56 lines
1.4 KiB
Python
56 lines
1.4 KiB
Python
import sys
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import socket
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import threading
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import time
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from robot import Robot
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from mpc_controller import MPCController
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from aruco_estimator import ArucoEstimator
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class RemoteController:
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def __init__(self):
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self.robots = []
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#self.robots = [Robot(11, '192.168.1.11'), Robot(13, '192.168.1.13'), Robot(14, '192.168.1.14')]
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self.robot_ids = {}
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for r in self.robots:
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self.robot_ids[r.id] = r
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# socket for movement commands
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self.comm_socket = socket.socket()
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self.comm_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
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for robot in self.robots:
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robot.connect()
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self.comm_socket.bind(('', 1337))
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self.comm_socket.listen(5)
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self.t = time.time()
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# start thread for marker position detection
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self.estimator = ArucoEstimator(self.robot_ids.keys())
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self.estimator_thread = threading.Thread(target=self.estimator.run_tracking)
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self.estimator_thread.start()
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self.controller = MPCController(self.estimator)
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def run(self):
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print("waiting until all markers are detected...")
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while not (self.estimator.all_corners_detected() and self.estimator.all_robots_detected()):
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pass
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print("starting control")
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self.controller.interactive_control(robots=self.robots)
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def main(args):
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rc = RemoteController()
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rc.run()
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if __name__ == '__main__':
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main(sys.argv)
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