From 1ff2fed62f27bf19d2150d8a5881a0ba0f6d27dd Mon Sep 17 00:00:00 2001
From: Felix Agner <felix.agner@control.lth.se>
Date: Tue, 1 Nov 2022 11:21:32 +0100
Subject: [PATCH] initial commit. Added code along with a build so that it can
hopefully be easily installed
---
LICENSE | 21 +++
__pycache__/Omnibot.cpython-310.pyc | Bin 0 -> 3785 bytes
dist/omnibot_client-0.0.1-py3-none-any.whl | Bin 0 -> 8245 bytes
dist/omnibot_client-0.0.1.tar.gz | Bin 0 -> 6745 bytes
pyproject.toml | 22 +++
src/omnibot_client/ControllerTest.py | 120 ++++++++++++++++
src/omnibot_client/Dummybot.py | 40 ++++++
src/omnibot_client/Omnibot.py | 159 +++++++++++++++++++++
src/omnibot_client/__init__.py | 0
test/gitkeep | 0
10 files changed, 362 insertions(+)
create mode 100644 LICENSE
create mode 100644 __pycache__/Omnibot.cpython-310.pyc
create mode 100644 dist/omnibot_client-0.0.1-py3-none-any.whl
create mode 100644 dist/omnibot_client-0.0.1.tar.gz
create mode 100644 pyproject.toml
create mode 100644 src/omnibot_client/ControllerTest.py
create mode 100644 src/omnibot_client/Dummybot.py
create mode 100644 src/omnibot_client/Omnibot.py
create mode 100644 src/omnibot_client/__init__.py
create mode 100644 test/gitkeep
diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000..b0471c3
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2022 Department of Automatic Control, Lund University
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/__pycache__/Omnibot.cpython-310.pyc b/__pycache__/Omnibot.cpython-310.pyc
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diff --git a/pyproject.toml b/pyproject.toml
new file mode 100644
index 0000000..ccba303
--- /dev/null
+++ b/pyproject.toml
@@ -0,0 +1,22 @@
+[build-system]
+requires = ["hatchling"]
+build-backend = "hatchling.build"
+
+[project]
+name = "omnibot_client"
+version = "0.0.1"
+authors = [
+ { name="Felix Agner", email="felix.agner@control.lth.se" },
+]
+description = "A python package for connecting to omnibots via TCP."
+readme = "README.md"
+requires-python = ">=3.7"
+classifiers = [
+ "Programming Language :: Python :: 3",
+ "License :: OSI Approved :: MIT License",
+ "Operating System :: OS Independent",
+]
+
+[project.urls]
+"Homepage" = "https://gitlab.control.lth.se/processes/omnibot/omnibotclient.py"
+"Bug Tracker" = "https://gitlab.control.lth.se/processes/omnibot/omnibotclient.py/issues"
diff --git a/src/omnibot_client/ControllerTest.py b/src/omnibot_client/ControllerTest.py
new file mode 100644
index 0000000..3e81f50
--- /dev/null
+++ b/src/omnibot_client/ControllerTest.py
@@ -0,0 +1,120 @@
+# general
+import numpy as np
+import sys
+from time import time, sleep
+
+# threads
+import threading
+
+# Controller
+from inputs import get_gamepad
+
+from Omnibot import OmniBot
+
+class ControllerState:
+ """
+ Class that logs the controller state
+ """
+ def __init__(self):
+ """ Initialize the controller """
+ self.x = 128
+ self.y = 128
+ self.r = 128
+ self.on = True
+
+ def set_x(self,x):
+ self.x = x
+ def set_y(self,y):
+ self.y = y
+ def set_r(self,r):
+ self.r = r
+ def state_data(self):
+ return 'x'+str(self.x)+'y'+str(self.y)+'r'+str(self.r)
+ def set_state(self,data):
+ s = str(data)
+ ind = [s.find(i) for i in ['x','y','r']]
+ self.set_x(int(s[ind[0]+1:ind[1]]))
+ self.set_y(int(s[ind[1]+1:ind[2]]))
+ self.set_r(int(s[ind[2]+1:-1]))
+
+def log_controller(state):
+ """
+ Function that continuously listens to any event from the controller, and logs the change in
+ the controller state "state"
+ """
+ while 1:
+ events = get_gamepad()
+ for event in events:
+ if event.code == "ABS_X":
+ state.set_x(event.state)
+ elif event.code == "ABS_Y":
+ state.set_y(event.state)
+ elif event.code == "ABS_Z":
+ state.set_r(event.state)
+ elif event.code == "BTN_PINKIE" and event.state == 1:
+ # The "BTN_PINKIE" (right index trigger)
+ # is currently used as an off-button.
+ state.on = False
+
+
+
+def run_omnibot_with_controller(HOST,verbose=False):
+ """
+ Connect to an omnibot at ip HOST and proceed to steer it with a controller and print current position of omnibot.
+ """
+
+ # Robot parameters
+ R = 0.16 # Distance between center of robot and wheels
+ a1 = 2*np.pi/3 # Angle between x axis and first wheel
+ a2 = 4*np.pi/3 # Angle between x axis and second wheel
+ r = 0.028*0.45/18 # Wheel radius. Has been fudge-factored because the actual velocity of the wheels did not align with the set-points.
+
+
+ vel_factor = 6 # Fudge factor that changes the relative velocity of the bot
+
+ def phidot(xdot,ang):
+ """Returns reference velocities for the wheels, given current system state and reference velocities"""
+ M = -1/r*np.array([[-np.sin(ang), np.cos(ang), R ],[-np.sin(ang+a1), np.cos(ang+a1), R],[-np.sin(ang+a2), np.cos(ang+a2), R]])
+ return M.dot(xdot)
+
+ # Start loggin controller
+ state = ControllerState()
+ t = threading.Thread(target=log_controller, args=(state,), daemon=True)
+ t.start()
+
+ ts = 0.1 # sampling time
+
+ with OmniBot(HOST,verbose=verbose) as bot:
+ no_error = True
+ while state.on and no_error:
+ t0 = time()
+
+ # Get gamepad updates.
+ # Use some scaling to turn the controller state values into
+ # reasonable velocities.
+ w = (128-state.r)*np.pi/1000
+ vy = (128-state.x)/1500
+ vx = (128-state.y)/1500
+ dphi = vel_factor*phidot([vx,vy,w],0.0)
+
+ for i,v in enumerate(dphi):
+ bot.set_speed(i,round(v))
+
+ print('x:'+bot.get_x())
+ print('y:'+bot.get_y())
+
+ sleep(max(0,t0+ts-time()))
+
+
+if __name__ == '__main__':
+
+ # Server settings
+ HOST = "localhost"
+
+ if len(sys.argv) > 1:
+ # If an input is given to the script, it will be interpreted as the intended
+ # IP-address. Baseline is localhost.
+ HOST = sys.argv[1]
+
+ print(f"HOST: \t {HOST}")
+ run_omnibot_with_controller(HOST)
\ No newline at end of file
diff --git a/src/omnibot_client/Dummybot.py b/src/omnibot_client/Dummybot.py
new file mode 100644
index 0000000..d710439
--- /dev/null
+++ b/src/omnibot_client/Dummybot.py
@@ -0,0 +1,40 @@
+# general
+import sys
+from time import time, sleep
+
+from Omnibot import OmniBot
+
+
+def run_dummybot(HOST,verbose=True):
+ """
+ Runs a dummybot at host HOST that rotates a bit while printing x and y coordinates.
+ """
+
+ ts = 0.1 # sampling time
+ tstart = time()
+
+ with OmniBot(HOST,verbose=verbose) as bot:
+ print("Connected")
+
+ while time() < tstart + 5:
+ t0 = time()
+
+ bot.set_speed([])
+
+
+ print('x:'+bot.get_x())
+ print('y:'+bot.get_y())
+
+ sleep(max(0,t0+ts-time()))
+
+if __name__ == '__main__':
+ # Server settings
+ HOST = "localhost"
+
+ if len(sys.argv) > 1:
+ # If an input is given to the script, it will be interpreted as the intended
+ # IP-address. Baseline is localhost.
+ HOST = sys.argv[1]
+
+ print(f"HOST: \t {HOST}")
+ run_dummybot(HOST)
\ No newline at end of file
diff --git a/src/omnibot_client/Omnibot.py b/src/omnibot_client/Omnibot.py
new file mode 100644
index 0000000..4482668
--- /dev/null
+++ b/src/omnibot_client/Omnibot.py
@@ -0,0 +1,159 @@
+import socket
+
+class OmniBot(object):
+ """
+ A class that implements a servo-client which is capable of sending servo speed-settings
+ to an omnibot.
+
+ HOST: Host name of server (string)
+ PORT: Port to connect to (int) (default 9998)
+ verbose: choose level of chit-chat (boolean)
+ """
+ def __init__(self,HOST,PORT=9998,verbose=False):
+ self.HOST = HOST
+ self.PORT = PORT
+ self.verbose=verbose
+ self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+
+ def __enter__(self):
+ """
+ Boot up the socket and connect to the omnibot server
+ """
+ if self.verbose:
+ print("Connecting to HOST: " + str(self.HOST) + ", PORT: " + str(self.PORT))
+
+ self.sock.connect((self.HOST, self.PORT)) # Connect to the robot
+ if self.verbose:
+ print("Connection successful.")
+
+
+ return self
+
+ def __exit__(self, exc_type, exc_value, exc_tb):
+ """
+ Close down the socket after closing the client
+ """
+ if self.verbose:
+ print("Closing down socket")
+ self.sock.close()
+
+ def send_and_receive(self,message):
+ """Send a message to the omnibot and return the answer that the omnibot gave."""
+ # Send the package
+ self.sock.sendall(bytes(message,'utf-8'))
+ # Receive confirmation
+ ret=self.sock.recv(1024).decode('utf-8')
+
+ return ret
+
+ def set_speed(self,i,v):
+ """
+ Set the speed of servo i to v
+
+
+ Communicates with messages on the form "wivvvv"
+ where w stands for "write"self.
+ i stands for index of desired servo
+ vvvv stands for requested target speed for the servo
+ """
+
+ package = 'w'+str(i)+str(v)
+ if self.verbose:
+ print("Sending " + package)
+
+
+ ret = self.send_and_receive(package)
+
+ if ret[0] == "e":
+ raise Exception(ret)
+ elif self.verbose:
+ print(ret)
+
+ def set_speeds(self,v):
+ """
+ Set the speed of the servos to the values in vector v
+ """
+ for (i,vi) in enumerate(v):
+ self.set_speed(i,vi)
+
+ def get_x(self):
+ """Get x coordinate
+
+ Sends a message "rx"
+ where "r" stands for "read" and "x" stands for "x"
+ """
+ if self.verbose:
+ print("Requesting x")
+
+ ret = self.send_and_receive("rx")
+ if ret[0] == "e":
+ raise Exception(ret)
+
+ if self.verbose:
+ print("x: "+ret)
+
+ return float(ret)
+
+ def get_y(self):
+ """Get y coordinate
+
+ Sends a message "ry"
+ where "r" stands for "read" and "y" stands for "y"
+ """
+ if self.verbose:
+ print("Requesting y")
+
+ ret = self.send_and_receive("ry")
+ if ret[0] == "e":
+ raise Exception(ret)
+
+ if self.verbose:
+ print("y: "+ret)
+
+ return float(ret)
+
+ def get_z(self):
+ """Get z coordinate
+
+ Sends a message "rz"
+ where "r" stands for "read" and "z" stands for "z"
+ """
+ if self.verbose:
+ print("Requesting z")
+
+ ret = self.send_and_receive("rz")
+ if ret[0] == "e":
+ raise Exception(ret)
+
+ if self.verbose:
+ print("z: "+ret)
+
+ return float(ret)
+
+ def get_theta(self):
+ """Get x coordinate
+
+ Sends a message "rtheta"
+ where "r" stands for "read" and "theta" stands for "theta"
+ """
+ if self.verbose:
+ print("Requesting theta")
+
+ ret = self.send_and_receive("rtheta")
+ if ret[0] == "e":
+ raise Exception(ret)
+
+ if self.verbose:
+ print("theta: "+ret)
+
+ return float(ret)
+
+
+ def get_state(self):
+ """"Get state vector of [x y theta]^T."""
+
+ x = self.get_x()
+ y = self.get_y()
+ theta = self.get_theta()
+
+ return [x,y,theta]
diff --git a/src/omnibot_client/__init__.py b/src/omnibot_client/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/test/gitkeep b/test/gitkeep
new file mode 100644
index 0000000..e69de29
--
GitLab