def start(self):
""" Initialize and start threads. """
# Sensors
self.acc = MCP3008AnalogSensor([0, 1, 2], range=(100, 800))
self.pot = MCP3008AnalogSensor([3])
self.switch = MCP3008AnalogSensor([4])
self.ping = PingSensor(25, 24)
# Actuators
self.motor = PWMActuator(23)
self.led = PWMActuator(18)
self.servo = ServoActuator(0)
self.actuators = {
'motor': self.motor,
'led': self.led,
'servo': self.servo,
}
self._server_thread = threading.Thread(target=self._server_worker)
self._server_thread.start()
self._sensor_thread = threading.Thread(target=self._read_worker)
self._sensor_thread.start()
self._link_thread = threading.Thread(target=self._link_worker)
self._link_thread.start()
def start(self):
""" Initialize and start threads. """
# Sensors
self.acc = MCP3008AnalogSensor([0, 1, 2], range=(100, 800))
self.pot = MCP3008AnalogSensor([3])
self.switch = MCP3008AnalogSensor([4])
self.ping = PingSensor(25, 24)
# Actuators
self.motor = PWMActuator(23)
self.led = PWMActuator(18)
self.servo = ServoActuator(0)
self.actuators = {
'motor': self.motor,
'led': self.led,
'servo': self.servo,
}
self._server_thread = threading.Thread(target=self._server_worker)
self._server_thread.start()
self._sensor_thread = threading.Thread(target=self._read_worker)
self._sensor_thread.start()
self._link_thread = threading.Thread(target=self._link_worker)
self._link_thread.start()
class SensorServer(object):
def __init__(self, port=2012):
self.port = port
# Whether or not to continue running the server
self._run = True
self.sensor_data = {}
self.links = []
self.start()
def start(self):
""" Initialize and start threads. """
# Sensors
self.acc = MCP3008AnalogSensor([0, 1, 2], range=(100, 800))
self.pot = MCP3008AnalogSensor([3])
self.switch = MCP3008AnalogSensor([4])
self.ping = PingSensor(25, 24)
# Actuators
self.motor = PWMActuator(23)
self.led = PWMActuator(18)
self.servo = ServoActuator(0)
self.actuators = {
'motor': self.motor,
'led': self.led,
'servo': self.servo,
}
self._server_thread = threading.Thread(target=self._server_worker)
self._server_thread.start()
self._sensor_thread = threading.Thread(target=self._read_worker)
self._sensor_thread.start()
self._link_thread = threading.Thread(target=self._link_worker)
self._link_thread.start()
def stop(self):
""" Shut down server and control threads. """
self._run = False
print 'joining threads'
self._server_thread.join()
self._sensor_thread.join()
self._link_thread.join()
print 'threads were joined'
def _server_worker(self):
context = zmq.Context()
socket = context.socket(zmq.REP)
socket.bind("tcp://*:{}".format(self.port))
print 'bound to socket:', socket
while self._run:
time.sleep(.1)
# Wait for next request from client
message = socket.recv()
if len(message) > 2:
print "Received request: ", message
request = json.loads(message)
self._handle_request(request)
# Send current sensor values back to client
socket.send(json.dumps(self.sensor_data))
socket.close()
def _read_worker(self):
while self._run:
# read the analog pins
x_val, y_val, z_val = self.acc.read_normalized()
pot_val, = self.pot.read_normalized()
switch_val, = self.switch.read_normalized()
ping_val, = self.ping.read_normalized()
self.sensor_data['acc_x'] = x_val
self.sensor_data['acc_y'] = y_val
self.sensor_data['acc_z'] = z_val
self.sensor_data['potentiometer'] = pot_val
self.sensor_data['distance'] = ping_val
self.sensor_data['switch'] = switch_val
time.sleep(0.1)
def _link_worker(self):
while self._run:
for in_, out in self.links:
actuator = self.actuators[out]
sensor_value = self.sensor_data[in_[0]]
actuator.set_normalized(sensor_value)
time.sleep(0.1)
def _handle_request(self, request):
if 'out' in request:
out = request['out']
for actuator_name, value in out.iteritems():
value = value / 100.0 # XXX should normalized on client side.
actuator = self.actuators[actuator_name]
actuator.set_normalized(value)
if 'add_link' in request:
print '!link set to:', request['add_link']
self.links.extend(request['add_link'])
if 'remove_link' in request:
print '!link removed:', request['remove_link']
for link in request['remove_link']:
self.links.remove(link)
class SensorServer(object):
def __init__(self, port=2012):
self.port = port
# Whether or not to continue running the server
self._run = True
self.sensor_data = {}
self.links = []
self.start()
def start(self):
""" Initialize and start threads. """
# Sensors
self.acc = MCP3008AnalogSensor([0, 1, 2], range=(100, 800))
self.pot = MCP3008AnalogSensor([3])
self.switch = MCP3008AnalogSensor([4])
self.ping = PingSensor(25, 24)
# Actuators
self.motor = PWMActuator(23)
self.led = PWMActuator(18)
self.servo = ServoActuator(0)
self.actuators = {
'motor': self.motor,
'led': self.led,
'servo': self.servo,
}
self._server_thread = threading.Thread(target=self._server_worker)
self._server_thread.start()
self._sensor_thread = threading.Thread(target=self._read_worker)
self._sensor_thread.start()
self._link_thread = threading.Thread(target=self._link_worker)
self._link_thread.start()
def stop(self):
""" Shut down server and control threads. """
self._run = False
print 'joining threads'
self._server_thread.join()
self._sensor_thread.join()
self._link_thread.join()
print 'threads were joined'
def _server_worker(self):
context = zmq.Context()
socket = context.socket(zmq.REP)
socket.bind("tcp://*:{}".format(self.port))
print 'bound to socket:', socket
while self._run:
time.sleep(.1)
# Wait for next request from client
message = socket.recv()
if len(message) > 2:
print "Received request: ", message
request = json.loads(message)
self._handle_request(request)
# Send current sensor values back to client
socket.send(json.dumps(self.sensor_data))
socket.close()
def _read_worker(self):
while self._run:
# read the analog pins
x_val, y_val, z_val = self.acc.read_normalized()
pot_val, = self.pot.read_normalized()
switch_val, = self.switch.read_normalized()
ping_val, = self.ping.read_normalized()
self.sensor_data['acc_x'] = x_val
self.sensor_data['acc_y'] = y_val
self.sensor_data['acc_z'] = z_val
self.sensor_data['potentiometer'] = pot_val
self.sensor_data['distance'] = ping_val
self.sensor_data['switch'] = switch_val
time.sleep(0.1)
def _link_worker(self):
while self._run:
for in_, out in self.links:
actuator = self.actuators[out]
sensor_value = self.sensor_data[in_[0]]
actuator.set_normalized(sensor_value)
time.sleep(0.1)
def _handle_request(self, request):
if 'out' in request:
out = request['out']
for actuator_name, value in out.iteritems():
value = value / 100.0 # XXX should normalized on client side.
actuator = self.actuators[actuator_name]
actuator.set_normalized(value)
if 'add_link' in request:
print '!link set to:', request['add_link']
self.links.extend(request['add_link'])
if 'remove_link' in request:
print '!link removed:', request['remove_link']
for link in request['remove_link']:
self.links.remove(link)
