def waypoints2dirDist( waypoints ):
"convert GPS waypoints to desired heading and distance"
conv = Convertor( waypoints[0] )
ret = []
for start,goal in zip(waypoints[:-1],waypoints[1:]):
ret.append( (
angleTo( conv.geo2planar(start), conv.geo2planar(goal) ),
distance( conv.geo2planar(start), conv.geo2planar(goal) )
) )
return ret
def waypoints2dirDist(waypoints):
"convert GPS waypoints to desired heading and distance"
conv = Convertor(waypoints[0])
ret = []
for start, goal in zip(waypoints[:-1], waypoints[1:]):
ret.append((angleTo(conv.geo2planar(start), conv.geo2planar(goal)),
distance(conv.geo2planar(start), conv.geo2planar(goal))))
return ret
def ver0(metalog, waypoints=None):
assert metalog is not None
assert waypoints is not None # for simplicity (first is start)
conv = Convertor(refPoint = waypoints[0])
waypoints = waypoints[1:-1] # remove start/finish
can_log_name = metalog.getLog('can')
if metalog.replay:
if metalog.areAssertsEnabled():
can = CAN(ReplayLog(can_log_name), skipInit=True)
else:
can = CAN(ReplayLogInputsOnly(can_log_name), skipInit=True)
else:
can = CAN()
can.relog(can_log_name)
can.resetModules(configFn=setup_faster_update)
robot = JohnDeere(can=can)
robot.UPDATE_TIME_FREQUENCY = 20.0 # TODO change internal and integrate setup
robot.localization = None # TODO
# mount_sensor(GPS, robot, metalog)
gps_log_name = metalog.getLog('gps')
print gps_log_name
if metalog.replay:
robot.gps = DummySensor()
function = SourceLogger(None, gps_log_name).get
else:
robot.gps = GPS(verbose=0)
function = SourceLogger(robot.gps.coord, gps_log_name).get
robot.gps_data = None
robot.register_data_source('gps', function, gps_data_extension)
# mount_sensor(VelodyneThread, robot, metalog)
velodyne_log_name = metalog.getLog('velodyne_dist')
print velodyne_log_name
sensor = Velodyne(metalog=metalog)
if metalog.replay:
robot.velodyne = DummySensor()
function = SourceLogger(None, velodyne_log_name).get
else:
robot.velodyne = VelodyneThread(sensor)
function = SourceLogger(robot.velodyne.scan_safe_dist, velodyne_log_name).get
robot.velodyne_data = None
robot.register_data_source('velodyne', function, velodyne_data_extension)
robot.gps.start() # ASAP so we get GPS fix
robot.velodyne.start() # the data source is active, so it is necessary to read-out data
center(robot)
wait_for_start(robot)
moving = False
robot.desired_speed = 0.5
start_time = robot.time
prev_gps = robot.gps_data
prev_destination_dist = None
while robot.time - start_time < 30*60: # RO timelimit 30 minutes
robot.update()
if robot.gps_data != prev_gps:
print robot.time, robot.gas, robot.gps_data, robot.velodyne_data
prev_gps = robot.gps_data
if robot.gps_data is not None:
dist_arr = [distance( conv.geo2planar((robot.gps_data[1], robot.gps_data[0])),
conv.geo2planar(destination) ) for destination in waypoints]
dist = min(dist_arr)
print "DIST-GPS", dist
if prev_destination_dist is not None:
if prev_destination_dist < dist and dist < 10.0:
robot.drop_ball = True
# remove nearest
i = dist_arr.index(dist) # ugly, but ...
print "INDEX", i
del waypoints[i]
center(robot)
moving = False
robot.wait(1.0)
robot.drop_ball = False
robot.wait(3.0)
dist = None
prev_destination_dist = dist
dist = None
if robot.velodyne_data is not None:
index, dist = robot.velodyne_data
if dist is not None:
dist = min(dist) # currently supported tupple of readings
if moving:
if dist is None or dist < SAFE_DISTANCE_STOP:
print "!!! STOP !!! -", robot.velodyne_data
center(robot)
moving = False
elif dist < TURN_DISTANCE:
if abs(robot.steering_angle) < STRAIGHT_EPS:
arr = robot.velodyne_data[1]
num = len(arr)
left, right = min(arr[:num/2]), min(arr[num/2:])
print "DECIDE", left, right, robot.velodyne_data
if left <= right:
robot.pulse_right(RIGHT_TURN_TIME)
robot.steering_angle = math.radians(-30) # TODO replace by autodetect
else:
robot.pulse_left(LEFT_TURN_TIME)
robot.steering_angle = math.radians(30) # TODO replace by autodetect
elif dist > NO_TURN_DISTANCE:
if abs(robot.steering_angle) > STRAIGHT_EPS:
if robot.steering_angle < 0:
robot.pulse_left(LEFT_TURN_TIME)
else:
robot.pulse_right(RIGHT_TURN_TIME)
robot.steering_angle = 0.0 # TODO replace by autodetect
else: # not moving
if dist is not None and dist > SAFE_DISTANCE_GO:
print "GO", robot.velodyne_data
go(robot)
moving = True
if not robot.buttonGo:
print "STOP!"
break
center(robot)
robot.velodyne.requestStop()
robot.gps.requestStop()