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This commit is contained in:
Nogard
2025-03-23 08:28:48 +01:00
parent cdb724aa89
commit 85e39b6948
1 changed files with 206 additions and 170 deletions
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script.js
+203 -167
View File
@@ -1,18 +1,27 @@
const ROBOT_URL = "192.168.185.166";
const CURL_URL = "localhost:4444";
const INFO_POSITION = 0x01;
const INFO_LED = 0x02;
const INFOS_POSITION = 0x01;
const INFOS_LED = 0x02;
const INFOS_MOTORS = 0x04;
const INFOS_WHEELS = 0x08;
const INFOS_SPEED = 0x10;
const INFOS_RANGEFINDER = 0x20;
const DEBUG = false;
const DEBUG = true;
const MUR_THRESHOLD = 80;
const MASTER_SLEEP_TIME = 500;
let socketMoteur = undefined;
let socketInfos = undefined;
let moteur = undefined;
let led = undefined;
let position = undefined;
let pid = undefined;
let turtle = undefined;
const sleep = async (time) => {
await new Promise(r => setTimeout(r, time));
}
const connectSockets = () => {
if ((socketMoteur != undefined) || (socketInfos != undefined)) {
@@ -41,6 +50,7 @@ const connectSockets = () => {
new Promise(r => setTimeout(r, 2000)).then(() => {
led.off();
});
socketInfos.send(new Uint8Array([0x32, 0x20]));
};
socketInfos.onclose = function(event) {
@@ -110,76 +120,6 @@ class Moteur {
}
}
class PID {
kpx = 0;
kix = 0;
kdx = 0;
kpy = 0;
kiy = 0;
kdy = 0;
kpr = 0;
kir = 0;
kdr = 0;
px = 0;
ix = 0;
dx = 0;
py = 0;
iy = 0;
dy = 0;
pr = 0;
ir = 0;
dr = 0;
tagetX = 0;
tagetY = 0;
targetR = 0;
run = false;
lastTime = undefined;
set(targetX, targetY, targetR) {
this.targetX = targetX;
this.px = 0;
this.ix = 0;
this.dx = 0;
this.targetY = targetY;
this.py = 0;
this.iy = 0;
this.dy = 0;
this.targetR = targetR;
this.pr = 0;
this.ir = 0;
this.dr = 0;
this.lastTime = Date.now().valueOf();
this.run = true;
}
get(currentX, currentY, currentR) {
if (!this.run) {
return;
}
const currentTime = Date.now().valueOf();
const deltaTime = (currentTime - this.lastTime) / 1000.0;
this.p
console.log("Time delta : " + deltaTime);
this.lastTime = currentTime;
}
}
class Led {
http = undefined;
@@ -216,26 +156,64 @@ class Position {
posX = 0;
posY = 0;
Rot = 0;
capteur_distance = 0;
distance_mur_moyenne = 0;
constructor(socket) {
socket.addEventListener("message", e => {
const view = new DataView(e.data);
let pos = 0;
const mask = view.getUint8(0);
if (mask & INFO_POSITION) {
const posX = view.getFloat32(1);
const poxY = view.getFloat32(5);
const posR = view.getFloat32(9);
const mask = view.getUint8(pos);
pos++;
if (mask & INFOS_POSITION) {
this.posX = view.getFloat32(pos + 0);
this.posY = view.getFloat32(pos + 4);
this.Rot = view.getFloat32(pos + 8);
pos += 3*4;
if (DEBUG) {
console.log(
{"posX": posX, "posY": poxY, "Rot": posR}
{"posX": this.posX, "posY": this.posY, "Rot": this.Rot}
);
}
}
pid.get(posX, this.posY, posR);
if (mask & INFOS_LED) {
const led_r = view.getUint8(pos + 0);
const led_g = view.getUint8(pos + 1);
const led_b = view.getUint8(pos + 2);
pos += 3;
}
if (mask & INFOS_MOTORS) {
const ml = view.getFloat32(pos + 0);
const mr = view.getFloat32(pos + 4);
pos += 2*4;
}
if (mask & INFOS_WHEELS) {
const wl = view.getInt16(pos + 0);
const wr = view.getInt16(pos + 2);
const tl = view.getInt16(pos + 4);
const tr = view.getInt16(pos + 6);
pos += 4*2;
}
if (mask & INFOS_SPEED) {
const w = view.getFloat32(pos + 0);
const v = view.getFloat32(pos + 4);
pos += 4*2;
}
if (mask & INFOS_RANGEFINDER) {
this.capteur_distance = view.getUint16(pos + 0);
this.distance_mur_moyenne = (this.distance_mur_moyenne*2 + this.capteur_distance)/3;
pos += 2;
if (DEBUG) {
console.log("Capteur distance : " + this.capteur_distance);
console.log("Distance moyenne : " + this.distance_mur_moyenne);
}
}
});
}
@@ -247,6 +225,14 @@ class Position {
mode: "no-cors"
});
}
getCapteurDistance() {
return this.capteur_distance;
}
isMurDevant() {
return this.distance_mur_moyenne < MUR_THRESHOLD;
}
}
class Turtle {
@@ -261,6 +247,7 @@ class Turtle {
mode: "no-cors",
body: JSON.stringify(data),
});
await sleep(MASTER_SLEEP_TIME);
}
async tourner(angle) {
@@ -273,8 +260,7 @@ class Turtle {
mode: "no-cors",
body: JSON.stringify(data),
});
await sleep(MASTER_SLEEP_TIME);
}
@@ -297,7 +283,7 @@ class Noeud {
constructor(coordX, coordY){
this.coordX = coordX;
this.coordY = coordY;
chemins = new Array();
this.chemins = new Array();
}
addCheminPossible(chemin){
@@ -309,11 +295,11 @@ class Noeud {
}
toString(){
console.log("node : (" + currentNode.getX + "; " + currentNode.getY + ")");
console.log("node : (" + this.getX + "; " + this.getY + ")");
}
toStringWithVoisins(){
console.log("node : (" + currentNode.getX + "; " + currentNode.getY + ")");
console.log("node : (" + this.getX + "; " + this.getY + ")");
console.log("voisins connus : " + this.chemins.forEach((chemin) => chemin.toString()));
}
}
@@ -330,16 +316,21 @@ class ModeAutomatique {
rotation = Orientation.HAUT;
lastRotation = this.rotation;
run(){
isFirstNode = true;
async run(){
led.blue();
let iter = 0;
while(!this.isObjectifTrouve()){
if (iter >= 50)
break;
console.log("Iteration " + iter++);
console.log(this.cheminsPossibles);
const currentNode = this.getCaseAnalysee();
this.analyseEnvironnement(currentNode); // met à jour ses connaissances (à dessiner au fur et à mesure ?)
this.deplacer(currentNode); // récupère un chemin non encore parcourus en fonction de ses connaissances
sleep(5000);
let currentNode = this.getCaseAnalysee();
currentNode = await this.analyseEnvironnement(currentNode); // met à jour ses connaissances (à dessiner au fur et à mesure ?)
await this.deplacer(currentNode); // récupère un chemin non encore parcourus en fonction de ses connaissances
}
led.off();
}
isObjectifTrouve(){
@@ -348,48 +339,72 @@ class ModeAutomatique {
//////////////////////////////////////// ANALYSE ENVIRONNEMENT
isObstacleDevant (currentNode, rotation) {
return false;
async isObstacleDevant () {
//await turtle.avancer(20);
await sleep(2000);
const mur = position.isMurDevant();
//await turtle.avancer(-20);
return mur;
}
analyseEnvironnement(currentNode){
async analyseEnvironnement(currentNode){
// SI case déjà visitée, alors on connait ses obstacles
if (currentNode == null) {
console.log(">>>>>>>>> iteration ")
currentNode = new Noeud(0, 0);
// pour les 4 directions possibles
for (let i = 0; i < 4; i++) {
if (!this.isObstacleDevant(currentNode, this.rotation)){
if (!await this.isObstacleDevant()){
this.addCheminPossible(currentNode);
console.log("chemins possibles : ");
console.log(this.cheminsPossibles);
}
await this.tourne(); // changement de l'angle de 90 degrés
if (i == 1 && !this.isFirstNode) {
this.tourne(); // On scan pas notre pt d'entrée
this.isFirstNode = false;
i++;
}
this.tourne(); // changement de l'angle de 90 degrés
}
this.noeudsVisites.push(currentNode);
console.log("noeuds visités : " + this.noeudsVisites)
}
return currentNode;
}
tourne(){
turtle.tourner(-90);
this.rotation++;
this.rotation %= 4;
async tourne(){
await turtle.tourner(90);
this.rotation--;
if (this.rotation < 0) {
this.rotation = 3;
}
}
addCheminPossible(){
this.chemin = new Array();
if(this.rotation = Orientation.HAUT){
this.chemin.push(new Noeud(posX+1, posY));
} else if(this.rotation = Orientation.BAS){
this.chemin.push(new Noeud(posX-1, posY));
}else if(this.rotation = Orientation.GAUCHE){
this.chemin.push(new Noeud(posX, posY-1));
}else if(this.rotation = Orientation.DROITE){
this.chemin.push(new Noeud(posX, posY+1));
const chemin = new Array();
console.log("rotation : " + this.rotation);
if(this.rotation == 0){
console.log("rotation 0 ");
chemin.push(new Noeud(this.posX, this.posY+1));
} else if(this.rotation == 2){
console.log("rotation 2 ");
chemin.push(new Noeud(this.posX, this.posY-1));
}else if(this.rotation == 3){
console.log("rotation 3 ");
chemin.push(new Noeud(this.posX-1, this.posY));
}else if(this.rotation == 1){
console.log("rotation 1");
chemin.push(new Noeud(this.posX+1, this.posY));
}
this.cheminsPossibles.push(this.chemin);
console.log(chemin);
this.cheminsPossibles.push(chemin);
console.log(this.cheminsPossibles);
}
//////////////////////////////////////// MOVE
deplacer(currentNode){
async deplacer(currentNode){
// on choisi le prochain noeud
const nextNode = this.getNextNode();
if (nextNode != null) {
@@ -401,12 +416,12 @@ class ModeAutomatique {
// on met à jour les coordonnées
this.updateCoordonnees(currentNode, nextNode);
// move
this.move();
await this.move();
}
// parcours en profondeur : il s'agit de LIFOs
getNextNode(){
if (this.cheminsPossibles[this.cheminsPossibles.length - 1] > 0) {
if (this.cheminsPossibles.length > 0) {
// on récupère la dernière liste
const cheminChoisi = this.cheminsPossibles[this.cheminsPossibles.length - 1];
// on récupère le dernier élément de cette liste
@@ -420,11 +435,11 @@ class ModeAutomatique {
}
updatePaths(nextNode){
nextNode = this.getCaseAnalysee();
// on ajoute le noeud visité à toutes les listes sauf la dernière
for (let i=0; i < this.cheminsPossibles -1; i++){
for (let i=0; i < this.cheminsPossibles.length -1; i++){
const cheminPossible = this.cheminsPossibles[i];
if (nextNode == null){
if (this.getCaseAnalyseeWithCoord(nextNode.getX, nextNode.getY == null)){
// on ajoute le noeud en cours à la liste des noeuds visités
cheminPossible.push(nextNode);
} else {
@@ -445,22 +460,22 @@ class ModeAutomatique {
console.log("coordonnees : (" + this.posX + "; " + this.posY + ")");
this.lastRotation = this.rotation;
if (currentNode.getX > nextNode.getX){
this.rotation = Orientation.GAUCHE
this.rotation = 3
this.posY--;
} else if (currentNode.getX < nextNode.getX){
this.rotation = Orientation.DROITE
this.rotation = 1
this.pos++;
} else if (currentNode.getY > nextNode.getY){
this.rotation = Orientation.BAS
this.rotation = 2
this.posX--;
} else {
this.rotation = Orientation.HAUT
this.rotation = 0
this.posX++;
}
console.log("new coordonnees : (" + this.posX + "; " + this.posY + ")");
}
move(){
async move(){
// déplacer robot (les coordonnées sont déjà à jour)
let aRotater = this.rotation - this.lastRotation;
if (aRotater > 2) {
@@ -469,22 +484,42 @@ class ModeAutomatique {
if (aRotater < 2) {
aRotater += 2;
}
if (aRotater > 0) {
aRotater = 4 - aRotater;
}
aRotater *= 90;
turtle.tourner(aRotater);
turtle.avancer(100);
await turtle.avancer(190);
}
/////////////////////////////////////// GETTERS
getCaseAnalysee(){
let index = 0;
console.log(this.noeudsVisites)
this.noeudsVisites.forEach((noeud) => {
if (noeud == null) {
console.error(this.noeudsVisites);
console.error("INDEX NULL : " + index);
console.error("INDEX NULL : " + (index++));
return;
}
index++;
if (noeud.posX == this.posX && noeud.posY == this.posY){
if ((noeud.posX == this.posX) && (noeud.posY == this.posY)){
return noeud;
}
});
return null;
}
getCaseAnalyseeWithCoord(x, y){
let index = 0;
console.log(this.noeudsVisites)
this.noeudsVisites.forEach((noeud) => {
if (noeud == null) {
console.error(this.noeudsVisites);
console.error("INDEX NULL : " + (index++));
return;
}
if ((noeud.posX == x) && (noeud.posY == y)){
return noeud;
}
});
@@ -492,62 +527,63 @@ class ModeAutomatique {
}
}
let doRun = false;
async function isMurDevant() {
turtle.avancer(20);
await sleep(2000);
const mur = position.isMurDevant();
turtle.avancer(-20);
return mur;
}
async function algo() {
doRun = true;
while(doRun) {
await turtle.avancer(1500);
await turtle.avancer(-20);
await turtle.tourner(30);
/*
let mur = isMurDevant();
if (!mur) {
await turtle.avancer(75);
}
await turtle.tourner(90);
mur = isMurDevant();
if (mur) {
await turtle.tourner(-90);
await turtle.tourner(-90);
await turtle.tourner(-90);
}
*/
}
}
async function run() {
connectSockets();
moteur = new Moteur();
led = new Led();
position = new Position(socketInfos);
pid = new PID();
turtle = new Turtle();
led.red();
algo();
/*
led.red();
await sleep(400);
led.green();
await sleep(400);
const socket = new WebSocket("ws://127.0.0.1:1337/ws");
socket.onclose = function(event) {
if (event.wasClean) {
console.log(`[socket] Connection closed cleanly, code=${event.code} reason=${event.reason}`);
} else {
console.log('[socket] Connection died');
}
};
socket.onopen = function(e) {
console.log("[socket] Connection established");
socket.send("Test");
};
socket.onerror = function(error) {
console.log(`[socket] ERROR : ${error}`);
};
socket.addEventListener("message", e => {
const data = e.data;
console.log(data);
});
led.blue();
await sleep(400);
*/
}
async function test() {
let d = 190;
const data = {
'type': 'dist',
'dist': d,
}
await fetch("http://127.0.0.1:4444/", {
method: "POST",
mode: "no-cors",
body: JSON.stringify(data),
});
}