mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
726 lines
No EOL
24 KiB
Python
726 lines
No EOL
24 KiB
Python
#!/usr/bin/env python2
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# -*- coding: utf-8 -*-
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from socket import *
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import math
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from multiprocessing import Lock
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from operator import imod
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from tokenize import Pointfloat
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import cv2
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import numpy as np
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import time
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import json
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import os,sys
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import rospy
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from visualization_msgs.msg import Marker
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import rospy
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from sensor_msgs.msg import JointState
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# from moving_utils import Movement
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IS_CV_4 = cv2.__version__[0] == '4'
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__version__ = "1.0"
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global mc
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mutex = Lock()
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class ElephantRobot(object):
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def __init__(self, host, port):
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# setup connection
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# 建立连接
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self.BUFFSIZE = 2048
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self.ADDR = (host, port)
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self.tcp_client = socket(AF_INET, SOCK_STREAM)
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def start_client(self):
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try:
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self.tcp_client.connect(self.ADDR)
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return ""
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except error,e:
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return e
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def stop_client(self):
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self.tcp_client.close()
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def send_command(self, command):
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with mutex:
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self.tcp_client.send(command.encode())
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recv_data = self.tcp_client.recv(self.BUFFSIZE).decode()
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res_str = str(recv_data)
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print("recv = " )+ res_str
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res_arr = res_str.split(":")
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if len(res_arr) == 2:
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return res_arr[1]
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else:
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return ""
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def string_to_coords(self, data):
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data = data.replace("[", "")
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data = data.replace("]", "")
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data_arr = data.split(",")
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if len(data_arr) == 6:
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try:
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coords_1 = float(data_arr[0])
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coords_2 = float(data_arr[1])
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coords_3 = float(data_arr[2])
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coords_4 = float(data_arr[3])
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coords_5 = float(data_arr[4])
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coords_6 = float(data_arr[5])
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coords = [coords_1, coords_2, coords_3, coords_4, coords_5, coords_6]
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return coords
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except:
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return invalid_coords()
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return invalid_coords()
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def string_to_double(self, data):
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try:
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val = float(data)
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return val
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except:
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return -9999.99
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def string_to_int(self, data):
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try:
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val = int(data)
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return val
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except:
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return -9999
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def invalid_coords(self):
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coords = [-1, -2, -3, -4, -1, -1]
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return coords
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def get_angles(self):
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command = "get_angles()\n"
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res = self.send_command(command)
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return self.string_to_coords(res)
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def get_coords(self):
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command = "get_coords()\n"
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res = self.send_command(command)
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return self.string_to_coords(res)
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def get_speed(self):
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command = "get_speed()\n"
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res = self.send_command(command)
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return self.string_to_double(res)
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def power_on(self):
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command = "power_on()\n"
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res = self.send_command(command)
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return True
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def power_off(self):
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command = "power_off()\n"
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res = self.send_command(command)
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return True
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def check_running(self):
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command = "check_running()\n"
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res = self.send_command(command)
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return res == "1"
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def state_check(self):
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command = "state_check()\n"
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res = self.send_command(command)
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return res == "1"
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def program_open(self, file_path):
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command = "program_open(" + file_path + ")\n"
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res = self.send_command(command)
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return self.string_to_int(res)
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def program_run(self, start_line):
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"""run program，运行程序"""
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command = "program_run(" + str(start_line) + ")\n"
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res = self.send_command(command)
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return self.string_to_int(res)
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def read_next_error(self):
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command = "read_next_error()\n"
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res = self.send_command(command)
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return res
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def write_coords(self, coords, speed):
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"""set coords,设置坐标"""
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command = "set_coords("
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for item in coords:
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command += str(item) + ","
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command += str(speed) + ")\n"
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self.send_command(command)
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def write_coord(self, axis, value, speed):
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coords = self.get_coords()
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if coords != self.invalid_coords():
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coords[axis] = value
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self.write_coords(coords, speed)
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def write_angles(self, angles, speed):
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"""set angles,设置角度"""
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command = "set_angles("
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for item in angles:
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command += str(item) + ","
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command += str(speed) + ")\n"
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self.send_command(command)
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def write_angle(self, joint, value, speed):
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angles = self.get_angles()
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if angles != self.invalid_coords():
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angles[joint] = value
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self.write_angles(angles, speed)
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def set_speed(self, percentage):
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command = "set_speed(" + str(percentage) + ")\n"
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self.send_command(command)
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def set_carte_torque_limit(self, axis_str, value):
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command = "set_torque_limit(" + axis_str + "," + str(value) + ")\n"
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self.send_command(command)
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def set_upside_down(self, up_down):
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up = "1"
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if up_down:
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up = "0"
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command = "set_upside_down(" + up + ")\n"
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self.send_command(command)
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def set_payload(self, payload):
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command = "set_speed(" + str(payload) + ")\n"
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self.send_command(command)
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def state_on(self):
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command = "state_on()\n"
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self.send_command(command)
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def state_off(self):
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command = "state_off()\n"
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self.send_command(command)
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def task_stop(self):
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command = "task_stop()\n"
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self.send_command(command)
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def jog_angle(self, joint_str, direction, speed):
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command = (
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"jog_angle(" + joint_str + "," + str(direction) + "," + str(speed) + ")\n"
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)
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self.send_command(command)
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def jog_coord(self, axis_str, direction, speed):
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command = (
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"jog_coord(" + axis_str + "," + str(direction) + "," + str(speed) + ")\n"
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)
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self.send_command(command)
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def get_digital_in(self, pin_number):
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command = "get_digital_in(" + str(pin_number) + ")\n"
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self.send_command(command)
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def get_digital_out(self, pin_number):
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command = "get_digital_out(" + str(pin_number) + ")\n"
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self.send_command(command)
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def set_digital_out(self, pin_number, pin_signal):
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command = "set_digital_out(" + str(pin_number) + "," + str(pin_signal) + ")\n"
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self.send_command(command)
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def set_analog_out(self, pin_number, pin_signal):
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command = "set_analog_out(" + str(pin_number) + "," + str(pin_signal) + ")\n"
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self.send_command(command)
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def get_acceleration(self):
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command = "get_acceleration()\n"
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res = self.send_command(command)
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return self.string_to_int(res)
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def set_acceleration(self, acceleration):
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command = "set_acceleration(" + str(acceleration) + ")\n"
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self.send_command(command)
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def command_wait_done(self):
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command = "wait_command_done()\n"
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self.send_command(command)
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def wait(self, seconds):
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command = "wait(" + str(seconds) + ")\n"
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self.send_command(command)
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def assign_variable(self, var_name, var_value):
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command = 'assign_variable("' + str(var_name) + '",' + str(var_value) + ")\n"
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self.send_command(command)
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def get_variable(self, var_name):
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command = 'get_variable("' + str(var_name) + '")\n'
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return self.send_command(command)
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class Object_detect(object):
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def __init__(self, camera_x = 140, camera_y = 5): # m5
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# def __init__(self, camera_x = 140, camera_y = -5): # pi
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# inherit the parent class
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super(Object_detect, self).__init__()
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# get path of file
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dir_path = os.path.dirname(__file__)
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# declare 600
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self.mc = None
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# 移动角度
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self.move_angles = [
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[0, 0, 0, 0, 90, 0], # point to grab
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[-33.31, 2.02, -10.72, -0.08, 95, -54.84], # init the point
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]
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# 移动坐标
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self.move_coords = [
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[92.3, -104.9, 211.4, -179.6, 28.91, 131.29], # above the red bucket
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[165.0, -93.6, 201.4, -173.43, 46.23, 160.65], # above the green bucket
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[88.1, 126.3, 193.4, 162.15, 2.23, 156.02], # above the blue bucket
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[-5.4, 120.6, 204.6, 162.66, -6.96, 159.93], # above the gray bucket
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]
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# which robot: USB* is m5; ACM* is wio; AMA* is raspi
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self.robot_m5 = os.popen("ls /dev/ttyUSB*").readline()[:-1]
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self.robot_wio = os.popen("ls /dev/ttyACM*").readline()[:-1]
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self.robot_raspi = os.popen("ls /dev/ttyAMA*").readline()[:-1]
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self.robot_jes = os.popen("ls /dev/ttyTHS1").readline()[:-1]
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self.raspi = False
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if "dev" in self.robot_m5:
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self.Pin = [2, 5]
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# self.Pin = [5]
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elif "dev" in self.robot_wio:
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self.Pin = [20, 21]
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for i in self.move_coords:
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i[2] -= 20
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elif "dev" in self.robot_raspi or "dev" in self.robot_jes:
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import RPi.GPIO as GPIO
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GPIO.setwarnings(False)
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self.GPIO = GPIO
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GPIO.setmode(GPIO.BCM)
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GPIO.setup(20, GPIO.OUT)
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GPIO.setup(21, GPIO.OUT)
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GPIO.output(20, 1)
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GPIO.output(21, 1)
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self.raspi = True
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if self.raspi:
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self.gpio_status(False)
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# choose place to set cube
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self.color = 0
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# parameters to calculate camera clipping parameters
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self.x1 = self.x2 = self.y1 = self.y2 = 0
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# set cache of real coord
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self.cache_x = self.cache_y = 0
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# set color HSV
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self.HSV = {
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"yellow": [np.array([11, 115, 70]), np.array([40, 255, 245])],
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"red": [np.array([0, 43, 46]), np.array([8, 255, 255])],
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"green": [np.array([35, 43, 46]), np.array([77, 255, 255])],
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"blue": [np.array([100, 43, 46]), np.array([124, 255, 255])],
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"cyan": [np.array([78, 43, 46]), np.array([99, 255, 255])],
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}
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# use to calculate coord between cube and 600
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self.sum_x1 = self.sum_x2 = self.sum_y2 = self.sum_y1 = 0
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# The coordinates of the grab center point relative to the 600
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self.camera_x, self.camera_y = camera_x, camera_y
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# The coordinates of the cube relative to the 600
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self.c_x, self.c_y = 0, 0
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# The ratio of pixels to actual values
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self.ratio = 0
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# Get ArUco marker dict that can be detected.
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self.aruco_dict = cv2.aruco.Dictionary_get(cv2.aruco.DICT_6X6_250)
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# Get ArUco marker params.
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self.aruco_params = cv2.aruco.DetectorParameters_create()
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# init a node and a publisher
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rospy.init_node("marker", anonymous=True)
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self.pub = rospy.Publisher('/cube', Marker, queue_size=1)
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# init a Marker
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self.marker = Marker()
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self.marker.header.frame_id = "/joint1"
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self.marker.ns = "cube"
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self.marker.type = self.marker.CUBE
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self.marker.action = self.marker.ADD
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self.marker.scale.x = 0.04
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self.marker.scale.y = 0.04
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self.marker.scale.z = 0.04
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self.marker.color.a = 1.0
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self.marker.color.g = 1.0
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self.marker.color.r = 1.0
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# marker position initial
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self.marker.pose.position.x = 0
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self.marker.pose.position.y = 0
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self.marker.pose.position.z = 0.03
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self.marker.pose.orientation.x = 0
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self.marker.pose.orientation.y = 0
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self.marker.pose.orientation.z = 0
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self.marker.pose.orientation.w = 1.0
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# publish marker
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def pub_marker(self, x, y, z=0.03):
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self.marker.header.stamp = rospy.Time.now()
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self.marker.pose.position.x = x
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self.marker.pose.position.y = y
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self.marker.pose.position.z = z
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self.marker.color.g = self.color
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self.pub.publish(self.marker)
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# pump_control pi
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def gpio_status(self, flag):
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if flag:
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self.GPIO.output(20, 0)
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self.GPIO.output(21, 0)
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else:
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self.GPIO.output(20, 1)
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self.GPIO.output(21, 1)
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# 开启吸泵 m5
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def pump_on(self):
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# 让2号位工作
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self.mc.set_basic_output(2, 0)
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# 让5号位工作
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self.mc.set_basic_output(5, 0)
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# 停止吸泵 m5
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def pump_off(self):
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# 让2号位停止工作
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self.mc.set_basic_output(2, 1)
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# 让5号位停止工作
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self.mc.set_basic_output(5, 1)
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# Grasping motion
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def move(self, x, y, color):
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# send Angle to move 600
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print(color)
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self.mc.send_angles(self.move_angles[0], 30)
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time.sleep(4)
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# send coordinates to move 600
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self.mc.send_coords([x, y, 140, 179.12, -0.18, 179.46], 30, 0)
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time.sleep(3)
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self.pub_marker(x/1000.0, y/1000.0, 140/1000.0)
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self.mc.send_coords([x, y, 95, 179.12, -0.18, 179.46], 30, 0) # -178.77, -2.69, 40.15
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# self.mc.send_coords([x, y, 90, 179.12, -0.18, 179.46], 30, 0) # -178.77, -2.69, 40.15
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time.sleep(3)
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self.pub_marker(x/1000.0, y/1000.0, 90/1000.0)
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# open pump
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if "dev" in self.robot_m5:
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self.pump_on()
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elif "dev" in self.robot_raspi or "dev" in self.robot_jes:
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self.gpio_status(True)
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time.sleep(1.5)
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tmp = []
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while True:
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if not tmp:
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tmp = self.mc.get_angles()
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else:
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break
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time.sleep(0.5)
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# print(tmp)
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self.mc.send_angles([tmp[0], 17.22, -32.51, tmp[3], 97, tmp[5]],30)
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time.sleep(3)
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self.mc.send_coords(self.move_coords[color], 30, 1)
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self.pub_marker(self.move_coords[color][0]/1000.0,
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self.move_coords[color][1]/1000.0,
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self.move_coords[color][2]/1000.0)
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time.sleep(3)
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# close pump
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if "dev" in self.robot_m5:
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self.pump_off()
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elif "dev" in self.robot_raspi or "dev" in self.robot_jes:
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self.gpio_status(False)
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time.sleep(6)
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if color == 1:
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self.pub_marker(
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self.move_coords[color][0]/1000.0+0.04, self.move_coords[color][1]/1000.0-0.02)
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elif color == 0:
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self.pub_marker(
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self.move_coords[color][0]/1000.0+0.03, self.move_coords[color][1]/1000.0)
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self.mc.send_angles(self.move_angles[1], 30)
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time.sleep(1.5)
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# decide whether grab cube
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def decide_move(self, x, y, color):
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print(x, y, self.cache_x, self.cache_y)
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# detect the cube status move or run
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if (abs(x - self.cache_x) + abs(y - self.cache_y)) / 2 > 5: # mm
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self.cache_x, self.cache_y = x, y
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return
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else:
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self.cache_x = self.cache_y = 0
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# 调整吸泵吸取位置，y增大,向左移动;y减小,向右移动;x增大,前方移动;x减小,向后方移动
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self.move(x, y, color)
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# init 600
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def run(self):
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if "dev" in self.robot_m5:
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self.mc = MyCobot(self.robot_m5, 115200)
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elif "dev" in self.robot_raspi:
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self.mc = MyCobot(self.robot_raspi, 1000000)
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if not self.raspi:
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self.pub_pump(False, self.Pin)
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self.mc.send_angles([-33.31, 2.02, -10.72, -0.08, 95, -54.84], 30)
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||
time.sleep(3)
|
||
|
||
# draw aruco
|
||
def draw_marker(self, img, x, y):
|
||
# draw rectangle on img
|
||
cv2.rectangle(
|
||
img,
|
||
(x - 20, y - 20),
|
||
(x + 20, y + 20),
|
||
(0, 255, 0),
|
||
thickness=2,
|
||
lineType=cv2.FONT_HERSHEY_COMPLEX,
|
||
)
|
||
# add text on rectangle
|
||
cv2.putText(img, "({},{})".format(x, y), (x, y),
|
||
cv2.FONT_HERSHEY_COMPLEX_SMALL, 1, (243, 0, 0), 2,)
|
||
|
||
# get points of two aruco
|
||
def get_calculate_params(self, img):
|
||
# Convert the image to a gray image
|
||
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
|
||
# Detect ArUco marker.
|
||
corners, ids, rejectImaPoint = cv2.aruco.detectMarkers(
|
||
gray, self.aruco_dict, parameters=self.aruco_params
|
||
)
|
||
|
||
"""
|
||
Two Arucos must be present in the picture and in the same order.
|
||
There are two Arucos in the Corners, and each aruco contains the pixels of its four corners.
|
||
Determine the center of the aruco by the four corners of the aruco.
|
||
"""
|
||
if len(corners) > 0:
|
||
if ids is not None:
|
||
if len(corners) <= 1 or ids[0] == 1:
|
||
return None
|
||
x1 = x2 = y1 = y2 = 0
|
||
point_11, point_21, point_31, point_41 = corners[0][0]
|
||
x1, y1 = int((point_11[0] + point_21[0] + point_31[0] + point_41[0]) / 4.0), int(
|
||
(point_11[1] + point_21[1] + point_31[1] + point_41[1]) / 4.0)
|
||
point_1, point_2, point_3, point_4 = corners[1][0]
|
||
x2, y2 = int((point_1[0] + point_2[0] + point_3[0] + point_4[0]) / 4.0), int(
|
||
(point_1[1] + point_2[1] + point_3[1] + point_4[1]) / 4.0)
|
||
return x1, x2, y1, y2
|
||
return None
|
||
|
||
# set camera clipping parameters
|
||
def set_cut_params(self, x1, y1, x2, y2):
|
||
self.x1 = int(x1)
|
||
self.y1 = int(y1)
|
||
self.x2 = int(x2)
|
||
self.y2 = int(y2)
|
||
print(self.x1, self.y1, self.x2, self.y2)
|
||
|
||
# set parameters to calculate the coords between cube and 600
|
||
def set_params(self, c_x, c_y, ratio):
|
||
self.c_x = c_x
|
||
self.c_y = c_y
|
||
self.ratio = 220.0/ratio
|
||
|
||
# calculate the coords between cube and 600
|
||
def get_position(self, x, y):
|
||
return ((y - self.c_y)*self.ratio + self.camera_x), ((x - self.c_x)*self.ratio + self.camera_y)
|
||
|
||
"""
|
||
Calibrate the camera according to the calibration parameters.
|
||
Enlarge the video pixel by 1.5 times, which means enlarge the video size by 1.5 times.
|
||
If two ARuco values have been calculated, clip the video.
|
||
"""
|
||
def transform_frame(self, frame):
|
||
# enlarge the image by 1.5 times
|
||
fx = 1.5
|
||
fy = 1.5
|
||
frame = cv2.resize(frame, (0, 0), fx=fx, fy=fy,
|
||
interpolation=cv2.INTER_CUBIC)
|
||
if self.x1 != self.x2:
|
||
# the cutting ratio here is adjusted according to the actual situation
|
||
frame = frame[int(self.y2*0.2):int(self.y1*1.15),
|
||
int(self.x1*0.7):int(self.x2*1.15)]
|
||
return frame
|
||
|
||
# detect cube color
|
||
def color_detect(self, img):
|
||
# set the arrangement of color'HSV
|
||
x = y = 0
|
||
for mycolor, item in self.HSV.items():
|
||
# print("mycolor:",mycolor)
|
||
redLower = np.array(item[0])
|
||
redUpper = np.array(item[1])
|
||
|
||
# transfrom the img to model of gray
|
||
hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
|
||
# print("hsv",hsv)
|
||
|
||
# wipe off all color expect color in range
|
||
mask = cv2.inRange(hsv, item[0], item[1])
|
||
|
||
# a etching operation on a picture to remove edge roughness
|
||
erosion = cv2.erode(mask, np.ones((1, 1), np.uint8), iterations=2)
|
||
|
||
# the image for expansion operation, its role is to deepen the color depth in the picture
|
||
dilation = cv2.dilate(erosion, np.ones(
|
||
(1, 1), np.uint8), iterations=2)
|
||
|
||
# adds pixels to the image
|
||
target = cv2.bitwise_and(img, img, mask=dilation)
|
||
|
||
# the filtered image is transformed into a binary image and placed in binary
|
||
ret, binary = cv2.threshold(dilation, 127, 255, cv2.THRESH_BINARY)
|
||
|
||
# get the contour coordinates of the image, where contours is the coordinate value, here only the contour is detected
|
||
contours, hierarchy = cv2.findContours(
|
||
dilation, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
|
||
|
||
if len(contours) > 0:
|
||
# do something about misidentification
|
||
boxes = [
|
||
box
|
||
for box in [cv2.boundingRect(c) for c in contours]
|
||
if min(img.shape[0], img.shape[1]) / 10
|
||
< min(box[2], box[3])
|
||
< min(img.shape[0], img.shape[1]) / 1
|
||
]
|
||
if boxes:
|
||
for box in boxes:
|
||
x, y, w, h = box
|
||
# find the largest object that fits the requirements
|
||
c = max(contours, key=cv2.contourArea)
|
||
# get the lower left and upper right points of the positioning object
|
||
x, y, w, h = cv2.boundingRect(c)
|
||
# locate the target by drawing rectangle
|
||
cv2.rectangle(img, (x, y), (x+w, y+h), (153, 153, 0), 2)
|
||
# calculate the rectangle center
|
||
x, y = (x*2+w)/2, (y*2+h)/2
|
||
# calculate the real coordinates of 600 relative to the target
|
||
|
||
if mycolor == "red":
|
||
self.color = 0
|
||
elif mycolor == "green":
|
||
self.color = 1
|
||
elif mycolor == "cyan":
|
||
self.color = 2
|
||
else:
|
||
self.color = 3
|
||
|
||
if abs(x) + abs(y) > 0:
|
||
return x, y
|
||
else:
|
||
return None
|
||
|
||
if __name__ == "__main__":
|
||
|
||
# open the camera
|
||
cap_num = 0
|
||
cap = cv2.VideoCapture(cap_num, cv2.CAP_V4L)
|
||
if not cap.isOpened():
|
||
cap.open()
|
||
# init a class of Object_detect
|
||
detect = Object_detect()
|
||
# init 600
|
||
detect.run()
|
||
|
||
_init_ = 20
|
||
init_num = 0
|
||
nparams = 0
|
||
num = 0
|
||
real_sx = real_sy = 0
|
||
while cv2.waitKey(1) < 0:
|
||
# read camera
|
||
_, frame = cap.read()
|
||
# deal img
|
||
frame = detect.transform_frame(frame)
|
||
if _init_ > 0:
|
||
_init_ -= 1
|
||
continue
|
||
|
||
# calculate the parameters of camera clipping
|
||
if init_num < 20:
|
||
if detect.get_calculate_params(frame) is None:
|
||
cv2.imshow("figure", frame)
|
||
continue
|
||
else:
|
||
x1, x2, y1, y2 = detect.get_calculate_params(frame)
|
||
detect.draw_marker(frame, x1, y1)
|
||
detect.draw_marker(frame, x2, y2)
|
||
detect.sum_x1 += x1
|
||
detect.sum_x2 += x2
|
||
detect.sum_y1 += y1
|
||
detect.sum_y2 += y2
|
||
init_num += 1
|
||
continue
|
||
elif init_num == 20:
|
||
detect.set_cut_params(
|
||
(detect.sum_x1)/20.0,
|
||
(detect.sum_y1)/20.0,
|
||
(detect.sum_x2)/20.0,
|
||
(detect.sum_y2)/20.0,
|
||
)
|
||
detect.sum_x1 = detect.sum_x2 = detect.sum_y1 = detect.sum_y2 = 0
|
||
init_num += 1
|
||
continue
|
||
|
||
# calculate params of the coords between cube and 600
|
||
if nparams < 10:
|
||
if detect.get_calculate_params(frame) is None:
|
||
cv2.imshow("figure", frame)
|
||
continue
|
||
else:
|
||
x1, x2, y1, y2 = detect.get_calculate_params(frame)
|
||
detect.draw_marker(frame, x1, y1)
|
||
detect.draw_marker(frame, x2, y2)
|
||
detect.sum_x1 += x1
|
||
detect.sum_x2 += x2
|
||
detect.sum_y1 += y1
|
||
detect.sum_y2 += y2
|
||
nparams += 1
|
||
continue
|
||
elif nparams == 10:
|
||
nparams += 1
|
||
# calculate and set params of calculating real coord between cube and 600
|
||
detect.set_params(
|
||
(detect.sum_x1+detect.sum_x2)/20.0,
|
||
(detect.sum_y1+detect.sum_y2)/20.0,
|
||
abs(detect.sum_x1-detect.sum_x2)/10.0 +
|
||
abs(detect.sum_y1-detect.sum_y2)/10.0
|
||
)
|
||
print("ok")
|
||
continue
|
||
|
||
# get detect result
|
||
detect_result = detect.color_detect(frame)
|
||
if detect_result is None:
|
||
cv2.imshow("figure", frame)
|
||
continue
|
||
else:
|
||
x, y = detect_result
|
||
# calculate real coord between cube and 600
|
||
real_x, real_y = detect.get_position(x, y)
|
||
if num == 20:
|
||
detect.pub_marker(real_sx/20.0/1000.0, real_sy/20.0/1000.0)
|
||
detect.decide_move(real_sx/20.0, real_sy/20.0, detect.color)
|
||
num = real_sx = real_sy = 0
|
||
|
||
else:
|
||
num += 1
|
||
real_sy += real_y
|
||
real_sx += real_x
|
||
|
||
cv2.imshow("figure", frame)
|
||
|
||
# close the window
|
||
if cv2.waitKey(1) & 0xFF == ord('q'):
|
||
cap.release()
|
||
cv2.destroyAllWindows()
|
||
sys.exit() |