Beispiel #1
0
    def __init__(self, socket_file_name):
        super(DriverListener, self).__init__()
        self.name = self.__class__.__name__

        self._socket_file_name = socket_file_name
        self._run = True
        self._connected = False
        self._connection = None

        dummy_logger = DummyLogger()
        dummy_telemetry = DummyTelemetry(dummy_logger, (100, 100))
        self._driver = Driver(dummy_telemetry, dummy_logger)
Beispiel #2
0
def main():
    """Main function."""
    signal.signal(signal.SIGWINCH, signal_handler)

    # First, shut the damn car up
    throttle_percentage = 0.0
    # And reset the steering
    steering_percentage = 0.0

    logger = DummyLogger()
    telemetry = DummyTelemetry(logger, (40.0182663, -105.2761267))
    global driver
    driver = Driver(telemetry, logger)

    socket_ = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
    socket_.bind(('', 12345))
    socket_.settimeout(2)

    try:
        data = None
        while True:
            print(
                'Throttle: {}, steering: {}'.format(
                    throttle_percentage,
                    steering_percentage
                )
            )


            try:
                data, address = socket_.recvfrom(1024)  # pylint: disable=unused-variable
                command = json.loads(data.decode())
            except ValueError as value_error:
                print('Unable to parse JSON {}: {}'.format(data, value_error))
                continue
            except:
                print('Timed out')
                throttle_percentage = 0.0
                steering_percentage = 0.0
                command = {}

            if 'quit' in command:
                break
            if 'throttle' in command:
                throttle_percentage = float(command['throttle'])
            if 'steering' in command:
                steering_percentage = float(command['steering'])
            driver.drive(throttle_percentage, steering_percentage)
    except Exception as exc:  # pylint: disable=broad-except
        print('Exception: {}'.format(exc))
    finally:
        driver.drive(0.0, 0.0)
Beispiel #3
0
def main():
    """Main function."""
    # First, shut the damn car up
    throttle_percentage = 0.0
    # And reset the steering
    steering_percentage = 0.0

    logger = DummyLogger()
    telemetry = DummyTelemetry(logger, (40.0182663, -105.2761267))
    driver = Driver(telemetry, logger)

    # driver limits the reverse throttle to 25% to prevent motor damage
    driver._get_throttle = (
        lambda percentage: int(driver_module.THROTTLE_NEUTRAL_US + driver_module.THROTTLE_DIFF * percentage) // 10 * 10
    )

    driver.drive(0.0, 0.0)
    input(
        """
Disconnect the motor cables. While holding down the setup button on the ESC,
switch on the power. The LED should start changing colors from red -> green ->
orange. Red is for calibrating the throttle high and low points for forward and
reverse. Press setup when the LED is red; the LED will start to single flash
red.

Press enter to continue.
"""
    )

    driver.drive(1.0, 0.25)
    input(
        """
Press the set button. The LED should start to double flash red

Press enter to continue.
"""
    )

    driver.drive(-1.0, -0.25)
    input(
        """
Press the set button. The LED should turn off. That's it!

Press enter to exit.
"""
    )

    driver.drive(0.0, 0.0)
Beispiel #4
0
def main():
    """Main function."""
    signal.signal(signal.SIGWINCH, signal_handler)

    # First, shut the damn car up
    throttle_percentage = 0.0
    # And reset the steering
    steering_percentage = 0.0

    logger = DummyLogger()
    telemetry = DummyTelemetry(logger, (40.0182663, -105.2761267))
    global driver
    driver = Driver(telemetry, logger)

    socket_ = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
    socket_.bind(('', 12345))
    socket_.settimeout(2)

    try:
        data = None
        while True:
            print('Throttle: {}, steering: {}'.format(throttle_percentage,
                                                      steering_percentage))

            try:
                data, address = socket_.recvfrom(1024)  # pylint: disable=unused-variable
                command = json.loads(data.decode())
            except ValueError as value_error:
                print('Unable to parse JSON {}: {}'.format(data, value_error))
                continue
            except:
                print('Timed out')
                throttle_percentage = 0.0
                steering_percentage = 0.0
                command = {}

            if 'quit' in command:
                break
            if 'throttle' in command:
                throttle_percentage = float(command['throttle'])
            if 'steering' in command:
                steering_percentage = float(command['steering'])
            driver.drive(throttle_percentage, steering_percentage)
    except Exception as exc:  # pylint: disable=broad-except
        print('Exception: {}'.format(exc))
    finally:
        driver.drive(0.0, 0.0)
Beispiel #5
0
class DriverListener(threading.Thread):
    """Receives commands on a socket from the controlling program to drive."""

    def __init__(self, socket_file_name):
        super(DriverListener, self).__init__()
        self.name = self.__class__.__name__

        self._socket_file_name = socket_file_name
        self._run = True
        self._connected = False
        self._connection = None

        dummy_logger = DummyLogger()
        dummy_telemetry = DummyTelemetry(dummy_logger, (100, 100))
        self._driver = Driver(dummy_telemetry, dummy_logger)

    def run(self):
        """Runs in a thread. Waits for clients to connects then receives and
        handles drive messages.
        """
        try:
            print('DriverListener waiting for commands')
            while self._run:
                try:
                    self.run_socket()
                except Exception as exc:
                    print('Error in DriverListener: {}'.format(exc))
                    return
        except Exception as exc:
            print('DriverListener failed with exception {}'.format(exc))

    def run_socket(self):
        with socket.socket(socket.AF_UNIX, socket.SOCK_STREAM) as sock:
            sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
            try:
                os.unlink(self._socket_file_name)
            except Exception:
                pass
            sock.bind(self._socket_file_name)
            pi = pwd.getpwnam('pi')
            os.chown(self._socket_file_name, pi.pw_uid, pi.pw_gid)
            sock.listen(1)
            sock.settimeout(1)
            try:
                self.wait_for_connections(sock)
            except socket.timeout:
                return
            except socket.error as exc:
                print('DriverListener error with socket: {}'.format(exc))
                if exc.errno == 32:  # Broken pipe
                    print('DriverListener closing socket')
                    sock.shutdown(socket.SHUT_RDWR)
                    sock.close()
                    return
                elif exc.errno == 98:  # Address already in use
                    print('DriverListener quitting waiting for connections')
                    return
                else:
                    print('Unknown error')
                    return

    def wait_for_connections(self, sock):
        while self._run:
            self._connection, _ = sock.accept()
            self._connected = True
            print('DriverListener client connected')
            # Now we're connected, so just wait until someone
            # calls handle_message
            while self._run:
                try:
                    command = self._connection.recv(4096)
                    throttle, steering = [float(i) for i in command.split(' ')]
                    print('DriverListener driving {} {}'.format(throttle, steering))
                    self._driver.drive(throttle, steering)
                except socket.timeout:
                    continue

    def kill(self):
        """Stops the thread."""
        self._run = False
def main():
    """Main function."""
    # First, shut the damn car up
    throttle_percentage = 0.0
    # And reset the steering
    steering_percentage = 0.0

    logger = DummyLogger()
    telemetry = DummyTelemetry(logger, (40.0182663, -105.2761267))
    driver = Driver(telemetry, logger)

    # driver limits the reverse throttle to 25% to prevent motor damage
    driver._get_throttle = lambda percentage: \
        int(
            driver_module.THROTTLE_NEUTRAL_US
            + driver_module.THROTTLE_DIFF
            * percentage
        ) // 10 * 10

    driver.drive(0.0, 0.0)
    input('''
Disconnect the motor cables. While holding down the setup button on the ESC,
switch on the power. The LED should start changing colors from red -> green ->
orange. Red is for calibrating the throttle high and low points for forward and
reverse. Press setup when the LED is red; the LED will start to single flash
red.

Press enter to continue.
''')

    driver.drive(1.0, 0.25)
    input('''
Press the set button. The LED should start to double flash red

Press enter to continue.
''')

    driver.drive(-1.0, -0.25)
    input('''
Press the set button. The LED should turn off. That's it!

Press enter to exit.
''')

    driver.drive(0.0, 0.0)
Beispiel #7
0
def start_threads(
        waypoint_generator,
        logger,
        web_socket_handler,
        max_throttle,
        kml_file_name,
):
    """Runs everything."""
    logger.info('Creating Telemetry')
    telemetry = Telemetry(kml_file_name)
    telemetry_dumper = TelemetryDumper(
        telemetry,
        waypoint_generator,
        web_socket_handler
    )
    logger.info('Done creating Telemetry')
    global DRIVER
    DRIVER = Driver(telemetry)
    DRIVER.set_max_throttle(max_throttle)

    logger.info('Setting SUP800F to NMEA mode')
    serial_ = serial.Serial('/dev/ttyAMA0', 115200)
    serial_.setTimeout(1.0)
    for _ in range(10):
        serial_.readline()
    try:
        switch_to_nmea_mode(serial_)
    except:  # pylint: disable=W0702
        logger.error('Unable to set mode')
    for _ in range(10):
        serial_.readline()
    logger.info('Done')

    # The following objects must be created in order, because of message
    # exchange dependencies:
    # sup800f_telemetry: reads from command forwarded
    # command: reads from command, writes to command forwarded
    # button: writes to command
    # cherry_py_server: writes to command
    # TODO(2016-08-21) Have something better than sleeps to work around race
    # conditions
    logger.info('Creating threads')
    sup800f_telemetry = Sup800fTelemetry(serial_)
    time.sleep(0.5)
    command = Command(telemetry, DRIVER, waypoint_generator)
    time.sleep(0.5)
    button = Button()
    port = int(get_configuration('PORT', 8080))
    address = get_configuration('ADDRESS', '0.0.0.0')
    cherry_py_server = CherryPyServer(
        port,
        address,
        telemetry,
        waypoint_generator
    )
    time.sleep(0.5)

    global THREADS
    THREADS += (
        button,
        cherry_py_server,
        command,
        sup800f_telemetry,
        telemetry_dumper,
    )
    for thread in THREADS:
        thread.start()
    logger.info('Started all threads')

    # Use a fake timeout so that the main thread can still receive signals
    sup800f_telemetry.join(100000000000)
    # Once we get here, sup800f_telemetry has died and there's no point in
    # continuing because we're not receiving telemetry messages any more, so
    # stop the command module
    command.stop()
    command.join(100000000000)
    cherry_py_server.kill()
    cherry_py_server.join(100000000000)
    button.kill()
    button.join(100000000000)