def __init__(self) -> None:
self.movement_publisher = messenger.Publisher('/movement', messenger.Messages.motion)
self.kicker_publisher = messenger.Publisher('/kicker_speed', messenger.Messages.integer)
self.x = 0
self.y = 0
self.w = 0
self.rpm = 0
def __init__(self, mock=False, run=True) -> None:
super().__init__('injector_node')
self.command_publisher = messenger.Publisher('/command',
messenger.Messages.string)
self.strategy_listener = messenger.Listener('/strategy',
messenger.Messages.string)
self.canbus_listener = messenger.Listener('/canbus_message',
messenger.Messages.string)
self.settings_listener = messenger.Listener(
'/settings_changed',
messenger.Messages.string,
callback=self.refresh_settings)
self.recognition_listener = messenger.Listener(
'/recognition', messenger.Messages.string)
self.config = ConfigManager.get_value('game')
self.mock = mock
self.initial_devices = set(
(dev.hwid or dev.device) for dev in find_serial('CP2102').values())
self.logger.info("existing devices %s", list(self.initial_devices))
self.injector: Optional[serial.Serial] = None
if run:
self.loop(3)
def __init__(self, mock=False, run=True, **kwargs) -> None:
super().__init__('gameplay', existing_loggers=['gameplay'], **kwargs)
self.mock = mock
# ConfigManager.set_value('game|global|gameplay status', 'disabled')
self.config = ConfigManager.get_value('game')
self.gameplay = Gameplay(self.config, Controller(), self.logger)
self.strategy_publisher = messenger.Publisher('/strategy', messenger.Messages.string)
self.settings_listener = messenger.Listener(
'/settings_changed', messenger.Messages.string, callback=self.refresh_settings)
self.recognition_listener = messenger.Listener(
'/recognition', messenger.Messages.string, callback=self.callback)
self.command_listener = messenger.Listener(
'/command', messenger.Messages.string, callback=self.command_callback)
self.kicker_listener = messenger.Listener(
'/canbus_message', messenger.Messages.string, callback=self.kicker_callback)
self.realsense_distance_listener = messenger.Listener(
'/distance/realsense', messenger.Messages.float, callback=self.realsense_distance_callback)
self.tfmini_distance_listener = messenger.Listener(
'/distance/tfmini', messenger.Messages.float, callback=self.tfmini_distance_callback)
self.realsense_active = time()
self.logger.info("Start gameplay")
if run:
self.spin()
def nuke_usb():
node = messenger.Node('nuke_node')
controller = messenger.Publisher('/controller', messenger.Messages.string)
sleep(0.1)
controller.publish('restart()')
sleep(0.1)
print("SEEEENDING##!#!##!#!#!#!")
def __init__(self, mock=False, run=True, silent=True) -> None:
super().__init__('realsense')
self.publisher = messenger.Publisher('/distance/realsense',
messenger.Messages.float)
self.silent = silent
self.mock = mock
if not mock:
self.sensor = CaptureDistance()
self.iter = iter(self.sensor)
if run:
print("realsense looper")
self.loop(35)
def __init__(self, run=True, mock=False) -> None:
super().__init__('tfmini')
self.publisher = messenger.Publisher('/distance/tfmini',
messenger.Messages.float)
result = self.get_serial()
self.device = next(iter(result.keys()), None)
print(repr(self.device), ": starting TF-mini")
self.ser: Optional[serial.Serial] = None
self.fps = self.distance = 0
self.average = StreamingMovingAverage(3)
self.average_fps = StreamingMovingAverage(20)
while not self.open():
sleep(2)
if run:
self.run()
for t in manager.threads:
try:
t.stop()
except:
print("BLOOP!?")
print("KILL DONE")
exit(0)
listener_wrapper = messenger.CallbackListenerWrapper()
node = messenger.Node('octocamera', on_shutdown=kill)
settings_change = messenger.Listener('/settings_changed',
messenger.Messages.string,
callback=listener_wrapper.update)
recognition_publisher = messenger.Publisher('/recognition',
messenger.Messages.string)
logger = node.logger
# Build pipeline
config = ConfigManager.get_value('camera')
grabber = PanoramaGrabber(config)
image_recognizer = ImageRecognizer(grabber,
config_manager=ConfigManager,
publisher=recognition_publisher)
# settings listeners
listener_wrapper.listeners.append(image_recognizer.refresh_config)
manager = None # type: ThreadManager
# ROS setup before gevent
import messenger
from config_manager import ConfigManager
from websocket_log_handler import WebsocketLogHandler
movement_publisher = messenger.Publisher('/movement', messenger.Messages.motion)
kicker_publisher = messenger.Publisher('/kicker_speed', messenger.Messages.integer)
command_publisher = messenger.Publisher('/command', messenger.Messages.string)
strategy_state = messenger.Listener('/strategy', messenger.Messages.string)
canbus_state = messenger.Listener('/canbus_message', messenger.Messages.string)
websocket_log_handler = WebsocketLogHandler()
logging_state = messenger.Listener('/rosout_agg', messenger.Messages.logging, callback=websocket_log_handler.emit)
node = messenger.Node('io_server', disable_signals=True)
# thread fixes
import gevent
from gevent import monkey
monkey.patch_all(thread=False)
# imports
import json
from time import time
from flask import Flask, render_template, request, redirect
from flask_sockets import Sockets
logger = node.logger
app = Flask(__name__)