79 lines
2.5 KiB
Python
79 lines
2.5 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, ControlledRobot
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from mpc_controller import MPCController
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# HOST, PORT = "localhost", 42424
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#
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# robot_id = 12
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#
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# sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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# sock.connect((HOST, PORT))
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# sock.sendall(f"{robot_id}\n".encode()) # request data for robot with given id
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# #sock.sendall(f"events\n".encode()) # request events
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# receiving = True
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# while receiving:
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# received = str(sock.recv(1024), "utf-8")
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# print("Received: {}".format(received))
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# receiving = len(received) > 0
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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.robots = [Robot(12, '10.10.11.91'), Robot(13, '10.10.11.90'), Robot(14, '10.10.11.89')]
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#self.robots = [Robot(14, '10.10.11.89')]
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self.robots = [ControlledRobot(13, '192.168.1.13')]
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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.controller = MPCController()
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self.robots[0].attach_controller(self.controller)
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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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self.controller.start()
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pass
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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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# to use the program, first start measurement_server.py, which launches the Aruco marker detection GUI and streams
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# marker positions and GUI events via socket
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# next, launch this program (mpc_test.py) in debug mode and set a breakpoint after self.controller.start()
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# you can now set the target position for the controlled robot via move_to_pos(), e.g.
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# self.robots[0].move_to_pos([0.0,0,0], True)
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# TODO
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# figure out how to get clicked positions from measurement server and drive robot there
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# also document and improve program structure |