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robot_states.py
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# Licensed under the FreeBSD License
# Copyright (c) 2024, Chris Meacham and Terry Meacham
#
# Redistribution and use in source and binary forms, with or without modification,
# are permitted provided that the following conditions are met:
#
# 1. Redistributions of source code must retain the above copyright notice, this
# list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright notice,
# this list of conditions and the following disclaimer in the documentation
# and/or other materials provided with the distribution.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
# CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
# INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
# MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
# CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
# NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
# HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
# OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
# EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
from dataclasses import dataclass
def calculate_signed_value(num):
if num > 127:
# Convert to signed 8-bit integer
return num - 256
else:
return num
def calculate_twos_complement(num):
if num < 0:
# Convert to two's complement integer
return num + 256
else:
return num
def linear(start, end, interval):
return (end - start) / interval
@dataclass
class RobotAction:
data: dict
interval: int
time: int
@dataclass
class Servo:
org: str
init_value: int
first_value: int
init_lock: bool
label: str
min: int
max: int
data_index: int
locked: bool = False
offset: int | None = None
is_related_same: bool = False
value: float = 0.0
interpolation: callable = linear
def __post_init__(self):
self.value = self.init_value
@dataclass
class RobotState:
data: dict | None = None
action: RobotAction | None = None
offsets_initialized: bool = False
moving: bool = False
transforming: bool = False
battery: int = 100
fast_mode: bool = False
robot_mode: bool = False
programming_mode: bool = False
acting: bool = False
acting_progress: int = 0
def to_byte_list(self):
data = [0] * 48 + [40]
for value in self.data.values():
assert value.offset is not None, "Failed to set offsets!"
val = int(value.value)
if val > value.max:
val = value.max
if val < value.min:
val = value.min
# Check for wheels
if value.label == "leftWheelSpeed" or value.label == "rightWheelSpeed":
val = calculate_twos_complement(val)
data[value.data_index] = val + value.offset
return data
def to_bytes(self):
return bytearray(self.to_byte_list())
def locks_to_byte_list(self):
data = [0] * 48
for value in self.data.values():
data[value.data_index] = 0 if value.locked else 1
return data
def locks_to_bytes(self):
return bytearray(self.locks_to_byte_list())
def from_bytes(self, data: list[int]):
for value in self.data.values():
assert value.offset is not None, "Failed to set offsets!"
val = data[value.data_index] - value.offset
if val > value.max:
val = value.max
if val < value.min:
val = value.min
if value.label == "leftWheelSpeed" or value.label == "rightWheelSpeed":
val = calculate_signed_value(val)
value.value = float(val)
return data
def offsets_from_bytes(self, data: list[int]):
for key in self.data.keys():
self.data[key].offset = data[self.data[key].data_index]
self.offsets_initialized = True
def __str__(self):
s = "RobotState(\n"
for key, value in self.data.items():
s += f"{key}: {value.value} {value.data_index}\n"
s += ")"
return s
def move_to(self, to, time, method):
assert time >= 0, "Interval must be a positive integer."
interval = int(time * 10)
deltas = {
key: method(self.data[key].value, to.data[key].value, interval)
for key in self.data.keys()
}
self.action = RobotAction(data=deltas, interval=interval, time=time)
def has_action(self):
return self.action is not None
def next(self) -> bool:
"""
while running:
if robot.next():
connection.setPosition(robot)
"""
if not self.has_action():
return False
for key in self.data.keys():
self.data[key].value += self.action.data[key]
self.action.interval -= 1
if self.action.interval == 0:
self.action = None
return True
def __post_init__(self):
self.data = {}
@dataclass
class Optimus(RobotState):
def __post_init__(self):
self.data = {
"rightHip": Servo(
org="rightLeg",
init_value=0,
first_value=8,
init_lock=True,
label="rightHip",
min=0,
max=40,
data_index=5,
is_related_same=False,
),
"rightThigh": Servo(
org="rightLeg",
init_value=0,
first_value=0,
init_lock=True,
label="rightThigh",
min=-95,
max=95,
data_index=6,
is_related_same=False,
),
"rightKnee": Servo(
org="rightLeg",
init_value=0,
first_value=0,
init_lock=True,
label="rightCalf",
min=-95,
max=30,
data_index=7,
is_related_same=False,
),
"rightAnkle": Servo(
org="rightLeg",
init_value=0,
first_value=0,
init_lock=True,
label="rightAnkle",
min=-95,
max=80,
data_index=8,
is_related_same=False,
),
"rightFoot": Servo(
org="rightLeg",
init_value=0,
first_value=-8,
init_lock=True,
label="rightFoot",
min=-20,
max=40,
data_index=9,
is_related_same=False,
),
"leftHip": Servo(
org="leftLeg",
init_value=0,
first_value=-8,
init_lock=True,
label="leftHip",
min=0,
max=40,
data_index=0,
is_related_same=False,
),
"leftThigh": Servo(
org="leftLeg",
init_value=0,
first_value=0,
init_lock=True,
label="leftThigh",
min=-95,
max=95,
data_index=1,
is_related_same=False,
),
"leftKnee": Servo(
org="leftLeg",
init_value=0,
first_value=0,
init_lock=True,
label="leftCalf",
min=-30,
max=95,
data_index=2,
is_related_same=False,
),
"leftAnkle": Servo(
org="leftLeg",
init_value=0,
first_value=0,
init_lock=True,
label="leftAnkle",
min=-80,
max=95,
data_index=3,
is_related_same=False,
),
"leftFoot": Servo(
org="leftLeg",
init_value=0,
first_value=8,
init_lock=True,
label="leftFoot",
min=-40,
max=20,
data_index=4,
is_related_same=False,
),
"rightScapula": Servo(
org="rightArm",
init_value=0,
first_value=0,
init_lock=True,
label="rightScapula",
min=-95,
max=0,
data_index=16,
is_related_same=False,
),
"rightShoulder": Servo(
org="rightArm",
init_value=0,
first_value=15,
init_lock=True,
label="rightShoulder",
min=-90,
max=0,
data_index=17,
is_related_same=False,
),
"rightArm": Servo(
org="rightArm",
init_value=0,
first_value=15,
init_lock=True,
label="rightUpperArm",
min=-30,
max=185,
data_index=18,
is_related_same=False,
),
"rightUpperArm": Servo(
org="rightArm",
init_value=0,
first_value=0,
init_lock=True,
label="rightElbow",
min=-95,
max=95,
data_index=19,
is_related_same=False,
),
"rightElbow": Servo(
org="rightArm",
init_value=0,
first_value=30,
init_lock=True,
label="rightLowerArm",
min=-95,
max=60,
data_index=20,
is_related_same=False,
),
"rightWrist": Servo(
org="rightArm",
init_value=0,
first_value=0,
init_lock=True,
label="rightWrist",
min=-40,
max=185,
data_index=21,
is_related_same=False,
),
"leftScapula": Servo(
org="leftArm",
init_value=0,
first_value=0,
init_lock=True,
label="leftScapula",
min=0,
max=95,
data_index=10,
is_related_same=False,
),
"leftShoulder": Servo(
org="leftArm",
init_value=0,
first_value=-15,
init_lock=True,
label="leftShoulder",
min=0,
max=90,
data_index=11,
is_related_same=False,
),
"leftArm": Servo(
org="leftArm",
init_value=0,
first_value=-15,
init_lock=True,
label="leftUpperArm",
min=-185,
max=30,
data_index=12,
is_related_same=False,
),
"leftUpperArm": Servo(
org="leftArm",
init_value=0,
first_value=0,
init_lock=True,
label="leftElbow",
min=-95,
max=95,
data_index=13,
is_related_same=False,
),
"leftElbow": Servo(
org="leftArm",
init_value=0,
first_value=-30,
init_lock=True,
label="leftLowerArm",
min=-60,
max=95,
data_index=14,
is_related_same=False,
),
"leftWrist": Servo(
org="leftArm",
init_value=0,
first_value=0,
init_lock=True,
label="leftWrist",
min=-30,
max=185,
data_index=15,
is_related_same=False,
),
"waist": Servo(
org="body",
init_value=0,
first_value=0,
init_lock=True,
label="waist",
min=-185,
max=40,
data_index=22,
is_related_same=False,
),
"abdomen": Servo(
org="body",
init_value=0,
first_value=0,
init_lock=True,
label="abdomen",
min=-15,
max=95,
data_index=23,
),
"head": Servo(
org="body",
init_value=0,
first_value=0,
init_lock=True,
label="head",
min=0,
max=105,
data_index=24,
),
"rightWheelSpeed": Servo(
org="body",
init_value=0,
first_value=0,
init_lock=False,
label="rightWheelSpeed",
min=-100,
max=100,
data_index=26,
locked=True,
is_related_same=False,
),
"leftWheelSpeed": Servo(
org="body",
init_value=0,
first_value=0,
init_lock=False,
label="leftWheelSpeed",
min=-100,
max=100,
data_index=25,
locked=True,
is_related_same=False,
),
}
@dataclass
class Grimlock(RobotState):
def __post_init__(self):
self.data = {
"rightHip": Servo(
org="rightLeg",
init_value=0,
first_value=8,
init_lock=True,
label="rightHip",
min=-60,
max=5,
data_index=5,
is_related_same=False,
),
"rightThigh": Servo(
org="rightLeg",
init_value=0,
first_value=0,
init_lock=True,
label="rightThigh",
min=-90,
max=60,
data_index=6,
is_related_same=False,
),
"rightKnee": Servo(
org="rightLeg",
init_value=0,
first_value=0,
init_lock=True,
label="rightKnee",
min=-80,
max=0,
data_index=7,
is_related_same=False,
),
"rightAnkle": Servo(
org="rightLeg",
init_value=0,
first_value=0,
init_lock=True,
label="rightAnkle",
min=-50,
max=30,
data_index=8,
is_related_same=False,
),
"rightFoot": Servo(
org="rightLeg",
init_value=0,
first_value=-8,
init_lock=True,
label="rightFoot",
min=-10,
max=60,
data_index=9,
is_related_same=False,
),
"leftHip": Servo(
org="leftLeg",
init_value=0,
first_value=-8,
init_lock=True,
label="leftHip",
min=-5,
max=60,
data_index=0,
is_related_same=False,
),
"leftThigh": Servo(
org="leftLeg",
init_value=0,
first_value=0,
init_lock=True,
label="leftThigh",
min=-60,
max=90,
data_index=1,
is_related_same=False,
),
"leftKnee": Servo(
org="leftLeg",
init_value=0,
first_value=0,
init_lock=True,
label="leftKnee",
min=0,
max=80,
data_index=2,
is_related_same=False,
),
"leftAnkle": Servo(
org="leftLeg",
init_value=0,
first_value=0,
init_lock=True,
label="leftAnkle",
min=-30,
max=50,
data_index=3,
is_related_same=False,
),
"leftFoot": Servo(
org="leftLeg",
init_value=0,
first_value=8,
init_lock=True,
label="leftFoot",
min=-60,
max=10,
data_index=4,
is_related_same=False,
),
# "rightScapula": Servo(
# org="rightArm",
# init_value=0,
# first_value=0,
# init_lock=True,
# label="rightScapula",
# min=0,
# max=95,
# data_index=16,
# is_related_same=False,
# ),
"rightShoulder": Servo(
org="rightArm",
init_value=0,
first_value=15,
init_lock=True,
label="rightShoulder",
min=-40,
max=180,
data_index=17,
is_related_same=False,
),
"rightArm": Servo(
org="rightArm",
init_value=0,
first_value=15,
init_lock=True,
label="rightUpperArm",
min=-5,
max=60,
data_index=18,
is_related_same=False,
),
"rightUpperArm": Servo(
org="rightArm",
init_value=0,
first_value=0,
init_lock=True,
label="rightElbow",
min=-100,
max=100,
data_index=19,
is_related_same=False,
),
"rightElbow": Servo(
org="rightArm",
init_value=0,
first_value=30,
init_lock=True,
label="rightLowerArm",
min=-60,
max=60,
data_index=20,
is_related_same=False,
),
"rightWrist": Servo(
org="rightArm",
init_value=0,
first_value=0,
init_lock=True,
label="rightWrist",
min=-160,
max=0,
data_index=21,
is_related_same=False,
),
# "leftScapula": Servo(
# org="leftArm",
# init_value=0,
# first_value=0,
# init_lock=True,
# label="leftScapula",
# min=-95,
# max=0,
# data_index=10,
# is_related_same=False,
# ),
"leftShoulder": Servo(
org="leftArm",
init_value=0,
first_value=-15,
init_lock=True,
label="leftShoulder",
min=-180,
max=40,
data_index=11,
is_related_same=False,
),
"leftArm": Servo(
org="leftArm",
init_value=0,
first_value=-15,
init_lock=True,
label="leftUpperArm",
min=-60,
max=5,
data_index=12,
is_related_same=False,
),
"leftUpperArm": Servo(
org="leftArm",
init_value=0,
first_value=0,
init_lock=True,
label="leftElbow",
min=-100,
max=100,
data_index=13,
is_related_same=False,
),
"leftElbow": Servo(
org="leftArm",
init_value=0,
first_value=-30,
init_lock=True,
label="leftLowerArm",
min=-60,
max=60,
data_index=14,
is_related_same=False,
),
"leftWrist": Servo(
org="leftArm",
init_value=0,
first_value=0,
init_lock=True,
label="leftWrist",
min=0,
max=160,
data_index=15,
is_related_same=False,
),
# "waist": Servo(
# org="body",
# init_value=0,
# first_value=0,
# init_lock=True,
# label="waist",
# min=-185,
# max=30,
# data_index=22,
# is_related_same=False,
# ),
# "abdomen": Servo(
# org="body",
# init_value=0,
# first_value=0,
# init_lock=True,
# label="abdomen",
# min=-15,
# max=95,
# data_index=23,
# ),
"head": Servo(
org="body",
init_value=0,
first_value=0,
init_lock=True,
label="head",
min=0,
max=105,
data_index=24,
),
"rightWheelSpeed": Servo(
org="body",
init_value=0,
first_value=0,
init_lock=False,
label="rightWheelSpeed",
min=-100,
max=100,
data_index=26,
locked=True,
is_related_same=False,
),
"leftWheelSpeed": Servo(
org="body",
init_value=0,
first_value=0,
init_lock=False,
label="leftWheelSpeed",
min=-100,
max=100,
data_index=25,
locked=True,
is_related_same=False,
),
}
@dataclass
class Megatron(RobotState):
def __post_init__(self):
self.data = {
"rightHip": Servo(
org="rightLeg",
init_value=0,
first_value=8,
init_lock=True,
label="rightHip",
min=-10,
max=40,
data_index=5,
is_related_same=False,
),
"rightThigh": Servo(
org="rightLeg",
init_value=0,
first_value=0,
init_lock=True,
label="rightThigh",
min=-95,
max=95,
data_index=6,
is_related_same=False,
),
"rightCalf": Servo(
org="rightLeg",
init_value=0,
first_value=0,
init_lock=True,
label="rightCalf",
min=-30,
max=95,
data_index=7,
is_related_same=False,
),
"rightAnkle": Servo(
org="rightLeg",
init_value=0,
first_value=0,
init_lock=True,
label="rightAnkle",
min=-50,
max=95,
data_index=8,
is_related_same=False,
),
"rightFoot": Servo(
org="rightLeg",
init_value=0,
first_value=-8,
init_lock=True,
label="rightFoot",
min=-60,
max=20,
data_index=9,
is_related_same=False,
),
"leftHip": Servo(
org="leftLeg",
init_value=0,
first_value=-8,
init_lock=True,
label="leftHip",
min=-40,
max=10,
data_index=0,
is_related_same=False,
),
"leftThigh": Servo(
org="leftLeg",
init_value=0,
first_value=0,
init_lock=True,
label="leftThigh",
min=-95,
max=95,
data_index=1,
is_related_same=False,
),
"leftCalf": Servo(
org="leftLeg",
init_value=0,
first_value=0,
init_lock=True,
label="leftCalf",
min=-95,
max=30,
data_index=2,
is_related_same=False,
),
"leftAnkle": Servo(
org="leftLeg",
init_value=0,
first_value=0,
init_lock=True,
label="leftAnkle",
min=-95,
max=50,
data_index=3,
is_related_same=False,
),
"leftFoot": Servo(
org="leftLeg",
init_value=0,
first_value=8,
init_lock=True,
label="leftFoot",
min=-20,
max=60,
data_index=4,
is_related_same=False,
),
"rightScapula": Servo(
org="rightArm",
init_value=0,
first_value=0,
init_lock=True,
label="rightScapula",
min=0,
max=95,
data_index=16,
is_related_same=False,
),
"rightShoulder": Servo(
org="rightArm",
init_value=0,
first_value=15,
init_lock=True,
label="rightShoulder",
min=-15,
max=95,
data_index=17,
is_related_same=False,
),
"rightUpperArm": Servo(
org="rightArm",
init_value=0,
first_value=15,
init_lock=True,
label="rightUpperArm",
min=-185,
max=30,
data_index=18,
is_related_same=False,
),
"rightElbow": Servo(
org="rightArm",
init_value=0,
first_value=0,
init_lock=True,
label="rightElbow",
min=-95,
max=95,
data_index=19,
is_related_same=False,
),
"rightForeArm": Servo(
org="rightArm",
init_value=0,
first_value=30,
init_lock=True,
label="rightForeArm",
min=-60,
max=95,
data_index=20,
is_related_same=False,
),
"rightWrist": Servo(
org="rightArm",
init_value=0,
first_value=0,
init_lock=True,
label="rightWrist",
min=-185,
max=30,
data_index=21,
is_related_same=False,
),
"leftScapula": Servo(
org="leftArm",
init_value=0,
first_value=0,
init_lock=True,
label="leftScapula",
min=-95,
max=0,
data_index=10,
is_related_same=False,
),
"leftShoulder": Servo(
org="leftArm",
init_value=0,
first_value=-15,
init_lock=True,
label="leftShoulder",
min=-95,
max=15,
data_index=11,
is_related_same=False,
),
"leftRearArm": Servo(
org="leftArm",
init_value=0,
first_value=-15,
init_lock=True,
label="leftRearArm",
min=-30,