├── config ├── ___init__.py ├── farmworld_config.py ├── portworld_config.py └── mineworld_config.py ├── requirements.txt ├── .flake8 ├── images ├── icon.png ├── farmworld.png ├── mineworld.png ├── portworld.png ├── farmworld_screenshot.png ├── mineworld_screenshot.png └── portworld_screenshot.png ├── .github ├── workflows │ ├── pull_request.yml │ ├── ci.yml │ └── push.yml ├── ISSUE_TEMPLATE.md └── PULL_REQUEST_TEMPLATE.md ├── .gitignore ├── caladan_api.py ├── README.md ├── portworld.py ├── farmworld.py ├── mineworld.py └── LICENSE /config/___init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /requirements.txt: -------------------------------------------------------------------------------- 1 | requests>=2.22.0 2 | pysimplegui>=4.50.0 3 | -------------------------------------------------------------------------------- /.flake8: -------------------------------------------------------------------------------- 1 | [flake8] 2 | max-line-length = 88 3 | extend-ignore = E203,E501 4 | -------------------------------------------------------------------------------- /images/icon.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/polymathrobotics/caladan_examples/HEAD/images/icon.png -------------------------------------------------------------------------------- /images/farmworld.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/polymathrobotics/caladan_examples/HEAD/images/farmworld.png -------------------------------------------------------------------------------- /images/mineworld.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/polymathrobotics/caladan_examples/HEAD/images/mineworld.png -------------------------------------------------------------------------------- /images/portworld.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/polymathrobotics/caladan_examples/HEAD/images/portworld.png -------------------------------------------------------------------------------- /images/farmworld_screenshot.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/polymathrobotics/caladan_examples/HEAD/images/farmworld_screenshot.png -------------------------------------------------------------------------------- /images/mineworld_screenshot.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/polymathrobotics/caladan_examples/HEAD/images/mineworld_screenshot.png -------------------------------------------------------------------------------- /images/portworld_screenshot.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/polymathrobotics/caladan_examples/HEAD/images/portworld_screenshot.png -------------------------------------------------------------------------------- /.github/workflows/pull_request.yml: -------------------------------------------------------------------------------- 1 | name: 'PR' 2 | on: 3 | - pull_request 4 | jobs: 5 | preview: 6 | name: Preview 7 | runs-on: ubuntu-latest 8 | steps: 9 | - uses: actions/checkout@v3 10 | 11 | - name: Set up Python 3.8 12 | uses: actions/setup-python@v4 13 | with: 14 | python-version: 3.8 15 | 16 | - name: Install Black 17 | run: pip install black 18 | 19 | - name: Run Black 20 | uses: psf/black@stable 21 | with: 22 | src: "." 23 | 24 | - name: Install flake8 25 | run: pip install flake8 26 | 27 | - uses: TrueBrain/actions-flake8@v2 28 | with: 29 | path: . 30 | -------------------------------------------------------------------------------- /.github/workflows/ci.yml: -------------------------------------------------------------------------------- 1 | name: ci 2 | on: 3 | push: 4 | branches: [ main ] 5 | # Allows you to run this workflow manually from the Actions tab 6 | workflow_dispatch: 7 | jobs: 8 | update: 9 | name: Update 10 | runs-on: ubuntu-latest 11 | steps: 12 | - uses: actions/checkout@v3 13 | 14 | - name: Set up Python 3.8 15 | uses: actions/setup-python@v4 16 | with: 17 | python-version: 3.8 18 | 19 | - name: Install Black 20 | run: pip install black 21 | 22 | - name: Run Black 23 | uses: psf/black@stable 24 | with: 25 | src: "." 26 | 27 | - name: Install flake8 28 | run: pip install flake8 29 | 30 | - name: Run flake8 31 | uses: suo/flake8-github-action@releases/v1 32 | with: 33 | checkName: 'update' # NOTE: this needs to be the same as the job name 34 | env: 35 | GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} 36 | -------------------------------------------------------------------------------- /.github/workflows/push.yml: -------------------------------------------------------------------------------- 1 | name: push 2 | on: 3 | push: 4 | branches: [ main ] 5 | # Allows you to run this workflow manually from the Actions tab 6 | workflow_dispatch: 7 | jobs: 8 | update: 9 | name: Update 10 | runs-on: ubuntu-latest 11 | steps: 12 | - uses: actions/checkout@v3 13 | 14 | - name: Set up Python 3.8 15 | uses: actions/setup-python@v4 16 | with: 17 | python-version: 3.8 18 | 19 | - name: Install Black 20 | run: pip install black 21 | 22 | - name: Run Black 23 | uses: psf/black@stable 24 | with: 25 | src: "." 26 | 27 | - name: Install flake8 28 | run: pip install flake8 29 | 30 | - name: Run flake8 31 | uses: suo/flake8-github-action@releases/v1 32 | with: 33 | checkName: 'update' # NOTE: this needs to be the same as the job name 34 | env: 35 | GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} 36 | -------------------------------------------------------------------------------- /.github/ISSUE_TEMPLATE.md: -------------------------------------------------------------------------------- 1 | # Prerequisites 2 | 3 | Please answer the following questions for yourself before submitting an issue. **YOU MAY DELETE THE PREREQUISITES SECTION.** 4 | 5 | - [ ] I am running the latest version 6 | - [ ] I checked the documentation and found no answer 7 | - [ ] I checked to make sure that this issue has not already been filed 8 | - [ ] I'm reporting the issue to the correct repository (for multi-repository projects) 9 | 10 | # Expected Behavior 11 | 12 | Please describe the behavior you are expecting 13 | 14 | # Current Behavior 15 | 16 | What is the current behavior? 17 | 18 | # Failure Information (for bugs) 19 | 20 | Please help provide information about the failure if this is a bug. If it is not a bug, please remove the rest of this template. 21 | 22 | ## Steps to Reproduce 23 | 24 | Please provide detailed steps for reproducing the issue. 25 | 26 | 1. step 1 27 | 2. step 2 28 | 3. you get it... 29 | 30 | ## Context 31 | 32 | Please provide any relevant information about your setup. This is important in case the issue is not reproducible except for under certain conditions. 33 | 34 | * Firmware Version: 35 | * Operating System: 36 | * SDK version: 37 | * Toolchain version: 38 | 39 | ## Failure Logs 40 | 41 | Please include any relevant log snippets or files here. 42 | -------------------------------------------------------------------------------- /.github/PULL_REQUEST_TEMPLATE.md: -------------------------------------------------------------------------------- 1 | # Description 2 | 3 | Please include a summary of the change and which issue is fixed. Please also include relevant motivation and context. List any dependencies that are required for this change. 4 | 5 | Fixes # (issue) 6 | 7 | ## Type of change 8 | 9 | Please delete options that are not relevant. 10 | 11 | - [ ] Bug fix (non-breaking change which fixes an issue) 12 | - [ ] New feature (non-breaking change which adds functionality) 13 | - [ ] Breaking change (fix or feature that would cause existing functionality to not work as expected) 14 | - [ ] This change requires a documentation update 15 | 16 | # How Has This Been Tested? 17 | 18 | Please describe the tests that you ran to verify your changes. Provide instructions so we can reproduce. Please also list any relevant details for your test configuration 19 | 20 | - [ ] Test A 21 | - [ ] Test B 22 | 23 | **Test Configuration**: 24 | * Firmware version: 25 | * Hardware: 26 | * Toolchain: 27 | * SDK: 28 | 29 | # Checklist: 30 | 31 | - [ ] My code follows the style guidelines of this project 32 | - [ ] I have performed a self-review of my own code 33 | - [ ] I have commented my code, particularly in hard-to-understand areas 34 | - [ ] I have made corresponding changes to the documentation 35 | - [ ] My changes generate no new warnings 36 | - [ ] I have added tests that prove my fix is effective or that my feature works 37 | -------------------------------------------------------------------------------- /config/farmworld_config.py: -------------------------------------------------------------------------------- 1 | # Copyright (c) 2022-present, Polymath Robotics, Inc. 2 | # Example farmworld UI for using the Caladan API in Python 3 | # Designed as a simple teaching example, not feature complete or fully robust. 4 | 5 | # Example set of goals for vehicle to follow 6 | tilling_goals = [ 7 | (37.724908, -120.998889, 1.57), # start of row 1 8 | (37.725445, -120.998889, 1.57), # end of row 1 9 | (37.725495, -120.998857, 0), # turn around midpoint 10 | (37.725445, -120.998811, -1.57), # start of row 2 11 | (37.724908, -120.998811, -1.57), # end of row 2 12 | ] 13 | 14 | # Example single goal to return to the shed 15 | shed_goal = (37.72448, -120.998921, 0) 16 | 17 | # Overall size of the map, south-west corner, then north-east corner 18 | # south-west: 37.724367, -120.999586 19 | # north-east: 37.725545, -120.998047 20 | # Hence, window will be 0.001178 by 0.001539 in lat/lon coordinates 21 | # Latitude is North to South (equator 0), Longitude is West to East (Greenwich 0) 22 | # Graphing is +x to the right, +y upwards 23 | # Multiplying by 400000 to get pixel space (so ~ 616 by 471 ) 24 | # In a real application, please convert correctly, this only works well for small toy examples 25 | latlon_map = ( 26 | (37.724367, -120.999586), 27 | (37.725545, -120.998047), 28 | ) 29 | 30 | odom = dict() 31 | stat = dict() 32 | 33 | api_url = "https://beta-caladan.polymathrobotics.dev/api/" 34 | 35 | # Enter your Polymath Robotics provided Bearer Token and Device Key here! 36 | token = "bearer_token" 37 | key = "device_key" 38 | -------------------------------------------------------------------------------- /config/portworld_config.py: -------------------------------------------------------------------------------- 1 | # Copyright (c) 2022-present, Polymath Robotics, Inc. 2 | # Example farmworld UI for using the Caladan API in Python 3 | # Designed as a simple teaching example, not feature complete or fully robust. 4 | 5 | # Example single goal to return to the shed 6 | shed_goal = (37.724570, -120.998354, 0) 7 | 8 | # Example Buttons, experiment by changing the name and location/orientations sent 9 | button_a = ("Crane A", 37.725380, -120.998295, -3.14) 10 | button_b = ("Crane B", 37.725189, -120.998295, -3.14) 11 | button_c = ("Crane C", 37.724960, -120.998295, -3.14) 12 | button_d = ("Train Load", 37.72465, -120.99914, 0) 13 | button_e = ("Train Unload", 37.72481, -120.99947, -1.57) 14 | 15 | # Overall size of the map, south-west corner, then north-east corner 16 | # south-west: 37.724367, -120.999586 17 | # north-east: 37.725545, -120.998047 18 | # Hence, window will be 0.001178 by 0.001539 in lat/lon coordinates 19 | # Latitude is North to South (equator 0), Longitude is West to East (Greenwich 0) 20 | # Graphing is +x to the right, +y upwards 21 | # Multiplying by 400000 to get pixel space (so ~ 616 by 471 ) 22 | # In a real application, please convert correctly, this only works well for small toy examples 23 | latlon_map = ( 24 | (37.724367, -120.999586), 25 | (37.725545, -120.998047), 26 | ) 27 | 28 | 29 | odom = dict() 30 | stat = dict() 31 | 32 | api_url = "https://beta-caladan.polymathrobotics.dev/api/" 33 | 34 | # Enter your Polymath Robotics provided Bearer Token and Device Key here! 35 | token = "bearer_token" 36 | key = "device_key" 37 | -------------------------------------------------------------------------------- /config/mineworld_config.py: -------------------------------------------------------------------------------- 1 | # Copyright (c) 2022-present, Polymath Robotics, Inc. 2 | # Example farmworld UI for using the Caladan API in Python 3 | # Designed as a simple teaching example, not feature complete or fully robust. 4 | 5 | 6 | # Example single goal to return to the shed 7 | shed_goal = (37.724570, -120.998354, 0) 8 | 9 | # Example Buttons, experiment by changing the name and location/orientations sent 10 | button_a = ("Mine Site A", 37.725103, -120.998961, 0) 11 | button_b = ("Mine Site B", 37.724731, -120.999148, -3.14) 12 | button_c = ("Processing Plant", 37.725324, -120.998303, 0) 13 | button_d = ("Bulldozer Mode", 0) 14 | button_e = ("Dump Truck Mode", 0) 15 | button_f = ("Rotate North", 0) 16 | button_g = ("Rotate South", 3.14) 17 | 18 | # Moves between two mine sites 19 | bulldoze = ( 20 | (37.724682, -120.999465, -3.14), 21 | (37.725299, -120.999431, 0), 22 | ) 23 | 24 | # Moves from center of the mine to processing plant 25 | dump = ( 26 | (37.724977, -120.999469, 1.57), 27 | (37.724834, -120.998283, -1.57), 28 | ) 29 | 30 | # Overall size of the map, south-west corner, then north-east corner 31 | # south-west: 37.724367, -120.999586 32 | # north-east: 37.725545, -120.998047 33 | # Hence, window will be 0.001178 by 0.001539 in lat/lon coordinates 34 | # Latitude is North to South (equator 0), Longitude is West to East (Greenwich 0) 35 | # Graphing is +x to the right, +y upwards 36 | # Multiplying by 400000 to get pixel space (so ~ 616 by 471 ) 37 | # In a real application, please convert correctly, this only works well for small toy examples 38 | latlon_map = ( 39 | (37.724367, -120.999586), 40 | (37.725545, -120.998047), 41 | ) 42 | 43 | 44 | odom = dict() 45 | stat = dict() 46 | 47 | api_url = "https://beta-caladan.polymathrobotics.dev/api/" 48 | 49 | # Enter your Polymath Robotics provided Bearer Token and Device Key here! 50 | token = "bearer_token" 51 | key = "device_key" 52 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | __pycache__ 2 | .env 3 | activate_venv 4 | dist-packages 5 | # Byte-compiled / optimized / DLL files 6 | __pycache__/ 7 | *.py[cod] 8 | *$py.class 9 | # C extensions 10 | *.so 11 | # Distribution / packaging 12 | .Python 13 | build/ 14 | develop-eggs/ 15 | dist/ 16 | downloads/ 17 | eggs/ 18 | .eggs/ 19 | lib/ 20 | lib64/ 21 | parts/ 22 | sdist/ 23 | var/ 24 | wheels/ 25 | share/python-wheels/ 26 | *.egg-info/ 27 | .installed.cfg 28 | *.egg 29 | MANIFEST 30 | 31 | # PyInstaller 32 | # Usually these files are written by a python script from a template 33 | # before PyInstaller builds the exe, so as to inject date/other infos into it. 34 | *.manifest 35 | *.spec 36 | 37 | # Installer logs 38 | pip-log.txt 39 | pip-delete-this-directory.txt 40 | 41 | # Unit test / coverage reports 42 | htmlcov/ 43 | .tox/ 44 | .nox/ 45 | .coverage 46 | .coverage.* 47 | .cache 48 | nosetests.xml 49 | coverage.xml 50 | *.cover 51 | *.py,cover 52 | .hypothesis/ 53 | .pytest_cache/ 54 | cover/ 55 | 56 | # Translations 57 | *.mo 58 | *.pot 59 | 60 | # Django stuff: 61 | *.log 62 | local_settings.py 63 | db.sqlite3 64 | db.sqlite3-journal 65 | 66 | # Flask stuff: 67 | instance/ 68 | .webassets-cache 69 | 70 | # Scrapy stuff: 71 | .scrapy 72 | 73 | # Sphinx documentation 74 | docs/_build/ 75 | 76 | # PyBuilder 77 | .pybuilder/ 78 | target/ 79 | 80 | # Jupyter Notebook 81 | .ipynb_checkpoints 82 | 83 | # IPython 84 | profile_default/ 85 | ipython_config.py 86 | 87 | # pyenv 88 | # For a library or package, you might want to ignore these files since the code is 89 | # intended to run in multiple environments; otherwise, check them in: 90 | # .python-version 91 | 92 | # pipenv 93 | # According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. 94 | # However, in case of collaboration, if having platform-specific dependencies or dependencies 95 | # having no cross-platform support, pipenv may install dependencies that don't work, or not 96 | # install all needed dependencies. 97 | #Pipfile.lock 98 | 99 | # poetry 100 | # Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control. 101 | # This is especially recommended for binary packages to ensure reproducibility, and is more 102 | # commonly ignored for libraries. 103 | # https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control 104 | #poetry.lock 105 | 106 | # pdm 107 | # Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control. 108 | #pdm.lock 109 | # pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it 110 | # in version control. 111 | # https://pdm.fming.dev/#use-with-ide 112 | .pdm.toml 113 | 114 | # PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm 115 | __pypackages__/ 116 | 117 | # Celery stuff 118 | celerybeat-schedule 119 | celerybeat.pid 120 | 121 | # SageMath parsed files 122 | *.sage.py 123 | 124 | # Environments 125 | .env 126 | .venv 127 | env/ 128 | venv/ 129 | ENV/ 130 | env.bak/ 131 | venv.bak/ 132 | 133 | # Spyder project settings 134 | .spyderproject 135 | .spyproject 136 | 137 | # Rope project settings 138 | .ropeproject 139 | 140 | # mkdocs documentation 141 | /site 142 | 143 | # mypy 144 | .mypy_cache/ 145 | .dmypy.json 146 | dmypy.json 147 | 148 | # Pyre type checker 149 | .pyre/ 150 | 151 | # pytype static type analyzer 152 | .pytype/ 153 | 154 | # Cython debug symbols 155 | cython_debug/ 156 | 157 | # PyCharm 158 | # JetBrains specific template is maintained in a separate JetBrains.gitignore that can 159 | # be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore 160 | # and can be added to the global gitignore or merged into this file. For a more nuclear 161 | # option (not recommended) you can uncomment the following to ignore the entire idea folder. 162 | .idea/ 163 | -------------------------------------------------------------------------------- /caladan_api.py: -------------------------------------------------------------------------------- 1 | #! /usr/bin/env python3 2 | 3 | # Copyright (c) 2022-present, Polymath Robotics, Inc. 4 | # Example small API library for using the API in Python 5 | # Designed as a simple teaching example, not feature complete or fully robust. 6 | 7 | import requests 8 | import json 9 | 10 | 11 | class SimpleAPI: 12 | def __init__(self, url, key, token): 13 | self.token = token 14 | self.key = key 15 | self.url = url 16 | self.headers = { 17 | "Accept": "application/json", 18 | "Authorization": "Bearer " + token, 19 | "Content-Type": "application/x-www-form-urlencoded", 20 | } 21 | 22 | def status_check(self, data): 23 | if "status" in data: 24 | if data["status"] == "success": 25 | return (data)["data"] 26 | else: 27 | return data["message"] 28 | else: 29 | return data 30 | 31 | def get_uuid(self): 32 | api_url = self.url + "uuid?device_key=" + self.key 33 | response = requests.get(api_url, headers=self.headers, timeout=30) 34 | return self.status_check(response.json()) 35 | 36 | def get_position(self): 37 | api_url = self.url + "position?device_key=" + self.key 38 | response = requests.get(api_url, headers=self.headers, timeout=30) 39 | return self.status_check(response.json()) 40 | 41 | def pose_with_odometry(self): 42 | api_url = self.url + "pose-with-odometry?device_key=" + self.key 43 | response = requests.get(api_url, headers=self.headers, timeout=30) 44 | return self.status_check(response.json()) 45 | 46 | def goal_status(self): 47 | api_url = self.url + "goal-status?device_key=" + self.key 48 | response = requests.get(api_url, headers=self.headers, timeout=30) 49 | return self.status_check(response.json()) 50 | 51 | def send_gps_goal(self, lat, lon, yaw): 52 | api_url = self.url + "send-gps-goal?device_key=" + self.key 53 | response = requests.post( 54 | api_url, 55 | headers=self.headers, 56 | data={"lat": lat, "lon": lon, "yaw": yaw}, 57 | timeout=10, 58 | ) 59 | return self.status_check(response.json()) 60 | 61 | def send_waypoints(self, goals): # Expect an array of 3 entry sets 62 | api_url = self.url + "send-waypoints?device_key=" + self.key 63 | r = {"goals": []} 64 | for waypoint in goals: 65 | print(json.dumps(waypoint[2])) 66 | r["goals"].append( 67 | { 68 | "lat": json.dumps(waypoint[0]), 69 | "lon": json.dumps(waypoint[1]), 70 | "yaw": json.dumps(waypoint[2]), 71 | } 72 | ) 73 | print(r) 74 | self.headers["Content-Type"] = "application/json" 75 | response = requests.post( 76 | api_url, 77 | headers=self.headers, 78 | json=r, 79 | timeout=10, 80 | ) 81 | self.headers["Content-Type"] = "application/x-www-form-urlencoded" 82 | return self.status_check(response.json()) 83 | 84 | def cancel_prev_goal(self): 85 | api_url = self.url + "cancel-prev-goal?device_key=" + self.key 86 | response = requests.post(api_url, headers=self.headers, timeout=30) 87 | return self.status_check(response.json()) 88 | 89 | 90 | # Example Usage in 91 | # import caladan_api 92 | # url = "https://beta-caladan.polymathrobotics.dev/api/" 93 | # device_key = "*******" 94 | # token= "*******" 95 | # api = SimpleAPI(url,device_key,token) 96 | # print (api.get_uuid()) 97 | # print (api.get_position()) 98 | # print (api.send_gps_goal(37.72521,-120.99957,3.14)) 99 | # print (api.pose_with_odometry()) 100 | # print (api.cancel_prev_goal()) 101 | # print (api.send_waypoints([[37.725017,-120.998852,None],[37.72519,-120.998815,3.14]])) 102 | # print (api.goal_status()) # Note: that goal status will take a few seconds to change when a new goal is sent 103 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # caladan_examples [![caladan_examples](https://github.com/polymathrobotics/caladan_examples/actions/workflows/ci.yml/badge.svg?event=push)](https://github.com/polymathrobotics/caladan_examples/actions/workflows/ci.yml) 2 | 3 | See your robot moving autonomously in simulation - today! 4 | 5 | ## Requirements 6 | 7 | 1. Python3 8 | 2. Pip3 9 | 10 | Once you have both of the above installed, you can go to the installation section below to pull down requirements. 11 | These are python libraries [Requests](https://pypi.org/project/requests/) and [PySimpleGUI](https://pypi.org/project/PySimpleGUI/) 12 | 13 | #### On Mac: 14 | 15 | Python3 installation: [Guide here](https://docs.python-guide.org/starting/install3/osx/) 16 | 17 | ```bash 18 | curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py 19 | python3 get-pip.py 20 | ``` 21 | 22 | #### On Ubuntu: 23 | 24 | ```bash 25 | sudo apt update 26 | sudo apt install python3-pip 27 | ``` 28 | 29 | #### On Windows: 30 | 31 | ```bash 32 | Download Windows Installer (likely 64bit) from: https://www.python.org/downloads/release/python-3105/ 33 | Or search python3 in the Microsoft Store 34 | ``` 35 | 36 | ## Quick Start 37 | 38 | Open the [API webpage](https://beta-caladan.polymathrobotics.dev/docs#/Launch/start_sim_world_api_launch_sim_world_post), Authorize with your Bearer Token, click "try it out" and enter your device key. 39 | For launching simulation_world, you can choose between farm, port or mine. 40 | 41 | Clone this repo and then open a terminal in the folder. 42 | 43 | ### Installation 44 | 45 | Install dependencies using the requirements file 46 | 47 | ```bash 48 | python3 -m pip install -r requirements.txt 49 | ``` 50 | 51 | ##### Launch the farm world gui example 52 | 53 | `python3 farmworld.py` 54 | 55 | 56 | 57 | 1. Enter your Bearer Token and Device Key. 58 | 59 | 2. Click Connect, and after a second or so, you will get current position and data about your simulated vehicle. 60 | 61 | 3. Click on some open space in the map, and the vehicle will navigate itself there. 62 | 63 | 4. Explore! Have fun (note: you will have to click STOP to send a new goal) 64 | 65 | 66 | 67 | ##### To launch the port world gui example 68 | 69 | `python3 portworld.py` 70 | 71 | 72 | 73 | 1. Enter your Bearer Token and Device Key. 74 | 75 | 2. Click Connect, and after a second or so, you will get current position and data about your simulated vehicle. 76 | 77 | 3. Click on some open space in the map, and the vehicle will navigate itself there. 78 | 79 | 4. Explore! Have fun (note: you will have to click STOP to send a new goal) 80 | 81 | 82 | 83 | ##### To launch the mine world gui example 84 | 85 | `python3 mineworld.py` 86 | 87 | 88 | 89 | 1. Enter your Bearer Token and Device Key. 90 | 91 | 2. Click Connect, and after a second or so, you will get current position and data about your simulated vehicle. 92 | 93 | 3. Click on some open space in the map, and the vehicle will navigate itself there. 94 | 95 | 4. Explore! Have fun (note: you will have to click STOP to send a new goal) 96 | 97 | 98 | ## Caladan API 99 | 100 | Check the bottom of the caladan_api.py file for example usage of the API in Python directly, for use in your own code. Example: 101 | 102 | ```bash 103 | user@computer:~/caladan_examples$ python3 104 | Python 3.8.10 105 | 106 | >>> import caladan_api 107 | >>> url = "https://beta-caladan.polymathrobotics.dev/api/" 108 | >>> device_key = "******" 109 | >>> token = "*******" 110 | >>> api = caladan_api.SimpleAPI(url,device_key,token) 111 | >>> print (api.get_uuid()) 112 | {'uuid': 'ba791890-06e9-11ed-abcd-123456'} 113 | >>> print (api.get_position()) 114 | {'position': {'latitude': 37.12345678, 'longitude': -120.12345678}, 'orientation': {'x': 0.0, 'y': 0.0, 'z': -0.9996048936785271, 'w': 0.028107944320787368}} 115 | 116 | ``` 117 | 118 | ## 119 | 120 | ## FAQs 121 | 122 | - Q: I don't have a token and key? 123 | - A: Sign up for our beta! 124 | 125 | - NB: Add your token and key to farmworld_config.py and portworld_config.py files directly, so you don't have to copy/paste them in every time you start the examples. 126 | 127 | - NB: Clicking to send a goal in the examples always sets the orientation to 0 (north or up). Try changing this to a click-and-drag behavior to set orientation, as a first improvement to make! 128 | 129 | - Q: Why does the vehicle take the long way around sometimes? 130 | - A: The vehicle starts without any pre-baked map of the world. As it explores, it will build this map, and make better path planning decisions over time. 131 | 132 | - Q: Why does the vehicle back up sometimes? 133 | - A: The example vehicles have no preference for forwards/backwards, only to arrive at a goal with a set orientation. 134 | 135 | - Q: Why does the vehicle not reach the exact lat/lon/yaw I requested? 136 | - A: The example vehicles have position and orientation tolerances of 2m and 0.2rad respectively. On real vehicles, these are generaly much smaller. 137 | 138 | ## 139 | 140 | ## Questions? 141 | 142 | Check out our discussion page: [https://github.com/polymathrobotics/caladan_examples/discussions](https://github.com/polymathrobotics/caladan_examples/discussions) 143 | Email `support@polymathrobotics.com` 144 | -------------------------------------------------------------------------------- /portworld.py: -------------------------------------------------------------------------------- 1 | #! /usr/bin/env python3 2 | 3 | # Copyright (c) 2022-present, Polymath Robotics, Inc. 4 | # Example portworld UI for using the Caladan API in Python 5 | # Designed as a simple teaching example, not feature complete or fully robust. 6 | 7 | import time # used for sleep 8 | import math # used for some basic trigonometry 9 | import PySimpleGUI as sg # used for the Gui 10 | import caladan_api # example API library 11 | import config.portworld_config as portworld_config # simple convenience, used to store config values 12 | 13 | url = portworld_config.api_url 14 | token = portworld_config.token 15 | key = portworld_config.key 16 | scale = 400000.0 # Used to change drawing scale of the map 17 | font = ("Courier New", 7) 18 | latdiff = abs(portworld_config.latlon_map[0][0] - portworld_config.latlon_map[1][0]) 19 | londiff = abs(portworld_config.latlon_map[0][1] - portworld_config.latlon_map[1][1]) 20 | api = caladan_api.SimpleAPI("", "", "") # Init to avoid flake8 issues 21 | 22 | sg.theme("DarkGrey10") 23 | layout = [ 24 | [sg.Text("Please provide Token and Key below", key="-PROMPT-")], 25 | [sg.Input(token)], 26 | [sg.Input(key)], 27 | [sg.Button("Connect"), sg.Text("", key="-VEL-"), sg.Text("", key="-POSE-")], 28 | [ 29 | sg.Graph( 30 | canvas_size=(londiff * scale, latdiff * scale), 31 | graph_bottom_left=(0, 0), 32 | graph_top_right=(londiff * scale, latdiff * scale), 33 | background_color="#1C1E23", 34 | enable_events=True, 35 | key="graph", 36 | ) 37 | ], 38 | [ 39 | sg.Button("STOP", button_color=("white", "red")), 40 | sg.Text("", key="-STATUS-", size=(45, None)), 41 | ], 42 | [ 43 | sg.Button("Return to Equipment Shed"), 44 | sg.Button(portworld_config.button_a[0]), 45 | sg.Button(portworld_config.button_b[0]), 46 | sg.Button(portworld_config.button_c[0]), 47 | ], 48 | [sg.Button(portworld_config.button_d[0]), sg.Button(portworld_config.button_e[0])], 49 | ] 50 | 51 | 52 | window = sg.Window( 53 | "Polymath Robotics Caladan Portworld Example", 54 | layout, 55 | icon="./images/icon.png", 56 | finalize=True, 57 | ) 58 | graph = window["graph"] 59 | 60 | 61 | def latlon_to_pixelXY(lat, lon): 62 | return ( 63 | -scale * (portworld_config.latlon_map[0][1] - lon), 64 | -scale * (portworld_config.latlon_map[0][0] - lat), 65 | ) 66 | 67 | 68 | def pixelXY_to_latlon(x, y): 69 | return ( 70 | portworld_config.latlon_map[0][0] + y / scale, 71 | portworld_config.latlon_map[0][1] + x / scale, 72 | ) 73 | 74 | 75 | def send_goal(lat, lon, yaw): 76 | x, y = latlon_to_pixelXY(lat, lon) 77 | graph.draw_circle((x, y), 10, fill_color="red", line_color="red") 78 | graph.DrawText( 79 | text=(round(lat, 5), round(lon, 5)), 80 | location=(x, y - 7), 81 | font=font, 82 | color="white", 83 | ) 84 | api.send_gps_goal(lat, lon, yaw) 85 | 86 | 87 | def update_loop(): 88 | while True: 89 | portworld_config.stat = api.goal_status() 90 | portworld_config.odom = api.pose_with_odometry() 91 | if "orientation" in portworld_config.odom: 92 | quat = portworld_config.odom["orientation"] 93 | portworld_config.odom["orientation"] = math.atan2( 94 | 2.0 * (quat["w"] * quat["z"]), 1.0 - 2.0 * (quat["z"] * quat["z"]) 95 | ) 96 | window.write_event_value("-UPDATE-", "updated") 97 | else: 98 | print(portworld_config.odom) 99 | time.sleep(1.2) 100 | 101 | 102 | def tolerance_check(goal, tol): 103 | if ( 104 | abs(portworld_config.odom["position"]["latitude"] - goal[0]) < tol 105 | and abs(portworld_config.odom["position"]["longitude"] - goal[1]) < tol 106 | ): 107 | return True 108 | else: 109 | return False 110 | 111 | 112 | def graph_clean(): 113 | graph.Erase() 114 | graph.DrawImage(filename="./images/portworld.png", location=(0, latdiff * scale)) 115 | 116 | 117 | graph_clean() 118 | 119 | while True: # Main UI Loop 120 | event, values = window.read() 121 | 122 | if event == sg.WIN_CLOSED: # Handle closing window 123 | break 124 | 125 | # Only update and accept other commands if already connected 126 | if window["Connect"].get_text() == "Connected": 127 | window["-VEL-"].update( 128 | str(round(portworld_config.odom["odometry"]["linear.x"], 2)) + " m/s " 129 | ) 130 | current_pose = ( 131 | "lat: " 132 | + str(round(portworld_config.odom["position"]["latitude"], 6)) 133 | + " lon: " 134 | + str(round(portworld_config.odom["position"]["longitude"], 6)) 135 | + " angle: " 136 | + str(round(portworld_config.odom["orientation"], 3)) 137 | ) 138 | window["-POSE-"].update(current_pose) 139 | window["-STATUS-"].update(portworld_config.stat) 140 | draw_pose = latlon_to_pixelXY( 141 | portworld_config.odom["position"]["latitude"], 142 | portworld_config.odom["position"]["longitude"], 143 | ) 144 | position = graph.draw_circle( 145 | draw_pose, 10, fill_color="white", line_color="black" 146 | ) 147 | 148 | if event == "Return to Equipment Shed": 149 | graph_clean() 150 | send_goal(*portworld_config.shed_goal) 151 | 152 | if event == "STOP": 153 | graph_clean() 154 | api.cancel_prev_goal() 155 | 156 | if event == portworld_config.button_a[0]: 157 | graph_clean() 158 | send_goal(*portworld_config.button_a[1:]) 159 | 160 | if event == portworld_config.button_b[0]: 161 | graph_clean() 162 | send_goal(*portworld_config.button_b[1:]) 163 | 164 | if event == portworld_config.button_c[0]: 165 | graph_clean() 166 | send_goal(*portworld_config.button_c[1:]) 167 | 168 | if event == portworld_config.button_d[0]: 169 | graph_clean() 170 | send_goal(*portworld_config.button_d[1:]) 171 | 172 | if event == portworld_config.button_e[0]: 173 | graph_clean() 174 | send_goal(*portworld_config.button_e[1:]) 175 | 176 | if event == "graph": 177 | graph_clean() 178 | x, y = values["graph"] 179 | lat, lon = pixelXY_to_latlon(x, y) 180 | send_goal( 181 | lat, lon, yaw=1.57 182 | ) # NOTE: Clicking on the map always sends orientation NORTH! 183 | 184 | if event == "Connect": # First time clicking the connect button, check we get UUID 185 | api = caladan_api.SimpleAPI(url, values[1], values[0]) 186 | uuid_response = api.get_uuid() 187 | if "uuid" in uuid_response: 188 | window["-PROMPT-"].update( 189 | "Successfully connected to vehicle " + uuid_response["uuid"] 190 | ) 191 | window["Connect"].update(button_color=("black", "green")) 192 | window.perform_long_operation(update_loop, "-OPERATION DONE-") 193 | window["Connect"].update("Connected") 194 | graph_clean() 195 | else: 196 | window["-PROMPT-"].update( 197 | uuid_response 198 | ) # otherwise, print returned error message 199 | 200 | window.close() 201 | -------------------------------------------------------------------------------- /farmworld.py: -------------------------------------------------------------------------------- 1 | #! /usr/bin/env python3 2 | 3 | # Copyright (c) 2022-present, Polymath Robotics, Inc. 4 | # Example farmworld UI for using the Caladan API in Python 5 | # Designed as a simple teaching example, not feature complete or fully robust. 6 | 7 | import time # used for sleep 8 | import math # used for some basic trigonometry 9 | import PySimpleGUI as sg # used for the Gui 10 | import caladan_api # example API library 11 | import config.farmworld_config as farmworld_config # simple convenience, used to store config values 12 | 13 | url = farmworld_config.api_url 14 | token = farmworld_config.token 15 | key = farmworld_config.key 16 | scale = 400000.0 # Used to change drawing scale of the map 17 | font = ("Courier New", 7) 18 | latdiff = abs(farmworld_config.latlon_map[0][0] - farmworld_config.latlon_map[1][0]) 19 | londiff = abs(farmworld_config.latlon_map[0][1] - farmworld_config.latlon_map[1][1]) 20 | api = caladan_api.SimpleAPI("", "", "") # Init to avoid flake8 issues 21 | 22 | sg.theme("DarkGrey10") 23 | layout = [ 24 | [sg.Text("Please provide Token and Key below", key="-PROMPT-")], 25 | [sg.Input(token)], 26 | [sg.Input(key)], 27 | [sg.Button("Connect"), sg.Text("", key="-VEL-"), sg.Text("", key="-POSE-")], 28 | [ 29 | sg.Graph( 30 | canvas_size=(londiff * scale, latdiff * scale), 31 | graph_bottom_left=(0, 0), 32 | graph_top_right=(londiff * scale, latdiff * scale), 33 | background_color="#1C1E23", 34 | enable_events=True, 35 | key="graph", 36 | ) 37 | ], 38 | [ 39 | sg.Button("Start Tilling"), 40 | sg.Button("STOP", button_color=("white", "red")), 41 | sg.Text("", key="-STATUS-", size=(45, None)), 42 | ], 43 | [ 44 | sg.Button("Return to Equipment Shed"), 45 | sg.Input("lat", size=10, key="lat"), 46 | sg.Input("lon", size=10, key="lon"), 47 | sg.Input("ori", size=10, key="ori"), 48 | sg.Button("Send Goal"), 49 | ], 50 | ] 51 | 52 | 53 | window = sg.Window( 54 | "Polymath Robotics Caladan Farmworld Example", 55 | layout, 56 | icon="./images/icon.png", 57 | finalize=True, 58 | ) 59 | graph = window["graph"] 60 | 61 | 62 | def latlon_to_pixelXY(lat, lon): 63 | return ( 64 | -scale * (farmworld_config.latlon_map[0][1] - lon), 65 | -scale * (farmworld_config.latlon_map[0][0] - lat), 66 | ) 67 | 68 | 69 | def pixelXY_to_latlon(x, y): 70 | return ( 71 | farmworld_config.latlon_map[0][0] + y / scale, 72 | farmworld_config.latlon_map[0][1] + x / scale, 73 | ) 74 | 75 | 76 | def send_goal(lat, lon, yaw): 77 | x, y = latlon_to_pixelXY(lat, lon) 78 | graph.draw_circle((x, y), 3, fill_color="#1C1E23", line_color="red") 79 | graph.DrawText( 80 | text=(round(lat, 5), round(lon, 5)), 81 | location=(x, y - 7), 82 | font=font, 83 | color="white", 84 | ) 85 | api.send_gps_goal(lat, lon, yaw) 86 | 87 | 88 | def update_loop(): 89 | while True: 90 | farmworld_config.stat = api.goal_status() 91 | farmworld_config.odom = api.pose_with_odometry() 92 | if "orientation" in farmworld_config.odom: 93 | quat = farmworld_config.odom["orientation"] 94 | farmworld_config.odom["orientation"] = math.atan2( 95 | 2.0 * (quat["w"] * quat["z"]), 1.0 - 2.0 * (quat["z"] * quat["z"]) 96 | ) 97 | window.write_event_value("-UPDATE-", "updated") 98 | else: 99 | print(farmworld_config.odom) 100 | time.sleep(1.2) 101 | 102 | 103 | def tolerance_check(goal, tol): 104 | if ( 105 | abs(farmworld_config.odom["position"]["latitude"] - goal[0]) < tol 106 | and abs(farmworld_config.odom["position"]["longitude"] - goal[1]) < tol 107 | ): 108 | return True 109 | else: 110 | return False 111 | 112 | 113 | def tilling(): 114 | for goal in farmworld_config.tilling_goals: 115 | send_goal(*goal) 116 | while not tolerance_check(goal, 0.00003): 117 | time.sleep(0.5) 118 | 119 | 120 | def graph_clean(): 121 | graph.Erase() 122 | graph.DrawImage(filename="./images/farmworld.png", location=(0, latdiff * scale)) 123 | 124 | 125 | graph_clean() 126 | 127 | while True: # Main UI Loop 128 | event, values = window.read() 129 | 130 | if event == sg.WIN_CLOSED: # Handle closing window 131 | break 132 | 133 | # Only update and accept other commands if already connected 134 | if window["Connect"].get_text() == "Connected": 135 | window["-VEL-"].update( 136 | str(round(farmworld_config.odom["odometry"]["linear.x"], 2)) + " m/s " 137 | ) 138 | current_pose = ( 139 | "lat: " 140 | + str(round(farmworld_config.odom["position"]["latitude"], 6)) 141 | + " lon: " 142 | + str(round(farmworld_config.odom["position"]["longitude"], 6)) 143 | + " angle: " 144 | + str(round(farmworld_config.odom["orientation"], 3)) 145 | ) 146 | window["-POSE-"].update(current_pose) 147 | window["-STATUS-"].update(farmworld_config.stat) 148 | draw_pose = latlon_to_pixelXY( 149 | farmworld_config.odom["position"]["latitude"], 150 | farmworld_config.odom["position"]["longitude"], 151 | ) 152 | position = graph.draw_circle( 153 | draw_pose, 3, fill_color="#1C1E23", line_color="white" 154 | ) 155 | 156 | if event == "Return to Equipment Shed": 157 | graph_clean() 158 | send_goal(*farmworld_config.shed_goal) 159 | 160 | if event == "Start Tilling": 161 | graph_clean() 162 | window.perform_long_operation(tilling, "-tilling DONE-") 163 | 164 | if event == "STOP": 165 | graph_clean() 166 | api.cancel_prev_goal() 167 | 168 | if event == "Send Goal": 169 | graph_clean() 170 | try: 171 | lat, lon, ori = ( 172 | float(values["lat"]), 173 | float(values["lon"]), 174 | float(values["ori"]), 175 | ) 176 | send_goal(lat, lon, ori) 177 | except ValueError: 178 | print( 179 | "You need to provide latitude, longitude, and orientation values in the text boxes!" 180 | ) 181 | 182 | if event == "graph": 183 | graph_clean() 184 | x, y = values["graph"] 185 | lat, lon = pixelXY_to_latlon(x, y) 186 | send_goal( 187 | lat, lon, yaw=1.57 188 | ) # NOTE: Clicking on the map always sends orientation NORTH! 189 | 190 | if event == "Connect": # First time clicking the connect button, check we get UUID 191 | api = caladan_api.SimpleAPI(url, values[1], values[0]) 192 | uuid_response = api.get_uuid() 193 | if "uuid" in uuid_response: 194 | window["-PROMPT-"].update( 195 | "Successfully connected to vehicle " + uuid_response["uuid"] 196 | ) 197 | window["Connect"].update(button_color=("black", "green")) 198 | window.perform_long_operation(update_loop, "-OPERATION DONE-") 199 | window["Connect"].update("Connected") 200 | graph_clean() 201 | else: 202 | window["-PROMPT-"].update( 203 | uuid_response 204 | ) # otherwise, print returned error message 205 | 206 | window.close() 207 | -------------------------------------------------------------------------------- /mineworld.py: -------------------------------------------------------------------------------- 1 | #! /usr/bin/env python3 2 | 3 | # Copyright (c) 2022-present, Polymath Robotics, Inc. 4 | # Example mineworld UI for using the Caladan API in Python 5 | # Designed as a simple teaching example, not feature complete or fully robust. 6 | 7 | import time # used for sleep 8 | import math # used for some basic trigonometry 9 | import PySimpleGUI as sg # used for the Gui 10 | import caladan_api # example API library 11 | import config.mineworld_config as mineworld_config # simple convenience, used to store config values 12 | 13 | url = mineworld_config.api_url 14 | token = mineworld_config.token 15 | key = mineworld_config.key 16 | scale = 400000.0 # Used to change drawing scale of the map 17 | font = ("Courier New", 7) 18 | latdiff = abs(mineworld_config.latlon_map[0][0] - mineworld_config.latlon_map[1][0]) 19 | londiff = abs(mineworld_config.latlon_map[0][1] - mineworld_config.latlon_map[1][1]) 20 | api = caladan_api.SimpleAPI("", "", "") # Init to avoid flake8 issues 21 | 22 | sg.theme("DarkGrey10") 23 | layout = [ 24 | [sg.Text("Please provide Token and Key below", key="-PROMPT-")], 25 | [sg.Input(token)], 26 | [sg.Input(key)], 27 | [sg.Button("Connect"), sg.Text("", key="-VEL-"), sg.Text("", key="-POSE-")], 28 | [ 29 | sg.Graph( 30 | canvas_size=(londiff * scale, latdiff * scale), 31 | graph_bottom_left=(0, 0), 32 | graph_top_right=(londiff * scale, latdiff * scale), 33 | background_color="#1C1E23", 34 | enable_events=True, 35 | key="graph", 36 | ) 37 | ], 38 | [ 39 | sg.Button("Return to Equipment Shed"), 40 | sg.Button("STOP", button_color=("white", "red")), 41 | sg.Text("", key="-STATUS-", size=(45, None)), 42 | ], 43 | [ 44 | sg.Button(mineworld_config.button_a[0]), 45 | sg.Button(mineworld_config.button_b[0]), 46 | sg.Button(mineworld_config.button_c[0]), 47 | ], 48 | [ 49 | sg.Button(mineworld_config.button_d[0]), 50 | sg.Button(mineworld_config.button_e[0]), 51 | sg.Button(mineworld_config.button_f[0]), 52 | sg.Button(mineworld_config.button_g[0]), 53 | ], 54 | ] 55 | 56 | 57 | window = sg.Window( 58 | "Polymath Robotics Caladan mineworld Example", 59 | layout, 60 | icon="./images/icon.png", 61 | finalize=True, 62 | ) 63 | graph = window["graph"] 64 | 65 | 66 | def latlon_to_pixelXY(lat, lon): 67 | return ( 68 | -scale * (mineworld_config.latlon_map[0][1] - lon), 69 | -scale * (mineworld_config.latlon_map[0][0] - lat), 70 | ) 71 | 72 | 73 | def pixelXY_to_latlon(x, y): 74 | return ( 75 | mineworld_config.latlon_map[0][0] + y / scale, 76 | mineworld_config.latlon_map[0][1] + x / scale, 77 | ) 78 | 79 | 80 | def send_goal(lat, lon, yaw): 81 | x, y = latlon_to_pixelXY(lat, lon) 82 | graph.draw_circle((x, y), 3, fill_color="#1C1E23", line_color="red") 83 | graph.DrawText( 84 | text=(round(lat, 5), round(lon, 5)), 85 | location=(x, y - 7), 86 | font=font, 87 | color="white", 88 | ) 89 | api.send_gps_goal(lat, lon, yaw) 90 | 91 | 92 | def update_loop(): 93 | while True: 94 | mineworld_config.stat = api.goal_status() 95 | mineworld_config.odom = api.pose_with_odometry() 96 | if "orientation" in mineworld_config.odom: 97 | quat = mineworld_config.odom["orientation"] 98 | mineworld_config.odom["orientation"] = math.atan2( 99 | 2.0 * (quat["w"] * quat["z"]), 1.0 - 2.0 * (quat["z"] * quat["z"]) 100 | ) 101 | window.write_event_value("-UPDATE-", "updated") 102 | else: 103 | print(mineworld_config.odom) 104 | time.sleep(1.2) 105 | 106 | 107 | def tolerance_check(goal, tol): 108 | if ( 109 | abs(mineworld_config.odom["position"]["latitude"] - goal[0]) < tol 110 | and abs(mineworld_config.odom["position"]["longitude"] - goal[1]) < tol 111 | ): 112 | return True 113 | else: 114 | return False 115 | 116 | 117 | def bulldoze(): 118 | while True: # Cancelled by the STOP button, as this cancels any goal 119 | graph_clean() 120 | for goal in mineworld_config.bulldoze: 121 | send_goal(*goal) 122 | while not tolerance_check(goal, 0.00003): 123 | time.sleep(0.5) 124 | 125 | 126 | def dump(): 127 | while True: # Cancelled by the STOP button, as this cancels any goal 128 | graph_clean() 129 | for goal in mineworld_config.dump: 130 | send_goal(*goal) 131 | while not tolerance_check(goal, 0.00003): 132 | time.sleep(0.5) 133 | 134 | 135 | def graph_clean(): 136 | graph.Erase() 137 | graph.DrawImage(filename="./images/mineworld.png", location=(0, latdiff * scale)) 138 | 139 | 140 | graph_clean() 141 | 142 | while True: # Main UI Loop 143 | event, values = window.read() 144 | 145 | if event == sg.WIN_CLOSED: # Handle closing window 146 | break 147 | 148 | # Only update and accept other commands if already connected 149 | if window["Connect"].get_text() == "Connected": 150 | window["-VEL-"].update( 151 | str(round(mineworld_config.odom["odometry"]["linear.x"], 2)) + " m/s " 152 | ) 153 | current_pose = ( 154 | "lat: " 155 | + str(round(mineworld_config.odom["position"]["latitude"], 6)) 156 | + " lon: " 157 | + str(round(mineworld_config.odom["position"]["longitude"], 6)) 158 | + " angle: " 159 | + str(round(mineworld_config.odom["orientation"], 3)) 160 | ) 161 | window["-POSE-"].update(current_pose) 162 | window["-STATUS-"].update(mineworld_config.stat) 163 | draw_pose = latlon_to_pixelXY( 164 | mineworld_config.odom["position"]["latitude"], 165 | mineworld_config.odom["position"]["longitude"], 166 | ) 167 | position = graph.draw_circle( 168 | draw_pose, 3, fill_color="#1C1E23", line_color="white" 169 | ) 170 | 171 | if event == "Return to Equipment Shed": 172 | graph_clean() 173 | send_goal(*mineworld_config.shed_goal) 174 | 175 | if event == "STOP": 176 | graph_clean() 177 | api.cancel_prev_goal() 178 | 179 | if event == mineworld_config.button_a[0]: 180 | graph_clean() 181 | send_goal(*mineworld_config.button_a[1:]) 182 | 183 | if event == mineworld_config.button_b[0]: 184 | graph_clean() 185 | send_goal(*mineworld_config.button_b[1:]) 186 | 187 | if event == mineworld_config.button_c[0]: 188 | graph_clean() 189 | send_goal(*mineworld_config.button_c[1:]) 190 | 191 | if event == mineworld_config.button_d[0]: 192 | graph_clean() 193 | window.perform_long_operation(bulldoze, "-bulldoze DONE-") 194 | 195 | if event == mineworld_config.button_e[0]: 196 | graph_clean() 197 | window.perform_long_operation(dump, "-dump DONE-") 198 | 199 | if event == mineworld_config.button_f[0]: 200 | graph_clean() 201 | send_goal( 202 | mineworld_config.odom["position"]["latitude"], 203 | mineworld_config.odom["position"]["longitude"], 204 | mineworld_config.button_f[1], 205 | ) 206 | 207 | if event == mineworld_config.button_g[0]: 208 | graph_clean() 209 | send_goal( 210 | mineworld_config.odom["position"]["latitude"], 211 | mineworld_config.odom["position"]["longitude"], 212 | mineworld_config.button_g[1], 213 | ) 214 | 215 | if event == "graph": 216 | graph_clean() 217 | x, y = values["graph"] 218 | lat, lon = pixelXY_to_latlon(x, y) 219 | send_goal( 220 | lat, lon, yaw=0 221 | ) # NOTE: Clicking on the map always sends orientation 0! 222 | 223 | if event == "Connect": # First time clicking the connect button, check we get UUID 224 | api = caladan_api.SimpleAPI(url, values[1], values[0]) 225 | uuid_response = api.get_uuid() 226 | if "uuid" in uuid_response: 227 | window["-PROMPT-"].update( 228 | "Successfully connected to vehicle " + uuid_response["uuid"] 229 | ) 230 | window["Connect"].update(button_color=("black", "green")) 231 | window.perform_long_operation(update_loop, "-OPERATION DONE-") 232 | window["Connect"].update("Connected") 233 | graph_clean() 234 | else: 235 | window["-PROMPT-"].update( 236 | uuid_response 237 | ) # otherwise, print returned error message 238 | 239 | window.close() 240 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | Apache License 2 | Version 2.0, January 2004 3 | http://www.apache.org/licenses/ 4 | 5 | TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 6 | 7 | 1. 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