forked from Telos4/RoboRally
234 lines
8.8 KiB
Python
234 lines
8.8 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 mpc_controller import MPCController
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import opencv_viewer_example
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MSGLEN = 64
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def myreceive(sock):
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chunks = []
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bytes_recd = 0
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while bytes_recd < MSGLEN:
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chunk = sock.recv(1)
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if chunk == b'':
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raise RuntimeError("socket connection broken")
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chunks.append(chunk)
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bytes_recd = bytes_recd + len(chunk)
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if chunks[-1] == b'\n':
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break
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return b''.join(chunks)
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class Robot:
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# dictionary mapping the current orientation and a turn command to the resulting orientation
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resulting_orientation = {
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'^': {'turn left': '<', 'turn right': '>', 'turn around': 'v'},
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'>': {'turn left': '^', 'turn right': 'v', 'turn around': '<'},
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'v': {'turn left': '>', 'turn right': '<', 'turn around': '^'},
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'<': {'turn left': 'v', 'turn right': '^', 'turn around': '>'},
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}
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# dictionary mapping an orientation to its opposite
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opposites = {'^': 'v', '>': '<', 'v': '^', '<': '>'}
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def __init__(self, id, ip, x=0, y=0, orientation='>'):
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self.x = x
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self.y = y
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self.orientation = orientation
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self.id = id
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self.pos = None
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self.euler = None
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self.ip = ip
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self.socket = socket.socket()
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# currently active control
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self.u1 = 0.0
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self.u2 = 0.0
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def get_neighbor_coordinates(self, direction):
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# get the coordinates of the neighboring tile in the given direction
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if direction == '^':
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return (self.x, self.y - 1)
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elif direction == '>':
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return (self.x + 1, self.y)
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elif direction == 'v':
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return (self.x, self.y + 1)
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elif direction == '<':
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return (self.x - 1, self.y)
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else:
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print("error: unknown direction")
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sys.exit(1)
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def move(self, type):
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if type == 'forward':
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target_tile = self.get_neighbor_coordinates(self.orientation)
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self.x = target_tile[0]
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self.y = target_tile[1]
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elif type == 'backward':
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opposite_orientation = Robot.opposites[self.orientation]
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target_tile = self.get_neighbor_coordinates(opposite_orientation)
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self.x = target_tile[0]
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self.y = target_tile[1]
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elif 'turn' in type:
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self.orientation = Robot.resulting_orientation[self.orientation][type]
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else:
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print("error: invalid move")
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sys.exit(1)
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def connect(self):
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# connect to robot
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try:
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print("connecting to robot {} with ip {} ...".format(self.id, self.ip))
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#self.socket.connect((self.ip, 1234)) # connect to robot
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print("connected!")
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except socket.error:
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print("could not connect to robot {} with ip {}".format(self.id, self.ip))
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sys.exit(1)
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def send_cmd(self, u1=0.0, u2=0.0):
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if self.socket:
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try:
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self.socket.send(f'({u1},{u2})\n'.encode())
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except BrokenPipeError:
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#print(f"error: connection to robot {self.id} with ip {self.ip} lost")
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pass
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def __str__(self):
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return self.__repr__()
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def __repr__(self):
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return f"x: {self.x}, y: {self.y}, orienation: {self.orientation}"
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class RemoteController:
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def __init__(self):
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# self.robots = #[Robot(11, '192.168.1.11', (6, -3, np.pi)), Robot(12, '192.168.1.12', (6, -3, np.pi)),
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# Robot(13, '192.168.1.13', (6, -3, np.pi)), Robot(14, '192.168.1.14', (6, -2, np.pi))]
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#self.robots = [Robot(13, '192.168.1.13', (6, -3, np.pi))]
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#self.robots = []
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#self.robots = [Robot(11, '192.168.1.11', (6,-3,0)), Robot(14, '192.168.1.14', (6,3,0))]
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#self.robots = [Robot(11, '192.168.1.11'), Robot(14, '192.168.1.14')]
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self.robots = [Robot(12, '192.168.1.12')]
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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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self.valid_cmds = ['forward', 'backward', 'turn left', 'turn right', 'turn around', 'get position', 'set position']
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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 = opencv_viewer_example.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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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():
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pass
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print("starting control")
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running = True
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while running:
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(clientsocket, address) = self.comm_socket.accept()
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clientsocket.settimeout(None)
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connected = True
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while connected:
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try:
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data = myreceive(clientsocket)
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print("data received: ", data)
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inputs = data.split(b',')
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cmd = inputs[0]
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cmd = cmd.strip().decode()
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if len(inputs) > 1:
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if cmd in self.valid_cmds:
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try:
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robot_id = int(inputs[1])
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except ValueError:
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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 == 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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try:
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pos_data = ",".join(inputs[2:])
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new_grid_pos = tuple(map(lambda x: int(x[1]) if x[0] < 2 else float(x[1]), enumerate(pos_data.strip().strip('()').split(','))))
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self.robot_ids[robot_id].grid_pos = new_grid_pos
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clientsocket.sendall(b'OK\n')
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except IndexError as e:
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print("could not set grid position!")
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clientsocket.sendall(bytes(
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'could not set grid position! (invalid format)\n'.format(
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self.robot_ids[robot_id].grid_pos)))
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except ValueError as e:
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print("could not set grid position!")
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clientsocket.sendall(bytes('could not set grid position! (invalid format)\n'.format(self.robot_ids[robot_id].grid_pos)))
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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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else:
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print("invalid robot id!")
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clientsocket.sendall(b'Invalid robot id!\n')
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else:
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clientsocket.sendall(b'Invalid command!\n')
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else: # len(inputs) <= 1
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if b'quit' in inputs[0]:
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clientsocket.close()
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self.comm_socket.close()
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connected = False
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running = False
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else:
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print("could not process command!")
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clientsocket.sendall(b'Could not process request!\n')
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except RuntimeError:
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print("disconnected")
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connected = False
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clientsocket.close()
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def grid_control(self, robot_id, cmd):
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robot = self.robot_ids[robot_id] # get robot to be controlled
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print("robot grid pos before move: ", robot)
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robot.move(cmd)
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print("robot grid pos after move: ", robot)
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target = self.estimator.get_pos_from_grid_point(robot.x, robot.y, robot.orientation)
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self.controller.move_to_pos(target, robot)
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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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