def start_autnonmous():
s = '123412341234123412341234123412341234123412341234123412'
global dock
global info2Boat
global currCourse
global data
global currChallenge
###Read HeartBeat Untill End
select_course()
#Init the process to wait for the autodocking position
wait_for_docking();
print("Wait For Docking")
x.clean_buffer()
#Ask for the current challenge to submit to the server
set_challenge(data)
#Send the heart_beat with the current information
auvsi.send_http_heartbeat(currCourse,int(data[timePos]),currChallenge,float(data[latPos]),float(data[longPos]));
#Ask the dock from drone by BT
d = read_dock_from_drone()
print("read_dock_from_drone")
dock = d
send_dock();
print("send_dock")
x.clean_buffer()
#Wait for the end of the run
wait_for_end();
def send_course(): for i in range(1,5): enable = 1; dock = 2; #Send the info to the boat info2Boat = [enable,R_KillSwitch,Status,course,challenge,dock]; x.send2boat(info2Boat); time.sleep(1.05 ) #Send the last heart_beat sended with the last info of docking auvsi.send_http_heartbeat(currCourse,t,currChallenge,la,lo);
def wait_for_docking():
global data
global currCourse
global currChallenge
#Wait for boat to arrive to the docking challenge
while data[challPos] != 'd':
#Wait for the incomming data
try:
s = x.receive_from_boat();
data = s.split(',');
if(data[0].find('2') > 0):
data[0] = data[0][data[0].find('2') : ]
print(data)
#Ask for the current challenge to submit to the server
set_challenge(data)
#Cast the values of the # values
print(currChallenge)
#Hearbeat speed, docking, path, follow, return
if( currChallenge == 'speed' or currChallenge == 'return' or currChallenge == 'follow' or currChallenge == 'path'):
t = int(data[timePos])
la = float(data[latPos])
lo = float(data[longPos])
#Send the heart_beat with the current information
auvsi.send_http_heartbeat(currCourse,t,currChallenge,la,lo);
elif(currChallenge == 'start'):
auvsi.send_http_start(currCourse)
t = int(data[timePos])
la = float(data[latPos])
lo = float(data[longPos])
#Send the heart_beat with the current information
auvsi.send_http_heartbeat(currCourse,t,currChallenge,la,lo);
elif(currChallenge == 'end'):
auvsi.send_http_end(currCourse)
t = int(data[timePos])
la = float(data[latPos])
lo = float(data[longPos])
#Send the heart_beat with the current information
auvsi.send_http_heartbeat(currCourse,t,currChallenge,la,lo);
elif(currChallenge == 'docking'):
t = int(data[timePos])
la = float(data[latPos])
lo = float(data[longPos])
#Send the heart_beat with the current information
auvsi.send_http_heartbeat(currCourse,t,currChallenge,la,lo);
auvsi.send_http_docking(currCourse, "DronePhoto1.jpg");
except ValueError:
print("Error en la rececpción XBee")
def wait_for_end():
global data
global currCourse
global currChallenge
while data[challPos] != 'e':
s = x.receive_from_boat();
time.sleep(.1)
x.clean_buffer()
data = s.split(',');
if(data[0].find('2') > 0):
data[0] = data[0][data[0].find('2') : ]
print(data)
set_challenge(data)
#Cast the values of the # values
t = int(data[timePos])
la = float(data[latPos])
lo = float(data[longPos])
#Send the heart_beat with the current information
auvsi.send_http_heartbeat(currCourse,t,currChallenge,la,lo);
def send_dock(): #Send the information of the dock to the boat #Send several messages to be sure that message arrived. global data global currChallenge print(data) for i in range(1,6): enable = 1; dock = 2; #Send the info to the boat info2Boat = [enable,R_KillSwitch,Status,course,challenge,dock]; x.send2boat(info2Boat); x.clean_buffer() time.sleep(1.05 ) #Cast the values of the # values t = int(data[timePos]) la = float(data[latPos]) lo = float(data[longPos]) #Send the last heart_beat sended with the last info of docking() auvsi.send_http_heartbeat(currCourse,t,currChallenge,la,lo); x.clean_buffer()