def pacman_controller_py():
rospy.init_node('pacman_controller_py', anonymous=True)
pub = rospy.Publisher('pacmanActions1', actions, queue_size=10)
rospy.Subscriber('pacmanCoord1', pacmanPos, pacmanPosCallback)
rospy.Subscriber('ghostsCoord', ghostsPos, ghostsPosCallback)
rospy.Subscriber('cookiesCoord', cookiesPos, cookiesPosCallback)
rospy.Subscriber('bonusCoord', bonusPos, bonusPosCallback)
rospy.Subscriber('gameState', game, gameStateCallback)
rospy.Subscriber('performanceEval', performance, performanceCallback)
try:
mapRequestClient = rospy.ServiceProxy('pacman_world', mapService)
mapa = mapRequestClient("Controller2 py")
rospy.loginfo("# Obs: {}".format(mapa.nObs))
rospy.loginfo("minX : {} maxX : {}".format(mapa.minX, mapa.maxX))
rospy.loginfo("minY : {} maxY : {}".format(mapa.minY, mapa.maxY))
rate = rospy.Rate(10) # 10hz
msg = actions()
while not rospy.is_shutdown():
msg.action = random.choice([0, 1, 2, 3, 4])
#print(msg.action)
pub.publish(msg.action)
rate.sleep()
except rospy.ServiceException as e:
print("Error!! Make sure pacman_world node is running ")
def pacman_controller_py_sol():
global posx
global posy
global ghosts
global mode
global cookies
global pills
rospy.init_node('pacman_controller_py_sol', anonymous=True)
pub1 = rospy.Publisher('pacmanActions0', actions, queue_size=10)
pub2 = rospy.Publisher('pacmanActions1', actions, queue_size=50)
rospy.Subscriber('pacmanCoord0', pacmanPos, pacmanPosCallback)
rospy.Subscriber('ghostsCoord', ghostsPos, ghostsPosCallback)
rospy.Subscriber('cookiesCoord', cookiesPos, cookiesPosCallback)
rospy.Subscriber('bonusCoord', bonusPos, bonusPosCallback)
rospy.Subscriber('gameState', game, gameStateCallback)
rospy.Subscriber('performanceEval', performance, performanceCallback)
try:
mapRequestClient = rospy.ServiceProxy('pacman_world', mapService)
mapa = mapRequestClient("Controlador AI")
rospy.loginfo("# Obs: {}".format(mapa.nObs))
rospy.loginfo("minX : {} maxX : {}".format(mapa.minX, mapa.maxX))
rospy.loginfo("minY : {} maxY : {}".format(mapa.minY, mapa.maxY))
msg = actions()
rate = rospy.Rate(50) # 10hz
threading.Thread(target=pacman2, args=(msg, pub2, rate)).start()
threading.Thread(target=pacman1, args=(msg, pub1, rate, mapa)).start()
except rospy.ServiceException as e:
print("Error!! Make sure pacman_world node is running ")
def pacman_controller_py():
rospy.init_node('pacman_controller_py', anonymous=True)
pub = rospy.Publisher('pacmanActions0', actions, queue_size=10)
rospy.Subscriber('pacmanCoord0', pacmanPos, pacmanPosCallback)
rospy.Subscriber('ghostsCoord', ghostsPos, ghostsPosCallback)
rospy.Subscriber('cookiesCoord', cookiesPos, cookiesPosCallback)
rospy.Subscriber('bonusCoord', bonusPos, bonusPosCallback)
rospy.Subscriber('gameState', game, gameStateCallback)
rospy.Subscriber('performanceEval', performance, performanceCallback)
try:
mapRequestClient = rospy.ServiceProxy('pacman_world', mapService)
mapa = mapRequestClient("Controller py")
rospy.loginfo("# Obs: {}".format(mapa.nObs))
rospy.loginfo("minX : {} maxX : {}".format(mapa.minX, mapa.maxX))
rospy.loginfo("minY : {} maxY : {}".format(mapa.minY, mapa.maxY))
global min_X, min_Y, max_X, max_Y, obstx, obsty
obstx = np.zeros(mapa.nObs,dtype=int)
obsty = np.zeros(mapa.nObs,dtype=int)
for i in range(mapa.nObs):
obstx[i] = mapa.obs[i].x
obsty[i] = mapa.obs[i].y
min_X = mapa.minX
min_Y = mapa.minY
max_X = mapa.maxX
max_Y = mapa.maxY
nm = 0
rate = rospy.Rate(10) # 10hz
msg = actions();
actfl = open('/home/fulloa10/shared/action.txt','r+')
while not rospy.is_shutdown():
if 'y_P' in globals():
createM(nm)
a = actfl.read()
if a:
if a[-1] == '-':
a = random.randint(0, 3)
print('**************** a was generated randomly **********************')
elif a[-1].isdigit()
a = int(a[-1])
actfl.write('-')
msg.action = a;
pub.publish(msg.action)
rate.sleep()
nm+=1
except rospy.ServiceException as e:
print ("Error!! Make sure pacman_world node is running ")
def pacman_controller_py_sol():
ser = serial.Serial('/dev/ttyACM1', 9600)
rospy.init_node('pacman_controller_py_sol', anonymous=True)
pub = rospy.Publisher('pacmanActions0', actions, queue_size=10)
rospy.Subscriber('pacmanCoord0', pacmanPos, pacmanPosCallback)
rospy.Subscriber('ghostsCoord', ghostsPos, ghostsPosCallback)
rospy.Subscriber('cookiesCoord', cookiesPos, cookiesPosCallback)
rospy.Subscriber('bonusCoord', bonusPos, bonusPosCallback)
rospy.Subscriber('gameState', game, gameStateCallback)
rospy.Subscriber('performanceEval', performance, performanceCallback)
try:
mapRequestClient = rospy.ServiceProxy('pacman_world', mapService)
mapa = mapRequestClient("Controlador Remoto")
rospy.loginfo("# Obs: {}".format(mapa.nObs))
rospy.loginfo("minX : {} maxX : {}".format(mapa.minX, mapa.maxX))
rospy.loginfo("minY : {} maxY : {}".format(mapa.minY, mapa.maxY))
rate = rospy.Rate(20) # 10hz
msg = actions()
msg.action = 0
joysitckY = 511
joysitckX = 511
while not rospy.is_shutdown():
leyo = False
while not leyo:
try:
posicionJoystick = ser.readline()
joysitckY = int((posicionJoystick.split(","))[0])
joysitckX = int((posicionJoystick.split(","))[1])
if (joysitckY == 1023):
msg.action = 2
elif (joysitckY == 0):
msg.action = 3
if (joysitckX == 1023):
msg.action = 0
elif (joysitckX == 0):
msg.action = 1
leyo = True
except:
pass
pub.publish(msg.action)
rate.sleep()
except rospy.ServiceException as e:
print("Error!! Make sure pacman_world node is running ")
def pacman_controller_py_sol():
global posx
global posy
global ghosts
global mode
global cookies
global pills
rospy.init_node('pacman_controller_py_sol', anonymous=True)
pub = rospy.Publisher('pacmanActions0', actions, queue_size=10)
rospy.Subscriber('pacmanCoord0', pacmanPos, pacmanPosCallback)
rospy.Subscriber('ghostsCoord', ghostsPos, ghostsPosCallback)
rospy.Subscriber('cookiesCoord', cookiesPos, cookiesPosCallback)
rospy.Subscriber('bonusCoord', bonusPos, bonusPosCallback)
rospy.Subscriber('gameState', game, gameStateCallback)
rospy.Subscriber('performanceEval', performance, performanceCallback)
try:
mapRequestClient = rospy.ServiceProxy('pacman_world', mapService)
mapa = mapRequestClient("Controlador AI")
rospy.loginfo("# Obs: {}".format(mapa.nObs))
rospy.loginfo("minX : {} maxX : {}".format(mapa.minX, mapa.maxX))
rospy.loginfo("minY : {} maxY : {}".format(mapa.minY, mapa.maxY))
g = game2(mapa.minX, mapa.minY, mapa.maxX, mapa.maxY, mapa.nObs)
for o in mapa.obs:
x = o.x
y = o.y
g.add_obs([x, y])
g.init_matrix()
g.init_mapn()
g.floyd_warshall()
rate = rospy.Rate(10) # 10hz
msg = actions()
while not rospy.is_shutdown():
neighs = g.neighbours([posx - g.xmin, posy - g.ymin])
optimalindex = 0
optimal = -np.inf
for i in range(len(neighs)):
eval = g.evaluate(neighs[i], cookies, pills, ghosts, mode)
rospy.loginfo('eval: {}'.format(eval))
if eval > optimal:
optimal = eval
optimalindex = i
msg.action = eval_mov([posx - g.xmin, posy - g.ymin],
neighs[optimalindex])
pub.publish(msg.action)
rate.sleep()
except rospy.ServiceException as e:
print("Error!! Make sure pacman_world node is running ")
def pacman_controller_py():
rospy.init_node('pacman_controller_py', anonymous=True)
pub = rospy.Publisher('pacmanActions0', actions, queue_size=10)
rospy.Subscriber('pacmanCoord0', pacmanPos, pacmanPosCallback)
rospy.Subscriber('ghostsCoord', ghostsPos, ghostsPosCallback)
rospy.Subscriber('cookiesCoord', cookiesPos, cookiesPosCallback)
rospy.Subscriber('bonusCoord', bonusPos, bonusPosCallback)
rospy.Subscriber('gameState', game, gameStateCallback)
rospy.Subscriber('performanceEval', performance, performanceCallback)
try:
mapRequestClient = rospy.ServiceProxy('pacman_world', mapService)
mapa = mapRequestClient("Controller py")
rospy.loginfo("# Obs: {}".format(mapa.nObs))
rospy.loginfo("minX : {} maxX : {}".format(mapa.minX, mapa.maxX))
rospy.loginfo("minY : {} maxY : {}".format(mapa.minY, mapa.maxY))
rate = rospy.Rate(10) # 10hz
msg = actions()
msg.action = 4
while not rospy.is_shutdown():
#random controller
#msg.action = random.choice([0,1,2,3,4]);
#Joystic Controller
# move = joystickReader.readPad()
# if(move!=4):
# msg.action = move
#Serial controler
move = serialReader.serialKey()
print("Action move: {}".format(move))
if (move != 4):
msg.action = move
print("Action msg.action: {}".format(msg.action))
pub.publish(msg.action)
rate.sleep()
except rospy.ServiceException as e:
print("Error!! Make sure pacman_world node is running ")
def control_pacman():
rospy.init_node('control_pacman', anonymous=True)
pub = rospy.Publisher('pacmanActions0', actions, queue_size=10)
rospy.Subscriber('performanceEval', performance, callback_performance)
try:
mapRequestClient = rospy.ServiceProxy('pacman_world', mapService)
resp = mapRequestClient("Eyberth")
mapa = Mapa(resp)
print(mapa.obs[0].x, mapa.obs[0].y)
rate = rospy.Rate(10) # 10hz
msg = actions()
while not rospy.is_shutdown():
msg.action = random.choice([0, 1, 2, 3, 4])
pub.publish(msg.action)
rate.sleep()
except rospy.ServiceException as e:
print("Service call failed")
def talker():
rospy.init_node('talker', anonymous=True)
pub = rospy.Publisher('pacmanActions0', actions, queue_size=10)
mapRequestclient=rospy.ServiceProxy('pacman_world', mapService)
mapa=mapRequestclient("jugador1")
rate = rospy.Rate(10) # 10hz
msg = actions()
#Codigo de pynput
def on_press(key): #Funcion al detectar una tecla presionada
print('{0} pressed'.format(key))
def on_release(key): #Funcion al soltar una tecla
print('{0} release'.format(key))
if key == Key.esc: #Con ESC finaliza este thread
return False
if key == key.right:
msg.action= 2
if key == key.up:
msg.action= 0
if key == key.down:
msg.action= 1
if key == key.left:
msg.action= 3
def ThreadInputs(): #Listener de Pynput en otro thread
with Listener(on_press=on_press, on_release=on_release) as listener:
listener.join()
#Inicia el hilo de pynput
threading.Thread(target=ThreadInputs).start()
while not rospy.is_shutdown():
#msg.action = 1
pub.publish(msg.action)
rate.sleep()
def pacman_maper_py():
ingr = []
global nPacmanM, pacmanPosMx, pacmanPosMy, optimo, IND, unaVez, pac_pos_Y, pac_pos_X, nPacmanM1, pacmanPosMx1, pacmanPosMy1, nCookiesM, cookiesPosM, eatenCookies
rospy.init_node('controller_py', anonymous=True)
rospy.Subscriber('pacmanCoord0', pacmanPos, pacmanPosCallback)
rospy.Subscriber('cookiesCoord', cookiesPos, cookiesPosCallback)
#Creacion del publicador
pub = rospy.Publisher('pacmanActions0', actions, queue_size=10)
try:
if (nCookiesM == 0):
print("FIN DE JUEGO")
sys.exit()
rate = rospy.Rate(1 / 0.15) # 1/(150ms) Hz
msg = actions()
mapRequestClient = rospy.ServiceProxy('pacman_world', mapService)
mapa = mapRequestClient("Santi")
#matriz
A = [[' ' for x in range(1 + mapa.maxX - mapa.minX)]
for y in range(1 + mapa.maxY - mapa.minY)]
#obstacles
for o in range(mapa.nObs):
A[-mapa.obs[o].y - mapa.minY][mapa.obs[o].x - mapa.minX] = '#'
#plot matrix 1
#for i in range(1 + mapa.maxY - mapa.minY):
# print(A[i])
time.sleep(
6
) #Se da un tiempo de gracia de 6 seg pues la matriz de juego cambia entre
while not rospy.is_shutdown():
if (nCookiesM == 0):
print("FIN DE JUEGO")
sys.exit()
print('INICIO while not shut down')
A = [[' ' for x in range(1 + mapa.maxX - mapa.minX)]
for y in range(1 + mapa.maxY - mapa.minY)]
#obstacles
for o in range(mapa.nObs):
A[-mapa.obs[o].y - mapa.minY][mapa.obs[o].x - mapa.minX] = '#'
#pacman
A[-pacmanPosMy - mapa.minY][pacmanPosMx - mapa.minX] = 'P' #Pacman
if (nPacmanM == 2):
A[-pacmanPosMy1 - mapa.minY][pacmanPosMx1 -
mapa.minX] = 'p' #MsPacman
#cookies
for c in range(nCookiesM):
A[-cookiesPosM[c].y - mapa.minY][cookiesPosM[c].x -
mapa.minX] = 'c'
#plot matrix inf
#for i in range(1 + mapa.maxY - mapa.minY):
# print(A[i])
#Definicion numero de filas y columnas para crear matrices de apoyo
filas = len(A)
columnas = len(A[1])
#Se crea la matriz de indices de tamano filasxcolumnas
print("Una vez(1):", unaVez)
if unaVez:
IND = [[0 for x in range(columnas)] for y in range(filas)]
unaVez = False
print("Entro")
q = queue.Queue()
pac_pos_Y = -pacmanPosMy - mapa.minY
pac_pos_X = pacmanPosMx - mapa.minX
#line division
print('')
q.put("")
nuevo = ""
ingr = []
t0_cookie = time.time()
while not finalizo(A, nuevo) and nCookiesM != 0:
nuevo = q.get()
for j in ["L", "R", "U", "D"]:
ingr = nuevo + j
#print(ingr)
#print("la lista es",list(q.queue))
if mov_valido(A, ingr):
K = notVisited(IND, ingr)
IND = K[1]
if K[0]:
q.put(ingr)
tf_cookie = time.time() - t0_cookie
print("camino optimo es:", optimo)
print("El tiempo en encontrarlo fue:", tf_cookie)
comandos = [0 for i in range(len(optimo))]
cont = 0
for j in optimo:
if j == "U":
comandos[cont] = 0
if j == "D":
comandos[cont] = 1
if j == "R":
comandos[cont] = 2
if j == "L":
comandos[cont] = 3
cont = cont + 1
#print(comandos)
print("Conteo Mov")
t0_mov = time.time()
for i in comandos:
msg.action = i
pub.publish(msg.action)
time.sleep(0.15)
msg.action = 4
pub.publish(msg.action)
msg.action = 4
pub.publish(msg.action)
tf_map = time.time() - t0_mov
print("El tiempo en recorrer el mapa fue:", tf_map)
rate.sleep()
except rospy.ServiceException as e:
print("Error!! Make sure pacman_world node is running ")
# Variable para mantener el nodo corriendo
running = True
#----------------------------------------------------------------------
# LOGICA DEL NODO
#----------------------------------------------------------------------
# Inicializamos el nodo, creamos un publisher y un suscriptor
rospy.init_node('grupo15_punto1', anonymous=True)
pub = rospy.Publisher('pacmanActions0', actions, queue_size=10)
rospy.Subscriber('pacmanCoord0', pacmanPos, posCallback)
# Enviamos la solicitud para iniciar el juego
mapRequestClient = rospy.ServiceProxy('pacman_world', mapService)
mapa = mapRequestClient(nombre)
# Enviamos el comando para controlar a Pacman
rate = rospy.Rate(60)
msg = actions()
print('Para terminar la ejecucion presione ESC y luego CTRL + C')
# Lanzamos el hilo que revisa que tecla esta siendo presionada.
key.start()
# Ciclo en el cual trabaja el nodo.
while not rospy.is_shutdown():
msg.action = key.getNumber()
pub.publish(msg.action)
rate.sleep()
def right_hand():
rospy.init_node('right_hand', anonymous=True)
pub = rospy.Publisher('pacmanActions0', actions, queue_size=10)
rospy.Subscriber('pacmanCoord0', pacmanPos, pacmanPosCallback)
rospy.Subscriber('ghostsCoord', ghostsPos, ghostsPosCallback)
rospy.Subscriber('cookiesCoord', cookiesPos, cookiesPosCallback)
rospy.Subscriber('bonusCoord', bonusPos, bonusPosCallback)
rospy.Subscriber('gameState', game, gameStateCallback)
rospy.Subscriber('performanceEval', performance, performanceCallback)
#rospy.spin()
try:
mapRequestClient = rospy.ServiceProxy('pacman_world', mapService)
mapa = mapRequestClient("Leyendo mapa")
obs = mapa.obs
rate = rospy.Rate(6.666666666666666666666666666666666666)
msg = actions()
global actualAction
actualAction = 2
tiempo = 0.00000000000000000000000000000000001
while not rospy.is_shutdown():
#pacmanPosCallback0(pacmanPos())
print(pacmanX)
print(pacmanY)
#actionsCallback(actions)
paredIzquierda = False
paredDerecha = False
paredAbajo = False
paredArriba = False
for i in obs:
obsX = i.x
obsY = i.y
if ((obsX == pacmanX - 1) and (obsY == pacmanY)):
paredIzquierda = True
if ((obsX == pacmanX + 1) and (obsY == pacmanY)):
paredDerecha = True
if ((obsX == pacmanX) and (obsY == pacmanY + 1)):
paredArriba = True
if ((obsX == pacmanX) and (obsY == pacmanY - 1)):
paredAbajo = True
if (actualAction == 0):
print("Ciclo 0")
if not (paredDerecha):
nextAction = 2
elif not (paredArriba):
nextAction = 0
elif not (paredIzquierda):
nextAction = 3
else:
nextAction = 1
elif (actualAction == 1):
print("Ciclo 1")
if not (paredIzquierda):
nextAction = 3
elif not (paredAbajo):
nextAction = 1
elif not (paredDerecha):
nextAction = 2
else:
nextAction = 0
elif (actualAction == 2):
print("Ciclo 2")
if not (paredAbajo):
nextAction = 1
elif not (paredDerecha):
nextAction = 2
elif not (paredArriba):
nextAction = 0
else:
nextAction = 3
elif (actualAction == 3):
print("Ciclo 3")
if not (paredArriba):
nextAction = 0
elif not (paredIzquierda):
nextAction = 3
elif not (paredAbajo):
nextAction = 1
else:
nextAction = 2
msg.action = nextAction
actualAction = nextAction
print(msg.action)
pub.publish(msg.action)
rate.sleep()
except rospy.ServiceException as e:
print("Error!! Make sure pacman_world node is running", e)