Merge branch 'base/RL' into feature/RL

.github/workflows/main.yml

@@ -189,4 +189,31 @@ jobs:
 
     - name: Print doxygen warnings
       if: ${{ failure() }}
-      run: cat ./doc/doxygen/doxygen_warnings.txt
+      run: cat ./doc/doxygen/doxygen_warnings.txt
+
+  # Lint Python code
+  lint:
+    # The type of runner that the job will run on.
+    runs-on: ubuntu-latest
+    needs: intro
+    strategy:
+      matrix:
+        python-version: ["3.9", "3.10", "3.11"]
+
+    # Steps represent a sequence of tasks that will be executed as part of the job.
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Set up Python ${{ matrix.python-version }}
+        uses: actions/setup-python@v5
+        with:
+          python-version: ${{ matrix.python-version }}
+
+      - name: Install dependencies
+        run: |
+          pip install pylint
+
+      - name: Analysing the code with pylint
+        run: |
+          pylint ./webots/controllers/*/*.py

.gitignore

@@ -8,4 +8,5 @@ lib/Webots
 *.wbproj
 webots/worlds/*.jpg
 doc/doxygen/*/*
-__pycache__
+__pycache__
+tmp/

lib/APPLineFollower/src/StartupState.cpp

@@ -97,10 +97,10 @@ void StartupState::process(StateMachine& sm)
     Board&   board   = Board::getInstance();
     IButton& buttonA = board.getButtonA();
 
-    /* Start line sensor calibration? */
+    /* Start motor calibration? */
     if (true == Util::isButtonTriggered(buttonA, m_isButtonAPressed))
     {
-        sm.setState(&LineSensorsCalibrationState::getInstance());
+        sm.setState(&MotorSpeedCalibrationState::getInstance());
     }
 
     /* If the max. motor speed calibration is done, it will be possible to

webots/controllers/Obstacle/Obstacle.py → webots/controllers/Obstacle/obstacle.py

@@ -1,7 +1,7 @@
 """ Controller for Obstacle proto."""
 
 import sys
-from controller import Robot
+from controller import Robot  # pylint: disable=import-error
 
 # Debounce time of collision in seconds.
 DEBOUNCE_TIME = 1

webots/controllers/Supervisor/robot_observer.py

@@ -4,14 +4,16 @@
 
 import math
 
+
 class RobotObserver():
     """The robot observer provides position and orientation information
         about a robot by using a supervisor.
     """
+
     def __init__(self, robot_node):
         self._robot_node = robot_node
-        self._ref_position = [0, 0, 0] # x, y, z
-        self._ref_orientation_euler = [0, 0, 0, 0] # roll, pitch and yaw angle
+        self._ref_position = [0, 0, 0]  # x, y, z
+        self._ref_orientation_euler = [0, 0, 0, 0]  # roll, pitch and yaw angle
         self._factor_m_to_mm = 1000
 
     def _get_position(self):
@@ -133,6 +135,7 @@ def rad_to_deg(angle_rad):
     """
     return angle_rad * 180 / math.pi
 
+
 def has_position_changed(position, position_old):
     """Returns whether the position changed.
 
@@ -152,6 +155,7 @@ def has_position_changed(position, position_old):
 
     return has_changed
 
+
 def has_orientation_changed(orientation, orientation_old):
     """Returns whether the orientation changed.
 

webots/controllers/platoon_supervisor/platoon_supervisor.py

@@ -0,0 +1,88 @@
+""" Platoon Supervisor controller for Webots. 
+Moves the obstacle up and down when the space key is pressed. """
+
+import sys
+from controller import Supervisor  # pylint: disable=import-error
+
+DEBOUNCE_TIME = 0.2  # Debounce time for the spacebar in seconds
+OBSTACLE_NAME = "OBSTACLE"  # Name of the obstacle node
+TRANSLATION_FIELD = "translation"  # Field name for the translation
+
+RAISED_HEIGHT = 0.4  # Active height in meters
+LOWERED_HEIGHT = 0.06  # Rest height in meters
+
+# Create the Supervisor instance.
+supervisor = Supervisor()
+
+# Get the keyboard device
+keyboard = supervisor.getKeyboard()
+
+
+def main_loop():
+    """Main loop:
+        - Perform simulation steps until Webots is stopping the controller-
+
+    Returns:
+        number: Status
+    """
+
+    status = 0
+
+    # Get the obstacle node
+    obstacle_node = supervisor.getFromDef(OBSTACLE_NAME)
+
+    if obstacle_node is None:
+
+        print(f"Robot DEF {OBSTACLE_NAME} not found.")
+        status = -1
+
+    else:
+        # Get the translation field of the obstacle node
+        translation_field = obstacle_node.getField(TRANSLATION_FIELD)
+
+        if translation_field is None:
+            print(
+                f"Translation field {TRANSLATION_FIELD} of {OBSTACLE_NAME} not found.")
+            status = -1
+
+    if status == 0:
+        # Get the time step of the current world.
+        timestep = int(supervisor.getBasicTimeStep())
+
+        # Enable the keyboard device
+        keyboard.enable(timestep)
+
+        # Get current time for debouncing
+        last_time = supervisor.getTime()
+
+        # Set the initial state to raised obstacle
+        is_obstacle_lowered = False
+        curr_pos = translation_field.getSFVec3f()
+        translation_field.setSFVec3f(
+            [curr_pos[0], curr_pos[1], RAISED_HEIGHT])
+
+        while supervisor.step(timestep) != -1:
+            if keyboard.getKey() == ord(' '):  # If space key is pressed
+                if (supervisor.getTime() - last_time) > DEBOUNCE_TIME:  # Debounce space key
+
+                    # Update last time
+                    last_time = supervisor.getTime()
+
+                    # Get the current position of the obstacle
+                    curr_pos = translation_field.getSFVec3f()
+
+                    # Move the obstacle
+                    if is_obstacle_lowered is True:  # Raise the obstacle
+                        translation_field.setSFVec3f(
+                            [curr_pos[0], curr_pos[1], RAISED_HEIGHT])
+                    else:  # Lower the obstacle
+                        translation_field.setSFVec3f(
+                            [curr_pos[0], curr_pos[1], LOWERED_HEIGHT])
+
+                    # Toggle the obstacle state
+                    is_obstacle_lowered = not is_obstacle_lowered
+
+    return status
+
+
+sys.exit(main_loop())

webots/protos/Obstacle.proto

@@ -35,6 +35,6 @@ PROTO Obstacle [
     ]
     name IS name
     boundingObject USE BODY
-    controller "Obstacle"
+    controller "obstacle"
   }
 }