def followme( metalog, assertWrite, ipPair ):
print "Follow Me"
if metalog is None:
metalog = MetaLog()
robot = HuskyROS( filename=metalog.getLog("node"), replay=metalog.replay, ipPair=ipPair )
print "started"
scanner = ScannerThread()
scanner.start()
scannerFn = SourceLogger( sourceGet=scanner.get, filename=metalog.getLog("scanner") ).get
else:
robot = HuskyROS( filename=metalog.getLog("node"), replay=True, assertWrite=assertWrite, ipPair=ipPair ) # TODO move assert to metalog
scannerFn = SourceLogger( sourceGet=None, filename=metalog.getLog("scanner") ).get
maxSpeed = 0.5
safeDist = 0.5
limitDist = 1.5
index = 0
prev = None
turn = 0.0
personDetected = False
while True:
minDist = scannerFn()
if minDist is not None:
prev = minDist[0]/1000.0
turnDiff = 160-minDist[1]
turn = -math.radians(turnDiff)/4.0
print prev, turnDiff
if prev is None or prev < safeDist:
robot.setSpeedPxPa( 0, turn/4 )
elif prev < safeDist*2:
robot.setSpeedPxPa( maxSpeed*(prev-safeDist)/safeDist, turn/2 )
elif prev < limitDist:
robot.setSpeedPxPa( maxSpeed, turn )
else:
robot.setSpeedPxPa( 0, 0 )
robot.update()
robot.setSpeedPxPa( 0, 0 )
robot.update()
log.write("%d\n" % index )
log.close()
if not metalog.replay:
scanner.requestStop()
scanner.join()
def attach_processor(robot, metalog, callback):
# TODO assert called at most once
name = 'proc'
robot.proc_data = None
proc_log_name = metalog.getLog(name)
if proc_log_name is None:
print("Processor is not logged")
return False
print(proc_log_name)
if metalog.replay:
robot.proc = DummySensor()
function = SourceLogger(None, proc_log_name).get
else:
robot.extensions.append(('proc_in', camera_filler))
robot.proc = Processor(callback)
function = SourceLogger(robot.proc.get_result, proc_log_name).get
robot.register_data_source('proc', function, proc_data_extension)
robot.proc.start()
robot.threads.append(robot.proc)
return True
def battery(metalog, assertWrite, ipPair):
if metalog is None:
metalog = MetaLog()
robot = HuskyROS(filename=metalog.getLog("node"),
replay=metalog.replay,
ipPair=ipPair)
else:
robot = HuskyROS(filename=metalog.getLog("node"),
replay=True,
assertWrite=assertWrite,
ipPair=ipPair) # TODO move assert to metalog
scannerFn = SourceLogger(sourceGet=None,
filename=metalog.getLog("scanner")).get
robot.setSpeedPxPa(0, 0)
for i in xrange(10):
robot.update()
print "Battery: %.3f" % robot.power
def demo(metalog):
assert metalog is not None
can_log_name = metalog.getLog('can')
if metalog.replay:
if metalog.areAssertsEnabled():
can = CAN(ReplayLog(can_log_name), skipInit=True)
else:
can = CAN(ReplayLogInputsOnly(can_log_name), skipInit=True)
else:
can = CAN()
can.relog(can_log_name)
can.resetModules(configFn=setup_faster_update)
robot = JohnDeere(can=can)
robot.UPDATE_TIME_FREQUENCY = 20.0 # TODO change internal and integrate setup
robot.localization = None # TODO
# GPS
gps_log_name = metalog.getLog('gps')
print(gps_log_name)
if metalog.replay:
robot.gps = DummySensor()
function = SourceLogger(None, gps_log_name).get
else:
robot.gps = GPS(verbose=0)
function = SourceLogger(robot.gps.coord, gps_log_name).get
robot.gps_data = None
robot.register_data_source('gps', function, gps_data_extension)
# Velodyne
velodyne_log_name = metalog.getLog('velodyne_dist')
print(velodyne_log_name)
sensor = Velodyne(metalog=metalog)
if metalog.replay:
robot.velodyne = DummySensor()
function = SourceLogger(None, velodyne_log_name).get
else:
robot.velodyne = VelodyneThread(sensor)
function = SourceLogger(robot.velodyne.scan_safe_dist,
velodyne_log_name).get
robot.velodyne_data = None
robot.register_data_source('velodyne', function, velodyne_data_extension)
robot.gps.start() # ASAP so we get GPS fix
robot.velodyne.start(
) # the data source is active, so it is necessary to read-out data
center(robot)
wait_for_start(robot)
moving = False
robot.desired_speed = 0.5
start_time = robot.time
prev_gps = robot.gps_data
prev_destination_dist = None
while robot.time - start_time < 30 * 60: # limit 30 minutes
robot.update()
if robot.gps_data != prev_gps:
print(robot.time, robot.gas, robot.gps_data, robot.velodyne_data)
prev_gps = robot.gps_data
dist = None
if robot.velodyne_data is not None:
dist_index = None
if len(robot.velodyne_data) == 2:
index, dist = robot.velodyne_data
else:
index, dist, dist_index = robot.velodyne_data
if dist is not None:
dist = min(dist) # currently supported tupple of readings
if moving:
if dist is None or dist < SAFE_DISTANCE_STOP:
print("!!! STOP !!! -", robot.velodyne_data)
#center(robot)
robot.canproxy.stop()
moving = False
elif dist < TURN_DISTANCE:
if abs(robot.steering_angle) < STRAIGHT_EPS:
arr = robot.velodyne_data[1]
num = len(arr)
left, right = min(arr[:num / 2]), min(arr[num / 2:])
print("DECIDE", left, right, robot.velodyne_data)
if left <= right:
robot.canproxy.set_turn_raw(-100)
robot.steering_angle = math.radians(
-30) # TODO replace by autodetect
else:
robot.canproxy.set_turn_raw(100)
robot.steering_angle = math.radians(
30) # TODO replace by autodetect
elif dist > NO_TURN_DISTANCE:
if abs(robot.steering_angle) > STRAIGHT_EPS:
robot.canproxy.set_turn_raw(0)
robot.steering_angle = 0.0 # TODO replace by autodetect
else: # not moving
if dist is not None and dist > SAFE_DISTANCE_GO:
print("GO", robot.velodyne_data)
#go(robot)
robot.canproxy.go()
moving = True
if not robot.buttonGo:
print("STOP!")
break
robot.canproxy.stop_turn()
center(robot)
robot.velodyne.requestStop()
robot.gps.requestStop()
def attach_sensor(robot, sensor_name, metalog):
assert sensor_name in ['gps', 'laser', 'camera'], sensor_name
if sensor_name == 'gps':
# GPS
gps_log_name = metalog.getLog('gps')
print(gps_log_name)
if metalog.replay:
robot.gps = DummySensor()
function = SourceLogger(None, gps_log_name).get
else:
robot.gps = GPS(verbose=0)
function = SourceLogger(robot.gps.coord, gps_log_name).get
robot.gps_data = None
robot.register_data_source('gps', function, gps_data_extension)
robot.gps.start() # ASAP so we get GPS fix
robot.threads.append(robot.gps)
elif sensor_name == 'laser':
# Laser
laser_log_name = metalog.getLog('laser')
remission_log_name = metalog.getLog('remission')
print(laser_log_name, remission_log_name)
if metalog.replay:
robot.laser = DummySensor()
function = SourceLogger(None, laser_log_name).get
if remission_log_name is not None:
# remission is only optional, missing in some old log files
function2 = SourceLogger(None, remission_log_name).get
else:
robot.laser = LaserIP(remission=True)
robot.laser.stopOnExit = False # for faster boot-up
function = SourceLogger(robot.laser.scan, laser_log_name).get
function2 = SourceLogger(robot.laser.remission,
remission_log_name).get
robot.laser_data = None
robot.register_data_source('laser', function, laser_data_extension)
robot.remission_data = None
if remission_log_name is not None:
robot.register_data_source('remission', function2,
remission_data_extension)
robot.laser.start()
robot.threads.append(robot.laser)
elif sensor_name == 'camera':
# Camera
camera_log_name = metalog.getLog('camera')
print(camera_log_name)
if metalog.replay:
robot.camera = DummySensor()
function = SourceLogger(None, camera_log_name).get
else:
robot.camera = Camera(sleep=0.2) # TODO
function = SourceLogger(robot.camera.lastResult,
camera_log_name).get
robot.camera_data = None
robot.register_data_source('camera', function, camera_data_extension)
robot.camera.start()
robot.threads.append(robot.camera)
else:
assert False, sensor_name # unsuported sensor
def demo(metalog):
assert metalog is not None
can_log_name = metalog.getLog('can')
if metalog.replay:
if metalog.areAssertsEnabled():
can = CAN(ReplayLog(can_log_name), skipInit=True)
else:
can = CAN(ReplayLogInputsOnly(can_log_name), skipInit=True)
else:
can = CAN()
can.relog(can_log_name)
can.resetModules(configFn=setup_faster_update)
robot = JohnDeere(can=can)
robot.UPDATE_TIME_FREQUENCY = 20.0 # TODO change internal and integrate setup
robot.localization = None # TODO
# GPS
gps_log_name = metalog.getLog('gps')
print gps_log_name
if metalog.replay:
robot.gps = DummySensor()
function = SourceLogger(None, gps_log_name).get
else:
robot.gps = GPS(verbose=0)
function = SourceLogger(robot.gps.coord, gps_log_name).get
robot.gps_data = None
robot.register_data_source('gps', function, gps_data_extension)
# Laser
laser_log_name = metalog.getLog('laser')
print laser_log_name
if metalog.replay:
robot.laser = DummySensor()
function = SourceLogger(None, laser_log_name).get
else:
robot.laser = LaserIP()
function = SourceLogger(robot.laser.scan, laser_log_name).get
robot.laser_data = None
robot.register_data_source('laser', function, laser_data_extension)
robot.gps.start() # ASAP so we get GPS fix
robot.laser.start()
while robot.gas is None:
robot.update()
center(robot)
wait_for_start(robot)
moving = False
robot.desired_speed = 0.5
start_time = robot.time
prev_gps = robot.gps_data
prev_destination_dist = None
while robot.time - start_time < 30*60: # limit 30 minutes
robot.update()
dist = None
if robot.laser_data is not None:
assert len(robot.laser_data) == 541, len(robot.laser_data)
distL, distR = min_dist_arr(robot.laser_data[200:-200])
distL = 20.0 if distL is None else distL
distR = 20.0 if distR is None else distR
dist = min(distL, distR)
if robot.gps_data != prev_gps:
print robot.time, robot.gas, robot.gps_data, (distL, distR)
prev_gps = robot.gps_data
if moving:
if dist is None or dist < SAFE_DISTANCE_STOP:
print "!!! STOP !!!", dist, (distL, distR)
robot.canproxy.stop()
moving = False
elif dist < TURN_DISTANCE:
if abs(robot.steering_angle) < STRAIGHT_EPS:
print "DECIDE", distL, distR
if distL <= distR:
robot.canproxy.set_turn_raw(-100)
robot.steering_angle = math.radians(-30)
else:
robot.canproxy.set_turn_raw(100)
robot.steering_angle = math.radians(30)
elif dist > NO_TURN_DISTANCE:
if abs(robot.steering_angle) > STRAIGHT_EPS:
robot.canproxy.set_turn_raw(0)
robot.steering_angle = 0.0
else: # not moving
if dist is not None and dist > SAFE_DISTANCE_GO:
print "GO", dist
robot.canproxy.go()
moving = True
if not robot.buttonGo:
print "STOP!"
break
robot.canproxy.stop_turn()
center(robot)
robot.laser.requestStop()
robot.gps.requestStop()
def ver0(metalog, waypoints=None):
assert metalog is not None
assert waypoints is not None # for simplicity (first is start)
conv = Convertor(refPoint = waypoints[0])
waypoints = waypoints[1:-1] # remove start/finish
can_log_name = metalog.getLog('can')
if metalog.replay:
if metalog.areAssertsEnabled():
can = CAN(ReplayLog(can_log_name), skipInit=True)
else:
can = CAN(ReplayLogInputsOnly(can_log_name), skipInit=True)
else:
can = CAN()
can.relog(can_log_name)
can.resetModules(configFn=setup_faster_update)
robot = JohnDeere(can=can)
robot.UPDATE_TIME_FREQUENCY = 20.0 # TODO change internal and integrate setup
robot.localization = None # TODO
# mount_sensor(GPS, robot, metalog)
gps_log_name = metalog.getLog('gps')
print gps_log_name
if metalog.replay:
robot.gps = DummySensor()
function = SourceLogger(None, gps_log_name).get
else:
robot.gps = GPS(verbose=0)
function = SourceLogger(robot.gps.coord, gps_log_name).get
robot.gps_data = None
robot.register_data_source('gps', function, gps_data_extension)
# mount_sensor(VelodyneThread, robot, metalog)
velodyne_log_name = metalog.getLog('velodyne_dist')
print velodyne_log_name
sensor = Velodyne(metalog=metalog)
if metalog.replay:
robot.velodyne = DummySensor()
function = SourceLogger(None, velodyne_log_name).get
else:
robot.velodyne = VelodyneThread(sensor)
function = SourceLogger(robot.velodyne.scan_safe_dist, velodyne_log_name).get
robot.velodyne_data = None
robot.register_data_source('velodyne', function, velodyne_data_extension)
robot.gps.start() # ASAP so we get GPS fix
robot.velodyne.start() # the data source is active, so it is necessary to read-out data
center(robot)
wait_for_start(robot)
moving = False
robot.desired_speed = 0.5
start_time = robot.time
prev_gps = robot.gps_data
prev_destination_dist = None
while robot.time - start_time < 30*60: # RO timelimit 30 minutes
robot.update()
if robot.gps_data != prev_gps:
print robot.time, robot.gas, robot.gps_data, robot.velodyne_data
prev_gps = robot.gps_data
if robot.gps_data is not None:
dist_arr = [distance( conv.geo2planar((robot.gps_data[1], robot.gps_data[0])),
conv.geo2planar(destination) ) for destination in waypoints]
dist = min(dist_arr)
print "DIST-GPS", dist
if prev_destination_dist is not None:
if prev_destination_dist < dist and dist < 10.0:
robot.drop_ball = True
# remove nearest
i = dist_arr.index(dist) # ugly, but ...
print "INDEX", i
del waypoints[i]
center(robot)
moving = False
robot.wait(1.0)
robot.drop_ball = False
robot.wait(3.0)
dist = None
prev_destination_dist = dist
dist = None
if robot.velodyne_data is not None:
index, dist = robot.velodyne_data
if dist is not None:
dist = min(dist) # currently supported tupple of readings
if moving:
if dist is None or dist < SAFE_DISTANCE_STOP:
print "!!! STOP !!! -", robot.velodyne_data
center(robot)
moving = False
elif dist < TURN_DISTANCE:
if abs(robot.steering_angle) < STRAIGHT_EPS:
arr = robot.velodyne_data[1]
num = len(arr)
left, right = min(arr[:num/2]), min(arr[num/2:])
print "DECIDE", left, right, robot.velodyne_data
if left <= right:
robot.pulse_right(RIGHT_TURN_TIME)
robot.steering_angle = math.radians(-30) # TODO replace by autodetect
else:
robot.pulse_left(LEFT_TURN_TIME)
robot.steering_angle = math.radians(30) # TODO replace by autodetect
elif dist > NO_TURN_DISTANCE:
if abs(robot.steering_angle) > STRAIGHT_EPS:
if robot.steering_angle < 0:
robot.pulse_left(LEFT_TURN_TIME)
else:
robot.pulse_right(RIGHT_TURN_TIME)
robot.steering_angle = 0.0 # TODO replace by autodetect
else: # not moving
if dist is not None and dist > SAFE_DISTANCE_GO:
print "GO", robot.velodyne_data
go(robot)
moving = True
if not robot.buttonGo:
print "STOP!"
break
center(robot)
robot.velodyne.requestStop()
robot.gps.requestStop()
def drive_remotely(metalog):
assert metalog is not None
can_log_name = metalog.getLog('can')
if metalog.replay:
if metalog.areAssertsEnabled():
can = CAN(ReplayLog(can_log_name), skipInit=True)
else:
can = CAN(ReplayLogInputsOnly(can_log_name), skipInit=True)
else:
can = CAN()
can.relog(can_log_name)
can.resetModules(configFn=setup_faster_update)
robot = JohnDeere(can=can)
robot.UPDATE_TIME_FREQUENCY = 20.0 # TODO change internal and integrate setup
robot.localization = None # TODO
soc = metalog.createLoggedSocket('remote', headerFormat=None) # TODO fix headerFormat
soc.bind( ('',PORT) )
if not metalog.replay:
soc.soc.setblocking(0)
soc.soc.settimeout( SOCKET_TIMEOUT )
remote_cmd_log_name = metalog.getLog('remote_cmd')
if metalog.replay:
robot.remote = DummySensor()
function = SourceLogger(None, remote_cmd_log_name).get
else:
robot.remote = RemoteThread(soc)
function = SourceLogger(robot.remote.get_data, remote_cmd_log_name).get
max_speed = None
robot.remote_data = None
robot.register_data_source('remote', function, remote_data_extension)
robot.remote.start()
robot.canproxy.stop()
robot.canproxy.set_turn_raw(0)
print "Waiting for remote commands ..."
while robot.remote_data is None:
robot.update()
print "received", robot.remote_data.strip()
moving = False
turning = False
while robot.remote_data != 'END\n':
robot.update()
if robot.remote_data == 'STOP\n' and (moving or turning):
if moving:
robot.canproxy.stop()
print "STOP"
moving = False
if turning:
robot.canproxy.stop_turn()
print "STOP turn"
turning = False
elif robot.remote_data == 'UP\n' and not moving:
if max_speed is None:
robot.canproxy.go()
print "GO"
else:
robot.set_desired_speed(max_speed)
print "GO", max_speed
moving = True
elif robot.remote_data == 'DOWN\n' and not moving:
if max_speed is None:
robot.canproxy.go_back()
print "GO back"
else:
robot.set_desired_speed(-max_speed)
print "GO back", max_speed
moving = True
elif robot.remote_data == 'LEFT\n':
robot.canproxy.set_turn_raw(200)
print "Left"
turning = True
elif robot.remote_data == 'RIGHT\n':
robot.canproxy.set_turn_raw(-200)
print "Right"
turning = True
elif robot.remote_data == 'SPEED0\n':
max_speed = None
elif robot.remote_data.startswith('SPEED'):
max_speed = int(robot.remote_data[len('SPEED'):])/10.0
print "Max Speed", max_speed
print "received", robot.remote_data.strip()
robot.canproxy.stop_turn()
robot.remote.requestStop()
robot.wait(3.0)
def followme(metalog):
assert metalog is not None
can_log_name = metalog.getLog('can')
if metalog.replay:
if metalog.areAssertsEnabled():
can = CAN(ReplayLog(can_log_name), skipInit=True)
else:
can = CAN(ReplayLogInputsOnly(can_log_name), skipInit=True)
else:
can = CAN()
can.relog(can_log_name)
can.resetModules(configFn=setup_faster_update)
robot = JohnDeere(can=can)
robot.UPDATE_TIME_FREQUENCY = 20.0 # TODO change internal and integrate setup
robot.localization = None # TODO
# GPS
gps_log_name = metalog.getLog('gps')
print gps_log_name
if metalog.replay:
robot.gps = DummySensor()
function = SourceLogger(None, gps_log_name).get
else:
robot.gps = GPS(verbose=0)
function = SourceLogger(robot.gps.coord, gps_log_name).get
robot.gps_data = None
robot.register_data_source('gps', function, gps_data_extension)
# Velodyne
velodyne_log_name = metalog.getLog('velodyne_dist')
print velodyne_log_name
sensor = Velodyne(metalog=metalog)
if metalog.replay:
robot.velodyne = DummySensor()
function = SourceLogger(None, velodyne_log_name).get
else:
robot.velodyne = VelodyneThread(sensor)
function = SourceLogger(robot.velodyne.scan_safe_dist,
velodyne_log_name).get
robot.velodyne_data = None
robot.register_data_source('velodyne', function, velodyne_data_extension)
robot.gps.start() # ASAP so we get GPS fix
robot.velodyne.start(
) # the data source is active, so it is necessary to read-out data
center(robot)
wait_for_start(robot)
moving = False
target_detected = False
robot.desired_speed = 0.5
start_time = robot.time
prev_gps = robot.gps_data
prev_destination_dist = None
while robot.time - start_time < 30 * 60: # limit 30 minutes
robot.update()
if robot.gps_data != prev_gps:
if robot.velodyne_data is not None:
print(robot.velodyne_data[-1], robot.canproxy.wheel_angle_raw,
robot.canproxy.desired_wheel_angle_raw)
prev_gps = robot.gps_data
dist, dist_index = None, None
if robot.velodyne_data is not None:
if len(robot.velodyne_data) == 2:
index, dist = robot.velodyne_data
else:
index, dist, dist_index = robot.velodyne_data
if dist is not None:
dist = min(dist) # currently supported tupple of readings
if dist_index is not None:
target_index, target_dist = dist_index
robot.canproxy.set_turn_raw(int((-100 / 45.) * target_index))
target_detected = target_dist < TARGET_DISTANCE
else:
dist_index = False
if moving:
if dist is None or dist < SAFE_DISTANCE_STOP or not target_detected:
print "!!! STOP !!! -", robot.velodyne_data
robot.canproxy.stop()
moving = False
else: # not moving
if dist is not None and dist > SAFE_DISTANCE_GO:
print "GO", target_detected, robot.velodyne_data
if target_detected:
robot.canproxy.go_slowly()
moving = True
if not robot.buttonGo:
print "STOP!"
break
robot.canproxy.stop_turn()
center(robot)
robot.velodyne.requestStop()
robot.gps.requestStop()
def go(metalog, assertWrite, ipPair):
print "Go straight ..."
if metalog is None:
metalog = MetaLog()
robot = HuskyROS(filename=metalog.getLog("node"),
replay=metalog.replay,
ipPair=ipPair)
print "started"
scanner = ScannerThread()
scanner.start()
scannerFn = SourceLogger(sourceGet=scanner.get,
filename=metalog.getLog("scanner")).get
else:
scanner = DummyScanner() # only for access to scanner saveImages
robot = HuskyROS(filename=metalog.getLog("node"),
replay=True,
assertWrite=assertWrite,
ipPair=ipPair) # TODO move assert to metalog
scannerFn = SourceLogger(sourceGet=None,
filename=metalog.getLog("scanner")).get
maxSpeed = 0.25
safeDist = 0.5
limitDist = 1.5
index = 0
prev = None
obstacleDir = 0.0
personDetected = False
pauseCount = 0 # TODO use time instead
while True:
minDist = scannerFn()
scanner.saveImages = not robot.emergencyStopPressed
if minDist is not None:
prev = minDist[0] / 1000.0
turnDiff = 160 - minDist[1] # only flip
obstacleDir = -math.radians(
turnDiff) / 4.0 # TODO calibration via FOV
print prev, turnDiff, robot.power, robot.emergencyStopPressed
if robot.emergencyStopPressed:
pauseCount = 10
else:
pauseCount = max(0, pauseCount - 1)
if prev is None or prev < safeDist or pauseCount > 0:
robot.setSpeedPxPa(0, 0)
elif prev < safeDist * 2:
# turn in place
if obstacleDir > 0: # i.e. on the left
robot.setSpeedPxPa(0.0, math.radians(-10))
else:
robot.setSpeedPxPa(0.0, math.radians(10))
# robot.setSpeedPxPa( maxSpeed*(prev-safeDist)/safeDist, turn/2 )
# elif prev < limitDist:
# robot.setSpeedPxPa( maxSpeed, turn )
else:
robot.setSpeedPxPa(maxSpeed, 0)
robot.update()
robot.setSpeedPxPa(0, 0)
robot.update()
log.write("%d\n" % index)
log.close()
if not metalog.replay:
scanner.requestStop()
scanner.join()