def launch(self):
sent = remote.send(self.config['local_root'], self.config['remote_host'], self.config['remote_root'])
if sent:
result = remote.remote_exec(self.config['remote_host'], self.config['remote_dir'], self.config['command'])
if result or _receive_if_failed(self.config):
remote.receive(self.config['local_root'], self.config['remote_host'], self.config['remote_root'])
else:
logging.warning('Result not synced from server.')
logging.info('To sync it manually use' + ' `' + sys.argv[0] + ' -r`')
def init():
logging.info("Starting manual control")
print("Starting manual control")
time.sleep(2) # Prevent race condition as CAM sets up for run
# This all obeys GIL so there *shouldn't* be race conditions
buffer = collections.deque(maxlen=1) # Buffer to hold most recent values
# Start iterator
it = threading.Thread(target=read_output, args=(buffer.append, ))
it.daemon = True
it.start()
# Get axis info regularly
while True:
time.sleep(
.1
) # Don't overwhelm network (lowest possible is probably ~0.005 sec)
if not it.is_alive(): # Iterator exited
break
try:
response = remote.send(map_axis(buffer[0]),
port) # Send mapped input to CAM
# TODO timeout for response
except:
logging.warning("Controller input empty")
response = "OK"
if response != "OK": # Not understood
if response == "CC":
print("Exiting manual control")
break
else:
print("Error, exiting manual control")
break
print("Stopping CAM")
remote.send("STOP", port) # Stop command
def houston(option):
# Shutdown command
if option.capitalize() == 'K':
print("Sending shutdown command")
print(remote.send('SD', port))
exit(0)
# Self test
elif option == '0':
print("Running test")
print(remote.send('ST', port))
# Manual mode
elif option == '1':
print(remote.send('MM', port))
manual.init()
# Autonomous run
elif option == '2':
print(remote.send('AR', port))
autorun.init()
def init():
# Try to load file
print("Starting autonomous run")
run_file = input("Enter name of remote script: ") # Get user input
time.sleep(2) # Prevent race condition as CAM sets up for run
load_status = remote.send(run_file, port)
if load_status != "OK": # Load failed
print("Error loading file: {}".format(load_status))
return # Exit to main menu
# Autorun menu
print("File loaded")
# Get user input
while True:
opt = input("Autonomy Options:\n"
"\tQ - Kill script and return to menu\n"
"\tS - Start script\n"
"\t0 - Get status update\n"
"Enter choice: ")
# Kill and return
if opt.capitalize() == 'Q':
remote.send('KP', port)
return
# Start run
elif opt.capitalize() == 'S':
if remote.send('GO', port) == "OK":
print("Run started")
else:
print("Error starting run")
# Send command, print response
elif opt != '':
response = remote.send(opt, port)
print(response)
if response == "FIN":
print("Program finished")
def launch(self):
sent = remote.send(self.config['local_root'],
self.config['remote_host'],
self.config['remote_root'], self.config['rsync'],
self.config['dry_run'])
if sent:
result = remote.remote_exec(self.config['remote_host'],
self.config['remote_dir'],
self.config['before_exec'],
self.config['command'],
self.config['dry_run'])
if result or _receive_if_failed(self.config):
remote.receive(self.config['local_root'],
self.config['remote_host'],
self.config['remote_root'],
self.config['rsync'], self.config['dry_run'])
else:
logging.warning('Result not synced from server.')
logging.info('To sync it manually use' + ' `' + sys.argv[0] +
' -r`')
# Manual mode
elif option == '1':
print(remote.send('MM', port))
manual.init()
# Autonomous run
elif option == '2':
print(remote.send('AR', port))
autorun.init()
# Main menu for running the robot
if __name__ == "__main__":
# Wait until connected to CAM
print("Connecting to CAM")
ping = remote.send('HI', port)
while ping == "Connection Error":
print("Couldn't connect, retrying...")
time.sleep(5)
ping = remote.send('HI', port)
print("Connected!")
# Check status message
if ping != 'HI':
if ping == 'BZ': # Process is currently running
ltk = input(
"Something is currently running; kill it? (Y/n)").capitalize()
if ltk == "Y" or ltk == "":
remote.send('KP', port)
else:
exit(0) # Bad stuff will probably happen unless we stop
def launch(self):
return remote.send(self.config['local_root'],
self.config['remote_host'],
self.config['remote_root'], self.config['rsync'],
self.config['dry_run'])
opt = input("Autonomy Options:\n"
"\tQ - Kill script and return to menu\n"
"\tS - Start script\n"
"\t0 - Get status update\n"
"Enter choice: ")
# Kill and return
if opt.capitalize() == 'Q':
remote.send('KP', port)
return
# Start run
elif opt.capitalize() == 'S':
if remote.send('GO', port) == "OK":
print("Run started")
else:
print("Error starting run")
# Send command, print response
elif opt != '':
response = remote.send(opt, port)
print(response)
if response == "FIN":
print("Program finished")
# Testing
if __name__ == "__main__":
print(remote.send("AR", 42069))
time.sleep(2)
print(remote.send("test_runfile", port))
def launch(self):
return remote.send(self.config['local_root'], self.config['remote_host'], self.config['remote_root'])
def read_output(append):
# Holds last value of axis
axis = [
['ABS_X', 0], # 0 Left stick horizontal (-32768, 2604, 32767) min=left
['ABS_Y', 0], # 1 Left stick vertical (-32768, 269, 32767) min=up
['ABS_RX', 0], # 2 Right stick horizontal (-32768, 0, 32767) min=left
['ABS_RY', 0], # 3 Right stick vertical (-32768, 1036, 32767) min=up
['ABS_Z', 0], # 4 Left trigger (0, 255) min=unpressed
['ABS_RZ', 0], # 5 Right trigger (0, 255) min=unpressed
['ABS_HAT0X', 0], # 6 D-Pad horizontal (-1, 0, 1) min=left
['ABS_HAT0Y', 0]
] # 7 D-Pad vertical (-1, 0, 1) min=up
# Range to map values to [-1, 1]. Within dead spot of 0 maps to 0
# [dead spot, abs max]
mappings = [
[3000, 32767], # 0
[3000, 32767], # 1
[3000, 32767], # 2
[3000, 32767], # 3
[20, 255], # 4
[20, 255], # 5
[0, 1], # 6
[0, 1]
] # 7
# Event handler loop
while True:
events = inputs.get_gamepad() # Poll controller
for event in events:
logging.debug(event)
# Axis input
if event.ev_type == "Absolute":
for i in range(len(axis)):
if axis[i][0] == event.code:
axis[i][1] = map_unit(event.state, mappings[i])
# Button input
elif event.ev_type == "Key":
if event.state == 1: # 1 = press, 0 = release
# Exit manual mode
if event.code == 'BTN_SELECT':
print("Exiting manual mode")
remote.send("STOP", port) # Stop command
return
# Toggle Easy vs Advanced mode
elif event.code == 'BTN_START':
global control_map
if control_map == "Easy":
control_map = "Advanced"
elif control_map == "Advanced":
control_map = "Easy"
print("Control mode: {}".format(control_map))
response = remote.send(map_btn(event.code, event.state),
port) # Send mapped input to CAM
# TODO timeout for response
if response != "OK": # Not understood
if response == "CC":
print("Exiting manual control")
return
else:
print("Exiting manual control, error: {}".format(
response))
return
append(axis) # Update most recent values
