def __init__(self, mock=False, run=True) -> None:
super().__init__('injector_node')
self.command_publisher = messenger.Publisher('/command',
messenger.Messages.string)
self.strategy_listener = messenger.Listener('/strategy',
messenger.Messages.string)
self.canbus_listener = messenger.Listener('/canbus_message',
messenger.Messages.string)
self.settings_listener = messenger.Listener(
'/settings_changed',
messenger.Messages.string,
callback=self.refresh_settings)
self.recognition_listener = messenger.Listener(
'/recognition', messenger.Messages.string)
self.config = ConfigManager.get_value('game')
self.mock = mock
self.initial_devices = set(
(dev.hwid or dev.device) for dev in find_serial('CP2102').values())
self.logger.info("existing devices %s", list(self.initial_devices))
self.injector: Optional[serial.Serial] = None
if run:
self.loop(3)
def __init__(self, mock=False, run=True, **kwargs) -> None:
super().__init__('gameplay', existing_loggers=['gameplay'], **kwargs)
self.mock = mock
# ConfigManager.set_value('game|global|gameplay status', 'disabled')
self.config = ConfigManager.get_value('game')
self.gameplay = Gameplay(self.config, Controller(), self.logger)
self.strategy_publisher = messenger.Publisher('/strategy', messenger.Messages.string)
self.settings_listener = messenger.Listener(
'/settings_changed', messenger.Messages.string, callback=self.refresh_settings)
self.recognition_listener = messenger.Listener(
'/recognition', messenger.Messages.string, callback=self.callback)
self.command_listener = messenger.Listener(
'/command', messenger.Messages.string, callback=self.command_callback)
self.kicker_listener = messenger.Listener(
'/canbus_message', messenger.Messages.string, callback=self.kicker_callback)
self.realsense_distance_listener = messenger.Listener(
'/distance/realsense', messenger.Messages.float, callback=self.realsense_distance_callback)
self.tfmini_distance_listener = messenger.Listener(
'/distance/tfmini', messenger.Messages.float, callback=self.tfmini_distance_callback)
self.realsense_active = time()
self.logger.info("Start gameplay")
if run:
self.spin()
def run(self):
logger.info("REMOTERF THREAD STARTED")
string = ""
while True:
field = ConfigManager.get_value("game|global|field_id")
ack_packet = "a{}{}ACK------".format(
ConfigManager.get_value("game|global|field_id"),
ConfigManager.get_value("game|global|robot_id"),
)
ack_packet = ack_packet.encode()
c = self.ser.read(11)
# ---aAXSTART -
self.ser.write(ack_packet)
try:
c = c.decode()
except:
continue
if not c:
continue
string += c
if f"{field}XSTART" in string:
logger.info("GOT START")
string = ""
ConfigManager.set_value("game|global|gameplay status",
'enabled')
if f"{field}XSTOP" in string:
logger.info("GOT STOP")
string = ""
ConfigManager.set_value("game|global|gameplay status",
'disabled')
if "PING" in string:
logger.info("got ping")
string = ""
self.ser.write(ack_packet)
if len(string) > 1000:
string = ""
def send_settings_packet():
game_config = ConfigManager.get_value('game')
if not game_config:
ConfigManager.set_value('game|global|field_id', 'A')
ConfigManager.set_value('game|global|robot_id', 'A')
ConfigManager.set_value('game|global|target goal color', 'blue')
ConfigManager.set_value('game|global|gameplay status', 'disabled')
game_options = [
("field_id", [ConfigManager.get_value("game|global|field_id"), "A", "B", "Z"]),
("robot_id", [ConfigManager.get_value("game|global|robot_id"), "A", "B"]),
("target goal color", [ConfigManager.get_value("game|global|target goal color"), "purple", "blue"]),
("gameplay status", [ConfigManager.get_value("game|global|gameplay status"), "disabled", "enabled"]),
]
settings_packet = json.dumps(dict(
action="settings-packet",
sliders=dict(color=ConfigManager.get_value("color")),
options=game_options
))
websocket.send(settings_packet)
def refresh_settings(self, settings_topic):
self.config = ConfigManager.get_value('game')
exit(0)
listener_wrapper = messenger.CallbackListenerWrapper()
node = messenger.Node('octocamera', on_shutdown=kill)
settings_change = messenger.Listener('/settings_changed',
messenger.Messages.string,
callback=listener_wrapper.update)
recognition_publisher = messenger.Publisher('/recognition',
messenger.Messages.string)
logger = node.logger
# Build pipeline
config = ConfigManager.get_value('camera')
grabber = PanoramaGrabber(config)
image_recognizer = ImageRecognizer(grabber,
config_manager=ConfigManager,
publisher=recognition_publisher)
# settings listeners
listener_wrapper.listeners.append(image_recognizer.refresh_config)
manager = None # type: ThreadManager
def main(silent=False):
if not silent:
messenger.ConnectPythonLoggingToROS.reconnect('image_recognition',
'visualization',
def refresh_settings(self, settings_topic):
self.loginfo("Settings refreshed")
self.config = ConfigManager.get_value('game')
self.gameplay.config = Settings(self.config)
