/
MainLowLogic.py
executable file
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MainLowLogic.py
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#Robo Main
Robo=True
from Scanner import *
from Encoder import *
import Kompass
from Karte import *
from Plan import *
from MotorPWM import *
from Grid import *
from Logic import *
from ManuellKey import *
from SendJson import *
from Weggeber import *
import sys
import atexit
import os
import profile
from Loggerli import *
count=1
speed=0
steer=0
timer=0
deltaL=0
deltaR=0
encoder=Encoder()
navigation=Navigation()
scanner=Scanner()
karte=Karte(encoder)
plan=Plan()
motor_pwm=MotorPWM()
grid=Grid(220,220)
logic=Logic()
manuell=Manuell()
json=Json()
weggeber=Weggeber(motor_pwm)
loops =0
grid.setZielInGrid(900,900)
grid.setStartInGrid(0,0)
karte.setRoboPosZero(0,0)
logic.setGlobalZiel(0,0)
ziellist =[[2800,0],[2800,2800],[0,2800],[0,0]]
plan.init_generator_ziel(ziellist)
filename_enviroment = "Weg"
#sys.stdout = Logger() #Schreibe stdout in Datei logfile.log
def cleaning():
"""Do cleanup at end, command are visVersa"""
motor_pwm.setCommand(0,0)
atexit.register(cleaning)
ThreadEncoder=Thread(target=encoder.runAllTime,args=())
ThreadEncoder.daemon=True
ThreadEncoder.start()
ThreadEncoder=Thread(target=manuell.runManuell,args=())
ThreadEncoder.daemon=True
ThreadEncoder.start()
ThreadScanAllTime=Thread(target=scanner.runAllTime, args=(1,))
ThreadScanAllTime.daemon=True
ThreadScanAllTime.start()
sleep(1)
while Robo==True:
encoder.setLedHigh()
os.system("clear")
#get Distances from IR-Sensors and Lidar
dist_front, dist_left , dist_right, _ = scanner.getFixData()
obstacles = scanner.getNewDistValues()
print(dist_front,dist_left, dist_right)
#Obstacles eintragen
karte.updateObstacles(obstacles)
#Obstacles von Pumper eintragen
pumperL,pumperR=encoder.getPumper()
deltaH = encoder.getDistCounts()
pumperL, pumperR = logic.blocked(steer,speed,deltaH, pumperL, pumperR)
karte.updateHardObstacles(pumperL,pumperR)
#Grid
x,y,pose=karte.getRoboPos()
#print("Pose:"+str(int(pose)))
grid.setStartInGrid(x,y)
walls=karte.getObstacles()
grid.obstaclesInGrid(walls)
#grid.addClearance()
#grid.saveGridObstacles()
#solved_path = grid.getSolvedPath(steer,speed,motor)
#Position updaten
weggeber.runAllTime()
deltaL,deltaR=weggeber.getPulseLR()
speedL,speedR = weggeber.getSpeedLR()
kompassCourse=Kompass.getKompass()
karte.updateRoboPos(deltaL,deltaR,kompassCourse)
#karte.saveRoboPath()
encoder.clearEncoderLR()
encoder.clearEncoderDist()
weggeber.clearWeggeberLR()
#Send Data via NET
solved_path = []
roundet_walls=grid.getRoundetWalls()
#print(roundet_walls)
json.sendVisual(roundet_walls, [[x,y]],solved_path)
logic.setRoboPos(x,y,pose)
#Ziel erreicht?
ziel_x, ziel_y, ziel_done = plan.nextZielPattern(x,y)
print("Ziel ist: "+ str(ziel_x) +" "+str(ziel_y))
logic.setGlobalZiel(ziel_x,ziel_y)
#Plan next Steps
steer,speed=logic.wsa(dist_front,dist_left,dist_right,pumperL,pumperR)
steer,speed=logic.checkPumperStatus(pumperL,pumperR,steer,speed)
print(round(steer,3),speed)
#speed_L,speed_R = encoder.getSpeedLR()
#motor.booster(speed_L,speed_R)
#print(grid.getGridObstacles())
#Save environment
#logic.save_environment(grid.getGridObstacles(), karte.getRoboPath(), filename_enviroment )
#Manuell Control
steer,speed=manuell.getManuellCommand()
print(steer,speed)
#Motor Outputs
motor_pwm.setCommand(steer,speed,speedL*0.8,speedR*0.8)
#Position Ausgeben
print(karte.getRoboPos())
if ziel_done == True:
motor_pwm.setCommand(0,0)
sleep(1)
if encoder.getTastenPress() > 0.1:
motor_pwm.setCommand(0,0)
sleep(5)
if encoder.getTastenPress() > 2:
motor_pwm.setCommand(0,0)
print("By By goto Sleep")
sleep(4)
if encoder.getTastenPress() > 6:
os.system("sudo shutdown -h 1")
sys.exit()
else:
sys.exit()
Spann, _ = scanner.sonar1.GetBatSpann()
if Spann < 7:
print("ACHTUNG BATTERIE LEER")
print("************")
loops =loops+1
if loops > 2000:
motor_pwm.setCommand(0,0)
sleep(2)
loops = 0
encoder.setLedLow()
sleep(0.15)