def __init__(self, map, req):
Thread.__init__(self)
#system('svctrl --start wifi_sensor > /dev/null')
self.gps_reader = _GPS_Reader(map['gps'])
self.measure_reader = _MeasureReader(map['net'])
self.combined_publisher = _CombinedPublisher(map['pub_server'], self.gps_reader, self.measure_reader)
self.map = map
self.req = req
self.factory = ICARUS_MissionFactory()
self.client = ICARUS_SynClient(map['ctrl'], map['state'])
class LocMission(Thread):
"""
- manages a measurement publisher
- executes a configurable zigzag mission
"""
def __init__(self, map, req):
Thread.__init__(self)
#system('svctrl --start wifi_sensor > /dev/null')
self.gps_reader = _GPS_Reader(map['gps'])
self.measure_reader = _MeasureReader(map['net'])
self.combined_publisher = _CombinedPublisher(map['pub_server'], self.gps_reader, self.measure_reader)
self.map = map
self.req = req
self.factory = ICARUS_MissionFactory()
self.client = ICARUS_SynClient(map['ctrl'], map['state'])
def run(self):
self.gps_reader.start()
self.measure_reader.start()
self.combined_publisher.start()
for x, y in self._zigzag_gen(0.0, 0.0, 0.1, 0.1, 10):
self.client.execute(self.factory.move_xy(x, y))
self.combined_publisher.term()
self.measure_reader.term()
self.gps_reader.term()
self.req.status = MissionMessage.DONE
self.map['pub_server'].send(self.req.SerializeToString())
def _zigzag_gen(self, x, y, width, height, breaks):
for i in range(breaks):
yield x + width / 2.0, y
y += (height / breaks) / 2.0
yield x - width / 2.0, y
y += (height / breaks) / 2.0
yield width / 2.0, height
def run(self):
while True:
data = GpsData()
data.ParseFromString(self.socket.recv())
self.data = data
sm = generate_map('aircomm_swarm')
gps_reader = GPS_Reader(sm['gps'])
gps_reader.start()
_client = ICARUS_Client(sm['ctrl'])
i = ICARUS_MissionFactory()
def request(item):
try:
_client.execute(item)
except Exception, e:
print e
#ctrl = array([0.0, 0.0])
inf = Interface(1, '/dev/ttyACM0')
while True:
sleep(0.1)
msg = inf.receive()
if msg:
if 1:#msg.type == POS:
import readline
import rlcompleter
from scl import generate_map
from icarus_interface import ICARUS_Client, ICARUS_MissionFactory
from misc import user_data_dir
# set-up command history:
_path = user_data_dir + os.sep + 'ICARUS_shell.history'
_history = os.path.expanduser(_path)
def _save_history(historyPath = _history):
readline.write_history_file(_history)
if os.path.exists(_history):
readline.read_history_file(_history)
readline.parse_and_bind("tab: complete")
atexit.register(_save_history)
# define
_socket = generate_map('icarus_shell')['ctrl']
_client = ICARUS_Client(_socket)
i = ICARUS_MissionFactory()
def request(item):
try:
_client.execute(item)
except Exception, e:
print e
data = SensorData()
data.ParseFromString(self.socket.recv())
self.data = data
print data
self.event.set()
sm = generate_map('girlscamp')
print sm
mon_reader = MonReader(sm['core_data'])
imms_reader = IMMS_Reader(sm['imms_data'])
mon_reader.start()
imms_reader.start()
_client = ICARUS_Client(sm['ctrl'])
i = ICARUS_MissionFactory()
def request(item):
try:
_client.execute(item)
except Exception, e:
print e
class Ctrl:
def __init__(self):
self.pos = [(0,0), (10, 0), (10, 10), (0, 10), (0,0)]
self.i = -1