/
BotNavigator.py
executable file
·151 lines (91 loc) · 2.81 KB
/
BotNavigator.py
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#!/usr/bin/env python
'''
===========================================================
Bot Navigator
Sycamore
Copyright (C) 2010 Saumitro Dasgupta.
This code is made available under the MIT License.
<http://www.opensource.org/licenses/mit-license.html>
===========================================================
'''
from BotController import *
from optparse import OptionParser
import xmlrpclib
from getch import *
class BotNavigator:
def __init__(self):
self.bot = None
self.lastBotCommand = None
self.angularVelocity = 50
self.linearVelocity = 200
self.isBraked = False
self.keyMap = {
'w':('self.bot.driveStraight', '( self.linearVelocity, )'),
's':('self.bot.driveStraight', '( -self.linearVelocity, )'),
'a':('self.bot.rotate', '( self.angularVelocity, )'),
'd':('self.bot.rotate', '( -self.angularVelocity, )'),
'q':('self.terminate', None),
' ':('self.toggleState', None)
}
def useRemoteController(self, uri):
self.bot = xmlrpclib.ServerProxy(uri, allow_none=True)
def useLocalController(self, devPath):
self.bot = BotController()
self.bot.connect(devPath)
self.bot.start()
self.bot.enterFullMode()
def isBotCommand(self, cmdStr):
return ( cmdStr.find('self.bot.')==0 )
def execCommand(self, funcName, argExp):
cmd = eval(funcName)
if argExp==None:
cmd()
else:
args = eval(argExp)
cmd(*args)
if self.isBotCommand(funcName):
self.isBraked = False
self.lastBotCommand = (funcName, argExp)
def terminate(self):
self.isRunning = False
def toggleState(self):
if(self.lastBotCommand == None):
return
self.isBraked = not self.isBraked
if (self.isBraked):
self.bot.brake()
else:
self.execCommand(*(self.lastBotCommand))
def navigate(self):
self.isRunning = True
while(self.isRunning):
ch = getch()
try:
cmdTuple = self.keyMap[ch]
self.execCommand(*cmdTuple)
except KeyError:
pass
self.bot.brake()
def displayIntro():
print "Bot Navigator for the iRobot Create\n\n"
print " [w, s] : Move forward / backward"
print " [a, d] : Rotate left / right"
print " [space] : Pause / Resume"
print " q : Terminate"
print "\n\n"
def main():
parser = OptionParser(usage='%prog [--server=url] [device_path ( eg: /dev/ttyS0)]',
description = 'Sycamore iRobot Create Navigator')
parser.add_option('-s','--server', dest='serverUrl', help = 'Use the specified RPC Server')
(options, args) = parser.parse_args()
if len(args)!=1 and (not options.serverUrl):
parser.error('Incorrect number of arguments')
botNav = BotNavigator()
if(options.serverUrl):
botNav.useRemoteController(options.serverUrl)
else:
botNav.useLocalController(options.args[0])
displayIntro()
botNav.navigate()
if __name__ == "__main__":
main()