SSL-Python/Midterm-beta.py at master · hujunhan/SSL-Python · GitHub

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import socket
import threading
from SSL_Lib.Robot import Robot
from SSL_Lib.Camera import Camera
from SSL_Lib.DStar import DStar
from SSL_Lib.utils import *
from SSL_Lib.DBG import DBG
from SSL_Lib.DWA1 import *
import serial
import sys
import time

serialPort = "COM4"  # 串口
# 初始化控制和读取的IP地址、端口号
localhost = '127.0.0.1'
control_addr = (localhost, 20011)
read_addr = (localhost, 23333)
camera = Camera(read_addr)
debug = DBG()
# ser=None
ser = serial.Serial(serialPort, 115200, timeout=0.5)
# ser=config_serial(serialPort)
# 主逻辑


# 1.初始化要控制的机器人
ro_b_0 = Robot('blue', 0, 0.15,ser=ser, control_addr=control_addr)

blue, yellow = camera.getRobotDict()  # 读取初始信息
start_point = [blue[0].x, blue[0].y]  # 设置机器人开始的位置
end_point = [-start_point[0], -start_point[1]]  # 设置机器人终点为对称点
print('start at: ', start_point)
print('goal at: ', end_point)

# 2.目前只测试静态避障，所以只生成一次路径规划
ob_temp = []
for ro in blue.values():
	if ro.robot_id is not 0:
		ob_temp.append([ro.x, ro.y])
		# debug.addCircle(ro.x/10,ro.y/10,20)
for ro in yellow.values():
	ob_temp.append(([ro.x, ro.y]))
	# debug.addCircle(ro.x/10,ro.y/10,20)
ob = np.array(ob_temp)
print('ob = ', ob)
u = np.array([0.0, 0.0])
config = Config()
# 2.1 新建地图
radius = 0.2
pf = statics_map(start_point, end_point, blue, yellow, radius)  # 从Dstar获取路径信息
pf.shorter_the_path(2,10)
path=pf.get_path()
x = np.array([blue[0].x, blue[0].y, blue[0].orientation, 0.0, 0.0])
traj = np.array(x)
while path is None:  # 如果障碍物膨胀太多，就逐渐减小
	radius = radius - 0.01
	if radius < 0.05:
		print('No way out!')
		break
	print('Now trying radius = ', radius)
	pf = statics_map(start_point, end_point, blue, yellow, radius)
	path=pf.get_path()

goal = np.array([path[0].x , path[0].y])

#path=path[::10] #精简一下路径


print('get path!')
print('path start at: ', path[0])
print('path end at: ', path[-1])
print('length of path: ', len(path))
print('length of path(reduced): ', len(path))
debug.addPath(path,4)  # 将路径画出来
debug.sendDebugMessage()  # debug信息发送

i = 0
speed = 1


def updatePath():
	radius = 4
	global path
	global blue, yellow
	while True:
		print('update path!')
		pf = DStar(int(blue[0].x / 10), int(blue[0].y / 10), 900, 0)
		pf.initialize_map(1200, 900)
		for ro in blue.values():
			if ro.robot_id is not 0:
				rx = int(ro.x)
				ry = int(ro.y)
				if np.hypot(blue[0].x - rx, blue[0].y - ry) < 2000:
					pf.set_obstract(int(ro.x / 10), int(ro.y / 10), radius, -1)
		for ro in yellow.values():
			rx = int(ro.x)
			ry = int(ro.y)
			print(np.hypot(blue[0].x - rx, blue[0].y - ry))
			if np.hypot(blue[0].x - rx, blue[0].y - ry) < 2000:
				pf.set_obstract(int(ro.x / 10), int(ro.y / 10), radius, -1)
		pf.replan()
		pf.shorter_the_path(2)
		path = pf.get_path()


thread2 = threading.Thread(target=updatePath)


# 3. 新建一个进程
# 用来另开一个线程的函数
def getblue0():
	global blue, yellow
	while True:
		# print('update robot info!')
		# thread2.join()
		blue, yellow = camera.getRobotDict()


thread1 = threading.Thread(target=getblue0)
thread1.start()

k = 1
# 4. 主循环
while True:
	# 4.1 根据DWA计算所应该施加的控制指令
	# u[0]是机器人x轴速度，u[1]是机器人y轴速度
	u, ltraj = dwa_control(x, u, config, goal, ob, ro_b_0, camera)
	print(u)
	ro_b_0.setSpeed(u[1], u[0], 0)
	x = np.array([blue[0].x, blue[0].y, blue[0].orientation, u[0], u[1]])
	if math.sqrt((x[0] - goal[0]) ** 2 + (x[1] - goal[1]) ** 2) <= 1.0:
		# print("Goal!!")
		if i == len(path)-1:
			if math.sqrt((x[0] - goal[0]) ** 2 + (x[1] - goal[1]) ** 2) <= config.robot_radius:
				i = len(path) - 2
				k = -1
			else:
				continue
		if i == 0:
			if math.sqrt((x[0] - goal[0]) ** 2 + (x[1] - goal[1]) ** 2) <= config.robot_radius:
				i = 0
				k = 1
			else:
				continue
		i = i + k
		goal = np.array([path[i].x , path[i].y ])
	print(ltraj)
	debug = DBG()
	debug.addPath(path,4)  # 将路径画出来
	debug.addpath_dwa(ltraj)
	debug.sendDebugMessage()  # debug信息发送
# time.sleep(0.015)
# chase2(blue[0],[path_x,path_y],ro_b_0,1,1)