def __init__(self, host, port):
"""Creates connection to robot."""
self.next_msg_id = 1
self.futures = {}
self.out_lock = Lock()
self.connected_event = Event()
self.error_connecting = False
self.client = CorobotClient(host, port, self)
self.io_thread = Thread(target=self._io_loop)
self.io_thread.start()
self.connected_event.wait()
if self.error_connecting:
raise CorobotException("Couldn't connect to robot at %s:%d" %
(host, port))
def __init__(self, host, port):
"""Creates connection to robot."""
self.next_msg_id = 1
self.futures = {}
self.out_lock = Lock()
self.connected_event = Event()
self.error_connecting = False
self.client = CorobotClient(host, port, self)
self.io_thread = Thread(target=self._io_loop)
self.io_thread.start()
self.connected_event.wait()
if self.error_connecting:
raise CorobotException("Couldn't connect to robot at %s:%d" % (host, port))
def __init__(self):
"""Creates connection to robot."""
self.next_msg_id = 1
self.futures = {}
self.out_lock = Lock()
self.connected_event = Event()
self.error_connecting = False
#print ("In robot constructor. Fetching IP.")
robotName, host = getIdleRobotIP()
if (host is None):
print("Sorry, no IDLE corobot available.")
raise CorobotException
print("Got IP as : %s" % str(host))
print("Robot assigned : %s" % robotName)
port = 15001
self.client = CorobotClient(host, port, self)
self.io_thread = Thread(target=self._io_loop)
self.io_thread.start()
self.connected_event.wait()
if self.error_connecting:
raise CorobotException("Couldn't connect to robot at %s:%d" %
(host, port))
def __init__ (self):
"""Creates connection to robot."""
self.next_msg_id = 1
self.futures = {}
self.out_lock = Lock()
self.connected_event = Event()
self.error_connecting = False
#print ("In robot constructor. Fetching IP.")
robotName, host = getIdleRobotIP()
if (host is None):
print ("Sorry, no IDLE corobot available.")
raise CorobotException
print ("Got IP as : %s" % str(host))
print ("Robot assigned : %s" % robotName)
port = 15001
self.client = CorobotClient(host, port, self)
self.io_thread = Thread(target=self._io_loop)
self.io_thread.start()
self.connected_event.wait()
if self.error_connecting:
raise CorobotException("Couldn't connect to robot at %s:%d" % (host, port))
class Robot():
def __init__(self, host, port):
"""Creates connection to robot."""
self.next_msg_id = 1
self.futures = {}
self.out_lock = Lock()
self.connected_event = Event()
self.error_connecting = False
self.client = CorobotClient(host, port, self)
self.io_thread = Thread(target=self._io_loop)
self.io_thread.start()
self.connected_event.wait()
if self.error_connecting:
raise CorobotException("Couldn't connect to robot at %s:%d" % (host, port))
def _io_loop(self):
asyncore.loop(0.1)
def _robot_response(self, msg):
tokens = msg.split(" ")
msg_id = int(tokens[0])
key = tokens[1]
data = tokens[2:]
future = self.futures.pop(msg_id)
if key == "POS":
data = tuple(map(float, data))
elif key == "CONFIRM":
data = bool(data)
else:
data = None
if key != "ERROR":
future._fulfilled(data)
else:
future._error_occured(" ".join(data))
def _write_message(self, msg):
with self.out_lock:
msg_id = self.next_msg_id
self.next_msg_id += 1
self.client.write_line("%d %s" % (msg_id, msg))
future = Future()
self.futures[msg_id] = future
return future
def nav_to(self, location):
"""Drives the robot to the given location with path planning."""
return self._write_message("NAVTOLOC " + location.upper())
def nav_to_xy(self, x, y):
"""Drives the robot to the given location with path planning."""
return self._write_message("NAVTOXY %f %f" % (x, y))
def go_to(self, location):
"""Drives the robot in a straight line to the given location."""
return self._write_message("GOTOLOC " + location.upper())
def go_to_xy(self, x, y):
"""Drives the robot in a straight line to the given coordinates."""
return self._write_message("GOTOXY %f %f" % (x, y))
def get_pos(self):
"""Returns the robot's position as an (x, y, theta) tuple."""
return self._write_message("GETPOS")
def display_message(self, msg, timeout=120):
"""Requests the robot to display a message on its monitor."""
return self._write_message("SHOW_MSG %d %s" % (timeout, msg))
def request_confirm(self, msg, timeout=120):
"""Requests the robot to wait for confirmation from a local human."""
return self._write_message("SHOW_MSG_CONFIRM %d %s" % (timeout, msg))
def get_closest_loc(self):
"""Returns the closest node to the current robot location."""
raise NotImplementedError()
def close(self):
self.client.close_when_done()
def __enter__(self):
return self
def __exit__(self, type, value, traceback):
self.close()
class Robot():
def __init__(self, host, port):
"""Creates connection to robot."""
self.next_msg_id = 1
self.futures = {}
self.out_lock = Lock()
self.connected_event = Event()
self.error_connecting = False
self.client = CorobotClient(host, port, self)
self.io_thread = Thread(target=self._io_loop)
self.io_thread.start()
self.connected_event.wait()
if self.error_connecting:
raise CorobotException("Couldn't connect to robot at %s:%d" %
(host, port))
def _io_loop(self):
asyncore.loop(0.1)
def _robot_response(self, msg):
tokens = msg.split(" ")
msg_id = int(tokens[0])
key = tokens[1]
data = tokens[2:]
future = self.futures.pop(msg_id)
if key == "POS":
data = tuple(map(float, data))
elif key == "CONFIRM":
data = bool(data)
else:
data = None
if key != "ERROR":
future._fulfilled(data)
else:
future._error_occured(" ".join(data))
def _write_message(self, msg):
with self.out_lock:
msg_id = self.next_msg_id
self.next_msg_id += 1
self.client.write_line("%d %s" % (msg_id, msg))
future = Future()
self.futures[msg_id] = future
return future
def nav_to(self, location):
"""Drives the robot to the given location with path planning."""
return self._write_message("NAVTOLOC " + location.upper())
def nav_to_xy(self, x, y):
"""Drives the robot to the given location with path planning."""
return self._write_message("NAVTOXY %f %f" % (x, y))
def go_to(self, location):
"""Drives the robot in a straight line to the given location."""
return self._write_message("GOTOLOC " + location.upper())
def go_to_xy(self, x, y):
"""Drives the robot in a straight line to the given coordinates."""
return self._write_message("GOTOXY %f %f" % (x, y))
def get_pos(self):
"""Returns the robot's position as an (x, y, theta) tuple."""
return self._write_message("GETPOS")
def display_message(self, msg, timeout=120):
"""Requests the robot to display a message on its monitor."""
return self._write_message("SHOW_MSG %d %s" % (timeout, msg))
def request_confirm(self, msg, timeout=120):
"""Requests the robot to wait for confirmation from a local human."""
return self._write_message("SHOW_MSG_CONFIRM %d %s" % (timeout, msg))
def get_closest_loc(self):
"""Returns the closest node to the current robot location."""
raise NotImplementedError()
def close(self):
self.client.close_when_done()
def __enter__(self):
return self
def __exit__(self, type, value, traceback):
self.close()
class Robot():
def __init__ (self):
"""Creates connection to robot."""
self.next_msg_id = 1
self.futures = {}
self.out_lock = Lock()
self.connected_event = Event()
self.error_connecting = False
#print ("In robot constructor. Fetching IP.")
robotName, host = getIdleRobotIP()
if (host is None):
print ("Sorry, no IDLE corobot available.")
raise CorobotException
print ("Got IP as : %s" % str(host))
print ("Robot assigned : %s" % robotName)
port = 15001
self.client = CorobotClient(host, port, self)
self.io_thread = Thread(target=self._io_loop)
self.io_thread.start()
self.connected_event.wait()
if self.error_connecting:
raise CorobotException("Couldn't connect to robot at %s:%d" % (host, port))
else:
print ("Connected to corobot\n")
def _io_loop(self):
asyncore.loop(0.1)
def _robot_response(self, msg):
tokens = msg.split(" ")
msg_id = int(tokens[0])
key = tokens[1]
data = tokens[2:]
future = self.futures.pop(msg_id)
if key == "POS":
data = tuple(map(float, data))
elif key == "CONFIRM":
data = bool(data)
elif key == "LOG":
print(data)
return
elif key == "FACEREC":
data = tuple(data[0:1] + list(map(float,data[1:])))
elif key.startswith("LASTSEEN"):
count_ls = int(key.split("_")[-1])
if count_ls == 0:
data = []
else:
temp = []
for i in range(0,len(data),4):
temp.append( tuple( data[i:i+1] + list(map(float, data[i+1:i+4])) ) )
data = temp
else:
data = None
if key != "ERROR":
future._fulfilled(data)
else:
future._error_occured(" ".join(data))
def _write_message(self, msg):
with self.out_lock:
msg_id = self.next_msg_id
self.next_msg_id += 1
self.client.write_line("%d %s" % (msg_id, msg))
future = Future()
self.futures[msg_id] = future
return future
def nav_to(self, location):
"""Drives the robot to the given location with path planning."""
print("Navigating to " + location + "\n")
return self._write_message("NAVTOLOC " + location.upper())
def nav_to_xy(self, x, y):
"""Drives the robot to the given location with path planning."""
print("Navigating to position ("+x+", "+y+")\n")
return self._write_message("NAVTOXY %f %f" % (x, y))
def go_to(self, location):
"""Drives the robot in a straight line to the given location."""
print("Going to " + location + "\n")
return self._write_message("GOTOLOC " + location.upper())
def go_to_xy(self, x, y):
"""Drives the robot in a straight line to the given coordinates."""
print("Going to position ("+x+", "+y+")\n")
return self._write_message("GOTOXY %f %f" % (x, y))
def get_pos(self):
"""Returns the robot's position as an (x, y, theta) tuple."""
print("Getting position\n")
return self._write_message("GETPOS")
def display_message(self, msg, timeout=120):
"""Requests the robot to display a message on its monitor."""
print("Displaying message\n")
return self._write_message("SHOW_MSG %d %s" % (timeout, msg))
def request_confirm(self, msg, timeout=120):
"""Requests the robot to wait for confirmation from a local human."""
print("Displaying confirmation\n")
return self._write_message("SHOW_MSG_CONFIRM %d %s" % (timeout, msg))
def get_closest_loc(self):
"""Returns the closest node to the current robot location."""
raise NotImplementedError()
#Ronit - Face Recognition
def recognize_face(self):
"""Requests the robot for face recognition results."""
return self._write_message("FACEREC")
# raise NotImplementedError()
def last_seen(self, no=1):
"""Requests the robot for face recognition results."""
# raise NotImplementedError()
return self._write_message("LASTSEEN_%d" % (no))
#!Ronit
def close(self):
print("Closing connection\n")
self.client.close_when_done()
def __enter__(self):
return self
def __exit__(self, type, value, traceback):
self.close()
