def __init__(self):
Receiver.__init__(self)
OpMode.__init__(self)
self.register_name("DepCamera_OFFLOAD")
self.attached_unit = None
self.attached_unit_ip = None
self.clisock = None
def __init__(self):
Receiver.__init__(self)
Actuator.__init__(self)
OpMode.__init__(self)
self.register_name("Dummy")
self.val1 = 0
self.val2 = 0
def __init__(self):
Receiver.__init__(self)
Actuator.__init__(self)
OpMode.__init__(self)
self.register_name("Joystick") # make this mode available
# globally
self.xval = 0 # joystick value for direction
self.yval = 0 # joystick value for average speed.
def __init__(self):
Receiver.__init__(self)
Actuator.__init__(self)
OpMode.__init__(self)
self.register_name("DepCamera")
self.angle_bottom = 0
self.angle_middle = 0
self.angle_top = 0
def __init__(self):
Receiver.__init__(self)
Actuator.__init__(self)
OpMode.__init__(self)
self.register_name("RoboticArm") # make this mode available
# globally
self.angle_1 = 0 # base servo
self.angle_2 = 0 # intermediate servo
self.angle_3 = 0 # servo closest to gripper
self.angle_grp = 0 # gripper
def gen_enum():
'''Create an enum based on available operational modes.'''
mode_names = OpMode.get_all_names().copy()
enum_names = mode_names.copy()
for i in range(len(mode_names)):
enum_names[i] = mode_names[i]
return Enum('OP_MODES', enum_names)
def process_as_unit(argv):
'''Equivalent of main() for attached units. Connect to the main unit and
await instructions from it.'''
if len(argv) != 3 and len(argv) != 4:
dg.print(usage_str)
sys.exit(1)
unitname = argv[2]
try:
if len(argv) == 4:
cfg.Configuration.settings_file(argv[3])
else:
cfg.Configuration.settings_file()
except cfg.ConfigurationError as e:
dg.print(str(e) + "\nExiting...")
sys.exit(1)
cfg.overall_config.running_as_unit = True
success = False
dg.print("Attempting to connect to main unit...")
while not success:
success = unit.register_unit(unitname)
if not success:
dg.print("Could not connect to main unit. Retrying...")
time.sleep(1)
dg.print("Running as unit with name {}".format(unitname))
try:
OpMode.opmodes_initialise() # check for available operational modes
except OpModeError as e:
dg.print(str(e) + "\nExiting...")
sys.exit(1) # exit with error code
if OpMode.get_all(): # list of registered modes is not empty
dg.print("Found operational modes: ")
for name in OpMode.get_all_names(): # print registered names of all modes
dg.print(' ' + name)
try:
mgr.global_resources.initialise()
except mgr.ResourceError as e:
dg.print(str(e) + "\nExiting...")
sys.exit(1)
def __init__(self):
OpMode.__init__(self)
self.register_name("Auto")
self.goals_initialise()
def __init__(self):
CameraUser.__init__(self)
OpMode.__init__(self)
self.register_name("Stream")
def __init__(self):
OpMode.__init__(self)
self.register_name("MockOpMode")
def test_init(self):
all_names = OpMode.get_all_names()
if not 'MockOpMode' in all_names:
self.fail()
def setUp(self, mocked_cfg):
if not type(self).ranSetup:
OpMode.opmodes_initialise()
type(self).ranSetup = True
def main(argv):
'''Rover operation starts here! Wait for a connection from a remote
computer, interpret commands received and take appropriate action.
'''
if len(argv) < 2 and len(argv) > 4:
dg.print(usage_str)
sys.exit(1)
if argv[1] == '--as-unit': # not the main unit
process_as_unit(argv)
return
# The rest of main() should only run on the main unit
try:
port = int(argv[1]) # port to receive commands on
except ValueError:
dg.print("Port number should be an integer")
sys.exit(1) # exit with error code
try:
if len(argv) == 3: # settings file specified
cfg.Configuration.settings_file(argv[2])
else: # use the default settings file (settings.xml)
cfg.Configuration.settings_file()
except cfg.ConfigurationError as e: # error related to settings file
dg.print(str(e) + "\nExiting...")
sys.exit(1) # exit with error code
try:
OpMode.opmodes_initialise() # check for available operational modes
except OpModeError as e:
dg.print(str(e) + "\nExiting...")
sys.exit(1) # exit with error code
if OpMode.get_all(): # list of registered modes is not empty
dg.print("Found operational modes: ")
for name in OpMode.get_all_names(): # print registered names of all modes
dg.print(' ' + name)
try:
mgr.global_resources.initialise() # get all resources ready
# (motors, camera, etc)
except mgr.ResourceError as e:
dg.print(str(e) + "\nExiting...")
sys.exit(1) # exit with error code
dg.initialise() # start diagnostics
unit.activate_main_unit_services(
) # service connections from attached units
# start operation
while (True):
dg.print("Waiting for connection...")
try:
main_sock = wait_for_remote(port)
host, _ = main_sock.get_ip_address()
cfg.overall_config.set_ip(host)
except TcpSocketError as e: # connection error
dg.print(str(e))
cleanup()
continue # wait for connection again
shutdown = run(main_sock)
if shutdown:
break
cleanup()
unit.deactivate_main_unit_services()
dg.close()
sys.exit(0) # shutdown