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myr2017.py
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myr2017.py
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# the simplest MYR2017 version
import argparse
import socket
import sys
import struct
import itertools
import zlib
from datetime import timedelta
from threading import Thread
from logger import LogWriter, LogReader, LogEnd
from robot import Robot
DEFAULT_HOST = '127.0.0.1' # The remote host
DEFAULT_PORT = 5559 # The same port as used by the server
ANNOT_STREAM = 0 # the same as debug/info
INPUT_STREAM = 1
OUTPUT_STREAM = 2
VIDEO_STREAM = 3
VIDEO_COMPRESSION_LEVEL = 7 # zlib parameter
# Row navigation constants
MAX_GAP_SIZE = 13 # defined for plants on both sides
OPEN_SIZE = 17
OFFSET_SIZE = 5
END_OF_ROW_SIZE = 18 + 19 # for 180deg FOV
class WrapperIO:
def __init__(self, soc, log, ignore_ref_output=False):
self.soc = soc
self.log = log
self.ignore_ref_output = ignore_ref_output
self.buf = b''
self.time = None
def get(self):
if len(self.buf) < 1024:
if self.soc is None:
self.time, __, data = self.log.read(INPUT_STREAM)
else:
data = self.soc.recv(1024)
self.time = self.log.write(INPUT_STREAM, data)
self.buf += data
assert len(self.buf) > 7 and self.buf[:6] == b'NAIO01', self.buf
msg_id = self.buf[6]
size = struct.unpack('>I', self.buf[7:7+4])[0]
data = self.buf[11:11+size]
self.buf = self.buf[11+size+4:] # cut CRC32
return self.time, msg_id, data
def put(self, cmd):
msg_id, data = cmd
naio_msg = b'NAIO01' + bytes([msg_id]) + struct.pack('>I', len(cmd)) + data + b'\xCD\xCD\xCD\xCD'
if self.soc is None:
ref = self.log.read(OUTPUT_STREAM)[2]
if not self.ignore_ref_output:
assert naio_msg == ref, (naio_msg, ref)
else:
self.log.write(OUTPUT_STREAM, naio_msg)
self.soc.sendall(naio_msg)
def annot(self, annotation):
if self.soc is not None:
self.log.write(ANNOT_STREAM, annotation)
def laser2ascii(scan, limit = 1.0):
"Eduro ASCII art"
step = 5
scan2 = [x == 0 and 10000 or x for x in scan]
min_dist_arr = [min(i)/1000.0 for i in
[itertools.islice(scan2, start, start + step)
for start in range(0, len(scan2), step)]]
s = ''
for d in min_dist_arr:
s += (d < 0.5 and 'X' or (d<1.0 and 'x' or (d<1.5 and '.' or ' ')))
mid = int(len(s)/2)
s = s[:mid] + 'C' + s[mid:]
left, right = mid, mid
while left > 0 and min_dist_arr[left] > limit:
left -= 1
while right < len(min_dist_arr) and min_dist_arr[right] > limit:
right += 1
return s, mid-left, right-mid
def move_straight(robot, how_far):
robot.annot(b'TAG:move_one_meter:BEGIN')
odo_start = robot.odometry_left_raw + robot.odometry_right_raw
robot.move_forward()
dist = 0.0
while dist < how_far:
robot.update()
odo = robot.odometry_left_raw + robot.odometry_right_raw - odo_start
dist = 0.06465 * odo / 4.0
robot.stop()
robot.annot(b'TAG:move_one_meter:END')
def turn_deg(robot, angle_deg):
"""turn robot for desired angle in degrees"""
# left is positive angle, right negative
if angle_deg > 0:
robot.turn_left()
elif angle_deg < 0:
robot.turn_right()
else:
# angle_deg == 0
return
gyro_sum = 0
start_time = robot.time
num_updates = 0
while robot.time - start_time < timedelta(minutes=1):
prev_time = robot.time
robot.update()
dt = robot.time - prev_time
dt = timedelta(microseconds=100000) # hack for simulation
gyro_sum += robot.gyro_raw[2] # time is required!
num_updates += 1
# the updates are 10Hz (based on laser measurements)
angle = -(gyro_sum * dt.total_seconds()) * 30.5/1000.0
# also it looks the rotation (in Simulatoz) is clockwise
if abs(angle) > abs(angle_deg): # TODO lower threshold for minor corrections
break
robot.stop()
print('gyro_sum', gyro_sum, robot.time - start_time, num_updates)
def turn_right_90deg(robot):
robot.annot(b'TAG:turn_right_90deg:BEGIN')
turn_deg(robot, -90)
robot.annot(b'TAG:turn_right_90deg:END')
def turn_left_90deg(robot):
robot.annot(b'TAG:turn_left_90deg:BEGIN')
turn_deg(robot, 90)
robot.annot(b'TAG:turn_left_90deg:END')
def enter_field(robot, verbose):
robot.annot(b'TAG:enter_field:BEGIN')
if verbose:
print('enter_field')
if robot.time is None:
robot.update()
robot.move_forward()
start_time = robot.time
while robot.time - start_time < timedelta(minutes=1):
robot.update()
triplet = laser2ascii(robot.laser)
s, left, right = triplet
if left + right < END_OF_ROW_SIZE:
# i.e. there is some obstacle within 1 meter radius
break
if verbose:
print('max_dist', max(robot.laser))
robot.stop()
robot.update()
robot.annot(b'TAG:enter_field:END')
def navigate_row(robot, verbose):
"""navigate in 70cm rows or on the field border"""
# first make sure you are in the field
enter_field(robot, verbose)
robot.move_forward()
end_of_row = False
while not end_of_row:
robot.update()
max_dist = max(robot.laser)
triplet = laser2ascii(robot.laser)
s, left, right = triplet
__, left2, right2 = laser2ascii(robot.laser, limit=1.5)
if left + right < MAX_GAP_SIZE:
if left < right:
robot.move_right()
elif left > right:
robot.move_left()
else:
robot.move_forward()
else:
# full opening or plans on one side
if left < MAX_GAP_SIZE and right > OPEN_SIZE:
# plans on the left
if left < OFFSET_SIZE:
robot.move_right()
elif left > OFFSET_SIZE and left != left2:
# ignore correction if further radius hits the same object
robot.move_left()
else:
robot.move_forward()
elif left > OPEN_SIZE and right < MAX_GAP_SIZE:
# unexpected case!
if OFFSET_SIZE < right and right != right2:
robot.move_right()
elif OFFSET_SIZE > right:
robot.move_left()
else:
robot.move_forward()
else:
robot.move_forward()
if verbose:
print('%4d' % max_dist, triplet, (left2, right2))
if left + right >= END_OF_ROW_SIZE:
end_of_row = True
def connect(host, port):
s = None
for res in socket.getaddrinfo(host, port, socket.AF_UNSPEC, socket.SOCK_STREAM):
af, socktype, proto, canonname, sa = res
try:
s = socket.socket(af, socktype, proto)
except OSError as msg:
s = None
continue
try:
s.connect(sa)
except OSError as msg:
s.close()
s = None
continue
break
if s is None:
print('could not open socket', (host, port))
sys.exit(1)
return s
class VideoRecorder(Thread):
def __init__(self, soc, log):
Thread.__init__(self)
self.setDaemon(True)
self.soc = soc
self.log = log
def run(self):
print('Video Recorder started')
while True:
try:
data = self.soc.recv(10000)
except:
print('Video Terminated')
break
# maybe compression could be part of LogWriter??
self.log.write(VIDEO_STREAM, zlib.compress(data, VIDEO_COMPRESSION_LEVEL))
def main(host, port, video_port=None):
s = connect(host, port)
video_socket = None
if video_port is not None:
video_socket = connect(host, video_port)
with s, LogWriter(note=str(sys.argv)) as log:
print(log.filename)
io = WrapperIO(s, log)
recorder = None
if video_socket is not None:
recorder = VideoRecorder(video_socket, log)
recorder.start()
yield Robot(io.get, io.put, io.annot)
print(log.filename)
if video_socket is not None:
video_socket.close()
recorder.join()
def main_replay(filename, force):
"replay existing log file"
with LogReader(filename) as log:
print('REPLAY', log.filename)
io = WrapperIO(None, log, ignore_ref_output=force)
yield Robot(io.get, io.put, io.annot)
print('REPLAY', log.filename)
def test_1m(robot):
move_straight(robot, how_far=1.0)
robot.wait(timedelta(seconds=3))
def test_90deg(robot):
robot.update() # define time
turn_right_90deg(robot)
robot.wait(timedelta(seconds=3))
turn_left_90deg(robot)
robot.wait(timedelta(seconds=3))
def test_loops(robot, verbose):
for i in range(10):
navigate_row(robot, verbose)
move_straight(robot, how_far=1.2)
turn_right_90deg(robot)
move_straight(robot, how_far=0.7)
turn_right_90deg(robot)
robot.stop()
robot.update()
def test_enter(robot, verbose):
enter_field(robot, verbose)
robot.wait(timedelta(seconds=3))
def play_game(robot, verbose):
# 1st row
navigate_row(robot, verbose)
move_straight(robot, how_far=1.2)
turn_right_90deg(robot)
move_straight(robot, how_far=0.7)
turn_right_90deg(robot)
# 2nd row
navigate_row(robot, verbose)
move_straight(robot, how_far=1.2)
turn_left_90deg(robot)
move_straight(robot, how_far=0.7)
turn_left_90deg(robot)
# 3rd row (from outside)
navigate_row(robot, verbose)
move_straight(robot, how_far=1.2)
turn_left_90deg(robot)
move_straight(robot, how_far=3*0.7)
turn_left_90deg(robot)
# 0th row (from outside)
navigate_row(robot, verbose)
move_straight(robot, how_far=1.2)
robot.stop()
robot.update()
def run_robot(robot, verbose=False, test_case=None):
if test_case is None:
play_game(robot, verbose=verbose)
elif test_case == '1m':
test_1m(robot)
elif test_case == '90deg':
test_90deg(robot)
elif test_case == 'loops':
test_loops(robot, verbose=verbose)
elif test_case == 'enter':
test_enter(robot, verbose=verbose)
else:
assert False, test_case # not supported
if __name__ == '__main__':
parser = argparse.ArgumentParser(description='Navigate Naio robot in "Move Your Robot" competition')
parser.add_argument('--host', dest='host', default=DEFAULT_HOST,
help='IP address of the host')
parser.add_argument('--port', dest='port', default=DEFAULT_PORT,
help='port number of the robot or simulator')
parser.add_argument('--note', help='add run description')
parser.add_argument('--verbose', help='show laser output', action='store_true')
parser.add_argument('--video-port', dest='video_port',
help='optional video port 5558 for simulator, default "no video"')
parser.add_argument('--replay', help='replay existing log file')
parser.add_argument('--force', '-F', dest='force', action='store_true',
help='force replay even for failing output asserts')
parser.add_argument('--test', dest='test_case', help='test cases',
choices=['1m', '90deg', 'loops', 'enter'])
args = parser.parse_args()
if args.replay is None:
for robot in main(args.host, args.port, args.video_port):
run_robot(robot, test_case=args.test_case, verbose=args.verbose)
else:
for robot in main_replay(args.replay, args.force):
try:
run_robot(robot, test_case=args.test_case, verbose=args.verbose)
except LogEnd:
print("Exception LogEnd")
# vim: expandtab sw=4 ts=4