def main():
signal.signal(signal.SIGINT, signalHandler)
cfg = JsonConfig()
logger = logging.getLogger("")
logger.setLevel(cfg.general.logLevel)
grid = cv2.imread(cfg.mapData.map, cv2.CV_LOAD_IMAGE_GRAYSCALE)
lookupTable = np.load(cfg.mapData.dmap)
gridsize = cfg.map.gridsize
start = cfg.robosim.start
delay = cfg.robosim.delay
serverPort = cfg.robosim.port
client = Client("", cfg.server.port, BetelbotClientConnection)
conn = client.connect()
driver = BetelbotSimDriver(start, grid, gridsize, lookupTable, delay)
server = RobotServer(connection=RobotConnection, driver=driver, masterConn=conn)
server.listen(serverPort)
IOLoop.instance().start()
def main():
signal.signal(signal.SIGINT, signalHandler)
cfg = JsonConfig()
logger = logging.getLogger('')
logger.setLevel(cfg.general.logLevel)
map = cv2.imread(cfg.mapData.map, cv2.CV_LOAD_IMAGE_GRAYSCALE)
lookupTable = np.load(cfg.mapData.dmap)
length = cfg.robot.length
forwardNoise = cfg.particle.forwardNoise
turnNoise = cfg.particle.turnNoise
senseNoise = cfg.particle.senseNoise
particleTopic = ParticleTopic()
particleFilter = ParticleFilter(length, map, lookupTable,
forwardNoise, turnNoise, senseNoise)
serverPort = cfg.particle.port
client = Client('', cfg.server.port, BetelbotClientConnection)
conn = client.connect()
server = ParticleFilterServer(connection=ParticleFilterConnection,
masterConn=conn, particleFilter=particleFilter, particleTopic=particleTopic)
server.listen(serverPort)
IOLoop.instance().start()
def main():
signal.signal(signal.SIGINT, signalHandler)
cfg = JsonConfig()
logger = logging.getLogger("")
logger.setLevel(cfg.general.logLevel)
client = Client("", cfg.server.port, BetelbotClientConnection)
conn = client.connect()
driverServer = BetelbotDriverServer()
driverServer.listen(cfg.robot.driverPort)
driver = BetelbotDriver(cfg.robot.start, cfg.robot.dist, driverServer)
server = RobotServer(connection=RobotConnection, driver=driver, masterConn=conn)
server.listen(cfg.robot.port)
IOLoop.instance().start()
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 main():
signal.signal(signal.SIGINT, signalHandler)
cfg = JsonConfig()
logger = logging.getLogger('')
logger.setLevel(cfg.general.logLevel)
client = Client('', cfg.server.port, BetelbotClientConnection)
conn = client.connect()
conn.batchLocate(onBatchLocateResponse,
[RobotMethod.POWER, RobotMethod.MODE, RobotMethod.STATUS])
application = web.Application([
(cfg.websocketServer.socketUri, VisualizerWebSocket, dict(conn=conn)),
])
application.listen(cfg.websocketServer.port)
IOLoop.instance().start()
def main():
# Start up a Betelbot client and subscribe to all topics. When data is
# received, print to console.
#
# The main purpose of this script is for logging messages.
signal.signal(signal.SIGINT, signalHandler)
cfg = JsonConfig()
logger = logging.getLogger('')
logger.setLevel(cfg.general.logLevel)
client = Client('', cfg.server.port, BetelbotClientConnection)
conn = client.connect()
topics = getTopics()
for topic in topics:
conn.subscribe(topic, onTopicPublished)
IOLoop.instance().start()
def main():
signal.signal(signal.SIGINT, signalHandler)
cfg = JsonConfig()
openByte = cfg.map.open
grid = cv2.imread(cfg.mapData.grid, cv2.CV_LOAD_IMAGE_GRAYSCALE)
logger = logging.getLogger('')
logger.setLevel(cfg.general.logLevel)
pathfinder = Pathfinder(grid, openByte, euclideanDistance)
serverPort = cfg.pathfinder.port
client = Client('', cfg.server.port, BetelbotClientConnection)
conn = client.connect()
server = PathfinderServer(connection=PathfinderConnection,
masterConn=conn, pathfinder=pathfinder)
server.listen(serverPort)
IOLoop.instance().start()