//
// Reset the robot controller and initiate the sensors and emitter/receiver
//
static int reset()
{
int i;
mode =1;
emitter = wb_robot_get_device("emitter");
//buffer = (double *) emitter_get_buffer(emitter);
receiver = wb_robot_get_device("receiver");
wb_receiver_enable(receiver, TIME_STEP);
char text[5]="led0";
for(i=0;i<NB_LEDS;i++) {
led[i]=wb_robot_get_device(text); // get a handler to the sensor
text[3]++; // increase the device name to "ps1", "ps2", etc.
}
text[0]='p';
text[1]='s';
text[3]='\0';
text[2]='0';
ps[0] = wb_robot_get_device(text); // proximity sensors
text[2]='7';
ps[1] = wb_robot_get_device(text); // proximity sensors
text[2]='1';
ps[2] = wb_robot_get_device(text); // proximity sensors
text[2]='6';
ps[3] = wb_robot_get_device(text); // proximity sensors
text[2]='2';
ps[4] = wb_robot_get_device(text); // proximity sensors
text[2]='5';
ps[5] = wb_robot_get_device(text); // proximity sensors
text[2]='3';
ps[6] = wb_robot_get_device(text); // proximity sensors
text[2]='4';
ps[7] = wb_robot_get_device(text); // proximity sensors
// Enable proximity and floor sensors
for(i=0;i<NB_DIST_SENS;i++) {
wb_distance_sensor_enable(ps[i],TIME_STEP);
printf("ps[%d] is active\n",i);
}
// Enable GPS sensor to determine position
gps=wb_robot_get_device("gps");
wb_gps_enable(gps, TIME_STEP);
printf("gps is active\n");
return 1;
}
int main(int argc, char **argv)
{
wb_robot_init();
int time_step = wb_robot_get_basic_time_step();
WbDeviceTag gps = wb_robot_get_device("GPS");
wb_gps_enable(gps, time_step);
WbDeviceTag emitter = wb_robot_get_device("emitter");
wb_emitter_set_channel(emitter,13);
double* gps_value;
char message[32];
while (wb_robot_step(time_step) != -1){
gps_value = wb_gps_get_values(gps);
//Something's wrong with deserialization
//So we make a fixed width string here
sprintf(message,"{%0.3f,%0.3f}",gps_value[0]/2+5.0,-gps_value[2]/2+5.0);
wb_emitter_send(emitter,message,strlen(message)+1);
// printf("%s\n",message);
}
wb_robot_cleanup();
return 0;
}
int main(){
reset();
int msl,msr; // motor speed left and right
double distances[NB_SENSORS]; // array keeping the distance sensor readings
int elapsed_time; // elapsed time during one time_step
int obstacle_near; // flag which becomes true if an obstacle is nearby
int hit_flag; // flag which becomes true as soon as the robot hits an obstacle
int last_ts_was_hit = 0; // flag memorizing whether the robot was already in a collision during the last
// time step
int time_steps; // counter for simulated time steps
int hit_counter; // counter for time steps involving collisions
int collision_duration; // duration of a single collision (in time steps unit)
double average_collision_duration;// average duration of a single collision
const double* gpsvalues; // matrix containing gps readings
double actx,acty; // current position
double oldx,oldy; // previous position
double speed; // average robot speed in free space
int collision_started = 0;
// iteration variables
int i;
int sensor_nb;
FILE* f; // file handle
char fname[]="/tmp/collision_pos.txt"; // file name to store the positions of the collisions
if(fmod(TIME_STEP,50)!=0){
printf("ERROR: The TIME_STEP needs to be a multiple of 50ms\n");
return(0);
}
for(i=0;i<NB_SENSORS;i++) {
wb_distance_sensor_enable(ps[i],50); // this function wb_*_enable() allows to specify an update interval for the sensor readings in milliseconds
}
wb_gps_enable(gps,50);
wb_robot_step(50);
gpsvalues = wb_gps_get_values(gps); // returns a pointer to three double values. The pointer is the address of an array allocated by the function internally.
wb_robot_step(50);
oldx=gpsvalues[0];
oldy=gpsvalues[2];
time_steps=0;
hit_counter=0;
hit_flag=0;
average_collision_duration=0;
speed=0;
int ts_2=0, ts_3=0, ts_4=0, ts_5=0;
for(;;){
elapsed_time=0; // reset elapsed time and hit flag
ts_5 = ts_4;
ts_4 = ts_3;
ts_3 = ts_2;
ts_2 = last_ts_was_hit;
last_ts_was_hit=hit_flag; // copying the status of the last time step
if(!last_ts_was_hit) {
collision_duration=1; // if not actually colliding, always reset counter
}
hit_flag=0; // every time step
while(elapsed_time<TIME_STEP){
msl=0; msr=0;
for(sensor_nb=0;sensor_nb<NB_SENSORS;sensor_nb++){ // read sensor values and calculate motor speeds
distances[sensor_nb] = wb_distance_sensor_get_value(ps[sensor_nb]);
//printf("t=%d, distance[%d] = %f\n",time_steps,sensor_nb,distances[sensor_nb]);
msr += distances[sensor_nb] * Interconn[sensor_nb];
msl += distances[sensor_nb] * Interconn[sensor_nb + NB_SENSORS];
}
msl /= 350; msr /= 350; // Normalizing speeds
actx=gpsvalues[0];
acty=gpsvalues[2];
//printf("x = %f, y = %f\n",actx, acty);
obstacle_near=(abs(msl)>10 || abs(msr)>10);
if(obstacle_near){ // if motor speed changes (if obstacle is hit)
//printf("obstacle_near=%d msr = %d msl = %d \n", obstacle_near, msr, msl);
hit_flag=1;
f=fopen(fname,"a");
fprintf(f,"%f %f\n",
actx,
acty);
fclose(f);
} else { // measure speed only when no obstacles near
double dist = sqrt((actx-oldx)*(actx-oldx)+(acty-oldy)*(acty-oldy)); // distance traveled in 50ms
if(dist<0.01) // don't consider fast speed due to wrap around
speed=speed*0.999+0.001*dist*1000.0/50.0;
}
oldx=actx;
oldy=acty;
msl += (BIAS_SPEED);
msr += (BIAS_SPEED);
wb_differential_wheels_set_speed(3*msl,3*msr);
gpsvalues = wb_gps_get_values(gps);
wb_robot_step(50); // Executing the simulation for 50ms
elapsed_time+=50;
} // end time step
time_steps++;
if(!(last_ts_was_hit || ts_2 || ts_3 || ts_4 || ts_5) && hit_flag){// increase hit counter only for new collisions
collision_started = 1;
hit_counter++;
//printf("hit_counter=%d msr = %d msl = %d \n",hit_counter, msr, msl);
}
else if(collision_started && hit_flag){
collision_duration++; // otherwise measure duration of a collision
//printf("collision_duration=%d msr = %d msl = %d \n", collision_duration, msr, msl);
}
if(!hit_flag && collision_started){ // at the end of a collision, we calculate the running average
if(collision_duration>4){
collision_started = 0;
printf("end of collision, duration=%d msr = %d msl = %d \n", collision_duration, msr, msl);
collision_duration = collision_duration + 4;
average_collision_duration= (average_collision_duration*(hit_counter-1)+collision_duration)/hit_counter;
f=fopen("/tmp/collision_duration_webots.txt","a");
fprintf(f,"%d \n",collision_duration);
fclose(f);}
else{
//printf("collision too short = %d, thus removed \n", collision_duration);
collision_started = 0;
hit_counter--;
}
}
if(fmod(time_steps,20*60*1) == 0){ // every 1 minutes
printf("Hits: %d Time [time steps]): %d p: %f Avg. Ta [time steps]: %0.2f v (m/s):%0.3f\n",
hit_counter, time_steps,
(double) hit_counter/(time_steps-hit_counter*ROUND(average_collision_duration)),
average_collision_duration,
speed);
f=fopen("/tmp/collision_probability.txt","a");
fprintf(f,"%f\n", (double) hit_counter/(time_steps-hit_counter*ROUND(average_collision_duration)));
fclose(f);
}
}
}
int main(int argc, char **argv)
{
printf("Comenzo todo\n");
wb_robot_init();
printf("Iniciando el sistema\n");
ros::init(argc, argv, "NEURONAL");
ros::NodeHandle n,nh,nh2;
ros::Subscriber chatter_sub = n.subscribe("/auto_controller/command", 100, chatterCallback);
// find front wheels
left_front_wheel = wb_robot_get_device("left_front_wheel");
right_front_wheel = wb_robot_get_device("right_front_wheel");
wb_servo_set_position(left_front_wheel, INFINITY);
wb_servo_set_position(right_front_wheel, INFINITY);
// get steering motors
left_steer = wb_robot_get_device("left_steer");
right_steer = wb_robot_get_device("right_steer");
// camera device
camera = wb_robot_get_device("camera");
wb_camera_enable(camera, TIME_STEP);
camera_width = wb_camera_get_width(camera);
camera_height = wb_camera_get_height(camera);
camera_fov = wb_camera_get_fov(camera);
// initialize gps
gps = wb_robot_get_device("gps");
wb_gps_enable(gps, TIME_STEP);
// initialize display (speedometer)
display = wb_robot_get_device("display");
speedometer_image = wb_display_image_load(display, "/root/research/PROYECTOTP/controllers/destiny_controller/speedometer.png");
wb_display_set_color(display, 0xffffff);
// SICK sensor
sick = wb_robot_get_device("lms291");
wb_camera_enable(sick, TIME_STEP);
sick_width = wb_camera_get_width(sick);
sick_range = wb_camera_get_max_range(sick);
sick_fov = wb_camera_get_fov(sick);
// start engine
speed=64.0; // km/h
// main loop
printf("Iniciando el ciclo de peticiones\n");
// set_autodrive(false);z
while (1) {
const unsigned char *camera_image = wb_camera_get_image(camera);
compute_gps_speed();
update_display();
ros::spinOnce();
wb_robot_step(TIME_STEP);
}
wb_robot_cleanup();
return 0; // ignored
}
// Main function
int main(int argc, char **argv)
{
// Initialize webots
wb_robot_init();
// GPS tick data
int red_line_tick = 0;
int green_circle_tick = 0;
// Get robot devices
WbDeviceTag left_wheel = wb_robot_get_device("left_wheel");
WbDeviceTag right_wheel = wb_robot_get_device("right_wheel");
// Get robot sensors
WbDeviceTag forward_left_sensor = wb_robot_get_device("so3");
wb_distance_sensor_enable(forward_left_sensor, TIME_STEP);
WbDeviceTag forward_right_sensor = wb_robot_get_device("so4");
wb_distance_sensor_enable(forward_right_sensor, TIME_STEP);
WbDeviceTag left_sensor = wb_robot_get_device("so1");
wb_distance_sensor_enable(left_sensor, TIME_STEP);
// Get the compass
WbDeviceTag compass = wb_robot_get_device("compass");
wb_compass_enable(compass, TIME_STEP);
// Get the GPS data
WbDeviceTag gps = wb_robot_get_device("gps");
wb_gps_enable(gps, TIME_STEP);
// Prepare robot for velocity commands
wb_motor_set_position(left_wheel, INFINITY);
wb_motor_set_position(right_wheel, INFINITY);
wb_motor_set_velocity(left_wheel, 0.0);
wb_motor_set_velocity(right_wheel, 0.0);
// Begin in mode 0, moving forward
int mode = 0;
// Main loop
while (wb_robot_step(TIME_STEP) != -1) {
// Get the sensor data
double forward_left_value = wb_distance_sensor_get_value(forward_left_sensor);
double forward_right_value = wb_distance_sensor_get_value(forward_right_sensor);
double left_value = wb_distance_sensor_get_value(left_sensor);
// Read compass and convert to angle
const double *compass_val = wb_compass_get_values(compass);
double compass_angle = convert_bearing_to_degrees(compass_val);
// Read in the GPS data
const double *gps_val = wb_gps_get_values(gps);
// Debug
printf("Sensor input values:\n");
printf("- Forward left: %.2f.\n",forward_left_value);
printf("- Forward right: %.2f.\n",forward_right_value);
printf("- Right: %.2f.\n",left_value);
printf("- Compass angle (degrees): %.2f.\n", compass_angle);
printf("- GPS values (x,z): %.2f, %.2f.\n", gps_val[0], gps_val[2]);
// Send acuator commands
double left_speed, right_speed;
left_speed = 0;
right_speed = 0;
// List the current modes
printf("Mode: %d.\n", mode);
printf("Action: ");
/*
* There are four modes for this controller.
* They are listed as below:
* 0: Finding initial correct angle
* 1: Moving forward
* 2: Wall following
* 3: Rotating after correct point
* 4: Finding green circle + moving on
*/
// If it reaches GPS coords past the red line
if (gps_val[2] > 8.0) {
// Up the GPS tick
red_line_tick = red_line_tick + 1;
}
// If the red line tick tolerance reaches
// more than 10 per cycle, begin mode 3
if (red_line_tick > 10) {
mode = 3;
}
if (mode == 0) { // Mode 0: Find correct angle
printf("Finding correct angle\n");
if (compass_angle < (DESIRED_ANGLE - 1.0)) {
// Turn right
left_speed = MAX_SPEED;
right_speed = 0;
} else if (compass_angle > (DESIRED_ANGLE + 1.0)) {
// Turn left
left_speed = 0;
right_speed = MAX_SPEED;
} else {
// Reached the desired angle, move in a straight line
mode = 1;
}
} else if(mode == 1) { // Mode 1: Move forward
printf("Moving forward.\n");
left_speed = MAX_SPEED;
right_speed = MAX_SPEED;
// When sufficiently close to a wall in front of robot, switch mode to wall following
if ((forward_right_value > 500) || (forward_left_value > 500)) {
mode = 2;
}
}
else if (mode == 2) { // Mode 2: Wall following
if ((forward_right_value > 200) || (forward_left_value > 200)) {
printf("Backing up and turning right.\n");
left_speed = MAX_SPEED / 4.0;
right_speed = - MAX_SPEED / 2.0;
}
else {
if (left_value > 300) {
printf("Turning right away from wall.\n");
left_speed = MAX_SPEED;
right_speed = MAX_SPEED / 1.75;
}
else {
if (left_value < 200) {
printf("Turning left towards wall.\n");
left_speed = MAX_SPEED / 1.75;
right_speed = MAX_SPEED;
}
else {
printf("Moving forward along wall.\n");
left_speed = MAX_SPEED;
right_speed = MAX_SPEED;
}
}
}
} else if (mode == 3) {
// Once arrived, turn to the right
printf("Finding correct angle (again)\n");
if (compass_angle < (90 - 1.0)) {
// Turn right
left_speed = MAX_SPEED;
right_speed = MAX_SPEED / 1.75;
} else if (compass_angle > (90 + 1.0)) {
// Turn left
left_speed = MAX_SPEED / 1.75;
right_speed = MAX_SPEED;
} else {
// Reached the desired angle, move in a straight line
if (green_circle_tick > 10) {
left_speed = 0;
right_speed = 0;
} else {
left_speed = MAX_SPEED;
right_speed = MAX_SPEED;
}
if (gps_val[0] < -3.2) {
green_circle_tick = green_circle_tick + 1;
}
}
}
// Set the motor speeds.
wb_motor_set_velocity(left_wheel, left_speed);
wb_motor_set_velocity(right_wheel, right_speed);
// Perform simple simulation step
} while (wb_robot_step(TIME_STEP) != -1);
// Clean up webots
wb_robot_cleanup();
return 0;
}
int main(int argc, char **argv)
{
printf("Comenzo todo\n");
wb_robot_init();
printf("Iniciando el sistema\n");
// Ros initialization
ros::init(argc, argv, "Simulador");
ros::init(argc, argv, "Imagenes_de_Simulador");
ros::NodeHandle n,nh,nh2;
// ros::Subscriber chatter_sub = n.subscribe("/auto_controller/command", 100, chatterCallback);
ros::Subscriber chatter_sub = n.subscribe("/auto_controller/command", 100, chatterCallback);
image_transport::ImageTransport it(nh);
//OpenCV HighGUI call to destroy a display window on shut-down.
image_transport::ImageTransport it2(nh2);
image_transport::Publisher pub2 = it.advertise("/webot/camera", 1);
//ros::spin();
// find front wheels
left_front_wheel = wb_robot_get_device("left_front_wheel");
right_front_wheel = wb_robot_get_device("right_front_wheel");
wb_servo_set_position(left_front_wheel, INFINITY);
wb_servo_set_position(right_front_wheel, INFINITY);
// get steering motors
left_steer = wb_robot_get_device("left_steer");
right_steer = wb_robot_get_device("right_steer");
// camera device
camera = wb_robot_get_device("camera");
wb_camera_enable(camera, TIME_STEP);
camera_width = wb_camera_get_width(camera);
camera_height = wb_camera_get_height(camera);
camera_fov = wb_camera_get_fov(camera);
// initialize gps
gps = wb_robot_get_device("gps");
wb_gps_enable(gps, TIME_STEP);
// initialize display (speedometer)
display = wb_robot_get_device("display");
speedometer_image = wb_display_image_load(display, "/root/research/PROYECTOTP/controllers/destiny_controller/speedometer.png");
wb_display_set_color(display, 0xffffff);
// start engine
speed=64.0; // km/h
//print_help();
// allow to switch to manual control
//wb_robot_keyboard_enable(TIME_STEP);
// main loop
printf("Iniciando el ciclo de peticiones\n");
// set_autodrive(false);z
while (1) {
const unsigned char *camera_image = wb_camera_get_image(camera);
compute_gps_speed();
update_display();
//wb_camera_save_image (camera, "/tmp/imagen.png", 100);
//cv::WImageBuffer3_b image(cvLoadImage("/tmp/imagen.png", CV_LOAD_IMAGE_COLOR));
IplImage* imagen=save_camera_image(camera_image);
sensor_msgs::ImagePtr msg = sensor_msgs::CvBridge::cvToImgMsg(imagen, "bgr8");
pub2.publish(msg);
cvReleaseImage(&imagen );
ros::spinOnce();
// wb_servo_set_position(left_steer, 0);
// wb_servo_set_position(right_steer, 0);
wb_robot_step(TIME_STEP);
}
wb_robot_cleanup();
return 0; // ignored
}
