def __updateHandler(self, var, val):
'''
Handler called for incoming sensor-updates ...
@param var name of variable which was updated
@param val new value assigned to var
'''
logging.info("Received update: %s = %s" % (var, val))
if var == "autopilot":
if val == 1:
logging.debug("Starting autupilot thread")
self.pilot = RobotPilot(self.robot)
self.pilot.daemon = True
self.pilot.start()
self.bcastMsg('autopilot-started')
else:
if not self.pilot == None:
logging.debug(
"Autopilot is running, trying to stop it ...")
self.pilot.abort = True
self.pilot.join()
del self.pilot
self.bcastMsg('autopilot-stoped')
def __updateHandler(self, var, val):
'''
Handler called for incoming sensor-updates ...
@param var name of variable which was updated
@param val new value assigned to var
'''
logging.info("Received update: %s = %s" % (var, val))
if var == "autopilot":
if val == 1:
logging.debug("Starting autupilot thread")
self.pilot = RobotPilot(self.robot)
self.pilot.daemon = True
self.pilot.start()
self.bcastMsg('autopilot-started')
else:
if not self.pilot == None:
logging.debug("Autopilot is running, trying to stop it ...")
self.pilot.abort = True
self.pilot.join()
del self.pilot
self.bcastMsg('autopilot-stoped')
class CarambotRemoteSensor(RemoteSensor):
'''
Remote seonsor implementation to control carambot.
Messages:
forward move robot forward for "forwardticks"
stop stop robot
turn turn robot for "turndeg" (-90..90)
range range scan at "rangedeg" (-90..90)
rangeminmax area range scan to determine min/max range
min. range/pos returned in "rangemin" and "rangemindeg"
max. range/pos returned in "rangemax" and "rangemaxdeg"
Variables:
forwardticks[out] ticks to move on message "forward"
turndeg[out] deg. to turn on "turn" (-90..90)
rangedeg[out] deg. at which to perform scan on "range" (-90..90)
range[out] renage (in cm) measured at "rangedeg"
rangemin[out] min. range (in cm) found at "rangeminmax"
rangemax[out] man. range (in cm) found at "rangeminmax"
rangemindeg[out] deg. at which min. range was found at "rangeminmax"
rangemaxdeg[out] deg. at which max. range was found at "rangeminmax"
autopilot[in] set to 1 to enable autopilot, 0 to disable
if set to 1, no messages are accepted by robot
'''
# carambot robot instance
robot = None
# autopilot
pilot = None
# sensor name e.g. to use in heart-beat
name = "carambot"
def __init__(self, myArgs={}):
'''
Create a new instance of the carambot remote sensor.
@param myArgs arguments for the sensor: host, port, sherpaPort.
'''
sherpaPort = '/dev/ttyUSB0'
if myArgs.has_key('sherpaPort'):
sherpaPort = myArgs['sherpaPort']
dummyBot = False
if myArgs.has_key('dummyBot') and myArgs['dummyBot'].lower() == 'true':
dummyBot = True
if dummyBot:
self.robot = DummyBot(sherpaPort, True)
else:
self.robot = Robot(sherpaPort, True)
RemoteSensor.__init__(self, args=myArgs)
self.updateHandler = self.__updateHandler
self.messageHandler = self.__messageHandler
def __updateHandler(self, var, val):
'''
Handler called for incoming sensor-updates ...
@param var name of variable which was updated
@param val new value assigned to var
'''
logging.info("Received update: %s = %s" % (var, val))
if var == "autopilot":
if val == 1:
logging.debug("Starting autupilot thread")
self.pilot = RobotPilot(self.robot)
self.pilot.daemon = True
self.pilot.start()
self.bcastMsg('autopilot-started')
else:
if not self.pilot == None:
logging.debug(
"Autopilot is running, trying to stop it ...")
self.pilot.abort = True
self.pilot.join()
del self.pilot
self.bcastMsg('autopilot-stoped')
def __messageHandler(self, t, msg):
'''
Handler called for incoming broadcast messages ...
@param t message type (currently always broadcast)
@param msg message received
'''
logging.info("Received message: %s" % msg)
if not self.pilot == None:
logging.warn("Not processing commands: autopilot is active")
self.bcastMsg('autopilot-active')
return
if msg == "forward":
ticks = 100
if self.values.forwardticks > 0:
ticks = self.values.forwardticks
full = self.robot.vehicle.fw(ticks)
if not full:
self.bcastMsg('obstacle-detected')
else:
self.bcastMsg('stoped')
elif msg == "stop":
self.robot.vehicle.br()
self.bcastMsg('stoped')
elif msg == "turn":
self.robot.vehicle.tr(self.values.turndeg)
self.bcastMsg('stoped')
elif msg == "range":
self.values.range = self.robot.panrf.rangeAt(self.values.rangedeg)
self.bcastMsg('range-updated')
elif msg == "rangeminmax":
area = self.robot.panrf.scanArea()
min = 9999
max = 0
mindeg = 0
maxdeg = 0
for v in area:
for p in v:
if v[p] > max:
max = v[p]
maxdeg = p
if v[p] < min:
min = v[p]
mindeg = p
self.values.rangemin = min
self.values.rangemindeg = mindeg
self.values.rangemax = max
self.values.rangemaxdeg = maxdeg
self.bcastMsg('rangeminmax-updated')
else:
logging.warn("Unknown message: %s" % msg)
def setupVariables(self):
self.values.forwardticks = 0
self.values.turndeg = 0
self.values.rangedeg = 0
self.values.range = -1
self.values.rangemin = -1
self.values.rangemax = -1
self.values.rangemindeg = -1
self.values.rangemaxdeg = -1
self.values.autopilot = 0
def worker(self):
'''
The remote seonsor worker.
'''
pass
class CarambotRemoteSensor(RemoteSensor):
'''
Remote seonsor implementation to control carambot.
Messages:
forward move robot forward for "forwardticks"
stop stop robot
turn turn robot for "turndeg" (-90..90)
range range scan at "rangedeg" (-90..90)
rangeminmax area range scan to determine min/max range
min. range/pos returned in "rangemin" and "rangemindeg"
max. range/pos returned in "rangemax" and "rangemaxdeg"
Variables:
forwardticks[out] ticks to move on message "forward"
turndeg[out] deg. to turn on "turn" (-90..90)
rangedeg[out] deg. at which to perform scan on "range" (-90..90)
range[out] renage (in cm) measured at "rangedeg"
rangemin[out] min. range (in cm) found at "rangeminmax"
rangemax[out] man. range (in cm) found at "rangeminmax"
rangemindeg[out] deg. at which min. range was found at "rangeminmax"
rangemaxdeg[out] deg. at which max. range was found at "rangeminmax"
autopilot[in] set to 1 to enable autopilot, 0 to disable
if set to 1, no messages are accepted by robot
'''
# carambot robot instance
robot = None
# autopilot
pilot = None
# sensor name e.g. to use in heart-beat
name = "carambot"
def __init__(self, myArgs = {}):
'''
Create a new instance of the carambot remote sensor.
@param myArgs arguments for the sensor: host, port, sherpaPort.
'''
sherpaPort = '/dev/ttyUSB0'
if myArgs.has_key('sherpaPort'):
sherpaPort = myArgs['sherpaPort']
dummyBot = False
if myArgs.has_key('dummyBot') and myArgs['dummyBot'].lower() == 'true':
dummyBot = True
if dummyBot:
self.robot = DummyBot(sherpaPort, True)
else:
self.robot = Robot(sherpaPort, True)
RemoteSensor.__init__(self, args = myArgs)
self.updateHandler = self.__updateHandler
self.messageHandler = self.__messageHandler
def __updateHandler(self, var, val):
'''
Handler called for incoming sensor-updates ...
@param var name of variable which was updated
@param val new value assigned to var
'''
logging.info("Received update: %s = %s" % (var, val))
if var == "autopilot":
if val == 1:
logging.debug("Starting autupilot thread")
self.pilot = RobotPilot(self.robot)
self.pilot.daemon = True
self.pilot.start()
self.bcastMsg('autopilot-started')
else:
if not self.pilot == None:
logging.debug("Autopilot is running, trying to stop it ...")
self.pilot.abort = True
self.pilot.join()
del self.pilot
self.bcastMsg('autopilot-stoped')
def __messageHandler(self, t, msg):
'''
Handler called for incoming broadcast messages ...
@param t message type (currently always broadcast)
@param msg message received
'''
logging.info("Received message: %s" % msg)
if not self.pilot == None:
logging.warn("Not processing commands: autopilot is active")
self.bcastMsg('autopilot-active')
return
if msg == "forward":
ticks = 100
if self.values.forwardticks > 0:
ticks = self.values.forwardticks
full = self.robot.vehicle.fw(ticks)
if not full:
self.bcastMsg('obstacle-detected')
else:
self.bcastMsg('stoped')
elif msg == "stop":
self.robot.vehicle.br()
self.bcastMsg('stoped')
elif msg == "turn":
self.robot.vehicle.tr(self.values.turndeg)
self.bcastMsg('stoped')
elif msg == "range":
self.values.range = self.robot.panrf.rangeAt(self.values.rangedeg)
self.bcastMsg('range-updated')
elif msg == "rangeminmax":
area = self.robot.panrf.scanArea()
min = 9999
max = 0
mindeg = 0
maxdeg = 0
for v in area:
for p in v:
if v[p] > max:
max = v[p]
maxdeg = p
if v[p] < min:
min = v[p]
mindeg = p
self.values.rangemin = min
self.values.rangemindeg = mindeg
self.values.rangemax = max
self.values.rangemaxdeg = maxdeg
self.bcastMsg('rangeminmax-updated')
else:
logging.warn("Unknown message: %s" % msg)
def setupVariables(self):
self.values.forwardticks = 0
self.values.turndeg = 0
self.values.rangedeg = 0
self.values.range = -1
self.values.rangemin = -1
self.values.rangemax = -1
self.values.rangemindeg = -1
self.values.rangemaxdeg = -1
self.values.autopilot = 0
def worker(self):
'''
The remote seonsor worker.
'''
pass
