def __init__(self, start):
self.start = start
self.topics = getTopicFactory()
self.power = self.topics.power.off
self.mode = self.topics.mode.manual
self.delta = Particle.DELTA
self.setLocation(*start)
self.moveIndex = 0
def onInit(self):
self.logInfo(RobotConnection.LOG_NEW_CONNECTION)
self.masterConn = self.data.masterConn
self.driver = self.data.driver
self.topics = getTopicFactory()
self.methodHandlers = {
RobotMethod.POWER: self.handlePower,
RobotMethod.MODE: self.handleMode,
RobotMethod.STATUS: self.handleStatus,
}
self.read()
def onInit(self, **kwargs):
logging.info(RobotServer.LOG_SERVER_RUNNING)
defaults = {RobotServer.PARAM_MASTER_CONN: None, RobotServer.PARAM_DRIVER: None}
self.topics = getTopicFactory()
self.servicesFound = False
self.data.update(defaults, True)
self.data.update(kwargs, False)
self.driver = self.data.driver
self.masterConn = self.data.masterConn
def main():
# Starts up a client connection to publish commands to Betelbot server.
cfg = JsonConfig()
topics = getTopicFactory()
client = Client('', cfg.server.port, BetelbotClientConnection)
conn = client.connect()
thread = threading.Thread(target=threadedLoop)
thread.daemon = True
thread.start()
teleop = Teleop(conn, topics, cfg.teleop.location, cfg.teleop.waypoint)
teleop.printInstructions()
teleop.run()
term = NonBlockingTerm()
term.run(teleop.onInput)
def initialize(self, conn):
self.conn = conn
self.topics = getTopicFactory()
self.encoder = jsonrpc.Encoder()
