super().__init__()
@Module.asyncloop(1)
async def run(self):
print("sent test case")
pub.sendMessage("gamepad",
message={
"logLevel": "warning",
"Ricky": "dehydrtion"
})
if __name__ == "__main__":
Logger = Logger(Print=True, log=False, topics="gamepad, command")
Logger.start(1)
__Test_Case_Send__ = __Test_Case_Send__()
__Test_Case_Send__.start(1)
AsyncModuleManager = AsyncModuleManager()
AsyncModuleManager.register_modules(Logger, __Test_Case_Send__)
try:
AsyncModuleManager.run_forever()
except KeyboardInterrupt:
pass
except BaseException:
pass
finally:
print("Closing Loop")
AsyncModuleManager.stop_all()
print("message: ", message["Thruster_message"])
#print("time: ", time.time())
def run(self):
initial = time.time()
#print("initial: ", initial)
pub.sendMessage("command.movement", message = {"command_message": (0,1,0,1,0,0)})
if __name__ == "__main__":
import time
from itertools import combinations
from Gamepad import Gamepad
from ControlProfile import ControlProfile
AsyncModuleManager = AsyncModuleManager()
Gamepad = Gamepad()
Gamepad.start(240)
ControlProfile = ControlProfile()
ControlProfile.start(1)
Thruster_Power = Thruster_Power()
#__Test_Case_Combo__ = __Test_Case_Combo__()
__Test_Case_Single__ = __Test_Case_Single__()
#__Test_Case_Single__.start(10)
#__Test_Case_Combo__.start(1)
AsyncModuleManager.register_modules(Thruster_Power, __Test_Case_Single__)
try:
AsyncModuleManager.run_forever()
from Module_Loader import Loader
import sys
from Module_Base_Async import AsyncModuleManager
AsyncModuleManager = AsyncModuleManager()
config_name = "config.yaml"
if len(sys.argv) > 1:
config_name = sys.argv[1]
nodes = Loader.load_all(config_name)
for n in nodes:
n["node"].start(n["frequency"])
try:
AsyncModuleManager.register_module(n["node"])
except BaseException:
pass
try:
AsyncModuleManager.run_forever()
except KeyboardInterrupt:
pass
except BaseException:
pass
finally:
print("Closing Loop")
AsyncModuleManager.stop_all()
def run(self):
pub.sendMessage("gamepad.EM1", message={"EM_R": 0})
def Listener(self, message):
print(message)
if __name__ == "__main__":
from Gamepad import Gamepad
EM1 = EM("EM1", '0x31')
EM2 = EM("EM2", '0x32')
EM1.start(1)
EM2.start(1)
Gamepad = Gamepad()
#Gamepad.start(10)
__Test_Case_Send__ = __Test_Case_Send__()
__Test_Case_Send__.start(1)
AsyncModuleManager = AsyncModuleManager()
AsyncModuleManager.register_modules(Gamepad, EM1, EM2, __Test_Case_Send__)
try:
AsyncModuleManager.run_forever()
except KeyboardInterrupt:
pass
except BaseException:
pass
finally:
#print("Closing Loop")
AsyncModuleManager.stop_all()
import time
def debug_listener_movement(message):
print(message["gamepad_message"])
def debug_listener_profile(message):
print("\t\t\t\t\t", message["Profile_Dict"])
#time.sleep(1)
def debug_listener_EM1(message):
print("EM1: ", message)
def debug_listener_EM2(message):
print("EM2: ", message)
debug = Gamepad()
debug.start(120)
pub.subscribe(debug_listener_movement, 'gamepad.movement')
pub.subscribe(debug_listener_profile, 'gamepad.profile')
pub.subscribe(debug_listener_EM1, 'gamepad.EM1')
pub.subscribe(debug_listener_EM2, 'gamepad.EM2')
AsyncModuleManager = AsyncModuleManager()
AsyncModuleManager.register_modules(debug)
try:
AsyncModuleManager.run_forever()
except KeyboardInterrupt:
pass
except BaseException:
pass
finally:
print("Closing Loop")
AsyncModuleManager.stop_all()
def run(self):
pub.sendMessage(
"Thruster.Power",
message={"Thruster_message": [[0.0001, 0, 0, 0, 0, 0]]})
self.stop_all()
if __name__ == "__main__":
from Gamepad import Gamepad
#Gamepad = Gamepad()
#Gamepad.start(1)
Thrusters = Thrusters()
Thrusters.start(1)
__test_case_send__ = __Test_Case_Send__()
__test_case_send__.start(1)
AsyncModuleManager = AsyncModuleManager()
AsyncModuleManager.register_modules(__test_case_send__, Thrusters)
try:
AsyncModuleManager.run_forever()
except KeyboardInterrupt:
pass
except BaseException:
pass
finally:
print("Closing Loop")
AsyncModuleManager.stop_all()
def logger_sent(message):
print("log.sent: ", message)
def logger_error(message):
print("log.error: ", message)
def logger_receive(message):
print("can.receive: ", message["data"], "can.extra: ",
message["extra"])
pub.subscribe(logger_sent, "log.sent")
pub.subscribe(logger_error, "log.error")
pub.subscribe(logger_receive, "can.receive")
can_handler = CAN_Handler()
can_handler.start(1)
test_case_send = __Test_Case_Send__()
test_case_send.start(1)
AsyncModuleManager = AsyncModuleManager()
AsyncModuleManager.register_modules(test_case_send, can_handler)
try:
AsyncModuleManager.run_forever()
except KeyboardInterrupt:
pass
except BaseException:
pass
finally:
print("Closing Loop")
AsyncModuleManager.stop_all()
super().__init__()
pub.subscribe(self.command_movement_listener, "command.movement")
def command_movement_listener(self, message):
print(message["command_message"])
def run(self):
pub.sendMessage("gamepad.movement",
message={"gamepad_message": (0.2, 0, 0, 0, 0, 0)})
pub.sendMessage("gamepad.profile", message={"Profile_Dict": 'A'})
if __name__ == "__main__":
from Gamepad import Gamepad
AsyncModuleManager = AsyncModuleManager()
Gamepad = Gamepad()
#Gamepad.start(100)
__test_case_send__ = __Test_Case_Send__()
__test_case_send__.start(1)
ControlProfileA = ControlProfile(100, 0.0001, 'A')
ControlProfileB = ControlProfile(70, 0.0001, 'B')
ControlProfileC = ControlProfile(50, 0.0001, 'C')
ControlProfileD = ControlProfile(30, 0.0001, 'D')
AsyncModuleManager.register_modules(__test_case_send__, ControlProfileA,
ControlProfileB, ControlProfileC,
ControlProfileD)
print(message["gamepad_message"])
def debug_listener_EM1(message):
print("EM1: ", message)
def debug_listener_EM2(message):
print("EM2: ", message)
def debug_listener_gripper(message):
print("gripper: ", message)
pub.subscribe(debug_listener_profile, 'gamepad.profile')
joystick = Joystick()
joystick.start(50)
pub.subscribe(debug_listener_gripper, "gamepad.gripper")
#pub.subscribe(debug_listener_movement, 'gamepad.movement')
pub.subscribe(debug_listener_EM1, 'gamepad.EM1')
pub.subscribe(debug_listener_EM2, 'gamepad.EM2')
pub.subscribe(debug_listener_profile, 'gamepad.profile')
AsyncModuleManager.register_module(joystick)
try:
AsyncModuleManager.run_forever()
except KeyboardInterrupt:
print("keyboard interrupt")
except BaseException:
pass
finally:
print("Closing Loop")
AsyncModuleManager.stop_all()
pub.sendMessage('gamepad.EM{}'.format(random.randint(1, 2)),
message={
"EM_L": random.randint(0, 1),
"EM_R": random.randint(0, 1)
})
@Module.loop(0.002)
def run5(self):
flip = random.randint(0, 1)
if flip:
self.invert = not self.invert
pub.sendMessage('gamepad.invert', message={"invert": self.invert})
if __name__ == "__main__":
test_case_send = TestCaseSend()
gui = GUI()
test_case_send.start(50)
gui.start(30)
AsyncModuleManager.register_modules(gui, test_case_send)
try:
AsyncModuleManager.run_forever()
except KeyboardInterrupt:
pass
except BaseException:
pass
finally:
print("Closing Loop")
AsyncModuleManager.stop_all()