def __init__(self):
## For interprocess comms
self.DISPATCHER_PORT = 9004
self._dispatcherClient = DispatcherClient(port=self.DISPATCHER_PORT)
## Attach event listeners upon instantiation (to prevent duplicates)
self.attachEvents()
self.sendflag=1
self.state=1 #1-proceed #2-stop #3 step right #4 step left
self.sendAlertInterval = datetime.datetime(seconds=5)
self.triggerAlertime=datetime.datetime(seconds=0)
def __init__(self):
## For interprocess comms
self.DISPATCHER_PORT = 9004
self._dispatcherClient = DispatcherClient(port=self.DISPATCHER_PORT)
## Attach event listeners upon instantiation (to prevent duplicates)
self.attachEvents()
# Latest sonar readings
self.sonarLeft = Alert.SONAR_MAX_DISTANCE
self.sonarRight = Alert.SONAR_MAX_DISTANCE
def test_generic(self):
## Event handler. Note the use of smokesignal label.
@smokesignal.on('update')
def doSomething(args):
"""This is an event callback. Payload data is passed
as args, and is a JSON object
"""
logging.info('Event triggered: Update!')
logging.info('JSON output: %s' % args)
@smokesignal.on('fun event')
def doSomething(args):
"""This is an event callback. Payload data is passed
as args, and is a JSON object
"""
logging.info('Event triggered: A fun event!')
logging.info('JSON output: %s' % args)
## Create two clients. One at 9001, the other 9002
client1 = DispatcherClient(port=9001)
client2 = DispatcherClient(port=9002)
client1.start()
client2.start()
client1.send(9002, 'update', {"hello": "world"})
client1.send(9002, 'update', {"something": "here"})
client1.send(9002, 'fun event', {"count": "counting numbers"})
logging.info('finished sending.')
## Keep clients alive for 5 seconds. Note how both are unaffected by block.
time.sleep(5)
client1.stop()
client2.stop()
logging.info('Ended. Goodbye!')
pass
"""
logging.info('Event triggered: Update!')
logging.info('JSON output: %s' % args)
@smokesignal.on('fun event')
def doSomething(args):
"""This is an event callback. Payload data is passed
as args, and is a JSON object
"""
logging.info('Event triggered: A fun event!')
logging.info('JSON output: %s' % args)
## Create two clients. One at 9001, the other 9002
client1 = DispatcherClient(port=9001)
client2 = DispatcherClient(port=9002)
client1.start()
client2.start()
client1.send(9002, 'update', {"hello": "world"})
client1.send(9002, 'update', {"something": "here"})
client1.send(9002, 'fun event', {"count": "counting numbers"})
logging.info('finished sending.')
## Keep clients alive for 5 seconds. Note how both are unaffected by block.
time.sleep(5)
client.stop()
# Send left sonar HTTP request
httpClient.post_heartbeat_sonar("left", ns.data['left'])
print "Sent sonar to server ", ns.data
except:
print "Server communications failed."
pass
# Extract sonar data from generic packet
def convertPacketToSonarData(strpkt):
sonarData = {strpkt[0]: strpkt[2:5]}
return sonarData
sprotapi.SPROTInit("/dev/ttyAMA0", baudrate=SERIALMOD_BAUDRATE)
dc = DispatcherClient(port=9005)
dc.start()
PRINT_EVERY_N_ITER = 10
canPrint = False
iterationCount = 0
sonar1Data = 0 # Left Sonar
sonar2Data = 0 # Right Sonar
sonar3Data = 0 # Middle Sonar
compassData = 0
footsensData = 0
footsensMutex = threading.Lock()
manager = multiprocessing.Manager()
ns = manager.Namespace()
ns.data = 0
