def main ():
manager = Manager()
# Range Sensor Distance
distance = manager.list([0, 0, 0, 0, 0, 0])
# DataBase
db = manager.list()
# Command from Keyboard
keyboard_cmd = manager.dict()
keyboard_cmd['vld'] = 0
keyboard_cmd['cmd'] = ''
# GoBack Ready
goback_cmd = manager.dict()
goback_cmd['vld'] = 0
#Step 1: Initialzation
initialization.initialize()
#Step 2: Departure
operations.take_off()
#Step 3: Multi threading start
to_thr = Process(target = timeout, args = (runtime, ))
key_thr = Process(target = keyboard_thread.keyboard_thread_wrapper_function, args = (keyboard_cmd, ))
cmd_thr = Process(target = command_thread.command_thread_wrapper_function, args = (distance, keyboard_cmd, db, goback_cmd, ))
rs_thr = Process(target = range_sensor_thread.range_sensor_wrapper_function, args = (distance, ))
gb_thr = Process(target = goback_thread.goback_wrapper_function, args = (goback_cmd, ))
cmd_thr.start()
rs_thr.start()
to_thr.start()
key_thr.start()
gb_thr.start()
#Step 4: Multi threading end
to_thr.join()
cmd_thr.terminate()
rs_thr.terminate()
key_thr.terminate()
gb_thr.terminate()
operations.landing()
time.sleep(1)
cleanup.cleanup()
def main ():
loop = 0
manager = Manager()
distance = manager.list([0, 0, 0, 0, 0, 0])
# distance2 = manager.list([0, 0, 0, 0, 0, 0])
#Step 1: Initialzation
initialization.initialize()
#Step 2: Departure
operations.take_off()
#Step 3: Multi threading start
timeout_thread = Process(target = timeout, args = (runtime, ))
p1 = Process(target = command_thread.command_thread_wrapper_function, args = (distance, ))
p2 = Process(target = range_sensor_thread.range_sensor_wrapper_function, args = (distance, ))
p1.start()
p2.start()
timeout_thread.start()
#Step 4: Multi threading end
timeout_thread.join()
p1.terminate()
p2.terminate()
time.sleep(1)
cleanup.cleanup()
def main ():
loop = 0
#Step 1: Initialzation
initialization.initialize()
#Step 2: Departure
operations.take_off()
#while True :
while (loop < 300): #time for a loop: 0.15s
loop += 1
#Step 2: Detect Range
# for i in range(0, range_sensor.num_directions):
# distance[i] = range_sensor.detect_range(i)
distance[4] = range_sensor.detect_range(4)
time.sleep(0.05)
#Step 3: Analyze Range
# if (distance[4] > 180):
# #operations.hover()
# operations.move_backward()
# elif (distance[4] < 180):
# #operations.hover()
# operations.move_backward()
# else:
# #operations.hover()
# operations.move_backward()
#Step 4: Generate Next Command
if (loop < 50):
operations.hover()
elif (loop < 100):
operations.move_backward()
elif (loop < 150):
operations.hover()
elif (loop < 200):
operations.move_backward()
elif (loop < 250):
operations.drop()
else :
operations.drop()
cleanup.cleanup()
