update
This commit is contained in:
Zhengyu Peng
@@ -30,7 +30,7 @@ from adafruit_servokit import ServoKit
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from leg import Leg
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from queue import Queue
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from queue import Queue, Empty
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# python3-numpy
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import numpy as np
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@@ -52,17 +52,12 @@ from tcpserver import TCPServer
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class Hexapod(Thread):
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ERROR = -1
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LISTEN = 1
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CONNECTED = 2
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STOP = 3
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SIG_NORMAL = 0
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SIG_STOP = 1
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SIG_DISCONNECT = 2
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def __init__(self, in_cmd_queue):
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Thread.__init__(self)
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self.cmd_queue = in_cmd_queue
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self.interval = 0.005
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# x -> right
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# y -> front
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# z -> up
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@@ -74,13 +69,6 @@ class Hexapod(Thread):
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with open('./config.json', 'r') as read_file:
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self.config = json.load(read_file)
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self.ip = '192.168.1.127'
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self.port = 1234
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self.tcp_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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# self.tcp_socket.settimeout(1)
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self.signal = self.SIG_NORMAL
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self.mount_x = np.array(self.config['legMountX'])
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self.mount_y = np.array(self.config['legMountY'])
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self.root_j1 = self.config['legRootToJoint1']
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@@ -206,7 +194,7 @@ class Hexapod(Thread):
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np.sin(j3_rad)
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return standby_coordinate
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def move(self, path, interval):
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def move(self, path):
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for p_idx in range(0, np.shape(path)[0]):
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dest = path[p_idx, :, :]
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angles = self.inverse_kinematics(dest)
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@@ -220,9 +208,9 @@ class Hexapod(Thread):
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self.leg_2.move_junctions(angles[2, :])
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self.leg_3.move_junctions(angles[3, :])
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time.sleep(interval)
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time.sleep(self.interval)
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def move_routine(self, path, interval):
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def move_routine(self, path):
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for p_idx in range(0, np.shape(path)[0]):
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dest = path[p_idx, :, :]
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angles = self.inverse_kinematics(dest)
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@@ -236,7 +224,47 @@ class Hexapod(Thread):
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self.leg_2.move_junctions(angles[2, :])
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self.leg_3.move_junctions(angles[3, :])
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time.sleep(interval)
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try:
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data = self.cmd_queue.get(block=False)
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print('interrput')
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print(data)
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except Empty:
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time.sleep(self.interval)
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pass
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else:
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if data == 'standby':
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self.current_motion = None
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self.standby()
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elif data == 'forward':
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self.current_motion = self.forward_path
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elif data == 'backward':
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self.current_motion = self.backward_path
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elif data == 'fastforward':
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self.current_motion = self.fastforward_path
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elif data == 'fastbackward':
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self.current_motion = self.fastbackward_path
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elif data == 'leftturn':
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self.current_motion = self.leftturn_path
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elif data == 'rightturn':
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self.current_motion = self.rightturn_path
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elif data == 'shiftleft':
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self.current_motion = self.shiftleft_path
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elif data == 'shiftright':
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self.current_motion = self.shiftright_path
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elif data == 'climb':
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self.current_motion = self.climb_path
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elif data == 'rotatex':
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self.current_motion = self.rotatex_path
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elif data == 'rotatey':
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self.current_motion = self.rotatey_path
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elif data == 'rotatez':
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self.current_motion = self.rotatez_path
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elif data == 'twist':
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self.current_motion = self.twist_path
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else:
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self.current_motion = None
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self.cmd_queue.task_done()
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break
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def standby(self):
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dest = self.standby_coordinate
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@@ -284,134 +312,59 @@ class Hexapod(Thread):
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return angles
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def run(self):
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self.input_queue.get()
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self.input_queue.task_done()
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try:
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self.tcp_socket.bind((self.ip, self.port))
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# self.tcp_socket.setblocking(False)
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self.tcp_socket.listen(1)
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print('TCP listening')
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except OSError as err:
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# print('emit tcp server error')
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# self.status.emit(self.STOP, '')
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pass
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else:
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# self.status.emit(self.LISTEN, '')
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while True:
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# Wait for a connection
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# print('wait for a connection')
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# self.status.emit(self.LISTEN, '')
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while True:
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if self.current_motion is None:
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try:
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self.connection, addr = self.tcp_socket.accept()
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self.connection.setblocking(False)
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# self.connection.settimeout(1)
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print('New connection')
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except socket.timeout as t_out:
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data = self.cmd_queue.get(block=False)
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print(data)
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except Empty:
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time.sleep(self.interval)
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pass
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else:
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while True:
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# print('waiting for data')
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# if self.signal == self.SIG_NORMAL:
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try:
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data = self.connection.recv(4096)
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except socket.error as e:
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err = e.args[0]
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if err == errno.EAGAIN or err == errno.EWOULDBLOCK:
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if self.current_motion is not None:
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self.move(self.current_motion, 0.005)
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else:
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time.sleep(1)
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print('No data available')
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continue
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else:
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# a "real" error occurred
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print(e)
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break
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# sys.exit(1)
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else:
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if data:
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if data.decode() == 'standby':
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self.current_motion = None
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self.standby()
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elif data.decode() == 'forward':
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self.current_motion = self.forward_path
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# self.move(self.current_motion, 0.005)
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elif data.decode() == 'backward':
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self.current_motion = self.backward_path
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# self.move(self.current_motion, 0.005)
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elif data.decode() == 'fastforward':
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self.current_motion = self.fastforward_path
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# self.move(self.current_motion, 0.005)
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elif data.decode() == 'fastbackward':
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self.current_motion = self.fastbackward_path
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# self.move(self.current_motion, 0.005)
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elif data.decode() == 'leftturn':
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self.current_motion = self.leftturn_path
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# self.move(self.current_motion, 0.005)
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elif data.decode() == 'rightturn':
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self.current_motion = self.rightturn_path
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# self.move(self.current_motion, 0.005)
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elif data.decode() == 'shiftleft':
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self.current_motion = self.shiftleft_path
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# self.move(self.current_motion, 0.005)
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elif data.decode() == 'shiftright':
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self.current_motion = self.shiftright_path
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# self.move(self.current_motion, 0.005)
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elif data.decode() == 'climb':
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self.current_motion = self.climb_path
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# self.move(self.current_motion, 0.005)
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elif data.decode() == 'rotatex':
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self.current_motion = self.rotatex_path
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# self.move(self.current_motion, 0.005)
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elif data.decode() == 'rotatey':
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self.current_motion = self.rotatey_path
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# self.move(self.current_motion, 0.005)
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elif data.decode() == 'rotatez':
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self.current_motion = self.rotatez_path
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# self.move(self.current_motion, 0.005)
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elif data.decode() == 'twist':
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self.current_motion = self.twist_path
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# self.move(self.current_motion, 0.005)
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else:
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print(data.decode())
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self.current_motion = None
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# move_routine(self, path, interval)
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# self.message.emit(
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# addr[0]+':'+str(addr[1]),
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# data.decode())
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else:
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# self.status.emit(self.LISTEN, '')
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self.current_motion = None
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self.standby()
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break
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# elif self.signal == self.SIG_DISCONNECT:
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# self.signal = self.SIG_NORMAL
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# # self.connection.close()
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# # self.status.emit(self.LISTEN, '')
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# break
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if data == 'standby':
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self.current_motion = None
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self.standby()
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elif data == 'forward':
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self.current_motion = self.forward_path
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elif data == 'backward':
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self.current_motion = self.backward_path
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elif data == 'fastforward':
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self.current_motion = self.fastforward_path
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elif data == 'fastbackward':
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self.current_motion = self.fastbackward_path
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elif data == 'leftturn':
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self.current_motion = self.leftturn_path
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elif data == 'rightturn':
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self.current_motion = self.rightturn_path
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elif data == 'shiftleft':
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self.current_motion = self.shiftleft_path
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elif data == 'shiftright':
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self.current_motion = self.shiftright_path
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elif data == 'climb':
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self.current_motion = self.climb_path
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elif data == 'rotatex':
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self.current_motion = self.rotatex_path
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elif data == 'rotatey':
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self.current_motion = self.rotatey_path
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elif data == 'rotatez':
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self.current_motion = self.rotatez_path
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elif data == 'twist':
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self.current_motion = self.twist_path
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else:
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self.current_motion = None
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self.cmd_queue.task_done()
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finally:
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self.tcp_socket.close()
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self.current_motion = None
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self.standby()
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# self.status.emit(self.STOP, '')
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print('exit')
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if self.current_motion is not None:
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self.move_routine(self.current_motion)
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def main():
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q = Queue()
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# hexapod = Hexapod()
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# hexapod.run()
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tcp_server = TCPServer(q)
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tcp_server.start()
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# t1 = Motion(config['motion'], q)
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# t.start()
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# t1.start()
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# t2.start()
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hexapod = Hexapod(q)
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hexapod.start()
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if __name__ == '__main__':
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@@ -1,5 +1,30 @@
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#!python
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#
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# 2021 Zhengyu Peng
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# Website: https://zpeng.me
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#
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# ` `
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# -:. -#:
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# -//:. -###:
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# -////:. -#####:
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# -/:.://:. -###++##:
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# .. `://:- -###+. :##:
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# `:/+####+. :##:
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# .::::::::/+###. :##:
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# .////-----+##: `:###:
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# `-//:. :##: `:###/.
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# `-//:. :##:`:###/.
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# `-//:+######/.
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# `-/+####/.
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# `+##+.
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# :##:
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# :##:
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# :##:
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# :##:
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# :##:
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# .+:
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import socket
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import errno
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from threading import Thread
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import json
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@@ -15,6 +40,8 @@ class TCPServer(Thread):
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SIG_DISCONNECT = 2
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def __init__(self, out_cmd_queue):
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Thread.__init__(self)
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self.cmd_queue = out_cmd_queue
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with open('./config.json', 'r') as read_file:
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@@ -36,7 +63,6 @@ class TCPServer(Thread):
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# self.status.emit(self.STOP, '')
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pass
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else:
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# self.status.emit(self.LISTEN, '')
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while True:
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# Wait for a connection
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# print('wait for a connection')
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@@ -55,38 +81,16 @@ class TCPServer(Thread):
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try:
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data = self.connection.recv(4096)
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except socket.error as e:
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err = e.args[0]
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# if err == errno.EAGAIN or err == errno.EWOULDBLOCK:
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# if self.current_motion is not None:
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# self.move(self.current_motion, 0.005)
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# else:
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# time.sleep(1)
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# print('No data available')
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# continue
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# else:
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# a "real" error occurred
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print(e)
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break
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# sys.exit(1)
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else:
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if data:
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self.cmd_queue.put(data.decode())
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# move_routine(self, path, interval)
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# self.message.emit(
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# addr[0]+':'+str(addr[1]),
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# data.decode())
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else:
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# self.status.emit(self.LISTEN, '')
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self.cmd_queue.put('standby')
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break
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# elif self.signal == self.SIG_DISCONNECT:
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# self.signal = self.SIG_NORMAL
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# # self.connection.close()
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# # self.status.emit(self.LISTEN, '')
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# break
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finally:
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self.tcp_socket.close()
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self.cmd_queue.put('standby')
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# self.status.emit(self.STOP, '')
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print('exit')
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