == 1 ):
if( self.over_move( 1 , 15 ) ):
self.echo( "FLARE" , "Change to mode survey" )
mode = 2
self.reset_velocity("xy")
current_fix_velocity = False
setup_mode = True
else:
if( self.over_move( distance_survey , time_survey ) ):
self.echo( "FLARE" , "Change to mode forward" )
distance_survey *= -1
self.reset_velocity("xy")
current_fix_velocity = False
setup_mode = True
mode = 1
def move_out_in( self ):
self.velocity_xy( -0.15 , 0 )
self.find_drum
count_unfound = 0
while( self.ok_state() ):
self.sleep( 0.06 )
self.vision_drum.analysis_all( "mat" , "sevinar" , 5 )
if( not self.vision_drum.have_object() ):
count_unfound += 1
if( count_unfound == 5 ):
break
else:
count_unfound = 0
self.reset_velocity( "xy" )
return self.find_drum( True )
def play_drum( self , drop_ball ):
self.fire_gripper()
self.echo( "DROP" , "Command to release gripper")
self.free_xy( True )
value_x = 0
value_y = 0
ok_y = True
ok_x = False
ever_fire_golf = False
wait_z = False
self.relative_z( -0.3 )
start_time = 0
count_unfound = 0
if( drop_ball ): self.hold_golf()
while( self.ok_state() ):
self.sleep( 0.06 )
self.vision_drum.analysis_all( "blue" , "left-right" , 5 )
if( not self.vision_drum.have_object() ):
count_unfound += 1
if( count_unfound == 5 ):
self.free_xy( False )
return False
continue
count_unfound = 0
self.vision_drum.result['cx_2'] -= 0.15
if( abs(self.vision_drum.result['cx_2']) < 0.1 ):
value_y = -0.05
ok_y = True
else:
value_y = math.copysign( 0.25 , self.vision_drum.result['cx_2'] * -1 )
ok_y = False
if( abs(self.vision_drum.result['cy_2']) < 0.1 ):
value_x = 0.02
ok_x = True
else:
value_x = math.copysign( 0.2 , self.vision_drum.result['cy_2'] )
ok_x = False
if( ok_y and ok_x and self.check_position( "z" , 0.15 )
and self.check_position("yaw" , 0.2 ) and ( not ever_fire_golf ) ):
self.target_state()
self.echo( "DRUM" , "Now depth is " + str( self.temp_state[2] ) )
if( self.temp_state[2] < -1.4 ):
if( not drop_ball ): self.fire_golf()
else: self.velocity_z( -0.15 )
ever_fire_golf = True
start_time = time.time()
else:
self.relative_z( -0.3 )
self.velocity( { 'x' : value_x , 'y' : value_y } )
if( wait_z ):
if(self.check_position( "z" , 0.15 ) ):
self.free_xy( False )
return True
else: continue
if( ever_fire_golf ):
if( ( time.time() - start_time ) > 8 ):
self.reset_velocity( "z" )
self.fix_z( -0.6 )
wait_z = True
def find_drum( self , direction , drop_ball = False ):
self.velocity_xy( 0.2 )
count_found = 0
while( self.ok_state() ):
self.sleep( 0.06 )
self.vision_drum.analysis_all( "mat" , "sevinar" , 5 )
if( self.vision_drum.have_object() ):
count_found += 1
if( count_found == 3 ):
break
else:
count_found = 0
self.reset_velocity( "xy" )
self.reset_target( "xy" )
value_x = 0
value_y = 0
ever_change = False
count_found = 0
while( self.ok_state() ):
self.sleep( 0.06 )
self.vision_drum.analysis_all( "mat" , "sevinar" , 5 )
if( not self.vision_drum.result['forward'] ): value_x = 0.1
elif( not self.vision_drum.result['backward'] ): value_x = -0.1
else: value_x = 0
if( direction == 1 ): # direction == 1 is left
if( not self.vision_drum.result['left'] and not ever_change):
direction *= -1
ever_change = True
else:
return False
else:
if( not self.vision_drum.result['right'] and not ever_change):
direction *= -1
ever_change = True
else:
return False
self.vision_drum.analysis_all( "blue" , "center" , 5 )
if( self.vision_drum.have_object() ):
count_found += 1
if( count_found == 3 ):
return self.play_drum( drop_ball )
else:
count_found = 0
self.velocity( { 'x' : value_x , 'y' : 0.1 * direction } )
def find_gate( self, distance_forward, time_forward, distance_survey, time_survey, direct):
self.velocity_xy( 0.2 )
self.over_move( distance_forward , time_forward , True )
finish_gate = False
count_found = 0
while( self.ok_state() and not( finish_gate )):
self.sleep( 0.06 )
self.vision_gate.analysis_all( "gate" , "sevinar" , 5 )
if( self.vision_gate.have_object() ):
if( self.vision_gate.num_object() == 2 ):
self.reset_velocity( "xy" )
finish_gate = self.play_gate( direct )
else:
count_found += 1
if( count_found == 5 ):
self.reset_velocity( "xy" )
finish_gate = self.play_gate( direct )
else:
count_found = 0
if( self.over_move( distance_forward , time_forward ) ):
break
self.reset_velocity( "xy" )
self.wait_state( "xy" , 0.15 , 5 )
count_found = 0
self.over_move( distance_survey , time_survey , True )
if( direct == 0 ):
return True
while( self.ok_state() and not( finish_gate ) ):
self.sleep( 0.06 )
self.vision_gate.analysis_all( "gate" , "sevinar" , 5 )
if( self.vision_gate.have_object() ):
if( self.vision_gate.num_object() == 2 ):
self.reset_velocity( "xy" )
finish_gate = self.play_gate( direct )
else:
count_found += 1
if( count_found == 5 ):
self.reset_velocity( "xy" )
finish_gate = self.play_gate( direct )
else:
count_found = 0
if( self.over_move( distance_survey , distance_forward ) ):
break
return finish_gate
def play_gate( self , direction ): # direction = 1 is right an -1 is left
self.vision_gate.analysis_all( "gate" , "sevinar" , 5 )
current_fix_velocity = False
count_finish = 0
if( self.vision_gate.num_object() == 2 ):
while( self.ok_state() ):
self.sleep( 0.06 )
self.vision_gate.analysis_all( "gate" , "sevinar" , 5 )
if( self.vision_gate.num_object() == 2 ):
count_finish = 0
if( abs( self.vision_gate.center_x() ) < 0.2 ):
if( not current_fix_velocity ):
self.velocity_xy( 0.1 , 0 )
current_fix_velocity = True
else:
if( current_fix_velocity ):
self.reset_velocity( "xy" )
current_fix_velocity = False
self.echo_vision( self.vision_gate.echo_special() )
if( self.vision_gate.distance_x() > 1 ):
if( current_fix_velocity ):
self.reset_velocity( "xy" )
return True
else:
count_finish += 1
if( count_finish == 3 ):
if( current_fix_velocity ):
self.reset_velocity( "xy" )
return True
else:
while( self.ok_state() ):
self.sleep( 0.06 )
self.vision_gate.analysis_all( "gate" , "sevinar" , 5 )
if( self.vision_gate.num_object() == 2 ):
return self.play_gate()
elif( self.vision_gate.num_object() == 1 ):
count_finish = 0
self.velocity( { 'y' : direction * 0.1 } )
else:
count_finish += 1
if( count_finish == 4 ):
return True
class MissionPick(StandardMission):
def __init__(self, name):
self.name = name
StandardMission.__init__(self, self.name, "/mission/pick",
self.callback)
self.vision = VisionCollector("drum")
self.echo(self.name, "PICK GOLF SETUP FINISHED")
self.state = False
def callback(self, request):
result = False
self.state = request.data
if (not self.ok_state()):
return False
self.fix_z(-0.5)
self.reset_target("xy")
self.wait_state("z", 0.1, 5)
found_object = self.step_01()
if (not found_object):
self.echo(self.name, "Don't found object mission aborted")
return False
else:
self.step_03()
result = True
return result
def step_01(self): # find golf in a drum
found_golf = False
mode_control = 1 # mode control is survey around drum
# 1 is left 2 is right 3 is up 4 is down
value_x = 0
value_y = 0
count_change_mode = 0
count_found_golf = 0
limit_mode = 10
self.echo(self.name, "We command to hold for pick golf")
self.hold_golf()
self.echo(self.name, "We command finish")
while (self.ok_state()):
self.sleep(0.1)
if (mode_control == 1):
self.vision.analysis_all("blue", "left-right", 5)
self.echo_vision(self.vision.echo_special())
if (self.vision.result["cx_1"] < -0.5):
value_y = 0.1
elif (self.vision.result["cx_1"] > 0.0):
value_y = -0.1
else:
value_y = 0
if (abs(self.vision.result["cy_1"]) < 0.5):
value_x = 0
else:
value_x = math.copysign(0.05, self.vision.result["cy_1"])
elif (mode_control == 2):
self.vision.analysis_all("blue", "left-right", 5)
self.echo_vision(self.vision.echo_special())
if (self.vision.result["cx_2"] > 0.5):
value_y = -0.05
elif (self.vision.result["cx_2"] < 0.0):
value_y = 0.05
else:
value_y = 0
if (abs(self.vision.result["cy_2"]) < 0.5):
value_x = 0
else:
value_x = math.copysign(0.05, self.vision.result["cy_2"])
self.echo(
self.name + " Mode " + str(mode_control),
"We command velocity x : y --> " + str(value_x) + " : " +
str(value_y))
self.velocity({'x': value_x, 'y': value_y})
self.sleep(0.1)
self.vision.analysis_all("golf", "sevinar", 5)
self.echo_vision(self.vision.echo_data())
# This part will discus about data from vision
if (self.vision.have_object()):
count_found_golf = 0
self.echo(self.name, "Find golf move to center of golf")
while (self.ok_state() and abs(count_found_golf) < 15):
self.sleep(0.1)
self.vision.analysis_all("golf", "sevinar", 5)
if (self.vision.have_object()):
count_found_golf += 1
self.velocity({
'x':
math.copysign(0.1, self.vision.center_y()),
'y':
math.copysign(0.1, -1 * self.vision.center_x())
})
else:
count_found_golf -= 0
self.echo(self.name,
"Found golf is " + str(count_found_golf))
if (count_found_golf == 15):
return True
if (value_x == 0 and value_y == 0):
count_change_mode += 1
self.echo(self.name,
"count_change_mode " + str(count_change_mode))
if (count_change_mode == limit_mode):
mode_control += 1
count_change_mode = 0
if (mode_control > 2):
return False
print("Finish loop")
def step_02(self): # this part we will pick a ball
self.echo(self.name, "We will start to pick ball")
self.fix_z(-0.8)
count_ok_depth = 0
value_x = 0
value_y = 0
self.free_xy(True)
while (self.ok_state()):
self.vision.analysis_all("golf", "sevinar", 5)
self.echo_vision(self.vision.echo_data())
if (self.vision.center_x() < -0.5): value_y = -0.1
elif (self.vision.center_x() > -0.1): value_y = 0.1
else: value_y = 0
if (self.vision.center_y() < 0.1): value_x = 0.1
elif (self.vision.center_y() > 0.5): value_x = -0.1
else: value_x = 0
self.echo(self.name,
" vel x : y is" + str(value_x) + " : " + str(value_y))
self.velocity({'x': value_x, 'y': value_y})
if (self.check_position("z", 0.15)):
count_ok_depth += 1
else:
count_ok_depth = 0
if (value_x == 0 and value_y == 0):
self.echo(self.name, "Target on lock")
if (count_ok_depth > 5):
self.echo(self.name, "We will move down now ")
start_time = time.time()
diff_time = 0
self.velocity_z(-0.1)
while (self.ok_state() and diff_time < 10):
self.sleep(0.1)
self.reset_target("xy")
diff_time = time.time() - start_time
self.echo(self.name, "Now time is " + diff_time)
self.reset_velocity("z")
self.fix_z(-0.5)
self.free_xy(False)
break
self.echo(self.name, "Finish pick golf it ok?")
def step_03(self):
self.echo(self.name, "We will start to pick ball")
current_fix_velocity = False
value_x = 0
value_y = 0
self.fix_z(-0.8)
self.wait_state("z", 0.1, 5)
self.free_xy(True)
while (self.ok_state()):
self.sleep(0.05)
self.vision.analysis_all("golf", "sevinar", 5)
self.echo_vision(self.vision.echo_data())
if (self.vision.have_object()):
if (self.vision.center_x() > -0.4): value_y = -0.2
else: value_y = 0.1
if (self.vision.center_y() < 0.3): value_x = -0.15
else: value_x = 0.10
self.echo(
self.name,
"Vel x : y are " + str(value_x) + " : " + str(value_y))
self.velocity({'x': value_x, 'y': value_y})
else:
if (not current_fix_velocity):
self.velocity_z(-0.03)
current_fix_velocity = True
value_y = 0.0
value_x = 0.0
self.velocity({'y': value_y, 'x': value_x})
self.echo(
self.name,
"Vel x : y are " + str(value_x) + " : " + str(value_y))
self.target_state()
class MissionDrum(StandardMission):
def __init__(self, name):
self.name = name
StandardMission.__init__(self, self.name, "/mission/drop",
self.callback)
self.vision = VisionCollector("drum")
self.state = False
self.echo(self.name, "DROP BALL SEtuP FINISHER")
def callback(self, request):
result = False
self.state = request.data
if (not self.ok_state()):
return False
self.echo(self.name, "START MISSION DROP BALL")
self.wait_state("yaw", 0.1, 5)
self.step_01()
return True
def step_01(self):
count_Time = False
self.echo(self.name, "START AT STEP 01")
value_x = 0
value_y = 0
start_time = 0
ever_drop = False
self.velocity_z(-0.03)
self.wait_state("z", 0.1, 5)
current_fix_z = False
while (self.ok_state()):
self.vision.analysis_all("blue", "left-right", 5)
self.echo_vision(self.vision.echo_special())
self.echo_vision(self.vision.echo_data())
if (abs(self.vision.center_x()) < 0.15):
value_y = 0
else:
value_y = math.copysign(0.1, -1 * self.vision.center_x())
if (abs(self.vision.center_y()) < 0.15):
value_x = 0
else:
value_x = math.copysign(0.1, self.vision.center_y())
# if( not self.vision.result["forward"] ):
# value_x = -0.2
# elif( not self.vision.result["backward"] ):
# value_x = 0.2
# else:
# value_x = 0
self.echo(
self.name, "I command velocity x : y are " + str(value_x) +
" : " + str(value_y))
if (not count_Time):
self.target_state()
self.echo(self.name,
"Node depth is " + str(self.temp_state[2]))
if (self.temp_state[2] < -1.3):
count_Time = True
start_time = time.time()
self.free_xy(True)
else:
diff_time = time.time() - start_time
self.echo(self.name, "Count time for drop " + str(diff_time))
if (diff_time > 5):
break
elif (diff_time > 2 and not ever_drop):
self.echo(self.name, "We have to command drop ball")
self.fire_golf()
else:
continue
self.velocity({'x': value_x, 'y': value_y})
self.reset_velocity("z")
self.fix_z(-0.5)
self.wait_state("z", 0.1, 5)
self.free_xy(False)
self.reset_target("xy")