follower1

#!/usr/bin/env python
####################################################################
#This is follower1#
# Author: Hongbo Li 2019.05.09#

import rospy
import time
from geometry_msgs.msg import Twist, Point, Quaternion
import tf
from math import radians, copysign, sqrt, pow, pi, atan2,sin,cos
from tf.transformations import euler_from_quaternion
import numpy as np
from sensor_msgs.msg import LaserScan

msg = """
control your Turtlebot3!
-----------------------
this is follower_1
-----------------------
"""

binge=1

follower1_pos=Point()
follower2_pos=Point()
follower3_pos=Point()
follower4_pos=Point()
leader_pos=Point()
attacker_pos=Point()
leader_vel=Twist()
follower1_vel=Twist()
leader_rot=Point()
K1=0.2
K2=0.1
K3=1
alpha=0
detect_R=0.8
safe_r1=0.2
safe_r2=0.5
ID=0

class GotoPoint():
    def __init__(self):
        rospy.init_node('follower1', anonymous=False)

        rospy.on_shutdown(self.shutdown)
        self.cmd_vel = rospy.Publisher('cmd_vel', Twist, queue_size=5)#5
        self.follower1_positon=rospy.Publisher('/follower1_pos',Point,queue_size=5)#5
        position = Point()
        move_cmd = Twist()
        r = rospy.Rate(10)
        self.tf_listener = tf.TransformListener()
        self.odom_frame = '/follower1/odom'
        
        try:
            self.tf_listener.waitForTransform(self.odom_frame, '/follower1/base_footprint', rospy.Time(), rospy.Duration(1.0))
            self.base_frame = '/follower1/base_footprint'
        except (tf.Exception, tf.ConnectivityException, tf.LookupException):
            try:
                self.tf_listener.waitForTransform(self.odom_frame, '/follower1/base_link', rospy.Time(), rospy.Duration(1.0))
                self.base_frame = '/follower1/base_link'
            except (tf.Exception, tf.ConnectivityException, tf.LookupException):
                rospy.loginfo("Cannot find transform between odom and base_link or base_footprint")
                rospy.signal_shutdown("tf Exception")
        global follower1_pos
        global follower2_pos
        global follower3_pos
        global follower4_pos
        global leader_pos
        global attacker_pos
        avo=1
        (position, rotation) = self.get_odom()
        rospy.Subscriber('/follower2_pos',Point,point_callback_2)
        # rospy.Subscriber('/follower3_pos',Point,point_callback_3)
        # rospy.Subscriber('/follower4_pos',Point,point_callback_4)
        rospy.Subscriber('/leader_pos',Point,point_callback_5)
        rospy.Subscriber('/attacker_pos',Point,point_callback_6)

        rospy.Subscriber('/leader/cmd_rot',Point,ori_callback_5)
        rospy.Subscriber('/leader/cmd_vel',Twist,vel_callback_5)
        self.follower1_positon.publish(position)

        if leader_pos.x==0:
            print "wrong"
            leader_pos.x=leader_pos.x+1
            leader_pos.y=leader_pos.y
        
        #follower1_vel_delta_x=(leader_pos.x+follower2_pos.x+follower3_pos.x+follower4_pos.x-4*position.x+1)
        #follower1_vel_delta_y=(leader_pos.y+follower2_pos.y+follower3_pos.y+follower4_pos.y-4*position.y+5)
        follower1_vel_delta_x=leader_pos.x-position.x-0.5
        follower1_vel_delta_y=leader_pos.y-position.y-0.5
        #print follower1_vel_delta_x;print follower1_vel_delta_y

        if abs(follower1_vel_delta_x)<0.05:
            follower1_vel_delta_x=0
        if abs(follower1_vel_delta_y)<0.05:
            follower1_vel_delta_y=0
        goal_x=follower1_vel_delta_x+position.x
        goal_y=follower1_vel_delta_y+position.y
        goal_z=atan2(follower1_vel_delta_y,follower1_vel_delta_x)
       # print follower1_vel_delta_x;print follower1_vel_delta_y
        if follower1_vel_delta_x==0 and follower1_vel_delta_y==0:
            goal_z=0
        print ('goal_x=%f'%(goal_x))
        print ('goal_y=%f'%(goal_y))

        print ('aim_ang1=%f'%(goal_z))
        distance = sqrt(pow(follower1_vel_delta_x, 2) + pow(follower1_vel_delta_y, 2))
        print ('follower1_vel_data_x=%f'%(follower1_vel_delta_x))   #No problem
        print ('follower1_vel_data_y=%f'%(follower1_vel_delta_y)) #No problem

        print ('dis1=%f'%(distance))
        
        global leader_vel
        angular_now=rotation
        phi=goal_z


        follower1_pos.x=position.x-0.5
        follower1_pos.y=position.y
        attacker_pos.x=attacker_pos.x+1
        attacker_pos.y=attacker_pos.y-1
        
        # pos_nodes=[follower1_pos,follower2_pos,leader_pos,attacker_pos]
        pos_nodes=[follower1_pos,leader_pos]
        
        # pos_nodes=[follower2_pos,follower1_pos,follower3_pos,follower4_pos,leader_pos]
        # lidar_nodes=self.lidar(position)
        # if lidar_nodes.x!=10 and abs(lidar_nodes.x-position.x)>0.1:
        #     #pos_nodes=[follower1_pos,follower2_pos,follower3_pos,follower4_pos,leader_pos,lidar_nodes]
        #     pos_nodes=[follower1_pos,follower2_pos,follower3_pos,follower4_pos,leader_pos,attacker_pos]
        # else:
        # 	pos_nodes=[follower1_pos,follower2_pos,follower3_pos,follower4_pos,leader_pos,attacker_pos]
        temp_x_sum=0
        temp_x=0
        temp_y_sum=0
        temp_y=0
        print pos_nodes
        for i in range(len(pos_nodes)):
            if i!=ID:
                # print i
                # print pos_nodes[i].x

                r=sqrt(pow(pos_nodes[i].x-position.x,2)+pow(pos_nodes[i].y-position.y,2))
                if r<detect_R:
                    print ('distance between %d is %f'%(i,r))
                    print (i)
                    temp_x=(1/r-1/detect_R)*(pos_nodes[ID].x-pos_nodes[i].x)
                    temp_y=(1/r-1/detect_R)*(pos_nodes[ID].y-pos_nodes[i].y)
                    temp_fenmu=pow(r,3)
                    temp_x=temp_x/temp_fenmu
                    temp_y=temp_y/temp_fenmu
                    temp_x_sum=temp_x_sum+temp_x
                    temp_y_sum=temp_y_sum+temp_y
                    if r>safe_r2:
                        avo=2
                    elif r<safe_r1:
                        avo=5
                    else:
                        avo=3
        avoid_delta=temp_x_sum*sin(angular_now)+temp_y_sum*cos(angular_now)                 
        print ('the avoid_delta=%f'%(avoid_delta))
        delta_theta=self.compute_theta(phi,angular_now)
        print ('the delta_ang=%f'%(delta_theta))
        print ('the ang_now=%f'%(angular_now))
        print ('the goal_angular=%f'%(phi))
        if abs(delta_theta)>1:
            follower1_vel.linear.x=0+avo*avoid_delta
            follower1_vel.angular.z=delta_theta*2
        else:
            follower1_vel.linear.x=K1*(follower1_vel_delta_x*cos(angular_now)+follower1_vel_delta_y*sin(angular_now))+leader_vel.linear.x+avo*avoid_delta
            follower1_vel.angular.z=K2*delta_theta
        # follower1_vel.linear.x=K1*(follower1_vel_delta_x*abs(cos(angular_now))+follower1_vel_delta_y*abs(sin(angular_now)))+leader_vel.linear.x+avo*avoid_delta
        # follower1_vel.linear.x=0
        # follower1_vel.angular.z=K2*delta_theta*2
        print ('the vel=%f'%(follower1_vel.linear.x))
        
        self.cmd_vel.publish(follower1_vel) 
        # (position, rotation) = self.get_odom()
        msgs ="""this is follower1_theta"""
        print msgs
        
    def lidar(self,tb_pos):
        #print 12
        msg = rospy.wait_for_message("/follower1/scan", LaserScan)
        #print (msg)
        LIDAR_ERR = 0.05
        LIDAR_MAX = 2
        obstacle=[]
        min_dis=3
        min_ang=0
        min_point=Point()
        for i in range(360):
            if i <= 90 or i > 270 and i!=0:
                obstacle_pos=Point()
                if msg.ranges[i] >= LIDAR_ERR and msg.ranges[i]<=LIDAR_MAX and msg.ranges[i]>0.17:
                    obstacle_pos.x=tb_pos.x+msg.ranges[i]*cos(i*2*pi/360)
                    obstacle_pos.y=tb_pos.y+msg.ranges[i]*sin(i*2*pi/360)
                    obstacle.append(obstacle_pos)
                    if msg.ranges[i] < min_dis:
                            min_dis = msg.ranges[i]
                            min_ang = i
        if min_dis<3:
            min_point.x=tb_pos.x+min_dis*cos(i*2*pi/360)
            min_point.y=tb_pos.y+min_dis*sin(i*2*pi/360)
            min_point.z=min_ang
        else:
            min_point.x=-1000
            min_point.y=-1000
        return min_point


        
    def compute_theta(self,theta,rotation1):
        if theta*rotation1<0:
            if theta>0:
                if abs(rotation1)+theta<=pi:
                    w=abs(rotation1)+theta
                else:
                    w=-(2*pi+rotation1-theta)
            else:
                if rotation1+abs(theta)<=pi:
                    w=-(abs(theta)+rotation1)
                else:
                    w=(2*pi-rotation1+theta)
        else:
            w=theta-rotation1
        return w


    def get_odom(self):
        try:
            (trans, rot) = self.tf_listener.lookupTransform(self.odom_frame, self.base_frame, rospy.Time(0))
            rotation = euler_from_quaternion(rot)

        except (tf.Exception, tf.ConnectivityException, tf.LookupException):
            rospy.loginfo("TF Exception")
            return

        return (Point(*trans), rotation[2])
    def shutdown(self):
        self.cmd_vel.publish(Twist())
        rospy.sleep(1)

def ori_callback_5(data):
    global leader_rot
    leader_rot=data
def vel_callback_5(data):
    global leader_vel
    leader_vel=data
def point_callback_1(data):
    global follower1_pos
    follower1_pos.x=data.x
    follower1_pos.y=data.y
def point_callback_2(data):
    global follower2_pos
    follower2_pos.x=data.x
    follower2_pos.y=data.y
def point_callback_3(data):
    global follower3_pos
    follower3_pos.x=data.x
    follower3_pos.y=data.y
def point_callback_4(data):
    global follower4_pos
    follower4_pos.x=data.x
    follower4_pos.y=data.y
def point_callback_5(data):
    global leader_pos
    leader_pos.x=data.x
    leader_pos.y=data.y
def point_callback_6(data):
    global attacker_pos
    attacker_pos.x=data.x
    attacker_pos.y=data.y


if __name__ == '__main__':
	try:
		while not rospy.is_shutdown():
			print(msg)
			binge=binge+1
			GotoPoint()
	except:
		rospy.loginfo("shutdown program.")
        # print bingg