AGVUI_python/RobotData.py

import time
import message_pb2 as message
from mqtt_async import MqttAsync
import google.protobuf.json_format as jtf
from dijkstra.Map import DijikstraMap
class TimeStatu:
    def __init__(self,statu=None,timeout=3):
        self.statu=statu
        self.time=time.time()
        self.timeout_ms=timeout

    def timeout(self):
        tm=time.time()
        return tm-self.time>self.timeout_ms or self.statu==None

class Robot(MqttAsync):
    def __init__(self,name=""):
        self.timedPose_=TimeStatu(message.AGVStatu,0)
        self.timedNavStatu_=TimeStatu(message.NavStatu,0)
        self.dataTopic_={}
        self.messageArrivedSignal=None
        self.currentNavData_=None
        self.navCmdTopic_=None
        self.currentNavPathNodes_=None
        self.currentNavPath_=None

        self.pathColor_=[1,1,0]
        self.robotColor_=[0.7,0.2,0.3]      #agv当前颜色
        self.name_=name

        self.l_=0.8       #轮长
        self.L_=1.3       #轴距
        self.W_=2.5       #宽

    def Color(self):
        if self.IsMainModeStatu():
            return [0,0,0]
        return self.robotColor_
    def IsMainAgv(self):
        if self.timedNavStatu_.timeout()==False:
            if self.timedNavStatu_.statu.main_agv==True:
                return True
        return False
    def IsMainModeStatu(self):
        if self.IsMainAgv():
            if self.timedNavStatu_.timeout() == False:
                if self.timedNavStatu_.statu.move_mode==2:
                    return True
        return False
    def SetSubDataTopic(self,match:dict,messageSignal=None):
        self.dataTopic_=match
        self.messageArrivedSignal=messageSignal
        for item in match.items():
            [topic,_]=item
            self.subscribe(topic,self.on_message)
    def SetCmdTopic(self,topic):
        self.navCmdTopic_=topic
    def SetColor(self,pathColor,robotColor):
        self.pathColor_=pathColor
        self.robotColor_=robotColor
    def ResetPose(self,agv : message.AGVStatu):
        self.timedPose_=TimeStatu(agv,0.5)
    def ResetNavStatu(self,statu:message.NavStatu):
        self.timedNavStatu_=TimeStatu(statu,0.5)

    def on_message(self,client, userdata, msg):
        topic=msg.topic
        if self.dataTopic_.get(topic) is not None:
            dtype=self.dataTopic_[topic]
            if dtype==message.AGVStatu.__name__:
                proto=message.AGVStatu()
                jtf.Parse(msg.payload.decode(),proto)
                self.ResetPose(proto)
            if dtype==message.NavStatu.__name__:
                self.last_running=self.IsNavigating()
                proto=message.NavStatu()
                jtf.Parse(msg.payload.decode(),proto)
                self.ResetNavStatu(proto)
                if self.last_running==True and self.IsNavigating()==False:
                    self.currentNavPathNodes_=None
                    self.currentNavPath_=None
            if self.messageArrivedSignal is not None:
                self.messageArrivedSignal()

    def MpcSelectTraj(self):
        traj=[]
        if self.timedNavStatu_.timeout()==False:
            nav=self.timedNavStatu_.statu
            for pose2d in nav.selected_traj.poses:
                traj.append([pose2d.x,pose2d.y,pose2d.theta])
        return traj

    def MpcPredictTraj(self):
        traj=[]
        if self.timedNavStatu_.timeout()==False:
            nav=self.timedNavStatu_.statu
            for pose2d in nav.predict_traj.poses:
                traj.append([pose2d.x,pose2d.y,pose2d.theta])
        return traj

    def Connected(self):
        return self.timedNavStatu_.timeout()==False and self.timedPose_.timeout()==False
    def IsNavigating(self):
        if self.timedNavStatu_.timeout()==False:
            key=self.timedNavStatu_.statu.key
            if key=="" or key==None:
                return False
        return True
    def GeneratePath(self,begID,endID):
        self.currentNavPathNodes_=DijikstraMap().GetShortestPath(begID,endID)
        self.currentNavPath_=DijikstraMap().CreatePath(self.currentNavPathNodes_,0.5)
    def ExecNavtask(self):
        if self.navCmdTopic_ == None:
            print("Robot has not set nav cmd topic")
            return
        if self.IsNavigating():
            print(" robot is navigating ,key:%s"%(self.timedNavStatu_.statu.key))
            return

        cmd=None
        if self.currentNavPathNodes_ is not None and self.timedPose_.timeout()==False:
            statu=self.timedPose_.statu
            if statu is not None:
                cmd=DijikstraMap().CreateNavCmd([statu.x,statu.y,statu.theta],self.currentNavPathNodes_)
        else:
            print("current path is none")
            return

        if cmd is None:
            print("Nav cmd is None")
            return

        self.publish(self.navCmdTopic_,jtf.MessageToJson(cmd))
        '''while self.IsNavigating()==False:
            time.sleep(1)
            self.publish(self.navCmdTopic_,jtf.MessageToJson(cmd))'''
    def SwitchMoveMode(self,mode,wheelbase):

        cmd =message.NavCmd()
        if mode==2:
            cmd.wheelbase=wheelbase
            cmd.action=4
        if mode==1:
            cmd.action=5

        self.publish(self.navCmdTopic_,jtf.MessageToJson(cmd))

    def CancelNavTask(self):
        cmd=message.NavCmd()
        cmd.action=3
        self.publish(self.navCmdTopic_,jtf.MessageToJson(cmd))