def __init__(self): threading.Thread.__init__(self) self.shutdown_flag = threading.Event() self.motor = Motorcontroller() self.buzzer = Buzzer() self.xbee = Xbee() self.decoder = Decoder() self.servo1 = 96 self.servo2 = 75 self.joycalc = Joystick() self.motor.setServo1(self.servo1) self.motor.setServo2(self.servo2) self.lastSavedTime = 0
def __init__(self, waypointFile=None):
"""Constructor for the boat object"""
self.arduino = Arduino()
self.gps = Gps()
self.xbee = Xbee()
self._waypointN = 0
self._waypointE = 0
self._waypointNumber = 0
self._waypointDist = 0
self._waypointHeading = 0
self._targetHeading = 0
self._targetDistance = 0
self.s = 0
self.c = 0
self.r = 250
class XbeeSensorMesh(SensorMesh):
"""Creates a new Xbee instance and registers with the digital callback.
When a digital reading comes in, it uses the "sensors" dictionary to map
Xbee addresses to web server sensor ids"""
def __init__(self, sensors):
super(XbeeSensorMesh, self).__init__()
self.xbee = Xbee()
self.xbee.dig_cb = self.dig_cb
self.sensors = sensors
def dig_cb(self, addr, network, pin, value):
try:
if pin == 0:
num = self.sensors[addr]
if self.sensor_cb:
self.sensor_cb(num, not value) #Invert for active low port
except KeyError:
print "Got reading from unknown sensor 0x%x" % addr
def recv(self, data):
"""Eats input data from the Xbee module and generates events"""
self.xbee.recv(data)
def __init__(self, waypointFile=None):
"""Constructor for the boat object"""
self.arduino = Arduino()
self.gps = Gps()
self.xbee = Xbee()
self._waypointN = 0
self._waypointE = 0
self._waypointNumber = 0
self._waypointDist = 0
self._waypointHeading = 0
self._targetHeading = 0
self._targetDistance = 0
self.s = 0
self.c = 0
self.r = 250
pg.key.set_repeat()
# game loop
while self._running:
# handle events
for event in pg.event.get():
self.on_event(event)
# update game state
self.on_loop()
# render or flush outputs
self.on_render()
self.on_cleanup()
def keyUpdate(kold, knew):
res = []
for i in range(len(knew)):
if kold[i] != knew[i]:
res.append(pg.key.name(i) + ['u', 'd'][knew[i]])
return res
if __name__ == "__main__":
xb = Xbee(SRV_IP, SRV_PT)
xb.connect()
theApp = App(xb.sk)
theApp.on_execute()
xb.close()
def __init__(self, sensors):
super(XbeeSensorMesh, self).__init__()
self.xbee = Xbee()
self.xbee.dig_cb = self.dig_cb
self.sensors = sensors
def setUp(self):
self.xbee = Xbee()
self.xbee.write_cb = self.write
class TestXbeeTransmit:
def setUp(self):
self.xbee = Xbee()
self.xbee.write_cb = self.write
def open(self, file, mode):
return open(OUTPUT_DIR + file, mode)
def close(self):
self.f.close()
def compare(self, file):
ifile = OUTPUT_DIR + file
ofile = ifile+"_lastrun"
output = open(ofile, "w")
output.write(self.data)
output.close()
assert filecmp.cmp(ifile, ofile)
def write(self, data):
self.data = data
def do_transmit(self):
self.xbee.transmit(0xffff, 0xffff, "Hello")
def do_at_command(self):
self.xbee.at_command("D0" + chr(0x4))
def do_at_command_remote(self):
self.xbee.at_command_remote(0x123, 0xfffe, "D0" + chr(0x4))
def test_at_command(self):
self.do_at_command()
self.compare("at_command")
def test_at_command_remote(self):
self.do_at_command_remote()
self.compare("at_command_remote")
def test_transmit(self):
self.do_transmit()
self.compare("transmit")
def gen_output(self):
self.setUp()
f = self.open("transmit", "w")
self.do_transmit()
f.write(self.data)
f.close()
self.setUp()
f = self.open("at_command", "w")
self.do_at_command()
f.write(self.data)
f.close()
print self.data
self.setUp()
f = self.open("at_command_remote", "w")
self.do_at_command_remote()
f.write(self.data)
f.close()
print self.data
class Serialcom(threading.Thread):
def __init__(self):
threading.Thread.__init__(self)
self.shutdown_flag = threading.Event()
self.motor = Motorcontroller()
self.buzzer = Buzzer()
self.xbee = Xbee()
self.decoder = Decoder()
self.servo1 = 96
self.servo2 = 75
self.joycalc = Joystick()
self.motor.setServo1(self.servo1)
self.motor.setServo2(self.servo2)
self.lastSavedTime = 0
def run(self):
print('Thread #%s started' % self.ident)
self.motor.timeout(1)
while not self.shutdown_flag.is_set():
rcvdata = self.xbee.read()
self.decoder.decode(rcvdata)
self.motor.recalCommand()
currenttime = time.time()
if currenttime - self.lastSavedTime > 1.0:
self.lastSavedTime = time.time()
self.xbee.sendBat(self.decoder.getRfrating())
if self.decoder.getStatus() and self.decoder.checkCRC():
if self.decoder.getJoyStickPB1() == 0:
self.motor.EmergyStop()
self.buzzer.beep(300)
elif self.decoder.getJoystickM1() > 248 and self.decoder.getJoystickM2() > 248:
self.joycalc.calculateReg(255)
self.motor.Motor1MC2(255 - self.joycalc.cor1)
self.motor.Motor2MC2(255 - self.joycalc.cor2)
elif (abs(self.decoder.getJoystickM1() - self.decoder.getJoystickM2()) <= 3) and (self.decoder.getJoystickM1() > 50):
self.joycalc.calculateReg(self.decoder.getJoystickM1())
self.motor.Motor1MC2(self.decoder.getJoystickM1() - self.joycalc.cor1)
self.motor.Motor2MC2(self.decoder.getJoystickM1() - self.joycalc.cor2)
#print "drive forward without full speed"
else:
self.motor.Motor1MC2(self.decoder.getJoystickM1())
self.motor.Motor2MC2(self.decoder.getJoystickM2())
#print "other speeds"
if self.decoder.getJoystickPB2() == 0:
self.servo1 = 96
self.motor.setServo1(self.servo1)
self.buzzer.beep(300)
elif self.decoder.getJoystickVRX2() > 1000:
if(self.servo1 > 0):
self.servo1 = self.servo1 - 1
self.motor.setServo1(self.servo1)
elif self.decoder.getJoystickVRX2() < 24:
if(self.servo1 < 180):
self.servo1 = self.servo1 + 1
self.motor.setServo1(self.servo1)
if self.decoder.getJoystickPB2() == 0:
self.servo2 = 75
self.motor.setServo2(self.servo2)
elif self.decoder.joystick_VRY2 > 1000:
if(self.servo2 > 0):
self.servo2 = self.servo2 - 1
self.motor.setServo2(self.servo2)
elif self.decoder.getJoystickVRY2() < 24:
if(self.servo2 < 180):
self.servo2 = self.servo2 + 1
self.motor.setServo2(self.servo2)
time.sleep(0.001)
# ... Clean shutdown code here ...
self.xbee.close()
self.motor.close()
print('Thread #%s stopped' % self.ident)
class Boat(object):
def __init__(self, waypointFile=None):
"""Constructor for the boat object"""
self.arduino = Arduino()
self.gps = Gps()
self.xbee = Xbee()
self._waypointN = 0
self._waypointE = 0
self._waypointNumber = 0
self._waypointDist = 0
self._waypointHeading = 0
self._targetHeading = 0
self._targetDistance = 0
self.s = 0
self.c = 0
self.r = 250
def log(self, logfilename='logfile'):
"""
Log the output of the sensors to stdout, a logfile and down the xbee
"""
try:
l = 'time={time}\
bhead={head}\
wind={wind}\
lat={pos.lat}\
lon={pos.long}\
nwlat={wpn}\
nwlon={wpe}\
nwn={num}\
spos={sail}\
rpos={rudder}\
whead={waypointHeading}\
distance={waypointDistance}\
speed={speed}\
thead={targetHeading}\
tdist={targetDistance}\
temp={temp}\n\r'.format(
time = int(time.time()),
head = self.arduino.get_compass(),
wind = self.get_wind_average(),
pos = self.gps.position,
wpn = self._waypointN,
wpe= self._waypointE,
num = self._waypointNumber,
sail = self.arduino.sailAngle,
rudder = self.arduino.rudderAngle,
waypointHeading = self._waypointHeading,
waypointDistance = self._waypointDist,
speed = self.gps.speed,
targetHeading = self._targetHeading,
targetDistance = self._targetDistance,
temp = self.arduino.get_compass(),
)
# write to log file
with open(logfilename, 'a') as f:
f.write(l)
# write to xbee
self.xbee.send(l)
# write to console
log(l)
except:
trace = traceback.format_exc()
with open('errors', 'a') as f:
f.write(str(time.time()) + ':\n' + trace + '\n')
def get_wind_bearing(self):
"""Return the absolute bearing of the wind"""
wind = Bearing(self.arduino.get_wind())
bearing = Bearing(self.arduino.get_compass())
return wind + bearing
def get_wind_average(self):
self.s += (sin(math.radians(self.get_wind_bearing())) - self.s) / self.r
self.c += (cos(math.radians(self.get_wind_bearing())) - self.c) / self.r
a = int(math.degrees(atan2(self.s, self.c)))
if a < 0:
return a + 360
else:
return a
def set_waypoint_northing(self, v):
self._waypointN = v
def set_waypoint_easting(self, v):
self._waypointE = v
def get_waypoint_number(self):
return self._waypointNumber
def set_waypoint_number(self, v):
self._waypointNumber = v
def set_waypoint_distance(self, v):
self._waypointDist = v
def set_waypoint_heading(self, v):
self._waypointHeading = v
def set_target_heading(self, v):
self._targetHeading = v
def set_target_distance(self, v):
self._targetDistance = v
class Boat(object):
def __init__(self, waypointFile=None):
"""Constructor for the boat object"""
self.arduino = Arduino()
self.gps = Gps()
self.xbee = Xbee()
self._waypointN = 0
self._waypointE = 0
self._waypointNumber = 0
self._waypointDist = 0
self._waypointHeading = 0
self._targetHeading = 0
self._targetDistance = 0
self.s = 0
self.c = 0
self.r = 250
def log(self, logfilename='logfile'):
"""
Log the output of the sensors to stdout, a logfile and down the xbee
"""
try:
l = 'time={time}\
bhead={head}\
wind={wind}\
lat={pos.lat}\
lon={pos.long}\
nwlat={wpn}\
nwlon={wpe}\
nwn={num}\
spos={sail}\
rpos={rudder}\
whead={waypointHeading}\
distance={waypointDistance}\
speed={speed}\
thead={targetHeading}\
tdist={targetDistance}\
temp={temp}\n\r'.format(
time=int(time.time()),
head=self.arduino.get_compass(),
wind=self.get_wind_average(),
pos=self.gps.position,
wpn=self._waypointN,
wpe=self._waypointE,
num=self._waypointNumber,
sail=self.arduino.sailAngle,
rudder=self.arduino.rudderAngle,
waypointHeading=self._waypointHeading,
waypointDistance=self._waypointDist,
speed=self.gps.speed,
targetHeading=self._targetHeading,
targetDistance=self._targetDistance,
temp=self.arduino.get_compass(),
)
# write to log file
with open(logfilename, 'a') as f:
f.write(l)
# write to xbee
self.xbee.send(l)
# write to console
log(l)
except:
trace = traceback.format_exc()
with open('errors', 'a') as f:
f.write(str(time.time()) + ':\n' + trace + '\n')
def get_wind_bearing(self):
"""Return the absolute bearing of the wind"""
wind = Bearing(self.arduino.get_wind())
bearing = Bearing(self.arduino.get_compass())
return wind + bearing
def get_wind_average(self):
self.s += (sin(math.radians(self.get_wind_bearing())) -
self.s) / self.r
self.c += (cos(math.radians(self.get_wind_bearing())) -
self.c) / self.r
a = int(math.degrees(atan2(self.s, self.c)))
if a < 0:
return a + 360
else:
return a
def set_waypoint_northing(self, v):
self._waypointN = v
def set_waypoint_easting(self, v):
self._waypointE = v
def get_waypoint_number(self):
return self._waypointNumber
def set_waypoint_number(self, v):
self._waypointNumber = v
def set_waypoint_distance(self, v):
self._waypointDist = v
def set_waypoint_heading(self, v):
self._waypointHeading = v
def set_target_heading(self, v):
self._targetHeading = v
def set_target_distance(self, v):
self._targetDistance = v