Protobuf prototype
This commit is contained in:
Konstantin Lampalzer
parent
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commit
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119 changed files with 8599 additions and 0 deletions
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docs/.gitignore
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build
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logs.db
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# Minimal makefile for Sphinx documentation
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#
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# You can set these variables from the command line, and also
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# from the environment for the first two.
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SPHINXOPTS ?=
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SPHINXBUILD ?= sphinx-build
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SOURCEDIR = source
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BUILDDIR = build
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# Put it first so that "make" without argument is like "make help".
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help:
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@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
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.PHONY: help Makefile
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# Catch-all target: route all unknown targets to Sphinx using the new
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# "make mode" option. $(O) is meant as a shortcut for $(SPHINXOPTS).
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%: Makefile
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@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
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@ECHO OFF
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pushd %~dp0
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REM Command file for Sphinx documentation
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if "%SPHINXBUILD%" == "" (
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set SPHINXBUILD=sphinx-build
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)
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set SOURCEDIR=source
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set BUILDDIR=build
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if "%1" == "" goto help
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%SPHINXBUILD% >NUL 2>NUL
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if errorlevel 9009 (
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echo.
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echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
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echo.installed, then set the SPHINXBUILD environment variable to point
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echo.to the full path of the 'sphinx-build' executable. Alternatively you
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echo.may add the Sphinx directory to PATH.
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echo.
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echo.If you don't have Sphinx installed, grab it from
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echo.http://sphinx-doc.org/
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exit /b 1
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)
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%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
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goto end
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:help
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%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
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:end
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popd
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# Configuration file for the Sphinx documentation builder.
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#
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# This file only contains a selection of the most common options. For a full
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# list see the documentation:
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# https://www.sphinx-doc.org/en/master/usage/configuration.html
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# -- Path setup --------------------------------------------------------------
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# If extensions (or modules to document with autodoc) are in another directory,
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# add these directories to sys.path here. If the directory is relative to the
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# documentation root, use os.path.abspath to make it absolute, like shown here.
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#
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import os
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import sys
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sys.path.insert(0, os.path.abspath('../..'))
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sys.setrecursionlimit(1500)
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os.environ["EXTENSIVE_LOGGING"] = "False"
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# -- Project information -----------------------------------------------------
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project = 'CompLib'
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copyright = '2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS)'
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author = 'robo4you'
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# The full version, including alpha/beta/rc tags
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release = '0.2.3'
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# -- General configuration ---------------------------------------------------
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# Add any Sphinx extension module names here, as strings. They can be
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# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
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# ones.
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extensions = [
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'sphinx.ext.autodoc',
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'sphinx_rtd_theme'
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]
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autodoc_mock_imports = ["smbus", "compLib.PCA9685", "RPi",
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"pigpio", "flask", "apt", "influxdb_client"]
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# Add any paths that contain templates here, relative to this directory.
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templates_path = ['_templates']
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# List of patterns, relative to source directory, that match files and
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# directories to ignore when looking for source files.
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# This pattern also affects html_static_path and html_extra_path.
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exclude_patterns = []
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# -- Options for HTML output -------------------------------------------------
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# The theme to use for HTML and HTML Help pages. See the documentation for
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# a list of builtin themes.
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#
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html_theme = 'sphinx_rtd_theme'
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# Add any paths that contain custom static files (such as style sheets) here,
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# relative to this directory. They are copied after the builtin static files,
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# so a file named "default.css" will overwrite the builtin "default.css".
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html_static_path = ['_static']
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File diff suppressed because one or more lines are too long
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Before Width: | Height: | Size: 188 KiB |
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@ -1,19 +0,0 @@
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.. image:: images/compair-logo-white.svg
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Competition Robot Library
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#############################
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.. toctree::
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:maxdepth: 2
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:caption: Contents:
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Contents
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*********
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.. toctree::
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:maxdepth: 5
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:glob:
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self
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other/usage
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lib/*
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.. _lib_api:
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Api
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****
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Seeding
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========
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.. autoclass:: compLib.Api.Seeding
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:members:
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Double Elimination
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===================
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.. autoclass:: compLib.Api.DoubleElim
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:members:
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Position
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========
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.. autoclass:: compLib.Api.Position
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:members:
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Examples
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========
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Calling Seeding API
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---------------------
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.. code-block:: python
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from compLib.Api import Seeding
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zones, code = Seeding.get_delivery()
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if code == 403:
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print(f"I am not in the correct zone to make that request!")
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else:
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print(f"First we need to go to zone {zone[0]}")
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# put code here to follow line and drive to the zone
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print(f"Now we need to go to zone {zone[1]}")
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# put code here to follow line and drive to the next zone
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print(f"Now we need to go to zone {zone[2]}")
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# put code here to follow line and drive to the last zone
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print(f"We delivered all packages, hopefully we scored some points!")
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.. code-block:: python
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from compLib.Api import Seeding
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package, code = Seeding.get_cargo("yellow")
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if code == 403:
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print(f"I am not in the correct zone to make that request!")
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elif code == 404:
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print(f"I am in the correct zone, but there is no yellow package here.")
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elif code == 413:
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print(f"I am in the correct zone, but I already have two packages loaded.")
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else code == 200:
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print(f"The {package['color']} has been picked up!")
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Calling Double Elimination API
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----------------------------------
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.. code-block:: python
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from compLib.Api import DoubleElim
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position, status = DoubleElim.get_position()
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print(f"Position of my robot is: x={position.x}, y={position.y} and rotation is: {position.degrees}, the server responded with status code: {status}")
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goal, status = DoubleElim.get_goal()
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print(f"Goal is at: x={goal.x}, y={goal.y}, the server responded with status code: {status}")
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.. code-block:: python
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from compLib.Api import DoubleElim
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import time
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# function which waits for the game to be started (you should include this in your double elimination program)
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def wait_for_start():
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_, status = DoubleElim.get_position()
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while status == 503:
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time.sleep(0.1)
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_, status = DoubleElim.get_position()
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wait_for_start()
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print(f"Game has started, lets score some points!!")
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position, status = DoubleElim.get_position()
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print(f"Position of my robot is: x={position.x}, y={position.y} and rotation is: {position.degrees}, the server responded with status code: {status}")
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opponent_position, status = DoubleElim.get_opponent()
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print(f"Position of the opponents robot is: x={opponent_position.x}, y={opponent_position.y} and rotation is: {opponent_position.degrees}, the server responded with status code: {status}")
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goal, status = DoubleElim.get_goal()
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print(f"Goal is at: x={goal.x}, y={goal.y}, the server responded with status code: {status}")
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items, status = DoubleElim.get_items()
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print(f"There are currently {len(items)} on the gameboard: {items}, the server responded with status code: {status}")
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score, status = DoubleElim.get_score()
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print(f"The current score of the game is {score}, the server responded with status code: {status}")
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meteoroids, status = DoubleElim.get_meteoroids()
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print(f"The current meteoroids in the game are {meteoroids}, the server responded with status code: {status}")
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In this second example we wait until the game is started by the judges and then make all possible requests once. You should use the wait_for_start function in your double elimination program. If your robot starts too soon your run will not count!
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.. _lib_vision:
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Aruco
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*******
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Examples
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=========
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Recognizing ArUco tags
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-------------------------
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.. code-block:: python
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import time
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import cv2
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from cv2 import aruco
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from compLib import Vision
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ARUCO_DICT = cv2.aruco.Dictionary_get(aruco.DICT_6X6_250)
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ARUCO_PARAMETERS = aruco.DetectorParameters_create()
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def getTagCenterFromFrame(id, frame):
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gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
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corners, ids, rejectedImgPoints = aruco.detectMarkers(gray, ARUCO_DICT, parameters = ARUCO_PARAMETERS)
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frame = aruco.drawDetectedMarkers(frame.copy(), corners, ids)
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if ids is None:
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return frame, None, None
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for tag_id, corner in zip(ids, corners):
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if (tag_id[0] == id):
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x, y = 0, 0
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for i in range(4):
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x += corner[0][i][0] * 0.25
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y += corner[0][i][1] * 0.25
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return frame, x, y
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return frame, None, None
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# Get the center from the aruco tag with the specified id
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# in pixel coordinates (0-640, 0-480)
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def getTagPosition(id):
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frame = Vision.Streaming.get_frame()
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frame, x, y = getTagCenterFromFrame(id, frame)
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Vision.Streaming.publish_frame(frame)
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return x, y
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# Get the normalized center coordinates from the aruco tag
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# with the specified id
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# left is -1, right +1
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# bottom is -1, top +1
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def getNormalizedTagPosition(id):
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frame = Vision.Streaming.get_frame()
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frame, x, y = getTagCenterFromFrame(id, frame)
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Vision.Streaming.publish_frame(frame)
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if x is None or y is None:
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return None, None
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height, width = frame.shape[:2]
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x = x / width * 2.0 - 1.0
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y = -(y / height * 2.0 - 1.0)
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return x, y
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if __name__ == '__main__':
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desiredID = 11
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while True:
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x, y = getNormalizedTagPosition(desiredID)
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if x is not None:
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print("X Coordinate: ", x)
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else:
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print("Tag not found")
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This example shows how to recognize ArUco tags based on their id and position.
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You can specify an ID of the tag you want to use and if it's found, the coordinates of the center are returned.
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With the normalized function this is very easy: The x-coordinate is -1 on the left, 1 on the right and 0 in the center of the screen, same for y.
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This way it is quite simple to act on the position of the tag.
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.. _lib_display:
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Display
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*******
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Class Documentation
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====================
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.. autoclass:: compLib.Display.Display
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:members:
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Examples
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=========
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Write a line to the display
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---------------------------
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.. code-block:: python
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import time
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from compLib.Display import Display
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Display.write(1, "Hello World!")
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.. _lib_encoder:
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Encoder
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*******
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Class Documentation
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====================
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.. autoclass:: compLib.Encoder.Encoder
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:members:
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.. _lib_irsensor:
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Infrared Sensor
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****************
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.. autoclass:: compLib.IRSensor.IRSensor
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:members:
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Examples
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=========
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Testing analog sensors
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-------------------------
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.. code-block:: python
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from compLib import IRSensor
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while True:
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print ("left: {} middle: {} right: {}".format(IRSensor.read(1), IRSensor.read(3), IRSensor.read(5)))
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.. _lib_Linefollower:
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Linefollower Examples
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*********************
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Simple Linefollower
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-------------------------
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.. code-block:: python
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from compLib.Motor import Motor
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from compLib.Display import Display
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from compLib.IRSensor import IRSensor
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from compLib.Encoder import Encoder
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import time
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IRSensor.set(1, True)
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IRSensor.set(2, True)
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IRSensor.set(3, True)
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IRSensor.set(4, True)
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IRSensor.set(5, True)
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DRIVE_SPEED = 75
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COLOR_BREAK = 900
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KP = 10.0
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KD = 0.0
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def drive(leftSpeed, rightSpeed):
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rightSpeed *= -0.906
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Motor.power(1, min(max(-100, rightSpeed), 100))
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Motor.power(4, min(max(-100, leftSpeed), 100))
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def follow(sleepTime = 0.1):
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lastError = 0
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sensorsBlack = 0
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while sensorsBlack < 3:
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sensorsBlack = 0
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for i in range(1, 6):
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if IRSensor.read(i) > COLOR_BREAK:
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sensorsBlack += 1
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error = lastError
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if IRSensor.read(3) > COLOR_BREAK:
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error = 0
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elif IRSensor.read(1) > COLOR_BREAK:
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error = -1.5
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elif IRSensor.read(5) > COLOR_BREAK:
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error = 1.5
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elif IRSensor.read(2) > COLOR_BREAK:
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error = -1
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elif IRSensor.read(4) > COLOR_BREAK:
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error = 1
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elif error == 1.5:
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error = 3
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elif error == -1.5:
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error = -3
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lastError = error
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adjustment = KP * error + KD * (error - lastError)
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leftSpeed = DRIVE_SPEED + adjustment
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rightSpeed = DRIVE_SPEED - adjustment
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print(f"{leftSpeed} {rightSpeed} {adjustment} {error}")
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drive(leftSpeed, rightSpeed)
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drive(0, 0)
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time.sleep(sleepTime)
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def main():
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follow()
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follow()
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follow()
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follow()
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follow(0.2)
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main()
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.. _lib_logging:
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Logging
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*******
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Class Documentation
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====================
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||||
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.. autoclass:: compLib.LogstashLogging.Logging
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:members:
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Examples
|
||||
=========
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||||
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Turn up the logging
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--------------------
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||||
.. code-block:: python
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||||
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||||
from compLib.LogstashLogging import Logging
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Logging.set_debug()
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|
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@ -1,23 +0,0 @@
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.. _lib_motor:
|
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|
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Motor
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||||
******
|
||||
|
||||
Class Documentation
|
||||
====================
|
||||
|
||||
.. autoclass:: compLib.Motor.Motor
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||||
:members:
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||||
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||||
Examples
|
||||
=========
|
||||
|
||||
Driving straight (maybe)
|
||||
-------------------------
|
||||
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||||
.. code-block:: python
|
||||
|
||||
from compLib.Motor import Motor
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||||
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Motor.power(1, -50)
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||||
Motor.power(4, 50)
|
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|
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@ -1,50 +0,0 @@
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.. _lib_odom:
|
||||
|
||||
Odometry
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||||
********
|
||||
|
||||
Class Documentation
|
||||
====================
|
||||
|
||||
.. autoclass:: compLib.Odom.Odometry
|
||||
:members:
|
||||
|
||||
.. autoclass:: compLib.Odom.Odom
|
||||
:members:
|
||||
|
||||
|
||||
Examples
|
||||
=========
|
||||
|
||||
Getting actual distance driven
|
||||
------------------------------
|
||||
|
||||
.. code-block:: python
|
||||
|
||||
import time
|
||||
import math
|
||||
from compLib.Motor import Motor
|
||||
from compLib.Encoder import Encoder
|
||||
from compLib.Odom import Odom, Odometry
|
||||
|
||||
# distance in meters
|
||||
# speed in % of max speed
|
||||
def drive_example(distance, speed):
|
||||
Odom.update()
|
||||
odom = Odom.get_odom()
|
||||
while abs(odom.get_x()) < distance:
|
||||
Odom.update()
|
||||
odom = Odom.get_odom()
|
||||
|
||||
Motor.power(4, speed)
|
||||
Motor.power(1, -speed)
|
||||
|
||||
print(f" Forward: {odom.get_x()} m")
|
||||
print(f" Right: {odom.get_y()} m")
|
||||
print(f" Turned: {math.degrees(odom.get_orientation())} degrees")
|
||||
|
||||
Motor.active_break(1)
|
||||
Motor.active_break(4)
|
||||
time.sleep(0.1)
|
||||
Encoder.clear_all()
|
||||
Odom.clear()
|
||||
|
|
@ -1,71 +0,0 @@
|
|||
.. _lib_qc:
|
||||
|
||||
Quality Control
|
||||
###############
|
||||
|
||||
Infrared Test
|
||||
-------------------------
|
||||
|
||||
.. code-block:: python
|
||||
|
||||
from compLib.IRSensor import IRSensor
|
||||
import time
|
||||
|
||||
IRSensor.set(1, True)
|
||||
IRSensor.set(2, True)
|
||||
IRSensor.set(3, True)
|
||||
IRSensor.set(4, True)
|
||||
IRSensor.set(5, True)
|
||||
|
||||
while True:
|
||||
t = time.time()
|
||||
for i in range(1, 6):
|
||||
print(f"{i}: {IRSensor.read(i)}")
|
||||
print("")
|
||||
time.sleep(0.2)
|
||||
|
||||
Motor Test
|
||||
-------------------------
|
||||
|
||||
.. code-block:: python
|
||||
|
||||
from compLib.Motor import Motor
|
||||
from compLib.Encoder import Encoder
|
||||
import time
|
||||
|
||||
Motor.power(1, -50)
|
||||
Motor.power(4, 50)
|
||||
|
||||
while True:
|
||||
print(f"L:{Encoder.read(4)} R:{Encoder.read(1)}")
|
||||
time.sleep(0.1)
|
||||
|
||||
Servo Test
|
||||
-------------------------
|
||||
|
||||
.. code-block:: python
|
||||
|
||||
from compLib.Servo import Servo
|
||||
import time
|
||||
|
||||
for i in range(1, 8 + 1):
|
||||
Servo.set_position(i, 45)
|
||||
print(f"{i}")
|
||||
time.sleep(1)
|
||||
|
||||
Servo.setup_position()
|
||||
time.sleep(10)
|
||||
|
||||
Vision Test
|
||||
-------------------------
|
||||
|
||||
.. code-block:: python
|
||||
|
||||
import cv2
|
||||
from compLib import Vision
|
||||
from compLib.Servo import Servo
|
||||
|
||||
while True:
|
||||
frame = Vision.Streaming.get_frame()
|
||||
Vision.Streaming.publish_frame(frame)
|
||||
Servo.set_position(3, -45)
|
||||
|
|
@ -1,11 +0,0 @@
|
|||
.. _lib_robot:
|
||||
|
||||
Robot
|
||||
******
|
||||
|
||||
Class Documentation
|
||||
====================
|
||||
|
||||
.. autoclass:: compLib.Robot.Robot
|
||||
:members:
|
||||
:private-members:
|
||||
|
|
@ -1,7 +0,0 @@
|
|||
.. _lib_servo:
|
||||
|
||||
Servo
|
||||
******
|
||||
|
||||
.. autoclass:: compLib.Servo.Servo
|
||||
:members:
|
||||
|
|
@ -1,104 +0,0 @@
|
|||
.. _lib_vision:
|
||||
|
||||
Vision
|
||||
*******
|
||||
|
||||
This module provides an interface for grabbing an rtmp stream and using the images to do some processing in opencv.
|
||||
|
||||
How do I use this module?
|
||||
|
||||
1. Get frames from the raspberry pi camera
|
||||
2. -- here comes your own processing --
|
||||
3. Publish the processed frames on an http server
|
||||
4. You can view the http stream of your processed images in a web browser
|
||||
|
||||
Opencv Stream
|
||||
==============
|
||||
|
||||
Because of the rtmp stream needing to buffer some frames and waiting for P-Frames, importing this module might take up
|
||||
to 5 Seconds.
|
||||
|
||||
.. autoclass:: compLib.Vision.__Streaming
|
||||
:members:
|
||||
|
||||
Examples
|
||||
=========
|
||||
|
||||
Using the Vision Module
|
||||
-------------------------
|
||||
|
||||
.. code-block:: python
|
||||
|
||||
import cv2
|
||||
from compLib import Vision
|
||||
|
||||
while True:
|
||||
# get newest opencv frame from camera
|
||||
frame = Vision.Streaming.get_frame()
|
||||
|
||||
# do some processing with the frame.....
|
||||
|
||||
# publish frame to streaming server
|
||||
Vision.Streaming.publish_frame(frame)
|
||||
|
||||
Connect the raspberry pi to your internet and view the stream at: "http://your_raspi_ip:9898/". This should display
|
||||
your raspberry pi camera. Note: the stream will lag a little bit BUT the processing of the image will be done in
|
||||
realtime.
|
||||
|
||||
The output on the website should show whatever your raspberry pi cam records:
|
||||
|
||||
.. image:: images/opencv_http_stream.png
|
||||
:width: 680
|
||||
:alt: Processed frames from opencv
|
||||
|
||||
|
||||
Chessboard Detection
|
||||
------------------------------------------
|
||||
|
||||
In this example we process the captured stream of images and want to detect chessboards. Run this example and
|
||||
point your raspberry pi camera to a chessboard and it should be detected.
|
||||
|
||||
For testing you can point it at this image:
|
||||
|
||||
.. image:: images/chessboard.jpg
|
||||
:width: 680
|
||||
:alt: Chessboard for opencv processing
|
||||
|
||||
.. code-block:: python
|
||||
|
||||
import cv2
|
||||
from compLib import Vision
|
||||
|
||||
while True:
|
||||
# get newest opencv frame from camera
|
||||
frame = Vision.Streaming.get_frame()
|
||||
|
||||
criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)
|
||||
|
||||
# convert image to grayscale image
|
||||
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
|
||||
|
||||
# find the chessboard corners
|
||||
ret, corners = cv2.findChessboardCorners(gray, (6, 9), None)
|
||||
|
||||
# draw detected chessboard position onto the image
|
||||
cv2.drawChessboardCorners(frame, (6, 9), corners, ret)
|
||||
|
||||
# publish frame to streaming server
|
||||
Vision.Streaming.publish_frame(frame)
|
||||
|
||||
Connect the raspberry pi to your internet and view the stream at: "http://your_raspi_ip:9898/".
|
||||
|
||||
The output image should look like this:
|
||||
|
||||
.. image:: images/chessboard_detected.jpg
|
||||
:width: 680
|
||||
:alt: Processed frames from opencv
|
||||
|
||||
Here is a screenshot of the stream website while viewing the chessboard in this documentation.
|
||||
|
||||
.. image:: images/opencv_processed.png
|
||||
:width: 680
|
||||
:alt: Processed frames from opencv
|
||||
|
||||
|
||||
Binary file not shown.
|
Before Width: | Height: | Size: 33 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 69 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 391 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 356 KiB |
|
|
@ -1,29 +0,0 @@
|
|||
.. _other_usage:
|
||||
|
||||
Usage
|
||||
######
|
||||
|
||||
.. code-block:: python
|
||||
|
||||
import time
|
||||
from compLib.Motor import *
|
||||
|
||||
def forward():
|
||||
Motor.power(1, -30);
|
||||
Motor.power(2, 30);
|
||||
|
||||
|
||||
def backward():
|
||||
Motor.power(1, 30);
|
||||
Motor.power(2, -30);
|
||||
|
||||
def main():
|
||||
print("hallo ich bin ein roboter beep buup")
|
||||
|
||||
forward()
|
||||
time.sleep(1)
|
||||
backward()
|
||||
time.sleep(1)
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
Reference in a new issue