def __init__(self, sockets):
logfile = user_data_dir + sep + 'ICARUS.log'
log_config(filename=logfile,
level=DEBUG,
format='%(asctime)s - %(levelname)s: %(message)s')
log_info('icarus starting up')
self.setpoints = [0.0, 0.0, 2.0] # x, y, z
self.flight_time = 0
self.icarus_takeover = False
self.emergency_land = False
self.factory = ICARUS_MissionFactory
self.fsm = FlightSM(self.error, self.broadcast, self.takeoff,
self.land, self.move, self.stop)
self.landing_spots = LandingSpots(3.0)
self.pilot = PilotInterface(sockets['pilot'], sockets['mon'])
#self.gps_shifter = GPS_Shifter()
self.state_emitter = StateEmitter(sockets['state'])
self.powerman = PowerMan(sockets['power_ctrl'], sockets['power_mon'])
start_daemon_thread(self.power_state_monitor)
start_daemon_thread(self.state_time_monitor)
start_daemon_thread(self.pilot_monitor)
self.activity = DummyActivity()
self.activity.start()
self.icarus_srv = ICARUS_Server(sockets['ctrl'], self)
self.icarus_srv.start()
log_info('icarus up and running')
Copyright (C) 2014 Tobias Simon, Ilmenau University of Technology
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details. """
from scl import generate_map
from pilot_pb2 import *
from pilot_interface import PilotInterface
from time import sleep
from math import sin, cos
_map = generate_map('pilot_shell')
_ctrl_socket = _map['ctrl']
_mon_socket = _map['mon']
i = PilotInterface(_ctrl_socket, _mon_socket)
rad = 5.0
pos = 0.0
while True:
pos += 0.01
i.set_ctrl_param(POS_N, cos(pos) * rad + rad)
i.set_ctrl_param(POS_E, sin(pos) * rad + rad)
sleep(0.2)
