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How to use execute_control method in autotest

Best Python code snippet using autotest_python

Test2FalconsControl.py

Source:Test2FalconsControl.py

...22    '''23    def __init__(self):24        self.logging = None25        26    def execute_control(self, s):27        s = str(s)28        print("execute_control %s" % s)29        if s.startswith("activate"):30            w = s.split()31            s = "activate " + w[1][4] + w[2]32        simCommand(s)33    def initialize_simulator(self, myteam = "teamA"):34        print("initialize_simulator")35        simInit()36        time.sleep(3)37    def shutdown_simulator(self):38        print("shutdown_simulator")39        simStop()40        time.sleep(3)...

world_rccar.py

Source:world_rccar.py

...33            rostype = rostopic.get_topic_class(topic, blocking=False)[0]34            if rostype:35                ros_utils.Subscriber(topic, rostype, callback=self._bag_callback, callback_args=(topic,))36    def reset(self, back_up, itr=None, cond=None, rep=None, record=True):37#        self._agent.execute_control(None) # stop the car38        assert(itr is not None and cond is not None and rep is not None)39        # TODO add sim backup40        ### back car up straight and slow41        if back_up:42            sample = Sample(meta_data=params, T=2)43            sample.set_U([np.random.uniform(*self.wp['back_up']['cmd_steer'])], t=0, sub_control='cmd_steer')44            sample.set_U([self.wp['back_up']['cmd_vel']], t=0, sub_control='cmd_vel')45            u = sample.get_U(t=0)46            if self._agent.sim:47                if self._agent.sim_coll and self._agent.sim_last_coll:48                    self._logger.info('Resetting the car')49                    self._agent.execute_control(None, reset=True)50                elif self._agent.sim_coll:51                    # TODO add backup logic for not sim52                    self._logger.info('Backing the car up')53                    for _ in xrange(int(self.wp['back_up']['duration'] / params['dt'])): 54                        self._agent.execute_control(u)55                        if self._agent.sim_coll:56                            break57                    for _ in xrange(int(1.0 / params['dt'])):58                        self._agent.execute_control(None)59            else:60                self._logger.info('Backing the car up')61                start = time.time()62                while time.time() - start < self.wp['back_up']['duration']:63                    self._agent.execute_control(u)64                self._agent.execute_control(None)65                time.sleep(1.0)66        else:67            self._agent.execute_control(None, reset=True)68            ### TODO add a flag69            self._ros_reset_pub.publish(std_msgs.msg.Empty())70        ### record71        if record:72            self._start_record_bag(itr, cond, rep)73        74        if not self._agent.sim:75            ### reset indicators76            self._ros_collision.get()77            self.num_collisions = 078    def is_collision(self, sample, t=None):79        #return False80        if self._agent.sim:81            return self._agent.sim_coll82        else:83            return self._ros_collision.get() is not None84    def update_visualization(self, history_sample, planned_sample, t):85        pass86    def get_image(self, sample):87        return None88    def get_info(self):89        self._stop_record_bag()90        ### reset indicators91        self._ros_collision.get()92        return dict()93    ###########94    ### ROS ###95    ###########96    def _start_record_bag(self, itr, cond, rep):97        self.bag = rosbag.Bag(self.bag_file_func(itr, cond, rep), 'w')98    def _bag_callback(self, msg, args):99        topic = args[0]100        with self.bag_lock:101            if self.bag:102                self.bag.write(topic, msg)103    def _stop_record_bag(self):104        if self.bag is None:105            return106        with self.bag_lock:107            bag = self.bag108            self.bag = None109        # bag.reindex()110        bag.close()111    def _ros_collision_callback(self, msg):112        ### immediately stop the car if it's the first collision113        if self._agent.sim_coll:114            if self.num_collisions == 0:115                self._agent.execute_control(None)...

ackermann_control.py

Source:ackermann_control.py

...32        model_state.twist.linear.x = vx33        model_state.twist.linear.y = vy34        model_state.twist.angular.z = vs35        self.set_model_state(model_state=model_state)36    def execute_control(self, lin_v, ang_v, time=1):37        while time > 0:38            msg = AckermannDrive()39            msg.speed = lin_v40            msg.steering_angle_velocity = ang_v41            self.ctrl.publish(msg)42            time -= 143            sleep(.2)44    def get_new_state(self, state):45        while True:46            self.set_state(state.X, state.Y, state.theta, state.vx, state.vy, state.vs)47            linVel, steerVel, time = SE2.get_random_control()48            self.execute_control(linVel, steerVel)49            orient = self.get_model_state(model_name="ackermann_vehicle").pose.orientation50            angles = tf.transformations.euler_from_quaternion([orient.x, orient.y, orient.z, orient.w])51            #print angles52            if angles[0] < 2*3.14 and angles[0] > 0:53                break54            '''55            else:56                print 'redoing'57            '''58        new_state = self.get_model_state(model_name="ackermann_vehicle")59        new_pose, new_twist = new_state.pose, new_state.twist60        quat = tf.transformations.random_quaternion()61        quat[0] = new_pose.orientation.x62        quat[1] = new_pose.orientation.y63        quat[2] = new_pose.orientation.z64        quat[3] = new_pose.orientation.w65        s = tf.transformations.euler_from_quaternion(quat)[2]66        x = new_pose.position.x67        y = new_pose.position.y68        self.set_state(state.X, state.Y, state.theta, state.vx, state.vy, state.vs)69        return SE2(x,y,s)70    def interpolate(self, state):71        '''Create smooth transition graphic to impress myself'''72        model_state_resp = self.get_model_state(model_name="ackermann_vehicle")73if __name__ == "__main__":74    mouseBot = AckermannControl()75    mouseBot.execute_control(50, 50)76    sleep(2)77    mouseBot.set_state(3, -5, 0)78    for i in range(1000):79        linVel, steerVel, time = SE2.get_random_control()80        print vel[0], vel[1]81        mouseBot.control(linVel, steerVel, time)82        sleep(2)83        print mouseBot.get_model_state(model_name="ackermann_vehicle")...

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