Telos4/RoboRally
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cleaned up game code: read track from config file, added option to have a variable number of markers, removed hardcoded marker ids, added debug output for track setup

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This commit is contained in:
Simon Pirkelmann 2019-08-14 13:46:01 +02:00
parent 522bd87c9c
commit cd2fc8cc3b
2 changed files with 123 additions and 90 deletions
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208
remote_control/class_control_joystick.py
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@ -1,3 +1,4 @@
import sys
import socket
import pygame
import pygame.joystick
@ -7,6 +8,9 @@ from fiducial_transform.msg import id_pos_angle
from shapely.geometry import Polygon
import matplotlib.pyplot as plt
from shapely.geometry import Point
import numpy as np
from collections import OrderedDict
from copy import deepcopy
@ -26,9 +30,10 @@ class race_track:
only keyboard control - we use it for came back of robots in there
"""
def __init__(self, robot_1, robot_2):
def __init__(self, robot_1, robot_2, config_file):
self.read_marker_config(config_file)
marker_sub = rospy.Subscriber("/marker_id_pos_angle", id_pos_angle, self.measurement_callback)
self.robot_1 = robot_1
self.robot_2 = robot_2
@ -44,8 +49,9 @@ class race_track:
self.robot_pos_2 = None
self.start_line = None
self.checkpoint_line = None
self.check_number_markers = True
self.check_number_markers = False
marker_sub = rospy.Subscriber("/marker_id_pos_angle", id_pos_angle, self.measurement_callback)
self.debug_plot = False
@ -78,94 +84,103 @@ class race_track:
self.robot_2_first_circle = None
self.final_time = None
self.final_time_2 = None
def measurement_callback(self, data):
# Aruco marker number 14 it's robot 102; Aruco 1,5,7,8 are drawn small rectangle Polygon
# Aruco 2,4,0,11 are assembled big rectangle Polygon
if data.id == 14:
def read_marker_config(self, config_file):
self.inside_markers = OrderedDict()
self.outside_markers = OrderedDict()
f = open(config_file, 'r')
for l in f:
if len(l) > 0 and l[0] != '#':
ind = l.find(' ')
first = int(l[0:ind])
second = int(l[ind:])
self.inside_markers[first] = None
self.outside_markers[second] = None
def measurement_callback(self, data):
if data.id in self.inside_markers.keys():
self.inside_markers[data.id] = (data.x, data.y)
if data.id in self.outside_markers.keys():
self.outside_markers[data.id] = (data.x, data.y)
if data.id == self.robot_1.id:
self.robot_pos_1 = (data.x, data.y)
# print ("{}->ID MARKER, {}->POSITION".format(data.id, self.robot_pos_1))
elif data.id == 15:
elif data.id == self.robot_2.id:
self.robot_pos_2 = (data.x, data.y)
# print ("{}->ID MARKER, {}->POSITION".format(data.id, self.robot_pos_1))
elif data.id == 9:
self.checkpoint_line = (data.x, data.y)
# print ("{}->ID MARKER, {}->POSITION".format(data.id, self.start_line))
elif data.id == 0:
self.start_line = (data.x, data.y)
# print ("{}->ID MARKER, {}->POSITION".format(data.id, self.start_line))
elif data.id == 1:
self.rectangle_pos = (data.x, data.y)
# print ("{}->ID MARKER, {}->POSITION".format(data.id, self.rectangle_pos))
elif data.id == 2:
self.rectangle_pos_2 = (data.x, data.y)
# print ("{}->ID MARKER, {}->POSITION".format(data.id, self.rectangle_pos_2))
elif data.id == 3:
self.rectangle_pos_3 = (data.x, data.y)
# print ("{}->ID MARKER, {}->POSITION".format(data.id, start_marker_pos_3))
elif data.id == 4:
self.rectangle_pos_4 = (data.x, data.y)
# print ("{}->ID MARKER, {}->POSITION".format(data.id,start_marker_pos_4))
elif data.id == 5:
self.rectangle_pos_5 = (data.x, data.y)
# print ("{}->ID MARKER, {}->POSITION".format(data.id, self.rectangle_pos_5))
elif data.id == 6:
self.rectangle_pos_6 = (data.x, data.y)
# print ("{}->ID MARKER, {}->POSITION".format(data.id,self.rectangle_pos_6))
elif data.id == 7:
self.rectangle_pos_7 = (data.x, data.y)
# print ("{}->ID MARKER, {}->POSITION".format(data.id, self.rectangle_pos_7))
elif data.id == 8:
self.rectangle_pos_8 = (data.x, data.y)
# print ("{}->ID MARKER, {}->POSITION".format(data.id,self.rectangle_pos_8))
def check_number_marker(self):
if self.rectangle_pos is None:
self.check_number_markers = False
elif self.rectangle_pos_2 is None:
self.check_number_markers = False
elif self.rectangle_pos_3 is None:
self.check_number_markers = False
elif self.rectangle_pos_4 is None:
self.check_number_markers = False
elif self.rectangle_pos_5 is None:
self.check_number_markers = False
elif self.rectangle_pos_6 is None:
self.check_number_markers = False
elif self.rectangle_pos_7 is None:
self.check_number_markers = False
elif self.rectangle_pos_8 is None:
self.check_number_markers = False
elif self.start_line is None:
self.check_number_markers = False
elif self.checkpoint_line is None:
self.check_number_markers = False
else:
self.check_number_markers = True
self.check_number_markers = all(m is not None for m in self.outside_markers.values() + self.inside_markers.values() + [self.robot_pos_1] + [self.robot_pos_2])
def debug_output(self, screen):
(screenwidth, screenheight) = screen.get_size()
inside = {k: v for k,v in self.inside_markers.iteritems() if v is not None}
outside = {k: v for k, v in self.outside_markers.iteritems() if v is not None}
markers = dict(inside, **outside)
if self.robot_pos_1 is not None:
markers[self.robot_1.id] = self.robot_pos_1
if self.robot_pos_2 is not None:
markers[self.robot_2.id] = self.robot_pos_2
maxx = np.max([x for (x, y) in markers.values()])
minx = np.min([x for (x, y) in markers.values()])
maxy = np.max([y for (x, y) in markers.values()])
miny = np.min([y for (x, y) in markers.values()])
if len(outside) >= 3:
outside_transformed = [((x - minx) / (maxx - minx) * screenwidth, (y - miny) / (maxy - miny) * screenheight)
for (x, y) in outside.values()]
pygame.draw.polygon(screen, (0, 255, 0), outside_transformed)
if len(inside) >= 3:
inside_transformed = [((x-minx)/(maxx - minx) * screenwidth, (y-miny)/(maxy-miny) * screenheight) for (x,y) in inside.values()]
pygame.draw.polygon(screen, (255, 0, 0), inside_transformed)
for k in markers:
m = markers[k]
centerx = int((m[0] - minx) / (maxx - minx) * screenwidth)
centery = int((m[1] - miny) / (maxy - miny) * screenheight)
pygame.draw.circle(screen, (255, 255, 255), (centerx, centery), 10)
marker_font = pygame.freetype.SysFont(None, 20)
marker_font.render_to(screen, (centerx, centery), "{}".format(k), (0, 0, 255))
# if self.robot_pos_1 is not None:
# centerx = int((self.robot_pos_1[0] - minx) / (maxx - minx) * screenwidth)
# centery = int((self.robot_pos_1[1] - miny) / (maxy - miny) * screenheight)
# pygame.draw.circle(screen, (255, 0, 255), (centerx, centery), 10)
# marker_font = pygame.freetype.SysFont(None, 20)
# marker_font.render_to(screen, (centerx, centery), "{}".format(self.robot_1.id), (0, 0, 255))
def polygon_rectangle(self):
if self.check_number_markers:
self.rectangle_track = Polygon([self.rectangle_pos, self.rectangle_pos_2,
self.rectangle_pos_3, self.rectangle_pos_4])
self.inside_track = Polygon(self.inside_markers.values())
self.rectangle_track_2 = Polygon([self.rectangle_pos_5, self.rectangle_pos_6,
self.rectangle_pos_7, self.rectangle_pos_8])
self.outside_track = Polygon(self.outside_markers.values())
self.start_strength_line = Polygon([(self.rectangle_pos_7[0]-0.08, self.rectangle_pos_7[1]),
(self.start_line[0]-0.08, self.start_line[1]),
(self.start_line[0]+0.08, self.start_line[1]),
(self.rectangle_pos_7[0]+0.08, self.rectangle_pos_7[1])])
first_in = self.inside_markers.values()[0]
first_out = self.outside_markers.values()[0]
self.checkpoint_strength_line = Polygon([self.checkpoint_line, self.rectangle_pos_5,
(self.rectangle_pos_5[0]+0.1, self.rectangle_pos_5[1]),
(self.checkpoint_line[0] + 0.1, self.checkpoint_line[1])])
self.start_strength_line = Polygon([(first_in[0]-0.08, first_in[1]),
(first_out[0]-0.08, first_out[1]),
(first_out[0]+0.08, first_out[1]),
(first_in[0]+0.08, first_in[1])])
n = len(self.inside_markers.keys())/2
middle_in = self.inside_markers.values()[n]
middle_out = self.outside_markers.values()[n]
self.checkpoint_strength_line = Polygon([(middle_in[0]-0.08, middle_in[1]),
(middle_out[0]-0.08, middle_out[1]),
(middle_out[0]+0.08, middle_out[1]),
(middle_in[0]+0.08, middle_in[1])])
self.robot_pos_1_point = Point(self.robot_pos_1)
self.robot_pos_2_point = Point(self.robot_pos_2)
@ -176,16 +191,16 @@ class race_track:
if self.rectangle_track.contains(self.robot_pos_1_point) and not \
self.rectangle_track_2.contains(self.robot_pos_1_point):
if self.outside_track.contains(self.robot_pos_1_point) and not \
self.inside_track.contains(self.robot_pos_1_point):
self.robot_1.controlling_allowed = True
else:
#print("robot outside track")
self.robot_1.controlling_allowed = False
if self.rectangle_track.contains(self.robot_pos_2_point) and not \
self.rectangle_track_2.contains(self.robot_pos_2_point):
if self.outside_track.contains(self.robot_pos_2_point) and not \
self.inside_track.contains(self.robot_pos_2_point):
self.robot_2.controlling_allowed = True
else:
@ -377,12 +392,13 @@ class race_track:
class robot: # we have 4 arg for this class, because joysticks get the same (value, axis) events
def __init__(self, joy, ip, port):
def __init__(self, joy, ip, port, id):
self.joy = joy
self.ip = ip
self.port = port
self.robot_stopped = True
self.rc_socket = socket.socket()
self.id = id
self.update_control = False
@ -394,8 +410,10 @@ class robot: # we have 4 arg for this class, because joysticks get the same (va
self.u2 = 0
try:
self.rc_socket.connect((self.ip, self.port))
except socket.error():
print("couldn't connect to socket")
print("connection established to robot with ip {}".format(ip))
except socket.error:
print("error: could not connect to robot with ip {}".format(ip))
sys.exit(1)
self.check_joystick = False
def joystick_init(self): # Joystick's initialisation
@ -548,15 +566,18 @@ class robot: # we have 4 arg for this class, because joysticks get the same (va
def main():
marker_config = 'track.cfg'
global screen
pygame.init()
screen = pygame.display.set_mode((720, 576))
screen = pygame.display.set_mode((720, 480))
rospy.init_node('game_node', anonymous=True)
robot_1 = robot(0, '192.168.1.102', 1234)
robot_1 = robot(0, '192.168.1.103', 1234, id=14)
robot_1.joystick_init()
robot_2 = robot(1, '192.168.1.101', 1234)
robot_2 = robot(1, '192.168.1.101', 1234, id=11)
robot_2.joystick_init()
robot_track = race_track(robot_1, robot_2)
robot_track = race_track(robot_1, robot_2, marker_config)
time.sleep(1.0)
@ -564,17 +585,24 @@ def main():
while True:
screen.fill((0, 0, 0))
robot_track.check_number_marker()
robot_track.debug_output(screen)
robot_track.polygon_rectangle()
robot_track.checkpoint()
robot_track.finish_line()
robot_1.check_control()
robot_2.check_control()
robot_track.check_countdown()
screen.fill((0, 0, 0))
events = pygame.event.get()
global pressed

5
remote_control/track.cfg Normal file
View File

@ -0,0 +1,5 @@
# inside markers | outside markers
1 5
2 6
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4 8