Initial setup of the BB2B example
This commit is contained in:
Pascal Serrarens
parent
b2dd65eea0
commit
4e1cbfb2aa
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/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:42: warning: documented symbol 'controlcore.Participant.Participant::bool' was not declared or defined.
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error: Project logo '//intranet/home/Afbeeldingen/PasserVR/Logos/Logo3NameRight100.png' specified by PROJECT_LOGO does not exist!
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/Users/pascal/Documents/Dev/Python/controlcore/Messages.py:13: warning: Member SendTo(self, participant) (function) of class controlcore.Messages.IMessage is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Messages.py:19: warning: Member Publish(self, participant) (function) of class controlcore.Messages.IMessage is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Messages.py:67: warning: Member length (variable) of class controlcore.Messages.NetworkIdMsg is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Messages.py:69: warning: Member network_id (variable) of class controlcore.Messages.NetworkIdMsg is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Messages.py:5: warning: Member id (variable) of class controlcore.Messages.IMessage is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Messages.py:13: warning: Member SendTo(self, participant) (function) of class controlcore.Messages.IMessage is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Messages.py:19: warning: Member Publish(self, participant) (function) of class controlcore.Messages.IMessage is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Messages.py:5: warning: Member id (variable) of class controlcore.Messages.IMessage is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Messages.py:115: warning: Member __init__(self, network_id, thing) (function) of class controlcore.Messages.PoseMsg is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Messages.py:119: warning: Member Serialize(self, buffer_ref) (function) of class controlcore.Messages.PoseMsg is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Messages.py:13: warning: Member SendTo(self, participant) (function) of class controlcore.Messages.IMessage is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Messages.py:19: warning: Member Publish(self, participant) (function) of class controlcore.Messages.IMessage is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Messages.py:116: warning: Member network_id (variable) of class controlcore.Messages.PoseMsg is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Messages.py:117: warning: Member thing (variable) of class controlcore.Messages.PoseMsg is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Messages.py:5: warning: Member id (variable) of class controlcore.Messages.IMessage is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:27: warning: Member __init__(self, ipAddress="0.0.0.0", port=7681, remote=False, udp_socket=None) (function) of class controlcore.Participant.Participant is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:50: warning: Member GetParticipant(self, ip_address, port) (function) of class controlcore.Participant.Participant is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:60: warning: Member AddParticipant(self, ip_address, port) (function) of class controlcore.Participant.Participant is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:67: warning: Member Update(self, currentTimeMs=None) (function) of class controlcore.Participant.Participant is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:82: warning: Member SendThingInfo(self, thing) (function) of class controlcore.Participant.Participant is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:87: warning: Member Send(self, msg) (function) of class controlcore.Participant.Participant is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:96: warning: Member Publish(self, msg) (function) of class controlcore.Participant.Participant is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:109: warning: Member Receiver(self) (function) of class controlcore.Participant.Participant is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:121: warning: Member ReceiveData(self, data, remote_participant) (function) of class controlcore.Participant.Participant is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:141: warning: Member ProcessClientMsg(self, sender, ParticipantMsg msg) (function) of class controlcore.Participant.Participant is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:144: warning: Member ProcessNetworkIdMsg(self, sender, NetworkIdMsg msg) (function) of class controlcore.Participant.Participant is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:153: warning: Member ProcessInvestigateMsg(self, bytearray data) (function) of class controlcore.Participant.Participant is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:156: warning: Member ProcessThingMsg(self, ThingMsg msg) (function) of class controlcore.Participant.Participant is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:168: warning: Member ProcessNameMsg(self, NameMsg msg) (function) of class controlcore.Participant.Participant is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:171: warning: Member ProcessModelUrlMsg(self, ModelUrlMsg msg) (function) of class controlcore.Participant.Participant is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:174: warning: Member ProcessBinary(self, BinaryMsg msg) (function) of class controlcore.Participant.Participant is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:180: warning: Member Register(self, constructor, thing_type) (function) of class controlcore.Participant.Participant is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:183: warning: Member OnNewThing(self, event_handler) (function) of class controlcore.Participant.Participant is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:186: warning: Member OnNewThingType(self, thing_type, event_handler) (function) of class controlcore.Participant.Participant is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:28: warning: Member ip_address (variable) of class controlcore.Participant.Participant is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:29: warning: Member port (variable) of class controlcore.Participant.Participant is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:33: warning: Member thing_msg_processors (variable) of class controlcore.Participant.Participant is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:34: warning: Member new_thing_handlers (variable) of class controlcore.Participant.Participant is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:37: warning: Member udp_socket (variable) of class controlcore.Participant.Participant is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:17: warning: Member publishInterval (variable) of class controlcore.Participant.Participant is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:19: warning: Member buffer (variable) of class controlcore.Participant.Participant is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:22: warning: Member nextPublishMe (variable) of class controlcore.Participant.Participant is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:23: warning: Member others (variable) of class controlcore.Participant.Participant is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:24: warning: Member thread (variable) of class controlcore.Participant.Participant is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:25: warning: Member name (variable) of class controlcore.Participant.Participant is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:22: warning: Member __init__(self, network_id=0, thing_id=0, type=Type.Undetermined, parent=None, name=None) (function) of class controlcore.Thing.Thing is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:43: warning: Member update(self, currentTime) (function) of class controlcore.Thing.Thing is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:46: warning: Member ProcessBinary(self, data) (function) of class controlcore.Thing.Thing is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:53: warning: Member Add(thing) (function) of class controlcore.Thing.Thing is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:58: warning: Member Get(network_id, thing_id) (function) of class controlcore.Thing.Thing is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:23: warning: Member network_id (variable) of class controlcore.Thing.Thing is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:24: warning: Member id (variable) of class controlcore.Thing.Thing is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:25: warning: Member type (variable) of class controlcore.Thing.Thing is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:27: warning: Member parent_id (variable) of class controlcore.Thing.Thing is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:31: warning: Member name (variable) of class controlcore.Thing.Thing is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:32: warning: Member model_url (variable) of class controlcore.Thing.Thing is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:34: warning: Member position (variable) of class controlcore.Thing.Thing is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:35: warning: Member orientation (variable) of class controlcore.Thing.Thing is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:36: warning: Member linearVelocity (variable) of class controlcore.Thing.Thing is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:37: warning: Member angularVelocity (variable) of class controlcore.Thing.Thing is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:39: warning: Member pose_updated (variable) of class controlcore.Thing.Thing is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:17: warning: Member Position (variable) of class controlcore.Thing.Thing is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:18: warning: Member Orientation (variable) of class controlcore.Thing.Thing is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:19: warning: Member LinearVelocity (variable) of class controlcore.Thing.Thing is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:20: warning: Member AngularVelocity (variable) of class controlcore.Thing.Thing is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:50: warning: Member allThings (variable) of class controlcore.Thing.Thing is not documented.
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/Users/pascal/Documents/Dev/Python/controlcore/LinearAlgebra/SwingTwist.py:6: warning: Member __init__(self, Direction swing, float twist) (function) of class SwingTwist.SwingTwist is not documented.
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warning: source 'images' is not a readable file or directory... skipping.
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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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d:/Python/RoboidControl-python/LocalParticipant.py:98: warning: Member Send(self, msg) (function) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
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d:/Python/RoboidControl-python/LocalParticipant.py:107: warning: Member Publish(self, msg) (function) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
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d:/Python/RoboidControl-python/LocalParticipant.py:120: warning: Member Receiver(self) (function) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
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d:/Python/RoboidControl-python/LocalParticipant.py:132: warning: Member ReceiveData(self, data, remote_participant) (function) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
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d:/Python/RoboidControl-python/LocalParticipant.py:152: warning: Member ProcessClientMsg(self, sender, ParticipantMsg msg) (function) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
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d:/Python/RoboidControl-python/LocalParticipant.py:155: warning: Member ProcessNetworkIdMsg(self, sender, NetworkIdMsg msg) (function) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
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d:/Python/RoboidControl-python/LocalParticipant.py:164: warning: Member ProcessInvestigateMsg(self, bytearray data) (function) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
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d:/Python/RoboidControl-python/LocalParticipant.py:167: warning: Member ProcessThingMsg(self, ThingMsg msg) (function) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
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d:/Python/RoboidControl-python/LocalParticipant.py:179: warning: Member ProcessNameMsg(self, NameMsg msg) (function) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
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d:/Python/RoboidControl-python/LocalParticipant.py:182: warning: Member ProcessModelUrlMsg(self, ModelUrlMsg msg) (function) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
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d:/Python/RoboidControl-python/LocalParticipant.py:185: warning: Member ProcessBinary(self, BinaryMsg msg) (function) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
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d:/Python/RoboidControl-python/LocalParticipant.py:191: warning: Member Register(self, constructor, thing_type) (function) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
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d:/Python/RoboidControl-python/LocalParticipant.py:194: warning: Member OnNewThing(self, event_handler) (function) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
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d:/Python/RoboidControl-python/LocalParticipant.py:197: warning: Member OnNewThingType(self, thing_type, event_handler) (function) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
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d:/Python/RoboidControl-python/LocalParticipant.py:39: warning: Member ip_address (variable) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
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d:/Python/RoboidControl-python/LocalParticipant.py:40: warning: Member port (variable) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
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d:/Python/RoboidControl-python/LocalParticipant.py:44: warning: Member thing_msg_processors (variable) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
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d:/Python/RoboidControl-python/LocalParticipant.py:45: warning: Member new_thing_handlers (variable) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
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d:/Python/RoboidControl-python/LocalParticipant.py:48: warning: Member udp_socket (variable) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
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d:/Python/RoboidControl-python/LocalParticipant.py:85: warning: Member nextPublishMe (variable) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
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d:/Python/RoboidControl-python/LocalParticipant.py:27: warning: Member publishInterval (variable) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
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d:/Python/RoboidControl-python/LocalParticipant.py:29: warning: Member buffer (variable) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
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d:/Python/RoboidControl-python/LocalParticipant.py:32: warning: Member nextPublishMe (variable) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
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d:/Python/RoboidControl-python/LocalParticipant.py:33: warning: Member others (variable) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
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d:/Python/RoboidControl-python/LocalParticipant.py:34: warning: Member thread (variable) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
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d:/Python/RoboidControl-python/LocalParticipant.py:35: warning: Member name (variable) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
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d:/Python/RoboidControl-python/Messages/Messages.py:115: warning: Member __init__(self, network_id, thing) (function) of class RoboidControl-python.Messages.Messages.PoseMsg is not documented.
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d:/Python/RoboidControl-python/Messages/Messages.py:119: warning: Member Serialize(self, buffer_ref) (function) of class RoboidControl-python.Messages.Messages.PoseMsg is not documented.
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d:/Python/RoboidControl-python/Messages/Messages.py:116: warning: Member network_id (variable) of class RoboidControl-python.Messages.Messages.PoseMsg is not documented.
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d:/Python/RoboidControl-python/Messages/Messages.py:117: warning: Member thing (variable) of class RoboidControl-python.Messages.Messages.PoseMsg is not documented.
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d:/Python/RoboidControl-python/Messages/NetworkIdMsg.py:7: warning: Member id (variable) of class RoboidControl-python.Messages.NetworkIdMsg.NetworkIdMsg is not documented.
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d:/Python/RoboidControl-python/Messages/NetworkIdMsg.py:8: warning: Member length (variable) of class RoboidControl-python.Messages.NetworkIdMsg.NetworkIdMsg is not documented.
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d:/Python/RoboidControl-python/Messages/NetworkIdMsg.py:10: warning: Member network_id (variable) of class RoboidControl-python.Messages.NetworkIdMsg.NetworkIdMsg is not documented.
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d:/Python/RoboidControl-python/Messages/ParticipantMsg.py:53: warning: Member SendTo(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: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/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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d:/Python/RoboidControl-python/Thing.py:54: warning: Member pose_updated (variable) of class RoboidControl-python.Thing.Thing is not documented.
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d:/Python/RoboidControl-python/Thing.py:17: warning: Member Position (variable) of class RoboidControl-python.Thing.Thing is not documented.
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d:/Python/RoboidControl-python/Thing.py:18: warning: Member Orientation (variable) of class RoboidControl-python.Thing.Thing is not documented.
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d:/Python/RoboidControl-python/Thing.py:19: warning: Member LinearVelocity (variable) of class RoboidControl-python.Thing.Thing is not documented.
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d:/Python/RoboidControl-python/Thing.py:20: warning: Member AngularVelocity (variable) of class RoboidControl-python.Thing.Thing is not documented.
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d:/Python/RoboidControl-python/Thing.py:9: warning: Member Undetermined (variable) of class RoboidControl-python.Thing.Thing.Type is not documented.
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d:/Python/RoboidControl-python/Thing.py:11: warning: Member Switch (variable) of class RoboidControl-python.Thing.Thing.Type is not documented.
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d:/Python/RoboidControl-python/Thing.py:12: warning: Member DistanceSensor (variable) of class RoboidControl-python.Thing.Thing.Type is not documented.
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d:/Python/RoboidControl-python/Thing.py:13: warning: Member DirectionalSensor (variable) of class RoboidControl-python.Thing.Thing.Type is not documented.
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d:/Python/RoboidControl-python/Thing.py:14: warning: Member TemperatureSensor (variable) of class RoboidControl-python.Thing.Thing.Type is not documented.
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d:/Python/RoboidControl-python/Thing.py:15: warning: Member Animator (variable) of class RoboidControl-python.Thing.Thing.Type is not documented.
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d:/Python/RoboidControl-python/LinearAlgebra/SwingTwist.py:6: warning: Member __init__(self, Direction swing, float twist) (function) of class SwingTwist.SwingTwist is not documented.
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@ -42,7 +42,7 @@ DOXYFILE_ENCODING = UTF-8
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# title of most generated pages and in a few other places.
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# The default value is: My Project.
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PROJECT_NAME = "Control Core for Python"
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PROJECT_NAME = "Roboid Control for Python"
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# The PROJECT_NUMBER tag can be used to enter a project or revision number. This
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# could be handy for archiving the generated documentation or if some version
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@ -68,7 +68,7 @@ PROJECT_LOGO = //intranet/home/Afbeeldingen/PasserVR/Logos/Logo3NameRi
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# entered, it will be relative to the location where doxygen was started. If
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# left blank the current directory will be used.
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OUTPUT_DIRECTORY = //intranet/web/passer_life/apis/ControlCore/Python/
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OUTPUT_DIRECTORY = //intranet/web/roboidcontrol_doc/Python
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# If the CREATE_SUBDIRS tag is set to YES then doxygen will create up to 4096
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# sub-directories (in 2 levels) under the output directory of each output format
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@ -636,7 +636,7 @@ CASE_SENSE_NAMES = NO
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# scope will be hidden.
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# The default value is: NO.
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HIDE_SCOPE_NAMES = NO
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HIDE_SCOPE_NAMES = YES
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# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will
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# append additional text to a page's title, such as Class Reference. If set to
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27
Examples/BB2B.py
Normal file
27
Examples/BB2B.py
Normal file
@ -0,0 +1,27 @@
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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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# 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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# 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
|
||||
wheel_speed_right = -600 if touch_left.touched_somthing else 600
|
||||
# When both sides are touching something, both wheels will turn backward
|
||||
# and the roboid will move backwards
|
||||
bb2b.SetWheelVelocity(wheel_speed_left, wheel_speed_right)
|
||||
|
||||
# Update the roboid state
|
||||
bb2b.Update(True)
|
||||
# and sleep for 100ms
|
||||
time.sleep(100)
|
||||
10
LinearAlgebra/Angle.py
Normal file
10
LinearAlgebra/Angle.py
Normal file
@ -0,0 +1,10 @@
|
||||
import math
|
||||
|
||||
class Angle:
|
||||
@property
|
||||
def Rad2Deg(self):
|
||||
return 360 / (math.pi * 2)
|
||||
|
||||
@property
|
||||
def Deg2Rad(self):
|
||||
return (math.pi * 2) / 360
|
||||
@ -1,20 +1,59 @@
|
||||
class Participant:
|
||||
"""! A participant is a device which manages things.
|
||||
|
||||
It can communicate with other participant to synchronise the state of things.
|
||||
This class is used to register the things the participant is managing.
|
||||
It also maintains the communcation information to contact the participant.
|
||||
It is used as a basis for the local participant, but also as a reference to remote participants.
|
||||
"""
|
||||
def __init__(self, ip_address, port):
|
||||
"""! Create a new participant with the given communcation info
|
||||
"""
|
||||
|
||||
## The Ip Address of a participant. When the participant is local, this contains 0.0.0.0
|
||||
self.ip_addres = ip_address
|
||||
## The port number for UDP communication with the participant. This is 0 for isolated participants.
|
||||
self.port = port
|
||||
## The network Id to identify the participant.
|
||||
## @note This field is likely to disappear in future versions
|
||||
self.networkId = 0
|
||||
|
||||
## The things managed by this participant
|
||||
self.things = set({ None })
|
||||
|
||||
def Add(self, thing):
|
||||
thing.id = len(self.things)
|
||||
self.things.add(thing)
|
||||
def Add(self, thing, check_id):
|
||||
"""! Add a new thing for this participant.
|
||||
@param thing The thing to add
|
||||
@param check_id When true, the thing ID of the thing is checked. If it is 0, a new thing Id will be assigned.
|
||||
"""
|
||||
if check_id and thing.id == 0:
|
||||
thing.id = len(self.things)
|
||||
self.things.add(thing)
|
||||
else:
|
||||
found_thing = self.Get(thing.network_id, thing.id)
|
||||
if found_thing == None:
|
||||
self.things.add(thing)
|
||||
|
||||
def Get(self, network_id, thing_id):
|
||||
"""! Find a thing managed by this participant
|
||||
|
||||
@param network_id The network ID for the thing
|
||||
@param thing_id The ID of the thing
|
||||
@return The thing if found or nullptr when no thing has been found
|
||||
@note The use of the network ID is likely to disappear in future versions.
|
||||
"""
|
||||
for thing in self.things:
|
||||
if thing is not None:
|
||||
if thing.network_id == network_id and thing.id == thing_id:
|
||||
return thing
|
||||
return None
|
||||
|
||||
def Remove(self, thing):
|
||||
"""! Remove a thig for this participant
|
||||
@param thing The thing to remove
|
||||
"""
|
||||
self.things.remove(thing)
|
||||
|
||||
## Update all things
|
||||
def Update(self, currentTimeMs):
|
||||
for thing in list(self.things):
|
||||
|
||||
32
Thing.py
32
Thing.py
@ -1,13 +1,13 @@
|
||||
from LinearAlgebra.Spherical import Spherical
|
||||
from LinearAlgebra.Quaternion import Quaternion
|
||||
|
||||
## A thing is the basic building block
|
||||
#
|
||||
## A thing is the basic building block
|
||||
class Thing:
|
||||
""" A thing is the basic building block"""
|
||||
"""! A thing is the basic building block"""
|
||||
class Type:
|
||||
"""! Predefined thing types
|
||||
"""
|
||||
Undetermined = 0x00
|
||||
# Sensor
|
||||
Switch = 0x01
|
||||
DistanceSensor = 0x02
|
||||
DirectionalSensor = 0x03
|
||||
@ -19,26 +19,40 @@ class Thing:
|
||||
LinearVelocity = 0x04
|
||||
AngularVelocity = 0x08
|
||||
|
||||
def __init__(self, network_id = 0, thing_id = 0, type=Type.Undetermined, parent=None, name=None):
|
||||
def __init__(self, owner = None, network_id = 0, thing_id = 0, type = Type.Undetermined, parent = None, name = None):
|
||||
"""! Create a new thing """
|
||||
|
||||
## The participant owning this thing
|
||||
self.owner = owner
|
||||
## The network ID of this thing
|
||||
## @note This field will likely disappear in future versions
|
||||
self.network_id = network_id
|
||||
## The ID of the thing
|
||||
self.id = thing_id
|
||||
## The type of the thing
|
||||
self.type = type
|
||||
if parent is None:
|
||||
self.parent_id = 0
|
||||
else:
|
||||
|
||||
## The parent thing
|
||||
self.parent = 0
|
||||
if parent is not None:
|
||||
self.parent_id = parent.id
|
||||
|
||||
## The name of the thing
|
||||
self.name = name
|
||||
## An URL pointing to the location where a model of the thing can be found
|
||||
self.model_url = None
|
||||
|
||||
## The position of the thing in local space, in meters
|
||||
self.position = Spherical.zero
|
||||
## The new orientation in local space
|
||||
self.orientation = Quaternion.identity
|
||||
## The linear velocity of the thing in local space, in meters per second
|
||||
self.linearVelocity = Spherical.zero
|
||||
## The angular velocity of the thing in local space, in degrees per second
|
||||
self.angularVelocity = Spherical.zero
|
||||
|
||||
self.pose_updated = 0x00 # the bits indicate which fields have been updated
|
||||
|
||||
Thing.Add(self)
|
||||
|
||||
def update(self, currentTime):
|
||||
pass
|
||||
|
||||
62
Things/DifferentialDrive.py
Normal file
62
Things/DifferentialDrive.py
Normal file
@ -0,0 +1,62 @@
|
||||
from Thing import Thing
|
||||
from LinearAlgebra.Spherical import Spherical
|
||||
from LinearAlgebra.Direction import Direction
|
||||
from LinearAlgebra.Angle import Angle
|
||||
|
||||
class DifferentialDrive(Thing):
|
||||
def __init__(self, participant = None):
|
||||
super().__init__(participant)
|
||||
|
||||
## The radius of a wheel in meters
|
||||
self.wheel_radius = 1.0
|
||||
## The distance between the wheels in meters
|
||||
self.wheel_separation = 1.0
|
||||
|
||||
self.wheel_left = None
|
||||
self.wheel_right = None
|
||||
|
||||
def SetDriveDimensions(self, wheel_diameter, wheel_separation):
|
||||
if wheel_diameter < 0:
|
||||
wheel_diameter = -wheel_diameter
|
||||
self.wheel_radius = wheel_diameter / 2
|
||||
|
||||
if wheel_separation < 0:
|
||||
wheel_separation = -wheel_separation
|
||||
self.wheel_separation = wheel_separation
|
||||
|
||||
self.SetMotors(self.wheel_left, self.wheel_right)
|
||||
|
||||
def SetMotors(self, wheel_left, wheel_right):
|
||||
distance: float = self.wheel_separation / 2
|
||||
|
||||
self.wheel_left = wheel_left
|
||||
if self.wheel_left is not None:
|
||||
self.wheel_left.SetPosition(Spherical(distance, Direction.Left))
|
||||
|
||||
self.wheel_right = wheel_right
|
||||
if self.wheel_right is not None:
|
||||
self.wheel_right.SetPosition(Spherical(distance, Direction.Right))
|
||||
|
||||
def SetWheelVelocity(self, speed_left, speed_right):
|
||||
if self.wheel_left is not None:
|
||||
self.wheel_left.SetAngularVelocity(Spherical(speed_left, Direction.Left))
|
||||
|
||||
if self.wheel_right is not None:
|
||||
self.wheel_right.SetAngularVelocity(Spherical(speed_right, Direction.Right))
|
||||
|
||||
def Update(self, currentTimeMs, recursive = True):
|
||||
# This assumes forward velocity only...
|
||||
linear_velocity: Spherical = self.GetLinearVelocity().distance
|
||||
|
||||
angular_velocity: Spherical = self.GetAngularVelocity()
|
||||
angular_speed: float = angular_velocity.distance * Angle.Deg2Rad # in radians/sec
|
||||
# Determine the rotation direction
|
||||
if angular_velocity.direction.horizontal.InDegrees() < 0:
|
||||
angular_speed = -angular_speed
|
||||
|
||||
speed_left: float = (linear_velocity + angular_speed * self.wheel_left.GetPosition().distance) / self.wheel_radius * Angle.Rad2Deg
|
||||
speed_right: float = (linear_velocity - angular_speed * self.wheel_right.GetPosition().distance) / self.wheel_radius * Angle.Rad2Deg
|
||||
|
||||
self.SetWheelVelocity(speed_left, speed_right)
|
||||
|
||||
|
||||
14
Things/TouchSensor.py
Normal file
14
Things/TouchSensor.py
Normal file
@ -0,0 +1,14 @@
|
||||
from Thing import Thing
|
||||
|
||||
class TouchSensor(Thing):
|
||||
def __init__(self, owner, parent):
|
||||
super().__init__(owner, parent)
|
||||
|
||||
## Value which is true when the sensor is touching something, false otherwise
|
||||
self.touched_somthing = False
|
||||
|
||||
def GenerateBinary(bytes, ix_ref):
|
||||
pass
|
||||
|
||||
def ProcessBinary(bytes):
|
||||
pass
|
||||
Loading…
x
Reference in New Issue
Block a user