initial commit for roboflut with a single robot
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commit
f3312ade7f
43
keyboard_controller.py
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43
keyboard_controller.py
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import socket
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import pygame
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pygame.init()
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pygame.display.set_mode((640, 480))
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rc_socket = socket.socket()
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try:
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rc_socket.connect(('127.0.0.1', 1337)) # connect to robot
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except socket.error:
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print("could not connect to socket")
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while True:
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u1 = 0
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u2 = 0
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vmax = 10.0
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events = pygame.event.get()
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for event in events:
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if event.type == pygame.KEYDOWN:
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if event.key == pygame.K_LEFT:
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u1 = -vmax / 10.0
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u2 = vmax/ 10.0
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print("turn left: ({},{})".format(u1, u2))
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elif event.key == pygame.K_RIGHT:
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u1 = vmax/ 10.0
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u2 = -vmax/ 10.0
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print("turn right: ({},{})".format(u1, u2))
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elif event.key == pygame.K_UP:
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u1 = vmax
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u2 = vmax
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print("forward: ({},{})".format(u1, u2))
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elif event.key == pygame.K_DOWN:
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u1 = -vmax
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u2 = -vmax
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print("backward: ({},{})".format(u1, u2))
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rc_socket.send('({},{})\n'.format(u1, u2))
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elif event.type == pygame.KEYUP:
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print("key released, resetting: ({},{})".format(u1, u2))
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rc_socket.send('({},{})\n'.format(u1, u2))
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180
roboflut.py
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180
roboflut.py
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import sys
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import socket
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import time
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import numpy as np
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import pygame
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from threading import Thread, Lock
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import scipy.integrate
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single_robot = True
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class Server:
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def __init__(self):
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self.ip = '127.0.0.1'
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self.recv_port = 1337 # port for receiving data
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self.send_port = 1338 # port for sending data
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self.recv_addr = socket.getaddrinfo(self.ip, self.recv_port)[0][-1]
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if not single_robot:
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self.robots = []
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else:
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self.rob = Robot()
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self.receiver = Thread(target=self.remote_control)
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self.receiver.start()
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def remote_control(self):
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print("setting up socket communication ...")
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recv_socket = socket.socket()
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recv_socket.bind(self.recv_addr)
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while True:
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print("waiting for connections on {} ...".format(self.recv_addr))
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recv_socket.listen(2)
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(comm_socket, address) = recv_socket.accept() # this blocks until someone connects to the socket
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print("starting thread for handling communication with {}".format(address))
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Thread(target=self.handle_communication, args=(comm_socket, address)).start()
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def handle_communication(self, socket, address):
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print("connected!")
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listening = True
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if not single_robot:
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rob = Robot()
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self.robots.append(rob)
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try:
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while listening:
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# expected data: '(u1, u2)'\n"
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# where ui = control for motor i
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# ui \in [-1.0, 1.0]
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data = socket.recv(4096)
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data_str = data.decode()
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#print("Data received: {}".format(data_str))
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#print("processing data = {}".format(data_str))
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l = data_str.strip('()\n').split(',')
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#print("l = {}".format(l))
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u1 = float(l[0])
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#print("u1 = {}".format(u1))
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u2 = float(l[1])
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#print("u2 = {}".format(u2))
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if single_robot:
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self.rob.set_control(u1, u2)
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else:
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rob.set_control(u1, u2)
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except ValueError:
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print("ValueError: Data has wrong format.")
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print("Data received: {}".format(data_str))
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except IndexError:
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print("IndexError: Data has wrong format.")
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print("Data received: {}".format(data_str))
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except Exception as e:
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print("Some other error occured")
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print("Exception: {}".format(e))
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finally:
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socket.close()
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if not single_robot:
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self.robots.remove(rob)
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class Robot:
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def __init__(self):
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self.x = np.array([0.0, 0.0, 0.0])
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self.u1 = 0.0
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self.u2 = 0.0
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self.r = 0.3
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self.R = 0.5
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self.d = 0.2
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self.mutex = Lock()
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self.omega_max = 50.0
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self.integrator = scipy.integrate.ode(self.f)
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self.integrator.set_integrator('dopri5')
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self.simulator = Thread(target=self.simulate)
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self.simulator.start()
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def set_control(self, u1, u2):
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self.mutex.acquire()
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try:
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self.u1 = u1
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self.u2 = u2
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finally:
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self.mutex.release()
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def simulate(self):
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t0 = time.time()
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t = time.time()-t0
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while True:
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self.mutex.acquire()
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try:
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self.integrator.set_f_params(self.omega_max * np.array([self.u1, self.u2]))
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finally:
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self.mutex.release()
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self.integrator.set_initial_value(self.x, t)
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dt = time.time() - t0 - t
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self.x = self.integrator.integrate(self.integrator.t + dt)
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t = time.time() - t0
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def f(self, t, x, u):
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r = self.r
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d = self.d
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R = self.R
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theta = x[2]
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omegar = u[0]
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omegal = u[1]
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dx = np.zeros((3,1))
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dx[0] = (r/2.0 * np.cos(theta) - r * d/(2.0 * R) * np.sin(theta)) * omegar + \
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(r/2.0 * np.cos(theta) + r * d/(2.0 * R) * np.sin(theta)) * omegal
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dx[1] = (r/2.0 * np.sin(theta) + r * d/(2.0 * R) * np.cos(theta)) * omegar + \
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(r/2.0 * np.sin(theta) - r * d/(2.0 * R) * np.cos(theta)) * omegal
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dx[2] = r/(2.0 * R) * (omegar - omegal)
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return dx
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def main(args):
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# wait for connections of socket
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s = Server()
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background_colour = (255, 255, 255)
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(width, height) = (640, 480)
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screen = pygame.display.set_mode((width, height))
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pygame.display.set_caption('Roboflut')
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screen.fill(background_colour)
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pygame.display.flip()
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running = True
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while running:
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r = s.rob
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#for r in s.robots:
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x = int(r.x[0] + width/2.0)
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y = int(r.x[1] + height / 2.0)
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phi = r.x[2]
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phases = ( phi + np.pi) % (2 * np.pi ) - np.pi
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if x < 0 or x > width or y < 0 or y > height:
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r.x[0] = 0.0
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r.x[1] = 0.0
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c = int((phases + 2.0 * np.pi) / (4.0 * np.pi) * 255)
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#color = (c, c, c)
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color = (0,0,0)
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screen.set_at((x, y), color)
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pygame.display.flip()
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if __name__ == '__main__':
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main(sys.argv)
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