def __init__(self, context, name):
self._context = context
self._name = name
self._eventSource = EventSource()
self._timer = None
self._duration = 60
self._eventSource.registerEvent(GameState.NOT_INITIALIZED, None)
self._eventSource.registerEvent(GameState.READY_TO_START, None)
self._eventSource.registerEvent(GameState.GENERATE_TASK, None)
self._eventSource.registerEvent(GameState.GAME_STARTED, None)
self._eventSource.registerEvent(GameState.TIMEOUT, None)
self._eventSource.registerEvent(GameState.RESULTS_READY, None)
self._eventSource.registerHandler(GameState.NOT_INITIALIZED,
self.onNotInitialized)
self._eventSource.registerHandler(GameState.READY_TO_START,
self.onReadyToStart)
self._eventSource.registerHandler(GameState.GENERATE_TASK,
self.onGenerateTask)
self._eventSource.registerHandler(GameState.GAME_STARTED,
self.onGameStarted)
self._eventSource.registerHandler(GameState.TIMEOUT,
self.__onTimeoutInternal)
self._state = State(self._eventSource, GameState.NOT_INITIALIZED)
class TestFollower(unittest.TestCase):
def setUp(self):
self.mock_logger = Mock()
self.mock_logger.error = Mock(side_effect=print_msg)
self.exchange = Exchange(self.mock_logger)
self.timer = StubTimer()
self.timeshift = TimeShift(self.exchange, self.timer.time)
self.event_source = EventSource(self.exchange,self.timer,self.mock_logger,{'tick interval':0.2})
gps = FakeMovingGPS([Position(10,10),Position(11,11),Position(12,12),Position(13,13)])
self.navigator = Navigator(gps,Globe(),self.exchange,self.mock_logger, {'min time to steer': 5,'max time to steer': 20})
def test_should_navigate_along_list_of_waypoints_with_logging(self):
waypoint1 = Waypoint(Position(11,11),10)
waypoint2 = Waypoint(Position(13,13),10)
follower = Follower(self.exchange,[waypoint1,waypoint2],self.mock_logger)
self.event_source.start()
self.mock_logger.info.assert_has_calls(
[call('Follower, next waypoint +11.000000,+11.000000'),
call('Navigator, steering to +11.000000,+11.000000, bearing 44.4, distance 155941.2m, review after 20s'),
call('Navigator, arrived at +11.000000,+11.000000'),
call('Follower, next waypoint +13.000000,+13.000000'),
call('Navigator, steering to +13.000000,+13.000000, bearing 44.2, distance 155399.6m, review after 20s'),
call('Navigator, arrived at +13.000000,+13.000000'),
call('**************************************************************'),
call('Follower, all waypoints reached, navigation complete'),
call('**************************************************************')])
class SimWiring():
def __init__(self):
self.globe = Globe()
self.console_logger = self._console_logger()
self.exchange = Exchange(self.console_logger)
self.gps = SimulatedGPS(CHORLTON.position,0,0.1)
self.vehicle = SimulatedVehicle(self.gps, self.globe,self.console_logger,single_step=False)
self.timeshift = TimeShift(self.exchange,self.vehicle.timer.time)
self.event_source = EventSource(self.exchange,self.vehicle.timer,self.console_logger,CONFIG['event source'])
self.sensors = Sensors(self.vehicle.gps, self.vehicle.windsensor,self.vehicle.compass,self.vehicle.timer.time,self.exchange,self.console_logger,CONFIG['sensors'])
self.steerer = Steerer(self.vehicle.rudder,self.console_logger,CONFIG['steerer'])
self.helm = Helm(self.exchange, self.sensors, self.steerer, self.console_logger, CONFIG['helm'])
self.course_steerer = CourseSteerer(self.sensors,self.helm,self.vehicle.timer, CONFIG['course steerer'])
self.navigator_simulator = Navigator(self.sensors,self.globe,self.exchange,self.console_logger,CONFIG['navigator'])
self.tracking_timer = Timer()
self.tracker_simulator = Tracker(self.console_logger,self.sensors,self.tracking_timer)
def _console_logger(self):
logging.basicConfig(format=LOGGING_FORMAT, level=CONFIG['wiring']['logging level'])
return logging.getLogger("simulate")
def _follower(self,waypoints):
self.follower_simulator = Follower(self.exchange,waypoints,self.console_logger)
return self.follower_simulator
def follow(self,waypoints):
self.gps.set_position(waypoints[0].position,0,0.8,True)
self.vehicle.position = waypoints[0].position
self.follower_simulator = self._follower(waypoints)
self.event_source.start()
def test_should_publish_a_tick_event(self):
self.listen(EventName.tick)
self.timer.wait_for = Mock(side_effect=self.finish)
event_source = EventSource(self.exchange, self.timer, self.mock_logger, CONFIG)
event_source.start()
self.assertEqual(self.last_listened_event.name,EventName.tick)
def test_should_publish_a_tick_event(self):
self.listen(EventName.tick)
self.timer.wait_for = Mock(side_effect=self.finish)
event_source = EventSource(self.exchange, self.timer, self.mock_logger,
CONFIG)
event_source.start()
self.assertEqual(self.last_listened_event.name, EventName.tick)
def test_should_publish_multiple_events_until_nav_complete(self):
self.listen(EventName.tick)
self.after(5,EventName.end)
self.timer.wait_for = Mock(side_effect=self.count_down_ticks)
event_source = EventSource(self.exchange,self.timer, self.mock_logger,CONFIG)
event_source.start()
self.assertEqual(self.event_count,5)
def test_should_publish_multiple_events_until_nav_complete(self):
self.listen(EventName.tick)
self.after(5, EventName.end)
self.timer.wait_for = Mock(side_effect=self.count_down_ticks)
event_source = EventSource(self.exchange, self.timer, self.mock_logger,
CONFIG)
event_source.start()
self.assertEqual(self.event_count, 5)
def test_errors_should_be_logged_and_events_continue(self):
self.listen(EventName.tick)
self.after(2,EventName.end)
self.timer.wait_for = Mock(side_effect=self.count_down_ticks)
self.exchange.original_publish = self.exchange.publish
self.exchange.publish = self.intercept_publish
event_source = EventSource(self.exchange,self.timer, self.mock_logger,CONFIG)
event_source.start()
self.mock_logger.error.assert_has_calls([call('EventSource, RuntimeError: oops')])
self.assertEqual(self.event_count,2)
def __init__(self, gps=False, servo_port=SERVO_PORT):
# devices
self._gps = gps
self.windsensor = WindSensor(I2C(WINDSENSOR_I2C_ADDRESS))
self.compass = Compass(I2C(COMPASS_I2C_ADDRESS),
I2C(ACCELEROMETER_I2C_ADDRESS))
self.red_led = GpioWriter(17, os)
self.green_led = GpioWriter(18, os)
# Navigation
self.globe = Globe()
self.timer = Timer()
self.application_logger = self._rotating_logger(APPLICATION_NAME)
self.position_logger = self._rotating_logger("position")
self.exchange = Exchange(self.application_logger)
self.timeshift = TimeShift(self.exchange, self.timer.time)
self.event_source = EventSource(self.exchange, self.timer,
self.application_logger,
CONFIG['event source'])
self.sensors = Sensors(self.gps, self.windsensor, self.compass,
self.timer.time, self.exchange,
self.position_logger, CONFIG['sensors'])
self.gps_console_writer = GpsConsoleWriter(self.gps)
self.rudder_servo = Servo(serial.Serial(servo_port),
RUDDER_SERVO_CHANNEL, RUDDER_MIN_PULSE,
RUDDER_MIN_ANGLE, RUDDER_MAX_PULSE,
RUDDER_MAX_ANGLE)
self.steerer = Steerer(self.rudder_servo, self.application_logger,
CONFIG['steerer'])
self.helm = Helm(self.exchange, self.sensors, self.steerer,
self.application_logger, CONFIG['helm'])
self.course_steerer = CourseSteerer(self.sensors, self.helm,
self.timer,
CONFIG['course steerer'])
self.navigator = Navigator(self.sensors, self.globe, self.exchange,
self.application_logger,
CONFIG['navigator'])
self.self_test = SelfTest(self.red_led, self.green_led, self.timer,
self.rudder_servo, RUDDER_MIN_ANGLE,
RUDDER_MAX_ANGLE)
# Tracking
self.tracking_logger = self._rotating_logger("track")
self.tracking_sensors = Sensors(self.gps, self.windsensor,
self.compass, self.timer.time,
self.exchange, self.tracking_logger,
CONFIG['sensors'])
self.tracker = Tracker(self.tracking_logger, self.tracking_sensors,
self.timer)
class TestFollower(unittest.TestCase):
def setUp(self):
self.mock_logger = Mock()
self.mock_logger.error = Mock(side_effect=print_msg)
self.exchange = Exchange(self.mock_logger)
self.timer = StubTimer()
self.timeshift = TimeShift(self.exchange, self.timer.time)
self.event_source = EventSource(self.exchange, self.timer,
self.mock_logger,
{'tick interval': 0.2})
gps = FakeMovingGPS([
Position(10, 10),
Position(11, 11),
Position(12, 12),
Position(13, 13)
])
self.navigator = Navigator(gps, Globe(), self.exchange,
self.mock_logger, {
'min time to steer': 5,
'max time to steer': 20
})
def test_should_navigate_along_list_of_waypoints_with_logging(self):
waypoint1 = Waypoint(Position(11, 11), 10)
waypoint2 = Waypoint(Position(13, 13), 10)
follower = Follower(self.exchange, [waypoint1, waypoint2],
self.mock_logger)
self.event_source.start()
self.mock_logger.info.assert_has_calls([
call('Follower, next waypoint +11.000000,+11.000000'),
call(
'Navigator, steering to +11.000000,+11.000000, bearing 44.4, distance 155941.2m, review after 20s'
),
call('Navigator, arrived at +11.000000,+11.000000'),
call('Follower, next waypoint +13.000000,+13.000000'),
call(
'Navigator, steering to +13.000000,+13.000000, bearing 44.2, distance 155399.6m, review after 20s'
),
call('Navigator, arrived at +13.000000,+13.000000'),
call(
'**************************************************************'
),
call('Follower, all waypoints reached, navigation complete'),
call(
'**************************************************************'
)
])
def test_errors_should_be_logged_and_events_continue(self):
self.listen(EventName.tick)
self.after(2, EventName.end)
self.timer.wait_for = Mock(side_effect=self.count_down_ticks)
self.exchange.original_publish = self.exchange.publish
self.exchange.publish = self.intercept_publish
event_source = EventSource(self.exchange, self.timer, self.mock_logger,
CONFIG)
event_source.start()
self.mock_logger.error.assert_has_calls(
[call('EventSource, RuntimeError: oops')])
self.assertEqual(self.event_count, 2)
def __init__(self,gps=False,servo_port=SERVO_PORT):
# devices
self._gps = gps
self.windsensor = WindSensor(I2C(WINDSENSOR_I2C_ADDRESS))
self.compass = Compass(I2C(COMPASS_I2C_ADDRESS),I2C(ACCELEROMETER_I2C_ADDRESS))
self.red_led = GpioWriter(17,os)
self.green_led = GpioWriter(18,os)
# Navigation
self.globe = Globe()
self.timer = Timer()
self.application_logger = self._rotating_logger(APPLICATION_NAME)
self.position_logger = self._rotating_logger("position")
self.exchange = Exchange(self.application_logger)
self.timeshift = TimeShift(self.exchange,self.timer.time)
self.event_source = EventSource(self.exchange,self.timer,self.application_logger,CONFIG['event source'])
self.sensors = Sensors(self.gps,self.windsensor,self.compass,self.timer.time,self.exchange,self.position_logger,CONFIG['sensors'])
self.gps_console_writer = GpsConsoleWriter(self.gps)
self.rudder_servo = Servo(serial.Serial(servo_port),RUDDER_SERVO_CHANNEL,RUDDER_MIN_PULSE,RUDDER_MIN_ANGLE,RUDDER_MAX_PULSE,RUDDER_MAX_ANGLE)
self.steerer = Steerer(self.rudder_servo,self.application_logger,CONFIG['steerer'])
self.helm = Helm(self.exchange,self.sensors,self.steerer,self.application_logger,CONFIG['helm'])
self.course_steerer = CourseSteerer(self.sensors,self.helm,self.timer,CONFIG['course steerer'])
self.navigator = Navigator(self.sensors,self.globe,self.exchange,self.application_logger,CONFIG['navigator'])
self.self_test = SelfTest(self.red_led,self.green_led,self.timer,self.rudder_servo,RUDDER_MIN_ANGLE,RUDDER_MAX_ANGLE)
# Tracking
self.tracking_logger = self._rotating_logger("track")
self.tracking_sensors = Sensors(self.gps,self.windsensor,self.compass,self.timer.time,self.exchange,self.tracking_logger,CONFIG['sensors'])
self.tracker = Tracker(self.tracking_logger,self.tracking_sensors,self.timer)
def __init__(self):
self.globe = Globe()
self.console_logger = self._console_logger()
self.exchange = Exchange(self.console_logger)
self.gps = SimulatedGPS(CHORLTON.position,0,0.1)
self.vehicle = SimulatedVehicle(self.gps, self.globe,self.console_logger,single_step=False)
self.timeshift = TimeShift(self.exchange,self.vehicle.timer.time)
self.event_source = EventSource(self.exchange,self.vehicle.timer,self.console_logger,CONFIG['event source'])
self.sensors = Sensors(self.vehicle.gps, self.vehicle.windsensor,self.vehicle.compass,self.vehicle.timer.time,self.exchange,self.console_logger,CONFIG['sensors'])
self.steerer = Steerer(self.vehicle.rudder,self.console_logger,CONFIG['steerer'])
self.helm = Helm(self.exchange, self.sensors, self.steerer, self.console_logger, CONFIG['helm'])
self.course_steerer = CourseSteerer(self.sensors,self.helm,self.vehicle.timer, CONFIG['course steerer'])
self.navigator_simulator = Navigator(self.sensors,self.globe,self.exchange,self.console_logger,CONFIG['navigator'])
self.tracking_timer = Timer()
self.tracker_simulator = Tracker(self.console_logger,self.sensors,self.tracking_timer)
def test_errors_during_logging_should_be_ignored_and_event_processing_continues(self):
failing_logger = Mock()
failing_logger.configure_mock(**{'error.side_effect': RuntimeError})
self.listen(EventName.tick)
self.after(2,EventName.end)
self.timer.wait_for = Mock(side_effect=self.count_down_ticks)
self.exchange.original_publish = self.exchange.publish
self.exchange.publish = self.intercept_publish
event_source = EventSource(self.exchange,self.timer, failing_logger,CONFIG)
event_source.start()
failing_logger.error.assert_has_calls([call('EventSource, RuntimeError: oops')])
self.assertEqual(self.event_count,2)
def setUp(self):
self.mock_logger = Mock()
self.mock_logger.error = Mock(side_effect=print_msg)
self.exchange = Exchange(self.mock_logger)
self.timer = StubTimer()
self.timeshift = TimeShift(self.exchange, self.timer.time)
self.event_source = EventSource(self.exchange,self.timer,self.mock_logger,{'tick interval':0.2})
gps = FakeMovingGPS([Position(10,10),Position(11,11),Position(12,12),Position(13,13)])
self.navigator = Navigator(gps,Globe(),self.exchange,self.mock_logger, {'min time to steer': 5,'max time to steer': 20})
def test_errors_during_logging_should_be_ignored_and_event_processing_continues(
self):
failing_logger = Mock()
failing_logger.configure_mock(**{'error.side_effect': RuntimeError})
self.listen(EventName.tick)
self.after(2, EventName.end)
self.timer.wait_for = Mock(side_effect=self.count_down_ticks)
self.exchange.original_publish = self.exchange.publish
self.exchange.publish = self.intercept_publish
event_source = EventSource(self.exchange, self.timer, failing_logger,
CONFIG)
event_source.start()
failing_logger.error.assert_has_calls(
[call('EventSource, RuntimeError: oops')])
self.assertEqual(self.event_count, 2)
def setUp(self):
self.mock_logger = Mock()
self.mock_logger.error = Mock(side_effect=print_msg)
self.exchange = Exchange(self.mock_logger)
self.timer = StubTimer()
self.timeshift = TimeShift(self.exchange, self.timer.time)
self.event_source = EventSource(self.exchange, self.timer,
self.mock_logger,
{'tick interval': 0.2})
gps = FakeMovingGPS([
Position(10, 10),
Position(11, 11),
Position(12, 12),
Position(13, 13)
])
self.navigator = Navigator(gps, Globe(), self.exchange,
self.mock_logger, {
'min time to steer': 5,
'max time to steer': 20
})
class Game:
def __init__(self, context, name):
self._context = context
self._name = name
self._eventSource = EventSource()
self._timer = None
self._duration = 60
self._eventSource.registerEvent(GameState.NOT_INITIALIZED, None)
self._eventSource.registerEvent(GameState.READY_TO_START, None)
self._eventSource.registerEvent(GameState.GENERATE_TASK, None)
self._eventSource.registerEvent(GameState.GAME_STARTED, None)
self._eventSource.registerEvent(GameState.TIMEOUT, None)
self._eventSource.registerEvent(GameState.RESULTS_READY, None)
self._eventSource.registerHandler(GameState.NOT_INITIALIZED,
self.onNotInitialized)
self._eventSource.registerHandler(GameState.READY_TO_START,
self.onReadyToStart)
self._eventSource.registerHandler(GameState.GENERATE_TASK,
self.onGenerateTask)
self._eventSource.registerHandler(GameState.GAME_STARTED,
self.onGameStarted)
self._eventSource.registerHandler(GameState.TIMEOUT,
self.__onTimeoutInternal)
self._state = State(self._eventSource, GameState.NOT_INITIALIZED)
def initState(self):
self._state.setState(GameState.NOT_INITIALIZED)
def getEventSource(self):
return self._eventSource
def getState(self):
return self._state
#game handlers
def onNotInitialized(self, *data):
self._state.setState(GameState.READY_TO_START)
def onReadyToStart(self, *data):
if self._timer:
self._timer.cancel()
self._timer = None
def onGenerateTask(self, *data):
self._context.send_msg("10,15Sledeća igra: 05,15\x02\x11" +
self._name)
def onGameStarted(self, *data):
self._timer = Timer(self._duration,
lambda: self._state.setState(GameState.TIMEOUT))
self._timer.start()
def __onTimeoutInternal(self, *data):
self._context.send_msg("10,15Vreme je isteklo")
self._context.send_notice(self._context.botNick, 'TIMEOUT')
#external events
def onMessageReceived(self, user, message):
pass
def onTimeout(self):
pass
class Wiring():
def __init__(self,gps=False,servo_port=SERVO_PORT):
# devices
self._gps = gps
self.windsensor = WindSensor(I2C(WINDSENSOR_I2C_ADDRESS))
self.compass = Compass(I2C(COMPASS_I2C_ADDRESS),I2C(ACCELEROMETER_I2C_ADDRESS))
self.red_led = GpioWriter(17,os)
self.green_led = GpioWriter(18,os)
# Navigation
self.globe = Globe()
self.timer = Timer()
self.application_logger = self._rotating_logger(APPLICATION_NAME)
self.position_logger = self._rotating_logger("position")
self.exchange = Exchange(self.application_logger)
self.timeshift = TimeShift(self.exchange,self.timer.time)
self.event_source = EventSource(self.exchange,self.timer,self.application_logger,CONFIG['event source'])
self.sensors = Sensors(self.gps,self.windsensor,self.compass,self.timer.time,self.exchange,self.position_logger,CONFIG['sensors'])
self.gps_console_writer = GpsConsoleWriter(self.gps)
self.rudder_servo = Servo(serial.Serial(servo_port),RUDDER_SERVO_CHANNEL,RUDDER_MIN_PULSE,RUDDER_MIN_ANGLE,RUDDER_MAX_PULSE,RUDDER_MAX_ANGLE)
self.steerer = Steerer(self.rudder_servo,self.application_logger,CONFIG['steerer'])
self.helm = Helm(self.exchange,self.sensors,self.steerer,self.application_logger,CONFIG['helm'])
self.course_steerer = CourseSteerer(self.sensors,self.helm,self.timer,CONFIG['course steerer'])
self.navigator = Navigator(self.sensors,self.globe,self.exchange,self.application_logger,CONFIG['navigator'])
self.self_test = SelfTest(self.red_led,self.green_led,self.timer,self.rudder_servo,RUDDER_MIN_ANGLE,RUDDER_MAX_ANGLE)
# Tracking
self.tracking_logger = self._rotating_logger("track")
self.tracking_sensors = Sensors(self.gps,self.windsensor,self.compass,self.timer.time,self.exchange,self.tracking_logger,CONFIG['sensors'])
self.tracker = Tracker(self.tracking_logger,self.tracking_sensors,self.timer)
def _rotating_logger(self,appname):
logHandler = TimedRotatingFileHandler("/var/log/pi-nav/" + appname,when="midnight",backupCount=30)
logHandler.setFormatter(logging.Formatter(LOGGING_FORMAT))
logger = logging.getLogger(appname)
logger.addHandler( logHandler )
logger.setLevel( CONFIG['wiring']['logging level'])
return logger
@property
def gps(self):
if not self._gps:
self._gps = GpsReader()
self._gps.setDaemon(True)
self._gps.start()
return self._gps
def showgps(self):
try:
self.timer.call(self.gps_console_writer.write).every(5)
except (KeyboardInterrupt, SystemExit):
self.gps.running = False
self.gps.join()
def follow(self,waypoints):
self.application_logger.info('**************************************************************')
self.application_logger.info('*** Pi-Nav starting navigation: ' + datetime.datetime.now().strftime("%Y-%m-%d"))
self.application_logger.info('**************************************************************')
self.self_test.run()
self.rudder_servo.set_position(0)
self.follower = Follower(self.exchange,waypoints,self.application_logger)
self.event_source.start()
def track(self):
self.self_test.run()
self.tracker.track(10)
class Wiring():
def __init__(self, gps=False, servo_port=SERVO_PORT):
# devices
self._gps = gps
self.windsensor = WindSensor(I2C(WINDSENSOR_I2C_ADDRESS))
self.compass = Compass(I2C(COMPASS_I2C_ADDRESS),
I2C(ACCELEROMETER_I2C_ADDRESS))
self.red_led = GpioWriter(17, os)
self.green_led = GpioWriter(18, os)
# Navigation
self.globe = Globe()
self.timer = Timer()
self.application_logger = self._rotating_logger(APPLICATION_NAME)
self.position_logger = self._rotating_logger("position")
self.exchange = Exchange(self.application_logger)
self.timeshift = TimeShift(self.exchange, self.timer.time)
self.event_source = EventSource(self.exchange, self.timer,
self.application_logger,
CONFIG['event source'])
self.sensors = Sensors(self.gps, self.windsensor, self.compass,
self.timer.time, self.exchange,
self.position_logger, CONFIG['sensors'])
self.gps_console_writer = GpsConsoleWriter(self.gps)
self.rudder_servo = Servo(serial.Serial(servo_port),
RUDDER_SERVO_CHANNEL, RUDDER_MIN_PULSE,
RUDDER_MIN_ANGLE, RUDDER_MAX_PULSE,
RUDDER_MAX_ANGLE)
self.steerer = Steerer(self.rudder_servo, self.application_logger,
CONFIG['steerer'])
self.helm = Helm(self.exchange, self.sensors, self.steerer,
self.application_logger, CONFIG['helm'])
self.course_steerer = CourseSteerer(self.sensors, self.helm,
self.timer,
CONFIG['course steerer'])
self.navigator = Navigator(self.sensors, self.globe, self.exchange,
self.application_logger,
CONFIG['navigator'])
self.self_test = SelfTest(self.red_led, self.green_led, self.timer,
self.rudder_servo, RUDDER_MIN_ANGLE,
RUDDER_MAX_ANGLE)
# Tracking
self.tracking_logger = self._rotating_logger("track")
self.tracking_sensors = Sensors(self.gps, self.windsensor,
self.compass, self.timer.time,
self.exchange, self.tracking_logger,
CONFIG['sensors'])
self.tracker = Tracker(self.tracking_logger, self.tracking_sensors,
self.timer)
def _rotating_logger(self, appname):
logHandler = TimedRotatingFileHandler("/var/log/pi-nav/" + appname,
when="midnight",
backupCount=30)
logHandler.setFormatter(logging.Formatter(LOGGING_FORMAT))
logger = logging.getLogger(appname)
logger.addHandler(logHandler)
logger.setLevel(CONFIG['wiring']['logging level'])
return logger
@property
def gps(self):
if not self._gps:
self._gps = GpsReader()
self._gps.setDaemon(True)
self._gps.start()
return self._gps
def showgps(self):
try:
self.timer.call(self.gps_console_writer.write).every(5)
except (KeyboardInterrupt, SystemExit):
self.gps.running = False
self.gps.join()
def follow(self, waypoints):
self.application_logger.info(
'**************************************************************')
self.application_logger.info(
'*** Pi-Nav starting navigation: ' +
datetime.datetime.now().strftime("%Y-%m-%d"))
self.application_logger.info(
'**************************************************************')
self.self_test.run()
self.rudder_servo.set_position(0)
self.follower = Follower(self.exchange, waypoints,
self.application_logger)
self.event_source.start()
def track(self):
self.self_test.run()
self.tracker.track(10)
