#262 WIP

openwsn-berkeley · Mar 9, 2023 · a18e541 · a18e541
1 parent e328358
commit a18e541
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Showing 6 changed files with 152 additions and 311 deletions.
diff --git a/AtlasAnalysis.ipynb b/AtlasAnalysis.ipynb
diff --git a/Connector.py b/Connector.py
@@ -5,6 +5,8 @@ class Connector():
 
     def __init__(self):
 
+        self.scale                        = 3
+
         self.realDotBotsView              = dict([
             (
                 i,
@@ -24,8 +26,6 @@ def __init__(self):
             ) for i in range(1, len(self.getActiveRealDotbots())+1)
         ])
 
-        print(self.realDotBotsView)
-
     def getActiveRealDotbots(self):
         # Set the base URL for the API
         base_url = "http://localhost:8000"
@@ -37,16 +37,16 @@ def getActiveRealDotbots(self):
 
         return response.json()
 
-    def getRealCoordinates(self, virtualX, virtualY):
-        return  ((0.2*virtualX)/0.5, (0.2*virtualY)/0.5)
+    def computeRealCoordinates(self, virtualX, virtualY):
+        return  ((virtualX)/self.scale, (virtualY)/self.scale)
 
-    def getVirtualCoordinates(self, realX, realY):
-        return  ((0.5*realX)/0.2, (0.5*realY)/0.2)
+    def computeVirtualCoordinates(self, realX, realY):
+        print('real coordinates',realX, realY)
+        return  (realX*self.scale, realY*self.scale)
 
-    def getRealInitialPositions(self):
+    def getRealPositions(self):
         dotBots = self.getActiveRealDotbots()
-        print(dotBots)
-        return [self.getVirtualCoordinates(dotBot['position_history'][-1]['x'], dotBot['position_history'][-1]['y']) for dotBot in dotBots]
+        return [self.computeVirtualCoordinates(dotBot['position_history'][-1]['x'], dotBot['position_history'][-1]['y']) for dotBot in dotBots]
 
 
     def moveRawRealDotbot(self, address, x, y):
@@ -105,8 +105,23 @@ def setNextRealDotBotMovement(self, dotBotId):
             if dotBotToBumpDistance < dotBotToTargetDistance:
                 (nextX, nextY)    = (self.realDotBotsView[dotBotId]['nextBumpX'], self.realDotBotsView[dotBotId]['nextBumpY'])
 
+
         # scale positions
-        (scaledX, scaledY)     = self.getRealCoordinates(nextX, nextY)
+        (scaledNextX, scaledNextY)     = self.computeRealCoordinates(nextX, nextY)
+
+        print('target',nextX, nextY, 'scaled to reality is:', scaledNextX, scaledNextY)
+
+        #send API
+        while True:
+            self.moveRawRealDotbot(self.realDotBotsView[dotBotId]['address'], scaledNextX, scaledNextY)
+            (realX, realY) = self.getRealPositions()[dotBotId-1]
+            print(realX, realY, nextX, nextY)
+            print('here')
+            if  (nextX-0.2 <= realX<= nextX+0.2) and (nextY-0.2 <= realY <= nextY+0.2):
+                print('DotBot arrived')
+                break
+
+
+
+
 
-        # send API
-        self.moveRawRealDotbot(self.realDotBotsView[dotBotId]['address'], scaledX, scaledY)
diff --git a/DotBot.py b/DotBot.py
@@ -118,7 +118,8 @@ def receive(self, frame):
         self.nextBumpTime          = self.simEngine.currentTime() + timetobump
         log.debug(f'Dotbot {self.dotBotId} next bump at ({bumpX}, {bumpY}) at {self.nextBumpTime}')
 
-        if self.connector == 'on':
+        if self.connector:
+            print(self.dotBotId, self.nextBumpX , self.nextBumpY)
             self.connector.updateNextBumpCoordinates(self.dotBotId, self.nextBumpX , self.nextBumpY)
 
         if stopTime < self.nextBumpTime:

diff --git a/Orchestrator.py b/Orchestrator.py
@@ -102,8 +102,10 @@ def __init__(self, numRobots, orchX, orchY, initialPositions, relayAlgorithm="Re
             self.dotBotsView[dotBotId]['heading']         = 360*random.random()
             self.dotBotsView[dotBotId]['speed']           = 1
             self.dotBotsView[dotBotId]['movementTimeout'] = 0.5
-            (nextX, nextY) = u.computeCurrentPosition(self.initialPositions[0][0], self.dotBotsView[dotBotId]['heading'],self.initialPositions[0][1], 1, 0.5)
+
             if self.connector:
+                (nextX, nextY) = u.computeCurrentPosition(self.initialPositions[0][0], self.initialPositions[0][1],
+                                                          self.dotBotsView[dotBotId]['heading'] , 1, 0.5)
                 self.connector.updateTargetCoordinates(dotBotId, (nextX, nextY))
     #======================== public ==========================================
 
@@ -221,7 +223,7 @@ def _updateMovements(self):
 
             log.debug('heading & movementTimeout for {} are {} {}'.format(dotBotId, heading, movementTimeout))
 
-            if self.connector == 'on':
+            if self.connector:
                 self.connector.updateTargetCoordinates(dotBotId, targetCell)
 
             dotBot['targetCell']      = targetCell

diff --git a/RunOneSim.py b/RunOneSim.py
@@ -55,8 +55,8 @@ def runOneSim(simSetting, atlasUI=None):
     # set initialPositions
     if simSetting['connector'] == 'on':
         connector = Connector.Connector()
-        initialPositions = connector.getRealInitialPositions()
-        print(initialPositions)
+        initialPositions = connector.getRealPositions()
+        print('initial positions in virtual values', initialPositions)
     else:
         initialPositions = [(orchX, orchY)]*simSetting['numRobots']
 

diff --git a/configs/razanne.toml b/configs/razanne.toml
@@ -1,11 +1,11 @@
 [atlas]
-    numRobots                = 1
-    floorplan                = "tiny"            # filename in floorplans
+    numRobots                = 10
+    floorplan                = "office_small"            # filename in floorplans
     navigationAlgorithm      = "Atlas"                   # options: Atlas, Ballistic
-    relayAlgorithm           = "NoRelays"                # options: Recovery, SelfHealing, NoRelays
+    relayAlgorithm           = "Recovery"                # options: Recovery, SelfHealing, NoRelays
     lowerPdrThreshold        = 0.8                       # (for Recovery) trigger relay placement if below
     upperPdrThreshold        = 0.9                       # (for Recovery) to determine relay position
     propagationModel         = "PisterHack"              # options: LOS, Friis, Radius, PisterHack
     numberOfRuns             = 1                         # number of simulations runs with same simSetting
-    connector                = 'on'                     # on if connector to real DotBots in watnted, else off
+    connector                = 'off'                     # on if connector to real DotBots in watnted, else off