RoboRally/remote_control/roborally.py

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import sys
import socket
import threading
import time
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from mpc_controller import MPCController
from robot import Robot
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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)
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class RoboRallyRobot(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, y, orientation):
super().__init__(id, ip)
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self.grid_x = x
self.grid_y = y
self.grid_orientation = orientation
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def get_neighbor_coordinates(self, direction):
# get the coordinates of the neighboring tile in the given direction
if direction == '^':
return self.grid_x, self.grid_y - 1
elif direction == '>':
return self.grid_x + 1, self.grid_y
elif direction == 'v':
return self.grid_x, self.grid_y + 1
elif direction == '<':
return self.grid_x - 1, self.grid_y
else:
print("error: unknown direction")
sys.exit(1)
def move(self, move_type):
if move_type == 'forward':
target_tile = self.get_neighbor_coordinates(self.grid_orientation)
self.grid_x = target_tile[0]
self.grid_y = target_tile[1]
elif move_type == 'backward':
opposite_orientation = RoboRallyRobot.opposites[self.grid_orientation]
target_tile = self.get_neighbor_coordinates(opposite_orientation)
self.grid_x = target_tile[0]
self.grid_y = target_tile[1]
elif 'turn' in move_type:
self.grid_orientation = RoboRallyRobot.resulting_orientation[self.grid_orientation][move_type]
elif 'nop' in move_type:
pass # nop command -> robot grid position does not change (used e.g. for driving the robot to initial
# position)
else:
print("error: invalid move")
sys.exit(1)
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def __str__(self):
return self.__repr__()
def __repr__(self):
return f"grid x: {self.grid_x}, grid y: {self.grid_y}, grid orientation: {self.grid_orientation}"
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class RemoteController:
valid_cmds = ['forward', 'backward', 'turn left', 'turn right', 'turn around', 'nop', 'get position',
'set position', 'initialize_robot', 'initialize_grid']
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def __init__(self):
self.robots = []
self.robots = [RoboRallyRobot(12, '192.168.1.12', x=1, y=1, orientation='>')]
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self.robot_ids = {}
for r in self.robots:
self.robot_ids[r.id] = r
# socket for movement commands
self.comm_socket = socket.socket()
self.comm_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
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for robot in self.robots:
robot.connect()
self.comm_socket.bind(('', 1337))
self.comm_socket.listen(5)
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self.t = time.time()
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# 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()
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self.controller = MPCController(self.estimator)
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print("waiting for corner and robot detection..")
while not self.estimator.all_robots_detected() or not self.estimator.all_corners_detected():
pass
print("everything detected!")
# drive robots to initial position
for robot_id in self.robot_ids:
self.grid_control(robot_id, 'nop')
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def run(self):
print("waiting until all markers are detected...")
while not self.estimator.all_corners_detected():
pass
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print("starting control")
running = True
while running:
(clientsocket, address) = self.comm_socket.accept()
clientsocket.settimeout(None)
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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 RemoteController.valid_cmds:
if cmd == 'initialize_grid':
try:
grid_columns = int(inputs[1])
grid_rows = int(inputs[2])
self.estimator.grid_columns = grid_columns
self.estimator.grid_rows = grid_rows
clientsocket.sendall(b'OK\n')
except ValueError:
print("could not initialize grid!")
clientsocket.sendall(b'"could not initialize grid!\n'
b'expected: initialize_robot, <grid columns>, <grid rows>')
except IndexError:
print("could not initialize grid!")
clientsocket.sendall(b'"could not initialize grid!\n'
b'expected: initialize_robot, <grid columns>, <grid rows>')
else: # robot command
try:
robot_id = int(inputs[1])
except ValueError:
robot_id = None
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:
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self.grid_control(robot_id, cmd)
clientsocket.sendall(b'OK\n')
elif cmd == 'initialize_robot':
# add a new robot to the game
try:
id = int(inputs[1])
ip = inputs[2].decode().strip()
x = int(inputs[3])
y = int(inputs[4])
orientation = inputs[5].decode().strip()
print(f"initializing new robot with id {id} and ip {ip} at pos ({x},{y}) with "
f"orientation '{orientation}'")
new_robot = RoboRallyRobot(id=id, ip=ip, x=x, y=y, orientation=orientation)
new_robot.connect()
if new_robot.connected:
print("created new robot and successfully connected to it!")
# store the new robot in the list of robots
self.robots.append(new_robot)
self.robot_ids[new_robot.id] = new_robot # this also means the estimator
# will track the new robot because
# it got a reference to the list of
# robot ids to keep an eye out for
while not self.estimator.all_robots_detected(): # wait until the robot gets detected
pass
# drive the new robot to its starting position
self.grid_control(new_robot.id, 'nop')
clientsocket.sendall(b'OK\n')
else:
clientsocket.sendall(f"error: could not connect to new robot {new_robot}".encode())
except IndexError:
print("could not initialize a new robot")
clientsocket.sendall('could not initialize a new robot: invalid command format\n'
'expected: initialize_robot, <id>, <ip>, <x>, <y>, <orientation>\n'.encode())
except ValueError:
print("could not initialize a new robot")
clientsocket.sendall('could not initialize a new robot: invalid command format\n'
'expected: initialize_robot, <id>, <ip>, <x>, <y>, <orientation>\n'.encode())
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()
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def grid_control(self, robot_id, cmd):
robot = self.robot_ids[robot_id] # get robot to be controlled
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print("robot grid pos before move: ", robot)
robot.move(cmd)
print("robot grid pos after move: ", robot)
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target = self.estimator.get_pos_from_grid_point(robot.grid_x, robot.grid_y, robot.grid_orientation)
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self.controller.move_to_pos(target, robot)
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def main(args):
rc = RemoteController()
rc.run()
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if __name__ == '__main__':
main(sys.argv)