def open(self, Serial):
#baudRates = [9600,38400,19200,115200,57600]
#baudRates = [115200,9600]#,38400,19200,57600]
baudRates = [9600,19200,38400,57600,115200]
#baudRates = [9600]
curBaudRate = 0
self.port = Serial(self.portName,baudRates[0])
self.port._timeout = 1.0
self.port._writeTimout = 1.0
self.port.flushInput()
self.port.flushOutput()
numAttempts = 3
timeout = 5.0
startt = time()
while (self.connectionState != STATE_READY):
if (self.connectionState == STATE_NO_SYNC):
self.sendPacket([CMD_SYNC0])
elif (self.connectionState == STATE_FIRST_SYNC):
self.sendPacket([CMD_SYNC1])
elif (self.connectionState == STATE_SECOND_SYNC):
self.sendPacket([CMD_SYNC2])
elif (self.connectionState == STATE_READY):
pass
try:
pkt = self.recvPacket()
except:
if (self.connectionState == STATE_NO_SYNC and numAttempts >= 0):
numAttempts -= 1
else:
curBaudRate += 1
if (curBaudRate<len(baudRates)):
self.port.close()
self.port = Serial(self.portName,baudRates[curBaudRate])
debug("Changing to baud rate: "+`baudRates[curBaudRate]`, 1)
self.port.flushInput()
self.port.flushOutput()
else:
self.port.close()
sys.stderr.write("Could not open serial port. Is robot turned on and connected?\n")
raise Exception("No Robot Found")
continue
if (pkt[3]==CMD_SYNC0):
self.connectionState = STATE_FIRST_SYNC
elif (pkt[3]==CMD_SYNC1):
self.connectionState = STATE_SECOND_SYNC
elif (pkt[3]==CMD_SYNC2):
self.connectionState = STATE_READY
if (time()-startt) > timeout:
self.port.close()
sys.stderr.write("Robot needs to be reset.\n")
raise Exception("Bad Robot State")
botName = ""
botType = ""
botSubType = ""
i=4
while (pkt[i]):
botName += chr(pkt[i])
i += 1
i+=1
while (pkt[i]):
botType += chr(pkt[i])
i += 1
i+=1
while (pkt[i]):
botSubType += chr(pkt[i])
i += 1
self.sendPacket([ArcosCmd.OPEN])
debug("P2OS Interface Ready - connected to "+`botName`+" "+`botType`+" "+`botSubType`,1)
print "P2OS Interface Ready - connected to "+`botType`+`botName`
changed = [0,0,0,0,0,0,0,0]
while 0 in changed:
self.cmdPulse()
self.sipRecv()
self.storedsonars.get()
changed = [changed[i] or self.sonarsChanged[i] for i in range(len(changed))]
self.serialready = True
# turn on io packets
self.sendPacket([ArcosCmd.IOREQUEST,ArgType.ARGINT,2,0])
class Pioneer:
# Initialise connection to pioneer on specified port
def __init__(self):
try:
from soar2.serial import Serial
except ImportError:
print "You are missing some serial support libraries. Probably you are on windows and you need to get pywin32. Check out http://sourceforge.net/projects/pywin32/ for details."
raise CancelGUIAction
self.portName = settings.SERIAL_PORT_NAME
self.sonarsChanged = [0,0,0,0,0,0,0,0]
self.connectionState = STATE_NO_SYNC
self.port = None
self.lastxpos, self.lastypos = 0,0
self.storedsonars = SharedVar([0,0,0,0,0,0,0,0])
self.trans, self.rot = SharedVar(0),SharedVar(0)
self.odpose = SharedVar((0,0,0))
self.stalled = SharedVar(False)
self.analogInputs = SharedVar([0,0,0,0])
self.analogOut = SharedVar(0)
self.asynchronous = True
self.setters = {"motorOutput":self.motorOutput,
"discreteMotorOutput":self.discreteMotorOutput,
"say":self.cmdSay,
"analogOutput":self.analogOutput,
"setMaxEffectiveSonarDistance":self.setMaxEffectiveSonarDistance,
"enableAccelerationCap":self.enableAccelerationCap,
"setMaxVelocities":self.setMaxVelocities}
self.getters = {"pose":self.odpose.get,
"sonarDistances":self.storedsonars.get,
"stalled": self.stalled.get,
"analogInputs":self.analogInputs.get}
debug("Pioneer variables set up", 2)
self.serialready = False
try:
self.open(Serial)
debug("Serial Connection started", 2)
except:
debug("Could not open the serial port", 0)
raise CancelGUIAction("Error opening serial port")
self.cmdEnable(1)
debug("Robot cmdEnabled", 2)
#app.soar.addFlowTriplet((self.startmoving, self.update, self.stopmoving))
self.currentthread = None
self.acceptMotorCmds = False
self.startSerialThread()
def destroy(self):
self.stopSerialThread()
sleep(0.2)
if (self.serialready):
self.cmdEnable(0)
self.stopmoving()
self.sendPacket([ArcosCmd.CLOSE])
# self.flushSerialPort()
self.port.close()
#app.soar.removeFlowTriplet((self.startmoving, self.update, self.stopmoving))
# yes, this is repeated code, and should be neater. you fix it.
def initGlobals(self, dummy):
self.stopSerialThread()
sleep(0.2)
if self.serialready:
self.cmdEnable(0)
self.stopmoving()
self.sendPacket([ArcosCmd.CLOSE])
self.connectionState = STATE_NO_SYNC
self.sonarsChanged = [0,0,0,0,0,0,0,0]
from soar2.serial import Serial
self.open(Serial)
self.cmdEnable(1)
self.startSerialThread()
self.odpose.set((0.0, 0.0, 0.0))
# Open connection to robot
def open(self, Serial):
#baudRates = [9600,38400,19200,115200,57600]
#baudRates = [115200,9600]#,38400,19200,57600]
baudRates = [9600,19200,38400,57600,115200]
#baudRates = [9600]
curBaudRate = 0
self.port = Serial(self.portName,baudRates[0])
self.port._timeout = 1.0
self.port._writeTimout = 1.0
self.port.flushInput()
self.port.flushOutput()
numAttempts = 3
timeout = 5.0
startt = time()
while (self.connectionState != STATE_READY):
if (self.connectionState == STATE_NO_SYNC):
self.sendPacket([CMD_SYNC0])
elif (self.connectionState == STATE_FIRST_SYNC):
self.sendPacket([CMD_SYNC1])
elif (self.connectionState == STATE_SECOND_SYNC):
self.sendPacket([CMD_SYNC2])
elif (self.connectionState == STATE_READY):
pass
try:
pkt = self.recvPacket()
except:
if (self.connectionState == STATE_NO_SYNC and numAttempts >= 0):
numAttempts -= 1
else:
curBaudRate += 1
if (curBaudRate<len(baudRates)):
self.port.close()
self.port = Serial(self.portName,baudRates[curBaudRate])
debug("Changing to baud rate: "+`baudRates[curBaudRate]`, 1)
self.port.flushInput()
self.port.flushOutput()
else:
self.port.close()
sys.stderr.write("Could not open serial port. Is robot turned on and connected?\n")
raise Exception("No Robot Found")
continue
if (pkt[3]==CMD_SYNC0):
self.connectionState = STATE_FIRST_SYNC
elif (pkt[3]==CMD_SYNC1):
self.connectionState = STATE_SECOND_SYNC
elif (pkt[3]==CMD_SYNC2):
self.connectionState = STATE_READY
if (time()-startt) > timeout:
self.port.close()
sys.stderr.write("Robot needs to be reset.\n")
raise Exception("Bad Robot State")
botName = ""
botType = ""
botSubType = ""
i=4
while (pkt[i]):
botName += chr(pkt[i])
i += 1
i+=1
while (pkt[i]):
botType += chr(pkt[i])
i += 1
i+=1
while (pkt[i]):
botSubType += chr(pkt[i])
i += 1
self.sendPacket([ArcosCmd.OPEN])
debug("P2OS Interface Ready - connected to "+`botName`+" "+`botType`+" "+`botSubType`,1)
print "P2OS Interface Ready - connected to "+`botType`+`botName`
changed = [0,0,0,0,0,0,0,0]
while 0 in changed:
self.cmdPulse()
self.sipRecv()
self.storedsonars.get()
changed = [changed[i] or self.sonarsChanged[i] for i in range(len(changed))]
self.serialready = True
# turn on io packets
self.sendPacket([ArcosCmd.IOREQUEST,ArgType.ARGINT,2,0])
def getPose(self):
return self.odpose.get()
#def initGlobals(self):
# self.odpose.set(0.0, 0.0, 0.0)
def flushSerial(self):
self.port.flushInput()
self.port.flushOutput()
def setMaxEffectiveSonarDistance(self, d):
pass
def enableAccelerationCap(self, enable):
if not enable:
sys.stderr.write("Can't disable accleration cap on real robot.\n")
def setMaxVelocities(self, maxTransVel, maxRotVel):
global MAX_TRANS, MAX_ROT
MAX_TRANS = maxTransVel
MAX_ROT = maxRotVel
if maxTransVel > 0.75:
sys.stderr.write("Trying to set maximum translational velocity too high for real robot\n")
if maxRotVel > 1.75:
sys.stderr.write("Trying to set maximum rotational velocity too high for real robot\n")
def enableTeleportation(self, prob, pose):
sys.stderr.write("Enabling teleportation on real robot has no effect.\n")
# Move by translating with velocity v (m/sec),
# and rotating with velocity r (rad/sec)
def motorOutput(self, v, w):
# traceback.print_stack()
if self.acceptMotorCmds:
self.trans.set(clip(v, -MAX_TRANS, MAX_TRANS))
self.rot.set(clip(w, -MAX_ROT, MAX_ROT))
if (not self.asynchronous):
self.update()
def analogOutput(self, v):
self.analogOut.set(clip(v, 0.0, 10.0))
# Move by translating with velocity v (m/sec),
# and rotating with velocity r (deg/sec)
# for dt seconds
def discreteMotorOutput(self, v, w, dt):
if self.acceptMotorCmds:
self.motorOutput(v,w)
sleep(dt)
self.motorOutput(0,0)
def sendMotorCmd(self):
self.cmdVel(int(self.trans.get()*1000.0))
self.cmdRvel(int(self.rot.get()*180/pi))
def sendDigitalOutCmd(self):
# high order byte selects output bit for change
# low order byte sets/resets bit
data = [ArcosCmd.DIGOUT,ArgType.ARGINT,
# convert 0-10 voltage to 0-255 value
(int(math.floor((self.analogOut.get()*25.5)))&0xFF),0xFF]
self.sipSend(data)
# update sonars, odometry and stalled
def update(self, dummyparameter=0):
if (self.serialready):
self.sendMotorCmd()
self.sendDigitalOutCmd()
# if we receive no packets for a few cycles, we've lost touch with the robot
if (self.sipRecv() > 0):
self.zero_recv_cnt = 0
else:
self.zero_recv_cnt += 1
if (self.zero_recv_cnt > 40):
self.serialready = False
self.destroy()
#app.soar.closePioneer()
sys.stderr.write("Robot turned off or no longer connected.\n Dead reckoning is no longer valid.\n")
# Calculate checksum on P2OS packet (see Pioneer manual)
def calcChecksum(self,data):
c = 0
i = 3
n = data[2]-2
while (n>1):
c += (data[i]<<8) | (data[i+1])
c = c & 0xFFFF
n -= 2
i += 2
if (n>0):
c = c ^ data[i]
return c
def startmoving(self):
self.acceptMotorCmds = True
# if (self.asynchronous):
# self.stopmoving()
# self.startSerialThread()
def stopmoving(self):
self.motorOutput(0.0, 0.0)
self.acceptMotorCmds = False
if (self.asynchronous):
pass
# self.stopSerialThread()
else:
self.sendMotorCmd()
def startSerialThread(self):
self.flushSerial()
self.currentthread = Stepper(self.update, 50)
self.currentthread.start()
def stopSerialThread(self):
try:
self.currentthread.stop()
except AttributeError:
pass
# Send a packet to robot
def sendPacket(self,data):
pkt = [0xFA,0xFB,len(data)+2]
for d in data:
pkt.append(d)
pkt.append(0)
pkt.append(0)
chk = self.calcChecksum(pkt)
pkt[len(pkt)-2] = (chk>>8)
pkt[len(pkt)-1] = (chk&0xFF)
s = reduce(lambda x,y: x+chr(y),pkt,"")
try:
self.port.write(s)
except:
sys.stderr.write("Could not write to serial port. Is robot turned on and connected?\n")
sleep(0.008)
# Block until packet recieved
def recvPacket(self):
timeout = 1.0
data = [0,0,0]
while (1):
cnt = 0
tstart = time()
while (time()-tstart)<timeout:
if (self.port.inWaiting()>0):
data[2] = ord(self.port.read())
break
if (time()-tstart)>timeout:
raise Exception("Read timeout")
if (data[0] == 0xFA and data[1] == 0xFB):
break
data[0] = data[1]
data[1] = data[2]
for d in range(data[2]):
data.append(ord(self.port.read()))
crc = self.calcChecksum(data)
if data[len(data)-1]!=(crc&0xFF) or data[len(data)-2]!=(crc>>8):
self.port.flushInput()
raise Exception("Checksum failure")
# if self.port.inWaiting() > 0:
# self.port.flushInput()
return data
# Send a packet
def sipSend(self,data):
self.sendPacket(data)
# Receive all waiting packets.
# returns the number of packets read
def sipRecv(self):
iters = 0
while(self.port.inWaiting() > 0):
try:
recv = self.recvPacket()
except:
print 'no recv packet'
#continue
break
iters += 1
# 0x3s means sip packet
if (recv[3]&0xF0)==0x30:
self.parseSip(recv)
# 0xF0 means io packet
elif recv[3]==0xF0:
self.parseIO(recv)
return iters
def parseIO(self, recv):
analogInputs = [0,0,0,0,0,0,0,0]
bufferidx = 12
for aninputidx in range(len(analogInputs)):
analogInputs[aninputidx] = (recv[bufferidx] | recv[bufferidx+1]<<8)
bufferidx += 2
analogInputs = [a*10.0/1023.0 for a in analogInputs]
self.analogInputs.set(analogInputs[4:len(analogInputs)])
def parseSip(self, recv):
# parse all data
xpos = recv[ 4] | (recv[ 5]<<8)
ypos = recv[ 6] | (recv[ 7]<<8)
thpos = recv[ 8] | (recv[ 9]<<8)
#lvel = recv[10] | (recv[11]<<8)
#rvel = recv[12] | (recv[13]<<8)
#battery = recv[14]
stallbump = recv[15] | (recv[16]<<8)
#control = recv[17] | (recv[18]<<8)
#flags = recv[19] | (recv[20]<<8)
#compass = recv[21]
sonarcount = recv[22]
sonars = [-1,-1,-1,-1,-1,-1,-1,-1]
for i in range(sonarcount):
num = recv[23+3*i]
sonars[num] = recv[24+3*i] | (recv[25+3*i]<<8)
#indx = 23 + 3*sonarcount
#gripstate = recv[indx]
#anport = recv[indx+1]
#analog = recv[indx+2]
#digin = recv[indx+3]
#digout = recv[indx+4]
#batteryx10 = recv[indx+5] | (recv[indx+6]<<8)
#chargestate = recv[indx+7]
# deal with the fact that x and y odometry roll over
dx, dy = xpos-self.lastxpos, ypos-self.lastypos
if dx > 60000:
dx-=65536
elif dx < -60000:
dx+=65536
if dy > 60000:
dy-=65536
elif dy < -60000:
dy+=65536
lastpose = self.odpose.get()
self.odpose.set((lastpose[0]+dx*METER_SCALE,
lastpose[1]+dy*METER_SCALE,
thpos*RADIAN_SCALE))
self.lastxpos, self.lastypos = xpos, ypos
#self.battery = battery/10.0
stall = [( (stallbump&0x0001) == 0x0001 ), ( (stallbump&0x0100) == 0x0100 )]
bump = [( (stallbump&0x00FE) >> 1 ), ( (stallbump&0xFE00) >> 9 )]
self.stalled.set(stall[0] or stall[1] or bump[0] or bump[1])
storedsonars = self.storedsonars.get()
for i in range(len(sonars)):
if sonars[i]!=-1:
storedsonars[i] = sonars[i]*METER_SCALE
self.sonarsChanged[i] = 1
else:
self.sonarsChanged[i] = 0
self.storedsonars.set(storedsonars)
# Send a packet and receive a SIP response from the robot
def sipSendReceive(self,data):
self.sipSend(data)
self.sipRecv()
def cmdPulse(self):
self.sipSendReceive([ArcosCmd.PULSE])
def cmdPulseSend(self):
self.sipSend([ArcosCmd.PULSE])
def cmdEnable(self,v):
self.sendPacket([ArcosCmd.ENABLE,ArgType.ARGINT,v,0])
def cmdVel(self,v):
absv = int(abs(v))
if (v>=0):
data = [ArcosCmd.VEL,ArgType.ARGINT,absv&0xFF,absv>>8]
else:
data = [ArcosCmd.VEL,ArgType.ARGNINT,absv&0xFF,absv>>8]
# self.sipSendReceive(data)
self.sipSend(data)
def cmdVel2(self,l,r):
self.sipSendReceive([ArcosCmd.VEL2,ArgType.ARGINT,int(r),int(l)])
def cmdRvel(self,rv):
absrv = abs(rv)
if (rv>=0):
data = [ArcosCmd.RVEL,ArgType.ARGINT,absrv&0xFF,absrv>>8]
else:
data = [ArcosCmd.RVEL,ArgType.ARGNINT,absrv&0xFF,absrv>>8]
# self.sipSendReceive(data)
self.sipSend(data)
def cmdSay(self,note,duration):
data = [ArcosCmd.SAY,ArgType.ARGSTR]
for d in ("%s,%s" % (note,duration)):
data.append(ord(d))
data.append(0)
self.sendPacket(data)