def main():
# Parse CLI args
args = setup_cli_args(cli.grpc_host, cli.mqtt_host, cli.camera_name,
cli.log_level)
# Setup logging
setup_logging(level=args[LOG_LEVEL])
# Start location reader
with LocationClient(args[GRPC_HOST]) as loc_client:
# Define MQTT callbacks
def on_connect(mqtt_client, userdata, flags, rc):
logger.info("Connected with result code: {0}".format(rc))
Thread(target=publish_locations,
args=(mqtt_client, userdata)).start()
def publish_locations(mqtt_client, userdata):
while True:
x_loc, y_loc = loc_client.get_xy()
if x_loc is not None and y_loc is not None:
result, mid = mqtt_client.publish("{0}/x".format(
userdata[CAMERA_NAME]),
payload=x_loc[0])
result, mid = mqtt_client.publish("{0}/y".format(
userdata[CAMERA_NAME]),
payload=y_loc[0])
# Setup MQTT client
with MqttConnection(args[MQTT_HOST],
userdata={CAMERA_NAME: args[CAMERA_NAME]},
on_connect=on_connect):
waitForKeyboardInterrupt()
logger.info("Exiting...")
def main():
# Parse CLI args
args = setup_cli_args(cli.grpc_host, cli.mqtt_host, cli.led_name,
cli.led_brightness, cli.log_level)
# Setup logging
setup_logging(level=args[LOG_LEVEL])
blinkt = BlinktSubscriber(args[LED_BRIGHTNESS])
# Define MQTT callbacks
def on_connect(mqtt_client, userdata, flags, rc):
logger.info("Connected with result code: {0}".format(rc))
mqtt_client.subscribe("leds/{0}".format(userdata[TOPIC]))
def on_message(mqtt_client, userdata, msg):
logger.info("{0} {1}".format(msg.topic, msg.payload))
# Setup MQTT client
with MqttConnection(args[MQTT_HOST],
userdata={TOPIC: args[LED_NAME]},
on_connect=on_connect,
on_message=on_message):
waitForKeyboardInterrupt()
logger.info("Exiting...")
def average_publisher(mqtt_client, userdata):
while True:
try:
time.sleep(1)
payload = str(userdata[MESSAGES]).encode("utf-8")
mqtt_client.publish("metrics/msg_rate", payload=payload, qos=0)
mqtt_client.publish("logging/metrics/msg_rate", payload=payload, qos=0)
with userdata[LOCK]:
userdata[MESSAGES] = 0
except BaseException as e:
logger.error("Failure in publish averages() [%s]", e, exc_info=True)
time.sleep(1)
if __name__ == "__main__":
# Parse CLI args
parser = argparse.ArgumentParser()
cli.mqtt_host(parser)
args = vars(parser.parse_args())
# Setup MQTT client
with MqttConnection(args[MQTT_HOST],
userdata={LOCK: Lock(),
MESSAGES: 0},
on_connect=on_connect,
on_message=on_message):
waitForKeyboardInterrupt()
logger.info("Exiting...")
default=10,
type=int,
help="Moving average size [10]")
cli.log_level(parser)
args = vars(parser.parse_args())
# Setup logging
setup_logging(level=args[LOG_LEVEL])
userdata = {
TOPIC: "lidar/{0}/cm".format(args[DEVICE]),
COMMAND: "lidar/{0}/command".format(args[DEVICE]),
ENABLED: True,
MOVING_AVERAGE: MovingAverage(args[AVG_SIZE]),
OOR_VALUES: OutOfRangeValues(size=args[OOR_SIZE]),
OOR_TIME: args[OOR_TIME]
}
with SerialReader(func=fetch_data,
userdata=userdata,
port=SerialReader.lookup_port(args[DEVICE_ID])
if args.get(DEVICE_ID) else args[SERIAL_PORT],
baudrate=args[BAUD_RATE]):
with MqttConnection(hostname=args[MQTT_HOST],
userdata=userdata,
on_connect=on_connect,
on_message=frc_utils.on_message):
waitForKeyboardInterrupt()
logger.info("Exiting...")
# Subscribe to all broker messages
topic = userdata[TOPIC]
mqtt_client.subscribe(topic)
setup_logging(filename=args[LOG_FILE],
format="%(asctime)s %(levelname)-6s %(message)s",
level=logging.DEBUG)
logger.info("Connected, subscribing to topic %s", topic)
# print("Connected, subscribing to topic {0}".format(topic))
def on_message(mqtt_client, userdata, msg):
logger.info("%s : %s", msg.topic, msg.payload)
# print("{0} : {1}".format(msg.topic, msg.payload))
if __name__ == "__main__":
# Parse CLI args
parser = argparse.ArgumentParser()
cli.mqtt_host(parser)
cli.log_file(parser)
cli.mqtt_topic(parser)
args = vars(parser.parse_args())
with MqttConnection(args[MQTT_HOST],
userdata={TOPIC: args[MQTT_TOPIC]},
on_connect=on_connect,
on_message=on_message):
waitForKeyboardInterrupt()
logger.info("Exiting...")
"lidar/rear/command", "heading/command", "camera/gear/command"
]
if __name__ == "__main__":
def on_connect(mqtt_client, userdata, flags, rc):
logger.info("Connected with result code: %s", rc)
Thread(target=enable_disable, args=(mqtt_client, )).start()
def enable_disable(client):
while True:
for i in cmds:
client.publish(i, payload="OFF", qos=0)
time.sleep(3)
for i in cmds:
client.publish(i, payload="ON", qos=0)
time.sleep(10)
# Parse CLI args
parser = argparse.ArgumentParser()
cli.mqtt_host(parser)
cli.log_level(parser)
args = vars(parser.parse_args())
with MqttConnection(hostname=args[MQTT_HOST],
userdata={},
on_connect=on_connect):
waitForKeyboardInterrupt()
logger.info("Exiting...")
@nav.on(nav.UP)
def handle_up_button(ch, evt):
item_deque.rotate(1)
assign_selected_sensor()
@nav.on(nav.DOWN)
def handle_down_button(ch, evt):
item_deque.rotate(-1)
assign_selected_sensor()
if __name__ == "__main__":
# Parse CLI args
args = cli.setup_cli_args(cli.mqtt_host, cli.log_level())
# Setup logging
setup_logging(level=args[LOG_LEVEL])
Thread(target=lcd_display, args=(item_dict, 0.1)).start()
# Setup MQTT client
with MqttConnection(args[MQTT_HOST],
userdata={ITEM_DICT: item_dict},
on_connect=on_connect,
on_message=on_message):
waitForKeyboardInterrupt()
logger.info("Exiting...")
x_loc = loc_client.get_x()
if not userdata[ENABLED]:
continue
if x_loc is not None and abs(x_loc[0] - prev_value) > 1:
result, mid = mqtt_client.publish(
"{0}/x".format(userdata[TOPIC]),
payload="{0}:{1}".format(x_loc[0],
x_loc[1]).encode('utf-8'))
prev_value = x_loc[0]
except BaseException as e:
logger.error("Failure in publish_locations() [%s]",
e,
exc_info=True)
time.sleep(1)
# Setup MQTT client
with MqttConnection(args[MQTT_HOST],
userdata={
TOPIC: args[MQTT_TOPIC],
COMMAND: args[MQTT_TOPIC] + "/command",
ENABLED: True
},
on_connect=on_connect,
on_message=frc_utils.on_message):
waitForKeyboardInterrupt()
logger.info("Exiting...")