initial commit for control commander

remote_control/control_commander.py

@@ -0,0 +1,80 @@
+import numpy as np
+import time
+
+from robot import ControlledRobot
+from pid_controller import PIDController
+from event_listener import EventListener
+
+
+class CommanderBase:
+    def __init__(self):
+        self.robots = []
+        self.robots = [ControlledRobot(12, '10.10.11.91')]  # , Robot(13, '192.168.1.13'), Robot(14, '192.168.1.14')]
+        # self.robots = [ControlledRobot(marker_id=13, ip='10.10.11.90'),
+        # ControlledRobot(marker_id=14, ip='10.10.11.89')]
+
+        for r in self.robots:
+            r.connect()
+            r.attach_controller(PIDController())
+
+        self.event_listener = EventListener(event_server=('127.0.0.1', 42424))
+
+        self.current_robot_index = 0
+        self.controlling = False
+        self.running = False
+
+    def run(self):
+        unconnected_robots = list(filter(lambda r: not r.connected, self.robots))
+        if len(unconnected_robots) > 0:
+            print(f"warning: could not connect to the following robots: {unconnected_robots}")
+            return
+
+        all_detected = False
+        while not all_detected:
+            undetected_robots = list(filter(lambda r: None in r.get_measurement(), self.robots))
+            all_detected = len(undetected_robots) == 0
+            if not all_detected:
+                print(f"warning: no measurements available for the following robots: {undetected_robots}")
+                time.sleep(0.5)
+
+        print("starting control")
+        self.running = True
+        while self.running:
+            while not self.event_listener.event_queue.empty():
+                event = self.event_listener.event_queue.get()
+                self.handle_event(event)
+
+    def handle_event(self, event):
+        # handle events from opencv window
+        print("event: ", event)
+        if event[0] == 'click':
+            target = event[1]
+            target_pos = np.array([target['x'], target['y'], target['angle']])
+            self.robots[self.current_robot_index].move_to_pos(target_pos)
+        elif event[0] == 'key':
+            key = event[1]
+            if key == 32:  # arrow up
+                self.controlling = not self.controlling
+                if not self.controlling:
+                    print("disable control")
+                    for r in self.robots:
+                        r.stop_control()
+                else:
+                    print("enable control")
+                    for r in self.robots:
+                        r.start_control()
+            elif key == 9:  # TAB
+                # switch controlled robot
+                self.current_robot_index = (self.current_robot_index + 1) % len(self.robots)
+                robot = self.robots[self.current_robot_index]
+                print(f"controlled robot: {robot.id}")
+            elif key == 113 or key == 27:  # q or ESCAPE
+                print("quit!")
+                for r in self.robots:
+                    r.stop_control()
+                self.running = False
+
+
+if __name__ == '__main__':
+    rc = CommanderBase()
+    rc.run()