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trabprofcal.py
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trabprofcal.py
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# coding=utf-8
# Insert in a script in Coppelia
# simRemoteApi.start(19999)
try:
import sim
except:
print('--------------------------------------------------------------')
print('"sim.py" could not be imported. This means very probably that')
print('either "sim.py" or the remoteApi library could not be found.')
print('Make sure both are in the same folder as this file,')
print('or appropriately adjust the file "sim.py"')
print('--------------------------------------------------------------')
print('')
import numpy as np
import matplotlib.pyplot as plt
import time
import random
def SensorD(clientId=-1,
range_data_signal_id="hokuyo_range_data",
angle_data_signal_id="hokuyo_angle_data"):
# the first call should be non-blocking to avoid getting out-of-sync angle data
returnCodeRanges, string_range_data = sim.simxGetStringSignal(clientId, range_data_signal_id,
sim.simx_opmode_streaming)
# the second call should block to avoid out-of-sync scenarios
# between your python script and the simulator's main loop
# (your script may be slower than the simulator's main loop, thus
# slowing down data processing)
returnCodeAngles, string_angle_data = sim.simxGetStringSignal(clientId, angle_data_signal_id,
sim.simx_opmode_blocking)
# check the if both data were obtained correctly
if returnCodeRanges == 0 and returnCodeAngles == 0:
# unpack data from range and sensor messages
raw_range_data = sim.simxUnpackFloats(string_range_data)
raw_angle_data = sim.simxUnpackFloats(string_angle_data)
return raw_range_data, raw_angle_data
# return none in case were nothing was gotten from the simulator
return None
print('Program started')
nrovezes = 240;
sim.simxFinish(-1)
clientID = sim.simxStart('127.0.0.1', 19999, True, True, 5000, 5)
if clientID != -1:
# comprimentos Pioneer
L = 0.381 # Metros
r = 0.0975 # Metros
Resoluc = 0.025
res, objs = sim.simxGetObjects(clientID, sim.sim_handle_all, sim.simx_opmode_blocking)
if res == sim.simx_return_ok:
print('sucesso')
else:
print('Falha erro -->', res)
sim.simxStartSimulation(clientID, sim.simx_opmode_oneshot_wait)
print('Conectado')
sim.simxAddStatusbarMessage(clientID, 'Conexao activa...', sim.simx_opmode_oneshot_wait)
robotname = 'Pioneer_p3dx'
erro, robotHandle = sim.simxGetObjectHandle(clientID, robotname, sim.simx_opmode_oneshot_wait)
# Handle RODAMENTOS
returnCode, l_wheel = sim.simxGetObjectHandle(clientID, robotname + '_leftMotor', sim.simx_opmode_oneshot_wait)
returnCode, r_wheel = sim.simxGetObjectHandle(clientID, robotname + '_rightMotor', sim.simx_opmode_oneshot_wait)
# messagem coppelica--> inf robo
[returnCode, positionrobot] = sim.simxGetObjectPosition(clientID, robotHandle, -1, sim.simx_opmode_streaming)
[returnCode, orientationrobot] = sim.simxGetObjectOrientation(clientID, robotHandle, -1, sim.simx_opmode_streaming)
time.sleep(0.015)
# Handle para os dados do LASER
laser_range_data = "hokuyo_range_data"
laser_angle_data = "hokuyo_angle_data"
# inicio leitura
returnCode = 1
while returnCode != 0:
returnCode, range_data = sim.simxGetStringSignal(clientID, laser_range_data, sim.simx_opmode_streaming + 10)
raw_range_data, raw_angle_data = SensorD(clientID, laser_range_data, laser_angle_data)
lasers = np.array([raw_angle_data, raw_range_data]).T
returnCode, pos = sim.simxGetObjectPosition(clientID, robotHandle, -1, sim.simx_opmode_oneshot_wait)
t = 0
startTime = time.time()
lastTime = startTime
dt = 0
i = 0
theta = 0
sim.simxAddStatusbarMessage(clientID, 'posicao obtida...', sim.simx_opmode_oneshot_wait)
while t < nrovezes:
now = time.time()
dt = now - lastTime
# laser
raw_data, raw_angle_data = SensorD(clientID, laser_range_data, laser_angle_data)
lasers = np.array([raw_angle_data, raw_data]).T
RANGE_MAX = 5
RANGE_LIMIT = 0.2
PRIORI = random.gauss(1,0.50)
if raw_angle_data[i] < RANGE_MAX * RANGE_LIMIT:
taxaOC = 0.9
else:
taxaOC = 0.48
elemento = 'ResizableFloor_5_25_element' # CHAO ESQ DEREITA SUP
erro, elementHandle = sim.simxGetObjectHandle(clientID, elemento,
sim.simx_opmode_oneshot_wait) # handle/conexao com o robo
returnCode, cantosup = sim.simxGetObjectPosition(clientID, elementHandle, -1, sim.simx_opmode_oneshot_wait)
cantosupder = (cantosup[1] - 3.5)
elemento = 'ResizableFloor_5_25_element7' # nome do modelo
erro, elementHandle = sim.simxGetObjectHandle(clientID, elemento,
sim.simx_opmode_oneshot_wait) # handle/conexao com o robo
returnCode, cantoinf = sim.simxGetObjectPosition(clientID, elementHandle, -1, sim.simx_opmode_oneshot_wait)
cantoinfesq = (cantoinf[1] + 3.5)
alturagrid = cantosupder/Resoluc
larguragrid = cantoinfesq/Resoluc
print('dimensao ', alturagrid,larguragrid )
posX = positionrobot[1]
posY = positionrobot[2]
xL = np.cos(raw_angle_data[i] + theta) * raw_angle_data[i] / Resoluc + (posX);
# // + altgrid / 2;
yL = np.sin(raw_angle_data[i] + theta) * raw_angle_data[i] / Resoluc + (posY);
# posX e posY são as coordenadas do robô na GRID
# Calcular todos as células de acordo com o algoritmo de Bresenham
rows = abs(int(alturagrid))
cols = abs(int(larguragrid))
print(' rows',rows,'cols ',cols)
line_bresenham = np.zeros((rows, cols), dtype=np.uint8)
ca = 0
# rr, cc = math.line(yL+RES, xL+RES, yL, xL) # r0, c0, r1, c1
x1, y1 = [xL, yL]
x2, y2 = [xL + 3*Resoluc, yL + 3*Resoluc]
x1 = int(x1)
x2 = int(x2)
y1 = int(y1)
y2 = int(y2)
dx = x2 - x1
dy = y2 - y1
is_steep = abs(dy) > abs(dx) # pendente da linha
# Rotate line
if is_steep:
x1, y1 = y1, x1
x2, y2 = y2, x2
swapped = False
if x1 > x2:
x1, x2 = x2, x1
y1, y2 = y2, y1
swapped = True
# Recalculate differentials
dx = x2 - x1
dy = y2 - y1
# Calculate error
error = int(dx / 2.0)
ystep = 1 if y1 < y2 else -1
print(error)
# Iterate over bounding box generating points between start and end
y = y1
points = []
for x in range(x1, x2 + 1):
coord = (y, x) if is_steep else (x, y)
points.append(coord)
error -= abs(dy)
if error < 0:
y += ystep
error += dx
print(points)
# ATUALIZAR A GRID
# Para cada célula da matriz por onde o feixe passa
# Atualizar a GRID
mxLyL = random.gauss(1,.5)
apriori = mxLyL
print('prob previa ', apriori)
print(1 - pow(1 + ((taxaOC / (1 - taxaOC)) * ((1 - PRIORI) / PRIORI) * (apriori / (1 - apriori))), -1))
mxLyL = 1 - pow(1 + ((taxaOC / (1 - taxaOC)) * ((1 - PRIORI) / PRIORI) * (apriori / (1 - apriori))), -1)
print('prob nova ', mxLyL)
# Atualizar xL, yL de acordo com o algoritmo de Bresenham
# MAPEAMENTO - FIM
# movimento ajustado
v = 0
w = np.deg2rad(0)
sfrontal = int(len(lasers) / 2)
sdireito = int(len(lasers) * 1 / 4)
sesquerdo = int(len(lasers) * 3 / 4)
if lasers[sfrontal, 1] < 0.6:
v = 0.6
w = np.deg2rad(-25)
elif lasers[sdireito, 1] < 1:
v = 0.3
w = np.deg2rad(15)
elif lasers[sesquerdo, 1] < 1:
v = 0.3
w = np.deg2rad(-25)
else:
v = 0.8
w = 0
#cinemática
wl = v / r - (w * L) / (2 * r)
wr = v / r + (w * L) / (2 * r)
# velocidades destino coppelia
sim.simxSetJointTargetVelocity(clientID, l_wheel, wl, sim.simx_opmode_streaming + 5)
sim.simxSetJointTargetVelocity(clientID, r_wheel, wr, sim.simx_opmode_streaming + 5)
t = t + dt
i = i + 1
lastTime = now
#parado robo e simulacao
sim.simxSetJointTargetVelocity(clientID, r_wheel, 0, sim.simx_opmode_oneshot_wait)
sim.simxSetJointTargetVelocity(clientID, l_wheel, 0, sim.simx_opmode_oneshot_wait)
sim.simxStopSimulation(clientID, sim.simx_opmode_blocking)
sim.simxFinish(clientID)
else:
print('Falha na conexao com remote API server')
print('Fechando programa')