def test_frontcam(image):
""" process the frontcam image """
# print("image is subscribed")
if not SCHEDULER.is_frontcam_enable():
return
if not EYE.is_front_occupied():
STATE = SCHEDULER.get_state()
if STATE == "traffic_light":
signal = is_light_green(image)
rospy.logdebug("[PROC] is_light_green: {}"
.format(signal))
if signal:
SCHEDULER.set_state("to_intersection")
TURTLE.enable()
TURTLE.set_speed("fast")
TURTLE.set_speed_smooth("normal")
elif STATE == "to_intersection":
signal = check_left_right_sign(image)
rospy.logdebug("[PROC] left or right: {}"
.format(signal))
if signal == "right":
SCHEDULER.set_state("intersection_right")
elif signal == "left":
SCHEDULER.set_state("intersection_left")
if SCHEDULER.debug_option["show_center_slope"]:
SCHEDULER.check_time("frontcam", min=0.5)
info = EYE.see_front(image)
if info is None:
return
# rospy.logdebug("[PROC] test_frontcam: state {} {}".format(
# info["state"], info["horizon_position"]))
# if (info["horizon_position"] < 150):
# TURTLE.set_speed("fast")
# TURTLE.set_speed_smooth("normal")
if (info["state"] == "turning") and (info["turning_to"] is not "None"):
rospy.logdebug(
"[PROC] turn off for 1.5s")
rospy.Timer(rospy.Duration(1.5),
EYE.release_front_occupied, oneshot=True)
else:
rospy.Timer(rospy.Duration(0.1),
EYE.release_front_occupied, oneshot=True)
def view_frontcam(image):
""" process the frontcam """
# rospy.loginfo("[VIEW] frontcam image received.")
if not EYE.is_front_occupied():
if SCHEDULER.debug_option["show_center_slope"]:
SCHEDULER.check_time("frontcam", min=0.4)
info = EYE.see_front(image)
if info is None:
return
# rospy.logdebug("info: {:s}".format(str(info)))
if info["center"] is "-1000" or info["center"] is "1000" or info["center"] is "0":
pass
else:
EYE.reset_state()
rospy.Timer(rospy.Duration(0.1),
EYE.release_front_occupied, oneshot=True)
def process_lidar(lidar_data):
""" process the lidar image """
if not SCHEDULER.is_lidar_enable():
return
if SCHEDULER.is_lidar_occupied() or TURTLE.is_occupied():
return
state = SCHEDULER.get_state()
if SCHEDULER.debug_option["show_timer"] and (state != "construction"):
SCHEDULER.check_time("lidar", min=0.4, stop_when_delay=False)
set_lidar_values(lidar_data)
state = SCHEDULER.get_state()
front = get_object_distance("front")
if (front < 0.15) and (front > 0):
TURTLE.stop()
return
if state is "default":
leftside = get_object_distance("leftside")
print(leftside)
if (leftside < 0.35) and (leftside > 0):
rospy.Timer(rospy.Duration(5),
SCHEDULER.release_lidar_occupied,
oneshot=True)
SCHEDULER.set_state("to_construction")
return
elif state is "to_construction":
leftside = get_object_distance("leftside")
print("to_construction: " + str(leftside))
if (leftside < 0.35) and (leftside > 0):
SCHEDULER.set_state("construction")
return
# rospy.Timer(
# rospy.Duration(0.15), SCHEDULER.release_lidar_occupied, oneshot=True
# )
# process_construction()
elif state is "construction":
process_construction()
elif state is "parking":
process_parking()
def process_lidar(lidar_data):
""" process the lidar image """
if not SCHEDULER.is_lidar_enable():
return
if SCHEDULER.is_lidar_occupied() or TURTLE.is_occupied():
return
state = SCHEDULER.get_state()
if SCHEDULER.debug_option["show_timer"] and (state != "construction"):
SCHEDULER.check_time("lidar", min=0.4, stop_when_delay=False)
set_lidar_values(lidar_data)
state = SCHEDULER.get_state()
front = get_object_distance("front")
if (front < 0.15) and (front > 0):
TURTLE.stop()
return
# if STEP >= 10:
# process_parking()
# else:
# process_construction()
# return
if state is "intersection_left":
left = get_object_distance("left")
if (left > 0) and (left < 0.50):
TURTLE.set_speed("slow")
SCHEDULER.set_state("to_construction")
elif state is "to_construction":
rospy.Timer(rospy.Duration(0.15),
SCHEDULER.release_lidar_occupied,
oneshot=True)
process_construction_new()
elif state is "construction":
process_construction_new()
elif state is "parking":
process_parking()
elif state is "tunnel":
process_tunnel()
def move(self):
""" move the bot """
if not self._enable_running:
return
diff_angular = abs(self._angular - self._angular_smooth)
if diff_angular > 0.1:
if self._angular < self._angular_smooth:
self._angular += 0.1
elif self._angular > self._angular_smooth:
self._angular -= 0.1
elif diff_angular is not 0:
self._angular = self._angular_smooth
else:
SCHEDULER.check_time("speed_smooth", min=0.2)
diff_speed = abs(self._speed - self._speed_smooth)
if diff_speed > 0.0002:
if self._speed < self._speed_smooth:
self._speed += 0.0002
elif self._speed > self._speed_smooth:
self._speed -= 0.0002
elif diff_speed is not 0:
self._speed = self._speed_smooth
if SCHEDULER.debug_option["show_speed_angular"]:
rospy.logdebug("speed: {:0.2f} angular: {:0.2f}".format(
self._speed, self._angular))
twist = Twist()
twist.linear.x = self._speed
twist.linear.y = 0
twist.linear.z = 0
twist.angular.x = 0
twist.angular.y = 0
twist.angular.z = self._angular
self._publisher_velocity.publish(twist)
def view_subcam(image):
""" process the subcam image """
global DIRECTION
global BUF_ANGULAR
if not SCHEDULER.is_enable["subcam"]:
return
if SCHEDULER.is_subcam_occupied():
return
if SCHEDULER.debug_option["show_timer"]:
SCHEDULER.check_time("subcam", min=0.3)
info = EYE.see_sub(image)
# print(EYE.get_front_state() + " " + str(EYE.get_front_state()))
if info is None:
rospy.logwarn("[PROC] No Information!")
return
elif False:
# elif EYE.get_front_state() is "turning":
# rospy.logdebug("[PROC] turning...")
center = info["center"]
slope = info["slope"]
# left: + right: -
# if slope > 0:
# weight_slope = pow(abs(slope) / 1.8, 0.9) * 2.6
# else:
# weight_slope = - pow(abs(slope) / 1.8, 0.9) * 2.6
# # weight_slope = - pow(abs(slope) / 1.8, 0.5) * 2.5
if slope > 0:
value = pow(abs(slope) / 1.8, 1.2) * 3.2
else:
value = -pow(abs(slope) / 1.8, 1.2) * 3.2
# if slope > 0:
# weight_center = pow(abs(center) / 250, 0.9) * 5.5
# elif slope < -0:
# weight_center = - pow(abs(center) / 250, 0.9) * 5.5
# else:
# weight_center = 0
# # weight_center = slope * 1
if value > 2.6:
value = 2.6
elif value < -2.6:
value = -2.6
degree = value
# BUF_ANGULAR.append(value)
# past_val = BUF_ANGULAR.pop(0) * 0.7
# if info["has_line"]:
# if (value * past_val >= 0) and (abs(value) > abs(past_val)):
# degree = value
# else:
# degree = 0
# BUF_ANGULAR = [0] * BUF_SIZE
# else:
# if value > 0:
# degree = 2.7
# elif value < 0:
# degree = -2.7
# else:
# degree = 0
# if not info["has_line"]:
# if (slope < 0):
# degree = 4.12
# else:
# degree = -4.12
if SCHEDULER.debug_option["show_center_slope"]:
rospy.logdebug(
"[PROC] slope: {:.2f} w_slope: {:.2f} degree: {:.2f} {}".
format(slope, value, degree, info["has_line"]))
elif EYE.get_front_state() is "straight":
# rospy.logdebug("[PROC] going straight...")
center = info["center"]
if center < 0:
value = pow(abs(center) / 150, 0.9) * 2
elif center > 0:
value = -pow(abs(center) / 150, 0.9) * 2
else:
value = 0
if value > 1.5:
value = 1.5
elif value < -1.5:
value = -1.5
degree = value
if SCHEDULER.debug_option["show_center_slope"]:
rospy.logdebug(
"[PROC] center: {:.2f} w_center: {:.2f} {}".format(
center, degree, info["has_line"]))
rospy.Timer(rospy.Duration(0.14),
SCHEDULER.release_subcam_occupied,
oneshot=True)
# TURTLE.turn("", 0.13, degree)
SCHEDULER.release_subcam_occupied()
def process_subcam(image):
""" process the subcam image """
if not SCHEDULER.is_subcam_enable():
return
if EYE.is_sub_occupied() or TURTLE.is_occupied():
return
if SCHEDULER.debug_option["show_timer"]:
SCHEDULER.check_time("subcam", min=0.25)
info = EYE.see_sub(image)
if info is None:
# rospy.logwarn("[PROC] No Information!")
return
center = info["center"]
slope = info["slope"]
if slope < -0.5:
# limit = 1.6
limit = 1.5 # For slow speed
amplitude = 1.6
# elif slope > 0.5:
# limit = 1.6
# amplitude = 1.2
else:
# limit = 1.2
# amplitude = 1.2
limit = 1.2 # For slow speed
amplitude = 1.2 # For slow speed
if EYE.get_front_state() == "straight":
if (abs(center) < 30) and slope < -0.4:
degree = pow(abs(slope) / 1.8, 1.1) * amplitude
elif center < 0:
degree = pow(abs(center) / 100, 2.0) * amplitude
elif center > 0:
degree = - pow(abs(center) / 100, 2.0) * amplitude
else:
degree = 0
else:
if (abs(center) < 30) and slope < -0.4:
degree = pow(abs(slope) / 1.8, 0.9) * amplitude
elif center < 0:
degree = pow(abs(center) / 100, 1.9) * amplitude
elif center > 0:
degree = - pow(abs(center) / 100, 1.9) * amplitude
else:
degree = 0
buf_sum = sum(BUF_ANGULAR)
if EYE.get_front_state() == "straight":
adjust_angular = BUF_ANGULAR.pop(0) * 0.9
BUF_ANGULAR.append(degree)
degree -= adjust_angular
# if abs(buf_sum) > 1:
else:
reset_buffer()
adjust_angular = 0
degree = max(min(degree, limit), -limit)
if not info["has_line"]:
if center < -55:
# degree = 1.6
degree = 1.4 # For slow speed
elif center > 50:
degree = -1.2
# degree = -1.2 # For slow speed
elif center > 10: # editing...
degree = -0.9 # editing...
else:
degree = 1.4
# if SCHEDULER.debug_option["show_center_slope"]:
# rospy.logdebug(
# "[PROC] center: {:.2f} slope: {:.2f} degree: {:.2f} adj: {:.2f} buf_sum: {:.2f} {} {}".format(
# center, slope, degree, adjust_angular, buf_sum, EYE.get_front_state(), info["has_line"])
# )
rospy.Timer(
rospy.Duration(0.15), EYE.release_sub_occupied, oneshot=True
)
TURTLE.turn(0.13, degree)
def process_subcam(image):
""" process the subcam image """
if not SCHEDULER.is_subcam_enable():
return
if SCHEDULER.is_subcam_occupied() or TURTLE.is_occupied():
return
info = EYE.see_sub(image)
if SCHEDULER.debug_option["show_timer"]:
# Check delay only if has line
# SCHEDULER.check_time("subcam", min=0.28, stop_when_delay=info["has_line"])
SCHEDULER.check_time("subcam", min=0.28, stop_when_delay=False)
if info is None:
rospy.logwarn("[PROC] No Information!")
return
center = info["center"]
slope = info["slope"]
if slope < -0.5:
limit = 1.6
amplitude = 1.0
else:
limit = 1.2
amplitude = 0.8
limit /= 1.9
# amplitude /= 2
state = SCHEDULER.get_state()
if (EYE.get_front_state() == "straight") and (state is not "zigzag"):
if (abs(center) < 30) and slope < -0.4:
degree = pow(abs(slope) / 1.8, 1.1) * amplitude
elif center < 0:
degree = pow(abs(center) / 100, 2.0) * amplitude / 2
elif center > 0:
degree = -pow(abs(center) / 100, 2.0) * amplitude
else:
degree = 0
else:
if slope < 0:
degree = -pow(abs(slope) / 1.8, 2.9) * amplitude * 28.0
else:
degree = pow(abs(slope) / 1.0, 1.2) * amplitude * 4.0
# degree = pow(abs(slope) / 1.8, 0.9) * amplitude
# elif center < 0:
# degree = pow(abs(center) / 100, 1.9) * amplitude
# elif center > 0:
# degree = - pow(abs(center) / 100, 1.9) * amplitude
# else:
# degree = 0
buf_sum = sum(BUF_ANGULAR)
if EYE.get_front_state() == "straight":
adjust_angular = BUF_ANGULAR.pop(0) * 0.9
BUF_ANGULAR.append(degree)
degree -= adjust_angular
# if abs(buf_sum) > 1:
else:
reset_buffer()
adjust_angular = 0
degree = max(min(degree, limit), -limit)
if not info["has_line"]:
if center > 200:
# degree = -1.2
degree = -1.1 # For enhancing frequency
# elif EYE.get_front_state() == "straight":
# degree = 0.6
else:
# degree = 1.4
degree = 1.3 # For enhancing frequency
# if not info["has_line"]:
# if center < -55:
# # degree = 1.6
# degree = 1.4 # For slow speed
# elif center > 50:
# degree = -1.2
# # degree = -1.2 # For slow speed
# # elif center > 19:
# # degree = -1.2
# else:
# degree = 1.4
if SCHEDULER.debug_option["show_center_slope"]:
rospy.logdebug(
"[PROC] center: {:.2f} slope: {:.2f} degree: {:.2f} adj: {:.2f} buf_sum: {:.2f} {} {}"
.format(center, slope, degree, adjust_angular, buf_sum,
EYE.get_front_state(), info["has_line"]))
rospy.Timer(rospy.Duration(0.15),
SCHEDULER.release_subcam_occupied,
oneshot=True)
TURTLE.turn(0.13, degree)
