def __initSensors__(self):
"""
Initialized sensors and data packets to be ran in the run loop.
:return:
"""
if platform.platform(
) == 'Linux-3.10.96-aarch64-with-Ubuntu-16.04-xenial':
self.computerVisionProcess.start()
pass
else:
self.computerVisionConnected = False
try:
self.killSwitchSerial = serial.Serial("/dev/ttyACM0", 9600)
except:
print "Unable to connect to Kill Switch"
if useMaestro:
try:
self.maestroSerial = serial.Serial("/dev/ttyACM1", 9600)
except:
print "Unable to connect to Maestro"
else:
pass
if False:
try:
self.arduinoSerial = serial.Serial("/dev/ttyACM2", 9600)
self.pressureArduinoDataPackets = pressureArduino.pressureResponse(
self.arduinoSerial)
self.pressureArduinoDataPackets.start()
except:
print "Unable to connect to Arduino for pressure"
else:
pass
if False:
try:
self.arduinoDisplaySerial = serial.Serial(
"/dev/ttyACM3", 115200)
self.arduinoDisplayDataPackets = displayArduino.displayArduino(
self.arduinoDisplaySerial)
except:
print "Unable to connect to Arduino for display"
else:
pass
# DVL initialization
try:
DVLComPort = serial.Serial("/dev/ttyUSB10", 115200)
self.dvlDataPackets = dvl.DVLDataPackets(DVLComPort)
self.dvlResponseThread = dvl.DVLResponse(DVLComPort)
self.dvlResponseThread.start()
dvlAhrsComPort = serial.Serial("/dev/ttyUSB1", 38400)
self.dvlAhrsDummyThread = dvl.AHRSDummyCommunicator(dvlAhrsComPort)
self.dvlAhrsDummyThread.start()
except:
print "Unable to connect to DVL"
try:
# AHRS initializing
# Need to put the correct comm ports in
self.spartonResponseThread1 = sparton_ahrs.SpartonAhrsResponse(
"/dev/ttyUSB5")
self.spartonResponseThread1.start()
except:
print "Unable to connect to AHRS1"
try:
self.spartonResponseThread2 = sparton_ahrs.SpartonAhrsResponse(
"/dev/ttyUSB4")
self.spartonResponseThread2.start()
except:
print "Unable to connect to AHRS2"
try:
self.spartonResponseThread3 = sparton_ahrs.SpartonAhrsResponse(
"/dev/ttyUSB6")
self.spartonResponseThread3.start()
except:
print "Unable to connect to AHRS3"
try:
self.motherSerial = serial.Serial("/dev/ttyUSB0", 9600)
self.motherPackets = motherboard.motherBoardDataPackets(
self.motherSerial)
self.motherResponseThread = motherboard.motherBoardResponse(
self.motherSerial)
self.motherResponseThread.start()
except:
print "Unable to connect to Mother Board"
'''
def __initSensors__(self):
"""
Initialized sensors and data packets to be ran in the run loop.
:return:
"""
if platform.platform(
) == 'Linux-4.4.15-aarch64-with-Ubuntu-16.04-xenial':
self.computerVisionProcess.start()
pass
else:
self.computerVisionConnected = False
if False:
try:
self.killSwitchSerial = serial.Serial("/dev/ttyACM9", 9600)
except:
print "Unable to connect to Kill Switch"
'''if useMaestro:
try:
self.maestroSerial = serial.Serial("/dev/ttyACM2", 9600)
pass
except:
print "Unable to connect to Maestro"
else:
pass'''
try:
maestroPort = None
available_ports = lp.comports()
for port in available_ports:
description = str(port[1])
if description.startswith("Pololu"):
if maestroPort == None:
maestroPort = port[0]
elif (int(port[0][-1:]) < int(maestroPort[-1:])):
maestroPort = port[0]
self.maestroSerial = serial.Serial(maestroPort, 9600)
except:
self.maestroSerial = serial.Serial("/dev/ttyACM0", 9600)
print "Maestro was not found"
if True:
try:
self.arduinoSerial = serial.Serial("/dev/ttyACM3", 9600)
self.pressureArduinoDataPackets = pressureArduino.pressureResponse(
self.arduinoSerial)
self.pressureArduinoDataPackets.start()
except:
print "Unable to connect to Arduino for pressure"
else:
pass
if False:
try:
self.arduinoDisplaySerial = serial.Serial(
"/dev/ttyACM8", 115200)
self.arduinoDisplayDataPackets = displayArduino.displayArduino(
self.arduinoDisplaySerial)
except:
print "Unable to connect to Arduino for display"
else:
pass
# DVL initialization
try:
DVLComPort = serial.Serial("/dev/ttyUSB5", 115200)
self.dvlDataPackets = dvl.DVLDataPackets(DVLComPort)
self.dvlResponseThread = dvl.DVLResponse(DVLComPort)
self.dvlResponseThread.start()
dvlAhrsComPort = serial.Serial("/dev/ttyUSB6", 38400)
self.dvlAhrsDummyThread = dvl.AHRSDummyCommunicator(dvlAhrsComPort)
self.dvlAhrsDummyThread.start()
except:
print "Unable to connect to DVL"
try:
# AHRS initializing
# Need to put the correct comm ports in
self.spartonResponseThread1 = sparton_ahrs.SpartonAhrsResponse(
"/dev/ttyUSB3")
self.spartonResponseThread1.start()
except:
print "Unable to connect to AHRS1"
try:
pass
#self.spartonResponseThread2 = sparton_ahrs.SpartonAhrsResponse("/dev/ttyUSB6")
#self.spartonResponseThread2.start()
except:
print "Unable to connect to AHRS2"
try:
pass
#self.spartonResponseThread3 = sparton_ahrs.SpartonAhrsResponse("/dev/ttyUSB1")
#self.spartonResponseThread3.start()
except:
print "Unable to connect to AHRS3"
try:
self.motherSerial = serial.Serial("/dev/ttyUSB0", 9600)
self.motherPackets = motherboard.motherBoardDataPackets(
self.motherSerial)
self.motherResponseThread = motherboard.motherBoardResponse(
self.motherSerial)
self.motherResponseThread.start()
except:
print "Unable to connect to Mother Board"
#Pitch
try:
pass
#self.hydrasSerial1 = serial.Serial("/dev/ttyUSB2", 115200)
#self.hydrasResponseThread1 = hydrasBoard.hydrasBoardResponseThread(self.hydrasSerial1)
#self.hydrasResponseThread1.start()
except:
print "Unable to connect to Hydras1"
#Heading
try:
pass
self.hydrasSerial2 = serial.Serial("/dev/ttyUSB7", 115200)
self.hydrasResponseThread2 = hydrasBoard.hydrasBoardResponseThread(
self.hydrasSerial2)
self.hydrasResponseThread2.start()
except:
print "Unable to connect to Hydras2"
'''
