Merge pull request #6 from sourcebots/bugfixes

Bugfixes

Author: WillB97

.gitignore

@@ -160,9 +160,10 @@ cython_debug/
 #.idea/
 
 # Webots
-.arena.wbproj
+.*.wbproj
 .arena.jpg
 
 /simulator/controllers/usercode_runner/runtime.ini
+/simulator/controllers/competition_supervisor/runtime.ini
 /zone_*
 /dist

README.md

@@ -1,9 +1,7 @@
 # sbot_simulator
 A simulator built around Webots to use the sbot library virtually.
 
-![sbot_simulator](assets/arena_overview.jpg)
-
-### This is a work in progress
+![sbot_simulator](assets/arena_overview.png)
 
 ## Installation
 
@@ -101,54 +99,3 @@ In order to keep the released simulator tidy and easy to use, the project is spl
 Alongside these folders that are placed in the releases, the `assets` folder contains images and other resources that are used in the documentation. These are used to render an HTML page user facing readme that is included in the release archive.
 
 Of the the folders that are not included in the release, the `tests` folder contains the unit and integration tests for the simulator that don't require running webots and the `test_simulator` folder contains a separate webots world that is used to test the simulator.
-
-## Project Status
-
-1. ~~device spinup~~
-2. ~~debug logs~~
-3. ~~test devices~~
-4. ~~webots devices~~
-5. ~~usercode runner~~
-6. ~~vision~~
-7. ~~arena~~
-    - ~~box~~
-    - ~~deck~~
-    - ~~triangle deck~~
-    - ~~floor texture~~
-        - ~~line~~
-        - ~~scoring lines~~
-        - ~~starting zones~~
-8. ~~robot~~
-9. ~~device jitter~~
-    - ~~in Webots~~
-        - ~~Ultrasound noise~~
-        - ~~Reflectance sensor noise~~
-    - ~~in python~~
-        - ~~motor noise~~
-        - ~~servo noise~~
-10. sbot updates
-    1. ~~simulator discovery~~
-    2. ~~vision~~
-    3. ~~leds~~
-    4. ~~sleep & time~~
-    5. Windows startup performance
-11. ~~keyboard robot~~
-12. ~~setup script~~
-13. ~~releases~~
-14. documentation
-    1. ~~dev setup~~
-    2. user usage
-    3. ~~how it works~~
-15. simulator tests
-    - vision position
-    - vision orientation
-    - distance sensor
-    - reflectance sensor
-    - bump sensor
-    - motor
-    - servo
-16. ~~linting~~
-17. ~~CI~~
-18. report currents
-19. supervisor
-20. comp match running

assets/arena_overview.jpg

@@ -139,7 +139,7 @@ The API for the simulator is the same as the API for the physical robot, so you
 
 
 As well as the logs being displayed in the console, they are also saved to a file.
-This file is saved in the `zone_0` folder and has a name in the format `log-<date>.log`.
+This file is saved in the `zone_0` folder and has a name in the format `log-zone-<zone>-<date>.log`.
 The date is when that simulation was run.
 
 ### Simulation of Time
@@ -252,6 +252,15 @@ If you see a message saying that Python cannot be found that looks similar to th
 As well as the guidance above, there are a few other points to note when using the simulator.
 These can help you to understand what is happening and how to get the most out of the simulator.
 
+### Using Other Zones
+
+If the arena has multiple starting zones, you can run multiple robots in the simulator.
+To test how your robot behaves in each starting zone of the arena, you can copy your robot's code to run in each corner.
+
+In the folder where you extracted the simulator, alongside the `zone_0` folder, you may have other `zone_<number>` folders.
+Such as `zone_1`, `zone_2`, etc.
+Each of these folders can contain a `robot.py` file that will be run in the corresponding starting zone of the arena.
+
 ### Performance Optimisations
 
 The default settings work for most users however if you are using a less powerful computer or one without a dedicated graphics card (as is the case on many laptops), you may wish to adjust the graphics settings to enable the simulation to run faster.

assets/arena_overview.png

@@ -1,26 +1,26 @@
-from sbot import Robot
+from sbot import arduino, motors, utils
 
-robot = Robot()
+# robot = Robot()
 
-robot.motor_board.motors[0].power = 1
-robot.motor_board.motors[1].power = 1
+motors.set_power(0, 1)
+motors.set_power(1, 1)
 
 # measure the distance of the right ultrasound sensor
 # pin 6 is the trigger pin, pin 7 is the echo pin
-distance = robot.arduino.ultrasound_measure(6, 7)
+distance = arduino.measure_ultrasound_distance(6, 7)
 print(f"Right ultrasound distance: {distance / 1000} meters")
 
 # motor board, channel 0 to half power forward
-robot.motor_board.motors[0].power = 0.5
+motors.set_power(0, 0.5)
 
 # motor board, channel 1 to half power forward,
-robot.motor_board.motors[1].power = 0.5
+motors.set_power(1, 0.5)
 # minimal time has passed at this point,
 # so the robot will appear to move forward instead of turning
 
 # sleep for 2 second
-robot.sleep(2)
+utils.sleep(2)
 
 # stop both motors
-robot.motor_board.motors[0].power = 0
-robot.motor_board.motors[1].power = 0
+motors.set_power(0, 0)
+motors.set_power(1, 0)

assets/user_readme.md

@@ -1,7 +1,8 @@
+# mypy: ignore-errors
 import math
 
 from controller import Keyboard
-from sbot import AnalogPins, Robot
+from sbot import AnalogPin, Colour, arduino, comp, leds, motors, utils, vision
 
 # Any keys still pressed in the following period will be handled again
 # leading to rprinting sensors multiple times
@@ -62,17 +63,17 @@ def angle_str(angle: float) -> str:
         return f"{angle:.4f} rad"
 
 
-def print_sensors(robot: Robot) -> None:
+def print_sensors() -> None:
     ultrasonic_sensor_names = {
         (2, 3): "Front",
         (4, 5): "Left",
         (6, 7): "Right",
         (8, 9): "Back",
     }
     reflectance_sensor_names = {
-        AnalogPins.A0: "Left",
-        AnalogPins.A1: "Center",
-        AnalogPins.A2: "Right",
+        AnalogPin.A0: "Left",
+        AnalogPin.A1: "Center",
+        AnalogPin.A2: "Right",
     }
     touch_sensor_names = {
         10: "Front Left",
@@ -83,29 +84,30 @@ def print_sensors(robot: Robot) -> None:
 
     print("Distance sensor readings:")
     for (trigger_pin, echo_pin), name in ultrasonic_sensor_names.items():
-        dist = robot.arduino.ultrasound_measure(trigger_pin, echo_pin)
+        dist = arduino.measure_ultrasound_distance(trigger_pin, echo_pin)
         print(f"({trigger_pin}, {echo_pin}) {name: <12}: {dist:.0f} mm")
 
     print("Touch sensor readings:")
     for pin, name in touch_sensor_names.items():
-        touching = robot.arduino.pins[pin].digital_value
+        touching = arduino.digital_read(pin)
         print(f"{pin} {name: <6}: {touching}")
 
     print("Reflectance sensor readings:")
     for Apin, name in reflectance_sensor_names.items():
-        reflectance = robot.arduino.pins[Apin].analog_value
+        reflectance = arduino.analog_read(Apin)
         print(f"{Apin} {name: <12}: {reflectance:.2f} V")
 
 
-def print_camera_detection(robot: Robot) -> None:
-    markers = robot.camera.see()
+def print_camera_detection() -> None:
+    markers = vision.detect_markers()
     if markers:
         print(f"Found {len(markers)} makers:")
         for marker in markers:
             print(f" #{marker.id}")
             print(
-                f" Position: {marker.distance:.0f} mm, azi: {angle_str(marker.azimuth)}, "
-                f"elev: {angle_str(marker.elevation)}",
+                f" Position: {marker.position.distance:.0f} mm, "
+                f"{angle_str(marker.position.horizontal_angle)} right, "
+                f"{angle_str(marker.position.vertical_angle)} up",
             )
             yaw, pitch, roll = marker.orientation
             print(
@@ -119,11 +121,15 @@ def print_camera_detection(robot: Robot) -> None:
     print()
 
 
-robot = Robot()
-
 keyboard = KeyboardInterface()
 
-key_sense = CONTROLS["sense"][robot.zone]
+# Automatically set the zone controls based on the robot's zone
+# Alternatively, you can set this manually
+# ZONE_CONTROLS = 0
+ZONE_CONTROLS = comp.zone
+
+assert ZONE_CONTROLS < len(CONTROLS["forward"]), \
+    "No controls defined for this zone, alter the ZONE_CONTROLS variable to use in this zone."
 
 print(
     "Note: you need to click on 3D viewport for keyboard events to be picked "
@@ -138,36 +144,42 @@ def print_camera_detection(robot: Robot) -> None:
     keys = keyboard.process_keys()
 
     # Actions that are run continuously while the key is held
-    if CONTROLS["forward"][robot.zone] in keys["held"]:
+    if CONTROLS["forward"][ZONE_CONTROLS] in keys["held"]:
         left_power += 0.5
         right_power += 0.5
 
-    if CONTROLS["reverse"][robot.zone] in keys["held"]:
+    if CONTROLS["reverse"][ZONE_CONTROLS] in keys["held"]:
         left_power += -0.5
         right_power += -0.5
 
-    if CONTROLS["left"][robot.zone] in keys["held"]:
+    if CONTROLS["left"][ZONE_CONTROLS] in keys["held"]:
         left_power -= 0.25
         right_power += 0.25
 
-    if CONTROLS["right"][robot.zone] in keys["held"]:
+    if CONTROLS["right"][ZONE_CONTROLS] in keys["held"]:
         left_power += 0.25
         right_power -= 0.25
 
-    if CONTROLS["boost"][robot.zone] in keys["held"]:
+    if CONTROLS["boost"][ZONE_CONTROLS] in keys["held"]:
         boost = True
 
     # Actions that are run once when the key is pressed
-    if CONTROLS["sense"][robot.zone] in keys["pressed"]:
-        print_sensors(robot)
-
-    if CONTROLS["see"][robot.zone] in keys["pressed"]:
-        print_camera_detection(robot)
-
-    if CONTROLS["led"][robot.zone] in keys["pressed"]:
-        pass
-
-    if CONTROLS["angle_unit"][robot.zone] in keys["pressed"]:
+    if CONTROLS["sense"][ZONE_CONTROLS] in keys["pressed"]:
+        print_sensors()
+
+    if CONTROLS["see"][ZONE_CONTROLS] in keys["pressed"]:
+        print_camera_detection()
+
+    if CONTROLS["led"][ZONE_CONTROLS] in keys["pressed"]:
+        leds.set_colour(0, Colour.MAGENTA)
+        leds.set_colour(1, Colour.MAGENTA)
+        leds.set_colour(2, Colour.MAGENTA)
+    elif CONTROLS["led"][ZONE_CONTROLS] in keys["released"]:
+        leds.set_colour(0, Colour.OFF)
+        leds.set_colour(1, Colour.OFF)
+        leds.set_colour(2, Colour.OFF)
+
+    if CONTROLS["angle_unit"][ZONE_CONTROLS] in keys["pressed"]:
         USE_DEGREES = not USE_DEGREES
         print(f"Angle unit set to {'degrees' if USE_DEGREES else 'radians'}")
 
@@ -176,7 +188,7 @@ def print_camera_detection(robot: Robot) -> None:
         left_power = max(min(left_power * 2, 1), -1)
         right_power = max(min(right_power * 2, 1), -1)
 
-    robot.motor_board.motors[0].power = left_power
-    robot.motor_board.motors[1].power = right_power
+    motors.set_power(0, left_power)
+    motors.set_power(1, right_power)
 
-    robot.sleep(KEYBOARD_SAMPLING_PERIOD / 1000)
+    utils.sleep(KEYBOARD_SAMPLING_PERIOD / 1000)

example_robots/basic_robot.py

@@ -1,3 +1,3 @@
-sbot==2024.0.1
+sbot==2025.1.0
 april_vision==2.2.0
-opencv-python-headless >=4,<5
+opencv-python-headless >=4.8.0.76,<5

example_robots/keyboard_robot.py

@@ -78,8 +78,12 @@
     logger.info("Copying helper scripts to temp directory")
     shutil.copy(project_root / "scripts/setup.py", temp_dir / "setup.py")
     for script in project_root.glob("scripts/run_*.py"):
+        if "run_comp_" in str(script):
+            continue
         shutil.copy(script, temp_dir)
 
+    script_dir = temp_dir / "scripts"
+    script_dir.mkdir()
     logger.info("Copying example code to temp directory")
     shutil.copytree(project_root / "example_robots", temp_dir / "example_robots")