def main():
#receive to this IP + port
tx_port = 7167 #TX on this port, RX on 7178 (port+1)
rx_port = tx_port+1
self_ip = whoAmI() #This needs to be THIS device's IP on the 192.168 subnet
vehicle_id = 1
#turn network messages into tokens that get sent to the right function
interface_manager = ProcessManager.TokenInterfaceManager(rx_ip=self_ip, rx_port=tx_port)
with open('routing.json') as json_file:
data = json.load(json_file)
print ( data['routing']['CAV1'] )
interface_manager.add_route('CAV1', data['routing']['CAV1']+':'+str(rx_port)) # use the RX port
interface_manager.add_route('CAV2', data['routing']['CAV2']+':'+str(rx_port)) # use the RX port
interface_manager.add_route('CAM', data['routing']['CAM']+':'+str(rx_port)) # use the RX port
interface_manager.add_route('RSU', data['routing']['RSU']+':'+str(rx_port)) # use the RX port
r_queue = multiprocessing.Queue()
#receive network interface
rx_network = Network.TTNetwork(ip=self_ip, port=rx_port, msg_receiver=interface_manager.receiver_function)
#wrapped function that needs to be synchronized
local_fusion_fp = Fusion(interface_manager.send_token_queue, vehicle_id, r_queue)
fusion_sync = WaitingMatching.InputSynchronizedFunction(Fusion.local_fusion, local_fusion_fp.input_queue)
#wrapped function that needs to be synchronized
actuation_fp = Actuation(interface_manager.send_token_queue, vehicle_id, r_queue)
actuation_sync = WaitingMatching.InputSynchronizedFunction(Actuation.actuate, actuation_fp.input_queue, use_deadline=True)
#register synchronization section with process/interface manager
interface_manager.add_sync_process(fusion_sync.function_name, fusion_sync)
interface_manager.add_sync_process(actuation_sync.function_name, actuation_sync)
# Init the camera
# Setup our various settings
settings = camera_recognition.Settings()
settings.darknetPath = '../darknet/'
camSpecs = camera_recognition.CameraSpecifications()
camSpecs.cameraHeight = .2
camSpecs.cameraAdjustmentAngle = 0.0
# Lidar settings
pipeFromC= "/home/jetson/Projects/slamware/fifo_queues/fifopipefromc"
pipeToC= "/home/jetson/Projects/slamware/fifo_queues/fifopipetoc"
# Set the time to start 10 seconds from now and let it rip!
start_time = time.time() + 10
interval = .125
cameraThread = multiprocessing.Process(target=sourceImagesThread, args=(settings, camSpecs, interface_manager.send_token_queue, start_time, interval))
cameraThread.start()
lidarThread = multiprocessing.Process(target=sourceLIDARThread, args=(pipeFromC, pipeToC, interface_manager.send_token_queue, start_time, interval))
lidarThread.start()
#need this to make sure the main process doesn't finish and carry everything into the abyss
fusion_sync.proc.join()
actuation_sync.proc.join()
