Added functionality for setting your own curvature limits and general improvement in binaries

Author: ajinkya-joglekar

GUI_supporting_pages/modeling.py

@@ -343,20 +343,33 @@ def update_ui_model_data(self):
             save_button = ctk.CTkButton(master=self.data_selection_frame, text="Apply", command=self.save_num_models)
             save_button.grid(row=5, column=2, pady=10)
 
+            # Add an entry for curvature limits
+            self.curavture_limits_text = ctk.CTkLabel(self.data_selection_frame, text="Curvature limits (1/min turning radius): \u00B1 ",
+                                                   anchor="w")
+            self.curavture_limits_text.grid(row=6, column=0, padx=(0, 20), pady=(10, 10), sticky="ew")
+
+            # Add Entry: Num models in MMPK
+            self.entry_curvature_limits = ctk.CTkEntry(master=self.data_selection_frame)
+            self.entry_curvature_limits.grid(row=6, column=1, padx=10, pady=10, sticky="w")
+
+            # Add a Button to trigger saving num of MMPK models
+            save_button_curvature_lim = ctk.CTkButton(master=self.data_selection_frame, text="Apply", command=self.save_curvature_lim)
+            save_button_curvature_lim.grid(row=6, column=2, pady=10)
+
             self.save_model_text = ctk.CTkLabel(self.data_selection_frame, text="Save the trained model?",
                                                    anchor="w")
-            self.save_model_text.grid(row=6, column=0, padx=(0, 20), pady=(10, 10), sticky="ew")
+            self.save_model_text.grid(row=7, column=0, padx=(0, 20), pady=(10, 10), sticky="ew")
 
             self.radio_var_save_model = tk.IntVar(value=0)
             save_model_radio_button = ctk.CTkRadioButton(self.data_selection_frame, text='Yes',
                                                             variable=self.radio_var_save_model, value=0,
                                                             command=self.update_ui_save_model)
-            save_model_radio_button.grid(row=6, column=1, padx=(0, 10), sticky="w")
+            save_model_radio_button.grid(row=7, column=1, padx=(0, 10), sticky="w")
 
             save_model_radio_button = ctk.CTkRadioButton(self.data_selection_frame, text='No',
                                                             variable=self.radio_var_save_model, value=1,
                                                             command=self.update_ui_save_model)
-            save_model_radio_button.grid(row=6, column=2, padx=(10, 0), sticky="w")
+            save_model_radio_button.grid(row=7, column=2, padx=(10, 0), sticky="w")
             self.update_ui_save_model()
 
         self.test_label = ctk.CTkLabel(self.data_selection_frame, text="Test Data Directory",
@@ -373,19 +386,19 @@ def update_ui_save_model(self):
         save_model_map = {0: True, 1: False}
         for widget in self.data_selection_frame.grid_slaves():
             # print(widget.grid_info())
-            if int(widget.grid_info()['row']) > 6:
+            if int(widget.grid_info()['row']) > 7:
                 widget.grid_forget()  # Remove widgets from previous selection
         if self.radio_var_save_model.get() == 0:
             self.controller.args_dict['Modeling']['Save_Trained_Model'] = save_model_map[int(self.radio_var_save_model.get())]
             self.save_model_folder = ctk.CTkButton(self.data_selection_frame, text="Select Folder",
                                                       command=self.select_model_save_dir)
-            self.save_model_folder.grid(row=7, column=0, padx=(0, 20), pady=(0, 10), sticky="ew")
+            self.save_model_folder.grid(row=8, column=0, padx=(0, 20), pady=(0, 10), sticky="ew")
             self.save_model_folder_text = ctk.CTkLabel(self.data_selection_frame, text="No folder selected", anchor="w")
-            self.save_model_folder_text.grid(row=7, column=1, padx=(10, 10), pady=(0, 10), sticky="ew")
+            self.save_model_folder_text.grid(row=8, column=1, padx=(10, 10), pady=(0, 10), sticky="ew")
         else:
             self.controller.args_dict['Modeling']['Save_Trained_Model'] = save_model_map[int(self.radio_var_save_model.get())]
             for widget in self.data_selection_frame.grid_slaves():
-                if int(widget.grid_info()['row']) > 6:
+                if int(widget.grid_info()['row']) > 7:
                     widget.grid_forget()  # Hide widgets by forgetting them
 
 
@@ -433,6 +446,15 @@ def save_num_models(self):
 
         self.controller.args_dict['Modeling']['Num_models'] = num_models
 
+    def save_curvature_lim(self):
+        curvature_limits = self.entry_curvature_limits.get()  # Get value from state penalty entry
+        # Validation: Check if the input is two integers separated by a space
+        if not self.validate_curvature_lim(curvature_limits):
+            self.show_warning_curvature_lim("Curvature limits")
+            return
+
+        self.controller.args_dict['Modeling']['Curvature_limits'] = curvature_limits
+
 
     def save_custom_platform(self):
         platform_name = self.entry_platform_name.get()  # Get value from state penalty entry
@@ -510,6 +532,20 @@ def validate_num_models(self, input_str):
             # If conversion to integer fails, return False
             return False
 
+    def validate_curvature_lim(self, input_str):
+        try:
+            # Attempt to convert the input string to a float
+            float_val = float(input_str)
+
+            # Check if the float value is positive
+            if float_val > 0:
+                return True
+            else:
+                return False
+        except ValueError:
+            # If conversion to float fails, return False
+            return False
+
     def validate_platform_name(self, input_str):
         # Regular expression to check if the string contains only alphanumeric characters (no spaces, no special characters)
         if re.match("^[a-zA-Z0-9]*$", input_str):
@@ -549,6 +585,10 @@ def show_warning_num_models(self,field_name):
         messagebox.showwarning("Input Error",
                                f"Invalid input for {field_name}. Please enter 1 integer value denoting number of models in MMPK setup.")
 
+    def show_warning_curvature_lim(self,field_name):
+        messagebox.showwarning("Input Error",
+                               f"Invalid input for {field_name}. Please enter a single int/float value denoting curvature limits of the platform.")
+
     def show_warning_name(self,field_name):
         messagebox.showwarning("Input Error",
                                f"Invalid input for {field_name}. Please enter name of platform without spaces and special characters.")

GUI_supporting_pages/planning_controls.py

@@ -286,12 +286,14 @@ def update_ui_control_topic_select(self):
             if int(widget.grid_info()['row']) > 6:
                 widget.grid_forget()  # Remove widgets from previous selection
 
-        # Label for state estimation rostopic selection
-        self.rostopic_controls_selection_label = ctk.CTkLabel(self.topic_selection_frame,
-                                                 text="Select rostopic for control: The script publishes a Twist msg with command velocity (m/s) and steering angle (rad)", anchor="w")
-        self.rostopic_controls_selection_label.grid(row=6, column=0, padx=(0, 20), pady=(10, 10), sticky="ew")
+
 
         if selection == 0:
+            # Label for state estimation rostopic selection
+            self.rostopic_controls_selection_label = ctk.CTkLabel(self.topic_selection_frame,
+                                                                  text="Select rostopic for control: The script publishes a Twist msg with command velocity (m/s) and steering angle (rad)",
+                                                                  anchor="w")
+            self.rostopic_controls_selection_label.grid(row=6, column=0, padx=(0, 20), pady=(10, 10), sticky="ew")
             # Label for velocity topic
             self.rostopic_control_label = ctk.CTkLabel(self.topic_selection_frame, text="Combined control topic", anchor="w")
             self.rostopic_control_label.grid(row=7, column=0, columnspan=2, sticky="ew")
@@ -304,21 +306,21 @@ def update_ui_control_topic_select(self):
         else:
             # Label for velocity topic
             self.rostopic_velocity_label = ctk.CTkLabel(self.topic_selection_frame, text="Throttle topic: The script with publish a percentage throttle (v/v_max set for the platform)", anchor="w")
-            self.rostopic_velocity_label.grid(row=7, column=0, columnspan=2, sticky="ew")
+            self.rostopic_velocity_label.grid(row=6, column=0, columnspan=2, sticky="ew")
             # Select velocity topic
             self.selected_velocity_topic = ctk.StringVar(value=self.available_topics[0])  # Initialize variable
             self.velocity_topic_dropdown = ctk.CTkOptionMenu(self.topic_selection_frame, variable=self.selected_velocity_topic,
                                                          values=self.available_topics,command=self.save_control_topic_vel)
-            self.velocity_topic_dropdown.grid(row=8, column=0, padx=(0, 10), pady=(10, 10), sticky="ew")
+            self.velocity_topic_dropdown.grid(row=7, column=0, padx=(0, 10), pady=(10, 10), sticky="ew")
 
             # Label for steering topic
             self.rostopic_steering_label = ctk.CTkLabel(self.topic_selection_frame, text="Steering topic: The script with publish a percentage steering \u00B1 (delta/delta_max set for the platform)", anchor="w")
-            self.rostopic_steering_label.grid(row=9, column=0, columnspan=2, sticky="ew")
+            self.rostopic_steering_label.grid(row=8, column=0, columnspan=2, sticky="ew")
             # Select steering topic
             self.selected_steering_topic = ctk.StringVar(value=self.available_topics[0])  # Initialize variable
             self.steering_topic_dropdown = ctk.CTkOptionMenu(self.topic_selection_frame, variable=self.selected_steering_topic,
                                                          values=self.available_topics,command=self.save_control_topic_steering)
-            self.steering_topic_dropdown.grid(row=10, column=0, padx=(0, 10), pady=(10, 10), sticky="ew")
+            self.steering_topic_dropdown.grid(row=9, column=0, padx=(0, 10), pady=(10, 10), sticky="ew")
 
     def update_ui_motion_planner_type(self,mmpk_type):
     # create radiobutton frame for type of planer

Update_notes.txt

@@ -1,4 +1,30 @@
-12/02/23
+01/21/25
+***Modeling***
+Added new functionality to provide curvature limits
+***Minor bug fixes and improvements ***
+
+01/20/25
+***Modeling***
+Added new functionality to provide curvature limits
+***Minor bug fixes and improvements ***
+***Project Vaurna 1.2.1 binary***
+
+12/20/24
+***Deploy***
+Added dedicated dev mode for rapid debugging and feature updates
+***Minor bug fixes and improvements ***
+***Project Varuna 1.2 binary***
+
+12/10/24
+***Modeling,Planning,Deploy***
+Removed the print statements kept for debugging
+***Minor bug fixes and improvements ***
+*** Passed the curvature limit in polar_representation_2_state.py in the process for curvature limits
+<-Project Varuna binary updates: Soon to release in v1.3->
+*** Changed the curvature processing util to fit a quadratic spline across the segment and get curvature of the spline (Experimental --works)
+*** Made changes in the controls scripts to reflect the additional parameter for curvture calculation
+
+12/02/24
 ***Modeling,Planning,Deploy***
 Removed the print statements kept for debugging
 ***Deploy***