def __init__(self):
rospy.init_node('Experiment')
# Fill out the data structure that defines the experiment.
self.experimentparams = ExperimentParamsChoicesRequest()
self.experimentparams.experiment.description = 'Regressive Motion'
self.experimentparams.experiment.maxTrials = -1
self.experimentparams.experiment.timeout = -1
self.experimentparams.save.filenamebase = 'regress'
self.experimentparams.save.csv = True
self.experimentparams.save.bag = False
self.experimentparams.save.mov = False
self.experimentparams.save.fmf = False
self.experimentparams.save.imagetopic_list = ['camera/image_rect']
self.experimentparams.save.onlyWhileTriggered = True
self.experimentparams.robotspec.nRobots = 1
self.experimentparams.robotspec.width = 1.5875
self.experimentparams.robotspec.height = 1.5875
self.experimentparams.robotspec.isPresent = True # Set this to False if you remove the robot, but still want the actuation.
self.experimentparams.robotspec.description = 'Black oxide magnet'
self.experimentparams.flyspec.nFlies = 1
self.experimentparams.flyspec.description = 'unspecified'
self.experimentparams.tracking.exclusionzones.enabled = False
self.experimentparams.tracking.exclusionzones.point_list = [Point(x=0.0, y=0.0)]
self.experimentparams.tracking.exclusionzones.radius_list = [0.0]
self.experimentparams.home.enabled = True
self.experimentparams.home.x = 0.0
self.experimentparams.home.y = 0.0
self.experimentparams.home.speed = 20
self.experimentparams.home.tolerance = 2
self.experimentparams.pre.robot.enabled = False
self.experimentparams.pre.lasergalvos.enabled = False
self.experimentparams.pre.ledpanels.enabled = False
self.experimentparams.pre.wait1 = 0.0
self.experimentparams.pre.trigger.enabled = True
self.experimentparams.pre.trigger.frameidParent = 'Fly01'
self.experimentparams.pre.trigger.frameidChild = 'Robot'
self.experimentparams.pre.trigger.speedAbsParentMin = 4.0
self.experimentparams.pre.trigger.speedAbsParentMax = 40.0
self.experimentparams.pre.trigger.speedAbsChildMin = 0.0
self.experimentparams.pre.trigger.speedAbsChildMax = 999.0
self.experimentparams.pre.trigger.speedRelMin = 0.0
self.experimentparams.pre.trigger.speedRelMax = 999.0
self.experimentparams.pre.trigger.distanceMin = 5.0
self.experimentparams.pre.trigger.distanceMax = 60.0
self.experimentparams.pre.trigger.angleMin = 85.0 * np.pi / 180.0
self.experimentparams.pre.trigger.angleMax =95.0 * np.pi / 180.0
self.experimentparams.pre.trigger.angleTest = 'inclusive'
self.experimentparams.pre.trigger.angleTestBilateral = True
self.experimentparams.pre.trigger.timeHold = 0.2
self.experimentparams.pre.trigger.timeout = -1
self.experimentparams.pre.wait2 = 0.0
# .robot, .lasergalvos, .ledpanels, and .post.trigger all run concurrently.
# The first one to finish preempts the others.
self.experimentparams.trial.robot.enabled = True
self.experimentparams.trial.robot.move.mode = 'relative'
#self.experimentparams.trial.robot.move.relative.tracking = [False]
#self.experimentparams.trial.robot.move.relative.frameidOriginPosition = ['Robot']
#self.experimentparams.trial.robot.move.relative.frameidOriginAngle = ['Fly01']
#self.experimentparams.trial.robot.move.relative.distance = [60]
#self.experimentparams.trial.robot.move.relative.angleType = ['constant']
#self.experimentparams.trial.robot.move.relative.angleOffset = [0]
#self.experimentparams.trial.robot.move.relative.angleOscMag = [0] # Radians
#self.experimentparams.trial.robot.move.relative.angleOscFreq = [0] # Hz
#self.experimentparams.trial.robot.move.relative.speed = [30]
#self.experimentparams.trial.robot.move.relative.speedType = ['random']
#self.experimentparams.trial.robot.move.relative.tolerance = [2]
self.experimentparams.trial.robot.move.relative.tracking = [False]
self.experimentparams.trial.robot.move.relative.frameidOrigin = ['Fly01']
self.experimentparams.trial.robot.move.relative.distance = [60] # mm
self.experimentparams.trial.robot.move.relative.angleOffset = [0] # Angular offset to target point in given frame (radians).
self.experimentparams.trial.robot.move.relative.angleVelocity = [-2*np.pi*1/40, 2*np.pi*1/40] # 2pi*freq # Angular velocity of target point in given frame (radians per sec).
self.experimentparams.trial.robot.move.relative.angleOscMag = [0] # Oscillatory addition to angular velocity.
self.experimentparams.trial.robot.move.relative.angleOscFreq = [0] # Hz of the added oscillation.
self.experimentparams.trial.robot.move.relative.speedMax = [30] # Maximum allowed speed of travel (mm/sec).
self.experimentparams.trial.robot.move.relative.tolerance = [2] # mm
self.experimentparams.trial.robot.move.relative.typeAngleOffset = ['constant'] # 'constant' or 'random' (on range [0,2pi]) or 'current' (use current angle from frameidOrigin to robot)
self.experimentparams.trial.robot.move.relative.typeAngleVelocity = ['constant'] # 'constant' or 'random' (on range [0,angleVelocity])
self.experimentparams.trial.robot.move.relative.typeAngleOscMag = ['constant'] # 'constant' or 'random' (on range [0,angleOscMag])
self.experimentparams.trial.robot.move.relative.typeAngleOscFreq = ['constant'] # 'constant' or 'random' (on range [0,angleOscFreq])
self.experimentparams.trial.robot.move.relative.typeSpeedMax = ['random'] # 'constant' or 'random' (on range [0,speedMax])
self.experimentparams.trial.lasergalvos.enabled = False
self.experimentparams.trial.ledpanels.enabled = False
self.experimentparams.trial.ledpanels.command = ['fixed'] # 'fixed', 'trackposition' (panel position follows fly position), or 'trackview' (panel position follows fly's viewpoint).
self.experimentparams.trial.ledpanels.idPattern = [1]
self.experimentparams.trial.ledpanels.frame_id = ['Fly01Forecast']
self.experimentparams.trial.ledpanels.statefilterHi = ['']
self.experimentparams.trial.ledpanels.statefilterLo = ['']
self.experimentparams.trial.ledpanels.statefilterCriteria = ['']
self.experimentparams.post.trigger.enabled = False
self.experimentparams.post.trigger.frameidParent = 'Fly01'
self.experimentparams.post.trigger.frameidChild = 'Robot'
self.experimentparams.post.trigger.distanceMin = 0.0
self.experimentparams.post.trigger.distanceMax = 999.0
self.experimentparams.post.trigger.speedAbsParentMin = 999.0
self.experimentparams.post.trigger.speedAbsParentMax = 111.0 # i.e. NEVER
self.experimentparams.post.trigger.speedAbsChildMin = 0.0
self.experimentparams.post.trigger.speedAbsChildMax = 999.0
self.experimentparams.post.trigger.speedRelMin = 0.0
self.experimentparams.post.trigger.speedRelMax = 999.0
self.experimentparams.post.trigger.angleMin = 0.0 * np.pi / 180.0
self.experimentparams.post.trigger.angleMax =180.0 * np.pi / 180.0
self.experimentparams.post.trigger.angleTest = 'inclusive'
self.experimentparams.post.trigger.angleTestBilateral = True
self.experimentparams.post.trigger.timeHold = 0.0
self.experimentparams.post.trigger.timeout = 3
self.experimentparams.post.wait = 0.0
self.experimentlib = ExperimentLib.ExperimentLib(self.experimentparams,
startexperiment_callback = self.StartExperiment_callback,
starttrial_callback = self.StartTrial_callback,
endtrial_callback = self.EndTrial_callback)
def __init__(self):
rospy.init_node('Experiment')
# Fill out the data structure that defines the experiment.
self.experimentparams = ExperimentParamsChoicesRequest()
self.experimentparams.experiment.description = 'Testing Robot Movement'
self.experimentparams.experiment.maxTrials = -1
self.experimentparams.experiment.timeout = -1
self.experimentparams.save.filenamebase = 'test'
self.experimentparams.save.csv = True
self.experimentparams.save.bag = True
self.experimentparams.save.mov = True
self.experimentparams.save.fmf = False
self.experimentparams.save.imagetopic_list = ['camera/image_rect']
self.experimentparams.save.onlyWhileTriggered = True
self.experimentparams.robotspec.nRobots = 1
self.experimentparams.robotspec.width = 1.5875
self.experimentparams.robotspec.height = 1.5875
self.experimentparams.robotspec.isPresent = True # Set this to False if you remove the robot, but still want the actuation.
self.experimentparams.robotspec.description = 'Black oxide magnet'
self.experimentparams.flyspec.nFlies = 0
self.experimentparams.flyspec.description = 'unspecified'
self.experimentparams.tracking.exclusionzones.enabled = False
self.experimentparams.tracking.exclusionzones.point_list = [
Point(x=50.0, y=68.0)
]
self.experimentparams.tracking.exclusionzones.radius_list = [3.0]
self.experimentparams.home.enabled = True
self.experimentparams.home.x = 0.0
self.experimentparams.home.y = 0.0
self.experimentparams.home.speed = 20
self.experimentparams.home.tolerance = 35
self.experimentparams.pre.robot.enabled = False
self.experimentparams.pre.lasergalvos.enabled = False
self.experimentparams.pre.ledpanels.enabled = False
self.experimentparams.pre.wait1 = 0.0
self.experimentparams.pre.trigger.enabled = False
self.experimentparams.pre.wait2 = 0.0
# .robot.move, .lasergalvos, and .triggerExit all run concurrently.
# The first one to finish preempts the others.
self.experimentparams.trial.robot.enabled = True
self.experimentparams.trial.robot.move.mode = 'pattern'
self.experimentparams.trial.robot.move.relative.tracking = [False]
self.experimentparams.trial.robot.move.relative.frameidOrigin = [
'Arena'
]
self.experimentparams.trial.robot.move.relative.distance = [20] # mm
self.experimentparams.trial.robot.move.relative.angleOffset = [
0
] # Angular offset to target point in given frame (radians).
self.experimentparams.trial.robot.move.relative.angleVelocity = [
0
] # 2pi*freq # Angular velocity of target point in given frame (radians per sec).
self.experimentparams.trial.robot.move.relative.angleOscMag = [
0
] # Oscillatory addition to angular velocity.
self.experimentparams.trial.robot.move.relative.angleOscFreq = [
0
] # Hz of the added oscillation.
self.experimentparams.trial.robot.move.relative.speedMax = [
20
] # Maximum allowed speed of travel (mm/sec).
self.experimentparams.trial.robot.move.relative.tolerance = [-1] # mm
self.experimentparams.trial.robot.move.relative.typeAngleOffset = [
'constant'
] # 'constant' or 'random' (on range [0,2pi]) or 'current' (use current angle from frameidOrigin to robot)
self.experimentparams.trial.robot.move.relative.typeAngleVelocity = [
'constant'
] # 'constant' or 'random' (on range [0,angleVelocity])
self.experimentparams.trial.robot.move.relative.typeAngleOscMag = [
'constant'
] # 'constant' or 'random' (on range [0,angleOscMag])
self.experimentparams.trial.robot.move.relative.typeAngleOscFreq = [
'constant'
] # 'constant' or 'random' (on range [0,angleOscFreq])
self.experimentparams.trial.robot.move.relative.typeSpeedMax = [
'constant'
] # 'constant' or 'random' (on range [0,speedMax])
if (False):
# Four points step response.
self.experimentparams.trial.robot.move.pattern.shape = [
'square'
] # 'constant' or 'circle' or 'square' or 'flylogo' or 'spiral' or 'grid'
self.experimentparams.trial.robot.move.pattern.hzPattern = [
1 / 16
] # Patterns per second.
self.experimentparams.trial.robot.move.pattern.hzPoint = [
1 / 4
] # Points per second in the pattern.
else:
# Smooth circle.
self.experimentparams.trial.robot.move.pattern.shape = [
'circle'
] # 'constant' or 'circle' or 'square' or 'flylogo' or 'spiral' or 'grid'
self.experimentparams.trial.robot.move.pattern.hzPattern = [
1 / 20
] # Patterns per second.
self.experimentparams.trial.robot.move.pattern.hzPoint = [
50
] # Points per second in the pattern.
self.experimentparams.trial.robot.move.pattern.count = [-1]
self.experimentparams.trial.robot.move.pattern.size = [
Point(x=32, y=0)
]
self.experimentparams.trial.robot.move.pattern.param = [0]
self.experimentparams.trial.robot.move.pattern.direction = [1]
self.experimentparams.trial.lasergalvos.enabled = False
self.experimentparams.trial.ledpanels.enabled = False
self.experimentparams.post.trigger.enabled = True
self.experimentparams.post.trigger.frameidParent = 'Arena'
self.experimentparams.post.trigger.frameidChild = 'Robot'
self.experimentparams.post.trigger.speedAbsParentMin = 999.0
self.experimentparams.post.trigger.speedAbsParentMax = 111.0 # i.e. Never.
self.experimentparams.post.trigger.speedAbsChildMin = 0.0
self.experimentparams.post.trigger.speedAbsChildMax = 999.0
self.experimentparams.post.trigger.speedRelMin = 0.0
self.experimentparams.post.trigger.speedRelMax = 999.0
self.experimentparams.post.trigger.distanceMin = 0.0
self.experimentparams.post.trigger.distanceMax = 999.0
self.experimentparams.post.trigger.angleMin = 0.0 * np.pi / 180.0
self.experimentparams.post.trigger.angleMax = 180.0 * np.pi / 180.0
self.experimentparams.post.trigger.angleTest = 'inclusive'
self.experimentparams.post.trigger.angleTestBilateral = True
self.experimentparams.post.trigger.timeHold = 0.0
self.experimentparams.post.trigger.timeout = -1
self.experimentparams.post.wait = 0.0
self.experimentlib = ExperimentLib.ExperimentLib(
self.experimentparams,
startexperiment_callback=self.StartExperiment_callback,
starttrial_callback=self.StartTrial_callback,
endtrial_callback=self.EndTrial_callback)
def __init__(self):
rospy.init_node('Experiment')
# Fill out the data structure that defines the experiment.
self.experimentparams = ExperimentParamsChoicesRequest()
self.experimentparams.experiment.description = 'Open Loop Pattern Following'
self.experimentparams.experiment.maxTrials = -1
self.experimentparams.experiment.timeout = -1
self.experimentparams.save.filenamebase = 'pattern'
self.experimentparams.save.csv = False
self.experimentparams.save.bag = False
self.experimentparams.save.mov = False
self.experimentparams.save.fmf = False
self.experimentparams.save.imagetopic_list = ['camera/image_rect']
self.experimentparams.save.onlyWhileTriggered = True
self.experimentparams.robotspec.nRobots = 1
self.experimentparams.robotspec.width = 1.5875
self.experimentparams.robotspec.height = 1.5875
self.experimentparams.robotspec.isPresent = True # Set this to False if you remove the robot, but still want the actuation.
self.experimentparams.robotspec.description = 'Black oxide magnet'
self.experimentparams.flyspec.nFlies = 0
self.experimentparams.flyspec.description = 'unspecified'
self.experimentparams.tracking.exclusionzones.enabled = False
self.experimentparams.tracking.exclusionzones.point_list = [
Point(x=-75, y=25)
]
self.experimentparams.tracking.exclusionzones.radius_list = [3.0]
self.experimentparams.pre.robot.enabled = False
self.experimentparams.pre.lasergalvos.enabled = False
self.experimentparams.pre.ledpanels.enabled = False
self.experimentparams.pre.wait1 = 0.0
self.experimentparams.home.enabled = False
self.experimentparams.home.x = 0.0
self.experimentparams.home.y = 0.0
self.experimentparams.home.speed = 20
self.experimentparams.home.tolerance = 2
self.experimentparams.pre.trigger.enabled = False
self.experimentparams.pre.trigger.frameidParent = 'Fly01'
self.experimentparams.pre.trigger.frameidChild = 'Robot'
self.experimentparams.pre.trigger.speedAbsParentMin = 0.0
self.experimentparams.pre.trigger.speedAbsParentMax = 999.0
self.experimentparams.pre.trigger.speedAbsChildMin = 0.0
self.experimentparams.pre.trigger.speedAbsChildMax = 999.0
self.experimentparams.pre.trigger.speedRelMin = 0.0
self.experimentparams.pre.trigger.speedRelMax = 999.0
self.experimentparams.pre.trigger.distanceMin = 0.0
self.experimentparams.pre.trigger.distanceMax = 999.0
self.experimentparams.pre.trigger.angleMin = 0.0 * np.pi / 180.0
self.experimentparams.pre.trigger.angleMax = 180.0 * np.pi / 180.0
self.experimentparams.pre.trigger.angleTest = 'inclusive'
self.experimentparams.pre.trigger.angleTestBilateral = True
self.experimentparams.pre.trigger.timeHold = 0.0
self.experimentparams.pre.trigger.timeout = -1
self.experimentparams.pre.wait2 = 0.0
# .robot, .lasergalvos, .ledpanels, and .post.trigger all run concurrently.
# The first one to finish preempts the others.
self.experimentparams.trial.robot.enabled = True
self.experimentparams.trial.robot.move.mode = 'pattern' # 'pattern' or 'relative'
self.experimentparams.trial.robot.move.pattern.frameidPosition = [
'Arena'
] #
self.experimentparams.trial.robot.move.pattern.frameidAngle = [
'Arena'
] #
self.experimentparams.trial.robot.move.pattern.shape = [
'circle'
] # 'constant' or 'circle' or 'square' or 'flylogo' or 'spiral' or 'grid'
self.experimentparams.trial.robot.move.pattern.hzPattern = [
1 / 20
] # Patterns per second.
nPoints = 400
self.experimentparams.trial.robot.move.pattern.hzPoint = [
nPoints * self.experimentparams.trial.robot.move.pattern.hzPattern
]
self.experimentparams.trial.robot.move.pattern.count = [-1]
self.experimentparams.trial.robot.move.pattern.size = [
Point(x=32, y=0)
]
self.experimentparams.trial.robot.move.pattern.param = [0]
self.experimentparams.trial.robot.move.pattern.direction = [1]
self.experimentparams.trial.lasergalvos.enabled = False
self.experimentparams.trial.ledpanels.enabled = False
self.experimentparams.trial.ledpanels.command = [
'fixed'
] # 'fixed', 'trackposition' (panel position follows fly position), or 'trackview' (panel position follows fly's viewpoint).
self.experimentparams.trial.ledpanels.idPattern = [1]
self.experimentparams.trial.ledpanels.frame_id = ['Fly01Forecast']
self.experimentparams.trial.ledpanels.statefilterHi = ['']
self.experimentparams.trial.ledpanels.statefilterLo = ['']
self.experimentparams.trial.ledpanels.statefilterCriteria = ['']
self.experimentparams.post.trigger.enabled = False
self.experimentparams.post.trigger.frameidParent = 'Fly01'
self.experimentparams.post.trigger.frameidChild = 'Robot'
self.experimentparams.post.trigger.speedAbsParentMin = 0.0
self.experimentparams.post.trigger.speedAbsParentMax = 999.0
self.experimentparams.post.trigger.speedAbsChildMin = 0.0
self.experimentparams.post.trigger.speedAbsChildMax = 999.0
self.experimentparams.post.trigger.speedRelMin = 0.0
self.experimentparams.post.trigger.speedRelMax = 999.0
self.experimentparams.post.trigger.distanceMin = 0.0
self.experimentparams.post.trigger.distanceMax = 999.0
self.experimentparams.post.trigger.angleMin = 0.0 * np.pi / 180.0
self.experimentparams.post.trigger.angleMax = 180.0 * np.pi / 180.0
self.experimentparams.post.trigger.angleTest = 'inclusive'
self.experimentparams.post.trigger.angleTestBilateral = True
self.experimentparams.post.trigger.timeHold = 0.0
self.experimentparams.post.trigger.timeout = -1
self.experimentparams.post.wait = 0.0
self.experimentlib = ExperimentLib.ExperimentLib(
self.experimentparams,
startexperiment_callback=self.StartExperiment_callback,
starttrial_callback=self.StartTrial_callback,
endtrial_callback=self.EndTrial_callback)
def __init__(self):
rospy.init_node('Experiment')
# Fill out the data structure that defines the experiment.
self.experimentparams = ExperimentParamsChoicesRequest()
flies = 'TrpA1_sugar'
radius = 50
t0 = 10 # off
t1 = 3 # on
t2 = 117 # off
laserpower = '260mW'
self.experimentparams.experiment.description = 'Lasers the fly when within %dmm of center, for %d secs, then off for %d secs.' % (
radius, t1, t2)
self.experimentparams.experiment.maxTrials = 10
self.experimentparams.experiment.timeout = -1
#self.experimentparams.save.filenamebase = 'HCS_normal_150mW_'
#self.experimentparams.save.filenamebase = 'TrpA1neg_AristaeIntact_150mW_' #
#self.experimentparams.save.filenamebase = 'UAS_TrpA1_parentalcontrol_180mW_'
#self.experimentparams.save.filenamebase = 'posvel_TrpA1_geosmin_fed_120mW_'
#self.experimentparams.save.filenamebase = 'posvel_TrpA1_CVA_260mW_'
self.experimentparams.save.filenamebase = 'zapresponsearea_%s_%dmm_%02ds_%02ds_%s_' % (
flies, radius, t1, t2, laserpower)
self.experimentparams.save.csv = True
self.experimentparams.save.bag = False
self.experimentparams.save.mov = False
self.experimentparams.save.fmf = False
self.experimentparams.save.imagetopic_list = ['camera/image_rect']
self.experimentparams.save.onlyWhileTriggered = False # Saves always.
self.experimentparams.robotspec.nRobots = 0
self.experimentparams.robotspec.width = 1.5875
self.experimentparams.robotspec.height = 1.5875
self.experimentparams.robotspec.isPresent = True # Set this to False if you remove the robot, but still want the actuation.
self.experimentparams.robotspec.description = 'none'
self.experimentparams.flyspec.nFlies = 1
self.experimentparams.flyspec.description = flies
self.experimentparams.tracking.exclusionzones.enabled = False
self.experimentparams.tracking.exclusionzones.point_list = [
Point(x=45.0, y=48.0)
]
self.experimentparams.tracking.exclusionzones.radius_list = [8.0]
self.experimentparams.home.enabled = False
self.experimentparams.pre.robot.enabled = False
self.experimentparams.pre.lasergalvos.enabled = False
self.experimentparams.pre.ledpanels.enabled = False
self.experimentparams.pre.wait1 = t0
self.experimentparams.pre.trigger.enabled = True
self.experimentparams.pre.trigger.frameidParent = 'Arena'
self.experimentparams.pre.trigger.frameidChild = 'Fly01'
self.experimentparams.pre.trigger.speedAbsParentMin = 0.0
self.experimentparams.pre.trigger.speedAbsParentMax = 999.0
self.experimentparams.pre.trigger.speedAbsChildMin = 0.0
self.experimentparams.pre.trigger.speedAbsChildMax = 999.0
self.experimentparams.pre.trigger.speedRelMin = 0.0
self.experimentparams.pre.trigger.speedRelMax = 999.0
self.experimentparams.pre.trigger.distanceMin = 0.0
self.experimentparams.pre.trigger.distanceMax = radius
self.experimentparams.pre.trigger.angleMin = 0.0 * np.pi / 180.0
self.experimentparams.pre.trigger.angleMax = 180.0 * np.pi / 180.0
self.experimentparams.pre.trigger.angleTest = 'inclusive'
self.experimentparams.pre.trigger.angleTestBilateral = True
self.experimentparams.pre.trigger.timeHold = 0.0
self.experimentparams.pre.trigger.timeout = -1
self.experimentparams.pre.wait2 = 0.0
# .robot, .lasergalvos, .ledpanels, and .post.trigger all run concurrently.
# The first one to finish preempts the others.
self.experimentparams.trial.robot.enabled = False
flies_list = range(1, 1 + self.experimentparams.flyspec.nFlies)
self.experimentparams.trial.lasergalvos.enabled = True
self.experimentparams.trial.lasergalvos.pattern_list = []
self.experimentparams.trial.lasergalvos.statefilterHi_list = []
self.experimentparams.trial.lasergalvos.statefilterLo_list = []
self.experimentparams.trial.lasergalvos.statefilterCriteria_list = []
for iFly in flies_list:
self.experimentparams.trial.lasergalvos.pattern_list.append(
MsgPattern(
frameidPosition='Fly%02dForecast' % iFly,
frameidAngle='Fly%02dForecast' % iFly,
shape='grid',
hzPattern=40.0,
hzPoint=1000.0,
count=1,
size=Point(x=2, y=2),
restart=False,
param=3, # Peano curve level.
direction=1), )
#self.experimentparams.trial.lasergalvos.statefilterHi_list.append("{'speed':5.0}")
#self.experimentparams.trial.lasergalvos.statefilterLo_list.append("{'speed':0.0}")
#self.experimentparams.trial.lasergalvos.statefilterHi_list.append("{'velocity':{'linear':{'x':1,'y':9999}}}")
#self.experimentparams.trial.lasergalvos.statefilterLo_list.append("{'velocity':{'linear':{'x':-9999,'y':-9999}}}")
#self.experimentparams.trial.lasergalvos.statefilterHi_list.append("{'velocity':{'linear':{'x':1,'y':9999}},'pose':{'position':{'x':0, 'y':100}}}")
#self.experimentparams.trial.lasergalvos.statefilterLo_list.append("{'velocity':{'linear':{'x':-9999,'y':-9999}},'pose':{'position':{'x':-100, 'y':-100}}}")
#self.experimentparams.trial.lasergalvos.statefilterHi_list.append("{'velocity':{'angular':{'z':999}}}")
#self.experimentparams.trial.lasergalvos.statefilterLo_list.append("{'velocity':{'angular':{'z':0.5}}}")
#self.experimentparams.trial.lasergalvos.statefilterHi_list.append("{'pose':{'position':{'x':40, 'y':40}}}")
#self.experimentparams.trial.lasergalvos.statefilterLo_list.append("{'pose':{'position':{'x':-40, 'y':-40}}}")
#self.experimentparams.trial.lasergalvos.statefilterCriteria_list.append('inclusive') # 'inclusive'=laserOn if all criteria are satisfied, laserOff if any criteria is violated.
self.experimentparams.trial.ledpanels.enabled = True
self.experimentparams.trial.ledpanels.command = [
'fixed'
] # 'fixed', 'trackposition' (panel position follows fly position), or 'trackview' (panel position follows fly's viewpoint).
self.experimentparams.trial.ledpanels.idPattern = [3]
self.experimentparams.trial.ledpanels.frame_id = ['Fly01Forecast']
self.experimentparams.trial.ledpanels.statefilterHi = ['']
self.experimentparams.trial.ledpanels.statefilterLo = ['']
self.experimentparams.trial.ledpanels.statefilterCriteria = ['']
self.experimentparams.post.trigger.enabled = True
self.experimentparams.post.trigger.frameidParent = 'Arena'
self.experimentparams.post.trigger.frameidChild = 'Fly01'
self.experimentparams.post.trigger.speedAbsParentMin = 0.0
self.experimentparams.post.trigger.speedAbsParentMax = 999.0
self.experimentparams.post.trigger.speedAbsChildMin = 0.0
self.experimentparams.post.trigger.speedAbsChildMax = 999.0
self.experimentparams.post.trigger.speedRelMin = 0.0
self.experimentparams.post.trigger.speedRelMax = 999.0
self.experimentparams.post.trigger.distanceMin = 999.0
self.experimentparams.post.trigger.distanceMax = 111.0 # i.e. never
self.experimentparams.post.trigger.angleMin = 0.0000 * np.pi / 180.0
self.experimentparams.post.trigger.angleMax = 359.9999 * np.pi / 180.0
self.experimentparams.post.trigger.angleTest = 'inclusive'
self.experimentparams.post.trigger.angleTestBilateral = False
self.experimentparams.post.trigger.timeHold = 0.0
self.experimentparams.post.trigger.timeout = t1
self.experimentparams.post.wait = t2
self.experimentlib = ExperimentLib.ExperimentLib(
self.experimentparams,
startexperiment_callback=self.StartExperiment_callback,
starttrial_callback=self.StartTrial_callback,
endtrial_callback=self.EndTrial_callback)
def __init__(self):
rospy.init_node('Experiment')
# Fill out the data structure that defines the experiment.
self.experimentparams = ExperimentParamsChoicesRequest()
self.experimentparams.experiment.description = 'See how long the fly lives with Laser (200mW)'
self.experimentparams.experiment.maxTrials = -1
self.experimentparams.experiment.timeout = -1
self.experimentparams.save.filenamebase = 'HCS_trytokill_'
self.experimentparams.save.csv = True
self.experimentparams.save.bag = False
self.experimentparams.save.mov = False
self.experimentparams.save.fmf = False
self.experimentparams.save.imagetopic_list = ['camera/image_rect']
self.experimentparams.save.onlyWhileTriggered = False
self.experimentparams.robotspec.nRobots = 0
self.experimentparams.robotspec.width = 1.5875
self.experimentparams.robotspec.height = 1.5875
self.experimentparams.robotspec.isPresent = True # Set this to False if you remove the robot, but still want the actuation.
self.experimentparams.robotspec.description = 'Black oxide magnet'
self.experimentparams.flyspec.nFlies = 1
self.experimentparams.flyspec.description = 'HCS normal'
self.experimentparams.tracking.exclusionzones.enabled = False
self.experimentparams.tracking.exclusionzones.point_list = [Point(x=0.00304053, y=0.00015492)]
self.experimentparams.tracking.exclusionzones.radius_list = [0]
self.experimentparams.home.enabled = False
self.experimentparams.pre.robot.enabled = False
self.experimentparams.pre.lasergalvos.enabled = False
self.experimentparams.pre.ledpanels.enabled = False
self.experimentparams.pre.wait1 = 0.0
self.experimentparams.pre.trigger.enabled = False
self.experimentparams.pre.trigger.frameidParent = 'Arena'
self.experimentparams.pre.trigger.frameidChild = 'Fly01'
self.experimentparams.pre.trigger.speedAbsParentMin = 0.0
self.experimentparams.pre.trigger.speedAbsParentMax = 999.0
self.experimentparams.pre.trigger.speedAbsChildMin = 0.0
self.experimentparams.pre.trigger.speedAbsChildMax = 999.0
self.experimentparams.pre.trigger.speedRelMin = 0.0
self.experimentparams.pre.trigger.speedRelMax = 999.0
self.experimentparams.pre.trigger.distanceMin = 0.0
self.experimentparams.pre.trigger.distanceMax = 999.0
self.experimentparams.pre.trigger.angleMin = 0.0 * np.pi / 180.0
self.experimentparams.pre.trigger.angleMax =180.0 * np.pi / 180.0
self.experimentparams.pre.trigger.angleTest = 'inclusive'
self.experimentparams.pre.trigger.angleTestBilateral = True
self.experimentparams.pre.trigger.timeHold = 0.0
self.experimentparams.pre.trigger.timeout = -1
self.experimentparams.pre.wait2 = 0.0
# .robot, .lasergalvos, .ledpanels, and .post.trigger all run concurrently.
# The first one to finish preempts the others.
self.experimentparams.trial.robot.enabled = False
#mode='fixedpointlist' # Laser to specific locations.
#mode='fixedcircle'
#mode='fixedgrid'
mode='trackgrid' # Small grid tracks flies.
#mode='tracknumber' # Draw a numeral on flies.
#mode='trackflylogo'
flies_list = range(1,1+self.experimentparams.flyspec.nFlies)
self.experimentparams.trial.lasergalvos.enabled = True
self.experimentparams.trial.lasergalvos.pattern_list = []
self.experimentparams.trial.lasergalvos.statefilterLo_list = []
self.experimentparams.trial.lasergalvos.statefilterHi_list = []
self.experimentparams.trial.lasergalvos.statefilterCriteria_list = []
if mode=='fixedpointlist':
# Draw a point.
self.experimentparams.trial.lasergalvos.pattern_list.append(MsgPattern(
frameidPosition = 'Arena',
frameidAngle = 'Arena',
shape = 'bypoints',
hzPattern = 40.0,
hzPoint = 1000.0,
count = 1,
points = [#Point(x=0 ,y=0)],
Point(x=34 ,y=34),
Point(x=34 ,y=34+6),
Point(x=34 ,y=34-6),
Point(x=34+6,y=34),
Point(x=34-6,y=34)],
size = Point(x=0,
y=0),
restart = False,
param = 3, # Peano curve level.
direction = 1),
)
if mode=='fixedcircle':
# Draw a point.
self.experimentparams.trial.lasergalvos.pattern_list.append(MsgPattern(
frameidPosition = 'Arena',
frameidAngle = 'Arena',
shape = 'circle',
hzPattern = 40.0,
hzPoint = 1000.0,
count = 1,
size = Point(x=80,
y= 0),
restart = False,
param = 3,
direction = 1), # Peano curve level.
)
if mode=='fixedgrid':
# Draw a maze.
self.experimentparams.trial.lasergalvos.pattern_list.append(MsgPattern(
frameidPosition = 'Arena',
frameidAngle = 'Arena',
shape = 'grid',
hzPattern = 40.0,
hzPoint = 1000.0,
count = 1,
size = Point(x=0,
y=0),
restart = False,
param = 3, # Peano curve level.
direction = 1),
)
if mode=='trackgrid':
for iFly in flies_list:
self.experimentparams.trial.lasergalvos.pattern_list.append(MsgPattern(
frameidPosition = 'Fly%02dForecast' % iFly,
frameidAngle = 'Fly%02dForecast' % iFly,
shape = 'grid',
hzPattern = 40.0,
hzPoint = 1000.0,
count = 1,
size = Point(x=2,
y=2),
restart = False,
param = 3, # Peano curve level.
direction = 1),
)
if mode=='tracknumber':
for iFly in flies_list:
self.experimentparams.trial.lasergalvos.pattern_list.append(MsgPattern(
frameidPosition = 'Fly%02dForecast' % iFly,
frameidAngle = 'Fly%02dForecast' % iFly,
shape = '%s' % iFly,
hzPattern = 10.0,
hzPoint = 1000.0,
count = 1,
size = Point(x=8,
y=8),
restart = False,
param = 0,
direction = 1), # Peano curve level.
)
if mode=='trackflylogo':
for iFly in flies_list:
self.experimentparams.trial.lasergalvos.pattern_list.append(MsgPattern(
frameidPosition = 'Fly%02dForecast' % iFly,
frameidAngle = 'Fly%02dForecast' % iFly,
shape = 'flylogo',
hzPattern = 40.0,
hzPoint = 1000.0,
count = 1,
size = Point(x=6,
y=6),
restart = False,
param = 0,
direction = 1), # Peano curve level.
)
self.experimentparams.trial.ledpanels.enabled = False
self.experimentparams.trial.ledpanels.command = ['fixed'] # 'fixed', 'trackposition' (panel position follows fly position), or 'trackview' (panel position follows fly's viewpoint).
self.experimentparams.trial.ledpanels.idPattern = [1]
self.experimentparams.trial.ledpanels.frame_id = ['Fly01Forecast']
self.experimentparams.trial.ledpanels.statefilterHi = ['']
self.experimentparams.trial.ledpanels.statefilterLo = ['']
self.experimentparams.trial.ledpanels.statefilterCriteria = ['']
self.experimentparams.post.trigger.enabled = True
self.experimentparams.post.trigger.frameidParent = 'Arena'
self.experimentparams.post.trigger.frameidChild = 'Fly01'
self.experimentparams.post.trigger.speedAbsParentMin = 0.0
self.experimentparams.post.trigger.speedAbsParentMax = 999.0
self.experimentparams.post.trigger.speedAbsChildMin = 0.0
self.experimentparams.post.trigger.speedAbsChildMax = 999.0
self.experimentparams.post.trigger.speedRelMin = 0.0
self.experimentparams.post.trigger.speedRelMax = 999.0
self.experimentparams.post.trigger.distanceMin = 999.0
self.experimentparams.post.trigger.distanceMax = 888.0 # i.e. never
self.experimentparams.post.trigger.angleMin = 0.0 * np.pi / 180.0
self.experimentparams.post.trigger.angleMax =180.0 * np.pi / 180.0
self.experimentparams.post.trigger.angleTest = 'inclusive'
self.experimentparams.post.trigger.angleTestBilateral = True
self.experimentparams.post.trigger.timeHold = 0.0
self.experimentparams.post.trigger.timeout = 1800
self.experimentparams.post.wait = 0.0
self.experimentlib = ExperimentLib.ExperimentLib(self.experimentparams,
startexperiment_callback = self.StartExperiment_callback,
starttrial_callback = self.StartTrial_callback,
endtrial_callback = self.EndTrial_callback)
def __init__(self):
rospy.init_node('Experiment')
rospy.sleep(1)
# Fill out the data structure that defines the experiment.
self.experimentparams = ExperimentParamsChoicesRequest()
self.experimentparams.experiment.description = 'Dodgeball'
self.experimentparams.experiment.maxTrials = -1
self.experimentparams.experiment.timeout = -1
self.experimentparams.save.filenamebase = 'dodgeball'
self.experimentparams.save.csv = True
self.experimentparams.save.bag = True
self.experimentparams.save.mov = True
self.experimentparams.save.fmf = False
self.experimentparams.save.imagetopic_list = ['camera/image_rect']
self.experimentparams.save.onlyWhileTriggered = True
self.experimentparams.robotspec.nRobots = 1
self.experimentparams.robotspec.width = 1.5875
self.experimentparams.robotspec.height = 1.5875
self.experimentparams.robotspec.isPresent = True # Set this to False if you remove the robot, but still want the actuation.
self.experimentparams.robotspec.description = 'Black oxide magnet'
self.experimentparams.flyspec.nFlies = 1
self.experimentparams.flyspec.description = 'unspecified'
self.experimentparams.tracking.exclusionzones.enabled = True
self.experimentparams.tracking.exclusionzones.point_list = [
Point(x=45.0, y=70), Point(x=-79, y=28)
]
self.experimentparams.tracking.exclusionzones.radius_list = [3.5, 3.0]
self.experimentparams.home.enabled = True
self.experimentparams.home.x = 10.0
self.experimentparams.home.y = 0.0
self.experimentparams.home.speed = 20
self.experimentparams.home.tolerance = 2
self.experimentparams.pre.robot.enabled = True
self.experimentparams.pre.robot.move.mode = 'pattern' # 'relative' or 'pattern'. Move relative to the given frame, or move in a preset pattern.
self.experimentparams.pre.robot.move.relative.tracking = [True]
self.experimentparams.pre.robot.move.relative.frameidOrigin = [
'Fly01Forecast'
]
self.experimentparams.pre.robot.move.relative.distance = [35] # mm
self.experimentparams.pre.robot.move.relative.angleOffset = [
0
] # Angular offset to target point in given frame (radians).
self.experimentparams.pre.robot.move.relative.angleVelocity = [
0
] # 2pi*freq # Angular velocity of target point in given frame (radians per sec).
self.experimentparams.pre.robot.move.relative.angleOscMag = [
0
] # Oscillatory addition to angular velocity.
self.experimentparams.pre.robot.move.relative.angleOscFreq = [
0
] # Hz of the added oscillation.
self.experimentparams.pre.robot.move.relative.speedMax = [
20
] # Maximum allowed speed of travel (mm/sec).
self.experimentparams.pre.robot.move.relative.tolerance = [2] # mm
self.experimentparams.pre.robot.move.relative.typeAngleOffset = [
'random'
] # 'constant' or 'random' (on range [0,2pi]) or 'current' (use current angle from frameidOrigin to robot)
self.experimentparams.pre.robot.move.relative.typeAngleVelocity = [
'constant'
] # 'constant' or 'random' (on range [0,angleVelocity])
self.experimentparams.pre.robot.move.relative.typeAngleOscMag = [
'constant'
] # 'constant' or 'random' (on range [0,angleOscMag])
self.experimentparams.pre.robot.move.relative.typeAngleOscFreq = [
'constant'
] # 'constant' or 'random' (on range [0,angleOscFreq])
self.experimentparams.pre.robot.move.relative.typeSpeedMax = [
'constant'
] # 'constant' or 'random' (on range [0,speedMax])
self.experimentparams.pre.robot.move.pattern.frameidPosition = [
'Arena'
] #
self.experimentparams.pre.robot.move.pattern.frameidAngle = ['Arena'
] #
self.experimentparams.pre.robot.move.pattern.shape = [
'circle'
] # 'constant' or 'circle' or 'square' or 'flylogo' or 'spiral' or 'grid'
self.experimentparams.pre.robot.move.pattern.hzPattern = [
1 / 6
] # Patterns per second.
self.experimentparams.pre.robot.move.pattern.hzPoint = [
20
] # The update rate for the actuator.
self.experimentparams.pre.robot.move.pattern.count = [-1]
self.experimentparams.pre.robot.move.pattern.size = [Point(x=10, y=0)]
self.experimentparams.pre.robot.move.pattern.param = [0]
self.experimentparams.pre.robot.move.pattern.direction = [1]
self.experimentparams.pre.lasergalvos.enabled = False
self.experimentparams.pre.ledpanels.enabled = True
self.experimentparams.pre.ledpanels.command = [
'fixed'
] # 'fixed', 'trackposition' (panel position follows fly position), or 'trackview' (panel position follows fly's viewpoint).
self.experimentparams.pre.ledpanels.idPattern = [1]
self.experimentparams.pre.ledpanels.origin = [Point(x=0, y=0)]
self.experimentparams.pre.ledpanels.frame_id = ['Fly01']
self.experimentparams.pre.ledpanels.statefilterHi = ['']
self.experimentparams.pre.ledpanels.statefilterLo = ['']
self.experimentparams.pre.ledpanels.statefilterCriteria = ['']
self.experimentparams.pre.wait1 = 0.0
self.experimentparams.pre.trigger.enabled = True
self.experimentparams.pre.trigger.frameidParent = 'Fly01'
self.experimentparams.pre.trigger.frameidChild = 'Robot'
self.experimentparams.pre.trigger.speedAbsParentMin = 10.0 # Absolute speed of the parent in fixed frame.
self.experimentparams.pre.trigger.speedAbsParentMax = 60.0
self.experimentparams.pre.trigger.speedAbsChildMin = 0.0 # Absolute speed of the child in fixed frame.
self.experimentparams.pre.trigger.speedAbsChildMax = 999.0
self.experimentparams.pre.trigger.speedRelMin = 0.0 # Relative speed of child to parent.
self.experimentparams.pre.trigger.speedRelMax = 999.0
self.experimentparams.pre.trigger.distanceMin = 20.0 # Distance between child and parent frames.
self.experimentparams.pre.trigger.distanceMax = 40.0
self.experimentparams.pre.trigger.angleMin = 00.0 * np.pi / 180.0 # Angle of the child frame from the perspective of the parent frame.
self.experimentparams.pre.trigger.angleMax = 180.0 * np.pi / 180.0
self.experimentparams.pre.trigger.angleTest = 'inclusive' # 'inclusive' or 'exclusive' of the given angle range.
self.experimentparams.pre.trigger.angleTestBilateral = True # True=bilateral, False=unilateral.
self.experimentparams.pre.trigger.timeHold = 0.1 # How long the conditions must be continually met before the trigger happens.
self.experimentparams.pre.trigger.timeout = -1
self.experimentparams.pre.wait2 = 0.0
# .robot, .lasergalvos, .ledpanels, and .post.trigger all run concurrently.
# The first one to finish preempts the others.
self.experimentparams.trial.robot.enabled = True
self.experimentparams.trial.robot.move.mode = 'relative' # 'relative' or 'pattern'. Move relative to the given frame, or move in a preset pattern.
self.experimentparams.trial.robot.move.relative.tracking = [True]
self.experimentparams.trial.robot.move.relative.frameidOrigin = [
'Fly01Forecast'
]
self.experimentparams.trial.robot.move.relative.distance = [6] # mm
self.experimentparams.trial.robot.move.relative.angleOffset = [
0
] # Angular offset to target point in given frame (radians).
self.experimentparams.trial.robot.move.relative.angleVelocity = [
0
] # 2pi*freq # Angular velocity of target point in given frame (radians per sec).
self.experimentparams.trial.robot.move.relative.angleOscMag = [
0
] # Oscillatory addition to angular velocity.
self.experimentparams.trial.robot.move.relative.angleOscFreq = [
0
] # Hz of the added oscillation.
self.experimentparams.trial.robot.move.relative.speedMax = [
20
] # Maximum allowed speed of travel (mm/sec).
self.experimentparams.trial.robot.move.relative.tolerance = [2] # mm
self.experimentparams.trial.robot.move.relative.typeAngleOffset = [
'current'
] # 'constant' or 'random' (on range [0,2pi]) or 'current' (use current angle from frameidOrigin to robot)
self.experimentparams.trial.robot.move.relative.typeAngleVelocity = [
'constant'
] # 'constant' or 'random' (on range [0,angleVelocity])
self.experimentparams.trial.robot.move.relative.typeAngleOscMag = [
'constant'
] # 'constant' or 'random' (on range [0,angleOscMag])
self.experimentparams.trial.robot.move.relative.typeAngleOscFreq = [
'constant'
] # 'constant' or 'random' (on range [0,angleOscFreq])
self.experimentparams.trial.robot.move.relative.typeSpeedMax = [
'constant'
] # 'constant' or 'random' (on range [0,speedMax])
self.experimentparams.trial.lasergalvos.enabled = False
self.experimentparams.trial.ledpanels.enabled = True
self.experimentparams.trial.ledpanels.command = [
'fixed'
] # 'fixed', 'trackposition' (panel position follows fly position), or 'trackview' (panel position follows fly's viewpoint).
self.experimentparams.trial.ledpanels.idPattern = [1]
self.experimentparams.trial.ledpanels.origin = [Point(x=0, y=0)]
self.experimentparams.trial.ledpanels.frame_id = ['Fly01Forecast']
self.experimentparams.trial.ledpanels.statefilterHi = ['']
self.experimentparams.trial.ledpanels.statefilterLo = ['']
self.experimentparams.trial.ledpanels.statefilterCriteria = ['']
self.experimentparams.post.trigger.enabled = False
self.experimentparams.post.trigger.frameidParent = 'Fly01'
self.experimentparams.post.trigger.frameidChild = 'Robot'
self.experimentparams.post.trigger.speedAbsParentMin = 999.0
self.experimentparams.post.trigger.speedAbsParentMax = 111.0 # i.e. NEVER
self.experimentparams.post.trigger.speedAbsChildMin = 0.0
self.experimentparams.post.trigger.speedAbsChildMax = 999.0
self.experimentparams.post.trigger.speedRelMin = 0.0
self.experimentparams.post.trigger.speedRelMax = 999.0
self.experimentparams.post.trigger.distanceMin = 0.0
self.experimentparams.post.trigger.distanceMax = 999.0
self.experimentparams.post.trigger.angleMin = 0.0 * np.pi / 180.0
self.experimentparams.post.trigger.angleMax = 180.0 * np.pi / 180.0
self.experimentparams.post.trigger.angleTest = 'inclusive'
self.experimentparams.post.trigger.angleTestBilateral = True
self.experimentparams.post.trigger.timeHold = 1.0
self.experimentparams.post.trigger.timeout = 2
self.experimentparams.post.wait = 0.0
self.experimentlib = ExperimentLib.ExperimentLib(
self.experimentparams,
startexperiment_callback=self.StartExperiment_callback,
starttrial_callback=self.StartTrial_callback,
endtrial_callback=self.EndTrial_callback)
def __init__(self):
rospy.init_node('Experiment')
# Fill out the data structure that defines the experiment.
self.experimentparams = ExperimentParamsChoicesRequest()
#flies = 'HCS'
flies = 'TrpA1_sugar'
#flies = 'TrpA1_paralysis'
#flies = 'TrpA1_wingextender'
t0 = 120 # off
t1 = 3 # on
t2 = 117 # off
laserpower = '260mW'
self.experimentparams.experiment.description = 'Laser is off for %d secs, on for %d secs, and off for %d secs' % (t0, t1, t2)
self.experimentparams.experiment.maxTrials = 100
self.experimentparams.experiment.timeout = -1
self.experimentparams.save.filenamebase = 'zapresponse_%s_%02ds_%02ds_%02ds_%s_' % (flies, t0, t1, t2, laserpower)
self.experimentparams.save.csv = True
self.experimentparams.save.bag = False
self.experimentparams.save.mov = False
self.experimentparams.save.fmf = False
self.experimentparams.save.imagetopic_list = ['camera/image_rect']
self.experimentparams.save.onlyWhileTriggered = False
self.experimentparams.robotspec.nRobots = 0
self.experimentparams.robotspec.width = 1.5875
self.experimentparams.robotspec.height = 1.5875
self.experimentparams.robotspec.isPresent = True # Set this to False if you remove the robot, but still want the actuation.
self.experimentparams.robotspec.description = 'Black oxide magnet'
self.experimentparams.flyspec.nFlies = 1
self.experimentparams.flyspec.description = flies
self.experimentparams.tracking.exclusionzones.enabled = False
self.experimentparams.tracking.exclusionzones.point_list = [Point(x=0.0, y=0.0)]
self.experimentparams.tracking.exclusionzones.radius_list = [0.0]
self.experimentparams.home.enabled = False
self.experimentparams.pre.robot.enabled = False
self.experimentparams.pre.lasergalvos.enabled = False
self.experimentparams.pre.ledpanels.enabled = False
self.experimentparams.pre.wait1 = t0
self.experimentparams.pre.trigger.enabled = False
self.experimentparams.pre.trigger.frameidParent = 'Arena'
self.experimentparams.pre.trigger.frameidChild = 'Fly01'
self.experimentparams.pre.trigger.speedAbsParentMin = 0.0
self.experimentparams.pre.trigger.speedAbsParentMax = 999.0
self.experimentparams.pre.trigger.speedAbsChildMin = 0.0
self.experimentparams.pre.trigger.speedAbsChildMax = 999.0
self.experimentparams.pre.trigger.speedRelMin = 0.0
self.experimentparams.pre.trigger.speedRelMax = 999.0
self.experimentparams.pre.trigger.distanceMin = 0.0
self.experimentparams.pre.trigger.distanceMax = 999.0
self.experimentparams.pre.trigger.angleMin = 0.0 * np.pi / 180.0
self.experimentparams.pre.trigger.angleMax =180.0 * np.pi / 180.0
self.experimentparams.pre.trigger.angleTest = 'inclusive'
self.experimentparams.pre.trigger.angleTestBilateral = True
self.experimentparams.pre.trigger.timeHold = 0.0
self.experimentparams.pre.trigger.timeout = -1
self.experimentparams.pre.wait2 = 0.0
# .robot, .lasergalvos, .ledpanels, and .post.trigger all run concurrently.
# The first one to finish preempts the others.
self.experimentparams.trial.robot.enabled = False
flies_list = range(1,1+self.experimentparams.flyspec.nFlies)
self.experimentparams.trial.lasergalvos.enabled = True
self.experimentparams.trial.lasergalvos.pattern_list = []
self.experimentparams.trial.lasergalvos.statefilterHi_list = []
self.experimentparams.trial.lasergalvos.statefilterLo_list = []
self.experimentparams.trial.lasergalvos.statefilterCriteria_list = []
for iFly in flies_list:
self.experimentparams.trial.lasergalvos.pattern_list.append(MsgPattern(
frameidPosition = 'Fly%02dForecast' % iFly,
frameidAngle = 'Fly%02dForecast' % iFly,
shape = 'grid',
hzPattern = 40.0,
hzPoint = 1000.0,
count = 1,
size = Point(x=2,
y=2),
restart = False,
param = 3, # Peano curve level.
direction = 1),
)
self.experimentparams.trial.ledpanels.enabled = True
self.experimentparams.trial.ledpanels.command = ['fixed'] # 'fixed', 'trackposition' (panel position follows fly position), or 'trackview' (panel position follows fly's viewpoint).
self.experimentparams.trial.ledpanels.idPattern = [3]
self.experimentparams.trial.ledpanels.frame_id = ['Fly01Forecast']
self.experimentparams.trial.ledpanels.statefilterHi = ['']
self.experimentparams.trial.ledpanels.statefilterLo = ['']
self.experimentparams.trial.ledpanels.statefilterCriteria = ['']
self.experimentparams.post.trigger.enabled = True
self.experimentparams.post.trigger.frameidParent = 'Arena'
self.experimentparams.post.trigger.frameidChild = 'Fly01'
self.experimentparams.post.trigger.speedAbsParentMin = 0.0
self.experimentparams.post.trigger.speedAbsParentMax = 999.0
self.experimentparams.post.trigger.speedAbsChildMin = 0.0
self.experimentparams.post.trigger.speedAbsChildMax = 999.0
self.experimentparams.post.trigger.speedRelMin = 0.0
self.experimentparams.post.trigger.speedRelMax = 999.0
self.experimentparams.post.trigger.distanceMin = 999.0
self.experimentparams.post.trigger.distanceMax = 888.0 # i.e. never
self.experimentparams.post.trigger.angleMin = 0.0 * np.pi / 180.0
self.experimentparams.post.trigger.angleMax =180.0 * np.pi / 180.0
self.experimentparams.post.trigger.angleTest = 'inclusive'
self.experimentparams.post.trigger.angleTestBilateral = True
self.experimentparams.post.trigger.timeHold = 0.0
self.experimentparams.post.trigger.timeout = t1
self.experimentparams.post.wait = t2
self.experimentlib = ExperimentLib.ExperimentLib(self.experimentparams,
startexperiment_callback = self.StartExperiment_callback,
starttrial_callback = self.StartTrial_callback,
endtrial_callback = self.EndTrial_callback)
def __init__(self):
rospy.init_node('Experiment')
# Fill out the data structure that defines the experiment.
self.experimentparams = ExperimentParamsChoicesRequest()
self.experimentparams.experiment.description = 'Food is in the hot zone.'
self.experimentparams.experiment.maxTrials = -1
self.experimentparams.experiment.timeout = -1
self.experimentparams.save.filenamebase = 'zaphotfood'
self.experimentparams.save.csv = True
self.experimentparams.save.bag = False
self.experimentparams.save.mov = False
self.experimentparams.save.fmf = False
self.experimentparams.save.imagetopic_list = ['camera/image_rect']
self.experimentparams.save.onlyWhileTriggered = False # Saves always.
self.experimentparams.robotspec.nRobots = 0
self.experimentparams.robotspec.width = 1.5875
self.experimentparams.robotspec.height = 1.5875
self.experimentparams.robotspec.isPresent = True # Set this to False if you remove the robot, but still want the actuation.
self.experimentparams.robotspec.description = 'Black oxide magnet'
self.experimentparams.flyspec.nFlies = 1
self.experimentparams.flyspec.description = 'unspecified'
self.experimentparams.tracking.exclusionzones.enabled = True
self.experimentparams.tracking.exclusionzones.point_list = [
Point(x=52.3, y=-51.0)
]
self.experimentparams.tracking.exclusionzones.radius_list = [7.0]
self.experimentparams.home.enabled = False
self.experimentparams.pre.robot.enabled = False
self.experimentparams.pre.lasergalvos.enabled = False
self.experimentparams.pre.ledpanels.enabled = False
self.experimentparams.pre.wait1 = 0.0
self.experimentparams.pre.trigger.enabled = False
self.experimentparams.pre.trigger.frameidParent = 'Arena'
self.experimentparams.pre.trigger.frameidChild = 'Fly01'
self.experimentparams.pre.trigger.speedAbsParentMin = 0.0
self.experimentparams.pre.trigger.speedAbsParentMax = 999.0
self.experimentparams.pre.trigger.speedAbsChildMin = 0.0
self.experimentparams.pre.trigger.speedAbsChildMax = 999.0
self.experimentparams.pre.trigger.speedRelMin = 0.0
self.experimentparams.pre.trigger.speedRelMax = 999.0
self.experimentparams.pre.trigger.distanceMin = 0.0
self.experimentparams.pre.trigger.distanceMax = 999.0
self.experimentparams.pre.trigger.angleMin = 0.0 * np.pi / 180.0
self.experimentparams.pre.trigger.angleMax = 180.0 * np.pi / 180.0
self.experimentparams.pre.trigger.angleTest = 'inclusive'
self.experimentparams.pre.trigger.angleTestBilateral = False
self.experimentparams.pre.trigger.timeHold = 0.0
self.experimentparams.pre.trigger.timeout = -1
self.experimentparams.pre.wait2 = 0.0
# .robot, .lasergalvos, .ledpanels, and .post.trigger all run concurrently.
# The first one to finish preempts the others.
self.experimentparams.trial.robot.enabled = False
self.experimentparams.trial.lasergalvos.enabled = True
self.experimentparams.trial.lasergalvos.pattern_list = []
self.experimentparams.trial.lasergalvos.statefilterHi_list = []
self.experimentparams.trial.lasergalvos.statefilterLo_list = []
self.experimentparams.trial.lasergalvos.statefilterCriteria_list = []
for iFly in range(self.experimentparams.flyspec.nFlies): #range(3):#
self.experimentparams.trial.lasergalvos.pattern_list.append(
MsgPattern(frameidPosition='Fly%02dForecast' % (iFly + 1),
frameidAngle='Fly%02dForecast' % (iFly + 1),
shape='grid',
hzPattern=40.0,
hzPoint=1000.0,
count=1,
size=Point(x=2, y=2),
restart=False,
param=3,
direction=1), # Peano curve level.
)
#self.experimentparams.trial.lasergalvos.statefilterHi_list.append("{'speed':5.0}")
#self.experimentparams.trial.lasergalvos.statefilterLo_list.append("{'speed':0.0}")
#self.experimentparams.trial.lasergalvos.statefilterHi_list.append("{'velocity':{'linear':{'x':+6,'y':+6}}}")
#self.experimentparams.trial.lasergalvos.statefilterLo_list.append("{'velocity':{'linear':{'x':-6,'y':-6}}}")
#self.experimentparams.trial.lasergalvos.statefilterHi_list.append("{'velocity':{'angular':{'z':999}}}")
#self.experimentparams.trial.lasergalvos.statefilterLo_list.append("{'velocity':{'angular':{'z':0.5}}}")
self.experimentparams.trial.lasergalvos.statefilterHi_list.append(
"{'pose':{'position':{'x':-30, 'y':50}}}"
) # This is the cool zone.
self.experimentparams.trial.lasergalvos.statefilterLo_list.append(
"{'pose':{'position':{'x':-50, 'y':30}}}")
self.experimentparams.trial.lasergalvos.statefilterCriteria_list.append(
"exclusive")
self.experimentparams.trial.ledpanels.enabled = False
self.experimentparams.trial.ledpanels.command = [
'fixed'
] # 'fixed', 'trackposition' (panel position follows fly position), or 'trackview' (panel position follows fly's viewpoint).
self.experimentparams.trial.ledpanels.idPattern = [1]
self.experimentparams.trial.ledpanels.frame_id = ['Fly01Forecast']
self.experimentparams.trial.ledpanels.statefilterHi = ['']
self.experimentparams.trial.ledpanels.statefilterLo = ['']
self.experimentparams.trial.ledpanels.statefilterCriteria = ['']
self.experimentparams.post.trigger.enabled = True
self.experimentparams.post.trigger.frameidParent = 'Arena'
self.experimentparams.post.trigger.frameidChild = 'Fly01'
self.experimentparams.post.trigger.speedAbsParentMin = 0.0
self.experimentparams.post.trigger.speedAbsParentMax = 999.0
self.experimentparams.post.trigger.speedAbsChildMin = 0.0
self.experimentparams.post.trigger.speedAbsChildMax = 999.0
self.experimentparams.post.trigger.speedRelMin = 0.0
self.experimentparams.post.trigger.speedRelMax = 999.0
self.experimentparams.post.trigger.distanceMin = 999.0
self.experimentparams.post.trigger.distanceMax = 111.0 # i.e. never
self.experimentparams.post.trigger.angleMin = 0.0000 * np.pi / 180.0
self.experimentparams.post.trigger.angleMax = 359.9999 * np.pi / 180.0
self.experimentparams.post.trigger.angleTest = 'inclusive'
self.experimentparams.post.trigger.angleTestBilateral = False
self.experimentparams.post.trigger.timeHold = 0.0
self.experimentparams.post.trigger.timeout = 3600
self.experimentparams.post.wait = 0.0
self.experimentlib = ExperimentLib.ExperimentLib(
self.experimentparams,
startexperiment_callback=self.StartExperiment_callback,
starttrial_callback=self.StartTrial_callback,
endtrial_callback=self.EndTrial_callback)
def __init__(self):
rospy.init_node('Experiment')
# Fill out the data structure that defines the experiment.
self.experimentparams = ExperimentParamsChoicesRequest()
self.experimentparams.experiment.description = 'Navigation around a food spot'
self.experimentparams.experiment.maxTrials = -1
self.experimentparams.experiment.timeout = -1
self.experimentparams.save.filenamebase = 'flydance'
self.experimentparams.save.csv = True
self.experimentparams.save.bag = False
self.experimentparams.save.mov = False
self.experimentparams.save.fmf = False
self.experimentparams.save.imagetopic_list = ['camera/image_rect']
self.experimentparams.save.onlyWhileTriggered = False
self.experimentparams.robotspec.nRobots = 0
self.experimentparams.robotspec.width = 1.5875
self.experimentparams.robotspec.height = 1.5875
self.experimentparams.robotspec.isPresent = True # Set this to False if you remove the robot, but still want the actuation.
self.experimentparams.robotspec.description = 'Black oxide magnet'
self.experimentparams.flyspec.nFlies = 4
self.experimentparams.flyspec.description = "unspecified"
self.experimentparams.tracking.exclusionzones.enabled = False
self.experimentparams.tracking.exclusionzones.point_list = [
Point(x=0.00304053, y=0.00015492)
]
self.experimentparams.tracking.exclusionzones.radius_list = [0]
self.experimentparams.home.enabled = False
self.experimentparams.pre.robot.enabled = False
self.experimentparams.pre.lasergalvos.enabled = False
self.experimentparams.pre.ledpanels.enabled = False
self.experimentparams.pre.wait1 = 0.0
self.experimentparams.pre.trigger.enabled = False
self.experimentparams.pre.trigger.frameidParent = 'Arena'
self.experimentparams.pre.trigger.frameidChild = 'Fly1'
self.experimentparams.pre.trigger.speedAbsParentMin = 0.0
self.experimentparams.pre.trigger.speedAbsParentMax = 999.0
self.experimentparams.pre.trigger.speedAbsChildMin = 0.0
self.experimentparams.pre.trigger.speedAbsChildMax = 999.0
self.experimentparams.pre.trigger.speedRelMin = 0.0
self.experimentparams.pre.trigger.speedRelMax = 999.0
self.experimentparams.pre.trigger.distanceMin = 0.0
self.experimentparams.pre.trigger.distanceMax = 999.0
self.experimentparams.pre.trigger.angleMin = 0.0 * np.pi / 180.0
self.experimentparams.pre.trigger.angleMax = 180.0 * np.pi / 180.0
self.experimentparams.pre.trigger.angleTest = 'inclusive'
self.experimentparams.pre.trigger.angleTestBilateral = True
self.experimentparams.pre.trigger.timeHold = 0.0
self.experimentparams.pre.trigger.timeout = -1
self.experimentparams.pre.wait2 = 0.0
# .robot, .lasergalvos, .ledpanels, and .post.trigger all run concurrently.
# The first one to finish preempts the others.
self.experimentparams.trial.robot.enabled = False
self.experimentparams.trial.lasergalvos.enabled = False
self.experimentparams.trial.ledpanels.enabled = False
self.experimentparams.trial.ledpanels.command = [
'fixed'
] # 'fixed', 'trackposition' (panel position follows fly position), or 'trackview' (panel position follows fly's viewpoint).
self.experimentparams.trial.ledpanels.idPattern = [1]
self.experimentparams.trial.ledpanels.frame_id = ['Fly1Forecast']
self.experimentparams.trial.ledpanels.statefilterHi = ['']
self.experimentparams.trial.ledpanels.statefilterLo = ['']
self.experimentparams.trial.ledpanels.statefilterCriteria = ['']
self.experimentparams.post.trigger.enabled = True
self.experimentparams.post.trigger.frameidParent = 'Arena'
self.experimentparams.post.trigger.frameidChild = 'Fly1'
self.experimentparams.post.trigger.speedAbsParentMin = 0.0
self.experimentparams.post.trigger.speedAbsParentMax = 999.0
self.experimentparams.post.trigger.speedAbsChildMin = 0.0
self.experimentparams.post.trigger.speedAbsChildMax = 999.0
self.experimentparams.post.trigger.speedRelMin = 0.0
self.experimentparams.post.trigger.speedRelMax = 999.0
self.experimentparams.post.trigger.distanceMin = 999.0
self.experimentparams.post.trigger.distanceMax = 888.0 # i.e. never
self.experimentparams.post.trigger.angleMin = 0.0 * np.pi / 180.0
self.experimentparams.post.trigger.angleMax = 180.0 * np.pi / 180.0
self.experimentparams.post.trigger.angleTest = 'inclusive'
self.experimentparams.post.trigger.angleTestBilateral = True
self.experimentparams.post.trigger.timeHold = 0.0
self.experimentparams.post.trigger.timeout = 7200 # 5400 = 1.5 hr
self.experimentparams.post.wait = 0.0
self.experimentlib = ExperimentLib.ExperimentLib(
self.experimentparams,
startexperiment_callback=self.StartExperiment_callback,
starttrial_callback=self.StartTrial_callback,
endtrial_callback=self.EndTrial_callback)
def __init__(self):
rospy.init_node('Experiment')
# Fill out the data structure that defines the experiment.
self.experimentparams = ExperimentParamsChoicesRequest()
self.experimentparams.experiment.description = 'Aim laser at fly'
self.experimentparams.experiment.maxTrials = -1
self.experimentparams.experiment.timeout = -1
self.experimentparams.save.filenamebase = 'zap'
self.experimentparams.save.csv = True
self.experimentparams.save.bag = False
self.experimentparams.save.mov = False
self.experimentparams.save.fmf = False
self.experimentparams.save.imagetopic_list = ['camera/image_rect']
self.experimentparams.save.onlyWhileTriggered = True
self.experimentparams.robotspec.nRobots = 0
self.experimentparams.robotspec.width = 1.5875
self.experimentparams.robotspec.height = 1.5875
self.experimentparams.robotspec.isPresent = True # Set this to False if you remove the robot, but still want the actuation.
self.experimentparams.robotspec.description = 'Black oxide magnet'
self.experimentparams.flyspec.nFlies = 1
self.experimentparams.flyspec.description = 'unspecified'
self.experimentparams.tracking.exclusionzones.enabled = False
self.experimentparams.tracking.exclusionzones.point_list = [
Point(x=0.0, y=0.0)
]
self.experimentparams.tracking.exclusionzones.radius_list = [0.0]
self.experimentparams.home.enabled = False
self.experimentparams.pre.robot.enabled = False
self.experimentparams.pre.lasergalvos.enabled = False
self.experimentparams.pre.ledpanels.enabled = False
self.experimentparams.pre.wait1 = 0.0
self.experimentparams.pre.trigger.enabled = False
self.experimentparams.pre.trigger.frameidParent = 'Arena'
self.experimentparams.pre.trigger.frameidChild = 'Fly01'
self.experimentparams.pre.trigger.speedAbsParentMin = 0.0
self.experimentparams.pre.trigger.speedAbsParentMax = 999.0
self.experimentparams.pre.trigger.speedAbsChildMin = 0.0
self.experimentparams.pre.trigger.speedAbsChildMax = 999.0
self.experimentparams.pre.trigger.speedRelMin = 0.0
self.experimentparams.pre.trigger.speedRelMax = 999.0
self.experimentparams.pre.trigger.distanceMin = 0.0
self.experimentparams.pre.trigger.distanceMax = 999.0
self.experimentparams.pre.trigger.angleMin = 0.0 * np.pi / 180.0
self.experimentparams.pre.trigger.angleMax = 180.0 * np.pi / 180.0
self.experimentparams.pre.trigger.angleTest = 'inclusive'
self.experimentparams.pre.trigger.angleTestBilateral = True
self.experimentparams.pre.trigger.timeHold = 0.0
self.experimentparams.pre.trigger.timeout = -1
self.experimentparams.pre.wait2 = 0.0
# .robot, .lasergalvos, .ledpanels, and .post.trigger all run concurrently.
# The first one to finish preempts the others.
self.experimentparams.trial.robot.enabled = False
mode = 'platepoint' # 'platepoint' or 'plategrid' or 'trackgrid1' or 'trackgrid' or 'tracknumber' or 'trackflylogo' or 'fixedmaze' or 'fixedpoint'
self.experimentparams.trial.lasergalvos.enabled = True
self.experimentparams.trial.lasergalvos.pattern_list = []
if mode == 'platepoint':
# Draw a point.
self.experimentparams.trial.lasergalvos.pattern_list.append(
MsgPattern(frameidPosition='Arena',
frameidAngle='Arena',
shape='constant',
hzPattern=40.0,
hzPoint=1000.0,
count=1,
size=Point(x=0, y=0),
restart=False,
param=2,
direction=1), # Peano curve level.
)
if mode == 'plategrid':
self.experimentparams.trial.lasergalvos.pattern_list.append(
MsgPattern(frameidPosition='Arena',
frameidAngle='Arena',
shape='grid',
hzPattern=40.0,
hzPoint=1000.0,
count=1,
size=Point(x=1, y=1),
restart=False,
param=3,
direction=1), # Peano curve level.
)
if mode == 'trackgrid1':
self.experimentparams.trial.lasergalvos.pattern_list.append(
MsgPattern(frameidPosition='Fly01',
frameidAngle='Fly01',
shape='grid',
hzPattern=40.0,
hzPoint=1000.0,
count=1,
size=Point(x=3, y=3),
restart=False,
param=2,
direction=1), # Peano curve level.
)
if mode == 'trackgrid':
for iFly in range(self.experimentparams.flyspec.nFlies):
self.experimentparams.trial.lasergalvos.pattern_list.append(
MsgPattern(frameidPosition='Fly%02dForecast' % (iFly + 1),
frameidAngle='Fly%02dForecast' % (iFly + 1),
shape='grid',
hzPattern=40.0,
hzPoint=1000.0,
count=1,
size=Point(x=3, y=3),
restart=False,
param=2,
direction=1), # Peano curve level.
)
if mode == 'tracknumber':
for iFly in range(self.experimentparams.flyspec.nFlies):
self.experimentparams.trial.lasergalvos.pattern_list.append(
MsgPattern(frameidPosition='Fly%02dForecast' % (iFly + 1),
frameidAngle='Fly%02dForecast' % (iFly + 1),
shape='%s' % (iFly + 1),
hzPattern=40.0,
hzPoint=1000.0,
count=1,
size=Point(x=6, y=6),
restart=False,
param=2,
direction=1), # Peano curve level.
)
if mode == 'trackflylogo':
for iFly in range(self.experimentparams.flyspec.nFlies):
self.experimentparams.trial.lasergalvos.pattern_list.append(
MsgPattern(frameidPosition='Fly%02dForecast' % (iFly + 1),
frameidAngle='Fly%02dForecast' % (iFly + 1),
shape='flylogo',
hzPattern=40.0,
hzPoint=1000.0,
count=1,
size=Point(x=6, y=6),
restart=False,
param=2,
direction=1), # Peano curve level.
)
if mode == 'fixedmaze':
# Draw a maze.
self.experimentparams.trial.lasergalvos.pattern_list.append(
MsgPattern(frameidPosition='Arena',
frameidAngle='Arena',
shape='grid',
hzPattern=40.0,
hzPoint=1000.0,
count=1,
size=Point(x=140, y=140),
restart=False,
param=2,
direction=1), # Peano curve level.
)
if mode == 'fixedpoint':
# Draw a point.
self.experimentparams.trial.lasergalvos.pattern_list.append(
MsgPattern(frameidPosition='Arena',
frameidAngle='Arena',
shape='constant',
hzPattern=40.0,
hzPoint=1000.0,
count=1,
size=Point(x=0, y=0),
restart=False,
param=2,
direction=1), # Peano curve level.
)
self.experimentparams.trial.ledpanels.enabled = False
self.experimentparams.trial.ledpanels.command = [
'fixed'
] # 'fixed', 'trackposition' (panel position follows fly position), or 'trackview' (panel position follows fly's viewpoint).
self.experimentparams.trial.ledpanels.idPattern = [1]
self.experimentparams.trial.ledpanels.frame_id = ['Fly01Forecast']
self.experimentparams.trial.ledpanels.statefilterHi = ['']
self.experimentparams.trial.ledpanels.statefilterLo = ['']
self.experimentparams.trial.ledpanels.statefilterCriteria = ['']
self.experimentparams.post.trigger.enabled = True
self.experimentparams.post.trigger.distanceMin = 999.0
self.experimentparams.post.trigger.distanceMax = 888.0 # i.e. never
self.experimentparams.post.trigger.speedAbsParentMin = 0.0
self.experimentparams.post.trigger.speedAbsParentMax = 999.0
self.experimentparams.post.trigger.speedAbsChildMin = 0.0
self.experimentparams.post.trigger.speedAbsChildMax = 999.0
self.experimentparams.post.trigger.speedRelMin = 0.0
self.experimentparams.post.trigger.speedRelMax = 999.0
self.experimentparams.post.trigger.angleMin = 0.0 * np.pi / 180.0
self.experimentparams.post.trigger.angleMax = 180.0 * np.pi / 180.0
self.experimentparams.post.trigger.angleTest = 'inclusive'
self.experimentparams.post.trigger.angleTestBilateral = True
self.experimentparams.post.trigger.timeHold = 0.0
self.experimentparams.post.trigger.timeout = 660
self.experimentparams.post.wait = 0.0
self.experimentlib = ExperimentLib.ExperimentLib(
self.experimentparams,
startexperiment_callback=self.StartExperiment_callback,
starttrial_callback=self.StartTrial_callback,
endtrial_callback=self.EndTrial_callback)
def __init__(self):
rospy.init_node('Experiment')
rospy.sleep(1)
# Fill out the data structure that defines the experiment.
self.experimentparams = ExperimentParamsChoicesRequest()
self.experimentparams.experiment.description = 'Retrack a bag file.'
self.experimentparams.experiment.maxTrials = 1
self.experimentparams.experiment.timeout = -1
self.experimentparams.save.filenamebase = 'retrack'
self.experimentparams.save.csv = False
self.experimentparams.save.bag = False
self.experimentparams.save.mov = False
self.experimentparams.save.fmf = False
self.experimentparams.save.imagetopic_list = ['camera/image_rect']
self.experimentparams.save.onlyWhileTriggered = False
self.experimentparams.robotspec.nRobots = 0
self.experimentparams.robotspec.width = 1.5875
self.experimentparams.robotspec.height = 1.5875
self.experimentparams.robotspec.isPresent = True # Set this to False if you remove the robot, but still want the actuation.
self.experimentparams.robotspec.description = 'Black oxide magnet'
self.experimentparams.flyspec.nFlies = 1
self.experimentparams.flyspec.description = 'unspecified'
self.experimentparams.tracking.exclusionzones.enabled = False
self.experimentparams.tracking.exclusionzones.point_list = [
Point(x=-79, y=28)
]
self.experimentparams.tracking.exclusionzones.radius_list = [3.0]
self.experimentparams.home.enabled = False
self.experimentparams.home.x = 0.0
self.experimentparams.home.y = 0.0
self.experimentparams.home.speed = 20
self.experimentparams.home.tolerance = 2
self.experimentparams.pre.robot.enabled = False
self.experimentparams.pre.lasergalvos.enabled = False
self.experimentparams.pre.ledpanels.enabled = False
self.experimentparams.pre.wait1 = 0.0
self.experimentparams.pre.trigger.enabled = False
self.experimentparams.pre.wait2 = 0.0
self.experimentparams.trial.robot.enabled = False
self.experimentparams.trial.lasergalvos.enabled = False
self.experimentparams.trial.ledpanels.enabled = False
self.experimentparams.post.trigger.enabled = True
self.experimentparams.post.trigger.enabled = True
self.experimentparams.post.trigger.frameidParent = 'Fly1'
self.experimentparams.post.trigger.frameidChild = 'Robot'
self.experimentparams.post.trigger.speedAbsParentMin = 999.0
self.experimentparams.post.trigger.speedAbsParentMax = 111.0 # i.e. NEVER
self.experimentparams.post.trigger.speedAbsChildMin = 0.0
self.experimentparams.post.trigger.speedAbsChildMax = 999.0
self.experimentparams.post.trigger.speedRelMin = 0.0
self.experimentparams.post.trigger.speedRelMax = 999.0
self.experimentparams.post.trigger.distanceMin = 0.0
self.experimentparams.post.trigger.distanceMax = 999.0
self.experimentparams.post.trigger.angleMin = 0.0 * np.pi / 180.0
self.experimentparams.post.trigger.angleMax = 180.0 * np.pi / 180.0
self.experimentparams.post.trigger.angleTest = 'inclusive'
self.experimentparams.post.trigger.angleTestBilateral = True
self.experimentparams.post.trigger.timeHold = 0.0
self.experimentparams.post.trigger.timeout = -1
self.experimentparams.post.wait = 0.0
self.experimentlib = ExperimentLib.ExperimentLib(
self.experimentparams,
startexperiment_callback=self.StartExperiment_callback,
starttrial_callback=self.StartTrial_callback,
endtrial_callback=self.EndTrial_callback)
def __init__(self):
rospy.init_node('Experiment')
self.pubLEDPanels = rospy.Publisher('ledpanels/command',
MsgPanelsCommand,
latch=True)
self.xPanelPattern = 0
self.yPanelPattern = 0
# Fill out the data structure that defines the experiment.
self.experimentparams = ExperimentParamsChoicesRequest()
self.experimentparams.experiment.description = 'Rotate Panels to Track a Fly'
self.experimentparams.experiment.maxTrials = -1
self.experimentparams.experiment.timeout = -1
self.experimentparams.save.filenamebase = 'paneltracking'
self.experimentparams.save.csv = True
self.experimentparams.save.bag = False
self.experimentparams.save.mov = False
self.experimentparams.save.fmf = False
self.experimentparams.save.imagetopic_list = ['camera/image_rect']
self.experimentparams.save.onlyWhileTriggered = False # Saves always.
self.experimentparams.robotspec.nRobots = 0
self.experimentparams.robotspec.width = 1.5875
self.experimentparams.robotspec.height = 1.5875
self.experimentparams.robotspec.isPresent = True # Set this to False if you remove the robot, but still want the actuation.
self.experimentparams.robotspec.description = 'Black oxide magnet'
self.experimentparams.flyspec.nFlies = 1
self.experimentparams.flyspec.description = 'unspecified'
self.experimentparams.tracking.exclusionzones.enabled = False
self.experimentparams.tracking.exclusionzones.point_list = [
Point(x=52.3, y=-51.0)
]
self.experimentparams.tracking.exclusionzones.radius_list = [7.0]
self.experimentparams.home.enabled = False
self.experimentparams.home.x = 0.0
self.experimentparams.home.y = 0.0
self.experimentparams.home.speed = 20
self.experimentparams.home.tolerance = 2
self.experimentparams.pre.robot.enabled = False
self.experimentparams.pre.lasergalvos.enabled = False
self.experimentparams.pre.ledpanels.enabled = False
self.experimentparams.pre.wait1 = 0.5
self.experimentparams.pre.trigger.enabled = False
self.experimentparams.pre.trigger.frameidParent = 'Arena'
self.experimentparams.pre.trigger.frameidChild = 'Fly01'
self.experimentparams.pre.trigger.speedAbsParentMin = 0.0
self.experimentparams.pre.trigger.speedAbsParentMax = 999.0
self.experimentparams.pre.trigger.speedAbsChildMin = 0.0
self.experimentparams.pre.trigger.speedAbsChildMax = 999.0
self.experimentparams.pre.trigger.speedRelMin = 0.0
self.experimentparams.pre.trigger.speedRelMax = 999.0
self.experimentparams.pre.trigger.distanceMin = 0.0
self.experimentparams.pre.trigger.distanceMax = 999.0
self.experimentparams.pre.trigger.angleMin = 0.0 * np.pi / 180.0
self.experimentparams.pre.trigger.angleMax = 180.0 * np.pi / 180.0
self.experimentparams.pre.trigger.angleTest = 'inclusive'
self.experimentparams.pre.trigger.angleTestBilateral = False
self.experimentparams.pre.trigger.timeHold = 0.0
self.experimentparams.pre.trigger.timeout = -1
self.experimentparams.pre.wait2 = 0.0
# .robot, .lasergalvos, .ledpanels, and .post.trigger all run concurrently.
# The first one to finish preempts the others.
self.experimentparams.trial.robot.enabled = False
self.experimentparams.trial.lasergalvos.enabled = False
self.experimentparams.trial.ledpanels.enabled = True
self.experimentparams.trial.ledpanels.command = [
'trackview'
] # 'fixed', 'trackposition' (panel position follows fly position), or 'trackview' (panel position follows fly's viewpoint).
self.experimentparams.trial.ledpanels.idPattern = [1]
self.experimentparams.trial.ledpanels.origin = [Point(x=10, y=0)]
self.experimentparams.trial.ledpanels.frame_id = ['Fly01Forecast']
self.experimentparams.trial.ledpanels.statefilterHi = ['']
self.experimentparams.trial.ledpanels.statefilterLo = ['']
self.experimentparams.trial.ledpanels.statefilterCriteria = ['']
self.experimentparams.post.trigger.enabled = True
self.experimentparams.post.trigger.frameidParent = 'Arena'
self.experimentparams.post.trigger.frameidChild = 'Fly01'
self.experimentparams.post.trigger.speedAbsParentMin = 0.0
self.experimentparams.post.trigger.speedAbsParentMax = 999.0
self.experimentparams.post.trigger.speedAbsChildMin = 0.0
self.experimentparams.post.trigger.speedAbsChildMax = 999.0
self.experimentparams.post.trigger.speedRelMin = 0.0
self.experimentparams.post.trigger.speedRelMax = 999.0
self.experimentparams.post.trigger.distanceMin = 999.0
self.experimentparams.post.trigger.distanceMax = 111.0 # i.e. NEVER
self.experimentparams.post.trigger.angleMin = 0.0000 * np.pi / 180.0
self.experimentparams.post.trigger.angleMax = 359.9999 * np.pi / 180.0
self.experimentparams.post.trigger.angleTest = 'inclusive'
self.experimentparams.post.trigger.angleTestBilateral = False
self.experimentparams.post.trigger.timeHold = 0.0
self.experimentparams.post.trigger.timeout = 300 # 5 minute trials.
self.experimentparams.post.wait = 0.0
self.experimentlib = ExperimentLib.ExperimentLib(
self.experimentparams,
startexperiment_callback=self.StartExperiment_callback,
starttrial_callback=self.StartTrial_callback,
endtrial_callback=self.EndTrial_callback)
def __init__(self):
rospy.init_node('Experiment')
# Fill out the data structure that defines the experiment.
self.experimentparams = ExperimentParamsChoicesRequest()
self.experimentparams.experiment.description = 'Measure the temperature via the laser.'
self.experimentparams.experiment.maxTrials = -1
self.experimentparams.experiment.timeout = 600
self.experimentparams.save.filenamebase = 'lasertemp'
self.experimentparams.save.csv = False
self.experimentparams.save.bag = False
self.experimentparams.save.mov = False
self.experimentparams.save.imagetopic_list = ['camera/image_rect']
self.experimentparams.save.onlyWhileTriggered = True
self.experimentparams.robotspec.nRobots = 0
self.experimentparams.robotspec.width = 1.5875
self.experimentparams.robotspec.height = 1.5875
self.experimentparams.robotspec.isPresent = True # Set this to False if you remove the robot, but still want the actuation.
self.experimentparams.robotspec.description = 'Black oxide magnet'
self.experimentparams.flyspec.nFlies = 1
self.experimentparams.flyspec.description = 'unspecified'
self.experimentparams.tracking.exclusionzones.enabled = True
self.experimentparams.tracking.exclusionzones.point_list = [
Point(x=28.0, y=0.0)
]
self.experimentparams.tracking.exclusionzones.radius_list = [20.0]
self.experimentparams.home.enabled = False
self.experimentparams.home.x = rospy.get_param('motorarm/L1', 999)
self.experimentparams.home.y = 0.0
self.experimentparams.home.speed = 20
self.experimentparams.home.tolerance = 4
self.experimentparams.pre.robot.enabled = False
self.experimentparams.pre.lasergalvos.enabled = False
self.experimentparams.pre.ledpanels.enabled = False
self.experimentparams.pre.wait1 = 0
self.experimentparams.pre.trigger.enabled = False
self.experimentparams.pre.wait2 = 0.0
# .robot, .lasergalvos, .ledpanels, and .post.trigger all run concurrently.
# The first one to finish preempts the others.
self.experimentparams.trial.robot.enabled = False
self.experimentparams.trial.lasergalvos.enabled = True
self.experimentparams.trial.lasergalvos.statefilterLo_list = []
self.experimentparams.trial.lasergalvos.statefilterHi_list = []
self.experimentparams.trial.lasergalvos.statefilterCriteria_list = []
iFly = 1
self.experimentparams.trial.lasergalvos.pattern_list = []
self.experimentparams.trial.lasergalvos.pattern_list.append(
MsgPattern(
frameidPosition='Fly%02d' % iFly,
frameidAngle='Fly%02d' % iFly,
shape='grid',
hzPattern=40.0,
hzPoint=1000.0,
count=1,
points=[],
size=Point(x=3, y=3),
restart=False,
param=3, # Peano curve level.
direction=1), )
self.experimentparams.trial.ledpanels.enabled = False
self.experimentparams.post.trigger.enabled = True
self.experimentparams.post.trigger.frameidParent = 'Fly01'
self.experimentparams.post.trigger.frameidChild = 'Robot'
self.experimentparams.post.trigger.speedAbsParentMin = 0.0
self.experimentparams.post.trigger.speedAbsParentMax = 999.0
self.experimentparams.post.trigger.speedAbsChildMin = 0.0
self.experimentparams.post.trigger.speedAbsChildMax = 999.0
self.experimentparams.post.trigger.speedRelMin = 0.0
self.experimentparams.post.trigger.speedRelMax = 999.0
self.experimentparams.post.trigger.distanceMin = 999.0
self.experimentparams.post.trigger.distanceMax = 111.0 # Never
self.experimentparams.post.trigger.angleMin = 0.0 * np.pi / 180.0
self.experimentparams.post.trigger.angleMax = 180.0 * np.pi / 180.0
self.experimentparams.post.trigger.angleTest = 'inclusive'
self.experimentparams.post.trigger.angleTestBilateral = True
self.experimentparams.post.trigger.timeHold = 0.0
self.experimentparams.post.trigger.timeout = 600
self.experimentparams.post.wait = 0.0
self.experimentlib = ExperimentLib.ExperimentLib(
self.experimentparams,
startexperiment_callback=self.StartExperiment_callback,
starttrial_callback=self.StartTrial_callback,
endtrial_callback=self.EndTrial_callback)
def __init__(self):
rospy.init_node('Experiment')
# Fill out the data structure that defines the experiment.
self.experimentparams = ExperimentParamsChoicesRequest()
self.experimentparams.experiment.description = 'Fly Chases Robot Moving in Circle, with laser activation.'
self.experimentparams.experiment.maxTrials = -1
self.experimentparams.experiment.timeout = 600
self.experimentparams.save.filenamebase = 'lasertag'
self.experimentparams.save.csv = True
self.experimentparams.save.bag = True
self.experimentparams.save.mov = False
self.experimentparams.save.imagetopic_list = ['camera/image_rect']
self.experimentparams.save.onlyWhileTriggered = True
self.experimentparams.robotspec.nRobots = 1
self.experimentparams.robotspec.width = 1.5875
self.experimentparams.robotspec.height = 1.5875
self.experimentparams.robotspec.isPresent = True # Set this to False if you remove the robot, but still want the actuation.
self.experimentparams.robotspec.description = 'Black oxide magnet'
self.experimentparams.flyspec.nFlies = 1
self.experimentparams.flyspec.description = 'unspecified'
self.experimentparams.tracking.exclusionzones.enabled = False
self.experimentparams.tracking.exclusionzones.point_list = [Point(x=0.0, y=0.0)]
self.experimentparams.tracking.exclusionzones.radius_list = [0.0]
self.experimentparams.home.enabled = False
self.experimentparams.home.x = rospy.get_param('motorarm/L1', 999)
self.experimentparams.home.y = 0.0
self.experimentparams.home.speed = 20
self.experimentparams.home.tolerance = 4
self.experimentparams.pre.robot.enabled = True
self.experimentparams.pre.robot.move.mode = 'pattern' # 'pattern' or 'relative'
self.experimentparams.pre.robot.move.pattern.frameidPosition = ['Arena']
self.experimentparams.pre.robot.move.pattern.frameidAngle = ['Arena']
self.experimentparams.pre.robot.move.pattern.shape = ['circle'] # 'constant' or 'circle' or 'square' or 'flylogo' or 'spiral' or 'ramp'
self.experimentparams.pre.robot.move.pattern.hzPattern = [1/40]
self.experimentparams.pre.robot.move.pattern.hzPoint = [100]
self.experimentparams.pre.robot.move.pattern.count = [-1]
self.experimentparams.pre.robot.move.pattern.size = [Point(x=rospy.get_param('motorarm/L1', 999),
y=0)]
self.experimentparams.pre.robot.move.pattern.param = [0]
self.experimentparams.pre.robot.move.pattern.direction = [1]
self.experimentparams.pre.robot.move.pattern.restart = [False]
self.experimentparams.pre.lasergalvos.enabled = True
self.experimentparams.pre.lasergalvos.statefilterLo_list = []
self.experimentparams.pre.lasergalvos.statefilterHi_list = []
self.experimentparams.pre.lasergalvos.statefilterCriteria_list = []
iFly = 1
self.experimentparams.pre.lasergalvos.pattern_list = []
self.experimentparams.pre.lasergalvos.pattern_list.append(MsgPattern(
frameidPosition = 'Fly%02dForecast' % iFly,
frameidAngle = 'Fly%02dForecast' % iFly,
shape = 'grid',
hzPattern = 40.0,
hzPoint = 1000.0,
count = 1,
size = Point(x=2,
y=2),
restart = False,
param = 3, # Peano curve level.
direction = 1),
)
self.experimentparams.pre.ledpanels.enabled = False
self.experimentparams.pre.wait1 = 0#150.0
self.experimentparams.pre.trigger.enabled = True
self.experimentparams.pre.trigger.frameidParent = 'Fly01'
self.experimentparams.pre.trigger.frameidChild = 'Robot'
self.experimentparams.pre.trigger.speedAbsParentMin = 4.0
self.experimentparams.pre.trigger.speedAbsParentMax = 999.0
self.experimentparams.pre.trigger.speedAbsChildMin = 0.0
self.experimentparams.pre.trigger.speedAbsChildMax = 999.0
self.experimentparams.pre.trigger.speedRelMin = 0.0
self.experimentparams.pre.trigger.speedRelMax = 999.0
self.experimentparams.pre.trigger.distanceMin = 0.0
self.experimentparams.pre.trigger.distanceMax = 7.0
self.experimentparams.pre.trigger.angleMin = 0.0 * np.pi / 180.0
self.experimentparams.pre.trigger.angleMax = 60.0 * np.pi / 180.0
self.experimentparams.pre.trigger.angleTest = 'inclusive'
self.experimentparams.pre.trigger.angleTestBilateral = True
self.experimentparams.pre.trigger.timeHold = 0.0
self.experimentparams.pre.trigger.timeout = -1
self.experimentparams.pre.wait2 = 0.0
# .robot, .lasergalvos, .ledpanels, and .post.trigger all run concurrently.
# The first one to finish preempts the others.
self.experimentparams.trial.robot.enabled = True
self.experimentparams.trial.robot.move.mode = 'pattern' # 'pattern' or 'relative'
self.experimentparams.trial.robot.move.pattern.frameidPosition = ['Arena'] #
self.experimentparams.trial.robot.move.pattern.frameidAngle = ['Arena'] #
self.experimentparams.trial.robot.move.pattern.shape = ['circle'] # 'constant' or 'circle' or 'square' or 'flylogo' or 'spiral' or 'ramp'
self.experimentparams.trial.robot.move.pattern.hzPattern = [1/40]
self.experimentparams.trial.robot.move.pattern.hzPoint = [100]
self.experimentparams.trial.robot.move.pattern.count = [-1]
self.experimentparams.trial.robot.move.pattern.size = [Point(x=rospy.get_param('motorarm/L1', 999),
y=0)]
self.experimentparams.trial.robot.move.pattern.param = [0]
self.experimentparams.trial.robot.move.pattern.direction = [1]
self.experimentparams.trial.lasergalvos.enabled = False
self.experimentparams.trial.lasergalvos.statefilterLo_list = []
self.experimentparams.trial.lasergalvos.statefilterHi_list = []
self.experimentparams.trial.lasergalvos.statefilterCriteria_list = []
iFly = 1
self.experimentparams.trial.lasergalvos.pattern_list = []
self.experimentparams.trial.lasergalvos.pattern_list.append(MsgPattern(
frameidPosition = 'Fly%02dForecast' % iFly,
frameidAngle = 'Fly%02dForecast' % iFly,
shape = 'grid',
hzPattern = 40.0,
hzPoint = 1000.0,
count = 1,
size = Point(x=2,
y=2),
restart = False,
param = 3, # Peano curve level.
direction = 1),
)
self.experimentparams.trial.ledpanels.enabled = True
self.experimentparams.trial.ledpanels.command = ['fixed'] # 'fixed', 'trackposition' (panel position follows fly position), or 'trackview' (panel position follows fly's viewpoint).
self.experimentparams.trial.ledpanels.idPattern = [1]
self.experimentparams.trial.ledpanels.origin = [Point(x=0, y=0)]
self.experimentparams.trial.ledpanels.frame_id = ['Fly01Forecast']
self.experimentparams.trial.ledpanels.statefilterHi = ['']
self.experimentparams.trial.ledpanels.statefilterLo = ['']
self.experimentparams.trial.ledpanels.statefilterCriteria = ['']
self.experimentparams.post.trigger.enabled = True
self.experimentparams.post.trigger.frameidParent = 'Fly01'
self.experimentparams.post.trigger.frameidChild = 'Robot'
self.experimentparams.post.trigger.speedAbsParentMin = 0.0
self.experimentparams.post.trigger.speedAbsParentMax = 999.0
self.experimentparams.post.trigger.speedAbsChildMin = 0.0
self.experimentparams.post.trigger.speedAbsChildMax = 999.0
self.experimentparams.post.trigger.speedRelMin = 0.0
self.experimentparams.post.trigger.speedRelMax = 999.0
self.experimentparams.post.trigger.distanceMin = 15.0
self.experimentparams.post.trigger.distanceMax = 999.0
self.experimentparams.post.trigger.angleMin = 0.0 * np.pi / 180.0
self.experimentparams.post.trigger.angleMax =180.0 * np.pi / 180.0
self.experimentparams.post.trigger.angleTest = 'inclusive'
self.experimentparams.post.trigger.angleTestBilateral = True
self.experimentparams.post.trigger.timeHold = 0.0
self.experimentparams.post.trigger.timeout = 600
self.experimentparams.post.wait = 0.0
self.experimentlib = ExperimentLib.ExperimentLib(self.experimentparams,
startexperiment_callback = self.StartExperiment_callback,
starttrial_callback = self.StartTrial_callback,
endtrial_callback = self.EndTrial_callback)
