def main():
parser = argparse.ArgumentParser(description='Recorder.')
parser.add_argument('--name',
type=str,
default='none',
help='Process name.')
parser.add_argument('--sessions',
type=str,
default='/sessions',
help='Sessions directory.')
parser.add_argument('--config',
type=str,
default='/config',
help='Config directory path.')
args = parser.parse_args()
sessions_dir = os.path.expanduser(args.sessions)
assert os.path.exists(
sessions_dir), "Cannot use sessions directory '{}'".format(
sessions_dir)
application = RecorderApplication(config_dir=args.config,
sessions_dir=sessions_dir)
quit_event = application.quit_event
pilot = json_collector(url='ipc:///byodr/pilot.sock',
topic=b'aav/pilot/output',
event=quit_event)
vehicle = json_collector(url='ipc:///byodr/vehicle.sock',
topic=b'aav/vehicle/state',
event=quit_event)
ipc_chatter = json_collector(url='ipc:///byodr/teleop_c.sock',
topic=b'aav/teleop/chatter',
pop=True,
event=quit_event)
application.publisher = JSONPublisher(url='ipc:///byodr/recorder.sock',
topic='aav/recorder/state')
application.camera = CameraThread(url='ipc:///byodr/camera_0.sock',
topic=b'aav/camera/0',
event=quit_event)
application.ipc_server = LocalIPCServer(url='ipc:///byodr/recorder_c.sock',
name='recorder',
event=quit_event)
application.pilot = lambda: pilot.get()
application.vehicle = lambda: vehicle.get()
application.ipc_chatter = lambda: ipc_chatter.get()
threads = [
pilot, vehicle, ipc_chatter, application.camera, application.ipc_server
]
if quit_event.is_set():
return 0
[t.start() for t in threads]
application.run()
logger.info("Waiting on threads to stop.")
[t.join() for t in threads]
def main():
parser = argparse.ArgumentParser(description='Rover main.')
parser.add_argument('--name',
type=str,
default='none',
help='Process name.')
parser.add_argument('--config',
type=str,
default='/config',
help='Config directory path.')
args = parser.parse_args()
application = RoverApplication(config_dir=args.config)
quit_event = application.quit_event
pilot = json_collector(url='ipc:///byodr/pilot.sock',
topic=b'aav/pilot/output',
event=quit_event)
teleop = json_collector(url='ipc:///byodr/teleop.sock',
topic=b'aav/teleop/input',
event=quit_event)
ipc_chatter = json_collector(url='ipc:///byodr/teleop_c.sock',
topic=b'aav/teleop/chatter',
pop=True,
event=quit_event)
application.state_publisher = JSONPublisher(
url='ipc:///byodr/vehicle.sock', topic='aav/vehicle/state')
application.ipc_server = LocalIPCServer(url='ipc:///byodr/vehicle_c.sock',
name='platform',
event=quit_event)
application.pilot = lambda: pilot.get()
application.teleop = lambda: teleop.get()
application.ipc_chatter = lambda: ipc_chatter.get()
threads = [pilot, teleop, ipc_chatter, application.ipc_server]
if quit_event.is_set():
return 0
[t.start() for t in threads]
application.run()
logger.info("Waiting on threads to stop.")
[t.join() for t in threads]
def main():
parser = argparse.ArgumentParser(description='ROS2 rover node.')
parser.add_argument('--name',
type=str,
default='none',
help='Process name.')
parser.add_argument('--config',
type=str,
default='/config',
help='Config directory path.')
args = parser.parse_args()
application = RosApplication(config_dir=args.config)
quit_event = application.quit_event
logger = application.logger
publisher = JSONPublisher(url='ipc:///byodr/ros.sock',
topic='aav/ros/input')
pilot = json_collector(url='ipc:///byodr/pilot.sock',
topic=b'aav/pilot/output',
event=quit_event)
ipc_chatter = json_collector(url='ipc:///byodr/teleop_c.sock',
topic=b'aav/teleop/chatter',
pop=True,
event=quit_event)
application.publish = lambda m: publisher.publish(m)
application.pilot = lambda: pilot.get()
application.ipc_chatter = lambda: ipc_chatter.get()
threads = [pilot, ipc_chatter]
if quit_event.is_set():
return 0
rclpy.init()
[t.start() for t in threads]
application.run()
logger.info("Waiting on threads to stop.")
[t.join() for t in threads]
rclpy.shutdown()
def main():
parser = argparse.ArgumentParser(description='Inference server.')
parser.add_argument('--config',
type=str,
default='/config',
help='Config directory path.')
parser.add_argument('--internal',
type=str,
default='/models',
help='Directory with the default inference models.')
parser.add_argument('--user',
type=str,
default='/user_models',
help='Directory with the user inference models.')
parser.add_argument('--routes',
type=str,
default='/routes',
help='Directory with the navigation routes.')
args = parser.parse_args()
application = InferenceApplication(config_dir=args.config,
internal_models=args.internal,
user_models=args.user,
navigation_routes=args.routes)
quit_event = application.quit_event
teleop = json_collector(url='ipc:///byodr/teleop.sock',
topic=b'aav/teleop/input',
event=quit_event)
pilot = json_collector(url='ipc:///byodr/pilot.sock',
topic=b'aav/pilot/output',
event=quit_event)
ipc_chatter = json_collector(url='ipc:///byodr/teleop_c.sock',
topic=b'aav/teleop/chatter',
pop=True,
event=quit_event)
application.publisher = JSONPublisher(url='ipc:///byodr/inference.sock',
topic='aav/inference/state')
application.camera = CameraThread(url='ipc:///byodr/camera_0.sock',
topic=b'aav/camera/0',
event=quit_event)
application.ipc_server = LocalIPCServer(
url='ipc:///byodr/inference_c.sock',
name='inference',
event=quit_event)
application.teleop = lambda: teleop.get()
application.pilot = lambda: pilot.get()
application.ipc_chatter = lambda: ipc_chatter.get()
threads = [
teleop, pilot, ipc_chatter, application.camera, application.ipc_server
]
if quit_event.is_set():
return 0
[t.start() for t in threads]
application.run()
logger.info("Waiting on threads to stop.")
[t.join() for t in threads]
def main():
parser = argparse.ArgumentParser(description='Teleop sockets server.')
parser.add_argument('--name',
type=str,
default='none',
help='Process name.')
parser.add_argument('--config',
type=str,
default='/config',
help='Config directory path.')
parser.add_argument('--routes',
type=str,
default='/routes',
help='Directory with the navigation routes.')
args = parser.parse_args()
route_store = ReloadableDataSource(
FileSystemRouteDataSource(directory=args.routes,
fn_load_image=_load_nav_image,
load_instructions=False))
route_store.load_routes()
application = TeleopApplication(event=quit_event, config_dir=args.config)
application.setup()
camera_front = CameraThread(url='ipc:///byodr/camera_0.sock',
topic=b'aav/camera/0',
event=quit_event)
camera_rear = CameraThread(url='ipc:///byodr/camera_1.sock',
topic=b'aav/camera/1',
event=quit_event)
pilot = json_collector(url='ipc:///byodr/pilot.sock',
topic=b'aav/pilot/output',
event=quit_event)
vehicle = json_collector(url='ipc:///byodr/vehicle.sock',
topic=b'aav/vehicle/state',
event=quit_event)
inference = json_collector(url='ipc:///byodr/inference.sock',
topic=b'aav/inference/state',
event=quit_event)
recorder = json_collector(url='ipc:///byodr/recorder.sock',
topic=b'aav/recorder/state',
event=quit_event)
threads = [camera_front, camera_rear, pilot, vehicle, inference, recorder]
if quit_event.is_set():
return 0
[t.start() for t in threads]
teleop_publisher = JSONPublisher(url='ipc:///byodr/teleop.sock',
topic='aav/teleop/input')
external_publisher = JSONPublisher(url='ipc:///byodr/external.sock',
topic='aav/external/input')
chatter = JSONPublisher(url='ipc:///byodr/teleop_c.sock',
topic='aav/teleop/chatter')
zm_client = JSONZmqClient(urls=[
'ipc:///byodr/pilot_c.sock', 'ipc:///byodr/inference_c.sock',
'ipc:///byodr/vehicle_c.sock', 'ipc:///byodr/relay_c.sock',
'ipc:///byodr/recorder_c.sock', 'ipc:///byodr/camera_c.sock'
])
def on_options_save():
chatter.publish(dict(time=timestamp(), command='restart'))
application.setup()
def list_process_start_messages():
return zm_client.call(dict(request='system/startup/list'))
def list_service_capabilities():
return zm_client.call(dict(request='system/service/capabilities'))
def get_navigation_image(image_id):
return route_store.get_image(image_id)
def teleop_publish(cmd):
# We are the authority on route state.
cmd['navigator'] = dict(route=route_store.get_selected_route())
teleop_publisher.publish(cmd)
def override_publish(nav_request):
# We are the authority on route state.
if nav_request is not None:
external_publisher.publish(nav_request)
try:
main_redirect_url = '/index.htm?v=0.55.02'
main_app = web.Application([
(r"/ws/ctl", ControlServerSocket, dict(fn_control=teleop_publish)),
(r"/ws/log", MessageServerSocket,
dict(fn_state=(lambda: (pilot.get(), vehicle.get(), inference.get(
), recorder.get())))),
(r"/ws/cam/front", CameraMJPegSocket,
dict(image_capture=(lambda: camera_front.capture()))),
(r"/ws/cam/rear", CameraMJPegSocket,
dict(image_capture=(lambda: camera_rear.capture()))),
(r'/ws/nav', NavImageHandler,
dict(fn_get_image=(
lambda image_id: get_navigation_image(image_id)))),
(r"/api/user/options", ApiUserOptionsHandler,
dict(user_options=(UserOptions(
application.get_user_config_file())),
fn_on_save=on_options_save)),
(r"/api/system/state", JSONMethodDumpRequestHandler,
dict(fn_method=list_process_start_messages)),
(r"/api/system/capabilities", JSONMethodDumpRequestHandler,
dict(fn_method=list_service_capabilities)),
(r"/api/navigation/routes", JSONNavigationHandler,
dict(route_store=route_store)),
(r"/ext/v10/direct/navigate", SimpleRequestNavigationHandler,
dict(route_store=route_store, fn_override=override_publish)),
(r"/", web.RedirectHandler,
dict(url=main_redirect_url, permanent=False)),
(r"/(.*)", web.StaticFileHandler, {
'path': os.path.join(os.path.sep, 'app', 'htm')
})
])
http_server = HTTPServer(main_app, xheaders=True)
http_server.bind(8080)
http_server.start()
logger.info("Web services started on port 8080.")
io_loop.start()
except KeyboardInterrupt:
quit_event.set()
route_store.quit()
logger.info("Waiting on threads to stop.")
[t.join() for t in threads]
def main():
parser = argparse.ArgumentParser(description='Pilot.')
parser.add_argument('--name',
type=str,
default='none',
help='Process name.')
parser.add_argument('--config',
type=str,
default='/config',
help='Config directory path.')
parser.add_argument('--routes',
type=str,
default='/routes',
help='Directory with the navigation routes.')
args = parser.parse_args()
_relay = SearchUsbRelayFactory().get_relay()
logger.info("The USB Relay is {} attached.".format(
'well' if _relay.is_attached() else 'not'))
if _relay.is_attached():
_holder = StaticChannelRelayHolder(relay=_relay, channel=0)
monitoring_relay = RealMonitoringRelay(relay=_holder,
config_dir=args.config)
else:
monitoring_relay = NoopRelay()
try:
route_store = ReloadableDataSource(
FileSystemRouteDataSource(directory=args.routes,
load_instructions=True))
application = PilotApplication(processor=CommandProcessor(route_store),
relay=monitoring_relay,
config_dir=args.config)
quit_event = application.quit_event
teleop = json_collector(url='ipc:///byodr/teleop.sock',
topic=b'aav/teleop/input',
event=quit_event)
external = json_collector(url='ipc:///byodr/external.sock',
topic=b'aav/external/input',
hwm=10,
pop=True,
event=quit_event)
ros = json_collector(url='ipc:///byodr/ros.sock',
topic=b'aav/ros/input',
hwm=10,
pop=True,
event=quit_event)
vehicle = json_collector(url='ipc:///byodr/vehicle.sock',
topic=b'aav/vehicle/state',
event=quit_event)
inference = json_collector(url='ipc:///byodr/inference.sock',
topic=b'aav/inference/state',
event=quit_event)
ipc_chatter = json_collector(url='ipc:///byodr/teleop_c.sock',
topic=b'aav/teleop/chatter',
pop=True,
event=quit_event)
application.teleop = lambda: teleop.get()
application.external = lambda: external.get()
application.ros = lambda: ros.get()
application.vehicle = lambda: vehicle.get()
application.inference = lambda: inference.get()
application.ipc_chatter = lambda: ipc_chatter.get()
application.publisher = JSONPublisher(url='ipc:///byodr/pilot.sock',
topic='aav/pilot/output')
application.ipc_server = LocalIPCServer(
url='ipc:///byodr/pilot_c.sock', name='pilot', event=quit_event)
threads = [
teleop, external, ros, vehicle, inference, ipc_chatter,
application.ipc_server
]
if quit_event.is_set():
return 0
[t.start() for t in threads]
application.run()
route_store.quit()
logger.info("Waiting on threads to stop.")
[t.join() for t in threads]
finally:
monitoring_relay.quit()