RoboRally/remote_control/roborally.py

import sys
import socket
import threading
import time

from mpc_controller import MPCController

import opencv_viewer_example

MSGLEN = 64
def myreceive(sock):
    chunks = []
    bytes_recd = 0
    while bytes_recd < MSGLEN:
        chunk = sock.recv(1)
        if chunk == b'':
            raise RuntimeError("socket connection broken")
        chunks.append(chunk)
        bytes_recd = bytes_recd + len(chunk)

        if chunks[-1] == b'\n':
            break

    return b''.join(chunks)


class Robot:
    # dictionary mapping the current orientation and a turn command to the resulting orientation
    resulting_orientation = {
        '^': {'turn left': '<', 'turn right': '>', 'turn around': 'v'},
        '>': {'turn left': '^', 'turn right': 'v', 'turn around': '<'},
        'v': {'turn left': '>', 'turn right': '<', 'turn around': '^'},
        '<': {'turn left': 'v', 'turn right': '^', 'turn around': '>'},
    }

    # dictionary mapping an orientation to its opposite
    opposites = {'^': 'v', '>': '<', 'v': '^', '<': '>'}

    def __init__(self, id, ip, x=0, y=0, orientation='>'):
        self.x = x
        self.y = y
        self.orientation = orientation

        self.id = id

        self.pos = None
        self.euler = None

        self.ip = ip
        self.socket = socket.socket()

        # currently active control
        self.u1 = 0.0
        self.u2 = 0.0

    def get_neighbor_coordinates(self, direction):
        # get the coordinates of the neighboring tile in the given direction
        if direction == '^':
            return (self.x, self.y - 1)
        elif direction == '>':
            return (self.x + 1, self.y)
        elif direction == 'v':
            return (self.x, self.y + 1)
        elif direction == '<':
            return (self.x - 1, self.y)
        else:
            print("error: unknown direction")
            sys.exit(1)

    def move(self, type):
        if type == 'forward':
            target_tile = self.get_neighbor_coordinates(self.orientation)
            self.x = target_tile[0]
            self.y = target_tile[1]
        elif type == 'backward':
            opposite_orientation = Robot.opposites[self.orientation]
            target_tile = self.get_neighbor_coordinates(opposite_orientation)
            self.x = target_tile[0]
            self.y = target_tile[1]
        elif 'turn' in type:
            self.orientation = Robot.resulting_orientation[self.orientation][type]
        else:
            print("error: invalid move")
            sys.exit(1)

    def connect(self):
        # connect to robot
        try:
            print("connecting to robot {} with ip {} ...".format(self.id, self.ip))
            #self.socket.connect((self.ip, 1234))  # connect to robot
            print("connected!")
        except socket.error:
            print("could not connect to robot {} with ip {}".format(self.id, self.ip))
            sys.exit(1)

    def send_cmd(self, u1=0.0, u2=0.0):
        if self.socket:
            try:
                self.socket.send(f'({u1},{u2})\n'.encode())
            except BrokenPipeError:
                #print(f"error: connection to robot {self.id} with ip {self.ip} lost")
                pass

    def __str__(self):
        return self.__repr__()

    def __repr__(self):
        return f"x: {self.x}, y: {self.y}, orienation: {self.orientation}"


class RemoteController:
    def __init__(self):
#        self.robots = #[Robot(11, '192.168.1.11', (6, -3, np.pi)), Robot(12, '192.168.1.12', (6, -3, np.pi)),
                      # Robot(13, '192.168.1.13', (6, -3, np.pi)), Robot(14, '192.168.1.14', (6, -2, np.pi))]
        #self.robots = [Robot(13, '192.168.1.13', (6, -3, np.pi))]
        #self.robots = []
        #self.robots = [Robot(11, '192.168.1.11', (6,-3,0)), Robot(14, '192.168.1.14', (6,3,0))]
        #self.robots = [Robot(11, '192.168.1.11'), Robot(14, '192.168.1.14')]
        self.robots = [Robot(12, '192.168.1.12')]

        self.robot_ids = {}
        for r in self.robots:
            self.robot_ids[r.id] = r

        self.valid_cmds = ['forward', 'backward', 'turn left', 'turn right', 'turn around', 'get position', 'set position']

        # socket for movement commands
        self.comm_socket = socket.socket()
        self.comm_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)

        for robot in self.robots:
            robot.connect()

        self.comm_socket.bind(('', 1337))
        self.comm_socket.listen(5)

        self.t = time.time()

        # start thread for marker position detection
        self.estimator = opencv_viewer_example.ArucoEstimator(self.robot_ids.keys())
        self.estimator_thread = threading.Thread(target=self.estimator.run_tracking)
        self.estimator_thread.start()

        self.controller = MPCController(self.estimator)

    def run(self):
        print("waiting until all markers are detected...")
        while not self.estimator.all_corners_detected():
            pass
        print("starting control")

        running = True
        while running:
            (clientsocket, address) = self.comm_socket.accept()
            clientsocket.settimeout(None)

            connected = True
            while connected:
                try:
                    data = myreceive(clientsocket)
                    print("data received: ", data)

                    inputs = data.split(b',')
                    cmd = inputs[0]
                    cmd = cmd.strip().decode()

                    if len(inputs) > 1:
                        if cmd in self.valid_cmds:
                                try:
                                    robot_id = int(inputs[1])
                                except ValueError:
                                    print("could not read robot id!")
                                    clientsocket.sendall(b'Could not read robot id!\n')

                                if robot_id in self.robot_ids:
                                    if cmd == b'get position':
                                        clientsocket.sendall(bytes('{}\n'.format(self.robot_ids[robot_id].grid_pos)))
                                    elif cmd == b'set position':
                                        try:
                                            pos_data = ",".join(inputs[2:])
                                            new_grid_pos = tuple(map(lambda x: int(x[1]) if x[0] < 2 else float(x[1]), enumerate(pos_data.strip().strip('()').split(','))))
                                            self.robot_ids[robot_id].grid_pos = new_grid_pos
                                            clientsocket.sendall(b'OK\n')
                                        except IndexError as e:
                                            print("could not set grid position!")
                                            clientsocket.sendall(bytes(
                                                'could not set grid position! (invalid format)\n'.format(
                                                    self.robot_ids[robot_id].grid_pos)))
                                        except ValueError as e:
                                            print("could not set grid position!")
                                            clientsocket.sendall(bytes('could not set grid position! (invalid format)\n'.format(self.robot_ids[robot_id].grid_pos)))
                                    else:
                                        self.grid_control(robot_id, cmd)
                                        clientsocket.sendall(b'OK\n')
                                else:
                                    print("invalid robot id!")
                                    clientsocket.sendall(b'Invalid robot id!\n')

                        else:
                            clientsocket.sendall(b'Invalid command!\n')
                    else:   # len(inputs) <= 1
                        if b'quit' in inputs[0]:
                            clientsocket.close()
                            self.comm_socket.close()
                            connected = False
                            running = False
                        else:
                            print("could not process command!")
                            clientsocket.sendall(b'Could not process request!\n')

                except RuntimeError:
                    print("disconnected")
                    connected = False
                    clientsocket.close()

    def grid_control(self, robot_id, cmd):
        robot = self.robot_ids[robot_id]    # get robot to be controlled

        print("robot grid pos before move: ", robot)
        robot.move(cmd)
        print("robot grid pos after move: ", robot)

        target = self.estimator.get_pos_from_grid_point(robot.x, robot.y, robot.orientation)

        self.controller.move_to_pos(target, robot)

def main(args):
    rc = RemoteController()

    rc.run()

if __name__ == '__main__':
    main(sys.argv)