Add movement class to python
This commit is contained in:
Konstantin Lampalzer
parent
2c5f283a46
commit
d4c49a0a51
18 changed files with 240 additions and 53 deletions
3
client_s2/.idea/misc.xml
generated
3
client_s2/.idea/misc.xml
generated
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@ -1,4 +1,7 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<project version="4">
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<component name="ProjectRootManager" version="2" project-jdk-name="Python 3.9" project-jdk-type="Python SDK" />
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<component name="PyCharmProfessionalAdvertiser">
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<option name="shown" value="true" />
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</component>
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</project>
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@ -82,3 +82,20 @@ message OdometryReadResponse {
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double orientation = 5;
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}
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message DriveDistanceRequest {
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Header header = 1;
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double distance_m = 2;
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double velocity_m_s = 3;
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}
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message TurnDegreesRequest {
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Header header = 1;
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double angle_degrees = 2;
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double velocity_rad_s = 3;
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}
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message DriveRequest {
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Header header = 1;
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double linear_velocity_m_s = 2;
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double angular_velocity_rad_s = 3;
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}
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@ -11,11 +11,11 @@ class CompLibClient(object):
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@staticmethod
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def send(data: bytes, size: int) -> bytes:
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# with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as sock:
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# sock.connect((TCP_SOCKET_HOST, TCP_SOCKET_PORT))
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with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as sock:
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sock.connect((TCP_SOCKET_HOST, TCP_SOCKET_PORT))
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with socket.socket(socket.AF_UNIX, socket.SOCK_STREAM) as sock:
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sock.connect(UNIX_SOCKET_PATH)
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# with socket.socket(socket.AF_UNIX, socket.SOCK_STREAM) as sock:
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# sock.connect(UNIX_SOCKET_PATH)
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sock.sendall(size.to_bytes(1, byteorder='big'))
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sock.sendall(data)
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@ -14,7 +14,7 @@ _sym_db = _symbol_database.Default()
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DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\rCompLib.proto\x12\x07\x43ompLib\"\x1e\n\x06Header\x12\x14\n\x0cmessage_type\x18\x01 \x01(\t\"3\n\x06Status\x12\x12\n\nsuccessful\x18\x01 \x01(\x08\x12\x15\n\rerror_message\x18\x02 \x01(\t\"1\n\x0eGenericRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\"S\n\x0fGenericResponse\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x1f\n\x06status\x18\x02 \x01(\x0b\x32\x0f.CompLib.Status\">\n\x1b\x45ncoderReadPositionsRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\"w\n\x1c\x45ncoderReadPositionsResponse\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x1f\n\x06status\x18\x02 \x01(\x0b\x32\x0f.CompLib.Status\x12\x15\n\tpositions\x18\x03 \x03(\x05\x42\x02\x10\x01\"?\n\x1c\x45ncoderReadVelocitiesRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\"y\n\x1d\x45ncoderReadVelocitiesResponse\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x1f\n\x06status\x18\x02 \x01(\x0b\x32\x0f.CompLib.Status\x12\x16\n\nvelocities\x18\x03 \x03(\x01\x42\x02\x10\x01\"9\n\x16IRSensorsEnableRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\":\n\x17IRSensorsDisableRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\":\n\x17IRSensorsReadAllRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\"n\n\x18IRSensorsReadAllResponse\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x1f\n\x06status\x18\x02 \x01(\x0b\x32\x0f.CompLib.Status\x12\x10\n\x04\x64\x61ta\x18\x03 \x03(\rB\x02\x10\x01\"U\n\x15MotorsSetPowerRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x0c\n\x04port\x18\x02 \x01(\r\x12\r\n\x05power\x18\x03 \x01(\x01\"U\n\x15MotorsSetSpeedRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x0c\n\x04port\x18\x02 \x01(\r\x12\r\n\x05speed\x18\x03 \x01(\x01\"6\n\x13OdometryReadRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\"\x95\x01\n\x14OdometryReadResponse\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x1f\n\x06status\x18\x02 \x01(\x0b\x32\x0f.CompLib.Status\x12\x12\n\nx_position\x18\x03 \x01(\x01\x12\x12\n\ny_position\x18\x04 \x01(\x01\x12\x13\n\x0borientation\x18\x05 \x01(\x01\x62\x06proto3')
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DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\rCompLib.proto\x12\x07\x43ompLib\"\x1e\n\x06Header\x12\x14\n\x0cmessage_type\x18\x01 \x01(\t\"3\n\x06Status\x12\x12\n\nsuccessful\x18\x01 \x01(\x08\x12\x15\n\rerror_message\x18\x02 \x01(\t\"1\n\x0eGenericRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\"S\n\x0fGenericResponse\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x1f\n\x06status\x18\x02 \x01(\x0b\x32\x0f.CompLib.Status\">\n\x1b\x45ncoderReadPositionsRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\"w\n\x1c\x45ncoderReadPositionsResponse\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x1f\n\x06status\x18\x02 \x01(\x0b\x32\x0f.CompLib.Status\x12\x15\n\tpositions\x18\x03 \x03(\x05\x42\x02\x10\x01\"?\n\x1c\x45ncoderReadVelocitiesRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\"y\n\x1d\x45ncoderReadVelocitiesResponse\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x1f\n\x06status\x18\x02 \x01(\x0b\x32\x0f.CompLib.Status\x12\x16\n\nvelocities\x18\x03 \x03(\x01\x42\x02\x10\x01\"9\n\x16IRSensorsEnableRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\":\n\x17IRSensorsDisableRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\":\n\x17IRSensorsReadAllRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\"n\n\x18IRSensorsReadAllResponse\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x1f\n\x06status\x18\x02 \x01(\x0b\x32\x0f.CompLib.Status\x12\x10\n\x04\x64\x61ta\x18\x03 \x03(\rB\x02\x10\x01\"U\n\x15MotorsSetPowerRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x0c\n\x04port\x18\x02 \x01(\r\x12\r\n\x05power\x18\x03 \x01(\x01\"U\n\x15MotorsSetSpeedRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x0c\n\x04port\x18\x02 \x01(\r\x12\r\n\x05speed\x18\x03 \x01(\x01\"6\n\x13OdometryReadRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\"\x95\x01\n\x14OdometryReadResponse\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x1f\n\x06status\x18\x02 \x01(\x0b\x32\x0f.CompLib.Status\x12\x12\n\nx_position\x18\x03 \x01(\x01\x12\x12\n\ny_position\x18\x04 \x01(\x01\x12\x13\n\x0borientation\x18\x05 \x01(\x01\"a\n\x14\x44riveDistanceRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x12\n\ndistance_m\x18\x02 \x01(\x01\x12\x14\n\x0cvelocity_m_s\x18\x03 \x01(\x01\"d\n\x12TurnDegreesRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x15\n\rangle_degrees\x18\x02 \x01(\x01\x12\x16\n\x0evelocity_rad_s\x18\x03 \x01(\x01\"l\n\x0c\x44riveRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x1b\n\x13linear_velocity_m_s\x18\x02 \x01(\x01\x12\x1e\n\x16\x61ngular_velocity_rad_s\x18\x03 \x01(\x01\x62\x06proto3')
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@ -34,6 +34,9 @@ _MOTORSSETPOWERREQUEST = DESCRIPTOR.message_types_by_name['MotorsSetPowerRequest
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_MOTORSSETSPEEDREQUEST = DESCRIPTOR.message_types_by_name['MotorsSetSpeedRequest']
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_ODOMETRYREADREQUEST = DESCRIPTOR.message_types_by_name['OdometryReadRequest']
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_ODOMETRYREADRESPONSE = DESCRIPTOR.message_types_by_name['OdometryReadResponse']
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_DRIVEDISTANCEREQUEST = DESCRIPTOR.message_types_by_name['DriveDistanceRequest']
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_TURNDEGREESREQUEST = DESCRIPTOR.message_types_by_name['TurnDegreesRequest']
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_DRIVEREQUEST = DESCRIPTOR.message_types_by_name['DriveRequest']
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Header = _reflection.GeneratedProtocolMessageType('Header', (_message.Message,), {
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'DESCRIPTOR' : _HEADER,
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'__module__' : 'CompLib_pb2'
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@ -146,6 +149,27 @@ OdometryReadResponse = _reflection.GeneratedProtocolMessageType('OdometryReadRes
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})
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_sym_db.RegisterMessage(OdometryReadResponse)
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DriveDistanceRequest = _reflection.GeneratedProtocolMessageType('DriveDistanceRequest', (_message.Message,), {
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'DESCRIPTOR' : _DRIVEDISTANCEREQUEST,
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'__module__' : 'CompLib_pb2'
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# @@protoc_insertion_point(class_scope:CompLib.DriveDistanceRequest)
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})
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_sym_db.RegisterMessage(DriveDistanceRequest)
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TurnDegreesRequest = _reflection.GeneratedProtocolMessageType('TurnDegreesRequest', (_message.Message,), {
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'DESCRIPTOR' : _TURNDEGREESREQUEST,
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'__module__' : 'CompLib_pb2'
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# @@protoc_insertion_point(class_scope:CompLib.TurnDegreesRequest)
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})
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_sym_db.RegisterMessage(TurnDegreesRequest)
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DriveRequest = _reflection.GeneratedProtocolMessageType('DriveRequest', (_message.Message,), {
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'DESCRIPTOR' : _DRIVEREQUEST,
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'__module__' : 'CompLib_pb2'
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# @@protoc_insertion_point(class_scope:CompLib.DriveRequest)
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})
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_sym_db.RegisterMessage(DriveRequest)
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if _descriptor._USE_C_DESCRIPTORS == False:
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DESCRIPTOR._options = None
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@ -187,4 +211,10 @@ if _descriptor._USE_C_DESCRIPTORS == False:
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_ODOMETRYREADREQUEST._serialized_end=1139
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_ODOMETRYREADRESPONSE._serialized_start=1142
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_ODOMETRYREADRESPONSE._serialized_end=1291
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_DRIVEDISTANCEREQUEST._serialized_start=1293
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_DRIVEDISTANCEREQUEST._serialized_end=1390
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_TURNDEGREESREQUEST._serialized_start=1392
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_TURNDEGREESREQUEST._serialized_end=1492
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_DRIVEREQUEST._serialized_start=1494
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_DRIVEREQUEST._serialized_end=1602
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# @@protoc_insertion_point(module_scope)
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57
client_s2/compLib/Movement.py
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57
client_s2/compLib/Movement.py
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@ -0,0 +1,57 @@
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import compLib.CompLib_pb2 as CompLib_pb2
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from compLib.CompLibClient import CompLibClient
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class Movement(object):
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"""High level class to control movement of the robot
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"""
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@staticmethod
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def drive_distance(distance: float, speed: float):
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"""
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Drive a given distance with a certain speed.
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Positive distance and speed with result in forward motion. Everything else will move backwards.
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:param distance: Distance in meters
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:param speed: Speed in meters per second
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:return: None
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"""
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request = CompLib_pb2.DriveDistanceRequest()
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request.header.message_type = request.DESCRIPTOR.full_name
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request.distance_m = distance
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request.velocity_m_s = speed
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response = CompLib_pb2.GenericResponse()
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response.ParseFromString(CompLibClient.send(request.SerializeToString(), request.ByteSize()))
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@staticmethod
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def turn_degrees(degrees: float, speed: float):
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"""
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Turn specified degrees with a given speed.
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Positive degrees and speed with result in counter-clockwise motion. Everything else will be clockwise
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:param degrees: Degrees between -180 and 180
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:param speed: Speed in radians per second
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:return: None
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"""
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request = CompLib_pb2.TurnDegreesRequest()
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request.header.message_type = request.DESCRIPTOR.full_name
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request.angle_degrees = degrees
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request.velocity_rad_s = speed
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response = CompLib_pb2.GenericResponse()
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response.ParseFromString(CompLibClient.send(request.SerializeToString(), request.ByteSize()))
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@staticmethod
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def drive(linear: float, angular: float):
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"""
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Non-blocking way to perform a linear and angular motion at the same time.
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:param linear: Linear speed in meters per second
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:param angular: Angular speed in radians per second
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:return: None
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"""
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request = CompLib_pb2.DriveDistanceRequest()
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request.header.message_type = request.DESCRIPTOR.full_name
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request.linear_velocity_m_s = linear
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request.angular_velocity_rad_s = angular
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response = CompLib_pb2.GenericResponse()
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response.ParseFromString(CompLibClient.send(request.SerializeToString(), request.ByteSize()))
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Binary file not shown.
Binary file not shown.
BIN
client_s2/compLib/__pycache__/Movement.cpython-39.pyc
Normal file
BIN
client_s2/compLib/__pycache__/Movement.cpython-39.pyc
Normal file
Binary file not shown.
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@ -33,15 +33,57 @@ def main():
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# from compLib.IRSensor import IRSensor
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# IRSensor.read_all()
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#
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from compLib.Encoder import Encoder
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Encoder.read_all_positions()
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Encoder.read_all_velocities()
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# from compLib.Encoder import Encoder
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# print(Encoder.read_all_positions())
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# print(Encoder.read_all_velocities())
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# from compLib.Motor import Motor
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# Motor.speed(0, 50)
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# Motor.speed(3, -50)
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#
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# import time
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# time.sleep(2)
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#
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# Motor.speed(0, 0)
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# Motor.speed(3, -0)
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# time.sleep(10)
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# Motor.power(0, 0)
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# Motor.power(3, 0)
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# import math
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# from compLib.Movement import Movement
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# Movement.turn_degrees(90, math.pi * 2)
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# Movement.turn_degrees(-90, math.pi * 2)
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#
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# Movement.turn_degrees(90, math.pi * 2)
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# Movement.turn_degrees(90, -math.pi * 2)
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#
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# Movement.turn_degrees(90, math.pi * 2)
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# Movement.turn_degrees(-90, -math.pi * 2)
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# from compLib.Movement import Movement
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# Movement.drive_distance(0.1, 0.5)
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# Movement.drive_distance(-0.1, 0.5)
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#
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# Movement.drive_distance(0.1, 0.5)
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# Movement.drive_distance(0.1, -0.5)
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#
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# Movement.drive_distance(0.1, 0.5)
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# Movement.drive_distance(-0.1, -0.5)
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from compLib.Movement import Movement
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import math
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Movement.drive_distance(0.5, 0.5)
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Movement.turn_degrees(90, math.pi * 2)
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Movement.drive_distance(0.5, 0.5)
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Movement.turn_degrees(90, math.pi * 2)
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Movement.drive_distance(0.5, 0.5)
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Movement.turn_degrees(90, math.pi * 2)
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Movement.drive_distance(0.5, 0.5)
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Movement.turn_degrees(90, math.pi * 2)
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if __name__ == '__main__':
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