def api_manual_drive():
"""API that publishes control messages to control the angle and throttle in
manual drive mode.
Returns:
dict: Execution status if the API call was successful.
"""
webserver_node = webserver_publisher_node.get_webserver_node()
angle = request.json.get("angle")
throttle = request.json.get("throttle")
max_speed = request.json.get("max_speed")
if angle is None:
return api_fail("angle is required")
if throttle is None:
return api_fail("throttle is required")
if max_speed is None:
return api_fail("max_speed is required")
if angle < -1.0 or angle > 1.0:
return api_fail("angle out of range")
if throttle < -1.0 or throttle > 1.0:
return api_fail("throttle out of range")
webserver_node.get_logger().info(f"Angle: {angle} Throttle: {throttle}")
# Create the servo message.
msg = ServoCtrlMsg()
# bound the throttle value based on the categories defined
msg.angle = -1.0 * get_categorized_manual_angle(angle)
categorized_throttle = get_categorized_manual_throttle(throttle)
msg.throttle = -1.0 * get_rescaled_manual_speed(categorized_throttle,
max_speed)
webserver_node.pub_manual_drive.publish(msg)
return jsonify({"success": True})
def api_adjust_calibrating_wheels(cali_type):
"""API to call the service to publishes a message withPWM measurement to adjust
wheels while calibrating.
Args:
cali_type (int): Calibration type identifying steering/throttle calibration.
Returns:
dict: Execution status if the API call was successful.
"""
webserver_node = webserver_publisher_node.get_webserver_node()
form_data = request.json
if cali_type == "angle":
angle = float(
int(form_data["pwm"]) * PWM_ANGLE_CONVERSION + PWM_OFFSET)
throttle = -1.0
else:
angle = -1.0
throttle = float(
int(form_data["pwm"]) * PWM_THROTTLE_CONVERSION + PWM_OFFSET)
webserver_node.get_logger().info(f"Angle: {angle} Throttle: {throttle}")
msg = ServoCtrlMsg()
msg.angle = angle
msg.throttle = throttle
webserver_node.pub_calibration_drive.publish(msg)
return jsonify({"success": True})
def inference_cb(self, inference_msg):
"""Call back for whenever inference data is received.
Args:
inference_msg (InferResultsArray): Message containing all relevant inference data.
"""
servo = ServoCtrlMsg()
self.process_inference_data(inference_msg, servo)
self.auto_drive_publisher.publish(servo)
def __init__(self, qos_profile):
"""Create a DeepracerOffroadNavigationNode.
"""
super().__init__('deepracer_offroad_navigation_node')
self.get_logger().info("deepracer_offroad_navigation_node started.")
self.current_waypoint = 0
# Double buffer to hold the input deltas in x and y from qr_detection_node.
self.delta_buffer = utils.DoubleBuffer(clear_data_on_get=True)
# Create subscription to detection deltas from qr_detection_node.
self.detection_delta_subscriber = \
self.create_subscription(DetectionDeltaMsg,
constants.QR_DETECTION_DELTA_TOPIC,
self.detection_delta_cb,
qos_profile)
# Creating publisher to publish action (angle and throttle).
self.action_publisher = self.create_publisher(ServoCtrlMsg,
constants.ACTION_PUBLISH_TOPIC,
qos_profile)
# Service to dynamically set MAX_SPEED_PCT.
self.set_max_speed_service = self.create_service(SetMaxSpeedSrv,
constants.SET_MAX_SPEED_SERVICE_NAME,
self.set_max_speed_cb)
# Initializing the msg to be published.
msg = ServoCtrlMsg()
msg.angle, msg.throttle = constants.ActionValues.DEFAULT, constants.ActionValues.DEFAULT
self.lock = threading.Lock()
# Default maximum speed percentage (updated as per request using service call).
self.max_speed_pct = constants.MAX_SPEED_PCT
# Create a background servo publish thread.
self.stop_thread = False
self.thread_initialized = False
self.thread = threading.Thread(target=self.action_publish, args=(msg,))
self.thread.start()
self.thread_initialized = True
self.get_logger().info(f"Waiting for input delta: {constants.QR_DETECTION_DELTA_TOPIC}")
def __init__(self, qos_profile):
"""Create a RCNavigationNode.
"""
super().__init__('rc_navigation_node')
self.get_logger().info("rc_navigation_node started.")
# Double buffer to hold the mouse flag from Mouse Detection.
self.mouse_buffer = utils.DoubleBuffer(clear_data_on_get=True)
# Create subscription to detection mouse from mouse_detection_node.
self.mouse_detection_subscriber = \
self.create_subscription(MouseDetectionMsg,
constants.MOUSE_DETECTION_TOPIC,
self.mouse_detection_cb,
qos_profile)
# Creating publisher to publish action (angle and throttle).
self.action_publisher = self.create_publisher(
ServoCtrlMsg, constants.ACTION_PUBLISH_TOPIC, qos_profile)
# Initializing the msg to be published.
msg = ServoCtrlMsg()
msg.angle, msg.throttle = constants.ActionValues.DEFAULT, constants.ActionValues.DEFAULT
self.lock = threading.Lock()
# Default maximum speed percentage (updated as per request using service call).
self.max_speed_pct = constants.MAX_SPEED_PCT
# Create a background servo publish thread.
self.stop_thread = False
self.thread_initialized = False
self.thread = threading.Thread(target=self.action_publish,
args=(msg, ))
self.thread.start()
self.thread_initialized = True
self.get_logger().info(
f"Waiting for input mouse flag: {constants.MOUSE_DETECTION_TOPIC}")