final code

Author: Sylwester Dawida

python/.idea/workspace.xml

@@ -23,7 +23,7 @@ const char robotError = 5;
 const char RobotReady = 6;
 const char accessDenyed = 7;
 
-const char* secourityCode = "QV9";
+const char* secourityCode = "QV9JKMNASKJNWKJSNKWJ";
 //comunication data
 char messageId = 1;
 int gotBytes = 0;
@@ -139,15 +139,19 @@ void loop()
     if (message)
       checkData();
     if (state == commandExecution) {
-      checkIfExecuted();
+      if (arlo.available()) {
+        char ch = arlo.read();
+        setFrame(mobileRobot, command, commandId, messageId++, commandExecuted);
+        Serial.write(frame, 6);
+      }
     }
   }
 }
 
 bool checkNewConnection() {
   int i = 0;
   newConnection = false;
-  unsigned long time = millis() + 5000;
+  unsigned long time = millis() + 1000;
   while ( millis() < time) {
     while (Serial.available()) {
       formatBuff[i] = Serial.read();
@@ -185,10 +189,6 @@ void readData() {
 
 }
 
-void drive_speed(int , int) {
-
-}
-
 void checkData() {
   // check command
   deviceId = frame[0];
@@ -197,15 +197,12 @@ void checkData() {
   messageIdExternal = frame[3];
   additionalInfo = frame[4];
   message = false;
-  show();
-  delay(500);
   setExecutionParameters();
 
 }
 
 void stop() {
-  Serial.println("stop");
-  drive_speed(0, 0);
+  drive_speed(0, 0, 0);
   state = waiting;
 }
 
@@ -214,7 +211,38 @@ void setExecutionParameters() {
     Serial.println("default");
     return;
   }
-  if (command >= speedUp) { //controll setting commands executed instant
+  if(command < speedUp){ //executable commands
+    bool error = false;
+    if (command == forward) {
+      leftEnd = step;
+      rightEnd = step;
+      drive_speed(speed, speed, step);
+    } else if (command == backward) {
+      leftEnd = step;
+      rightEnd = step;
+      drive_speed(-speed, -speed, step);
+    } else if (command == turnLeft) {
+      leftEnd = turn;
+      rightEnd = turn;
+      drive_speed(-speed, speed, turn);
+    } else if (command == turnRight) {
+      leftEnd = turn;
+      rightEnd = turn;
+      drive_speed(speed, -speed, turn);
+    } else if (command == turnAround) {
+      leftEnd = halfTurn;
+      rightEnd = halfTurn;
+      drive_speed(speed, -speed, halfTurn);
+    } else {
+      error = true;
+    }
+    setFrame(mobileRobot, command, commandId, messageId++, error ? commandError : commandAccepted);
+    Serial.write( frame, 6);
+    //show();
+    state = commandExecution;
+    executionCommand = command;
+    executionCommandId = commandId;
+  } else { //controll setting commands executed instant
     int signR, signL;
     bool error = false;
     if (command == speedUp) {
@@ -248,53 +276,16 @@ void setExecutionParameters() {
     }
     setFrame(mobileRobot, command, commandId, messageId++, error ? commandError : commandExecuted);
     Serial.write(frame, 6);
-  } else { //executable commands
-    bool error = false;
-    if (command == forward) {
-      leftEnd = step;
-      rightEnd = step;
-      drive_speed(speed, speed, step);
-    } else if (command == backward) {
-      leftEnd = step;
-      rightEnd = step;
-      drive_speed(-speed, -speed, step);
-    } else if (command == turnLeft) {
-      leftEnd = turn;
-      rightEnd = turn;
-      drive_speed(-speed, speed, turn);
-    } else if (command == turnRight) {
-      leftEnd = turn;
-      rightEnd = turn;
-      drive_speed(speed, -speed, turn);
-    } else if (command == turnAround) {
-      leftEnd = halfTurn;
-      rightEnd = halfTurn;
-      drive_speed(speed, -speed, halfTurn);
-    } else {
-      error = true;
-    }
-    setFrame(mobileRobot, command, commandId, messageId++, error ? commandError : commandAccepted);
-    Serial.write( frame, 6);
-    //show();
-    state = commandExecution;
-    executionCommand = command;
-    executionCommandId = commandId;
-  }
-}
-
-void checkIfExecuted() {
-  if (arlo.available()) {
-    char ch = arlo.read();
-    if(ch == 'r')
-    stop();
-    setFrame(mobileRobot, command, commandId, messageId++, commandExecuted);
-    Serial.write(frame, 6);
-    //show();
-  }
+  }  
 }
 
 void drive_speed(int left, int right, int endD){
 char sec = 184;
+if(!left){
+  char l = 1;
+  arlo.write(l);
+  return;
+}
 arlo.write(sec);
 char cleft = 127 + left;
 arlo.write(cleft);

python/C_code/arduinoTestCode/arduinoTestCode.ino

@@ -46,15 +46,19 @@ void getData() {
     //dprint(xbee, "You typed: %d %d %d\n", speedR, speedL, end);
     myWait();
     c = fdserial_rxChar(xbee);
-    end = 20 * (int)c;
+    end = 2 * (int)c;
     if(!end){
      emergency = 1;
      continue; 
     }
     //dprint(xbee, "You typed: %d %d %d\n", speedR, speedL, end);
     ready = 1;
-    while(ready)
-      ;
+    while(ready){
+        if(fdserial_rxReady(xbee) == 1){
+          c = fdserial_rxChar(xbee);
+          emergency = 1;
+        }                   
+    }      
     commandEnded = 0; 
     dprint(xbee, "r");        
   }  
@@ -83,7 +87,7 @@ int main()
     drive_speed(speedL, speedR);
     ticksR = 0;
     print("before3\n");                        // 20/127 of full power to motors
-    while(abs(ticksR) < end || emergency)
+    while(abs(ticksR) < end && !emergency)
       drive_getTicks(&ticksL, &ticksR);
     drive_speed(0,0);
     emergency = 0;

python/C_code/arlo2.0.binary

@@ -29,10 +29,20 @@ def setupUi(self, RobotController):
         RobotController.resize(1400, 700)
 
         RobotController.emergency.connect(self.emergencyStop)
+        RobotController.network.connect(self.capture)
 
         self.centralwidget = QtWidgets.QWidget(RobotController)
         self.centralwidget.setObjectName("centralwidget")
 
+        self.pushButton_5 = QtWidgets.QPushButton(self.centralwidget)
+        self.pushButton_5.setGeometry(QtCore.QRect(900, 48, 80, 60))
+        font = QtGui.QFont()
+        font.setFamily("Arial")
+        font.setPointSize(15)
+        self.pushButton_5.setFont(font)
+        self.pushButton_5.setAcceptDrops(False)
+        self.pushButton_5.setObjectName("pushButton_5")
+
         self.pushButton_4 = QtWidgets.QPushButton(self.centralwidget)
         self.pushButton_4.setGeometry(QtCore.QRect(1200, 48, 80, 60))
         font = QtGui.QFont()
@@ -69,15 +79,6 @@ def setupUi(self, RobotController):
         self.pushButton_2.setAcceptDrops(False)
         self.pushButton_2.setObjectName("pushButton_2")
 
-        self.pushButton_5 = QtWidgets.QPushButton(self.centralwidget)
-        self.pushButton_5.setGeometry(QtCore.QRect(900, 48, 80, 60))
-        font = QtGui.QFont()
-        font.setFamily("Arial")
-        font.setPointSize(15)
-        self.pushButton_5.setFont(font)
-        self.pushButton_5.setAcceptDrops(False)
-        self.pushButton_5.setObjectName("pushButton_5")
-
         self.textBrowser = QtWidgets.QTextBrowser(self.centralwidget)
         self.textBrowser.setGeometry(QtCore.QRect(50, 230, 500, 280))
         font = QtGui.QFont()
@@ -254,17 +255,18 @@ def send(self, recognized=None):
                 if self.comboBox.currentIndex() == 0:
                     pass
                 else:
-                    self.print(self.comboBox.currentData())
                     command = self.commands.commands(int(self.comboBox.currentData()))
                     self.comboBox.setCurrentIndex(0)
             if command == self.commands.commands.default:
                 pass
             elif command == self.commands.commands.stopCommand:
                 self.emergencyStop()
+                self.print("Emergency stop")
             elif command.value < self.commands.commands.speedUp.value and self.commands.watchDog:  # acvive command not settings
                 self.print("Cannot send command, one is already in execution: {}".format(
                     self.commands.watchDog[0].command.name))
             else:
+                self.print(command.name)
                 self.commands.executeCommand(command)
         except Exception as e:
             self.print(e)
@@ -297,10 +299,10 @@ def getRecognitionResult(self, image, output):
 
     def computeGesture(self, output):
         index = argmax(output).item() + 1  # label
-        if (not self.gesturesCapturing) or (not self.netowkrProcess) or index != self.lastCompute:
+        if (not self.gesturesCapturing) or index == 1 or (not self.netowkrProcess) or index != self.lastCompute:
             self.time = time()
             self.frames = 0
-        elif time() - self.time > 1 and self.frames > 15:
+        elif time() - self.time > 2 and self.frames > 15:
             command = self.commands.commands(index)
             self.print("Recognized: {}".format(command.name))
             self.send(command)
@@ -311,6 +313,7 @@ def computeGesture(self, output):
 
 class MyWindow(QtWidgets.QMainWindow):
     emergency = pyqtSignal()
+    network = pyqtSignal()
 
     def __init__(self, parent=None):
         QtWidgets.QMainWindow.__init__(self, parent=parent)
@@ -319,6 +322,8 @@ def keyPressEvent(self, event):
         if type(event) == QtGui.QKeyEvent:
             if event.key() == QtCore.Qt.Key_Shift:
                 self.emergency.emit()
+            elif event.key() == QtCore.Qt.Key_Control:
+                self.network.emit()
 
 
 if __name__ == '__main__':