forked from Telos4/RoboRally
adjusted to rename of aruco estimator and changed order for server commands
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a22a3fdea3
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@ -5,8 +5,7 @@ import time
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from mpc_controller import MPCController
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from robot import Robot
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import opencv_viewer_example
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from aruco_estimator import ArucoEstimator
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MSGLEN = 64
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@ -75,7 +74,7 @@ class RoboRallyRobot(Robot):
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pass # nop command -> robot grid position does not change (used e.g. for driving the robot to initial
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# position)
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else:
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print("error: invalid move")
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print(f"error: invalid move: {move_type}")
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sys.exit(1)
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def __str__(self):
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@ -91,7 +90,7 @@ class RemoteController:
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def __init__(self):
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self.robots = []
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self.robots = [RoboRallyRobot(12, '192.168.1.12', x=1, y=1, orientation='>')]
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#self.robots = [RoboRallyRobot(12, '192.168.1.12', x=1, y=1, orientation='>')]
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self.robot_ids = {}
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for r in self.robots:
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@ -110,7 +109,7 @@ class RemoteController:
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self.t = time.time()
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# start thread for marker position detection
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self.estimator = opencv_viewer_example.ArucoEstimator(self.robot_ids.keys())
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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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@ -171,7 +170,57 @@ class RemoteController:
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print("could not read robot id!")
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clientsocket.sendall(b'Could not read robot id!\n')
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if robot_id in self.robot_ids:
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if cmd == 'initialize_robot':
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# add a new robot to the game
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try:
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id = int(inputs[1])
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ip = inputs[2].decode().strip()
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x = int(inputs[3])
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y = int(inputs[4])
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orientation = inputs[5].decode().strip()
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print(f"initializing new robot with id {id} and ip {ip} at pos ({x},{y}) with "
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f"orientation '{orientation}'")
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if id not in self.robot_ids:
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new_robot = RoboRallyRobot(id=id, ip=ip, x=x, y=y, orientation=orientation)
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new_robot.connect()
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# store the new robot in the list of robots
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self.robots.append(new_robot)
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self.robot_ids[new_robot.id] = new_robot # this also means the estimator
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# will track the new robot because
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# it got a reference to the list of
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# robot ids to keep an eye out for
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else: # robot is already created -> just re-initialize its position
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new_robot = self.robot_ids[id]
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new_robot.grid_x = x
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new_robot.grid_y = y
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new_robot.orientation = orientation
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if new_robot.connected:
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print("created new robot and successfully connected to it!")
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while not self.estimator.all_robots_detected(): # wait until the robot gets detected
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pass
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# drive the new robot to its starting position
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self.grid_control(new_robot.id, 'nop')
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clientsocket.sendall(b'OK\n')
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else:
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clientsocket.sendall(f"error: could not connect to new robot {new_robot}".encode())
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except IndexError:
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print("could not initialize a new robot")
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clientsocket.sendall('could not initialize a new robot: invalid command format\n'
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'expected: initialize_robot, <id>, <ip>, <x>, <y>, <orientation>\n'.encode())
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except ValueError:
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print("could not initialize a new robot")
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clientsocket.sendall('could not initialize a new robot: invalid command format\n'
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'expected: initialize_robot, <id>, <ip>, <x>, <y>, <orientation>\n'.encode())
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elif robot_id in self.robot_ids:
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if cmd == b'get position':
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clientsocket.sendall(bytes('{}\n'.format(self.robot_ids[robot_id].grid_pos)))
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elif cmd == b'set position':
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@ -194,46 +243,7 @@ class RemoteController:
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else:
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self.grid_control(robot_id, cmd)
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clientsocket.sendall(b'OK\n')
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elif cmd == 'initialize_robot':
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# add a new robot to the game
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try:
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id = int(inputs[1])
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ip = inputs[2].decode().strip()
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x = int(inputs[3])
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y = int(inputs[4])
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orientation = inputs[5].decode().strip()
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print(f"initializing new robot with id {id} and ip {ip} at pos ({x},{y}) with "
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f"orientation '{orientation}'")
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new_robot = RoboRallyRobot(id=id, ip=ip, x=x, y=y, orientation=orientation)
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new_robot.connect()
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if new_robot.connected:
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print("created new robot and successfully connected to it!")
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# store the new robot in the list of robots
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self.robots.append(new_robot)
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self.robot_ids[new_robot.id] = new_robot # this also means the estimator
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# will track the new robot because
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# it got a reference to the list of
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# robot ids to keep an eye out for
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while not self.estimator.all_robots_detected(): # wait until the robot gets detected
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pass
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# drive the new robot to its starting position
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self.grid_control(new_robot.id, 'nop')
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clientsocket.sendall(b'OK\n')
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else:
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clientsocket.sendall(f"error: could not connect to new robot {new_robot}".encode())
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except IndexError:
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print("could not initialize a new robot")
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clientsocket.sendall('could not initialize a new robot: invalid command format\n'
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'expected: initialize_robot, <id>, <ip>, <x>, <y>, <orientation>\n'.encode())
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except ValueError:
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print("could not initialize a new robot")
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clientsocket.sendall('could not initialize a new robot: invalid command format\n'
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'expected: initialize_robot, <id>, <ip>, <x>, <y>, <orientation>\n'.encode())
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else:
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print("invalid robot id!")
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clientsocket.sendall(b'Invalid robot id!\n')
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