forked from Telos4/RoboRally
removed unnecessary code and fixed formatting
This commit is contained in:
parent
cd2fc8cc3b
commit
86b9ad659d
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@ -17,8 +17,6 @@ from copy import deepcopy
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import time
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# for debugging:
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# rosrun image_view image_view image:=/fiducial_images
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@ -37,14 +35,6 @@ class race_track:
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self.robot_1 = robot_1
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self.robot_2 = robot_2
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self.rectangle_pos = None
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self.rectangle_pos_2 = None
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self.rectangle_pos_3 = None
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self.rectangle_pos_4 = None
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self.rectangle_pos_5 = None
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self.rectangle_pos_6 = None
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self.rectangle_pos_7 = None
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self.rectangle_pos_8 = None
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self.robot_pos_1 = None
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self.robot_pos_2 = None
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self.start_line = None
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@ -74,7 +64,6 @@ class race_track:
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self.time_circle_robot_1 = 0
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self.time_circle_robot_2 = 0
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self.print_GO = False
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self.press_b_phrase = True
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@ -114,12 +103,14 @@ class race_track:
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# print ("{}->ID MARKER, {}->POSITION".format(data.id, self.robot_pos_1))
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def check_number_marker(self):
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self.check_number_markers = all(m is not None for m in self.outside_markers.values() + self.inside_markers.values() + [self.robot_pos_1] + [self.robot_pos_2])
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self.check_number_markers = all(m is not None for m in
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self.outside_markers.values() + self.inside_markers.values() + [
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self.robot_pos_1] + [self.robot_pos_2])
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def debug_output(self, screen):
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(screenwidth, screenheight) = screen.get_size()
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inside = {k: v for k,v in self.inside_markers.iteritems() if v is not None}
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inside = {k: v for k, v in self.inside_markers.iteritems() if v is not None}
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outside = {k: v for k, v in self.outside_markers.iteritems() if v is not None}
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markers = dict(inside, **outside)
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@ -135,12 +126,13 @@ class race_track:
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if len(outside) >= 3:
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outside_transformed = [((x - minx) / (maxx - minx) * screenwidth, (y - miny) / (maxy - miny) * screenheight)
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for (x, y) in outside.values()]
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for (x, y) in outside.values()]
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pygame.draw.polygon(screen, (0, 255, 0), outside_transformed)
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if len(inside) >= 3:
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inside_transformed = [((x-minx)/(maxx - minx) * screenwidth, (y-miny)/(maxy-miny) * screenheight) for (x,y) in inside.values()]
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inside_transformed = [((x - minx) / (maxx - minx) * screenwidth, (y - miny) / (maxy - miny) * screenheight)
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for (x, y) in inside.values()]
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pygame.draw.polygon(screen, (255, 0, 0), inside_transformed)
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@ -152,13 +144,6 @@ class race_track:
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marker_font = pygame.freetype.SysFont(None, 20)
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marker_font.render_to(screen, (centerx, centery), "{}".format(k), (0, 0, 255))
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# if self.robot_pos_1 is not None:
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# centerx = int((self.robot_pos_1[0] - minx) / (maxx - minx) * screenwidth)
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# centery = int((self.robot_pos_1[1] - miny) / (maxy - miny) * screenheight)
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# pygame.draw.circle(screen, (255, 0, 255), (centerx, centery), 10)
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# marker_font = pygame.freetype.SysFont(None, 20)
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# marker_font.render_to(screen, (centerx, centery), "{}".format(self.robot_1.id), (0, 0, 255))
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def polygon_rectangle(self):
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if self.check_number_markers:
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self.inside_track = Polygon(self.inside_markers.values())
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@ -168,19 +153,19 @@ class race_track:
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first_in = self.inside_markers.values()[0]
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first_out = self.outside_markers.values()[0]
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self.start_strength_line = Polygon([(first_in[0]-0.08, first_in[1]),
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(first_out[0]-0.08, first_out[1]),
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(first_out[0]+0.08, first_out[1]),
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(first_in[0]+0.08, first_in[1])])
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self.start_strength_line = Polygon([(first_in[0] - 0.08, first_in[1]),
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(first_out[0] - 0.08, first_out[1]),
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(first_out[0] + 0.08, first_out[1]),
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(first_in[0] + 0.08, first_in[1])])
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n = len(self.inside_markers.keys())/2
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n = len(self.inside_markers.keys()) / 2
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middle_in = self.inside_markers.values()[n]
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middle_out = self.outside_markers.values()[n]
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self.checkpoint_strength_line = Polygon([(middle_in[0]-0.08, middle_in[1]),
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(middle_out[0]-0.08, middle_out[1]),
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(middle_out[0]+0.08, middle_out[1]),
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(middle_in[0]+0.08, middle_in[1])])
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self.checkpoint_strength_line = Polygon([(middle_in[0] - 0.08, middle_in[1]),
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(middle_out[0] - 0.08, middle_out[1]),
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(middle_out[0] + 0.08, middle_out[1]),
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(middle_in[0] + 0.08, middle_in[1])])
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self.robot_pos_1_point = Point(self.robot_pos_1)
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self.robot_pos_2_point = Point(self.robot_pos_2)
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@ -189,14 +174,12 @@ class race_track:
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plt.plot(x, y)
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plt.show()
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if self.outside_track.contains(self.robot_pos_1_point) and not \
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self.inside_track.contains(self.robot_pos_1_point):
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self.robot_1.controlling_allowed = True
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else:
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#print("robot outside track")
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# print("robot outside track")
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self.robot_1.controlling_allowed = False
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if self.outside_track.contains(self.robot_pos_2_point) and not \
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@ -204,12 +187,13 @@ class race_track:
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self.robot_2.controlling_allowed = True
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else:
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#print("robot_2 outside track")
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# print("robot_2 outside track")
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self.robot_2.controlling_allowed = False
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else:
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print("couldn't find the all ARUCO markers")
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def check_starting_position(self, robot_1, robot_2): # when you pressing B robot must staying on the start line for beginning of race
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def check_starting_position(self, robot_1,
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robot_2): # when you pressing B robot must staying on the start line for beginning of race
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button_robot_1 = robot_1.joystick.get_button(1)
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button_robot_2 = robot_2.joystick.get_button(1)
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@ -230,7 +214,6 @@ class race_track:
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print("put the BMW X6 on the start line")
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self.robot_2.controlling_allowed_2 = False
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def start_countdown(self):
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if self.countdown and self.countdown_2:
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self.count_down_start = time.time()
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@ -253,7 +236,7 @@ class race_track:
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# prints countdown to screen
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if self.time_start:
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countdown_font = pygame.font.Font(None, 80)
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ready_font= pygame.freetype.SysFont(None, 42)
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ready_font = pygame.freetype.SysFont(None, 42)
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ready_font.render_to(screen, (170, 200), "ARE YOU READY?", (255, 160, 30))
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output_string = "{: 6.2f}".format(time.time() - self.count_down_start)
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text = countdown_font.render(output_string, True, (0, 255, 0))
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@ -265,6 +248,7 @@ class race_track:
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self.time_circle_robot_2 = time.time()
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self.print_robot_1_time = True
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self.print_robot_2_time = True
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def print_time_robot_1_2(self):
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if self.print_robot_1_time:
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time_robot_2_font_1 = pygame.freetype.SysFont(None, 42)
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@ -340,7 +324,6 @@ class race_track:
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self.robot_2.controlling_allowed_2 = True
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self.robot_1_time = True
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def checkpoint(self):
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if self.check_number_markers:
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if self.checkpoint_strength_line.contains(self.robot_pos_1_point):
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@ -405,7 +388,6 @@ class robot: # we have 4 arg for this class, because joysticks get the same (va
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self.controlling_allowed = True
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self.controlling_allowed_2 = False
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self.u1 = 0
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self.u2 = 0
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try:
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@ -416,6 +398,7 @@ class robot: # we have 4 arg for this class, because joysticks get the same (va
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sys.exit(1)
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self.check_joystick = False
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def joystick_init(self): # Joystick's initialisation
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joystick_count = pygame.joystick.get_count()
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for count in range(joystick_count):
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@ -433,15 +416,11 @@ class robot: # we have 4 arg for this class, because joysticks get the same (va
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print("no joysticks connected")
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self.check_joystick = False
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def check_control(self):
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if not self.controlling_allowed:
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if self.robot_stopped:
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pass
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#print("check control -> already stopped")
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# print("check control -> already stopped")
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else:
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self.u1 = self.u2 = 0
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self.robot_stopped = True
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@ -449,7 +428,6 @@ class robot: # we have 4 arg for this class, because joysticks get the same (va
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print("check control -> stop")
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def control_alt(self):
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if self.controlling_allowed and self.controlling_allowed_2:
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ax1 = self.joystick.get_axis(1) * 0.75
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@ -461,41 +439,40 @@ class robot: # we have 4 arg for this class, because joysticks get the same (va
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u2_old = deepcopy(self.u2)
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threshold = 0.2
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if abs(ax1) < threshold and ax2 < threshold and abs(ax3) < threshold and ax5 < threshold and not self.robot_stopped:
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if abs(ax1) < threshold and ax2 < threshold and abs(
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ax3) < threshold and ax5 < threshold and not self.robot_stopped:
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self.robot_stopped = True
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#print("all axis in neutral -> stopping")
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# print("all axis in neutral -> stopping")
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self.u1 = self.u2 = 0
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#self.rc_socket.send('({},{})\n'.format(u1, u2).encode())
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# self.rc_socket.send('({},{})\n'.format(u1, u2).encode())
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else:
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self.robot_stopped = False
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if abs(ax1) > threshold and abs(ax3) > threshold:
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self.u1 = (-ax1 + ax3)/2.0
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self.u2 = (-ax1 - ax3)/2.0
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#self.rc_socket.send('({},{})\n'.format(u1, u2).encode())
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self.u1 = (-ax1 + ax3) / 2.0
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self.u2 = (-ax1 - ax3) / 2.0
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# self.rc_socket.send('({},{})\n'.format(u1, u2).encode())
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elif abs(ax1) > threshold:
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self.u1 = self.u2 = -ax1
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#self.rc_socket.send('({},{})\n'.format(u1, u2).encode())
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# self.rc_socket.send('({},{})\n'.format(u1, u2).encode())
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elif abs(ax3) > threshold:
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self.u1 = ax3
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self.u2 = -ax3
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elif ax2 > threshold:
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self.u1 = ax2
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self.u2 = ax2*0.75
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#self.rc_socket.send('({},{})\n'.format(u1, u2).encode())
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self.u2 = ax2 * 0.75
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# self.rc_socket.send('({},{})\n'.format(u1, u2).encode())
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elif ax5 > threshold:
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self.u1 = ax5*0.75
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self.u1 = ax5 * 0.75
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self.u2 = ax5
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if u1_old != self.u1 or u2_old != self.u2:
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#print("update_control = True")
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# print("update_control = True")
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self.update_control = True
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def send_control(self):
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if self.update_control:
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#print("sending..({},{})\n".format(self.u1, self.u2))
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# print("sending..({},{})\n".format(self.u1, self.u2))
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self.rc_socket.send('({},{})\n'.format(self.u1, self.u2).encode())
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def control_keyboard(self, event): # keyboard control for robot1
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u1_old = deepcopy(self.u1)
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@ -504,27 +481,27 @@ class robot: # we have 4 arg for this class, because joysticks get the same (va
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if pressed[pygame.K_LEFT]:
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self.u1 = -1.0
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self.u2 = 1.0
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#self.rc_socket.send('({},{})\n'.format(u1, u2).encode())
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# self.rc_socket.send('({},{})\n'.format(u1, u2).encode())
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elif pressed[pygame.K_RIGHT]:
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self.u1 = 1.0
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self.u2 = -1.0
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#self.rc_socket.send('({},{})\n'.format(u1, u2).encode())
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# self.rc_socket.send('({},{})\n'.format(u1, u2).encode())
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elif pressed[pygame.K_UP]:
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self.u1 = 1.0
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self.u2 = 1.0
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#self.rc_socket.send('({},{})\n'.format(u1, u2).encode())
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# self.rc_socket.send('({},{})\n'.format(u1, u2).encode())
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elif pressed[pygame.K_DOWN]:
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self.u1 = -1.0
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self.u2 = -1.0
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#self.rc_socket.send('({},{})\n'.format(u1, u2).encode())
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# self.rc_socket.send('({},{})\n'.format(u1, u2).encode())
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elif event.type == pygame.KEYUP:
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self.u1 = 0.0
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self.u2 = 0.0
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#selfd.rc_socket.send('({},{})\n'.format(self.u1, self.u2).encode())
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# selfd.rc_socket.send('({},{})\n'.format(self.u1, self.u2).encode())
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if u1_old != self.u1 or u2_old != self.u2:
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print("update_control = True")
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@ -538,27 +515,27 @@ class robot: # we have 4 arg for this class, because joysticks get the same (va
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if pressed[pygame.K_a]:
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self.u1 = -1.0
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self.u2 = 1.0
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#self.rc_socket.send('({},{})\n'.format(u1, u2).encode())
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# self.rc_socket.send('({},{})\n'.format(u1, u2).encode())
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elif pressed[pygame.K_d]:
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self.u1 = 1.0
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self.u2 = -1.0
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#self.rc_socket.send('({},{})\n'.format(u1, u2).encode())
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# self.rc_socket.send('({},{})\n'.format(u1, u2).encode())
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elif pressed[pygame.K_w]:
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self.u1 = 1.0
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self.u2 = 1.0
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#self.rc_socket.send('({},{})\n'.format(u1, u2).encode())
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# self.rc_socket.send('({},{})\n'.format(u1, u2).encode())
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elif pressed[pygame.K_s]:
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self.u1 = -1.0
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self.u2 = -1.0
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#self.rc_socket.send('({},{})\n'.format(u1, u2).encode())
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# self.rc_socket.send('({},{})\n'.format(u1, u2).encode())
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elif event.type == pygame.KEYUP:
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self.u1 = 0.0
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self.u2 = 0.0
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#self.rc_socket.send('({},{})\n'.format(self.u1, self.u2).encode())
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# self.rc_socket.send('({},{})\n'.format(self.u1, self.u2).encode())
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if u1_old != self.u1 or u2_old != self.u2:
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print("update_control = True")
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@ -566,7 +543,6 @@ class robot: # we have 4 arg for this class, because joysticks get the same (va
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def main():
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marker_config = 'track.cfg'
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global screen
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@ -580,10 +556,6 @@ def main():
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robot_track = race_track(robot_1, robot_2, marker_config)
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time.sleep(1.0)
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while True:
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screen.fill((0, 0, 0))
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@ -595,15 +567,11 @@ def main():
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robot_track.checkpoint()
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robot_track.finish_line()
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robot_1.check_control()
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robot_2.check_control()
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robot_track.check_countdown()
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events = pygame.event.get()
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global pressed
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pressed = pygame.key.get_pressed()
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