Fix BB2B issues
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parent
3892c2baeb
commit
26678c4ab1
@ -1,4 +1,16 @@
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warning: source 'images' is not a readable file or directory... skipping.
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d:/Python/RoboidControl-python/Things/DifferentialDrive.py:57: warning: @copybrief or @copydoc target 'Thing::Update' not found
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d:/Python/RoboidControl-python/Things/DifferentialDrive.py:46: warning: Found unknown command '@params'
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d:/Python/RoboidControl-python/Things/DifferentialDrive.py:22: warning: Member SetDriveDimensions(self, wheel_diameter, wheel_separation) (function) of class DifferentialDrive.DifferentialDrive is not documented.
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d:/Python/RoboidControl-python/Things/DifferentialDrive.py:33: warning: Member SetMotors(self, wheel_left, wheel_right) (function) of class DifferentialDrive.DifferentialDrive is not documented.
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d:/Python/RoboidControl-python/Things/DifferentialDrive.py:46: warning: Found unknown command '@params'
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d:/Python/RoboidControl-python/Things/DifferentialDrive.py:57: warning: @copybrief or @copydoc target 'Thing::Update' not found
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d:/Python/RoboidControl-python/Things/DifferentialDrive.py:19: warning: Member wheel_left (variable) of class DifferentialDrive.DifferentialDrive is not documented.
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d:/Python/RoboidControl-python/Things/DifferentialDrive.py:20: warning: Member wheel_right (variable) of class DifferentialDrive.DifferentialDrive is not documented.
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d:/Python/RoboidControl-python/Things/DifferentialDrive.py:46: warning: Found unknown command '@params'
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d:/Python/RoboidControl-python/Things/DifferentialDrive.py:47: warning: Found unknown command '@params'
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d:/Python/RoboidControl-python/Things/DifferentialDrive.py:57: warning: @copybrief or @copydoc target 'Thing::Update' not found
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d:/Python/RoboidControl-python/Things/DifferentialDrive.py:58: warning: @copydetails or @copydoc target 'Thing::Update' not found
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d:/Python/RoboidControl-python/LocalParticipant.py:61: warning: Member GetParticipant(self, ip_address, port) (function) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
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d:/Python/RoboidControl-python/LocalParticipant.py:71: warning: Member AddParticipant(self, ip_address, port) (function) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
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d:/Python/RoboidControl-python/LocalParticipant.py:93: warning: Member SendThingInfo(self, thing) (function) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
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@ -39,6 +51,25 @@ d:/Python/RoboidControl-python/Messages/ParticipantMsg.py:53: warning: Member Se
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d:/Python/RoboidControl-python/Messages/ParticipantMsg.py:64: warning: Member Publish(participant, network_id) (function) of class RoboidControl-python.Messages.ParticipantMsg.ParticipantMsg is not documented.
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d:/Python/RoboidControl-python/Messages/ParticipantMsg.py:41: warning: Member Serialized(buffer_ref, network_id) (function) of class RoboidControl-python.Messages.ParticipantMsg.ParticipantMsg is not documented.
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d:/Python/RoboidControl-python/Messages/ParticipantMsg.py:21: warning: Member network_id (variable) of class RoboidControl-python.Messages.ParticipantMsg.ParticipantMsg is not documented.
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d:/Python/RoboidControl-python/SiteServer.py:42: warning: Member AddParticipant(self, ip_address, port) (function) of class RoboidControl-python.SiteServer.SiteServer is not documented.
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d:/Python/RoboidControl-python/SiteServer.py:49: warning: Member ProcessClientMsg(self, sender, msg) (function) of class RoboidControl-python.SiteServer.SiteServer is not documented.
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d:/Python/RoboidControl-python/SiteServer.py:56: warning: Member ProcessNetworkId(self, msg) (function) of class RoboidControl-python.SiteServer.SiteServer is not documented.
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d:/Python/RoboidControl-python/SiteServer.py:60: warning: Member Register(self, ThingClass, thing_type) (function) of class RoboidControl-python.SiteServer.SiteServer is not documented.
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d:/Python/RoboidControl-python/SiteServer.py:63: warning: Member Process(self, msg) (function) of class RoboidControl-python.SiteServer.SiteServer is not documented.
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d:/Python/RoboidControl-python/SiteServer.py:69: warning: Member ProcessThingMsg(self, msg) (function) of class RoboidControl-python.SiteServer.SiteServer is not documented.
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d:/Python/RoboidControl-python/SiteServer.py:20: warning: Member ip_address (variable) of class RoboidControl-python.SiteServer.SiteServer is not documented.
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d:/Python/RoboidControl-python/SiteServer.py:21: warning: Member port (variable) of class RoboidControl-python.SiteServer.SiteServer is not documented.
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d:/Python/RoboidControl-python/SiteServer.py:22: warning: Member publishInterval (variable) of class RoboidControl-python.SiteServer.SiteServer is not documented.
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d:/Python/RoboidControl-python/SiteServer.py:23: warning: Member others (variable) of class RoboidControl-python.SiteServer.SiteServer is not documented.
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d:/Python/RoboidControl-python/SiteServer.py:24: warning: Member network_id (variable) of class RoboidControl-python.SiteServer.SiteServer is not documented.
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d:/Python/RoboidControl-python/SiteServer.py:25: warning: Member buffer (variable) of class RoboidControl-python.SiteServer.SiteServer is not documented.
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d:/Python/RoboidControl-python/SiteServer.py:26: warning: Member thing_msg_constructors (variable) of class RoboidControl-python.SiteServer.SiteServer is not documented.
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d:/Python/RoboidControl-python/SiteServer.py:29: warning: Member udp_socket (variable) of class RoboidControl-python.SiteServer.SiteServer is not documented.
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d:/Python/RoboidControl-python/SiteServer.py:34: warning: Member thread (variable) of class RoboidControl-python.SiteServer.SiteServer is not documented.
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d:/Python/RoboidControl-python/SiteServer.py:14: warning: Member name (variable) of class RoboidControl-python.SiteServer.SiteServer is not documented.
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d:/Python/RoboidControl-python/SiteServer.py:18: warning: The following parameters of RoboidControl-python.SiteServer.SiteServer.__init__(self, port=7681, remote=False, udp_socket=None) are not documented:
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parameter 'remote'
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parameter 'udp_socket'
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d:/Python/RoboidControl-python/Thing.py:57: warning: Member update(self, currentTime) (function) of class RoboidControl-python.Thing.Thing is not documented.
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d:/Python/RoboidControl-python/Thing.py:60: warning: Member ProcessBinary(self, data) (function) of class RoboidControl-python.Thing.Thing is not documented.
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d:/Python/RoboidControl-python/Thing.py:38: warning: Member parent_id (variable) of class RoboidControl-python.Thing.Thing is not documented.
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@ -1,3 +1,7 @@
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import sys
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from os import path
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sys.path.append(path.abspath(path.join(path.dirname(__file__), '..')))
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from Things.DifferentialDrive import DifferentialDrive
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from Things.TouchSensor import TouchSensor
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import time
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@ -5,9 +9,9 @@ import time
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# The robot's propulsion is a differential drive
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bb2b = DifferentialDrive()
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# It has a touch sensor at the front left of the roboid
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touch_left = TouchSensor(bb2b)
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touch_left = TouchSensor(parent = bb2b)
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# and other one on the right
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touch_right = TouchSensor(bb2b)
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touch_right = TouchSensor(parent = bb2b)
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# Do forever:
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while True:
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31
Examples/BB2B_networking.py
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31
Examples/BB2B_networking.py
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from LocalParticipant import LocalParticipant
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from Things.DifferentialDrive import DifferentialDrive
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from Things.TouchSensor import TouchSensor
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import time
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# Create a local participant for handling communcation
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# using default settings (UDP communciation over port 7681)
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participant = LocalParticipant()
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# The robot's propulsion is a differential drive
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bb2b = DifferentialDrive(participant)
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# It has a touch sensor at the front left of the roboid
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touch_left = TouchSensor(bb2b)
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# and other one on the right
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touch_right = TouchSensor(bb2b)
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# Do forever:
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while True:
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# The left wheel turns forward when nothing is touched on the right side
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# and turn backward when the roboid hits something on the right
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wheel_speed_left = -600 if touch_right.touched_somthing else 600
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# The right wheel does the same, but instead is controlled by
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# touches on the left side
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wheel_speed_right = -600 if touch_left.touched_somthing else 600
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# When both sides are touching something, both wheels will turn backward
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# and the roboid will move backwards
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bb2b.SetWheelVelocity(wheel_speed_left, wheel_speed_right)
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# Update the roboid state
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bb2b.Update(True)
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# and sleep for 100ms
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time.sleep(100)
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@ -1,10 +1,5 @@
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import math
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class Angle:
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@property
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def Rad2Deg(self):
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return 360 / (math.pi * 2)
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@property
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def Deg2Rad(self):
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return (math.pi * 2) / 360
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Rad2Deg = 360 / (math.pi * 2)
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Deg2Rad = (math.pi * 2) / 360
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@ -2,8 +2,8 @@ import math
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class Direction:
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def __init__(self, horizontal=0, vertical=0):
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self.horizontal = horizontal
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self.vertical = vertical
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self.horizontal: float = horizontal
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self.vertical: float = vertical
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def __add__(self, other):
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return Direction(self.horizontal + other.x, self.vertical + other.y)
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@ -3,8 +3,8 @@ from LinearAlgebra.Direction import Direction
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class Spherical:
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def __init__(self, distance, direction):
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self.distance = distance
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self.direction = direction
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self.distance: float = distance
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self.direction: Direction = direction
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# def __init__(self, distance, horizontal, vertical):
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# self.distance = distance
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16
README.md
16
README.md
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\mainpage Control Core for Python
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\mainpage Roboid Control for Python
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Control Core contain generic functionality for controlling Things
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Roboid Control support for Python applications
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Supporting:
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- Windows
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- MacOS
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- Linux
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- MicroPython
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# Basic components
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- \ref RoboidControl-python::Thing::Thing "Thing.Thing"
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- \ref RoboidControl-python::LocalParticipant::LocalParticipant "LocalParticipant.LocalParticipant"
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- \ref RoboidControl-python::SiteServer::SiteServer "SiteServer.SiteServer"
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@ -1,17 +1,23 @@
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from LocalParticipant import LocalParticipant
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from Messages.ParticipantMsg import ParticipantMsg
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from Messages.NetworkIdMsg import NetworkIdMsg
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from Sensors.TemperatureSensor import TemperatureSensor
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from Things.TemperatureSensor import TemperatureSensor
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from Thing import Thing
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import socket
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import threading
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class SiteServer(LocalParticipant):
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class SiteServer(LocalParticipant):
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"""! A site server is a participant which provides a shared simulated environment
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"""
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name = "Site Server"
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def __init__(self, ip_address="0.0.0.0", port=7681, remote=False, udp_socket = None):
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self.ip_address = ip_address
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def __init__(self, port=7681, remote=False, udp_socket = None):
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"""! Create a new site server
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@param port The UDP port on which communication is received
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"""
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self.ip_address = "0.0.0.0"
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self.port = port
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self.publishInterval = 0
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self.others = []
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8
Thing.py
8
Thing.py
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self.model_url = None
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## The position of the thing in local space, in meters
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self.position = Spherical.zero
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self.position: Spherical = Spherical.zero
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## The new orientation in local space
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self.orientation = Quaternion.identity
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self.orientation: Quaternion = Quaternion.identity
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## The linear velocity of the thing in local space, in meters per second
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self.linearVelocity = Spherical.zero
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self.linear_velocity: Spherical = Spherical.zero
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## The angular velocity of the thing in local space, in degrees per second
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self.angularVelocity = Spherical.zero
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self.angular_velocity: Spherical = Spherical.zero
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self.pose_updated = 0x00 # the bits indicate which fields have been updated
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@ -16,8 +16,8 @@ class DifferentialDrive(Thing):
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## The distance between the wheels in meters
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self.wheel_separation = 1.0
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self.wheel_left = None
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self.wheel_right = None
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self.wheel_left: Thing = None
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self.wheel_right: Thing = None
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def SetDriveDimensions(self, wheel_diameter, wheel_separation):
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if wheel_diameter < 0:
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@ -57,16 +57,18 @@ class DifferentialDrive(Thing):
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@copydoc Thing::Update
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"""
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# This assumes forward velocity only...
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linear_velocity: Spherical = self.GetLinearVelocity().distance
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linear_velocity: Spherical = self.linear_velocity.distance
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angular_velocity: Spherical = self.GetAngularVelocity()
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angular_velocity: Spherical = self.angular_velocity
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angular_speed: float = angular_velocity.distance * Angle.Deg2Rad # in radians/sec
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# Determine the rotation direction
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if angular_velocity.direction.horizontal.InDegrees() < 0:
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if angular_velocity.direction.horizontal < 0:
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angular_speed = -angular_speed
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speed_left: float = (linear_velocity + angular_speed * self.wheel_left.GetPosition().distance) / self.wheel_radius * Angle.Rad2Deg
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speed_right: float = (linear_velocity - angular_speed * self.wheel_right.GetPosition().distance) / self.wheel_radius * Angle.Rad2Deg
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speed_left: float = 0 if self.wheel_left is None else \
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(linear_velocity + angular_speed * self.wheel_left.position.distance) / self.wheel_radius * Angle.Rad2Deg
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speed_right: float = 0 if self.wheel_right is None else \
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(linear_velocity - angular_speed * self.wheel_right.position.distance) / self.wheel_radius * Angle.Rad2Deg
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self.SetWheelVelocity(speed_left, speed_right)
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@ -3,7 +3,7 @@ from Thing import Thing
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class TouchSensor(Thing):
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"""! A sensor which can detect touches
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"""
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def __init__(self, owner, parent):
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def __init__(self, owner = None, parent = None):
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"""! Create a touch sensor
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"""
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super().__init__(owner, parent)
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