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@ -1,17 +1,17 @@
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#!/usr/bin/python
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# -*- coding: utf-8 -*-
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import pypibot.assistant
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import pypibot.log as Logger
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import pypibot.err
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log=Logger.log
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import sys
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def createNamedLog(name):
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return Logger.NamedLog(name)
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class Object():
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pass
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isDebug="-d" in sys.argv
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import platform
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isWindows=False
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if platform.system()=='Windows':
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isWindows=True
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#!/usr/bin/python
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# -*- coding: utf-8 -*-
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import pypibot.assistant
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import pypibot.log as Logger
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import pypibot.err
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log=Logger.log
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import sys
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def createNamedLog(name):
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return Logger.NamedLog(name)
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class Object():
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pass
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isDebug="-d" in sys.argv
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import platform
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isWindows=False
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if platform.system()=='Windows':
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isWindows=True
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@ -1,234 +1,234 @@
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#!/usr/bin/python
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# -*- coding: utf-8 -*-
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import os, sys, inspect
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import datetime
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import signal
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import threading
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import time
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# function: get directory of current script, if script is built
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# into an executable file, get directory of the excutable file
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def current_file_directory():
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path = os.path.realpath(sys.path[0]) # interpreter starter's path
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if os.path.isfile(path): # starter is excutable file
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path = os.path.dirname(path)
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path = os.path.abspath(path) # return excutable file's directory
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else: # starter is python script
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caller_file = inspect.stack()[0][1] # function caller's filename
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path = os.path.abspath(os.path.dirname(caller_file))# return function caller's file's directory
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if path[-1]!=os.path.sep:path+=os.path.sep
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return path
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"""格式化字符串"""
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def formatString(string,*argv):
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string=string%argv
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if string.find('$(scriptpath)')>=0:
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string=string.replace('$(scriptpath)',current_file_directory())
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if string.find('$(filenumber2)')>=0:
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i=0
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path=""
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while True:
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path=string.replace('$(scriptpath)',"%02d"%i)
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if not os.path.lexists(path):break
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i+=1
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string=path
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#8位日期（20140404）
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if string.find('$(Date8)')>=0:
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now=datetime.datetime.now()
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string=string.replace('$(Date8)', now.strftime("%Y%m%d"))
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#6位日期（140404）
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if string.find('$(Date6)')>=0:
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now=datetime.datetime.now()
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string=string.replace('$(Date6)', now.strftime("%y%m%d"))
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#6位时间（121212）
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if string.find('$(Time6)')>=0:
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now=datetime.datetime.now()
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string=string.replace('$(Time6)', now.strftime("%H%M%S"))
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#4位时间（1212）
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if string.find('$(Time4)')>=0:
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now=datetime.datetime.now()
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string=string.replace('$(Time4)', now.strftime("%H%M"))
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#文件编号2位（必须在最后）
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if string.find('$(filenumber2)')>=0:
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i=0
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path=""
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while True:
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path=string.replace('$(filenumber2)',"%02d"%i)
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if not os.path.lexists(path):break
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i+=1
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string=path
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#文件编号3位（必须在最后）
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if string.find('$(filenumber3)')>=0:
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i=0
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path=""
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while True:
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path=string.replace('$(filenumber3)',"%03d"%i)
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if not os.path.lexists(path):break
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i+=1
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string=path
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return string
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"""
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取得进程列表
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格式：(PID,cmd)
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"""
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def getProcessList():
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processList = []
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try:
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for line in os.popen("ps xa"):
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fields = line.split()
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# spid = fields[0]
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pid = 0
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try:pid = int(fields[0])
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except:None
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cmd = line[27:-1]
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# print "PS:%d,%s"%(npid,process)
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if pid != 0 and len(cmd) > 0:
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processList.append((pid, cmd))
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except Exception as e:
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print("getProcessList except:%s" % (e))
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return processList
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def killCommand(cmd):
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try:
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processList = getProcessList()
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for p in processList:
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if p[1].find(cmd) != -1:
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pid = p[0]
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os.kill(pid, signal.SIGKILL)
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except Exception as e:
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print("killCommand ‘%s’ except:%s" % (cmd,e))
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def check_pid(pid):
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""" Check For the existence of a unix pid. """
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if pid == 0:return False
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try:
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os.kill(pid, 0)
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except OSError:
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return False
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else:
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return True
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SF=formatString
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#全局异常捕获
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def excepthook(excType, excValue, tb):
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'''''write the unhandle exception to log'''
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from log import log
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import traceback
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log.e('Unhandled Error: %s',''.join(traceback.format_exception(excType, excValue, tb)))
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sys.exit(-1)
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#sys.__excepthook__(type, value, trace)
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#sys.__excepthook__(excType, excValue, tb)
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_defaultGlobalExcept=sys.excepthook
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def enableGlobalExcept(enable=True):
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if enable:
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sys.excepthook = excepthook
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else:
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sys.excepthook=_defaultGlobalExcept
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# 默认启动全局异常处理
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enableGlobalExcept()
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#创建线程
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def createThread(name,target,args=(),autoRun=True,daemon=True):
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from log import log
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def threadProc():
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log.i("thread %s started!",name)
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try:
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target(*args)
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log.i("thread %s ended!",name)
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except Exception as e:
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log.e("thread %s crash!err=%s",name,e)
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thd=threading.Thread(name=name,target=threadProc)
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thd.setDaemon(daemon)
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if autoRun:thd.start()
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return thd
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#定时器
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class Timer():
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def __init__(self, timer_proc, args=(),first=0,period=0,name="Timer"):
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self.name=name
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self.first=first
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self.period=period
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self.args=args
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self.timer_proc=timer_proc
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self.thdWork=None
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self.stopFlag=False
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from log import NamedLog
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self.log=NamedLog(name)
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def run(self):
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if self.first>0:
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time.sleep(self.first)
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try:
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self.timer_proc(*self.args)
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except Exception as e:
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self.log.error("timer proc crash!err=%s",e)
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while self.period>0 and not self.stopFlag:
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time.sleep(self.period)
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try:
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self.timer_proc(*self.args)
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except Exception as e:
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self.log.error("timer proc crash!err=%s",e)
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def start(self):
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if self.isAlive():
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self.log.d("already running!")
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return True
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self.stopFlag=False
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self.thdWork=threading.Thread(name=self.name,target=self.run)
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self.thdWork.setDaemon(True)
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self.thdWork.start()
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def stop(self,timeout=3):
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if self.isAlive():
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self.stopFlag=True
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try:
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self.thdWork.join(timeout)
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except Exception as e:
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self.log.e("stop timeout!")
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def isAlive(self):
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return self.thdWork and self.thdWork.isAlive()
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#计时器
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class Ticker():
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def __init__(self):
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self.reset()
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# 片段,可以判断时长是否在一个特定毫秒段内
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self.section=[]
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def reset(self):
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self.tick=time.time()
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self.end=0
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def stop(self):
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self.end=time.time()
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@property
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def ticker(self):
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if self.end==0:
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return int((time.time()-self.tick)*1000)
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else:
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return int((self.end-self.tick)*1000)
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def addSection(self,a,b):
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a,b=int(a),int(b)
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assert a<b
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self.section.append((a,b))
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def removeSection(self,a,b):
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a,b=int(a),int(b)
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self.section.remove((a,b))
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def removeAllSectioin(self):
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self.section=[]
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def inSection(self):
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tick=self.ticker
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for (a,b) in self.section:
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if tick>=a and tick<=b:
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return True
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return False
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def __call__(self):
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return self.ticker
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def waitExit():
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import log
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log.log.i("start waiting to exit...")
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try:
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while(True):
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time.sleep(1)
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except Exception as e:
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log.log.w("recv exit sign!")
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def is_python3():
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return sys.hexversion > 0x03000000
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#!/usr/bin/python
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# -*- coding: utf-8 -*-
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import os, sys, inspect
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import datetime
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import signal
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import threading
|
||||
import time
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||||
# function: get directory of current script, if script is built
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# into an executable file, get directory of the excutable file
|
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def current_file_directory():
|
||||
path = os.path.realpath(sys.path[0]) # interpreter starter's path
|
||||
if os.path.isfile(path): # starter is excutable file
|
||||
path = os.path.dirname(path)
|
||||
path = os.path.abspath(path) # return excutable file's directory
|
||||
else: # starter is python script
|
||||
caller_file = inspect.stack()[0][1] # function caller's filename
|
||||
path = os.path.abspath(os.path.dirname(caller_file))# return function caller's file's directory
|
||||
if path[-1]!=os.path.sep:path+=os.path.sep
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return path
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||||
|
||||
"""格式化字符串"""
|
||||
def formatString(string,*argv):
|
||||
string=string%argv
|
||||
if string.find('$(scriptpath)')>=0:
|
||||
string=string.replace('$(scriptpath)',current_file_directory())
|
||||
if string.find('$(filenumber2)')>=0:
|
||||
i=0
|
||||
path=""
|
||||
while True:
|
||||
path=string.replace('$(scriptpath)',"%02d"%i)
|
||||
if not os.path.lexists(path):break
|
||||
i+=1
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||||
string=path
|
||||
#8位日期（20140404）
|
||||
if string.find('$(Date8)')>=0:
|
||||
now=datetime.datetime.now()
|
||||
string=string.replace('$(Date8)', now.strftime("%Y%m%d"))
|
||||
#6位日期（140404）
|
||||
if string.find('$(Date6)')>=0:
|
||||
now=datetime.datetime.now()
|
||||
string=string.replace('$(Date6)', now.strftime("%y%m%d"))
|
||||
#6位时间（121212）
|
||||
if string.find('$(Time6)')>=0:
|
||||
now=datetime.datetime.now()
|
||||
string=string.replace('$(Time6)', now.strftime("%H%M%S"))
|
||||
#4位时间（1212）
|
||||
if string.find('$(Time4)')>=0:
|
||||
now=datetime.datetime.now()
|
||||
string=string.replace('$(Time4)', now.strftime("%H%M"))
|
||||
#文件编号2位（必须在最后）
|
||||
if string.find('$(filenumber2)')>=0:
|
||||
i=0
|
||||
path=""
|
||||
while True:
|
||||
path=string.replace('$(filenumber2)',"%02d"%i)
|
||||
if not os.path.lexists(path):break
|
||||
i+=1
|
||||
string=path
|
||||
#文件编号3位（必须在最后）
|
||||
if string.find('$(filenumber3)')>=0:
|
||||
i=0
|
||||
path=""
|
||||
while True:
|
||||
path=string.replace('$(filenumber3)',"%03d"%i)
|
||||
if not os.path.lexists(path):break
|
||||
i+=1
|
||||
string=path
|
||||
return string
|
||||
|
||||
"""
|
||||
取得进程列表
|
||||
格式：(PID,cmd)
|
||||
"""
|
||||
def getProcessList():
|
||||
processList = []
|
||||
try:
|
||||
for line in os.popen("ps xa"):
|
||||
fields = line.split()
|
||||
# spid = fields[0]
|
||||
pid = 0
|
||||
try:pid = int(fields[0])
|
||||
except:None
|
||||
cmd = line[27:-1]
|
||||
# print "PS:%d,%s"%(npid,process)
|
||||
if pid != 0 and len(cmd) > 0:
|
||||
processList.append((pid, cmd))
|
||||
except Exception as e:
|
||||
print("getProcessList except:%s" % (e))
|
||||
return processList
|
||||
def killCommand(cmd):
|
||||
try:
|
||||
processList = getProcessList()
|
||||
for p in processList:
|
||||
if p[1].find(cmd) != -1:
|
||||
pid = p[0]
|
||||
os.kill(pid, signal.SIGKILL)
|
||||
except Exception as e:
|
||||
print("killCommand ‘%s’ except:%s" % (cmd,e))
|
||||
|
||||
def check_pid(pid):
|
||||
""" Check For the existence of a unix pid. """
|
||||
if pid == 0:return False
|
||||
try:
|
||||
os.kill(pid, 0)
|
||||
except OSError:
|
||||
return False
|
||||
else:
|
||||
return True
|
||||
|
||||
SF=formatString
|
||||
|
||||
#全局异常捕获
|
||||
def excepthook(excType, excValue, tb):
|
||||
'''''write the unhandle exception to log'''
|
||||
from log import log
|
||||
import traceback
|
||||
log.e('Unhandled Error: %s',''.join(traceback.format_exception(excType, excValue, tb)))
|
||||
sys.exit(-1)
|
||||
#sys.__excepthook__(type, value, trace)
|
||||
#sys.__excepthook__(excType, excValue, tb)
|
||||
|
||||
_defaultGlobalExcept=sys.excepthook
|
||||
|
||||
def enableGlobalExcept(enable=True):
|
||||
if enable:
|
||||
sys.excepthook = excepthook
|
||||
else:
|
||||
sys.excepthook=_defaultGlobalExcept
|
||||
# 默认启动全局异常处理
|
||||
enableGlobalExcept()
|
||||
#创建线程
|
||||
def createThread(name,target,args=(),autoRun=True,daemon=True):
|
||||
from log import log
|
||||
def threadProc():
|
||||
log.i("thread %s started!",name)
|
||||
try:
|
||||
target(*args)
|
||||
log.i("thread %s ended!",name)
|
||||
except Exception as e:
|
||||
log.e("thread %s crash!err=%s",name,e)
|
||||
thd=threading.Thread(name=name,target=threadProc)
|
||||
thd.setDaemon(daemon)
|
||||
if autoRun:thd.start()
|
||||
return thd
|
||||
|
||||
|
||||
#定时器
|
||||
class Timer():
|
||||
def __init__(self, timer_proc, args=(),first=0,period=0,name="Timer"):
|
||||
self.name=name
|
||||
self.first=first
|
||||
self.period=period
|
||||
self.args=args
|
||||
self.timer_proc=timer_proc
|
||||
self.thdWork=None
|
||||
self.stopFlag=False
|
||||
from log import NamedLog
|
||||
self.log=NamedLog(name)
|
||||
def run(self):
|
||||
if self.first>0:
|
||||
time.sleep(self.first)
|
||||
try:
|
||||
self.timer_proc(*self.args)
|
||||
except Exception as e:
|
||||
self.log.error("timer proc crash!err=%s",e)
|
||||
while self.period>0 and not self.stopFlag:
|
||||
time.sleep(self.period)
|
||||
try:
|
||||
self.timer_proc(*self.args)
|
||||
except Exception as e:
|
||||
self.log.error("timer proc crash!err=%s",e)
|
||||
def start(self):
|
||||
if self.isAlive():
|
||||
self.log.d("already running!")
|
||||
return True
|
||||
self.stopFlag=False
|
||||
self.thdWork=threading.Thread(name=self.name,target=self.run)
|
||||
self.thdWork.setDaemon(True)
|
||||
self.thdWork.start()
|
||||
def stop(self,timeout=3):
|
||||
if self.isAlive():
|
||||
self.stopFlag=True
|
||||
try:
|
||||
self.thdWork.join(timeout)
|
||||
except Exception as e:
|
||||
self.log.e("stop timeout!")
|
||||
|
||||
def isAlive(self):
|
||||
return self.thdWork and self.thdWork.isAlive()
|
||||
#计时器
|
||||
class Ticker():
|
||||
def __init__(self):
|
||||
self.reset()
|
||||
# 片段,可以判断时长是否在一个特定毫秒段内
|
||||
self.section=[]
|
||||
def reset(self):
|
||||
self.tick=time.time()
|
||||
self.end=0
|
||||
def stop(self):
|
||||
self.end=time.time()
|
||||
@property
|
||||
def ticker(self):
|
||||
if self.end==0:
|
||||
return int((time.time()-self.tick)*1000)
|
||||
else:
|
||||
return int((self.end-self.tick)*1000)
|
||||
def addSection(self,a,b):
|
||||
a,b=int(a),int(b)
|
||||
assert a<b
|
||||
self.section.append((a,b))
|
||||
def removeSection(self,a,b):
|
||||
a,b=int(a),int(b)
|
||||
self.section.remove((a,b))
|
||||
def removeAllSectioin(self):
|
||||
self.section=[]
|
||||
def inSection(self):
|
||||
tick=self.ticker
|
||||
for (a,b) in self.section:
|
||||
if tick>=a and tick<=b:
|
||||
return True
|
||||
return False
|
||||
def __call__(self):
|
||||
return self.ticker
|
||||
def waitExit():
|
||||
import log
|
||||
log.log.i("start waiting to exit...")
|
||||
try:
|
||||
while(True):
|
||||
time.sleep(1)
|
||||
except Exception as e:
|
||||
log.log.w("recv exit sign!")
|
||||
|
||||
def is_python3():
|
||||
return sys.hexversion > 0x03000000
|
||||
|
|
|
|||
|
|
@ -1,56 +1,56 @@
|
|||
#!/usr/bin/python
|
||||
# -*- coding: utf-8 -*-
|
||||
|
||||
import ConfigParser
|
||||
from log import PLOG
|
||||
import os
|
||||
def getdefaultfilename():
|
||||
pass
|
||||
def openconfiger(filename):
|
||||
return configer(filename)
|
||||
class configer:
|
||||
def __init__(self,fullfilepath):
|
||||
self._filepath=fullfilepath
|
||||
if not os.path.isdir(os.path.dirname(fullfilepath)):
|
||||
os.makedirs(os.path.dirname(fullfilepath))
|
||||
self._conf=ConfigParser.ConfigParser()
|
||||
if os.path.isfile(fullfilepath):
|
||||
try:
|
||||
self._conf.readfp(open(fullfilepath,"r"))
|
||||
except Exception,e:
|
||||
PLOG.error("配置文件'%s'打开失败,err=%s"%(self._filepath,e))
|
||||
def save(self):
|
||||
try:
|
||||
self._conf.write(open(self._filepath,"w"))
|
||||
except Exception,e:
|
||||
PLOG.error("配置文件'%s'保存失败,err=%s"%(self._filepath,e))
|
||||
|
||||
def changeConfValue(self,section,option,value):
|
||||
if self._conf.has_section(section):
|
||||
self._conf.set(section,option,value)
|
||||
else:
|
||||
self._conf.add_section(section)
|
||||
self._conf.set(section,option,value)
|
||||
|
||||
def _readvalue(self,fn,section,option,default):
|
||||
result=default
|
||||
if self._conf.has_section(section):
|
||||
if self._conf.has_option(section,option):
|
||||
result=fn(section,option)
|
||||
PLOG.debug("Option[%s][%s]=%s"%(section,option,str(result)))
|
||||
else:
|
||||
self._conf.set(section,option,str(default))
|
||||
result=default
|
||||
else:
|
||||
self._conf.add_section(section)
|
||||
self._conf.set(section,option,str(default))
|
||||
result=default
|
||||
return result
|
||||
def getstr(self,section,option,default=""):
|
||||
return self._readvalue(self._conf.get, section, option, default)
|
||||
def getint(self,section,option,default=0):
|
||||
return self._readvalue(self._conf.getint, section, option, default)
|
||||
def getfloat(self,section,option,default=0.0):
|
||||
return self._readvalue(self._conf.getfloat, section, option, default)
|
||||
def getboolean(self,section,option,default=False):
|
||||
return self._readvalue(self._conf.getboolean, section, option, default)
|
||||
#!/usr/bin/python
|
||||
# -*- coding: utf-8 -*-
|
||||
|
||||
import ConfigParser
|
||||
from log import PLOG
|
||||
import os
|
||||
def getdefaultfilename():
|
||||
pass
|
||||
def openconfiger(filename):
|
||||
return configer(filename)
|
||||
class configer:
|
||||
def __init__(self,fullfilepath):
|
||||
self._filepath=fullfilepath
|
||||
if not os.path.isdir(os.path.dirname(fullfilepath)):
|
||||
os.makedirs(os.path.dirname(fullfilepath))
|
||||
self._conf=ConfigParser.ConfigParser()
|
||||
if os.path.isfile(fullfilepath):
|
||||
try:
|
||||
self._conf.readfp(open(fullfilepath,"r"))
|
||||
except Exception,e:
|
||||
PLOG.error("配置文件'%s'打开失败,err=%s"%(self._filepath,e))
|
||||
def save(self):
|
||||
try:
|
||||
self._conf.write(open(self._filepath,"w"))
|
||||
except Exception,e:
|
||||
PLOG.error("配置文件'%s'保存失败,err=%s"%(self._filepath,e))
|
||||
|
||||
def changeConfValue(self,section,option,value):
|
||||
if self._conf.has_section(section):
|
||||
self._conf.set(section,option,value)
|
||||
else:
|
||||
self._conf.add_section(section)
|
||||
self._conf.set(section,option,value)
|
||||
|
||||
def _readvalue(self,fn,section,option,default):
|
||||
result=default
|
||||
if self._conf.has_section(section):
|
||||
if self._conf.has_option(section,option):
|
||||
result=fn(section,option)
|
||||
PLOG.debug("Option[%s][%s]=%s"%(section,option,str(result)))
|
||||
else:
|
||||
self._conf.set(section,option,str(default))
|
||||
result=default
|
||||
else:
|
||||
self._conf.add_section(section)
|
||||
self._conf.set(section,option,str(default))
|
||||
result=default
|
||||
return result
|
||||
def getstr(self,section,option,default=""):
|
||||
return self._readvalue(self._conf.get, section, option, default)
|
||||
def getint(self,section,option,default=0):
|
||||
return self._readvalue(self._conf.getint, section, option, default)
|
||||
def getfloat(self,section,option,default=0.0):
|
||||
return self._readvalue(self._conf.getfloat, section, option, default)
|
||||
def getboolean(self,section,option,default=False):
|
||||
return self._readvalue(self._conf.getboolean, section, option, default)
|
||||
|
|
|
|||
|
|
@ -1,140 +1,140 @@
|
|||
#!/usr/bin/env python
|
||||
# -*- coding: utf-8 -*-
|
||||
|
||||
import sys, os, time, atexit
|
||||
from signal import SIGTERM
|
||||
|
||||
def check_pid(pid):
|
||||
""" Check For the existence of a unix pid. """
|
||||
if pid == 0:return False
|
||||
try:
|
||||
os.kill(pid, 0)
|
||||
except OSError:
|
||||
return False
|
||||
else:
|
||||
return True
|
||||
|
||||
class daemon:
|
||||
"""
|
||||
A generic daemon class.
|
||||
|
||||
Usage: subclass the Daemon class and override the run() method
|
||||
"""
|
||||
def __init__(self, pidfile, stdin='/dev/null', stdout='/dev/null', stderr='/dev/null'):
|
||||
self.stdin = stdin
|
||||
self.stdout = stdout
|
||||
self.stderr = stderr
|
||||
self.pidfile = pidfile
|
||||
|
||||
def daemonize(self):
|
||||
"""
|
||||
do the UNIX double-fork magic, see Stevens' "Advanced
|
||||
Programming in the UNIX Environment" for details (ISBN 0201563177)
|
||||
http://www.erlenstar.demon.co.uk/unix/faq_2.html#SEC16
|
||||
"""
|
||||
try:
|
||||
pid = os.fork()
|
||||
if pid > 0:
|
||||
# exit first parent
|
||||
sys.exit(0)
|
||||
except OSError, e:
|
||||
sys.stderr.write("fork #1 failed: %d (%s)\n" % (e.errno, e.strerror))
|
||||
sys.exit(1)
|
||||
|
||||
# decouple from parent environment
|
||||
os.chdir("/")
|
||||
os.setsid()
|
||||
os.umask(0)
|
||||
|
||||
# do second fork
|
||||
try:
|
||||
pid = os.fork()
|
||||
if pid > 0:
|
||||
# exit from second parent
|
||||
sys.exit(0)
|
||||
except OSError, e:
|
||||
sys.stderr.write("fork #2 failed: %d (%s)\n" % (e.errno, e.strerror))
|
||||
sys.exit(1)
|
||||
|
||||
# redirect standard file descriptors
|
||||
sys.stdout.flush()
|
||||
sys.stderr.flush()
|
||||
si = file(self.stdin, 'r')
|
||||
so = file(self.stdout, 'a+')
|
||||
se = file(self.stderr, 'a+', 0)
|
||||
os.dup2(si.fileno(), sys.stdin.fileno())
|
||||
os.dup2(so.fileno(), sys.stdout.fileno())
|
||||
os.dup2(se.fileno(), sys.stderr.fileno())
|
||||
|
||||
# write pidfile
|
||||
atexit.register(self.delpid)
|
||||
pid = str(os.getpid())
|
||||
file(self.pidfile, 'w+').write("%s\n" % pid)
|
||||
|
||||
def delpid(self):
|
||||
os.remove(self.pidfile)
|
||||
|
||||
def start(self):
|
||||
"""
|
||||
Start the daemon
|
||||
"""
|
||||
# Check for a pidfile to see if the daemon already runs
|
||||
try:
|
||||
pf = file(self.pidfile, 'r')
|
||||
pid = int(pf.read().strip())
|
||||
pf.close()
|
||||
except IOError:
|
||||
pid = None
|
||||
|
||||
if pid and check_pid(pid):
|
||||
message = "pidfile %s already exist. Daemon already running?\n"
|
||||
sys.stderr.write(message % self.pidfile)
|
||||
sys.exit(1)
|
||||
print("daemon start...")
|
||||
# Start the daemon
|
||||
self.daemonize()
|
||||
self.run()
|
||||
|
||||
def stop(self):
|
||||
"""
|
||||
Stop the daemon
|
||||
"""
|
||||
# Get the pid from the pidfile
|
||||
try:
|
||||
pf = file(self.pidfile, 'r')
|
||||
pid = int(pf.read().strip())
|
||||
pf.close()
|
||||
except IOError:
|
||||
pid = None
|
||||
|
||||
if not pid:
|
||||
message = "pidfile %s does not exist. Daemon not running?\n"
|
||||
sys.stderr.write(message % self.pidfile)
|
||||
return # not an error in a restart
|
||||
|
||||
# Try killing the daemon process
|
||||
try:
|
||||
while 1:
|
||||
os.kill(pid, SIGTERM)
|
||||
time.sleep(0.1)
|
||||
except OSError, err:
|
||||
err = str(err)
|
||||
if err.find("No such process") > 0:
|
||||
if os.path.exists(self.pidfile):
|
||||
os.remove(self.pidfile)
|
||||
else:
|
||||
print(str(err))
|
||||
sys.exit(1)
|
||||
|
||||
def restart(self):
|
||||
"""
|
||||
Restart the daemon
|
||||
"""
|
||||
self.stop()
|
||||
self.start()
|
||||
|
||||
def run(self):
|
||||
"""
|
||||
You should override this method when you subclass Daemon. It will be called after the process has been
|
||||
daemonized by start() or restart().
|
||||
"""
|
||||
#!/usr/bin/env python
|
||||
# -*- coding: utf-8 -*-
|
||||
|
||||
import sys, os, time, atexit
|
||||
from signal import SIGTERM
|
||||
|
||||
def check_pid(pid):
|
||||
""" Check For the existence of a unix pid. """
|
||||
if pid == 0:return False
|
||||
try:
|
||||
os.kill(pid, 0)
|
||||
except OSError:
|
||||
return False
|
||||
else:
|
||||
return True
|
||||
|
||||
class daemon:
|
||||
"""
|
||||
A generic daemon class.
|
||||
|
||||
Usage: subclass the Daemon class and override the run() method
|
||||
"""
|
||||
def __init__(self, pidfile, stdin='/dev/null', stdout='/dev/null', stderr='/dev/null'):
|
||||
self.stdin = stdin
|
||||
self.stdout = stdout
|
||||
self.stderr = stderr
|
||||
self.pidfile = pidfile
|
||||
|
||||
def daemonize(self):
|
||||
"""
|
||||
do the UNIX double-fork magic, see Stevens' "Advanced
|
||||
Programming in the UNIX Environment" for details (ISBN 0201563177)
|
||||
http://www.erlenstar.demon.co.uk/unix/faq_2.html#SEC16
|
||||
"""
|
||||
try:
|
||||
pid = os.fork()
|
||||
if pid > 0:
|
||||
# exit first parent
|
||||
sys.exit(0)
|
||||
except OSError, e:
|
||||
sys.stderr.write("fork #1 failed: %d (%s)\n" % (e.errno, e.strerror))
|
||||
sys.exit(1)
|
||||
|
||||
# decouple from parent environment
|
||||
os.chdir("/")
|
||||
os.setsid()
|
||||
os.umask(0)
|
||||
|
||||
# do second fork
|
||||
try:
|
||||
pid = os.fork()
|
||||
if pid > 0:
|
||||
# exit from second parent
|
||||
sys.exit(0)
|
||||
except OSError, e:
|
||||
sys.stderr.write("fork #2 failed: %d (%s)\n" % (e.errno, e.strerror))
|
||||
sys.exit(1)
|
||||
|
||||
# redirect standard file descriptors
|
||||
sys.stdout.flush()
|
||||
sys.stderr.flush()
|
||||
si = file(self.stdin, 'r')
|
||||
so = file(self.stdout, 'a+')
|
||||
se = file(self.stderr, 'a+', 0)
|
||||
os.dup2(si.fileno(), sys.stdin.fileno())
|
||||
os.dup2(so.fileno(), sys.stdout.fileno())
|
||||
os.dup2(se.fileno(), sys.stderr.fileno())
|
||||
|
||||
# write pidfile
|
||||
atexit.register(self.delpid)
|
||||
pid = str(os.getpid())
|
||||
file(self.pidfile, 'w+').write("%s\n" % pid)
|
||||
|
||||
def delpid(self):
|
||||
os.remove(self.pidfile)
|
||||
|
||||
def start(self):
|
||||
"""
|
||||
Start the daemon
|
||||
"""
|
||||
# Check for a pidfile to see if the daemon already runs
|
||||
try:
|
||||
pf = file(self.pidfile, 'r')
|
||||
pid = int(pf.read().strip())
|
||||
pf.close()
|
||||
except IOError:
|
||||
pid = None
|
||||
|
||||
if pid and check_pid(pid):
|
||||
message = "pidfile %s already exist. Daemon already running?\n"
|
||||
sys.stderr.write(message % self.pidfile)
|
||||
sys.exit(1)
|
||||
print("daemon start...")
|
||||
# Start the daemon
|
||||
self.daemonize()
|
||||
self.run()
|
||||
|
||||
def stop(self):
|
||||
"""
|
||||
Stop the daemon
|
||||
"""
|
||||
# Get the pid from the pidfile
|
||||
try:
|
||||
pf = file(self.pidfile, 'r')
|
||||
pid = int(pf.read().strip())
|
||||
pf.close()
|
||||
except IOError:
|
||||
pid = None
|
||||
|
||||
if not pid:
|
||||
message = "pidfile %s does not exist. Daemon not running?\n"
|
||||
sys.stderr.write(message % self.pidfile)
|
||||
return # not an error in a restart
|
||||
|
||||
# Try killing the daemon process
|
||||
try:
|
||||
while 1:
|
||||
os.kill(pid, SIGTERM)
|
||||
time.sleep(0.1)
|
||||
except OSError, err:
|
||||
err = str(err)
|
||||
if err.find("No such process") > 0:
|
||||
if os.path.exists(self.pidfile):
|
||||
os.remove(self.pidfile)
|
||||
else:
|
||||
print(str(err))
|
||||
sys.exit(1)
|
||||
|
||||
def restart(self):
|
||||
"""
|
||||
Restart the daemon
|
||||
"""
|
||||
self.stop()
|
||||
self.start()
|
||||
|
||||
def run(self):
|
||||
"""
|
||||
You should override this method when you subclass Daemon. It will be called after the process has been
|
||||
daemonized by start() or restart().
|
||||
"""
|
||||
|
|
|
|||
|
|
@ -1,58 +1,58 @@
|
|||
#!/usr/bin/python
|
||||
# -*- coding: utf-8 -*-
|
||||
|
||||
# 异常类
|
||||
class PibotError(Exception):
|
||||
def __init__(self, errcode, errmsg):
|
||||
self.errcode = errcode
|
||||
self.errmsg = errmsg
|
||||
#Exception.__init__(self,self.__str__())
|
||||
|
||||
def msg(self, msg):
|
||||
if not msg is None:return PibotError(self.errcode, msg)
|
||||
return PibotError(8,"unknow error")
|
||||
def __str__(self):
|
||||
return "PibotError:%s(%d)"%(self.errmsg,self.errcode)
|
||||
@property
|
||||
def message(self):
|
||||
return str(self)
|
||||
# 声明
|
||||
# 成功
|
||||
success=PibotError(0,"null")
|
||||
# 通用失败
|
||||
fail=PibotError(1,"fail")
|
||||
# 参数无效
|
||||
invalidParameter=PibotError(2,"invalid parameter")
|
||||
# 不支持
|
||||
noSupport=PibotError(3,"no support")
|
||||
# 不存在
|
||||
noExist=PibotError(4,"no exist")
|
||||
# 超时
|
||||
timeout=PibotError(5,"timeout")
|
||||
# 繁忙
|
||||
busy=PibotError(6,"busy")
|
||||
# 缺少参数
|
||||
missParameter=PibotError(7,"miss parameter")
|
||||
# 系统错误(通用错误)
|
||||
systemError=PibotError(8,"system error")
|
||||
# 密码错误
|
||||
invalidPassword=PibotError(9,"invalid password")
|
||||
# 编码失败
|
||||
encodeFailed=PibotError(10,"encode failed")
|
||||
# 数据库操作失败
|
||||
dbOpertationFailed=PibotError(11,"db error")
|
||||
# 已占用
|
||||
occupied=PibotError(12,"occupied")
|
||||
# session不存在
|
||||
noSession = PibotError(13,'cannot find session')
|
||||
#没有找到
|
||||
noFound = PibotError(14, "no found")
|
||||
#已经存在
|
||||
existed = PibotError(15, "existed")
|
||||
#已经锁定
|
||||
locked = PibotError(16, "locked")
|
||||
#已经过期
|
||||
expired = PibotError(17, "is expired")
|
||||
#无效的参数
|
||||
invalidParameter = PibotError(18, "invalid parameter")
|
||||
|
||||
#!/usr/bin/python
|
||||
# -*- coding: utf-8 -*-
|
||||
|
||||
# 异常类
|
||||
class PibotError(Exception):
|
||||
def __init__(self, errcode, errmsg):
|
||||
self.errcode = errcode
|
||||
self.errmsg = errmsg
|
||||
#Exception.__init__(self,self.__str__())
|
||||
|
||||
def msg(self, msg):
|
||||
if not msg is None:return PibotError(self.errcode, msg)
|
||||
return PibotError(8,"unknow error")
|
||||
def __str__(self):
|
||||
return "PibotError:%s(%d)"%(self.errmsg,self.errcode)
|
||||
@property
|
||||
def message(self):
|
||||
return str(self)
|
||||
# 声明
|
||||
# 成功
|
||||
success=PibotError(0,"null")
|
||||
# 通用失败
|
||||
fail=PibotError(1,"fail")
|
||||
# 参数无效
|
||||
invalidParameter=PibotError(2,"invalid parameter")
|
||||
# 不支持
|
||||
noSupport=PibotError(3,"no support")
|
||||
# 不存在
|
||||
noExist=PibotError(4,"no exist")
|
||||
# 超时
|
||||
timeout=PibotError(5,"timeout")
|
||||
# 繁忙
|
||||
busy=PibotError(6,"busy")
|
||||
# 缺少参数
|
||||
missParameter=PibotError(7,"miss parameter")
|
||||
# 系统错误(通用错误)
|
||||
systemError=PibotError(8,"system error")
|
||||
# 密码错误
|
||||
invalidPassword=PibotError(9,"invalid password")
|
||||
# 编码失败
|
||||
encodeFailed=PibotError(10,"encode failed")
|
||||
# 数据库操作失败
|
||||
dbOpertationFailed=PibotError(11,"db error")
|
||||
# 已占用
|
||||
occupied=PibotError(12,"occupied")
|
||||
# session不存在
|
||||
noSession = PibotError(13,'cannot find session')
|
||||
#没有找到
|
||||
noFound = PibotError(14, "no found")
|
||||
#已经存在
|
||||
existed = PibotError(15, "existed")
|
||||
#已经锁定
|
||||
locked = PibotError(16, "locked")
|
||||
#已经过期
|
||||
expired = PibotError(17, "is expired")
|
||||
#无效的参数
|
||||
invalidParameter = PibotError(18, "invalid parameter")
|
||||
|
||||
|
|
|
|||
|
|
@ -1,259 +1,259 @@
|
|||
#!/usr/bin/python
|
||||
# -*- coding: utf-8 -*-
|
||||
import sys,os
|
||||
import datetime
|
||||
import threading
|
||||
import pypibot.assistant as assistant
|
||||
import platform
|
||||
if assistant.is_python3():
|
||||
import _thread
|
||||
else:
|
||||
import thread
|
||||
import traceback
|
||||
"""
|
||||
%a Locale’s abbreviated weekday name.
|
||||
%A Locale’s full weekday name.
|
||||
%b Locale’s abbreviated month name.
|
||||
%B Locale’s full month name.
|
||||
%c Locale’s appropriate date and time representation.
|
||||
%d Day of the month as a decimal number [01,31].
|
||||
%H Hour (24-hour clock) as a decimal number [00,23].
|
||||
%I Hour (12-hour clock) as a decimal number [01,12].
|
||||
%j Day of the year as a decimal number [001,366].
|
||||
%m Month as a decimal number [01,12].
|
||||
%M Minute as a decimal number [00,59].
|
||||
%p Locale’s equivalent of either AM or PM. (1)
|
||||
%S Second as a decimal number [00,61]. (2)
|
||||
%U Week number of the year (Sunday as the first day of the week) as a decimal number [00,53]. All days in a new year preceding the first Sunday are considered to be in week 0. (3)
|
||||
%w Weekday as a decimal number [0(Sunday),6].
|
||||
%W Week number of the year (Monday as the first day of the week) as a decimal number [00,53]. All days in a new year preceding the first Monday are considered to be in week 0. (3)
|
||||
%x Locale’s appropriate date representation.
|
||||
%X Locale’s appropriate time representation.
|
||||
%y Year without century as a decimal number [00,99].
|
||||
%Y Year with century as a decimal number.
|
||||
%Z Time zone name (no characters if no time zone exists).
|
||||
%% A literal '%' character.
|
||||
|
||||
"""
|
||||
isWindows=False
|
||||
if platform.system()=='Windows':
|
||||
isWindows=True
|
||||
defaultEncodeing="utf8"
|
||||
if "-utf8" in sys.argv:
|
||||
defaultEncodeing="utf-8"
|
||||
if "-gbk" in sys.argv:
|
||||
defaultEncodeing="gbk"
|
||||
|
||||
TRACE=5
|
||||
DEBUG=4
|
||||
INFORMATION=3
|
||||
WARNING=2
|
||||
ERROR=1
|
||||
NONE=0
|
||||
|
||||
MAX_MSG_SIZE = 4096
|
||||
|
||||
def getLevelFromString(level):
|
||||
level=level.lower()
|
||||
if level=='t' or level=='trace':return 5
|
||||
elif level=='d' or level=='debug':return 4
|
||||
elif level=='i' or level=='info':return 3
|
||||
elif level=='w' or level=='wran':return 2
|
||||
elif level=='e' or level=='error':return 1
|
||||
else :return 0
|
||||
def getLevelString(level):
|
||||
if level==TRACE:return "T"
|
||||
elif level==DEBUG:return "D"
|
||||
elif level==INFORMATION:return "I"
|
||||
elif level==WARNING:return "W"
|
||||
elif level==ERROR:return "E"
|
||||
else:return "N"
|
||||
class PibotLog:
|
||||
def __init__(self):
|
||||
self.isEnableControlLog=True
|
||||
self.fileTemple=None
|
||||
self.filePath=""
|
||||
self.level=5
|
||||
self._lock=threading.RLock()
|
||||
self.fd=None
|
||||
self.fd_day=-1
|
||||
def setLevel(self,level):
|
||||
self.level=getLevelFromString(level)
|
||||
def enableControllog(self,enable):
|
||||
self.isEnableControlLog=enable
|
||||
def enableFileLog(self,fileName):
|
||||
self.fileTemple=fileName
|
||||
self.updateFilelog()
|
||||
def updateFilelog(self):
|
||||
fn=assistant.SF(self.fileTemple)
|
||||
if fn!=self.filePath:
|
||||
self.i("new log file:%s",fn)
|
||||
if self.fd:
|
||||
self.fd.close()
|
||||
self.fd=None
|
||||
self.fd_day=-1
|
||||
self.filePath=""
|
||||
try:
|
||||
path=os.path.dirname(fn)
|
||||
if path!="" and not os.path.isdir(path):os.makedirs(path)
|
||||
self.fd=open(fn,mode="w")
|
||||
try:
|
||||
linkfn = fn.split(".log.", 1)[0] + ".INFO"
|
||||
if os.path.exists(linkfn):
|
||||
os.remove(linkfn)
|
||||
(filepath, tempfilename) = os.path.split(fn)
|
||||
os.symlink(tempfilename, linkfn)
|
||||
except:
|
||||
pass
|
||||
self.fd_day=datetime.datetime.now().day
|
||||
self.filePath=fn
|
||||
except Exception as e:
|
||||
print("open file fail!file=%s,err=%s"%(fn,e))
|
||||
def _output(self,level,msg,args):
|
||||
if self.level<level:return
|
||||
try:
|
||||
if len(args)>0:
|
||||
t=[]
|
||||
for arg in args:
|
||||
if isinstance(arg,Exception):
|
||||
t.append(traceback.format_exc(arg).decode('utf-8'))
|
||||
elif isinstance(arg,bytes) :
|
||||
t.append(arg.decode('utf-8'))
|
||||
else:
|
||||
t.append(arg)
|
||||
args=tuple(t)
|
||||
try:
|
||||
msg=msg%args
|
||||
except:
|
||||
try:
|
||||
for arg in args:
|
||||
msg=msg+str(arg)+" "
|
||||
except Exception as e:
|
||||
msg=msg+"==LOG ERROR==>%s"%(e)
|
||||
if len(msg)>MAX_MSG_SIZE:msg=msg[0:MAX_MSG_SIZE]
|
||||
now=datetime.datetime.now()
|
||||
msg=msg+"\r\n"
|
||||
if assistant.is_python3():
|
||||
id = _thread.get_ident()
|
||||
else:
|
||||
id = thread.get_ident()
|
||||
s="[%s] %04d-%02d-%02d %02d:%02d:%02d.%03d (0x%04X):%s"%(getLevelString(level),now.year,now.month,now.day,now.hour,now.minute,now.second,now.microsecond/1000,(id>>8)&0xffff,msg)
|
||||
prefix=''
|
||||
suffix=''
|
||||
if not isWindows:
|
||||
suffix='\033[0m'
|
||||
if level==TRACE:
|
||||
prefix='\033[0;37m'
|
||||
elif level==DEBUG:
|
||||
prefix='\033[1m'
|
||||
elif level==INFORMATION:
|
||||
prefix='\033[0;32m'
|
||||
elif level==WARNING:
|
||||
prefix='\033[0;33m'
|
||||
elif level==ERROR:
|
||||
prefix='\033[0;31m'
|
||||
else:
|
||||
pass
|
||||
self._lock.acquire()
|
||||
try:
|
||||
if self.isEnableControlLog:
|
||||
sys.stdout.write((prefix+s+suffix))
|
||||
if self.fd:
|
||||
if self.fd_day!=now.day:
|
||||
self.updateFilelog()
|
||||
if assistant.is_python3():
|
||||
self.fd.write(s)
|
||||
else:
|
||||
self.fd.write(s.encode('utf-8'))
|
||||
self.fd.flush()
|
||||
finally:
|
||||
self._lock.release()
|
||||
except Exception as e:
|
||||
if assistant.is_python3():
|
||||
print(e)
|
||||
else:
|
||||
print("PibotLog._output crash!err=%s"%traceback.format_exc(e))
|
||||
|
||||
def trace(self,msg,*args):
|
||||
self._output(TRACE,msg,args)
|
||||
def t(self,msg,*args):
|
||||
self._output(TRACE,msg,args)
|
||||
def debug(self,msg,*args):
|
||||
self._output(DEBUG, msg,args)
|
||||
def d(self,msg,*args):
|
||||
self._output(DEBUG, msg,args)
|
||||
def info(self,msg,*args):
|
||||
self._output(INFORMATION, msg,args)
|
||||
def i(self,msg,*args):
|
||||
self._output(INFORMATION, msg,args)
|
||||
def warn(self,msg,*args):
|
||||
self._output(WARNING, msg,args)
|
||||
def w(self,msg,*args):
|
||||
self._output(WARNING, msg,args)
|
||||
def error(self,msg,*args):
|
||||
self._output(ERROR, msg,args)
|
||||
def e(self,msg,*args):
|
||||
self._output(ERROR, msg,args)
|
||||
def _log(self,level,msg,args):
|
||||
self._output(level, msg,args)
|
||||
def createNamedLog(self,name):
|
||||
return NamedLog(name)
|
||||
log=PibotLog()
|
||||
class NamedLog:
|
||||
def __init__(self,name=None):
|
||||
global log
|
||||
self.name=''
|
||||
if name:
|
||||
self.name='['+name+']'
|
||||
self.log=log
|
||||
def trace(self,msg,*args):
|
||||
msg=self.name+msg
|
||||
self.log._log(TRACE,msg,args)
|
||||
def t(self,msg,*args):
|
||||
msg=self.name+msg
|
||||
self.log._log(TRACE,msg,args)
|
||||
def debug(self,msg,*args):
|
||||
msg=self.name+msg
|
||||
self.log._log(DEBUG, msg,args)
|
||||
def d(self,msg,*args):
|
||||
msg=self.name+msg
|
||||
self.log._log(DEBUG, msg,args)
|
||||
def info(self,msg,*args):
|
||||
msg=self.name+msg
|
||||
self.log._log(INFORMATION, msg,args)
|
||||
def i(self,msg,*args):
|
||||
msg=self.name+msg
|
||||
self.log._log(INFORMATION, msg,args)
|
||||
def warn(self,msg,*args):
|
||||
msg=self.name+msg
|
||||
self.log._log(WARNING, msg,args)
|
||||
def w(self,msg,*args):
|
||||
msg=self.name+msg
|
||||
self.log._log(WARNING, msg,args)
|
||||
def error(self,msg,*args):
|
||||
msg=self.name+msg
|
||||
self.log._log(ERROR, msg,args)
|
||||
def e(self,msg,*args):
|
||||
msg=self.name+msg
|
||||
self.log._log(ERROR, msg,args)
|
||||
|
||||
if __name__ == "__main__":
|
||||
log.trace("1%s","hello")
|
||||
log.debug("2%d",12)
|
||||
try:
|
||||
raise Exception("EXC")
|
||||
except Exception as e:
|
||||
log.info("3%s",e)
|
||||
log.warn("1")
|
||||
log.error("1")
|
||||
#log.enableFileLog("$(scriptpath)test_$(Date8)_$(filenumber2).log")
|
||||
log.trace("1")
|
||||
log.debug("1")
|
||||
log.info("1")
|
||||
log.warn("1")
|
||||
log.error("1")
|
||||
log=NamedLog("test")
|
||||
log.d("1")
|
||||
log.i("1")
|
||||
log.warn("1")
|
||||
log.error("1=%d,%s",100,e)
|
||||
#!/usr/bin/python
|
||||
# -*- coding: utf-8 -*-
|
||||
import sys,os
|
||||
import datetime
|
||||
import threading
|
||||
import pypibot.assistant as assistant
|
||||
import platform
|
||||
if assistant.is_python3():
|
||||
import _thread
|
||||
else:
|
||||
import thread
|
||||
import traceback
|
||||
"""
|
||||
%a Locale’s abbreviated weekday name.
|
||||
%A Locale’s full weekday name.
|
||||
%b Locale’s abbreviated month name.
|
||||
%B Locale’s full month name.
|
||||
%c Locale’s appropriate date and time representation.
|
||||
%d Day of the month as a decimal number [01,31].
|
||||
%H Hour (24-hour clock) as a decimal number [00,23].
|
||||
%I Hour (12-hour clock) as a decimal number [01,12].
|
||||
%j Day of the year as a decimal number [001,366].
|
||||
%m Month as a decimal number [01,12].
|
||||
%M Minute as a decimal number [00,59].
|
||||
%p Locale’s equivalent of either AM or PM. (1)
|
||||
%S Second as a decimal number [00,61]. (2)
|
||||
%U Week number of the year (Sunday as the first day of the week) as a decimal number [00,53]. All days in a new year preceding the first Sunday are considered to be in week 0. (3)
|
||||
%w Weekday as a decimal number [0(Sunday),6].
|
||||
%W Week number of the year (Monday as the first day of the week) as a decimal number [00,53]. All days in a new year preceding the first Monday are considered to be in week 0. (3)
|
||||
%x Locale’s appropriate date representation.
|
||||
%X Locale’s appropriate time representation.
|
||||
%y Year without century as a decimal number [00,99].
|
||||
%Y Year with century as a decimal number.
|
||||
%Z Time zone name (no characters if no time zone exists).
|
||||
%% A literal '%' character.
|
||||
|
||||
"""
|
||||
isWindows=False
|
||||
if platform.system()=='Windows':
|
||||
isWindows=True
|
||||
defaultEncodeing="utf8"
|
||||
if "-utf8" in sys.argv:
|
||||
defaultEncodeing="utf-8"
|
||||
if "-gbk" in sys.argv:
|
||||
defaultEncodeing="gbk"
|
||||
|
||||
TRACE=5
|
||||
DEBUG=4
|
||||
INFORMATION=3
|
||||
WARNING=2
|
||||
ERROR=1
|
||||
NONE=0
|
||||
|
||||
MAX_MSG_SIZE = 4096
|
||||
|
||||
def getLevelFromString(level):
|
||||
level=level.lower()
|
||||
if level=='t' or level=='trace':return 5
|
||||
elif level=='d' or level=='debug':return 4
|
||||
elif level=='i' or level=='info':return 3
|
||||
elif level=='w' or level=='wran':return 2
|
||||
elif level=='e' or level=='error':return 1
|
||||
else :return 0
|
||||
def getLevelString(level):
|
||||
if level==TRACE:return "T"
|
||||
elif level==DEBUG:return "D"
|
||||
elif level==INFORMATION:return "I"
|
||||
elif level==WARNING:return "W"
|
||||
elif level==ERROR:return "E"
|
||||
else:return "N"
|
||||
class PibotLog:
|
||||
def __init__(self):
|
||||
self.isEnableControlLog=True
|
||||
self.fileTemple=None
|
||||
self.filePath=""
|
||||
self.level=5
|
||||
self._lock=threading.RLock()
|
||||
self.fd=None
|
||||
self.fd_day=-1
|
||||
def setLevel(self,level):
|
||||
self.level=getLevelFromString(level)
|
||||
def enableControllog(self,enable):
|
||||
self.isEnableControlLog=enable
|
||||
def enableFileLog(self,fileName):
|
||||
self.fileTemple=fileName
|
||||
self.updateFilelog()
|
||||
def updateFilelog(self):
|
||||
fn=assistant.SF(self.fileTemple)
|
||||
if fn!=self.filePath:
|
||||
self.i("new log file:%s",fn)
|
||||
if self.fd:
|
||||
self.fd.close()
|
||||
self.fd=None
|
||||
self.fd_day=-1
|
||||
self.filePath=""
|
||||
try:
|
||||
path=os.path.dirname(fn)
|
||||
if path!="" and not os.path.isdir(path):os.makedirs(path)
|
||||
self.fd=open(fn,mode="w")
|
||||
try:
|
||||
linkfn = fn.split(".log.", 1)[0] + ".INFO"
|
||||
if os.path.exists(linkfn):
|
||||
os.remove(linkfn)
|
||||
(filepath, tempfilename) = os.path.split(fn)
|
||||
os.symlink(tempfilename, linkfn)
|
||||
except:
|
||||
pass
|
||||
self.fd_day=datetime.datetime.now().day
|
||||
self.filePath=fn
|
||||
except Exception as e:
|
||||
print("open file fail!file=%s,err=%s"%(fn,e))
|
||||
def _output(self,level,msg,args):
|
||||
if self.level<level:return
|
||||
try:
|
||||
if len(args)>0:
|
||||
t=[]
|
||||
for arg in args:
|
||||
if isinstance(arg,Exception):
|
||||
t.append(traceback.format_exc(arg).decode('utf-8'))
|
||||
elif isinstance(arg,bytes) :
|
||||
t.append(arg.decode('utf-8'))
|
||||
else:
|
||||
t.append(arg)
|
||||
args=tuple(t)
|
||||
try:
|
||||
msg=msg%args
|
||||
except:
|
||||
try:
|
||||
for arg in args:
|
||||
msg=msg+str(arg)+" "
|
||||
except Exception as e:
|
||||
msg=msg+"==LOG ERROR==>%s"%(e)
|
||||
if len(msg)>MAX_MSG_SIZE:msg=msg[0:MAX_MSG_SIZE]
|
||||
now=datetime.datetime.now()
|
||||
msg=msg+"\r\n"
|
||||
if assistant.is_python3():
|
||||
id = _thread.get_ident()
|
||||
else:
|
||||
id = thread.get_ident()
|
||||
s="[%s] %04d-%02d-%02d %02d:%02d:%02d.%03d (0x%04X):%s"%(getLevelString(level),now.year,now.month,now.day,now.hour,now.minute,now.second,now.microsecond/1000,(id>>8)&0xffff,msg)
|
||||
prefix=''
|
||||
suffix=''
|
||||
if not isWindows:
|
||||
suffix='\033[0m'
|
||||
if level==TRACE:
|
||||
prefix='\033[0;37m'
|
||||
elif level==DEBUG:
|
||||
prefix='\033[1m'
|
||||
elif level==INFORMATION:
|
||||
prefix='\033[0;32m'
|
||||
elif level==WARNING:
|
||||
prefix='\033[0;33m'
|
||||
elif level==ERROR:
|
||||
prefix='\033[0;31m'
|
||||
else:
|
||||
pass
|
||||
self._lock.acquire()
|
||||
try:
|
||||
if self.isEnableControlLog:
|
||||
sys.stdout.write((prefix+s+suffix))
|
||||
if self.fd:
|
||||
if self.fd_day!=now.day:
|
||||
self.updateFilelog()
|
||||
if assistant.is_python3():
|
||||
self.fd.write(s)
|
||||
else:
|
||||
self.fd.write(s.encode('utf-8'))
|
||||
self.fd.flush()
|
||||
finally:
|
||||
self._lock.release()
|
||||
except Exception as e:
|
||||
if assistant.is_python3():
|
||||
print(e)
|
||||
else:
|
||||
print("PibotLog._output crash!err=%s"%traceback.format_exc(e))
|
||||
|
||||
def trace(self,msg,*args):
|
||||
self._output(TRACE,msg,args)
|
||||
def t(self,msg,*args):
|
||||
self._output(TRACE,msg,args)
|
||||
def debug(self,msg,*args):
|
||||
self._output(DEBUG, msg,args)
|
||||
def d(self,msg,*args):
|
||||
self._output(DEBUG, msg,args)
|
||||
def info(self,msg,*args):
|
||||
self._output(INFORMATION, msg,args)
|
||||
def i(self,msg,*args):
|
||||
self._output(INFORMATION, msg,args)
|
||||
def warn(self,msg,*args):
|
||||
self._output(WARNING, msg,args)
|
||||
def w(self,msg,*args):
|
||||
self._output(WARNING, msg,args)
|
||||
def error(self,msg,*args):
|
||||
self._output(ERROR, msg,args)
|
||||
def e(self,msg,*args):
|
||||
self._output(ERROR, msg,args)
|
||||
def _log(self,level,msg,args):
|
||||
self._output(level, msg,args)
|
||||
def createNamedLog(self,name):
|
||||
return NamedLog(name)
|
||||
log=PibotLog()
|
||||
class NamedLog:
|
||||
def __init__(self,name=None):
|
||||
global log
|
||||
self.name=''
|
||||
if name:
|
||||
self.name='['+name+']'
|
||||
self.log=log
|
||||
def trace(self,msg,*args):
|
||||
msg=self.name+msg
|
||||
self.log._log(TRACE,msg,args)
|
||||
def t(self,msg,*args):
|
||||
msg=self.name+msg
|
||||
self.log._log(TRACE,msg,args)
|
||||
def debug(self,msg,*args):
|
||||
msg=self.name+msg
|
||||
self.log._log(DEBUG, msg,args)
|
||||
def d(self,msg,*args):
|
||||
msg=self.name+msg
|
||||
self.log._log(DEBUG, msg,args)
|
||||
def info(self,msg,*args):
|
||||
msg=self.name+msg
|
||||
self.log._log(INFORMATION, msg,args)
|
||||
def i(self,msg,*args):
|
||||
msg=self.name+msg
|
||||
self.log._log(INFORMATION, msg,args)
|
||||
def warn(self,msg,*args):
|
||||
msg=self.name+msg
|
||||
self.log._log(WARNING, msg,args)
|
||||
def w(self,msg,*args):
|
||||
msg=self.name+msg
|
||||
self.log._log(WARNING, msg,args)
|
||||
def error(self,msg,*args):
|
||||
msg=self.name+msg
|
||||
self.log._log(ERROR, msg,args)
|
||||
def e(self,msg,*args):
|
||||
msg=self.name+msg
|
||||
self.log._log(ERROR, msg,args)
|
||||
|
||||
if __name__ == "__main__":
|
||||
log.trace("1%s","hello")
|
||||
log.debug("2%d",12)
|
||||
try:
|
||||
raise Exception("EXC")
|
||||
except Exception as e:
|
||||
log.info("3%s",e)
|
||||
log.warn("1")
|
||||
log.error("1")
|
||||
#log.enableFileLog("$(scriptpath)test_$(Date8)_$(filenumber2).log")
|
||||
log.trace("1")
|
||||
log.debug("1")
|
||||
log.info("1")
|
||||
log.warn("1")
|
||||
log.error("1")
|
||||
log=NamedLog("test")
|
||||
log.d("1")
|
||||
log.i("1")
|
||||
log.warn("1")
|
||||
log.error("1=%d,%s",100,e)
|
||||
|
|
|
|||
|
|
@ -1,240 +1,240 @@
|
|||
import struct
|
||||
|
||||
params_size=29
|
||||
|
||||
# main board
|
||||
class MessageID:
|
||||
ID_GET_VERSION = 0
|
||||
ID_SET_ROBOT_PARAMETER = 1
|
||||
ID_GET_ROBOT_PARAMETER = 2
|
||||
ID_INIT_ODOM = 3
|
||||
ID_SET_VEL = 4
|
||||
ID_GET_ODOM = 5
|
||||
ID_GET_PID_DEBUG = 6
|
||||
ID_GET_IMU = 7
|
||||
ID_GET_ENCODER_COUNT = 8
|
||||
ID_SET_MOTOR_PWM = 9
|
||||
|
||||
class RobotMessage:
|
||||
def pack(self):
|
||||
return b''
|
||||
|
||||
def unpack(self):
|
||||
return True
|
||||
|
||||
class RobotFirmwareInfo(RobotMessage):
|
||||
def __init__(self):
|
||||
self.version = ''
|
||||
self.build_time = ''
|
||||
|
||||
def unpack(self, data):
|
||||
try:
|
||||
upk = struct.unpack('16s16s', bytes(data))
|
||||
except:
|
||||
return False
|
||||
[self.version, self.build_time] = upk
|
||||
return True
|
||||
|
||||
class RobotImuType:
|
||||
IMU_TYPE_GY65 = 49
|
||||
IMU_TYPE_GY85 = 69
|
||||
IMU_TYPE_GY87 = 71
|
||||
|
||||
class RobotModelType:
|
||||
MODEL_TYPE_2WD_DIFF = 1
|
||||
MODEL_TYPE_4WD_DIFF = 2
|
||||
MODEL_TYPE_3WD_OMNI = 101
|
||||
MODEL_TYPE_4WD_OMNI = 102
|
||||
MODEL_TYPE_4WD_MECANUM = 201
|
||||
|
||||
class RobotParameters():
|
||||
def __init__(self, wheel_diameter=0, \
|
||||
wheel_track=0, \
|
||||
encoder_resolution=0, \
|
||||
do_pid_interval=0, \
|
||||
kp=0, \
|
||||
ki=0, \
|
||||
kd=0, \
|
||||
ko=0, \
|
||||
cmd_last_time=0, \
|
||||
max_v_liner_x=0, \
|
||||
max_v_liner_y=0, \
|
||||
max_v_angular_z=0, \
|
||||
imu_type=0, \
|
||||
motor_ratio=0, \
|
||||
model_type=0, \
|
||||
motor_nonexchange_flag=255, \
|
||||
encoder_nonexchange_flag=255, \
|
||||
):
|
||||
self.wheel_diameter = wheel_diameter
|
||||
self.wheel_track = wheel_track
|
||||
self.encoder_resolution = encoder_resolution
|
||||
self.do_pid_interval = do_pid_interval
|
||||
self.kp = kp
|
||||
self.ki = ki
|
||||
self.kd = kd
|
||||
self.ko = ko
|
||||
self.cmd_last_time = cmd_last_time
|
||||
self.max_v_liner_x = max_v_liner_x
|
||||
self.max_v_liner_y = max_v_liner_y
|
||||
self.max_v_angular_z = max_v_angular_z
|
||||
self.imu_type = imu_type
|
||||
self.motor_ratio = motor_ratio
|
||||
self.model_type = model_type
|
||||
self.motor_nonexchange_flag = motor_nonexchange_flag
|
||||
self.encoder_nonexchange_flag = encoder_nonexchange_flag
|
||||
reserve=b'\xff'
|
||||
self.reserve=b''
|
||||
for i in range(64-params_size):
|
||||
self.reserve+=reserve
|
||||
robotParam = RobotParameters()
|
||||
|
||||
class GetRobotParameters(RobotMessage):
|
||||
def __init__(self):
|
||||
self.param = robotParam
|
||||
|
||||
def unpack(self, data):
|
||||
#print(bytes(data), len(bytes(data)))
|
||||
upk = struct.unpack('<3H1B8H1B1H3B%ds'%(64-params_size), bytes(data))
|
||||
|
||||
[self.param.wheel_diameter,
|
||||
self.param.wheel_track,
|
||||
self.param.encoder_resolution,
|
||||
self.param.do_pid_interval,
|
||||
self.param.kp,
|
||||
self.param.ki,
|
||||
self.param.kd,
|
||||
self.param.ko,
|
||||
self.param.cmd_last_time,
|
||||
self.param.max_v_liner_x,
|
||||
self.param.max_v_liner_y,
|
||||
self.param.max_v_angular_z,
|
||||
self.param.imu_type,
|
||||
self.param.motor_ratio,
|
||||
self.param.model_type,
|
||||
self.param.motor_nonexchange_flag,
|
||||
self.param.encoder_nonexchange_flag,
|
||||
self.param.reserve] = upk
|
||||
return True
|
||||
|
||||
class SetRobotParameters(RobotMessage):
|
||||
def __init__(self):
|
||||
self.param = robotParam
|
||||
|
||||
def pack(self):
|
||||
data = [self.param.wheel_diameter,
|
||||
self.param.wheel_track,
|
||||
self.param.encoder_resolution,
|
||||
self.param.do_pid_interval,
|
||||
self.param.kp,
|
||||
self.param.ki,
|
||||
self.param.kd,
|
||||
self.param.ko,
|
||||
self.param.cmd_last_time,
|
||||
self.param.max_v_liner_x,
|
||||
self.param.max_v_liner_y,
|
||||
self.param.max_v_angular_z,
|
||||
self.param.imu_type,
|
||||
self.param.motor_ratio,
|
||||
self.param.model_type,
|
||||
self.param.motor_nonexchange_flag,
|
||||
self.param.encoder_nonexchange_flag,
|
||||
self.param.reserve]
|
||||
|
||||
print(data)
|
||||
pk = struct.pack('<3H1B8H1B1H3B%ds'%(64-(3*2+1+8*2+1+2+3)), *data)
|
||||
return pk
|
||||
|
||||
def unpack(self, data):
|
||||
return True
|
||||
|
||||
class RobotVel(RobotMessage):
|
||||
def __init__(self):
|
||||
self.v_liner_x = 0
|
||||
self.v_liner_y = 0
|
||||
self.v_angular_z = 0
|
||||
|
||||
def pack(self):
|
||||
data = [self.v_liner_x,
|
||||
self.v_liner_y,
|
||||
self.v_angular_z]
|
||||
pk = struct.pack('3h', *data)
|
||||
return pk
|
||||
|
||||
def unpack(self, data):
|
||||
return True
|
||||
|
||||
#todo the rest of the message classes
|
||||
class RobotOdom(RobotMessage):
|
||||
def __init__(self):
|
||||
self.v_liner_x = 0
|
||||
self.v_liner_y = 0
|
||||
self.v_angular_z = 0
|
||||
self.x = 0
|
||||
self.y = 0
|
||||
self.yaw = 0
|
||||
|
||||
def unpack(self, data):
|
||||
try:
|
||||
upk = struct.unpack('<3H2l1H', bytes(data))
|
||||
except:
|
||||
return False
|
||||
[self.v_liner_x,
|
||||
self.v_liner_y,
|
||||
self.v_angular_z,
|
||||
self.x,
|
||||
self.y,
|
||||
self.yaw] = upk
|
||||
return True
|
||||
|
||||
class RobotPIDData(RobotMessage):
|
||||
pass
|
||||
|
||||
class RobotIMU(RobotMessage):
|
||||
def __init__(self):
|
||||
self.imu = [0]*9
|
||||
|
||||
def unpack(self, data):
|
||||
try:
|
||||
upk = struct.unpack('<9f', bytes(data))
|
||||
except:
|
||||
return False
|
||||
|
||||
self.imu = upk
|
||||
return True
|
||||
|
||||
class RobotEncoderCount(RobotMessage):
|
||||
def __init__(self):
|
||||
self.encoder = [0]*4
|
||||
|
||||
def unpack(self, data):
|
||||
try:
|
||||
upk = struct.unpack('<4f', bytes(data))
|
||||
except:
|
||||
return False
|
||||
|
||||
self.encoder = upk
|
||||
return True
|
||||
|
||||
class RobotMotorPWM(RobotMessage):
|
||||
def __init__(self):
|
||||
self.pwm = [0]*4
|
||||
|
||||
def pack(self):
|
||||
pk = struct.pack('4h', *self.pwm)
|
||||
return pk
|
||||
|
||||
def unpack(self, data):
|
||||
return True
|
||||
|
||||
BoardDataDict = {MessageID.ID_GET_VERSION:RobotFirmwareInfo(),
|
||||
MessageID.ID_GET_ROBOT_PARAMETER:GetRobotParameters(),
|
||||
MessageID.ID_SET_ROBOT_PARAMETER:SetRobotParameters(),
|
||||
MessageID.ID_SET_VEL:RobotVel(),
|
||||
MessageID.ID_GET_ODOM:RobotOdom(),
|
||||
MessageID.ID_GET_PID_DEBUG: RobotPIDData(),
|
||||
MessageID.ID_GET_IMU: RobotIMU(),
|
||||
MessageID.ID_GET_ENCODER_COUNT: RobotEncoderCount(),
|
||||
MessageID.ID_SET_MOTOR_PWM: RobotMotorPWM(),
|
||||
}
|
||||
|
||||
import struct
|
||||
|
||||
params_size=29
|
||||
|
||||
# main board
|
||||
class MessageID:
|
||||
ID_GET_VERSION = 0
|
||||
ID_SET_ROBOT_PARAMETER = 1
|
||||
ID_GET_ROBOT_PARAMETER = 2
|
||||
ID_INIT_ODOM = 3
|
||||
ID_SET_VEL = 4
|
||||
ID_GET_ODOM = 5
|
||||
ID_GET_PID_DEBUG = 6
|
||||
ID_GET_IMU = 7
|
||||
ID_GET_ENCODER_COUNT = 8
|
||||
ID_SET_MOTOR_PWM = 9
|
||||
|
||||
class RobotMessage:
|
||||
def pack(self):
|
||||
return b''
|
||||
|
||||
def unpack(self):
|
||||
return True
|
||||
|
||||
class RobotFirmwareInfo(RobotMessage):
|
||||
def __init__(self):
|
||||
self.version = ''
|
||||
self.build_time = ''
|
||||
|
||||
def unpack(self, data):
|
||||
try:
|
||||
upk = struct.unpack('16s16s', bytes(data))
|
||||
except:
|
||||
return False
|
||||
[self.version, self.build_time] = upk
|
||||
return True
|
||||
|
||||
class RobotImuType:
|
||||
IMU_TYPE_GY65 = 49
|
||||
IMU_TYPE_GY85 = 69
|
||||
IMU_TYPE_GY87 = 71
|
||||
|
||||
class RobotModelType:
|
||||
MODEL_TYPE_2WD_DIFF = 1
|
||||
MODEL_TYPE_4WD_DIFF = 2
|
||||
MODEL_TYPE_3WD_OMNI = 101
|
||||
MODEL_TYPE_4WD_OMNI = 102
|
||||
MODEL_TYPE_4WD_MECANUM = 201
|
||||
|
||||
class RobotParameters():
|
||||
def __init__(self, wheel_diameter=0, \
|
||||
wheel_track=0, \
|
||||
encoder_resolution=0, \
|
||||
do_pid_interval=0, \
|
||||
kp=0, \
|
||||
ki=0, \
|
||||
kd=0, \
|
||||
ko=0, \
|
||||
cmd_last_time=0, \
|
||||
max_v_liner_x=0, \
|
||||
max_v_liner_y=0, \
|
||||
max_v_angular_z=0, \
|
||||
imu_type=0, \
|
||||
motor_ratio=0, \
|
||||
model_type=0, \
|
||||
motor_nonexchange_flag=255, \
|
||||
encoder_nonexchange_flag=255, \
|
||||
):
|
||||
self.wheel_diameter = wheel_diameter
|
||||
self.wheel_track = wheel_track
|
||||
self.encoder_resolution = encoder_resolution
|
||||
self.do_pid_interval = do_pid_interval
|
||||
self.kp = kp
|
||||
self.ki = ki
|
||||
self.kd = kd
|
||||
self.ko = ko
|
||||
self.cmd_last_time = cmd_last_time
|
||||
self.max_v_liner_x = max_v_liner_x
|
||||
self.max_v_liner_y = max_v_liner_y
|
||||
self.max_v_angular_z = max_v_angular_z
|
||||
self.imu_type = imu_type
|
||||
self.motor_ratio = motor_ratio
|
||||
self.model_type = model_type
|
||||
self.motor_nonexchange_flag = motor_nonexchange_flag
|
||||
self.encoder_nonexchange_flag = encoder_nonexchange_flag
|
||||
reserve=b'\xff'
|
||||
self.reserve=b''
|
||||
for i in range(64-params_size):
|
||||
self.reserve+=reserve
|
||||
robotParam = RobotParameters()
|
||||
|
||||
class GetRobotParameters(RobotMessage):
|
||||
def __init__(self):
|
||||
self.param = robotParam
|
||||
|
||||
def unpack(self, data):
|
||||
#print(bytes(data), len(bytes(data)))
|
||||
upk = struct.unpack('<3H1B8H1B1H3B%ds'%(64-params_size), bytes(data))
|
||||
|
||||
[self.param.wheel_diameter,
|
||||
self.param.wheel_track,
|
||||
self.param.encoder_resolution,
|
||||
self.param.do_pid_interval,
|
||||
self.param.kp,
|
||||
self.param.ki,
|
||||
self.param.kd,
|
||||
self.param.ko,
|
||||
self.param.cmd_last_time,
|
||||
self.param.max_v_liner_x,
|
||||
self.param.max_v_liner_y,
|
||||
self.param.max_v_angular_z,
|
||||
self.param.imu_type,
|
||||
self.param.motor_ratio,
|
||||
self.param.model_type,
|
||||
self.param.motor_nonexchange_flag,
|
||||
self.param.encoder_nonexchange_flag,
|
||||
self.param.reserve] = upk
|
||||
return True
|
||||
|
||||
class SetRobotParameters(RobotMessage):
|
||||
def __init__(self):
|
||||
self.param = robotParam
|
||||
|
||||
def pack(self):
|
||||
data = [self.param.wheel_diameter,
|
||||
self.param.wheel_track,
|
||||
self.param.encoder_resolution,
|
||||
self.param.do_pid_interval,
|
||||
self.param.kp,
|
||||
self.param.ki,
|
||||
self.param.kd,
|
||||
self.param.ko,
|
||||
self.param.cmd_last_time,
|
||||
self.param.max_v_liner_x,
|
||||
self.param.max_v_liner_y,
|
||||
self.param.max_v_angular_z,
|
||||
self.param.imu_type,
|
||||
self.param.motor_ratio,
|
||||
self.param.model_type,
|
||||
self.param.motor_nonexchange_flag,
|
||||
self.param.encoder_nonexchange_flag,
|
||||
self.param.reserve]
|
||||
|
||||
print(data)
|
||||
pk = struct.pack('<3H1B8H1B1H3B%ds'%(64-(3*2+1+8*2+1+2+3)), *data)
|
||||
return pk
|
||||
|
||||
def unpack(self, data):
|
||||
return True
|
||||
|
||||
class RobotVel(RobotMessage):
|
||||
def __init__(self):
|
||||
self.v_liner_x = 0
|
||||
self.v_liner_y = 0
|
||||
self.v_angular_z = 0
|
||||
|
||||
def pack(self):
|
||||
data = [self.v_liner_x,
|
||||
self.v_liner_y,
|
||||
self.v_angular_z]
|
||||
pk = struct.pack('3h', *data)
|
||||
return pk
|
||||
|
||||
def unpack(self, data):
|
||||
return True
|
||||
|
||||
#todo the rest of the message classes
|
||||
class RobotOdom(RobotMessage):
|
||||
def __init__(self):
|
||||
self.v_liner_x = 0
|
||||
self.v_liner_y = 0
|
||||
self.v_angular_z = 0
|
||||
self.x = 0
|
||||
self.y = 0
|
||||
self.yaw = 0
|
||||
|
||||
def unpack(self, data):
|
||||
try:
|
||||
upk = struct.unpack('<3H2l1H', bytes(data))
|
||||
except:
|
||||
return False
|
||||
[self.v_liner_x,
|
||||
self.v_liner_y,
|
||||
self.v_angular_z,
|
||||
self.x,
|
||||
self.y,
|
||||
self.yaw] = upk
|
||||
return True
|
||||
|
||||
class RobotPIDData(RobotMessage):
|
||||
pass
|
||||
|
||||
class RobotIMU(RobotMessage):
|
||||
def __init__(self):
|
||||
self.imu = [0]*9
|
||||
|
||||
def unpack(self, data):
|
||||
try:
|
||||
upk = struct.unpack('<9f', bytes(data))
|
||||
except:
|
||||
return False
|
||||
|
||||
self.imu = upk
|
||||
return True
|
||||
|
||||
class RobotEncoderCount(RobotMessage):
|
||||
def __init__(self):
|
||||
self.encoder = [0]*4
|
||||
|
||||
def unpack(self, data):
|
||||
try:
|
||||
upk = struct.unpack('<4f', bytes(data))
|
||||
except:
|
||||
return False
|
||||
|
||||
self.encoder = upk
|
||||
return True
|
||||
|
||||
class RobotMotorPWM(RobotMessage):
|
||||
def __init__(self):
|
||||
self.pwm = [0]*4
|
||||
|
||||
def pack(self):
|
||||
pk = struct.pack('4h', *self.pwm)
|
||||
return pk
|
||||
|
||||
def unpack(self, data):
|
||||
return True
|
||||
|
||||
BoardDataDict = {MessageID.ID_GET_VERSION:RobotFirmwareInfo(),
|
||||
MessageID.ID_GET_ROBOT_PARAMETER:GetRobotParameters(),
|
||||
MessageID.ID_SET_ROBOT_PARAMETER:SetRobotParameters(),
|
||||
MessageID.ID_SET_VEL:RobotVel(),
|
||||
MessageID.ID_GET_ODOM:RobotOdom(),
|
||||
MessageID.ID_GET_PID_DEBUG: RobotPIDData(),
|
||||
MessageID.ID_GET_IMU: RobotIMU(),
|
||||
MessageID.ID_GET_ENCODER_COUNT: RobotEncoderCount(),
|
||||
MessageID.ID_SET_MOTOR_PWM: RobotMotorPWM(),
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -1,115 +1,115 @@
|
|||
import platform
|
||||
import sys
|
||||
sys.path.append("..")
|
||||
import pypibot
|
||||
from pypibot import log
|
||||
from transport import Transport
|
||||
from dataholder import MessageID
|
||||
import params
|
||||
import time
|
||||
import signal
|
||||
|
||||
#for linux
|
||||
port="/dev/pibot"
|
||||
|
||||
#for windows
|
||||
#port="com3"
|
||||
|
||||
pypibot.assistant.enableGlobalExcept()
|
||||
#log.enableFileLog(log_dir + "ros_$(Date8)_$(filenumber2).log")
|
||||
log.setLevel("i")
|
||||
|
||||
run_flag = True
|
||||
|
||||
def exit(signum, frame):
|
||||
global run_flag
|
||||
run_flag = False
|
||||
|
||||
if __name__ == '__main__':
|
||||
signal.signal(signal.SIGINT, exit)
|
||||
|
||||
mboard = Transport(port, params.pibotBaud)
|
||||
if not mboard.start():
|
||||
log.error("can not open %s"%port)
|
||||
sys.exit()
|
||||
|
||||
DataHolder = mboard.getDataHolder()
|
||||
|
||||
for num in range(0,3):
|
||||
log.info("****************get robot version*****************")
|
||||
boardVersion = DataHolder[MessageID.ID_GET_VERSION]
|
||||
p = mboard.request(MessageID.ID_GET_VERSION)
|
||||
if p:
|
||||
log.info("firmware version:%s buildtime:%s\r\n"%(boardVersion.version.decode(), boardVersion.build_time.decode()))
|
||||
break
|
||||
else:
|
||||
log.error('read firmware version err\r\n')
|
||||
import time
|
||||
time.sleep(1)
|
||||
if num == 2:
|
||||
log.error('please check connection or baudrate\r\n')
|
||||
sys.exit()
|
||||
|
||||
# get robot parameter
|
||||
robotParam = DataHolder[MessageID.ID_GET_ROBOT_PARAMETER]
|
||||
p = mboard.request(MessageID.ID_GET_ROBOT_PARAMETER)
|
||||
if p:
|
||||
log.info("model_type:%d wheel_diameter:%d wheel_track:%d encoder_resolution:%d" \
|
||||
%(robotParam.param.model_type, \
|
||||
robotParam.param.wheel_diameter, \
|
||||
robotParam.param.wheel_track, \
|
||||
robotParam.param.encoder_resolution
|
||||
))
|
||||
|
||||
log.info("do_pid_interval:%d kp:%d ki:%d kd:%d ko:%d" \
|
||||
%(robotParam.param.do_pid_interval, \
|
||||
robotParam.param.kp, \
|
||||
robotParam.param.ki, \
|
||||
robotParam.param.kd, \
|
||||
robotParam.param.ko))
|
||||
|
||||
log.info("cmd_last_time:%d imu_type:%d" \
|
||||
%(robotParam.param.cmd_last_time,\
|
||||
robotParam.param.imu_type
|
||||
))
|
||||
|
||||
log.info("max_v:%d %d %d\r\n" \
|
||||
%(robotParam.param.max_v_liner_x,\
|
||||
robotParam.param.max_v_liner_y, \
|
||||
robotParam.param.max_v_angular_z
|
||||
))
|
||||
|
||||
log.info("motor flag:%d encoder flag: %d\r\n" \
|
||||
%(robotParam.param.motor_nonexchange_flag,\
|
||||
robotParam.param.encoder_nonexchange_flag
|
||||
))
|
||||
else:
|
||||
log.error('get params err\r\n')
|
||||
quit(1)
|
||||
|
||||
log.info("****************get odom&imu*****************")
|
||||
while run_flag:
|
||||
robotOdom = DataHolder[MessageID.ID_GET_ODOM]
|
||||
p = mboard.request(MessageID.ID_GET_ODOM)
|
||||
if p:
|
||||
log.info('request get odom success, vx=%d vy=%d vangular=%d, x=%d y=%d yaw=%d'%(robotOdom.v_liner_x, \
|
||||
robotOdom.v_liner_y, \
|
||||
robotOdom.v_angular_z, \
|
||||
robotOdom.x, \
|
||||
robotOdom.y, \
|
||||
robotOdom.yaw))
|
||||
else:
|
||||
log.error('get odom err')
|
||||
quit(1)
|
||||
|
||||
robotIMU = DataHolder[MessageID.ID_GET_IMU].imu
|
||||
p = mboard.request(MessageID.ID_GET_IMU)
|
||||
if p:
|
||||
log.info('get imu success, imu=[%f %f %f %f %f %f %f %f %f]'%(robotIMU[0], robotIMU[1], robotIMU[2], \
|
||||
robotIMU[3], robotIMU[4], robotIMU[5], \
|
||||
robotIMU[6], robotIMU[7], robotIMU[8]))
|
||||
else:
|
||||
log.error('get imu err')
|
||||
quit(1)
|
||||
|
||||
time.sleep(0.1)
|
||||
import platform
|
||||
import sys
|
||||
sys.path.append("..")
|
||||
import pypibot
|
||||
from pypibot import log
|
||||
from transport import Transport
|
||||
from dataholder import MessageID
|
||||
import params
|
||||
import time
|
||||
import signal
|
||||
|
||||
#for linux
|
||||
port="/dev/pibot"
|
||||
|
||||
#for windows
|
||||
#port="com3"
|
||||
|
||||
pypibot.assistant.enableGlobalExcept()
|
||||
#log.enableFileLog(log_dir + "ros_$(Date8)_$(filenumber2).log")
|
||||
log.setLevel("i")
|
||||
|
||||
run_flag = True
|
||||
|
||||
def exit(signum, frame):
|
||||
global run_flag
|
||||
run_flag = False
|
||||
|
||||
if __name__ == '__main__':
|
||||
signal.signal(signal.SIGINT, exit)
|
||||
|
||||
mboard = Transport(port, params.pibotBaud)
|
||||
if not mboard.start():
|
||||
log.error("can not open %s"%port)
|
||||
sys.exit()
|
||||
|
||||
DataHolder = mboard.getDataHolder()
|
||||
|
||||
for num in range(0,3):
|
||||
log.info("****************get robot version*****************")
|
||||
boardVersion = DataHolder[MessageID.ID_GET_VERSION]
|
||||
p = mboard.request(MessageID.ID_GET_VERSION)
|
||||
if p:
|
||||
log.info("firmware version:%s buildtime:%s\r\n"%(boardVersion.version.decode(), boardVersion.build_time.decode()))
|
||||
break
|
||||
else:
|
||||
log.error('read firmware version err\r\n')
|
||||
import time
|
||||
time.sleep(1)
|
||||
if num == 2:
|
||||
log.error('please check connection or baudrate\r\n')
|
||||
sys.exit()
|
||||
|
||||
# get robot parameter
|
||||
robotParam = DataHolder[MessageID.ID_GET_ROBOT_PARAMETER]
|
||||
p = mboard.request(MessageID.ID_GET_ROBOT_PARAMETER)
|
||||
if p:
|
||||
log.info("model_type:%d wheel_diameter:%d wheel_track:%d encoder_resolution:%d" \
|
||||
%(robotParam.param.model_type, \
|
||||
robotParam.param.wheel_diameter, \
|
||||
robotParam.param.wheel_track, \
|
||||
robotParam.param.encoder_resolution
|
||||
))
|
||||
|
||||
log.info("do_pid_interval:%d kp:%d ki:%d kd:%d ko:%d" \
|
||||
%(robotParam.param.do_pid_interval, \
|
||||
robotParam.param.kp, \
|
||||
robotParam.param.ki, \
|
||||
robotParam.param.kd, \
|
||||
robotParam.param.ko))
|
||||
|
||||
log.info("cmd_last_time:%d imu_type:%d" \
|
||||
%(robotParam.param.cmd_last_time,\
|
||||
robotParam.param.imu_type
|
||||
))
|
||||
|
||||
log.info("max_v:%d %d %d\r\n" \
|
||||
%(robotParam.param.max_v_liner_x,\
|
||||
robotParam.param.max_v_liner_y, \
|
||||
robotParam.param.max_v_angular_z
|
||||
))
|
||||
|
||||
log.info("motor flag:%d encoder flag: %d\r\n" \
|
||||
%(robotParam.param.motor_nonexchange_flag,\
|
||||
robotParam.param.encoder_nonexchange_flag
|
||||
))
|
||||
else:
|
||||
log.error('get params err\r\n')
|
||||
quit(1)
|
||||
|
||||
log.info("****************get odom&imu*****************")
|
||||
while run_flag:
|
||||
robotOdom = DataHolder[MessageID.ID_GET_ODOM]
|
||||
p = mboard.request(MessageID.ID_GET_ODOM)
|
||||
if p:
|
||||
log.info('request get odom success, vx=%d vy=%d vangular=%d, x=%d y=%d yaw=%d'%(robotOdom.v_liner_x, \
|
||||
robotOdom.v_liner_y, \
|
||||
robotOdom.v_angular_z, \
|
||||
robotOdom.x, \
|
||||
robotOdom.y, \
|
||||
robotOdom.yaw))
|
||||
else:
|
||||
log.error('get odom err')
|
||||
quit(1)
|
||||
|
||||
robotIMU = DataHolder[MessageID.ID_GET_IMU].imu
|
||||
p = mboard.request(MessageID.ID_GET_IMU)
|
||||
if p:
|
||||
log.info('get imu success, imu=[%f %f %f %f %f %f %f %f %f]'%(robotIMU[0], robotIMU[1], robotIMU[2], \
|
||||
robotIMU[3], robotIMU[4], robotIMU[5], \
|
||||
robotIMU[6], robotIMU[7], robotIMU[8]))
|
||||
else:
|
||||
log.error('get imu err')
|
||||
quit(1)
|
||||
|
||||
time.sleep(0.1)
|
||||
|
|
|
|||
|
|
@ -1,75 +1,75 @@
|
|||
import dataholder
|
||||
import os
|
||||
from dataholder import RobotImuType
|
||||
from dataholder import RobotModelType
|
||||
|
||||
pibotModel = os.environ['PIBOT_MODEL']
|
||||
boardType = os.environ['PIBOT_BOARD']
|
||||
pibotBaud = os.environ['PIBOT_DRIVER_BAUDRATE']
|
||||
|
||||
print(pibotModel)
|
||||
print(boardType)
|
||||
print(pibotBaud)
|
||||
|
||||
pibotParam = dataholder.RobotParameters()
|
||||
|
||||
if pibotModel == "apollo" and boardType == "arduino":
|
||||
pibotParam = dataholder.RobotParameters(65, 175, 44, 10, \
|
||||
75, 2500, 0, 10, \
|
||||
250, 40, 0, 200, \
|
||||
RobotImuType.IMU_TYPE_GY85, 90, \
|
||||
RobotModelType.MODEL_TYPE_2WD_DIFF)
|
||||
elif pibotModel == "apollo" and boardType == "stm32f1":
|
||||
pibotParam = dataholder.RobotParameters(65, 175, 44, 10, \
|
||||
320, 2700, 0, 10, \
|
||||
250, 50, 0, 200, \
|
||||
RobotImuType.IMU_TYPE_GY87, 90, \
|
||||
RobotModelType.MODEL_TYPE_2WD_DIFF)
|
||||
elif pibotModel == "apollo" and boardType == "stm32f4":
|
||||
pibotParam = dataholder.RobotParameters(65, 175, 44, 10, \
|
||||
320, 2700, 0, 10, \
|
||||
250, 40, 0, 200, \
|
||||
RobotImuType.IMU_TYPE_GY87, 90, \
|
||||
RobotModelType.MODEL_TYPE_2WD_DIFF)
|
||||
elif pibotModel == "zeus" and boardType == "stm32f4":
|
||||
pibotParam = dataholder.RobotParameters(58, 230, 44, 10, \
|
||||
320, 2700, 0, 10, \
|
||||
250, 50, 50, 250, \
|
||||
RobotImuType.IMU_TYPE_GY87, 90, \
|
||||
RobotModelType.MODEL_TYPE_3WD_OMNI)
|
||||
elif pibotModel == "hades" and boardType == "stm32f4":
|
||||
pibotParam = dataholder.RobotParameters(76, 470, 44, 10, \
|
||||
320, 2700, 0, 10, \
|
||||
250, 50, 50, 250, \
|
||||
RobotImuType.IMU_TYPE_GY87, 90, \
|
||||
RobotModelType.MODEL_TYPE_4WD_MECANUM)
|
||||
elif pibotModel == "hadesX" and boardType == "stm32f4":
|
||||
pibotParam = dataholder.RobotParameters(150, 565, 44, 10, \
|
||||
250, 2750, 0, 10, \
|
||||
250, 50, 50, 250, \
|
||||
RobotImuType.IMU_TYPE_GY87, 72, \
|
||||
RobotModelType.MODEL_TYPE_4WD_MECANUM)
|
||||
elif pibotModel == "hera" and boardType == "stm32f4":
|
||||
pibotParam = dataholder.RobotParameters(82, 338, 44, 10, \
|
||||
320, 2700, 0, 10, \
|
||||
250, 50, 50, 250, \
|
||||
RobotImuType.IMU_TYPE_GY87, 90, \
|
||||
RobotModelType.MODEL_TYPE_4WD_DIFF)
|
||||
elif pibotModel == "apolloX" and boardType == "arduino":
|
||||
pibotParam = dataholder.RobotParameters(96, 350, 68, 10, \
|
||||
75, 2500, 0, 10, \
|
||||
250, 40, 0, 200, \
|
||||
RobotImuType.IMU_TYPE_GY85, 90, \
|
||||
RobotModelType.MODEL_TYPE_2WD_DIFF)
|
||||
elif pibotModel == "apolloX" and boardType == "stm32f1":
|
||||
pibotParam = dataholder.RobotParameters(96, 350, 68, 10, \
|
||||
250, 1200, 0, 10, \
|
||||
250, 50, 0, 200, \
|
||||
RobotImuType.IMU_TYPE_GY87, 90, \
|
||||
RobotModelType.MODEL_TYPE_2WD_DIFF)
|
||||
elif pibotModel == "apolloX" and boardType == "stm32f4":
|
||||
pibotParam = dataholder.RobotParameters(96, 350, 68, 10, \
|
||||
250, 1200, 0, 10, \
|
||||
250, 50, 0, 200, \
|
||||
RobotImuType.IMU_TYPE_GY87, 90, \
|
||||
import dataholder
|
||||
import os
|
||||
from dataholder import RobotImuType
|
||||
from dataholder import RobotModelType
|
||||
|
||||
pibotModel = os.environ['PIBOT_MODEL']
|
||||
boardType = os.environ['PIBOT_BOARD']
|
||||
pibotBaud = os.environ['PIBOT_DRIVER_BAUDRATE']
|
||||
|
||||
print(pibotModel)
|
||||
print(boardType)
|
||||
print(pibotBaud)
|
||||
|
||||
pibotParam = dataholder.RobotParameters()
|
||||
|
||||
if pibotModel == "apollo" and boardType == "arduino":
|
||||
pibotParam = dataholder.RobotParameters(65, 175, 44, 10, \
|
||||
75, 2500, 0, 10, \
|
||||
250, 40, 0, 200, \
|
||||
RobotImuType.IMU_TYPE_GY85, 90, \
|
||||
RobotModelType.MODEL_TYPE_2WD_DIFF)
|
||||
elif pibotModel == "apollo" and boardType == "stm32f1":
|
||||
pibotParam = dataholder.RobotParameters(65, 175, 44, 10, \
|
||||
320, 2700, 0, 10, \
|
||||
250, 50, 0, 200, \
|
||||
RobotImuType.IMU_TYPE_GY87, 90, \
|
||||
RobotModelType.MODEL_TYPE_2WD_DIFF)
|
||||
elif pibotModel == "apollo" and boardType == "stm32f4":
|
||||
pibotParam = dataholder.RobotParameters(65, 175, 44, 10, \
|
||||
320, 2700, 0, 10, \
|
||||
250, 40, 0, 200, \
|
||||
RobotImuType.IMU_TYPE_GY87, 90, \
|
||||
RobotModelType.MODEL_TYPE_2WD_DIFF)
|
||||
elif pibotModel == "zeus" and boardType == "stm32f4":
|
||||
pibotParam = dataholder.RobotParameters(58, 230, 44, 10, \
|
||||
320, 2700, 0, 10, \
|
||||
250, 50, 50, 250, \
|
||||
RobotImuType.IMU_TYPE_GY87, 90, \
|
||||
RobotModelType.MODEL_TYPE_3WD_OMNI)
|
||||
elif pibotModel == "hades" and boardType == "stm32f4":
|
||||
pibotParam = dataholder.RobotParameters(76, 470, 44, 10, \
|
||||
320, 2700, 0, 10, \
|
||||
250, 50, 50, 250, \
|
||||
RobotImuType.IMU_TYPE_GY87, 90, \
|
||||
RobotModelType.MODEL_TYPE_4WD_MECANUM)
|
||||
elif pibotModel == "hadesX" and boardType == "stm32f4":
|
||||
pibotParam = dataholder.RobotParameters(150, 565, 44, 10, \
|
||||
250, 2750, 0, 10, \
|
||||
250, 50, 50, 250, \
|
||||
RobotImuType.IMU_TYPE_GY87, 72, \
|
||||
RobotModelType.MODEL_TYPE_4WD_MECANUM)
|
||||
elif pibotModel == "hera" and boardType == "stm32f4":
|
||||
pibotParam = dataholder.RobotParameters(82, 338, 44, 10, \
|
||||
320, 2700, 0, 10, \
|
||||
250, 50, 50, 250, \
|
||||
RobotImuType.IMU_TYPE_GY87, 90, \
|
||||
RobotModelType.MODEL_TYPE_4WD_DIFF)
|
||||
elif pibotModel == "apolloX" and boardType == "arduino":
|
||||
pibotParam = dataholder.RobotParameters(96, 350, 68, 10, \
|
||||
75, 2500, 0, 10, \
|
||||
250, 40, 0, 200, \
|
||||
RobotImuType.IMU_TYPE_GY85, 90, \
|
||||
RobotModelType.MODEL_TYPE_2WD_DIFF)
|
||||
elif pibotModel == "apolloX" and boardType == "stm32f1":
|
||||
pibotParam = dataholder.RobotParameters(96, 350, 68, 10, \
|
||||
250, 1200, 0, 10, \
|
||||
250, 50, 0, 200, \
|
||||
RobotImuType.IMU_TYPE_GY87, 90, \
|
||||
RobotModelType.MODEL_TYPE_2WD_DIFF)
|
||||
elif pibotModel == "apolloX" and boardType == "stm32f4":
|
||||
pibotParam = dataholder.RobotParameters(96, 350, 68, 10, \
|
||||
250, 1200, 0, 10, \
|
||||
250, 50, 0, 200, \
|
||||
RobotImuType.IMU_TYPE_GY87, 90, \
|
||||
RobotModelType.MODEL_TYPE_2WD_DIFF)
|
||||
178
Code/MowingRobot/pibot_ros/pypibot/transport/set_default_params.py
Executable file → Normal file
178
Code/MowingRobot/pibot_ros/pypibot/transport/set_default_params.py
Executable file → Normal file
|
|
@ -1,90 +1,90 @@
|
|||
import platform
|
||||
import sys
|
||||
sys.path.append("..")
|
||||
import pypibot
|
||||
from pypibot import log
|
||||
from transport import Transport
|
||||
from dataholder import MessageID
|
||||
import params
|
||||
|
||||
#for linux
|
||||
port="/dev/pibot"
|
||||
|
||||
#for windows
|
||||
#port="com3"
|
||||
|
||||
pypibot.assistant.enableGlobalExcept()
|
||||
#log.enableFileLog(log_dir + "ros_$(Date8)_$(filenumber2).log")
|
||||
log.setLevel("i")
|
||||
|
||||
if __name__ == '__main__':
|
||||
mboard = Transport(port, params.pibotBaud)
|
||||
if not mboard.start():
|
||||
log.error("can not open %s"%port)
|
||||
sys.exit()
|
||||
|
||||
DataHolder = mboard.getDataHolder()
|
||||
|
||||
for num in range(0,3):
|
||||
log.info("****************get robot version*****************")
|
||||
boardVersion = DataHolder[MessageID.ID_GET_VERSION]
|
||||
p = mboard.request(MessageID.ID_GET_VERSION)
|
||||
if p:
|
||||
log.info("firmware version:%s buildtime:%s\r\n"%(boardVersion.version.decode(), boardVersion.build_time.decode()))
|
||||
break
|
||||
else:
|
||||
log.error('read firmware version err\r\n')
|
||||
import time
|
||||
time.sleep(1)
|
||||
if num == 2:
|
||||
log.error('please check connection or baudrate\r\n')
|
||||
sys.exit()
|
||||
|
||||
# set robot parameter
|
||||
log.info("****************set robot parameter*****************")
|
||||
|
||||
DataHolder[MessageID.ID_SET_ROBOT_PARAMETER].param = params.pibotParam
|
||||
|
||||
p = mboard.request(MessageID.ID_SET_ROBOT_PARAMETER)
|
||||
if p:
|
||||
log.info('set parameter success')
|
||||
else:
|
||||
log.error('set parameter err')
|
||||
quit(1)
|
||||
|
||||
# get robot parameter
|
||||
robotParam = DataHolder[MessageID.ID_GET_ROBOT_PARAMETER]
|
||||
p = mboard.request(MessageID.ID_GET_ROBOT_PARAMETER)
|
||||
if p:
|
||||
log.info("model_type:%d wheel_diameter:%d wheel_track:%d encoder_resolution:%d" \
|
||||
%(robotParam.param.model_type, \
|
||||
robotParam.param.wheel_diameter, \
|
||||
robotParam.param.wheel_track, \
|
||||
robotParam.param.encoder_resolution
|
||||
))
|
||||
|
||||
log.info("do_pid_interval:%d kp:%d ki:%d kd:%d ko:%d" \
|
||||
%(robotParam.param.do_pid_interval, \
|
||||
robotParam.param.kp, \
|
||||
robotParam.param.ki, \
|
||||
robotParam.param.kd, \
|
||||
robotParam.param.ko))
|
||||
|
||||
log.info("cmd_last_time:%d imu_type:%d" \
|
||||
%(robotParam.param.cmd_last_time,\
|
||||
robotParam.param.imu_type
|
||||
))
|
||||
|
||||
log.info("max_v:%d %d %d\r\n" \
|
||||
%(robotParam.param.max_v_liner_x,\
|
||||
robotParam.param.max_v_liner_y, \
|
||||
robotParam.param.max_v_angular_z
|
||||
))
|
||||
|
||||
log.info("motor flag:%d encoder flag: %d\r\n" \
|
||||
%(robotParam.param.motor_nonexchange_flag,\
|
||||
robotParam.param.encoder_nonexchange_flag
|
||||
))
|
||||
else:
|
||||
log.error('get param err\r\n')
|
||||
import platform
|
||||
import sys
|
||||
sys.path.append("..")
|
||||
import pypibot
|
||||
from pypibot import log
|
||||
from transport import Transport
|
||||
from dataholder import MessageID
|
||||
import params
|
||||
|
||||
#for linux
|
||||
port="/dev/pibot"
|
||||
|
||||
#for windows
|
||||
#port="com3"
|
||||
|
||||
pypibot.assistant.enableGlobalExcept()
|
||||
#log.enableFileLog(log_dir + "ros_$(Date8)_$(filenumber2).log")
|
||||
log.setLevel("i")
|
||||
|
||||
if __name__ == '__main__':
|
||||
mboard = Transport(port, params.pibotBaud)
|
||||
if not mboard.start():
|
||||
log.error("can not open %s"%port)
|
||||
sys.exit()
|
||||
|
||||
DataHolder = mboard.getDataHolder()
|
||||
|
||||
for num in range(0,3):
|
||||
log.info("****************get robot version*****************")
|
||||
boardVersion = DataHolder[MessageID.ID_GET_VERSION]
|
||||
p = mboard.request(MessageID.ID_GET_VERSION)
|
||||
if p:
|
||||
log.info("firmware version:%s buildtime:%s\r\n"%(boardVersion.version.decode(), boardVersion.build_time.decode()))
|
||||
break
|
||||
else:
|
||||
log.error('read firmware version err\r\n')
|
||||
import time
|
||||
time.sleep(1)
|
||||
if num == 2:
|
||||
log.error('please check connection or baudrate\r\n')
|
||||
sys.exit()
|
||||
|
||||
# set robot parameter
|
||||
log.info("****************set robot parameter*****************")
|
||||
|
||||
DataHolder[MessageID.ID_SET_ROBOT_PARAMETER].param = params.pibotParam
|
||||
|
||||
p = mboard.request(MessageID.ID_SET_ROBOT_PARAMETER)
|
||||
if p:
|
||||
log.info('set parameter success')
|
||||
else:
|
||||
log.error('set parameter err')
|
||||
quit(1)
|
||||
|
||||
# get robot parameter
|
||||
robotParam = DataHolder[MessageID.ID_GET_ROBOT_PARAMETER]
|
||||
p = mboard.request(MessageID.ID_GET_ROBOT_PARAMETER)
|
||||
if p:
|
||||
log.info("model_type:%d wheel_diameter:%d wheel_track:%d encoder_resolution:%d" \
|
||||
%(robotParam.param.model_type, \
|
||||
robotParam.param.wheel_diameter, \
|
||||
robotParam.param.wheel_track, \
|
||||
robotParam.param.encoder_resolution
|
||||
))
|
||||
|
||||
log.info("do_pid_interval:%d kp:%d ki:%d kd:%d ko:%d" \
|
||||
%(robotParam.param.do_pid_interval, \
|
||||
robotParam.param.kp, \
|
||||
robotParam.param.ki, \
|
||||
robotParam.param.kd, \
|
||||
robotParam.param.ko))
|
||||
|
||||
log.info("cmd_last_time:%d imu_type:%d" \
|
||||
%(robotParam.param.cmd_last_time,\
|
||||
robotParam.param.imu_type
|
||||
))
|
||||
|
||||
log.info("max_v:%d %d %d\r\n" \
|
||||
%(robotParam.param.max_v_liner_x,\
|
||||
robotParam.param.max_v_liner_y, \
|
||||
robotParam.param.max_v_angular_z
|
||||
))
|
||||
|
||||
log.info("motor flag:%d encoder flag: %d\r\n" \
|
||||
%(robotParam.param.motor_nonexchange_flag,\
|
||||
robotParam.param.encoder_nonexchange_flag
|
||||
))
|
||||
else:
|
||||
log.error('get param err\r\n')
|
||||
quit(1)
|
||||
|
|
@ -1,122 +1,122 @@
|
|||
import platform
|
||||
import sys
|
||||
sys.path.append("..")
|
||||
import pypibot
|
||||
from pypibot import log
|
||||
from transport import Transport
|
||||
from dataholder import MessageID
|
||||
import params
|
||||
import signal
|
||||
|
||||
#for linux
|
||||
port="/dev/pibot"
|
||||
|
||||
#for windows
|
||||
#port="com3"
|
||||
|
||||
pypibot.assistant.enableGlobalExcept()
|
||||
#log.enableFileLog(log_dir + "ros_$(Date8)_$(filenumber2).log")
|
||||
log.setLevel("i")
|
||||
|
||||
run_flag = True
|
||||
|
||||
def exit(signum, frame):
|
||||
global run_flag
|
||||
run_flag = False
|
||||
|
||||
if __name__ == '__main__':
|
||||
signal.signal(signal.SIGINT, exit)
|
||||
|
||||
mboard = Transport(port, params.pibotBaud)
|
||||
if not mboard.start():
|
||||
log.error("can not open %s"%port)
|
||||
sys.exit()
|
||||
|
||||
pwm=[0]*4
|
||||
for i in range(len(sys.argv)-1):
|
||||
pwm[i] = int(sys.argv[i+1])
|
||||
|
||||
DataHolder = mboard.getDataHolder()
|
||||
|
||||
for num in range(0,3):
|
||||
log.info("****************get robot version*****************")
|
||||
boardVersion = DataHolder[MessageID.ID_GET_VERSION]
|
||||
p = mboard.request(MessageID.ID_GET_VERSION)
|
||||
if p:
|
||||
log.info("firmware version:%s buildtime:%s\r\n"%(boardVersion.version.decode(), boardVersion.build_time.decode()))
|
||||
break
|
||||
else:
|
||||
log.error('read firmware version err\r\n')
|
||||
import time
|
||||
time.sleep(1)
|
||||
if num == 2:
|
||||
log.error('please check connection or baudrate\r\n')
|
||||
sys.exit()
|
||||
|
||||
# get robot parameter
|
||||
robotParam = DataHolder[MessageID.ID_GET_ROBOT_PARAMETER]
|
||||
p = mboard.request(MessageID.ID_GET_ROBOT_PARAMETER)
|
||||
if p:
|
||||
log.info("model_type:%d wheel_diameter:%d wheel_track:%d encoder_resolution:%d" \
|
||||
%(robotParam.param.model_type, \
|
||||
robotParam.param.wheel_diameter, \
|
||||
robotParam.param.wheel_track, \
|
||||
robotParam.param.encoder_resolution
|
||||
))
|
||||
|
||||
log.info("do_pid_interval:%d kp:%d ki:%d kd:%d ko:%d" \
|
||||
%(robotParam.param.do_pid_interval, \
|
||||
robotParam.param.kp, \
|
||||
robotParam.param.ki, \
|
||||
robotParam.param.kd, \
|
||||
robotParam.param.ko))
|
||||
|
||||
log.info("cmd_last_time:%d imu_type:%d" \
|
||||
%(robotParam.param.cmd_last_time,\
|
||||
robotParam.param.imu_type
|
||||
))
|
||||
|
||||
log.info("max_v:%d %d %d\r\n" \
|
||||
%(robotParam.param.max_v_liner_x,\
|
||||
robotParam.param.max_v_liner_y, \
|
||||
robotParam.param.max_v_angular_z
|
||||
))
|
||||
|
||||
log.info("motor flag:%d encoder flag: %d\r\n" \
|
||||
%(robotParam.param.motor_nonexchange_flag,\
|
||||
robotParam.param.encoder_nonexchange_flag
|
||||
))
|
||||
else:
|
||||
log.error('get params err\r\n')
|
||||
quit(1)
|
||||
|
||||
DataHolder[MessageID.ID_SET_MOTOR_PWM].pwm = pwm
|
||||
|
||||
p = mboard.request(MessageID.ID_SET_MOTOR_PWM)
|
||||
if p:
|
||||
log.info('set pwm success')
|
||||
else:
|
||||
log.error('set pwm err')
|
||||
quit(1)
|
||||
|
||||
log.info("****************get encoder count*****************")
|
||||
while run_flag:
|
||||
robotEncoder = DataHolder[MessageID.ID_GET_ENCODER_COUNT].encoder
|
||||
p = mboard.request(MessageID.ID_GET_ENCODER_COUNT)
|
||||
if p:
|
||||
log.info('encoder count: %s'%(('\t\t').join([str(x) for x in robotEncoder])))
|
||||
else:
|
||||
log.error('get encoder count err')
|
||||
quit(1)
|
||||
|
||||
import time
|
||||
time.sleep(0.5)
|
||||
|
||||
DataHolder[MessageID.ID_SET_MOTOR_PWM].pwm = [0]*4
|
||||
|
||||
p = mboard.request(MessageID.ID_SET_MOTOR_PWM)
|
||||
if p:
|
||||
log.info('set pwm success')
|
||||
else:
|
||||
log.error('set pwm err')
|
||||
import platform
|
||||
import sys
|
||||
sys.path.append("..")
|
||||
import pypibot
|
||||
from pypibot import log
|
||||
from transport import Transport
|
||||
from dataholder import MessageID
|
||||
import params
|
||||
import signal
|
||||
|
||||
#for linux
|
||||
port="/dev/pibot"
|
||||
|
||||
#for windows
|
||||
#port="com3"
|
||||
|
||||
pypibot.assistant.enableGlobalExcept()
|
||||
#log.enableFileLog(log_dir + "ros_$(Date8)_$(filenumber2).log")
|
||||
log.setLevel("i")
|
||||
|
||||
run_flag = True
|
||||
|
||||
def exit(signum, frame):
|
||||
global run_flag
|
||||
run_flag = False
|
||||
|
||||
if __name__ == '__main__':
|
||||
signal.signal(signal.SIGINT, exit)
|
||||
|
||||
mboard = Transport(port, params.pibotBaud)
|
||||
if not mboard.start():
|
||||
log.error("can not open %s"%port)
|
||||
sys.exit()
|
||||
|
||||
pwm=[0]*4
|
||||
for i in range(len(sys.argv)-1):
|
||||
pwm[i] = int(sys.argv[i+1])
|
||||
|
||||
DataHolder = mboard.getDataHolder()
|
||||
|
||||
for num in range(0,3):
|
||||
log.info("****************get robot version*****************")
|
||||
boardVersion = DataHolder[MessageID.ID_GET_VERSION]
|
||||
p = mboard.request(MessageID.ID_GET_VERSION)
|
||||
if p:
|
||||
log.info("firmware version:%s buildtime:%s\r\n"%(boardVersion.version.decode(), boardVersion.build_time.decode()))
|
||||
break
|
||||
else:
|
||||
log.error('read firmware version err\r\n')
|
||||
import time
|
||||
time.sleep(1)
|
||||
if num == 2:
|
||||
log.error('please check connection or baudrate\r\n')
|
||||
sys.exit()
|
||||
|
||||
# get robot parameter
|
||||
robotParam = DataHolder[MessageID.ID_GET_ROBOT_PARAMETER]
|
||||
p = mboard.request(MessageID.ID_GET_ROBOT_PARAMETER)
|
||||
if p:
|
||||
log.info("model_type:%d wheel_diameter:%d wheel_track:%d encoder_resolution:%d" \
|
||||
%(robotParam.param.model_type, \
|
||||
robotParam.param.wheel_diameter, \
|
||||
robotParam.param.wheel_track, \
|
||||
robotParam.param.encoder_resolution
|
||||
))
|
||||
|
||||
log.info("do_pid_interval:%d kp:%d ki:%d kd:%d ko:%d" \
|
||||
%(robotParam.param.do_pid_interval, \
|
||||
robotParam.param.kp, \
|
||||
robotParam.param.ki, \
|
||||
robotParam.param.kd, \
|
||||
robotParam.param.ko))
|
||||
|
||||
log.info("cmd_last_time:%d imu_type:%d" \
|
||||
%(robotParam.param.cmd_last_time,\
|
||||
robotParam.param.imu_type
|
||||
))
|
||||
|
||||
log.info("max_v:%d %d %d\r\n" \
|
||||
%(robotParam.param.max_v_liner_x,\
|
||||
robotParam.param.max_v_liner_y, \
|
||||
robotParam.param.max_v_angular_z
|
||||
))
|
||||
|
||||
log.info("motor flag:%d encoder flag: %d\r\n" \
|
||||
%(robotParam.param.motor_nonexchange_flag,\
|
||||
robotParam.param.encoder_nonexchange_flag
|
||||
))
|
||||
else:
|
||||
log.error('get params err\r\n')
|
||||
quit(1)
|
||||
|
||||
DataHolder[MessageID.ID_SET_MOTOR_PWM].pwm = pwm
|
||||
|
||||
p = mboard.request(MessageID.ID_SET_MOTOR_PWM)
|
||||
if p:
|
||||
log.info('set pwm success')
|
||||
else:
|
||||
log.error('set pwm err')
|
||||
quit(1)
|
||||
|
||||
log.info("****************get encoder count*****************")
|
||||
while run_flag:
|
||||
robotEncoder = DataHolder[MessageID.ID_GET_ENCODER_COUNT].encoder
|
||||
p = mboard.request(MessageID.ID_GET_ENCODER_COUNT)
|
||||
if p:
|
||||
log.info('encoder count: %s'%(('\t\t').join([str(x) for x in robotEncoder])))
|
||||
else:
|
||||
log.error('get encoder count err')
|
||||
quit(1)
|
||||
|
||||
import time
|
||||
time.sleep(0.5)
|
||||
|
||||
DataHolder[MessageID.ID_SET_MOTOR_PWM].pwm = [0]*4
|
||||
|
||||
p = mboard.request(MessageID.ID_SET_MOTOR_PWM)
|
||||
if p:
|
||||
log.info('set pwm success')
|
||||
else:
|
||||
log.error('set pwm err')
|
||||
quit(1)
|
||||
|
|
@ -1,197 +1,197 @@
|
|||
import sys
|
||||
sys.path.append("..")
|
||||
import pypibot
|
||||
from pypibot import log
|
||||
from pypibot import assistant
|
||||
|
||||
import serial
|
||||
import threading
|
||||
import struct
|
||||
import time
|
||||
from dataholder import MessageID, BoardDataDict
|
||||
FIX_HEAD = 0x5a
|
||||
|
||||
class Recstate():
|
||||
WAITING_HD = 0
|
||||
WAITING_MSG_ID = 1
|
||||
RECEIVE_LEN = 2
|
||||
RECEIVE_PACKAGE = 3
|
||||
RECEIVE_CHECK = 4
|
||||
|
||||
def checksum(d):
|
||||
sum = 0
|
||||
if assistant.is_python3():
|
||||
for i in d:
|
||||
sum += i
|
||||
sum = sum&0xff
|
||||
else:
|
||||
for i in d:
|
||||
sum += ord(i)
|
||||
sum = sum&0xff
|
||||
return sum
|
||||
|
||||
|
||||
class Transport:
|
||||
def __init__(self, port, baudrate=921600):
|
||||
self._Port = port
|
||||
self._Baudrate = baudrate
|
||||
self._KeepRunning = False
|
||||
self.receive_state = Recstate.WAITING_HD
|
||||
self.rev_msg = []
|
||||
self.rev_data = []
|
||||
self.wait_event = threading.Event()
|
||||
|
||||
def getDataHolder(self):
|
||||
return BoardDataDict
|
||||
|
||||
def start(self):
|
||||
try:
|
||||
self._Serial = serial.Serial(port=self._Port, baudrate=self._Baudrate, timeout=0.2)
|
||||
self._KeepRunning = True
|
||||
self._ReceiverThread = threading.Thread(target=self._Listen)
|
||||
self._ReceiverThread.setDaemon(True)
|
||||
self._ReceiverThread.start()
|
||||
return True
|
||||
except:
|
||||
return False
|
||||
|
||||
def Stop(self):
|
||||
self._KeepRunning = False
|
||||
time.sleep(0.1)
|
||||
self._Serial.close()
|
||||
|
||||
def _Listen(self):
|
||||
while self._KeepRunning:
|
||||
if self.receiveFiniteStates(self._Serial.read()):
|
||||
self.packageAnalysis()
|
||||
|
||||
def receiveFiniteStates(self, s):
|
||||
if len(s) == 0:
|
||||
return False
|
||||
val = s[0]
|
||||
val_int = val
|
||||
if not assistant.is_python3():
|
||||
val_int = ord(val)
|
||||
|
||||
if self.receive_state == Recstate.WAITING_HD:
|
||||
if val_int == FIX_HEAD:
|
||||
log.trace('got head')
|
||||
self.rev_msg = []
|
||||
self.rev_data =[]
|
||||
self.rev_msg.append(val)
|
||||
self.receive_state = Recstate.WAITING_MSG_ID
|
||||
elif self.receive_state == Recstate.WAITING_MSG_ID:
|
||||
log.trace('got msg id')
|
||||
self.rev_msg.append(val)
|
||||
self.receive_state = Recstate.RECEIVE_LEN
|
||||
elif self.receive_state == Recstate.RECEIVE_LEN:
|
||||
log.trace('got len:%d', val_int)
|
||||
self.rev_msg.append(val)
|
||||
if val_int == 0:
|
||||
self.receive_state = Recstate.RECEIVE_CHECK
|
||||
else:
|
||||
self.receive_state = Recstate.RECEIVE_PACKAGE
|
||||
elif self.receive_state == Recstate.RECEIVE_PACKAGE:
|
||||
# if assistant.is_python3():
|
||||
# self.rev_data.append((chr(val)).encode('latin1'))
|
||||
# else:
|
||||
self.rev_data.append(val)
|
||||
r = False
|
||||
if assistant.is_python3():
|
||||
r = len(self.rev_data) == int(self.rev_msg[-1])
|
||||
else:
|
||||
r = len(self.rev_data) == ord(self.rev_msg[-1])
|
||||
|
||||
if r:
|
||||
self.rev_msg.extend(self.rev_data)
|
||||
self.receive_state = Recstate.RECEIVE_CHECK
|
||||
elif self.receive_state == Recstate.RECEIVE_CHECK:
|
||||
log.trace('got check')
|
||||
self.receive_state = Recstate.WAITING_HD
|
||||
if val_int == checksum(self.rev_msg):
|
||||
log.trace('got a complete message')
|
||||
return True
|
||||
else:
|
||||
self.receive_state = Recstate.WAITING_HD
|
||||
|
||||
# continue receiving
|
||||
return False
|
||||
|
||||
def packageAnalysis(self):
|
||||
if assistant.is_python3():
|
||||
in_msg_id = int(self.rev_msg[1])
|
||||
else:
|
||||
in_msg_id = ord(self.rev_msg[1])
|
||||
if assistant.is_python3():
|
||||
log.debug("recv body:" + " ".join("{:02x}".format(c) for c in self.rev_data))
|
||||
r = BoardDataDict[in_msg_id].unpack(bytes(self.rev_data))
|
||||
else:
|
||||
log.debug("recv body:" + " ".join("{:02x}".format(ord(c)) for c in self.rev_data))
|
||||
r = BoardDataDict[in_msg_id].unpack(''.join(self.rev_data))
|
||||
if r:
|
||||
self.res_id = in_msg_id
|
||||
if in_msg_id<100:
|
||||
self.set_response()
|
||||
else:#notify
|
||||
log.debug('msg %d'%self.rev_msg[4],'data incoming')
|
||||
pass
|
||||
else:
|
||||
log.debug ('error unpacking pkg')
|
||||
|
||||
def request(self, id, timeout=0.5):
|
||||
if not self.write(id):
|
||||
log.debug ('Serial send error!')
|
||||
return False
|
||||
if self.wait_for_response(timeout):
|
||||
if id == self.res_id:
|
||||
log.trace ('OK')
|
||||
else:
|
||||
log.error ('Got unmatched response!')
|
||||
else:
|
||||
log.error ('Request got no response!')
|
||||
return False
|
||||
# clear response
|
||||
self.res_id = None
|
||||
return True
|
||||
|
||||
def write(self, id):
|
||||
cmd = self.make_command(id)
|
||||
if assistant.is_python3():
|
||||
log.d("write:" + " ".join("{:02x}".format(c) for c in cmd))
|
||||
else:
|
||||
log.d("write:" + " ".join("{:02x}".format(ord(c)) for c in cmd))
|
||||
self._Serial.write(cmd)
|
||||
return True
|
||||
|
||||
def wait_for_response(self, timeout):
|
||||
self.wait_event.clear()
|
||||
return self.wait_event.wait(timeout)
|
||||
|
||||
def set_response(self):
|
||||
self.wait_event.set()
|
||||
|
||||
def make_command(self, id):
|
||||
#print(DataDict[id])
|
||||
data = BoardDataDict[id].pack()
|
||||
l = [FIX_HEAD, id, len(data)]
|
||||
head = struct.pack("3B", *l)
|
||||
body = head + data
|
||||
|
||||
if assistant.is_python3():
|
||||
return body + chr(checksum(body)).encode('latin1')
|
||||
else:
|
||||
return body + chr(checksum(body))
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
|
||||
mboard = Transport('com10')
|
||||
if not mboard.start():
|
||||
import sys
|
||||
sys.exit()
|
||||
|
||||
p = mboard.request(MessageID.ID_GET_VERSION)
|
||||
log.i("result=%s"%p)
|
||||
print('Version =[',mboard.getDataHolder()[MessageID.ID_GET_VERSION].version.decode(), mboard.getDataHolder()[MessageID.ID_GET_VERSION].build_time.decode(),"]\r\n")
|
||||
|
||||
|
||||
import sys
|
||||
sys.path.append("..")
|
||||
import pypibot
|
||||
from pypibot import log
|
||||
from pypibot import assistant
|
||||
|
||||
import serial
|
||||
import threading
|
||||
import struct
|
||||
import time
|
||||
from dataholder import MessageID, BoardDataDict
|
||||
FIX_HEAD = 0x5a
|
||||
|
||||
class Recstate():
|
||||
WAITING_HD = 0
|
||||
WAITING_MSG_ID = 1
|
||||
RECEIVE_LEN = 2
|
||||
RECEIVE_PACKAGE = 3
|
||||
RECEIVE_CHECK = 4
|
||||
|
||||
def checksum(d):
|
||||
sum = 0
|
||||
if assistant.is_python3():
|
||||
for i in d:
|
||||
sum += i
|
||||
sum = sum&0xff
|
||||
else:
|
||||
for i in d:
|
||||
sum += ord(i)
|
||||
sum = sum&0xff
|
||||
return sum
|
||||
|
||||
|
||||
class Transport:
|
||||
def __init__(self, port, baudrate=921600):
|
||||
self._Port = port
|
||||
self._Baudrate = baudrate
|
||||
self._KeepRunning = False
|
||||
self.receive_state = Recstate.WAITING_HD
|
||||
self.rev_msg = []
|
||||
self.rev_data = []
|
||||
self.wait_event = threading.Event()
|
||||
|
||||
def getDataHolder(self):
|
||||
return BoardDataDict
|
||||
|
||||
def start(self):
|
||||
try:
|
||||
self._Serial = serial.Serial(port=self._Port, baudrate=self._Baudrate, timeout=0.2)
|
||||
self._KeepRunning = True
|
||||
self._ReceiverThread = threading.Thread(target=self._Listen)
|
||||
self._ReceiverThread.setDaemon(True)
|
||||
self._ReceiverThread.start()
|
||||
return True
|
||||
except:
|
||||
return False
|
||||
|
||||
def Stop(self):
|
||||
self._KeepRunning = False
|
||||
time.sleep(0.1)
|
||||
self._Serial.close()
|
||||
|
||||
def _Listen(self):
|
||||
while self._KeepRunning:
|
||||
if self.receiveFiniteStates(self._Serial.read()):
|
||||
self.packageAnalysis()
|
||||
|
||||
def receiveFiniteStates(self, s):
|
||||
if len(s) == 0:
|
||||
return False
|
||||
val = s[0]
|
||||
val_int = val
|
||||
if not assistant.is_python3():
|
||||
val_int = ord(val)
|
||||
|
||||
if self.receive_state == Recstate.WAITING_HD:
|
||||
if val_int == FIX_HEAD:
|
||||
log.trace('got head')
|
||||
self.rev_msg = []
|
||||
self.rev_data =[]
|
||||
self.rev_msg.append(val)
|
||||
self.receive_state = Recstate.WAITING_MSG_ID
|
||||
elif self.receive_state == Recstate.WAITING_MSG_ID:
|
||||
log.trace('got msg id')
|
||||
self.rev_msg.append(val)
|
||||
self.receive_state = Recstate.RECEIVE_LEN
|
||||
elif self.receive_state == Recstate.RECEIVE_LEN:
|
||||
log.trace('got len:%d', val_int)
|
||||
self.rev_msg.append(val)
|
||||
if val_int == 0:
|
||||
self.receive_state = Recstate.RECEIVE_CHECK
|
||||
else:
|
||||
self.receive_state = Recstate.RECEIVE_PACKAGE
|
||||
elif self.receive_state == Recstate.RECEIVE_PACKAGE:
|
||||
# if assistant.is_python3():
|
||||
# self.rev_data.append((chr(val)).encode('latin1'))
|
||||
# else:
|
||||
self.rev_data.append(val)
|
||||
r = False
|
||||
if assistant.is_python3():
|
||||
r = len(self.rev_data) == int(self.rev_msg[-1])
|
||||
else:
|
||||
r = len(self.rev_data) == ord(self.rev_msg[-1])
|
||||
|
||||
if r:
|
||||
self.rev_msg.extend(self.rev_data)
|
||||
self.receive_state = Recstate.RECEIVE_CHECK
|
||||
elif self.receive_state == Recstate.RECEIVE_CHECK:
|
||||
log.trace('got check')
|
||||
self.receive_state = Recstate.WAITING_HD
|
||||
if val_int == checksum(self.rev_msg):
|
||||
log.trace('got a complete message')
|
||||
return True
|
||||
else:
|
||||
self.receive_state = Recstate.WAITING_HD
|
||||
|
||||
# continue receiving
|
||||
return False
|
||||
|
||||
def packageAnalysis(self):
|
||||
if assistant.is_python3():
|
||||
in_msg_id = int(self.rev_msg[1])
|
||||
else:
|
||||
in_msg_id = ord(self.rev_msg[1])
|
||||
if assistant.is_python3():
|
||||
log.debug("recv body:" + " ".join("{:02x}".format(c) for c in self.rev_data))
|
||||
r = BoardDataDict[in_msg_id].unpack(bytes(self.rev_data))
|
||||
else:
|
||||
log.debug("recv body:" + " ".join("{:02x}".format(ord(c)) for c in self.rev_data))
|
||||
r = BoardDataDict[in_msg_id].unpack(''.join(self.rev_data))
|
||||
if r:
|
||||
self.res_id = in_msg_id
|
||||
if in_msg_id<100:
|
||||
self.set_response()
|
||||
else:#notify
|
||||
log.debug('msg %d'%self.rev_msg[4],'data incoming')
|
||||
pass
|
||||
else:
|
||||
log.debug ('error unpacking pkg')
|
||||
|
||||
def request(self, id, timeout=0.5):
|
||||
if not self.write(id):
|
||||
log.debug ('Serial send error!')
|
||||
return False
|
||||
if self.wait_for_response(timeout):
|
||||
if id == self.res_id:
|
||||
log.trace ('OK')
|
||||
else:
|
||||
log.error ('Got unmatched response!')
|
||||
else:
|
||||
log.error ('Request got no response!')
|
||||
return False
|
||||
# clear response
|
||||
self.res_id = None
|
||||
return True
|
||||
|
||||
def write(self, id):
|
||||
cmd = self.make_command(id)
|
||||
if assistant.is_python3():
|
||||
log.d("write:" + " ".join("{:02x}".format(c) for c in cmd))
|
||||
else:
|
||||
log.d("write:" + " ".join("{:02x}".format(ord(c)) for c in cmd))
|
||||
self._Serial.write(cmd)
|
||||
return True
|
||||
|
||||
def wait_for_response(self, timeout):
|
||||
self.wait_event.clear()
|
||||
return self.wait_event.wait(timeout)
|
||||
|
||||
def set_response(self):
|
||||
self.wait_event.set()
|
||||
|
||||
def make_command(self, id):
|
||||
#print(DataDict[id])
|
||||
data = BoardDataDict[id].pack()
|
||||
l = [FIX_HEAD, id, len(data)]
|
||||
head = struct.pack("3B", *l)
|
||||
body = head + data
|
||||
|
||||
if assistant.is_python3():
|
||||
return body + chr(checksum(body)).encode('latin1')
|
||||
else:
|
||||
return body + chr(checksum(body))
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
|
||||
mboard = Transport('com10')
|
||||
if not mboard.start():
|
||||
import sys
|
||||
sys.exit()
|
||||
|
||||
p = mboard.request(MessageID.ID_GET_VERSION)
|
||||
log.i("result=%s"%p)
|
||||
print('Version =[',mboard.getDataHolder()[MessageID.ID_GET_VERSION].version.decode(), mboard.getDataHolder()[MessageID.ID_GET_VERSION].build_time.decode(),"]\r\n")
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,49 +0,0 @@
|
|||
#!/usr/bin/env python
|
||||
import sys
|
||||
from pynput.keyboard import Key, Listener
|
||||
import subprocess
|
||||
|
||||
running_process = None
|
||||
|
||||
def execute_launch(key):
|
||||
global running_process
|
||||
launch_files = {
|
||||
'a': ('/home/firefly/pibot_ros/ros_ws/src/upbot_vision/launch/upbot_vision.launch', []), # stereo
|
||||
'b': ('/home/firefly/pibot_ros/ros_ws/src/pibot_navigation/launch/nav.launch', ['map_name:=10_10m']), # nav
|
||||
'c': ('/home/firefly/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/test/room_exploration_client.launch', ['robot_env:=10_10m']), # client
|
||||
'd': ('/home/firefly/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/room_exploration_action_server.launch', []), # server
|
||||
}
|
||||
# 检查按键是否对应一个.launch文件
|
||||
if key in launch_files:
|
||||
# 获取对应的.launch文件和参数
|
||||
launch_file, launch_args = launch_files[key]
|
||||
# 构造启动命令
|
||||
launch_command = ["roslaunch", launch_file] + launch_args
|
||||
# 执行对应的.launch文件
|
||||
running_process = subprocess.Popen(launch_command)
|
||||
|
||||
# 监听按键事件
|
||||
def on_press(key):
|
||||
global running_process
|
||||
|
||||
if key.char == 'q':
|
||||
print("stop1")
|
||||
if running_process:
|
||||
running_process.terminate()
|
||||
running_process = None # 清除已结束的进程
|
||||
print("stop2")
|
||||
return False # 停止监听器
|
||||
|
||||
try:
|
||||
if key.char == 's':
|
||||
print("按下 's' 键，程序停止")
|
||||
return False # 停止监听器
|
||||
|
||||
execute_launch(key.char)
|
||||
|
||||
except AttributeError:
|
||||
# 按下的不是字符键，忽略
|
||||
pass
|
||||
|
||||
with Listener(on_press=on_press) as listener:
|
||||
listener.join()
|
||||
|
|
@ -1,32 +0,0 @@
|
|||
#!/usr/bin/env python
|
||||
import subprocess
|
||||
import keyboard
|
||||
|
||||
def execute_launch(launch_file, launch_args=[]):
|
||||
# 构造启动命令
|
||||
launch_command = ["roslaunch", launch_file] + launch_args
|
||||
# 启动一个新的终端并执行对应的.launch文件
|
||||
subprocess.Popen(['gnome-terminal', '--', 'bash',' '.join(launch_command)])
|
||||
|
||||
# 监听按键事件
|
||||
def on_press(event):
|
||||
key = event.name
|
||||
|
||||
# 检查按键是否对应一个.launch文件
|
||||
launch_files = {
|
||||
'a': ('/home/firefly/pibot_ros/ros_ws/src/upbot_vision/launch/upbot_vision.launch', []), # stereo
|
||||
'b': ('/home/firefly/pibot_ros/ros_ws/src/pibot_navigation/launch/nav.launch', ['map_name:=10_10m']), # nav
|
||||
'c': ('/home/firefly/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/test/room_exploration_client.launch', ['robot_env:=10_10m']), # client
|
||||
'd': ('/home/firefly/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/room_exploration_action_server.launch', []), # server
|
||||
}
|
||||
|
||||
if key in launch_files:
|
||||
# 获取对应的.launch文件和参数
|
||||
launch_file, launch_args = launch_files[key]
|
||||
# 执行对应的.launch文件
|
||||
execute_launch(launch_file, launch_args)
|
||||
|
||||
keyboard.on_press(on_press)
|
||||
|
||||
# 运行程序
|
||||
keyboard.wait('q') # 等待按下 'q' 键
|
||||
|
|
@ -1,68 +0,0 @@
|
|||
import socket
|
||||
import threading
|
||||
import subprocess
|
||||
import netifaces
|
||||
|
||||
|
||||
def create_server_socket(host, port):
|
||||
socket_server = socket.socket()
|
||||
socket_server.bind((host, port))
|
||||
socket_server.listen(5)
|
||||
print(f"服务端已启动，地址{host}，端口{port}")
|
||||
print(f"正在等待客户端连接...")
|
||||
# 开启多线程，收发来自多个客户端的数据
|
||||
num = 0 # 标记客户端的编号
|
||||
while True:
|
||||
num += 1
|
||||
conn, address = socket_server.accept()
|
||||
print(f"服务端已接受到客户端 {num}号 的连接请求，客户端信息：{address}")
|
||||
client_handler = threading.Thread(target=handle_client, args=(conn, address, num))
|
||||
client_handler.start()
|
||||
|
||||
|
||||
# 处理收发数据
|
||||
def handle_client(conn, address, num):
|
||||
while True:
|
||||
# 接收客户端发来的数据
|
||||
data_from_client: str = conn.recv(1024).decode("UTF-8")
|
||||
print(f"客户端 {num}号:{address}发来的消息是：{data_from_client}")
|
||||
# 发送消息到客户端
|
||||
msg = input(f"请输入你要回复客户端 {num}号:{address}的消息：")
|
||||
if msg == 'exit':
|
||||
break
|
||||
conn.send(msg.encode("UTF-8")) # encode将字符串编码为字节数组对象
|
||||
conn.close()
|
||||
# def handle_client(conn, address, client_num):
|
||||
# try:
|
||||
# while True:
|
||||
# data_from_client = conn.recv(1024).decode("UTF-8")
|
||||
# if not data_from_client:
|
||||
# break
|
||||
# print(f"客户端 {client_num} 号({address}) 发来的消息是：{data_from_client}")
|
||||
# if data_from_client.strip() == '1':
|
||||
# print("执行 roscore 命令...")
|
||||
# subprocess.run(['roscore'])
|
||||
# else:
|
||||
# msg = input(f"请输入你要回复客户端 {client_num} 号({address}) 的消息：")
|
||||
# if msg.lower() == 'exit':
|
||||
# break
|
||||
# conn.send(msg.encode("UTF-8"))
|
||||
# except Exception as e:
|
||||
# print(f"客户端 {client_num} 号({address}) 处理时发生错误：{e}")
|
||||
# finally:
|
||||
# conn.close()
|
||||
# print(f"客户端 {client_num} 号({address}) 已断开连接。")
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
# 获取本机（计算机）名
|
||||
hostname = socket.gethostname()
|
||||
# 获取本机（计算机）ip
|
||||
ip = socket.gethostbyname(hostname)
|
||||
print(hostname, ip)
|
||||
server_host = ip
|
||||
server_port = int(input("请输入服务端port:"))
|
||||
create_server_socket(server_host, server_port)
|
||||
|
|
@ -1,110 +0,0 @@
|
|||
import socket
|
||||
import threading
|
||||
import subprocess
|
||||
import netifaces
|
||||
|
||||
|
||||
# LAUNCH_FILES = {
|
||||
# '0x00': ['roslaunch', 'pibot_navigation', 'nav.launch'],
|
||||
# '0x01': ['roslaunch', 'upbot_location', 'upbot_location.launch'],
|
||||
# 'launch_file_1': ['roslaunch', 'package_name', 'launch_file_1.launch'],
|
||||
# 'launch_file_2': ['roslaunch', 'package_name', 'launch_file_2.launch']
|
||||
# }
|
||||
client_processes = {}
|
||||
process_id_counter = 0
|
||||
def get_local_ip():
|
||||
interfaces = netifaces.interfaces()
|
||||
for interface in interfaces:
|
||||
addresses = netifaces.ifaddresses(interface)
|
||||
if netifaces.AF_INET in addresses:
|
||||
for address_info in addresses[netifaces.AF_INET]:
|
||||
ip_address = address_info['addr']
|
||||
if ip_address.startswith('192.168.') or ip_address.startswith('10.'):
|
||||
return ip_address
|
||||
|
||||
def create_server_socket(host, port):
|
||||
try:
|
||||
socket_server = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
|
||||
socket_server.bind((host, port))
|
||||
socket_server.listen(5)
|
||||
print(f"服务端已启动，地址{host}，端口{port}")
|
||||
print("正在等待客户端连接...")
|
||||
|
||||
client_num = 0
|
||||
while True:
|
||||
client_num += 1
|
||||
conn, address = socket_server.accept()
|
||||
print(f"服务端已接受到客户端 {client_num} 号的连接请求，客户端信息：{address}")
|
||||
client_handler = threading.Thread(target=handle_client, args=(conn, address, client_num))
|
||||
client_handler.start()
|
||||
except Exception as e:
|
||||
print(f"错误：{e}")
|
||||
finally:
|
||||
socket_server.close()
|
||||
|
||||
def handle_client(conn, address, client_num):
|
||||
global process_id_counter
|
||||
try:
|
||||
while True:
|
||||
data_from_client = conn.recv(1024).decode("UTF-8")
|
||||
if not data_from_client:
|
||||
break
|
||||
print(f"客户端 {client_num} 号({address}) 发来的消息是：{data_from_client}")
|
||||
data = data_from_client.strip()
|
||||
if data == '1':
|
||||
process_id_counter += 1
|
||||
process_id = process_id_counter
|
||||
process = subprocess.Popen(['roslaunch', 'pibot_navigation', 'nav.launch'])
|
||||
client_processes.setdefault(client_num, []).append((process_id, process))
|
||||
conn.send(f"定位导航已启动，进程标识符为 {process_id}".encode("UTF-8"))
|
||||
elif data == '2':
|
||||
process_id_counter += 1
|
||||
process_id = process_id_counter
|
||||
process = subprocess.Popen(['roslaunch', 'upbot_mapping', 'upbot_mapping.launch'])
|
||||
client_processes.setdefault(client_num, []).append((process_id, process))
|
||||
conn.send(f"手持标签划定范围已启动，进程标识符为 {process_id}".encode("UTF-8"))
|
||||
elif data == '3':
|
||||
process_id_counter += 1
|
||||
process_id = process_id_counter
|
||||
process = subprocess.Popen(['roslaunch', 'ipa_room_exploration', 'room_exploration_action_server.launch'])
|
||||
client_processes.setdefault(client_num, []).append((process_id, process))
|
||||
conn.send(f"全覆盖服务端已启动，进程标识符为 {process_id}".encode("UTF-8"))
|
||||
elif data == '4':
|
||||
process_id_counter += 1
|
||||
process_id = process_id_counter
|
||||
process = subprocess.Popen(['roslaunch', 'ipa_room_exploration', 'room_exploration_client.launch', 'robot_env:=4_'])
|
||||
client_processes.setdefault(client_num, []).append((process_id, process))
|
||||
conn.send(f"全覆盖客户端已启动，进程标识符为 {process_id}".encode("UTF-8"))
|
||||
elif data.startswith('stop'):
|
||||
stop_data = data.split()
|
||||
if len(stop_data) == 2:
|
||||
process_id_to_stop = int(stop_data[1])
|
||||
if client_num in client_processes:
|
||||
for process_tuple in client_processes[client_num]:
|
||||
if process_tuple[0] == process_id_to_stop:
|
||||
process_tuple[1].terminate()
|
||||
client_processes[client_num].remove(process_tuple)
|
||||
conn.send(f"已停止客户端 {client_num} 号的进程 {process_id_to_stop}".encode("UTF-8"))
|
||||
break
|
||||
else:
|
||||
conn.send(f"客户端 {client_num} 号没有标识符为 {process_id_to_stop} 的进程".encode("UTF-8"))
|
||||
else:
|
||||
conn.send("没有启动的进程需要停止".encode("UTF-8"))
|
||||
else:
|
||||
conn.send("无效的停止命令格式".encode("UTF-8"))
|
||||
else:
|
||||
response = f"已收到消息: {data}"
|
||||
conn.send(response.encode("UTF-8"))
|
||||
|
||||
except Exception as e:
|
||||
print(f"客户端 {client_num} 号({address}) 处理时发生错误：{e}")
|
||||
finally:
|
||||
conn.close()
|
||||
print(f"客户端 {client_num} 号({address}) 已断开连接。")
|
||||
|
||||
if __name__ == '__main__':
|
||||
local_ip = get_local_ip()
|
||||
print("本机在局域网内的IP地址:", local_ip)
|
||||
|
||||
server_port = int(input("请输入服务端端口号: "))
|
||||
create_server_socket(local_ip, server_port)
|
||||
|
|
@ -1,102 +0,0 @@
|
|||
import socket
|
||||
import threading
|
||||
import time
|
||||
import subprocess
|
||||
import netifaces
|
||||
|
||||
# 初始化全局变量
|
||||
client_processes = {}
|
||||
process_id_counter = 0
|
||||
lock = threading.Lock()
|
||||
|
||||
def get_local_ip():
|
||||
interfaces = netifaces.interfaces()
|
||||
for interface in interfaces:
|
||||
addresses = netifaces.ifaddresses(interface)
|
||||
if netifaces.AF_INET in addresses:
|
||||
for address_info in addresses[netifaces.AF_INET]:
|
||||
ip_address = address_info['addr']
|
||||
if ip_address.startswith('192.168.') or ip_address.startswith('10.'):
|
||||
return ip_address
|
||||
|
||||
def create_server_socket(host, port):
|
||||
socket_server = socket.socket() # 创建socket对象
|
||||
socket_server.bind((host, port)) # 绑定主机和端口
|
||||
socket_server.listen(5) # 监听传入的连接
|
||||
print(f"服务端已启动，地址{host}，端口{port}")
|
||||
print(f"正在等待客户端连接...")
|
||||
num = 0
|
||||
try:
|
||||
while True:
|
||||
num += 1
|
||||
conn, address = socket_server.accept() # 接受连接
|
||||
print(f"服务端已接受到客户端 {num}号 的连接请求，客户端信息：{address}")
|
||||
client_handler = threading.Thread(target=handle_client, args=(conn, address, num))
|
||||
client_handler.start()
|
||||
except KeyboardInterrupt:
|
||||
print("服务器正在关闭...")
|
||||
socket_server.close()
|
||||
for thread in threading.enumerate():
|
||||
if thread != threading.current_thread():
|
||||
thread.join()
|
||||
except Exception as e:
|
||||
print(f"服务器发生错误：{e}")
|
||||
socket_server.close()
|
||||
|
||||
def handle_client(conn, address, num):
|
||||
global process_id_counter
|
||||
with conn:
|
||||
while True:
|
||||
time.sleep(0.01)
|
||||
try:
|
||||
data_from_client_bytes = conn.recv(1024)
|
||||
if len(data_from_client_bytes) == 0:
|
||||
print(f"客户端 {num}号 已断开连接")
|
||||
break
|
||||
|
||||
data_from_client_hex = ' '.join([hex(x) for x in data_from_client_bytes])
|
||||
print(f"客户端 {num}号:{address} 发来的消息是：{data_from_client_hex}")
|
||||
|
||||
if len(data_from_client_bytes) > 4:
|
||||
data = data_from_client_bytes[4]
|
||||
|
||||
with lock:
|
||||
process_id_counter += 1
|
||||
process_id = process_id_counter
|
||||
|
||||
log_file = open(f"process_{process_id}.log", "w")
|
||||
|
||||
if data == 0x0:
|
||||
process = subprocess.Popen(['roslaunch', 'upbot_vision', 'upbot_vision.launch'], stdout=log_file, stderr=log_file)
|
||||
# process = subprocess.Popen(['roslaunch', 'pibot_navigation', 'nav.launch'],stdout=log_file, stderr=log_file)
|
||||
|
||||
print("启动定位导航")
|
||||
conn.send(f"定位导航已启动，进程标识符为 {process_id}".encode("UTF-8"))
|
||||
elif data == 0x5:
|
||||
process = subprocess.Popen(['roslaunch', 'upbot_mapping', 'upbot_mapping.launch'], stdout=log_file, stderr=log_file)
|
||||
conn.send(f"手持标签划定范围已启动，进程标识符为 {process_id}".encode("UTF-8"))
|
||||
elif data == 0x2:
|
||||
process = subprocess.Popen(['roslaunch', 'ipa_room_exploration', 'room_exploration_action_server.launch'], stdout=log_file, stderr=log_file)
|
||||
conn.send(f"全覆盖服务端已启动，进程标识符为 {process_id}".encode("UTF-8"))
|
||||
process = subprocess.Popen(['roslaunch', 'ipa_room_exploration', 'room_exploration_client.launch', 'robot_env:=4_'], stdout=log_file, stderr=log_file)
|
||||
conn.send(f"全覆盖客户端已启动，进程标识符为 {process_id}".encode("UTF-8"))
|
||||
elif data == 0x7:
|
||||
conn.send(f"返回充电已启动,进程标识符为 {process_id}".encode("UTF-8"))
|
||||
elif data == 0x10:
|
||||
conn.send(f"基站初始化已启动,进程标识符为 {process_id}".encode("UTF-8"))
|
||||
|
||||
client_processes.setdefault(num, []).append((process_id, process))
|
||||
except ConnectionResetError:
|
||||
print(f"客户端 {num}号:{address} 连接重置")
|
||||
break
|
||||
except Exception as e:
|
||||
print(f"客户端 {num}号:{address} 发生异常：{e}")
|
||||
break
|
||||
|
||||
if __name__ == '__main__':
|
||||
local_ip = get_local_ip()
|
||||
print("本机在局域网内的IP地址:", local_ip)
|
||||
server_host = local_ip
|
||||
server_port = 19890
|
||||
|
||||
create_server_socket(server_host, server_port)
|
||||
|
|
@ -1,100 +0,0 @@
|
|||
import socket
|
||||
import threading
|
||||
import time
|
||||
import subprocess
|
||||
import netifaces
|
||||
|
||||
# 初始化全局变量
|
||||
client_processes = {}
|
||||
process_id_counter = 0
|
||||
lock = threading.Lock()
|
||||
|
||||
def get_local_ip():
|
||||
interfaces = netifaces.interfaces()
|
||||
for interface in interfaces:
|
||||
addresses = netifaces.ifaddresses(interface)
|
||||
if netifaces.AF_INET in addresses:
|
||||
for address_info in addresses[netifaces.AF_INET]:
|
||||
ip_address = address_info['addr']
|
||||
if ip_address.startswith('192.168.') or ip_address.startswith('10.'):
|
||||
return ip_address
|
||||
|
||||
def create_server_socket(host, port):
|
||||
socket_server = socket.socket() # 创建socket对象
|
||||
socket_server.bind((host, port)) # 绑定主机和端口
|
||||
socket_server.listen(5) # 监听传入的连接
|
||||
print(f"服务端已启动，地址{host}，端口{port}")
|
||||
print(f"正在等待客户端连接...")
|
||||
num = 0
|
||||
try:
|
||||
while True:
|
||||
num += 1
|
||||
conn, address = socket_server.accept() # 接受连接
|
||||
print(f"服务端已接受到客户端 {num}号 的连接请求，客户端信息：{address}")
|
||||
client_handler = threading.Thread(target=handle_client, args=(conn, address, num))
|
||||
client_handler.start()
|
||||
except KeyboardInterrupt:
|
||||
print("服务器正在关闭...")
|
||||
socket_server.close()
|
||||
for thread in threading.enumerate():
|
||||
if thread != threading.current_thread():
|
||||
thread.join()
|
||||
except Exception as e:
|
||||
print(f"服务器发生错误：{e}")
|
||||
socket_server.close()
|
||||
|
||||
def handle_client(conn, address, num):
|
||||
global process_id_counter
|
||||
with conn:
|
||||
while True:
|
||||
time.sleep(0.01)
|
||||
try:
|
||||
data_from_client_bytes = conn.recv(1024)
|
||||
if len(data_from_client_bytes) == 0:
|
||||
print(f"客户端 {num}号 已断开连接")
|
||||
break
|
||||
|
||||
data_from_client_hex = ' '.join([hex(x) for x in data_from_client_bytes])
|
||||
print(f"客户端 {num}号:{address} 发来的消息是：{data_from_client_hex}")
|
||||
|
||||
if len(data_from_client_bytes) > 4:
|
||||
data = data_from_client_bytes[4]
|
||||
|
||||
with lock:
|
||||
process_id_counter += 1
|
||||
process_id = process_id_counter
|
||||
|
||||
if data == 0x0:
|
||||
# process = subprocess.Popen(['roslaunch', 'pibot_navigation', 'nav.launch'])
|
||||
process = subprocess.Popen(['roslaunch', 'upbot_vision', 'upbot_vision.launch'])
|
||||
|
||||
print("启动定位导航")
|
||||
conn.send(f"定位导航已启动，进程标识符为 {process_id}".encode("UTF-8"))
|
||||
elif data == 0x5:
|
||||
process = subprocess.Popen(['roslaunch', 'upbot_mapping', 'upbot_mapping.launch'])
|
||||
conn.send(f"手持标签划定范围已启动，进程标识符为 {process_id}".encode("UTF-8"))
|
||||
elif data == 0x2:
|
||||
process = subprocess.Popen(['roslaunch', 'ipa_room_exploration', 'room_exploration_action_server.launch'])
|
||||
conn.send(f"全覆盖服务端已启动，进程标识符为 {process_id}".encode("UTF-8"))
|
||||
process = subprocess.Popen(['roslaunch', 'ipa_room_exploration', 'room_exploration_client.launch', 'robot_env:=4_'])
|
||||
conn.send(f"全覆盖客户端已启动，进程标识符为 {process_id}".encode("UTF-8"))
|
||||
elif data == 0x7:
|
||||
conn.send(f"返回充电已启动,进程标识符为 {process_id}".encode("UTF-8"))
|
||||
elif data == 0x10:
|
||||
conn.send(f"基站初始化已启动,进程标识符为 {process_id}".encode("UTF-8"))
|
||||
|
||||
client_processes.setdefault(num, []).append((process_id, process))
|
||||
except ConnectionResetError:
|
||||
print(f"客户端 {num}号:{address} 连接重置")
|
||||
break
|
||||
except Exception as e:
|
||||
print(f"客户端 {num}号:{address} 发生异常：{e}")
|
||||
break
|
||||
|
||||
if __name__ == '__main__':
|
||||
local_ip = get_local_ip()
|
||||
print("本机在局域网内的IP地址:", local_ip)
|
||||
server_host = local_ip
|
||||
server_port = 19890
|
||||
|
||||
create_server_socket(server_host, server_port)
|
||||
|
|
@ -1,53 +1,53 @@
|
|||
cmake_minimum_required(VERSION 3.0.2)
|
||||
project(upbot_following)
|
||||
|
||||
find_package(catkin REQUIRED COMPONENTS
|
||||
roscpp
|
||||
rospy
|
||||
std_msgs
|
||||
message_generation
|
||||
geometry_msgs
|
||||
pibot_msgs
|
||||
)
|
||||
|
||||
# 寻找OpenCV库
|
||||
find_package(OpenCV REQUIRED)
|
||||
# 查找 Boost 库
|
||||
find_package(Boost REQUIRED)
|
||||
|
||||
# catkin_package(
|
||||
# # INCLUDE_DIRS include
|
||||
# # LIBRARIES upbot_following
|
||||
# # CATKIN_DEPENDS roscpp rospy std_msgs
|
||||
# # DEPENDS system_lib
|
||||
# CATKIN_DEPENDS message_runtime std_msgs geometry_msgs
|
||||
# )
|
||||
|
||||
|
||||
include_directories(
|
||||
# include
|
||||
${OpenCV_INCLUDE_DIRS}
|
||||
${catkin_INCLUDE_DIRS}
|
||||
include
|
||||
)
|
||||
|
||||
add_library(${PROJECT_NAME} SHARED
|
||||
|
||||
src/uwb.cpp
|
||||
src/mapping.cpp
|
||||
src/align.cpp
|
||||
src/Mat.cpp
|
||||
src/lighthouse.cpp
|
||||
include/senddata.h src/senddata.cpp)
|
||||
|
||||
|
||||
|
||||
generate_messages(DEPENDENCIES std_msgs geometry_msgs)
|
||||
|
||||
catkin_package(CATKIN_DEPENDS message_runtime std_msgs geometry_msgs)
|
||||
add_executable(${PROJECT_NAME}_node src/main.cpp)
|
||||
|
||||
|
||||
target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES} ${OpenCV_LIBS} ${Boost_LIBRARIES} pthread ${PROJECT_NAME})
|
||||
|
||||
|
||||
cmake_minimum_required(VERSION 3.0.2)
|
||||
project(FollowingCar)
|
||||
|
||||
find_package(catkin REQUIRED COMPONENTS
|
||||
roscpp
|
||||
rospy
|
||||
std_msgs
|
||||
message_generation
|
||||
geometry_msgs
|
||||
pibot_msgs
|
||||
)
|
||||
|
||||
# 寻找OpenCV库
|
||||
find_package(OpenCV REQUIRED)
|
||||
# 查找 Boost 库
|
||||
find_package(Boost REQUIRED)
|
||||
|
||||
# catkin_package(
|
||||
# # INCLUDE_DIRS include
|
||||
# # LIBRARIES FollowingCar
|
||||
# # CATKIN_DEPENDS roscpp rospy std_msgs
|
||||
# # DEPENDS system_lib
|
||||
# CATKIN_DEPENDS message_runtime std_msgs geometry_msgs
|
||||
# )
|
||||
|
||||
|
||||
include_directories(
|
||||
# include
|
||||
${OpenCV_INCLUDE_DIRS}
|
||||
${catkin_INCLUDE_DIRS}
|
||||
include
|
||||
)
|
||||
|
||||
add_library(${PROJECT_NAME} SHARED
|
||||
|
||||
src/uwb.cpp
|
||||
src/mapping.cpp
|
||||
src/align.cpp
|
||||
src/Mat.cpp
|
||||
src/lighthouse.cpp
|
||||
include/senddata.h src/senddata.cpp)
|
||||
|
||||
|
||||
|
||||
generate_messages(DEPENDENCIES std_msgs geometry_msgs)
|
||||
|
||||
catkin_package(CATKIN_DEPENDS message_runtime std_msgs geometry_msgs)
|
||||
add_executable(${PROJECT_NAME}_node src/main.cpp)
|
||||
|
||||
|
||||
target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES} ${OpenCV_LIBS} ${Boost_LIBRARIES} pthread ${PROJECT_NAME})
|
||||
|
||||
|
||||
|
|
@ -1,83 +1,83 @@
|
|||
/******************** (C) COPYRIGHT 2022 Geek************************************
|
||||
* File Name : Mat.h
|
||||
* Current Version : V1.0
|
||||
* Author : logzhan
|
||||
* Date of Issued : 2022.09.14
|
||||
* Comments : <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
********************************************************************************/
|
||||
/* Header File Including -----------------------------------------------------*/
|
||||
#ifndef _H_MAT_
|
||||
#define _H_MAT_
|
||||
|
||||
#define MAT_MAX 15 //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܴ<EFBFBD><DCB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
|
||||
|
||||
#include <string.h>
|
||||
#define _USE_MATH_DEFINES
|
||||
#include <math.h>
|
||||
|
||||
class Mat
|
||||
{
|
||||
public:
|
||||
Mat();
|
||||
Mat(int setm,int setn,int kind);//kind=1<><31>λ<EFBFBD><CEBB>kind=0<><30><EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD>ݡ<EFBFBD>
|
||||
void Init(int setm,int setn,int kind);//kind=1<><31>λ<EFBFBD><CEBB>kind=0<><30><EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD>ݡ<EFBFBD>
|
||||
|
||||
void Zero(void);
|
||||
//<2F><>Щ<EFBFBD>ؼ<EFBFBD><D8BC><EFBFBD><EFBFBD><EFBFBD>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD>Ϊprivate<74>ġ<EFBFBD><C4A1><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD>˷<EFBFBD><CBB7>㣬<EFBFBD><E3A3AC>Ҳ<EFBFBD><D2B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD>public
|
||||
int m;//<2F><><EFBFBD><EFBFBD>
|
||||
int n;//<2F><><EFBFBD><EFBFBD>
|
||||
double mat[MAT_MAX][MAT_MAX];//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
|
||||
//<2F><><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD>
|
||||
Mat SubMat(int a,int b,int lm,int ln);//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>
|
||||
void FillSubMat(int a,int b,Mat s);//<2F><><EFBFBD><EFBFBD>Ӿ<EFBFBD><D3BE><EFBFBD>
|
||||
|
||||
//<2F><><EFBFBD><EFBFBD>ר<EFBFBD><D7A8>
|
||||
double absvec();//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ij<EFBFBD><C4B3>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>Ǹ<EFBFBD><C7B8><EFBFBD>Ԫ<EFBFBD>صľ<D8B5><C4BE><EFBFBD>ֵ<EFBFBD><D6B5>
|
||||
double Sqrt();//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȵ<EFBFBD>ƽ<EFBFBD><C6BD>
|
||||
friend Mat operator ^(Mat a,Mat b);//<2F><><EFBFBD>
|
||||
|
||||
//<2F><><EFBFBD><EFBFBD>
|
||||
friend Mat operator *(double k,Mat a);
|
||||
friend Mat operator *(Mat a,double k);
|
||||
friend Mat operator /(Mat a,double k);
|
||||
friend Mat operator *(Mat a,Mat b);
|
||||
friend Mat operator +(Mat a,Mat b);
|
||||
friend Mat operator -(Mat a,Mat b);
|
||||
friend Mat operator ~(Mat a);//ת<><D7AA>
|
||||
friend Mat operator /(Mat a,Mat b);//a*inv(b)
|
||||
friend Mat operator %(Mat a,Mat b);//inv(a)*b
|
||||
|
||||
//MAT inv();//<2F><><EFBFBD><EFBFBD><EFBFBD>
|
||||
|
||||
private:
|
||||
// Ϊ<><CEAA><EFBFBD>ø<EFBFBD>˹<EFBFBD><CBB9>Ԫ<EFBFBD><D4AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һЩ<D2BB><D0A9><EFBFBD><EFBFBD>
|
||||
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
void RowExchange(int a, int b);
|
||||
// ijһ<C4B3>г<EFBFBD><D0B3><EFBFBD>ϵ<EFBFBD><CFB5>
|
||||
void RowMul(int a,double k);
|
||||
// <20><>ijһ<C4B3>мӼ<D0BC><D3BC><EFBFBD>һ<EFBFBD>еı<D0B5><C4B1><EFBFBD>
|
||||
void RowAdd(int a,int b, double k);
|
||||
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
void ColExchange(int a, int b);
|
||||
// ijһ<C4B3>г<EFBFBD><D0B3><EFBFBD>ϵ<EFBFBD><CFB5>
|
||||
void ColMul(int a,double k);
|
||||
// <20><>ijһ<C4B3>мӼ<D0BC><D3BC><EFBFBD>һ<EFBFBD>еı<D0B5><C4B1><EFBFBD>
|
||||
void ColAdd(int a,int b,double k);
|
||||
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
/******************** (C) COPYRIGHT 2022 Geek************************************
|
||||
* File Name : Mat.h
|
||||
* Current Version : V1.0
|
||||
* Author : logzhan
|
||||
* Date of Issued : 2022.09.14
|
||||
* Comments : <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
********************************************************************************/
|
||||
/* Header File Including -----------------------------------------------------*/
|
||||
#ifndef _H_MAT_
|
||||
#define _H_MAT_
|
||||
|
||||
#define MAT_MAX 15 //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܴ<EFBFBD><DCB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
|
||||
|
||||
#include <string.h>
|
||||
#define _USE_MATH_DEFINES
|
||||
#include <math.h>
|
||||
|
||||
class Mat
|
||||
{
|
||||
public:
|
||||
Mat();
|
||||
Mat(int setm,int setn,int kind);//kind=1<><31>λ<EFBFBD><CEBB>kind=0<><30><EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD>ݡ<EFBFBD>
|
||||
void Init(int setm,int setn,int kind);//kind=1<><31>λ<EFBFBD><CEBB>kind=0<><30><EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD>ݡ<EFBFBD>
|
||||
|
||||
void Zero(void);
|
||||
//<2F><>Щ<EFBFBD>ؼ<EFBFBD><D8BC><EFBFBD><EFBFBD><EFBFBD>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD>Ϊprivate<74>ġ<EFBFBD><C4A1><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD>˷<EFBFBD><CBB7>㣬<EFBFBD><E3A3AC>Ҳ<EFBFBD><D2B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD>public
|
||||
int m;//<2F><><EFBFBD><EFBFBD>
|
||||
int n;//<2F><><EFBFBD><EFBFBD>
|
||||
double mat[MAT_MAX][MAT_MAX];//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
|
||||
//<2F><><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD>
|
||||
Mat SubMat(int a,int b,int lm,int ln);//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>
|
||||
void FillSubMat(int a,int b,Mat s);//<2F><><EFBFBD><EFBFBD>Ӿ<EFBFBD><D3BE><EFBFBD>
|
||||
|
||||
//<2F><><EFBFBD><EFBFBD>ר<EFBFBD><D7A8>
|
||||
double absvec();//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ij<EFBFBD><C4B3>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>Ǹ<EFBFBD><C7B8><EFBFBD>Ԫ<EFBFBD>صľ<D8B5><C4BE><EFBFBD>ֵ<EFBFBD><D6B5>
|
||||
double Sqrt();//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȵ<EFBFBD>ƽ<EFBFBD><C6BD>
|
||||
friend Mat operator ^(Mat a,Mat b);//<2F><><EFBFBD>
|
||||
|
||||
//<2F><><EFBFBD><EFBFBD>
|
||||
friend Mat operator *(double k,Mat a);
|
||||
friend Mat operator *(Mat a,double k);
|
||||
friend Mat operator /(Mat a,double k);
|
||||
friend Mat operator *(Mat a,Mat b);
|
||||
friend Mat operator +(Mat a,Mat b);
|
||||
friend Mat operator -(Mat a,Mat b);
|
||||
friend Mat operator ~(Mat a);//ת<><D7AA>
|
||||
friend Mat operator /(Mat a,Mat b);//a*inv(b)
|
||||
friend Mat operator %(Mat a,Mat b);//inv(a)*b
|
||||
|
||||
//MAT inv();//<2F><><EFBFBD><EFBFBD><EFBFBD>
|
||||
|
||||
private:
|
||||
// Ϊ<><CEAA><EFBFBD>ø<EFBFBD>˹<EFBFBD><CBB9>Ԫ<EFBFBD><D4AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һЩ<D2BB><D0A9><EFBFBD><EFBFBD>
|
||||
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
void RowExchange(int a, int b);
|
||||
// ijһ<C4B3>г<EFBFBD><D0B3><EFBFBD>ϵ<EFBFBD><CFB5>
|
||||
void RowMul(int a,double k);
|
||||
// <20><>ijһ<C4B3>мӼ<D0BC><D3BC><EFBFBD>һ<EFBFBD>еı<D0B5><C4B1><EFBFBD>
|
||||
void RowAdd(int a,int b, double k);
|
||||
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
void ColExchange(int a, int b);
|
||||
// ijһ<C4B3>г<EFBFBD><D0B3><EFBFBD>ϵ<EFBFBD><CFB5>
|
||||
void ColMul(int a,double k);
|
||||
// <20><>ijһ<C4B3>мӼ<D0BC><D3BC><EFBFBD>һ<EFBFBD>еı<D0B5><C4B1><EFBFBD>
|
||||
void ColAdd(int a,int b,double k);
|
||||
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
|
@ -1,44 +1,44 @@
|
|||
#include <cmath>
|
||||
#include <ros/ros.h>
|
||||
#include <opencv2/opencv.hpp>
|
||||
#include <nav_msgs/Odometry.h>
|
||||
#include <utility>
|
||||
#include <queue>
|
||||
#include <fstream>
|
||||
#include "pibot_msgs/RawImu.h"
|
||||
#include "type.h"
|
||||
#include "uwb.h"
|
||||
#include "lighthouse.h"
|
||||
#include "Mat.h"
|
||||
|
||||
#ifndef ALIGN_H
|
||||
#define AlIGN_H
|
||||
namespace uwb_slam{
|
||||
class Align
|
||||
{
|
||||
public:
|
||||
Align(){
|
||||
|
||||
};
|
||||
void Run();
|
||||
void wheel_odomCB(const nav_msgs::Odometry& wheel_odom);
|
||||
void imuCB(const pibot_msgs::RawImu& imu);
|
||||
void odomCB(const nav_msgs::Odometry& odom);
|
||||
|
||||
public:
|
||||
ros::NodeHandle nh_;
|
||||
ros::Subscriber wheel_odom_sub_;
|
||||
ros::Subscriber imu_sub_;
|
||||
ros::Subscriber odom_sub_;
|
||||
Imu_odom_pose_data imu_odom_;
|
||||
Uwb_data uwb_data_;
|
||||
ros::Time imuDataRxTime, uwbDataRxTime, odomDataRxTime;
|
||||
ros::Time odom_tmp_ ;
|
||||
bool write_data_ = false;
|
||||
cv::Mat img1;
|
||||
std::queue<std::pair<Imu_odom_pose_data,Uwb_data>> data_queue;
|
||||
std::shared_ptr<uwb_slam::Uwb> uwb_;
|
||||
std::shared_ptr<uwb_slam::Lighthouse> lighthouse_;
|
||||
};
|
||||
};
|
||||
#endif
|
||||
#include <cmath>
|
||||
#include <ros/ros.h>
|
||||
#include <opencv2/opencv.hpp>
|
||||
#include <nav_msgs/Odometry.h>
|
||||
#include <utility>
|
||||
#include <queue>
|
||||
#include <fstream>
|
||||
#include "pibot_msgs/RawImu.h"
|
||||
#include "type.h"
|
||||
#include "uwb.h"
|
||||
#include "lighthouse.h"
|
||||
#include "Mat.h"
|
||||
|
||||
#ifndef ALIGN_H
|
||||
#define AlIGN_H
|
||||
namespace uwb_slam{
|
||||
class Align
|
||||
{
|
||||
public:
|
||||
Align(){
|
||||
|
||||
};
|
||||
void Run();
|
||||
void wheel_odomCB(const nav_msgs::Odometry& wheel_odom);
|
||||
void imuCB(const pibot_msgs::RawImu& imu);
|
||||
void odomCB(const nav_msgs::Odometry& odom);
|
||||
|
||||
public:
|
||||
ros::NodeHandle nh_;
|
||||
ros::Subscriber wheel_odom_sub_;
|
||||
ros::Subscriber imu_sub_;
|
||||
ros::Subscriber odom_sub_;
|
||||
Imu_odom_pose_data imu_odom_;
|
||||
Uwb_data uwb_data_;
|
||||
ros::Time imuDataRxTime, uwbDataRxTime, odomDataRxTime;
|
||||
ros::Time odom_tmp_ ;
|
||||
bool write_data_ = false;
|
||||
cv::Mat img1;
|
||||
std::queue<std::pair<Imu_odom_pose_data,Uwb_data>> data_queue;
|
||||
std::shared_ptr<uwb_slam::Uwb> uwb_;
|
||||
std::shared_ptr<uwb_slam::Lighthouse> lighthouse_;
|
||||
};
|
||||
};
|
||||
#endif
|
||||
|
|
@ -1,29 +1,29 @@
|
|||
#include <ros/ros.h>
|
||||
#include <mutex>
|
||||
#include <boost/asio.hpp>
|
||||
#include <iostream>
|
||||
#include <string>
|
||||
#include <cstdint>
|
||||
#include "type.h"
|
||||
#include <queue>
|
||||
#include <chrono>
|
||||
#ifndef __LIGHTHOUSE_H__
|
||||
#define __LIGHTHOUSE_H__
|
||||
|
||||
namespace uwb_slam{
|
||||
class Lighthouse{
|
||||
public:
|
||||
Lighthouse();
|
||||
~Lighthouse();
|
||||
void Run();
|
||||
void UDPRead();
|
||||
// Listen PORT
|
||||
int PORT = 12345;
|
||||
int UdpSocket = -1;
|
||||
|
||||
LightHouseData data;
|
||||
|
||||
std::mutex mMutexLighthouse;
|
||||
};
|
||||
};
|
||||
#endif
|
||||
#include <ros/ros.h>
|
||||
#include <mutex>
|
||||
#include <boost/asio.hpp>
|
||||
#include <iostream>
|
||||
#include <string>
|
||||
#include <cstdint>
|
||||
#include "type.h"
|
||||
#include <queue>
|
||||
#include <chrono>
|
||||
#ifndef __LIGHTHOUSE_H__
|
||||
#define __LIGHTHOUSE_H__
|
||||
|
||||
namespace uwb_slam{
|
||||
class Lighthouse{
|
||||
public:
|
||||
Lighthouse();
|
||||
~Lighthouse();
|
||||
void Run();
|
||||
void UDPRead();
|
||||
// Listen PORT
|
||||
int PORT = 12345;
|
||||
int UdpSocket = -1;
|
||||
|
||||
LightHouseData data;
|
||||
|
||||
std::mutex mMutexLighthouse;
|
||||
};
|
||||
};
|
||||
#endif
|
||||
|
|
@ -1,40 +1,40 @@
|
|||
#include <queue>
|
||||
#include <opencv2/opencv.hpp>
|
||||
#include <mutex>
|
||||
#include "uwb.h"
|
||||
#include "align.h"
|
||||
|
||||
#ifndef MAPPING_H
|
||||
#define MAPPING_H
|
||||
|
||||
|
||||
namespace uwb_slam{
|
||||
class Mapping
|
||||
{
|
||||
public:
|
||||
const double PIXEL_SCALE = 1.0; //xiangsudian cm
|
||||
const int AREA_SIZE = 1000; //map size cm
|
||||
Mapping() {};
|
||||
void Run();
|
||||
bool checkQueue();
|
||||
void feedPos(const cv::Point2d & imuPosData, const cv::Point2d & uwbPosData, const cv::Point2d & syncPosData);
|
||||
void process();
|
||||
std::mutex mMutexMap;
|
||||
std::shared_ptr<uwb_slam::Uwb> uwb_;
|
||||
std::shared_ptr<uwb_slam::Align> align_;
|
||||
|
||||
private:
|
||||
int realWidth, realHeight;
|
||||
std::queue<std::vector<cv::Point2d>> posDataQueue;
|
||||
std::vector<cv::Point2d> posData = std::vector<cv::Point2d>(3, {-1, -1});
|
||||
//cv::Point2d imuPoint = {-1,-1};
|
||||
// std::queue<cv::Point2d> posDataQueue;
|
||||
|
||||
|
||||
bool readPos = false;
|
||||
cv::Mat img;
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
#endif
|
||||
#include <queue>
|
||||
#include <opencv2/opencv.hpp>
|
||||
#include <mutex>
|
||||
#include "uwb.h"
|
||||
#include "align.h"
|
||||
|
||||
#ifndef MAPPING_H
|
||||
#define MAPPING_H
|
||||
|
||||
|
||||
namespace uwb_slam{
|
||||
class Mapping
|
||||
{
|
||||
public:
|
||||
const double PIXEL_SCALE = 1.0; //xiangsudian cm
|
||||
const int AREA_SIZE = 1000; //map size cm
|
||||
Mapping() {};
|
||||
void Run();
|
||||
bool checkQueue();
|
||||
void feedPos(const cv::Point2d & imuPosData, const cv::Point2d & uwbPosData, const cv::Point2d & syncPosData);
|
||||
void process();
|
||||
std::mutex mMutexMap;
|
||||
std::shared_ptr<uwb_slam::Uwb> uwb_;
|
||||
std::shared_ptr<uwb_slam::Align> align_;
|
||||
|
||||
private:
|
||||
int realWidth, realHeight;
|
||||
std::queue<std::vector<cv::Point2d>> posDataQueue;
|
||||
std::vector<cv::Point2d> posData = std::vector<cv::Point2d>(3, {-1, -1});
|
||||
//cv::Point2d imuPoint = {-1,-1};
|
||||
// std::queue<cv::Point2d> posDataQueue;
|
||||
|
||||
|
||||
bool readPos = false;
|
||||
cv::Mat img;
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
@ -1,50 +1,50 @@
|
|||
#include <ros/ros.h>
|
||||
#include <nav_msgs/Odometry.h>
|
||||
#include <geometry_msgs/Point.h>
|
||||
#include <geometry_msgs/Quaternion.h>
|
||||
#include <tf2/LinearMath/Quaternion.h>
|
||||
#include <mutex>
|
||||
#include "uwb.h"
|
||||
#include <geometry_msgs/Twist.h>
|
||||
#include "pibot_msgs/dis_info.h"
|
||||
#include "pibot_msgs/dis_info_array.h"
|
||||
|
||||
#ifndef SENDDATA_H
|
||||
#define SENDDATA_H
|
||||
|
||||
|
||||
namespace uwb_slam{
|
||||
|
||||
class Senddata
|
||||
{
|
||||
public:
|
||||
Senddata(){};
|
||||
void publishOdometry( std::shared_ptr<uwb_slam::Uwb>uwb);
|
||||
void Run(std::shared_ptr<uwb_slam::Uwb>uwb);
|
||||
void odomCB(const nav_msgs::Odometry& odom);
|
||||
void stereoCB(const pibot_msgs::dis_info_array::ConstPtr& stereo);
|
||||
|
||||
std::shared_ptr<uwb_slam::Uwb> uwb_;
|
||||
|
||||
|
||||
std::mutex mMutexSend;
|
||||
|
||||
private:
|
||||
ros::Publisher position_pub_;
|
||||
ros::Publisher cmd_vel_pub_;
|
||||
ros::Subscriber odom_sub_;
|
||||
ros::Subscriber obstacles_sub_;
|
||||
ros::NodeHandle nh_;
|
||||
|
||||
nav_msgs::Odometry odom_;//odom的消息类型
|
||||
nav_msgs::Odometry sub_odom_;//odom的消息类型
|
||||
geometry_msgs::Twist cmd_vel_;
|
||||
|
||||
bool flag_ = 0;
|
||||
|
||||
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
#include <ros/ros.h>
|
||||
#include <nav_msgs/Odometry.h>
|
||||
#include <geometry_msgs/Point.h>
|
||||
#include <geometry_msgs/Quaternion.h>
|
||||
#include <tf2/LinearMath/Quaternion.h>
|
||||
#include <mutex>
|
||||
#include "uwb.h"
|
||||
#include <geometry_msgs/Twist.h>
|
||||
#include "pibot_msgs/dis_info.h"
|
||||
#include "pibot_msgs/dis_info_array.h"
|
||||
|
||||
#ifndef SENDDATA_H
|
||||
#define SENDDATA_H
|
||||
|
||||
|
||||
namespace uwb_slam{
|
||||
|
||||
class Senddata
|
||||
{
|
||||
public:
|
||||
Senddata(){};
|
||||
void publishOdometry( std::shared_ptr<uwb_slam::Uwb>uwb);
|
||||
void Run(std::shared_ptr<uwb_slam::Uwb>uwb);
|
||||
void odomCB(const nav_msgs::Odometry& odom);
|
||||
void stereoCB(const pibot_msgs::dis_info_array::ConstPtr& stereo);
|
||||
|
||||
std::shared_ptr<uwb_slam::Uwb> uwb_;
|
||||
|
||||
|
||||
std::mutex mMutexSend;
|
||||
|
||||
private:
|
||||
ros::Publisher position_pub_;
|
||||
ros::Publisher cmd_vel_pub_;
|
||||
ros::Subscriber odom_sub_;
|
||||
ros::Subscriber obstacles_sub_;
|
||||
ros::NodeHandle nh_;
|
||||
|
||||
nav_msgs::Odometry odom_;//odom的消息类型
|
||||
nav_msgs::Odometry sub_odom_;//odom的消息类型
|
||||
geometry_msgs::Twist cmd_vel_;
|
||||
|
||||
bool flag_ = 0;
|
||||
|
||||
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
@ -1,50 +1,50 @@
|
|||
#include <ros/ros.h>
|
||||
#include <ros/time.h>
|
||||
#ifndef TYPE_H
|
||||
#define TYPE_H
|
||||
|
||||
namespace uwb_slam{
|
||||
struct Imu_data
|
||||
{
|
||||
ros::Time imu_t_;
|
||||
double a_[3];
|
||||
double g_[3];
|
||||
double m_[3];
|
||||
Imu_data(){};
|
||||
Imu_data(double ax,double ay,double az, double gx, double gy, double gz, double mx, double my, double mz)
|
||||
:a_{ax,ay,az},g_{gx,gy,gz},m_{mx,my,mz}{};
|
||||
};
|
||||
|
||||
|
||||
|
||||
struct Imu_odom_pose_data
|
||||
{
|
||||
Imu_data imu_data_;
|
||||
double pose_[3];
|
||||
double quat_[4];
|
||||
double vxy_;
|
||||
double angle_v_;
|
||||
Imu_odom_pose_data(){};
|
||||
Imu_odom_pose_data( Imu_data imu_data,double x,double y,double z, double qw, double qx, double qy, double qz,double vxy, double angle_v):imu_data_(imu_data),pose_{x,y,z},quat_{qw,qx,qy,qz},vxy_(vxy),angle_v_(angle_v){};
|
||||
};
|
||||
|
||||
struct Uwb_data
|
||||
{
|
||||
float x_,y_;
|
||||
ros::Time uwb_t_;
|
||||
Uwb_data(){};
|
||||
Uwb_data(float x,float y,float t):x_(x),y_(y),uwb_t_(t){};
|
||||
};
|
||||
|
||||
struct LightHouseData
|
||||
{
|
||||
float x_,y_,z_;
|
||||
float qw_,qx_,qy_,qz_;
|
||||
ros::Time lighthouse_t_;
|
||||
LightHouseData(){};
|
||||
LightHouseData(float x,float y,float z, float qw, float qx, float qy, float qz, float t):
|
||||
x_(x),y_(y),z_(z),qw_(qw), qx_(qx), qy_(qy), qz_(qz), lighthouse_t_(t){};
|
||||
};
|
||||
|
||||
}
|
||||
#include <ros/ros.h>
|
||||
#include <ros/time.h>
|
||||
#ifndef TYPE_H
|
||||
#define TYPE_H
|
||||
|
||||
namespace uwb_slam{
|
||||
struct Imu_data
|
||||
{
|
||||
ros::Time imu_t_;
|
||||
double a_[3];
|
||||
double g_[3];
|
||||
double m_[3];
|
||||
Imu_data(){};
|
||||
Imu_data(double ax,double ay,double az, double gx, double gy, double gz, double mx, double my, double mz)
|
||||
:a_{ax,ay,az},g_{gx,gy,gz},m_{mx,my,mz}{};
|
||||
};
|
||||
|
||||
|
||||
|
||||
struct Imu_odom_pose_data
|
||||
{
|
||||
Imu_data imu_data_;
|
||||
double pose_[3];
|
||||
double quat_[4];
|
||||
double vxy_;
|
||||
double angle_v_;
|
||||
Imu_odom_pose_data(){};
|
||||
Imu_odom_pose_data( Imu_data imu_data,double x,double y,double z, double qw, double qx, double qy, double qz,double vxy, double angle_v):imu_data_(imu_data),pose_{x,y,z},quat_{qw,qx,qy,qz},vxy_(vxy),angle_v_(angle_v){};
|
||||
};
|
||||
|
||||
struct Uwb_data
|
||||
{
|
||||
float x_,y_;
|
||||
ros::Time uwb_t_;
|
||||
Uwb_data(){};
|
||||
Uwb_data(float x,float y,float t):x_(x),y_(y),uwb_t_(t){};
|
||||
};
|
||||
|
||||
struct LightHouseData
|
||||
{
|
||||
float x_,y_,z_;
|
||||
float qw_,qx_,qy_,qz_;
|
||||
ros::Time lighthouse_t_;
|
||||
LightHouseData(){};
|
||||
LightHouseData(float x,float y,float z, float qw, float qx, float qy, float qz, float t):
|
||||
x_(x),y_(y),z_(z),qw_(qw), qx_(qx), qy_(qy), qz_(qz), lighthouse_t_(t){};
|
||||
};
|
||||
|
||||
}
|
||||
#endif
|
||||
|
|
@ -1,60 +1,60 @@
|
|||
#include <ros/ros.h>
|
||||
#include <mutex>
|
||||
#include <boost/asio.hpp>
|
||||
#include <iostream>
|
||||
#include <string>
|
||||
#include <cstdint>
|
||||
#include "type.h"
|
||||
#include <queue>
|
||||
#include <chrono>
|
||||
#ifndef UWB_H
|
||||
#define UWB_H
|
||||
|
||||
#define PI acos(-1)
|
||||
namespace uwb_slam{
|
||||
|
||||
class Uwb
|
||||
{
|
||||
public:
|
||||
Uwb();
|
||||
void Run();
|
||||
bool checknewdata();
|
||||
void feed_imu_odom_pose_data();
|
||||
void Serread();
|
||||
|
||||
|
||||
|
||||
public:
|
||||
int pre_seq = -1;
|
||||
int cur_seq = -1;
|
||||
int AnchorNum = 3;
|
||||
int AnchorPos[3][3]={
|
||||
-240, 400, 113,\
|
||||
240, 400, 113,\
|
||||
-400, -240, 113
|
||||
};//基站坐标，序号+三维坐标
|
||||
int d[3];
|
||||
int aoa[3];
|
||||
|
||||
// std::queue<Imu_odom_pose_data> v_buffer_imu_odom_pose_data_;
|
||||
|
||||
|
||||
Uwb_data uwb_data_;
|
||||
// ros_merge_test::RawImu sub_imu_;
|
||||
// std::queue<Imu_odom_pose_data > imu_odom_queue_;
|
||||
// std::queue<Uwb_data> uwb_data_queue_;
|
||||
std::mutex mMutexUwb;
|
||||
//boost::asio::io_service io;
|
||||
//boost::asio::serial_port s_port;
|
||||
|
||||
// Imu_odom_pose_data imu_odom_pose_data_;
|
||||
};
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#endif
|
||||
#include <ros/ros.h>
|
||||
#include <mutex>
|
||||
#include <boost/asio.hpp>
|
||||
#include <iostream>
|
||||
#include <string>
|
||||
#include <cstdint>
|
||||
#include "type.h"
|
||||
#include <queue>
|
||||
#include <chrono>
|
||||
#ifndef UWB_H
|
||||
#define UWB_H
|
||||
|
||||
#define PI acos(-1)
|
||||
namespace uwb_slam{
|
||||
|
||||
class Uwb
|
||||
{
|
||||
public:
|
||||
Uwb();
|
||||
void Run();
|
||||
bool checknewdata();
|
||||
void feed_imu_odom_pose_data();
|
||||
void Serread();
|
||||
|
||||
|
||||
|
||||
public:
|
||||
int pre_seq = -1;
|
||||
int cur_seq = -1;
|
||||
int AnchorNum = 3;
|
||||
int AnchorPos[3][3]={
|
||||
-240, 400, 113,\
|
||||
240, 400, 113,\
|
||||
-400, -240, 113
|
||||
};//基站坐标，序号+三维坐标
|
||||
int d[3];
|
||||
int aoa[3];
|
||||
|
||||
// std::queue<Imu_odom_pose_data> v_buffer_imu_odom_pose_data_;
|
||||
|
||||
|
||||
Uwb_data uwb_data_;
|
||||
// ros_merge_test::RawImu sub_imu_;
|
||||
// std::queue<Imu_odom_pose_data > imu_odom_queue_;
|
||||
// std::queue<Uwb_data> uwb_data_queue_;
|
||||
std::mutex mMutexUwb;
|
||||
//boost::asio::io_service io;
|
||||
//boost::asio::serial_port s_port;
|
||||
|
||||
// Imu_odom_pose_data imu_odom_pose_data_;
|
||||
};
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#endif
|
||||
|
|
@ -1,75 +1,75 @@
|
|||
<?xml version="1.0"?>
|
||||
<package format="2">
|
||||
<name>upbot_following</name>
|
||||
<version>0.0.0</version>
|
||||
<description>The FollowingCar package</description>
|
||||
|
||||
<!-- One maintainer tag required, multiple allowed, one person per tag -->
|
||||
<!-- Example: -->
|
||||
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
|
||||
<maintainer email="luoruidi@todo.todo">luoruidi</maintainer>
|
||||
|
||||
|
||||
<!-- One license tag required, multiple allowed, one license per tag -->
|
||||
<!-- Commonly used license strings: -->
|
||||
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
|
||||
<license>TODO</license>
|
||||
|
||||
|
||||
<!-- Url tags are optional, but multiple are allowed, one per tag -->
|
||||
<!-- Optional attribute type can be: website, bugtracker, or repository -->
|
||||
<!-- Example: -->
|
||||
<!-- <url type="website">http://wiki.ros.org/FollowingCar</url> -->
|
||||
|
||||
|
||||
<!-- Author tags are optional, multiple are allowed, one per tag -->
|
||||
<!-- Authors do not have to be maintainers, but could be -->
|
||||
<!-- Example: -->
|
||||
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
|
||||
|
||||
|
||||
<!-- The *depend tags are used to specify dependencies -->
|
||||
<!-- Dependencies can be catkin packages or system dependencies -->
|
||||
<!-- Examples: -->
|
||||
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
|
||||
<!-- <depend>roscpp</depend> -->
|
||||
<!-- Note that this is equivalent to the following: -->
|
||||
<!-- <build_depend>roscpp</build_depend> -->
|
||||
<!-- <exec_depend>roscpp</exec_depend> -->
|
||||
<!-- Use build_depend for packages you need at compile time: -->
|
||||
<!-- <build_depend>message_generation</build_depend> -->
|
||||
<!-- Use build_export_depend for packages you need in order to build against this package: -->
|
||||
<!-- <build_export_depend>message_generation</build_export_depend> -->
|
||||
<!-- Use buildtool_depend for build tool packages: -->
|
||||
<!-- <buildtool_depend>catkin</buildtool_depend> -->
|
||||
<!-- Use exec_depend for packages you need at runtime: -->
|
||||
<!-- <exec_depend>message_runtime</exec_depend> -->
|
||||
<!-- Use test_depend for packages you need only for testing: -->
|
||||
<!-- <test_depend>gtest</test_depend> -->
|
||||
<!-- Use doc_depend for packages you need only for building documentation: -->
|
||||
<!-- <doc_depend>doxygen</doc_depend> -->
|
||||
<buildtool_depend>catkin</buildtool_depend>
|
||||
<build_depend>roscpp</build_depend>
|
||||
<build_depend>rospy</build_depend>
|
||||
<build_depend>std_msgs</build_depend>
|
||||
<build_depend>pibot_msgs</build_depend>
|
||||
|
||||
<build_depend>geometry_msgs</build_depend>
|
||||
<build_depend>message_generation</build_depend>
|
||||
|
||||
<build_export_depend>roscpp</build_export_depend>
|
||||
<build_export_depend>rospy</build_export_depend>
|
||||
<build_export_depend>std_msgs</build_export_depend>
|
||||
<exec_depend>roscpp</exec_depend>
|
||||
<exec_depend>rospy</exec_depend>
|
||||
<exec_depend>std_msgs</exec_depend>
|
||||
<exec_depend>message_runtime</exec_depend>
|
||||
<exec_depend>geometry_msgs</exec_depend>
|
||||
|
||||
|
||||
<!-- The export tag contains other, unspecified, tags -->
|
||||
<export>
|
||||
<!-- Other tools can request additional information be placed here -->
|
||||
|
||||
</export>
|
||||
</package>
|
||||
<?xml version="1.0"?>
|
||||
<package format="2">
|
||||
<name>FollowingCar</name>
|
||||
<version>0.0.0</version>
|
||||
<description>The FollowingCar package</description>
|
||||
|
||||
<!-- One maintainer tag required, multiple allowed, one person per tag -->
|
||||
<!-- Example: -->
|
||||
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
|
||||
<maintainer email="luoruidi@todo.todo">luoruidi</maintainer>
|
||||
|
||||
|
||||
<!-- One license tag required, multiple allowed, one license per tag -->
|
||||
<!-- Commonly used license strings: -->
|
||||
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
|
||||
<license>TODO</license>
|
||||
|
||||
|
||||
<!-- Url tags are optional, but multiple are allowed, one per tag -->
|
||||
<!-- Optional attribute type can be: website, bugtracker, or repository -->
|
||||
<!-- Example: -->
|
||||
<!-- <url type="website">http://wiki.ros.org/FollowingCar</url> -->
|
||||
|
||||
|
||||
<!-- Author tags are optional, multiple are allowed, one per tag -->
|
||||
<!-- Authors do not have to be maintainers, but could be -->
|
||||
<!-- Example: -->
|
||||
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
|
||||
|
||||
|
||||
<!-- The *depend tags are used to specify dependencies -->
|
||||
<!-- Dependencies can be catkin packages or system dependencies -->
|
||||
<!-- Examples: -->
|
||||
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
|
||||
<!-- <depend>roscpp</depend> -->
|
||||
<!-- Note that this is equivalent to the following: -->
|
||||
<!-- <build_depend>roscpp</build_depend> -->
|
||||
<!-- <exec_depend>roscpp</exec_depend> -->
|
||||
<!-- Use build_depend for packages you need at compile time: -->
|
||||
<!-- <build_depend>message_generation</build_depend> -->
|
||||
<!-- Use build_export_depend for packages you need in order to build against this package: -->
|
||||
<!-- <build_export_depend>message_generation</build_export_depend> -->
|
||||
<!-- Use buildtool_depend for build tool packages: -->
|
||||
<!-- <buildtool_depend>catkin</buildtool_depend> -->
|
||||
<!-- Use exec_depend for packages you need at runtime: -->
|
||||
<!-- <exec_depend>message_runtime</exec_depend> -->
|
||||
<!-- Use test_depend for packages you need only for testing: -->
|
||||
<!-- <test_depend>gtest</test_depend> -->
|
||||
<!-- Use doc_depend for packages you need only for building documentation: -->
|
||||
<!-- <doc_depend>doxygen</doc_depend> -->
|
||||
<buildtool_depend>catkin</buildtool_depend>
|
||||
<build_depend>roscpp</build_depend>
|
||||
<build_depend>rospy</build_depend>
|
||||
<build_depend>std_msgs</build_depend>
|
||||
<build_depend>pibot_msgs</build_depend>
|
||||
|
||||
<build_depend>geometry_msgs</build_depend>
|
||||
<build_depend>message_generation</build_depend>
|
||||
|
||||
<build_export_depend>roscpp</build_export_depend>
|
||||
<build_export_depend>rospy</build_export_depend>
|
||||
<build_export_depend>std_msgs</build_export_depend>
|
||||
<exec_depend>roscpp</exec_depend>
|
||||
<exec_depend>rospy</exec_depend>
|
||||
<exec_depend>std_msgs</exec_depend>
|
||||
<exec_depend>message_runtime</exec_depend>
|
||||
<exec_depend>geometry_msgs</exec_depend>
|
||||
|
||||
|
||||
<!-- The export tag contains other, unspecified, tags -->
|
||||
<export>
|
||||
<!-- Other tools can request additional information be placed here -->
|
||||
|
||||
</export>
|
||||
</package>
|
||||
|
|
@ -1,368 +1,368 @@
|
|||
/******************** (C) COPYRIGHT 2022 Geek************************************
|
||||
* File Name : Mat.cpp
|
||||
* Current Version : V1.0
|
||||
* Author : logzhan
|
||||
* Date of Issued : 2022.09.14
|
||||
* Comments : <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
********************************************************************************/
|
||||
/* Header File Including -----------------------------------------------------*/
|
||||
#include "Mat.h"
|
||||
|
||||
double mind(double a,double b)
|
||||
{
|
||||
double c = a;
|
||||
if(b < c){
|
||||
c = b;
|
||||
}
|
||||
return c;
|
||||
}
|
||||
|
||||
int mini(int a,int b)
|
||||
{
|
||||
int c=a;
|
||||
if(b<c)
|
||||
{
|
||||
c=b;
|
||||
}
|
||||
return c;
|
||||
|
||||
}
|
||||
|
||||
//<2F><>Ҫ<EFBFBD>ڳ<EFBFBD>Ա<EFBFBD><D4B1><EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD><DAB5>ù<EFBFBD><C3B9>캯<EFBFBD><ECBAAF>
|
||||
Mat::Mat()
|
||||
{
|
||||
Init(1,1,0);
|
||||
}
|
||||
|
||||
Mat::Mat(int setm,int setn,int kind)
|
||||
{
|
||||
Init(setm,setn,kind);
|
||||
}
|
||||
|
||||
void Mat::Init(int setm,int setn,int kind)
|
||||
{
|
||||
this->m = setm;
|
||||
this->n = setn;
|
||||
if((kind==0)||(kind==1))
|
||||
{
|
||||
memset(mat,0,MAT_MAX*MAT_MAX*sizeof(double));
|
||||
}
|
||||
|
||||
if(kind==1)
|
||||
{
|
||||
int x;
|
||||
//Cԭ<43>е<EFBFBD>max min<69>ᵼ<EFBFBD><E1B5BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><D4B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>и<EFBFBD><D0B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ķ<EFBFBD><C4B6><EFBFBD><EFBFBD><EFBFBD>Ҫֱ<D2AA>ӷŵ<D3B7>max<61><78><EFBFBD>档
|
||||
int xend = mini(this->m, this->n);
|
||||
for(x=0;x < xend;x++){
|
||||
mat[x][x] = 1;
|
||||
}
|
||||
}
|
||||
}
|
||||
void Mat::Zero() {
|
||||
|
||||
}
|
||||
|
||||
Mat Mat::SubMat(int a,int b,int lm,int ln)
|
||||
{
|
||||
|
||||
int aend=a+lm-1;
|
||||
int bend=b+ln-1;
|
||||
|
||||
|
||||
Mat s(lm,ln,-1);
|
||||
int x,y;
|
||||
for(x=0;x<lm;x++)
|
||||
{
|
||||
for(y=0;y<ln;y++)
|
||||
{
|
||||
s.mat[x][y]=mat[a+x][b+y];
|
||||
}
|
||||
}
|
||||
return s;
|
||||
}
|
||||
|
||||
|
||||
void Mat::FillSubMat(int a,int b,Mat s)
|
||||
{
|
||||
int x,y;
|
||||
for(x=0;x<s.m;x++)
|
||||
{
|
||||
for(y=0;y<s.n;y++)
|
||||
{
|
||||
mat[a+x][b+y]=s.mat[x][y];
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
Mat operator *(double k, Mat a)
|
||||
{
|
||||
Mat b(a.m,a.n,-1);
|
||||
int x,y;
|
||||
for(x=0;x<a.m;x++)
|
||||
{
|
||||
for(y=0;y<a.n;y++)
|
||||
{
|
||||
b.mat[x][y]=k*a.mat[x][y];
|
||||
}
|
||||
}
|
||||
return b;
|
||||
}
|
||||
Mat operator *(Mat a,double k)
|
||||
{
|
||||
return k*a;
|
||||
}
|
||||
Mat operator /(Mat a,double k)
|
||||
{
|
||||
return (1/k)*a;
|
||||
}
|
||||
Mat operator *(Mat a,Mat b)
|
||||
{
|
||||
Mat c(a.m,b.n,-1);
|
||||
int x,y,z;
|
||||
double s;
|
||||
for(x=0;x<a.m;x++)
|
||||
{
|
||||
for(y=0;y<b.n;y++)
|
||||
{
|
||||
s=0;
|
||||
for(z=0;z<a.n;z++)
|
||||
{
|
||||
s=s+a.mat[x][z]*b.mat[z][y];
|
||||
}
|
||||
c.mat[x][y]=s;
|
||||
}
|
||||
}
|
||||
return c;
|
||||
|
||||
}
|
||||
|
||||
Mat operator +(Mat a,Mat b)
|
||||
{
|
||||
|
||||
Mat c=a;
|
||||
int x,y;
|
||||
for(x=0;x<c.m;x++)
|
||||
{
|
||||
for(y=0;y<c.n;y++)
|
||||
{
|
||||
c.mat[x][y]+=b.mat[x][y];
|
||||
}
|
||||
}
|
||||
return c;
|
||||
}
|
||||
Mat operator -(Mat a,Mat b)
|
||||
{
|
||||
|
||||
Mat c=a;
|
||||
int x,y;
|
||||
for(x=0;x<c.m;x++)
|
||||
{
|
||||
for(y=0;y<c.n;y++)
|
||||
{
|
||||
c.mat[x][y]-=b.mat[x][y];
|
||||
}
|
||||
}
|
||||
return c;
|
||||
}
|
||||
Mat operator ~(Mat a)
|
||||
{
|
||||
Mat b(a.n,a.m,-1);
|
||||
int x,y;
|
||||
for(x=0;x<a.m;x++)
|
||||
{
|
||||
for(y=0;y<a.n;y++)
|
||||
{
|
||||
b.mat[y][x]=a.mat[x][y];
|
||||
|
||||
}
|
||||
}
|
||||
return b;
|
||||
}
|
||||
|
||||
|
||||
|
||||
Mat operator /(Mat a,Mat b)
|
||||
{
|
||||
//<2F><>˹<EFBFBD><CBB9>Ԫ<EFBFBD><D4AA>
|
||||
|
||||
int x,xb;
|
||||
for(x=0;x<b.n;x++)
|
||||
{
|
||||
//<2F><><EFBFBD><EFBFBD><EFBFBD>ҵ<EFBFBD><D2B5><EFBFBD>ѵ<EFBFBD><D1B5>С<EFBFBD><D0A1><EFBFBD><EFBFBD><EFBFBD>ʼԪ<CABC><D4AA><EFBFBD><EFBFBD><EFBFBD>
|
||||
double s=0;
|
||||
int p=x;
|
||||
double sxb;
|
||||
for(xb=x;xb<b.n;xb++)
|
||||
{
|
||||
sxb=fabs(b.mat[x][xb]);
|
||||
if(sxb>s)
|
||||
{
|
||||
p=xb;
|
||||
s=sxb;
|
||||
}
|
||||
}
|
||||
//ͬʱ<CDAC>任<EFBFBD><E4BBBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
if(x!=p)
|
||||
{
|
||||
a.ColExchange(x,p);
|
||||
b.ColExchange(x,p);
|
||||
}
|
||||
|
||||
//<2F><>һ<EFBFBD>й<EFBFBD>һ
|
||||
double k=1/b.mat[x][x];//<2F><>һ<EFBFBD>䲻ҪǶ<D2AA><EFBFBD><D7B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD><D0A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD>²<EFBFBD>ͬ<EFBFBD><CDAC><EFBFBD><EFBFBD><EFBFBD>¼<EFBFBD><C2BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
a.ColMul(x,k);
|
||||
b.ColMul(x,k);
|
||||
|
||||
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>й<EFBFBD><D0B9><EFBFBD>
|
||||
for(xb=0;xb<b.n;xb++)
|
||||
{
|
||||
if(xb!=x)
|
||||
{
|
||||
k=(-b.mat[x][xb]);
|
||||
a.ColAdd(xb,x,k);
|
||||
b.ColAdd(xb,x,k);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return a;
|
||||
}
|
||||
|
||||
|
||||
Mat operator %(Mat a,Mat b)
|
||||
{
|
||||
//<2F><>˹<EFBFBD><CBB9>Ԫ<EFBFBD><D4AA>
|
||||
int x,xb;
|
||||
for(x=0;x<a.m;x++)
|
||||
{
|
||||
//<2F><><EFBFBD><EFBFBD><EFBFBD>ҵ<EFBFBD><D2B5><EFBFBD>ѵ<EFBFBD><D1B5>С<EFBFBD><D0A1><EFBFBD><EFBFBD><EFBFBD>ʼԪ<CABC><D4AA><EFBFBD><EFBFBD><EFBFBD>
|
||||
double s=0;
|
||||
int p=x;
|
||||
double sxb;
|
||||
for(xb=x;xb<a.m;xb++)
|
||||
{
|
||||
sxb=fabs(a.mat[xb][x]);
|
||||
if(sxb>s)
|
||||
{
|
||||
p=xb;
|
||||
s=sxb;
|
||||
}
|
||||
}
|
||||
//ͬʱ<CDAC>任<EFBFBD><E4BBBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
if(x!=p)
|
||||
{
|
||||
a.RowExchange(x,p);
|
||||
b.RowExchange(x,p);
|
||||
}
|
||||
|
||||
//<2F><>һ<EFBFBD>й<EFBFBD>һ
|
||||
double k=1/a.mat[x][x];//<2F><>һ<EFBFBD>䲻ҪǶ<D2AA><EFBFBD><D7B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD><D0A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD>²<EFBFBD>ͬ<EFBFBD><CDAC><EFBFBD><EFBFBD><EFBFBD>¼<EFBFBD><C2BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
a.RowMul(x,k);
|
||||
b.RowMul(x,k);
|
||||
|
||||
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>й<EFBFBD><D0B9><EFBFBD>
|
||||
for(xb=0;xb<a.m;xb++)
|
||||
{
|
||||
if(xb!=x)
|
||||
{
|
||||
k=(-a.mat[xb][x]);
|
||||
a.RowAdd(xb,x,k);
|
||||
b.RowAdd(xb,x,k);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return b;
|
||||
}
|
||||
|
||||
|
||||
void Mat::RowExchange(int a, int b)
|
||||
{
|
||||
double s[MAT_MAX];
|
||||
int ncpy=n*sizeof(double);
|
||||
memcpy(s,mat[a],ncpy);
|
||||
memcpy(mat[a],mat[b],ncpy);
|
||||
memcpy(mat[b],s,ncpy);
|
||||
}
|
||||
void Mat::RowMul(int a,double k)
|
||||
{
|
||||
int y;
|
||||
for(y=0;y<n;y++)
|
||||
{
|
||||
mat[a][y]= mat[a][y]*k;
|
||||
}
|
||||
}
|
||||
void Mat::RowAdd(int a,int b,double k)
|
||||
{
|
||||
int y;
|
||||
for(y=0;y<n;y++)
|
||||
{
|
||||
mat[a][y]= mat[a][y]+ mat[b][y]*k;
|
||||
}
|
||||
}
|
||||
|
||||
void Mat::ColExchange(int a, int b)
|
||||
{
|
||||
double s;
|
||||
int x;
|
||||
for(x=0;x<m;x++)
|
||||
{
|
||||
s=mat[x][a];
|
||||
mat[x][a]=mat[x][b];
|
||||
mat[x][b]=s;
|
||||
}
|
||||
}
|
||||
void Mat::ColMul(int a,double k)
|
||||
{
|
||||
int x;
|
||||
for(x=0;x<m;x++)
|
||||
{
|
||||
mat[x][a]=mat[x][a]*k;
|
||||
}
|
||||
}
|
||||
void Mat::ColAdd(int a,int b,double k)
|
||||
{
|
||||
int x;
|
||||
for(x=0;x<m;x++)
|
||||
{
|
||||
mat[x][a]=mat[x][a]+mat[x][b]*k;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
double Mat::Sqrt()
|
||||
{
|
||||
int x;
|
||||
double numx;
|
||||
double s=0;
|
||||
for(x=0;x<m;x++)
|
||||
{
|
||||
numx=mat[x][0];
|
||||
s+=(numx*numx);
|
||||
}
|
||||
return s;
|
||||
}
|
||||
double Mat::absvec()
|
||||
{
|
||||
return sqrt(Sqrt());
|
||||
}
|
||||
|
||||
Mat operator ^(Mat a, Mat b)
|
||||
{
|
||||
double ax=a.mat[0][0];
|
||||
double ay=a.mat[1][0];
|
||||
double az=a.mat[2][0];
|
||||
double bx=b.mat[0][0];
|
||||
double by=b.mat[1][0];
|
||||
double bz=b.mat[2][0];
|
||||
|
||||
Mat c(3,1,-1);
|
||||
c.mat[0][0]=ay*bz-az*by;
|
||||
c.mat[1][0]=(-(ax*bz-az*bx));
|
||||
c.mat[2][0]=ax*by-ay*bx;
|
||||
|
||||
return c;
|
||||
}
|
||||
|
||||
/******************** (C) COPYRIGHT 2022 Geek************************************
|
||||
* File Name : Mat.cpp
|
||||
* Current Version : V1.0
|
||||
* Author : logzhan
|
||||
* Date of Issued : 2022.09.14
|
||||
* Comments : <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
********************************************************************************/
|
||||
/* Header File Including -----------------------------------------------------*/
|
||||
#include "Mat.h"
|
||||
|
||||
double mind(double a,double b)
|
||||
{
|
||||
double c = a;
|
||||
if(b < c){
|
||||
c = b;
|
||||
}
|
||||
return c;
|
||||
}
|
||||
|
||||
int mini(int a,int b)
|
||||
{
|
||||
int c=a;
|
||||
if(b<c)
|
||||
{
|
||||
c=b;
|
||||
}
|
||||
return c;
|
||||
|
||||
}
|
||||
|
||||
//<2F><>Ҫ<EFBFBD>ڳ<EFBFBD>Ա<EFBFBD><D4B1><EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD><DAB5>ù<EFBFBD><C3B9>캯<EFBFBD><ECBAAF>
|
||||
Mat::Mat()
|
||||
{
|
||||
Init(1,1,0);
|
||||
}
|
||||
|
||||
Mat::Mat(int setm,int setn,int kind)
|
||||
{
|
||||
Init(setm,setn,kind);
|
||||
}
|
||||
|
||||
void Mat::Init(int setm,int setn,int kind)
|
||||
{
|
||||
this->m = setm;
|
||||
this->n = setn;
|
||||
if((kind==0)||(kind==1))
|
||||
{
|
||||
memset(mat,0,MAT_MAX*MAT_MAX*sizeof(double));
|
||||
}
|
||||
|
||||
if(kind==1)
|
||||
{
|
||||
int x;
|
||||
//Cԭ<43>е<EFBFBD>max min<69>ᵼ<EFBFBD><E1B5BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><D4B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>и<EFBFBD><D0B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ķ<EFBFBD><C4B6><EFBFBD><EFBFBD><EFBFBD>Ҫֱ<D2AA>ӷŵ<D3B7>max<61><78><EFBFBD>档
|
||||
int xend = mini(this->m, this->n);
|
||||
for(x=0;x < xend;x++){
|
||||
mat[x][x] = 1;
|
||||
}
|
||||
}
|
||||
}
|
||||
void Mat::Zero() {
|
||||
|
||||
}
|
||||
|
||||
Mat Mat::SubMat(int a,int b,int lm,int ln)
|
||||
{
|
||||
|
||||
int aend=a+lm-1;
|
||||
int bend=b+ln-1;
|
||||
|
||||
|
||||
Mat s(lm,ln,-1);
|
||||
int x,y;
|
||||
for(x=0;x<lm;x++)
|
||||
{
|
||||
for(y=0;y<ln;y++)
|
||||
{
|
||||
s.mat[x][y]=mat[a+x][b+y];
|
||||
}
|
||||
}
|
||||
return s;
|
||||
}
|
||||
|
||||
|
||||
void Mat::FillSubMat(int a,int b,Mat s)
|
||||
{
|
||||
int x,y;
|
||||
for(x=0;x<s.m;x++)
|
||||
{
|
||||
for(y=0;y<s.n;y++)
|
||||
{
|
||||
mat[a+x][b+y]=s.mat[x][y];
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
Mat operator *(double k, Mat a)
|
||||
{
|
||||
Mat b(a.m,a.n,-1);
|
||||
int x,y;
|
||||
for(x=0;x<a.m;x++)
|
||||
{
|
||||
for(y=0;y<a.n;y++)
|
||||
{
|
||||
b.mat[x][y]=k*a.mat[x][y];
|
||||
}
|
||||
}
|
||||
return b;
|
||||
}
|
||||
Mat operator *(Mat a,double k)
|
||||
{
|
||||
return k*a;
|
||||
}
|
||||
Mat operator /(Mat a,double k)
|
||||
{
|
||||
return (1/k)*a;
|
||||
}
|
||||
Mat operator *(Mat a,Mat b)
|
||||
{
|
||||
Mat c(a.m,b.n,-1);
|
||||
int x,y,z;
|
||||
double s;
|
||||
for(x=0;x<a.m;x++)
|
||||
{
|
||||
for(y=0;y<b.n;y++)
|
||||
{
|
||||
s=0;
|
||||
for(z=0;z<a.n;z++)
|
||||
{
|
||||
s=s+a.mat[x][z]*b.mat[z][y];
|
||||
}
|
||||
c.mat[x][y]=s;
|
||||
}
|
||||
}
|
||||
return c;
|
||||
|
||||
}
|
||||
|
||||
Mat operator +(Mat a,Mat b)
|
||||
{
|
||||
|
||||
Mat c=a;
|
||||
int x,y;
|
||||
for(x=0;x<c.m;x++)
|
||||
{
|
||||
for(y=0;y<c.n;y++)
|
||||
{
|
||||
c.mat[x][y]+=b.mat[x][y];
|
||||
}
|
||||
}
|
||||
return c;
|
||||
}
|
||||
Mat operator -(Mat a,Mat b)
|
||||
{
|
||||
|
||||
Mat c=a;
|
||||
int x,y;
|
||||
for(x=0;x<c.m;x++)
|
||||
{
|
||||
for(y=0;y<c.n;y++)
|
||||
{
|
||||
c.mat[x][y]-=b.mat[x][y];
|
||||
}
|
||||
}
|
||||
return c;
|
||||
}
|
||||
Mat operator ~(Mat a)
|
||||
{
|
||||
Mat b(a.n,a.m,-1);
|
||||
int x,y;
|
||||
for(x=0;x<a.m;x++)
|
||||
{
|
||||
for(y=0;y<a.n;y++)
|
||||
{
|
||||
b.mat[y][x]=a.mat[x][y];
|
||||
|
||||
}
|
||||
}
|
||||
return b;
|
||||
}
|
||||
|
||||
|
||||
|
||||
Mat operator /(Mat a,Mat b)
|
||||
{
|
||||
//<2F><>˹<EFBFBD><CBB9>Ԫ<EFBFBD><D4AA>
|
||||
|
||||
int x,xb;
|
||||
for(x=0;x<b.n;x++)
|
||||
{
|
||||
//<2F><><EFBFBD><EFBFBD><EFBFBD>ҵ<EFBFBD><D2B5><EFBFBD>ѵ<EFBFBD><D1B5>С<EFBFBD><D0A1><EFBFBD><EFBFBD><EFBFBD>ʼԪ<CABC><D4AA><EFBFBD><EFBFBD><EFBFBD>
|
||||
double s=0;
|
||||
int p=x;
|
||||
double sxb;
|
||||
for(xb=x;xb<b.n;xb++)
|
||||
{
|
||||
sxb=fabs(b.mat[x][xb]);
|
||||
if(sxb>s)
|
||||
{
|
||||
p=xb;
|
||||
s=sxb;
|
||||
}
|
||||
}
|
||||
//ͬʱ<CDAC>任<EFBFBD><E4BBBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
if(x!=p)
|
||||
{
|
||||
a.ColExchange(x,p);
|
||||
b.ColExchange(x,p);
|
||||
}
|
||||
|
||||
//<2F><>һ<EFBFBD>й<EFBFBD>һ
|
||||
double k=1/b.mat[x][x];//<2F><>һ<EFBFBD>䲻ҪǶ<D2AA><EFBFBD><D7B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD><D0A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD>²<EFBFBD>ͬ<EFBFBD><CDAC><EFBFBD><EFBFBD><EFBFBD>¼<EFBFBD><C2BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
a.ColMul(x,k);
|
||||
b.ColMul(x,k);
|
||||
|
||||
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>й<EFBFBD><D0B9><EFBFBD>
|
||||
for(xb=0;xb<b.n;xb++)
|
||||
{
|
||||
if(xb!=x)
|
||||
{
|
||||
k=(-b.mat[x][xb]);
|
||||
a.ColAdd(xb,x,k);
|
||||
b.ColAdd(xb,x,k);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return a;
|
||||
}
|
||||
|
||||
|
||||
Mat operator %(Mat a,Mat b)
|
||||
{
|
||||
//<2F><>˹<EFBFBD><CBB9>Ԫ<EFBFBD><D4AA>
|
||||
int x,xb;
|
||||
for(x=0;x<a.m;x++)
|
||||
{
|
||||
//<2F><><EFBFBD><EFBFBD><EFBFBD>ҵ<EFBFBD><D2B5><EFBFBD>ѵ<EFBFBD><D1B5>С<EFBFBD><D0A1><EFBFBD><EFBFBD><EFBFBD>ʼԪ<CABC><D4AA><EFBFBD><EFBFBD><EFBFBD>
|
||||
double s=0;
|
||||
int p=x;
|
||||
double sxb;
|
||||
for(xb=x;xb<a.m;xb++)
|
||||
{
|
||||
sxb=fabs(a.mat[xb][x]);
|
||||
if(sxb>s)
|
||||
{
|
||||
p=xb;
|
||||
s=sxb;
|
||||
}
|
||||
}
|
||||
//ͬʱ<CDAC>任<EFBFBD><E4BBBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
if(x!=p)
|
||||
{
|
||||
a.RowExchange(x,p);
|
||||
b.RowExchange(x,p);
|
||||
}
|
||||
|
||||
//<2F><>һ<EFBFBD>й<EFBFBD>һ
|
||||
double k=1/a.mat[x][x];//<2F><>һ<EFBFBD>䲻ҪǶ<D2AA><EFBFBD><D7B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD><D0A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD>²<EFBFBD>ͬ<EFBFBD><CDAC><EFBFBD><EFBFBD><EFBFBD>¼<EFBFBD><C2BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
a.RowMul(x,k);
|
||||
b.RowMul(x,k);
|
||||
|
||||
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>й<EFBFBD><D0B9><EFBFBD>
|
||||
for(xb=0;xb<a.m;xb++)
|
||||
{
|
||||
if(xb!=x)
|
||||
{
|
||||
k=(-a.mat[xb][x]);
|
||||
a.RowAdd(xb,x,k);
|
||||
b.RowAdd(xb,x,k);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return b;
|
||||
}
|
||||
|
||||
|
||||
void Mat::RowExchange(int a, int b)
|
||||
{
|
||||
double s[MAT_MAX];
|
||||
int ncpy=n*sizeof(double);
|
||||
memcpy(s,mat[a],ncpy);
|
||||
memcpy(mat[a],mat[b],ncpy);
|
||||
memcpy(mat[b],s,ncpy);
|
||||
}
|
||||
void Mat::RowMul(int a,double k)
|
||||
{
|
||||
int y;
|
||||
for(y=0;y<n;y++)
|
||||
{
|
||||
mat[a][y]= mat[a][y]*k;
|
||||
}
|
||||
}
|
||||
void Mat::RowAdd(int a,int b,double k)
|
||||
{
|
||||
int y;
|
||||
for(y=0;y<n;y++)
|
||||
{
|
||||
mat[a][y]= mat[a][y]+ mat[b][y]*k;
|
||||
}
|
||||
}
|
||||
|
||||
void Mat::ColExchange(int a, int b)
|
||||
{
|
||||
double s;
|
||||
int x;
|
||||
for(x=0;x<m;x++)
|
||||
{
|
||||
s=mat[x][a];
|
||||
mat[x][a]=mat[x][b];
|
||||
mat[x][b]=s;
|
||||
}
|
||||
}
|
||||
void Mat::ColMul(int a,double k)
|
||||
{
|
||||
int x;
|
||||
for(x=0;x<m;x++)
|
||||
{
|
||||
mat[x][a]=mat[x][a]*k;
|
||||
}
|
||||
}
|
||||
void Mat::ColAdd(int a,int b,double k)
|
||||
{
|
||||
int x;
|
||||
for(x=0;x<m;x++)
|
||||
{
|
||||
mat[x][a]=mat[x][a]+mat[x][b]*k;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
double Mat::Sqrt()
|
||||
{
|
||||
int x;
|
||||
double numx;
|
||||
double s=0;
|
||||
for(x=0;x<m;x++)
|
||||
{
|
||||
numx=mat[x][0];
|
||||
s+=(numx*numx);
|
||||
}
|
||||
return s;
|
||||
}
|
||||
double Mat::absvec()
|
||||
{
|
||||
return sqrt(Sqrt());
|
||||
}
|
||||
|
||||
Mat operator ^(Mat a, Mat b)
|
||||
{
|
||||
double ax=a.mat[0][0];
|
||||
double ay=a.mat[1][0];
|
||||
double az=a.mat[2][0];
|
||||
double bx=b.mat[0][0];
|
||||
double by=b.mat[1][0];
|
||||
double bz=b.mat[2][0];
|
||||
|
||||
Mat c(3,1,-1);
|
||||
c.mat[0][0]=ay*bz-az*by;
|
||||
c.mat[1][0]=(-(ax*bz-az*bx));
|
||||
c.mat[2][0]=ax*by-ay*bx;
|
||||
|
||||
return c;
|
||||
}
|
||||
|
||||
|
|
@ -1,94 +1,94 @@
|
|||
#include "align.h"
|
||||
|
||||
namespace uwb_slam{
|
||||
void Align::Run()
|
||||
{
|
||||
imuDataRxTime = ros::Time::now();
|
||||
uwbDataRxTime = ros::Time::now();
|
||||
|
||||
wheel_odom_sub_= nh_.subscribe("wheel_odom",10,&Align::wheel_odomCB,this);
|
||||
imu_sub_= nh_.subscribe("raw_imu",10,&Align::imuCB,this);
|
||||
odom_sub_= nh_.subscribe("odom",10,&Align::odomCB,this);
|
||||
|
||||
std::ofstream outfile("data.txt",std::ofstream::out);
|
||||
if(outfile.is_open()) {
|
||||
std::cout << "start saving data" << std::endl;
|
||||
outfile << "imuDataRxTime,odomDataRxTime,uwbDataRxTime,"\
|
||||
<< "aX,aY,aZ,"\
|
||||
<< "gX,gY,gZ"\
|
||||
<< "mX,mY,mZ,"\
|
||||
<< "qW,qX,qY,qZ,"\
|
||||
<< "vXY,angleV,"\
|
||||
<< "imuPosX,imuPosY,"\
|
||||
<< "lightHousePosX,lightHousePosY,lightHousePosZ,"\
|
||||
<< "lightHouseQW,lightHouseQX,lightHouseQY,lightHouseQZ"\
|
||||
<< "d1,d2,d3\n";
|
||||
} else {
|
||||
std::cout<<"file can not open"<<std::endl;
|
||||
}
|
||||
|
||||
while(1){
|
||||
if(imuDataRxTime!=imu_odom_.imu_data_.imu_t_){
|
||||
//std::cout << "imu received" << std::endl;
|
||||
imuDataRxTime = imu_odom_.imu_data_.imu_t_;
|
||||
odomDataRxTime = odom_tmp_;
|
||||
uwbDataRxTime = uwb_->uwb_data_.uwb_t_;
|
||||
|
||||
outfile << imuDataRxTime << "," << odomDataRxTime << "," << uwbDataRxTime <<","\
|
||||
<< imu_odom_.imu_data_.a_[0] << "," << imu_odom_.imu_data_.a_[1] << "," << imu_odom_.imu_data_.a_[2] << ","\
|
||||
<< imu_odom_.imu_data_.g_[0] << "," << imu_odom_.imu_data_.g_[1] << "," << imu_odom_.imu_data_.g_[2] << ","\
|
||||
<< imu_odom_.imu_data_.m_[0] << "," << imu_odom_.imu_data_.m_[1] << "," << imu_odom_.imu_data_.m_[2] << ","\
|
||||
<< imu_odom_.quat_[0] << "," << imu_odom_.quat_[0] << "," << imu_odom_.quat_[0] << "," << imu_odom_.quat_[0] << ","\
|
||||
<< imu_odom_.vxy_ << "," << imu_odom_.angle_v_ << ","\
|
||||
<< imu_odom_.pose_[0] << "," << imu_odom_.pose_[1] << ","\
|
||||
<< lighthouse_->data.x_ << "," << lighthouse_->data.y_ << "," << lighthouse_->data.z_ << ","\
|
||||
<< lighthouse_->data.qw_ << "," << lighthouse_->data.qx_ << "," << lighthouse_->data.qy_ << "," << lighthouse_->data.qz_ << ","\
|
||||
<< uwb_->d[0] << "," << uwb_->d[1] << "," << uwb_->d[2] << "\n";
|
||||
}
|
||||
}
|
||||
// outfile.close();
|
||||
// std::cout<< "Data written to file." << std::endl;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void Align::wheel_odomCB(const nav_msgs::Odometry& wheel_odom)
|
||||
{
|
||||
imu_odom_.vxy_= wheel_odom.twist.twist.linear.x;
|
||||
imu_odom_.angle_v_ = wheel_odom.twist.twist.angular.z;
|
||||
return;
|
||||
}
|
||||
void Align::imuCB(const pibot_msgs::RawImu& imu)
|
||||
{
|
||||
imu_odom_.imu_data_.imu_t_ = imu.header.stamp;
|
||||
imu_odom_.imu_data_.a_[0] = imu.raw_linear_acceleration.x;
|
||||
imu_odom_.imu_data_.a_[1] = imu.raw_linear_acceleration.y;
|
||||
imu_odom_.imu_data_.a_[2] = imu.raw_linear_acceleration.z;
|
||||
|
||||
imu_odom_.imu_data_.g_[0] = imu.raw_angular_velocity.x;
|
||||
imu_odom_.imu_data_.g_[1] = imu.raw_angular_velocity.y;
|
||||
imu_odom_.imu_data_.g_[2] = imu.raw_angular_velocity.z;
|
||||
|
||||
imu_odom_.imu_data_.m_[0] = imu.raw_magnetic_field.x;
|
||||
imu_odom_.imu_data_.m_[1] = imu.raw_magnetic_field.y;
|
||||
imu_odom_.imu_data_.m_[2] = imu.raw_magnetic_field.z;
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
void Align::odomCB(const nav_msgs::Odometry& odom)
|
||||
{
|
||||
odom_tmp_ = odom.header.stamp;
|
||||
imu_odom_.pose_[0] = odom.pose.pose.position.x;
|
||||
imu_odom_.pose_[1] = odom.pose.pose.position.y;
|
||||
imu_odom_.pose_[2] = odom.pose.pose.position.z;
|
||||
imu_odom_.quat_[0] = odom.pose.pose.orientation.w;
|
||||
imu_odom_.quat_[1] = odom.pose.pose.orientation.x;
|
||||
imu_odom_.quat_[2] = odom.pose.pose.orientation.y;
|
||||
imu_odom_.quat_[3] = odom.pose.pose.orientation.z;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
#include "align.h"
|
||||
|
||||
namespace uwb_slam{
|
||||
void Align::Run()
|
||||
{
|
||||
imuDataRxTime = ros::Time::now();
|
||||
uwbDataRxTime = ros::Time::now();
|
||||
|
||||
wheel_odom_sub_= nh_.subscribe("wheel_odom",10,&Align::wheel_odomCB,this);
|
||||
imu_sub_= nh_.subscribe("raw_imu",10,&Align::imuCB,this);
|
||||
odom_sub_= nh_.subscribe("odom",10,&Align::odomCB,this);
|
||||
|
||||
std::ofstream outfile("data.txt",std::ofstream::out);
|
||||
if(outfile.is_open()) {
|
||||
std::cout << "start saving data" << std::endl;
|
||||
outfile << "imuDataRxTime,odomDataRxTime,uwbDataRxTime,"\
|
||||
<< "aX,aY,aZ,"\
|
||||
<< "gX,gY,gZ"\
|
||||
<< "mX,mY,mZ,"\
|
||||
<< "qW,qX,qY,qZ,"\
|
||||
<< "vXY,angleV,"\
|
||||
<< "imuPosX,imuPosY,"\
|
||||
<< "lightHousePosX,lightHousePosY,lightHousePosZ,"\
|
||||
<< "lightHouseQW,lightHouseQX,lightHouseQY,lightHouseQZ"\
|
||||
<< "d1,d2,d3\n";
|
||||
} else {
|
||||
std::cout<<"file can not open"<<std::endl;
|
||||
}
|
||||
|
||||
while(1){
|
||||
if(imuDataRxTime!=imu_odom_.imu_data_.imu_t_){
|
||||
//std::cout << "imu received" << std::endl;
|
||||
imuDataRxTime = imu_odom_.imu_data_.imu_t_;
|
||||
odomDataRxTime = odom_tmp_;
|
||||
uwbDataRxTime = uwb_->uwb_data_.uwb_t_;
|
||||
|
||||
outfile << imuDataRxTime << "," << odomDataRxTime << "," << uwbDataRxTime <<","\
|
||||
<< imu_odom_.imu_data_.a_[0] << "," << imu_odom_.imu_data_.a_[1] << "," << imu_odom_.imu_data_.a_[2] << ","\
|
||||
<< imu_odom_.imu_data_.g_[0] << "," << imu_odom_.imu_data_.g_[1] << "," << imu_odom_.imu_data_.g_[2] << ","\
|
||||
<< imu_odom_.imu_data_.m_[0] << "," << imu_odom_.imu_data_.m_[1] << "," << imu_odom_.imu_data_.m_[2] << ","\
|
||||
<< imu_odom_.quat_[0] << "," << imu_odom_.quat_[0] << "," << imu_odom_.quat_[0] << "," << imu_odom_.quat_[0] << ","\
|
||||
<< imu_odom_.vxy_ << "," << imu_odom_.angle_v_ << ","\
|
||||
<< imu_odom_.pose_[0] << "," << imu_odom_.pose_[1] << ","\
|
||||
<< lighthouse_->data.x_ << "," << lighthouse_->data.y_ << "," << lighthouse_->data.z_ << ","\
|
||||
<< lighthouse_->data.qw_ << "," << lighthouse_->data.qx_ << "," << lighthouse_->data.qy_ << "," << lighthouse_->data.qz_ << ","\
|
||||
<< uwb_->d[0] << "," << uwb_->d[1] << "," << uwb_->d[2] << "\n";
|
||||
}
|
||||
}
|
||||
// outfile.close();
|
||||
// std::cout<< "Data written to file." << std::endl;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void Align::wheel_odomCB(const nav_msgs::Odometry& wheel_odom)
|
||||
{
|
||||
imu_odom_.vxy_= wheel_odom.twist.twist.linear.x;
|
||||
imu_odom_.angle_v_ = wheel_odom.twist.twist.angular.z;
|
||||
return;
|
||||
}
|
||||
void Align::imuCB(const pibot_msgs::RawImu& imu)
|
||||
{
|
||||
imu_odom_.imu_data_.imu_t_ = imu.header.stamp;
|
||||
imu_odom_.imu_data_.a_[0] = imu.raw_linear_acceleration.x;
|
||||
imu_odom_.imu_data_.a_[1] = imu.raw_linear_acceleration.y;
|
||||
imu_odom_.imu_data_.a_[2] = imu.raw_linear_acceleration.z;
|
||||
|
||||
imu_odom_.imu_data_.g_[0] = imu.raw_angular_velocity.x;
|
||||
imu_odom_.imu_data_.g_[1] = imu.raw_angular_velocity.y;
|
||||
imu_odom_.imu_data_.g_[2] = imu.raw_angular_velocity.z;
|
||||
|
||||
imu_odom_.imu_data_.m_[0] = imu.raw_magnetic_field.x;
|
||||
imu_odom_.imu_data_.m_[1] = imu.raw_magnetic_field.y;
|
||||
imu_odom_.imu_data_.m_[2] = imu.raw_magnetic_field.z;
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
void Align::odomCB(const nav_msgs::Odometry& odom)
|
||||
{
|
||||
odom_tmp_ = odom.header.stamp;
|
||||
imu_odom_.pose_[0] = odom.pose.pose.position.x;
|
||||
imu_odom_.pose_[1] = odom.pose.pose.position.y;
|
||||
imu_odom_.pose_[2] = odom.pose.pose.position.z;
|
||||
imu_odom_.quat_[0] = odom.pose.pose.orientation.w;
|
||||
imu_odom_.quat_[1] = odom.pose.pose.orientation.x;
|
||||
imu_odom_.quat_[2] = odom.pose.pose.orientation.y;
|
||||
imu_odom_.quat_[3] = odom.pose.pose.orientation.z;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
|
@ -1,79 +1,79 @@
|
|||
#include "lighthouse.h"
|
||||
#include <cmath>
|
||||
#include <string>
|
||||
|
||||
namespace uwb_slam{
|
||||
Lighthouse::Lighthouse(){
|
||||
std::cout << "Start Run. " << std::endl;
|
||||
|
||||
// 创建UDP套接字
|
||||
UdpSocket = socket(AF_INET, SOCK_DGRAM, 0);
|
||||
if (UdpSocket == -1) {
|
||||
std::cerr << "Error creating UDP socket." << std::endl;
|
||||
return;
|
||||
}
|
||||
|
||||
std::cout << "Creating UDP socket sucess. " << std::endl;
|
||||
|
||||
// 设置套接字地址结构
|
||||
sockaddr_in udpAddress;
|
||||
std::memset(&udpAddress, 0, sizeof(udpAddress));
|
||||
udpAddress.sin_family = AF_INET;
|
||||
udpAddress.sin_addr.s_addr = htonl(INADDR_ANY);
|
||||
udpAddress.sin_port = htons(PORT);
|
||||
|
||||
// 将套接字绑定到地址
|
||||
if (bind(UdpSocket, (struct sockaddr*)&udpAddress, sizeof(udpAddress)) == -1) {
|
||||
std::cerr << "Error binding UDP socket." << std::endl;
|
||||
close(UdpSocket);
|
||||
}
|
||||
}
|
||||
|
||||
Lighthouse::~Lighthouse(){
|
||||
close(UdpSocket);
|
||||
}
|
||||
|
||||
void Lighthouse::Run() {
|
||||
while(1){
|
||||
// 这是一个阻塞线程
|
||||
this->UDPRead();
|
||||
}
|
||||
}
|
||||
|
||||
void Lighthouse::UDPRead(){
|
||||
char buffer[1024];
|
||||
ssize_t bytesRead = recvfrom(UdpSocket, buffer, sizeof(buffer), 0, nullptr, nullptr);
|
||||
if (bytesRead == -1) {
|
||||
std::cerr << "Error receiving data." << std::endl;
|
||||
return;
|
||||
}
|
||||
|
||||
std::string data(buffer);
|
||||
|
||||
float x,y,z,qw,qx,qy,qz;
|
||||
|
||||
qw = 1.0;
|
||||
|
||||
sscanf(data.c_str(),"%f %f %f %f %f %f",&x,&y,&z,&qx,&qy,&qz);
|
||||
|
||||
mMutexLighthouse.lock();
|
||||
|
||||
this->data.x_ = x;
|
||||
this->data.y_ = y;
|
||||
this->data.z_ = z;
|
||||
|
||||
this->data.qw_ = qw;
|
||||
this->data.qx_ = qx;
|
||||
this->data.qy_ = qy;
|
||||
this->data.qz_ = qz;
|
||||
|
||||
|
||||
|
||||
mMutexLighthouse.unlock();
|
||||
|
||||
// 打印接收到的消息
|
||||
buffer[bytesRead] = '\0';
|
||||
//std::cout << "Received: " << buffer << std::endl;
|
||||
|
||||
}
|
||||
#include "lighthouse.h"
|
||||
#include <cmath>
|
||||
#include <string>
|
||||
|
||||
namespace uwb_slam{
|
||||
Lighthouse::Lighthouse(){
|
||||
std::cout << "Start Run. " << std::endl;
|
||||
|
||||
// 创建UDP套接字
|
||||
UdpSocket = socket(AF_INET, SOCK_DGRAM, 0);
|
||||
if (UdpSocket == -1) {
|
||||
std::cerr << "Error creating UDP socket." << std::endl;
|
||||
return;
|
||||
}
|
||||
|
||||
std::cout << "Creating UDP socket sucess. " << std::endl;
|
||||
|
||||
// 设置套接字地址结构
|
||||
sockaddr_in udpAddress;
|
||||
std::memset(&udpAddress, 0, sizeof(udpAddress));
|
||||
udpAddress.sin_family = AF_INET;
|
||||
udpAddress.sin_addr.s_addr = htonl(INADDR_ANY);
|
||||
udpAddress.sin_port = htons(PORT);
|
||||
|
||||
// 将套接字绑定到地址
|
||||
if (bind(UdpSocket, (struct sockaddr*)&udpAddress, sizeof(udpAddress)) == -1) {
|
||||
std::cerr << "Error binding UDP socket." << std::endl;
|
||||
close(UdpSocket);
|
||||
}
|
||||
}
|
||||
|
||||
Lighthouse::~Lighthouse(){
|
||||
close(UdpSocket);
|
||||
}
|
||||
|
||||
void Lighthouse::Run() {
|
||||
while(1){
|
||||
// 这是一个阻塞线程
|
||||
this->UDPRead();
|
||||
}
|
||||
}
|
||||
|
||||
void Lighthouse::UDPRead(){
|
||||
char buffer[1024];
|
||||
ssize_t bytesRead = recvfrom(UdpSocket, buffer, sizeof(buffer), 0, nullptr, nullptr);
|
||||
if (bytesRead == -1) {
|
||||
std::cerr << "Error receiving data." << std::endl;
|
||||
return;
|
||||
}
|
||||
|
||||
std::string data(buffer);
|
||||
|
||||
float x,y,z,qw,qx,qy,qz;
|
||||
|
||||
qw = 1.0;
|
||||
|
||||
sscanf(data.c_str(),"%f %f %f %f %f %f",&x,&y,&z,&qx,&qy,&qz);
|
||||
|
||||
mMutexLighthouse.lock();
|
||||
|
||||
this->data.x_ = x;
|
||||
this->data.y_ = y;
|
||||
this->data.z_ = z;
|
||||
|
||||
this->data.qw_ = qw;
|
||||
this->data.qx_ = qx;
|
||||
this->data.qy_ = qy;
|
||||
this->data.qz_ = qz;
|
||||
|
||||
|
||||
|
||||
mMutexLighthouse.unlock();
|
||||
|
||||
// 打印接收到的消息
|
||||
buffer[bytesRead] = '\0';
|
||||
//std::cout << "Received: " << buffer << std::endl;
|
||||
|
||||
}
|
||||
};
|
||||
|
|
@ -1,60 +1,60 @@
|
|||
#include "Mat.h"
|
||||
|
||||
// #include "align.h"
|
||||
#include "mapping.h"
|
||||
|
||||
#include <iostream>
|
||||
#include <ros/ros.h>
|
||||
#include <thread>
|
||||
#include "senddata.h"
|
||||
|
||||
|
||||
|
||||
int main(int argc, char** argv)
|
||||
{
|
||||
ros::init(argc, argv, "locate_info_pub_node"); // Initialize the ROS node
|
||||
|
||||
|
||||
std::shared_ptr<uwb_slam::Mapping> mp = std::make_shared<uwb_slam::Mapping>();
|
||||
std::shared_ptr<uwb_slam::Uwb> uwb = std::make_shared<uwb_slam::Uwb>();
|
||||
std::shared_ptr<uwb_slam::Senddata> sender = std::make_shared<uwb_slam::Senddata>();
|
||||
std::shared_ptr<uwb_slam::Align> align = std::make_shared<uwb_slam::Align>();
|
||||
std::shared_ptr<uwb_slam::Lighthouse> lighthouse = std::make_shared<uwb_slam::Lighthouse>();
|
||||
|
||||
|
||||
|
||||
|
||||
mp->uwb_ = uwb;
|
||||
mp->align_ = align;
|
||||
align->uwb_ =uwb;
|
||||
align->lighthouse_ = lighthouse;
|
||||
sender->uwb_ = uwb;
|
||||
// // control data fllow in system
|
||||
// std::thread rose_trd ([&system]() {
|
||||
// system->Run();
|
||||
// });
|
||||
|
||||
// uwb serried read
|
||||
std::thread uwb_trd([&uwb]() {
|
||||
uwb->Run();
|
||||
});
|
||||
|
||||
// build map
|
||||
// std::thread map_trd ([&mp]() {
|
||||
// mp->Run();
|
||||
// });
|
||||
|
||||
std::thread sender_trd ([&sender, uwb]() {
|
||||
sender->Run(uwb);
|
||||
});
|
||||
|
||||
// std::thread align_trd ([&align]() {
|
||||
// align->Run();
|
||||
// });
|
||||
|
||||
// std::thread lighthouse_trd ([&lighthouse]() {
|
||||
// lighthouse->Run();
|
||||
// });
|
||||
|
||||
ros::spin();
|
||||
}
|
||||
#include "Mat.h"
|
||||
|
||||
// #include "align.h"
|
||||
#include "mapping.h"
|
||||
|
||||
#include <iostream>
|
||||
#include <ros/ros.h>
|
||||
#include <thread>
|
||||
#include "senddata.h"
|
||||
|
||||
|
||||
|
||||
int main(int argc, char** argv)
|
||||
{
|
||||
ros::init(argc, argv, "locate_info_pub_node"); // Initialize the ROS node
|
||||
|
||||
|
||||
std::shared_ptr<uwb_slam::Mapping> mp = std::make_shared<uwb_slam::Mapping>();
|
||||
std::shared_ptr<uwb_slam::Uwb> uwb = std::make_shared<uwb_slam::Uwb>();
|
||||
std::shared_ptr<uwb_slam::Senddata> sender = std::make_shared<uwb_slam::Senddata>();
|
||||
std::shared_ptr<uwb_slam::Align> align = std::make_shared<uwb_slam::Align>();
|
||||
std::shared_ptr<uwb_slam::Lighthouse> lighthouse = std::make_shared<uwb_slam::Lighthouse>();
|
||||
|
||||
|
||||
|
||||
|
||||
mp->uwb_ = uwb;
|
||||
mp->align_ = align;
|
||||
align->uwb_ =uwb;
|
||||
align->lighthouse_ = lighthouse;
|
||||
sender->uwb_ = uwb;
|
||||
// // control data fllow in system
|
||||
// std::thread rose_trd ([&system]() {
|
||||
// system->Run();
|
||||
// });
|
||||
|
||||
// uwb serried read
|
||||
std::thread uwb_trd([&uwb]() {
|
||||
uwb->Run();
|
||||
});
|
||||
|
||||
// build map
|
||||
// std::thread map_trd ([&mp]() {
|
||||
// mp->Run();
|
||||
// });
|
||||
|
||||
std::thread sender_trd ([&sender, uwb]() {
|
||||
sender->Run(uwb);
|
||||
});
|
||||
|
||||
// std::thread align_trd ([&align]() {
|
||||
// align->Run();
|
||||
// });
|
||||
|
||||
// std::thread lighthouse_trd ([&lighthouse]() {
|
||||
// lighthouse->Run();
|
||||
// });
|
||||
|
||||
ros::spin();
|
||||
}
|
||||
|
|
@ -1,149 +1,149 @@
|
|||
#include "mapping.h"
|
||||
#include <mutex>
|
||||
#include <unistd.h>// 包含 usleep() 函数所在的头文件
|
||||
#include <opencv2/core.hpp>
|
||||
#include <opencv2/highgui.hpp>
|
||||
|
||||
namespace uwb_slam
|
||||
{
|
||||
bool Mapping::checkQueue()
|
||||
{
|
||||
//std::unique_lock<std::mutex> lock(mMutexMap);
|
||||
return !posDataQueue.empty();
|
||||
}
|
||||
|
||||
void Mapping::feedPos(const cv::Point2d & imuPosData, const cv::Point2d & uwbPosData, const cv::Point2d & syncPosData)
|
||||
{
|
||||
//std::unique_lock<std::mutex> lock(mMutexMap);
|
||||
posDataQueue.push({imuPosData, uwbPosData, syncPosData});
|
||||
|
||||
}
|
||||
|
||||
|
||||
void Mapping::process()
|
||||
{
|
||||
{
|
||||
|
||||
//std::unique_lock<std::mutex> lock(mMutexMap);
|
||||
//std::cout << "SIZE: " <<posDataQueue.size() << std::endl;
|
||||
posData = posDataQueue.front();
|
||||
//std::cout << "x: " <<cur_point.x << " y:" << cur_point.y << std::endl;
|
||||
posDataQueue.pop();
|
||||
}
|
||||
/*生成图*/
|
||||
|
||||
int imuPosPointX = posData[0].x / PIXEL_SCALE + ( fmod(posData[0].x ,PIXEL_SCALE) != 0) + realWidth / 2;
|
||||
int imuPosPointY = posData[0].y / PIXEL_SCALE + ( fmod(posData[0].y ,PIXEL_SCALE) != 0) + realHeight / 2;
|
||||
int uwbPosPointX = posData[1].x / PIXEL_SCALE + ( fmod(posData[1].x ,PIXEL_SCALE) != 0) + realWidth / 2;
|
||||
int uwbPosPointY = posData[1].y / PIXEL_SCALE + ( fmod(posData[1].y ,PIXEL_SCALE) != 0) + realHeight / 2;
|
||||
int syncPosPointX = posData[2].x / PIXEL_SCALE + ( fmod(posData[2].x ,PIXEL_SCALE) != 0) + realWidth / 2;
|
||||
int syncPosPointY = posData[2].y / PIXEL_SCALE + ( fmod(posData[2].y ,PIXEL_SCALE) != 0) + realHeight / 2;
|
||||
// std::cout << "syncPos:" <<posData[2].x << " " << posData[2].y;
|
||||
// std::cout << " uwbPos:" <<posData[1].x << " " << posData[1].x;
|
||||
// std::cout << " imuPos:" <<posData[0].x << " " << posData[0].y << std::endl;
|
||||
|
||||
// std::cout << "syncPos:" <<syncPosPointX << " " << syncPosPointY;
|
||||
// std::cout << " uwbPos:" <<uwbPosPointX << " " << uwbPosPointY;
|
||||
// std::cout << " imuPos:" <<imuPosPointX << " " << imuPosPointY << std::endl;
|
||||
// img.at<unsigned char>(imuPosPointY, imuPosPointX) = 0;
|
||||
img.at<cv::Vec3b>(imuPosPointY, imuPosPointX) = cv::Vec3b(0,0,255); //imu trace is red
|
||||
img.at<cv::Vec3b>(uwbPosPointY, uwbPosPointX) = cv::Vec3b(0,255,0); //uwb trace is green
|
||||
img.at<cv::Vec3b>(syncPosPointY, syncPosPointX) = cv::Vec3b(255,0,0); //sync trace is blue
|
||||
}
|
||||
|
||||
|
||||
void Mapping::Run()
|
||||
{
|
||||
|
||||
//int key = cv::waitKey(0);//等待用户按下按键
|
||||
//std::cout << key << std::endl;
|
||||
realWidth = AREA_SIZE / PIXEL_SCALE;
|
||||
realHeight = AREA_SIZE / PIXEL_SCALE;
|
||||
|
||||
img = cv::Mat(realHeight, realWidth, CV_8UC3, cv::Scalar(255,255,255));
|
||||
//cankao
|
||||
for (int j=0;j<AREA_SIZE / PIXEL_SCALE;j+=10)
|
||||
for (int i=0;i<AREA_SIZE / PIXEL_SCALE;i+=10)
|
||||
img.at<cv::Vec3b>(j,i)= cv::Vec3b(0,0,0);
|
||||
|
||||
for (int j=realHeight/2-1; j<=realHeight/2+1; j+=1)
|
||||
for (int i=realWidth/2-1; i<=realWidth/2+1; i+=1)
|
||||
img.at<cv::Vec3b>(j,i)= cv::Vec3b(0,0,0);
|
||||
int i = 0, j = 0;
|
||||
img.at<cv::Vec3b>(j,i)= cv::Vec3b(0,0,0);
|
||||
|
||||
|
||||
|
||||
cv::imshow("Image",img);
|
||||
|
||||
// bool printFlag = 0;
|
||||
// std::ofstream outfile("data.txt",std::ofstream::out);
|
||||
// if(outfile.is_open()) {
|
||||
// std::cout << "start saving data" << key << std::endl;
|
||||
// printFlag = 1;
|
||||
// } else {
|
||||
// std::cout<<"file can not open"<<std::endl;
|
||||
// }
|
||||
|
||||
/*
|
||||
std::cout << "waiting" <<std::endl;
|
||||
int key = cv::waitKey(0);
|
||||
if (key == 'q' || key == 27) {
|
||||
this->feed_uwb_data(cv::Point2d(uwb_->x,uwb_->y));
|
||||
readPos = true;
|
||||
std::cout << "non" << key << std::endl;
|
||||
cv::destroyAllWindows();
|
||||
}
|
||||
*/
|
||||
while(1){
|
||||
int key = cv::waitKey(0);
|
||||
if (key == 'q' ) {
|
||||
readPos = true;
|
||||
std::cout << "start mapping" << key << std::endl;
|
||||
|
||||
//cv::destroyAllWindows();
|
||||
}
|
||||
while( readPos )//按下空格键
|
||||
{
|
||||
int key2 = cv::waitKey(1);
|
||||
if (key2 == 'q') {
|
||||
//TODO: save
|
||||
|
||||
std::string pngimage="/home/firefly/Project_Ros11/Project_Ros1/src/pibot_msgs/Map/output_image.png";//保存的图片文件路径
|
||||
cv::imwrite(pngimage,img);
|
||||
readPos = false;
|
||||
|
||||
// outfile.close();
|
||||
// printFlag = 0;
|
||||
// std::cout<< "Data written to file." << std::endl;
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
//this->feedPos(cv::Point2d(align_->imuPos.mat[0][0], align_->imuPos.mat[1][0]), cv::Point2d(align_->uwbPos.mat[0][0], align_->uwbPos.mat[1][0]), cv::Point2d(align_->syncPos.mat[0][0], align_->syncPos.mat[1][0]));
|
||||
//this->feedPos(cv::Point2d(uwb_->x, uwb_->y));
|
||||
|
||||
//uwb xieru
|
||||
//std::cout << "cur_SEQ: " <<uwb_->cur_seq << std::endl;
|
||||
|
||||
if(checkQueue())
|
||||
{
|
||||
//std::cout << " start process" << std::endl;
|
||||
process();
|
||||
//std::cout << " end process" << std::endl;
|
||||
|
||||
}
|
||||
}
|
||||
// std::cout << "out" << key << std::endl;
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
//std::string pngimage="../Map/pngimage.png";//保存的图片文件路径
|
||||
//cv::imwrite(pngimage,img);
|
||||
|
||||
/*ros 发送图片给导航 */
|
||||
}
|
||||
} // namespace uwb_slam
|
||||
|
||||
#include "mapping.h"
|
||||
#include <mutex>
|
||||
#include <unistd.h>// 包含 usleep() 函数所在的头文件
|
||||
#include <opencv2/core.hpp>
|
||||
#include <opencv2/highgui.hpp>
|
||||
|
||||
namespace uwb_slam
|
||||
{
|
||||
bool Mapping::checkQueue()
|
||||
{
|
||||
//std::unique_lock<std::mutex> lock(mMutexMap);
|
||||
return !posDataQueue.empty();
|
||||
}
|
||||
|
||||
void Mapping::feedPos(const cv::Point2d & imuPosData, const cv::Point2d & uwbPosData, const cv::Point2d & syncPosData)
|
||||
{
|
||||
//std::unique_lock<std::mutex> lock(mMutexMap);
|
||||
posDataQueue.push({imuPosData, uwbPosData, syncPosData});
|
||||
|
||||
}
|
||||
|
||||
|
||||
void Mapping::process()
|
||||
{
|
||||
{
|
||||
|
||||
//std::unique_lock<std::mutex> lock(mMutexMap);
|
||||
//std::cout << "SIZE: " <<posDataQueue.size() << std::endl;
|
||||
posData = posDataQueue.front();
|
||||
//std::cout << "x: " <<cur_point.x << " y:" << cur_point.y << std::endl;
|
||||
posDataQueue.pop();
|
||||
}
|
||||
/*生成图*/
|
||||
|
||||
int imuPosPointX = posData[0].x / PIXEL_SCALE + ( fmod(posData[0].x ,PIXEL_SCALE) != 0) + realWidth / 2;
|
||||
int imuPosPointY = posData[0].y / PIXEL_SCALE + ( fmod(posData[0].y ,PIXEL_SCALE) != 0) + realHeight / 2;
|
||||
int uwbPosPointX = posData[1].x / PIXEL_SCALE + ( fmod(posData[1].x ,PIXEL_SCALE) != 0) + realWidth / 2;
|
||||
int uwbPosPointY = posData[1].y / PIXEL_SCALE + ( fmod(posData[1].y ,PIXEL_SCALE) != 0) + realHeight / 2;
|
||||
int syncPosPointX = posData[2].x / PIXEL_SCALE + ( fmod(posData[2].x ,PIXEL_SCALE) != 0) + realWidth / 2;
|
||||
int syncPosPointY = posData[2].y / PIXEL_SCALE + ( fmod(posData[2].y ,PIXEL_SCALE) != 0) + realHeight / 2;
|
||||
// std::cout << "syncPos:" <<posData[2].x << " " << posData[2].y;
|
||||
// std::cout << " uwbPos:" <<posData[1].x << " " << posData[1].x;
|
||||
// std::cout << " imuPos:" <<posData[0].x << " " << posData[0].y << std::endl;
|
||||
|
||||
// std::cout << "syncPos:" <<syncPosPointX << " " << syncPosPointY;
|
||||
// std::cout << " uwbPos:" <<uwbPosPointX << " " << uwbPosPointY;
|
||||
// std::cout << " imuPos:" <<imuPosPointX << " " << imuPosPointY << std::endl;
|
||||
// img.at<unsigned char>(imuPosPointY, imuPosPointX) = 0;
|
||||
img.at<cv::Vec3b>(imuPosPointY, imuPosPointX) = cv::Vec3b(0,0,255); //imu trace is red
|
||||
img.at<cv::Vec3b>(uwbPosPointY, uwbPosPointX) = cv::Vec3b(0,255,0); //uwb trace is green
|
||||
img.at<cv::Vec3b>(syncPosPointY, syncPosPointX) = cv::Vec3b(255,0,0); //sync trace is blue
|
||||
}
|
||||
|
||||
|
||||
void Mapping::Run()
|
||||
{
|
||||
|
||||
//int key = cv::waitKey(0);//等待用户按下按键
|
||||
//std::cout << key << std::endl;
|
||||
realWidth = AREA_SIZE / PIXEL_SCALE;
|
||||
realHeight = AREA_SIZE / PIXEL_SCALE;
|
||||
|
||||
img = cv::Mat(realHeight, realWidth, CV_8UC3, cv::Scalar(255,255,255));
|
||||
//cankao
|
||||
for (int j=0;j<AREA_SIZE / PIXEL_SCALE;j+=10)
|
||||
for (int i=0;i<AREA_SIZE / PIXEL_SCALE;i+=10)
|
||||
img.at<cv::Vec3b>(j,i)= cv::Vec3b(0,0,0);
|
||||
|
||||
for (int j=realHeight/2-1; j<=realHeight/2+1; j+=1)
|
||||
for (int i=realWidth/2-1; i<=realWidth/2+1; i+=1)
|
||||
img.at<cv::Vec3b>(j,i)= cv::Vec3b(0,0,0);
|
||||
int i = 0, j = 0;
|
||||
img.at<cv::Vec3b>(j,i)= cv::Vec3b(0,0,0);
|
||||
|
||||
|
||||
|
||||
cv::imshow("Image",img);
|
||||
|
||||
// bool printFlag = 0;
|
||||
// std::ofstream outfile("data.txt",std::ofstream::out);
|
||||
// if(outfile.is_open()) {
|
||||
// std::cout << "start saving data" << key << std::endl;
|
||||
// printFlag = 1;
|
||||
// } else {
|
||||
// std::cout<<"file can not open"<<std::endl;
|
||||
// }
|
||||
|
||||
/*
|
||||
std::cout << "waiting" <<std::endl;
|
||||
int key = cv::waitKey(0);
|
||||
if (key == 'q' || key == 27) {
|
||||
this->feed_uwb_data(cv::Point2d(uwb_->x,uwb_->y));
|
||||
readPos = true;
|
||||
std::cout << "non" << key << std::endl;
|
||||
cv::destroyAllWindows();
|
||||
}
|
||||
*/
|
||||
while(1){
|
||||
int key = cv::waitKey(0);
|
||||
if (key == 'q' ) {
|
||||
readPos = true;
|
||||
std::cout << "start mapping" << key << std::endl;
|
||||
|
||||
//cv::destroyAllWindows();
|
||||
}
|
||||
while( readPos )//按下空格键
|
||||
{
|
||||
int key2 = cv::waitKey(1);
|
||||
if (key2 == 'q') {
|
||||
//TODO: save
|
||||
|
||||
std::string pngimage="/home/firefly/Project_Ros11/Project_Ros1/src/pibot_msgs/Map/output_image.png";//保存的图片文件路径
|
||||
cv::imwrite(pngimage,img);
|
||||
readPos = false;
|
||||
|
||||
// outfile.close();
|
||||
// printFlag = 0;
|
||||
// std::cout<< "Data written to file." << std::endl;
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
//this->feedPos(cv::Point2d(align_->imuPos.mat[0][0], align_->imuPos.mat[1][0]), cv::Point2d(align_->uwbPos.mat[0][0], align_->uwbPos.mat[1][0]), cv::Point2d(align_->syncPos.mat[0][0], align_->syncPos.mat[1][0]));
|
||||
//this->feedPos(cv::Point2d(uwb_->x, uwb_->y));
|
||||
|
||||
//uwb xieru
|
||||
//std::cout << "cur_SEQ: " <<uwb_->cur_seq << std::endl;
|
||||
|
||||
if(checkQueue())
|
||||
{
|
||||
//std::cout << " start process" << std::endl;
|
||||
process();
|
||||
//std::cout << " end process" << std::endl;
|
||||
|
||||
}
|
||||
}
|
||||
// std::cout << "out" << key << std::endl;
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
//std::string pngimage="../Map/pngimage.png";//保存的图片文件路径
|
||||
//cv::imwrite(pngimage,img);
|
||||
|
||||
/*ros 发送图片给导航 */
|
||||
}
|
||||
} // namespace uwb_slam
|
||||
|
||||
|
|
@ -1,147 +1,147 @@
|
|||
#include "senddata.h"
|
||||
|
||||
#define angleLimit 20
|
||||
#define disLimit 200
|
||||
|
||||
namespace uwb_slam
|
||||
{
|
||||
void Senddata::Run(std::shared_ptr<uwb_slam::Uwb>uwb){
|
||||
|
||||
ros::Rate loop_rate(10);
|
||||
// position_pub_=nh_.advertise<nav_msgs::Odometry>("uwb_odom",50);
|
||||
cmd_vel_pub_ = nh_.advertise<geometry_msgs::Twist>("cmd_vel",50);
|
||||
obstacles_sub_ = nh_.subscribe<pibot_msgs::dis_info_array>("ceju_info",1,boost::bind(&Senddata::stereoCB,this,_1));
|
||||
// odom_sub_=nh_.subscribe("odom",10,&Senddata::odomCB,this);
|
||||
while(ros::ok()){
|
||||
// publishOdometry(uwb);
|
||||
if (flag_)
|
||||
{
|
||||
cmd_vel_.linear.x = 0;
|
||||
cmd_vel_.angular.z = -1;
|
||||
for (int i = 0; i < 17; ++i) {
|
||||
cmd_vel_pub_.publish(cmd_vel_);
|
||||
loop_rate.sleep();
|
||||
}
|
||||
|
||||
cmd_vel_.linear.x = 0.2;
|
||||
cmd_vel_.angular.z = 0;
|
||||
for (int i = 0; i < 20; ++i) {
|
||||
cmd_vel_pub_.publish(cmd_vel_);
|
||||
loop_rate.sleep();
|
||||
}
|
||||
|
||||
cmd_vel_.linear.x = 0;
|
||||
cmd_vel_.angular.z = 1;
|
||||
for (int i = 0; i < 16; ++i) {
|
||||
cmd_vel_pub_.publish(cmd_vel_);
|
||||
loop_rate.sleep();
|
||||
}
|
||||
|
||||
cmd_vel_.linear.x = 0;
|
||||
cmd_vel_.angular.z = 0;
|
||||
flag_ = 0;
|
||||
}
|
||||
else if(abs(uwb->aoa[0]) > 180 || abs(uwb->d[0]) > 2000)
|
||||
{
|
||||
cmd_vel_.angular.z = 0;
|
||||
cmd_vel_.linear.x = 0;
|
||||
}
|
||||
else if(uwb->aoa[0] > angleLimit && uwb->aoa[0] <= 180)
|
||||
{
|
||||
float angularSpeed = (float)uwb->aoa[0] / 100 + 1;
|
||||
cmd_vel_.angular.z = angularSpeed;
|
||||
cmd_vel_.linear.x = 0;
|
||||
}
|
||||
else if(uwb->aoa[0] < -angleLimit)
|
||||
{
|
||||
float angularSpeed = (float)uwb->aoa[0] / 100 - 1;
|
||||
cmd_vel_.angular.z = angularSpeed;
|
||||
cmd_vel_.linear.x = 0;
|
||||
}
|
||||
else if(uwb->d[0] > disLimit)
|
||||
{
|
||||
float lineSpeed = (float)uwb->d[0] / 1000 + 0.1;
|
||||
cmd_vel_.angular.z = 0;
|
||||
cmd_vel_.linear.x = lineSpeed;
|
||||
}
|
||||
else if(uwb->d[0] < disLimit - 30)
|
||||
{
|
||||
cmd_vel_.angular.z = 0;
|
||||
cmd_vel_.linear.x = -0.2;
|
||||
}
|
||||
else
|
||||
{
|
||||
cmd_vel_.angular.z = 0;
|
||||
cmd_vel_.linear.x = 0;
|
||||
}
|
||||
cmd_vel_pub_.publish(cmd_vel_);
|
||||
ros::spinOnce();
|
||||
loop_rate.sleep();
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
// void Senddata::odomCB(const nav_msgs::Odometry& odom){
|
||||
// sub_odom_ = odom;
|
||||
// return;
|
||||
// }
|
||||
void Senddata::stereoCB(const pibot_msgs::dis_info_array::ConstPtr& stereo)
|
||||
{
|
||||
for (const auto& obstacle_info :stereo->dis)
|
||||
{
|
||||
float distance = obstacle_info.distance;
|
||||
// float width = obstacle_info.width;
|
||||
// float height = obstacle_info.height;
|
||||
// float angle = obstacle_info.angle;
|
||||
|
||||
// if(distance>5&&distance<45&&cmd_vel_.linear.x!=0)
|
||||
if(distance>5&&distance<45)
|
||||
{
|
||||
flag_ = 1;
|
||||
}
|
||||
}
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
// void Senddata::publishOdometry(std::shared_ptr<uwb_slam::Uwb>uwb)
|
||||
// {
|
||||
|
||||
// std::mutex mMutexSend;
|
||||
// ros::Time current_time = ros::Time::now();
|
||||
|
||||
// // 设置 Odometry 消息的头部信息
|
||||
// odom_.header.stamp = current_time;
|
||||
// odom_.header.frame_id = "odom"; // 设置坐标系为 "map"
|
||||
// odom_.child_frame_id = "base_link"; // 设置坐标系为 "base_link"
|
||||
|
||||
// // 填充 Odometry 消息的位置信息
|
||||
// odom_.pose.pose.position.x = uwb->uwb_data_.x_;
|
||||
// odom_.pose.pose.position.y = uwb->uwb_data_.y_;
|
||||
// odom_.pose.pose.position.z = 0.0;
|
||||
|
||||
|
||||
// // 填充 Odometry 消息的姿态信息（使用四元数来表示姿态）
|
||||
// // tf2::Quaternion quat;
|
||||
// // quat.setRPY(0, 0, uwb->theta); // 设置了 yaw 角度，其他 roll 和 pitch 设置为 0
|
||||
// // odom.pose.pose.orientation.x = quat.x();
|
||||
// // odom.pose.pose.orientation.y = quat.y();
|
||||
// // odom.pose.pose.orientation.z = quat.z();
|
||||
// // odom.pose.pose.orientation.w = quat.w();
|
||||
|
||||
// odom_.pose.pose.orientation.x = sub_odom_.pose.pose.orientation.x;
|
||||
// odom_.pose.pose.orientation.y = sub_odom_.pose.pose.orientation.y;
|
||||
// odom_.pose.pose.orientation.z = sub_odom_.pose.pose.orientation.z;
|
||||
// odom_.pose.pose.orientation.w = sub_odom_.pose.pose.orientation.w;
|
||||
|
||||
// // 发布 Odometry 消息
|
||||
// position_pub_.publish(odom_);
|
||||
|
||||
|
||||
// }
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#include "senddata.h"
|
||||
|
||||
#define angleLimit 20
|
||||
#define disLimit 200
|
||||
|
||||
namespace uwb_slam
|
||||
{
|
||||
void Senddata::Run(std::shared_ptr<uwb_slam::Uwb>uwb){
|
||||
|
||||
ros::Rate loop_rate(10);
|
||||
// position_pub_=nh_.advertise<nav_msgs::Odometry>("uwb_odom",50);
|
||||
cmd_vel_pub_ = nh_.advertise<geometry_msgs::Twist>("cmd_vel",50);
|
||||
obstacles_sub_ = nh_.subscribe<pibot_msgs::dis_info_array>("ceju_info",1,boost::bind(&Senddata::stereoCB,this,_1));
|
||||
// odom_sub_=nh_.subscribe("odom",10,&Senddata::odomCB,this);
|
||||
while(ros::ok()){
|
||||
// publishOdometry(uwb);
|
||||
if (flag_)
|
||||
{
|
||||
cmd_vel_.linear.x = 0;
|
||||
cmd_vel_.angular.z = -1;
|
||||
for (int i = 0; i < 17; ++i) {
|
||||
cmd_vel_pub_.publish(cmd_vel_);
|
||||
loop_rate.sleep();
|
||||
}
|
||||
|
||||
cmd_vel_.linear.x = 0.2;
|
||||
cmd_vel_.angular.z = 0;
|
||||
for (int i = 0; i < 20; ++i) {
|
||||
cmd_vel_pub_.publish(cmd_vel_);
|
||||
loop_rate.sleep();
|
||||
}
|
||||
|
||||
cmd_vel_.linear.x = 0;
|
||||
cmd_vel_.angular.z = 1;
|
||||
for (int i = 0; i < 16; ++i) {
|
||||
cmd_vel_pub_.publish(cmd_vel_);
|
||||
loop_rate.sleep();
|
||||
}
|
||||
|
||||
cmd_vel_.linear.x = 0;
|
||||
cmd_vel_.angular.z = 0;
|
||||
flag_ = 0;
|
||||
}
|
||||
else if(abs(uwb->aoa[0]) > 180 || abs(uwb->d[0]) > 2000)
|
||||
{
|
||||
cmd_vel_.angular.z = 0;
|
||||
cmd_vel_.linear.x = 0;
|
||||
}
|
||||
else if(uwb->aoa[0] > angleLimit && uwb->aoa[0] <= 180)
|
||||
{
|
||||
float angularSpeed = (float)uwb->aoa[0] / 100 + 1;
|
||||
cmd_vel_.angular.z = angularSpeed;
|
||||
cmd_vel_.linear.x = 0;
|
||||
}
|
||||
else if(uwb->aoa[0] < -angleLimit)
|
||||
{
|
||||
float angularSpeed = (float)uwb->aoa[0] / 100 - 1;
|
||||
cmd_vel_.angular.z = angularSpeed;
|
||||
cmd_vel_.linear.x = 0;
|
||||
}
|
||||
else if(uwb->d[0] > disLimit)
|
||||
{
|
||||
float lineSpeed = (float)uwb->d[0] / 1000 + 0.1;
|
||||
cmd_vel_.angular.z = 0;
|
||||
cmd_vel_.linear.x = lineSpeed;
|
||||
}
|
||||
else if(uwb->d[0] < disLimit - 30)
|
||||
{
|
||||
cmd_vel_.angular.z = 0;
|
||||
cmd_vel_.linear.x = -0.2;
|
||||
}
|
||||
else
|
||||
{
|
||||
cmd_vel_.angular.z = 0;
|
||||
cmd_vel_.linear.x = 0;
|
||||
}
|
||||
cmd_vel_pub_.publish(cmd_vel_);
|
||||
ros::spinOnce();
|
||||
loop_rate.sleep();
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
// void Senddata::odomCB(const nav_msgs::Odometry& odom){
|
||||
// sub_odom_ = odom;
|
||||
// return;
|
||||
// }
|
||||
void Senddata::stereoCB(const pibot_msgs::dis_info_array::ConstPtr& stereo)
|
||||
{
|
||||
for (const auto& obstacle_info :stereo->dis)
|
||||
{
|
||||
float distance = obstacle_info.distance;
|
||||
// float width = obstacle_info.width;
|
||||
// float height = obstacle_info.height;
|
||||
// float angle = obstacle_info.angle;
|
||||
|
||||
// if(distance>5&&distance<45&&cmd_vel_.linear.x!=0)
|
||||
if(distance>5&&distance<45)
|
||||
{
|
||||
flag_ = 1;
|
||||
}
|
||||
}
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
// void Senddata::publishOdometry(std::shared_ptr<uwb_slam::Uwb>uwb)
|
||||
// {
|
||||
|
||||
// std::mutex mMutexSend;
|
||||
// ros::Time current_time = ros::Time::now();
|
||||
|
||||
// // 设置 Odometry 消息的头部信息
|
||||
// odom_.header.stamp = current_time;
|
||||
// odom_.header.frame_id = "odom"; // 设置坐标系为 "map"
|
||||
// odom_.child_frame_id = "base_link"; // 设置坐标系为 "base_link"
|
||||
|
||||
// // 填充 Odometry 消息的位置信息
|
||||
// odom_.pose.pose.position.x = uwb->uwb_data_.x_;
|
||||
// odom_.pose.pose.position.y = uwb->uwb_data_.y_;
|
||||
// odom_.pose.pose.position.z = 0.0;
|
||||
|
||||
|
||||
// // 填充 Odometry 消息的姿态信息（使用四元数来表示姿态）
|
||||
// // tf2::Quaternion quat;
|
||||
// // quat.setRPY(0, 0, uwb->theta); // 设置了 yaw 角度，其他 roll 和 pitch 设置为 0
|
||||
// // odom.pose.pose.orientation.x = quat.x();
|
||||
// // odom.pose.pose.orientation.y = quat.y();
|
||||
// // odom.pose.pose.orientation.z = quat.z();
|
||||
// // odom.pose.pose.orientation.w = quat.w();
|
||||
|
||||
// odom_.pose.pose.orientation.x = sub_odom_.pose.pose.orientation.x;
|
||||
// odom_.pose.pose.orientation.y = sub_odom_.pose.pose.orientation.y;
|
||||
// odom_.pose.pose.orientation.z = sub_odom_.pose.pose.orientation.z;
|
||||
// odom_.pose.pose.orientation.w = sub_odom_.pose.pose.orientation.w;
|
||||
|
||||
// // 发布 Odometry 消息
|
||||
// position_pub_.publish(odom_);
|
||||
|
||||
|
||||
// }
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
} // namespace uwb_slam
|
||||
|
|
@ -1,121 +1,121 @@
|
|||
#include "uwb.h"
|
||||
#include <cmath>
|
||||
#include "Mat.h"
|
||||
|
||||
|
||||
#define CARHEIGHT 20
|
||||
#define DISINDEX 3
|
||||
#define AOAINDEX 15
|
||||
#define DATALENGTH 27
|
||||
|
||||
namespace uwb_slam{
|
||||
Uwb::Uwb(){
|
||||
|
||||
}
|
||||
|
||||
void Uwb::Run() {
|
||||
|
||||
while(1){
|
||||
this->Serread();
|
||||
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
void Uwb::Serread(){
|
||||
try {
|
||||
boost::asio::io_service io;
|
||||
boost::asio::serial_port serial(io, "/dev/ttyUSB1"); // 替换成你的串口设备路径
|
||||
|
||||
serial.set_option(boost::asio::serial_port_base::baud_rate(115200)); // 设置波特率
|
||||
serial.set_option(boost::asio::serial_port_base::character_size(8)); // 设置数据位
|
||||
serial.set_option(boost::asio::serial_port_base::parity(boost::asio::serial_port_base::parity::none)); // 设置校验位
|
||||
serial.set_option(boost::asio::serial_port_base::stop_bits(boost::asio::serial_port_base::stop_bits::one)); // 设置停止位
|
||||
|
||||
uint8_t tmpdata[DATALENGTH];
|
||||
// std::cerr << "befor read" << std::endl;
|
||||
size_t bytesRead = boost::asio::read(serial, boost::asio::buffer(tmpdata, sizeof(tmpdata))); // 读取串口数据
|
||||
// std::cerr << "after read" << std::endl;
|
||||
this->uwb_data_.uwb_t_ = ros::Time::now();
|
||||
|
||||
for (int i=0;i< bytesRead;i++)
|
||||
{
|
||||
std::cout << std::hex<<static_cast<int>(tmpdata[i]) << " ";
|
||||
}
|
||||
std::cout << std::endl;
|
||||
|
||||
memcpy(&this->d[0], &tmpdata[DISINDEX], sizeof(d[0]));
|
||||
memcpy(&this->d[1], &tmpdata[DISINDEX + sizeof(d[0])], sizeof(d[0]));
|
||||
memcpy(&this->d[2], &tmpdata[DISINDEX + sizeof(d[0]) * 2], sizeof(d[0]));
|
||||
memcpy(&this->aoa[0], &tmpdata[AOAINDEX], sizeof(aoa[0]));
|
||||
memcpy(&this->aoa[1], &tmpdata[AOAINDEX + sizeof(aoa[0])], sizeof(aoa[0]));
|
||||
memcpy(&this->aoa[2], &tmpdata[AOAINDEX + sizeof(aoa[0]) * 2], sizeof(aoa[0]));
|
||||
|
||||
//std::cout << "d:" << d[0] << " " << d[1] << " " << d[2] << std::endl;
|
||||
|
||||
// if(abs(d[0]) > 2000 || abs(d[1]) > 2000 || abs(d[2]) > 2000) {
|
||||
// return;
|
||||
// }
|
||||
// for(int i=0; i<3; i++)
|
||||
// {
|
||||
// this->d[i] = sqrt(this->d[i] * this->d[i] - (AnchorPos[i][2] - CARHEIGHT) * (AnchorPos[i][2] - CARHEIGHT));
|
||||
// }
|
||||
|
||||
std::cout<<"d: "<<this->d[0]<<" aoa: "<<this->aoa[0]<<std::endl;
|
||||
d[0] = ((((-1.4229e-07 * d[0]) + 1.8784e-04) * d[0]) + 0.9112) * d[0] + 2.4464;
|
||||
// d[1] = ((((-2.3004e-07 * d[1]) + 3.2942e-04) * d[1]) + 0.8385) * d[1] + 6.2770;
|
||||
// d[2] = ((((-2.0616e-07 * d[2]) + 3.3886e-04) * d[2]) + 0.8231) * d[2] + 8.1566;
|
||||
} catch (const std::exception& ex) {
|
||||
std::cerr << "Exception: " << ex.what() << std::endl;
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
void fusion()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
};
|
||||
|
||||
// bool Uwb::checknewdata()
|
||||
// {
|
||||
// std::unique_lock<std::mutex> lock(mMutexUwb);
|
||||
// return !v_buffer_imu_odom_pose_data_.empty();
|
||||
// }
|
||||
|
||||
// void Uwb::Run() {
|
||||
// while(1)
|
||||
// {
|
||||
// if(checknewdata())
|
||||
// {
|
||||
// {
|
||||
// std::unique_lock<std::mutex> lock(mMutexUwb);
|
||||
// Imu_odom_pose_data imu_odom_pose_data = v_buffer_imu_odom_pose_data_.front();
|
||||
// v_buffer_imu_odom_pose_data_.pop();
|
||||
// }
|
||||
|
||||
|
||||
|
||||
// }
|
||||
// }
|
||||
|
||||
|
||||
|
||||
// }
|
||||
|
||||
// void Uwb::feed_imu_odom_pose_data(const Imu_odom_pose_data& imu_odom_pose_data){
|
||||
// std::unique_lock<std::mutex> lock(mMutexUwb);
|
||||
// v_buffer_imu_odom_pose_data_.push(imu_odom_pose_data);
|
||||
// }
|
||||
|
||||
#include "uwb.h"
|
||||
#include <cmath>
|
||||
#include "Mat.h"
|
||||
|
||||
|
||||
#define CARHEIGHT 20
|
||||
#define DISINDEX 3
|
||||
#define AOAINDEX 15
|
||||
#define DATALENGTH 27
|
||||
|
||||
namespace uwb_slam{
|
||||
Uwb::Uwb(){
|
||||
|
||||
}
|
||||
|
||||
void Uwb::Run() {
|
||||
|
||||
while(1){
|
||||
this->Serread();
|
||||
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
void Uwb::Serread(){
|
||||
try {
|
||||
boost::asio::io_service io;
|
||||
boost::asio::serial_port serial(io, "/dev/ttyUSB1"); // 替换成你的串口设备路径
|
||||
|
||||
serial.set_option(boost::asio::serial_port_base::baud_rate(115200)); // 设置波特率
|
||||
serial.set_option(boost::asio::serial_port_base::character_size(8)); // 设置数据位
|
||||
serial.set_option(boost::asio::serial_port_base::parity(boost::asio::serial_port_base::parity::none)); // 设置校验位
|
||||
serial.set_option(boost::asio::serial_port_base::stop_bits(boost::asio::serial_port_base::stop_bits::one)); // 设置停止位
|
||||
|
||||
uint8_t tmpdata[DATALENGTH];
|
||||
// std::cerr << "befor read" << std::endl;
|
||||
size_t bytesRead = boost::asio::read(serial, boost::asio::buffer(tmpdata, sizeof(tmpdata))); // 读取串口数据
|
||||
// std::cerr << "after read" << std::endl;
|
||||
this->uwb_data_.uwb_t_ = ros::Time::now();
|
||||
|
||||
for (int i=0;i< bytesRead;i++)
|
||||
{
|
||||
std::cout << std::hex<<static_cast<int>(tmpdata[i]) << " ";
|
||||
}
|
||||
std::cout << std::endl;
|
||||
|
||||
memcpy(&this->d[0], &tmpdata[DISINDEX], sizeof(d[0]));
|
||||
memcpy(&this->d[1], &tmpdata[DISINDEX + sizeof(d[0])], sizeof(d[0]));
|
||||
memcpy(&this->d[2], &tmpdata[DISINDEX + sizeof(d[0]) * 2], sizeof(d[0]));
|
||||
memcpy(&this->aoa[0], &tmpdata[AOAINDEX], sizeof(aoa[0]));
|
||||
memcpy(&this->aoa[1], &tmpdata[AOAINDEX + sizeof(aoa[0])], sizeof(aoa[0]));
|
||||
memcpy(&this->aoa[2], &tmpdata[AOAINDEX + sizeof(aoa[0]) * 2], sizeof(aoa[0]));
|
||||
|
||||
//std::cout << "d:" << d[0] << " " << d[1] << " " << d[2] << std::endl;
|
||||
|
||||
// if(abs(d[0]) > 2000 || abs(d[1]) > 2000 || abs(d[2]) > 2000) {
|
||||
// return;
|
||||
// }
|
||||
// for(int i=0; i<3; i++)
|
||||
// {
|
||||
// this->d[i] = sqrt(this->d[i] * this->d[i] - (AnchorPos[i][2] - CARHEIGHT) * (AnchorPos[i][2] - CARHEIGHT));
|
||||
// }
|
||||
|
||||
std::cout<<"d: "<<this->d[0]<<" aoa: "<<this->aoa[0]<<std::endl;
|
||||
d[0] = ((((-1.4229e-07 * d[0]) + 1.8784e-04) * d[0]) + 0.9112) * d[0] + 2.4464;
|
||||
// d[1] = ((((-2.3004e-07 * d[1]) + 3.2942e-04) * d[1]) + 0.8385) * d[1] + 6.2770;
|
||||
// d[2] = ((((-2.0616e-07 * d[2]) + 3.3886e-04) * d[2]) + 0.8231) * d[2] + 8.1566;
|
||||
} catch (const std::exception& ex) {
|
||||
std::cerr << "Exception: " << ex.what() << std::endl;
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
void fusion()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
};
|
||||
|
||||
// bool Uwb::checknewdata()
|
||||
// {
|
||||
// std::unique_lock<std::mutex> lock(mMutexUwb);
|
||||
// return !v_buffer_imu_odom_pose_data_.empty();
|
||||
// }
|
||||
|
||||
// void Uwb::Run() {
|
||||
// while(1)
|
||||
// {
|
||||
// if(checknewdata())
|
||||
// {
|
||||
// {
|
||||
// std::unique_lock<std::mutex> lock(mMutexUwb);
|
||||
// Imu_odom_pose_data imu_odom_pose_data = v_buffer_imu_odom_pose_data_.front();
|
||||
// v_buffer_imu_odom_pose_data_.pop();
|
||||
// }
|
||||
|
||||
|
||||
|
||||
// }
|
||||
// }
|
||||
|
||||
|
||||
|
||||
// }
|
||||
|
||||
// void Uwb::feed_imu_odom_pose_data(const Imu_odom_pose_data& imu_odom_pose_data){
|
||||
// std::unique_lock<std::mutex> lock(mMutexUwb);
|
||||
// v_buffer_imu_odom_pose_data_.push(imu_odom_pose_data);
|
||||
// }
|
||||
|
||||
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/gripper_controller.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/gripper_controller.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/one_side_gripper_controller.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/one_side_gripper_controller.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/parallel_gripper_action_controller.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/parallel_gripper_action_controller.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/parallel_gripper_controller.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/parallel_gripper_controller.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/parallel_single_servo_controller.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/parallel_single_servo_controller.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/setup.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/setup.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/__init__.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/__init__.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/arbotix.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/arbotix.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/ax12.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/ax12.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/controllers.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/controllers.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/diff_controller.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/diff_controller.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/follow_controller.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/follow_controller.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/io.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/io.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/joints.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/joints.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/linear_controller.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/linear_controller.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/publishers.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/publishers.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/servo_controller.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/servo_controller.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/bin/ir_ranger.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/bin/ir_ranger.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/bin/max_sonar.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/bin/max_sonar.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/setup.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/setup.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/src/arbotix_sensors/__init__.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/src/arbotix_sensors/__init__.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/src/arbotix_sensors/sensors.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/src/arbotix_sensors/sensors.py
Executable file → Normal file
|
|
@ -36,7 +36,6 @@ add_message_files(
|
|||
RoomSequence.msg
|
||||
dis_info.msg
|
||||
dis_info_array.msg
|
||||
avoid.msg
|
||||
)
|
||||
|
||||
## Generate services in the 'srv' folder
|
||||
|
|
|
|||
|
|
@ -1,6 +0,0 @@
|
|||
Header header
|
||||
float32 ultrasonic_range
|
||||
bool l1
|
||||
bool l2
|
||||
bool r1
|
||||
bool r2
|
||||
|
|
@ -0,0 +1,226 @@
|
|||
time,goalx,goaly,goaltheta,currentx,currenty,currenttheta,flag,linearx,anglez
|
||||
1712649995.270271216,-2.14681,-1.24004,-0.0680199,0.000126608,-0.118708,0.00108108,0,0.0666667,-0.2842111712649995.270350534,
|
||||
1712649995.420440111,-2.14681,-1.24004,-0.0680199,0.0001273,-0.119356,0.00107517,0,0.0666667,-0.2842111712649995.420477729,
|
||||
1712649995.570565265,-2.14681,-1.24004,-0.0680199,0.000128683,-0.120654,0.00116402,0,0.0666667,-0.2842111712649995.570598800,
|
||||
1712649995.720681087,-2.14681,-1.24004,-0.0680199,0.000129375,-0.121302,0.00119952,0,0.0666667,-0.2842111712649995.720718121,
|
||||
1712649995.870816156,-2.14681,-1.24004,-0.0680199,0.000130759,-0.122599,0.00120747,0,0.0666667,-0.2842111712649995.870869520,
|
||||
1712649996.020970483,-2.14681,-1.24004,-0.0680199,0.00013145,-0.123248,0.00114803,0,0.0666667,-0.2842111712649996.021015099,
|
||||
1712649996.171096324,-2.14681,-1.24004,-0.0680199,0.000132833,-0.124544,0.001076,0,0.0666667,-0.2842111712649996.171133650,
|
||||
1712649996.321217790,-2.14681,-1.24004,-0.0680199,0.000133525,-0.125193,0.00109211,0,0.0666667,-0.2842111712649996.321256574,
|
||||
1712649996.471346839,-2.14681,-1.24004,-0.0680199,0.000134907,-0.126489,0.00103656,0,0.0666667,-0.2842111712649996.471384457,
|
||||
1712649996.621469181,-2.14681,-1.24004,-0.0680199,0.000135598,-0.127137,0.000994454,0,0.0666667,-0.2842111712649996.621506215,
|
||||
1712649996.771591231,-2.14681,-1.24004,-0.0680199,0.00013698,-0.128432,0.0010035,0,0.0666667,-0.2842111712649996.771628265,
|
||||
1712649996.921712698,-2.14681,-1.24004,-0.0680199,0.00013767,-0.12908,0.00104683,0,0.0666667,-0.2842111712649996.921751190,
|
||||
1712649997.071835087,-2.14681,-1.24004,-0.0680199,0.000139051,-0.130374,0.00105186,0,0.0666667,-0.2842111712649997.071873288,
|
||||
1712649997.221955782,-2.14681,-1.24004,-0.0680199,0.000139741,-0.131021,0.00110925,0,0.0666667,-0.3221051712649997.221995441,
|
||||
1712649997.372082310,-2.14681,-1.24004,-0.0680199,0.00014112,-0.132314,0.0011201,0,0.0666667,-0.3221051712649997.372122844,
|
||||
1712649997.522205338,-2.14681,-1.24004,-0.0680199,0.000141809,-0.132961,0.00117067,0,0.0666667,-0.3221051712649997.522241498,
|
||||
1712649997.672329825,-2.14681,-1.24004,-0.0680199,0.000143187,-0.134252,0.00117975,0,0.0666667,-0.3221051712649997.672369192,
|
||||
1712649997.822454020,-2.14681,-1.24004,-0.0680199,0.000143876,-0.134898,0.00118662,0,0.0666667,-0.3221051712649997.822491054,
|
||||
1712649997.972573549,-2.14681,-1.24004,-0.0680199,0.000145252,-0.136188,0.00126379,0,0.0666667,-0.3221051712649997.972612333,
|
||||
1712649998.122701325,-2.14681,-1.24004,-0.0680199,0.000145939,-0.136833,0.00130866,0,0.0666667,-0.3221051712649998.122738943,
|
||||
1712649998.272825040,-2.14681,-1.24004,-0.0680199,0.000147314,-0.138121,0.00137592,0,0.0666667,-0.3221051712649998.272859742,
|
||||
1712649998.422944089,-2.14681,-1.24004,-0.0680199,0.000148,-0.138765,0.00133704,0,0.0666667,-0.3221051712649998.422981999,
|
||||
1712649998.573071303,-2.14681,-1.24004,-0.0680199,0.000149372,-0.140051,0.00127659,0,0.0666667,-0.3221051712649998.573108921,
|
||||
1712649998.723195310,-2.14681,-1.24004,-0.0680199,0.000150058,-0.140694,0.00119922,0,0.0666667,-0.3221051712649998.723232344,
|
||||
1712649998.873317275,-2.14681,-1.24004,-0.0680199,0.000151427,-0.141978,0.00111597,0,0.0666667,-0.3221051712649998.873365682,
|
||||
1712649999.023461125,-2.14681,-1.24004,-0.0680199,0.000152112,-0.14262,0.00108041,0,0.0666667,-0.3221051712649999.023499617,
|
||||
1712649999.173584068,-2.14681,-1.24004,-0.0680199,0.000153479,-0.143902,0.00103988,0,0.0666667,-0.3221051712649999.173622560,
|
||||
1712649999.323710510,-2.14681,-1.24004,-0.0680199,0.000154162,-0.144542,0.000980021,0,0.0666667,-0.3221051712649999.323746961,
|
||||
1712649999.473836660,-2.14681,-1.24004,-0.0680199,0.000155526,-0.145821,0.000966117,0,0.0666667,-0.3221051712649999.473876902,
|
||||
1712649999.623965435,-2.14681,-1.24004,-0.0680199,0.000156208,-0.14646,0.00102357,0,0.0666667,-0.3221051712649999.624005969,
|
||||
1712649999.774090127,-2.14681,-1.24004,-0.0680199,0.000157569,-0.147737,0.00106862,0,0.0666667,-0.3221051712649999.774130078,
|
||||
1712649999.924217736,-2.14681,-1.24004,-0.0680199,0.000158249,-0.148375,0.00111583,0,0.0666667,-0.3221051712649999.924256812,
|
||||
1712650000.074355597,-2.14681,-1.24004,-0.0680199,0.000159608,-0.149648,0.00110795,0,0.0666667,-0.3221051712650000.074403421,
|
||||
1712650000.224490015,-2.14681,-1.24004,-0.0680199,0.000160286,-0.150284,0.00118314,0,0.0666667,-0.3221051712650000.224530841,
|
||||
1712650000.374632890,-2.14681,-1.24004,-0.0680199,0.000161642,-0.151555,0.00126415,0,0.0666667,-0.3221051712650000.374725913,
|
||||
1712650000.524859456,-2.14681,-1.24004,-0.0680199,0.000162318,-0.15219,0.00128455,0,0.0666667,-0.3221051712650000.524944023,
|
||||
1712650000.675087481,-2.14681,-1.24004,-0.0680199,0.00016367,-0.153457,0.00121758,0,0.0666667,-0.3221051712650000.675172048,
|
||||
1712650000.825302675,-2.14681,-1.24004,-0.0680199,0.000164345,-0.15409,0.00117079,0,0.0666667,-0.2842111712650000.825393949,
|
||||
1712650000.975527492,-2.14681,-1.24004,-0.0680199,0.000165694,-0.155354,0.00121616,0,0.0666667,-0.2842111712650000.975614100,
|
||||
1712650001.125749765,-2.14681,-1.24004,-0.0680199,0.000166367,-0.155985,0.0011577,0,0.0666667,-0.2842111712650001.125834915,
|
||||
1712650001.275972351,-2.14681,-1.24004,-0.0680199,0.000167711,-0.157246,0.00106305,0,0.0666667,-0.2842111712650001.276111449,
|
||||
1712650001.426252385,-2.14681,-1.24004,-0.0680199,0.000168383,-0.157876,0.00114053,0,0.0666667,-0.2842111712650001.426341617,
|
||||
1712650001.576473221,-2.14681,-1.24004,-0.0680199,0.000169723,-0.159132,0.00113743,0,0.0666667,-0.2842111712650001.576555455,
|
||||
1712650001.726689683,-2.14681,-1.24004,-0.0680199,0.000170393,-0.15976,0.00118093,0,0.0666667,-0.2842111712650001.726776291,
|
||||
1712650001.876913144,-2.14681,-1.24004,-0.0680199,0.000171729,-0.161013,0.00121736,0,0.0666667,-0.2842111712650001.877012000,
|
||||
1712650002.027164031,-2.14681,-1.24004,-0.0680199,0.000172396,-0.161639,0.00118472,0,0.0666667,-0.2842111712650002.027246848,
|
||||
1712650002.177380011,-2.14681,-1.24004,-0.0680199,0.000173729,-0.162888,0.00118799,0,0.0666667,-0.2842111712650002.177459329,
|
||||
1712650002.327596283,-2.14681,-1.24004,-0.0680199,0.000174394,-0.163512,0.00121916,0,0.0666667,-0.2842111712650002.327682892,
|
||||
1712650002.477820138,-2.14681,-1.24004,-0.0680199,0.000175722,-0.164757,0.00124341,0,0.0666667,-0.2842111712650002.477902955,
|
||||
1712650002.628034660,-2.14681,-1.24004,-0.0680199,0.000176385,-0.165378,0.00116129,0,0.0666667,-0.2842111712650002.628126517,
|
||||
1712650002.778313920,-2.14681,-1.24004,-0.0680199,0.000177708,-0.166619,0.00117145,0,0.0666667,-0.2842111712650002.778402570,
|
||||
1712650002.928534567,-2.14681,-1.24004,-0.0680199,0.000178369,-0.167239,0.00117384,0,0.0666667,-0.2842111712650002.928620300,
|
||||
1712650003.078752057,-2.14681,-1.24004,-0.0680199,0.000179688,-0.168475,0.00120156,0,0.0666667,-0.2842111712650003.078843039,
|
||||
1712650003.228978928,-2.14681,-1.24004,-0.0680199,0.000180346,-0.169093,0.00112874,0,0.0666667,-0.2842111712650003.229063787,
|
||||
1712650003.379197051,-2.14681,-1.24004,-0.0680199,0.00018166,-0.170325,0.0011095,0,0.0666667,-0.2842111712650003.379288325,
|
||||
1712650003.529385722,-2.14681,-1.24004,-0.0680199,0.000182316,-0.17094,0.00108477,0,0.0666667,-0.2842111712650003.529469997,
|
||||
1712650003.679597721,-2.14681,-1.24004,-0.0680199,0.000183625,-0.172167,0.00108061,0,0.0666667,-0.2842111712650003.679637088,
|
||||
1712650003.829726028,-2.14681,-1.24004,-0.0680199,0.000184279,-0.17278,0.00104604,0,0.0666667,-0.2842111712650003.829764812,
|
||||
1712650003.979849086,-2.14681,-1.24004,-0.0680199,0.000185583,-0.174003,0.00108798,0,0.0666667,-0.2842111712650003.979884371,
|
||||
1712650004.129970189,-2.14681,-1.24004,-0.0680199,0.000186234,-0.174613,0.00101155,0,0.0666667,-0.2842111712650004.130008973,
|
||||
1712650004.280097139,-2.14681,-1.24004,-0.0680199,0.000187533,-0.175831,0.00106254,0,0.0666667,-0.2842111712650004.280133882,
|
||||
1712650004.430223214,-2.14681,-1.24004,-0.0680199,0.000188182,-0.176439,0.00102951,0,0.0666667,-0.2842111712650004.430262873,
|
||||
1712650004.580351038,-2.14681,-1.24004,-0.0680199,0.000189476,-0.177652,0.00101661,0,0.0666667,-0.2842111712650004.580386906,
|
||||
1712650004.730471281,-2.14681,-1.24004,-0.0680199,0.000190121,-0.178258,0.00101095,0,0.0666667,-0.2842111712650004.730509482,
|
||||
1712650004.880612228,-2.14681,-1.24004,-0.0680199,0.00019141,-0.179466,0.000984505,0,0.0666667,-0.2842111712650004.880659469,
|
||||
1712650005.030763984,-2.14681,-1.24004,-0.0680199,0.000192053,-0.180069,0.000969288,0,0.0666667,-0.2842111712650005.030804226,
|
||||
1712650005.180892201,-2.14681,-1.24004,-0.0680199,0.000193336,-0.181272,0.000960705,0,0.0666667,-0.2842111712650005.180939442,
|
||||
1712650005.331036164,-2.14681,-1.24004,-0.0680199,0.000193976,-0.181872,0.00100667,0,0.0666667,-0.3221051712650005.331074949,
|
||||
1712650005.481160007,-2.14681,-1.24004,-0.0680199,0.000195254,-0.18307,0.00101509,0,0.0666667,-0.3221051712650005.481198499,
|
||||
1712650005.631284724,-2.14681,-1.24004,-0.0680199,0.000195891,-0.183668,0.00103061,0,0.0666667,-0.3221051712650005.631324092,
|
||||
1712650005.781408858,-2.14681,-1.24004,-0.0680199,0.000197163,-0.18486,0.00104498,0,0.0666667,-0.3221051712650005.781445893,
|
||||
1712650005.931534742,-2.14681,-1.24004,-0.0680199,0.000197798,-0.185455,0.00105974,0,0.0666667,-0.3221051712650005.931571777,
|
||||
1712650006.081656304,-2.14681,-1.24004,-0.0680199,0.000199064,-0.186643,0.0010127,0,0.0666667,-0.3221051712650006.081692173,
|
||||
1712650006.231775873,-2.14681,-1.24004,-0.0680199,0.000199696,-0.187235,0.00100173,0,0.0666667,-0.3221051712650006.231814074,
|
||||
1712650006.381896024,-2.14681,-1.24004,-0.0680199,0.000200956,-0.188417,0.000971277,0,0.0666667,-0.3221051712650006.381935975,
|
||||
1712650006.532020842,-2.14681,-1.24004,-0.0680199,0.000201585,-0.189006,0.000959253,0,0.0666667,-0.3221051712650006.532059334,
|
||||
1712650006.682143326,-2.14681,-1.24004,-0.0680199,0.00020284,-0.190183,0.00100463,0,0.0666667,-0.3221051712650006.682181527,
|
||||
1712650006.832266977,-2.14681,-1.24004,-0.0680199,0.000203466,-0.190769,0.000926351,0,0.0666667,-0.3221051712650006.832304303,
|
||||
1712650006.982387420,-2.14681,-1.24004,-0.0680199,0.000204714,-0.19194,0.00089476,0,0.0666667,-0.3221051712650006.982424455,
|
||||
1712650007.132511449,-2.14681,-1.24004,-0.0680199,0.000205337,-0.192524,0.000978409,0,0.0666667,-0.3221051712650007.132548484,
|
||||
1712650007.282631409,-2.14681,-1.24004,-0.0680199,0.000206579,-0.193689,0.000971347,0,0.0666667,-0.3221051712650007.282669318,
|
||||
1712650007.432759242,-2.14681,-1.24004,-0.0680199,0.000207199,-0.19427,0.000971158,0,0.0666667,-0.3221051712650007.432799484,
|
||||
1712650007.582884742,-2.14681,-1.24004,-0.0680199,0.000208436,-0.195429,0.00103298,0,0.0666667,-0.3221051712650007.582919152,
|
||||
1712650007.733006159,-2.14681,-1.24004,-0.0680199,0.000209052,-0.196007,0.00101848,0,0.0666667,-0.3221051712650007.733044652,
|
||||
1712650007.883129327,-2.14681,-1.24004,-0.0680199,0.000210282,-0.197161,0.000998235,0,0.0666667,-0.3221051712650007.883168111,
|
||||
1712650008.033253097,-2.14681,-1.24004,-0.0680199,0.000210896,-0.197736,0.00106163,0,0.0666667,-0.3221051712650008.033293631,
|
||||
1712650008.183376364,-2.14681,-1.24004,-0.0680199,0.00021212,-0.198883,0.00110045,0,0.0666667,-0.3221051712650008.183419522,
|
||||
1712650008.333508962,-2.14681,-1.24004,-0.0680199,0.00021273,-0.199456,0.00106078,0,0.0666667,-0.3221051712650008.333548913,
|
||||
1712650008.483635145,-2.14681,-1.24004,-0.0680199,0.000213947,-0.200597,0.00102402,0,0.0666667,-0.3221051712650008.483672179,
|
||||
1712650008.633758703,-2.14681,-1.24004,-0.0680199,0.000214555,-0.201166,0.000965161,0,0.0666667,-0.3221051712650008.633796029,
|
||||
1712650008.783880219,-2.14681,-1.24004,-0.0680199,0.000215766,-0.202302,0.00100398,0,0.0666667,-0.3221051712650008.783917254,
|
||||
1712650008.934006985,-2.14681,-1.24004,-0.0680199,0.00021637,-0.202868,0.000972837,0,0.0666667,-0.3221051712650008.934095635,
|
||||
1712650009.084226829,-2.14681,-1.24004,-0.0680199,0.000217574,-0.203998,0.000949887,0,0.0666667,-0.2842111712650009.084307897,
|
||||
1712650009.234436803,-2.14681,-1.24004,-0.0680199,0.000218175,-0.204561,0.00101149,0,0.0666667,-0.2842111712650009.234476754,
|
||||
1712650009.384561043,-2.14681,-1.24004,-0.0680199,0.000219373,-0.205684,0.0010289,0,0.0666667,-0.2842111712650009.384600119,
|
||||
1712650009.534687616,-2.14681,-1.24004,-0.0680199,0.00021997,-0.206244,0.000992854,0,0.0666667,-0.2842111712650009.534725234,
|
||||
1712650009.684810398,-2.14681,-1.24004,-0.0680199,0.000221162,-0.207361,0.000981248,0,0.0666667,-0.2842111712650009.684846266,
|
||||
1712650009.834932014,-2.14681,-1.24004,-0.0680199,0.000221756,-0.207918,0.00101184,0,0.0666667,-0.2842111712650009.834981004,
|
||||
1712650009.985064711,-2.14681,-1.24004,-0.0680199,0.000222941,-0.209029,0.000984676,0,0.0666667,-0.2842111712650009.985104370,
|
||||
1712650010.135193995,-2.14681,-1.24004,-0.0680199,0.000223531,-0.209583,0.000999382,0,0.0666667,-0.2842111712650010.135233363,
|
||||
1712650010.285316292,-2.14681,-1.24004,-0.0680199,0.000224709,-0.210688,0.00102042,0,0.0666667,-0.2842111712650010.285352744,
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@ -1,166 +0,0 @@
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@ -1 +0,0 @@
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|||
time,goalx,goaly,goaltheta,currentx,currenty,currenttheta,flag,linearx,anglez
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||||
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Load Diff
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Load Diff
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Load Diff
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|
@ -1,629 +0,0 @@
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@ -1,364 +0,0 @@
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@ -1,166 +0,0 @@
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@ -1,911 +0,0 @@
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@ -1,81 +0,0 @@
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@ -1,622 +0,0 @@
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Reference in New Issue