Merge pull request #15 from cornell-cup/sensor_base

Sensor base
cornell-cup · Apr 15, 2017 · 69e7b51 · 69e7b51
2 parents e554f5f + 883385a
commit 69e7b51
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Showing 16 changed files with 99 additions and 197 deletions.
diff --git a/.gitignore b/.gitignore
@@ -4,4 +4,5 @@ target/
 out/
 __pycache__/
 received.py
+temp.py
 *.iml
diff --git a/cs-minibot-platform.iml b/cs-minibot-platform.iml
@@ -0,0 +1,58 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module org.jetbrains.idea.maven.project.MavenProjectsManager.isMavenModule="true" type="JAVA_MODULE" version="4">
+  <component name="NewModuleRootManager" LANGUAGE_LEVEL="JDK_1_8" inherit-compiler-output="false">
+    <output url="file://$MODULE_DIR$/target/classes" />
+    <output-test url="file://$MODULE_DIR$/target/test-classes" />
+    <content url="file://$MODULE_DIR$">
+      <sourceFolder url="file://$MODULE_DIR$/src/main/java" isTestSource="false" />
+      <sourceFolder url="file://$MODULE_DIR$/src/main/resources" type="java-resource" />
+      <excludeFolder url="file://$MODULE_DIR$/target" />
+    </content>
+    <orderEntry type="inheritedJdk" />
+    <orderEntry type="sourceFolder" forTests="false" />
+    <orderEntry type="module-library">
+      <library>
+        <CLASSES>
+          <root url="jar://$MODULE_DIR$/lib/jaw.jar!/" />
+        </CLASSES>
+        <JAVADOC />
+        <SOURCES />
+      </library>
+    </orderEntry>
+    <orderEntry type="module-library">
+      <library>
+        <CLASSES>
+          <root url="jar://$MODULE_DIR$/lib/XboxController.jar!/" />
+        </CLASSES>
+        <JAVADOC />
+        <SOURCES />
+      </library>
+    </orderEntry>
+    <orderEntry type="library" name="Maven: org.jbox2d:jbox2d-library:2.2.1.1" level="project" />
+    <orderEntry type="module" module-name="cs-base-station-interface" />
+    <orderEntry type="library" name="Maven: org.apache.commons:commons-math3:3.5" level="project" />
+    <orderEntry type="library" name="Maven: com.sparkjava:spark-core:2.5" level="project" />
+    <orderEntry type="library" name="Maven: org.slf4j:slf4j-api:1.7.13" level="project" />
+    <orderEntry type="library" name="Maven: org.eclipse.jetty:jetty-server:9.3.6.v20151106" level="project" />
+    <orderEntry type="library" name="Maven: javax.servlet:javax.servlet-api:3.1.0" level="project" />
+    <orderEntry type="library" name="Maven: org.eclipse.jetty:jetty-http:9.3.6.v20151106" level="project" />
+    <orderEntry type="library" name="Maven: org.eclipse.jetty:jetty-util:9.3.6.v20151106" level="project" />
+    <orderEntry type="library" name="Maven: org.eclipse.jetty:jetty-io:9.3.6.v20151106" level="project" />
+    <orderEntry type="library" name="Maven: org.eclipse.jetty:jetty-webapp:9.3.6.v20151106" level="project" />
+    <orderEntry type="library" name="Maven: org.eclipse.jetty:jetty-xml:9.3.6.v20151106" level="project" />
+    <orderEntry type="library" name="Maven: org.eclipse.jetty:jetty-servlet:9.3.6.v20151106" level="project" />
+    <orderEntry type="library" name="Maven: org.eclipse.jetty:jetty-security:9.3.6.v20151106" level="project" />
+    <orderEntry type="library" name="Maven: org.eclipse.jetty.websocket:websocket-server:9.3.6.v20151106" level="project" />
+    <orderEntry type="library" name="Maven: org.eclipse.jetty.websocket:websocket-common:9.3.6.v20151106" level="project" />
+    <orderEntry type="library" name="Maven: org.eclipse.jetty.websocket:websocket-client:9.3.6.v20151106" level="project" />
+    <orderEntry type="library" name="Maven: org.eclipse.jetty.websocket:websocket-servlet:9.3.6.v20151106" level="project" />
+    <orderEntry type="library" name="Maven: org.eclipse.jetty.websocket:websocket-api:9.3.6.v20151106" level="project" />
+    <orderEntry type="library" name="Maven: com.google.code.gson:gson:2.7" level="project" />
+    <orderEntry type="library" name="Maven: com.zeroc:ice:3.6.3" level="project" />
+    <orderEntry type="library" name="Maven: org.slf4j:slf4j-simple:1.7.21" level="project" />
+    <orderEntry type="library" name="Maven: com.sparkjava:spark-template-velocity:2.3" level="project" />
+    <orderEntry type="library" name="Maven: org.apache.velocity:velocity:1.7" level="project" />
+    <orderEntry type="library" name="Maven: commons-collections:commons-collections:3.2.1" level="project" />
+    <orderEntry type="library" name="Maven: commons-lang:commons-lang:2.4" level="project" />
+  </component>
+</module>
diff --git a/...n-interface/src/received/line_follower.py → ...nterface/example-scripts/line_follower.py b/...n-interface/src/received/line_follower.py → ...nterface/example-scripts/line_follower.py
@@ -1,5 +1,11 @@
+import os
+from os import sys, path
+sys.path.append(os.path.dirname('../src/received/'))
+sys.path.append(os.path.join('../src/received/sensor/'))
+#sys.path.append(os.path.join(os.path.dirname('../src/received/'), '..'))
+from sensor import Sensor
 from cup_minibot_prepend import CupMiniBot
-from .sensor.Sensor import Sensor
+
 bot = CupMiniBot()
 left = Sensor(bot, 'left')
 right = Sensor(bot, 'right')
@@ -13,7 +19,7 @@
     while(center.read() != 1):
         if(left.read() == 1):
             bot.turn_clockwise(100)
-        else if(right.read() == 1):
+        elif(right.read() == 1):
             bot.turn_counter_clockwise(100)
         else:
             end = True

diff --git a/python-interface/example-scripts/testcommand.pyc b/python-interface/example-scripts/testcommand.pyc
diff --git a/python-interface/src/received/cup_minibot_prepend.py b/python-interface/src/received/cup_minibot_prepend.py
@@ -1,5 +1,8 @@
-from .sensor.Sensor import Sensor
-from .sensor.GPIOSensor import GPIOSensor
+import os
+from os import sys, path
+sys.path.append(os.path.join(os.path.dirname('sensor'), '..'))
+from sensor import Sensor
+from sensor import GPIOSensor
 
 
 class CupMiniBot:

diff --git a/python-interface/src/received/cup_minibot_prepend.pyc b/python-interface/src/received/cup_minibot_prepend.pyc
diff --git a/python-interface/src/received/sensor/GPIOSensor.py b/python-interface/src/received/sensor/GPIOSensor.py
@@ -2,7 +2,7 @@
 # Needs to be updated to actually work, fake for now!
 # Abstract class representing the sensor interface
 
-from .Sensor import Sensor
+from sensor import Sensor
 
 class GPIOSensor(Sensor):
     def __init__(self, bot, name, pin_number):

diff --git a/python-interface/src/received/sensor/GPIOSensor.pyc b/python-interface/src/received/sensor/GPIOSensor.pyc
diff --git a/python-interface/src/received/sensor/__init__.py b/python-interface/src/received/sensor/__init__.py
@@ -0,0 +1 @@
+from sensor import Sensor
diff --git a/python-interface/src/received/sensor/__init__.pyc b/python-interface/src/received/sensor/__init__.pyc
diff --git a/python-interface/src/received/sensor/sensor.pyc b/python-interface/src/received/sensor/sensor.pyc
diff --git a/python-interface/src/tcp.pyc b/python-interface/src/tcp.pyc
diff --git a/script.py b/script.py
diff --git a/src/main/java/minibot/BaseHTTPInterface.java b/src/main/java/minibot/BaseHTTPInterface.java
@@ -90,19 +90,23 @@ public static void main(String[] args) {
             }
                else {
                 SimBotConnection sbc = new SimBotConnection();
-                PhysicalObject po = new PhysicalObject("simbot", 50, simvs.getWorld(), 0.0f, 0.0f, 1f, 3.6f, true);
-                SimBot simbot;
-                simbot = new SimBot(sbc, name, po);
-                newBot = simbot;
+
+                PhysicalObject po = new PhysicalObject("TESTBOT", 50, simvs.getWorld(), 0.4f, 0.0f, 1f, 1f, true);
+                SimBot smbot;
+                smbot = new SimBot(sbc, name, po);
+                newBot = smbot;
+
 
                 ArrayList<PhysicalObject> pObjs = new ArrayList<>();
                 pObjs.add(po);
                 simvs.processPhysicalObjects(pObjs);
 
                 // Color sensor TODO put somewhere nice
-                ColorIntensitySensor colorSensorL = new ColorIntensitySensor((SimBotSensorCenter) simbot.getSensorCenter(),"right",simbot, 5);
-                ColorIntensitySensor colorSensorR = new ColorIntensitySensor((SimBotSensorCenter) simbot.getSensorCenter(),"left",simbot, -5);
-                ColorIntensitySensor colorSensorM = new ColorIntensitySensor((SimBotSensorCenter) simbot.getSensorCenter(),"center",simbot, 0);
+
+                ColorIntensitySensor colorSensorL = new ColorIntensitySensor((SimBotSensorCenter) smbot.getSensorCenter(),"right",smbot, 7);
+                ColorIntensitySensor colorSensorR = new ColorIntensitySensor((SimBotSensorCenter) smbot.getSensorCenter(),"left",smbot, -7);
+                ColorIntensitySensor colorSensorM = new ColorIntensitySensor((SimBotSensorCenter) smbot.getSensorCenter(),"center",smbot, 0);
+
             }
 
             return BaseStation.getInstance().getBotManager().addBot(newBot);

diff --git a/src/main/java/simulator/simbot/SimBot.java b/src/main/java/simulator/simbot/SimBot.java
@@ -88,6 +88,7 @@ public void run() {
                             if (!content.contains("WHEELS") && !content.contains("REGISTER") && !content.contains("GET")) {
                                 value = Double.parseDouble(content.substring(content.indexOf(':') + 1));
                             }
+                            String name = content.substring(content.indexOf(':') + 1);
                             switch (content.substring(0, content.indexOf(':'))) {
                                 case "FORWARD":
                                     //fl fr bl br
@@ -118,7 +119,6 @@ public void run() {
                                     System.out.println("Exiting\n");
                                     break;
                                 case "GET":
-                                    String name = content.substring(content.indexOf(':') + 1);
                                     if (name.equals("ALL")) {
                                         out.println(this.sensorCenter.getAllDataGson());
                                     } else {
@@ -132,19 +132,15 @@ public void run() {
                                     System.out.println("Added New sensor");
                                     break;
                                 default:
-                                    String cmd = content.substring(content.indexOf(':') + 1);
-                                    System.out.println(cmd);
-                                    String[] wheel_cmds = cmd.split(",");
-
-
+                                    System.out.println(name);
+                                    String[] wheel_cmds = name.split(",");
                                     this.commandCenter.setWheelPower(
                                             Double.parseDouble(wheel_cmds[0]),
                                             Double.parseDouble(wheel_cmds[1]),
                                             Double.parseDouble(wheel_cmds[2]),
                                             Double.parseDouble(wheel_cmds[3])
                                     );
                                     break;
-
                             }
                         }
                     }

diff --git a/src/main/java/simulator/simbot/SimBotCommandCenter.java b/src/main/java/simulator/simbot/SimBotCommandCenter.java
@@ -73,21 +73,22 @@ public boolean sendKV(String key, String value) {
             }
 
             String prg = value;
-            BufferedWriter out = new BufferedWriter(new FileWriter("script.py"));
-            out.write(header);
-            out.write(prg);
-            out.close();
+            BufferedWriter scriptOut = new BufferedWriter(new FileWriter("temp.py"));
+            scriptOut.write(header);
+            scriptOut.write(prg);
+            scriptOut.close();
 
-            ProcessBuilder pb = new ProcessBuilder("python","script.py");
+            ProcessBuilder pb = new ProcessBuilder("python","temp.py");
             Process p = pb.start();
 
-            BufferedReader in = new BufferedReader(new InputStreamReader(p.getInputStream()));
+            BufferedReader scriptFeedbackInStream = new BufferedReader(new InputStreamReader(p.getInputStream()));
+
 
-            String ret;
             String line;
-            while ((line = in.readLine()) != null) {
-                ret = new String(line);
-                System.out.println(ret);
+            while ((line = scriptFeedbackInStream.readLine()) != null) {
+                int ret = new Integer(line).intValue();
+                System.out.println("" + ret);
+
             }
         }catch(Exception e){
             System.out.println(e);