Merge branch 'release/v2.0.x' into base/RL

webots/controllers/platoon_supervisor/platoon_supervisor.py

@@ -1,21 +1,77 @@
-""" Platoon Supervisor controller for Webots. 
-Moves the obstacle up and down when the space key is pressed. """
+""" Platoon Supervisor controller for Webots. """
 
 import sys
-from controller import Supervisor  # pylint: disable=import-error
+from controller import Supervisor, Keyboard, Node, Field  # pylint: disable=import-error
 
-DEBOUNCE_TIME = 0.2  # Debounce time for the spacebar in seconds
-OBSTACLE_NAME = "OBSTACLE"  # Name of the obstacle node
-TRANSLATION_FIELD = "translation"  # Field name for the translation
 
-RAISED_HEIGHT = 0.4  # Active height in meters
-LOWERED_HEIGHT = 0.06  # Rest height in meters
-
-# Create the Supervisor instance.
-supervisor = Supervisor()
+class Obstacle:
+    """
+    Class to represent the obstacle.
+    """
 
-# Get the keyboard device
-keyboard = supervisor.getKeyboard()
+    DEBOUNCE_TIME = 0.2  # Debounce time for the spacebar in seconds
+    OBSTACLE_NAME = "OBSTACLE"  # Name of the obstacle node
+    TRANSLATION_FIELD = "translation"  # Field name for the translation
+    RAISED_HEIGHT = 0.4  # Active height in meters
+    LOWERED_HEIGHT = 0.06  # Rest height in meters
+
+    def __init__(self) -> None:
+        """ Initialize the obstacle. """
+        self.obstacle_node: Node = None
+        self.translation_field: Field = None
+        self.is_obstacle_lowered: bool = False
+        self.last_time: float = 0
+
+    def setup(self, supervisor: Supervisor) -> bool:
+        """ Setup the obstacle. """
+        is_successful: bool = False
+
+        # Get the obstacle node
+        self.obstacle_node = supervisor.getFromDef(self.OBSTACLE_NAME)
+
+        if self.obstacle_node is not None:
+            # Get the translation field of the obstacle node
+            self.translation_field = self.obstacle_node.getField(
+                self.TRANSLATION_FIELD)
+
+            if self.translation_field is None:
+                print(
+                    f"Translation field {self.TRANSLATION_FIELD} \
+                        of {self.OBSTACLE_NAME} not found.")
+            else:
+                # Get current time for debouncing
+                self.last_time = supervisor.getTime()
+                curr_pos = self.translation_field.getSFVec3f()
+                self.translation_field.setSFVec3f([curr_pos[0],
+                                                   curr_pos[1],
+                                                   self.RAISED_HEIGHT])
+                is_successful = True
+
+        return is_successful
+
+    def process(self, supervisor: Supervisor, keyboard: Keyboard) -> None:
+        """ Process the obstacle. """
+
+        if keyboard.getKey() == ord(' '):  # If space key is pressed
+            if (supervisor.getTime() - self.last_time) > self.DEBOUNCE_TIME:  # Debounce space key
+                # Update last time
+                self.last_time = supervisor.getTime()
+
+                # Get the current position of the obstacle
+                curr_pos = self.translation_field.getSFVec3f()
+
+                # Move the obstacle
+                if self.is_obstacle_lowered is True:  # Raise the obstacle
+                    print("Obstacle raised")
+                    self.translation_field.setSFVec3f(
+                        [curr_pos[0], curr_pos[1], self.RAISED_HEIGHT])
+                else:  # Lower the obstacle
+                    print("Obstacle lowered")
+                    self.translation_field.setSFVec3f(
+                        [curr_pos[0], curr_pos[1], self.LOWERED_HEIGHT])
+
+                # Toggle the obstacle state
+                self.is_obstacle_lowered = not self.is_obstacle_lowered
 
 
 def main_loop():
@@ -26,63 +82,32 @@ def main_loop():
         number: Status
     """
 
-    status = 0
-
-    # Get the obstacle node
-    obstacle_node = supervisor.getFromDef(OBSTACLE_NAME)
-
-    if obstacle_node is None:
-
-        print(f"Robot DEF {OBSTACLE_NAME} not found.")
-        status = -1
-
-    else:
-        # Get the translation field of the obstacle node
-        translation_field = obstacle_node.getField(TRANSLATION_FIELD)
-
-        if translation_field is None:
-            print(
-                f"Translation field {TRANSLATION_FIELD} of {OBSTACLE_NAME} not found.")
-            status = -1
-
-    if status == 0:
-        # Get the time step of the current world.
-        timestep = int(supervisor.getBasicTimeStep())
-
-        # Enable the keyboard device
-        keyboard.enable(timestep)
-
-        # Get current time for debouncing
-        last_time = supervisor.getTime()
+    # Create the Supervisor instance.
+    supervisor = Supervisor()
 
-        # Set the initial state to raised obstacle
-        is_obstacle_lowered = False
-        curr_pos = translation_field.getSFVec3f()
-        translation_field.setSFVec3f(
-            [curr_pos[0], curr_pos[1], RAISED_HEIGHT])
+    # Get the keyboard device
+    keyboard = supervisor.getKeyboard()
 
-        while supervisor.step(timestep) != -1:
-            if keyboard.getKey() == ord(' '):  # If space key is pressed
-                if (supervisor.getTime() - last_time) > DEBOUNCE_TIME:  # Debounce space key
+    # Create the obstacle instance
+    obstacle = Obstacle()
 
-                    # Update last time
-                    last_time = supervisor.getTime()
+    # Setup the obstacle
+    if obstacle.setup(supervisor) is False:
+        # No obstacle found.
+        obstacle = None
 
-                    # Get the current position of the obstacle
-                    curr_pos = translation_field.getSFVec3f()
+    # Get the time step of the current world.
+    timestep = int(supervisor.getBasicTimeStep())
 
-                    # Move the obstacle
-                    if is_obstacle_lowered is True:  # Raise the obstacle
-                        translation_field.setSFVec3f(
-                            [curr_pos[0], curr_pos[1], RAISED_HEIGHT])
-                    else:  # Lower the obstacle
-                        translation_field.setSFVec3f(
-                            [curr_pos[0], curr_pos[1], LOWERED_HEIGHT])
+    # Enable the keyboard device
+    keyboard.enable(timestep)
 
-                    # Toggle the obstacle state
-                    is_obstacle_lowered = not is_obstacle_lowered
+    while supervisor.step(timestep) != -1:
+        if obstacle is not None:
+            obstacle.process(supervisor, keyboard)
 
-    return status
+    return 0
 
 
-sys.exit(main_loop())
+if __name__ == "__main__":
+    sys.exit(main_loop())

webots/protos/ZumoComSystem.proto

@@ -9,7 +9,6 @@ PROTO ZumoComSystem [
   Slot {
     type "ZumoComSystem"
     endPoint Robot {
-      translation -0.005 0 0.018
       children [
         DEF BODY Group {
           children [
@@ -27,10 +26,15 @@ PROTO ZumoComSystem [
               ]
             }
             %< } else { >%
-            Shape {
-              geometry Box {
-                size 0.06 0.05 0.01
-              }
+            Transform {
+              translation -0.005 0 0.018
+              children [
+                Shape {
+                  geometry Box {
+                    size 0.06 0.05 0.01
+                  }
+                }
+              ]
             }
             %<}>%
           ]
@@ -46,6 +50,9 @@ PROTO ZumoComSystem [
         GPS {
           name "gps"
         }
+        Compass {
+          name "compass"
+        }
       ]
       name IS name
       description "DroidControlShip"