def __init__(self):
redisHandler.__init__(self)
self.url = 'http://117.184.129.18:8000/planning/query/?key='
self.sub_topics = ['rtk_out', 'tracking_in']
self.pub_topics = ['tracking_out']
self.config = config('para_track.yaml')
self.start_sub()
def __init__(self):
redisHandler.__init__(self)
self.url = 'http://117.184.129.18:8000/planning/query/?key='
self.sub_topics = ['rtk_out', 'tracking_in']
self.pub_topics = ['ctrl_in']
# 配置参数
self.config = Config()
self.config.robot_type = robot_type
# 目标点误差
self.delta_goal = 0.40
# 任务目标kdtree
self.goal_kdtree = None
# 障碍物kdtree
self.ob_kdtree = None
# to movebase通信格式
self.max_speed = 80
self.data_speed = {
'header':'speed',
'data':{
'y': 1,
'angle': 0,
'speed': self.max_speed
}
}
self.start_sub()
def __init__(self):
redisHandler.__init__(self)
self.sub_topics = ['tracking_in']
self.pub_topics = ['ctrl_in']
self.start_sub()
def __init__(self):
redisHandler.__init__(self)
self.url = 'http://117.184.129.18:8000/planning/query/?key='
self.sub_topics = ['rtk_out', 'tracking_in']
self.pub_topics = ['ctrl_in']
self.config = config('para_cmd.yaml')
# 上一次命令内容
self.last_dict_cmd = []
self.last_list_cmd = []
# 任务目标kdtree
self.kdtree = None
# 任务列表
self.cmd_list=[]
# 目标点误差, list型
self.delta = 0.3
self.delta_goal_list = 1.4
# dict类型数据目标点误差
self.delta_goal = 0.4
# 发布至ctrl cmd的格式
self.data_cmd = {
'header':'cmd',
'data': ''
}
# 任务运行记录格式
self.data_config = {
'key':'none',
'cmd':[]
}
# 任务记录的字典key值
self.para_mission_key = 'mission'
if not self.para_mission_key in self.config.config:
self.config.set_para(self.para_mission_key, self.data_config)
self.start_sub()
def __init__(self):
motor.__init__(self)
ray.__init__(self)
self.tx = 0
self.ty = 0
redisHandler.__init__(self)
self.pub_topics = ['radar_out']
self.sub_topics = []
def __init__(self):
# 心跳时间
self.timeout = 30
self.conf = config()
self.name = self.conf.robot['name']
self.key = self.conf.robot['key']
# 从主函数端接收消息的q
self.recv_q = queue.Queue(5)
self.address = ('117.184.129.18', 9000)
self.robot_on()
redisHandler.__init__(self)
def __init__(self):
redisHandler.__init__(self)
self.url = 'http://117.184.129.18:8000/planning/query/?key='
self.sub_topics = ['tracking_in']
self.pub_topics = ['rtk_out']
self.__position = {
'p': [-51.005, 164.012],
'angle': 4.8,
'precision': 0.0,
# 'angle_precision':0.0,
'rtcm': '',
'rtk_mod': 4
}
self.start_sub()
def __init__(self):
redisHandler.__init__(self)
self.sub_topics = ['track_cmd_in']
self.pub_topics = ['ctrl_in']
# 电机工作角度
self.mission_angle = 150385
# 位移传感器工作长度mm
self.mission_length = 125
self.motor = Motor(1, '/dev/ttyS5')
self.motor_init()
self.sensor = sensorLinear(3, '/dev/ttyS5')
self.start_sub()
def __init__(self, port=None):
# 超声波模块信息类
if not port:
self.port = '/dev/ttyS5'
else:
self.port = port
# 数据读取频率
self.hz = 0.8
# 遇障碍物停止的最小距离
self.min_dist = 500
self.ser = serial.Serial(self.port,
9600,
timeout=0.5,
write_timeout=0.5)
# 获取四个探头数据的命令
self.send_cmd = [0x55, 0xAA, 0x01, 0x01, 0x01, 0x01]
# 信息头
self.head = [0x55, 0xAA, 0x01, 0x01]
# 信息头之和
self.sum_head = 0
for i in self.head:
self.sum_head += i
# redis
redisHandler.__init__(self)
