def print_status(self, res, time):
if (res == 1):
print("SUCCESS (%s): %s" % (clock_time(time), self.brief()))
pass
elif (res == -1):
curr_constraint = self.agenda.schedule[self.agenda.index]
print("FAILURE (%s): at %s in %s" %
(clock_time(time), curr_constraint, self.brief()))
def __init__(self, filename, time0): # time0 is midnight of the first day
self.time0 = time0
last_time = time0
if (not filename): return
with open(filename) as f:
for line in f.readlines():
l = line.split('#')[0].strip(' \n')
if (l.find('START AT') == 0) :
dtime = datetime.strptime(l, "START AT %d-%H:%M:%S")
time = clock_to_seconds(dtime) + time0
actions = []
self.add_to_schedule([time, actions])
self.time0 = time
print("START: %s" %clock_time(time))
last_time = time
elif (l.find('AT') == 0):
dtime = datetime.strptime(l, "AT %d-%H:%M:%S")
time = clock_to_seconds(dtime) + time0
if (time < last_time):
print("Time must run forward: %s" %l)
quit()
last_time = time
actions = []
self.add_to_schedule([time, actions])
elif (len(l) > 0):
# Should be "sensor = value(s)"
sensor = l[:l.find(" ")]
if (not sensor in sensor_names):
print("%s not a legal baseline sensor name" %sensor)
quit()
sensor_val = l[l.find("=")+1:]
actions.append([sensor, sensor_val])
def display(self):
for s in self.schedule:
# Not sure why this prints right - but it does
print("%sAT %s" %("START " if (self.time0 == s[0]) else "",
clock_time(s[0])))
for sv in s[1]:
print(" %s = %s" %(sv[0], sv[1]))
def update(self, time, sensor_values):
if (not self.finished() and (time >= self.schedule[self.index][0])):
print("Updating baseline at %s:" %clock_time(time))
for a in self.schedule[self.index][1]:
sensor_values[a[0]] = eval(a[1])
#print(" %s: %s" %(a[0], sensor_values[a[0]]))
self.index += 1
return True
else: return False
def processImage(self, image):
foliage_mask = classifyFoliage(image)
size = image.shape[0] * image.shape[1]
percentage = cv2.countNonZero(foliage_mask) / size
height = measureHeight(foliage_mask)
print(
"As of %s, %.1f%% of pixels are foliage; plant height is %.1fcm" %
(clock_time(self.time), 100 * percentage,
(0 if not height else height)))
def next_cmd(self, time):
self.index += 1
if (not self.finished()):
next_cmd = self.schedule[self.index]
if (next_cmd.rel_time != None):
next_cmd.timeout = time + next_cmd.rel_time
else:
dtime = datetime.strptime(next_cmd.abs_time, "%d-%H:%M:%S")
next_cmd.timeout = self.time0 + clock_to_seconds(dtime)
print(" Next timeout: %s" %clock_time(next_cmd.timeout))
def update(self, time):
if (not self.finished() and (time >= self.schedule[self.index][0])):
print("Updating interferences at %s" % clock_time(time))
for ifs in self.schedule[self.index][1]:
if (type(ifs[1]) == list):
funcs = [get_interf_funcs(i) for i in ifs[1]]
else:
funcs = get_interf_funcs(ifs[1])
self.interf_funcs[ifs[0]] = funcs
self.index += 1
return True
else:
return False
def amb_light(time):
global morning_hour, evening_hour, light_level_day, light_level_night
dl = light_level_night
if (is_daylight(time)):
dt = time_since_midnight(time)
dl += ((light_level_day - light_level_night) *
sqrt(1 - abs(1 - ((dt - 3600 * morning_hour) /
(3600 * (evening_hour - morning_hour) / 2)))))
if is_logging:
global last_print, clock_start
if (time - last_print > 1800):
last_print = time
print(" Ambient: %.1f (%s)" % (dl, clock_time(time)))
return dl
def update_env_params(self, params, speedup, light):
self.setWater(params['volume']) #Reservoir update
self.setLights(params['led']) #LED update
self.setFans(params['fan']) #Fan Update
self.setTankWater(params['tankwater']) #Tankwater update
self.setSoilColor(params['soilwater'])
self.setAmbient(params['time'])
for plant in self.plants:
plant.grow(params, params['time'] - self.lastTime, light)
self.lastTime = params['time']
if not self.shown: return
self.reRenderPlants()
#Stats panel :
healths = [p.health for p in self.plants]
avgH = sum(healths)/len(healths)
avgH = int(avgH * 100)
self.textpanel.text = \
'''
Pump: {}
Fans: {}
LEDs: {}
Plant Health: {}%
'''.format('ON' if params['wpump'] else 'off', \
'ON' if params['fan'] else 'off', \
params['led'], avgH)
self.textpanel2.text = \
'''
Time : {:s}
Light level: {:01.0f}
Temperature : {:04.1f} C
Soil moisture : {:03.1f}
Humidity : {:02.0f}%
Volume : {:04.2f} ml
Speedup : {}x
'''.format(clock_time(self.start_time + params['time']), light, \
params['temperature'], 2*params['soilwater'], \
params['humidity'], params['volume'], speedup)
self.fansound(params['fan'])
self.pumpsound(params['wpump'])
def display(self):
for interf in self.schedule:
print("AT %s" % clock_time(interf[0]))
for iv in interf[1]:
print(" %s = %s" % (iv[0], iv[1]))
global morning_hour, evening_hour, light_level_day, light_level_night
dl = light_level_night
if (is_daylight(time)):
dt = time_since_midnight(time)
dl += ((light_level_day - light_level_night) *
sqrt(1 - abs(1 - ((dt - 3600 * morning_hour) /
(3600 * (evening_hour - morning_hour) / 2)))))
if is_logging:
global last_print, clock_start
if (time - last_print > 1800):
last_print = time
print(" Ambient: %.1f (%s)" % (dl, clock_time(time)))
return dl
if is_logging: print(" Clock start: %s" % clock_time(clock_start))
### INTERNAL UPDATE FUNCTIONS ###
def light_update(cur_interval):
for i in range(2):
val = led_rate * actuator_vars['led'] + amb_light(rospy.get_time())
internal_vars['light'][i] = min(600, max(0, val))
def volume_update(cur_interval):
if actuator_vars['wpump']:
internal_vars['volume'] -= cur_interval * flow_rate
internal_vars['volume'] = max(0, internal_vars['volume'])
def __init__(self, shown, t0, initTime, leafDroop, lankiness, plant_health):
loadPrcFileData('', 'win-size 1024 768')
loadPrcFileData("", "window-type none")
ShowBase.__init__(self)
if shown:
self.openMainWindow(type = "onscreen")
props = WindowProperties()
props.setTitle('TerraBot Simulator')
self.win.requestProperties(props)
else:
self.openMainWindow(type = "offscreen")
base.disableMouse() # Allow manual positioning of the camera
#camera.setPosHpr(-20, 0, -3, -90, 12, 0) # Under
camera.setPosHpr(-20, 0, 7, -90, -12, 0) # Normal
#camera.setPosHpr(0, 0, 30, 0, -90, 0) #TOP
self.pic = False
self.loc = None
self.shown = shown
self.start_time = t0;
atexit.register(self.userExit)
self.BASE_TEXT = '''
Pump: OFF
Fans: OFF
LEDs: 255
'''
self.BASE_TEXT2 = \
'''
Time : {:s}
Light level: 0
Temperature : 20 C
Soil moisture : 0
Humidity : 50%
Volume : 3000 ml
Speedup : 1x
'''.format(clock_time(t0 + initTime))
self.lastTime = initTime
self.droop = leafDroop
self.lankiness = lankiness
self.plant_health = plant_health
#self.accept('escape', self.userExit)
self.accept('r', self.resetCam)
self.loadModels()
self.setupLights()
self.setupText()
self.setupText2()
self.setupSensorCam()
self.setTankWater(0)
self.setBackgroundColor(.8, .8, .8, 1)
self.keys = {}
for key in ['arrow_left', 'arrow_right', 'arrow_up', 'arrow_down',
'a', 'd', 'w', 's']:
self.keys[key] = 0
self.accept(key, self.push_key, [key, 1])
self.accept('shift-%s' % key, self.push_key, [key, 1])
self.accept('%s-up' % key, self.push_key, [key, 0])
self.fanonSound = loader.loadSfx('sounds/fanon.wav')
self.pumponSound = loader.loadSfx('sounds/pumpon.wav')
self.fanonSound.setLoop(True)
self.pumponSound.setLoop(True)
#SetupCamera
self.heading = -90.0
self.pitch = -12.0
self.camera.setPos(-20, 0, 7)
self.picNextFrame = False
self.taskMgr.add(self.update, 'main loop')
def ping():
global last_ping
print("PING! %s" %clock_time(sensorsG.time))
last_ping = sensorsG.time
ping_pub.publish(True)
print(
"Updating %s to frequency %s (every %.1f seconds)"
% (sensor, freq, 1 / float(freq)))
freq_pub.publish(msg)
elif input[0] == 'e':
sensor, period = input[2:-1].split(" ")
msg = tomsg(sensor, 1 / float(period))
if msg is not None:
print(
"Updating %s to period of %s seconds (frequency of %f)"
% (sensor, period, 1 / float(period)))
freq_pub.publish(msg)
elif input[0] == 's':
speedup_pub.publish(int(input[1:]))
elif input[0] == 'v':
print("Sensor values at %s" % clock_time(sensorsG.time))
print(" Light level: %.1f (%.1f, %.1f)" %
(sensorsG.light_level, sensorsG.light_level_raw[0],
sensorsG.light_level_raw[1]))
print(" Temperature: %.1f (%.1f, %.1f)" %
(sensorsG.temperature, sensorsG.temperature_raw[0],
sensorsG.temperature_raw[1]))
print(" Humidity: %.1f (%.1f, %.1f)" %
(sensorsG.humidity, sensorsG.humidity_raw[0],
sensorsG.humidity_raw[1]))
print(" Soil moisture: %.1f (%.1f, %.1f)" %
(sensorsG.moisture, sensorsG.moisture_raw[0],
sensorsG.moisture_raw[1]))
print(" Reservoir level: %.1f" % sensorsG.water_level)
else:
print(
