def setUp(self):
gVars.logger = sailbot_logger.Logger()
self.round_buoy = roundbuoy.RoundBuoy()
gVars.currentData = datatypes.ArduinoData(
0, 0, 0, 0, datatypes.GPSCoordinate(0, 0), 0, 0, 0, 0, 0)
self.buoyLoc = datatypes.GPSCoordinate(1, 1)
self.angleBetweenBuoyAndGPSCoord = standardcalc.angleBetweenTwoCoords(
gVars.currentData.gps_coord, self.buoyLoc)
def run(argv=None):
#with open(path.join(path.dirname(__file__),'log/sailbot.log'), 'w'):
# pass
gVars.logger = sailbot_logger.Logger()
gVars.logger.info("Start")
gVars.logger.info("Mock Enabled: " + str(mock))
if (mock == False):
arduino = piardio.arduino.arduino()
else:
arduino = piardio.mockarduino.arduino()
gVars.logger.info("Created Arduino object")
gVars.arduino = arduino
s = sched.scheduler(time.time, time.sleep)
s.enter(1, 1, setGlobVar, (s, ))
thread.start_new_thread(s.run, ())
while (gVars.run):
# When the function queue has waiting calls, and there is no currently running process,
# switch processes to the next function in the queue (FIFO)
if (len(gVars.functionQueue) > 0 and gVars.currentProcess is None
and gVars.currentData.auto == 1):
killAllFunctions()
time.sleep(.5)
unkillAllFunctions()
gVars.currentProcess = gVars.functionQueue.pop(0)
gVars.currentParams = gVars.queueParameters.pop(0)
task = getTaskObject(gVars.currentProcess)
gVars.taskStartTime = datetime.now()
try:
if gVars.currentProcess == sVars.GO_AROUND or gVars.currentProcess == sVars.GO_TO:
task.run(*gVars.currentParams)
else:
task.run(gVars.currentParams)
except Exception, errtext:
exc_type, exc_value, exc_traceback = sys.exc_info()
gVars.logger.critical(
"Caught exception in " + str(gVars.currentProcess) +
":<br>" + str(errtext) + "<br> Trace: " + "".join(
traceback.format_exception(
exc_type, exc_value, exc_traceback)).replace(
'\n', '<br>' + '  ' * 3))
gVars.currentProcess = None
gVars.currentParams = None
time.sleep(.5)
def setUp(self): gVars.logger = sailbot_logger.Logger() self.stationKeeping = stationkeeping.StationKeeping()
def setUp(self):
gVars.logger = sailbot_logger.Logger()
self.boundaryHandler = circleboundaryhandler.CircleBoundaryHandler()
gVars.currentData = datatypes.ArduinoData(
0, 1, 2, 3, datatypes.GPSCoordinate(4, 4), 5, 6, 7, 0, 20)
def setUp(self):
self.logger = sailbot_logger.Logger()
def setUp(self):
gVars.logger = sailbot_logger.Logger()
self.p2p = pointtopoint.PointToPoint()
self.p2p.GPSCoord = datatypes.GPSCoordinate(49, -123)
self.p2p.Dest = datatypes.GPSCoordinate(50, -122) #north east
self.p2p.sog = 100
def setUp(self):
gVars.logger = sailbot_logger.Logger()
self.p2p = pointtopoint.PointToPoint()
def setUp(self):
self.tackengine = roundingtackengine.RoundingTackEngine("starboard")
gVars.logger = sailbot_logger.Logger()
def setUp(self):
self.tackengine = tackengine.TackEngine()
gVars.logger = sailbot_logger.Logger()