def nbrList_getRobotWithLowID(nbrList):
nbr_lowID = None
lowID = 1000
for nbr in nbrList:
if neighbors.get_nbr_id(nbr) < lowID:
lowID = neighbors.get_nbr_id(nbr)
nbr_lowID = nbr
return nbr_lowID
def nbrList_getRobotWithLowID(nbrList):
nbr_lowID = None
lowID = 1000
for nbr in nbrList:
if neighbors.get_nbr_id(nbr) < lowID:
lowID = neighbors.get_nbr_id(nbr)
nbr_lowID = nbr
return nbr_lowID
def find_nav_tower_nbr(id):
nbr_list = neighbors.get_neighbors()
# If low power ID availible, get bearing from it
low_power_id = id
high_power_id = id - 1
nbr_out = None
for nbr in nbr_list:
if low_power_id == neighbors.get_nbr_id(nbr):
nbr_out = nbr
# Else take bearing from high power ID
elif (high_power_id == neighbors.get_nbr_id(nbr)) and (nbr_out == None):
nbr_out = nbr
return nbr_out
def find_nav_tower_nbr(id):
nbr_list = neighbors.get_neighbors()
# If low power ID availible, get bearing from it
low_power_id = id
high_power_id = id - 1
nbr_out = None
for nbr in nbr_list:
if low_power_id == neighbors.get_nbr_id(nbr):
nbr_out = nbr
# Else take bearing from high power ID
elif (high_power_id == neighbors.get_nbr_id(nbr)) and (nbr_out
== None):
nbr_out = nbr
return nbr_out
def get_robot_neighbors():
nbr_list_out = []
nbr_list = neighbors.get_neighbors()
for nbr in nbr_list:
if neighbors.get_nbr_id(nbr) not in nav_tower_ids:
nbr_list_out.append(nbr)
return nbr_list_out
def get_robot_neighbors():
nbr_list_out = []
nbr_list = neighbors.get_neighbors()
for nbr in nbr_list:
if neighbors.get_nbr_id(nbr) not in nav_tower_ids:
nbr_list_out.append(nbr)
return nbr_list_out
def leaderElection_ID(list, includeSelf):
leader_id = 0
leader = 0
if list and len(list) > 0:
for nbr in list:
nbr_id = neighbors.get_nbr_id(nbr)
if (nbr_id > leader_id):
leader = nbr
leader_id = temp_id
if includeSelf:
if rone.get_id() > leader_id:
return (0, rone.get_id())
else:
return (leader, leader_id)
def leaderElection_ID(list, includeSelf):
leader_id = 0
leader = 0
if list and len(list) > 0:
for nbr in list:
nbr_id = neighbors.get_nbr_id(nbr)
if (nbr_id > leader_id):
leader = nbr
leader_id = temp_id
if includeSelf:
if rone.get_id() > leader_id:
return (0, rone.get_id())
else:
return (leader, leader_id)
def spring():
at_tree_odo = None
tree_pose = None
followers = 0
have_seen_leader = False
beh.init(0.22, 40, 0.5, 0.1)
motion.init_rv(1000, MOTION_RV, MOTION_CAPTURE_DISTANCE,
MOTION_RELEASE_DISTANCE, MOTION_CAPTURE_ANGLE,
MOTION_RELEASE_ANGLE)
state = STATE_IDLE
while True:
# run the system updates
new_nbrs = beh.update()
nbr_list = neighbors.get_neighbors()
if new_nbrs:
print state
beh_out = beh.BEH_INACTIVE
# set colors, because why not do it at the top
color_counts = [0, 0, 0]
for i in range(3):
color_counts[i] = min([5, (state - 5 * i)])
if state == STATE_IDLE:
leds.set_pattern('rb', 'group', LED_BRIGHTNESS)
elif state == STATE_SUCCESS:
leds.set_pattern('g', 'circle', LED_BRIGHTNESS)
else:
leds.set_pattern(color_counts, 'count', LED_BRIGHTNESS)
if rone.button_get_value('g'):
tree_pose = None
followers = 0
have_seen_leader = False
state = STATE_IDLE
# this is the main finite-state machine
if not state in [
STATE_IDLE, STATE_LEADER, STATE_SUCCESS, STATE_FOLLOW
]:
for nbr in nbr_list:
nbr_state = hba.get_msg_from_nbr(nbr, new_nbrs)[MSG_IDX_STATE]
if nbr_state in [STATE_LEADER, STATE_SUCCESS]:
start_time = sys.time()
state = STATE_FOLLOW
if state == STATE_IDLE:
if rone.button_get_value('r'):
pose.set_pose(0, 0, 0)
state = STATE_WANDER
elif rone.button_get_value('b'):
state = STATE_QUEEN
elif state == STATE_QUEEN:
pass
elif state == STATE_WANDER:
## leds.set_pattern('r', 'circle', LED_BRIGHTNESS)
nav = hba.find_nav_tower_nbr(NAV_ID)
beh_out = beh.avoid_nbr(nav, MOTION_TV)
queen = None
for nbr in nbr_list:
nbr_state = hba.get_msg_from_nbr(nbr, new_nbrs)[MSG_IDX_STATE]
if nbr_state == STATE_QUEEN:
queen = nbr
if bump_front():
if queen != None:
state = STATE_SUCCESS
else:
tree_pose = pose.get_pose()
motion.set_goal((0.0, 0.0), MOTION_TV)
at_tree_odo = pose.get_odometer()
state = STATE_RETURN
elif nav == None:
motion.set_goal((0.0, 0.0), MOTION_TV)
state = STATE_RETURN
elif state == STATE_RETURN:
## nav_tower = hba.find_nav_tower_nbr(NAV_ID)
queen = None
recruiter = None
for nbr in nbr_list:
nbr_state = hba.get_msg_from_nbr(nbr, new_nbrs)[MSG_IDX_STATE]
if nbr_state == STATE_QUEEN:
queen = nbr
elif nbr_state == STATE_RECRUIT:
recruiter = nbr
if queen != None:
if (recruiter == None) and (tree_pose != None) and \
close_to_nbr(queen):
start_time = sys.time()
dist_traveled = pose.get_odometer() - at_tree_odo
at_queen_odo = pose.get_odometer()
state = STATE_RECRUIT
elif not closer_to_nbr(queen):
beh_out = beh.follow_nbr(queen, MOTION_TV)
else:
start_time = sys.time()
state = STATE_FOLLOW
else:
(tv, rv) = motion.update()
beh_out = beh.tvrv(tv, rv)
elif state == STATE_RECRUIT:
new_followers = 0
for nbr in nbr_list:
nbr_state = hba.get_msg_from_nbr(nbr, new_nbrs)[MSG_IDX_STATE]
if nbr_state == STATE_RECRUIT:
if neighbors.get_nbr_id(nbr) > rone.get_id():
state = STATE_FOLLOW
elif nbr_state in [STATE_FOLLOW, STATE_QUEEN]:
new_followers += 1
if new_followers > followers:
print 'reset timer'
start_time = sys.time()
followers = max([followers, new_followers])
if followers == 4 or sys.time() > start_time + WAIT_TIME:
tree_pos = (tree_pose[0], tree_pose[1])
motion.set_goal(tree_pos, MOTION_TV)
state = STATE_LEADER
elif state == STATE_FOLLOW:
recruiter = None
leader = None
success = False
new_followers = 1
for nbr in nbr_list:
nbr_state = hba.get_msg_from_nbr(nbr, new_nbrs)[MSG_IDX_STATE]
if nbr_state == STATE_RECRUIT:
recruiter = nbr
elif nbr_state == STATE_LEADER:
leader = nbr
elif nbr_state == STATE_SUCCESS:
leader = nbr
success = True
elif nbr_state in [STATE_FOLLOW, STATE_WANDER]:
new_followers += 1
if success:
have_seen_leader = True
if new_followers > followers:
start_time = sys.time()
followers = max([followers, new_followers])
if recruiter == None:
if leader == None:
if have_seen_leader:
beh_out = beh.tvrv(MOTION_TV, 0)
elif followers == 5 or sys.time() > start_time + WAIT_TIME:
followers = 0
state = STATE_WANDER
else:
if success and bump() and close_to_nbr(leader):
state = STATE_SUCCESS
beh_out = beh.follow_nbr(leader, MOTION_TV)
elif state == STATE_LEADER:
## (tv, rv) = motion.update()
## beh_out = beh.tvrv(tv, rv)
## if motion.is_done():
## state = STATE_SUCCESS
beh_out = beh.tvrv(-MOTION_TV, 0)
if bump() or (pose.get_odometer() - at_queen_odo) > dist_traveled:
state = STATE_SUCCESS
elif state == STATE_SUCCESS:
pass
# end of the FSM
if state not in [
STATE_IDLE, STATE_RECRUIT, STATE_LEADER, STATE_SUCCESS,
STATE_QUEEN
]:
bump_beh_out = beh.bump_beh(MOTION_TV)
beh_out = beh.subsume([beh_out, bump_beh_out])
# set the beh velocities
beh.motion_set(beh_out)
#set the HBA message
msg = [0, 0, 0]
msg[MSG_IDX_STATE] = state
hba.set_msg(msg[0], msg[1], msg[2])
def find_queen(nbrList):
for nbr in nbrList:
if not neighbors.get_nbr_id(nbr) == None:
return nbr
return None
def message_demo():
beh.init(0.22, 40, 0.5, 0.1)
state = STATE_LEADER
num_r = 1
num_g = 1
num_b = 1
button_red_old = 0
button_green_old = 0
button_blue_old = 0
while True:
# run the system updates
new_nbrs = beh.update()
nbr_list = neighbors.get_neighbors()
# init the velocities
beh_out = beh.BEH_INACTIVE
# read the buttons and update the local counts
(num_r, button_red_old) = check_button('r', num_r, button_red_old)
(num_g, button_green_old) = check_button('g', num_g, button_green_old)
(num_b, button_blue_old) = check_button('b', num_b, button_blue_old)
# build this robot's neighbor message
distance_local = num_r
mode_local = num_g
quality_local = num_b
hba.set_msg(distance_local, mode_local, quality_local)
# find the neighbor with the lowest ID
nbr_leader = nbrList_getRobotWithLowID(nbr_list)
# are you the leader?
if nbr_leader == None:
# no neighbors. you are the leader
state = STATE_LEADER
else:
low_ID = neighbors.get_nbr_id(nbr_leader)
# if new_nbrs:
# print 'nbr lowID=',nbr_leader
if low_ID < rone.get_id():
state = STATE_MINION
else:
state = STATE_LEADER
# this is the main finite-state machine
if state == STATE_LEADER:
msg = (distance_local, mode_local, quality_local)
if new_nbrs:
print "leader:", msg
brightness = LED_BRIGHTNESSER
elif state == STATE_MINION:
if nbr_leader != None:
msg = hba.get_msg_from_nbr(nbr_leader, new_nbrs)
if new_nbrs:
print "minion. leader = ", str(low_ID), " msg=", msg
brightness = LED_BRIGHTNESS
# end of the FSM
# unpack the message and display it on the LEDs
(distance, mode, quality) = msg
leds.set_pattern((distance, mode, quality), 'count', brightness)
# set the velocities
beh.motion_set(beh_out)
def find_queen(nbrList):
for nbr in nbrList:
if not neighbors.get_nbr_id(nbr) == None:
return nbr
return None
def spring():
at_tree_odo = None
tree_pose = None
followers = 0
have_seen_leader = False
beh.init(0.22, 40, 0.5, 0.1)
motion.init_rv(1000, MOTION_RV, MOTION_CAPTURE_DISTANCE, MOTION_RELEASE_DISTANCE
, MOTION_CAPTURE_ANGLE, MOTION_RELEASE_ANGLE)
state = STATE_IDLE
while True:
# run the system updates
new_nbrs = beh.update()
nbr_list = neighbors.get_neighbors()
if new_nbrs:
print state
beh_out = beh.BEH_INACTIVE
# set colors, because why not do it at the top
color_counts = [0, 0, 0]
for i in range(3):
color_counts[i] = min([5, (state - 5 * i)])
if state == STATE_IDLE:
leds.set_pattern('rb', 'group', LED_BRIGHTNESS)
elif state == STATE_SUCCESS:
leds.set_pattern('g', 'circle', LED_BRIGHTNESS)
else:
leds.set_pattern(color_counts, 'count', LED_BRIGHTNESS)
if rone.button_get_value('g'):
tree_pose = None
followers = 0
have_seen_leader = False
state = STATE_IDLE
# this is the main finite-state machine
if not state in [STATE_IDLE, STATE_LEADER, STATE_SUCCESS, STATE_FOLLOW]:
for nbr in nbr_list:
nbr_state = hba.get_msg_from_nbr(nbr, new_nbrs)[MSG_IDX_STATE]
if nbr_state in [STATE_LEADER, STATE_SUCCESS]:
start_time = sys.time()
state = STATE_FOLLOW
if state == STATE_IDLE:
if rone.button_get_value('r'):
pose.set_pose(0, 0, 0)
state = STATE_WANDER
elif rone.button_get_value('b'):
state = STATE_QUEEN
elif state == STATE_QUEEN:
pass
elif state == STATE_WANDER:
## leds.set_pattern('r', 'circle', LED_BRIGHTNESS)
nav = hba.find_nav_tower_nbr(NAV_ID)
beh_out = beh.avoid_nbr(nav, MOTION_TV)
queen = None
for nbr in nbr_list:
nbr_state = hba.get_msg_from_nbr(nbr, new_nbrs)[MSG_IDX_STATE]
if nbr_state == STATE_QUEEN:
queen = nbr
if bump_front():
if queen != None:
state = STATE_SUCCESS
else:
tree_pose = pose.get_pose()
motion.set_goal((0.0, 0.0), MOTION_TV)
at_tree_odo = pose.get_odometer()
state = STATE_RETURN
elif nav == None:
motion.set_goal((0.0, 0.0), MOTION_TV)
state = STATE_RETURN
elif state == STATE_RETURN:
## nav_tower = hba.find_nav_tower_nbr(NAV_ID)
queen = None
recruiter = None
for nbr in nbr_list:
nbr_state = hba.get_msg_from_nbr(nbr, new_nbrs)[MSG_IDX_STATE]
if nbr_state == STATE_QUEEN:
queen = nbr
elif nbr_state == STATE_RECRUIT:
recruiter = nbr
if queen != None:
if (recruiter == None) and (tree_pose != None) and \
close_to_nbr(queen):
start_time = sys.time()
dist_traveled = pose.get_odometer() - at_tree_odo
at_queen_odo = pose.get_odometer()
state = STATE_RECRUIT
elif not closer_to_nbr(queen):
beh_out = beh.follow_nbr(queen, MOTION_TV)
else:
start_time = sys.time()
state = STATE_FOLLOW
else:
(tv, rv) = motion.update()
beh_out = beh.tvrv(tv, rv)
elif state == STATE_RECRUIT:
new_followers = 0
for nbr in nbr_list:
nbr_state = hba.get_msg_from_nbr(nbr,new_nbrs)[MSG_IDX_STATE]
if nbr_state == STATE_RECRUIT:
if neighbors.get_nbr_id(nbr) > rone.get_id():
state = STATE_FOLLOW
elif nbr_state in [STATE_FOLLOW, STATE_QUEEN]:
new_followers += 1
if new_followers > followers:
print 'reset timer'
start_time = sys.time()
followers = max([followers, new_followers])
if followers == 4 or sys.time() > start_time + WAIT_TIME:
tree_pos = (tree_pose[0], tree_pose[1])
motion.set_goal(tree_pos, MOTION_TV)
state = STATE_LEADER
elif state == STATE_FOLLOW:
recruiter = None
leader = None
success = False
new_followers = 1
for nbr in nbr_list:
nbr_state = hba.get_msg_from_nbr(nbr,new_nbrs)[MSG_IDX_STATE]
if nbr_state == STATE_RECRUIT:
recruiter = nbr
elif nbr_state == STATE_LEADER:
leader = nbr
elif nbr_state == STATE_SUCCESS:
leader = nbr
success = True
elif nbr_state in [STATE_FOLLOW, STATE_WANDER]:
new_followers += 1
if success:
have_seen_leader = True
if new_followers > followers:
start_time = sys.time()
followers = max([followers, new_followers])
if recruiter == None:
if leader == None:
if have_seen_leader:
beh_out = beh.tvrv(MOTION_TV, 0)
elif followers == 5 or sys.time() > start_time + WAIT_TIME:
followers = 0
state = STATE_WANDER
else:
if success and bump() and close_to_nbr(leader):
state = STATE_SUCCESS
beh_out = beh.follow_nbr(leader, MOTION_TV)
elif state == STATE_LEADER:
## (tv, rv) = motion.update()
## beh_out = beh.tvrv(tv, rv)
## if motion.is_done():
## state = STATE_SUCCESS
beh_out = beh.tvrv(-MOTION_TV, 0)
if bump() or (pose.get_odometer() - at_queen_odo) > dist_traveled:
state = STATE_SUCCESS
elif state == STATE_SUCCESS:
pass
# end of the FSM
if state not in [STATE_IDLE, STATE_RECRUIT, STATE_LEADER, STATE_SUCCESS, STATE_QUEEN]:
bump_beh_out = beh.bump_beh(MOTION_TV)
beh_out = beh.subsume([beh_out, bump_beh_out])
# set the beh velocities
beh.motion_set(beh_out)
#set the HBA message
msg = [0, 0, 0]
msg[MSG_IDX_STATE] = state
hba.set_msg(msg[0], msg[1], msg[2])
def message_demo():
beh.init(0.22, 40, 0.5, 0.1)
state = STATE_LEADER
num_r = 1
num_g = 1
num_b = 1
button_red_old = 0
button_green_old = 0
button_blue_old = 0
while True:
# run the system updates
new_nbrs = beh.update()
nbr_list = neighbors.get_neighbors()
# init the velocities
beh_out = beh.BEH_INACTIVE
# read the buttons and update the local counts
(num_r, button_red_old) = check_button("r", num_r, button_red_old)
(num_g, button_green_old) = check_button("g", num_g, button_green_old)
(num_b, button_blue_old) = check_button("b", num_b, button_blue_old)
# build this robot's neighbor message
distance_local = num_r
mode_local = num_g
quality_local = num_b
hba.set_msg(distance_local, mode_local, quality_local)
# find the neighbor with the lowest ID
nbr_leader = nbrList_getRobotWithLowID(nbr_list)
# are you the leader?
if nbr_leader == None:
# no neighbors. you are the leader
state = STATE_LEADER
else:
low_ID = neighbors.get_nbr_id(nbr_leader)
# if new_nbrs:
# print 'nbr lowID=',nbr_leader
if low_ID < rone.get_id():
state = STATE_MINION
else:
state = STATE_LEADER
# this is the main finite-state machine
if state == STATE_LEADER:
msg = (distance_local, mode_local, quality_local)
if new_nbrs:
print "leader:", msg
brightness = LED_BRIGHTNESSER
elif state == STATE_MINION:
if nbr_leader != None:
msg = hba.get_msg_from_nbr(nbr_leader, new_nbrs)
if new_nbrs:
print "minion. leader = ", str(low_ID), " msg=", msg
brightness = LED_BRIGHTNESS
# end of the FSM
# unpack the message and display it on the LEDs
(distance, mode, quality) = msg
leds.set_pattern((distance, mode, quality), "count", brightness)
# set the velocities
beh.motion_set(beh_out)
def nbrList_getRobotWithID(nbrList, nbrID):
for nbr in nbrList:
if neighbors.get_nbr_id(nbr) == nbrID:
return nbr
return None
