117 lines
3.8 KiB
Python
117 lines
3.8 KiB
Python
from flask import Flask, render_template, request
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import socket
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import threading
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import time
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import numpy as np
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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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from shapely.geometry import LineString
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width = 600
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height = 400
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robot_ids = [11, 12, 13, 14]
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robot_ids_control_history = [11, 12, 13, 14]
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app = Flask(__name__)
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def calc_target_pos(px, py):
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if rc.estimator.all_corners_detected():
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# compute column line
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a = np.array([rc.estimator.corner_estimates['a']['x'], rc.estimator.corner_estimates['a']['y']])
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b = np.array([rc.estimator.corner_estimates['b']['x'], rc.estimator.corner_estimates['b']['y']])
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c = np.array([rc.estimator.corner_estimates['c']['x'], rc.estimator.corner_estimates['c']['y']])
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d = np.array([rc.estimator.corner_estimates['d']['x'], rc.estimator.corner_estimates['d']['y']])
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x_frac = (px + 0.5) / width
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y_frac = (py + 0.5) / height
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vab = b - a
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vdc = c - d
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column_line_top = a + x_frac * vab
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column_line_bottom = d + x_frac * vdc
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vad = d - a
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vbc = c - b
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row_line_top = a + y_frac * vad
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row_line_bottom = b + y_frac * vbc
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column_line = LineString([column_line_top, column_line_bottom])
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row_line = LineString([row_line_top, row_line_bottom])
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int_pt = column_line.intersection(row_line)
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point_of_intersection = np.array([int_pt.x, int_pt.y, 0.0])
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return point_of_intersection
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@app.route('/', methods=('GET', 'POST'))
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def presence():
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global robot_ids_control_history
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if request.method == 'GET':
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return render_template('telepresence.html', oldest_control=robot_ids.index(robot_ids_control_history[0]))
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elif request.method == 'POST':
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x = int(float(request.form.get('x')))
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y = int(float(request.form.get('y')))
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print(x, y)
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margin = 0.1
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x = min(max(width * margin, x), width * (1 - margin))
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y = min(max(height * margin, y), height * (1 - margin))
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id = int(request.form.get('robot'))
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robot_ids_control_history.append(robot_ids_control_history.pop(robot_ids_control_history.index(id)))
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target_pos = calc_target_pos(x, y)
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rc.estimator.event_queue.put(('robot', id, target_pos))
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return 'OK'
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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(11, '10.10.11.88'), Robot(12, '10.10.11.91'),
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Robot(13, '10.10.11.90'), Robot(14, '10.10.11.89')]
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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, kwargs={'draw_markers':False})
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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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if __name__ == "__main__":
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rc = RemoteController()
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rc_thread = threading.Thread(target=rc.run)
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rc_thread.start()
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app.run('0.0.0.0') |