def __init__(self, serial_port, front, rear, p=0x10000, i=0x10000, d=0x0, qpps=10000):
self.__serial_port = serial_port
self.__front, self.__rear = front, rear
self.__roboclaw_read_lock = threading.RLock()
self.__roboclaw_write_lock = threading.RLock()
self.__timeout_lock = threading.Lock()
self.__motors_stop_timer_enabled = False
self.__reset_time, self.__motors_stop_time = 0.0, 0.0
self.__reset_gpio = open(RESET_GPIO_PATH, mode='ab')
self.__led1_gpio = open(LED1_GPIO_PATH, mode='ab')
self.__led2_gpio = open(LED2_GPIO_PATH, mode='ab')
self.__p_const = p
self.__i_const = i
self.__d_const = d
self.__qpps_const = qpps
self.__driving_allowed = True
self.__is_active = True
self.__logger = logging.getLogger(LOGGER_NAME)
runtime.add_shutdown_hook(self.terminate)
self.__serial_port.flush()
self.__setup()
self.__green_led(True)
self.__red_led(False)
def __init__(self, roboclaw_driver, hokuyo_proxy, ninedof_proxy):
self.__roboclaw_driver = roboclaw_driver
self.__scan_analyzer = logic.ScanAnalyzer()
self.__motion_analyzer = drive_support_logic.MotionAnalyzer()
self.__measured_speeds_analyzer = drive_support_logic.SpeedsAnalyzer()
self.__user_speeds_analyzer = drive_support_logic.SpeedsAnalyzer()
self.__distance_limiter = drive_support_logic.DistanceLimiter()
self.__motion_limiter = drive_support_logic.MotionLimiter()
self.__measured_speeds = None
self.__user_speeds = None
self.__is_active = True
self.__hokuyo_proxy = hokuyo_proxy
self.__ninedof_proxy = ninedof_proxy
self.__hokuyo_listener = ScanHandler(self)
self.__ninedof_listener = MotionHandler(self)
hokuyo_proxy.subscribe(self.__hokuyo_listener)
ninedof_proxy.subscribe(self.__ninedof_listener)
self.__logger = logging.getLogger(LOGGER_NAME)
runtime.add_shutdown_hook(self.terminate)
def __init__(self, message_handler, pipe_in, pipe_out):
self.__message_handler = message_handler
self.__pipe_in, self.__pipe_out = pipe_in, pipe_out
self.__is_alive = True
self.__write_lock = threading.Lock()
self.__logger = logging.getLogger(LOGGER_NAME)
runtime.add_shutdown_hook(self.terminate)
def __init__(self, message_handler, pipe_in, pipe_out):
self.__message_handler = message_handler
self.__pipe_in, self.__pipe_out = pipe_in, pipe_out
self.__is_alive = True
self.__write_lock = threading.Lock()
self.__logger = logging.getLogger(LOGGER_NAME)
runtime.add_shutdown_hook(self.terminate)
def __init__(self, port):
self.__port = port
self.__port_lock = threading.RLock()
self.__scan = (0, [], [])
self.__last_get_scan = 0.0
self.__is_active = True
self.__scanning_enabled = False
runtime.add_shutdown_hook(self.terminate)
def __init__(self, port):
self.__port = port
self.__port_lock = threading.RLock()
self.__scan = (0, [], [])
self.__last_get_scan = 0.0
self.__is_active = True
self.__scanning_enabled = False
runtime.add_shutdown_hook(self.terminate)
def __init__(self, driver_proxy, location_proxy):
self.__driver_proxy = driver_proxy
self.__location_proxy = location_proxy
self.__next_targets, self.__visited_targets = [], []
self.__current_location, self.__next_targets_timestamp = None, 0.0
self.__targets_lock = threading.Condition()
self.__is_active = True
self.__driving_allowed = False
self.__old_left, self.__old_right = 0.0, 0.0
self.__logger = logging.getLogger(LOGGER_NAME)
runtime.add_shutdown_hook(self.stop)
def __init__(self, scanner, motor_speed=0, high_sensitive=False, multi_scanning_allowed=False):
self.__scanner = scanner
self.__hokuyo_lock = threading.RLock()
self.__scan = ([], [], 0)
self.__motor_speed = motor_speed
self.__high_sensitive = high_sensitive
self.__multi_scanning_allowed = multi_scanning_allowed
self.__is_active = True
self.__logger = logging.getLogger(LOGGER_NAME)
runtime.add_shutdown_hook(self.terminate)
self.__reset()
def __init__(self, hostname, port=DEFAULT_PORT, name=None):
"""
Instantiates AmberClient object.
"""
self.__logger = logging.getLogger(LOGGER_NAME)
self.__proxy = None
self.__hostname, self.__port = hostname, port
self.__socket_sendto_lock = threading.Lock()
self.__socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.__socket.setblocking(False)
self.__socket.settimeout(0.5)
self.__alive = True
self.__receiving_thread = threading.Thread(target=self.message_receiving_loop,
name="receiving-thread-%s" % str(name))
self.__receiving_thread.start()
runtime.add_shutdown_hook(self.terminate_client)
def __init__(self, device_type, device_id, amber_client):
"""
Generic proxy constructor. Must be invoked from subclasses.
"""
self.device_type, self.device_id = device_type, device_id
self.__amber_client = amber_client
amber_client.register_proxy(self)
self.__syn_num = 0
self.__syn_num_lock = threading.Lock()
self.__future_objs = {}
self.__future_objs_lock = threading.Lock()
self.__listeners = []
self.__listeners_lock = threading.Lock()
self.__logger = logging.getLogger(LOGGER_NAME)
runtime.add_shutdown_hook(self.terminate_proxy)
def __init__(self,
scanner,
motor_speed=0,
high_sensitive=False,
multi_scanning_allowed=False):
self.__scanner = scanner
self.__hokuyo_lock = threading.RLock()
self.__scan = ([], [], 0)
self.__motor_speed = motor_speed
self.__high_sensitive = high_sensitive
self.__multi_scanning_allowed = multi_scanning_allowed
self.__is_active = True
self.__logger = logging.getLogger(LOGGER_NAME)
runtime.add_shutdown_hook(self.terminate)
self.__reset()
def __init__(self,
serial_port,
front,
rear,
p=0x10000,
i=0x10000,
d=0x0,
qpps=10000):
self.__serial_port = serial_port
self.__front, self.__rear = front, rear
self.__roboclaw_read_lock = threading.RLock()
self.__roboclaw_write_lock = threading.RLock()
self.__timeout_lock = threading.Lock()
self.__motors_stop_timer_enabled = False
self.__reset_time, self.__motors_stop_time = 0.0, 0.0
self.__reset_gpio = open(RESET_GPIO_PATH, mode='ab')
self.__led1_gpio = open(LED1_GPIO_PATH, mode='ab')
self.__led2_gpio = open(LED2_GPIO_PATH, mode='ab')
self.__p_const = p
self.__i_const = i
self.__d_const = d
self.__qpps_const = qpps
self.__driving_allowed = True
self.__is_active = True
self.__logger = logging.getLogger(LOGGER_NAME)
runtime.add_shutdown_hook(self.terminate)
self.__serial_port.flush()
self.__setup()
self.__green_led(True)
self.__red_led(False)
def __init__(self, driver_proxy, location_proxy, hokuyo_proxy):
self.__driver_proxy = driver_proxy
self.__location_proxy = location_proxy
self.__hokuyo_proxy = hokuyo_proxy
self.__scan_analyzer = logic.ScanAnalyzer()
self.__hokuyo_listener = ScanHandler(self)
hokuyo_proxy.subscribe(self.__hokuyo_listener)
self.__scan = None
self.__next_targets, self.__visited_targets = [], []
self.__current_location, self.__next_targets_timestamp = None, 0.0
self.__targets_lock = threading.Condition()
self.__is_active = True
self.__driving_allowed = False
self.__locator = drive_to_point_logic.Locator()
self.__speeds_filter = logic.LowPassFilter(0.5, 0.0, 0.0)
self.__logger = logging.getLogger(LOGGER_NAME)
runtime.add_shutdown_hook(self.stop)
def __init__(self, driver_proxy, location_proxy, hokuyo_proxy):
self.__driver_proxy = driver_proxy
self.__location_proxy = location_proxy
self.__hokuyo_proxy = hokuyo_proxy
self.__scan_analyzer = logic.ScanAnalyzer()
self.__hokuyo_listener = ScanHandler(self)
hokuyo_proxy.subscribe(self.__hokuyo_listener)
self.__scan = None
self.__next_targets, self.__visited_targets = [], []
self.__current_location, self.__next_targets_timestamp = None, 0.0
self.__targets_lock = threading.Condition()
self.__is_active = True
self.__driving_allowed = False
self.__locator = drive_to_point_logic.Locator()
self.__speeds_filter = logic.LowPassFilter(0.5, 0.0, 0.0)
self.__logger = logging.getLogger(LOGGER_NAME)
runtime.add_shutdown_hook(self.stop)
def __init__(self, port, rc_address=128):
self.__port = port
self.__rc_address = rc_address
runtime.add_shutdown_hook(self.terminate)
def __init__(self, port):
self.__port = port
self.__port_lock = threading.RLock()
runtime.add_shutdown_hook(self.terminate)
def __init__(self, port, rc_address=128):
self.__port = port
self.__rc_address = rc_address
runtime.add_shutdown_hook(self.terminate)
def __init__(self, port):
self.__port = port
self.__port_lock = threading.RLock()
runtime.add_shutdown_hook(self.terminate)
