mineworld.py

#! /usr/bin/env python3

# Copyright (c) 2022-present, Polymath Robotics, Inc.
# Example mineworld UI for using the Caladan API in Python
# Designed as a simple teaching example, not feature complete or fully robust.

import time  # used for sleep
import math  # used for some basic trigonometry
import PySimpleGUI as sg  # used for the Gui
import caladan_api  # example API library
import config.mineworld_config as mineworld_config  # simple convenience, used to store config values

url = mineworld_config.api_url
token = mineworld_config.token
key = mineworld_config.key
scale = 400000.0  # Used to change drawing scale of the map
font = ("Courier New", 7)
latdiff = abs(mineworld_config.latlon_map[0][0] - mineworld_config.latlon_map[1][0])
londiff = abs(mineworld_config.latlon_map[0][1] - mineworld_config.latlon_map[1][1])
api = caladan_api.SimpleAPI("", "", "")  # Init to avoid flake8 issues

sg.theme("DarkGrey10")
layout = [
    [sg.Text("Please provide Token and Key below", key="-PROMPT-")],
    [sg.Input(token)],
    [sg.Input(key)],
    [sg.Button("Connect"), sg.Text("", key="-VEL-"), sg.Text("", key="-POSE-")],
    [
        sg.Graph(
            canvas_size=(londiff * scale, latdiff * scale),
            graph_bottom_left=(0, 0),
            graph_top_right=(londiff * scale, latdiff * scale),
            background_color="#1C1E23",
            enable_events=True,
            key="graph",
        )
    ],
    [
        sg.Button("Return to Equipment Shed"),
        sg.Button("STOP", button_color=("white", "red")),
        sg.Text("", key="-STATUS-", size=(45, None)),
    ],
    [
        sg.Button(mineworld_config.button_a[0]),
        sg.Button(mineworld_config.button_b[0]),
        sg.Button(mineworld_config.button_c[0]),
    ],
    [
        sg.Button(mineworld_config.button_d[0]),
        sg.Button(mineworld_config.button_e[0]),
        sg.Button(mineworld_config.button_f[0]),
        sg.Button(mineworld_config.button_g[0]),
    ],
]


window = sg.Window(
    "Polymath Robotics Caladan mineworld Example",
    layout,
    icon="./images/icon.png",
    finalize=True,
)
graph = window["graph"]


def latlon_to_pixelXY(lat, lon):
    return (
        -scale * (mineworld_config.latlon_map[0][1] - lon),
        -scale * (mineworld_config.latlon_map[0][0] - lat),
    )


def pixelXY_to_latlon(x, y):
    return (
        mineworld_config.latlon_map[0][0] + y / scale,
        mineworld_config.latlon_map[0][1] + x / scale,
    )


def send_goal(lat, lon, yaw):
    x, y = latlon_to_pixelXY(lat, lon)
    graph.draw_circle((x, y), 3, fill_color="#1C1E23", line_color="red")
    graph.DrawText(
        text=(round(lat, 5), round(lon, 5)),
        location=(x, y - 7),
        font=font,
        color="white",
    )
    api.send_gps_goal(lat, lon, yaw)


def update_loop():
    while True:
        mineworld_config.stat = api.goal_status()
        mineworld_config.odom = api.pose_with_odometry()
        if "orientation" in mineworld_config.odom:
            quat = mineworld_config.odom["orientation"]
            mineworld_config.odom["orientation"] = math.atan2(
                2.0 * (quat["w"] * quat["z"]), 1.0 - 2.0 * (quat["z"] * quat["z"])
            )
            window.write_event_value("-UPDATE-", "updated")
        else:
            print(mineworld_config.odom)
        time.sleep(1.2)


def tolerance_check(goal, tol):
    if (
        abs(mineworld_config.odom["position"]["latitude"] - goal[0]) < tol
        and abs(mineworld_config.odom["position"]["longitude"] - goal[1]) < tol
    ):
        return True
    else:
        return False


def bulldoze():
    while True:  # Cancelled by the STOP button, as this cancels any goal
        graph_clean()
        for goal in mineworld_config.bulldoze:
            send_goal(*goal)
            while not tolerance_check(goal, 0.00003):
                time.sleep(0.5)


def dump():
    while True:  # Cancelled by the STOP button, as this cancels any goal
        graph_clean()
        for goal in mineworld_config.dump:
            send_goal(*goal)
            while not tolerance_check(goal, 0.00003):
                time.sleep(0.5)


def graph_clean():
    graph.Erase()
    graph.DrawImage(filename="./images/mineworld.png", location=(0, latdiff * scale))


graph_clean()

while True:  # Main UI Loop
    event, values = window.read()

    if event == sg.WIN_CLOSED:  # Handle closing window
        break

    # Only update and accept other commands if already connected
    if window["Connect"].get_text() == "Connected":
        window["-VEL-"].update(
            str(round(mineworld_config.odom["odometry"]["linear.x"], 2)) + " m/s  "
        )
        current_pose = (
            "lat: "
            + str(round(mineworld_config.odom["position"]["latitude"], 6))
            + " lon: "
            + str(round(mineworld_config.odom["position"]["longitude"], 6))
            + " angle: "
            + str(round(mineworld_config.odom["orientation"], 3))
        )
        window["-POSE-"].update(current_pose)
        window["-STATUS-"].update(mineworld_config.stat)
        draw_pose = latlon_to_pixelXY(
            mineworld_config.odom["position"]["latitude"],
            mineworld_config.odom["position"]["longitude"],
        )
        position = graph.draw_circle(
            draw_pose, 3, fill_color="#1C1E23", line_color="white"
        )

        if event == "Return to Equipment Shed":
            graph_clean()
            send_goal(*mineworld_config.shed_goal)

        if event == "STOP":
            graph_clean()
            api.cancel_prev_goal()

        if event == mineworld_config.button_a[0]:
            graph_clean()
            send_goal(*mineworld_config.button_a[1:])

        if event == mineworld_config.button_b[0]:
            graph_clean()
            send_goal(*mineworld_config.button_b[1:])

        if event == mineworld_config.button_c[0]:
            graph_clean()
            send_goal(*mineworld_config.button_c[1:])

        if event == mineworld_config.button_d[0]:
            graph_clean()
            window.perform_long_operation(bulldoze, "-bulldoze DONE-")

        if event == mineworld_config.button_e[0]:
            graph_clean()
            window.perform_long_operation(dump, "-dump DONE-")

        if event == mineworld_config.button_f[0]:
            graph_clean()
            send_goal(
                mineworld_config.odom["position"]["latitude"],
                mineworld_config.odom["position"]["longitude"],
                mineworld_config.button_f[1],
            )

        if event == mineworld_config.button_g[0]:
            graph_clean()
            send_goal(
                mineworld_config.odom["position"]["latitude"],
                mineworld_config.odom["position"]["longitude"],
                mineworld_config.button_g[1],
            )

        if event == "graph":
            graph_clean()
            x, y = values["graph"]
            lat, lon = pixelXY_to_latlon(x, y)
            send_goal(
                lat, lon, yaw=0
            )  # NOTE: Clicking on the map always sends orientation 0!

    if event == "Connect":  # First time clicking the connect button, check we get UUID
        api = caladan_api.SimpleAPI(url, values[1], values[0])
        uuid_response = api.get_uuid()
        if "uuid" in uuid_response:
            window["-PROMPT-"].update(
                "Successfully connected to vehicle " + uuid_response["uuid"]
            )
            window["Connect"].update(button_color=("black", "green"))
            window.perform_long_operation(update_loop, "-OPERATION DONE-")
            window["Connect"].update("Connected")
            graph_clean()
        else:
            window["-PROMPT-"].update(
                uuid_response
            )  # otherwise, print returned error message

window.close()