from pso_network import PlannerSender from planner_exporter import PlannerExporter # Planner constants (AUTO, WAYPOINT, MANUAL) = range(3) REFLEXIVE_HALT_RADIUS = 8 test = True # Create global manager objects mapperManager = Mapper() uiManager = None if (not test): uiManager = PlannerNetworkManager() #psoManager = PlannerSender() goalManager = WallCrawl() exportManager = PlannerExporter(mapperManager.mapPointer()) def mapCallback(data): global mapperManager while (mapperManager.lock == True): pass mapperManager.lock = True d = data.data i = data.info # mapper space x = 2000
def main():
try:
mapperManager = Mapper()
if (not test):
uiManager = PlannerNetworkManager()
#psoManager = PlannerSender()
goalManager = WallCrawl()
exportManager = PlannerExporter(mapperManager.mapPointer())
roi_face = mapperManager.roi_size
screen_image = cv.GetImage(cv.fromarray(numpy.zeros((roi_face, roi_face, 4), numpy.uint8)))
flight_mode = AUTO
waypointQ = []
if test:
cv.NamedWindow("map")
# Start the LIDAR thread
mapperManager.start()
# Build the reflexive halt mask
reflexive_halt_mask = cv.GetImage(cv.fromarray(numpy.zeros((24, 24), numpy.uint8)))
cv.Circle(reflexive_halt_mask, (12, 12), REFLEXIVE_HALT_RADIUS, 255, -1)
while True:
x = 2000
y = 2000
heading = 0
roi_x = x - (roi_face/2)
roi_y = y - (roi_face/2)
if (not test):
uicommand = uiManager.getUICommand()
if uicommand:
tokens = str.split(uicommand)
if (tokens[0] == "click"):
print "a click has gone through"
if (tokens[0] == "mode"):
if (tokens[1] == '0'):
print "Entering autonomous mode"
flight_mode = AUTO
elif (tokens[1] == '1'):
print "Entering manual waypoint command mode."
flight_mode = WAYPOINT
elif (tokens[1] == '2'):
print "Entering manual controller command mode."
flight_mode = MANUAL
if (tokens[0] == "export"):
exportManager.run()
mapperManager.scan()
m = mapperManager.mapPointer()
# Create the screen buffer
cv.SetImageROI(m, (roi_x, roi_y, roi_face, roi_face))
cv.Copy(m, screen_image)
cv.ResetImageROI(m)
# Check for a reflexive halt condition
halt_roi = (x-12, y-12, 24, 24)
halt = mapperManager.obstaclePresentMask(reflexive_halt_mask, halt_roi)
cv.Circle(screen_image, (roi_face/2, roi_face/2), REFLEXIVE_HALT_RADIUS, (0, 0, 255, 0), 1)
if (halt):
print "REFLEXIVE HALT!"
# Prevent the LIDAR from ghosting itself
cv.Circle(m, (x, y), 10, (255, 255, 255, 255), -1)
# Perform the appropriate tfask
if (flight_mode == AUTO):
new_waypoints = []
if (len(waypointQ) < 10):
new_waypoints = goalManager.computeNewWaypoints(mapperManager, waypointQ, None, 4, screen_image)
# this will have to change when we figure out how to do waypoint arrival
waypointQ = new_waypoints
elif (flight_mode == WAYPOINT):
pass
elif (flight_mode == MANUAL):
pass
# Commit graphics to the screen buffer
old_x = 225
old_y = 225
for w in waypointQ:
plot_x = w[0] - x + (roi_face/2)
plot_y = w[1] - y + (roi_face/2)
cv.Line(screen_image, (old_x, old_y), (plot_x, plot_y), (0, 0, 255, 0), 1)
old_x = plot_x
old_y = plot_y
#cv.Circle(screen_image, (plot_x, plot_y), 15, (0, 0, 255, 0), 1)
#cv.Circle(screen_image, (plot_x, plot_y), 6, (0, 0, 255, 0), 1)
cv.Circle(screen_image, (plot_x, plot_y), 2, (0, 0, 255, 0), -1)
angle = heading + 1.61
heading_x = int(math.floor(roi_face/2 + 12*math.cos(angle)))
heading_y = int(math.floor(roi_face/2 - 12*math.sin(angle)))
cv.Circle(screen_image, (roi_face/2, roi_face/2), 6, (255, 0, 0, 0), -1)
cv.Line(screen_image, (roi_face/2, roi_face/2), (heading_x, heading_y), (0, 255, 0), 1)
if test:
cv.ShowImage("map", screen_image)
cv.WaitKey(10)
# Transmit the results to the appropriate places
if (not test):
uiManager.sendLidarString(screen_image.tostring())
except KeyboardInterrupt:
print "Caught the keyboard interrupt!"
except Exception as ex:
print "Caught an unhandled exception:"
print ex
if (mapperManager):
mapperManager.shutdown()
if (not test and uiManager):
uiManager.shutdown()
