def main():
_log = Logger("status test", Level.INFO)
_log.info("status task run()")
# read YAML configuration
_loader = ConfigLoader(Level.INFO)
filename = 'config.yaml'
_config = _loader.configure(filename)
_status = Status(_config, GPIO, Level.INFO)
try:
_status.blink(True)
for i in range(10):
_log.info("blinking...")
time.sleep(1)
_status.blink(False)
_status.enable()
time.sleep(5)
except KeyboardInterrupt:
_log.info('Ctrl-C caught: interrupted.')
finally:
_log.info("status task close()")
_status.close()
def status(self):
toast("Calculating...")
status = Status()
if status == "Good":
SweetAlert().fire(
"Good",
type='success',
)
elif status == "Not bad":
SweetAlert().fire(
"Not bad",
type='info'
)
elif status == "Bad":
SweetAlert().fire(
"Not bad",
type='question'
)
elif status == "Very bad":
SweetAlert().fire(
"Very bad",
type='warning'
)
elif status == "Not work":
SweetAlert().fire(
"Not work",
type='failure'
)
def test_status():
print(Fore.CYAN + "status task running...")
# read YAML configuration
_loader = ConfigLoader(Level.INFO)
filename = 'config.yaml'
_config = _loader.configure(filename)
_status = Status(_config, Level.INFO)
_status.blink(True)
for i in range(5):
print(Fore.CYAN + "blinking...")
time.sleep(1)
_status.blink(False)
_status.enable()
time.sleep(5)
_status.close()
def __init__(self, level, config, switch, infrared_trio, motors, rgbmatrix,
lidar, callback_shutdown):
super().__init__()
self._log = Logger('controller', level)
self._config = config
self._enable_self_shutdown = self._config['ros'].get(
'enable_self_shutdown')
self._switch = switch
# self._info = info
self._infrared_trio = infrared_trio
self._motors = motors
self._rgbmatrix = rgbmatrix
self._lidar = lidar
self._callback_shutdown = callback_shutdown
self._status = Status(GPIO, level)
self._current_message = None
self._standby = False
self._log.debug('ready.')
def __init__(self, config, ifs, motors, callback_shutdown, level):
super().__init__()
self._log = Logger('controller', level)
self._config = config
self._enable_self_shutdown = self._config['ros'].get(
'enable_self_shutdown')
# self._switch = switch
self._ifs = ifs
self._motors = motors
self._port_motor = motors.get_motor(Orientation.PORT)
self._port_pid = self._port_motor.get_pid_controller()
self._stbd_motor = motors.get_motor(Orientation.STBD)
self._stbd_pid = self._stbd_motor.get_pid_controller()
self._callback_shutdown = callback_shutdown
self._status = Status(config, GPIO, level)
self._current_message = None
self._standby = False
self._enabled = True
# behaviours .................................
self._behaviours = Behaviours(motors, ifs, Level.INFO)
self._roam_behaviour = RoamBehaviour(motors, Level.INFO)
self._log.debug('ready.')
def menu():
"""
The main structure of the cli mode, this function prints the menu,
listens to the entries, makes the directions.
"""
animation = [
"[■□□□□□□□□□]", "[■■□□□□□□□□]", "[■■■□□□□□□□]", "[■■■■□□□□□□]",
"[■■■■■□□□□□]", "[■■■■■■□□□□]", "[■■■■■■■□□□]", "[■■■■■■■■□□]",
"[■■■■■■■■■□]", "[■■■■■■■■■■]"
]
for i in range(len(animation)):
time.sleep(0.1)
sys.stdout.write("\r" + animation[i])
sys.stdout.flush()
while True:
show_menu()
choices_input = question_maker(mode="main")
if choices_input == "pw":
print_wallets()
if choices_input == "w":
wallet_selector()
if choices_input == "cw":
create_a_wallet()
if choices_input == "dw":
if "y" == input("Are you sure ? (y or n): "):
delete_current_wallet()
if choices_input == "sc":
send_the_coin(input("Please write receiver adress: "),
input("Coin Amount (ex. 1.0): "),
getpass("Password: "******"gb":
print_balance()
if choices_input == "help":
show_menu()
if choices_input == "ndstart":
ndstart(str(input("ip: ")), int(input("port: ")))
if choices_input == "ndstop":
ndstop()
if choices_input == "ndconnect":
ndconnect(str(input("node ip: ")), int(input("node port: ")))
if choices_input == "ndconnectmixdb":
ndconnectmixdb()
if choices_input == "ndnewunl":
save_new_unl_node(input("Please write ID of the node: "))
if choices_input == "ndid":
print(ndid())
if choices_input == "testmodeon":
test_mode(True)
if choices_input == "testmodeoff":
test_mode(False)
if choices_input == "debugmodeon":
debug_mode(True)
if choices_input == "debugmodeoff":
debug_mode(False)
if choices_input == "exptrcsv":
if export_the_transactions():
print(
f"CSV file created in {MY_TRANSACTION_EXPORT_PATH} directory"
)
else:
print("You have not a transaction")
if choices_input == "returntrs":
PrintTransactions()
if choices_input == "getblock":
if the_settings()["test_mode"]:
CreateBlock()
else:
GetBlockFromOtherNode()
if choices_input == "status":
print(Status())
if choices_input == "0":
exit()
def arguments():
parser = argparse.ArgumentParser(
description=
"This is an open source decentralized application network. In this network, you can develop and publish decentralized applications. Use the menu (-m) or GUI to gain full control and use the node, operation, etc."
)
parser.add_argument('-pw',
'--printwallet',
action='store_true',
help='Print Wallets')
parser.add_argument('-w', '--wallet', type=int, help='Change Wallet')
parser.add_argument('-cw', '--createwallet', help='Create wallet')
parser.add_argument('-dw',
'--deletewallet',
action='store_true',
help='Delete wallet')
parser.add_argument('-gb',
'--getbalance',
action='store_true',
help='Get Balance')
parser.add_argument('-ndnunl',
'--ndnewunl',
type=str,
help='Add new UNL node')
parser.add_argument('-ndid',
'--ndid',
action='store_true',
help='Print my id')
parser.add_argument('-tmon',
'--testmodeon',
action='store_true',
help='Test Mode On')
parser.add_argument('-tmoff',
'--testmodeoff',
action='store_true',
help='Test Mode Off')
parser.add_argument('-dmon',
'--debugmodeon',
action='store_true',
help='Debug Mode On')
parser.add_argument('-dmoff',
'--debugmodeoff',
action='store_true',
help='Debug Mode Off')
parser.add_argument('-exptrcsv',
'--exporttransactioncsv',
action='store_true',
help='Exports the transaction as csv')
parser.add_argument('-returntrans',
'--returntransactions',
action='store_true',
help='Exports the transaction as csv')
parser.add_argument('-st',
'--status',
action='store_true',
help='Exports the transaction as csv')
parser.add_argument('-m',
'--menu',
action='store_true',
help='An optional boolean for open the menu.')
args = parser.parse_args()
if len(sys.argv) < 2:
parser.print_help()
if args.printwallet:
print_wallets()
if not args.wallet is None:
wallet_selector(args.wallet)
if not args.createwallet is None:
create_a_wallet(args.createwallet)
if args.deletewallet:
delete_current_wallet()
if args.getbalance:
print_balance()
if not args.ndnewunl is None:
save_new_unl_node(args.ndnewunl)
if args.ndid:
print(ndid())
if args.testmodeon:
test_mode(True)
if args.testmodeoff:
test_mode(False)
if args.debugmodeon:
debug_mode(True)
if args.debugmodeoff:
debug_mode(False)
if args.exporttransactioncsv:
if export_the_transactions():
print(
f"CSV file created in {MY_TRANSACTION_EXPORT_PATH} directory")
else:
print("You have not a transaction")
if args.returntransactions:
PrintTransactions()
if args.status:
print(Status())
if args.menu:
menu()
from time import sleep
from lib.check import check
from lib.status import Status
from config import PINGS_BREAK_ONLINE, PINGS_BREAK_OFFLINE
if __name__ == "__main__":
print("Starting...")
connection_status = Status()
while True:
spleep_time = PINGS_BREAK_ONLINE
if connection_status.internet_connection == False:
spleep_time = PINGS_BREAK_OFFLINE
try:
sleep(spleep_time)
except KeyboardInterrupt:
print('\n\nStopping...')
break
connection_status.change(check())
from lib.view_monkeypatch import ViewMonkeypatch
from lib.status import Status
from configparser import ConfigParser
from time import sleep
from lib.ras import RasPi
config = ConfigParser()
config.read("config.ini")
# Use custom requester which ignores self-signed certificates
requester = Requester(config["jenkins"]["username"], config["jenkins"]["password"], ssl_verify=False)
jenkins = Jenkins(config["jenkins"]["base_url"], requester=requester)
# Monkeypatch the jenkinsapi provided view
ViewMonkeypatch().apply()
view_url = config["jenkins"]["base_url"] + "/view/" + config["jenkins"]["view"]
polling_interval = float(config["general"]["polling_interval"])
raspi_address = config["raspberry_pi"]["address"]
raspi_port = int(config["raspberry_pi"]["port"])
raspi = RasPi(raspi_address, raspi_port)
while True:
view = jenkins.get_view_by_url(view_url)
jobs = view.get_jobs()
status = Status(jobs)
current_status = status.get()
print(current_status)
raspi.update(current_status)
sleep(polling_interval)
def main():
_level = Level.INFO
_log = Logger('main', _level)
_adjust_velocity = True # otherwise kp or kd
_loader = ConfigLoader(_level)
filename = 'config.yaml'
_config = _loader.configure(filename)
_pot = Potentiometer(_config, _level)
_status = Status(_config, _level)
try:
_status.enable()
_motors = Motors(_config, None, _level)
_port_motor = _motors.get_motor(Orientation.PORT)
_stbd_motor = _motors.get_motor(Orientation.STBD)
_port_pid = PIDController(_config, _port_motor, level=_level)
_stbd_pid = PIDController(_config, _stbd_motor, level=_level)
_value = _pot.get_scaled_value()
if _adjust_velocity: # otherwise kp or kd
_port_pid.velocity = _value
_stbd_pid.velocity = _value
else:
_port_pid.velocity = 40.0
_stbd_pid.velocity = 40.0
_port_pid.kp = _value
_stbd_pid.kp = _value
# _stbd_pid.pid.kd = _value
_port_pid.enable()
_stbd_pid.enable()
try:
while True:
_value = _pot.get_scaled_value()
if _adjust_velocity: # otherwise kp or kd
_port_pid.velocity = _value
_stbd_pid.velocity = _value
else:
_port_pid.kp = _value
_stbd_pid.kp = _value
# _stbd_pid.kd = _value
# _log.info(Fore.BLACK + 'STBD setpoint={:>5.2f}.'.format(_stbd_pid.get_velocity()))
time.sleep(0.1)
except KeyboardInterrupt:
_log.info(Fore.CYAN + Style.BRIGHT + 'PID test complete.')
finally:
_stbd_pid.disable()
_motors.brake()
_status.disable()
except Exception as e:
_log.info(Fore.RED + Style.BRIGHT +
'error in PID controller: {}'.format(e))
traceback.print_exc(file=sys.stdout)
finally:
_log.info(Fore.YELLOW + Style.BRIGHT + 'C. finally.')
def status_page():
return jsonify(Status())
class Controller():
'''
Responds to Events. Simple tasks are handled within this script, more
complicated ones are farmed out to task files.
There are two API methods for this class:
.get_current_message() returns the last message received
.act(_current_message, _action_complete_callback)
act upon the current message, with
a callback called upon completion
'''
def __init__(self, config, ifs, motors, callback_shutdown, level):
super().__init__()
self._log = Logger('controller', level)
self._config = config
self._enable_self_shutdown = self._config['ros'].get(
'enable_self_shutdown')
# self._switch = switch
self._ifs = ifs
self._motors = motors
self._port_motor = motors.get_motor(Orientation.PORT)
self._port_pid = self._port_motor.get_pid_controller()
self._stbd_motor = motors.get_motor(Orientation.STBD)
self._stbd_pid = self._stbd_motor.get_pid_controller()
self._callback_shutdown = callback_shutdown
self._status = Status(config, GPIO, level)
self._current_message = None
self._standby = False
self._enabled = True
# behaviours .................................
self._behaviours = Behaviours(motors, ifs, Level.INFO)
self._roam_behaviour = RoamBehaviour(motors, Level.INFO)
self._log.debug('ready.')
# ..........................................................................
def set_standby(self, is_standby):
if is_standby:
self._log.info('standby.')
self._status.blink(True)
self._motors.disable()
# self._switch.off()
self._ifs.disable()
self._standby = True
else:
self._log.info('active (standby off).')
self._status.blink(False)
self._motors.enable()
# self._switch.on()
self._ifs.enable()
self._status.enable()
self._standby = False
# ................................................................
def enable(self):
self._enabled = True
self._status.enable()
self._log.info('enabled.')
# ................................................................
def disable(self):
self._enabled = False
self._status.disable()
self._log.info('disabled.')
# ..........................................................................
def get_current_message(self):
return self._current_message
# ..........................................................................
def _clear_current_message(self):
self._log.debug('clear current message {}.'.format(
self._current_message))
self._current_message = None
# ..........................................................................
def _slow_down(self, orientation):
self._log.info(Fore.CYAN + 'slow down {}.'.format(orientation.name))
self._motors.slow_down(orientation)
pass
# ..........................................................................
def _avoid(self, orientation):
self._log.info(Fore.CYAN + 'avoid {}.'.format(orientation.name))
self._behaviours.avoid(orientation)
# ..........................................................................
def act(self, message, callback):
'''
Responds to the Event contained within the Message.
The callback method's API is:
callback(self._current_message, _current_power_levels)
'''
if not self._enabled:
self._log.warning('action ignored: controller disabled.')
return
_start_time = dt.datetime.now()
self._current_message = message
# _port_speed = self._motors.get_current_power_level(Orientation.PORT)
# _stbd_speed = self._motors.get_current_power_level(Orientation.STBD)
# if _port_speed is not None and _stbd_speed is not None:
# self._log.debug('last set power port: {:6.1f}, starboard: {:6.1f}'.format(_port_speed, _stbd_speed))
# else:
# self._log.debug('last set power port: {}, starboard: {}'.format(_port_speed, _stbd_speed))
_event = self._current_message.get_event()
self._log.debug(Fore.CYAN + 'act()' + Style.BRIGHT +
' event: {}.'.format(_event) + Fore.YELLOW)
self._current_message.start()
# no action ............................................................
if _event is Event.NO_ACTION:
self._log.info('event: no action.')
pass
# BUTTON ..............................................
# button ...............................................................
elif _event is Event.BUTTON:
# if button pressed we change standby mode but don't do anything else
_value = self._current_message.get_value()
# toggle value
# self.set_standby(not _value)
if _value:
self._log.critical('event: button value: {}.'.format(_value))
self.set_standby(False)
else:
self._log.error('event: button value: {}.'.format(_value))
self.set_standby(True)
# if in standby mode we don't process the event, but we do perform the callback
# # stopping and halting ...................................................
# SHUTDOWN ..............................................
# shutdown ............................................................
elif _event is Event.SHUTDOWN:
self._log.info('event: shutdown.')
self._motors.stop()
self._callback_shutdown()
# STOP ..............................................
# stop .................................................................
elif _event is Event.STOP:
self._log.info('event: stop.')
self._motors.stop()
# HALT ..............................................
# halt .................................................................
elif _event is Event.HALT:
self._log.info('event: halt.')
self._motors.halt()
# BRAKE ...................................
# brake ................................................................
elif _event is Event.BRAKE:
self._log.info('event: brake.')
self._motors.brake()
# STANDBY ..............................................
# standby ..............................................................
elif _event is Event.STANDBY:
# toggle standby state
_value = self._current_message.get_value()
if _value == 1:
if self._standby:
self.set_standby(False)
else:
self.set_standby(True)
else:
pass
# ROAM .................................................
elif _event is Event.ROAM:
self._log.info('event: roam.')
self._roam_behaviour.roam()
# SNIFF .................................................
elif _event is Event.SNIFF:
self._log.info('event: sniff.')
self._behaviours.sniff()
time.sleep(0.5) # debounce gamepad
# D-PAD HORIZONTAL .................................................
elif _event is Event.FORWARD_VELOCITY:
_direction = message.get_value()
_speed = 80.0
if _direction == -1: # then ahead
self._log.info('event: d-pad movement: ahead.')
# self._motors.change_velocity(0.5, 0.5, SlewRate.SLOW, -1)
self._motors.ahead(_speed)
time.sleep(2.0)
elif _direction == 1: # then astern
self._log.info('event: d-pad movement: astern.')
# self._motors.change_velocity(-0.5, -0.5, SlewRate.SLOW, -1)
self._motors.astern(_speed)
time.sleep(2.0)
else:
self._log.info('event: d-pad movement: halt.')
# D-PAD VERTICAL .................................................
elif _event is Event.THETA:
_direction = message.get_value()
if _direction == -1: # then ahead
self._log.info('event: d-pad rotate: counter-clockwise.')
self._motors.step(-100.0, 100.0, -1, -1)
time.sleep(2.0)
elif _direction == 1: # then astern
self._log.info('event: d-pad rotate: clockwise.')
self._motors.step(100.0, -100.0, -1, -1)
time.sleep(2.0)
else:
self._log.info('event: d-pad rotate: none.')
# PORT_VELOCITY ................................................
elif _event is Event.PORT_VELOCITY:
_velocity = Gamepad.convert_range(message.get_value())
self._log.info(
Fore.GREEN + Style.BRIGHT +
'{};\tvalue: {:>5.2f}'.format(_event.description, _velocity))
self._port_motor.set_motor_power(_velocity)
# PORT_THETA ...................................................
elif _event is Event.PORT_THETA:
_velocity = -1 * Gamepad.convert_range(message.get_value())
self._log.info(
Fore.MAGENTA + Style.BRIGHT +
'{};\tvalue: {:>5.2f}'.format(_event.description, _velocity))
# STBD_VELOCITY ................................................
elif _event is Event.STBD_VELOCITY:
_velocity = Gamepad.convert_range(message.get_value())
self._log.info(
Fore.GREEN + Style.BRIGHT +
'{};\tvalue: {:>5.2f}'.format(_event.description, _velocity))
self._stbd_motor.set_motor_power(_velocity)
# STBD_THETA ...................................................
elif _event is Event.STBD_THETA:
_velocity = -1 * Gamepad.convert_range(message.get_value())
self._log.info(
Fore.MAGENTA + Style.BRIGHT +
'{};\tvalue: {:>5.2f}'.format(_event.description, _velocity))
# # bumper .............................................................
# BUMPER_PORT ..............................................
elif _event is Event.BUMPER_PORT:
self._log.info(Style.BRIGHT + 'event:' + Style.NORMAL + Fore.RED +
' port bumper.' + Style.RESET_ALL)
if self._motors.is_in_motion(): # if we're moving then halt
self._ifs.disable()
self._motors.stop()
# self._motors.astern(Speed.HALF.value)
self._motors.turn_astern(Speed.THREE_QUARTER.value,
Speed.HALF.value)
time.sleep(0.5)
self._motors.brake()
self._ifs.enable()
self._log.info('action complete: port bumper.')
else:
self._log.info('no action required (not moving): port bumper.')
# BUMPER_CNTR ..............................................
elif _event is Event.BUMPER_CNTR:
self._log.info(Style.BRIGHT + 'event:' + Style.NORMAL + Fore.BLUE +
' center bumper.' + Style.RESET_ALL)
if self._motors.is_in_motion(): # if we're moving then halt
self._ifs.disable()
self._motors.stop()
self._motors.astern(Speed.HALF.value)
time.sleep(0.5)
self._motors.brake()
self._ifs.enable()
self._log.info('action complete: center bumper.')
else:
self._log.info(
'no action required (not moving): center bumper.')
# BUMPER_STBD ..............................................
elif _event is Event.BUMPER_STBD:
self._log.info(Style.BRIGHT + 'event:' + Style.NORMAL +
Fore.GREEN + ' starboard bumper.' + Style.RESET_ALL)
if self._motors.is_in_motion(): # if we're moving then halt
self._motors.stop()
# self._motors.astern(Speed.FULL.value)
self._motors.turn_astern(Speed.HALF.value,
Speed.THREE_QUARTER.value)
time.sleep(0.5)
self._motors.brake()
self._log.info('action complete: starboard bumper.')
else:
self._log.info(
'no action required (not moving): starboard bumper.')
# # infrared ...........................................................
# INFRARED_PORT_SIDE ..............................................
elif _event is Event.INFRARED_PORT_SIDE:
_value = message.get_value()
self._log.info(Style.BRIGHT + 'event:' + Style.NORMAL + Fore.RED +
' port side infrared; ' + Fore.YELLOW +
'value: {}'.format(_value))
pass
# INFRARED_PORT ..............................................
elif _event is Event.INFRARED_PORT:
_value = message.get_value()
self._log.info(Style.BRIGHT + 'event:' + Style.NORMAL + Fore.RED +
' port infrared; ' + Fore.YELLOW +
'value: {}'.format(_value))
if self._motors.is_in_motion(): # if we're moving then avoid
self._avoid(Orientation.PORT)
self._log.info('action complete: port infrared.')
else:
self._log.info(
'no action required (not moving): port infrared.')
pass
# INFRARED_CNTR ..............................................
elif _event is Event.INFRARED_CNTR:
_value = message.get_value()
self._log.info(Style.BRIGHT + 'event:' + Style.NORMAL + Fore.BLUE +
' center infrared; ' + Fore.YELLOW +
'value: {}'.format(_value))
if self._motors.is_in_motion(): # if we're moving then avoid
self._avoid(Orientation.CNTR)
self._log.info('action complete: center infrared.')
else:
self._log.info(
'no action required (not moving): center infrared.')
pass
# INFRARED_STBD ...................................................
elif _event is Event.INFRARED_STBD:
_value = message.get_value()
self._log.info(Style.BRIGHT + 'event:' + Style.NORMAL +
Fore.GREEN + ' starboard infrared; ' + Fore.YELLOW +
'value: {}'.format(_value))
if self._motors.is_in_motion(): # if we're moving then avoid
self._avoid(Orientation.STBD)
self._log.info('action complete: starboard infrared.')
else:
self._log.info(
'no action required (not moving): starboard infrared.')
pass
# INFRARED_STBD_SIDE ...........................................
elif _event is Event.INFRARED_STBD_SIDE:
_value = message.get_value()
self._log.info(Style.BRIGHT + 'event:' + Style.NORMAL +
Fore.GREEN + ' starboard side infrared; ' +
Fore.YELLOW + 'value: {}'.format(_value))
pass
# EVENT UNKNOWN: FAILURE ...............................................
else:
self._log.error('unrecognised event: {}'.format(_event))
pass
_current_power_levels = self._motors.get_current_power_levels()
if callback is not None:
self._log.debug(
Fore.MAGENTA + 'callback message: {}; '.format(
self._current_message.get_value()) + Fore.CYAN +
'current power levels: {}'.format(_current_power_levels))
callback(self._current_message, _current_power_levels)
self._clear_current_message()
_delta = dt.datetime.now() - _start_time
_elapsed_ms = int(_delta.total_seconds() * 1000)
self._log.debug(Fore.MAGENTA + Style.DIM +
'elapsed: {}ms'.format(_elapsed_ms) + Style.DIM)
class Controller():
'''
Responds to Events.
'''
def __init__(self, level, config, switch, infrared_trio, motors, rgbmatrix,
lidar, callback_shutdown):
super().__init__()
self._log = Logger('controller', level)
self._config = config
self._enable_self_shutdown = self._config['ros'].get(
'enable_self_shutdown')
self._switch = switch
# self._info = info
self._infrared_trio = infrared_trio
self._motors = motors
self._rgbmatrix = rgbmatrix
self._lidar = lidar
self._callback_shutdown = callback_shutdown
self._status = Status(GPIO, level)
self._current_message = None
self._standby = False
self._log.debug('ready.')
# ..........................................................................
def set_standby(self, is_standby):
if is_standby:
self._status.blink(True)
self._motors.disable()
self._switch.off()
self._infrared_trio.disable()
self._standby = True
else:
self._status.blink(False)
self._motors.enable()
self._switch.on()
self._infrared_trio.enable()
self._status.enable()
self._standby = False
# ..........................................................................
def get_current_message(self):
return self._current_message
# ..........................................................................
def _clear_current_message(self):
self._current_message = None
self._log.info('clear current message {}.'.format(
self._current_message))
# ..........................................................................
def act(self, message, callback):
'''
Responds to the Event contained within the Message.
'''
self._current_message = message
_port_speed = self._motors.get_current_power_level(Orientation.PORT)
_stbd_speed = self._motors.get_current_power_level(Orientation.STBD)
if _port_speed is not None and _stbd_speed is not None:
self._log.debug(
'last set power port: {:6.1f}, starboard: {:6.1f}'.format(
_port_speed, _stbd_speed))
else:
self._log.debug('last set power port: {}, starboard: {}'.format(
_port_speed, _stbd_speed))
event = self._current_message.get_event()
self._current_message.start()
# BUTTON ..............................................
# button ...............................................................
if event is Event.BUTTON:
# if button pressed we change standby mode but don't do anything else
_value = self._current_message.get_value()
# toggle value
# self.set_standby(not _value)
if _value:
self._log.critical('event: button value: {}.'.format(_value))
self.set_standby(False)
else:
self._log.error('event: button value: {}.'.format(_value))
self.set_standby(True)
# if in standby mode we don't process the event, but we do perform the callback
if self._standby:
self._log.info('event: disabled, currently in standby mode.')
callback(self._current_message,
self._motors.get_current_power_levels())
# ballistic behaviours ...........................................................
# BATTERY_LOW ..............................................
elif event is Event.BATTERY_LOW:
if self._enable_self_shutdown:
self._log.critical('event: battery low.')
self.set_standby(True)
self._current_message.complete()
self._callback_shutdown()
else:
self._log.warning(
'event ignored: battery low (self shutdown disabled).')
self._current_message.complete()
# callback(self._current_message, None)
# self._clear_current_message()
# return
# SHUTDOWN ..............................................
# shutdown .............................................................
elif event is Event.SHUTDOWN:
if self._enable_self_shutdown:
self._log.info('event: shutdown.')
self.set_standby(True)
self._callback_shutdown()
else:
self._log.warning(
'event ignored: shutdown (self shutdown disabled).')
# self._current_message.complete()
# callback(self._current_message, None)
# self._clear_current_message()
# return
# # stopping and halting ...................................................
# STOP ..............................................
# stop .................................................................
elif event is Event.STOP:
self._log.info('event: stop.')
self._motors.stop()
# HALT ..............................................
# halt .................................................................
elif event is Event.HALT:
self._log.info('event: halt.')
self._motors.halt()
# BRAKE ...................................
# brake ................................................................
elif event is Event.BRAKE:
self._log.info('event: brake.')
self._motors.brake()
# STANDBY ..............................................
# standby ..............................................................
elif event is Event.STANDBY:
self._log.info('event: standby.')
# disable motors until button press
self._motors.disable()
self._switch.off()
self._standby = True
# # bumper .............................................................
# BUMPER_PORT ..............................................
elif event is Event.BUMPER_PORT:
self._log.info(Style.BRIGHT + 'event:' + Style.NORMAL + Fore.RED +
' port bumper.' + Style.RESET_ALL)
if self._motors.is_in_motion(): # if we're moving then halt
self._infrared_trio.disable()
self._motors.stop()
# self._info.blink_side(Orientation.PORT, 1)
# self._motors.astern(Speed.HALF.value)
self._motors.turnAstern(Speed.THREE_QUARTER.value,
Speed.HALF.value)
time.sleep(0.5)
self._motors.brake()
self._infrared_trio.enable()
self._log.info('action complete: port bumper.')
else:
self._log.info('no action required (not moving): port bumper.')
# BUMPER_CENTER ..............................................
elif event is Event.BUMPER_CENTER:
self._log.info(Style.BRIGHT + 'event:' + Style.NORMAL + Fore.BLUE +
' center bumper.' + Style.RESET_ALL)
if self._motors.is_in_motion(): # if we're moving then halt
self._infrared_trio.disable()
self._motors.stop()
# self._info.blink(1)
self._motors.astern(Speed.HALF.value)
time.sleep(0.5)
self._motors.brake()
self._infrared_trio.enable()
self._log.info('action complete: center bumper.')
else:
self._log.info(
'no action required (not moving): center bumper.')
# BUMPER_STBD ..............................................
elif event is Event.BUMPER_STBD:
self._log.info(Style.BRIGHT + 'event:' + Style.NORMAL +
Fore.GREEN + ' starboard bumper.' + Style.RESET_ALL)
if self._motors.is_in_motion(): # if we're moving then halt
self._motors.stop()
# self._info.blink_side(Orientation.STBD, 1)
# self._motors.astern(Speed.FULL.value)
self._motors.turnAstern(Speed.HALF.value,
Speed.THREE_QUARTER.value)
time.sleep(0.5)
self._motors.brake()
self._log.info('action complete: starboard bumper.')
else:
self._log.info(
'no action required (not moving): starboard bumper.')
# BUMPER_UPPER ..............................................
elif event is Event.BUMPER_UPPER:
self._log.info(Fore.RED + Style.BRIGHT + 'event: emergency stop.')
self._motors.stop()
# # infrared ...........................................................
# INFRARED_PORT ..............................................
elif event is Event.INFRARED_PORT:
self._log.info(Style.BRIGHT + 'event:' + Style.NORMAL + Fore.RED +
' port infrared.' + Style.RESET_ALL)
if self._motors.is_in_motion(): # if we're moving then halt
self._infrared_trio.disable()
self._motors.halt()
# self._info.blink_side(Orientation.PORT, 1)
# self._motors.astern(Speed.HALF.value)
self._motors.turnAstern(Speed.THREE_QUARTER.value,
Speed.HALF.value)
time.sleep(0.1)
self._motors.brake()
self._infrared_trio.enable()
self._log.info('action complete: port infrared.')
else:
self._log.info(
'no action required (not moving): port infrared.')
# INFRARED_CENTER ..............................................
elif event is Event.INFRARED_CENTER:
self._log.info(Style.BRIGHT + 'event:' + Style.NORMAL + Fore.BLUE +
' center infrared.' + Style.RESET_ALL)
if self._motors.is_in_motion(): # if we're moving then halt
self._infrared_trio.disable()
self._motors.halt()
# self._info.blink(1)
self._motors.astern(Speed.HALF.value)
time.sleep(0.2)
self._motors.brake()
self._infrared_trio.enable()
self._log.info('action complete: center infrared.')
else:
self._log.info(
'no action required (not moving): center infrared.')
# INFRARED_SHORT_RANGE .........................................
elif event is Event.INFRARED_SHORT_RANGE:
self._log.info(Style.BRIGHT + 'event:' + Style.NORMAL + Fore.BLUE +
' short range infrared.' + Style.RESET_ALL)
if self._motors.is_in_motion(): # if we're moving then halt
self._infrared_trio.disable()
self._motors.halt()
# self._info.blink(1)
self._motors.astern(Speed.HALF.value)
time.sleep(0.34)
self._motors.brake()
self._infrared_trio.enable()
self._log.info('action complete: short range infrared.')
else:
self._log.info(
'no action required (not moving): short range infrared.')
self._infrared_trio.set_long_range_scan(True)
# INFRARED_LONG_RANGE .........................................
elif event is Event.INFRARED_LONG_RANGE:
self._log.info(Style.BRIGHT + 'event:' + Style.NORMAL + Fore.BLUE +
' long range infrared.' + Style.RESET_ALL)
if self._motors.is_in_motion(): # if we're moving then halt
self._log.critical(
"WE'RE GOING TOO FAST! xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx "
)
self._infrared_trio.set_long_range_scan(False)
self._motors.change_speed(Speed.DEAD_SLOW.value)
# self._motors.ahead(Speed.DEAD_SLOW.value)
self._log.info('action complete: long range infrared.')
# if self._motors.is_faster_than(Speed.SLOW) or True: # if we're moving fast then slow down
# self._log.critical('WE\'RE GOING TOO FAST!')
# self._motors.ahead(Speed.SLOW.value)
# self._log.info('action complete: long range infrared.')
else:
self._log.critical(
'no action required (not moving): long range infrared.')
# INFRARED_STBD ..............................................
elif event is Event.INFRARED_STBD:
self._log.info(Style.BRIGHT + 'event:' + Style.NORMAL +
Fore.GREEN + ' starboard infrared.' +
Style.RESET_ALL)
if self._motors.is_in_motion(): # if we're moving then halt
self._motors.halt()
# self._info.blink_side(Orientation.STBD, 1)
# self._motors.astern(Speed.FULL.value)
self._motors.turnAstern(Speed.HALF.value,
Speed.THREE_QUARTER.value)
time.sleep(0.1)
self._motors.brake()
self._log.info('action complete: starboard infrared.')
else:
self._log.info(
'no action required (not moving): starboard infrared.')
# # emergency movements ................................................
# EMERGENCY_ASTERN ..............................................
# # movement ahead .....................................................
# FULL_AHEAD ..............................................
# HALF_AHEAD ..............................................
# SLOW_AHEAD ..............................................
# DEAD_SLOW_AHEAD ..............................................
# AHEAD ..............................................
# 8 ahead ..............................................................
elif event is Event.AHEAD:
if self._infrared_trio.get_long_range_hits() > 0:
self._log.info('event: ahead slow speed.')
_port_speed = Speed.SLOW.value
_stbd_speed = Speed.SLOW.value
else:
self._log.info('event: ahead half speed.')
_port_speed = Speed.HALF.value
_stbd_speed = Speed.HALF.value
self._motors.ahead(Speed.HALF.value)
self._log.info('action complete: ahead.')
# # movement astern ....................................................
# ASTERN ..............................................
# 2 astern .............................................................
elif event is Event.ASTERN:
# _port_speed = -1.0 * Speed.HALF.value
# _stbd_speed = -1.0 * Speed.HALF.value
self._log.critical('event: astern.')
self._infrared_trio.disable()
self._motors.astern(Speed.HALF.value)
self._infrared_trio.enable()
self._log.critical('event (returned already): astern.')
# DEAD_SLOW_ASTERN ..............................................
# SLOW_ASTERN ..............................................
# HALF_ASTERN ..............................................
# FULL_ASTERN ..............................................
# # relative change ....................................................
# INCREASE_SPEED ..............................................
# EVEN ..............................................
# DECREASE_SPEED ..............................................
# # port turns .........................................................
# TURN_AHEAD_PORT ..............................................
# 9 turn ahead port ....................................................
elif event is Event.TURN_AHEAD_PORT:
self._log.critical('event: turn ahead to port.')
_stbd_speed += step_value
_stbd_speed = min(Speed.MAXIMUM.value, _stbd_speed)
self._log.info(
'event: turn ahead to port: {:6.1f}, {:6.1f}'.format(
_port_speed, _stbd_speed))
self._motors.turnAhead(_port_speed, _stbd_speed)
# TURN_TO_PORT ..............................................
# TURN_ASTERN_PORT ..............................................
# SPIN_PORT ..............................................
# 4 spin counter-clockwise .............................................
elif event is Event.SPIN_PORT:
self._log.info('event: spinPort.')
self._motors.spinPort(Speed.THREE_QUARTER.value)
# # starboard turns ....................................................
# SPIN_STBD ..............................................
# 6 spin clockwise .....................................................
elif event is Event.SPIN_STBD:
self._log.info('event: spinStarboard.')
self._motors.spinStarboard(Speed.THREE_QUARTER.value)
# TURN_ASTERN_STBD ..............................................
# TURN_TO_STBD ..............................................
# TURN_AHEAD_STBD ..............................................
# 7 turn ahead starboard ...............................................
elif event is Event.TURN_AHEAD_STBD:
self._log.critical('event: turn ahead to starboard.')
_port_speed += step_value
_port_speed = min(Speed.MAXIMUM.value, _port_speed)
self._log.info('Turn ahead to starboard: {:6.1f}, {:6.1f}'.format(
_port_speed, _stbd_speed))
self._motors.turnAhead(_port_speed, _stbd_speed)
# ROAM ..............................................
elif event is Event.ROAM:
self._log.critical('event: roam.')
self._lidar.enable()
self._rgbmatrix.disable()
self._rgbmatrix.clear()
values = self._lidar.scan()
# time.sleep(2.0)
# self._infrared_trio.disable()
# self._motors.spinPort(Speed.THREE_QUARTER.value)
# time.sleep(0.20)
# self._motors.halt()
# self._motors.ahead(Speed.HALF.value)
# self._infrared_trio.enable()
# time.sleep(2.3)
# self._motors.spinStarboard(Speed.THREE_QUARTER.value)
# time.sleep(0.4)
# self._motors.ahead(Speed.HALF.value)
# time.sleep(1.4)
# self._motors.halt()
# self._motors.spinPort(Speed.THREE_QUARTER.value)
# time.sleep(2.0)
# self._motors.halt()
# for i in range(5):
# self._rgbmatrix.set_color(Color.GREEN)
# time.sleep(0.5)
# self._rgbmatrix.set_color(Color.BLACK)
# time.sleep(0.5)
# self._rgbmatrix.set_color(Color.BLACK)
self._log.critical('scan complete.')
# non-ballistic behaviours .......................................................
else:
self._log.error('unrecognised event: {}'.format(event))
pass
callback(self._current_message,
self._motors.get_current_power_levels())
self._clear_current_message()