def SR_Receiver(sock, debug, parent):
#create filepath to parent's (Server/Client) receiving temp file
fileName = 'temp.txt'
fileTemp = os.path.join(os.getcwd(), parent, "Data", "Receiver")
file = os.path.join(os.getcwd(), fileTemp, fileName)
buffer = ""
#initialize receiver object
receiver = Receiver(sock, debug, parent)
try:
#receive payload from selective repeat
senderAddress = receiver.receive(fileName)
#read payload from temp file
with open(file, "r") as f:
buffer += f.read()
#delete temp file
os.remove(file)
return buffer, senderAddress
except Exception as e:
print("Exception Occured: " + str(e))
time.sleep(10)
"""
with tf.Session() as sess:
# you need to initialize all variables
tf.initialize_all_variables().run()
model.loadLearning(sess)
while True:
'''
데이터 받고 Tensorflow에서 다음 명령어 예측
사용자 조작값 설정하고 핸들(스페이스) 체크
10프레임 받고 핸들 그대로 눌리지 않았다면 예측된 명령어로
자동차에게 전달
'''
data, addr = receiver.receive()
image.splitImg(data)
image.setImgInfo()
data = cv2.resize(image.getImg(), (28, 28))
# 데이터 수신
label = sess.run(model.predict_op,
feed_dict={
model.X: [data],
model.p_keep_conv: 1,
model.p_keep_hidden: 1
})
if (label[0] == 0):
commend = 1
elif (label[0] == 1):
def testReceiverReceive(self, mock_pika):
r = Receiver()
r.receive('queue')
mock_pika.BlockingConnection.return_value.channel.return_value.start_consuming.assert_called_with(
)
class Comm:
def __init__(self):
self.first = True
def start_up(self, ser, ros_is_on, traj, step_is_on):
self.last_print_time = time.time()
if (not self.first):
self.ser = ser
self.tx.change_port(ser)
self.rx.change_port(ser)
return
self.first = False
self.ros_is_on = ros_is_on
self.step_is_on = step_is_on
self.use_trajectory = False
self.tx = Transmitter(ser)
self.rx = Receiver(ser, ros_is_on)
if (self.ros_is_on == True):
rospy.init_node('soccer_hardware', anonymous=True)
rospy.Subscriber("robotGoal",
RobotGoal,
self.trajectory_callback,
queue_size=1)
self.rx.pub = rospy.Publisher('soccerbot/imu', Imu, queue_size=1)
self.rx.pub2 = rospy.Publisher('soccerbot/robotState',
RobotState,
queue_size=1)
else:
trajectories_dir = os.path.join("trajectories", traj)
try:
self.trajectory = np.loadtxt(open(trajectories_dir, "rb"),
delimiter=",",
skiprows=0)
logString("Opened trajectory {0}".format(traj))
self.use_trajectory = True
except IOError as err:
logString("Error: Could not open trajectory: {0}".format(err))
logString(
"(Is your shell running in the soccer-communication directory?)"
)
logString("Standing pose will be sent instead...")
def print_angles(self, sent, received):
''' Prints out 2 numpy vectors side-by-side, where the first vector entry
is interpreted as belonging to motor 1, the seconds to motor 2, etc.
'''
assert sent.shape[0] == received.shape[0]
t = PrettyTable(['Motor Number', 'Sent', 'Received'])
for i in range(sent.shape[0]):
t.add_row(
[str(i + 1),
round(sent[i][0], 4),
round(received[i][0], 2)])
print(t)
def print_imu(self, received):
''' Prints out a numpy vector interpreted as data from the IMU, in the
order X-gyro, Y-gyro, Z-gyro, X-accel, Y-accel, Z-accel.
'''
t = PrettyTable(['', 'Gyro (deg/s)', 'Accel (m/s^2)'])
t.add_row(["X", round(received[0][0], 2), round(received[3][0], 2)])
t.add_row(["Y", round(received[1][0], 2), round(received[4][0], 2)])
t.add_row(["Z", round(received[2][0], 2), round(received[5][0], 2)])
print(t)
def print_handler(self, goal_angles):
current_time = time.time()
if (current_time - self.last_print_time >= 1):
self.last_print_time = current_time
print('\n')
logString("Received: {0}".format(self.rx.num_receptions))
logString("Transmitted: {0}\n".format(self.tx.num_transmissions))
if (self.rx.num_receptions > 0):
# Prints the last valid data received
self.print_angles(goal_angles[0:12],
self.rx.received_angles[0:12])
self.print_imu(self.rx.received_imu)
def communicate(self, goal_angles):
self.tx.transmit(goal_angles)
self.rx.receive()
self.print_handler(goal_angles)
def trajectory_callback(self, robotGoal):
'''
Used by ROS. Converts the motor array from the order and sign convention
used by controls to that used by embedded
'''
m = getCtrlToMcuAngleMap()
goalangles = m.dot(robotGoal.trajectories[0:18])
goalangles = goalangles[:, np.newaxis]
self.communicate(goalangles)
def begin_event_loop(self):
if (self.ros_is_on == True):
rospy.spin()
else:
while (True):
if (self.use_trajectory):
# Iterate through the static trajectory forever
# TODO: If the static trajectories are ever re-generated, we will need
# TODO: to dot the trajectories with the ctrlToMcuAngleMap to shuffle
# TODO: them properly
for i in range(self.trajectory.shape[1]):
if (self.step_is_on):
wait = input('Press enter to send next pose')
goal_angles = self.trajectory[:, i:i + 1]
self.communicate(goal_angles)
else:
# Send standing pose
if (self.step_is_on):
wait = input('Press enter to send next pose')
self.communicate(np.zeros((18, 1)))
