new keyboard code

Code/Control/Laptop_Code/main_zzl2.py

+import time
+import serial
+import ball_detection.ball_detection as ball_detection
+import simple_pid.PID as PID
+import timeit
+import pygame
+from constants import *
+
+global ml
+ml = 1
+# ========= Serial Port I/O ===========
+
+def serial_port_in(serial_port):
+    '''
+    Description:
+        Take all ESP32_Master serial port's printIn and take all necessary input object
+
+    Input:
+        serial_port     :    serial.Serail object
+
+    Output:
+        tx, ty, tz, rx, ry, rz, LIDAR_dist, DebugM
+    '''
+
+    # DEBUG Verbose
+    print("initiating one round of serial in ...")
+
+    for i in range(7):
+        line = serial_port.readline()
+        val = int(line.decode())
+
+        if   i == 0:
+            tx = val
+        elif i == 1:
+            ty = val
+        elif i == 2:
+            tz = val
+        elif i == 3:
+            rx = val
+        elif i == 4:
+            ry = val
+        elif i == 5:
+            rz = val
+        elif i == 6:
+            LIDAR_dist = val
+
+    line = serial_port.readline()
+    debugM = line.decode()
+
+    # DEBUG Verbose
+    print("tx:{}".format(tx))
+    print("ty:{}".format(ty))
+    print("tz:{}".format(tz))
+    print("rx:{}".format(rx))
+    print("ry:{}".format(ry))
+    print("rz:{}".format(rz))
+    print("dist:{}".format(LIDAR_dist))
+    print(debugM)
+
+    return tx, ty, tz, rx, ry, rz, LIDAR_dist, debugM
+
+
+def serial_port_out(serial_port, pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4):
+    '''
+    Description:
+        Feed to ESP32_Master to send ESP32_Slave necessary information
+        the format of sending is pwm are 3 digit space
+
+    Input:
+        serial_port                                     :   serial.Serail object
+        pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4  :   variables to send
+
+    Output:
+        None
+    '''
+    output_message = ''
+
+    for pwm_itr in [pwm1, pwm2, pwm3, pwm4]:
+        # print(pwm_itr)
+        if len(str(pwm_itr)) == 2:
+            output_message += '0'
+        elif len(str(pwm_itr)) == 1:
+            output_message += '00'
+        output_message += str(pwm_itr)
+        print(pwm_itr)
+
+    output_message = output_message + dir1 + dir2 +  dir3 +  dir4 + '\n'
+    print("serial out ...")
+    print(output_message)
+    serial_port.write(output_message.encode())
+
+
+# ====== Logic-directing Functions ====
+def ball_detect(gbx, gby):
+    '''
+    return True if green ball is detected
+    '''
+    if gbx == -1 and gby == -1:
+        return False
+    else:
+        return True
+
+def goal_detect(tx,ty):
+    '''
+    return True if April Tag is detected
+    '''
+    if tx == 0 and ty == 0:
+        return False
+    else:
+        return True
+
+def ball_capture(LIDAR_dist):
+    '''
+    return True if April Tag is detected
+    '''
+    if (LIDAR_dist < LIDAR_Thres) and (LIDAR_dist > 0):  # Ball captured
+        return True
+    else:
+        return False
+
+def stop_all():
+    pwm1, pwm2, pwm3, pwm4 = 0 , 0 , 0 , 0
+    dir1, dir2, dir3, dir4 = '+', '-', '+', '-'
+    return pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4
+
+def move2goal(tx, ty):
+    """
+    Description:
+        Given the center of the AT tx, ty. Call PID control to output the blimp
+        motor to manuver to the goal
+
+    Input:
+        tx    :    x component, center of April Tag
+        ty    :    y component, center of Aprol Tag
+
+    Output:
+        pwm1, pwm2, pwm3, pwm4
+        dir1, dir2, dir3, dir4
+    """
+    inputx = tx / 1.00
+    inputy = -1.00 * (ty + AT_goal_Delta) / 1.00 #
+
+    # April Tag Center
+    setpoint_x1 = 0.0
+    setpoint_y1 = 0.0
+
+    pid_x = PID(kdx_g, kix_g, kpx_g, setpoint = setpoint_x1)
+    pid_y = PID(kdx_g, kiy_g, kpy_g, setpoint = setpoint_y1)
+
+    pid_x.auto_mode = True
+    pid_x.set_auto_mode(True, last_output = 8.0)
+    pid_x.output_limits = (-255,255)
+    pid_y.output_limits = (-255,255)
+
+    outputx = pid_x(inputx)
+    outputy = pid_y(inputy)
+
+    # Vertical
+    pwm1 = abs(outputy)
+    pwm2 = abs(outputy)
+
+    if(outputy > 0):
+        dir1 = '-'
+        dir2 = '-'
+    else:
+        dir1 = '+'
+        dir2 = '+'
+
+    # Horizontal
+    lspeed = -1 * outputx + base_speed
+    rspeed =  1 * outputx + base_speed
+    pwm3 = abs(lspeed)
+    pwm4 = abs(rspeed)
+    if (lspeed > 0):
+        dir3 = '+'
+    else:
+        dir3 = '-'
+    if (rspeed > 0):
+        dir4 = '+'
+    else:
+        dir4 = '-'
+
+    return int(pwm1), int(pwm2), int(pwm3), int(pwm4), dir1, dir2, dir3, dir4
+
+
+def seeking():
+    """
+    Description:
+        By default, when there ball is not determined capture, the manuver of the
+        motors to have it scan its surronding 360 degrees
+
+    Input:
+        none
+
+    Output:
+        pwm1, pwm2, pwm3, pwm4
+        dir1, dir2, dir3, dir4
+    """
+    pwm1, pwm2, pwm3, pwm4 = 0 , 0 , seeking_speed , seeking_speed
+    dir1, dir2, dir3, dir4 = '+', '+', '+', '-'
+
+    return int(pwm1), int(pwm2), int(pwm3), int(pwm4), dir1, dir2, dir3, dir4
+
+
+def move2ball(gbx, gby, gb_dist):
+    """
+    Description:
+        Given the center of x y dist of green ball detected. Call PID control to
+        output the blimp motor to manuver to the green ball
+
+    Input:
+        gbx     :  x component, center of green ball
+        gby     :  y component, center of green ball
+        gb_dist :  distance to green ball
+
+    Output:
+        pwm1, pwm2, pwm3, pwm4
+        dir1, dir2, dir3, dir4
+    """
+    inputx = gbx / 1.00
+    inputy = gby / 1.00
+
+    # ESP-Cam Center
+    setpoint_x = 400
+    setpoint_y = 300
+
+    pid_x = PID(kpx, kix, kdx, setpoint = setpoint_x)
+    pid_y = PID(kpy, kiy, kdy, setpoint = setpoint_y)
+
+    pid_x.auto_mode = True
+    pid_x.set_auto_mode(True, last_output = 8.0)
+    pid_x.output_limits = (-255,255)
+    pid_y.output_limits = (-255,255)
+
+    outputx = pid_x(inputx)
+    outputy = pid_y(inputy)
+
+    # Vertical
+    pwm1 = abs(outputy)
+    pwm2 = abs(outputy)
+
+    if(outputy > 0):
+        dir1 = '+'
+        dir2 = '+'
+    else:
+        dir1 = '-'
+        dir2 = '-'
+
+    # Horizontal
+    lspeed = -1 * outputx + base_speed
+    rspeed =  1 * outputx + base_speed
+    pwm3 = min(abs(lspeed), 255)
+    pwm4 = min(abs(rspeed), 255)
+    if (lspeed > 0):
+        dir3 = '+'
+    else:
+        dir3 = '-'
+    if (rspeed > 0):
+        dir4 = '+'
+    else:
+        dir4 = '-'
+
+    return int(pwm1), int(pwm2), int(pwm3), int(pwm4), dir1, dir2, dir3, dir4
+
+
+#  =========== Main Control ===========
+def main_control(gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_dist, debugM):
+    '''
+    Description:
+        Given green ball information and AT information, the main control logic
+        to manuver the blimp motors
+
+    Input:
+        gbx, gby, gb_dist                   :   green ball information
+        tx, ty, tz, rx, ry, rz, LIDAR_dist  :   AirTag information
+        debugM                              :   Debug Message
+
+    Output:
+        pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4  :   Blimp motor manuver parameters
+    '''
+    # placeholder
+    pwm1, pwm2, pwm3, pwm4 = 0 , 0 , 0 , 0
+    dir1, dir2, dir3, dir4 = '+', '-', '+', '-'
+
+    ballDetect  = ball_detect(gbx, gby)
+    ballCapture = ball_capture(LIDAR_dist)
+    goalDetect  = goal_detect(tx, ty)
+
+    # debug
+    # ballCapture = 1
+    # goalDetect = 0
+    if ballCapture: # Ball captured
+        if goalDetect:  # Goal detected
+            # stop_all()  # Debug
+            pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = move2goal(tx, ty)
+        else:  # Goal not detected
+            # stop_all()  # Debug
+            pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = seeking()
+    else:  # Ball not captured
+        if ballDetect:  # Ball detected
+            pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = move2ball(gbx,gby,gb_dist)
+        else:  # Ball not detected
+            # stop_all()  # Debug
+            pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = seeking()
+
+    return pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4
+
+def auto_control(serial_port,gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_dist, debugM):
+    # ===== STEP 1: TAKE ALL INPUT =====
+    gbx, gby, gb_dist = ball_detection.detectLive(model, minDetectionScore, showSight = True)
+    line = serial_port.readline()
+
+    if line == b'SERIAL_IN_START\r\n':
+        tx, ty, tz, rx, ry, rz, LIDAR_dist, debugM = serial_port_in(serial_port)
+        print("gbx,gby:{},{}".format(gbx, gby))
+        time.sleep(waitTime)
+
+    # ===== STEP 2: MAIN CONTROL LOOP =====
+    pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = main_control(gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_dist,
+                                                                  debugM)
+
+    # ===== STEP 3: FEED ALL OUTPUT =====
+    serial_port_out(serial_port, pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4)
+
+    time.sleep(waitTime)
+
+def auto_init(init_count,gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_dist, debugM):
+
+    gbx, gby, gb_dist = ball_detection.detectLive(model, minDetectionScore, showSight = True)
+    pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = main_control(gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_dist, debugM)
+    serial_port_out(serial_port, pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4)
+    init_count += 1
+    return init_count
+
+def init():
+    pygame.init()
+    win= pygame.display.set_mode((200,200))
+
+def keyboard_stop(flag_s,print_count_s):
+
+    if get_key('q'):
+        flag_s = 0
+        print_count_s = 1
+    return flag_s,print_count_s
+
+def get_key(keyname):
+    ans = False
+    for eve in pygame.event.get(): pass
+    keyInput = pygame.key.get_pressed()
+    myKey = getattr(pygame,'K_{}'.format(keyname))
+
+    if keyInput[myKey]:
+        ans = True
+    pygame.display.update()
+    return ans
+
+def stop_all():
+    pwm1, pwm2, pwm3, pwm4 = 0 , 0 , 0 , 0
+    dir1, dir2, dir3, dir4 = '+', '-', '+', '-'
+    return pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4
+
+def dynamic_variable(str_name_v):
+
+    global start_speed
+    global kpx,kix,kdx
+    global kpy,kiy,kdy
+    global kpx_g,kix_g,kdx_g
+    global kpy_g,kiy_g,kdy_g
+
+    if str_name_v == "kpx":
+        kpx = input("Enter your value: ")
+        print("kpx:{}".format(kpx))
+    elif str_name_v == "kix":
+        kix = input("Enter your value: ")
+        print("kix:{}".format(kix))
+    elif str_name_v == "kdx":
+        kdx = input("Enter your value: ")
+        print("kdx:{}".format(kdx))
+    elif str_name_v == "stsp":
+        start_speed = input("Enter your value: ")
+        print("start_speed:{}".format(start_speed))
+    elif str_name_v == "kpy":
+        kpx = input("Enter your value: ")
+        print("kpy:{}".format(kpy))
+    elif str_name_v == "kiy":
+        kix = input("Enter your value: ")
+        print("kiy:{}".format(kiy))
+    elif str_name_v == "kdy":
+        kdx = input("Enter your value: ")
+        print("kdy:{}".format(kdy))
+    if str_name_v == "kpx":
+        kpx = input("Enter your value: ")
+        print("kpx:{}".format(kpx))
+    elif str_name_v == "kix_g":
+        kix = input("Enter your value: ")
+        print("kix_g:{}".format(kix_g))
+    elif str_name_v == "kdx":
+        kdx = input("Enter your value: ")
+        print("kdx_g:{}".format(kdx_g))
+    elif str_name_v == "kpy_g":
+        kpx = input("Enter your value: ")
+        print("kpy_g:{}".format(kpy_g))
+    elif str_name_v == "kiy_g":
+        kix = input("Enter your value: ")
+        print("kiy_g:{}".format(kiy_g))
+    elif str_name_v == "kdy_g":
+        kdx = input("Enter your value: ")
+        print("kdy_g:{}".format(kdy_g))
+
+def variables_change_once():
+
+    str_name = input("Enter your variable: ")
+    dynamic_variable(str_name)
+
+def manual_control(Ctl_com,serial_port):
+
+    if get_key("w"):
+        val = start_speed
+        Ctl_com = manual_command(val, val, 0, 0, "+", "+", "+", "+")
+
+    elif get_key("s"):
+        val = start_speed
+        Ctl_com = manual_command(val, val, 0, 0, "-", "-", "+", "+")
+
+    if get_key("UP"):
+        val = start_speed
+
+        Ctl_com = manual_command(0, 0, val, val, "+", "+", "+", "+")
+    elif get_key("DOWN"):
+        val = start_speed
+        Ctl_com = manual_command(0, 0, val, val, "+", "+", "-", "-")
+
+    elif get_key("LEFT"):
+        val = start_speed
+        Ctl_com = manual_command(0, 0, val, val, "+", "+", "-", "+")
+
+    elif get_key("RIGHT"):
+        val = start_speed
+        Ctl_com = manual_command(0, 0, val, val, "+", "+", "+", "-")
+
+    pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = decode_ctl(Ctl_com)
+
+    waitTime = 0.05
+    # changed
+    gbx, gby, gb_dist = ball_detection.detectLive(model, minDetectionScore, showSight = True)
+
+    serial_port_out(serial_port, pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4)
+
+    time.sleep(waitTime)
+
+def manual_command(val1,val2,val3,val4,sign1,sign2,sign3,sign4):
+    pwm1 = val1
+    pwm2 = val2
+    pwm3 = val3
+    pwm4 = val4
+    dir1 = sign1
+    dir2 = sign2
+    dir3 = sign3
+    dir4 = sign4
+    return pwm1,pwm2,pwm3,pwm4,dir1,dir2,dir3,dir4
+
+def decode_ctl(Ctl_com):
+    pwm1 = Ctl_com[0]
+    pwm2 = Ctl_com[1]
+    pwm3 = Ctl_com[2]
+    pwm4 = Ctl_com[3]
+    dir1 = Ctl_com[4]
+    dir2 = Ctl_com[5]
+    dir3 = Ctl_com[6]
+    dir4 = Ctl_com[7]
+    return pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4
+# ===== Main Function =====
+if __name__ == '__main__':
+    # =========== SET UP ============
+    # Defining Variables for ESP 32 Serial I/O
+    PORT = "COM6" # for Alienware
+    serial_port = serial.Serial(PORT, 115200)
+    serial_port.close()
+    serial_port.open()
+
+    # Weit Time
+    waitTime = 0.05
+
+    # Loading the PyTorch ML model for ball detection
+    model = ball_detection.returnModel(device, labelSet, modelLoc, modelFile)
+
+    # =========== DECLARE VARIABLES ===========
+    # ESP CAM In
+    gbx, gby  = -1, -1   # by default (-1 means no found green ball)
+    gb_dist = -1         # by default (-1 means no found green ball)
+
+    # Serial Port In
+    tx, ty, tz = 100000, 100000, 100000  # by default (0 means no found AirTag)
+    rx, ry, rz = 0, 0, 0
+    LIDAR_dist = 0
+    debugM = 'Testing'
+
+    # Serial Port Out
+    pwm1, pwm2, pwm3, pwm4 = 0 , 0 , 0 , 0   # Not moving
+    dir1, dir2, dir3, dir4 = '+', '+', '+', '+'
+    Ctl_com = [0, 0, 0, 0, "+", "+", "+", "+"]
+    # Trigger the ESP32_SLAVE to talk first
+    """
+    gbx, gby, gb_dist = ball_detection.detectLive(model, minDetectionScore, showSight = True)
+    pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = main_control(gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_dist, debugM)
+    serial_port_out(serial_port, pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4)
+    """
+    flag = 0
+    init_count = 0
+    print_count = 0
+    global start_speed
+    start_speed = 70
+
+    init()
+    # =========== LOOP FOREVER===========
+    while True:
+        if get_key('a'):
+            flag = 1
+            while (flag == 1):
+                if init_count == 0:
+                     init_count = auto_init(init_count,gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_dist, debugM)
+                auto_control(serial_port,gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_dist, debugM)
+                flag, print_count = keyboard_stop(flag,print_count)
+        elif get_key('s'):
+            pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = stop_all()
+            serial_port_out(serial_port, pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4)
+            print("stop all motors")
+
+        elif get_key('m'):
+            flag = 2
+            while (flag == 2):
+                manual_control(Ctl_com,serial_port)
+                flag, print_count = keyboard_stop(flag,print_count)
+
+        elif get_key('v'):
+            flag = 3
+            while (flag == 3):
+                variables_change_once()
+                flag = 0
+                print_count = 1
+
+        elif get_key('k'):
+            break
+
+        if print_count != 0:
+            print("No subsystem is running")
+            print_count = 0