def main():
parser = argparse.ArgumentParser()
parser.add_argument('--ip', help='addresse ip du nao')
parser.add_argument('--port', help='port du nao', type=int)
args = parser.parse_args()
nao = Nao(args.ip, args.port)
# FSM
states = ['idle', 'end', 'leftward', 'rightward', 'rest',
'forward', 'backward','shooting']
transitions = [#état de départ idle
{'trigger': 'sleep', 'source': 'idle', 'dest': 'idle',
'before': 'doSleep'},
{'trigger': 'quit', 'source': 'idle', 'dest': 'end',
'before': 'doQuit'},
{'trigger': 'standby', 'source': 'idle', 'dest': 'rest',
'before': 'doWakeUp'},
#état de départ end,on ne peut pas sortir de l'état end
{'trigger': 'quit', 'source': 'end', 'dest': 'end',
'before': 'doQuit'},
#état de départ leftward
{'trigger': 'left', 'source': 'leftward', 'dest': 'leftward',
'before': 'doLeft'},
{'trigger': 'right', 'source': 'leftward', 'dest': 'rightward',
'before': 'doRight'},
{'trigger': 'standby', 'source': 'leftward', 'dest': 'rest',
'before': 'doStandby'},
{'trigger': 'go', 'source': 'leftward', 'dest': 'forward',
'before': 'doGo'},
{'trigger': 'goback', 'source': 'leftward', 'dest': 'backward',
'before': 'doGoback'},
{'trigger': 'shoot', 'source': 'leftward', 'dest': 'shooting',
'before': 'doShoot'},
{'trigger': 'sleep', 'source': 'leftward', 'dest': 'idle',
'before': 'doSleep'},
{'trigger': 'quit', 'source': 'leftward', 'dest': 'end',
'before': 'doQuit'},
#état de départ rightward
{'trigger': 'right', 'source': 'rightward', 'dest': 'rightward',
'before': 'doRight'},
{'trigger': 'standby', 'source': 'rightward', 'dest': 'rest',
'before': 'doStandby'},
{'trigger': 'go', 'source': 'rightward', 'dest': 'forward',
'before': 'doGo'},
{'trigger': 'goback', 'source': 'rightward', 'dest': 'backward',
'before': 'doGoback'},
{'trigger': 'shoot', 'source': 'rightward', 'dest': 'shooting',
'before': 'doShoot'},
{'trigger': 'sleep', 'source': 'rightward', 'dest': 'idle',
'before': 'doSleep'},
{'trigger': 'quit', 'source': 'rightward', 'dest': 'end',
'before': 'doQuit'},
{'trigger': 'left', 'source': 'rightward', 'dest': 'leftward',
'before': 'doLeft'},
#état de départ rest
{'trigger': 'standby', 'source': 'rest', 'dest': 'rest',
'before': 'doStandby'},
{'trigger': 'go', 'source': 'rest', 'dest': 'forward',
'before': 'doGo'},
{'trigger': 'goback', 'source': 'rest', 'dest': 'backward',
'before': 'doGoback'},
{'trigger': 'shoot', 'source': 'rest', 'dest': 'shooting',
'before': 'doShoot'},
{'trigger': 'sleep', 'source': 'rest', 'dest': 'idle',
'before': 'doSleep'},
{'trigger': 'quit', 'source': 'rest', 'dest': 'end',
'before': 'doQuit'},
{'trigger': 'left', 'source': 'rest', 'dest': 'leftward',
'before': 'doLeft'},
{'trigger': 'right', 'source': 'rest', 'dest': 'rightward',
'before': 'doRight'},
#état de départ forward
{'trigger': 'go', 'source': 'forward', 'dest': 'forward',
'before': 'doGo'},
{'trigger': 'goback', 'source': 'forward', 'dest': 'backward',
'before': 'doGoback'},
{'trigger': 'shoot', 'source': 'forward', 'dest': 'shooting',
'before': 'doShoot'},
{'trigger': 'sleep', 'source': 'forward', 'dest': 'idle',
'before': 'doSleep'},
{'trigger': 'quit', 'source': 'forward', 'dest': 'end',
'before': 'doQuit'},
{'trigger': 'left', 'source': 'forward', 'dest': 'leftward',
'before': 'doLeft'},
{'trigger': 'right', 'source': 'forward', 'dest': 'rightward',
'before': 'doRight'},
{'trigger': 'standby', 'source': 'forward', 'dest': 'rest',
'before': 'doStandby'},
#état de départ backward
{'trigger': 'goback', 'source': 'backward', 'dest': 'backward',
'before': 'doGoback'},
{'trigger': 'shoot', 'source': 'backward', 'dest': 'shooting',
'before': 'doShoot'},
{'trigger': 'sleep', 'source': 'backward', 'dest': 'idle',
'before': 'doSleep'},
{'trigger': 'quit', 'source': 'backward', 'dest': 'end',
'before': 'doQuit'},
{'trigger': 'left', 'source': 'backward', 'dest': 'leftward',
'before': 'doLeft'},
{'trigger': 'right', 'source': 'backward', 'dest': 'rightward',
'before': 'doRight'},
{'trigger': 'standby', 'source': 'backward', 'dest': 'rest',
'before': 'doStandby'},
{'trigger': 'go', 'source': 'backward', 'dest': 'forward',
'before': 'doGo'},
#état de départ shooting, après le tire le nao se remet droit
#et laisse la main au joueur
{'trigger': 'standby', 'source': 'shooting', 'dest': 'rest',
'before': 'doStandby'}]
machine = Machine(model=nao, states=states, transitions=transitions,
initial='idle', ignore_invalid_triggers=True)
xref, yref, _ = nao.get_pos()
scale = 50
l = 640
h = 480
pg.init()
window = pg.display.set_mode((l, h))
detect_obstacle = True
run = True
while run:
for event in pg.event.get():
if event.type == KEYDOWN:
if event.key == K_DOWN:
nao.goback()
elif event.key == K_UP:
nao.go()
elif event.key == K_LEFT:
nao.left()
elif event.key == K_RIGHT:
nao.right()
elif event.key == K_SPACE:
nao.shoot()
elif event.key == K_q:
nao.quit()
elif event.key == K_RETURN:
nao.standby()
elif event.key == K_s:
nao.sleep()
elif event.key == K_o:
detect_obstacle = !detect_obstacle
if nao.state == 'end':
run = False
if nao.state == 'forward' and detect_obstacle:
nao.avoid_obstacle()
x, y, theta = nao.get_pos()
x = int((x-xref)*scale)+l/2
y = -int((y-yref)*scale)+h/2
window.fill((0,255,0))
pg.draw.circle(window, (0,0,255), (x,y), 6)
pg.display.flip()
pg.time.delay(100)
pg.quit()
exit()
def main():
parser = argparse.ArgumentParser()
parser.add_argument('--ip', help='addresse ip du nao')
parser.add_argument('--port', help='port du nao', type=int)
args = parser.parse_args()
nao = Nao(args.ip, args.port)
# FSM
states = ['idle', 'end', 'leftward', 'rightward', 'rest',
'forward', 'backward','shooting','shouting',
'lateralShuffelLeftward','lateralShuffelRightward']
machine = Machine(model=nao, states=states, transitions=[],
initial='idle', ignore_invalid_triggers=True)
# Ajout des états par états de destination
# Destination idle
sourceIdle = ['idle', 'leftward', 'rightward', 'rest', 'forward',
'backward', 'rest', 'joyMove',
'lateralShuffelLeftward', 'lateralShuffelRightward']
machine.add_transition(trigger='sleep', sourceIdle, dest='idle',
before='doSleep')
# Destination end
sourceEnd = ['idle', 'end', 'leftward', 'rightward','rest', 'forward',
'backward', 'joyMove', 'lateralShuffelLeftward',
'lateralShuffelRightward']
machine.add_transition(trigger='quit', sourceEnd, dest='end',
before='doQuit')
# Destination 'leftward'
sourceLeftward = ['leftward', 'rest', 'rightward', 'forward', 'backward',
'lateralShuffelLeftward', 'lateralShuffelRightward', 'joyMove']
machine.add_transition(trigger='left', sourceLeftward, dest='leftward',
before='doLeft')
# Destination 'rightward'
sourceRightward = ['leftward', 'rightward', 'rest', 'forward', 'backward',
'lateralShuffelLeftward', 'lateralShuffelRightward', 'joyMove']
machine.add_transition(trigger='right', sourceRightward, dest='rightward',
before='doRight')
# Destination 'rest'
sourceRest=['idle', 'leftward', 'rightward', 'rest', 'forward', 'backward',
'shooting','shouting', 'lateralShuffelLeftward',
'lateralShuffelRightward', 'joyMove']
machine.add_transition(trigger='standby', sourceRest, dest='rest',
before='doStandby')
# Destination 'forward'
sourceForward = ['leftward', 'rightward', 'rest', 'forward', 'backward',
'lateralShuffelLeftward', 'lateralShuffelRightward', 'joyMove']
machine.add_transition(trigger='go', sourceForward, dest='forward',
before='doGo')
# Destination backward
sourceBackward = ['leftward', 'rightward', 'rest', 'forward', 'backward',
'lateralShuffelLeftward', 'lateralShuffelRightward', 'joyMove']
machine.add_transition(trigger='goback', sourceBackward, dest='backward',
before='doGoback')
# Destination 'shooting'
sourceShooting = ['leftward', 'rightward', 'rest', 'forward', 'backward',
'lateralShuffelLeftward', 'lateralShuffelRightward', 'joyMove']
machine.add_transition(trigger='shoot', sourceShooting, dest='shooting',
before='doShoot')
# Destination 'shouting'
sourceShouting = ['rest']
machine.add_transition(trigger='shout', sourceShouting, dest='shouting',
before='doShout')
# Destination 'lateralShuffelLeftward'
sourceLateralShuffelLeftward = ['leftward', 'rightward', 'rest',
'forward','backward',
'lateralShuffelLeftward',
'lateralShuffelRightward']
machine.add_transition(trigger='lateralShuffelLeft',
sourceLateralShuffelLeftward,
dest='lateralShuffelLeftward',
before='doLateralShuffelLeft')
# Destination 'lateralShuffelRightward'
sourceLateralShuffelRightward = ['leftward', 'rightward', 'rest',
'forward','backward',
'lateralShuffelLeftward',
'lateralShuffelRightward', 'joyMove']
machine.add_transition(trigger='lateralShuffelRight',
sourceLateralShuffelRightward ,
dest='lateralShuffelRightward',
before='doLateralShuffelRight')
# Destination 'joyMove'
sourceJoystick = ['backward', 'foreward', 'joyMove',
'lateralShuffelLeftward', 'lateralShuffelRightward',
'leftward', 'rest', 'rightward']
machine.add_transition('joystick', sourceJoystick, 'joyMove',
before='doJoyMove')
# IHM
xref, yref, _ = nao.get_pos()
scale = 50
window_width = 640
window_height = 480
pg.init()
window = pg.display.set_mode((window_width, window_height))
detect_obstacle = True
pg.joystick.init()
jTolerance = 0.2
for i in range(pg.joystick.get_count()):
pg.joystick.Joystick(i).init()
run = True
while run:
for event in pg.event.get():
if event.type == JOYAXISMOTION:
if event.axis == 0:
if abs(event.value) < jTolerance:
nao.set_y_speed(0)
else:
nao.set_y_speed(event.value)
nao.joystick()
if event.axis == 1:
if abs(event.value) < jTolerance:
nao.set_x_speed(0)
else:
nao.set_x_speed(-event.value)
nao.joystick()
if event.axis == 2:
if abs(event.value) < jTolerance:
nao.set_rotation_speed(0)
else:
nao.set_rotation_speed(-event.value)
nao.joystick()
if event.type == JOYBUTTONDOWN:
if event.button == 0:
nao.shoot()
if event.type == KEYDOWN:
if event.key == K_DOWN:
nao.goback()
elif event.key == K_UP:
nao.go()
elif event.key == K_LEFT:
nao.left()
elif event.key == K_RIGHT:
nao.right()
elif event.key == K_SPACE:
nao.shoot()
elif event.key == K_q:
nao.quit()
elif event.key == K_RETURN:
nao.standby()
elif event.key == K_s:
nao.sleep()
elif event.key == K_o:
detect_obstacle = not detect_obstacle
if nao.state == 'end':
run = False
if nao.state == 'forward' and detect_obstacle:
nao.avoid_obstacle()
x, y, theta = nao.get_pos()
x = int((x-xref)*scale)+window_width/2
y = -int((y-yref)*scale)+window_height/2
window.fill((0, 255, 0))
pg.draw.circle(window, (0, 0, 255), (x, y), 6)
pg.display.flip()
pg.time.delay(100)
pg.quit()
exit()
def main():
parser = argparse.ArgumentParser()
parser.add_argument('--ip', help='addresse ip du nao')
parser.add_argument('--port', help='port du nao', type=int)
args = parser.parse_args()
nao = Nao(args.ip, args.port)
# FSM
states = ['idle', 'end', 'turning_left', 'turning_right', 'rest',
'walking', 'walking_back']
transitions = [
{'trigger': 'go', 'source': 'idle', 'dest': 'walking',
'before': 'walk'},
{'trigger': 'wait', 'source': 'walking', 'dest': 'idle',
'before': 'stop_move'},
{'trigger': 'turn_left', 'source': 'idle', 'dest': 'turning_left',
'before': 'rotate_left'},
{'trigger': 'wait', 'source': 'turning_left', 'dest': 'idle',
'before': 'stop_move'},
{'trigger': 'turn_right', 'source': 'idle',
'dest': 'turning_right', 'before': 'rotate_right'},
{'trigger': 'wait', 'source': 'turning_right', 'dest': 'idle',
'before': 'stop_move'},
{'trigger': 'back', 'source': 'idle', 'dest': 'walking_back',
'before': 'walk_back'},
{'trigger': 'wait', 'source': 'walking_back', 'dest': 'idle',
'before': 'stop_move'},
{'trigger': 'stop', 'source': 'rest', 'dest': 'end'},
{'trigger': 'rest', 'source': 'idle', 'dest': 'rest',
'before': 'crouch'},
{'trigger': 'go', 'source': 'rest', 'dest': 'idle',
'before': 'wake_up'}
]
machine = Machine(model=nao, states=states, transitions=transitions,
initial='idle', ignore_invalid_triggers=True)
pg.init()
window = pg.display.set_mode((640, 480))
run = True
while run:
for event in pg.event.get():
if event.type == KEYDOWN:
if event.key == K_b:
nao.back()
elif event.key == K_c:
nao.rest()
elif event.key == K_g:
nao.go()
elif event.key == K_l:
nao.turn_left()
elif event.key == K_r:
nao.turn_right()
elif event.key == K_s:
nao.stop()
elif event.key == K_w:
nao.wait()
if nao.state == 'end':
run = False
if nao.state == 'walking':
nao.avoid_obstacle()
time.sleep(0.1)
