def __init__(self, nb, buggy_nb, dist_per_tick=17.5 / 18):
self.dist_per_tick = dist_per_tick # Distance travelled per click
self.count = 0 # Encoder count
self._get_message = GetMessage() # Callback (private)
topic = "buggy" + str(buggy_nb) + "/encoder" + str(
nb) # i.e. buggy0/encoder0
rospy.Subscriber(topic, Int64, self._get_message) # Subscribe to topic
class Gyroscope(object):
def __init__(self, nb, buggy_nb, axis=0):
self.get_message = GetMessage()
self.axis = axis
topic = "buggy" + str(buggy_nb) + "/gyroscope" + str(nb)
rospy.Subscriber(topic, String, self.get_message, queue_size=1)
def get_data(self):
data = self.get_message.get_msg().data
return data
def __init__(self,
nb,
buggy_nb,
pos,
angle,
min_dist=10,
action="None",
eff_angle=0.17,
col=colors.lime_green):
self.col = col
self.min_dist = min_dist
self.action = action
self.local_pos = pos # Position relative to centre of buggy (cm)
self.global_pos = pos # Position of the sensor in the world frame (cm)
self.local_angle = angle # Angle relative to the buggy (rad)
self.global_angle = angle # Angle of the sensor in the world frame (rad)
self.eff_angle = eff_angle # Effective angle of sonar (rad)
self.data = 0 # Measured value of sensor (cm)
self.get_message = GetMessage()
topic = "buggy" + str(buggy_nb) + "/sonar" + str(nb)
rospy.Subscriber(topic, Int32, self.get_message)
class Camera(object):
def __init__(self, nb, buggy_nb):
self.get_image = GetMessage()
topic = "buggy" + str(buggy_nb) + "/camera" + str(nb)
rospy.Subscriber(topic, CompressedImage, self.get_image, queue_size=1)
def get_frame(self):
frame = self.get_image.get_msg().data
frame = np.fromstring(frame, np.uint8)
frame = cv2.imdecode(frame, cv2.IMREAD_COLOR)
frame = np.stack((frame[:, :, 2], frame[:, :, 1], frame[:, :, 0]), axis=2)
return frame
from get_message import GetMessage
from send_email import SendEmail
from database import Database
if __name__ == '__main__':
# Define variables to connect to MySQL database
user = '******' # Set username of MySQL server
password = '' # Set password of MySQL server
d = Database(user, password)
n = int(input("Number of queries"))
for query in range(n):
email=input("Email address")
series = input("TV Series").split(',')
message = "\n"
#Create an object for Database class
#Connect to database and insert the data in the table.
d.write(email,series)
for i in series:
#Create an object for GetMessage class which can determine the next episode date of the TV Series.
m = GetMessage(i)
#print(a.get_imdb_url())
message+="Tv series name: "+i+"\n"
message+="Status: "+m.get_episode_date()+"\n"
#print(message)
message+="\n"
#Send the result to user's email
e = SendEmail(email,message)
e.send()
def __init__(self, nb, buggy_nb, axis=0):
self.get_message = GetMessage()
self.axis = axis
topic = "buggy" + str(buggy_nb) + "/gyroscope" + str(nb)
rospy.Subscriber(topic, String, self.get_message, queue_size=1)
class Sonar(object):
def __init__(self,
nb,
buggy_nb,
pos,
angle,
min_dist=10,
action="None",
eff_angle=0.17,
col=colors.lime_green):
self.col = col
self.min_dist = min_dist
self.action = action
self.local_pos = pos # Position relative to centre of buggy (cm)
self.global_pos = pos # Position of the sensor in the world frame (cm)
self.local_angle = angle # Angle relative to the buggy (rad)
self.global_angle = angle # Angle of the sensor in the world frame (rad)
self.eff_angle = eff_angle # Effective angle of sonar (rad)
self.data = 0 # Measured value of sensor (cm)
self.get_message = GetMessage()
topic = "buggy" + str(buggy_nb) + "/sonar" + str(nb)
rospy.Subscriber(topic, Int32, self.get_message)
def update(self, buggy_pos, buggy_angle):
self.global_pos = self._transform(buggy_pos, buggy_angle)
self.global_angle = -(self.local_angle + buggy_angle)
self.data = self.get_message.get_msg().data
def draw(self, display, buggy_pos, buggy_angle, scale=1):
pos = self._transform(buggy_pos, buggy_angle, scale=scale, flip=True)
angle = self.global_angle
pos = [int(n) for n in pos]
pygame.draw.circle(display, self.col, pos,
int(2 * scale)) # Draw sensor
# NB: For low data values, drawing an arc is impossible
if self.data > 5:
data = self.data * scale # Scale sensor value with GUI
rect = (pos[0] - data, pos[1] - data, 2 * data, 2 * data
) # Calculate rect of arc
start_angle = -self.eff_angle - angle + math.pi / 2 # Depends of effective angle
end_angle = self.eff_angle - angle + math.pi / 2
pygame.draw.arc(display, self.col, rect, start_angle, end_angle,
2) # Draw sensor arc
def _transform(self, buggy_pos, buggy_angle, scale=1, flip=False):
# Return position of sonar given buggy orientation and local sonar coordinates
if flip: # Flip argument is for drawing sonar position flipped vertically
flip = -1
else:
flip = 1
buggy_x = buggy_pos[0]
buggy_y = buggy_pos[1]
local_x = float(self.local_pos[0])
local_y = float(self.local_pos[1])
angle = math.atan(local_x / local_y)
if local_y < 0:
angle += math.pi
angle -= buggy_angle
l = math.sqrt(local_x**2 + local_y**2)
x = l * math.sin(angle) * scale + buggy_x
y = flip * l * math.cos(angle) * scale + buggy_y
return [x, y]
def __init__(self, nb, buggy_nb):
self.get_image = GetMessage()
topic = "buggy" + str(buggy_nb) + "/camera" + str(nb)
rospy.Subscriber(topic, CompressedImage, self.get_image, queue_size=1)