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How to use _param method in localstack

Best Python code snippet using localstack_python

strategy_qr.py

Source:strategy_qr.py

1#!/usr/bin/env python32# -*- coding: utf-8 -*-+3import math4import numpy as np5# lib6from lib.nodehandle import NodeHandle7from lib.pidcontrol import PIDControl,PIDControl_Y,PIDControl_Yaw,PIDControl_Qr8from lib.fuzzycontrol import FUZZYControl9from lib.counter import TimeCounter10# rostopic msg11from geometry_msgs.msg import Twist12from std_msgs.msg import Bool,Int3213# define behavior 14MOBILE_ROBOT = 015CORRECTION = 116PLATFORM = 217NEXT_POINT = 318HOME = 419MANUAL = 520ROTATE = 621GO_POINT = 722RETURN_POINT = 823CROSS = 924INIT = 1025DELIVERY = 1126ORDER = 1227ARM_MOVE = 1328# FLAG 29CONTROL = 'PIDCONTROL'30# CONTROL = 'FUZZYCONTROL'31'''32    HOME -> FIRST33        INIT -> MOBILE -> CORRECTION_0 -> ROTATE_90 -> CORRECTION_90 -> PLATFORM34    FIRST -> SECOND 35        NEXT -> ROTATE_0 -> CROSS -> MOBILE -> CORRECTION_0 -> ROTATE_90 -> CORRECTION_90 -> PLATFORM36    POINT -> HOME37        HOME -> ROTATE -> CROSS_FIRST -> MOBILE -> PLATFORM38'''39class Strategy(object):40    '''41        Offset track(ç®ååæ¢)42            prev_dis:43            prev_ang:44            prev_vel:45        CONTROL46            initPID: åå§åä¸è¦ä½¿PIDä¸æ·ç´¯å 47        QRCODE(ç®åæ²ç¨å°)48            state:49            pre_state:50            not_find: 51        ROTATE52            rotateAng: ç®æ¨è§åº¦53        CROSS54            timer: è¨æ¸å¨55        HOME56            homeFlag57                1: go home58                0: åé²59            homeTimes: è¨éèµ°å°çåæ¢é»60    '''61    def __init__(self):62        self._param = NodeHandle()63        if(CONTROL == 'PIDCONTROL'):64            self.control = PIDControl()65            self.controlY = PIDControl_Y()66            self.controlYaw = PIDControl_Yaw()67            # self.controlQRX = PIDControl_Qr(20.0,0.05,10.0)68            # self.controlQRY = PIDControl_Qr(20.0,0.05,10.0)69            # self.controlQRX = PIDControl_Qr(15,0.05,12.0)70            self.controlQRX = PIDControl_Qr(15,0.05,14.0)71            self.controlQRY = PIDControl_Qr(30.0,0.05,15.0)72        elif(CONTROL == 'FUZZYCONTROL'):73            self.control = FUZZYControl()74        75        self.prev_dis = 076        self.prev_ang = 077        self.prev_vel = []78        self.initPID = 079        self.state = 080        self.pre_state = 081        self.not_find = 082        self.stopTimes = 083        self.dualArm = 084        85        ''' rotate  '''86        self.rotateAng = self._param.errorRotate087        self.pre_rotateYaw = 088        ''' cross '''89        self.timer = TimeCounter(time = self._param.crossTime)90        self.timerQr = TimeCounter(time = 1.0)91        self.timerQrFlag = False92        ''' home '''93        self.homeFlag = 094        self.homeTimes = 095    def Process(self):96        if(self._param.behavior == MOBILE_ROBOT):97            if(self._param.loadParam):98                self.Change_Behavior()99            self.Mobile_Strategy()100        elif(self._param.behavior == CORRECTION):101            if(self._param.loadParam):102                self.Change_Behavior()103            self.Correction_Strategy()104        elif(self._param.behavior == PLATFORM):105            if(self._param.loadParam):106                self.Change_Behavior()107            self.Platform_Strategy()108        elif(self._param.behavior == NEXT_POINT):109            if(self._param.loadParam):110                self.Change_Behavior()111            self.Next_Point_Strategy()112        elif(self._param.behavior == HOME):113            if(self._param.loadParam):114                self.Change_Behavior()115            self.Home_Strategy()116            print('HOME')117        elif(self._param.behavior == MANUAL):118            if(self._param.loadParam):119                self.Change_Behavior()120            self.state = 0121            self.initPID = 0122            self.controlYaw.Init()123            self.controlY.Init()124            print('MANUAL')125        elif(self._param.behavior == ROTATE):126            if(self._param.loadParam):127                self.Change_Behavior()128            self.Rotate_Strategy()129        elif(self._param.behavior == GO_POINT):130            if(self._param.loadParam):131                self.Change_Behavior()132            self.Go_Point_Strategy()133            print('GO_POINT')134        elif(self._param.behavior == RETURN_POINT):135            if(self._param.loadParam):136                self.Change_Behavior()137            self.Return_Point_Strategy()138            print('RETURN_POINT')139        elif(self._param.behavior == CROSS):140            if(self._param.loadParam):141                self.Change_Behavior()142            self.Cross_Strategy()143        elif(self._param.behavior == INIT):144            if(self._param.loadParam):145                self.Change_Behavior()146            self.Init_Strategy()147            print('Init')148        elif(self._param.behavior == ARM_MOVE):149            if(self._param.loadParam):150                self.Change_Behavior()151            self.ARM_MOVE_Strategy()152            print('ARM_MOVE')153        else:154            print("Don't have Behavior")155            self.Robot_Stop()156    def Mobile_Strategy(self):157        if(self._param.scanState):158            count = self._param.scanState.count(1)159            if(count):160                scanNum = len(self._param.scanState)161                if(count <= math.ceil((scanNum)*(2./3)) and self._param.stopPoint == 999):162                    self.state = 0163                    # Method 3164                    #if(CONTROL == 'PIDCONTROL'):165                    #    x,y,yaw = self.control.Process(self._param.dis,self._param.ang,self._param.maxVel,self._param.minVel,self._param.velYaw)166                    #elif(CONTROL == 'FUZZYCONTROL'):167                    #    x,y,yaw = self.control.Process(self._param.dis,self._param.ang)168                    # yaw = 0169                    #self.Robot_Vel([y,-x,yaw])170                    #print(y,-x,yaw)171                    # Method 4172                    # x,y,yaw = self.control.Process(self._param.dis,self._param.ang,self._param.maxVel,self._param.minVel,self._param.velYaw)173                    # if(abs(self._param.ang) > 10.0):174                    #     if(self._param.ang > 0):175                    #         x = -(self._param.minVel*math.cos(math.radians(self._param.ang)))*0.15176                    #         y = -(self._param.minVel*math.sin(math.radians(self._param.ang)))*0.15177                    #         # yaw = self._param.velYaw178                    #         yaw = (self._param.velYaw+abs(yaw))179                    #     else:180                    #         x = -(self._param.minVel*math.cos(math.radians(self._param.ang)))*0.15181                    #         y = (self._param.minVel*math.sin(math.radians(self._param.ang)))*0.15182                    #         # yaw = -self._param.velYaw183                    #         yaw = -(self._param.velYaw+abs(yaw))184                    # else:185                    #     x,y,_ = self.control.Process(self._param.dis,self._param.ang,self._param.maxVel,self._param.minVel,self._param.velYaw)186                    #     # x,y,_ = self.control.Process(self._param.dis,self._param.ang)187                    #     yaw = 0188                        189                    ''' Method 5 '''190                    y = self.controlY.Process(self._param.dis,self._param.ang,self._param.minVel)191                    x = (self._param.minVel - abs(y))*math.cos(math.radians(self._param.ang)) - y*math.sin(math.radians(self._param.ang))192                    193                    if(abs(self._param.dis) > self._param.errorMoibledis):194                        yaw = 0195                    else:       196                        if(abs(self._param.ang) > self._param.errorMoibleAng):197                            yaw = self.controlYaw.Process(self._param.ang,self._param.velYaw)198                        else:199                            yaw = 0200                    if(self.homeFlag == 0):201                        self.Robot_Vel([x,y,yaw])202                        print(x,y,yaw)203                    else:204                        self.Robot_Vel([-x,y,yaw])205                        print(-x,y,yaw)206                    # print(self._param.ang)207                    # self.prev_dis = self._param.dis208                    # self.prev_ang = self._param.ang209                    # self.prev_vel = [x,y,yaw]210                elif(self._param.stopPoint != 999 and self._param.stopPoint != '91' and self._param.stopPoint != '90'):211                    print('STOP')212                    self.state = 1213                    self.Robot_Stop()214                    if(self.homeFlag == 1):215                        self._param.behavior = HOME216                    elif(self.homeTimes == int(self._param.stopPoint)):217                        self._param.behavior = CROSS218                    elif(self._param.stopPoint == '2'):219                        self._param.behavior = CORRECTION220                        print('state 2')221                        self.dualArm = 2222                        self.timerQrFlag = False223                        # self.Dual_Arm_Start_2()224                    else:225                        self.dualArm = 1226                        self._param.behavior = CORRECTION227                        self.homeTimes += 1228                        self.timerQrFlag = False229                if(self.stopTimes >= 3):230                    self._param.stopPoint = 999231                    self.stopTimes = 0232                else:233                    self.stopTimes += 1234                self.pre_state = self.state235            else:236                print('Offset track !!!!!!')237                if(len(self.prev_vel)):238                    if(self.prev_vel[2] == 0):239                        x = -(self.prev_vel[0])*0.8240                        y = -self.prev_vel[1]*1.5241                        yaw = 0242                    else:     243                        x = (self._param.minVel*math.cos(math.radians(self.prev_ang)))*0.5244                        y = self._param.minVel*math.sin(math.radians(self.prev_ang))245                        yaw = 0246                else:247                    x = 0248                    y = 0249                    yaw = 0250                    print('No scan line')251                # self.Robot_Vel([y,-x,yaw])252                self.Robot_Stop()253        else:254            print('No Scan Info !!!!!!')255            self.Robot_Stop()256    def Correction_Strategy(self):257        # y = self.controlY.Process(self._param.dis,self._param.ang,self._param.minVel)258        if(self._param.qrX == None):259            print('fuck!!!!!!!!!!!!!!!!')260            dis = 0261        else:262            # print('fuck!!!!!!!!!!!!!!!!',self._param.errorCorrectionDis)263            # dis = math.sqrt(math.pow(self._param.qrX,2.0)+math.pow(self._param.qrY,2.0))264            dis = self._param.qrY265        if(self.timerQrFlag == False):266            time,self.timerQrFlag = self.timerQr.Process()267        else:    268            # if(self._param.dis < self._param.errorCorrectionDis):269            if(abs(dis) < self._param.errorCorrectionDis):270                if(self._param.qrTheta is not None and self._param.qrTheta != 999):271                    RPang = self.Norm_Angle(self.rotateAng - self._param.qrTheta)272                    if(abs(RPang) > self._param.errorAng):273                        if(RPang > 0):274                            x = 0275                            y = 0276                            yaw = self._param.velYaw277                            # yaw = self._param.rotateYaw278                        else:279                            x = 0280                            y = 0281                            yaw = -self._param.velYaw282                            # yaw = -self._param.rotateYaw283                        self.Robot_Vel([x,y,yaw])284                        print('CORRECTION','FRONT',self._param.qrTheta)285                    else:286                        self.Robot_Stop()287                        self.Robot_Stop()288                        self.Robot_Stop()289                        print('CORRECTION',self.rotateAng,self._param.errorRotate0)290                        if(self.dualArm == 1):291                        # if(self.dualArm == 1 or self.dualArm == 2):292                            if(self.rotateAng == self._param.errorRotate0):293                                self._param.behavior = ROTATE294                                self.rotateAng = self._param.errorRotate90295                            else:296                                self._param.behavior = PLATFORM297                                self.rotateAng = self._param.errorRotate0298                                self.initPID = 1299                        elif(self.dualArm == 2):300                            if(self.rotateAng == self._param.errorRotate0):301                                self._param.behavior = PLATFORM302            303                        304                    self.not_find = 0305                else:306                    print('CORRECTION not find')307                    if(self.not_find < 100):308                        self.not_find += 1309                        self.Robot_Stop()310                    else:311                        self.not_find = 0312                        if(self.dualArm == 1):313                            if(self.rotateAng == self._param.errorRotate0):314                                self._param.behavior = ROTATE315                                self.rotateAng = self._param.errorRotate90316                            else:317                                self._param.behavior = PLATFORM318                                self.rotateAng = self._param.errorRotate0319                                self.initPID = 1320                        elif(self.dualArm == 2):321                            if(self.rotateAng == self._param.errorRotate0):322                                self._param.behavior = PLATFORM  323                            self.initPID = 1324                self._param.qrTheta = 999325            else:326                # x = 0327                yaw = 0328                # y = 0329                x = self.controlQRX.Process(self._param.qrY,self._param.qrTheta,self._param.minVel)330                y = self.controlQRY.Process(self._param.qrX,self._param.qrTheta,self._param.minVel)331                self.Robot_Vel([x,y,yaw])332                print('CORRECTION','dis',x,y)333                self._param.qrX = None334    335    def Platform_Strategy(self):336        print('PLATFORM')337        self.state = 0338        if(self.initPID):339            self.controlYaw.Init()340            self.controlY.Init()341            self.initPID = 0342        self.Robot_Stop()343        if(self.homeFlag == 0 and self.dualArm == 1):344            self.Dual_Arm_Start_1()345        elif(self.homeFlag == 0 and self.dualArm == 2):346            self.Dual_Arm_Start_2()347    348    def Next_Point_Strategy(self):349        print('NEXT_POINT')350        self.Robot_Stop()351        self._param.behavior = ROTATE352        self.rotateAng = self._param.errorRotate0353        self.dualArm = 0354        355            356    def Rotate_Strategy(self):357        print('ROTATE fuck!!!!!!',self._param.errorRotate90)358        # yaw = self.controlYaw(self._param.qrTheta,self._param.velYaw)359        if(self._param.qrTheta is not None and self._param.qrTheta != 999):360            RPang = self.Norm_Angle(self.rotateAng - self._param.qrTheta)361            x = self.controlQRX.Process(self._param.qrY,self._param.qrTheta,self._param.minVel)362            y = self.controlQRY.Process(self._param.qrX,self._param.qrTheta,self._param.minVel)363            if(abs(RPang) > self._param.errorAng and RPang > self._param.rotateSlowAng):364                if(RPang > 0):365                    # x = 0366                    # y = 0367                    yaw = self._param.velYaw368                    self.pre_rotateYaw = yaw369                    # yaw = self._param.velYaw*0.8370                    # yaw = 0371                    # yaw = self._param.rotateYaw372                else:373                    # x = 0374                    # y = 0375                    yaw = self._param.velYaw376                    self.pre_rotateYaw = yaw377                    # yaw = -self._param.velYaw*0.8378                    # yaw = 0379                    # yaw = -self._param.rotateYaw380                self.Robot_Vel([x,y,yaw])381                # print('ROTATE','angle',self._param.qrTheta)382                print('ROTATE','vector',x,y)383            elif((abs(RPang) > self._param.errorAng and RPang <= self._param.rotateSlowAng)):384                if(RPang > 0):385                    # x = 0386                    # y = 0387                    yaw = self._param.velYaw388                    self.pre_rotateYaw = yaw389                    # yaw = self._param.velYaw*0.8390                    # yaw = 0391                    # yaw = self._param.rotateYaw*0.8392                else:393                    # x = 0394                    # y = 0395                    yaw = -self._param.velYaw396                    self.pre_rotateYaw = yaw397                    # yaw = self._param.velYaw*0.8398                    # yaw = 0399                    # yaw = -self._param.rotateYaw*0.8400                self.Robot_Vel([x,y,yaw])401                # print('ROTATE','angle',self._param.qrTheta)402                print('ROTATE','vector',x,y)403            else:404                self.Robot_Stop()405                self.Robot_Stop()406                self.Robot_Stop()407                if(self.rotateAng == self._param.errorRotate90):408                    self._param.behavior = CORRECTION409                    print('ROTATE COREECTION')410                else:411                    self._param.behavior = CROSS412                    print('ROTATE CROSS')413            self.not_find = 0414        else:415            print('ROTATE not find')416            if(self.not_find < 100):417                self.not_find += 1418                x = 0419                y = 0420                self.Robot_Vel([x,y,self.pre_rotateYaw])421                # self.Robot_Stop()422            else:423                self.not_find = 0424                if(self.rotateAng == self._param.errorRotate90):425                    self._param.behavior = CORRECTION426                    print('ROTATE COREECTION')427                else:428                    self._param.behavior = CROSS429                    print('ROTATE CROSS')430        self._param.qrTheta = 999431    432    def Go_Point_Strategy(self):433        time,state = self.timer.Process()434        if(state):435            self.Robot_Stop()436            self._param.behavior = CORRECTION437        else:438            x = self._param.minVel439            y = 0440            yaw = 0441            self.Robot_Vel([x,y,yaw])442    def Return_Point_Strategy(self):443        time,state = self.timer.Process()444        if(state):445            self.Robot_Stop()446            self._param.behavior = ROTATE447            self.rotateAng = self._param.errorRotate0448        else:449            x = -self._param.minVel450            y = 0451            yaw = 0452            self.Robot_Vel([x,y,yaw])453    454    def Cross_Strategy(self):455        print('CROSS')456        time,state = self.timer.Process()457        if(state):458            self.Robot_Stop()459            self._param.behavior = MOBILE_ROBOT460            self.rotateAng = self._param.errorRotate0461        elif(state == 0 and self.homeFlag == 0):462            x = self._param.minVel463            y = 0464            yaw = 0465            self.Robot_Vel([x,y,yaw])466        elif(state == 0 and self.homeFlag == 1):467            x = -self._param.minVel468            y = 0469            yaw = 0470            self.Robot_Vel([x,y,yaw])471        # if(self.pre_state == 1 and self.state == 0):472        #     if(self._param.scanState):473        #         if(self._param.qrTheta is not None and self._param.qrTheta != 999):474        #             x = self._param.minVel475        #             y = 0476        #             yaw = 0477        #             self.not_find = 0478        #             # self.Robot_Vel([y,-x,yaw])479        #             self.Robot_Vel([x,y,yaw])480        #         elif(self.not_find > 60):481        #             self.Robot_Stop()482        #             self._param.behavior = MOBILE_ROBOT483        #             self.not_find = 0484        #                 # print('next point not find line')485        #         else:486        #             self.not_find +=1487        #             x = self._param.minVel488        #             y = 0489        #             yaw = 0490        #             # self.Robot_Vel([y,-x,yaw])491        #             self.Robot_Vel([x,y,yaw])492        #         self._param.qrTheta = 999493        # else:494        #     self.Robot_Stop()495        #     print('fuck Cross')496    497    def Init_Strategy(self):498        self.rotateAng = self._param.errorRotate0499        self.homeFlag = 0500        self.homeTimes = 0501        self.Robot_Stop()502        self._param.behavior = MOBILE_ROBOT503        self._param.stopPoint = 999504        # self.Reset_IMU()505    def Home_Strategy(self):506        print('HOME times',self.homeTimes,'HOME stop',self._param.stopPoint)507        if(self.homeFlag == 0):508            print('HOME',1)509            self.homeFlag = 1510            self.Robot_Stop()511            self._param.behavior = ROTATE512            self.rotateAng = self._param.errorRotate0513            self.homeTimes -= 1514        else:515            if(self.homeTimes == 0 and self._param.stopPoint == '0'):516                print('home')517                self.Robot_Stop()518                self._param.behavior = PLATFORM519            else:520                if(self.homeTimes == int(self._param.stopPoint)):521                    self.homeTimes -= 1522                    self._param.behavior = CROSS523                elif(self._param.stopPoint == 999):524                    self._param.behavior = CROSS525                else:526                    self._param.behavior = MOBILE_ROBOT527    528    def ARM_MOVE_Strategy(self):529        if(self._param.armMove == 1):530            self.Robot_Vel([12,0,0])531        elif(self._param.armMove == -1):532            self.Robot_Vel([-12,0,0])533        else:534            print('arm move fuck !!!!')535            536    def Deg2Rad(self,deg):537        return deg*math.pi/180538    539    def Norm_Angle(self,angle):540        if(angle > 180):541            angle -= 360542        elif(angle < -180):543            angle +=360544        return angle545    def Robot_Stop(self):546        vel = Twist()547        vel.linear.x = 0548        vel.linear.y = 0549        vel.angular.z = 0550        self._param.pub_cmdvel.publish(vel)551    def Robot_Vel(self,vec):552        vel = Twist()553        vel.linear.x = vec[0]554        vel.linear.y = vec[1]555        vel.angular.z = vec[2]556        self._param.pub_cmdvel.publish(vel)557    558    def Change_Behavior(self):559        self.Robot_Stop()560        self.Robot_Stop()561        self._param.loadParam = False562    563    def Dual_Arm_Start_1(self):564        start = Int32()565        start.data = 1566        self._param.pub_dualArm1.publish(start)567    568    def Dual_Arm_Start_2(self):569        start = Int32()570        start.data = 2571        self._param.pub_dualArm1.publish(start)572    def Scan_Camera_Start(self):573        start = Bool()574        start.data = True575        self._param.pub_startCamera.publish(start)576    def Scan_Camera_Stop(self):577        start = Bool()578        start.data = False579        self._param.pub_startCamera.publish(start)580    581    def Reset_IMU(self):582        reset = Bool()583        reset.data = True584        self._param.pub_resetImu.publish(reset)...

strategy.py

Source:strategy.py

1#!/usr/bin/env python32# -*- coding: utf-8 -*-+3import math4import numpy as np5# lib6from lib.nodehandle import NodeHandle7from lib.pidcontrol import PIDControl,PIDControl_Y,PIDControl_Yaw8from lib.fuzzycontrol import FUZZYControl9from lib.counter import TimeCounter10# rostopic msg11from geometry_msgs.msg import Twist12from std_msgs.msg import Bool13# define behavior 14MOBILE_ROBOT = 015CORRECTION = 116PLATFORM = 217NEXT_POINT = 318HOME = 419MANUAL = 520ROTATE = 621GO_POINT = 722RETURN_POINT = 823CROSS = 924INIT = 1025# FLAG 26CONTROL = 'PIDCONTROL'27# CONTROL = 'FUZZYCONTROL'28IMU_FLAG = True29'''30    HOME -> FIRST31        INIT -> MOBILE -> CORRECTION_0 -> ROTATE_90 -> CORRECTION_90 -> PLATFORM32    FIRST -> SECOND 33        NEXT -> ROTATE_0 -> CROSS -> MOBILE -> CORRECTION_0 -> ROTATE_90 -> CORRECTION_90 -> PLATFORM34    POINT -> HOME35        HOME -> ROTATE -> CROSS_FIRST -> MOBILE -> PLATFORM36'''37class Strategy(object):38    '''39        Offset track(ç®ååæ¢)40            prev_dis:41            prev_ang:42            prev_vel:43        CONTROL44            initPID: åå§åä¸è¦ä½¿PIDä¸æ·ç´¯å 45        QRCODE(ç®åæ²ç¨å°)46            state:47            pre_state:48            not_find: 49        ROTATE50            rotateAng: ç®æ¨è§åº¦51        CROSS52            timer: è¨æ¸å¨53        HOME54            homeFlag55                1: go home56                0: åé²57            homeTimes: è¨éèµ°å°çåæ¢é»58    '''59    def __init__(self):60        self._param = NodeHandle()61        if(CONTROL == 'PIDCONTROL'):62            self.control = PIDControl()63            self.controlY = PIDControl_Y()64            self.controlYaw = PIDControl_Yaw()65        elif(CONTROL == 'FUZZYCONTROL'):66            self.control = FUZZYControl()67        68        self.prev_dis = 069        self.prev_ang = 070        self.prev_vel = []71        self.initPID = 072        self.state = 073        self.pre_state = 074        self.not_find = 075        # self._kp = 676        # self._ki = 0.177        # self._kd = 4.078        # self.prevIntegral = 079        # self.lastError = 080        81        ''' rotate  '''82        self.rotateAng = self._param.errorRotate083        ''' cross '''84        self.timer = TimeCounter(time = self._param.crossTime)85        ''' home '''86        self.homeFlag = 087        self.homeTimes = 088    def Process(self):89        if(self._param.behavior == MOBILE_ROBOT):90            if(self._param.loadParam):91                self.Change_Behavior()92            self.Mobile_Strategy()93        elif(self._param.behavior == CORRECTION):94            if(self._param.loadParam):95                self.Change_Behavior()96            self.Correction_Strategy()97        elif(self._param.behavior == PLATFORM):98            if(self._param.loadParam):99                self.Change_Behavior()100            self.Platform_Strategy()101        elif(self._param.behavior == NEXT_POINT):102            if(self._param.loadParam):103                self.Change_Behavior()104            self.Next_Point_Strategy()105        elif(self._param.behavior == HOME):106            if(self._param.loadParam):107                self.Change_Behavior()108            self.Home_Strategy()109            print('HOME')110        elif(self._param.behavior == MANUAL):111            if(self._param.loadParam):112                self.Change_Behavior()113            self.state = 0114            self.initPID = 0115            self.controlYaw.Init()116            self.controlY.Init()117            print('MANUAL')118        elif(self._param.behavior == ROTATE):119            if(self._param.loadParam):120                self.Change_Behavior()121            self.Rotate_Strategy()122        elif(self._param.behavior == GO_POINT):123            if(self._param.loadParam):124                self.Change_Behavior()125            self.Go_Point_Strategy()126            print('GO_POINT')127        elif(self._param.behavior == RETURN_POINT):128            if(self._param.loadParam):129                self.Change_Behavior()130            self.Return_Point_Strategy()131            print('RETURN_POINT')132        elif(self._param.behavior == CROSS):133            if(self._param.loadParam):134                self.Change_Behavior()135            self.Cross_Strategy()136        elif(self._param.behavior == INIT):137            if(self._param.loadParam):138                self.Change_Behavior()139            self.Init_Strategy()140            print('Init')141        else:142            print("Don't have Behavior")143            self.Robot_Stop()144    def Mobile_Strategy(self):145        if(self._param.scanState):146            count = self._param.scanState.count(1)147            if(count):148                scanNum = len(self._param.scanState)149                if(count <= math.ceil((scanNum)*(2./3)) and self._param.stopPoint == 999):150                    self.state = 0151                    # Method 3152                    #if(CONTROL == 'PIDCONTROL'):153                    #    x,y,yaw = self.control.Process(self._param.dis,self._param.ang,self._param.maxVel,self._param.minVel,self._param.velYaw)154                    #elif(CONTROL == 'FUZZYCONTROL'):155                    #    x,y,yaw = self.control.Process(self._param.dis,self._param.ang)156                    # yaw = 0157                    #self.Robot_Vel([y,-x,yaw])158                    #print(y,-x,yaw)159                    # Method 4160                    # x,y,yaw = self.control.Process(self._param.dis,self._param.ang,self._param.maxVel,self._param.minVel,self._param.velYaw)161                    # if(abs(self._param.ang) > 10.0):162                    #     if(self._param.ang > 0):163                    #         x = -(self._param.minVel*math.cos(math.radians(self._param.ang)))*0.15164                    #         y = -(self._param.minVel*math.sin(math.radians(self._param.ang)))*0.15165                    #         # yaw = self._param.velYaw166                    #         yaw = (self._param.velYaw+abs(yaw))167                    #     else:168                    #         x = -(self._param.minVel*math.cos(math.radians(self._param.ang)))*0.15169                    #         y = (self._param.minVel*math.sin(math.radians(self._param.ang)))*0.15170                    #         # yaw = -self._param.velYaw171                    #         yaw = -(self._param.velYaw+abs(yaw))172                    # else:173                    #     x,y,_ = self.control.Process(self._param.dis,self._param.ang,self._param.maxVel,self._param.minVel,self._param.velYaw)174                    #     # x,y,_ = self.control.Process(self._param.dis,self._param.ang)175                    #     yaw = 0176                        177                    ''' Method 5 '''178                    y = self.controlY.Process(self._param.dis,self._param.ang,self._param.minVel)179                    x = (self._param.minVel - abs(y))*math.cos(math.radians(self._param.ang)) - y*math.sin(math.radians(self._param.ang))180                    181                    if(abs(self._param.dis) > self._param.errorMoibledis):182                        yaw = 0183                    else:       184                        if(abs(self._param.ang) > self._param.errorMoibleAng):185                            yaw = self.controlYaw.Process(self._param.ang,self._param.velYaw)186                        else:187                            yaw = 0188                    if(self.homeFlag == 0):189                        self.Robot_Vel([x,y,yaw])190                        print(x,y,yaw)191                    else:192                        self.Robot_Vel([-x,y,yaw])193                        print(-x,y,yaw)194                    # self.prev_dis = self._param.dis195                    # self.prev_ang = self._param.ang196                    # self.prev_vel = [x,y,yaw]197                elif(self._param.stopPoint != 999 and self._param.stopPoint != '91' and self._param.stopPoint != '90'):198                    print('STOP')199                    self.state = 1200                    self.Robot_Stop()201                    if(self.homeFlag == 1):202                        self._param.behavior = HOME203                    elif(self.homeTimes == int(self._param.stopPoint)):204                        self._param.behavior = CROSS205                    # elif(self._param.stopPoint == '2'):206                    #     # self._param.behavior = PLATFORM207                    #     print('state 2')208                    #     self.Dual_Arm_Start()209                    else:210                        self._param.behavior = CORRECTION211                        self.homeTimes += 1212                self._param.stopPoint = 999213                self.pre_state = self.state214            else:215                print('Offset track !!!!!!')216                if(len(self.prev_vel)):217                    if(self.prev_vel[2] == 0):218                        x = -(self.prev_vel[0])*0.8219                        y = -self.prev_vel[1]*1.5220                        yaw = 0221                    else:     222                        x = (self._param.minVel*math.cos(math.radians(self.prev_ang)))*0.5223                        y = self._param.minVel*math.sin(math.radians(self.prev_ang))224                        yaw = 0225                else:226                    x = 0227                    y = 0228                    yaw = 0229                    print('No scan line')230                # self.Robot_Vel([y,-x,yaw])231                self.Robot_Stop()232        else:233            print('No Scan Info !!!!!!')234            self.Robot_Stop()235    def Correction_Strategy(self):236        y = self.controlY.Process(self._param.dis,self._param.ang,self._param.minVel)237        if(self._param.dis < self._param.errorCorrectionDis):238            if(self._param.qrang is not None and self._param.qrang != 999):239                RPang = self.Norm_Angle(self.rotateAng - self._param.qrang)240                if(abs(RPang) > self._param.errorAng):241                    if(RPang > 0):242                        x = 0243                        y = 0244                        # yaw = self._param.velYaw245                        yaw = self._param.rotateYaw246                    else:247                        x = 0248                        y = 0249                        # yaw = -self._param.velYaw250                        yaw = -self._param.rotateYaw251                    self.Robot_Vel([x,y,yaw])252                    print('CORRECTION','FRONT',self._param.qrang)253                else:254                    self.Robot_Stop()255                    self.Robot_Stop()256                    self.Robot_Stop()257                    print('CORRECTION',self.rotateAng,self._param.errorRotate0)258                    if(self.rotateAng == self._param.errorRotate0):259                        self._param.behavior = ROTATE260                        self.rotateAng = self._param.errorRotate90261                    else:262                        self._param.behavior = PLATFORM263                        self.rotateAng = self._param.errorRotate0264                        self.initPID = 1265                    266                self.not_find = 0267            else:268                print('CORRECTION not find')269                if(self.not_find < 100):270                    self.not_find += 1271                    self.Robot_Stop()272                else:273                    self.not_find = 0274                    if(self.rotateAng == self._param.errorRotate0):275                        self._param.behavior = ROTATE276                        self.rotateAng = self._param.errorRotate90277                    else:278                        self._param.behavior = PLATFORM279                        self.rotateAng = self._param.errorRotate0  280                        self.initPID = 1281            self._param.qrang = 999282        else:283            x = 0284            yaw = 0285            self.Robot_Vel([x,y,yaw])286            print('CORRECTION','dis',y)287    288    def Platform_Strategy(self):289        print('PLATFORM')290        self.state = 0291        if(self.initPID):292            self.controlYaw.Init()293            self.controlY.Init()294            self.initPID = 0295        self.Robot_Stop()296        if(self.homeFlag == 0):297            self.Dual_Arm_Start()298    299    def Next_Point_Strategy(self):300        print('NEXT_POINT')301        self.Robot_Stop()302        self._param.behavior = ROTATE303        self.rotateAng = self._param.errorRotate0304        305            306    def Rotate_Strategy(self):307        # yaw = self.controlYaw(self._param.qrang,self._param.velYaw)308        if(self._param.qrang is not None and self._param.qrang != 999):309            RPang = self.Norm_Angle(self.rotateAng - self._param.qrang)310            if(abs(RPang) > self._param.errorAng and RPang > self._param.rotateSlowAng):311                if(RPang > 0):312                    x = 0313                    y = 0314                    # yaw = self._param.velYaw315                    yaw = self._param.rotateYaw316                else:317                    x = 0318                    y = 0319                    # yaw = -self._param.velYaw320                    yaw = -self._param.rotateYaw321                self.Robot_Vel([x,y,yaw])322                print('ROTATE','angle',self._param.qrang)323            elif((abs(RPang) > self._param.errorAng and RPang <= self._param.rotateSlowAng)):324                if(RPang > 0):325                    x = 0326                    y = 0327                    # yaw = self._param.velYaw328                    yaw = self._param.rotateYaw*0.8329                else:330                    x = 0331                    y = 0332                    # yaw = -self._param.velYaw333                    yaw = -self._param.rotateYaw*0.8334                self.Robot_Vel([x,y,yaw])335                print('ROTATE','angle',self._param.qrang)336            else:337                self.Robot_Stop()338                self.Robot_Stop()339                self.Robot_Stop()340                if(self.rotateAng == self._param.errorRotate90):341                    self._param.behavior = CORRECTION342                    print('ROTATE COREECTION')343                else:344                    self._param.behavior = CROSS345                    print('ROTATE CROSS')346            self.not_find = 0347        else:348            print('ROTATE not find')349            if(self.not_find < 100):350                self.not_find += 1351                # self.Robot_Stop()352            else:353                self.not_find = 0354                if(self.rotateAng == self._param.errorRotate90):355                    self._param.behavior = CORRECTION356                    print('ROTATE COREECTION')357                else:358                    self._param.behavior = CROSS359                    print('ROTATE CROSS')360        self._param.qrang = 999361    362    def Go_Point_Strategy(self):363        time,state = self.timer.Process()364        if(state):365            self.Robot_Stop()366            self._param.behavior = CORRECTION367        else:368            x = self._param.minVel369            y = 0370            yaw = 0371            self.Robot_Vel([x,y,yaw])372    def Return_Point_Strategy(self):373        time,state = self.timer.Process()374        if(state):375            self.Robot_Stop()376            self._param.behavior = ROTATE377            self.rotateAng = self._param.errorRotate0378        else:379            x = -self._param.minVel380            y = 0381            yaw = 0382            self.Robot_Vel([x,y,yaw])383    384    def Cross_Strategy(self):385        print('CROSS')386        time,state = self.timer.Process()387        if(state):388            self.Robot_Stop()389            self._param.behavior = MOBILE_ROBOT390            self.rotateAng = self._param.errorRotate0391        elif(state == 0 and self.homeFlag == 0):392            x = self._param.minVel393            y = 0394            yaw = 0395            self.Robot_Vel([x,y,yaw])396        elif(state == 0 and self.homeFlag == 1):397            x = -self._param.minVel398            y = 0399            yaw = 0400            self.Robot_Vel([x,y,yaw])401        # if(self.pre_state == 1 and self.state == 0):402        #     if(self._param.scanState):403        #         if(self._param.qrang is not None and self._param.qrang != 999):404        #             x = self._param.minVel405        #             y = 0406        #             yaw = 0407        #             self.not_find = 0408        #             # self.Robot_Vel([y,-x,yaw])409        #             self.Robot_Vel([x,y,yaw])410        #         elif(self.not_find > 60):411        #             self.Robot_Stop()412        #             self._param.behavior = MOBILE_ROBOT413        #             self.not_find = 0414        #                 # print('next point not find line')415        #         else:416        #             self.not_find +=1417        #             x = self._param.minVel418        #             y = 0419        #             yaw = 0420        #             # self.Robot_Vel([y,-x,yaw])421        #             self.Robot_Vel([x,y,yaw])422        #         self._param.qrang = 999423        # else:424        #     self.Robot_Stop()425        #     print('fuck Cross')426    427    def Init_Strategy(self):428        self.rotateAng = self._param.errorRotate0429        self.homeFlag = 0430        self.homeTimes = 0431        self.Robot_Stop()432        self._param.behavior = MOBILE_ROBOT433        self._param.stopPoint = 999434        # self.Reset_IMU()435    def Home_Strategy(self):436        print('HOME times',self.homeTimes,'HOME stop',self._param.stopPoint)437        if(self.homeFlag == 0):438            print('HOME',1)439            self.homeFlag = 1440            self.Robot_Stop()441            self._param.behavior = ROTATE442            self.rotateAng = self._param.errorRotate0443            self.homeTimes -= 1444        else:445            if(self.homeTimes == 0 and self._param.stopPoint == '0'):446                print('home')447                self.Robot_Stop()448                self._param.behavior = PLATFORM449            else:450                if(self.homeTimes == int(self._param.stopPoint)):451                    self.homeTimes -= 1452                    self._param.behavior = CROSS453                elif(self._param.stopPoint == 999):454                    self._param.behavior = CROSS455                else:456                    self._param.behavior = MOBILE_ROBOT457            458    def Deg2Rad(self,deg):459        return deg*math.pi/180460    461    def Norm_Angle(self,angle):462        if(angle > 180):463            angle -= 360464        elif(angle < -180):465            angle +=360466        return angle467    def Robot_Stop(self):468        vel = Twist()469        vel.linear.x = 0470        vel.linear.y = 0471        vel.angular.z = 0472        self._param.pub_cmdvel.publish(vel)473    def Robot_Vel(self,vec):474        vel = Twist()475        vel.linear.x = vec[0]476        vel.linear.y = vec[1]477        vel.angular.z = vec[2]478        self._param.pub_cmdvel.publish(vel)479    480    def Change_Behavior(self):481        self.Robot_Stop()482        self.Robot_Stop()483        self._param.loadParam = False484    485    def Dual_Arm_Start(self):486        start = Bool()487        start.data = True488        self._param.pub_dualArm.publish(start)489    def Scan_Camera_Start(self):490        start = Bool()491        start.data = True492        self._param.pub_startCamera.publish(start)493    def Scan_Camera_Stop(self):494        start = Bool()495        start.data = False496        self._param.pub_startCamera.publish(start)497    498    def Reset_IMU(self):499        reset = Bool()500        reset.data = True501        self._param.pub_resetImu.publish(reset)...

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