def process_eye(image): """ process the Eye System """ global TRACKING global TURNING_TO # if TRACKING is not "front": # return # rospy.loginfo('\n[PROC] frontcam image received') # rospy.loginfo(EYE.is_occupied()) if not SCHEDULER.is_frontcam_occupied(): info = EYE.see(image) # rospy.loginfo("\n[PROC] info: " + str(info)) rospy.Timer(rospy.Duration(0.1), EYE.release_occupied, oneshot=True) if TRACKING is not "front": return if info is None: pass else: center = info["center"] TURTLE.set_speed('normal') if info["state"] is "straight": # TURTLE.set_speed('normal') pass elif info["state"] is "lost_track": rospy.loginfo("\n[PROC] state: lost_track") TURNING_TO = info["turning_to"] TURTLE.go_forward(1) rospy.Timer(rospy.Duration(1), track_fish, oneshot=True, reset=True) # elif info["state"] is "turning": # TURNING_TO = info["turning_to"] # track_fish() # rospy.Timer(rospy.Duration(5.5), track_fish, oneshot=True, reset=True) if center > 500: TURTLE.set_angular(0.27) rospy.loginfo("\n[PROC] [!] turning to right at " + str(center)) return if center < -500: TURTLE.set_angular(-0.27) rospy.loginfo("\n[PROC] [!] turning to left at " + str(center)) return if center > 60: TURTLE.set_angular(0.12) # TURTLE.set_angular(0.08) rospy.loginfo("\n[PROC] turning to right at " + str(center)) return elif center < -60: TURTLE.set_angular(-0.12) # TURTLE.set_angular(-0.08) rospy.loginfo("\n[PROC] turning to left at " + str(center)) return TURTLE.set_angular_smooth(0) return
def process_blocking(): directions = ["front", "leftside", "rightside"] distances = {} rospy.loginfo("-------------") for direction in directions: distances[direction] = get_object_distance(direction) rospy.loginfo("\n[PROC] " + str(direction) + ": " + distances[direction]) rospy.loginfo("-------------") if distances["rightside"] < 0.3 and distances["rightside"] > 0: TURTLE.enable_fish = False TURTLE.go_forward(2) SEEN_BLOCKING_BAR = True elif SEEN_BLOCKING_BAR: if distances["front"] > 0 or distances["leftside"] > 0 or distances["rightside"] > 0: TURTLE.enable_fish = True CURRENT_STATE = "tunnel" print_state() else: rospy.Timer(rospy.Duration(5.0), go_anyway, oneshot=True, reset=True)
def test_parking(image): global STEP if not TURTLE.is_occupied(): if STEP == 1: TURTLE.go_forward(0.5) elif STEP == 2: TURTLE.set_speed("normal") TURTLE.go_turn("right", 2) elif STEP == 3: TURTLE.go_forward(0.7) # for stopping for a while rospy.sleep(rospy.Duration(0.5)) elif STEP == 4: TURTLE.go_backward(1) elif STEP == 5: TURTLE.go_turn_backward(1.2) elif STEP == 6: TURTLE.go_forward(2) elif STEP == 7: TURTLE.set_speed("fast") TURTLE.set_speed_smooth("normal") # TURTLE.set_speed("normal") else: return STEP += 1
def process_lidar(lidar_data): """ process the lidar data """ global CURRENT_STATE global IS_TURNING global STATE_CONSTRUCTION global DIRECTION global TURN_COUNT global ENABLE_LIDAR global ENABLE_FRONT if not ENABLE_LIDAR: return set_lidar_values(lidar_data) if CURRENT_STATE is "construction": if not TURTLE.is_settable(): return rospy.loginfo( str(STATE_CONSTRUCTION) + " " + str(get_object_distance('left')) + " " + str(get_object_distance('front'))) if STATE_CONSTRUCTION == "searching": distance = get_object_distance("left") if distance == 0: return elif distance < 0.35: STATE_CONSTRUCTION = "ready" elif distance > 0.35 and distance < 1: STATE_CONSTRUCTION = "start" DIRECTION = "right" TURTLE.enable_fish = False TURTLE.turn("left", 2.03, True) return elif STATE_CONSTRUCTION == "ready": distance = get_object_distance("front") if distance == 0: return elif distance < 0.5: # TURTLE.change_line("left", 0.5) DIRECTION = "left" TURTLE.enable_fish = False TURTLE.change_line("left", 1) # TODO: FIX change_line() STATE_CONSTRUCTION = "start" return elif STATE_CONSTRUCTION == "start": if not IS_TURNING: if DIRECTION == 'right': distance = get_object_distance('leftside') else: distance = get_object_distance('rightside') rospy.loginfo('\n[PROC] distance on ' + DIRECTION + ' : ' + str(distance)) if distance == 0: return elif distance < 0.35: TURTLE.turn(DIRECTION, 1.2) IS_TURNING = True # TURTLE.change_line(DIRECTION, 1) reverse_direction() TURN_COUNT = TURN_COUNT + 1 else: TURTLE.set_speed('normal') else: if DIRECTION == 'right': distance = get_object_distance('frontleft') else: distance = get_object_distance('frontright') # rospy.loginfo('\n[PROC] turning distance on ' + # DIRECTION + ' : ' + str(distance)) if distance > 0.34 or distance == 0: reverse_direction() TURN_COUNT = TURN_COUNT + 1 TURTLE.turn(DIRECTION, 1.2) IS_TURNING = False if TURN_COUNT == 3: TURTLE.turn("left", 1.5, True) STATE_CONSTRUCTION = "ending" elif STATE_CONSTRUCTION == "ending": TURTLE.go_forward(1.0) CURRENT_STATE = "before_parking" print_state() # rospy.signal_shutdown("\n[PROC] Shutting down...") if CURRENT_STATE is "blocking": ENABLE_FRONT = False process_blocking() if CURRENT_STATE is "tunnel": process_tunnel2()
def process_construction(): """ process construction state """ global STEP global NUM_OBSTRUCTION global LANE_TO if TURTLE.is_occupied(): return if STEP == 0: leftside = get_object_distance("leftside") left = get_object_distance("left") if leftside > 0: rospy.logdebug("[PROC] LIDAR LEFTSIDE: {}".format( leftside)) if (leftside > 0) and (leftside < 0.40): STEP = 1 rospy.logdebug("[PROC] STEP changed to {}".format(STEP)) SCHEDULER.disable_cams() rospy.loginfo("[PROC] construction state started.") TURTLE.go_forward(3.5) rospy.sleep(rospy.Duration(0.5)) return else: return # elif (left > 0) and (left < 1.5): # STEP = 2 # rospy.logdebug("[PROC] STEP changed to {}".format(STEP)) # return # rospy.sleep(rospy.Duration(2)) elif STEP == 1: TURTLE.set_speed("normal") TURTLE.set_speed_smooth("slow") left = get_object_distance("left") if left > 0: rospy.logdebug("[PROC] LIDAR LEFT: {}".format( left)) if (left < 0.50) or (left > 1.5): return else: STEP = 3 rospy.logdebug("[PROC] STEP changed to {}".format(STEP)) return elif STEP == 2: # TODO: write code for first left lane pass elif STEP == 3: TURTLE.go_turn("left", speed=0.11) LANE_TO = "left" elif STEP == 4: TURTLE.set_speed("normal") reverse_lane() biased = get_object_distance(LANE_TO + "_biased") if biased > 0: rospy.logdebug("[PROC] LIDAR {:s}_BIASED: {}" .format(LANE_TO, biased)) reverse_lane() if (biased == 0) or (biased > 0.30): return TURTLE.go_turn(LANE_TO, duration=0.5, angular=4.2) TURTLE.set_speed("normal") # TURTLE.set_speed("fast") # if LANE_TO is "left": # TURTLE.turn(0.13, 1.3, consuming_time=1.5) # else: # TURTLE.turn(0.13, -1.3, consuming_time=1.5) rospy.sleep(rospy.Duration(2.2)) reverse_lane() elif STEP == 5: TURTLE.go_turn(LANE_TO, duration=0.7, angular=4.2) TURTLE.set_speed("normal") # TURTLE.set_speed("fast") # if LANE_TO is "left": # TURTLE.turn(0.13, 1.3, consuming_time=1.5) # else: # TURTLE.turn(0.13, -1.3, consuming_time=1.5) NUM_OBSTRUCTION += 1 if NUM_OBSTRUCTION < 2: STEP = 4 return elif STEP == 6: TURTLE.go_forward(1) rospy.sleep(rospy.Duration(0.6)) elif STEP == 7: TURTLE.go_turn("left", duration=0.8, angular=3) elif STEP == 8: TURTLE.set_speed("fast") TURTLE.set_speed_smooth("normal") TURTLE.go_forward(5) rospy.sleep(rospy.Duration(0.5)) elif STEP == 9: # NOTE: turn to parking step STEP = 10 SCHEDULER.set_state("parking") else: return STEP += 1 rospy.logdebug("[PROC] STEP changed to {}".format(STEP))
def process_parking(): """ process parking state """ global STEP # if TURTLE.is_occupied(): # return if STEP == 10: frontleft = get_object_distance("frontleft") frontright = get_object_distance("frontright") if SCHEDULER.debug_option["show_parking_lidar"]: rospy.logdebug("front: {:.2f} frontleft: {:.2f}".format( get_object_distance("front"), get_object_distance("frontleft") )) if (frontleft > 0) and (frontleft < 0.5): STEP = 11 rospy.logdebug("[PROC] STEP changed to {}".format(STEP)) elif (frontright > 0) and (frontright < 0.5): STEP = 12 rospy.logdebug("[PROC] STEP changed to {}".format(STEP)) # NOTE: return is needed to prevent executing STEP += 1 return elif STEP == 11: SCHEDULER.disable_cams() TURTLE.set_speed("normal") TURTLE.go_turn("right", 2) STEP = 13 rospy.logdebug("[PROC] STEP changed to {}".format(STEP)) return elif STEP == 12: SCHEDULER.disable_cams() TURTLE.set_speed("normal") TURTLE.go_turn("left", 2) STEP = 13 rospy.logdebug("[PROC] STEP changed to {}".format(STEP)) return elif STEP == 13: TURTLE.go_forward(0.7) # for stopping for a while rospy.sleep(rospy.Duration(0.5)) elif STEP == 14: TURTLE.go_backward(1.0) elif STEP == 15: TURTLE.go_turn_backward(1.1) elif STEP == 16: TURTLE.set_speed("normal") TURTLE.go_forward(1) elif STEP == 17: # TURTLE.set_speed("fast") # TURTLE.set_speed_smooth("normal") TURTLE.set_speed("normal") SCHEDULER.set_state("zigzag") else: return STEP += 1
def process_construction_new(): """ process construction state """ global STEP global NUM_OBSTRUCTION global LANE_TO global BUF_ANGULAR global BUF_SIZE if TURTLE.is_occupied(): return if STEP == 0: # TURTLE.set_speed("normal") leftside = get_object_distance("leftside") left = get_object_distance("left") if leftside > 0: rospy.logdebug("[PROC] LIDAR LEFTSIDE: {}".format(leftside)) if (leftside > 0) and (leftside < 0.50) and (left > 1.00): EYE.check_yellow = False SCHEDULER.set_state("construction") rospy.loginfo("[PROC] construction state started.") STEP = 1 rospy.logdebug("[PROC] STEP changed to {}".format(STEP)) TURTLE.go_forward(3.5) return else: return elif STEP == 1: TURTLE.set_speed("normal") TURTLE.set_speed_smooth("slow") TURTLE.turn(0.13, 0) left = get_object_distance("left") leftback = get_object_distance("leftback") rospy.logdebug("[PROC] LIDAR LEFT: {:.2f} LEFTBACK: {:.2f}}".format( left, leftback)) if (left > 0) and (left < 0.50): return else: TURTLE.set_speed("slow") if (leftback > 0.5): # TURTLE.go_forward(2.5) STEP = 3 rospy.logdebug("[PROC] STEP changed to {}".format(STEP)) return elif STEP == 2: # TODO: write code for first left lane pass elif STEP == 3: TURTLE.set_speed("normal") TURTLE.set_speed_smooth("stop") front = get_object_distance("front") right_biased = get_object_distance("right_biased") if (front > 1.0) and (right_biased < 1.0) and (right_biased > 0.0): print("passed", front, right_biased) print("BUF_SIZE: ", BUF_SIZE) BUF_SIZE = 15 reset_buffer() TURTLE.set_speed_smooth("slow") pass elif front * right_biased == 0: return else: TURTLE.set_speed("stop") print("turning...", front, right_biased) TURTLE.turn(0.13, 1.0) # rospy.sleep(rospy.Duration(5.0)) return # TURTLE.go_turn("left") elif STEP == 4: right_biased = get_object_distance("right_biased") left_biased = get_object_distance("left_biased") front = get_object_distance("front") if right_biased == 0.0: right_biased = 3.0 if left_biased == 0.0: left_biased = 3.0 if front == 0.0: front = 3.0 elif front < 0.2: TURTLE.set_speed_smooth("stop") else: TURTLE.set_speed_smooth("slow") min_distance = min(right_biased, left_biased) degree = 0 if (front < 1.0): degree += max(pow(1.0 - front, 2), 0) else: degree += max(0.5 - min_distance, 0) * 3 # if min_distance < 0.5: # degree += max((0.5 - min_distance), 0) * 1.5 # elif (min_distance > 1.0) and (min_distance < 3.0): # degree = 0.2 if (left_biased == min_distance) and (min_distance < 0.5): degree *= -1 # max_distance = max(right_biased, left_biased) # if (left_biased == max_distance): # degree *= -1 # degree = 0 # if min_distance > 0 and min_distance < 0.5: # if right_biased > left_biased: # degree = (0.5 - min_distance) * (-7) # LANE_TO = "right" # elif right_biased < left_biased: # degree = (0.5 - min_distance) * (7) # LANE_TO = "left" # if is_left_crashable(): # degree = -1.7 # elif is_right_crashable(): # degree = 1.7 degree *= 3 degree = max(min(degree, 2.0), -2.0) BUF_ANGULAR.append(degree) degree -= BUF_ANGULAR.pop(0) print("BUF_ANGULAR:", BUF_ANGULAR) # if degree != 0: # BUF_ANGULAR.append(degree) # elif len(BUF_ANGULAR) > 9: # STEP = 5 if SCHEDULER.debug_option["show_construction_lidar"]: rospy.logdebug( "[PROC] r_based: {:.2f} l_based: {:.2f} min: {:.2f} front: {:.2f} deg: {:.2f}" .format(right_biased, left_biased, min_distance, front, degree)) TURTLE.turn(0.13, degree) return elif STEP == 5: print("[StEP 5]") if len(BUF_ANGULAR) > 0: TURTLE.turn(0.13, -BUF_ANGULAR.pop(0)) return else: front = get_object_distance("front") print(front) # if (front > 0) and (front < 1.0): # if LANE_TO == "right": # TURTLE.turn(0.13, 0.8) # else: # TURTLE.turn(0.13, -0.8) # return # else: if NUM_OBSTRUCTION < 1: NUM_OBSTRUCTION += 1 STEP = 4 return elif STEP == 6: TURTLE.go_forward(1) TURTLE.set_speed("normal") TURTLE.go_turn("left") TURTLE.set_speed("normal") TURTLE.set_speed("fast") TURTLE.set_speed_smooth("normal") TURTLE.go_forward(5) STEP = 10 SCHEDULER.set_state("parking") BUF_SIZE = 3 reset_buffer() return STEP += 1 rospy.logdebug("[PROC] STEP changed to {}".format(STEP))
def process_tunnel(): """ process tunnel state """ if TURTLE.is_occupied(): return if STEP == 30: # TODO: turn to 45 degrees pass elif STEP == 31: TURTLE.set_speed("normal") # TURTLE.go_turn("right", 1, angular=2, speed=0.15) front = get_object_distance("front") left = get_object_distance("left") right = get_object_distance("right") rospy.logdebug("front: {} left: {} right: {}".format( front, left, right)) if left < 0.20: # TODO: turn to variable degrees TURTLE.turn(0.15, -6) STEP = 34 return elif right < 0.20: # TODO: turn to variable degrees TURTLE.turn(-0.15, -6) STEP = 35 return elif front == 0 or front > 0.40: return else: TURTLE.turn(0.15, -6) TURTLE.turn(0.15, -6) elif STEP == 32: TURTLE.set_speed("normal") frontleft = get_object_distance("frontleft") rospy.logdebug("frontleft: {}".format(frontleft)) if frontleft == 0 or frontleft < 0.40: return else: rospy.sleep(rospy.Duration(1.8)) TURTLE.turn(0.10, 6) elif STEP == 33: TURTLE.set_speed("normal") frontleft = get_object_distance("frontleft") rospy.logdebug("frontleft: {}".format(frontleft)) if frontleft == 0 or frontleft < 0.40: return else: STEP = 31 return elif STEP == 34: front = get_object_distance("front") if front == 0 or front > 0.20: return TURTLE.go_forward(1.5) # TODO : turn to left TURTLE.turn(-0.3, -6) TURTLE.go_forward(4) elif STEP == 35: # NOTE: ending step TURTLE.set_speed("normal") else: return STEP += 1
def process_parking(): """ process parking state """ global STEP # if TURTLE.is_occupied(): # return if STEP == 10: frontleft = get_object_distance("frontleft") frontright = get_object_distance("frontright") left = get_object_distance("left") right = get_object_distance("right") if SCHEDULER.debug_option["show_parking_lidar"]: rospy.logdebug("frontright: {:.2f} frontleft: {:.2f}".format( frontright, frontleft)) if (frontleft > 0) and (frontleft < 1.0): STEP = 11 rospy.logdebug("[PROC] STEP changed to {}".format(STEP)) elif (frontright > 0) and (frontright < 1.0): STEP = 12 rospy.logdebug("[PROC] STEP changed to {}".format(STEP)) if (left > 0) and (left < 0.5): STEP = 13 rospy.logdebug("[PROC] STEP changed to {}".format(STEP)) elif (right > 0) and (right < 0.5): STEP = 14 rospy.logdebug("[PROC] STEP changed to {}".format(STEP)) # NOTE: return is needed to prevent executing STEP += 1 return elif STEP == 11: SCHEDULER.disable_cams() TURTLE.set_speed("normal") TURTLE.go_forward(2.5) TURTLE.go_turn("right", 2) STEP = 15 rospy.logdebug("[PROC] STEP changed to {}".format(STEP)) return elif STEP == 12: # Edit HERE return elif STEP == 13: # Edit HERE return elif STEP == 14: SCHEDULER.disable_cams() TURTLE.set_speed("normal") TURTLE.go_turn("left", angular=1.8, duration=1.2) STEP = 15 rospy.logdebug("[PROC] STEP changed to {}".format(STEP)) return elif STEP == 15: # Edit HERE return elif STEP == 16: # Edit HERE return elif STEP == 17: # Edit HERE return elif STEP == 18: # Edit HERE return elif STEP == 19: TURTLE.set_speed("fast") SCHEDULER.set_state("zigzag") else: return STEP += 1