def gui_connection_init(self):
self.gui_udp_client = rover_socket.UDP_server(50010, 0, "192.168.5.2")
self.gui_send_status_udp_server = rover_socket.UDP_server(
50012, 0, "192.168.5.2")
self.gui_server_run = True
self.gui_command = {"gss": self._gui_set_speed, "gbm": self._gui_bm, "gum":self._gui_um, \
"gbms": self._gui_bm_stop, "gums":self._gui_um_stop}
self.thread_gui = threading.Thread(target=self.gui_send_and_read,
daemon=True)
self.thread_gui.start()
self.thread_gui_get_command = threading.Thread(
target=self.gui_get_command, daemon=True)
self.thread_gui_get_command.start()
def lidar_init(self):
'''Initialize Lidar system and communication'''
try:
logging.info("Initialize lidar server\n")
subprocess.Popen('python3 rover_rplidar.py',
shell=True,
start_new_session=True)
self.lidar_server = rover_socket.TCP_server(50004)
self.lidar_thread_server = rover_socket.UDP_server(50005)
lidar_data = self.lidar_server.recv_list()
if lidar_data == ['L', 'status', 'Good']:
logging.info(
"Lidar communication successfully established !\ncommunication center get : {} \n"
.format(lidar_data))
self.lidar_server_run = True
self.lidar_thread_server_run = True
self.lidar_start_background_thread()
else:
self.end_lidar_server()
self.end_lidar_thread_server()
print(
'Undefined communication error of LiDAR, please check test message'
)
logging.info(
"Undefined communication error of Vision module, please check test message\n"
)
raise KeyboardInterrupt
except:
print('\nError from Main : lidar_init\n')
traceback.print_exc()
logging.info('Main initializing fail at lidar_init()\n')
logging.exception("Main initializing fail at lidar_init() : \n")
self.lidar_server.close()
self.lidar_thread_server.close()
def vision_init(self):
'''Initialize vision system and communication '''
try:
logging.info("Initialize vision server\n")
subprocess.Popen('python3 rover_vision.py',
shell=True,
start_new_session=True)
self.vision_thread_server = rover_socket.UDP_server(50003)
self.vision_server = rover_socket.TCP_server(50002)
receive = self.vision_server.recv_list()
if receive == ['V', 'next']:
logging.info("Vision communication successfully established !\
\ncommunication center get : {} \n".format(receive))
self.vision_server_run = True
self.vision_thread_server_run = True
self.vision_idle = True
self.vision_start_background_thread()
else:
self.end_vision_server()
self.end_vision_thread_server()
print('{} received from TCN_vision'.format(receive))
print(
'Either vision module got problem or undefined communication error of\
Vision module, please check test message')
logging.info('{} received from TCN_vision'.format(receive))
logging.info(
"Either vision module got problem or undefined communication \
error of Vision module, please check test message\n")
except:
self.vision_server.close()
self.vision_thread_server.close()
print('\nError from Main : vision_init \n')
traceback.print_exc()
logging.info('Main initializing fail at vision_init()\n')
logging.exception("Got error : \n")
def gui_get_command(self):
while self.gui_server_run:
self.gui_get_command_udp_server = rover_socket.UDP_server(
50013, 0, '192.168.5.2')
time.sleep(0.1)
self.gui_get_command_receive = self.gui_get_command_udp_server.recv_list(
)
if self.gui_get_command_receive is not None:
if self.gui_get_command_receive[0] in self.gui_command:
self.gui_command[self.gui_get_command_receive[0]]()
elif self.gui_get_command_receive[
0] in self.command_dictionary:
self.command_dictionary[self.gui_get_command_receive[0]](
) # Referenced from CommanderDictionary
elif self.gui_get_command_receive[
0] in self.command_vision_dictionary:
self.command_vision_dictionary[
self.gui_get_command_receive[0]]()
elif self.gui_get_command_receive[
0] in self.command_lidar_dictionary:
self.command_lidar_dictionary[
self.gui_get_command_receive[0]]()
else:
print('Unknown Command')
self.gui_get_command_udp_server.close()
def __init__(self):
self.car_control_server = rover_socket.UDP_server(
50011, 0, "192.168.5.2")
self.car_control = Adafruit_PCA9685.PCA9685()
self.car_control.set_pwm_freq(60)
self.car_control_server_run = True
self.car_control_receive = None
self.car_control_previous_receive = None
self.car_control_state = 'stop'
self.car_control_forward_pwm = 410 # 403
self.car_control_backward_pwm = 370 # 381
self.car_control_stop_pwm = 400
self.car_control_add_speed = 1 # Speed adjust from gui
threading.Thread.__init__(self, daemon=True)
thread = threading.Thread(target=self.car_control_main, daemon=True)
thread.start()
num = 10
while run:
# command = int(input("Enter0 "))
print(num)
pwm.set_pwm(3, mode, num)
time.sleep(0.2)
num += 5
if num > 4040:
run = False
import Adafruit_PCA9685
import time
import rover_socket
import threading
server = rover_socket.UDP_server(50008, 0, '192.168.5.2')
pwm = Adafruit_PCA9685.PCA9685()
pwm.set_pwm_freq(60)
def keep_forward_after_forward():
pwm.set_pwm(3, 0, 415)
time.sleep(0.15)
# pwm.set_pwm(3,0,400)
# time.sleep(0.15)
def forward_after_reverse():
pwm.set_pwm(3, 0, 415)
time.sleep(0.15)
pwm.set_pwm(3, 0, 400)