class NetworkClient:
	"""A class for sending readings to a server"""

	def __init__(self):
		# Create an INET, STREAMing socket
		self.cli_sock = socket.socket(
			socket.AF_INET, socket.SOCK_STREAM)
		# Connect to a remote  socket at host and port
		self.cli_sock.connect(('pi2' , 1234))
		
		self.serial_conn = SerialConnection('/dev/ttyUSB0', 30)
		self.serial_conn.open()
		self.serial_conn.flush_input()
	
	def send(self):
		try:
			while True:
				data = self.serial_conn.read()
				self.cli_sock.send(data)
		except KeyboardInterrupt:
			self.serial_conn.close()
			self.cli_sock.close()
Esempio n. 2
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class Main:
	"""A class for establishing connections"""

	def start_db_hdlr(self, db):
		self.db_hdlr = DatabaseHandler(db)
		self.db_hdlr.flush_rss_readings()
		self.db_hdlr.check_pos_tbl()
		self.db_hdlr.check_rsl_tbl()

	def start_net_srv(self):
		self.net_srv = NetworkServer()
		self.net_srv.start()

	def start_serial_conn(self, port, timeout): 
		self.serial_conn = SerialConnection(port, timeout)
		self.serial_conn.open()
		self.serial_conn.flush_input()

	def start_trilat(self):
		self.trilat = Trilateration()
		self.trilat.start()
	
	def run(self):
		try:
			while True:
				data = self.serial_conn.read().strip()
				tag_id = data[:4]
				rss = data[4:]
				self.db_hdlr.ins_reading(2, tag_id, rss)
		except KeyboardInterrupt:
			self.db_hdlr.close_db()
			self.net_srv.stop()
			self.net_srv.join(60)
			self.trilat.stop()
			self.trilat.join(20)
			self.serial_conn.close()
Esempio n. 3
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command = 6 * [0]
command_lock = threading.Lock()

# global variables
mission_running = True
mission_mode = True
blocking = True

thread1 = None
thread2 = None

obj_detection = ObjectDetection()

# initializing serial connection with AUV_simulator
simulator_com = SerialConnection(port='com1', baud=115200)
simulator_com.start()

# wait for the first not empty message from AUV_simulator
while nav_status == None:
    receive_nav_status()

# threads running
start_threads()

# wait for threads termination
wait_for_threads_termination()

# close serial connection with AUV_simulator
simulator_com.close()
Esempio n. 4
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class Recipe(object):
    recipes = {}
    recipe_types = {}
    by_feed = {}

    def __init__(self, type_, name, ingredients, mixit, icon):
        global type_icons
        if type_ not in type_icons:
            raise UnknownRecipeTypeError()
        if type_ not in Recipe.recipe_types:
            Recipe.recipe_types[type_] = []
        Recipe.recipe_types[type_].append(self)
        self.type_ = type_
        self.name = name
        self.icon = icon
        self.mixit = mixit
        self.ingredients = []
        self.dispensing = []
        self.timeslice_secs = 1.0
        self.min_dispense_secs = 0.1
        self.last_timeslice = time.time()
        self.last_update_time = time.time()
        self.stepsforml = 136  # number of steps for 1 ml
        Recipe.recipes[name] = self
        for ingr_data in ingredients:
            ingr = Ingredient.fromArray(ingr_data)
            if ingr.feed not in Recipe.by_feed:
                Recipe.by_feed[ingr.feed] = []
            Recipe.by_feed[ingr.feed].append(self)
            self.ingredients.append(ingr)

    @classmethod
    def fromDict(cls, d):
        """Create new Recipe instances from a dictionary description."""
        global type_icons
        if 'type_icons' in type_icons:
            type_icons = d['type_icons']
        # Delete old Recipes
        for name, recipe in cls.recipes.items():
            recipe.delete_recipe()
        # Add Recipes from dict
        for name, data in d.get('recipes', {}).items():
            cls(
                data['type'],
                name,
                data['ingredients'],
                data['mixit'],
                icon=data.get('icon'),
            )

    @classmethod
    def toDictAll(cls, d, metric=True):
        """Create a dictionary description of all Recipe instances."""
        global type_icons
        d['recipes'] = {
            name: recipe.toDict(metric=metric)
            for name, recipe in cls.recipes.items()
        }
        d['type_icons'] = type_icons
        return d

    def toDict(self, metric=True):
        data = {
            'type': self.type_,
            'ingredients':
            [x.toArray(metric=metric) for x in self.ingredients],
            'mixit': self.mixit,
        }
        if self.icon:
            data['icon'] = self.icon
        return data

    @classmethod
    def getTypeNames(cls):
        return sorted(cls.recipe_types.keys())

    @staticmethod
    def getPossibleTypeNames():
        global type_icons
        return sorted(type_icons.keys())

    @classmethod
    def getTypeIcon(cls, name):
        global type_icons
        return type_icons[name]

    @classmethod
    def getRecipesByType(cls, name):
        recipe_list = cls.recipe_types[name]
        return sorted(recipe_list, key=operator.attrgetter('name'))

    @classmethod
    def getRecipesKeysByType(cls, name):
        recipe_list = cls.recipe_types[name]
        for key in sorted(cls.recipes.keys()):
            if cls.getByName(name=key) in recipe_list:
                yield cls.recipes[key]

    @classmethod
    def getRecipesByFeed(cls, feed):
        if feed not in cls.by_feed:
            return []
        recipe_list = cls.by_feed[feed]
        return sorted(recipe_list, key=operator.attrgetter('name'))

    @classmethod
    def getNames(cls):
        return sorted(cls.recipes.keys())

    @classmethod
    def getAll(cls):
        for key in sorted(cls.recipes.keys()):
            yield cls.recipes[key]

    @classmethod
    def getByName(cls, name):
        return cls.recipes[name]

    def getName(self):
        return self.name

    def getType(self):
        return self.type_

    def getMixit(self):
        return self.mixit

    def getIcon(self):
        return self.icon

    def delete_recipe(self):
        del Recipe.recipes[self.name]
        Recipe.recipe_types[self.type_].remove(self)
        if not Recipe.recipe_types[self.type_]:
            del Recipe.recipe_types[self.type_]
        for ingr in self.ingredients:
            Recipe.by_feed[ingr.feed].remove(self)
            if not Recipe.by_feed[ingr.feed]:
                del Recipe.by_feed[ingr.feed]

    def rename(self, newname):
        del Recipe.recipes[self.name]
        self.name = newname
        Recipe.recipes[newname] = self

    def retype(self, newtype):
        global type_icons
        if newtype not in type_icons:
            raise UnknownRecipeTypeError()
        if newtype not in Recipe.recipe_types:
            Recipe.recipe_types[newtype] = []
        Recipe.recipe_types[self.type_].remove(self)
        if not Recipe.recipe_types[self.type_]:
            del Recipe.recipe_types[self.type_]
        self.type_ = newtype
        Recipe.recipe_types[newtype].append(self)

    def add_ingredient(self, feedname, ml):
        feed = SupplyFeed.getByName(feedname)
        if feed not in Recipe.by_feed:
            Recipe.by_feed[feed] = []
        Recipe.by_feed[feed].append(self)
        self.ingredients.append(Ingredient(feed, ml))
        return self

    def canMake(self):
        for ingr in self.ingredients:
            if not ingr.feed.avail or ingr.feed.remaining <= 0:
                return False
        return True

    def getAlcoholPercentByVolume(self):
        vol = 0.0
        alc_vol = 0.0
        for ingr in self.ingredients:
            ml = ingr.milliliters
            vol += ml
            alc_vol += ml * (ingr.feed.proof / 100.0)
        return 100.0 * alc_vol / vol

    def totalVolume(self):
        vol = 0.0
        for ingr in self.ingredients:
            vol += ingr.milliliters
        return vol

    def startDispensing(self, volume):
        stepsforml = self.stepsforml
        tot_vol = self.totalVolume()
        vol_mult = volume / tot_vol
        self.dispensing = []
        sercommand = ''
        self.dispenselist = [
            0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
            0, 0
        ]
        logging.info("Dispensing: %s, %d ml" % (self.getName(), volume))
        for ingr in self.ingredients:
            ingr.milliliters = math.ceil(ingr.milliliters * vol_mult)
            self.dispensing.append(DispensingIngredient(ingr, vol_mult))
        for ingr in self.dispensing:
            thisfeed = SupplyFeed.getByName(ingr.feed.name)
            newremaining = thisfeed.feeds[
                ingr.feed.name].remaining - ingr.milliliters
            thisfeed.feeds[ingr.feed.name].remaining = newremaining
            logging.debug("remaining neu fuer " + ingr.feed.name + ": " +
                          str(thisfeed.feeds[ingr.feed.name].remaining))
            logging.info("Zutat " + ingr.feed.name + ": " +
                         str(ingr.milliliters) + " ml")
            for pumpnumber in list(range(24)):
                if ingr.feed.motor_num == pumpnumber:
                    self.dispenselist[pumpnumber] = int(
                        math.ceil(ingr.milliliters * self.stepsforml))
        sercommand = (','.join(map(str, self.dispenselist))) + '\n'
        try:
            self.ser.readData()
        except:
            logging.debug("keine bestehende verbindung")
            try:
                self.ser = SerialConnection()
                self.ser.readData()
                logging.debug("habe verbindung")
            except:
                logging.debug("verbindung nicht moeglich")
        hwa = HardwareAction(self.mixit)
        hwa.do_dispensing(self.mixit)
        self.ser.sendData(sercommand)
        self.ser.close()
        del self.ser
        self.updateDispensing(self.mixit)

    def updateDispensing(self, mixing=True):
        ml_left = []
        dispenselist = self.dispenselist
        self.ser = SerialConnection()
        ml_left = self.ser.readLine().split(",")
        logging.debug(str(ml_left[0]))
        if not "ok" in ml_left[0]:
            for ingr in self.dispensing:
                logging.debug(ingr.feed.name)
                for pumpnumber in list(range(24)):
                    if ingr.feed.motor_num == pumpnumber:
                        if "Ready" in ml_left[0]:
                            ingr.dispensed = 0
                        else:
                            logging.debug("pumpnumber ", str(pumpnumber))
                            if int(ml_left[pumpnumber]) < 0:
                                ml_left[pumpnumber] = 0
                            ingr.dispensed = math.ceil(
                                (dispenselist[pumpnumber] -
                                 int(ml_left[pumpnumber])) / self.stepsforml)
        else:
            self.ser.close()
            del self.ser
            hwa = HardwareAction(self.mixit)
            hwa.end_dispensing(self.mixit)
            self.dispensing[:] = [x for x in self.dispensing if not x.done()]

    def cancelDispensing(self):
        self.ser = SerialConnection()
        self.ser.sendData('@')
        self.ser.readLine()
        self.ser.close()
        del self.ser
        logging.debug("Ausschenken abgebrochen")
        for ingr in self.dispensing:
            ingr.stopFeed()
        self.dispensing[:] = [x for x in self.dispensing if not x.done()]

    def doneDispensing(self):
        return not self.dispensing
Esempio n. 5
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    nav_status = build_nav_status(eta, ni, mission_mode)
    mission_com.send1c(nav_status)

    # executing this block of code if mission mode is active
    if mission_mode:
        button2.inactiveColour = GREEN
        # receiving message from mission_manager
        command = mission_com.getPacket()
        if command != None:
            command[0:3] = geo2ned(command[0:3])
            eta_des = matrix(command[0:6]).T
    else:
        button2.inactiveColour = RED

    # drawing all graphic elements
    draw_elements(screen, image_1, image_2, image_3, eta, ni, tau)
    textbox.draw()
    button1.draw()
    button2.draw()

    # updating GUI screen
    pg.display.update()

    sleep(TS)

# closing UDP connection with Unity
unity_com.close()
# closing serial connection with mission manager
mission_com.close()
# closing pygame
pg.quit()