def __init__(self, opts):
super(LocationManager, self).__init__()
self.node = cauv.node.Node("location_manager")
#subscribe to appropriate messages
self.node.subMessage(messaging.LinesMessage())
self.node.subMessage(messaging.FloatMessage())
self.node.subMessage(messaging.TelemetryMessage())
#setup appropriate image pipeline
pipe_file = os.path.join(utils.dirs.config_dir('pipelines'),
opts.pipeline_name) + ".yaml"
with open(pipe_file) as pf:
pipeline = cauv.yamlpipe.load(pf)
model = cauv.pipeline.Model(self.node, 'ai/_wall_lines')
pipeline.fixup_inputs()
#check the pipeline is responding, else raise error
if not model.isAlive():
raise Exception(
"Could not find appropriate image pipeline, required so giving up."
)
#set the pipeline
model.set(pipeline)
#setup initial values
#note that we modify the bearings so that the 'north' wall is exactly north
self.bearing = None # (corrected) bearing
self.real_bearing = None # (actual) bearing
self.image_scale = None # width of sonar image
self.wall_length = opts.wall_length
self.tolerance = opts.tolerance
self.bearing_correction = opts.arena_bearing_correction
self.scale_name = opts.scale_name
self.lines_name = opts.lines_name
self.node.addObserver(self)
def run(self):
#head to start
time.sleep(2)
if self.options.useDepth:
self.auv.depth(self.options.depth)
#self.auv.headToLocation(self.options.initialLocation)
self.auv.bearingAndWait(self.options.initialBearing)
#start onMessage handler
start_time = time.time()
self.node.subMessage(msg.LinesMessage())
#this allows dynamic setting of running time
while time.time() - start_time < self.options.maximumRunTime:
time.sleep(1)
def __init__(self):
event.EventLoop.__init__(self)
AI.Script.__init__(self)
self.load_pipeline(self.options.Pipeline_Name)
self.node.subMessage(msg.CirclesMessage())
self.node.addObserver(self)
self.log('Looking for the buoy')
self.circles = deque(maxlen = self.options.Max_Samples)
self.times = deque(maxlen = self.options.Max_Samples)
self.foundBuoy = False
if self.options.useDepth:
self.auv.depth(self.options.depth)
self.auv.bearingAndWait(self.options.initialBearing)
print('Prepping to go to subMessage')
self.node.subMessage(msg.LinesMessage())
print('Past submessage')
self.found = False
+ p_str + c \
+ p_int \
+ r).streamline()
p_ForceExecRequestMessage.setParseAction(lambda x: messaging.ForceExecRequestMessage(*x[0]))
p_PipelineDiscoveryRequestMessage = pp.Group(l \
+ r).streamline()
p_PipelineDiscoveryRequestMessage.setParseAction(lambda x: messaging.PipelineDiscoveryRequestMessage(*x[0]))
p_PipelineDiscoveryResponseMessage = pp.Group(l \
+ p_str \
+ r).streamline()
p_PipelineDiscoveryResponseMessage.setParseAction(lambda x: messaging.PipelineDiscoveryResponseMessage(*x[0]))
p_LinesMessage = pp.Group(l \
+ p_str + c \
+ p_LineVec \
+ r).streamline()
p_LinesMessage.setParseAction(lambda x: messaging.LinesMessage(*x[0]))
p_CirclesMessage = pp.Group(l \
+ p_str + c \
+ p_CircleVec \
+ r).streamline()
p_CirclesMessage.setParseAction(lambda x: messaging.CirclesMessage(*x[0]))
p_CornersMessage = pp.Group(l \
+ p_str + c \
+ p_CornerVec \
+ r).streamline()
p_CornersMessage.setParseAction(lambda x: messaging.CornersMessage(*x[0]))
p_KeyPointsMessage = pp.Group(l \
+ p_str + c \
+ p_KeyPointVec \
+ r).streamline()
p_KeyPointsMessage.setParseAction(lambda x: messaging.KeyPointsMessage(*x[0]))
