forked from logzhan/RobotKernal-UESTC
116 lines
4.1 KiB
Python
116 lines
4.1 KiB
Python
import platform
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import sys
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sys.path.append("..")
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import pypibot
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from pypibot import log
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from transport import Transport
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from dataholder import MessageID
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import params
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import time
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import signal
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#for linux
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port="/dev/pibot"
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#for windows
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#port="com3"
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pypibot.assistant.enableGlobalExcept()
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#log.enableFileLog(log_dir + "ros_$(Date8)_$(filenumber2).log")
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log.setLevel("i")
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run_flag = True
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def exit(signum, frame):
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global run_flag
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run_flag = False
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if __name__ == '__main__':
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signal.signal(signal.SIGINT, exit)
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mboard = Transport(port, params.pibotBaud)
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if not mboard.start():
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log.error("can not open %s"%port)
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sys.exit()
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DataHolder = mboard.getDataHolder()
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for num in range(0,3):
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log.info("****************get robot version*****************")
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boardVersion = DataHolder[MessageID.ID_GET_VERSION]
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p = mboard.request(MessageID.ID_GET_VERSION)
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if p:
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log.info("firmware version:%s buildtime:%s\r\n"%(boardVersion.version.decode(), boardVersion.build_time.decode()))
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break
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else:
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log.error('read firmware version err\r\n')
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import time
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time.sleep(1)
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if num == 2:
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log.error('please check connection or baudrate\r\n')
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sys.exit()
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# get robot parameter
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robotParam = DataHolder[MessageID.ID_GET_ROBOT_PARAMETER]
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p = mboard.request(MessageID.ID_GET_ROBOT_PARAMETER)
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if p:
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log.info("model_type:%d wheel_diameter:%d wheel_track:%d encoder_resolution:%d" \
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%(robotParam.param.model_type, \
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robotParam.param.wheel_diameter, \
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robotParam.param.wheel_track, \
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robotParam.param.encoder_resolution
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))
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log.info("do_pid_interval:%d kp:%d ki:%d kd:%d ko:%d" \
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%(robotParam.param.do_pid_interval, \
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robotParam.param.kp, \
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robotParam.param.ki, \
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robotParam.param.kd, \
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robotParam.param.ko))
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log.info("cmd_last_time:%d imu_type:%d" \
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%(robotParam.param.cmd_last_time,\
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robotParam.param.imu_type
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))
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log.info("max_v:%d %d %d\r\n" \
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%(robotParam.param.max_v_liner_x,\
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robotParam.param.max_v_liner_y, \
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robotParam.param.max_v_angular_z
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))
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log.info("motor flag:%d encoder flag: %d\r\n" \
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%(robotParam.param.motor_nonexchange_flag,\
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robotParam.param.encoder_nonexchange_flag
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))
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else:
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log.error('get params err\r\n')
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quit(1)
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log.info("****************get odom&imu*****************")
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while run_flag:
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robotOdom = DataHolder[MessageID.ID_GET_ODOM]
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p = mboard.request(MessageID.ID_GET_ODOM)
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if p:
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log.info('request get odom success, vx=%d vy=%d vangular=%d, x=%d y=%d yaw=%d'%(robotOdom.v_liner_x, \
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robotOdom.v_liner_y, \
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robotOdom.v_angular_z, \
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robotOdom.x, \
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robotOdom.y, \
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robotOdom.yaw))
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else:
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log.error('get odom err')
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quit(1)
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robotIMU = DataHolder[MessageID.ID_GET_IMU].imu
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p = mboard.request(MessageID.ID_GET_IMU)
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if p:
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log.info('get imu success, imu=[%f %f %f %f %f %f %f %f %f]'%(robotIMU[0], robotIMU[1], robotIMU[2], \
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robotIMU[3], robotIMU[4], robotIMU[5], \
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robotIMU[6], robotIMU[7], robotIMU[8]))
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else:
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log.error('get imu err')
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quit(1)
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time.sleep(0.1)
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