Merge branch 'main' into grid_creation
This commit is contained in:
JackParrot
@@ -1,92 +0,0 @@
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const Orientation = Object.freeze({
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HAUT: Symbol("haut"),
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BAS: Symbol("bas"),
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GAUCHE: Symbol("gauche"),
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DROITE: Symbol("droite")
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});
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class ModeAutomatique {
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casesParcourues = new Array();
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cheminsParcours = new Array();
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cheminsConnus = new Array();
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constructor(){
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// valeurs pour la première position
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posX=0;
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posY=0;
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rotation=HAUT;
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}
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run(){
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this.analyseEnvironnement(); // met à jour les obstacles
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this.move(); // en fonction des chemins connus non encore parcourus
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//obstacle
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if (!this.aBouge){
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// recule
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// teste de 30 degrés
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// tente d'avancer
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// teste de 30 degrés
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// tente d'avancer
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//
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}
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}
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analyseEnvironnement(){
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if (isCaseAnalysee()) {
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isObstacleDevant();
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tourne(); //
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isObstacleDevant();
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tourne();
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isObstacleDevant();
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tourne();
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isObstacleDevant();
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tourne();
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}
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// SI case déjà visitée, alors on connait ses obstacles
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}
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isCaseAnalysee(){
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// TODO
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}
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updateCoordonnees() {
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switch (this.rotation) {
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case Orientation.HAUT:
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break;
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case Orientation.BAS:
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case Orientation.GAUCHE:
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console.log("Mangoes and papayas are $2.79 a pound.");
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// Expected output: "Mangoes and papayas are $2.79 a pound."
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break;
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case Orientation.DROITE:
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console.log(`Sorry, we are out of ${expr}.`);
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}
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}
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}
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class Case {
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coordX;
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coordY;
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chemins;
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constructor(coordX, coordY){
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this.coordX = coordX;
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this.coordY = coordY;
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chemins = new Array();
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}
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addCheminPossible(chemin){
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this.chemins.push(chemin)
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}
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getCheminsPossibles(){
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return this.chemins
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}
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}
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@@ -0,0 +1,39 @@
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import requests
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import aiohttp
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from aiohttp import web, WSCloseCode
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import asyncio
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async def http_handler(request):
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payload = await request.text()
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print(payload)
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url = 'http://192.168.185.166/turtle/send'
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headers = {'content-type': 'application/json'}
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r = requests.post(url, data=payload, headers=headers)
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print(r.text)
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return web.Response(text=r.text)
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def create_runner():
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app = web.Application()
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app.add_routes([
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web.post('/', http_handler),
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])
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return web.AppRunner(app)
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async def start_server(host="127.0.0.1", port=4444):
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runner = create_runner()
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await runner.setup()
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site = web.TCPSite(runner, host, port)
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await site.start()
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if __name__ == "__main__":
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loop = asyncio.get_event_loop()
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loop.run_until_complete(start_server())
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loop.run_forever()
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@@ -1,4 +1,5 @@
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const URL = "192.168.185.20";
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const ROBOT_URL = "192.168.185.166";
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const CURL_URL = "localhost:4444";
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const INFO_POSITION = 0x01;
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const INFO_LED = 0x02;
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@@ -9,14 +10,16 @@ let socketInfos = undefined;
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let moteur = undefined;
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let led = undefined;
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let position = undefined;
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let pid = undefined;
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let turtle = undefined;
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const connectSockets = () => {
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if ((socketMoteur != undefined) || (socketInfos != undefined)) {
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disconnectSocket();
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}
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socketMoteur = new WebSocket("ws://" + URL + "/motors.ws");
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socketInfos = new WebSocket("ws://" + URL + "/infos.ws");
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socketMoteur = new WebSocket("ws://" + ROBOT_URL + "/motors.ws");
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socketInfos = new WebSocket("ws://" + ROBOT_URL + "/infos.ws");
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socketInfos.binaryType = "arraybuffer";
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socketMoteur.onclose = function(event) {
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@@ -34,6 +37,10 @@ const connectSockets = () => {
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socketInfos.onopen = function(e) {
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console.log("[socketInfos] Connection established");
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position.reset();
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led.green();
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new Promise(r => setTimeout(r, 2000)).then(() => {
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led.off();
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});
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};
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socketInfos.onclose = function(event) {
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@@ -101,7 +108,75 @@ class Moteur {
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stop() {
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this.send(0, 0, 0);
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}
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}
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class PID {
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kpx = 0;
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kix = 0;
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kdx = 0;
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kpy = 0;
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kiy = 0;
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kdy = 0;
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kpr = 0;
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kir = 0;
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kdr = 0;
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px = 0;
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ix = 0;
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dx = 0;
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py = 0;
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iy = 0;
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dy = 0;
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pr = 0;
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ir = 0;
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dr = 0;
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tagetX = 0;
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tagetY = 0;
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targetR = 0;
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run = false;
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lastTime = undefined;
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set(targetX, targetY, targetR) {
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this.targetX = targetX;
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this.px = 0;
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this.ix = 0;
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this.dx = 0;
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this.targetY = targetY;
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this.py = 0;
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this.iy = 0;
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this.dy = 0;
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this.targetR = targetR;
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this.pr = 0;
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this.ir = 0;
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this.dr = 0;
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this.lastTime = Date.now().valueOf();
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this.run = true;
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}
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get(currentX, currentY, currentR) {
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if (!this.run) {
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return;
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}
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const currentTime = Date.now().valueOf();
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const deltaTime = (currentTime - this.lastTime) / 1000.0;
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this.p
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console.log("Time delta : " + deltaTime);
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this.lastTime = currentTime;
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}
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}
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@@ -109,23 +184,29 @@ class Led {
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http = undefined;
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send(color){
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this.http = new XMLHttpRequest();
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this.http.open('POST', 'http://' + URL + '/led/set_color', true);
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this.http.setRequestHeader('Content-type', 'application/x-www-form-urlencoded');
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this.http.send('ledcolor=' + color);
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async send(color){
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await fetch('http://' + ROBOT_URL + '/led/set_color', {
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method: 'post',
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headers: { "Content-Type": "application/x-www-form-urlencoded" },
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mode: "no-cors",
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body: 'ledcolor=' + color
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});
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}
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red(){
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this.send("#ff0000")
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this.send("#ff0000");
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}
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green(){
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this.send("#00ff00")
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this.send("#00ff00");
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}
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blue(){
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this.send("#0000ff")
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this.send("#0000ff");
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}
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off(){
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this.send("#000000");
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}
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}
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@@ -144,34 +225,329 @@ class Position {
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const mask = view.getUint8(0);
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if (mask & INFO_POSITION) {
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const position_x = view.getFloat32(1);
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const position_y = view.getFloat32(5);
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const position_a = view.getFloat32(9);
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const posX = view.getFloat32(1);
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const poxY = view.getFloat32(5);
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const posR = view.getFloat32(9);
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if (DEBUG) {
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console.log(
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{"posX": position_x, "posY": position_y, "Rot": position_a }
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{"posX": posX, "posY": poxY, "Rot": posR}
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);
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}
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pid.get(posX, this.posY, posR);
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}
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});
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}
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reset() {
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try {
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const request = new XMLHttpRequest();
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request.open("GET", "http://" + URL + "/position/reset");
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request.send();
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} catch (e) {}
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async reset() {
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await fetch("http://" + ROBOT_URL + "/position/reset", {
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method: 'get',
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headers: { "Content-Type": "application/x-www-form-urlencoded" },
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||||
mode: "no-cors"
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||||
});
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||||
}
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||||
}
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||||
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||||
class Turtle {
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||||
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async avancer(distance) {
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||||
const data = {
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'type': 'dist',
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||||
'dist': distance,
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||||
}
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await fetch("http://" + CURL_URL, {
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method: "POST",
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||||
mode: "no-cors",
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||||
body: JSON.stringify(data),
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||||
});
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||||
}
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||||
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||||
async tourner(angle) {
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||||
const data = {
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||||
'type': 'angle',
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||||
'angle': angle,
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||||
}
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||||
await fetch("http://" + CURL_URL, {
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||||
method: "POST",
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||||
mode: "no-cors",
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||||
body: JSON.stringify(data),
|
||||
});
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
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||||
|
||||
const Orientation = Object.freeze({
|
||||
HAUT: 0,
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||||
DROITE: 1,
|
||||
BAS: 2,
|
||||
GAUCHE: 3,
|
||||
});
|
||||
|
||||
|
||||
class Noeud {
|
||||
coordX;
|
||||
coordY;
|
||||
chemins;
|
||||
|
||||
constructor(coordX, coordY){
|
||||
this.coordX = coordX;
|
||||
this.coordY = coordY;
|
||||
chemins = new Array();
|
||||
}
|
||||
|
||||
addCheminPossible(chemin){
|
||||
this.chemins.push(chemin);
|
||||
}
|
||||
|
||||
getCheminsPossibles(){
|
||||
return this.chemins;
|
||||
}
|
||||
|
||||
toString(){
|
||||
console.log("node : (" + currentNode.getX + "; " + currentNode.getY + ")");
|
||||
}
|
||||
|
||||
toStringWithVoisins(){
|
||||
console.log("node : (" + currentNode.getX + "; " + currentNode.getY + ")");
|
||||
console.log("voisins connus : " + this.chemins.forEach((chemin) => chemin.toString()));
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
function run() {
|
||||
class ModeAutomatique {
|
||||
|
||||
cheminsPossibles = new Array(); // liste des listes de noeuds
|
||||
noeudsVisites = new Array();
|
||||
|
||||
// valeurs pour la première position
|
||||
posX=0;
|
||||
posY=0;
|
||||
rotation = Orientation.HAUT;
|
||||
lastRotation = this.rotation;
|
||||
|
||||
run(){
|
||||
let iter = 0;
|
||||
while(!this.isObjectifTrouve()){
|
||||
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);
|
||||
}
|
||||
}
|
||||
|
||||
isObjectifTrouve(){
|
||||
return false;
|
||||
}
|
||||
|
||||
//////////////////////////////////////// ANALYSE ENVIRONNEMENT
|
||||
|
||||
isObstacleDevant (currentNode, rotation) {
|
||||
return false;
|
||||
}
|
||||
|
||||
analyseEnvironnement(currentNode){
|
||||
// SI case déjà visitée, alors on connait ses obstacles
|
||||
if (currentNode == null) {
|
||||
|
||||
// pour les 4 directions possibles
|
||||
for (let i = 0; i < 4; i++) {
|
||||
if (!this.isObstacleDevant(currentNode, this.rotation)){
|
||||
this.addCheminPossible(currentNode);
|
||||
}
|
||||
this.tourne(); // changement de l'angle de 90 degrés
|
||||
}
|
||||
this.noeudsVisites.push(currentNode);
|
||||
}
|
||||
}
|
||||
|
||||
tourne(){
|
||||
turtle.tourner(-90);
|
||||
this.rotation++;
|
||||
this.rotation %= 4;
|
||||
}
|
||||
|
||||
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));
|
||||
}
|
||||
this.cheminsPossibles.push(this.chemin);
|
||||
}
|
||||
|
||||
//////////////////////////////////////// MOVE
|
||||
|
||||
deplacer(currentNode){
|
||||
// on choisi le prochain noeud
|
||||
const nextNode = this.getNextNode();
|
||||
if (nextNode != null) {
|
||||
console.log("next node : ");
|
||||
nextNode.toString();
|
||||
}
|
||||
// on met à jour la liste des chemins en ajoutant le noeud courant dans les chemins non choisis
|
||||
this.updatePaths(nextNode);
|
||||
// on met à jour les coordonnées
|
||||
this.updateCoordonnees(currentNode, nextNode);
|
||||
// move
|
||||
this.move();
|
||||
}
|
||||
|
||||
// parcours en profondeur : il s'agit de LIFOs
|
||||
getNextNode(){
|
||||
if (this.cheminsPossibles[this.cheminsPossibles.length - 1] > 0) {
|
||||
// on récupère la dernière liste
|
||||
const cheminChoisi = this.cheminsPossibles[this.cheminsPossibles.length - 1];
|
||||
// on récupère le dernier élément de cette liste
|
||||
const nodeChoisi = cheminChoisi[cheminChoisi.length - 1];
|
||||
console.log("noeud choisi :");
|
||||
nodeChoisi.toString();
|
||||
// on créé un nouveau noeud
|
||||
return new Noeud(nodeChoisi.posX, nodeChoisi.posY);
|
||||
}
|
||||
return null;
|
||||
}
|
||||
|
||||
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++){
|
||||
const cheminPossible = this.cheminsPossibles[i];
|
||||
if (nextNode == null){
|
||||
// on ajoute le noeud en cours à la liste des noeuds visités
|
||||
cheminPossible.push(nextNode);
|
||||
} else {
|
||||
// on vire le noeud visité de toutes les listes s'il a déjà été visité avant (on fait demi tour)
|
||||
cheminPossible.pop();
|
||||
}
|
||||
}
|
||||
|
||||
// on supprime les listes vides
|
||||
this.cheminsPossibles = this.cheminsPossibles.filter(function (el) {
|
||||
return el.length > 0;
|
||||
});
|
||||
console.log("nombre de chemins restants : " + this.cheminsPossibles.length)
|
||||
console.log("chemins possibles : " + this.cheminsPossibles)
|
||||
}
|
||||
|
||||
updateCoordonnees(currentNode, nextNode) {
|
||||
console.log("coordonnees : (" + this.posX + "; " + this.posY + ")");
|
||||
this.lastRotation = this.rotation;
|
||||
if (currentNode.getX > nextNode.getX){
|
||||
this.rotation = Orientation.GAUCHE
|
||||
this.posY--;
|
||||
} else if (currentNode.getX < nextNode.getX){
|
||||
this.rotation = Orientation.DROITE
|
||||
this.pos++;
|
||||
} else if (currentNode.getY > nextNode.getY){
|
||||
this.rotation = Orientation.BAS
|
||||
this.posX--;
|
||||
} else {
|
||||
this.rotation = Orientation.HAUT
|
||||
this.posX++;
|
||||
}
|
||||
console.log("new coordonnees : (" + this.posX + "; " + this.posY + ")");
|
||||
}
|
||||
|
||||
move(){
|
||||
// déplacer robot (les coordonnées sont déjà à jour)
|
||||
let aRotater = this.rotation - this.lastRotation;
|
||||
if (aRotater > 2) {
|
||||
aRotater -= 2;
|
||||
}
|
||||
if (aRotater < 2) {
|
||||
aRotater += 2;
|
||||
}
|
||||
aRotater *= 90;
|
||||
turtle.tourner(aRotater);
|
||||
turtle.avancer(100);
|
||||
}
|
||||
|
||||
/////////////////////////////////////// GETTERS
|
||||
|
||||
getCaseAnalysee(){
|
||||
let index = 0;
|
||||
this.noeudsVisites.forEach((noeud) => {
|
||||
if (noeud == null) {
|
||||
console.error(this.noeudsVisites);
|
||||
console.error("INDEX NULL : " + index);
|
||||
}
|
||||
index++;
|
||||
if (noeud.posX == this.posX && noeud.posY == this.posY){
|
||||
return noeud;
|
||||
}
|
||||
});
|
||||
return null;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
async function run() {
|
||||
connectSockets();
|
||||
moteur = new Moteur();
|
||||
led = new Led();
|
||||
position = new Position(socketInfos);
|
||||
pid = new PID();
|
||||
turtle = new Turtle();
|
||||
led.red();
|
||||
|
||||
|
||||
/*
|
||||
|
||||
|
||||
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);
|
||||
});
|
||||
|
||||
*/
|
||||
|
||||
}
|
||||
|
||||
|
||||
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),
|
||||
});
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -0,0 +1,47 @@
|
||||
#!/usr/bin/python3.7
|
||||
|
||||
import aiohttp
|
||||
from aiohttp import web, WSCloseCode
|
||||
import asyncio
|
||||
|
||||
|
||||
async def http_handler(request):
|
||||
return web.Response(text='Hello, world')
|
||||
|
||||
|
||||
async def websocket_handler(request):
|
||||
ws = web.WebSocketResponse()
|
||||
await ws.prepare(request)
|
||||
|
||||
async for msg in ws:
|
||||
if msg.type == aiohttp.WSMsgType.TEXT:
|
||||
if msg.data == 'close':
|
||||
await ws.close()
|
||||
else:
|
||||
await ws.send_str('some websocket message payload')
|
||||
elif msg.type == aiohttp.WSMsgType.ERROR:
|
||||
print('ws connection closed with exception %s' % ws.exception())
|
||||
|
||||
return ws
|
||||
|
||||
|
||||
def create_runner():
|
||||
app = web.Application()
|
||||
app.add_routes([
|
||||
web.get('/', http_handler),
|
||||
web.get('/ws', websocket_handler),
|
||||
])
|
||||
return web.AppRunner(app)
|
||||
|
||||
|
||||
async def start_server(host="127.0.0.1", port=1337):
|
||||
runner = create_runner()
|
||||
await runner.setup()
|
||||
site = web.TCPSite(runner, host, port)
|
||||
await site.start()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
loop = asyncio.get_event_loop()
|
||||
loop.run_until_complete(start_server())
|
||||
loop.run_forever()
|
||||
Reference in New Issue
Block a user