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loop.py
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loop.py
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#!/usr/bin/env python
# -*- coding: utf-8 -*-
from ServerCom import ServerCom
import lcm
from robotlcm import robotFeedback_t, robotSettings_t
import thread
import time
from RobotCommunication import *
import sys
sys.path.append('/usr/local/lib/python2.7/site-packages')
from picamera.array import PiRGBArray
from picamera import PiCamera
import cv2
import numpy as np
import socket
import scipy.integrate
robot = SerialCommands('/dev/ttyAMA0',115200)
serverCom = ServerCom() # Data used by robot
#serverCom.displayData() # Test
cruise_dist =300
v_desr = 100
host = '192.168.30.37' ###address of the server
port = 9092
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sock.connect((host , port))
print robot.init()
# initialize the camera and grab a reference to the raw camera capture
camera = PiCamera()
camera.resolution = (640, 480)
rawCapture = PiRGBArray(camera, size=(640, 480))
# allow the camera to warmup
time.sleep(0.1)
def findDist():
camera.capture(rawCapture, format="bgr")
img = rawCapture.array #take image
img_crp = img[250:640,150:490] #crop image lower half
frame = cv2.cvtColor(img_crp, cv2.COLOR_BGR2GRAY)
d = frame.flatten ()
s = d.tostring ()
ft = time.time()
sock.send(s)
temp_data = sock.recvfrom(1024)
dist = ord(temp_data[0])
tim = time.time()-ft
print "time took :",tim
rawCapture.truncate(0)
return dist*10,tim #return distance in mm
def my_handler(channel, data):
if channel in "ServerToRobot":
#print "receive"
global serverCom
msg = robotSettings_t.decode(data)
serverCom.desiredSpeed = msg.desiredSpeed
serverCom.longitude = msg.positionFromGPS[0]
serverCom.latitude = msg.positionFromGPS[1]
serverCom.jawRate = msg.positionFromGPS[2]
serverCom.changeLane = msg.changeLane
def receiveFromServer(freq):
lc = lcm.LCM("udpm://239.255.76.67:7667?ttl=1")
subscription = lc.subscribe("ServerToRobot", my_handler)
try:
while 1:
lc.handle()
time.sleep(1.0/freq)
except KeyboardInterrupt:
pass
# Define a function for the thread
def comServerThread(serverCom, freq):
while True:
time.sleep(1.0/freq)
serverCom.sendToServer()
# Create two threads as follows
freqReceive = 10 #receiving
freqSend = 10 #sending
try:
thread.start_new_thread( comServerThread, (serverCom, freqReceive, ) )
thread.start_new_thread( receiveFromServer, (freqSend, ) )
except:
print "Error: unable to start thread"
oldDesired = serverCom.desiredSpeed
#robot.startLineFollowing(serverCom.desiredSpeed)
print serverCom.desiredSpeed
print "--- Robot start"
robot.startLineFollowing(int(serverCom.desiredSpeed))
v_now = 0
dist,t_im= findDist()
P = 18
I = 1
err = 0
while 1:
serverCom.currentSpeed = v_now
# serverCom.displayData()
if dist>0:
if dist >= cruise_dist:
err_prev = err
err = (dist-v_now*t_im) - cruise_dist
i_err = scipy.integrate.simps([int(err_prev), int(err)])
err_new = P*err + I*i_err
temp_sp = min(int(serverCom.desiredSpeed), err*t_im)
v_now = max(temp_sp,0)
if dist<400:
v_now = 0
robot.startLineFollowing(int(v_now*0.645))
dist,t_im= findDist()
else:
v_now = 0
robot.startLineFollowing(0)
dist,t_im= findDist()
# print 'in if:',v_now
else:
v_now = int(serverCom.desiredSpeed)
robot.startLineFollowing(int (v_now*0.645))
dist,t_im = findDist()
serverCom.currentSpeed = v_now
if(serverCom.changeLane):
if(serverCom.currentLane == 0):
robot.laneChange(-1, serverCom.desiredSpeed)
serverCom.currentLane = 1
else:
robot.laneChange(1, serverCom.desiredSpeed)
serverCom.currentLane = 0
serverCom.changeLane = False
# print 'in else'
#~ print 'distance :',real_dist
# print 'current speed :',v_now
# print '-------------------------------'
time.sleep(0.01)
print robot.init()