def start():
global vehicle
sys.path.append(
"../../") # Append Parent folder path to System Environment Path
@Autowired()
def setInitlializer(i: Initializer):
global initializer
STORE['initializer'] = i
initializer = i
loadEnvFromFile("../../resources/receiver.yml")
app_initializer = AppInitilizer()
app_initializer.componentScan("ior_research.bean_definations")
app_initializer.run()
config = {
"server": "localhost",
"httpPort": 5001,
"tcpPort": 16456,
}
clients = initializer.initializeIOTWrapper(**config)
# Instanciate IOTClientWrapper Object,
client1 = clients[0]
STORE['iorClient'] = client1
# Set on receive function, so that if a message is received this function should be called to execute some task
# client1.set_on_receive(on_receive)
client1.start() # Start first client
client1.join()
def start():
pygame.display.init()
pygame.joystick.init()
joysticks = [pygame.joystick.Joystick(x) for x in range(pygame.joystick.get_count())]
assert joysticks.__len__() > 0 , "No Joystick found"
x = joysticks[0]
x.init()
values = [0 for _ in range(x.get_numaxes())]
sys.path.append("../../") # Append Parent folder path to System Environment Path
@Autowired()
def setInitlializer(i: Initializer):
global initializer
initializer = i
app_initializer = AppInitilizer()
app_initializer.run()
config = {
"server": "localhost",
"httpPort": 5001,
"tcpPort": 16456,
}
clients = initializer.initializeIOTWrapper(**config);
# Instanciate IOTClientWrapper Object,
client1 = clients[0]
# Set on receive function, so that if a message is received this function should be called to execute some task
client1.set_on_receive(on_receive)
client1.start() # Start first client
time.sleep(5)
BASE_THROTTLE = MIN_THROTTLE
while True:
pygame.event.pump()
left_yaw = x.get_button(3)
right_yaw = x.get_button(1)
values[0] = 1500
if left_yaw == 1:
values[0] = 1450
if right_yaw == 1:
values[0] = 1550
for i in range(1,x.get_numaxes()):
values[i] = x.get_axis(i)
if i == 1:
if abs(values[i]) > 0.80:
up = x.get_button(4)
down = x.get_button(6)
if up == 1:
BASE_THROTTLE = min(MAX_THROTTLE, BASE_THROTTLE + 50)
if down == 1:
BASE_THROTTLE = max(MIN_THROTTLE, BASE_THROTTLE - 50)
values[i] = BASE_THROTTLE + (values[i] * -100)
else:
values[i] = 1500 + (values[i] * 100)
values[i] = int(values[i])
yaw = values[0]
throttle = values[1]
pitch = values[4]
roll = values[3]
client1.sendMessage(message=MANUAL_CONTROL, metadata={
SYNCKEY_THROTTLE: throttle,
SYNCKEY_PITCH: pitch,
SYNCKEY_ROLL: roll,
SYNCKEY_YAW: yaw
})
# print(yaw, throttle, pitch, roll)
time.sleep(0.2)
"server": server,
"httpPort": httpPort,
"tcpPort": tcpPort,
}
STORE['client'] = initializer.initializeIOTWrapper(**config)[0]
STORE['client'].set_on_receive(print)
STORE['client'].start()
@Input(DEFAULT_CHANNEL)
def handleInputMessage(message):
print(message.payload)
client: IOTClientWrapper = STORE['client']
if client is not None:
message = json.loads(message.payload.decode())
data = dict(
message=message['message'],
metadata=message['syncData']
)
client.sendMessage(**data)
if __name__ == '__main__':
loadEnvFromFile("../../resources/channel-to-channel.yml")
app_initializer = AppInitilizer()
app_initializer.componentScan("ior_research.bean_definations")
app_initializer.run()
while True:
sleep(10)