Skip to content
This repository was archived by the owner on Feb 21, 2021. It is now read-only.

[tools] [visualstates] examples are added to examples directory #973

Merged
fqez merged 1 commit into from
Nov 29, 2017
Merged

[tools] [visualstates] examples are added to examples directory #973

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
87 changes: 87 additions & 0 deletions src/examples/visualStates/jderobot_comm/ice/obstacleAvoidanceCpp/obstacleAvoidanceCpp.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,87 @@
<?xml version="1.0" ?>
<VisualStates>
<config type="0">
<interfaces>
<interface>
<serverType>ice</serverType>
<name>myMotors</name>
<topic></topic>
<proxyName>Motors</proxyName>
<ip>localhost</ip>
<port>9001</port>
<interfaceName>Motors</interfaceName>
</interface>
<interface>
<serverType>ice</serverType>
<name>myLaser</name>
<topic></topic>
<proxyName>Laser</proxyName>
<ip>localhost</ip>
<port>9001</port>
<interfaceName>Laser</interfaceName>
</interface>
</interfaces>
</config>
<libraries/>
<state id="0" initial="True">
<posx>0.0</posx>
<posy>0.0</posy>
<name>root</name>
<code></code>
<functions>void calculate_obstacle() {
JdeRobotTypes::LaserData laserData = myLaser-&gt;getLaserData();
for (int i = 0; i &lt; laserData.values.size(); i++) {
if (laserData.values[i] &lt; obstacle_threshold) {
is_obstacle = true;
return;
}
}
is_obstacle = false;
}</functions>
<variables>float obstacle_threshold = 0.4;
bool is_obstacle = false;</variables>
<timestep>100</timestep>
<state id="1" initial="True">
<posx>845.0</posx>
<posy>970.0</posy>
<name>move</name>
<code>interfaces-&gt;myMotors-&gt;sendV(0.4);
interfaces-&gt;myMotors-&gt;sendW(0);</code>
<functions></functions>
<variables></variables>
<timestep>100</timestep>
<transition id="1">
<type>1</type>
<condition>interfaces-&gt;calculate_obstacle();
return interfaces-&gt;is_obstacle;</condition>
<posx>931.0</posx>
<posy>884.0</posy>
<name>obstacle</name>
<originid>1</originid>
<destinationid>2</destinationid>
<code></code>
</transition>
</state>
<state id="2" initial="False">
<posx>1023.0</posx>
<posy>981.0</posy>
<name>avoid</name>
<code>interfaces-&gt;myMotors-&gt;sendV(0);
interfaces-&gt;myMotors-&gt;sendW(0.1);</code>
<functions></functions>
<variables></variables>
<timestep>100</timestep>
<transition id="2">
<type>1</type>
<condition>interfaces-&gt;calculate_obstacle();
return !interfaces-&gt;is_obstacle;</condition>
<posx>927.0</posx>
<posy>1056.0</posy>
<name>no obstacle</name>
<originid>2</originid>
<destinationid>1</destinationid>
<code></code>
</transition>
</state>
</state>
</VisualStates>
84 changes: 84 additions & 0 deletions ...amples/visualStates/jderobot_comm/ice/obstacleAvoidancePython/obstacleAvoidancePython.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,84 @@
<?xml version="1.0" ?>
<VisualStates>
<config type="0">
<interfaces>
<interface>
<serverType>ice</serverType>
<name>myMotors</name>
<topic></topic>
<proxyName>Motors</proxyName>
<ip>localhost</ip>
<port>9001</port>
<interfaceName>Motors</interfaceName>
</interface>
<interface>
<serverType>ice</serverType>
<name>myLaser</name>
<topic></topic>
<proxyName>Laser</proxyName>
<ip>localhost</ip>
<port>9001</port>
<interfaceName>Laser</interfaceName>
</interface>
</interfaces>
</config>
<libraries/>
<state id="0" initial="True">
<posx>0.0</posx>
<posy>0.0</posy>
<name>root</name>
<code></code>
<functions>def calculate_obstacle(self):
threshold_value = 0.4
laserData = self.myLaser.getLaserData()
for val in laserData.values:
if val &lt; threshold_value:
self.is_obstacle = True
return
self.is_obstacle = False</functions>
<variables>self.is_obstacle = False</variables>
<timestep>100</timestep>
<state id="1" initial="True">
<posx>845.0</posx>
<posy>970.0</posy>
<name>move</name>
<code>self.interfaces.myMotors.sendV(0.4)
self.interfaces.myMotors.sendW(0)</code>
<functions></functions>
<variables></variables>
<timestep>100</timestep>
<transition id="1">
<type>1</type>
<condition>self.interfaces.calculate_obstacle()
return self.interfaces.is_obstacle</condition>
<posx>931.0</posx>
<posy>884.0</posy>
<name>obstacle</name>
<originid>1</originid>
<destinationid>2</destinationid>
<code></code>
</transition>
</state>
<state id="2" initial="False">
<posx>1023.0</posx>
<posy>981.0</posy>
<name>avoid</name>
<code>self.interfaces.myMotors.sendV(0)
self.interfaces.myMotors.sendW(0.1)</code>
<functions></functions>
<variables></variables>
<timestep>100</timestep>
<transition id="2">
<type>1</type>
<condition>self.interfaces.calculate_obstacle()
return not self.interfaces.is_obstacle</condition>
<posx>927.0</posx>
<posy>1056.0</posy>
<name>no obstacle</name>
<originid>2</originid>
<destinationid>1</destinationid>
<code></code>
</transition>
</state>
</state>
</VisualStates>
87 changes: 87 additions & 0 deletions src/examples/visualStates/jderobot_comm/ros/obstacleAvoidanceCpp/obstacleAvoidanceCpp.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,87 @@
<?xml version="1.0" ?>
<VisualStates>
<config type="0">
<interfaces>
<interface>
<serverType>ros</serverType>
<name>myMotors</name>
<topic>/turtlebotROS/mobile_base/commands/velocity</topic>
<proxyName></proxyName>
<ip></ip>
<port></port>
<interfaceName>Motors</interfaceName>
</interface>
<interface>
<serverType>ros</serverType>
<name>myLaser</name>
<topic>/turtlebotROS/laser/scan</topic>
<proxyName></proxyName>
<ip></ip>
<port></port>
<interfaceName>Laser</interfaceName>
</interface>
</interfaces>
</config>
<libraries/>
<state id="0" initial="True">
<posx>0.0</posx>
<posy>0.0</posy>
<name>root</name>
<code></code>
<functions>void calculate_obstacle() {
JdeRobotTypes::LaserData laserData = myLaser-&gt;getLaserData();
for (int i = 0; i &lt; laserData.values.size(); i++) {
if (laserData.values[i] &lt; obstacle_threshold) {
is_obstacle = true;
return;
}
}
is_obstacle = false;
}</functions>
<variables>float obstacle_threshold = 0.4;
bool is_obstacle = false;</variables>
<timestep>100</timestep>
<state id="1" initial="True">
<posx>845.0</posx>
<posy>970.0</posy>
<name>move</name>
<code>interfaces-&gt;myMotors-&gt;sendV(0.3);
interfaces-&gt;myMotors-&gt;sendW(0.0);</code>
<functions></functions>
<variables></variables>
<timestep>100</timestep>
<transition id="1">
<type>1</type>
<condition>interfaces-&gt;calculate_obstacle();
return interfaces-&gt;is_obstacle;</condition>
<posx>931.0</posx>
<posy>884.0</posy>
<name>obstacle</name>
<originid>1</originid>
<destinationid>2</destinationid>
<code></code>
</transition>
</state>
<state id="2" initial="False">
<posx>1023.0</posx>
<posy>981.0</posy>
<name>avoid</name>
<code>interfaces-&gt;myMotors-&gt;sendV(0.0);
interfaces-&gt;myMotors-&gt;sendW(0.1);</code>
<functions></functions>
<variables></variables>
<timestep>100</timestep>
<transition id="2">
<type>1</type>
<condition>interfaces-&gt;calculate_obstacle();
return !interfaces-&gt;is_obstacle;</condition>
<posx>927.0</posx>
<posy>1056.0</posy>
<name>no obstacle</name>
<originid>2</originid>
<destinationid>1</destinationid>
<code></code>
</transition>
</state>
</state>
</VisualStates>
84 changes: 84 additions & 0 deletions ...amples/visualStates/jderobot_comm/ros/obstacleAvoidancePython/obstacleAvoidancePython.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,84 @@
<?xml version="1.0" ?>
<VisualStates>
<config type="0">
<interfaces>
<interface>
<serverType>ros</serverType>
<name>myLaser</name>
<topic>/turtlebotROS/laser/scan</topic>
<proxyName></proxyName>
<ip></ip>
<port></port>
<interfaceName>Laser</interfaceName>
</interface>
<interface>
<serverType>ros</serverType>
<name>myMotors</name>
<topic>/turtlebotROS/mobile_base/commands/velocity</topic>
<proxyName></proxyName>
<ip></ip>
<port></port>
<interfaceName>Motors</interfaceName>
</interface>
</interfaces>
</config>
<libraries/>
<state id="0" initial="True">
<posx>0.0</posx>
<posy>0.0</posy>
<name>root</name>
<code></code>
<functions>def calculate_obstacle(self):
laserData = self.myLaser.getLaserData()
for val in laserData.values:
if (val &lt; self.obstacle_threshold):
self.is_obstacle = True
return
self.is_obstacle = False</functions>
<variables>self.is_obstacle = False
self.obstacle_threshold = 0.4</variables>
<timestep>100</timestep>
<state id="1" initial="True">
<posx>845.0</posx>
<posy>970.0</posy>
<name>move</name>
<code>self.interfaces.myMotors.sendV(0.2)
self.interfaces.myMotors.sendW(0.0)</code>
<functions></functions>
<variables></variables>
<timestep>100</timestep>
<transition id="1">
<type>1</type>
<condition>self.interfaces.calculate_obstacle()
return self.interfaces.is_obstacle</condition>
<posx>931.0</posx>
<posy>884.0</posy>
<name>obstacle</name>
<originid>1</originid>
<destinationid>2</destinationid>
<code></code>
</transition>
</state>
<state id="2" initial="False">
<posx>1023.0</posx>
<posy>981.0</posy>
<name>avoid</name>
<code>self.interfaces.myMotors.sendV(0.0)
self.interfaces.myMotors.sendW(0.1)</code>
<functions></functions>
<variables></variables>
<timestep>100</timestep>
<transition id="2">
<type>1</type>
<condition>self.interfaces.calculate_obstacle()
return not self.interfaces.is_obstacle</condition>
<posx>927.0</posx>
<posy>1056.0</posy>
<name>no obstacle</name>
<originid>2</originid>
<destinationid>1</destinationid>
<code></code>
</transition>
</state>
</state>
</VisualStates>
Loading