def test_connect():
sdk = pygalileo.SDK()
res = sdk.Connect("", True, 10000, None, None)
if res == pygalileo.GALILEO_RETURN_CODE.OK:
print("Connect to server: " + sdk.GetCurrentServer().id)
else:
print("Connect to server failed")
def test_reconnect():
global connect_callback_flag, connected
sdk = pygalileo.SDK()
def on_connect(status, id):
global connect_callback_flag, connected
print("on_connect Callback: result " + str(status))
print("on_connect Callback: connected to " + id)
connect_callback_flag = True
if status == pygalileo.GALILEO_RETURN_CODE.OK:
connected = True
def on_disconnect(status, id):
global connected
print("on_disconnect Callback: result " + str(status))
print("on_disconnect Callback: connected to " + id)
connected = False
while True:
if not connected:
sdk.Connect("", True, 10000, on_connect, on_disconnect)
while not connect_callback_flag:
print("connect_callback_flag" + str(connect_callback_flag))
time.sleep(1)
print("out")
connect_callback_flag = False
time.sleep(1)
print("Waitting")
def test_function():
sdk = pygalileo.SDK()
def add(a, b):
print("add called")
return a + b
print(str(sdk.apply2(add, 1.0, 2.0)))
def test_send_galileo_cmd():
sdk = pygalileo.SDK()
if sdk.Connect(
"71329A5B0F2D68364BB7B44F3F125531E4C7F5BC3BCE2694DFE39B505FF9C730A614FF2790C1",
True, 10000, None, None) != pygalileo.GALILEO_RETURN_CODE.OK:
print("Connect to server failed")
while True:
sdk.SendCMD([0x01, 0x01, 0x01, 0x01, 0x01, 0x01])
time.sleep(1)
def test_sub():
sdk = pygalileo.SDK()
sdk.Connect("", True, 10000, None, None)
while True:
status = sdk.GetCurrentStatus()
if status is not None:
print(status.power)
else:
print("Get status failed")
time.sleep(1)
def testAudioIOT():
sdk = pygalileo.SDK()
if sdk.ConnectIOT(
"71329A5B0F2D68364BB7B44F3F125531E4C7F5BC3BCE2694DFE39B505FF9C730A614FF2790C1",
10000, "xiaoqiang", None,
None) != pygalileo.GALILEO_RETURN_CODE.OK:
print("Connect failed")
while True:
sdk.SendAudio("测试")
time.sleep(4)
def test_get_servers_online():
sdk = pygalileo.SDK()
while True:
servers = sdk.GetServersOnline()
if len(servers) == 0:
print("No Server Found")
for server in servers:
print(server.id)
# sdk.Connect("", True, 10000, None, None)
time.sleep(1)
def test_connect_with_callback():
sdk = pygalileo.SDK()
connected = False
def on_connect(status, id):
# global connected
print("OnConnect Callback: result " + str(status))
print("OnConnect Callback: connected to " + id)
# connected = True
sdk.Connect("", True, 10000, on_connect, None)
while not connected:
time.sleep(1)
def test_get_current_server():
sdk = pygalileo.SDK()
while True:
servers = sdk.GetServersOnline()
if len(servers) == 0:
print("No Server Found")
for server in servers:
print(server.id)
sdk.Connect("", True, 10000, None, None)
print(sdk.GetCurrentServer() == None)
if sdk.GetCurrentServer() != None:
print(sdk.GetCurrentServer().id)
time.sleep(1)
def test_status_cb():
sdk = pygalileo.SDK()
if sdk.Connect(
"71329A5B0F2D68364BB7B44F3F125531E4C7F5BC3BCE2694DFE39B505FF9C730A614FF2790C1",
True, 10000, None, None) != pygalileo.GALILEO_RETURN_CODE.OK:
print("Connect to server failed")
def status_update(code, status):
print("#########")
print(code)
print(status.power)
sdk.SetCurrentStatusCallback(status_update)
time.sleep(10)
def test_nav():
sdk = pygalileo.SDK()
if sdk.Connect(
"71329A5B0F2D68364BB7B44F3F125531E4C7F5BC3BCE2694DFE39B505FF9C730A614FF2790C1",
True, 10000, None, None) != pygalileo.GALILEO_RETURN_CODE.OK:
print("Connect to server failed")
status = sdk.GetCurrentStatus()
print("status: " + str(status.navStatus))
print("start nav")
sdk.StartNav()
time.sleep(20)
status = sdk.GetCurrentStatus()
print("status: " + str(status.navStatus))
print("stop nav")
sdk.StopNav()
time.sleep(20)
status = sdk.GetCurrentStatus()
print("status: " + str(status.navStatus))
while True:
time.sleep(1)
def testKeepConnection():
print("start test")
sdk = pygalileo.SDK()
def on_connect(status, id):
print(str(status) + " " + id)
def on_disconnect(status, id):
print(str(status) + " " + id)
res = sdk.Connect(
"8FB56D27D6C961E9036F62182ADE9544D71E23C31E5DF4C7DD692B9E4296A131434B1066D365",
True, 3000, on_connect, on_disconnect)
sdk.KeepConnection(True)
print(str(res))
while True:
time.sleep(1)
status = sdk.GetCurrentStatus()
if status == 0:
print("Get status failed")
else:
print("Power: " + str(status.power))
def test_goal_reached_cb():
sdk = pygalileo.SDK()
if sdk.Connect(
"71329A5B0F2D68364BB7B44F3F125531E4C7F5BC3BCE2694DFE39B505FF9C730A614FF2790C1",
True, 10000, None, None) != pygalileo.GALILEO_RETURN_CODE.OK:
print("Connect to server failed")
def goal_reached(goalIndex, status):
print("############")
print("Goal Reached")
print(goalIndex)
print(status.targetDistance)
sdk.SetGoalReachedCallback(goal_reached)
# 开启导航
sdk.StartNav()
status = sdk.GetCurrentStatus()
# 等待正常追踪
while status.visualStatus != 1 or status.navStatus != 1:
print("Wait for navigation initialization")
status = sdk.GetCurrentStatus()
time.sleep(1)
# 设置目标点
sdk.SetGoal(0)
# 等待 goal status
status = sdk.GetCurrentStatus()
while status.targetStatus != 1:
print("Wait for goal start")
status = sdk.GetCurrentStatus()
time.sleep(1)
print("Goal started")
while status.targetStatus != 0 or status.targetNumID != 0:
print("Wait for goal complete")
status = sdk.GetCurrentStatus()
time.sleep(1)
time.sleep(10)
def test_set_speed():
sdk = pygalileo.SDK()
if sdk.Connect(
"71329A5B0F2D68364BB7B44F3F125531E4C7F5BC3BCE2694DFE39B505FF9C730A614FF2790C1",
True, 10000, None, None) != pygalileo.GALILEO_RETURN_CODE.OK:
print("Connect to server failed")
while True:
status = sdk.GetCurrentStatus()
print("currentSpeedX: " + str(status.currentSpeedX))
print("currentSpeedTheta: " + str(status.currentSpeedTheta))
sdk.SetSpeed(0.1, 0)
time.sleep(5)
status = sdk.GetCurrentStatus()
print("currentSpeedX: " + str(status.currentSpeedX))
print("currentSpeedTheta: " + str(status.currentSpeedTheta))
sdk.SetSpeed(0, 1)
time.sleep(5)
status = sdk.GetCurrentStatus()
print("currentSpeedX: " + str(status.currentSpeedX))
print("currentSpeedTheta: " + str(status.currentSpeedTheta))
sdk.SetSpeed(-0.1, 0)
time.sleep(5)
status = sdk.GetCurrentStatus()
print("currentSpeedX: " + str(status.currentSpeedX))
print("currentSpeedTheta: " + str(status.currentSpeedTheta))
sdk.SetSpeed(0, -1)
time.sleep(5)
status = sdk.GetCurrentStatus()
print("currentSpeedX: " + str(status.currentSpeedX))
print("currentSpeedTheta: " + str(status.currentSpeedTheta))
sdk.SetSpeed(0, 0)
time.sleep(5)
status = sdk.GetCurrentStatus()
print("currentSpeedX: " + str(status.currentSpeedX))
print("currentSpeedTheta: " + str(status.currentSpeedTheta))
time.sleep(5)
def test_goals():
sdk = pygalileo.SDK()
if sdk.Connect(
"71329A5B0F2D68364BB7B44F3F125531E4C7F5BC3BCE2694DFE39B505FF9C730A614FF2790C1",
True, 10000, None, None) != pygalileo.GALILEO_RETURN_CODE.OK:
print("Connect to server failed")
# 开启导航
sdk.StartNav()
status = sdk.GetCurrentStatus()
# 等待正常追踪
while status.visualStatus != 1 or status.navStatus != 1:
print("Wait for navigation initialization")
status = sdk.GetCurrentStatus()
time.sleep(1)
# 设置目标点
sdk.SetGoal(0)
# 等待 goal status
status = sdk.GetCurrentStatus()
while status.targetStatus != 1:
print("Wait for goal start")
status = sdk.GetCurrentStatus()
time.sleep(1)
print("Goal started")
# 暂停目标
time.sleep(2)
sdk.PauseGoal()
status = sdk.GetCurrentStatus()
while status.targetStatus != 2:
print("Wait for goal pause")
status = sdk.GetCurrentStatus()
time.sleep(1)
print("Goal paused")
# 继续目标
time.sleep(2)
sdk.ResumeGoal()
status = sdk.GetCurrentStatus()
while status.targetStatus != 1:
print("Wait for goal resume")
status = sdk.GetCurrentStatus()
time.sleep(1)
print("Goal resumed")
# 取消目标
time.sleep(2)
sdk.CancelGoal()
status = sdk.GetCurrentStatus()
while status.targetStatus != 0 or status.targetNumID != -1:
print("Wait for goal cancel")
status = sdk.GetCurrentStatus()
time.sleep(1)
print("Goal cancelled")
# 再次设置目标
time.sleep(2)
print("Set goal again")
sdk.SetGoal(0)
# 完成目标
status = sdk.GetCurrentStatus()
while status.targetStatus != 1:
print("Wait for goal start")
status = sdk.GetCurrentStatus()
time.sleep(1)
print("Goal started")
while status.targetStatus != 0 or status.targetNumID != 0:
print("Wait for goal complete")
status = sdk.GetCurrentStatus()
time.sleep(1)
# 移动到特定目标
# 获取当前坐标
status = sdk.GetCurrentStatus()
pos0_x = status.currentPosX
pos0_y = status.currentPosY
# 再次设置目标，移动至1号目标点
time.sleep(2)
print("Set goal again")
sdk.SetGoal(1)
# 完成目标
status = sdk.GetCurrentStatus()
while status.targetStatus != 1:
print("Wait for goal start")
status = sdk.GetCurrentStatus()
time.sleep(1)
print("Goal started")
while status.targetStatus != 0 or status.targetNumID != 1:
print("Wait for goal complete")
status = sdk.GetCurrentStatus()
time.sleep(1)
# 再次获取坐标
status = sdk.GetCurrentStatus()
pos1_x = status.currentPosX
pos1_y = status.currentPosY
# 移动至0号和1号之间
print("Start move to " + str((pos0_x + pos1_x) / 2) + " " +
str((pos0_y + pos1_y) / 2))
goalNum = sdk.MoveTo((pos0_x + pos1_x) / 2, (pos0_y + pos1_y) / 2)
# 等待移动完成
status = sdk.GetCurrentStatus()
while status.targetStatus != 1:
print("Wait for goal start")
status = sdk.GetCurrentStatus()
time.sleep(1)
print("Goal started")
while status.targetStatus != 0 or status.targetNumID != goalNum:
print("Wait for goal complete")
status = sdk.GetCurrentStatus()
time.sleep(1)
print("Move to " + str((pos0_x + pos1_x) / 2) + " " +
str((pos0_y + pos1_y) / 2) + " complete")
print("All complete")
