allow further distance from target position

gauss-turing/game/event_server_comm.py

@@ -0,0 +1,27 @@
+import socket
+import json
+
+HOST, PORT = "localhost", 42424
+
+def move_grid(x, y, orientation, dimx, dimy):
+    print("move grid")
+    sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+    sock.connect((HOST, PORT))
+    payload = json.dumps({"x": x, "y": y, "dimx": dimx, "dimy": dimy, "orientation": orientation})
+    sock.sendall(f"move_grid_blocking;{payload}\n".encode())
+    target_reached = False
+    try:
+        while not target_reached:
+            reply = sock.recv(1024)
+            if reply == b'':
+                raise RuntimeError
+            #print("got reply: ", reply)
+            target_reached = reply.decode() == 'ack\n'
+        print("target_reached = ", target_reached)
+    except RuntimeError:
+        # try again
+        print("controlling failed -> trying again")
+        move_grid(x, y, orientation, dimx, dimy)
+
+if __name__ == "__main__":
+    move_grid(3,2,'v', 7, 4)

gauss-turing/game/gauss_turing.py

@@ -0,0 +1,499 @@
+import numpy as np
+import random
+import pygame
+import os
+
+from event_server_comm import move_grid
+
+BLACK = np.array([0, 0, 0], dtype=np.uint8)
+WHITE = np.array([255, 255, 255], dtype=np.uint8)
+RED = np.array([255, 0, 0], dtype=np.uint8)
+BLUE = np.array([0, 0, 255], dtype=np.uint8)
+YELLOW = np.array([255, 255, 0], dtype=np.uint8)
+GREEN = np.array([0, 255, 0], dtype=np.uint8)
+
+pygame.init()
+
+pygame.font.init()  # you have to call this at the start,
+# if you want to use this module.
+myfont = pygame.font.SysFont('Comic Sans MS', 55)
+myfont_small = pygame.font.SysFont('Comic Sans MS', 45)
+
+P0_text = myfont.render('P0', False, tuple(BLACK))
+
+tiledt = np.dtype([('x', np.uint8), ('y', np.uint8), ('color', np.uint8, 3), ('star', np.bool)])
+
+
+
+class Board:
+    valid_colors = [WHITE, RED, BLUE]
+
+    def __init__(self, dim_x, dim_y):
+        self.tiles = np.zeros((dim_y, dim_x), dtype=tiledt)
+        for x in range(dim_x):
+            for y in range(dim_y):
+                self.tiles[y, x]['color'] = random.choice(Board.valid_colors)
+
+    def render(self, scale_fac):
+        dimy, dimx = self.tiles.shape
+        board_surf = pygame.Surface((dimx * scale_fac, dimy * scale_fac))
+
+        star_surf = pygame.Surface((scale_fac, scale_fac), pygame.SRCALPHA)
+        pygame.draw.circle(star_surf, YELLOW, (int(0.5 * scale_fac), int(0.5 * scale_fac)), int(0.25 * scale_fac))
+
+        for y in range(self.tiles.shape[0]):
+            for x in range(self.tiles.shape[1]):
+                pygame.draw.rect(board_surf, tuple(self.tiles[y, x]['color']),
+                                 (x * scale_fac, y * scale_fac, scale_fac, scale_fac), 0)
+                pygame.draw.rect(board_surf, (0, 0, 0),
+                                 (x * scale_fac, y * scale_fac, scale_fac, scale_fac), 1)
+                if self.tiles[y, x]['star']:
+                    board_surf.blit(star_surf, (x * scale_fac, y * scale_fac, scale_fac, scale_fac))
+
+        return board_surf
+
+    def get_xdims(self):
+        return self.tiles.shape[1]
+
+    def get_ydims(self):
+        return self.tiles.shape[0]
+
+    # def __repr__(self):
+    #     s = ''
+    #     for y in range(self.tiles.shape[0]):
+    #         for x in range(self.tiles.shape[1]):
+    #             if (x,y) == (self.robot.x, self.robot.y):
+    #                 s += self.robot.orientation
+    #             else:
+    #                 s += '.'
+    #         s += '\n'
+    #     return s
+
+
+class Robot:
+    orientations = ['^', 'left', 'down', 'right']
+    resulting_orientation = {
+        '^': {'left': '<', 'right': '>'},
+        '>': {'left': '^', 'right': 'v'},
+        'v': {'left': '>', 'right': '<'},
+        '<': {'left': 'v', 'right': '^'},
+    }
+
+
+    def __init__(self, x, y, orientation):
+        self.x = x
+        self.y = y
+        self.orientation = orientation
+        self.position_changed = False
+
+    def get_forward_coordinates(self):
+        # get the coordinates of the neighboring tile in the given direction
+        if self.orientation == '^':
+            return self.y - 1, self.x
+        elif self.orientation == '>':
+            return self.y, self.x + 1
+        elif self.orientation == 'v':
+            return self.y + 1, self.x
+        elif self.orientation == '<':
+            return self.y, self.x - 1
+        else:
+            raise Exception("error: undefined direction")
+
+    def get_angle(self):
+        angle = {'>': 0, '^': np.pi/2, '<': np.pi, 'v': 3*np.pi/2}[self.orientation]
+        return np.rad2deg(angle)
+
+    def render(self, scale_fac):
+        robot_surf = pygame.Surface((scale_fac, scale_fac), pygame.SRCALPHA)
+        pygame.draw.lines(robot_surf, (0, 0, 0), True, [(0.75 * scale_fac, 0.5 * scale_fac),
+                                                        (0.25 * scale_fac, 0.25 * scale_fac),
+                                                        (0.25 * scale_fac, 0.75 * scale_fac)], 3)
+        robot_surf = pygame.transform.rotate(robot_surf, self.get_angle())
+        return robot_surf
+
+    def update_pos(self, dimx, dimy):
+        move_grid(self.x, self.y, self.orientation, dimx, dimy)
+        self.position_changed = False
+
+    def __repr__(self):
+        return f"({self.y}, {self.x}) - {self.orientation}"
+
+
+class Command:
+    valid_actions = {'forward', 'left', 'right', 'P0', '-'}
+
+    def __init__(self, action=None, color=WHITE):
+        if not (action in Command.valid_actions and any([np.all(color == c) for c in Board.valid_colors])):
+            raise ValueError("invalid values for command")
+        self.action = action
+        self.color = color
+
+    def __repr__(self):
+        return f"{self.action}: {self.color}"
+
+    def render(self, scale_fac):
+        cmd_surf = pygame.Surface((scale_fac, scale_fac))
+        cmd_surf.fill(tuple(self.color))
+
+        arrow_surf = pygame.Surface((300, 300), pygame.SRCALPHA)
+
+        pygame.draw.polygon(arrow_surf, (0, 0, 0),
+                            ((0, 100), (0, 200), (200, 200), (200, 300), (300, 150), (200, 0), (200, 100)))
+        arrow_surf = pygame.transform.scale(arrow_surf, (int(0.9*scale_fac), int(0.9*scale_fac)))
+
+        if self.action == 'forward':
+            arrow_surf = pygame.transform.rotate(arrow_surf, 90)
+        elif self.action == 'left':
+            arrow_surf = pygame.transform.rotate(arrow_surf, 180)
+
+        if self.action in {'left', 'forward', 'right'}:
+            cmd_surf.blit(arrow_surf, (0.05*scale_fac,0.05*scale_fac,0.95*scale_fac,0.95*scale_fac))
+        elif self.action == 'P0':
+            cmd_surf.blit(P0_text, (0.05*scale_fac,0.05*scale_fac,0.95*scale_fac,0.95*scale_fac))
+
+        return cmd_surf
+
+class Programmer:
+    def __init__(self, prg):
+        self.prg = prg
+        self.available_inputs = [Command('forward'), Command('left'), Command('right'), Command('P0'),
+                                 Command('-', color=RED), Command('-', color=BLUE), Command('-', color=WHITE)]
+        self.command_to_edit = 0
+        self.screen_rect = None
+
+    def render(self, scale_fac):
+        """Render surface with possible inputs for the robot.
+
+        :return: surface of the input commands
+        """
+        inp_surf = pygame.Surface((len(self.available_inputs) * scale_fac, 1 * scale_fac))
+        for i, inp in enumerate(self.available_inputs):
+            cmd_surf = inp.render(scale_fac)
+            inp_surf.blit(cmd_surf, (i * scale_fac, 0, scale_fac, scale_fac))
+        return inp_surf
+
+    def update_selected_command(self, pos):
+        print(f"clicked at pos = {pos}")
+        xoffset = pos[0] - self.screen_rect.x
+        selected_input_index = xoffset * len(self.available_inputs) // self.screen_rect.width
+        selected_input = self.available_inputs[selected_input_index]
+
+        edited_command = self.prg.cmds[self.command_to_edit]
+
+        print("command before edit = ", edited_command)
+        if selected_input.action != '-':
+            edited_command.action = selected_input.action
+        else:
+            edited_command.color = selected_input.color
+        print("command after edit = ", edited_command)
+
+class Program:
+    def __init__(self, robot, board, cmds):
+        self.cmds = cmds
+        self.robot = robot
+        self.board = board
+        self.prg_counter = 0
+        self.screen_rect = None
+
+    def step(self, state='running'):
+        cmd = self.cmds[self.prg_counter]
+        self.prg_counter += 1
+
+        # current position
+        x = self.robot.x
+        y = self.robot.y
+
+        # current tile the robot is on
+        tile = self.board.tiles[y, x]
+
+        # apply next instruction of the program
+        if np.all(cmd.color == WHITE) or np.all(cmd.color == tile['color']):
+            # matching color -> execute command
+            if cmd.action == 'forward':
+                ynew, xnew = self.robot.get_forward_coordinates()
+                self.robot.x = xnew
+                self.robot.y = ynew
+                self.robot.position_changed = True
+                #self.robot.update_pos(self.board.get_xdims(), self.board.get_ydims())
+            elif cmd.action in {'left', 'right'}:
+                self.robot.orientation = Robot.resulting_orientation[self.robot.orientation][cmd.action]
+                #self.robot.update_pos(self.board.get_xdims(), self.board.get_ydims())
+                self.robot.position_changed = True
+            elif cmd.action == 'P0':
+                self.prg_counter = 0
+        else:
+            print("color not matching -> skipping command")
+
+        # update state for new robot position
+        if (not (0 <= self.robot.x < self.board.tiles.shape[1])) or not (0 <= self.robot.y < self.board.tiles.shape[0]):
+            # robot leaves the board -> GAME OVER
+            print("GAME OVER")
+            self.robot.update_pos(self.board.get_xdims(), self.board.get_ydims())
+            return 'game_over'
+
+        # robot collects star on new tile
+        tile = self.board.tiles[self.robot.y, self.robot.x]
+        if tile['star']:
+            tile['star'] = False
+
+        if all([not t['star'] for t in self.board.tiles.flatten()]):
+            print("YOU WON")
+            return 'won'
+
+        # by default we continue in the running state
+        return state
+
+    def render(self, scale_fac, prg_counter_override=None):
+        """Render the current program. This will render all commands and highlight the next command to execute
+        (determined by self.prg_counter).
+
+        The prg_counter_override can be used to highlight a different command instead. This is used during input mode
+        to highlight the command the user will edit.
+
+        :param scale_fac:
+        :param prg_counter_override:
+        :return:
+        """
+        prg_counter = self.prg_counter
+        if prg_counter_override is not None:
+            prg_counter = prg_counter_override
+        prg_surf = pygame.Surface((5 * scale_fac, 1 * scale_fac))
+        for i in range(5):
+            if i < len(self.cmds):
+                cmd = self.cmds[i]
+                cmd_surf = cmd.render(scale_fac)
+            else:
+                cmd_surf = pygame.Surface((scale_fac,scale_fac))
+                cmd_surf.fill(WHITE)
+            if prg_counter is not None and i == prg_counter:
+                pygame.draw.rect(cmd_surf, tuple(GREEN), (0, 0, scale_fac, scale_fac), 5)
+            prg_surf.blit(cmd_surf, (i * scale_fac, 0, scale_fac, scale_fac))
+
+        return prg_surf
+
+    def get_clicked_command(self, pos):
+        print(f"clicked at pos = {pos}")
+        xoffset = pos[0] - self.screen_rect.x
+        clicked_cmd = xoffset * len(self.cmds) // self.screen_rect.width
+        print("clicked command = ", clicked_cmd)
+        return clicked_cmd
+
+
+class Game:
+    def __init__(self, dimx, dimy, robotx, roboty):
+        self.robot = Robot(x=robotx, y=roboty, orientation='v')
+        self.board = Board(dimx, dimy)
+        coin1x = np.random.randint(0, dimx)
+        coin1y = np.random.randint(0, dimy)
+        self.board.tiles[coin1y,coin1x]['star'] = True
+        self.board.tiles[3,2]['star'] = True
+
+        # TODO fix number of commands at 5
+        self.cmds = [Command('forward'), Command('left', color=RED), Command('left', color=BLUE), Command('P0'), Command('-')]
+        self.state = 'won'
+
+        self.prg = Program(self.robot, self.board, self.cmds)
+
+        self.programmer = Programmer(self.prg)
+
+        #self.scale_fac = 180
+        self.scale_fac = 125
+        self.beamer_mode = False
+        self.screen = pygame.display.set_mode((int(self.board.tiles.shape[1] * self.scale_fac * 1.1),
+                                               int((self.board.tiles.shape[0] + 2) * self.scale_fac * 1.2)))
+
+        self.game_over_text = myfont.render('GAME OVER', False, BLACK)
+        self.won_text = myfont.render('YOU WON', False, BLACK)
+        self.run_text = myfont.render('RUN', False, tuple(BLACK))
+        self.stop_text = myfont_small.render('STOP', False, tuple(BLACK))
+        self.step_text = myfont_small.render('STEP', False, tuple(BLACK))
+
+        # save initial state
+        self.initial_pos = (self.robot.x, self.robot.y, self.robot.orientation)
+        self.inital_board_tiles = self.board.tiles.copy()
+
+    def render(self):
+        """Render the game screen.
+
+        This will render the board and the robot.
+        Depending on the display mode it will also render the current program and the input commands for the robot.
+
+        :param prg_counter:
+        :return:
+        """
+        if self.beamer_mode:
+            dx = 0
+            dy = 0
+        else:
+            dx = int(0.05 * self.screen.get_width())
+            dy = int(0.05 * self.screen.get_height())
+        self.screen.fill(tuple(BLACK))
+
+        # render the board
+        board_surf = self.board.render(self.scale_fac)
+
+        # render robot onto the board surface
+        robot_surf = self.robot.render(self.scale_fac)
+        board_surf.blit(robot_surf, (self.robot.x * self.scale_fac, self.robot.y * self.scale_fac, self.scale_fac, self.scale_fac))
+        self.screen.blit(board_surf, (dx, dy, dx + self.board.tiles.shape[1] * self.scale_fac, dy + self.board.tiles.shape[0] * self.scale_fac))
+
+        if not self.beamer_mode:
+            # if we are not in beamer mode we also show the current program / inputs
+
+            # render program
+            if self.state == 'input':
+                # in input mode we highlight the command which is selected for edit
+                prg_surf = self.prg.render(self.scale_fac, prg_counter_override=self.programmer.command_to_edit)
+            else:
+                # in other modes we render the current program counter
+                prg_surf = self.prg.render(self.scale_fac)
+            prg_surf = pygame.transform.scale(prg_surf, (self.screen.get_width() * 2 // 3, self.scale_fac * 2 // 3))
+            self.prg.screen_rect = pygame.Rect((dx, board_surf.get_height() + 2 * dy, prg_surf.get_width(), prg_surf.get_height()))
+            self.screen.blit(prg_surf, self.prg.screen_rect)
+
+            # render input fields and buttons
+            inp_surf = self.programmer.render(self.scale_fac)
+            inp_surf = pygame.transform.scale(inp_surf, (self.screen.get_width() * 2 // 3, self.scale_fac * 2 // 3))
+            self.programmer.screen_rect = pygame.Rect((dx, board_surf.get_height() + prg_surf.get_height() + 3 * dy, inp_surf.get_width(), inp_surf.get_height()))
+            self.screen.blit(inp_surf, self.programmer.screen_rect)
+
+            btn_surf = pygame.Surface((3 * self.scale_fac//2, self.scale_fac))
+            self.btn_rect = pygame.Rect((2 * dx + prg_surf.get_width(), board_surf.get_height() + 2 * dy,
+                                         btn_surf.get_height(), btn_surf.get_width()))
+            if self.state == 'input':
+                btn_surf.fill(tuple(GREEN))
+                btn_surf.blit(self.run_text, (0, 10))
+            elif self.state == 'running':
+                btn_surf.fill(tuple(RED))
+                btn_surf.blit(self.stop_text, (0, 10))
+            elif self.state == 'stepping':
+                btn_surf.fill(tuple(YELLOW))
+                btn_surf.blit(self.step_text, (0, 10))
+            self.screen.blit(btn_surf, self.btn_rect)
+
+        # render messages
+        if self.state == 'game_over':
+            game_over_surf = pygame.Surface((self.screen.get_width() // 2, self.screen.get_height() // 2))
+            game_over_surf.fill(tuple(GREEN))
+            game_over_surf.blit(self.game_over_text, ((game_over_surf.get_width() - self.game_over_text.get_width()) // 2,
+                                                      (game_over_surf.get_height() - self.game_over_text.get_height()) // 2))
+            self.screen.blit(game_over_surf, (self.screen.get_width() // 4, self.screen.get_height() // 4))
+            pygame.display.update()
+            pygame.time.wait(1500)
+            self.state = 'reset'
+        elif self.state == 'won':
+            won_surf = pygame.Surface((self.screen.get_width() // 2, self.screen.get_height() // 2))
+            won_surf.fill(tuple(GREEN))
+            won_surf.blit(self.won_text,
+                                ((won_surf.get_width() - self.won_text.get_width()) // 2,
+                                 (won_surf.get_height() - self.won_text.get_height()) // 2))
+            self.screen.blit(won_surf, (self.screen.get_width() // 4, self.screen.get_height() // 4))
+            pygame.display.update()
+            pygame.time.wait(1500)
+            self.state = 'reset'
+
+        pygame.display.flip()
+
+    def process_inputs(self):
+        # proceed events
+        for event in pygame.event.get():
+            if event.type == pygame.QUIT:
+                self.state = 'quit'
+            # handle MOUSEBUTTONUP
+            elif event.type == pygame.MOUSEBUTTONUP:
+                pos = pygame.mouse.get_pos()
+
+                # select command to edit by the programmer
+                if self.prg.screen_rect is not None:
+                    if self.prg.screen_rect.collidepoint(pos):
+                        print(f"clicked at pos = {pos}")
+                        self.programmer.command_to_edit = self.prg.get_clicked_command(pos)
+
+                # set the selected command to a new value
+                if self.programmer.screen_rect is not None:
+                    if self.programmer.screen_rect.collidepoint(pos):
+                        self.programmer.update_selected_command(pos)
+
+                # clicked RUN/STOP button
+                if self.btn_rect is not None and self.btn_rect.collidepoint(*pos):
+                    print(f"clicked at pos = {pos}")
+                    if self.state == 'running':
+                        self.state = 'input'
+                    elif self.state == 'input':
+                        self.state = 'running'
+                    elif self.state == 'stepping':
+                        self.state = self.prg.step(self.state)
+            elif event.type == pygame.KEYUP:
+                if event.key == pygame.K_x:
+                    if not self.beamer_mode:
+                        # switch to beamer mode
+                        os.environ['SDL_VIDEO_WINDOW_POS'] = '1920, 280'
+                        self.scale_fac = 180
+                        self.screen = pygame.display.set_mode((self.board.tiles.shape[1] * self.scale_fac,
+                                                          self.board.tiles.shape[0] * self.scale_fac),
+                                                         pygame.NOFRAME)
+                        self.beamer_mode = True
+                    else:
+                        # switch to normal mode
+                        os.environ['SDL_VIDEO_WINDOW_POS'] = '0, 0'
+                        self.scale_fac = 125
+                        self.screen = pygame.display.set_mode((int(self.board.tiles.shape[1] * self.scale_fac * 1.1),
+                                               int((self.board.tiles.shape[0] + 2) * self.scale_fac * 1.2)))
+                        self.beamer_mode = False
+                elif event.key == pygame.K_s:
+                    # run program
+                    self.state = 'running'
+                elif event.key == pygame.K_SPACE:
+                    if self.state != 'stepping':
+                        self.state = 'stepping'
+                    else:
+                        self.state = self.prg.step(self.state)
+                elif event.key == pygame.K_r:
+                    self.state = 'reset'
+        return self.state
+
+    def reset(self):
+        self.prg.prg_counter = 0
+        self.robot.x = self.initial_pos[0]
+        self.robot.y = self.initial_pos[1]
+        self.robot.orientation = self.initial_pos[2]
+        self.robot.update_pos(self.board.get_xdims(), self.board.get_ydims())
+        self.board.tiles = self.inital_board_tiles.copy()
+        return 'input'
+
+    def run(self):
+        running = True
+        while running:
+            self.state = self.process_inputs()
+            if self.state == 'input':
+                pass
+            elif self.state == 'running':
+                self.state = self.prg.step()
+            elif self.state == 'reset':
+                self.state = self.reset()
+            elif self.state == 'quit':
+                running = False
+            elif self.state == 'stepping':
+                pass
+            elif self.state == 'game_over' or self.state == 'won':
+                pass
+            else:
+                print("unknown state")
+                return
+
+            self.render()
+            if self.robot.position_changed:
+                self.robot.update_pos(self.board.get_xdims(), self.board.get_ydims())
+
+            pygame.time.wait(100)
+
+if __name__ == "__main__":
+    seed = 2
+    random.seed(seed)
+    np.random.seed(seed)
+    game = Game(dimx=7, dimy=4, robotx=3, roboty=1)
+    game.run()
+
+# TODOs
+# - in stepping mode (s) it is possible to drive outside of the map
+# - when no P0 command is present the program counter will overflow

remote_control/aruco_estimator.py

@@ -10,6 +10,7 @@ import pyqtgraph as pg
 
 
 from shapely.geometry import LineString
+from shapely.affinity import scale
 from queue import Queue
 
 import aruco
@@ -448,8 +449,11 @@ class ArucoEstimator:
         row_line_top = a + y_frac * vad
         row_line_bottom = b + y_frac * vbc
 
-        column_line = LineString([column_line_top, column_line_bottom])
+        column_line_orig = LineString([column_line_top, column_line_bottom])
-        row_line = LineString([row_line_top, row_line_bottom])
+        row_line_orig = LineString([row_line_top, row_line_bottom])
+
+        column_line = scale(column_line_orig, 10, 10)
+        row_line = scale(row_line_orig, 10, 10)
 
         int_pt = column_line.intersection(row_line)
         point_of_intersection = np.array([int_pt.x, int_pt.y])

remote_control/control_commander.py

@@ -57,8 +57,8 @@ class ControlCommander:
             if not all_detected:
                 print(f"warning: no measurements available for the following robots: {undetected_robots}")
                 time.sleep(0.5)
+        print("all robots detected -> starting control")
 
-        print("starting control")
         self.running = True
         while self.running:
             while not self.event_listener.event_queue.empty():
@@ -111,13 +111,13 @@ class ControlCommander:
 if __name__ == '__main__':
     id_ip_dict = {
         #11: '10.10.11.88',
-        12: '192.168.1.12',
+        #12: '192.168.1.12',
         13: '192.168.1.13',
         #14: '10.10.11.89',
     }
 
     # controller_type = {12: 'mpc', 13: 'pid'}
-    controller_type = 'pid'
+    controller_type = 'mpc'
 
     rc = ControlCommander(id_ip_dict, controller_type=controller_type)
     rc.run()

remote_control/measurement_server.py

@@ -12,30 +12,38 @@ class MeasurementHandler(socketserver.BaseRequestHandler):
         data = self.request.recv(1024).strip()
 
         cur_thread = threading.current_thread()
-        print(f"current thread {cur_thread}")
+        print(f"start current thread {cur_thread}")
 
         if 'events' in data.decode():
+            print(f"{cur_thread} subscribed to events")
             self.request.sendall('subscribed to events\n'.encode())
             # send any events in the event queue to the subscriber
-            while True:
+            event_loop_running = True
-                while not self.server.estimator.event_queue.empty():
+            while event_loop_running:
-                    event = self.server.estimator.event_queue.get()
+                try:
-                    # we distinguish two kinds of events:
+                    while not self.server.estimator.event_queue.empty():
-                    if event[0] == 'response_event':
+                        event = self.server.estimator.event_queue.get()
-                        #  1. for 'response_event' events we expect the event subscriber to give a reply which will then
+                        # we distinguish two kinds of events:
-                        #     by passed on to the response queue for transmitting to the original correspondent
+                        if event[0] == 'response_event':
-                        message = event[1]['event']
+                            #  1. for 'response_event' events we expect the event subscriber to give a reply which will then
-                        #print(f"passing command {message} on to subscriber")
+                            #     by passed on to the response queue for transmitting to the original correspondent
-                        self.request.sendall((json.dumps(message) + '\n').encode())
+                            message = event[1]['event']
-                        reply = self.request.recv(1024)
+                            #print(f"passing command {message} on to subscriber")
-                        #print(f"putting reply {reply} in response queue")
+                            self.request.sendall((json.dumps(message) + '\n').encode())
-                        self.server.response_queue.put(reply)
+                            reply = self.request.recv(1024)
-                    else:
+                            #print(f"putting reply {reply} in response queue")
-                        #  2. for other types of events we don't expect a reply and just pass them on to the subscriber
+                            self.server.response_queue.put(reply)
-                        self.request.sendall((json.dumps(event) + '\n').encode())
+                        else:
-                    self.server.estimator.last_event = None
+                            #  2. for other types of events we don't expect a reply and just pass them on to the subscriber
-                time.sleep(1.0 / self.server.max_measurements_per_second)
+                            self.request.sendall((json.dumps(event) + '\n').encode())
+                        self.server.estimator.last_event = None
+                    time.sleep(1.0 / self.server.max_measurements_per_second)
+                except Exception as e:
+                    print(f"exception in event loop: {e}")
+                    event_loop_running = False
+            print("after event loop")
         elif 'corners' in data.decode():
+            print(f"{cur_thread} subscribed to corners")
             # send positions of the board markers
             corner_estimates = self.server.estimator.corner_estimates
             response = {}
@@ -43,19 +51,23 @@ class MeasurementHandler(socketserver.BaseRequestHandler):
                 response[corner] = {'x': data['x'], 'y': data['y']}
             self.request.sendall((json.dumps(response) + '\n').encode())
         elif 'move_grid_blocking' in data.decode():
+            print(f"{cur_thread} subscribed move_grid_blocking")
+
             # if we receive a move_grid event
-            # ( e.g. move_grid;{"x":1,"y":1,"dimx":10,"dimy":10,"orientation":"^","require_response":True} )
+            # ( e.g. move_grid_blocking;{"x":1,"y":1,"dimx":10,"dimy":10,"orientation":"^"} )
+            #move_grid_blocking;{"x": 1, "y": 2, "dimx": 7, "dimy": 4, "orientation": ">"}
             # we compute the corresponding real-world position the robot should drive to
             # and then create a new move event which is put in the event queue and will be propagated to the ControlCommander
             data_decode = data.decode()
-#            print("data: ", data_decode)
+            #print("data: ", data_decode)
-            payload = data.decode().split(';')[1]
+            payload = data_decode.split(';')[1]
+            #print("payload: ", payload)
             grid_pos = json.loads(payload)
-#            print("grid_pos = ", grid_pos)
+            #print("grid_pos = ", grid_pos)
             pos = self.server.estimator.get_pos_from_grid_point(grid_pos['x'], grid_pos['y'], grid_pos['dimx'],
                                                                 grid_pos['dimy'], grid_pos['orientation'])
-#            print("pos = ", pos)
+            #print("pos = ", pos)
-#            print("event requiring response")
+            #print("event requiring response")
             # put blocking move command in event queue
             self.server.estimator.event_queue.put(('response_event',
                                                    {'event': ('move_blocking', {'x': pos[0], 'y': pos[1], 'angle': pos[2]})}))
@@ -64,13 +76,17 @@ class MeasurementHandler(socketserver.BaseRequestHandler):
             # TODO this assumes that we wait only for at most one response at a time
             #      we could add some kind of reference here to handle multiple responses (e.g. id of the response to wait for)
             while self.server.response_queue.empty():
+                time.sleep(0.2)
+                self.request.sendall(b'.\n')
                 pass
-            reply = self.server.response_queue.get()
+            while not self.server.response_queue.empty():
+                reply = self.server.response_queue.get()
 
             # send back response to the original source
-            #print(f"sending reply {reply} back to correspondent {self.request}")
+            print(f"sending reply {reply} back to correspondent {self.request}")
             self.request.sendall(reply)
         else:
+            print(f"{cur_thread} subscribed to robot position")
             # send robot position
             try:
                 marker_id = int(data)
@@ -79,15 +95,22 @@ class MeasurementHandler(socketserver.BaseRequestHandler):
 
             if marker_id is not None:
                 if marker_id in self.server.estimator.robot_marker_estimates:
-                    while True:
+                    marker_loop_running = True
-                        self.request.sendall((json.dumps(self.server.estimator.robot_marker_estimates[marker_id])
+                    while marker_loop_running:
+                        try:
+                            self.request.sendall((json.dumps(self.server.estimator.robot_marker_estimates[marker_id])
                                               + '\n').encode())
-                        time.sleep(1.0 / self.server.max_measurements_per_second)
+                            time.sleep(1.0 / self.server.max_measurements_per_second)
+                        except Exception as e:
+                            print(f"exception in marker loop: {e}")
+                            marker_loop_running = False
                 else:
                     self.request.sendall("error: unknown robot marker id\n".encode())
             else:
                 self.request.sendall("error: data not understood. "
                                      "expected <robot marker id (int)> or 'events'\n".encode())
+
+        print(f"end current thread {cur_thread}")
         return
 
 
@@ -105,7 +128,7 @@ class MeasurementServer(socketserver.ThreadingMixIn, socketserver.TCPServer):
 
 
 if __name__ == "__main__":
-    aruco_estimator = ArucoEstimator(use_realsense=False, robot_marker_ids=[12, 13])
+    aruco_estimator = ArucoEstimator(use_realsense=True, robot_marker_ids=[12, 13])
 
     # first we start thread for the measurement server
     measurement_server = MeasurementServer(('0.0.0.0', 42424), MeasurementHandler, aruco_estimator,

remote_control/mpc_controller.py

@@ -6,7 +6,7 @@ from casadi_opt import OpenLoopSolver
 
 
 class MPCController(ControllerBase):
-    def __init__(self, N=20, T=1.0):
+    def __init__(self, N=10, T=1.0):
         super().__init__()
         self.t = None
 

remote_control/pid_controller.py

@@ -70,9 +70,9 @@ class PIDController(ControllerBase):
             angles_unwrapped = np.unwrap([x_pred[2], target_angle])  # unwrap angle to avoid jump in data
 
             e_angle = angles_unwrapped[0] - angles_unwrapped[1]  # angle difference
-            e_pos = np.linalg.norm(v)
+            e_pos = np.linalg.norm(v[0:2])
 
-            if e_pos < 0.05:
+            if e_pos < 0.03:
                 self.mode = 'angle'
                 self.e_angle_old = 0
                 self.e_pos_old = 0
@@ -111,6 +111,10 @@ class PIDController(ControllerBase):
             u2 = 0.0
         return u1, u2
 
+    def stop(self):
+        super(PIDController, self).stop()
+        self.t =  None
+
     def apply_control(self, control):
         self.t = time.time()  # save time when the most recent control was applied
         super(PIDController, self).apply_control(control)

remote_control/robot.py

@@ -111,12 +111,14 @@ class ControlledRobot(Robot):
 
     def start_control(self):
         if self.controller is not None:
+            print("starting control")
             self.controller.start()
         else:
             raise Exception("Error: Cannot start control: there is not controller attached to the robot!")
 
     def stop_control(self):
         if self.controller is not None:
+            print("stopping control")
             self.controller.stop()
         else:
             raise Exception("Error: Cannot stop control: there is not controller attached to the robot!")
@@ -141,8 +143,9 @@ class ControlledRobot(Robot):
                     angles_unwrapped = np.unwrap([current_pos[2], target_pos[2]])  # unwrap angle to avoid jump in data
                     e_angle = angles_unwrapped[0] - angles_unwrapped[1]  # angle difference
                     e_pos = np.linalg.norm(v[0:2])
+                    #print(f"target_pos = {target_pos}, current_pos = {current_pos}, e_pos = {e_pos}, e_ang = {e_angle}")
                     print(f"e_pos = {e_pos}, e_ang = {e_angle}")
-                    close_to_target = e_pos < 0.05 and abs(e_angle) < 0.1
+                    close_to_target = e_pos < 0.075 and abs(e_angle) < 0.1
                     time.sleep(0.1)
                 print("target reached!")
                 self.stop_control()