add examples folder and add an example for a charging station poc #198
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WilliamTakeshi
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Thanks! I'll look into the PR later but FYI, there's already the rest.py for exact same purpose at dotbot_api.py. Also just name the directory "examples". |
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Ok! will update to use rest.py. Also will update the name! |
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aabadie
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Can you move the charging station code into its own examples subdirectory, e.g "examples/charging_station" ?
Maybe the term charging station is too specific, it's more a "collision avoidance" example, no?
Also remove "poc" suffix from file and function names.
Codecov Report❌ Patch coverage is Additional details and impacted files@@ Coverage Diff @@
## main #198 +/- ##
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+ Coverage 79.27% 80.15% +0.88%
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Files 21 25 +4
Lines 2157 2535 +378
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+ Hits 1710 2032 +322
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@aabadie I split the charging station into 2 parts and added tests for them. Let me know if you need explanation or the testcases are not thoroughly enough
Also added testcases for new functions and renamed some functions/files. |
dotbot/examples/charging_station.py
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| params: OrcaParams, | ||
| client: RestClient, | ||
| ) -> None: | ||
| dotbots = await client.fetch_active_dotbots() |
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Could we use websockets to fetch the active dotbots instead of HTTP polling?
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Good idea, I am testing on another branch too see if makes sense on the scalability or the gains are low
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This needs a rebase now that #199 is merged |
Thanks! That looks really good. In the charging station example module, the queue_and_charge function is not tested (while queue and charge are, individually). Do you really need that function? Can you address the remaining comments so we can move forward and merge this? |
and add tests
WilliamTakeshi
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I removed the function and moved to main, but I don't know if this makes a difference. Everything is rebased on the new main!
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This PR adds a one folder for experimental scripts to prototype and validate experiments DotBot simulator. Also it adds one experiment as an example.
The new folder has 4 files:
dotbot_api.py: Exposes a small REST-based API used to control and move DotBots via HTTP.vec2.py: A lightweight collection of basic 2D vector operations, used byorca.py.orca.py: Implements Optimal Reciprocal Collision Avoidance (ORCA) to compute collision-free velocities for each robot.charging_station_poc.py: The main entry point that ties everything together. It defines the high-level behavior, it splits in 2 big loops (queueing, charging + parking) and drives the robots toward their goals using ORCA and the DotBot Waypoint API.let me know if you guys have any question!