def redis_control():
'''
Percepts are sent to the ROBOT:PERCEPTS redis channel
Actions are received through the ROBOT redis channel
:return:
'''
with VRep.connect("127.0.0.1", 19999) as api:
r = PioneerP3DX('Pioneer_p3dx', api)
Red = Redis()
pubsub = Red.pubsub()
pubsub.subscribe('ROBOT')
speed = 0.0
print('listening..')
prev = ''
while True:
msg = pubsub.get_message(ignore_subscribe_messages=True)
if msg:
cmd = msg['data'].decode('utf-8').split(',')[-1][:-1].strip()
try:
invoke(r, cmd)
except NotImplementedError:
print(cmd, 'not implemented!')
# build percepts string
rl = r.right_length()
ll = r.left_length()
percepts = '[sonar({0:.3f}, {1:0.3f})]'.format(ll, rl)
if percepts != prev:
prev = percepts
Red.publish('ROBOT:PERCEPTS', percepts)
def pedro_control():
with VRep.connect("127.0.0.1", 19997) as api:
myRobot = PioneerP3DX('Pioneer_p3dx', api)
vrep_pedro = Vrep_Pedro(myRobot)
# wait for and process initialize_ message
vrep_pedro.process_initialize()
previous_percept = None
time.sleep(1)
print('Connected to V-REP and PEDRO, listening...')
while True:
# build percepts string
rl = myRobot.right_length()
ll = myRobot.left_length()
percept = '[sonar({0:.3f}, {1:0.3f})]'.format(ll, rl)
if percept != previous_percept:
previous_percept = percept
vrep_pedro.send_percept(percept)
def demo_control():
'''
In process robot control. Just a simple navigation, avoiding to bump into anything.
:return:
'''
with VRep.connect("127.0.0.1", 19999) as api:
r = PioneerP3DX('Pioneer_p3dx', api)
speed = 0.0
while True:
rl = r.right_length()
ll = r.left_length()
print('{0:.3f} {1:.3f} {2:.3f}'.format(speed, ll, rl))
if rl > 0.01 and rl < 10:
r.rotate_left()
elif ll > 0.01 and ll < 10:
r.rotate_right()
else:
speed = 10.0 * tanh(log(ll) + log(rl))
if speed > 5.0:
speed = 5.0
r.move_forward(speed=speed)
time.sleep(0.1)
def make_robot(self, api):
return PioneerP3DX('Pioneer_p3dx', api)