class RobotManualDriveState(UnlockState):
SERVO_SPEED = 0.175
WHEEL_SPEED = 100
def __init__(self):
super(RobotManualDriveState, self).__init__()
self.sc = StreamClient('128.197.61.111', 21567)
self.frame = None
self.ready = True
def process_command(self, command):
cmds = {}
if command.decision == 1:
cmds['wheels'] = [self.WHEEL_SPEED, self.WHEEL_SPEED]
elif command.decision == 2:
cmds['wheels'] = [-self.WHEEL_SPEED, -self.WHEEL_SPEED]
elif command.decision == 3:
cmds['wheels'] = [self.WHEEL_SPEED / 2, -self.WHEEL_SPEED / 2]
elif command.decision == 4:
cmds['wheels'] = [-self.WHEEL_SPEED / 2, self.WHEEL_SPEED / 2]
if command.selection:
cmds['wheels'] = [0, 0]
if len(cmds) > 0:
self.sc.set('bri/command', json.dumps(cmds))
if self.ready:
try:
data = self.sc.get('bri/create/video.jpg')
buffer = io.BytesIO(data)
self.frame = pyglet.image.load('video.jpg', buffer)
except:
pass
self.ready = not self.ready
class RobotManualDriveState(UnlockState):
SERVO_SPEED = 0.175
WHEEL_SPEED = 100
def __init__(self):
super(RobotManualDriveState, self).__init__()
self.sc = StreamClient('128.197.61.111', 21567)
self.frame = None
self.ready = True
def process_command(self, command):
cmds = {}
if command.decision == 1:
cmds['wheels'] = [self.WHEEL_SPEED, self.WHEEL_SPEED]
elif command.decision == 2:
cmds['wheels'] = [-self.WHEEL_SPEED, -self.WHEEL_SPEED]
elif command.decision == 3:
cmds['wheels'] = [self.WHEEL_SPEED/2, -self.WHEEL_SPEED/2]
elif command.decision == 4:
cmds['wheels'] = [-self.WHEEL_SPEED/2, self.WHEEL_SPEED/2]
if command.selection:
cmds['wheels'] = [0, 0]
if len(cmds) > 0:
self.sc.set('bri/command', json.dumps(cmds))
if self.ready:
try:
data = self.sc.get('bri/create/video.jpg')
buffer = io.BytesIO(data)
self.frame = pyglet.image.load('video.jpg', buffer)
except:
pass
self.ready = not self.ready
class RobotGridState(GridState):
"""
The Hierarchy Grid is a 2D grid interface for selecting targets arranged
in a hierarchical fashion. The grid contains 2 or more layers, where
certain tiles in the grid correspond to descend/ascend actions and the
rest are target actions. The grid is laid our radially, with (0, 0)
corresponding to the center.
1) Create a square grid of tiles
2) Each tile's state is its label and action
3) On layer change, set tile states accordingly
"""
def __init__(self, grid_radius):
super(RobotGridState, self).__init__()
self.radius = grid_radius
self.state = (0, 0)
self.state_change = None
self.sc = StreamClient('128.197.61.111', 21567)
def handle_state_change(self, new_state, change):
if new_state and abs(new_state[0]) <= self.radius and abs(
new_state[1]) <= self.radius:
self.state = new_state
self.state_change = GridStateChange(*change)
def process_selection(self):
"""
Determine and execute current tile's associated action
"""
target = None
print(self.state)
if self.state == (0, 1):
target = '0'
elif self.state == (-1, 0):
target = '1'
elif self.state == (1, 0):
target = '2'
elif self.state == (0, -1):
target = '3'
if target is not None:
self.sc.set('bri/target', target)
class RobotGridState(GridState):
"""
The Hierarchy Grid is a 2D grid interface for selecting targets arranged
in a hierarchical fashion. The grid contains 2 or more layers, where
certain tiles in the grid correspond to descend/ascend actions and the
rest are target actions. The grid is laid our radially, with (0, 0)
corresponding to the center.
1) Create a square grid of tiles
2) Each tile's state is its label and action
3) On layer change, set tile states accordingly
"""
def __init__(self, grid_radius):
super(RobotGridState, self).__init__()
self.radius = grid_radius
self.state = (0, 0)
self.state_change = None
self.sc = StreamClient("128.197.61.111", 21567)
def handle_state_change(self, new_state, change):
if new_state and abs(new_state[0]) <= self.radius and abs(new_state[1]) <= self.radius:
self.state = new_state
self.state_change = GridStateChange(*change)
def process_selection(self):
"""
Determine and execute current tile's associated action
"""
target = None
print(self.state)
if self.state == (0, 1):
target = "0"
elif self.state == (-1, 0):
target = "1"
elif self.state == (1, 0):
target = "2"
elif self.state == (0, -1):
target = "3"
if target is not None:
self.sc.set("bri/target", target)
def __init__(self, grid_radius):
super(RobotGridState, self).__init__()
self.radius = grid_radius
self.state = (0, 0)
self.state_change = None
self.sc = StreamClient('128.197.61.111', 21567)
def __init__(self):
super(RobotManualDriveState, self).__init__()
self.sc = StreamClient('128.197.61.111', 21567)
self.frame = None
self.ready = True
def __init__(self, grid_radius):
super(RobotGridState, self).__init__()
self.radius = grid_radius
self.state = (0, 0)
self.state_change = None
self.sc = StreamClient("128.197.61.111", 21567)
def __init__(self):
super(RobotManualDriveState, self).__init__()
self.sc = StreamClient('128.197.61.111', 21567)
self.frame = None
self.ready = True
