forked from KRSSG/robocup
-
Notifications
You must be signed in to change notification settings - Fork 0
/
test_KickToP.py
175 lines (164 loc) · 4.8 KB
/
test_KickToP.py
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
print "In test GOToPoint"
from kubs import kubs, cmd_node
from velocity.run import *
import rospy,sys
import math
from krssg_ssl_msgs.msg import point_2d
from krssg_ssl_msgs.msg import BeliefState
from krssg_ssl_msgs.msg import gr_Commands
from krssg_ssl_msgs.msg import gr_Robot_Command
from krssg_ssl_msgs.msg import point_SF
from utils.math_functions import *
from utils.config import *
import memcache
shared = memcache.Client(['127.0.0.1:11211'], debug = False)
import sys
BOT_ID = int(sys.argv[1])
print "bot_id received",BOT_ID
pub = rospy.Publisher('/grsim_data', gr_Commands, queue_size=1000)
GOAL_POINT = point_2d()
GOAL_POINT.x = 1000
GOAL_POINT.y = 1200
REPLANNED = 0
homePos = None
awayPos = None
BState = shared.get('state')
kub = kubs.kubs(BOT_ID, BState, pub)
st = None
tnow = None
planned = False
ramp_upt = 5.0
ramp_dnt = 0.0
ramp_rampt = 0.0
case = -1
mvw = 0.0
def reset():
global start_time
start_time = rospy.Time.now()
start_time = 1.0*start_time.secs + 1.0*start_time.nsecs/pow(10,9)
def GUI_Callback(data):
global BOT_ID, kub, BState, pub
BOT_ID = data.bot_id
print BOT_ID, "_____________________________"
kub = kubs.kubs(BOT_ID, BState, pub)
def kp_callback(data):
global st, planned, ramp_rampt, ramp_dnt, ramp_upt, case, mvw, tnow
target = Vector2D(0,0)
ballpos = data.ballPos
theta = angle_diff(target, ballpos)
go_at = getPointToGo(ballpos, theta)
print(radian_2_deg(theta))
print(go_at.x)
print(go_at.y)
t = rospy.Time.now()
t = t.secs + 1.0*t.nsecs/pow(10,9)
print(" t - start = ",t-start_time)
[vx, vy, vw, REPLANNED] = Get_Vel(start_time, t, BOT_ID, go_at, data.homePos, data.awayPos, True)
#vx, vy, vw, replanned
print("-------------------REPLANNED = ",REPLANNED)
if(REPLANNED):
reset()
print("vx = ",vx)
print("vy = ",vy)
# print("kubs_id = ",kub.kubs_id)
curPos = Vector2D(int(data.homePos[BOT_ID].x),int(data.homePos[BOT_ID].y))
#if vicinity_points(go_at, curPos, 4) == False:
try:
kub.move(vx, vy)
print(vw)
print("homePos")
kub.turn(vw)
kub.execute()
except Exception as e:
print("In except",e)
pass
print(dist(go_at, curPos))
# if planned == False:
# theta_lft = abs(normalize_angle(normalize_angle(data.homePos[BOT_ID].theta)-theta))
# print(theta_lft)
# if theta_lft >= 5.0*MAX_BOT_OMEGA:
# case = 1
# ramp_upt = 5.0
# ramp_dnt = 5.0
# ramp_rampt = (theta_lft-5.0*MAX_BOT_OMEGA)*1.0/MAX_BOT_OMEGA
# elif theta_lft >= 2.5*MAX_BOT_OMEGA:
# case = 2
# ramp_upt = 0.0
# ramp_dnt = 5.0
# ramp_rampt = (theta_lft-2.5*MAX_BOT_OMEGA)*1.0/MAX_BOT_OMEGA
# else:
# case = 3
# ramp_rampt = 0.0
# ramp_dnt = sqrt(2.0*theta_lft/MAX_BOT_OMEGA_ACC)*1.0
# mvw = sqrt(2.0*theta_lft*MAX_BOT_OMEGA_ACC)*1.0
# ramp_upt = 0.0
# planned = True
# print(case)
# print(ramp_rampt)
# print(ramp_upt)
# print(ramp_dnt)
# print(mvw)
if vx == 0 and vy == 0:
print("TURNING")
print(data.homePos[BOT_ID].theta)
print(theta)
totalAngle = theta
MAX_w = (MAX_BOT_OMEGA+MIN_BOT_OMEGA)/1.2
# theta_left = float(homePos[kub_id].theta-totalAngle)
theta_lft = normalize_angle(normalize_angle(data.homePos[BOT_ID].theta)-totalAngle)*-1.0+3.1412
vw = (theta_lft/2*math.pi)*MAX_w
# print "totalAngle",radian_2_deg(totalAngle)
# print "theta_left ",radian_2_deg(theta_lft),theta_lft
# print "homePos theta ",radian_2_deg(normalize_angle(homePos[kub_id].theta))
# print "omega ",vw
if abs(vw)<1*MIN_BOT_OMEGA:
vw = 1*MIN_BOT_OMEGA*(1 if vw>0 else -1)
if abs(theta_lft)<ROTATION_FACTOR/2:
vw = 0.0
print "Omega return",vw
kub.reset()
kub.turn(vw)
kub.execute()
# if st == None:
# st = rospy.Time.now()
# st = 1.0*st.secs + 1.0*st.nsecs/pow(10,9)
# tnow = rospy.Time.now()
# tnow = 1.0*tnow.secs + 1.0*tnow.nsecs/pow(10,9)
# diff = tnow-st
# if case == 1:
# if diff <= 5.0:
# vw = (tnow-st)*MAX_BOT_OMEGA_ACC
# elif diff > 5.0 and diff <= 5.0+ramp_rampt:
# vw = MAX_BOT_OMEGA
# else:
# tim = 10.0+ramp_rampt-diff
# vw = tim*MAX_BOT_OMEGA_ACC
# elif case == 2:
# if diff <= ramp_rampt:
# vw = MAX_BOT_OMEGA
# else :
# tim = 5.0+ramp_rampt-diff
# vw = tim*MAX_BOT_OMEGA_ACC
# else :
# vw = mvw - MAX_BOT_OMEGA_ACC*diff
# if normalize_angle(homePos[BOT_ID].theta) < theta:
# vw = -1.0*vw
# print(vw)
# kub.reset()
# kub.turn(vw)
# kub.execute()
if __name__ == "__main__":
global start_time, st, planned, case, mvw
case = -1
mvw = 0.0
st = None
planned = False
print("here")
rospy.init_node('node_new',anonymous=False)
start_time = rospy.Time.now()
start_time = 1.0*start_time.secs + 1.0*start_time.nsecs/pow(10,9)
pub = rospy.Publisher('/grsim_data', gr_Commands, queue_size=1000)
print('testing...')
rospy.Subscriber('/belief_state', BeliefState, kp_callback, queue_size=1000)
rospy.Subscriber('/gui_params', point_SF, GUI_Callback, queue_size = 1000)
rospy.spin()