class ZumiService(rpyc.Service):
""" RPC server class
# Note
only methods that are _exposed_ are callable via rpc
"""
def __init__(self):
self.myConnection = ''
self.user = ''
#init zumi instance
self.zumi = Zumi()
def on_connect(self, conn):
""" method is automatically run at new rpc connections
"""
self.myConnection = conn
print ('new connection')
#print (conn._config['credentials']['subject'])
#self.user = conn._config['credentials']['subject'][5][0][1]
#if DEBUG:
#print("new connection: ",
# conn._config['endpoints'], "from user ", self.user)
pass
def on_disconnect(self, conn):
"""method is automatically run when rpc connection is terminated
"""
if DEBUG:
print ("conn ended", conn._config['connid'])
pass
def exposed_ping(self):
"""simple ping for rpc connection testing
"""
if DEBUG:
print ("ping")
return 'pong'
#-----------------------------------------------------------------------------
# reproducing ZUMI API - see http://docs.robolink.com/zumi-library for details
#-----------------------------------------------------------------------------
# DRIVING
def exposed_right_circle(self, speed=30, step=2):
self.zumi.right_circle(speed, step)
def exposed_hard_brake(self):
self.zumi.hard_brake()
def exposed_parallel_park(self,speed=15, step=1, delay=0.01):
self.zumi.parallel_park(speed, step, delay)
def exposed_circle(self,speed=30, step=2, direction=1, delay=0.02):
self.zumi.circle(speed, step, direction, delay)
def exposed_triangle(self,speed=40, seconds=1.5, direction=1):
self.zumi.triangle(speed, seconds, direction)
def exposed_go_straight(self,speed, desired_angle, max_speed=127):
self.zumi.go_straight(speed, desired_angle, max_speed)
def exposed_right_u_turn(self,speed=30, step=4, delay=0.02):
self.zumi.right_u_turn(speed, step, delay)
def exposed_figure_8(self,speed=30, step=3, delay=0.02):
self.zumi.figure_8(speed, step, delay)
def exposed_rectangle(self,speed=40, seconds=1.0, direction=1, ratio=2):
self.zumi.rectangle(speed, seconds, direction, ratio)
def exposed_reverse(self,speed=40, duration=1.0, desired_angle=123456):
self.zumi.reverse(speed, duration, desired_angle)
def exposed_left_u_turn(self,speed=30, step=4, delay=0.02):
self.zumi.left_u_turn(speed, step, delay)
def exposed_square(self,speed=40, seconds=1, direction=1):
self.zumi.square(speed, seconds, direction)
def exposed_square_left(self,speed=40, seconds=1.0):
self.zumi.square_left(speed, seconds)
def exposed_turn_left(self,desired_angle=90, duration=1.0):
self.zumi.turn_left(desired_angle, duration)
def exposed_j_turn(self,speed=80, step=4, delay=0.005):
self.zumi.j_turn(speed, step, delay)
def exposed_left_circle(self,speed=30, step=2):
self.zumi.left_circle(speed, step)
def exposed_forward(self,speed=40, duration=1.0, desired_angle=123456):
self.zumi.forward(speed, duration, desired_angle)
def exposed_turn_right(self,desired_angle=-90,duration=1.0):
self.zumi.turn_right(desired_angle,duration)
def exposed_square_right(self,speed=40, seconds=1.0):
self.zumi.square_right(speed, seconds)
def exposed_go_reverse(self, speed, desired_angle, max_speed=127):
self.zumi.go_reverse(speed, desired_angle, max_speed)
def exposed_line_follower(self, duration, left_thresh=100, right_thresh=100):
self.zumi.line_follower(duration, left_thresh, right_thresh)
#SENSORS
def exposed_get_all_IR_data(self):
return self.zumi.get_all_IR_data()
def exposed_get_battery_voltage(self):
return self.zumi.get_battery_voltage()
#this is undocumented in the Zumi API
def exposed_get_battery_percent(self):
return self.zumi.get_battery_percent()
def exposed_get_IR_data(self,ir_sensor_index):
return self.zumi.get_IR_data(ir_sensor_index)
# CAM - here we use picamera directly, avoiding the poor zumi interface
def exposed_get_picture(self, resolution=(1024,768)):
with picamera.PiCamera() as camera:
camera.resolution = resolution
camera.rotation = 180
output = np.empty((resolution[1],resolution[0],3),dtype=np.uint8)
camera.capture(output , 'rgb')
return output
class Drive:
def __init__(self, _zumi=None):
if _zumi is None:
self.z = Zumi()
else:
self.z = _zumi
self.z.mpu.calibrate_MPU()
self.NORTH = 0
self.WEST = 90
self.EAST = -90
self.SOUTH = 180
self.heading = self.NORTH
self.current_x = 0
self.current_y = 0
self.motor_speed = 10
self.ir_threshold = 125
# ----------------FUNCTIONS-----------------
def turn(self, angle=91, speed=30, step=4, direction=-1, delay=0.01):
direction = self.z.clamp(direction, -1, 1)
init_ang_z = self.z.read_z_angle()
for i in range(0, angle, step):
self.z.go_straight(speed, init_ang_z + direction * i)
time.sleep(delay)
def cross_intersection(self):
start = time.time()
end = 0
while end < 0.4:
end = time.time() - start
self.z.go_straight(10, self.heading)
def move_to_coordinate(self, desired_x, desired_y):
dx = desired_x - self.current_x # Find out the difference in x
dy = desired_y - self.current_y # Find out the difference in y
if dx % 10 == 0 and dx != 5:
if dx > 0: # If x is positive (going East)
if not self.current_x == 0:
self.cross_intersection()
self.heading = self.EAST
self.drive_block(dx)
elif dx < 0: # If x is negative (going West)
self.cross_intersection()
self.heading = self.WEST
self.drive_block(abs(dx))
self.current_x = desired_x
if dy > 0: # If y is also positive (going North)
self.cross_intersection()
self.heading = self.NORTH
self.drive_block(dy)
elif dy < 0: # If y is negative (going South)
self.cross_intersection()
self.heading = self.SOUTH
self.drive_block(abs(dy))
self.current_y = desired_y
else:
if dy > 0: # If y is also positive (going North)
self.cross_intersection()
self.heading = self.NORTH
self.drive_block(dy)
elif dy < 0: # If y is negative (going South)
self.cross_intersection()
self.heading = self.SOUTH
self.drive_block(abs(dy))
self.current_y = desired_y
if dx > 0: # If x is positive (going East)
self.cross_intersection()
self.heading = self.EAST
self.drive_block(dx)
elif dx < 0: # If x is negative (going West)
if self.self.current_x != 0:
self.cross_intersection()
self.heading = self.WEST
self.drive_block(abs(dx))
self.current_x = desired_x
def park_left(self):
self.turn(direction=1)
self.z.forward(duration=0.5)
def park_right(self):
self.turn()
self.z.forward(duration=0.5)
def drive_block(self, x):
left_on_white = False
right_on_white = False
right_switch = 0
left_switch = 0
while True:
ir_readings = self.z.get_all_IR_data()
bottom_right_ir = ir_readings[1]
bottom_left_ir = ir_readings[3]
front_left_ir = ir_readings[0]
front_right_ir = ir_readings[5]
if bottom_left_ir < self.ir_threshold:
if not left_on_white:
left_switch += 1
left_on_white = True
else:
left_on_white = False
if bottom_right_ir < self.ir_threshold:
if not right_on_white:
right_switch += 1
right_on_white = True
else:
right_on_white = False
if right_on_white and not left_on_white:
self.heading -= 1
if left_on_white and not right_on_white:
self.heading += 1
if right_switch == x or left_switch == x:
break
if front_left_ir < 70 or front_right_ir < 70:
self.z.stop(0)
continue
#clear_output(wait=True)
self.z.go_straight(self.motor_speed, self.heading)
def run_demo(self, location):
try:
if location == "a":
self.move_to_coordinate(10, 5)
self.park_left()
if location == "b":
self.move_to_coordinate(15, 10)
self.park_right()
if location == "c":
self.move_to_coordinate(25, 0)
self.park_left()
if location == "d":
self.move_to_coordinate(5, 10)
self.park_left()
if location == "e":
self.move_to_coordinate(15, 20)
self.park_right()
if location == "f":
self.move_to_coordinate(20, 16)
self.park_right()
if location == "g":
self.move_to_coordinate(0, 26)
self.park_right()
if location == "h":
self.move_to_coordinate(10, 25)
self.park_right()
if location == "i":
self.move_to_coordinate(26, 30)
self.park_right()
finally:
self.z.stop()
class Route_new:
def __init__(self, zumi = None):
self.start_node = Point(0, 0)
self.bigben = Point(5, 20)
self.seattle = Point(25, 0)
self.paris = Point(15, 10)
self.NY = Point(10, 15)
self.china = Point(25, 20)
self.node1 = Point(10, 0)
self.node2 = Point(20, 0)
self.node3 = Point(30, 0)
self.node4 = Point(0, 10)
self.node5 = Point(10, 10)
self.node6 = Point(20, 10)
self.node7 = Point(30, 10)
self.node8 = Point(0, 20)
self.node9 = Point(10, 20)
self.node10 = Point(20, 20)
self.node11 = Point(30, 20)
self.node12 = Point(0, 30)
self.node13 = Point(10, 30)
self.node14 = Point(30, 30)
self.G = nx.Graph()
self.generate_map()
self.NORTH = 0
self.WEST = 90
self.EAST = -90
self.SOUTH = 180
self.heading = self.NORTH
if zumi is None:
# pass
self.zumi = Zumi()
self.motor_speed = 10
self.ir_threshold = 70
self.reverse = False
def generate_map(self):
# Directed Graph
# G 그래프 만들기 (node 간의 edge가 존재하면 add_node 하고 add_edge 안해도 됨
self.G.add_edge(self.start_node, self.node1, distance=10)
self.G.add_edge(self.start_node, self.node4, distance=10)
self.G.add_edge(self.node1, self.node2, distance=10)
self.G.add_edge(self.node1, self.node5, distance=10)
self.G.add_edge(self.node2, self.seattle, distance=5)
self.G.add_edge(self.node2, self.node6, distance=10)
self.G.add_edge(self.seattle, self.node3, distance=5)
self.G.add_edge(self.node3, self.node7, distance=10)
self.G.add_edge(self.node4, self.node5, distance=10)
self.G.add_edge(self.node4, self.node8, distance=10)
self.G.add_edge(self.node5, self.NY, distance=5)
self.G.add_edge(self.node5, self.paris, distance=5)
self.G.add_edge(self.NY, self.node9, distance=5)
self.G.add_edge(self.paris, self.node6, distance=5)
self.G.add_edge(self.node6, self.node7, distance=10)
self.G.add_edge(self.node6, self.node10, distance=10)
self.G.add_edge(self.node7, self.node11, distance=10)
self.G.add_edge(self.node8, self.bigben, distance=5)
self.G.add_edge(self.node8, self.node12, distance=10)
self.G.add_edge(self.bigben, self.node9, distance=5)
self.G.add_edge(self.node9, self.node10, distance=10)
self.G.add_edge(self.node9, self.node13, distance=10)
self.G.add_edge(self.node10, self.china, distance=5)
self.G.add_edge(self.china, self.node11, distance=5)
self.G.add_edge(self.node11, self.node14, distance=10)
self.G.add_edge(self.node12, self.node13, distance=10)
self.G.add_edge(self.node13, self.node14, distance=20)
def find_path(self, start, destination):
start_point = start
destination = destination
# 연결 안 된 노드가 있을 경우를 방지
if nx.has_path(self.G, start_point, destination):
path = nx.shortest_path(self.G, source=start_point, target=destination, weight='distance')
else:
print("No path!!")
return
if path is not None:
print(path)
return path
def driving(self, start, destination):
shortest_path = self.find_path(start, destination)[1:]
current_node = start
while len(shortest_path):
print(shortest_path)
next_node = shortest_path.pop(0)
# found_obstacle = False
found_obstacle = self.drive_to_nextnode(current_node,next_node)
if found_obstacle:
print("find obstacle : {}".format(found_obstacle))
self.go_back_to_node(found_obstacle)
self.disconnect_route(current_node, next_node)
self.driving(current_node, destination)
return
current_node = next_node
self.zumi.stop()
return
def driving_without_reroute(self, start, destination):
shortest_path = self.find_path(start, destination)[1:]
current_node = start
while len(shortest_path):
print(shortest_path)
next_node = shortest_path.pop(0)
x = self.drive_to_nextnode(current_node,next_node)
current_node = next_node
self.zumi.stop()
return
def drive_to_nextnode(self, current, next):
dx = next.x - current.x
dy = next.y - current.y
print("[{},{}]".format(dx, dy))
self.decide_turn_or_pass_intersection(dx, dy, current)
# if max(abs(dx),abs(dy))%10:
# result = self.drive_n_block(abs(dx + dy)+1)
# else:
result = self.drive_n_block(abs(dx+dy))
return result
def decide_turn_or_pass_intersection(self, dx, dy, current):
print("check turn or not")
temp = current.x + current.y
if self.reverse:
self.reverse = False
elif temp and temp % 10 == 0:
self.cross_intersection()
if dx > 0:
new_heading = self.EAST
elif dx < 0:
new_heading = self.WEST
elif dy > 0:
new_heading = self.NORTH
else:
new_heading = self.SOUTH
if not new_heading - 20 < self.heading < new_heading + 20:
print("change heading")
self.heading = new_heading
def drive_n_block(self, n):
print("drive n block")
ir_readings = self.zumi.get_all_IR_data()
left_on_white = False if ir_readings[3] > self.ir_threshold else True
right_on_white = False if ir_readings[1] > self.ir_threshold else True
right_switch = 0
left_switch = 0
while left_on_white or right_on_white:
ir_readings = self.zumi.get_all_IR_data()
if ir_readings[3] < self.ir_threshold:
if not left_on_white:
left_on_white = True
else:
left_on_white = False
if ir_readings[1] < self.ir_threshold:
if not right_on_white:
right_on_white = True
else:
right_on_white = False
self.adjust_driving(left_on_white, right_on_white)
if ir_readings[0] < 70 or ir_readings[5] < 70:
return max(right_switch, left_switch)
self.zumi.go_straight(self.motor_speed, self.heading)
while right_switch != n and left_switch != n:
print("{},{}".format(left_switch, right_switch))
ir_readings = self.zumi.get_all_IR_data()
if ir_readings[3] < self.ir_threshold:
if not left_on_white:
left_switch += 1
left_on_white = True
else:
left_on_white = False
if ir_readings[1] < self.ir_threshold:
if not right_on_white:
right_switch += 1
right_on_white = True
else:
right_on_white = False
self.adjust_driving(left_on_white, right_on_white)
# detect obstacle
if ir_readings[0] < 70 or ir_readings[5] < 70:
return max(right_switch, left_switch)
self.zumi.go_straight(self.motor_speed, self.heading)
return False
def adjust_driving(self, left_on_white, right_on_white, reverse=1):
if right_on_white and not left_on_white:
correction = -1
elif left_on_white and not right_on_white:
correction = 1
else:
return
self.heading += correction*reverse
def cross_intersection(self):
print("cross road")
start = time.time()
end = 0
while end < 0.45:
end = time.time()-start
self.zumi.go_straight(10, self.heading)
def go_back_to_node(self, n):
self.reverse = True
left_on_white = False
right_on_white = False
right_switch = 0
left_switch = 0
while right_switch != n and left_switch != n:
print( "{},{}".format(left_switch, right_switch))
ir_readings = self.zumi.get_all_IR_data()
if ir_readings[3] < self.ir_threshold:
if not left_on_white:
left_switch += 1
left_on_white = True
else:
left_on_white = False
if ir_readings[1] < self.ir_threshold:
if not right_on_white:
right_switch += 1
right_on_white = True
else:
right_on_white = False
self.adjust_driving(left_on_white, right_on_white, reverse=-1)
self.zumi.go_reverse(self.motor_speed, self.heading)
# while right_on_white or left_on_white:
# ir_readings = self.zumi.get_all_IR_data()
#
# if ir_readings[3] < self.ir_threshold:
# if not left_on_white:
# left_switch += 1
# left_on_white = True
# else:
# left_on_white = False
#
# if ir_readings[1] < self.ir_threshold:
# if not right_on_white:
# right_switch += 1
# right_on_white = True
# else:
# right_on_white = False
#
# self.adjust_driving(left_on_white, right_on_white, reverse=-1)
#
# # detect obstacle
# if ir_readings[0] < 70 or ir_readings[5] < 70:
# return max(right_switch, left_switch)
#
# self.zumi.go_reverse(self.motor_speed, self.heading)
time.sleep(0.4)
print("done")
def disconnect_route(self, current_node, next_node):
# self.G.add_edge(current_node, next_node, distance=1000)
self.G.remove_edge(current_node, next_node)
def reset_map(self):
self.G = nx.Graph()
self.generate_map()
def turn(self, angle=91, speed=30, step=4, direction=-1, delay=0.01):
direction = self.zumi.clamp(direction,-1,1)
init_ang_z = self.zumi.read_z_angle()
for i in range(0, angle, step):
self.zumi.go_straight(speed, init_ang_z+direction*i)
time.sleep(delay)
def park_left(self):
self.turn(direction=1)
self.zumi.forward(duration=0.5)
def park_right(self):
self.turn()
self.zumi.forward(duration=0.5)
from zumi.zumi import Zumi
from zumi.util.screen import Screen
import time
zumi = Zumi()
speed = 30
threashold = 70
prev_state = -1
HEAD = zumi.read_z_angle()
try:
while True:
ir_readings = zumi.get_all_IR_data()
left = ir_readings[1]
right = ir_readings[3]
print(left, right)
if left > threashold and right > threashold:
print('1')
zumi.control_motors(speed, speed, 0)
prev_state = 0
elif left < threashold and right > threashold:
print('2')
zumi.control_motors(-int(speed/3), int(speed/3), 0)
prev_state = 1
elif left > threashold and right < threashold:
print('3')
zumi.control_motors(int(speed/3), -int(speed/3), 0)
prev_state = 2
else: