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vrep:socket-com-with-robot [2020/03/17 16:56]
admin
vrep:socket-com-with-robot [2020/04/16 20:00]
admin
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-Th socket communication allows for an external program to control the robot inside V-REP. The external program is a Python script. We will use for the socket a server/​client communication. The server is written in Lua inside a threaded script in V-REP. The client is written in Python, It will :+Back to [[vrep:​main|V-REP Main Page]] 
 + 
 +The socket communication allows for an external program to control the robot inside V-REP. The external program is a Python script. We will use for the socket a server/​client communication. The server is written in Lua inside a threaded script in V-REP. The client is written in Python, It will :
   * connect to the server   * connect to the server
   * send commands to the robot   * send commands to the robot
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 On the server side of the socket, we use a [[https://​www.coppeliarobotics.com/​helpFiles/​en/​childScripts.htm|threaded script]] in Lua as we want to listen to the client'​s commands synchronously with the V-REP simulation loop. On the server side of the socket, we use a [[https://​www.coppeliarobotics.com/​helpFiles/​en/​childScripts.htm|threaded script]] in Lua as we want to listen to the client'​s commands synchronously with the V-REP simulation loop.
  
-We will use a  [[https://​www.ensta-bretagne.fr/​zerr/​filerepo/​vrep/​myLittleBot.ttt|simple 3 wheels robot]] and we load it in V-REP.+We will use a  [[https://​www.ensta-bretagne.fr/​zerr/​filerepo/​vrep/​myLittleBotNoScript.ttt|simple 3 wheels robot]] and we load it in V-REP. You can rename it **myLittleBot.ttt**.
  
 {{:​vrep:​mylittlebot_view.png?​300|}} {{:​vrep:​mylittlebot_view.png?​300|}}
Line 29: Line 31:
 Then you will have to create a file called ​ **simple_robot_control.lua** in the directory where your scene file (here **myLittleBot.ttt**) is stored. ​ Then you will have to create a file called ​ **simple_robot_control.lua** in the directory where your scene file (here **myLittleBot.ttt**) is stored. ​
  
-The Lua code looks like this :+The [[https://​www.ensta-bretagne.fr/​zerr/​filerepo/​vrep/​simple_robot_control.lua|Lua code]] looks like this :
 <code lua> <code lua>
-function hex(s) +-- load pack library 
-   s=string.gsub(s,"(.)",​function (x) return string.format("​%02X",​string.byte(x)) end) +-- must have been added previoulsy in V-REP folder 
-   ​return s +-- if not done yetsee tutorial ​... 
-end +require ("​pack"​) ​
- +
-require ("​pack"​)+
 bpack=string.pack bpack=string.pack
 bunpack=string.unpack bunpack=string.unpack
  
 +-- define socket
 portNb = 33211 portNb = 33211
 serverOn = false serverOn = false
-connexionTimeout = 0.01 +connexionTimeout = 0.001 -- set 1 ms time out
-cntTimeout = 0+
 socket=require("​socket"​) socket=require("​socket"​)
 srv = nil srv = nil
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       -- if server is running, accept command and send back status       -- if server is running, accept command and send back status
       if serverOn then       if serverOn then
 + -- to prevent lock on accept, a timeout is set
  srv:​settimeout(connexionTimeout)  srv:​settimeout(connexionTimeout)
  clt1 = srv:​accept()  clt1 = srv:​accept()
- if clt1 == nil then + if clt1 ~= nil then 
-     cntTimeout = cntTimeout + 1 +     -- to prevent ​lock, a timeout is set 
- else +     ​--clt1:​settimeout(connexionTimeout)
-     -- to prevent ​locks, a timeout is set +
-     clt1:​settimeout(connexionTimeout)+
      -- get the data (command) from the client      -- get the data (command) from the client
      dataIn = clt1:​receive(nCharMessage)      dataIn = clt1:​receive(nCharMessage)
Line 121: Line 120:
 </​code>​ </​code>​
  
-The socket transfers binary data, so we need to pack the data before sending them and unpack them at the reception. For Lua we use the [[http://​webserver2.tecgraf.puc-rio.br/​~lhf/​ftp/​lua/​|lpack ​libary]. You can either download the code and recompile **the pack.so** shared library or get it  [[https://​www.ensta-bretagne.fr/​zerr/​filerepo/​vrep/​pack.so|already compiled here]] if you work on x86_64 linux computer. The file **pack.so** should be added in the main V-REP directory.+The socket transfers binary data, so we need to pack the data before sending them and unpack them at the reception. For Lua we use the [[http://​webserver2.tecgraf.puc-rio.br/​~lhf/​ftp/​lua/​|lpack ​library]]. You can either download the code and recompile **the pack.so** shared library or get it  [[https://​www.ensta-bretagne.fr/​zerr/​filerepo/​vrep/​pack.so|already compiled here]] if you work on x86_64 linux computer. The file **pack.so** should be added in the main V-REP directory. ​ 
 + 
 +//Todo : provide a .dll for windows//
  
 The socket is between processes on the same computer so the IP address is **localhost** or **127.0.0.1**. The communication port is set to **33211**. The port number is arbitrary, if this port is already used, we will get an error message. To get a list of used port, you can use **lsof**. Here we print only the ports used by V-REP: ​ The socket is between processes on the same computer so the IP address is **localhost** or **127.0.0.1**. The communication port is set to **33211**. The port number is arbitrary, if this port is already used, we will get an error message. To get a list of used port, you can use **lsof**. Here we print only the ports used by V-REP: ​
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 </​code>​ </​code>​
  
 +The [[https://​www.ensta-bretagne.fr/​zerr/​filerepo/​vrep/​simple_robot_control.py|Python3 client code]] is as follows:
 +<code python>
 +import socket
 +import time
 +import struct
 +import signal
 +import sys
 +import math
 +
 +code_sync_1 = '​A'​
 +code_sync_2 = '​Z'​
 +
 +# set the speed of the two wheels
 +try:
 +    speed_left = float(sys.argv[1])
 +    speed_right = float(sys.argv[2])
 +except:
 +    speed_left = 0.0
 +    speed_right = 0.0
 +
 +# set address and port for the socket communication
 +server_address_port = ('​localhost',​ 33211)
 +
 +# interrupt handler
 +def interrupt_handler(signal,​ frame):
 +    print ('You pressed CTRL-C, end of communication with V-REP robot'​)
 +    time.sleep(0.5)
 +    try:
 +        sock.close()
 +    except:
 +        print (sock,"​socket already closed"​)
 +    sys.exit(0)
 +    ​
 +# trap hit of ctrl-C to stop the communication with V-REP
 +signal.signal(signal.SIGINT,​ interrupt_handler)
 +
 +# client connects to server every 50 ms
 +loop_duration = 0.050
 +while True:
 +    # Create a TCP/IP socket
 +    t0 = time.time()
 +    sock = socket.socket(socket.AF_INET,​ socket.SOCK_STREAM)
 +    try:
 +        sock.connect(server_address_port)
 +    except:
 +        print ("​Cannot connect to server"​)
 +        break
 +
 +    sock.settimeout(0.1) # set connection timeout
 +    # pack command
 +    strSend = struct.pack('<​BBff',​ord(code_sync_1),​ord(code_sync_2),​speed_left,​speed_right)
 +    # send command to V-REP
 +    sock.sendall(strSend)
 +
 +    # wait for status back from V-REP
 +    data = b''​
 +    nch_rx = 14 # expect receiving 14 bytes from  V-REP 
 +    try:
 +        while len(data) < nch_rx:
 +            data += sock.recv(nch_rx)
 +    except:
 +        print ("​socker error , duration is %f ms, try to reconnect !!!"​%((time.time() - t0)*1000.0))
 +    # unpack the received data
 +    data_ok = False
 +    if len(data) == nch_rx:
 +        vrx = struct.unpack('<​ccfff',​data)
 +        if vrx[0] == b'​A'​ and  vrx[1] == b'​Z':​
 +            data_ok = True
 +    else:
 +        pass
 +
 +    sock.close()
 +    tsock = (time.time() - t0)*1000.0
 +
 +    if data_ok:
 +        print ("​sockect time=%.1f ms, simTime=%.2f s, left angle=%.1f, right angle=%.1f"​%
 +               ​(tsock,​vrx[2],​vrx[3]*180.0/​math.pi,​vrx[4]*180.0/​math.pi))
 +    else:
 +        print ("​tsock",​tsock,"​ms,​ bad data !!")
 +
 +    tsleep = loop_duration - (time.time()-t0)
 +    if tsleep>​0:​
 +        time.sleep (tsleep)  ​
 +</​code>​
 +
 +Go to [[vrep:​socket-com-with-robot|top]]
vrep/socket-com-with-robot.txt · Last modified: 2020/06/09 16:39 by admin