forked from robotika/eduro
/
eduromaxi.py
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/
eduromaxi.py
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#!/usr/bin/python
"""
EduroMaxi - first outdoor robot of Eduro series
3-wheel configuration:
width = 0.39m
length = 0.62m
height = 0.54m (with camera support)
"""
from robot import Robot
# for building the robot
from robot import SourceLogger, SIDE_LEFT, SIDE_RIGHT
from gps import GPS, DummyGPS, timeName
from camera import Camera, ImageProc, RemoteCamera, timeName, DummyProc, DummyCamera
from laser import LaserUSB, LaserIP
from eduro import emergencyStopExtension
from os import path, sep
from hand import handPositionExtension
from rfid import RFID
from barcode import BarcodeReader
from raspi import RasPi
def processedRFID( rfidData ):
if rfidData and len(rfidData) == 10:
if rfidData.startswith("B1 "):
try:
return int(rfidData.split()[1]),int(rfidData.split()[2]) # index and intensity
except:
print "RFID parse error", rfidData
return None
class EduroMaxi( Robot ):
def __init__( self, can=None, maxAcc = 0.5, replyLog=None, metaLog=None):
Robot.__init__( self, can, maxAcc, replyLog, metaLog=metaLog )
self.WHEEL_DISTANCE = 0.315
#wd = 0.26/4.0 # with gear 1:4
wd = 427.0 / 445.0 * 0.26/4.0 # with gear 1:4
delta = 0.00015
self._WHEEL_DIAMETER = {SIDE_LEFT: wd+delta, SIDE_RIGHT: wd-delta} #TODO: different wheel diameters
self.fnSpeedLimitController = []
def metaLogName( self, prefix ):
for line in self.metaLog:
if line.startswith( prefix ):
return path.dirname(self.replyLog)+sep+line.split()[1].split("/")[-1]
return None
def attachGPS(self):
if self.replyLog is None:
self.gps = GPS( verbose=0 )
name = timeName( "logs/src_gps_", "log" )
if self.metaLog:
self.metaLog.write("GPSLOG:\t" + name + "\n")
self.metaLog.flush()
self.registerDataSource( 'gps', SourceLogger( self.gps.coord, name ).get )
else:
self.gps = DummyGPS()
if self.metaLog:
gpsSrcLog = self.metaLogName( "GPSLOG:" )
else:
gpsSrcLog = self.replyLog[:-18]+"src_gps_"+self.replyLog[-17:]
print "GPSLOG:", gpsSrcLog
self.registerDataSource( 'gps', SourceLogger( None, gpsSrcLog ).get )
self.gpsData = None
self.addExtension( gpsDataExtension )
def attachBarcodeReader(self):
if self.replyLog is None:
self.barcode = BarcodeReader()
name = timeName( "logs/src_barcode_", "log" )
if self.metaLog:
self.metaLog.write("BARCODELOG:\t" + name + "\n")
self.metaLog.flush()
self.registerDataSource( 'barcode', SourceLogger( self.barcode.getCode, name ).get )
else:
self.barcode = DummyGPS()
if self.metaLog:
barSrcLog = self.metaLogName( "BARCODELOG:" )
else:
barSrcLog = self.replyLog[:-18]+"src_barcode_"+self.replyLog[-17:]
print "BARCODELOG:", barSrcLog
self.registerDataSource( 'barcode', SourceLogger( None, barSrcLog ).get )
self.barcodeData = None
self.addExtension( barcodeDataExtension )
def attachRasPi(self):
if self.replyLog is None:
self.raspi = RasPi()
name = timeName( "logs/src_raspi_", "log" )
if self.metaLog:
self.metaLog.write("RASPILOG:\t" + name + "\n")
self.metaLog.flush()
self.registerDataSource( 'raspi', SourceLogger( self.raspi.getData, name ).get )
else:
self.raspi = DummyGPS()
if self.metaLog:
barSrcLog = self.metaLogName( "RASPILOG:" )
else:
barSrcLog = self.replyLog[:-18]+"src_raspi_"+self.replyLog[-17:]
print "RASPILOG:", barSrcLog
self.registerDataSource( 'raspi', SourceLogger( None, barSrcLog ).get )
self.raspiData = None
self.addExtension( raspiDataExtension )
def attachCamera(self, cameraExe=None, url="http://192.168.0.99/img.jpg", sleep=None):
if self.replyLog is None:
if cameraExe:
proc = ImageProc(exe=cameraExe, verbose=0, priority=10)
else:
proc = DummyProc( sleep=sleep )
self.camera = Camera( proc,
verbose=0,
url=url,
sleep=sleep )
name = timeName( "logs/src_camera_", "log" )
if self.metaLog:
self.metaLog.write("CAMERALOG:\t" + name + "\n")
self.metaLog.flush()
self.registerDataSource( 'camera', SourceLogger( self.camera.lastResultEx, name ).get )
else:
self.camera = DummyCamera()
if self.metaLog:
cameraSrcLog = self.metaLogName( "CAMERALOG:" )
else:
cameraSrcLog = self.replyLog[:-18]+"src_camera_"+self.replyLog[-17:]
print "CAMERALOG:", cameraSrcLog
self.registerDataSource( 'camera', SourceLogger( None, cameraSrcLog ).get )
self.cameraData = None
self.addExtension( cameraDataExtension )
def attachEmergencyStopButton(self):
self.addExtension( emergencyStopExtension )
def attachLaser( self, remission=False, usb=False, pose=None, index=None, errLog=None ):
if index == None:
strIndex = ''
else:
strIndex = str(index)
if self.replyLog is None:
if usb:
laser = LaserUSB( remission=remission, errLog=errLog )
else:
laser = LaserIP( remission=remission )
name = timeName( "logs/src_laser"+strIndex+"_", "log" )
if self.metaLog:
self.metaLog.write("LASERLOG:\t" + name + "\n")
self.metaLog.flush()
self.registerDataSource( 'laser'+strIndex, SourceLogger( laser.scan, name ).get )
if remission:
name = timeName( "logs/src_remission"+strIndex+"_", "log" )
if self.metaLog:
self.metaLog.write("REMISSIONLOG:\t" + name + "\n")
self.metaLog.flush()
self.registerDataSource( 'remission'+strIndex, SourceLogger( laser.remission, name ).get )
else:
laser = DummyGPS() # just start
if self.metaLog:
laserSrcLog = self.metaLogName( "LASERLOG:" )
else:
laserSrcLog = self.replyLog[:-18]+"src_laser"+strIndex+"_"+self.replyLog[-17:]
print "LASERLOG:", laserSrcLog
self.registerDataSource( 'laser'+strIndex, SourceLogger( None, laserSrcLog ).get )
if remission:
if self.metaLog:
remissionSrcLog = self.metaLogName( "REMISSIONLOG:" )
else:
remissionSrcLog = self.replyLog[:-18]+"src_remission"+strIndex+"_"+self.replyLog[-17:]
print "REMISSIONLOG:", remissionSrcLog
self.registerDataSource( 'remission'+strIndex, SourceLogger( None, remissionSrcLog ).get )
if index == None:
self.laser = laser
self.laserData = None
self.laserDataTimestamp = None
self.remissionData = None
self.laser.pose = pose
self.addExtension( laserDataExtension )
else:
assert( index == 2 )
self.laser2 = laser
self.laserData2 = None
self.laserData2Timestamp = None
self.remissionData2 = None
self.laser2.pose = pose
self.addExtension( laserDataExtension2 )
def attachRemoteCamera(self, address=('localhost', 8431)):
if self.replyLog is None:
self.camera = RemoteCamera( address, verbose=0 )
self.registerDataSource( 'camera', SourceLogger( self.camera.lastResultEx, timeName( "logs/src_camera_", "log" ) ).get )
else:
self.camera = DummyGPS() # TODO some dummy device with start(), requestStop() functions
cameraSrcLog = self.replyLog[:-18]+"src_camera_"+self.replyLog[-17:]
print "CAMERALOG:", cameraSrcLog
self.registerDataSource( 'camera', SourceLogger( None, cameraSrcLog ).get )
self.cameraData = None
self.addExtension( cameraDataExtension )
def attachSonar(self):
# The sonar data come from the CAN/CAN log, not prom a stand-alone file.
self.sonar = None
self.addExtension(sonarExtension)
def attachHand(self):
# The hand is attached via CAN bus
self.handPosition = None
self.addExtension( handPositionExtension )
def attachRFID(self):
if self.replyLog is None:
self.rfid = RFID()
name = timeName( "logs/src_rfid_", "log" )
if self.metaLog:
self.metaLog.write("RFIDLOG:\t" + name + "\n")
self.metaLog.flush()
self.registerDataSource( 'rfid', SourceLogger( self.rfid.data, name ).get )
else:
self.rfid = DummyGPS() # just start
if self.metaLog:
rfidSrcLog = self.metaLogName( "RFIDLOG:" )
else:
rfidSrcLog = self.replyLog[:-18]+"src_rfid_"+self.replyLog[-17:]
print "RFIDLOG:", rfidSrcLog
self.registerDataSource( 'rfid', SourceLogger( None, rfidSrcLog ).get )
self.rfidData = None
self.rfidDataRaw = None
self.addExtension( rfidDataExtension )
def attachProcessingNode( self ):
if self.replyLog is None:
self.node = SocketExtension()
name = timeName( "logs/src_node_", "log" )
if self.metaLog:
self.metaLog.write("NODELOG:\t" + name + "\n")
self.metaLog.flush()
self.registerDataSource( 'node', SourceLogger( self.node.data, name ).get )
else:
self.node = DummyGPS() # just start
if self.metaLog:
nodeSrcLog = self.metaLogName( "NODELOG:" )
else:
nodeSrcLog = self.replyLog[:-18]+"src_node_"+self.replyLog[-17:]
print "NODELOG:", nodeSrcLog
self.registerDataSource( 'node', SourceLogger( None, nodeSrcLog ).get )
self.nodeData = None
self.addExtension( nodeDataExtension )
def gpsDataExtension( robot, id, data ):
if id=='gps':
robot.gpsData = data
if robot.localisation is not None:
robot.localisation.updateGPS(data)
def barcodeDataExtension( robot, id, data ):
if id=='barcode':
robot.barcodeData = data
def raspiDataExtension( robot, id, data ):
if id=='raspi':
robot.raspiData = data
def cameraDataExtension( robot, id, data ):
if id=='camera':
robot.cameraData = data
def laserDataExtension( robot, id, data ):
if id=='laser':
robot.laserData = data
robot.laserDataTimestamp = robot.time
if id=='remission':
robot.remissionData = data
def laserDataExtension2( robot, id, data ):
if id=='laser2':
robot.laserData2 = data
robot.laserData2Timestamp = robot.time
if id=='remission2':
robot.remissionData2 = data
def sonarExtension( robot, id, data ):
if id == 0x186:
assert( len(data) )
robot.sonar = (data[1]*256 + data[0])*340.0/2.0/1000000.0
def trackerDataExtension( robot, id, data ):
if id=='tracker':
robot.trackerData = data
def rfidDataExtension( robot, id, data ):
if id=='rfid':
robot.rfidDataRaw = data
robot.rfidData = processedRFID( data )
def nodeDataExtension( robot, id, data ):
if id=='node':
robot.nodeData = data
def buildRobot( robot, attachedGPS = False, attachedCamera = False, cameraExe = None, attachedLaser = False, replyLog = None ):
"attach various sensors to 'robot base'"
robot.replyLog = replyLog
if attachedGPS:
robot.attachGPS()
if attachedCamera:
robot.attachCamera(cameraExe)
if attachedLaser:
robot.attachLaser()
return robot