def new_msg(self):
msg = self.msg_type()
msg.header = forseti2.header()
msg.header.time = time.time()
for k, v in self.defaults.items():
msg.__setattr__(k, v)
return msg
def __init__(self):
lc = lcm.LCM(settings.LCM_URI)
self.msg = forseti2.piemos_health()
self.msg.header = forseti2.header()
self.msg.header.seq = 0
self.msg.header.time = time.time()
self._thread = threading.Thread(target=self.run)
self._thread.daemon = True
def new_msg(self):
msg = self.msg_type()
msg.header = forseti2.header()
msg.header.time = time.time()
for k, v in self.defaults.items():
msg.__setattr__(k, v)
return msg
def __init__(self):
lc = lcm.LCM(settings.LCM_URI)
self.msg = forseti2.piemos_health()
self.msg.header = forseti2.header()
self.msg.header.seq = 0
self.msg.header.time = time.time()
self._thread = threading.Thread(target=self.run)
self._thread.daemon = True
def __init__(self):
self.lc = lcm.LCM(settings.LCM_URI)
self.msg = forseti2.piemos_cmd()
self.msg.header = forseti2.header()
self.msg.header.seq = 0
self.msg.header.time = time.time()
self.msg.auton = False
self.msg.game_time = 0
self.bad_rfids = [-1, -1, -1, -1]
self.enable = False
self.team_override = [True, True, True, True]
def __init__(self):
self.lc = lcm.LCM(settings.LCM_URI)
self.msg = forseti2.piemos_cmd()
self.msg.header = forseti2.header()
self.msg.header.seq = 0
self.msg.header.time = time.time()
self.msg.auton = False
self.msg.game_time = 0
self.bad_rfids = [-1, -1, -1, -1]
self.enable = False
self.team_override = [True, True, True, True]
def __init__(self):
self.lc = lcm.LCM(settings.LCM_URI)
self.thread = threading.Thread(target=self._loop)
self.thread.daemon = True
self.header = forseti2.header()
self.header.seq = 0;
self.header.time = time.time()
self.msg = forseti2.piemos_override()
self.msg.header = self.header
self.msg.team = 0
self.msg.override = True
def main():
global lc
global node_name
global joysticks
global messages
global platform
global num_axes
global num_buttons
global num_joysticks
lc = lcm.LCM(settings.LCM_URI)
if len(sys.argv) > 1:
node_name = sys.argv[1]
else:
node_name = "default"
pygame.init()
if pygame.joystick.get_count() == 0:
print "Can't find controller..."
sys.exit(1)
num_joysticks = pygame.joystick.get_count()
messages = [fs2.xbox_joystick_state() for i in xrange(num_joysticks)]
for msg in messages:
msg.header = fs2.header()
msg.header.seq = 0
joysticks = [pygame.joystick.Joystick(i) for i in xrange(num_joysticks)]
for j in joysticks:
j.init()
platform = determine_platform(joysticks[0])
num_axes = joysticks[0].get_numaxes()
num_buttons = joysticks[0].get_numbuttons()
while True:
time.sleep(SLEEP_TIME)
pygame.event.pump() # must pump for more info from pygame
for j, msg in zip(joysticks, messages):
if set_controller_status(msg, j):
send_msg(msg, j.get_id())
def main():
global lc
global node_name
global joysticks
global messages
global platform
global num_axes
global num_buttons
global num_joysticks
lc = lcm.LCM(settings.LCM_URI)
if len(sys.argv) > 1:
node_name = sys.argv[1]
else:
node_name = "default"
pygame.init()
if pygame.joystick.get_count() == 0:
print "Can't find controller..."
sys.exit(1)
num_joysticks = pygame.joystick.get_count()
messages = [fs2.xbox_joystick_state() for i in xrange(num_joysticks)]
for msg in messages:
msg.header = fs2.header()
msg.header.seq = 0
joysticks = [pygame.joystick.Joystick(i) for i in xrange(num_joysticks)]
for j in joysticks:
j.init()
platform = determine_platform(joysticks[0])
num_axes = joysticks[0].get_numaxes()
num_buttons = joysticks[0].get_numbuttons()
while True:
time.sleep(SLEEP_TIME)
pygame.event.pump() # must pump for more info from pygame
for j, msg in zip(joysticks, messages):
if set_controller_status(msg, j):
send_msg(msg, j.get_id())
@author: ajc
"""
import lcm
import time
import forseti2 as fs2
import settings
STROBE_ALL = False
lc = lcm.LCM(settings.LCM_URI)
msg = fs2.forest_cmd()
msg.header = fs2.header()
msg.header.seq = 0
msg.header.time = time.time()
for branch in range(8):
for color in range(3):
msg.lights[branch][color] = False
msg.servos[branch] = 0
def send_msg(m):
m.header.seq += 1
m.header.time = time.time()
print('fs2.forest_cmd:')
print(' header.seq=' + str(m.header.seq))
print(' header.time=' + str(m.header.time))
print(' lights=' + str(m.lights))
#!/usr/bin/env python2.7
"""
This node tests piemos by scrubbing through all option.
"""
import lcm
import time
import forseti2 as fs2
import settings
lc = lcm.LCM(settings.LCM_URI)
msg = fs2.piemos_cmd()
msg.header = fs2.header()
msg.header.seq = 0
msg.header.time = time.time()
msg.auton = True
msg.enabled = True
def send_msg(m):
m.header.seq+=1
m.header.time = time.time()
print('fs2.health: enabled='
+ str(m.enabled)
+ ', auton='
+ str(m.auton)
+ ', header.seq='
+ str(m.header.seq)
#!/usr/bin/env python2.7
import lcm
import time
import forseti2
import settings
lc = lcm.LCM(settings.LCM_URI)
msg = forseti2.health()
msg.header = forseti2.header()
msg.header.seq = 0
msg.header.time = time.time()
msg.uptime = 0
start = time.time()
while True:
msg.uptime = time.time() - start
msg.header.seq += 1
msg.header.time = time.time()
lc.publish("sprocket/health", msg.encode())
print('forseti2.health: uptime=' + str(msg.uptime) + ', header.seq=' +
str(msg.header.seq) + ', header.time=' + str(msg.header.time))
time.sleep(.1)
#!/usr/bin/env python2.7
import lcm
import time
import forseti2
import settings
lc = lcm.LCM(settings.LCM_URI)
msg = forseti2.health()
msg.header = forseti2.header()
msg.header.seq = 0
msg.header.time = time.time()
msg.uptime = 0
start = time.time()
while True:
msg.uptime = time.time() - start
msg.header.seq+=1
msg.header.time = time.time()
lc.publish("sprocket/health", msg.encode())
print('forseti2.health: uptime='
+ str(msg.uptime)
+ ', header.seq='
+ str(msg.header.seq)
+ ', header.time='
+ str(msg.header.time))
time.sleep(.1)
