Display working. Sensors starting to work.
Clusters are forming.
This commit is contained in:
Danny Staple
parent
d3e128e010
commit
389f2f768a
@ -14,17 +14,18 @@ class RobotDisplay:
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self.arena = {}
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self.display_closed = False
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self.fig, self.ax = plt.subplots()
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self.pose_coords = []
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self.pose_uv = []
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self.poses = np.zeros([200, 3], dtype=np.float32)
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def handle_close(self, _):
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self.display_closed = True
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def handle_data(self, data):
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self.line += data.decode("utf-8")
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# print(f"Received data: {data.decode('utf-8')}")
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# print(f"Line is now: {self.line}")
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while "\n" in self.line:
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line, self.line = self.line.split("\n", 1)
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# print(f"Received data: {line}")
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print(f"Received line: {line}")
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try:
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message = json.loads(line)
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except ValueError:
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@ -33,12 +34,8 @@ class RobotDisplay:
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if "arena" in message:
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self.arena = message
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if "poses" in message:
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# the robot poses are an array of [x, y, theta] arrays.
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# matplotlib quiver plots wants an [x] ,[y] and [angle] arrays
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poses = np.array(message["poses"])
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self.pose_coords = poses[:,0:1].T
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angle_rads = np.deg2rad(poses[:,2])
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self.pose_uv = np.array([np.cos(angle_rads), np.sin(angle_rads)])
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print(message)
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self.poses[message["offset"]: message["offset"] + len(message["poses"])] = message["poses"]
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def draw(self):
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self.ax.clear()
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@ -47,12 +44,7 @@ class RobotDisplay:
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self.ax.plot(
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[line[0][0], line[1][0]], [line[0][1], line[1][1]], color="black"
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)
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# for line in self.arena["target_zone"]:
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# self.ax.plot(
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# [line[0][0], line[1][0]], [line[0][1], line[1][1]], color="red"
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# )
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if len(self.pose_coords) > 0:
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self.ax.quiver(self.pose_coords[0], self.pose_coords[1], self.pose_uv[0], self.pose_uv[1], color="blue")
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self.ax.scatter(self.poses[:,0], self.poses[:,1], color="blue")
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async def send_command(self, command):
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#+ "\n" - why does adding this (which sounds right) cause the ble stack (on the robot or computer? ) not to work any more?
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@ -28,8 +28,8 @@ class Simulation:
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# speed is proportional to distance from wall -> further we are from wall, faster we can go
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# turn is proportional to difference between left and right distance sensors.
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self.forward_distance_pid = pid_controller.PIDController(0.1, 0.01, 0.01)
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self.turn_pid = pid_controller.PIDController(0.1, 0.01, 0.01)
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self.forward_distance_pid = pid_controller.PIDController(0.01, 0.001, 0.001)
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self.turn_pid = pid_controller.PIDController(0.01, 0.001, 0.001)
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self.distance_aim = 100
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def apply_sensor_model(self):
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@ -88,7 +88,9 @@ class Simulation:
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weights[index] = 1 / (left_error + right_error)
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#normalise the weights
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print("Weights sum before normalising:", np.sum(weights))
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weights = weights / np.sum(weights)
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print("Weights sum:", np.sum(weights))
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return weights
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def resample(self, weights):
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@ -107,7 +109,7 @@ class Simulation:
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cumulative_weights += weights[source_index]
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samples.append(source_index)
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# set poses to the resampled poses
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self.poses = self.poses[samples]
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self.poses = np.array([self.poses[n] for n in samples])
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async def move_robot(self):
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"""move forward, apply the motion model"""
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@ -116,13 +118,14 @@ class Simulation:
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encoder_right = robot.right_encoder.read()
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# move forward - use distance sensor to determine how far to go
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distance_error = self.distance_aim - min(self.left_distance, self.right_distance)
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print("left_distance:", self.left_distance, "right_distance:", self.right_distance)
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distance_error = min(self.left_distance, self.right_distance) - self.distance_aim
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forward_speed = self.forward_distance_pid.calculate(distance_error, self.time_step)
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turn_error = self.left_distance - self.right_distance
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turn_speed = self.turn_pid.calculate(turn_error, self.time_step)
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robot.set_left(forward_speed + turn_speed)
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robot.set_right(forward_speed - turn_speed)
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print("forward_speed:", forward_speed, "turn_speed:", turn_speed)
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# robot.set_left(forward_speed + turn_speed)
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# robot.set_right(forward_speed - turn_speed)
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await asyncio.sleep(self.time_step)
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# record sensor changes
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@ -140,13 +143,14 @@ class Simulation:
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heading_standard_dev = 2 # degrees
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speed_standard_dev = 5 # mm
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radians = np.radians(self.poses[2])
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heading_model = [get_gaussian_sample(0, heading_standard_dev) for _ in range(self.poses.shape[1])]
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speed_model = [get_gaussian_sample(speed_in_mm, speed_standard_dev) for _ in range(self.poses.shape[1])]
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radians = np.radians(self.poses[:,2])
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heading_model = np.array([get_gaussian_sample(0, heading_standard_dev) for _ in range(self.poses.shape[0])])
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speed_model = np.array([get_gaussian_sample(speed_in_mm, speed_standard_dev) for _ in range(self.poses.shape[0])])
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# print("Radians shape:", radians.shape, "heading_model shape:", len(heading_model), "speed_model shape:", len(speed_model), "poses shape:", self.poses.shape)
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self.poses[:,0] += speed_model * np.cos(radians)
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self.poses[:,1] += speed_model * np.sin(radians)
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self.poses[:,2] += np.full(self.poses[2].shape, heading_change + heading_model)
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self.poses[:,2] = np.vectorize(lambda n: n % 360)(self.poses[2])
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self.poses[:,2] += heading_change + heading_model
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self.poses[:,2] = np.vectorize(lambda n: float(n % 360))(self.poses[:,2])
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async def distance_sensor_updater(self):
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robot.left_distance.start_ranging()
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@ -163,10 +167,14 @@ class Simulation:
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async def run(self):
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asyncio.create_task(self.distance_sensor_updater())
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try:
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for _ in range(15):
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while True:
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print("Applying sensor model")
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weights = self.apply_sensor_model()
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print("Sensor model complete.\nResampling")
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self.resample(weights)
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print("Resampling complete.\nMoving robot")
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await self.move_robot()
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print("Robot move complete")
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finally:
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robot.stop()
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@ -207,18 +215,22 @@ async def updater(simulation):
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}
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}
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)
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send_json(
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{
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"poses": simulation.poses.tolist(),
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}
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)
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# The big time delay is in sending the poses.
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print("Sending poses", simulation.poses.shape[0])
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for n in range(0, simulation.poses.shape[0], 10):
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print("Sending poses from ", n, "to", n+10, "of", simulation.poses.shape[0], "poses")
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send_json({
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"poses": simulation.poses[n:n+10].tolist(),
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"offset": n,
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})
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await asyncio.sleep(0.01)
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await asyncio.sleep(0.5)
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async def command_handler(simulation):
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update_task = asyncio.create_task(updater(simulation))
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simulation_task = asyncio.create_task(simulation.run())
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print("Starting handler")
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update_task = None
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simulation_task = None
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while True:
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if robot.uart.in_waiting:
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print("Receiving data...")
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@ -232,6 +244,11 @@ async def command_handler(simulation):
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"arena": arena.boundary_lines
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}
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)
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if not update_task:
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update_task = asyncio.create_task(updater(simulation))
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elif request["command"] == "start":
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simulation_task = asyncio.create_task(simulation.run())
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await asyncio.sleep(0.1)
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