Example of catching a robot doing a rectangle

examples/area_goals/app.py

@@ -7,7 +7,6 @@
 from commlib.msg import PubSubMessage, MessageHeader
 from pydantic import Field
 from commlib.node import Node
-from commlib.transports.mqtt import ConnectionParameters
 
 
 """_summary_
@@ -25,7 +24,7 @@ class PoseMessage(PubSubMessage):
 
 
 class Robot(Node):
-    def __init__(self, name, connection_params, pose_uri, velocity=0.5,
+    def __init__(self, name, connection_params, pose_uri, velocity=1,
                  *args, **kwargs):
         self.name = name
         self.pose = PoseMessage()
@@ -70,6 +69,15 @@ def publish_pose(self, x, y):
 
 
 if __name__ == '__main__':
+    if len(sys.argv) != 2:
+        from commlib.transports.redis import ConnectionParameters
+    elif sys.argv[1] == "redis":
+        from commlib.transports.redis import ConnectionParameters
+    elif sys.argv[1] == "mqtt":
+        from commlib.transports.mqtt import ConnectionParameters
+    elif sys.argv[1] == "amqp":
+        from commlib.transports.amqp import ConnectionParameters
+
     conn_params = ConnectionParameters(reconnect_attempts=0)
 
     robot_1 = Robot(name='robot_1', connection_params=conn_params,

examples/do_rectangle/app.py

@@ -0,0 +1,95 @@
+#!/usr/bin/env python
+
+import sys
+import time
+from typing import Dict
+
+from commlib.msg import PubSubMessage, MessageHeader
+from pydantic import Field
+from commlib.node import Node
+
+
+"""_summary_
+This example demonstrates how to create a simple robot that moves to a specific position.
+The robot's position is published to the `robot_1.pose` topic.
+"""
+
+
+class PoseMessage(PubSubMessage):
+    # header: MessageHeader = MessageHeader()
+    position: Dict[str, float] = Field(
+        default_factory=lambda: {'x': 0.0, 'y': 0.0, 'z': 0.0})
+    orientation: Dict[str, float] = Field(
+        default_factory=lambda: {'x': 0.0, 'y': 0.0, 'z': 0.0})
+
+
+class Robot(Node):
+    def __init__(self, name, connection_params, pose_uri, velocity=2,
+                 *args, **kwargs):
+        self.name = name
+        self.pose = PoseMessage()
+        self.pose_uri = pose_uri
+        self.velocity = velocity
+        super().__init__(node_name=name, connection_params=connection_params,
+                         *args, **kwargs)
+        self.pose_pub = self.create_publisher(msg_type=PoseMessage,
+                                              topic=self.pose_uri)
+
+    def move(self, x, y, interval=0.5):
+        vel = self.velocity
+        current_x = self.pose.position['x']
+        current_y = self.pose.position['y']
+        distance = ((x - current_x)**2 + (y - current_y)**2)**0.5
+        distance_x = x - current_x
+        distance_y = y - current_y
+        steps_x = abs(distance_x) / vel
+        steps_y = abs(distance_y) / vel
+        direction_x = 1 if distance_x > 0 else -1
+        direction_y = 1 if distance_y > 0 else -1
+
+        for _ in range(int(steps_x / interval)):
+            current_x += vel * direction_x * interval
+            # current_x += vel * direction_x * interval
+            distance = ((x - current_x)**2 + (y - current_y)**2)**0.5
+            self.publish_pose(current_x, current_y)
+            print(f'Current position: x={current_x:.2f}, y={current_y:.2f}')
+            print(f'Distance to target: {distance:.2f}')
+            time.sleep(interval)
+        for _ in range(int(steps_y / interval)):
+            current_y += vel * direction_y * interval
+            distance = ((x - current_x)**2 + (y - current_y)**2)**0.5
+            self.publish_pose(current_x, current_y)
+            print(f'Current position: x={current_x:.2f}, y={current_y:.2f}')
+            print(f'Distance to target: {distance:.2f}')
+            time.sleep(interval)
+
+    def publish_pose(self, x, y):
+        self.pose.position['x'] = x
+        self.pose.position['y'] = y
+        self.pose_pub.publish(self.pose)
+
+
+if __name__ == '__main__':
+    if len(sys.argv) != 2:
+        from commlib.transports.redis import ConnectionParameters
+    elif sys.argv[1] == "redis":
+        from commlib.transports.redis import ConnectionParameters
+    elif sys.argv[1] == "mqtt":
+        from commlib.transports.mqtt import ConnectionParameters
+    elif sys.argv[1] == "amqp":
+        from commlib.transports.amqp import ConnectionParameters
+
+    conn_params = ConnectionParameters(reconnect_attempts=0)
+
+    robot_1 = Robot(name='robot_1', connection_params=conn_params,
+                    pose_uri='robot_1.pose', heartbeats=False)
+
+    try:
+        robot_1.run()
+        robot_1.move(5, 0)
+        robot_1.move(5, 5)
+        robot_1.move(0, 5)
+        robot_1.move(0, 0)
+        robot_1.stop()
+    except KeyboardInterrupt:
+        robot_1.stop()

examples/do_rectangle/scenario.goal

@@ -0,0 +1,82 @@
+Broker<MQTT> LocsysMQTT
+    host: 'locsys.issel.ee.auth.gr'
+    port: 8883
+    ssl: true
+    auth:
+        username: 'sensors'
+        password: 'issel.sensors'
+end
+
+Broker<MQTT> HomeMQTT
+    host: 'localhost'
+    port: 1883
+    auth:
+        username: ''
+        password: ''
+end
+
+Broker<Redis> LocalRedis
+    host: 'localhost'
+    port: 6379
+    ssl: false
+    auth:
+        username: ''
+        password: ''
+end
+
+Entity Robot1Pose
+    type: sensor
+    topic: 'robot_1.pose'
+    source: LocalRedis
+    attributes:
+        - position: dict
+        - orientation: dict
+end
+
+Entity Robot2Pose
+    type: sensor
+    topic: 'robot_2.pose'
+    source: LocalRedis
+    attributes:
+        - position: dict
+        - orientation: dict
+end
+
+Goal<CircularArea> Goal_1
+    center: Point3D(5, 0, 0)
+    radius: 0.2
+    tag: ENTER
+end
+
+Goal<CircularArea> Goal_2
+    center: Point3D(5, 5, 0)
+    radius: 0.2
+    tag: ENTER
+end
+
+Goal<CircularArea> Goal_3
+    center: Point3D(0, 5, 0)
+    radius: 0.2
+    tag: ENTER
+end
+
+Goal<CircularArea> Goal_4
+    center: Point3D(0, 0, 0)
+    radius: 0.2
+    tag: ENTER
+end
+
+RTMonitor
+    broker: LocalRedis
+    eventTopic: "goaldsl.{U_ID}.event"
+    logsTopic: "goaldsl.{U_ID}.log"
+end
+
+Scenario DoRectangleScenario
+    goals:
+        - Goal_1
+        - Goal_2
+        - Goal_3
+        - Goal_4
+    concurrent: False
+end

goal_dsl/codegen.py

@@ -48,7 +48,6 @@ def generate(model_fpath: str,
         goals = [goal.goal for goal in wgoals]
 
         goals = process_goals(goals)
-        scenario.scoreWeights = [goal.weight for goal in wgoals]
 
         out_file = path.join(out_dir, f"{scenario.name}.py")
         with open(path.join(out_file), 'w') as f:
@@ -80,7 +79,6 @@ def generate_str(model_str: str):
 
         set_defaults(scenario, rtmonitor, wgoals)
         goals = process_goals([goal.goal for goal in wgoals])
-        scenario.scoreWeights = [goal.weight for goal in wgoals]
 
         code = template.render(rtmonitor=rtmonitor,
                                scenario=scenario,