def main():
state = {
"should_exit": False,
"is_manual_mode": True,
"is_cruise_mode": False,
}
dm, js, cam = hardware_setup()
ws_server = start_ws()
dl = DataLogger(LOG_PATH + "/data.csv")
logging.info("All services up and running")
last_ws_ts = time.time()
last_sync_ts = time.time()
while not state["should_exit"]:
event = js.get_event()
# dispatch control command
if state["is_manual_mode"]:
if state["is_cruise_mode"]:
if "direction" in event:
event["direction"] = state["direction"]
if "throttle" in event:
event["throttle"] = state["throttle"]
dm.batch_update(event)
else:
ai_command = fetch_ai_command()
state.update(ai_command)
event.update(ai_command)
dm.batch_update(ai_command)
state.update(event)
if state["should_exit"]:
continue
ts = time.time()
# broadcast state/event to client
if ts - last_sync_ts > 0.5:
# sync state every 0.5s
state.update(dm.get_state())
ws_server.broadcast(state)
last_sync_ts = time.time()
if ts - last_ws_ts > 0.1:
# push delta only every 0.1s if there is any
event.update(dm.get_event())
if len(event) > 0:
ws_server.broadcast(event)
last_ws_ts = time.time()
#logging
image_file_name = ('%.6f' % ts) + ".jpg"
state.update({"timestamp": ts, "image_file_name": image_file_name})
cam.capture_and_mark(image_file_name)
dl.write(state)
import os
import time
from DataLogger import DataLogger
def get_image_file_name():
ts = time.time()
return ts, ('%.6f' % ts) + ".jpg"
state = {
"direction": 130.32,
"throttle": 0.8,
"lat": 123.21123234,
"is_manual_mode": False
}
state["timestamp"], state["image_file_name"] = get_image_file_name()
dl = DataLogger(os.getcwd() + "/demo.csv")
dl.write(state)
state["timestamp"], state["image_file_name"] = get_image_file_name()
dl.write(state)
state["timestamp"], state["image_file_name"] = get_image_file_name()
dl.write(state)
