modelec/modelec-marcel-ROS
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up to last odo version

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acki
2025-10-03 13:26:40 +02:00
parent 06afa03c2b
commit 8c9e6e67ad
33 changed files with 470 additions and 1285 deletions
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7
simulated_pcb/action.py
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@@ -122,7 +122,7 @@ class SimulatedPCB:
if __name__ == '__main__':
parser = argparse.ArgumentParser(description="Simulated PCB")
parser.add_argument('--port', type=str, default='/dev/pts/6', help='Serial port to use')
parser.add_argument('--port', type=str, default='/tmp/USB_ACTION_SIM', help='Serial port to use')
args = parser.parse_args()
sim = None
@@ -132,3 +132,8 @@ if __name__ == '__main__':
if sim:
sim.stop()
print("Simulation stopped")
# socat -d -d pty,raw,echo=0,link=/tmp/MARCEL_ACTION_SIM pty,raw,echo=0,link=/tmp/MARCEL_ACTION
# python3 simulated_pcb/action.py --port /tmp/MARCEL_ACTION_SIM
# socat -d -d pty,raw,echo=0,link=/tmp/ENEMY_ACTION_SIM pty,raw,echo=0,link=/tmp/ENEMY_ACTION
# python3 simulated_pcb/action.py --port /tmp/ENEMY_ACTION_SIM

30
simulated_pcb/odo.py
View File

@@ -124,20 +124,24 @@ class SimulatedPCB:
print(f'[TX] OK;START;1')
self.ser.write(f'OK;START;1\n'.encode())
elif msg.startswith("SET;WAYPOINT"):
elif msg.startswith("SET;WAYPOINTS;"):
parts = msg.split(';')
if len(parts) >= 7:
wp = {
'id': int(parts[2]),
'type': int(parts[3]),
'x': float(parts[4]),
'y': float(parts[5]),
'theta': float(parts[6])
}
self.waypoints[wp['id']] = wp
if wp['id'] not in self.waypoint_order:
self.waypoint_order.append(wp['id'])
self.ser.write(f'OK;WAYPOINT;{wp["id"]}\n'.encode())
if len(parts) / 7 >= 1:
self.waypoints.clear()
self.waypoint_order.clear()
for i in range(2, len(parts), 5):
wp = {
'id': int(parts[i]),
'type': int(parts[i + 1]),
'x': float(parts[i + 2]),
'y': float(parts[i + 3]),
'theta': float(parts[i + 4])
}
self.waypoints[wp['id']] = wp
if wp['id'] not in self.waypoint_order:
self.waypoint_order.append(wp['id'])
self.ser.write(f'OK;WAYPOINT;{wp["id"]}\n'.encode())
self.ser.write(b'OK;WAYPOINTS;1\n')
elif msg.startswith("SET;POS"):
parts = msg.split(';')