void reset(void) {
int i;
char text[4];
text[1]='s';
text[3]='\0';
emitter = wb_robot_get_device("emitter");
rec = wb_robot_get_device("receiver");
}
static void reset(void) {
wb_robot_init(); // Initialization
char s[4]="ps0";
int i;
for(i=0; i<NB_SENSORS;i++) {
ps[i]=wb_robot_get_device(s); // the device name is specified in the world file
s[2]++; // increases the device number
}
gps=wb_robot_get_device("gps");
}
int main() {
wb_robot_init();
printf("hello from NAO\n");
time_step = wb_robot_get_basic_time_step();
receiver = wb_robot_get_device("receiver");
wb_receiver_enable(receiver, time_step);
emitter = wb_robot_get_device("emitter2");
wb_receiver_enable(emitter, time_step);
find_and_enable_devices();
wb_motor_set_position (RShoulderPitch, 1.57079633);
wb_motor_set_position (LShoulderPitch, 1.57079633);
wb_motor_set_position (HeadYaw, 0.0);
//wb_motor_set_position (HeadPitch, 0.1); //10 degrees
// run until simulation is restarted
while (wb_robot_step(time_step) != -1) {
//check_for_new_genes();
//sense_compute_and_actuate();
//int samples = wb_camera_get_width(LaserHead);
//double field_of_view = wb_camera_get_fov(LaserHead);
//const float *values = wb_camera_get_range_image(LaserHead);
report_step_state_to_supervisor();
//printf("%f\n", field_of_view);
//printf("size: %d\n", sizeof(values));
//int i;
//for(i=0; i<samples;i++){
// printf("value %d is %f\n",i, values[i]);
//}
if(wb_robot_step(time_step) == 0){
//report_step_state_to_supervisor();
}
}
wb_robot_cleanup();
return 0;
}
int main() {
double w_left, w_right;
wb_robot_init();
WbDeviceTag human02_wheel;
human02_wheel = wb_robot_get_device("human02_plate");
int time_step = wb_robot_get_basic_time_step();
wb_differential_wheels_enable_encoders(time_step);
for (;;)
{
w_left = 10.;
w_right = 10.;
wb_differential_wheels_set_speed(w_left, w_right);
//printf(" left_encoder=%7.5f\n",wb_differential_wheels_get_left_encoder());
wb_robot_step(32);
}
return 0;
}
static void reset(void)
{
int i;
char text[5]="led0";
for(i=0;i<NB_LEDS;i++) {
led[i]=wb_robot_get_device(text);
text[3]++;
wb_led_set(led[i],0);
}
// enable the camera
cam = wb_robot_get_device("camera");
wb_camera_enable(cam,TIME_STEP_CAM);
width = wb_camera_get_width(cam);
height = wb_camera_get_height(cam);
}
int main(int argc, char *argv[]) {
/* define variables */
WbDeviceTag turret_sensor;
double perf_data[3];
double clock = 0;
/* initialize Webots */
wb_robot_init();
// read robot id from the robot's name
char* robot_name;
robot_name=(char*) wb_robot_get_name();
sscanf(robot_name,"e-puck%d",&robot_id);
emitter = wb_robot_get_device("emitter");
wb_emitter_set_range(emitter,COM_RANGE);
receiver = wb_robot_get_device("receiver");
wb_receiver_set_channel(receiver,0);
wb_receiver_enable(receiver,TIME_STEP);
wb_robot_step(TIME_STEP);
turret_sensor = wb_robot_get_device("ts");
wb_light_sensor_enable(turret_sensor,TIME_STEP);
/* main loop */
while (wb_robot_step(TIME_STEP) != -1) {
clock += (double)TIME_STEP/1000;
/* get light sensor value */
sensor_value = wb_light_sensor_get_value(turret_sensor);
if(wb_receiver_get_queue_length(receiver) > 0) {
wb_emitter_set_channel(emitter,3);
perf_data[0] = (double)robot_id;
perf_data[1] = (double)(pkt_count-1);
perf_data[2] = 0;
wb_emitter_send(emitter,perf_data,3*sizeof(double));
break; // stop node
}
else {
send_data(clock); // send measurement data
}
}
wb_robot_cleanup();
return 0;
}
/*
* Reset the robot's devices and get its ID
*/
static void reset()
{
int i;
wb_robot_init();
char s[4]="ps0";
for(i=0; i<NB_SENSORS;i++) {
ds[i]=wb_robot_get_device(s); // the device name is specified in the world file
s[2]++; // increases the device number
}
for(i=0; i<FLOCK_SIZE; i++) {
timestamp[i] = 0;
relative_pos[i][0] = 0;
relative_pos[i][1] = 0;
relative_pos[i][2] = 0;
}
maxTimestamp = 1;
robot_name=(char*) wb_robot_get_name();
for(i=0;i<NB_SENSORS;i++)
wb_distance_sensor_enable(ds[i],64);
my_position[0] = 0;
my_position[1] = 0;
my_position[2] = 0;
//printf("reset: my pos: %f, %f\n", my_position[0], my_position[1]);
wb_differential_wheels_enable_encoders(64);
//Reading the robot's name. Pay attention to name specification when adding robots to the simulation!
sscanf(robot_name,"epuck%d",&robot_id_u); // read robot id from the robot's name
robot_id = robot_id_u%FLOCK_SIZE; // normalize between 0 and FLOCK_SIZE-1
sprintf(robot_number, "%d", robot_id_u);
receiver = wb_robot_get_device("receiver");
receiver0 = wb_robot_get_device("receiver0");
emitter = wb_robot_get_device("emitter");
emitter0 = wb_robot_get_device("emitter0");
wb_receiver_enable(receiver,32);
wb_receiver_enable(receiver0,32);
for(i=0; i<FLOCK_SIZE; i++) {
initialized[i] = 0; // Set initialization to 0 (= not yet initialized)
}
}
void reset()
{
int i;
robotName = wb_robot_get_name();
currentState = FORWARD;
// Make sure to initialize the RNG with different values for each thread
srand(time(NULL) + (int)&robotName);
char e_puck_name[] = "ps0";
char sensorsName[5];
// Emitter and receiver device tags
emitterTag = wb_robot_get_device("emitter");
receiverTag = wb_robot_get_device("receiver");
// Configure communication devices
wb_receiver_enable(receiverTag, TIME_STEP);
wb_emitter_set_range(emitterTag, COMM_RADIUS);
wb_emitter_set_channel(emitterTag, COMMUNICATION_CHANNEL);
wb_receiver_set_channel(receiverTag, COMMUNICATION_CHANNEL);
sprintf(sensorsName, "%s", e_puck_name);
for (i = 0; i < NB_SENSORS; i++) {
sensors[i] = wb_robot_get_device(sensorsName);
wb_distance_sensor_enable(sensors[i], TIME_STEP);
if ((i + 1) >= 10) {
sensorsName[2] = '1';
sensorsName[3]++;
if ((i + 1) == 10) {
sensorsName[3] = '0';
sensorsName[4] = (char) '\0';
}
} else {
sensorsName[2]++;
}
}
wb_differential_wheels_enable_encoders(TIME_STEP);
printf("Robot %s is reset\n", robotName);
return;
}
// controller initialization
static void reset(void) {
fitness_reset();
int i;
char name[] = "ps0";
for(i = 0; i < NB_SENSORS; i++) {
ps[i]=wb_robot_get_device(name); // get sensor handle
// perform distance measurements every TIME_STEP millisecond
wb_distance_sensor_enable(ps[i], TIME_STEP);
name[2]++; // increase the device name to "ps1", "ps2", etc.
}
}
int main() {
const char *SERVO_NAMES[NUM_SERVOS] = {
"servo_r0",
"servo_r1",
"servo_r2",
"servo_l0",
"servo_l1",
"servo_l2"};
WbDeviceTag servos[NUM_SERVOS];
int elapsed = 0;
int state, i;
long double pos = 0,lastPos = 0; // int 害死了 0-6.28
int flag = 0;
const int dir[] = {1,1,1,1,1,1};//{1,1,1,-1,-1,-1}
// 增加在地面上的时间，就会更加稳定
const double rate = 1.0/6;// 1/4
wb_robot_init();
for (i = 0; i < NUM_SERVOS; i++) {
servos[i] = wb_robot_get_device(SERVO_NAMES[i]);
if (!servos[i]) {
printf("could not find servo: %s\n",SERVO_NAMES[i]);
}
}
pos = M_PI * rate ;
flag = 0;
while(wb_robot_step(TIME_STEP)!=-1) {
elapsed++;
state = (elapsed / 25 + 1) % NUM_STATES;
lastPos = pos;
if(flag) pos += 2*M_PI * rate;
else pos += 2*M_PI * (1-rate);
flag = !flag;
for (i = 0; i < 6; i+=2 ){
wb_servo_set_position(servos[i], dir[i]*pos);
}
for (i = 1; i < 6; i+=2 ) {
wb_servo_set_position(servos[i], dir[i]*lastPos);
}
}
wb_robot_cleanup();
return 0;
}
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;
}
/*
* Initialize flock position and devices
*/
void reset(void) {
wb_robot_init();
emitter = wb_robot_get_device("emitter");
if (emitter==0) printf("missing emitter\n");
char rob[7] = "epuck0";
int i;
for (i=0;i<FLOCK_SIZE;i++) {
sprintf(rob,"epuck%d",i+offset);
robs[i] = wb_supervisor_node_get_from_def(rob);
robs_trans[i] = wb_supervisor_node_get_field(robs[i],"translation");
robs_rotation[i] = wb_supervisor_node_get_field(robs[i],"rotation");
}
}
int main(int argc, char **argv)
{
wb_robot_init();
int i;
WbDeviceTag servos[NSERVOS];
WbDeviceTag head_led;
for (i=0; i<NSERVOS; i++)
servos[i] = wb_robot_get_device(servo_names[i]);
head_led = wb_robot_get_device("HeadLed");
wb_led_set(head_led, 0x40C040);
do {
double t = wb_robot_get_time();
for (i=0; i<6; i++)
wb_servo_set_position(servos[i], amplitudes[i]*sin(frequency*t) + offsets[i]);
} while (wb_robot_step(TIME_STEP) != -1);
wb_robot_cleanup();
return 0;
}
/*
* Reset the robot's devices and get its ID
*/
static void reset()
{
wb_robot_init();
receiver = wb_robot_get_device("receiver");
emitter = wb_robot_get_device("emitter");
compass2 = wb_robot_get_device("compass2");
receiver0 = wb_robot_get_device("receiver0");
emitter0 = wb_robot_get_device("emitter0");
int i;
char s[4]="ps0";
for(i=0; i<NB_SENSORS;i++) {
ds[i]=wb_robot_get_device(s); // the device name is specified in the world file
s[2]++; // increases the device number
}
robot_name=(char*) wb_robot_get_name();
for(i=0; i<FLOCK_SIZE; i++) {
relative_pos[i][0] = my_position[0] = 0;
relative_pos[i][1] = my_position[1] = 0;
relative_pos[i][2] = my_position[2] = 0;
}
for(i=0;i<NB_SENSORS;i++)
wb_distance_sensor_enable(ds[i],64);
wb_receiver_enable(receiver,64);
wb_receiver_enable(receiver0,64);
wb_compass_enable(compass2, 64);
//Reading the robot's name. Pay attention to name specification when adding robots to the simulation!
sscanf(robot_name,"epuck%d",&robot_id_u); // read robot id from the robot's name
robot_id = robot_id_u%FLOCK_SIZE; // normalize between 0 and FLOCK_SIZE-1
for(i=0; i<FLOCK_SIZE; i++) {
initialized[i] = 0; // Set initialization to 0 (= not yet initialized)
}
}
static void initialize()
{
wb_robot_init();
currentBehavior = RANDOM_MOVER;
ps0 = wb_robot_get_device("ps0");
ps1 = wb_robot_get_device("ps1");
ps2 = wb_robot_get_device("ps2");
ps3 = wb_robot_get_device("ps3");
ps4 = wb_robot_get_device("ps4");
ps5 = wb_robot_get_device("ps5");
ps6 = wb_robot_get_device("ps6");
ps7 = wb_robot_get_device("ps7");
ls0 = wb_robot_get_device("ls0");
ls1 = wb_robot_get_device("ls1");
ls2 = wb_robot_get_device("ls2");
ls3 = wb_robot_get_device("ls3");
ls4 = wb_robot_get_device("ls4");
ls5 = wb_robot_get_device("ls5");
ls6 = wb_robot_get_device("ls6");
ls7 = wb_robot_get_device("ls7");
led4 = wb_robot_get_device("led4");
int sensorTimeout = 100;
wb_distance_sensor_enable(ps0, sensorTimeout);
wb_distance_sensor_enable(ps1, sensorTimeout);
wb_distance_sensor_enable(ps2, sensorTimeout);
wb_distance_sensor_enable(ps3, sensorTimeout);
wb_distance_sensor_enable(ps4, sensorTimeout);
wb_distance_sensor_enable(ps5, sensorTimeout);
wb_distance_sensor_enable(ps6, sensorTimeout);
wb_distance_sensor_enable(ps7, sensorTimeout);
wb_light_sensor_enable(ls0, sensorTimeout);
wb_light_sensor_enable(ls1, sensorTimeout);
wb_light_sensor_enable(ls2, sensorTimeout);
wb_light_sensor_enable(ls3, sensorTimeout);
wb_light_sensor_enable(ls4, sensorTimeout);
wb_light_sensor_enable(ls5, sensorTimeout);
wb_light_sensor_enable(ls6, sensorTimeout);
wb_light_sensor_enable(ls7, sensorTimeout);
wb_led_set(led4, 1);
}
////////////////////////////////////////////
// Main
int main()
{
int i, speed[2], ps_offset[NB_DIST_SENS]={0,0,0,0,0,0,0,0}, Mode=1;
/* intialize Webots */
wb_robot_init();
/* initialization */
char name[20];
for (i = 0; i < NB_LEDS; i++) {
sprintf(name, "led%d", i);
led[i] = wb_robot_get_device(name); /* get a handler to the sensor */
}
for (i = 0; i < NB_DIST_SENS; i++) {
sprintf(name, "ps%d", i);
ps[i] = wb_robot_get_device(name); /* proximity sensors */
wb_distance_sensor_enable(ps[i],TIME_STEP);
}
for (i = 0; i < NB_GROUND_SENS; i++) {
sprintf(name, "gs%d", i);
gs[i] = wb_robot_get_device(name); /* ground sensors */
wb_distance_sensor_enable(gs[i],TIME_STEP);
}
for(;;) // Main loop
{
// Run one simulation step
wb_robot_step(TIME_STEP);
// Reset all BB variables when switching from simulation to real robot and back
if (Mode!=wb_robot_get_mode())
{
oam_reset = TRUE;
llm_active = FALSE;
llm_past_side = NO_SIDE;
ofm_active = FALSE;
lem_active = FALSE;
lem_state = LEM_STATE_STANDBY;
Mode = wb_robot_get_mode();
if (Mode == SIMULATION) {
for(i=0;i<NB_DIST_SENS;i++) ps_offset[i]=PS_OFFSET_SIMULATION[i];
wb_differential_wheels_set_speed(0,0); wb_robot_step(TIME_STEP); // Just run one step to make sure we get correct sensor values
printf("\n\n\nSwitching to SIMULATION and reseting all BB variables.\n\n");
} else if (Mode == REALITY) {
for(i=0;i<NB_DIST_SENS;i++) ps_offset[i]=PS_OFFSET_REALITY[i];
wb_differential_wheels_set_speed(0,0); wb_robot_step(TIME_STEP); // Just run one step to make sure we get correct sensor values
printf("\n\n\nSwitching to REALITY and reseting all BB variables.\n\n");
}
}
// read sensors value
for(i=0;i<NB_DIST_SENS;i++) ps_value[i] = (((int)wb_distance_sensor_get_value(ps[i])-ps_offset[i])<0)?0:((int)wb_distance_sensor_get_value(ps[i])-ps_offset[i]);
for(i=0;i<NB_GROUND_SENS;i++) gs_value[i] = wb_distance_sensor_get_value(gs[i]);
// Reset all BB variables when switching from simulation to real robot and back
if (Mode!=wb_robot_get_mode())
{
oam_reset = TRUE;
llm_active = FALSE;
llm_past_side = NO_SIDE;
ofm_active = FALSE;
lem_active = FALSE;
lem_state = LEM_STATE_STANDBY;
Mode = wb_robot_get_mode();
if (Mode == SIMULATION) printf("\nSwitching to SIMULATION and reseting all BB variables.\n\n");
else if (Mode == REALITY) printf("\nSwitching to REALITY and reseting all BB variables.\n\n");
}
// Speed initialization
speed[LEFT] = 0;
speed[RIGHT] = 0;
// *** START OF SUBSUMPTION ARCHITECTURE ***
// LFM - Line Following Module
LineFollowingModule();
// Speed computation
speed[LEFT] = lfm_speed[LEFT];
speed[RIGHT] = lfm_speed[RIGHT];
// *** END OF SUBSUMPTION ARCHITECTURE ***
// Debug display
printf("OAM %d side %d \n", oam_active, oam_side);
// Set wheel speeds
wb_differential_wheels_set_speed(speed[LEFT],speed[RIGHT]);
}
return 0;
}
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
}
// entry point of the controller
int main(int argc, char **argv)
{
// initialize the Webots API
wb_robot_init();
// internal variables
int i;
WbDeviceTag ps[8];
char ps_names[8][4] = {
"ps0", "ps1", "ps2", "ps3",
"ps4", "ps5", "ps6", "ps7"
};
// initialize devices
for (i=0; i<8 ; i++) {
ps[i] = wb_robot_get_device(ps_names[i]);
wb_distance_sensor_enable(ps[i], TIME_STEP);
}
WbDeviceTag ls[8];
char ls_names[8][4] = {
"ls0", "ls1", "ls2", "ls3",
"ls4", "ls5", "ls6", "ls7"
};
// initialize devices
for (i=0; i<8 ; i++) {
ls[i] = wb_robot_get_device(ls_names[i]);
wb_light_sensor_enable(ls[i], TIME_STEP);
}
WbDeviceTag led[8];
char led_names[8][5] = {
"led0", "led1", "led2", "led3",
"led4", "led5", "led6", "led7"
};
// initialize devices
for (i=0; i<8 ; i++) {
led[i] = wb_robot_get_device(led_names[i]);
}
// feedback loop
while (1) {
// step simulation
int delay = wb_robot_step(TIME_STEP);
if (delay == -1) // exit event from webots
break;
// read sensors outputs
double ps_values[8];
for (i=0; i<8 ; i++)
ps_values[i] = wb_distance_sensor_get_value(ps[i]);
update_search_speed(ps_values, 250);
// set speeds
double left_speed = get_search_left_wheel_speed();
double right_speed = get_search_right_wheel_speed();
// read IR sensors outputs
double ls_values[8];
for (i=0; i<8 ; i++){
ls_values[i] = wb_light_sensor_get_value(ls[i]);
}
int active_ir = FALSE;
for(i=0; i<8; i++){
if(ls_values[i] < 2275){
active_ir = TRUE;
}
}
if(active_ir == TRUE){
swarm_retrieval(ls_values, ps_values, 2275);
left_speed = get_retrieval_left_wheel_speed();
right_speed = get_retrieval_right_wheel_speed();
}
if(is_pushing() == TRUE || stagnation == TRUE){
// check for stagnation
stagnation_counter = stagnation_counter + 1;
if(stagnation_counter == min((50 + positive_feedback * 50), 300) && stagnation == FALSE){
stagnation_counter = 0; // reset counter
stagnation_check = TRUE;
for(i=0; i<8; i++)
prev_dist_values[i] = ps_values[i];
}
if(stagnation_check == TRUE){
left_speed = 0;
right_speed = 0;
}
if(stagnation_check == TRUE && stagnation_counter == 5){
stagnation_counter = 0; // reset counter
reset_stagnation();
valuate_pushing(ps_values, prev_dist_values);
stagnation = get_stagnation_state();
stagnation_check = FALSE;
if(stagnation == TRUE)
positive_feedback = 0;
else
positive_feedback = positive_feedback + 1;
}
if(stagnation == TRUE){
stagnation_recovery(ps_values, 300);
left_speed = get_stagnation_left_wheel_speed();
right_speed = get_stagnation_right_wheel_speed();
if(get_stagnation_state() == FALSE){
reset_stagnation();
stagnation = FALSE;
stagnation_counter = 0;
}
}
}
// write actuators inputs
wb_differential_wheels_set_speed(left_speed, right_speed);
for(i=0; i<8; i++){
wb_led_set(led[i], get_LED_state(i));
}
}
// cleanup the Webots API
wb_robot_cleanup();
return 0; //EXIT_SUCCESS
}
//
// 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)
{
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
}
int main() {
printf("hello from supervisor\n");
const char *robot_name[ROBOTS] = {"NAO"};
WbNodeRef node;
WbFieldRef robot_translation_field[ROBOTS],robot_rotation_field[ROBOTS],ball_translation_field;
//WbDeviceTag emitter, receiver;
int i,j;
int score[2] = { 0, 0 };
double time = 10 * 60; /* a match lasts for 10 minutes */
double ball_reset_timer = 0;
double ball_initial_translation[3] = { -2.5, 0.0324568, 0 };
double robot_initial_translation[ROBOTS][3] = {
{-4.49515, 0.234045, -0.0112415},
{0.000574037, 0.332859, -0.00000133636}};
double robot_initial_rotation[ROBOTS][4] = {
{0.0604202, 0.996035, -0.0652942, 1.55047},
{0.000568956, 0.70711, 0.707104, 3.14045}};
double packet[ROBOTS * 3 + 2];
char time_string[64];
const double *robot_translation[ROBOTS], *robot_rotation[ROBOTS], *ball_translation;
wb_robot_init();
time_step = wb_robot_get_basic_time_step();
emitter = wb_robot_get_device("emitter");
wb_receiver_enable(emitter, time_step);
receiver = wb_robot_get_device("receiver");
wb_receiver_enable(receiver, time_step);
for (i = 0; i < ROBOTS; i++) {
node = wb_supervisor_node_get_from_def(robot_name[i]);
robot_translation_field[i] = wb_supervisor_node_get_field(node,"translation");
robot_translation[i] = wb_supervisor_field_get_sf_vec3f(robot_translation_field[i]);
for(j=0;j<3;j++) robot_initial_translation[i][j]=robot_translation[i][j];
robot_rotation_field[i] = wb_supervisor_node_get_field(node,"rotation");
robot_rotation[i] = wb_supervisor_field_get_sf_rotation(robot_rotation_field[i]);
for(j=0;j<4;j++) robot_initial_rotation[i][j]=robot_rotation[i][j];
}
node = wb_supervisor_node_get_from_def("BALL");
ball_translation_field = wb_supervisor_node_get_field(node,"translation");
ball_translation = wb_supervisor_field_get_sf_vec3f(ball_translation_field);
for(j=0;j<3;j++) ball_initial_translation[j]=ball_translation[j];
/* printf("ball initial translation = %g %g %g\n",ball_translation[0],ball_translation[1],ball_translation[2]); */
set_scores(0, 0);
while(wb_robot_step(TIME_STEP)!=-1) {
//printf("supervisor commands START!\n");
check_for_slaves_data();
ball_translation = wb_supervisor_field_get_sf_vec3f(ball_translation_field);
for (i = 0; i < ROBOTS; i++) {
robot_translation[i]=wb_supervisor_field_get_sf_vec3f(robot_translation_field[i]);
/* printf("coords for robot %d: %g %g %g\n",i,robot_translation[i][0],robot_translation[i][1],robot_translation[i][2]); */
packet[3 * i] = robot_translation[i][0]; /* robot i: X */
packet[3 * i + 1] = robot_translation[i][2]; /* robot i: Z */
if (robot_rotation[i][1] > 0) { /* robot i: rotation Ry axis */
packet[3 * i + 2] = robot_rotation[i][3]; /* robot i: alpha */
} else { /* Ry axis was inverted */
packet[3 * i + 2] = -robot_rotation[i][3];
}
}
packet[3 * ROBOTS] = ball_translation[0]; /* ball X */
packet[3 * ROBOTS + 1] = ball_translation[2]; /* ball Z */
wb_emitter_send(emitter, packet, sizeof(packet));
/* Adds TIME_STEP ms to the time */
time -= (double) TIME_STEP / 1000;
if (time < 0) {
time = 10 * 60; /* restart */
}
sprintf(time_string, "%02d:%02d", (int) (time / 60), (int) time % 60);
wb_supervisor_set_label(2, time_string, 0.45, 0.01, 0.1, 0x000000, 0.0); /* black */
if (ball_reset_timer == 0) {
if (ball_translation[0] > GOAL_X_LIMIT) { /* ball in the blue goal */
set_scores(++score[0], score[1]);
ball_reset_timer = 3; /* wait for 3 seconds before reseting the ball */
} else if (ball_translation[0] < -GOAL_X_LIMIT) { /* ball in the yellow goal */
set_scores(score[0], ++score[1]);
ball_reset_timer = 3; /* wait for 3 seconds before reseting the ball */
}
} else {
ball_reset_timer -= (double) TIME_STEP / 1000.0;
if (ball_reset_timer <= 0) {
ball_reset_timer = 0;
wb_supervisor_field_set_sf_vec3f(ball_translation_field, ball_initial_translation);
for (i = 0; i < ROBOTS; i++) {
wb_supervisor_field_set_sf_vec3f(robot_translation_field[i], robot_initial_translation[i]);
wb_supervisor_field_set_sf_rotation(robot_rotation_field[i], robot_initial_rotation[i]);
}
}
}
}
wb_robot_cleanup();
return 0;
}
static void find_and_enable_devices() {
// camera
CameraTop = wb_robot_get_device("CameraTop");
CameraBottom = wb_robot_get_device("CameraBottom");
wb_camera_enable(CameraTop, 4 * time_step);
wb_camera_enable(CameraBottom, 4 * time_step);
// accelerometer
accelerometer = wb_robot_get_device("accelerometer");
wb_accelerometer_enable(accelerometer, time_step);
// gyro
gyro = wb_robot_get_device("gyro");
wb_gyro_enable(gyro, time_step);
// inertial unit
inertial_unit = wb_robot_get_device("inertial unit");
wb_inertial_unit_enable(inertial_unit, time_step);
// ultrasound sensors
us[0] = wb_robot_get_device("USSensor1");
us[1] = wb_robot_get_device("USSensor2");
us[2] = wb_robot_get_device("USSensor3");
us[3] = wb_robot_get_device("USSensor4");
int i;
for (i = 0; i < 4; i++)
wb_distance_sensor_enable(us[i], time_step);
// foot sensors
fsr3d[0] = wb_robot_get_device("LFsr");
wb_touch_sensor_enable(fsr3d[0], time_step);
fsr3d[1] = wb_robot_get_device("RFsr");
wb_touch_sensor_enable(fsr3d[1], time_step);
// foot bumpers
lfoot_lbumper = wb_robot_get_device("BumperLFootLeft");
lfoot_rbumper = wb_robot_get_device("BumperLFootRight");
rfoot_lbumper = wb_robot_get_device("BumperRFootLeft");
rfoot_rbumper = wb_robot_get_device("BumperRFootRight");
wb_touch_sensor_enable(lfoot_lbumper, time_step);
wb_touch_sensor_enable(lfoot_rbumper, time_step);
wb_touch_sensor_enable(rfoot_lbumper, time_step);
wb_touch_sensor_enable(rfoot_rbumper, time_step);
// There are 7 controlable LED groups in Webots
leds[0] = wb_robot_get_device("ChestBoard/Led");
leds[1] = wb_robot_get_device("RFoot/Led");
leds[2] = wb_robot_get_device("LFoot/Led");
leds[3] = wb_robot_get_device("Face/Led/Right");
leds[4] = wb_robot_get_device("Face/Led/Left");
leds[5] = wb_robot_get_device("Ears/Led/Right");
leds[6] = wb_robot_get_device("Ears/Led/Left");
// get phalanx motor tags
// the real Nao has only 2 motors for RHand/LHand
// but in Webots we must implement RHand/LHand with 2x8 motors
for (i = 0; i < PHALANX_MAX; i++) {
char name[32];
sprintf(name, "LPhalanx%d", i + 1);
lphalanx[i] = wb_robot_get_device(name);
sprintf(name, "RPhalanx%d", i + 1);
rphalanx[i] = wb_robot_get_device(name);
}
// shoulder pitch motors
RShoulderPitch = wb_robot_get_device("RShoulderPitch");
LShoulderPitch = wb_robot_get_device("LShoulderPitch");
// shoulder pitch motors
HeadYaw = wb_robot_get_device("HeadYaw");
HeadPitch = wb_robot_get_device("HeadPitch");
//LaserHead = wb_robot_get_device("URG-04LX-UG01");
//wb_camera_enable(LaserHead, 4 * time_step);
// keyboard
//wb_robot_keyboard_enable(10 * time_step);
}
/*
* The call to wb_robot_step is mandatory for the function
* supervisor_node_was_found to be able to work correctly.
*/
static void reset(void)
{
int i;
for(i=0; i<POP_SIZE; i++) fitness[i]=-1;
srand(time(0));
pF1= fopen("initPop.txt","w+");
//pF2= fopen("real2IntGenome.txt","w+");
//pF3= fopen("encodedPop.txt","w+");
// Initiate the emitter used to send genomes to the experiment
emitter = wb_robot_get_device("emittersupervisor");
// Initiate the receiver used to receive fitness
receiver = wb_robot_get_device("receiversupervisor");
wb_receiver_enable(receiver, TIME_STEP);
// Create a supervised node for the robot
robot = wb_supervisor_node_get_from_def("EPUCK");
assert(robot!=NULL);
pattern=wb_supervisor_node_get_from_def("FLOOR");
pattern_rotation = wb_supervisor_node_get_field(pattern,"rotation");
assert(pattern!=NULL);
assert(pattern_rotation!=NULL);
trans_field = wb_supervisor_node_get_field(robot,"translation");
rot_field = wb_supervisor_node_get_field(robot,"rotation");
ctrl_field= wb_supervisor_node_get_field(robot,"controller");
wb_robot_step(0);
wb_robot_step(0); //this is magic
// set the robot controller to nn
const char *controller_name = "drive2";
wb_supervisor_field_set_sf_string(ctrl_field,controller_name);
//check whether robot was found
if (wb_supervisor_node_get_type(robot) == WB_NODE_NO_NODE)
puts("Error: node EPUCK not found!!!");
if(EVOLVING) {
//Open log files
f1= fopen ("../../data/fitness.txt", "wt");
f2= fopen ("../../data/genomes.txt", "wt");
//pR= fopen("savePop.txt","w+");
//initial weights randomly
initializePopulation();
//rtoi(); //real to int conversion before encoding
popEncoder();
//puts("NEW EVOLUTION");
//puts("GENERATION 0");
// send genomes to experiment
resetRobotPosition();
wb_emitter_send(emitter, (void *)pop_bin[evaluated_inds], GENOME_LENGTH*sizeof(_Bool));
//instead save binary genomes to a file
//puts("Genes sent.");
}
else {
// testing best individual
// Read best genome from bestgenome.txt and initialize weights.
f3= fopen ("../../data/bestgenome.txt", "rt");
fscanf(f3,"%d %d", &generation, &evaluated_inds);
//TODO either read binary genome or make sure it is decoded prior to storage
for(i=0;i<GENOME_LENGTH;i++) fscanf(f3,"%d ",&pop_bin[0][i]);
//printf("TESTING INDIVIDUAL %d, GENERATION %d\n", evaluated_inds, generation);
// send genomes to experiment
resetRobotPosition();
// wb_emitter_send(emitter, (void *)pop[0], NB_GENES*sizeof(double));
}
return;
}
int main(int argc, const char *argv[]) {
WbDeviceTag speaker, microphone;
WbDeviceTag sensors[NUM_SENSORS];
int role = UNKNOWN;
int prev_audible = -1;
int i, j; // for loops
// initialize webots
wb_robot_init();
// determine role
if (argc >= 2) {
if (! strcmp(argv[1], "speaker"))
role = SPEAKER;
else if (! strcmp(argv[1], "microphone"))
role = MICROPHONE;
}
// use speaker or microphone according to specified role
if (role == SPEAKER)
speaker = wb_robot_get_device("speaker");
else if (role == MICROPHONE) {
// we only use "mic0" in this demo
microphone = wb_robot_get_device("mic0");
wb_microphone_enable(microphone, TIME_STEP / 2);
}
// find distance sensors
for (i = 0; i < NUM_SENSORS; i++) {
char sensor_name[64];
sprintf(sensor_name, "ps%d", i);
sensors[i] = wb_robot_get_device(sensor_name);
wb_distance_sensor_enable(sensors[i], TIME_STEP);
}
// main loop
for (;;) {
if (role == SPEAKER) {
wb_speaker_emit_sample(speaker, SAMPLE, sizeof(SAMPLE));
}
else if (role == MICROPHONE) {
const short *rec_buffer = (const short *)wb_microphone_get_sample_data(microphone);
int numSamples = wb_microphone_get_sample_size(microphone) / sizeof(SAMPLE[0]);
if (rec_buffer) {
int audible = 0;
for (i = 0; i < numSamples; i++) {
// warning this demo assumes no noise and therefore depends on the sound plugin configuration !
if (rec_buffer[i] != 0)
audible = 1;
}
if (audible != prev_audible) {
printf(audible ? "I hear you now !\n" : "I can't hear you !\n");
prev_audible = audible;
}
}
else
printf("received: nothing this time ...\n");
}
// read distance sensor values
double sensor_values[NUM_SENSORS];
for (i = 0; i < NUM_SENSORS; i++)
sensor_values[i] = wb_distance_sensor_get_value(sensors[i]);
// compute braitenberg collision avoidance
double speed[2];
for (i = 0; i < 2; i++) {
speed[i] = 0.0;
for (j = 0; j < NUM_SENSORS; j++)
speed[i] += EPUCK_MATRIX[j][i] * (1 - (sensor_values[j] / RANGE));
}
// set the motors speed
wb_differential_wheels_set_speed(speed[0], speed[1]);
// simulation step
wb_robot_step(TIME_STEP);
}
return 0;
}
//
// Reset the robot controller and initiate the sensors and emitter/receiver
//
static int reset()
{
int i;
mode =1;
emitter = wb_robot_get_device("emitter");
//no emitter_enable here on purpose!
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]='6';
ps[2] = wb_robot_get_device(text); // proximity sensors
text[2]='5';
ps[3] = wb_robot_get_device(text);
text[2]='4';
ps[4] = wb_robot_get_device(text);
text[2]='3';
ps[5] = wb_robot_get_device(text);
text[2]='2';
ps[6] = wb_robot_get_device(text);
text[2]='1';
ps[7] = wb_robot_get_device(text);
// 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);
}
//get handles for all the floor sensors
text[0]='f';
text[2]='1';
fs[0]=wb_robot_get_device(text); //note that fs[0] is a 1x1 array that holds the center floor sensor DeviceTag
//enable the center fs just to try
wb_distance_sensor_enable(fs[0],TIME_STEP); //enable center floor sensor
//printf("fs[%d] is active\n",1);
//if this sensor is active increase the fitness
// open files for writing
//pF1=fopen("act_in.txt","w+");
pF2=fopen("decoded_pop.txt","w+");
// pF3=fopen("nn_values.txt","w+");
return 1;
}
// 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;
}
