def __init__(self, parent):
self._parent = parent
self._status = True
self.robot = pybot_client.robot()
self.pollthread = None
self.actualizable = True
self._auto_refresh = False
self.modulos_conectados = []
self._list_connected_device_module = []
def __init__(self, parent):
Plugin.__init__(self)
self.tw = parent
self.init_gconf()
power_manager_off(True)
self.butia = pybot_client.robot(auto_connect=False)
self.actualSpeed = [600, 600]
self.active_butia = 0
self.butia_count = 0
self.pollthread = None
self.pollrun = True
self.bobot = None
self._auto_refresh = False
self.use_cc = False
self.modsen_a_f = 'x'
self.modsen_b_f = 'x'
self.modsen_c_f = 'x'
self.getCastButia()
self.m_d = {}
self.match_dict = {}
self.battery_value = ERROR
self.battery_color = COLOR_NOTPRESENT[:]
self.old_battery_color = COLOR_NOTPRESENT[:]
self.statics_color = COLOR_NOTPRESENT[:]
self.extras_color = COLOR_NOTPRESENT[:]
self.old_extras_color = COLOR_NOTPRESENT[:]
self.match_list = []
self.modules_changed = []
self.list_connected_device_module = []
self.pollthread = threading.Timer(0, self.pybot_launch)
self.pollthread.start()
self.can_refresh = True
self.regex = re.compile(r"""^ #Start of the string
(\D*?) # name, an string without digits, the ? mark says that it's not greedy, to avoid to consume also the "Butia" part, in case it's present
(\d*) # index, a group comprised only of digits, posibly absent
(?:Butia)? # an ocurrence of the "Butia" string, the first ? mark says that the group hasn't to be returned, the second that the group might or not be present
$ # end of the string, this regex must match all of the input
""", re.X) # Verbose definition, to include comments
global d
d['led'] = self.setLed
d['light'] = self.getLight
d['gray'] = self.getGray
d['button'] = self.getButton
d['distance'] = self.getDistance
d['resistanceB'] = self.getResistance
d['voltageB'] = self.getVoltage
d['temperature'] = self.getTemperature
d['modSenA'] = self.getSenA
d['modSenB'] = self.getSenB
d['modSenC'] = self.getSenC
d['modActA'] = self.setActA
d['modActB'] = self.setActB
d['modActC'] = self.setActC
def pybot_launch(self):
output = commands.getoutput('ps -ax | grep python')
if 'pybot_server.py' in output:
print 'Pybot is alive!'
else:
try:
print 'creating Pybot server'
self.bobot = subprocess.Popen(['python', 'pybot_server.py'],
cwd='./pybot')
except:
print 'ERROR creating Pybot server'
# Sure that bobot is running
time.sleep(2)
self.butia = pybot_client.robot()
time.sleep(1)
def butia_ros_server_topics(topic, vel, cmd, a):
pub = rospy.Publisher(topic, String)
rospy.init_node('butia_ros_server_topics', anonymous=True)
r = rospy.Rate(vel) # 10 = 10hz
while not rospy.is_shutdown():
robot = pybot_client.robot()
if cmd == "get_gray":
value = robot.getGray(a)
elif cmd == "get_distance":
value = robot.getDistance(a)
elif cmd == "get_button":
value = robot.getButton(a)
else:
print "Invalid Command: %s" % cmd
sys.exit(1)
print "Publishing [%s(%s):%s]" % (cmd, a, value)
pub.publish("%s" % value)
r.sleep()
def butia_ros_server_topics(topic,vel,cmd,a):
pub = rospy.Publisher(topic, String)
rospy.init_node('butia_ros_server_topics', anonymous=True)
r = rospy.Rate(vel) # 10 = 10hz
while not rospy.is_shutdown():
robot = pybot_client.robot()
if cmd == "get_gray":
value = robot.getGray(a)
elif cmd == "get_distance":
value = robot.getDistance(a)
elif cmd == "get_button":
value = robot.getButton(a)
else:
print "Invalid Command: %s"%cmd
sys.exit(1)
print "Publishing [%s(%s):%s]"%(cmd, a, value)
pub.publish("%s"%value)
r.sleep()
def prim_change_ipButia(self, ip):
ip = ip.strip()
if self._validate_ip(ip):
self.butia = pybot_client.robot(host=ip)
else:
raise logoerror(_("ERROR: Invalid IP '%s'") % ip)
def __init__(self, parent): Plugin.__init__(self) self.tw = parent self.butia = pybot_client.robot(auto_connect=True) self.pause = 0
#! /usr/bin/env python
# -*- coding: utf-8 -*-
from pybot import pybot_client
from library import patternsAPI
butia = pybot_client.robot()
negro = 39000
blanco = 22000
idIzq = "1"
idDer = "3"
distMinMark = 200
def main():
det = patternsAPI.detection()
salida = det.arMultiGetIdsMarker()
print salida
modulos = butia.getModulesList()
print modulos
while True:
butia.set2MotorSpeed("0", "600", "0", "600")
print "pase"
print str(idIzq) + " " + str(butia.getGray(idIzq))
print str(idDer) + " " + str(butia.getGray(idDer))
# chequeo a la izquierda
if butia.getGray(idIzq) < negro and butia.getGray(idDer) > negro:
busco_camino_izquierda()
def __init__(self,parent):
Plugin.__init__(self)
self.tw = parent
self.butia = pybot_client.robot()
def __init__(self, activity, channels):
#Se utiliza para contralar que no se ejecute dos veces
self._butia_context_id = None
gtk.Toolbar.__init__(self)
self.activity = activity
self._channels = channels
self.mode = 'butia'
# Set up Sensores Button
self.time = RadioToolButton(group=None)
# Mantiene la lista de botones (de sensores)
# agregados a la ButiaToolbar
self.lista_sensores_button = []
self.we_are_logging = False
self._log_this_sample = False
self._logging_timer = None
self._logging_counter = 0
self._image_counter = 0
self._logging_interval = 0
self._channels_logged = []
self._busy = False
self._take_screenshot = True
# BUTIA Se detectan sensores
log.debug('se agrega el boton refrescar')
self.refrescar_button = RadioToolButton(group=None)
self.refrescar_button.set_named_icon('recargar')
self.refrescar_button.connect('clicked', self.update_buttons)
self.insert(self.refrescar_button, -1)
separator = gtk.SeparatorToolItem()
separator.props.draw = True
self.insert(separator, -1)
self.robot = pybot_client.robot()
self.detect_sensors()
self.load_buttons()
separator = gtk.SeparatorToolItem()
separator.props.draw = True
self.insert(separator, -1)
self._log_value = LOG_TIMER_VALUES[1]
self.log_label = gtk.Label(self._log_to_string(self._log_value))
toolitem = gtk.ToolItem()
toolitem.add(self.log_label)
self.insert(toolitem, -1)
self._log_button = ToolButton('timer-10')
self._log_button.set_tooltip(_('Select logging interval'))
self._log_button.connect('clicked', self._log_selection_cb)
self.insert(self._log_button, -1)
self._setup_log_palette()
# Set up Logging/Stop Logging Button
self._record = ToolButton('media-record')
self.insert(self._record, -1)
self._record.set_tooltip(_('Start Recording'))
self._record.connect('clicked', self.record_control_cb)
log.debug('***showing all*****')
self.show_all()
gobject.timeout_add(1000, self.update_buttons)
def handle_get_gray(req):
robot = pybot_client.robot()
value = robot.getGray(req.a)
print "Returning [robot.getGray(%s):%s]" % (req.a, value)
return ButiaGetGrayResponse(value)
def handle_set_2_motor_speed(req):
robot = pybot_client.robot()
robot.set2MotorSpeed(req.a, req.b, req.c, req.d)
print "Setting Motor Speed to: %s, %s, %s, %s " % (req.a, req.b, req.c,
req.d)
return ButiaSet2MotorSpeedResponse()
def handle_get_distance(req):
robot = pybot_client.robot()
value = robot.getDistance(req.a)
print "Returning [robot.getDistance(%s):%s]" % (req.a, value)
return ButiaGetDistanceResponse(value)
