def __init__(self, host, port, startDevices=1):
#print("TCPRobot __init__")
Robot.__init__(self)
self.lock = threading.Lock()
# Set the socket parameters
#print("host:")
#print(host)
#print("port")
#print(port)
self.host = host
self.port = port
self.addr = (host, port)
self.type = "Pyrobot"
# Create socket
self.socket = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
try:
self.socket.settimeout(1)
except:
print("WARN: entering deadlock zone; upgrade to Python 2.3 to avoid")
done = 0
while not done:
try:
self.socket.connect( self.addr )
done = 1
except:
print("Waiting on PyrobotSimulator...")
time.sleep(1)
self.connectionNum = self.getItem("connectionNum:%d" % self.port)
self.init(startDevices)
def __init__(self, name="Blimp", serialPort="/dev/ttyUSB0"):
Robot.__init__(self) # robot constructor
self.channels = 4
self.debug = 0
self.name = name
self.simulated = 0
self.serialPort = serialPort
self.port = Serial(serialPort, baudrate=9600)
#self.port = open("debug.txt", "w")
self.lastCommand = {}
offPositions = {}
for i in range(1, self.channels + 1): # init to zeros
self.lastCommand[i] = 0
offPositions[i] = 15000
# send commands to all be neutral (15000):
self.sendCommands(offPositions)
# default values for all robots:
self.stall = 0
self.x = 0.0
self.y = 0.0
self.th = 0.0
self.thr = 0.0
# Can we get these from player?
self.radius = 1.00
self.type = "Blimp"
self.subtype = 0
self.units = "METERS"
self.localize(0.0, 0.0, 0.0)
self.update()
def __init__(self, url, user='******', password='******'):
Robot.__init__(self)
# an Admin user account on Rovio. Needs to be Admin for all functions to work!
self.theurl = url
self.username = user
self.password = password
# self.camLock = 1
self.ping()
# said Admin user's password
self.passman = urllib2.HTTPPasswordMgrWithDefaultRealm()
self.passman.add_password(None, self.theurl, self.username,
self.password)
self.authhandler = urllib2.HTTPBasicAuthHandler(self.passman)
self.opener = urllib2.build_opener(self.authhandler)
urllib2.install_opener(self.opener)
self.light = '0'
# set up some globals
self.battList = [126, 126, 126, 126, 126]
self.emailok = 0
self.head = 1
self.obstacle = 0
self.lock = threading.Lock()
self.camLock = threading.Lock()
def __init__(self,
name = "Blimp",
serialPort = "/dev/ttyUSB0"):
Robot.__init__(self) # robot constructor
self.channels = 4
self.debug = 0
self.name = name
self.simulated = 0
self.serialPort = serialPort
self.port = Serial(serialPort, baudrate=9600)
#self.port = open("debug.txt", "w")
self.lastCommand = {}
offPositions = {}
for i in range(1, self.channels + 1): # init to zeros
self.lastCommand[i] = 0
offPositions[i] = 15000
# send commands to all be neutral (15000):
self.sendCommands(offPositions)
# default values for all robots:
self.stall = 0
self.x = 0.0
self.y = 0.0
self.th = 0.0
self.thr = 0.0
# Can we get these from player?
self.radius = 1.00
self.type = "Blimp"
self.subtype = 0
self.units = "METERS"
self.localize(0.0, 0.0, 0.0)
self.update()
def __init__(self,
name="TeamPyrobot",
host="localhost",
port=6000,
goalie=0):
Robot.__init__(self)
self.lastTranslate = 0
self.lastRotate = 0
self.updateNumber = 0L
self._historyNumber = 0L
self._lastHistory = 0
self._historySize = 100
self._history = [0] * self._historySize
self.simulated = 1
self.name = name
self.host = host
self.port = port
self.continuous = 1
self.goalie = goalie
self.address = (self.host, self.port)
self.socket = socket(AF_INET, SOCK_DGRAM)
self.reader = ReadUDP(self)
self.reader.start()
msg = "(init %s (version 9.0)" % self.name
if goalie:
msg += "(goalie)"
msg += ")"
self.socket.sendto(msg, self.address)
# wait to get the real address
while self.address[1] == self.port:
pass
self.builtinDevices = ["simulation", "laser"]
self.startDevice("simulation")
self.startDevice("laser")
self.simulation[0].setPose(random() * 100 - 50, random() * 20 - 10)
self.range = self.laser[0]
# default values for all robots:
self.stall = 0
self.x = 0.0
self.y = 0.0
self.th = 0.0
self.thr = 0.0
# Can we get these from robocup?
self.radius = 0.75
self.type = "Robocup"
self.subtype = 0
self.units = "METERS"
#self.supportedFeatures.append( "odometry" )
self.supportedFeatures.append("continuous-movement")
self.supportedFeatures.append("range-sensor")
self.localize(0, 0, 0)
self.update()
def __init__(self, name="TeamPyrobot", host="localhost", port=6000,
goalie = 0):
Robot.__init__(self)
self.lastTranslate = 0
self.lastRotate = 0
self.updateNumber = 0L
self._historyNumber = 0L
self._lastHistory = 0
self._historySize = 100
self._history = [0] * self._historySize
self.simulated = 1
self.name = name
self.host = host
self.port = port
self.continuous = 1
self.goalie = goalie
self.address = (self.host, self.port)
self.socket = socket(AF_INET, SOCK_DGRAM)
self.reader = ReadUDP(self)
self.reader.start()
msg = "(init %s (version 9.0)" % self.name
if goalie:
msg += "(goalie)"
msg += ")"
self.socket.sendto(msg, self.address)
# wait to get the real address
while self.address[1] == self.port: pass
self.builtinDevices = ["simulation", "laser"]
self.startDevice("simulation")
self.startDevice("laser")
self.simulation[0].setPose( random() * 100 - 50,
random() * 20 - 10 )
self.range = self.laser[0]
# default values for all robots:
self.stall = 0
self.x = 0.0
self.y = 0.0
self.th = 0.0
self.thr = 0.0
# Can we get these from robocup?
self.radius = 0.75
self.type = "Robocup"
self.subtype = 0
self.units = "METERS"
#self.supportedFeatures.append( "odometry" )
self.supportedFeatures.append( "continuous-movement" )
self.supportedFeatures.append( "range-sensor" )
self.localize(0, 0, 0)
self.update()
def __init__(self, host):
Robot.__init__(self)
self.host = host
#---------------------------------------------------
self.main_control = Listener(self.PORT["Main Control"], self.host)
self.main_control.s.send("!reset\n") # reset menu
# --------------------------------------------------
# Throttle the sending of data from the Aibo; we can't handle much faster than
# 10 bits of data a second. Make this lower if you can (these are ms pauses):
self.setAiboConfig("vision.rawcam_interval", 50)
#self.setAiboConfig("vision.rle_interval", 50)
#self.setAiboConfig("vision.worldState_interval", 50)
# --------------------------------------------------
self.setRemoteControl("Walk Remote Control", "on")
self.setRemoteControl("EStop Remote Control", "on")
self.setRemoteControl("World State Serializer", "on")
self.setRemoteControl("Raw Cam Server", "off")
self.setRemoteControl("Aibo 3D", "on")
time.sleep(1) # let the servers get going...
self.walk_control = Listener(self.PORT["Walk Remote Control"],
self.host)
self.estop_control = Listener(self.PORT["EStop Remote Control"],
self.host) # stop control
#wsjoints_port =10031 # world state read sensors
#wspids_port =10032 # world state read pids
self.sensor_socket = Listener(self.PORT["World State Serializer"],
self.host) # sensors
self.joint_socket = Listener(self.PORT["Joint Writer"],
self.host) # joints
self.sensor_thread = ListenerThread(self.sensor_socket,
self.readWorldState)
self.sensor_thread.start()
#self.pid_socket = Listener(10032, self.host) # sensors
time.sleep(1) # let all of the servers get going...
self.estop_control.s.send(
"start\n") # send "stop\n" to emergency stop the robot
time.sleep(1) # let all of the servers get going...
self.builtinDevices = ["ptz"]
# start up some devices:
self.startDevice("ptz")
def __init__(self, host):
Robot.__init__(self)
self.host = host
#---------------------------------------------------
self.main_control = Listener(self.PORT["Main Control"],
self.host)
self.main_control.s.send("!reset\n") # reset menu
# --------------------------------------------------
# Throttle the sending of data from the Aibo; we can't handle much faster than
# 10 bits of data a second. Make this lower if you can (these are ms pauses):
self.setAiboConfig("vision.rawcam_interval", 50)
#self.setAiboConfig("vision.rle_interval", 50)
#self.setAiboConfig("vision.worldState_interval", 50)
# --------------------------------------------------
self.setRemoteControl("Walk Remote Control", "on")
self.setRemoteControl("EStop Remote Control", "on")
self.setRemoteControl("World State Serializer", "on")
self.setRemoteControl("Raw Cam Server", "off")
self.setRemoteControl("Aibo 3D", "on")
time.sleep(1) # let the servers get going...
self.walk_control = Listener(self.PORT["Walk Remote Control"],
self.host)
self.estop_control = Listener(self.PORT["EStop Remote Control"],
self.host) # stop control
#wsjoints_port =10031 # world state read sensors
#wspids_port =10032 # world state read pids
self.sensor_socket = Listener(self.PORT["World State Serializer"],
self.host) # sensors
self.joint_socket = Listener(self.PORT["Joint Writer"],
self.host) # joints
self.sensor_thread = ListenerThread(self.sensor_socket, self.readWorldState)
self.sensor_thread.start()
#self.pid_socket = Listener(10032, self.host) # sensors
time.sleep(1) # let all of the servers get going...
self.estop_control.s.send("start\n") # send "stop\n" to emergency stop the robot
time.sleep(1) # let all of the servers get going...
self.builtinDevices = ["ptz"]
# start up some devices:
self.startDevice("ptz")
def __init__(self, host, port, startDevices=1):
Robot.__init__(self)
self.lock = threading.Lock()
# Set the socket parameters
self.host = host
self.port = port
self.addr = (host, port)
self.type = "Pyrobot"
# Create socket
self.socket = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
try:
self.socket.settimeout(1)
except:
print "WARN: entering deadlock zone; upgrade to Python 2.3 to avoid"
done = 0
while not done:
try:
self.socket.connect( self.addr )
done = 1
except:
print "Waiting on PyrobotSimulator..."
time.sleep(1)
self.connectionNum = self.getItem("connectionNum:%d" % self.port)
self.init(startDevices)
def destroy(self):
self.setRemoteControl("Raw Cam Server", "off")
self.sensor_thread.join()
Robot.destroy(self)
def update(self):
Robot.update(self)
if self.continuous:
self.keepGoing()
self.updateNumber += 1
def __init__(self, simulator, port, connectionNum, startDevices=1): Robot.__init__(self) self.simulator = simulator self.connectionNum = connectionNum self.port = port self.init(startDevices)
def __init__(self, simulator, port, connectionNum, startDevices=1):
Robot.__init__(self)
self.simulator = simulator
self.connectionNum = connectionNum
self.port = port
self.init(startDevices)
def update(self):
Robot.update(self)
if self.continuous:
self.keepGoing()
self.updateNumber += 1
def INIT():
return Robot()
def destroy(self):
self.sensor_thread.join()
Robot.destroy(self)
def destroy(self):
self.setRemoteControl("Raw Cam Server", "off")
self.sensor_thread.join()
Robot.destroy(self)
