SPEED_CONTROL_MIN = c.SPEED_STOP
DIST_MIN = c.DIST_MIN
# Programm
try:
while True:
if state == 'INIT':
pi2go.init()
pi2go.setAllLEDs(c.LED_ON, c.LED_ON, c.LED_ON)
time.sleep(1)
sock = com.init_nonblocking_receiver('', c.PORT)
for x in range(c.TEAM_SIZE):
warning.append(True)
OWN_IP = com.get_ip()
OWN_ID = com.get_id_from_ip(OWN_IP)
#print 'ID:' , OWN_ID
prev_state = state
#state = 'IDLE'
state = 'RUNNING'
if state == 'IDLE':
if prev_state != 'IDLE':
pi2go.setAllLEDs(c.LED_OFF, c.LED_OFF, c.LED_OFF)
pi2go.stop()
if check_time_limit(times, 'prev_get_switch', c.WAIT_SWITCH):
# Pressed = 1, Released = 0
button = pi2go.getSwitch()
if not button:
set_element(flags, 'button_release', True)
if button and get_element(flags, 'button_release'):
import communication as com
import com_bot
import auto_bot
import constants as c
import helper
helper.blink()
# sock = com.init_receiver('', c.PORT)
OWN_IP = com.get_ip()
OWN_ID = com.get_id_from_ip(OWN_IP)
value = helper.determine_team(OWN_ID)
sock = com.init_nonblocking_receiver('', c.PORT)
try:
# data, addr = com.receive_message(sock)
# command, value = com.string_to_command(data)
# com.close_socket(sock)
while True:
if c.VALUE_TYPE_COM == value:
status = "I'm in com_mode now!"
print status
# communication.send_broadcast_message(c.PORT, status)
com.close_socket(sock)
value = com_bot.start()
sock = com.init_nonblocking_receiver('', c.PORT)
status = "Exiting com_mode"
com.send_x_broadcast_messages(c.PORT, "RELEASE", c.SENDING_ATTEMPTS, c.WAIT_SEND)
print status
# communication.send_broadcast_message(c.PORT, status)
def start():
state = 'INIT'
prev_state = ''
mode = 'STOP'
prev_mode = ''
try:
while True:
if state == 'INIT':
SPEED_RUN = c.SPEED_RUN
SPEED_WARN = round(float(SPEED_RUN) / 3, 0)
SPEED_CONTROL_MAX = SPEED_RUN
SPEED_CONTROL_MIN = SPEED_WARN
DIST_MIN = c.DIST_MIN
speed = 0
distance = 0
warning = []
last_meas_time = 0
times = []
times.append(['prev_get_dist', 0.0])
times.append(['prev_get_switch', 0.0])
times.append(['prev_set_motor', 0.0])
times.append(['get_warning', 0.0])
times.append(['prev_set_LED', 0.0])
flags = []
flags.append(['set_motor', False])
flags.append(['status_warn_LED', False])
flags.append(['button_release', False])
flags.append(['master_set_speed', False])
flags.append(['master_set_button', False])
flags.append(['master_set_LED', False])
flags.append(['master_set_state', False])
pi2go.init()
pi2go.setAllLEDs(c.LED_ON, c.LED_ON, c.LED_ON)
time.sleep(1)
sock = com.init_nonblocking_receiver('', c.PORT)
for x in range(c.TEAM_SIZE):
warning.append(True)
OWN_IP = com.get_ip()
OWN_ID = com.get_id_from_ip(OWN_IP)
prev_state = state
state = 'IDLE'
if state == 'IDLE':
if prev_state != 'IDLE':
pi2go.setAllLEDs(c.LED_OFF, c.LED_OFF, c.LED_ON)
pi2go.stop()
if helper.check_time_limit(times, 'prev_get_switch',
c.WAIT_SWITCH):
# Pressed = 1, Released = 0
button = pi2go.getSwitch()
if not button:
helper.set_element(flags, 'button_release', True)
if button and helper.get_element(flags, 'button_release'):
helper.set_element(flags, 'button_release', False)
prev_mode = ''
prev_state = state
state = 'RUNNING'
# change to sensor-based or master_idle type
data = 'new_round'
while data != '':
data, addr = com.receive_message(sock)
if data != '':
sender_ID = com.get_id_from_ip(addr[0])
if sender_ID < c.TEAM_START or sender_ID > c.TEAM_END:
command, value = com.string_to_command(data)
#
print 'MASTER:', sender_ID, ' : ', data
try:
if command == c.COMMAND_SPEED:
helper.set_element(flags,
'master_set_speed',
True)
prev_SPEED_RUN = SPEED_RUN
if value == '+':
SPEED_RUN += 5
elif value == '-':
SPEED_RUN -= 5
else:
SPEED_RUN = value
print 'Set SPEED_RUN from ' + str(
prev_SPEED_RUN) + ' to ' + str(
SPEED_RUN)
elif command == c.COMMAND_DIST:
prev_DIST_MIN = DIST_MIN
if not value.isdigit():
print "Something went terribly wrong with the protocol..."
raise KeyboardInterrupt
DIST_MIN = value
print 'Set DIST_MIN from ' + str(
prev_DIST_MIN) + ' to ' + str(DIST_MIN)
elif command == c.COMMAND_BLINK:
helper.blink('white')
helper.set_element(flags, 'master_set_LED',
True)
elif command == c.COMMAND_RESET:
SPEED_RUN = c.SPEED_RUN
SPEED_WARN = round(float(SPEED_RUN) / 3, 0)
SPEED_CONTROL_MAX = SPEED_RUN
SPEED_CONTROL_MIN = SPEED_WARN
DIST_MIN = c.DIST_MIN
helper.set_element(times, 'prev_get_dist',
0)
helper.set_element(flags, 'master_set_LED',
True)
helper.set_element(flags,
'master_set_speed',
True)
warning = [True] * len(warning)
print "Reset major values"
elif command == c.COMMAND_STATE:
local_prev_state = state
if value == c.VALUE_STATE_RUNNING:
state = 'RUNNING'
elif value == c.VALUE_STATE_IDLE:
state = 'IDLE'
print 'Going from state ' + local_prev_state + ' to state ' + state
elif command == c.COMMAND_TYPE:
if value == c.VALUE_TYPE_ORIGINAL:
value = helper.determine_team(OWN_ID)
return value
except:
print "Error interpreting message from master! Continuing anyway"
elif state == 'RUNNING':
# Distance
if helper.check_time_limit(times, 'prev_get_dist',
c.WAIT_DIST):
time_between = time.time() - last_meas_time
last_meas_time = time.time()
new_dist = pi2go.getDistance()
if new_dist > 1:
distance = new_dist
#print 'dt:', time_between , distance
# Obstacle = 1, No Obstacle = 0
irCentre = pi2go.irCentre()
# Obstacle Analysis
if irCentre or (distance < DIST_MIN):
distance_level = 0
elif distance > c.DIST_MAX:
distance_level = 2
else:
distance_level = 1
# Receive
data = 'new_round'
while data != '':
data, addr = com.receive_message(sock)
if data != '':
sender_ID = com.get_id_from_ip(addr[0])
if sender_ID == OWN_ID:
#print 'OWN: ' , sender_ID, ' : ' , data
continue
if sender_ID >= c.TEAM_START and sender_ID <= c.TEAM_END:
#print 'ROBOT: ', sender_ID, ' : ' , data
if data == 'PROBLEM':
warning[sender_ID - c.TEAM_START] = False
elif data == 'RELEASE':
warning[sender_ID - c.TEAM_START] = True
else:
try:
#print 'MASTER:' , sender_ID , ' : ' , data
command, value = com.string_to_command(data)
if command == c.COMMAND_SPEED:
helper.set_element(flags,
'master_set_speed',
True)
prev_SPEED_RUN = SPEED_RUN
if value == '+':
SPEED_RUN += 5
elif value == '-':
SPEED_RUN -= 5
else:
SPEED_RUN = value
print 'MASTER: Set SPEED_RUN from ' + str(
prev_SPEED_RUN) + ' to ' + str(
SPEED_RUN)
elif command == c.COMMAND_DIST:
prev_DIST_MIN = DIST_MIN
if not value.isdigit():
print "Something went terribly wrong with the protocol..."
raise KeyboardInterrupt
DIST_MIN = value
print 'MASTER: Set DIST_MIN from ' + str(
prev_DIST_MIN) + ' to ' + str(DIST_MIN)
elif command == c.COMMAND_BLINK:
helper.blink('white')
helper.set_element(flags, 'master_set_LED',
True)
elif command == c.COMMAND_RESET:
SPEED_RUN = c.SPEED_RUN
SPEED_WARN = round(float(SPEED_RUN) / 3, 0)
SPEED_CONTROL_MAX = SPEED_RUN
SPEED_CONTROL_MIN = SPEED_WARN
DIST_MIN = c.DIST_MIN
helper.set_element(times, 'prev_get_dist',
0)
helper.set_element(flags, 'master_set_LED',
True)
helper.set_element(flags,
'master_set_speed',
True)
warning = [True] * len(warning)
print 'MASTER: Reset major values'
elif command == c.COMMAND_STATE:
helper.set_element(flags,
'master_set_state',
True)
if value == c.VALUE_STATE_RUNNING:
next_state = 'RUNNING'
elif value == c.VALUE_STATE_IDLE:
next_state = 'IDLE'
print 'MASTER: Going from state ' + state + ' to state ' + next_state
#elif command == c.COMMAND_TYPE and value != c.VALUE_TYPE_COM:
elif command == c.COMMAND_TYPE:
local_prev_value = value
if value == c.VALUE_TYPE_ORIGINAL:
value = helper.determine_team(OWN_ID)
print "MASTER: Changing from type " + local_prev_value + " to type " + value
return value
except:
print "Error interpreting message from master! Continuing anyway"
# Analyse --> Calculate MODE
if prev_state == 'RUNNING':
prev_mode = mode
if distance_level == 0:
mode = 'STOP'
elif distance_level == 1 and all(warning):
mode = 'SLOW'
elif distance_level == 2 and all(warning):
mode = 'RUN'
elif distance_level != 0 and not all(warning):
mode = 'WARN'
# Set own Warning-Flag
if mode != prev_mode:
if mode == 'STOP':
warning[OWN_ID - c.TEAM_START] = False
else:
warning[OWN_ID - c.TEAM_START] = True
# LEDs
if mode != prev_mode or helper.get_element(
flags, 'master_set_LED'):
if helper.get_element(flags, 'master_set_LED'):
helper.set_element(flags, 'master_set_LED', False)
if mode == 'RUN':
pi2go.setAllLEDs(c.LED_OFF, c.LED_ON, c.LED_OFF)
elif mode == 'SLOW':
pi2go.setAllLEDs(c.LED_OFF, c.LED_OFF,
c.LED_ON) #TODO: test
#pi2go.setAllLEDs(c.LED_OFF,c.LED_ON,c.LED_OFF) #TODO: presentation
#elif mode == 'WARN':
#pi2go.setAllLEDs(c.LED_ON,c.LED_ON,c.LED_OFF)
elif mode == 'STOP':
pi2go.setAllLEDs(c.LED_ON, c.LED_OFF, c.LED_OFF)
# Blinking-Mode
if mode == 'WARN':
if helper.check_time_limit(times, 'prev_set_LED',
c.WAIT_LED):
if helper.get_element(flags, 'status_warn_LED'):
pi2go.setAllLEDs(c.LED_OFF, c.LED_OFF, c.LED_OFF)
helper.set_element(flags, 'status_warn_LED', False)
else:
pi2go.setAllLEDs(c.LED_ON, c.LED_ON, c.LED_OFF)
helper.set_element(flags, 'status_warn_LED', True)
# Calculate new speed
if mode == 'RUN':
if prev_mode != 'RUN' or helper.get_element(
flags, 'master_set_speed'):
speed = SPEED_RUN
helper.set_element(flags, 'master_set_speed', False)
helper.set_element(flags, 'set_motor', True)
# Blocking Avoidance
elif mode == 'SLOW':
#linear
gradient = float(SPEED_CONTROL_MAX -
SPEED_CONTROL_MIN) / float(c.DIST_MAX -
DIST_MIN)
error = c.DIST_MAX - distance
new_value = round(SPEED_RUN - error * gradient, 1)
if new_value < SPEED_CONTROL_MIN:
new_value = SPEED_CONTROL_MIN
elif new_value > SPEED_CONTROL_MAX:
new_value = SPEED_CONTROL_MAX
if new_value != speed:
speed = new_value
helper.set_element(flags, 'set_motor', True)
# Slow-Down in Warning-Mode
elif mode == 'WARN':
if prev_mode != 'WARN':
helper.set_element(times, 'get_warning', time.time())
speed_get_warning = speed
new_value = round(
speed_get_warning *
(1 - (time.time() - helper.get_element(
times, 'get_warning')) / c.TIME_TO_SLOW_DOWN), 1)
if new_value < SPEED_WARN:
new_value = SPEED_WARN
if new_value != speed:
speed = new_value
helper.set_element(flags, 'set_motor', True)
elif mode == 'STOP':
if prev_mode != 'STOP':
speed = c.SPEED_STOP
helper.set_element(flags, 'set_motor', True)
# Motor
if helper.get_element(flags, 'set_motor'):
if speed > c.SPEED_LIMIT_MAX:
speed = c.SPEED_LIMIT_MAX
elif speed < c.SPEED_LIMIT_MIN:
speed = c.SPEED_LIMIT_MIN
if mode == 'SLOW' or mode == 'WARN':
if helper.check_time_limit(times, 'prev_set_motor',
c.WAIT_MOTOR):
pi2go.go(speed, speed)
helper.set_element(flags, 'set_motor', False)
else:
pi2go.go(speed, speed)
helper.set_element(flags, 'set_motor', False)
# Send
if mode != prev_mode:
if prev_mode == 'STOP':
com.send_x_broadcast_messages(c.PORT, "RELEASE",
c.SENDING_ATTEMPTS,
c.WAIT_SEND)
elif mode == 'STOP':
com.send_x_broadcast_messages(c.PORT, "PROBLEM",
c.SENDING_ATTEMPTS,
c.WAIT_SEND)
# Next State
prev_state = state
if helper.get_element(flags, 'master_set_state'):
helper.set_element(flags, 'master_set_state', False)
state = next_state
# Button
if helper.check_time_limit(times, 'prev_get_switch',
c.WAIT_SWITCH):
# Pressed = 1, Released = 0
button = pi2go.getSwitch()
if not button:
helper.set_element(flags, 'button_release', True)
if button and helper.get_element(flags, 'button_release'):
helper.set_element(flags, 'button_release', False)
prev_state = state
state = 'IDLE'
com.send_x_broadcast_messages(c.PORT, "RELEASE",
c.SENDING_ATTEMPTS,
c.WAIT_SEND)
except KeyboardInterrupt:
print 'KEYBOARD'
finally:
pi2go.stop()
pi2go.cleanup()
sock.close()
print 'END'
['button_release', False],
['master_set_speed', False],
['master_set_button', False],
['master_set_LED', False],
['master_set_state', False],
['robot_type_com', False],
['master_set_type', False]]
try:
while True:
if state == 'INIT':
pi2go.init()
sock = com.init_nonblocking_receiver('', c.PORT)
OWN_IP = com.get_ip()
OWN_ID = com.get_id_from_ip(OWN_IP)
value = helper.determine_team(OWN_ID)
if helper.determine_team(OWN_ID) == c.VALUE_TYPE_COM:
print "I'm in com_mode now!"
helper.set_element(flags, 'robot_type_com', True)
elif helper.determine_team(OWN_ID) == c.VALUE_TYPE_AUTO:
print "I'm in auto_mode now!"
helper.set_element(flags, 'robot_type_com', False)
local_prev_value = helper.determine_team(OWN_ID)
# TODO: IDLE-STATE?
prev_state = state
state = 'IDLE'
if state == 'IDLE':
if prev_state != 'IDLE' or helper.get_element(flags, 'master_set_type'):
prev_messurement_time = 0
message_buffer_slave = []
message_buffer_master = []
# Programm
try:
while True:
if STATE == 'INIT':
pi2go.init()
sock = communication.init_nonblocking_receiver('', PORT)
for x in range(SQUAD_SIZE):
SQUAD.append(True)
message_buffer_slave.append(True)
OWN_IP = communication.get_ip()
OWN_ID = communication.get_id_from_ip(OWN_IP)
print OWN_ID
STATE = 'RUNNING'
elif STATE == 'RUNNING':
# distance
if time.time() - prev_messurement_time > WAIT_DIST:
prev_messurement_time = time.time()
distance = pi2go.getdistance()
# Obstacle = 1, No Obstacle = 0
irCentre = pi2go.irCentre()
# Obstacle Analysis
if irCentre or (distance < DIST_MIN):
distance_level = 0
PORT = 5005
BROADCAST_IP = '192.168.178.255'
# Program
try:
while True:
if STATE == 'INIT':
pi2go.init()
sock = communication.init_nonblocking_receiver('', PORT)
for x in range(SQUAD_SIZE):
SQUAD.append(True)
message_buffer_slave.append(True)
OWN_IP = communication.get_ip()
print OWN_IP
OWN_ID = communication.get_id_from_ip(OWN_IP)
print OWN_ID
STATE = 'RUNNING'
print DIST_MIN
elif STATE == 'RUNNING':
# Distance
if time.time() - prev_measurement_time > WAIT_DIST:
prev_measurement_time = time.time()
distance = pi2go.getDistance()
# Obstacle = 1, No Obstacle = 0
# irCentre = pi2go.irCentre() # TODO: edit pi2go library and uncomment!
irCentre = False
# Obstacle Analysis
if irCentre or (distance < DIST_MIN):
message_buffer_slave = []
message_buffer_master = []
# Programm
try:
while True:
if STATE == "INIT":
pi2go.init()
sock = communication.init_nonblocking_receiver("", PORT)
for x in range(SQUAD_SIZE):
SQUAD.append(True)
message_buffer_slave.append(True)
OWN_IP = communication.get_ip()
OWN_ID = communication.get_id_from_ip(OWN_IP)
print OWN_ID
STATE = "RUNNING"
elif STATE == "RUNNING":
# distance
if time.time() - prev_messurement_time > WAIT_DIST:
prev_messurement_time = time.time()
distance = pi2go.getdistance()
# Obstacle = 1, No Obstacle = 0
irCentre = pi2go.irCentre()
# Obstacle Analysis
if irCentre or (distance < DIST_MIN):
distance_level = 0
distance_level = 0
elif distance > 40:
distance_level = 2
else:
distance_level = 1
# Receive
data = 'new_round'
while data != '':
data, addr = communication.receive_message(sock)
# ############### update list if ID is in SQUAD,
# ############### write other ID's in different list
# ############### repeat until buffer is empty
if data != '':
IP = addr[0]
ID = communication.get_id_from_ip(addr)
if ID == OWN_ID:
print 'OWN: ', ID, ' : ', data
continue
if 100 <= ID <= 100 + NUMBER_OF_ROBOTS:
print 'ROBOT: ', ID, ' : ', data
if data == 'PROBLEM':
curr_STATUS = False
SQUAD[ID-100] = curr_STATUS
elif data == 'RELEASE':
curr_STATUS = True
SQUAD[ID-100] = curr_STATUS
else:
print 'Master:', ID, ' : ', data
# Analyse --> Calculate MODE
def start():
state = 'INIT'
prev_state = ''
mode = 'STOP'
prev_mode = ''
try:
while True:
if state == 'INIT':
SPEED_RUN = c.SPEED_RUN
SPEED_WARN = round(float(SPEED_RUN)/3,0)
SPEED_CONTROL_MAX = SPEED_RUN
SPEED_CONTROL_MIN = SPEED_WARN
DIST_MIN = c.DIST_MIN
speed = 0
distance = 0
warning = []
last_meas_time = 0
times = []
times.append(['prev_get_dist',0.0])
times.append(['prev_get_switch',0.0])
times.append(['prev_set_motor',0.0])
times.append(['get_warning',0.0])
times.append(['prev_set_LED',0.0])
flags = []
flags.append(['set_motor',False])
flags.append(['status_warn_LED',False])
flags.append(['button_release',False])
flags.append(['master_set_speed',False])
flags.append(['master_set_button',False])
flags.append(['master_set_LED',False])
flags.append(['master_set_state',False])
pi2go.init()
pi2go.setAllLEDs(c.LED_ON,c.LED_ON,c.LED_ON)
time.sleep(1)
sock = com.init_nonblocking_receiver('',c.PORT)
for x in range(c.TEAM_SIZE):
warning.append(True)
OWN_IP = com.get_ip()
OWN_ID = com.get_id_from_ip(OWN_IP)
prev_state = state
state = 'IDLE'
if state == 'IDLE':
if prev_state != 'IDLE':
pi2go.setAllLEDs(c.LED_OFF,c.LED_OFF,c.LED_ON)
pi2go.stop()
if helper.check_time_limit(times,'prev_get_switch',c.WAIT_SWITCH):
# Pressed = 1, Released = 0
button = pi2go.getSwitch()
if not button:
helper.set_element(flags,'button_release',True)
if button and helper.get_element(flags,'button_release'):
helper.set_element(flags,'button_release',False)
prev_mode = ''
prev_state = state
state = 'RUNNING'
# change to sensor-based or master_idle type
data = 'new_round'
while data != '':
data, addr = com.receive_message(sock)
if data != '':
sender_ID = com.get_id_from_ip(addr[0])
if sender_ID < c.TEAM_START or sender_ID > c.TEAM_END:
command, value = com.string_to_command(data)
#
print 'MASTER:' , sender_ID , ' : ' , data
try:
if command == c.COMMAND_SPEED:
helper.set_element(flags,'master_set_speed',True)
prev_SPEED_RUN = SPEED_RUN
if value == '+':
SPEED_RUN += 5
elif value == '-':
SPEED_RUN -= 5
else:
SPEED_RUN = value
print 'Set SPEED_RUN from '+ str(prev_SPEED_RUN) + ' to ' + str(SPEED_RUN)
elif command == c.COMMAND_DIST:
prev_DIST_MIN = DIST_MIN
if not value.isdigit():
print "Something went terribly wrong with the protocol..."
raise KeyboardInterrupt
DIST_MIN = value
print 'Set DIST_MIN from '+ str(prev_DIST_MIN) + ' to ' + str(DIST_MIN)
elif command == c.COMMAND_BLINK:
helper.blink('white')
helper.set_element(flags, 'master_set_LED', True)
elif command == c.COMMAND_RESET:
SPEED_RUN = c.SPEED_RUN
SPEED_WARN = round(float(SPEED_RUN)/3,0)
SPEED_CONTROL_MAX = SPEED_RUN
SPEED_CONTROL_MIN = SPEED_WARN
DIST_MIN = c.DIST_MIN
helper.set_element(times,'prev_get_dist',0)
helper.set_element(flags,'master_set_LED', True)
helper.set_element(flags,'master_set_speed', True)
warning = [True] * len(warning)
print "Reset major values"
elif command == c.COMMAND_STATE:
local_prev_state = state
if value == c.VALUE_STATE_RUNNING:
state = 'RUNNING'
elif value == c.VALUE_STATE_IDLE:
state = 'IDLE'
print 'Going from state ' + local_prev_state + ' to state ' + state
elif command == c.COMMAND_TYPE:
if value == c.VALUE_TYPE_ORIGINAL:
value = helper.determine_team(OWN_ID)
return value
except:
print "Error interpreting message from master! Continuing anyway"
elif state == 'RUNNING':
# Distance
if helper.check_time_limit(times,'prev_get_dist',c.WAIT_DIST):
time_between = time.time() - last_meas_time
last_meas_time = time.time()
new_dist = pi2go.getDistance()
if new_dist > 1:
distance = new_dist
#print 'dt:', time_between , distance
# Obstacle = 1, No Obstacle = 0
irCentre = pi2go.irCentre()
# Obstacle Analysis
if irCentre or (distance < DIST_MIN):
distance_level = 0
elif distance > c.DIST_MAX:
distance_level = 2
else:
distance_level = 1
# Receive
data = 'new_round'
while data != '':
data, addr = com.receive_message(sock)
if data != '':
sender_ID = com.get_id_from_ip(addr[0])
if sender_ID == OWN_ID:
#print 'OWN: ' , sender_ID, ' : ' , data
continue
if sender_ID >= c.TEAM_START and sender_ID <= c.TEAM_END:
#print 'ROBOT: ', sender_ID, ' : ' , data
if data == 'PROBLEM':
warning[sender_ID-c.TEAM_START] = False
elif data == 'RELEASE':
warning[sender_ID-c.TEAM_START] = True
else:
try:
#print 'MASTER:' , sender_ID , ' : ' , data
command, value = com.string_to_command(data)
if command == c.COMMAND_SPEED:
helper.set_element(flags,'master_set_speed',True)
prev_SPEED_RUN = SPEED_RUN
if value == '+':
SPEED_RUN += 5
elif value == '-':
SPEED_RUN -= 5
else:
SPEED_RUN = value
print 'MASTER: Set SPEED_RUN from '+ str(prev_SPEED_RUN) + ' to ' + str(SPEED_RUN)
elif command == c.COMMAND_DIST:
prev_DIST_MIN = DIST_MIN
if not value.isdigit():
print "Something went terribly wrong with the protocol..."
raise KeyboardInterrupt
DIST_MIN = value
print 'MASTER: Set DIST_MIN from '+ str(prev_DIST_MIN) + ' to ' + str(DIST_MIN)
elif command == c.COMMAND_BLINK:
helper.blink('white')
helper.set_element(flags, 'master_set_LED', True)
elif command == c.COMMAND_RESET:
SPEED_RUN = c.SPEED_RUN
SPEED_WARN = round(float(SPEED_RUN)/3,0)
SPEED_CONTROL_MAX = SPEED_RUN
SPEED_CONTROL_MIN = SPEED_WARN
DIST_MIN = c.DIST_MIN
helper.set_element(times,'prev_get_dist',0)
helper.set_element(flags,'master_set_LED', True)
helper.set_element(flags,'master_set_speed', True)
warning = [True] * len(warning)
print 'MASTER: Reset major values'
elif command == c.COMMAND_STATE:
helper.set_element(flags,'master_set_state', True)
if value == c.VALUE_STATE_RUNNING:
next_state = 'RUNNING'
elif value == c.VALUE_STATE_IDLE:
next_state = 'IDLE'
print 'MASTER: Going from state ' + state + ' to state ' + next_state
#elif command == c.COMMAND_TYPE and value != c.VALUE_TYPE_COM:
elif command == c.COMMAND_TYPE:
local_prev_value = value
if value == c.VALUE_TYPE_ORIGINAL:
value = helper.determine_team(OWN_ID)
print "MASTER: Changing from type " + local_prev_value + " to type " + value
return value
except:
print "Error interpreting message from master! Continuing anyway"
# Analyse --> Calculate MODE
if prev_state == 'RUNNING':
prev_mode = mode
if distance_level == 0:
mode = 'STOP'
elif distance_level == 1 and all(warning):
mode = 'SLOW'
elif distance_level == 2 and all(warning):
mode = 'RUN'
elif distance_level != 0 and not all(warning):
mode = 'WARN'
# Set own Warning-Flag
if mode != prev_mode:
if mode == 'STOP':
warning[OWN_ID-c.TEAM_START] = False
else:
warning[OWN_ID-c.TEAM_START] = True
# LEDs
if mode != prev_mode or helper.get_element(flags,'master_set_LED'):
if helper.get_element(flags,'master_set_LED'):
helper.set_element(flags,'master_set_LED',False)
if mode == 'RUN':
pi2go.setAllLEDs(c.LED_OFF,c.LED_ON,c.LED_OFF)
elif mode == 'SLOW':
pi2go.setAllLEDs(c.LED_OFF,c.LED_OFF,c.LED_ON) #TODO: test
#pi2go.setAllLEDs(c.LED_OFF,c.LED_ON,c.LED_OFF) #TODO: presentation
#elif mode == 'WARN':
#pi2go.setAllLEDs(c.LED_ON,c.LED_ON,c.LED_OFF)
elif mode == 'STOP':
pi2go.setAllLEDs(c.LED_ON,c.LED_OFF,c.LED_OFF)
# Blinking-Mode
if mode == 'WARN':
if helper.check_time_limit(times,'prev_set_LED',c.WAIT_LED):
if helper.get_element(flags,'status_warn_LED'):
pi2go.setAllLEDs(c.LED_OFF,c.LED_OFF,c.LED_OFF)
helper.set_element(flags,'status_warn_LED',False)
else:
pi2go.setAllLEDs(c.LED_ON,c.LED_ON,c.LED_OFF)
helper.set_element(flags,'status_warn_LED',True)
# Calculate new speed
if mode == 'RUN':
if prev_mode != 'RUN' or helper.get_element(flags,'master_set_speed'):
speed = SPEED_RUN
helper.set_element(flags,'master_set_speed',False)
helper.set_element(flags,'set_motor',True)
# Blocking Avoidance
elif mode == 'SLOW':
#linear
gradient = float(SPEED_CONTROL_MAX - SPEED_CONTROL_MIN)/float(c.DIST_MAX-DIST_MIN)
error = c.DIST_MAX - distance
new_value = round(SPEED_RUN - error * gradient,1)
if new_value < SPEED_CONTROL_MIN:
new_value = SPEED_CONTROL_MIN
elif new_value > SPEED_CONTROL_MAX:
new_value = SPEED_CONTROL_MAX
if new_value != speed:
speed = new_value
helper.set_element(flags,'set_motor',True)
# Slow-Down in Warning-Mode
elif mode == 'WARN':
if prev_mode != 'WARN':
helper.set_element(times,'get_warning',time.time())
speed_get_warning = speed
new_value = round(speed_get_warning * (1-(time.time()-helper.get_element(times,'get_warning'))/c.TIME_TO_SLOW_DOWN),1)
if new_value < SPEED_WARN:
new_value = SPEED_WARN
if new_value != speed:
speed = new_value
helper.set_element(flags,'set_motor',True)
elif mode == 'STOP':
if prev_mode != 'STOP':
speed = c.SPEED_STOP
helper.set_element(flags,'set_motor',True)
# Motor
if helper.get_element(flags,'set_motor'):
if speed > c.SPEED_LIMIT_MAX:
speed = c.SPEED_LIMIT_MAX
elif speed < c.SPEED_LIMIT_MIN:
speed = c.SPEED_LIMIT_MIN
if mode == 'SLOW' or mode == 'WARN':
if helper.check_time_limit(times,'prev_set_motor',c.WAIT_MOTOR):
pi2go.go(speed,speed)
helper.set_element(flags,'set_motor',False)
else:
pi2go.go(speed,speed)
helper.set_element(flags,'set_motor',False)
# Send
if mode != prev_mode:
if prev_mode == 'STOP':
com.send_x_broadcast_messages(c.PORT, "RELEASE", c.SENDING_ATTEMPTS, c.WAIT_SEND)
elif mode == 'STOP':
com.send_x_broadcast_messages(c.PORT, "PROBLEM", c.SENDING_ATTEMPTS, c.WAIT_SEND)
# Next State
prev_state = state
if helper.get_element(flags,'master_set_state'):
helper.set_element(flags,'master_set_state',False)
state = next_state
# Button
if helper.check_time_limit(times,'prev_get_switch',c.WAIT_SWITCH):
# Pressed = 1, Released = 0
button = pi2go.getSwitch()
if not button:
helper.set_element(flags,'button_release',True)
if button and helper.get_element(flags,'button_release'):
helper.set_element(flags,'button_release',False)
prev_state = state
state = 'IDLE'
com.send_x_broadcast_messages(c.PORT, "RELEASE", c.SENDING_ATTEMPTS, c.WAIT_SEND)
except KeyboardInterrupt:
print 'KEYBOARD'
finally:
pi2go.stop()
pi2go.cleanup()
sock.close()
print 'END'
distance = 0
squad = []
prev_measurement_time = 0
# Programm
try:
while True:
if state == 'INIT':
pi2go.init()
sock = communication.init_nonblocking_receiver('',PORT)
for x in range(SQUAD_SIZE):
squad.append(True)
OWN_IP = communication.get_ip()
OWN_IDENTIFIER = communication.get_id_from_ip(OWN_IP)
print OWN_IDENTIFIER
state = 'RUNNING'
elif state == 'RUNNING':
# distance
if time.time() - prev_measurement_time > WAIT_DIST:
prev_measurement_time = time.time()
distance = pi2go.getDistance()
# Obstacle = 1, No Obstacle = 0
irCentre = pi2go.irCentre()
#irCentre = False
# Obstacle Analysis
if irCentre or (distance < DIST_MIN):
PORT = 5005
BROADCAST_IP = '192.168.178.255'
# Program
try:
while True:
if STATE == 'INIT':
pi2go.init()
sock = communication.init_nonblocking_receiver('', PORT)
for x in range(SQUAD_SIZE):
SQUAD.append(True)
message_buffer_slave.append(True)
OWN_IP = communication.get_ip()
print OWN_IP
OWN_ID = communication.get_id_from_ip(OWN_IP)
print OWN_ID
STATE = 'RUNNING'
print DIST_MIN
elif STATE == 'RUNNING':
# Distance
if time.time() - prev_measurement_time > WAIT_DIST:
prev_measurement_time = time.time()
distance = pi2go.getDistance()
# Obstacle = 1, No Obstacle = 0
# irCentre = pi2go.irCentre() # TODO: edit pi2go library and uncomment!
irCentre = False
# Obstacle Analysis
if irCentre or (distance < DIST_MIN):