Final checkin of mineworld, passed black and flake8

README.md

@@ -80,6 +80,21 @@ python3 -m pip install -r requirements.txt
 
 
 
+##### To launch the mine world gui example
+
+`python3 mineworld.py`
+
+<img src="images/mineworld_screenshot.png" width="412">
+
+1. Enter your Bearer Token and Device Key.
+
+2. Click Connect, and after a second or so, you will get current position and data about your simulated vehicle.
+
+3. Click on some open space in the map, and the vehicle will navigate itself there.
+
+4. Explore! Have fun (note: you will have to click STOP to send a new goal)
+
+
 ## Caladan API
 
 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:
@@ -104,7 +119,7 @@ Python 3.8.10
 
 ## FAQs
 
-- Q: I Don't have a token and key?
+- Q: I don't have a token and key?
   - A: Sign up for our beta! 
 
 - 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.

caladan_api.py

@@ -32,7 +32,6 @@ def get_uuid(self):
         api_url = self.url + "uuid?device_key=" + self.key
         response = requests.get(api_url, headers=self.headers, timeout=30)
         return self.status_check(response.json())
-
 
     def get_position(self):
         api_url = self.url + "position?device_key=" + self.key
@@ -58,14 +57,20 @@ def send_gps_goal(self, lat, lon, yaw):
             timeout=10,
         )
         return self.status_check(response.json())
-    
-    def send_waypoints(self, goals): #Expect an array of 3 entry sets
+
+    def send_waypoints(self, goals):  # Expect an array of 3 entry sets
         api_url = self.url + "send-waypoints?device_key=" + self.key
-        r = {"goals":[]}
+        r = {"goals": []}
         for waypoint in goals:
             print(json.dumps(waypoint[2]))
-            r["goals"].append({"lat":json.dumps(waypoint[0]),"lon":json.dumps(waypoint[1]),"yaw":json.dumps(waypoint[2])})
-        print (r)
+            r["goals"].append(
+                {
+                    "lat": json.dumps(waypoint[0]),
+                    "lon": json.dumps(waypoint[1]),
+                    "yaw": json.dumps(waypoint[2]),
+                }
+            )
+        print(r)
         self.headers["Content-Type"] = "application/json"
         response = requests.post(
             api_url,
@@ -74,15 +79,15 @@ def send_waypoints(self, goals): #Expect an array of 3 entry sets
             timeout=10,
         )
         self.headers["Content-Type"] = "application/x-www-form-urlencoded"
-        return self.status_check(response.json())    
+        return self.status_check(response.json())
 
     def cancel_prev_goal(self):
         api_url = self.url + "cancel-prev-goal?device_key=" + self.key
         response = requests.post(api_url, headers=self.headers, timeout=30)
         return self.status_check(response.json())
 
 
-# Example Usage in 
+# Example Usage in
 # import caladan_api
 # url = "https://beta-caladan.polymathrobotics.dev/api/"
 # device_key = "*******"

config/farmworld_config.py

@@ -33,5 +33,5 @@
 api_url = "https://beta-caladan.polymathrobotics.dev/api/"
 
 # Enter your Polymath Robotics provided Bearer Token and Device Key here!
-token = "eyJhbGciOiJSUzI1NiIsInR5cCI6IkpXVCIsImtpZCI6InIwdDRQVnowQklGVjhOSFVhbU5ISyJ9.eyJpc3MiOiJodHRwczovL3BvbHltYXRocm9ib3RpY3MudXMuYXV0aDAuY29tLyIsInN1YiI6ImdCMjhGYUFHMjRnZXdmeGlGZE9zN3REUDFTTEJROExFQGNsaWVudHMiLCJhdWQiOiJodHRwOi8vb3BlbnNpbS1jdXN0b21lci1hcGkuY29tIiwiaWF0IjoxNjYzMzUyOTAzLCJleHAiOjE2NjU5NDQ5MDMsImF6cCI6ImdCMjhGYUFHMjRnZXdmeGlGZE9zN3REUDFTTEJROExFIiwiZ3R5IjoiY2xpZW50LWNyZWRlbnRpYWxzIiwicGVybWlzc2lvbnMiOltdfQ.Ne_5v5whfH67nO-UFQg7qQMlMbFx5MHqdJEL1smjRPJ1VehFKuceq0XpW4X3v0yNgoKjzzeK1R3JQgl2pA5GoLqAbfb_holPa2UHUU8c9se5ae_300YHIENcfLpuoVob0YYGErrbzNDOzrf4w_gqf58pApQC6MoGk-ZYFIlvc60SGilhYeYfm_670hd3OAXEBsd808xngZ3P0QtEdxP66TZlXOSpaTx9ua6lcdKnwlYIAL8xUu2yECuLto7kSAQ88Ru5m8WNz4JSuxrn_YmW9WbgvCpX6D89iu3_jj119Y0W1MATdBIeVGmljIMkTXzOmlGoznkok3xn8RR2_nuSnw"
-key = "ps2g9vajn"
+token = "bearer_token"
+key = "device_key"

config/mineworld_config.py

@@ -3,16 +3,29 @@
 # Designed as a simple teaching example, not feature complete or fully robust.
 
 
-
 # Example single goal to return to the shed
 shed_goal = (37.724570, -120.998354, 0)
 
 # Example Buttons, experiment by changing the name and location/orientations sent
-button_a = ("Mine Site A", 37.725380, -120.998295, -3.14)
-button_b = ("Mine Site B", 37.725189, -120.998295, -3.14)
-button_c = ("Processing Plant", 37.724960, -120.998295, -3.14)
-button_d = ("Bulldozer Mode", 37.72466, -120.99931, -3.14)
-button_e = ("Dump Truck Mode", 37.72466, -120.99944, 0)
+button_a = ("Mine Site A", 37.725103, -120.998961, 0)
+button_b = ("Mine Site B", 37.724731, -120.999148, -3.14)
+button_c = ("Processing Plant", 37.725324, -120.998303, 0)
+button_d = ("Bulldozer Mode", 0)
+button_e = ("Dump Truck Mode", 0)
+button_f = ("Rotate North", 0)
+button_g = ("Rotate South", 3.14)
+
+# Moves between two mine sites
+bulldoze = (
+    (37.724682, -120.999465, -3.14),
+    (37.725299, -120.999431, 0),
+)
+
+# Moves from center of the mine to processing plant
+dump = (
+    (37.724977, -120.999469, 1.57),
+    (37.724834, -120.998283, -1.57),
+)
 
 # Overall size of the map, south-west corner, then north-east corner
 # south-west: 37.724367, -120.999586
@@ -34,5 +47,5 @@
 api_url = "https://beta-caladan.polymathrobotics.dev/api/"
 
 # Enter your Polymath Robotics provided Bearer Token and Device Key here!
-token = "eyJhbGciOiJSUzI1NiIsInR5cCI6IkpXVCIsImtpZCI6InIwdDRQVnowQklGVjhOSFVhbU5ISyJ9.eyJpc3MiOiJodHRwczovL3BvbHltYXRocm9ib3RpY3MudXMuYXV0aDAuY29tLyIsInN1YiI6ImdCMjhGYUFHMjRnZXdmeGlGZE9zN3REUDFTTEJROExFQGNsaWVudHMiLCJhdWQiOiJodHRwOi8vb3BlbnNpbS1jdXN0b21lci1hcGkuY29tIiwiaWF0IjoxNjY2MTMwMzQyLCJleHAiOjE2Njg3MjIzNDIsImF6cCI6ImdCMjhGYUFHMjRnZXdmeGlGZE9zN3REUDFTTEJROExFIiwiZ3R5IjoiY2xpZW50LWNyZWRlbnRpYWxzIiwicGVybWlzc2lvbnMiOltdfQ.CeCFTqqpuIoX7y6g2nDW91sznE6oejA7ohj3cDZ7IL5c9VpvW9tHgz_BynfuznPCWfg2N4BAe--AKu7ikNUfQMQJTscCMo6ZgM14z09K4jCyVDy6yxpUtXDeIq_3VXX5YiWmP3RS_1yzqeyy4IF-02GvsUX9vO8oowmNYI_dxhP5eKzLhWgerNGNlhpWwDRM6O13yrWuFzTIlijw0MxGIh50yb7CB3EfVCoCLalgLHPy_VWJL8Er4_JZMoNTE5MJKlTtCLn41Olq2PYov8TxIo0ALSjXll7Q0Z1wfBt_tl2vId9qtmXPIRPX6R7qgblfXmQ7iJMiRDQ0SquldFpHQA"
-key = "ps76qow4c"
+token = "bearer_token"
+key = "device_key"

config/portworld_config.py

@@ -9,7 +9,7 @@
 button_a = ("Crane A", 37.725380, -120.998295, -3.14)
 button_b = ("Crane B", 37.725189, -120.998295, -3.14)
 button_c = ("Crane C", 37.724960, -120.998295, -3.14)
-button_d = ("Train Load", 37.72465,  -120.99914, 0)
+button_d = ("Train Load", 37.72465, -120.99914, 0)
 button_e = ("Train Unload", 37.72481, -120.99947, -1.57)
 
 # Overall size of the map, south-west corner, then north-east corner
@@ -32,5 +32,5 @@
 api_url = "https://beta-caladan.polymathrobotics.dev/api/"
 
 # Enter your Polymath Robotics provided Bearer Token and Device Key here!
-token = "eyJhbGciOiJSUzI1NiIsInR5cCI6IkpXVCIsImtpZCI6InIwdDRQVnowQklGVjhOSFVhbU5ISyJ9.eyJpc3MiOiJodHRwczovL3BvbHltYXRocm9ib3RpY3MudXMuYXV0aDAuY29tLyIsInN1YiI6ImdCMjhGYUFHMjRnZXdmeGlGZE9zN3REUDFTTEJROExFQGNsaWVudHMiLCJhdWQiOiJodHRwOi8vb3BlbnNpbS1jdXN0b21lci1hcGkuY29tIiwiaWF0IjoxNjYxNzk1NzI2LCJleHAiOjE2NjQzODc3MjYsImF6cCI6ImdCMjhGYUFHMjRnZXdmeGlGZE9zN3REUDFTTEJROExFIiwiZ3R5IjoiY2xpZW50LWNyZWRlbnRpYWxzIiwicGVybWlzc2lvbnMiOltdfQ.Ow739feiiwmyhM7KW8kzNkbZSd6u4eHsGn9Clu464baSnnlIvaCvBjWWQ7itrgTmyH2BGQm_rB5NQ1JewCkhlLkSCNaPOELk4nHksFRSPJWQG2HL5JXoOsj9FpjEKRb74WXFkXA8tJMHQ1D2-OoyspJRPiSyX664ggIKCduG69NgxSGtCBCL_n-MLX_FehAJu_O005JrnOn54CTpcum0mOXPVEJQrO_slC9NBJKqzV5q45UQzvltWk52v1_139fCZXe86e56r6OteSAhEZ7n4tOagCuP42q_GlQaIZ1-CJ7u-JBfMuVBZYZNBs6tcE_h9jgOwgzIhilkRHsH0hU5LA"
-key = "ps2g9vajn"
+token = "bearer_token"
+key = "device_key"

mineworld.py

@@ -45,7 +45,12 @@
         sg.Button(mineworld_config.button_b[0]),
         sg.Button(mineworld_config.button_c[0]),
     ],
-    [sg.Button(mineworld_config.button_d[0]), sg.Button(mineworld_config.button_e[0])],
+    [
+        sg.Button(mineworld_config.button_d[0]),
+        sg.Button(mineworld_config.button_e[0]),
+        sg.Button(mineworld_config.button_f[0]),
+        sg.Button(mineworld_config.button_g[0]),
+    ],
 ]
 
 
@@ -109,11 +114,22 @@ def tolerance_check(goal, tol):
         return False
 
 
-def parking():
-    for goal in mineworld_config.parking_goals:
-        send_goal(*goal)
-        while not tolerance_check(goal, 0.00003):
-            time.sleep(0.5)
+def bulldoze():
+    while True:  # Cancelled by the STOP button, as this cancels any goal
+        graph_clean()
+        for goal in mineworld_config.bulldoze:
+            send_goal(*goal)
+            while not tolerance_check(goal, 0.00003):
+                time.sleep(0.5)
+
+
+def dump():
+    while True:  # Cancelled by the STOP button, as this cancels any goal
+        graph_clean()
+        for goal in mineworld_config.dump:
+            send_goal(*goal)
+            while not tolerance_check(goal, 0.00003):
+                time.sleep(0.5)
 
 
 def graph_clean():
@@ -174,11 +190,27 @@ def graph_clean():
 
         if event == mineworld_config.button_d[0]:
             graph_clean()
-            send_goal(*mineworld_config.button_d[1:])
+            window.perform_long_operation(bulldoze, "-bulldoze DONE-")
 
         if event == mineworld_config.button_e[0]:
             graph_clean()
-            send_goal(*mineworld_config.button_e[1:])
+            window.perform_long_operation(dump, "-dump DONE-")
+
+        if event == mineworld_config.button_f[0]:
+            graph_clean()
+            send_goal(
+                mineworld_config.odom["position"]["latitude"],
+                mineworld_config.odom["position"]["longitude"],
+                mineworld_config.button_f[1],
+            )
+
+        if event == mineworld_config.button_g[0]:
+            graph_clean()
+            send_goal(
+                mineworld_config.odom["position"]["latitude"],
+                mineworld_config.odom["position"]["longitude"],
+                mineworld_config.button_g[1],
+            )
 
         if event == "graph":
             graph_clean()

portworld.py

@@ -149,10 +149,6 @@ def graph_clean():
             graph_clean()
             send_goal(*portworld_config.shed_goal)
 
-        if event == "Parking":
-            graph_clean()
-            window.perform_long_operation(parking, "-parking DONE-")
-
         if event == "STOP":
             graph_clean()
             api.cancel_prev_goal()

quick_test.py

@@ -9,12 +9,12 @@
 device_key = "psdf65eoh"
 token = "eyJhbGciOiJSUzI1NiIsInR5cCI6IkpXVCIsImtpZCI6InIwdDRQVnowQklGVjhOSFVhbU5ISyJ9.eyJpc3MiOiJodHRwczovL3BvbHltYXRocm9ib3RpY3MudXMuYXV0aDAuY29tLyIsInN1YiI6ImdCMjhGYUFHMjRnZXdmeGlGZE9zN3REUDFTTEJROExFQGNsaWVudHMiLCJhdWQiOiJodHRwOi8vb3BlbnNpbS1jdXN0b21lci1hcGkuY29tIiwiaWF0IjoxNjYzMzUyOTAzLCJleHAiOjE2NjU5NDQ5MDMsImF6cCI6ImdCMjhGYUFHMjRnZXdmeGlGZE9zN3REUDFTTEJROExFIiwiZ3R5IjoiY2xpZW50LWNyZWRlbnRpYWxzIiwicGVybWlzc2lvbnMiOltdfQ.Ne_5v5whfH67nO-UFQg7qQMlMbFx5MHqdJEL1smjRPJ1VehFKuceq0XpW4X3v0yNgoKjzzeK1R3JQgl2pA5GoLqAbfb_holPa2UHUU8c9se5ae_300YHIENcfLpuoVob0YYGErrbzNDOzrf4w_gqf58pApQC6MoGk-ZYFIlvc60SGilhYeYfm_670hd3OAXEBsd808xngZ3P0QtEdxP66TZlXOSpaTx9ua6lcdKnwlYIAL8xUu2yECuLto7kSAQ88Ru5m8WNz4JSuxrn_YmW9WbgvCpX6D89iu3_jj119Y0W1MATdBIeVGmljIMkTXzOmlGoznkok3xn8RR2_nuSnw"
 
-api = caladan_api.SimpleAPI(url,device_key,token)
+api = caladan_api.SimpleAPI(url, device_key, token)
 
 # print (api.get_uuid())
 
 # print (api.send_gps_goal(37.72474,-120.998748,1.57))
 
-goals = [[37.72474,-120.998748,0],[37.725091,-120.998712,-1.57]]
+goals = [[37.72474, -120.998748, 0], [37.725091, -120.998712, -1.57]]
 
-print (api.send_waypoints(goals))
+print(api.send_waypoints(goals))