File size: 5,385 Bytes
4b876a7 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 | from vec import Vec2, vec2_from_direction
import sys
#from sdl2.ext import *
import sdl2.ext as sdl
import sdl2
import math
import time
import os
import pdb
command_filename = "/tmp/hexsim/command"
START_X_POS = -0.3
START_Y_POS = 1
START_ANGLE = -0.2 * math.pi
class Robot:
def __init__(self, sensor_positions):
self.position = Vec2(START_X_POS,START_Y_POS)
self.angle = START_ANGLE
self.sensor_positions = sensor_positions
def set_command_file():
with open(command_filename, 'w') as cmd_file:
cmd_file.write("0.0,0.0,0.0")
cmd_file.close()
def read_commands():
"""
Returns a tuple with speed forward, speed left/right and turn speed
"""
with open(command_filename) as txt:
file_content = txt.read()
while len(file_content) == 0:
file_content = txt.read()
split_content = file_content.split(",")
return (
float(split_content[0]),
float(split_content[1]),
float(split_content[2])
)
def add_noise_function(command, function):
command = function(command)
return command
def update_robot(robot, command, delta_time):
forward, strafe, turn = command
robot.position += vec2_from_direction(robot.angle - math.pi/2, forward * delta_time)
robot.position += vec2_from_direction(robot.angle, strafe * delta_time)
robot.angle += turn * delta_time
return robot
WINDOW_SIZE = (1300, 700)
def init_window():
window = sdl.Window("Hello World!", size=WINDOW_SIZE)
window.show()
return window
def meters_to_pixels(m):
return int(m * 350)
def draw_robot(surface, robot):
pos_x = meters_to_pixels(robot.position.x) + WINDOW_SIZE[0] // 2
pos_y = meters_to_pixels(robot.position.y) % WINDOW_SIZE[1]
line = (
pos_x,
pos_y,
pos_x + int(meters_to_pixels(0.10) * math.cos(robot.angle - math.pi / 2)),
pos_y + int(meters_to_pixels(0.10) * math.sin(robot.angle - math.pi / 2)),
pos_x,
pos_y,
pos_x + int(meters_to_pixels(0.05) * math.cos(robot.angle + math.pi / 2)),
pos_y + int(meters_to_pixels(0.05) * math.sin(robot.angle + math.pi / 2)),
pos_x,
pos_y,
pos_x + int(meters_to_pixels(0.05) * math.cos(robot.angle + 0)),
pos_y + int(meters_to_pixels(0.05) * math.sin(robot.angle + 0)),
pos_x,
pos_y,
pos_x + int(meters_to_pixels(0.05) * math.cos(robot.angle - math.pi)),
pos_y + int(meters_to_pixels(0.05) * math.sin(robot.angle - math.pi))
)
sdl.line(surface, sdl.Color(255,255,100), line)
def draw(window, robot):
events = sdl.get_events()
for event in events:
if event.type == sdl2.SDL_QUIT:
running = False
break
surface = window.get_surface()
sdl.fill(surface, sdl.Color(0,0,0))
#Drawing the walls
sdl.line(surface, sdl.Color(255,255,255),
(
- meters_to_pixels(0.4) + WINDOW_SIZE[0] // 2, 0,
- meters_to_pixels(0.4) + WINDOW_SIZE[0] // 2, WINDOW_SIZE[1],
meters_to_pixels(0.4) + WINDOW_SIZE[0] // 2, 0,
meters_to_pixels(0.4) + WINDOW_SIZE[0] // 2, WINDOW_SIZE[1]
))
draw_robot(surface, robot)
window.refresh()
def get_senor_position(robot, sensor_pos):
sensor_angle = math.atan2(sensor_pos.y, sensor_pos.x)
sensor_length = abs(sensor_pos)
total_angle = robot.angle + sensor_angle
new_pos = robot.position + vec2_from_direction(total_angle, sensor_length)
return new_pos
def write_sensor_data(robot):
result = "" + str(robot.angle)
for i in range(len(robot.sensor_positions)):
sensor = robot.sensor_positions[i]
sensor_pos = get_senor_position(robot, sensor)
sensor_value = 0
if i <= 1:
sensor_angle = robot.angle
wall_pos = 0.4
x_distance = wall_pos - sensor_pos.x
sensor_value = x_distance / math.cos(sensor_angle)
else:
sensor_angle = robot.angle + math.pi
wall_pos = - 0.4
x_distance = wall_pos - sensor_pos.x
sensor_value = x_distance / math.cos(sensor_angle)
result += "," + str(sensor_value) #+ math.sin(time.time() * 7)/20)
file_path = "/tmp/hexsim/sensors"
with open(file_path, mode="w") as file:
file.write(result)
return result
def set_start_values():
noise_function = lambda cmd: (
cmd[0],
cmd[1], #+ math.sin(time.time())/15,
cmd[2] #+ math.sin(time.time() * 3)/15
)
return (noise_function, [Vec2(0.1,0.1), Vec2(0.1,-0.1), Vec2(-0.1,0.1), Vec2(-0.1,-0.1)])
def main():
set_command_file()
noise_func, sensor_positions = set_start_values()
robot = Robot(sensor_positions)
window = init_window()
old_time = time.time()
while True:
new_time = time.time()
delta_time = new_time - old_time
old_time = new_time
commands = read_commands()
commands = add_noise_function(commands, noise_func)
robot = update_robot(robot, commands, delta_time)
draw(window, robot)
write_sensor_data(robot)
if __name__ == "__main__":
main()
|