Moved behaviour into top level package
This commit is contained in:
2
.gitignore
vendored
2
.gitignore
vendored
@@ -1,6 +1,8 @@
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*.sw*
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*.pyc
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*.jpg
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*.avi
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*.mpg
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*~
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~*
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exp_*
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172
pykick/__main__.py
Normal file
172
pykick/__main__.py
Normal file
@@ -0,0 +1,172 @@
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from __future__ import print_function, division
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from time import time, sleep
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from math import cos, pi
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from .striker import Striker
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from .utils import read_config
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# ____________________ STRIKER __________________________
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#
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# +----> Ball tracking (see below) <-------------+
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# | |
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# | | |
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# | | |
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# | v |
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# | Ball in lower cam? |
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# | / \ |
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# lost | yes / \ cannot do |
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# ball | v v |
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# +-- Goal align Ball is only in top camera --+
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# | Move closer.
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# |
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# successful |
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# v
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# Kick it! (Fancy or simple)
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#
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# _______________________________________________________
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# ____________________ TRACKING _________________________
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#
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# yes
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# check if ball visible ---> rotate head to the ball
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# ^ | |
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# | | no |
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# | v |
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# +--- ball scan rotation |
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# | |
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# | no V
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# | +---------- already rotating body?
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# | | |
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# | v | yes
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# | head angle too big? v
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# | / \ head angle
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# | yes / \ no is below threshold?
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# | v v | |
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# | stop successful | no | yes
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# | moving exit | v
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# +----- and start | stop rotating body
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# | rotating body | |
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# | | |
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# +---------------------------------+---------+
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#
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# _______________________________________________________
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if __name__ == '__main__':
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try: # Hit Ctrl-C to stop, cleanup and exit
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cfg = read_config()
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striker = Striker(
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nao_ip=cfg['ip'], nao_port=cfg['port'],
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res=cfg['res'], ball_hsv=cfg['ball'],
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goal_hsv=cfg['goal'], field_hsv=cfg['field'],
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ball_min_radius=cfg['ball_min_radius'],
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)
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state = 'init'
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init_soll = 0.0
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align_start = 0.15
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curve_start = -0.1
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curve_stop = 0.1
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soll = init_soll
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striker.speak("Initialized")
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while True:
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# meassure time for debbuging
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loop_start = time()
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print('State:', state)
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if state == 'init':
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striker.mover.set_head_angles(0, 0)
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striker.speak("Start the Ball tracking")
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striker.ball_tracking(tol=0.05)
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# goal_center = striker.goal_search()
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# approach = 1 if goal_center < 0 else -1
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approach = 1
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state = 'ball_approach'
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elif state == 'tracking':
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# start ball approach when ball is visible
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print('Soll angle')
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striker.ball_tracking(tol=0.05)
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# break
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state = 'align'
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elif state == 'ball_approach':
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# bil = striker.get_ball_angles_from_camera(
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# striker.lower_camera
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# ) # Ball in lower
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# print('Ball in lower', bil)
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striker.speak("I have found the ball. Starting ball approach")
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try:
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d = striker.distance_to_ball()
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except ValueError:
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state = 'tracking'
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continue
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print('Distance to ball', d)
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striker.speak("The distance to the ball is approximately "+str(round(d,2))+" Meters")
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angle = striker.walking_direction(approach, d)
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d_run = d * cos(angle)
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print('Approach angle', angle)
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striker.mover.move_to(0, 0, angle)
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striker.mover.wait()
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striker.run_to_ball(d_run)
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striker.speak("I think I have reached the ball. I will start rotating")
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striker.mover.move_to(0, 0, -pi/2 * approach)
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state = 'tracking'
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elif state == 'goal_align':
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try:
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if striker.align_to_goal():
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striker.speak('I am aligning to ball')
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state = "align"
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except ValueError:
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state = 'tracking'
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elif state == 'align':
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striker.speak("I will try now to align to the ball")
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striker.mover.set_head_angles(0, 0.25, 0.3)
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sleep(0.5)
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try:
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success = striker.align_to_ball()
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sleep(0.3)
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if success:
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striker.speak('Hasta la vista, Baby')
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state = 'kick'
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except ValueError:
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pass
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# striker.mover.set_head_angles(0, 0, 0.3)
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# state = 'tracking'
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elif state == 'simple_kick':
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striker.mover.set_head_angles(0,0.25,0.3)
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striker.ball_tracking(tol=0.10, soll=0)
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print('Doing the simple kick')
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# just walk a short distance forward, ball should be near
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# and it will probably be kicked in the right direction
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striker.speak("Simple Kick")
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sleep(1)
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striker.mover.move_to_fast(0.5, 0, 0)
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striker.mover.wait()
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break
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elif state == 'kick':
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print('KICK!')
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striker.mover.stand_up()
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sleep(0.3)
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striker.mover.kick(fancy=True, foot='L')
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striker.speak("Nice kick. Let's do a dance")
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striker.mover.dance()
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break
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loop_end = time()
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print('Loop time:', loop_end - loop_start)
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print('\n\n')
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finally:
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striker.close()
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striker.mover.rest()
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@@ -2,11 +2,10 @@ from __future__ import print_function
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from __future__ import division
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from threading import Thread
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from math import pi, cos, tan, asin, radians
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from math import pi, tan, asin, radians
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from time import sleep, time, strftime
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from collections import deque
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from .utils import read_config
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from .imagereaders import NaoImageReader
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from .finders import BallFinder, GoalFinder, FieldFinder
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from .movements import NaoMover
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@@ -334,167 +333,3 @@ class Striker(object):
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return goal_center_x
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self.mover.set_head_angles(0, 0)
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return None
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# ____________________ STRIKER __________________________
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#
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# +----> Ball tracking (see below) <-------------+
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# | |
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# | | |
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# | | |
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# | v |
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# | Ball in lower cam? |
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# | / \ |
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# lost | yes / \ cannot do |
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# ball | v v |
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# +-- Goal align Ball is only in top camera --+
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# | Move closer.
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# |
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# successful |
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# v
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# Kick it! (Fancy or simple)
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#
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# _______________________________________________________
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# ____________________ TRACKING _________________________
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#
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# yes
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# check if ball visible ---> rotate head to the ball
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# ^ | |
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# | | no |
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# | v |
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# +--- ball scan rotation |
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# | |
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# | no V
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# | +---------- already rotating body?
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# | | |
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# | v | yes
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# | head angle too big? v
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# | / \ head angle
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# | yes / \ no is below threshold?
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# | v v | |
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# | stop successful | no | yes
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# | moving exit | v
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# +----- and start | stop rotating body
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# | rotating body | |
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# | | |
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# +---------------------------------+---------+
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#
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# _______________________________________________________
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if __name__ == '__main__':
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try: # Hit Ctrl-C to stop, cleanup and exit
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cfg = read_config()
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striker = Striker(
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nao_ip=cfg['ip'], nao_port=cfg['port'],
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res=cfg['res'], ball_hsv=cfg['ball'],
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goal_hsv=cfg['goal'], field_hsv=cfg['field'],
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ball_min_radius=cfg['ball_min_radius'],
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)
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state = 'init'
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init_soll = 0.0
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align_start = 0.15
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curve_start = -0.1
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curve_stop = 0.1
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soll = init_soll
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striker.speak("Initialized")
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while True:
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# meassure time for debbuging
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loop_start = time()
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print('State:', state)
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if state == 'init':
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striker.mover.set_head_angles(0, 0)
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striker.speak("Start the Ball tracking")
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striker.ball_tracking(tol=0.05)
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# goal_center = striker.goal_search()
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# approach = 1 if goal_center < 0 else -1
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approach = 1
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state = 'ball_approach'
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elif state == 'tracking':
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# start ball approach when ball is visible
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print('Soll angle')
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striker.ball_tracking(tol=0.05)
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# break
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state = 'align'
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elif state == 'ball_approach':
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# bil = striker.get_ball_angles_from_camera(
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# striker.lower_camera
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# ) # Ball in lower
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# print('Ball in lower', bil)
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striker.speak("I have found the ball. Starting ball approach")
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try:
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d = striker.distance_to_ball()
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except ValueError:
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state = 'tracking'
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continue
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print('Distance to ball', d)
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striker.speak("The distance to the ball is approximately "+str(round(d,2))+" Meters")
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angle = striker.walking_direction(approach, d)
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d_run = d * cos(angle)
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print('Approach angle', angle)
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striker.mover.move_to(0, 0, angle)
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striker.mover.wait()
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striker.run_to_ball(d_run)
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striker.speak("I think I have reached the ball. I will start rotating")
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striker.mover.move_to(0, 0, -pi/2 * approach)
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state = 'tracking'
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elif state == 'goal_align':
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try:
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if striker.align_to_goal():
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striker.speak('I am aligning to ball')
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state = "align"
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except ValueError:
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state = 'tracking'
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elif state == 'align':
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striker.speak("I will try now to align to the ball")
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striker.mover.set_head_angles(0, 0.25, 0.3)
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sleep(0.5)
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try:
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success = striker.align_to_ball()
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sleep(0.3)
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if success:
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striker.speak('Hasta la vista, Baby')
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state = 'kick'
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except ValueError:
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pass
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# striker.mover.set_head_angles(0, 0, 0.3)
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# state = 'tracking'
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elif state == 'simple_kick':
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striker.mover.set_head_angles(0,0.25,0.3)
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striker.ball_tracking(tol=0.10, soll=0)
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print('Doing the simple kick')
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# just walk a short distance forward, ball should be near
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# and it will probably be kicked in the right direction
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striker.speak("Simple Kick")
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sleep(1)
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striker.mover.move_to_fast(0.5, 0, 0)
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striker.mover.wait()
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break
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elif state == 'kick':
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print('KICK!')
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striker.mover.stand_up()
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sleep(0.3)
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striker.mover.kick(fancy=True, foot='L')
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striker.speak("Nice kick. Let's do a dance")
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striker.mover.dance()
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break
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loop_end = time()
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print('Loop time:', loop_end - loop_start)
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print('\n\n')
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finally:
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striker.close()
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striker.mover.rest()
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Block a user