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robot_ser.py
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robot_ser.py
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# coding=utf-8
import os
from socket import*
import re
import rospy
from geometry_msgs.msg import Twist, genpy
from gazebo_msgs.msg import ModelStates
from sensor_msgs.msg import CompressedImage,Image
from rosgraph_msgs.msg import Clock
import cStringIO
from geometry_msgs.msg import Point
import threading
import struct
class SimServer:
def __init__(self,filename,world_type=1):
rospy.init_node('turtlebot_robot', anonymous=False)
self.__cmd_vel = rospy.Publisher('cmd_vel_mux/input/navi', Twist, queue_size=10)
self.isEnd = False
# judge
self.filename = filename
self.world_type=world_type
self.writeData(filename)
self.robot_pos_now = Point()
self.robot_pos_now.x = self.robot_pos_now.y = 0
self.robot_pos_last = self.robot_pos_now
self.time_begin = None
self.time_now = None
# Twist
self.twist = Twist()
# tcp config
self.tcpSock = socket(AF_INET, SOCK_STREAM)
self.connection = None
#
self.comImage_sub = rospy.Subscriber("/camera/rgb/image_raw/compressed", CompressedImage, self.__recv_comImage)
self.comImage_data = None
self.image_sub=rospy.Subscriber("/camera/rgb/image_raw",Image,self.__recv_image)
self.image_data=None
self.state_sub = rospy.Subscriber("/gazebo/model_states", ModelStates, self.__recv_states)
self.box_pos = None
self.time_sub = rospy.Subscriber("/clock", Clock, self.__recv_time)
self.time=None
#contacts
self.lastCollision = ""
self.t = threading.Thread(target=self.contact)
self.t.setDaemon(True)
self.t.start()
rospy.on_shutdown(self.__shutdown)
def serve(self,port=7777):
self.tcpSock.bind(("", port))
self.tcpSock.listen(1)
self.connection, addr = self.tcpSock.accept()
print "connect successful"
while not self.isEnd:
data=""
try:
type = self.connection.recv(3)
if(type=="tws"):
data=self.connection.recv(48)
rospy.loginfo(type+" "+data)
except Exception,msg:
print msg
continue
if self.time_begin == None:
self.time_begin = self.time_now
if type == "tws":
self.publish_twist_to_robot(data)
elif type == "img":
self.send_img_to_client()
elif type=="cim":
self.send_comImg_to_client()
elif type == "box" and self.world_type!=3:
self.send_box_pos_to_client()
elif type == "tim":
self.send_time_to_client()
elif type=="end":
self.isEnd=True
self.connection.close()
def publish_twist_to_robot(self, data):
"""
:param data:
:return:
"""
try:
self.twist.deserialize(data)
self.__cmd_vel.publish(self.twist)
except genpy.DeserializationError:
print rospy.loginfo("deserialize twist failed!")
def send_comImg_to_client(self):
"""
:param image:
:return:
"""
buff = cStringIO.StringIO()
self.comImage_data.serialize(buff)
flag=struct.pack('i',len(buff.getvalue()))
self.connection.send(flag)
self.connection.sendall(buff.getvalue())
def send_img_to_client(self):
"""
:return:
"""
buff = cStringIO.StringIO()
self.image_data.serialize(buff)
print len(buff.getvalue())
self.connection.sendall(buff.getvalue())
def send_box_pos_to_client(self):
"""
:param box_pos:
:return:
"""
buff = cStringIO.StringIO()
self.box_pos.serialize(buff)
flag=struct.pack('i',len(buff.getvalue()))
self.connection.send(flag)
self.connection.sendall(buff.getvalue())
def send_time_to_client(self):
"""
:return:
"""
buff = cStringIO.StringIO()
self.time.serialize(buff)
self.connection.send(buff.getvalue())
def __recv_image(self, data):
"""
:param data:
"""
self.image_data = data
def __recv_comImage(self,data):
"""
:param data:
:return:
"""
self.comImage_data=data
def __recv_states(self, model_states):
"""
:param model_states:
:return:
"""
reg = 'newbox*'
name = 'mobile_base'
nameRe = re.compile(reg)
res = ModelStates()
for i in xrange(len(model_states.name)):
if nameRe.match(model_states.name[i]):
if len(model_states.name)==8 and model_states.name[i]=="newbox_1":
continue
res.name.append(model_states.name[i])
res.pose.append(model_states.pose[i])
res.twist.append(model_states.twist[i])
elif name==model_states.name[i]:
pos = model_states.pose[i].position
self.robot_pos_last = self.robot_pos_now
self.robot_pos_now = pos
if self.successful(self.robot_pos_now) and not self.isEnd:
self.isEnd = True
self.writeData("successful:time=" + str(self.time_now - self.time_begin))
if (not self.isEnd) and self.inside(self.robot_pos_last) and (not self.inside(self.robot_pos_now)):
self.writeData("outside:" + str(self.time_now))
self.box_pos = res
def __recv_time(self,data):
"""
:param data:
:return:
"""
self.time=data
#juger
self.time_now=data.clock.to_time()
if self.time_begin!=None and (self.time_now-self.time_begin>=180)and not self.isEnd:
self.isEnd=True
self.connection.close()
self.writeData("time out")
def __shutdown(self):
self.isEnd=True
if self.connection!=None:
self.connection.close()
self.tcpSock.close()
self.image_sub.unregister()
self.state_sub.unregister()
self.time_sub.unregister()
self.comImage_sub.unregister()
def __del__(self):
self.isEnd=True
if self.connection!=None:
self.connection.close()
self.tcpSock.close()
#####################################################################################
def writeData(self,message):
"""
:param message:
:return:
"""
with open(self.filename,'a') as file:
file.write(message+'\n')
print message
def inside(self,postion):
if postion.x<=6 and postion.x>=-0.05 and postion.y<=1.5 and postion.y>=-1.5:
return True
else:
return False
def successful(self,postion):
if postion.x>5.95 and postion.x<6.05 and postion.y>-0.7 and postion.y<0.7:
return True
else:
return False
def contact(self):
udpSerSock = socket(AF_UNIX, SOCK_DGRAM)
if os.path.exists("/tmp/contacts"):
os.unlink("/tmp/contacts")
udpSerSock.bind("/tmp/contacts")
udpSerSock.settimeout(1)
while not self.isEnd:
try:
data, addr = udpSerSock.recvfrom(1024)
if (data is not None) and (data!="") and (data!=self.lastCollision):
self.lastCollision=data
self.writeData(data+":"+str(self.time_now))
except Exception:
pass
udpSerSock.close()
###########################################################################################裁判
if __name__ == '__main__':
filename=raw_input(">>")
server = SimServer(filename)
server.serve()