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robot_v4.py
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robot_v4.py
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# -*- coding: utf-8 -*-
"""
Created on Wed Nov 11 17:30:44 2015
@author: christopher
Same as V3 (Stops after rx warn msg ) + Diff measurement interval during STOP mode
"""
# Libraries
import communication as com
import constants as c
import pi2go
import time
import helper
# Initial
state = 'INIT'
prev_state = ''
mode = 'STOP'
prev_mode = ''
SPEED_RUN = c.SPEED_RUN
SPEED_WARN = round(float(SPEED_RUN)/3, 0)
SPEED_CONTROL_MAX = SPEED_RUN
SPEED_CONTROL_MIN = SPEED_WARN
DIST_MIN = c.DIST_MIN
speed = 0
distance = 0
distance_level = 0
last_meas_time = 0
warning = []
for x in range(c.TEAM_SIZE):
warning.append(True)
times = [['prev_get_dist', 0.0],
['prev_get_switch', 0.0],
['prev_set_motor', 0.0],
['get_warning', 0.0],
['prev_set_LED', 0.0],
['new_in_RUN', 0.0]]
flags = [['set_motor', False],
['status_warn_LED', False],
['button_release', False],
['master_set_speed', False],
['master_set_button', False],
['master_set_LED', False],
['master_set_state', False],
['robot_type_com', False],
['master_set_type', False]]
try:
while True:
if state == 'INIT':
pi2go.init()
sock = com.init_nonblocking_receiver('', c.PORT)
OWN_IP = com.get_ip()
OWN_ID = com.get_id_from_ip(OWN_IP)
value = helper.determine_team(OWN_ID)
if helper.determine_team(OWN_ID) == c.VALUE_TYPE_COM:
print "I'm in com_mode now!"
helper.set_element(flags, 'robot_type_com', True)
elif helper.determine_team(OWN_ID) == c.VALUE_TYPE_AUTO:
print "I'm in auto_mode now!"
helper.set_element(flags, 'robot_type_com', False)
local_prev_value = helper.determine_team(OWN_ID)
# TODO: IDLE-STATE?
prev_state = state
state = 'IDLE'
if state == 'IDLE':
if prev_state != 'IDLE' or helper.get_element(flags, 'master_set_type'):
helper.set_element(flags, 'master_set_type', False)
if helper.get_element(flags, 'robot_type_com'):
pi2go.setAllLEDs(c.LED_ON, c.LED_OFF, c.LED_ON)
else:
pi2go.setAllLEDs(c.LED_OFF, c.LED_ON, c.LED_ON)
pi2go.stop()
if helper.check_time_limit(times, 'prev_get_switch', c.WAIT_SWITCH):
# Pressed = 1, Released = 0
button = pi2go.getSwitch()
if not button:
helper.set_element(flags, 'button_release', True)
if button and helper.get_element(flags, 'button_release'):
helper.set_element(flags, 'button_release', False)
prev_mode = ''
prev_state = state
state = 'RUNNING'
helper.set_element(flags, 'master_set_LED', True)
helper.set_element(flags, 'set_motor', True)
# change to sensor-based or master_idle type
data = 'new_round'
while data != '':
data, addr = com.receive_message(sock)
if data != '':
sender_ID = com.get_id_from_ip(addr[0])
if sender_ID == OWN_ID:
# print 'OWN: ' , sender_ID, ' : ' , data
continue
if c.TEAM_END >= sender_ID >= c.TEAM_START:
# print 'ROBOT: ', sender_ID, ' : ' , data
if data == 'PROBLEM':
warning[sender_ID-c.TEAM_START] = False
elif data == 'RELEASE':
warning[sender_ID-c.TEAM_START] = True
else:
command, value = com.string_to_command(data)
print 'MASTER:', sender_ID, ' : ', data
try:
if command == c.COMMAND_SPEED:
helper.set_element(flags, 'master_set_speed', True)
prev_SPEED_RUN = SPEED_RUN
if value == '+':
SPEED_RUN += 5
elif value == '-':
SPEED_RUN -= 5
else:
SPEED_RUN = value
print 'Set SPEED_RUN from ' + str(prev_SPEED_RUN) + ' to ' + str(SPEED_RUN)
elif command == c.COMMAND_DIST:
prev_DIST_MIN = DIST_MIN
DIST_MIN = value
print 'Set DIST_MIN from ' + str(prev_DIST_MIN) + ' to ' + str(DIST_MIN)
elif command == c.COMMAND_BLINK:
helper.blink('white')
helper.set_element(flags, 'master_set_LED', True)
elif command == c.COMMAND_RESET:
SPEED_RUN = c.SPEED_RUN
SPEED_WARN = round(float(SPEED_RUN)/3, 0)
SPEED_CONTROL_MAX = SPEED_RUN
SPEED_CONTROL_MIN = SPEED_WARN
DIST_MIN = c.DIST_MIN
helper.set_element(times, 'prev_get_dist', 0)
helper.set_element(flags, 'master_set_LED', True)
helper.set_element(flags, 'master_set_speed', True)
helper.set_element(flags, 'set_motor', True)
warning = [True] * len(warning)
print "Reset major values"
elif command == c.COMMAND_STATE:
helper.set_element(flags, 'set_motor', True)
helper.set_element(flags, 'master_set_LED', True)
local_prev_state = state
if value == c.VALUE_STATE_RUNNING:
state = 'RUNNING'
elif value == c.VALUE_STATE_IDLE:
state = 'IDLE'
print 'Going from state ' + local_prev_state + ' to state ' + state
elif command == c.COMMAND_TYPE:
helper.set_element(flags, 'master_set_type', True)
helper.set_element(flags, 'master_set_LED', True)
if value == c.VALUE_TYPE_ORIGINAL:
if helper.determine_team(OWN_ID) == c.VALUE_TYPE_COM:
helper.set_element(flags, 'robot_type_com', True)
else:
helper.set_element(flags, 'robot_type_com', False)
com.send_x_broadcast_messages(c.PORT, "RELEASE", c.SENDING_ATTEMPTS,
c.WAIT_SEND)
elif value == c.VALUE_TYPE_COM:
helper.set_element(flags, 'robot_type_com', True)
elif value == c.VALUE_TYPE_AUTO:
helper.set_element(flags, 'robot_type_com', False)
com.send_x_broadcast_messages(c.PORT, "RELEASE", c.SENDING_ATTEMPTS, c.WAIT_SEND)
print "MASTER: Changing from type " + local_prev_value + " to type " + value
local_prev_value = value
except:
print "Error interpreting message from master! Continuing anyway"
elif state == 'RUNNING':
# Distance
if mode == 'STOP':
interval = c.WAIT_DIST_STOP
else:
interval = c.WAIT_DIST
if helper.check_time_limit(times, 'prev_get_dist', c.WAIT_DIST):
time_between = time.time() - last_meas_time
last_meas_time = time.time()
new_dist = pi2go.getDistance()
if new_dist > 1:
prev_distance = distance
distance = new_dist
print 'dt:', time_between, distance
# Obstacle = 1, No Obstacle = 0
irCentre = pi2go.irCentre()
# Obstacle Analysis
prev_distance_level = distance_level
if mode == 'STOP':
if irCentre or (distance < DIST_MIN and prev_distance < DIST_MIN):
distance_level = 0
elif distance > c.DIST_MAX and prev_distance > c.DIST_MAX:
distance_level = 2
elif DIST_MIN <= distance <= c.DIST_MAX and DIST_MIN <= prev_distance <= c.DIST_MAX:
distance_level = 1
else:
if irCentre or distance < DIST_MIN:
distance_level = 0
elif distance > c.DIST_MAX:
distance_level = 2
else:
distance_level = 1
# Receive
data = 'new_round'
while data != '':
data, addr = com.receive_message(sock)
if data != '':
sender_ID = com.get_id_from_ip(addr[0])
if sender_ID == OWN_ID:
# print 'OWN: ' , sender_ID, ' : ' , data
continue
if c.TEAM_END >= sender_ID >= c.TEAM_START:
# print 'ROBOT: ', sender_ID, ' : ' , data
if data == 'PROBLEM':
warning[sender_ID-c.TEAM_START] = False
elif data == 'RELEASE':
warning[sender_ID-c.TEAM_START] = True
else:
try:
# print 'MASTER:' , sender_ID , ' : ' , data
command, value = com.string_to_command(data)
if command == c.COMMAND_SPEED:
helper.set_element(flags, 'master_set_speed', True)
prev_SPEED_RUN = SPEED_RUN
if value == '+':
SPEED_RUN += 5
elif value == '-':
SPEED_RUN -= 5
else:
SPEED_RUN = value
print 'MASTER: Set SPEED_RUN from ' + str(prev_SPEED_RUN) + ' to ' + str(SPEED_RUN)
elif command == c.COMMAND_DIST:
prev_DIST_MIN = DIST_MIN
DIST_MIN = value
print 'MASTER: Set DIST_MIN from ' + str(prev_DIST_MIN) + ' to ' + str(DIST_MIN)
elif command == c.COMMAND_BLINK:
helper.blink('white')
helper.set_element(flags, 'master_set_LED', True)
elif command == c.COMMAND_RESET:
SPEED_RUN = c.SPEED_RUN
SPEED_WARN = round(float(SPEED_RUN)/3, 0)
SPEED_CONTROL_MAX = SPEED_RUN
SPEED_CONTROL_MIN = SPEED_WARN
DIST_MIN = c.DIST_MIN
helper.set_element(times, 'prev_get_dist', 0)
helper.set_element(flags, 'master_set_LED', True)
helper.set_element(flags, 'master_set_speed', True)
helper.set_element(flags, 'set_motor', True)
warning = [True] * len(warning)
print 'MASTER: Reset major values'
elif command == c.COMMAND_STATE:
helper.set_element(flags, 'master_set_state', True)
if value == c.VALUE_STATE_RUNNING:
next_state = 'RUNNING'
elif value == c.VALUE_STATE_IDLE:
next_state = 'IDLE'
print 'MASTER: Going from state ' + state + ' to state ' + next_state
# elif command == c.COMMAND_TYPE and value != c.VALUE_TYPE_COM:
elif command == c.COMMAND_TYPE:
helper.set_element(flags, 'master_set_type', True)
helper.set_element(flags, 'master_set_LED', True)
local_prev_value = value
if value == c.VALUE_TYPE_ORIGINAL:
if helper.determine_team(OWN_ID) == c.VALUE_TYPE_COM:
helper.set_element(flags, 'robot_type_com', True)
else:
helper.set_element(flags, 'robot_type_com', False)
com.send_x_broadcast_messages(c.PORT, "RELEASE", c.SENDING_ATTEMPTS,
c.WAIT_SEND)
elif value == c.VALUE_TYPE_COM:
helper.set_element(flags, 'robot_type_com', True)
elif value == c.VALUE_TYPE_AUTO:
helper.set_element(flags, 'robot_type_com', False)
com.send_x_broadcast_messages(c.PORT, "RELEASE", c.SENDING_ATTEMPTS, c.WAIT_SEND)
print "MASTER: Changing from type " + local_prev_value + " to type " + value
except:
print "Error interpreting message from master! Continuing anyway"
# Analyse --> Calculate MODE
if prev_state == 'RUNNING':
prev_mode = mode
# Find Mode
if helper.get_element(flags, 'robot_type_com'):
if distance_level == 0:
mode = 'STOP'
elif distance_level == 1 and all(warning):
mode = 'SLOW'
elif distance_level == 2 and all(warning):
mode = 'RUN'
elif distance_level != 0 and not all(warning):
mode = 'WARN'
else:
if distance_level == 0:
mode = 'STOP'
elif distance_level == 1:
mode = 'SLOW'
elif distance_level == 2:
mode = 'RUN'
# Set own Warning-Flag
if mode != prev_mode:
if mode == 'STOP':
warning[OWN_ID-c.TEAM_START] = False
else:
warning[OWN_ID-c.TEAM_START] = True
# LEDs
if mode != prev_mode or helper.get_element(flags, 'master_set_LED'):
if helper.get_element(flags, 'master_set_LED'):
helper.set_element(flags, 'master_set_LED', False)
if mode == 'RUN':
pi2go.setAllLEDs(c.LED_OFF, c.LED_ON, c.LED_OFF)
elif mode == 'SLOW':
# pi2go.setAllLEDs(c.LED_OFF, c.LED_OFF, c.LED_ON) #TODO: test
# pi2go.setAllLEDs(c.LED_ON, c.LED_ON, c.LED_OFF)
pi2go.setAllLEDs(c.LED_OFF, c.LED_ON, c.LED_OFF) # TODO: presentation
# elif mode == 'WARN':
# pi2go.setAllLEDs(c.LED_ON, c.LED_ON, c.LED_OFF)
elif mode == 'STOP':
pi2go.setAllLEDs(c.LED_ON, c.LED_OFF, c.LED_OFF)
# Blinking-Mode
if mode == 'WARN' and helper.get_element(flags, 'robot_type_com'):
if helper.check_time_limit(times, 'prev_set_LED', c.WAIT_LED):
if helper.get_element(flags, 'status_warn_LED'):
pi2go.setAllLEDs(c.LED_OFF, c.LED_OFF, c.LED_OFF)
helper.set_element(flags, 'status_warn_LED', False)
else:
pi2go.setAllLEDs(c.LED_ON, c.LED_ON, c.LED_OFF)
helper.set_element(flags, 'status_warn_LED', True)
# Calculate new speed
if mode == 'RUN':
if prev_mode != 'RUN' or helper.get_element(flags, 'master_set_speed'):
helper.set_element(flags, 'master_set_speed', False)
helper.set_element(times, 'new_in_RUN', time.time())
speed_new_in_RUN = speed
dspeed = SPEED_RUN-speed_new_in_RUN
if speed != SPEED_RUN:
dt = time.time()-helper.get_element(times, 'new_in_RUN')
new_value = round(speed_new_in_RUN + dspeed*(dt/c.TIME_TO_SPEED_UP), 1)
if new_value > SPEED_RUN:
new_value = SPEED_RUN
if new_value != speed:
speed = new_value
helper.set_element(flags, 'set_motor', True)
# Blocking Avoidance
elif mode == 'SLOW':
# linear
gradient = float(SPEED_CONTROL_MAX - SPEED_CONTROL_MIN)/float(c.DIST_MAX-DIST_MIN)
error = c.DIST_MAX - distance
new_value = round(SPEED_RUN - error * gradient, 1)
if new_value < SPEED_CONTROL_MIN:
new_value = SPEED_CONTROL_MIN
elif new_value > SPEED_CONTROL_MAX:
new_value = SPEED_CONTROL_MAX
if new_value != speed:
speed = new_value
helper.set_element(flags, 'set_motor', True)
# Slow-Down in Warning-Mode
elif mode == 'WARN' and helper.get_element(flags, 'robot_type_com'):
if prev_mode != 'WARN':
helper.set_element(times, 'get_warning', time.time())
speed_get_warning = speed
if prev_distance_level == 0 and distance_level != 0:
speed_get_warning = 50
helper.set_element(times, 'get_warning', time.time())
new_value = round(speed_get_warning * (1 - (time.time()-helper.get_element(times, 'get_warning')) /
c.TIME_TO_SLOW_DOWN), 1)
# ###############################changed from SPEED_WARN to c.SPEED_STOP
if new_value < c.SPEED_STOP:
new_value = c.SPEED_STOP
#########################
if new_value != speed:
speed = new_value
helper.set_element(flags, 'set_motor', True)
elif mode == 'STOP':
if prev_mode != 'STOP':
speed = c.SPEED_STOP
helper.set_element(flags, 'set_motor', True)
# Motor
if helper.get_element(flags, 'set_motor'):
if speed > c.SPEED_LIMIT_MAX:
speed = c.SPEED_LIMIT_MAX
elif speed < c.SPEED_LIMIT_MIN:
speed = c.SPEED_LIMIT_MIN
if mode == 'SLOW' or mode == 'WARN':
if helper.check_time_limit(times, 'prev_set_motor', c.WAIT_MOTOR):
pi2go.go(speed, speed)
helper.set_element(flags, 'set_motor', False)
else:
pi2go.go(speed, speed)
helper.set_element(flags, 'set_motor', False)
# Send
if mode != prev_mode and helper.get_element(flags, 'robot_type_com'):
if prev_mode == 'STOP':
com.send_x_broadcast_messages(c.PORT, "RELEASE", c.SENDING_ATTEMPTS, c.WAIT_SEND)
elif mode == 'STOP':
com.send_x_broadcast_messages(c.PORT, "PROBLEM", c.SENDING_ATTEMPTS, c.WAIT_SEND)
# Next State
prev_state = state
if helper.get_element(flags, 'master_set_state'):
helper.set_element(flags, 'master_set_state', False)
state = next_state
# Button
if helper.check_time_limit(times, 'prev_get_switch', c.WAIT_SWITCH):
# Pressed = 1, Released = 0
button = pi2go.getSwitch()
if not button:
helper.set_element(flags, 'button_release', True)
if button and helper.get_element(flags, 'button_release'):
helper.set_element(flags, 'button_release', False)
prev_state = state
state = 'IDLE'
com.send_x_broadcast_messages(c.PORT, "RELEASE", c.SENDING_ATTEMPTS, c.WAIT_SEND)
except KeyboardInterrupt:
print 'KEYBOARD'
finally:
pi2go.stop()
pi2go.cleanup()
sock.close()
print 'END'