def __init__(self):
try:
from soar.serial import Serial
except ImportError:
print(
"You are missing some serial support libraries. Probably you are on windows and you need to get pywin32. Check out http://sourceforge.net/projects/pywin32/ for details."
)
raise CancelGUIAction
self.portName = settings.SERIAL_PORT_NAME
self.sonarsChanged = [0, 0, 0, 0, 0, 0, 0, 0]
self.connectionState = STATE_NO_SYNC
self.port = None
self.lastxpos, self.lastypos = 0, 0
self.storedsonars = SharedVar([0, 0, 0, 0, 0, 0, 0, 0])
self.temperature = SharedVar(0)
self.ldr = SharedVar([0, 0])
self.trans, self.rot = SharedVar(0), SharedVar(0)
self.odpose = SharedVar((0, 0, 0))
self.stalled = SharedVar(False)
self.analogInputs = SharedVar([0, 0, 0, 0])
self.analogOut = SharedVar(0)
self.asynchronous = True
self.setters = {
"motorOutput": self.motorOutput,
"discreteMotorOutput": self.discreteMotorOutput,
"say": self.cmdSay,
"analogOutput": self.analogOutput,
"setMaxEffectiveSonarDistance": self.setMaxEffectiveSonarDistance,
"enableAccelerationCap": self.enableAccelerationCap,
"setMaxVelocities": self.setMaxVelocities
}
self.getters = {
"pose": self.odpose.get,
"sonarDistances": self.storedsonars.get,
"stalled": self.stalled.get,
"analogInputs": self.analogInputs.get
}
debug("Pioneer variables set up", 2)
self.serialready = False
try:
self.open(Serial)
debug("Serial Connection started", 2)
except:
debug("Could not open the serial port", 0)
raise CancelGUIAction("Error opening serial port")
self.cmdEnable(1)
debug("Robot cmdEnabled", 2)
app.soar.addFlowTriplet(
(self.startmoving, self.update, self.stopmoving))
self.currentthread = None
self.acceptMotorCmds = False
self.startSerialThread()
def initGlobals(self, reset=False):
self.storedsonars = SharedVar()
self.oldsonars = SharedVar()
self.reallyoldsonars = SharedVar()
self.v = SharedVar(0.0)
self.w = SharedVar(0.0)
self.abspose = SharedVar(
(self.world.init[0], self.world.init[1], self.world.init[2]))
self.odpose = SharedVar((0.0, 0.0, 0.0))
self.analogInputs = SharedVar((0.0, 0.0, 0.0, 0.0))
if not reset:
self.obstacles = []
if self.world.width > self.world.height:
self.simheight = MAX_SIM_WIDTH * self.world.height / self.world.width
self.simwidth = MAX_SIM_WIDTH
else:
self.simwidth = MAX_SIM_HEIGHT * self.world.width / self.world.height
self.simheight = MAX_SIM_HEIGHT
self.pxmax = float(self.world.width)
self.pxmin = 0.0
self.pymax = float(self.world.height)
self.pymin = 0.0
self.cxmax = float(self.simwidth - 5)
self.cxmin = 5.0
self.cymax = 5.0
self.cymin = float(self.simheight - 5)
self.pxtocx = (self.cxmax - self.cxmin) / (self.pxmax - self.pxmin)
self.pytocy = (self.cymax - self.cymin) / (self.pymax - self.pymin)
self.cxtopx = (self.pxmax - self.pxmin) / (self.cxmax - self.cxmin)
self.cytopy = (self.pymax - self.pymin) / (self.cymax - self.cymin)
self.pxcxconstant = self.cxmin - self.pxmin * self.pxtocx
self.pycyoffset = self.cymin - self.pymin * self.pytocy
self.cxpxoffset = self.pxmin - self.cxmin * self.cxtopx
self.cypyoffset = self.pymin - self.cymin * self.cytopy
else:
self.drawRobot()
self.updateSonars()
self.inrobot = False
self.stalled = SharedVar(False)
def __init__(self):
try:
from soar.serial import Serial
except ImportError:
print "You are missing some serial support libraries. Probably you are on windows and you need to get pywin32. Check out http://sourceforge.net/projects/pywin32/ for details."
raise CancelGUIAction
self.sonarValues = [0, 0, 0, 0, 0, 0]
self.all_Values = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
self.port = None
self.serialReady = False
self.ldrvalue = [0, 0]
self.p_value = [0, 0]
self.acc_values = [0, 0, 0, 0, 0, 0]
self.pos_values = [0, 0, 0]
self.EKF = Locator_EKF([0., 0.], 0.)
self.offset_counter = 0
self.thread_flag = 0
self.heading = 0.
self.offset_counter_iteration = 200
self.Ultrasonic_rear_right = 0
self.Ultrasonic_right = 0
self.Ultrasonic_front = 0
self.Ultrasonic_left = 0
self.Ultrasonic_rear_left = 0
self.Ultrasonic_back = 0
self.portName = -1
self.sonarsChanged = [0, 0, 0, 0, 0, 0, 0, 0] #Change to 6 after
self.from_update = 0
self.connectionState = STATE_NO_SYNC
self.port = None
self.lastxpos, self.lastypos = 0, 0
self.storedsonars = SharedVar([0, 0, 0, 0, 0, 0, 0,
0]) #Change to 6 after
self.trans, self.rot = SharedVar(0), SharedVar(0)
self.odpose = SharedVar((0, 0, 0))
self.stalled = SharedVar(False)
self.analogInputs = SharedVar([0, 0, 0, 0])
self.analogOut = SharedVar(0)
self.asynchronous = True
self.zero_recv_cnt = 0 # Added -> Not in pioneer
self.setters = {
"motorOutput": self.motorOutput,
"discreteMotorOutput": self.discreteMotorOutput,
"say": self.cmdSay,
"analogOutput": self.analogOutput,
"setMaxEffectiveSonarDistance": self.setMaxEffectiveSonarDistance,
"enableAccelerationCap": self.enableAccelerationCap,
"setMaxVelocities": self.setMaxVelocities
}
self.getters = {
"pose": self.odpose.get,
"sonarDistances": self.storedsonars.get,
"stalled": self.stalled.get,
"analogInputs": self.analogInputs.get
}
debug("eBot variables set up", 2)
self.serialReady = False
self.prev_sonar = [0, 0, 0, 0, 0, 0]
try:
self.connect(Serial)
self.open()
debug("Serial Connection started", 2)
print "eBot connection successful"
except:
sys.stderr.write("Couldn't connect to eBot.\n")
sys.stderr.write(
"- Check if eBot is on, paired and connected. If not, power up and try again. \n"
)
#sys.stderr.write("- Check to see if COM port below is eBot. If not, remove device and try again. \n")
debug("Could not open the serial port", 0)
print 5
raise CancelGUIAction("Error opening serial port")
app.soar.addFlowTriplet(
(self.startmoving, self.update, self.stopmoving))
self.currentthread = None
self.acceptMotorCmds = False
self.startSerialThread()
sleep(7)
