def test_home():
control.setup()
# TBD
expected_output = None
output = control.home()
assert output == expected_output, "output and expected_output don't match"
def main():
rospy.init_node("robot_controller", disable_signals=True)
rospy.loginfo(f"Node de controle iniciado {rospy.get_time()}")
rate = rospy.Rate(CONTROL_RATE)
setup()
while not rospy.is_shutdown():
loop()
rate.sleep()
def test_interact():
control.setup()
control.home()
# TBD
func_input = None
# TBD
expected_output = None
output = control.interact(func_input)
assert output == expected_output, "output and expected_output don't match"
def flask_app_launch(**kwargs):
"""Launches the flask application server.
Keyword Arguments
-----------------
**host: the host to attach the web server (default 0.0.0.0).
**port: the port to attach the web server (default 8080).
**debug: whether to switch to debug mode or not.
"""
print("Setting up components")
control.setup()
host_ = kwargs.get('host', '0.0.0.0')
port_ = kwargs.get('port', 8080)
debug_ = kwargs.get('debug', True)
app.run(host=host_, port=port_, debug=debug_, threaded=True)
def main():
listener = GripBotListener()
controller = Leap.Controller()
controller.add_listener(listener)
control.setup()
thread = threading.Thread(target=sample)
thread.start()
print "Press Enter to quit..."
try:
sys.stdin.readline()
except KeyboardInterrupt:
pass
finally:
controller.remove_listener(listener)
done = True
def main():
listener = GripBotListener()
controller = Leap.Controller()
controller.add_listener(listener)
control.setup()
thread = threading.Thread(target=sample)
thread.start()
print "Press Enter to quit..."
try:
sys.stdin.readline()
except KeyboardInterrupt:
pass
finally:
controller.remove_listener(listener)
done = True
def startControl(): global root root.withdraw() #hide the root Tk instance (the current window) control.setup() #setup control (import the config and create a clientsocket) controlWindow = rootTopLevel(root) #create a toplevel to hold the control gui control.initTk(controlWindow) #initialize the control tkinter gui using the Toplevel just created as the parent
#!/usr/bin/env python
import time
import control
ser = control.setup()
ser.write('90,90,90,90,0\n')
# Main loop
while True:
next = raw_input('Q/W/A/S for in, E/R/D/F for out ')
next = next.upper()[0]
if next == 'W': speeds = '80,90,90,90,0\n'
if next == 'Q': speeds = '90,100,90,90,0\n'
if next == 'S': speeds = '90,90,100,90,0\n'
if next == 'A': speeds = '90,90,90,80,0\n'
if next == 'R': speeds = '100,90,90,90,0\n'
if next == 'E': speeds = '90,80,90,90,0\n'
if next == 'F': speeds = '90,90,80,90,0\n'
if next == 'D': speeds = '90,90,90,100,0\n'
ser.write(str(speeds))
time.sleep(0.5)
ser.write('90,90,90,90,0\n')
import control
CONTENT = """\
HTTP/1.0 200 OK
"""
file = open("index.html","r")
CONTENT += file.read()
ai = socket.getaddrinfo("192.168.4.1",8080)
addr = ai[0][4]
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.bind(addr)
s.listen(5)
control.setup()
while True:
res = s.accept()
client_s = res[0]
client_addr = res[1]
print("Client address:", client_addr)
print("Client socket:", client_s)
print("Request:")
req = client_s.recv(4096)
print(req)
parts = req.decode('ascii').split(' ')
if len(parts) > 1:
if parts[1] == '/control':
client_s.close()
values = req.decode('ascii').split('dataforcontrol')[1].split(',')
class StaticResource(object):
"""
Simple Falcon class to serve the static files needed for the web interface.
"""
def on_get(self, req, resp, filename):
resp.status = falcon.HTTP_200
resp.content_type = "text/html"
fn = path.join("frontend", filename)
print(fn)
with open(fn, 'r') as f:
resp.body = f.read()
api = application = falcon.API()
pipelines, pipelines_meta, srt_passphrase = control.setup()
srt_watcher_thread = SRTThread(
passphrase=srt_passphrase,
srt_destination="srt://localhost:6000?mode=caller")
srt_watcher_thread.daemon = True
srt_watcher_thread.start()
srt_protocol, srt_hostname, srt_port = re.split('://|:',
pipelines["output1"].url)
srtla_ips_path, srtla_ip_addrs = srtla_ip_setup()
print("srtla ips:", srtla_ips_path)
control.setup_source_routing(srtla_ip_addrs.keys(), debug=True)
control.set_clocks(debug=True)