class Glove(object):
def __init__(self, exchange, tty, debug):
if not debug:
log.info("Glove in Live Mode")
self.serial = serial.Serial(tty, 115200)
else:
log.info("Glove in Debug Mode")
self.serial = None
self.debug = debug
self.kinematics = KinematicsSolver(1)
self.connection = pika.BlockingConnection(pika.ConnectionParameters('localhost'))
self.channel = self.connection.channel()
# channel.queue_declare(queue='glove')
self.channel.exchange_declare(exchange=exchange, type='direct')
self.glove = self.channel.queue_declare(exclusive=True)
self.glove_queue_name = self.glove.method.queue
self.channel.queue_bind(exchange=exchange,
routing_key="glove-in",
queue=self.glove_queue_name)
self.channel.basic_consume(self.glove_callback, queue=self.glove_queue_name, no_ack=True)
# self.channel.basic_consume(partial(self.glove_callback, kin=self.kinematics), queue=self.glove_queue_name, no_ack=True)
def start(self):
log.info("Starting Glove Thread")
self.thread = threading.Thread(target=read_from_serial, args=(self.serial, self.connection, self.channel, self.kinematics, self.debug))
self.thread.daemon = True
self.thread.start()
log.info("Glove Up and Running")
def stop(self):
self.thread.join(0)
self.connection.close()
def glove_callback(self, ch, method, properties, body):
log.warn("Resetting Kinematics...")
self.kinematics.reset()
log.info("Kinematics Reset Complete")
def __init__(self, exchange, tty, debug):
if not debug:
log.info("Glove in Live Mode")
self.serial = serial.Serial(tty, 115200)
else:
log.info("Glove in Debug Mode")
self.serial = None
self.debug = debug
self.kinematics = KinematicsSolver(1)
self.connection = pika.BlockingConnection(pika.ConnectionParameters('localhost'))
self.channel = self.connection.channel()
# channel.queue_declare(queue='glove')
self.channel.exchange_declare(exchange=exchange, type='direct')
self.glove = self.channel.queue_declare(exclusive=True)
self.glove_queue_name = self.glove.method.queue
self.channel.queue_bind(exchange=exchange,
routing_key="glove-in",
queue=self.glove_queue_name)
self.channel.basic_consume(self.glove_callback, queue=self.glove_queue_name, no_ack=True)
