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fixed a problem where robot could drive diagonally caused by int casting error and improved the socket buffer size which could lead to problems for longer messages

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This commit is contained in:
Simon Pirkelmann 2020-09-15 15:23:01 +02:00
parent e7ab92dfe2
commit 36f3ccbd6c
1 changed files with 14 additions and 10 deletions
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24
remote_control/roborally.py
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@ -32,7 +32,7 @@ from collections import OrderedDict
from argparse import ArgumentParser from argparse import ArgumentParser
MSGLEN = 32 MSGLEN = 64
def myreceive(sock): def myreceive(sock):
chunks = [] chunks = []
bytes_recd = 0 bytes_recd = 0
@ -111,8 +111,8 @@ class RemoteController:
self.anim_stopped = False self.anim_stopped = False
#self.robots = [Robot(11, '192.168.1.101'), Robot(14, '192.168.1.103')] self.robots = [Robot(11, '192.168.1.11'), Robot(14, '192.168.1.14')]
self.robots = [Robot(11, '192.168.1.101')] #self.robots = [Robot(11, '192.168.1.101')]
#self.robots = [Robot(15, '192.168.1.102')] #self.robots = [Robot(15, '192.168.1.102')]
#self.robots = [Robot(id, ip)] #self.robots = [Robot(id, ip)]
@ -326,7 +326,7 @@ class RemoteController:
while connected: while connected:
try: try:
data = myreceive(clientsocket) data = myreceive(clientsocket)
print(data) print("data received: ", data)
inputs = data.split(b',') inputs = data.split(b',')
cmd = inputs[0] cmd = inputs[0]
@ -386,14 +386,16 @@ class RemoteController:
robot = self.robot_ids[robot_id] # get robot to be controlled robot = self.robot_ids[robot_id] # get robot to be controlled
grid_pos = robot.grid_pos # grid position of the robot grid_pos = robot.grid_pos # grid position of the robot
print("old grid pos for robot {}: {}".format(robot_id, grid_pos))
# compute new grid position and orientation # compute new grid position and orientation
if cmd == 'forward': if cmd == 'forward':
new_x = int(grid_pos[0] + 1 * np.cos(grid_pos[2])) new_x = int(round(grid_pos[0] + 1 * np.cos(grid_pos[2])))
new_y = int(grid_pos[1] + 1 * np.sin(grid_pos[2])) new_y = int(round(grid_pos[1] + 1 * np.sin(grid_pos[2])))
new_angle = grid_pos[2] new_angle = grid_pos[2]
elif cmd == 'backward': elif cmd == 'backward':
new_x = int(grid_pos[0] - 1 * np.cos(grid_pos[2])) new_x = int(round(grid_pos[0] - 1 * np.cos(grid_pos[2])))
new_y = int(grid_pos[1] - 1 * np.sin(grid_pos[2])) new_y = int(round(grid_pos[1] - 1 * np.sin(grid_pos[2])))
new_angle = grid_pos[2] new_angle = grid_pos[2]
elif cmd == 'turn left': elif cmd == 'turn left':
new_x = grid_pos[0] new_x = grid_pos[0]
@ -410,9 +412,11 @@ class RemoteController:
else: else:
print("unknown command!") print("unknown command!")
sys.exit(1) sys.exit(1)
if new_x != grid_pos[0] and new_y != grid_pos[1]:
print("problem detected!")
grid_pos = (new_x, new_y, new_angle) grid_pos = (new_x, new_y, new_angle)
print("new grid pos for robot {}: {}".format(robot_id, grid_pos)) print("new grid pos for robot {}: {}\n".format(robot_id, grid_pos))
self.target = np.array((0.25 * grid_pos[0], 0.25 * grid_pos[1], grid_pos[2])) self.target = np.array((0.25 * grid_pos[0], 0.25 * grid_pos[1], grid_pos[2]))
@ -468,7 +472,7 @@ class RemoteController:
angles_unwrapped = np.unwrap([x_pred[2], self.target[2]]) # unwrap angle to avoid jump in data angles_unwrapped = np.unwrap([x_pred[2], self.target[2]]) # unwrap angle to avoid jump in data
error_ang = np.abs(angles_unwrapped[0] - angles_unwrapped[1]) error_ang = np.abs(angles_unwrapped[0] - angles_unwrapped[1])
#print("error pos = ", error_pos) #print("error pos = ", error_pos)
print("error_pos = {}, error_ang = {}".format(error_pos, error_ang)) #print("error_pos = {}, error_ang = {}".format(error_pos, error_ang))
if error_pos > 0.075 or error_ang > 0.35: if error_pos > 0.075 or error_ang > 0.35:
# solve mpc open loop problem # solve mpc open loop problem