def start(self, args):
try:
self.acquire_camera()
except CameraUserError as e:
raise OpModeError(str(e))
if not self.have_camera():
self.stop(None)
raise OpModeError(str(e))
self.begin_stream()
def stop(self, args):
if self.have_acquired("Wheels"):
self.release_motors("Wheels")
if self.connection_active():
try:
self.disconnect()
except ReceiverError as e:
raise OpModeError(str(e))
def stop(self, args):
'''Implementation of OpMode abstract method stop(args). Stops the RoboticArm mode.'''
if self.have_acquired("Arm"):
self.release_motors("Arm")
if self.connection_active():
try:
self.disconnect()
except ReceiverError as e:
raise OpModeError(str(e))
def start(self, args):
'''port=args[1] will be used as local port. Attached unit will use
port+1 so that main and attached units can run on the same computer.'''
try:
self.attached_unit = args[0]
port = args[1]
self.connect(port)
except (IndexError, TypeError):
raise OpModeError(
"Invalid arguments to start depcam_offload or need a valid port number"
)
try:
self.attached_unit_ip = unit.MainService.unit_list[
self.attached_unit][1]
except KeyError as e:
raise OpModeError(
"Could not start depcam_offload: unit probably detached.")
self.clisock = ClientSocket()
# start attempting connection (poll) to attached unit's Receiver for values
Thread(target=self.clisock.connect_polled,
args=[self.attached_unit_ip,
int(port) + 1]).start()
try: # blocking call to start unit's depcamera mode
unit.send_command(self.attached_unit,
"START DepCamera {}".format(int(port) + 1))
except unit.UnitError as e:
raise OpModeError(str(e))
# If this point is reached depcamera mode on unit has started successfully
# while self.clisock.is_open() and (self.clisock.check_poll_success() == False):
# pass
# if not self.clisock.is_open():
# raise OpModeError('Poll socket was closed.')
# Thread(target=self.check_alive, args=[]).start() # periodically check for close
try:
self.begin_receive()
except ReceiverError as e:
raise OpModeError(str(e))
self.ip = cfg.overall_config.get_connected_ip()
# time.sleep(5)
dg.print("Starting stream redirection...")
redirect.start(self.attached_unit_ip, 5520, self.ip, 5520)
dg.print("Stream redirection started.")
def start(self, args):
'''Implementation of OpMode abstract method start(args). Starts the RoboticArm mode.'''
try:
port = args[0]
self.connect(port) # wait for connection
self.begin_receive() # start receiving values
except (IndexError, TypeError):
raise OpModeError("Need a valid port number.")
except ReceiverError as e:
raise OpModeError(str(e))
try:
self.acquire_motors("Arm")
except ActuatorError as e:
self.stop(None) # clean up
raise OpModeError(str(e))
if self.have_acquired("Arm"):
self.begin_actuate() # start sending received values to motors
else:
self.stop(None)
raise OpModeError('Could not get access to Arm motors.')
def start(self, args):
'''Implementation of OpMode abstract method start(args). Starts the Dummy mode.'''
try:
port = args[0]
self.connect(port)
self.begin_receive()
except(IndexError, TypeError):
raise OpModeError("Need a valid port number.")
except ReceiverError as e:
raise OpModeError(str(e))
try:
self.acquire_motors("Wheels")
except ActuatorError as e:
self.stop(None)
raise OpModeError(str(e))
if self.have_acquired("Wheels"):
self.begin_actuate()
else:
self.stop(None)
raise OpModeError('Could not get access to Wheels.')
def stop(self, args):
mgr.global_resources.release("IPCamera")
if self.have_acquired("DeployableCamera"):
self.release_motors("DeployableCamera")
if self.connection_active():
try:
self.disconnect()
except ReceiverError as e:
raise OpModeError(str(e))
if cfg.overall_config.running_as_unit:
with unit.cli_wait:
unit.cli_wait.notify()
def goals_initialise(self):
'''Look for goals in autonomous directory. Initialise them to register
them and add to goals_list.'''
for filename in os.listdir('.'):
if str(filename) == "auto_mode.py":
continue
if str(filename).startswith('goal_') and \
str(filename).endswith('.py'):
importlib.import_module(str(filename).split('.')[0])
for subcls in Goal.__subclasses__():
try:
subcls()
except TypeError as e:
raise OpModeError(str(e))
def start(self, args):
try:
port = args[0]
self.connect(port)
self.begin_receive()
except (IndexError, TypeError):
raise OpModeError("Need a valid port number.")
except ReceiverError as e:
raise OpModeError(str(e))
try:
self.acquire_motors("DeployableCamera")
except ActuatorError as e:
self.stop(None)
raise OpModeError(str(e))
if self.have_acquired("DeployableCamera"):
self.begin_actuate()
else:
self.stop(None)
raise OpModeError(
'Could not get access to deployable camera motors.')
mgr.global_resources.get_shared("IPCamera")
if cfg.overall_config.running_as_unit:
with unit.cli_wait:
unit.cli_wait.notify()
def stop(self, args):
if self.connection_active():
try:
self.disconnect()
except ReceiverError as e:
raise OpModeError(str(e))
redirect.stop()
try:
if self.clisock.is_open(
): # only way to check if unit is reachable
unit.send_command(self.attached_unit, "STOP DepCamera")
self.clisock.close()
except unit.UnitError as e:
dg.print(
"Warning: sending command 'STOP DepCamera' to unit {} failed.".
format(self.attached_unit))