def service_enable_request():
enable = True if request.json['enabled'].lower() == "true" else False
WatchDog.get_instance().enable_disable_driver(enable)
global controller
platform = PiRevEn.detect_platform()
if PlatformEn[request.json['platform']] == PlatformEn.SHELBYGT500:
from components.core.PiCarController import PiCarController
controller = PiCarController.get_instance()
controller.activate_control(enable, PlatformEn.SHELBYGT500)
return Response(request.data)
if platform == PiRevEn.PI3B_PLUS:
global __speed_service, __steer_service, speed_driver, steer_driver
controller = None
import rpyc
if enable and not (speed_driver or steer_driver):
__speed_service = rpyc.connect_by_service("SpeedDriver")
__steer_service = rpyc.connect_by_service("SteeringDriver")
speed_driver = __speed_service.root
steer_driver = __steer_service.root
speed_driver.enable_disable_driver(True)
steer_driver.enable_disable_driver(True)
else:
speed_driver.enable_disable_driver(False)
steer_driver.enable_disable_driver(False)
__speed_service.close()
__steer_service.close()
speed_driver, steer_driver = None, None
__speed_service, __steer_service = None, None
return Response(request.data)
else:
return Response(status=409)
def set_states(a, b):
"""
Attempts to set the ports valves on ports A and B to the specified values.
ARGUMENTS:
both arguments are binary numbers as strings, each bit represents the
state of a valve
a - state of port A
b - same, for port B
RETURNS:
A status code, and a message intended for relaying to the end user.
Status codes:
0 - Success
1 - Serial Error (any kind)
Any other kind of exception results in raising an actual exception.
Other exceptions may appear. In any case, they will return a status code
higher than 0.
"""
SUCCESS, FAIL = 0, 1
try:
# Connect to RPyC server and get main object
connection = rpyc.connect_by_service("LBNCCONTROLLER")
r = connection.root
r.open_serial()
except DiscoveryError, e:
return FAIL, "Serial interface daemon unreachable."
def login(self,retry = True):
'''
Log in to the controller. First try to reach the controller via the standard service registry,
if that fails try to access it via the supplied hostname/port arguments. If that fails, sleep a
little and try again.
'''
while True:
try:
self.conn = rpyc.connect_by_service(const.ctrlServiceName,config = {"allow_public_attrs" : True})
break
except:
try:
self.conn = rpyc.connect(self.ctrlrHost,self.ctrlrPort,config = {"allow_public_attrs" : True})
break
except:
if retry == False:
return False
time.sleep(5)
continue
self.bgsrv = rpyc.BgServingThread(self.conn,self.handleBgServingThreadException)
resp = self.conn.root.login(self.hostAddress,self.callback,self.riapsApps)
if type(resp) == tuple and resp[0] == 'dbase': # Expected response: (redis) database host:port pair
if self.depm != None:
self.depm.doCommand(('setDisco',) + resp[1:])
return True
else:
pass # Ignore any other response
return False
def service_enable_request():
enable = True if request.json['enabled'].lower() == "true" else False
platform = PiRevEn.detect_platform()
global ultrasonic
if platform == PiRevEn.PIZEROW:
ultrasonic = UltrasonicSensor.get_instance()
ultrasonic.enable_disable_driver(enable)
elif platform == PiRevEn.PI3B_PLUS:
global ultrasonic_service
if enable:
import rpyc
ultrasonic_service = rpyc.connect_by_service("UltrasonicSensor")
ultrasonic = ultrasonic_service.root
ultrasonic.enable_disable_driver(True)
elif ultrasonic:
ultrasonic.enable_disable_driver(False)
ultrasonic_service.close()
ultrasonic = None
ultrasonic_service = None
else:
raise Exception('Cannot initialize Ultrasonic Sensor due to invalid platform!')
return Response(request.data)
def service_enable_acc_request():
enable = True if request.json['enabled'].lower() == "true" else False
platform = PiRevEn.detect_platform()
global acc
if platform == PiRevEn.PIZEROW:
from components.drivers.ShelbyGT500.HBridgeSpeedDriver import HBridgeSpeedDriver
acc = AdaptiveCruiseController.get_instance()
speed_driver = HBridgeSpeedDriver.get_instance()
acc.enable_disable_driver(enable, speed_driver)
elif platform == PiRevEn.PI3B_PLUS:
import rpyc
global acc_service
if enable:
acc_service = rpyc.connect_by_service("AdaptiveCruise")
acc = acc_service.root
acc.enable_disable_driver(True)
else:
acc.enable_disable_driver(False)
acc_service.close()
acc = None
acc_service = None
else:
raise Exception(
'Cannot initialize adaptive cruise control due to invalid platform!'
)
return Response(request.data)
def service_enable_colav_request():
enable = True if request.json['enabled'].lower() == "true" else False
platform = PiRevEn.detect_platform()
global colav
if platform == PiRevEn.PIZEROW:
from components.drivers.ShelbyGT500.HBridgeSpeedDriver import HBridgeSpeedDriver
colav = CollisionAvoidanceSystem.get_instance()
speed_driver = HBridgeSpeedDriver.get_instance()
colav.enable_disable_driver(enable, speed_driver)
elif platform == PiRevEn.PI3B_PLUS:
import rpyc
global colav_service
if enable:
colav_service = rpyc.connect_by_service("CollisionAvoidance")
colav = colav_service.root
colav.enable_disable_driver(True)
else:
colav.enable_disable_driver(False)
colav.close()
colav = None
colav_service = None
else:
raise Exception(
'Cannot initialize collision avoidance due to invalid platform!')
return Response(request.data)
def __pid_control_speed(self, speed_driver):
platform = PiRevEn.detect_platform()
if platform == PiRevEn.PIZEROW:
self.pid = PID(-4, 0, -1, setpoint=self.TARGET_DISTANCE)
ultrasonic = UltrasonicSensor.get_instance()
elif platform == PiRevEn.PI3B_PLUS:
import rpyc
# self.pid = PID(-0.5, -0.1, -0.25, setpoint=self.TARGET_DISTANCE)
self.pid = PID(-0.1, 0, -0.015, setpoint=self.TARGET_DISTANCE)
ultrasonic_service = rpyc.connect_by_service("UltrasonicSensor")
ultrasonic = ultrasonic_service.root
else:
raise Exception('Cannot initialize ACC due to invalid platform!')
self.pid.sample_time = 1.0 / ultrasonic.DISTANCE_SAMPLING_FREQ
self.pid.output_limits = (-100, 100)
time.sleep(1) # wait for the sensor measurement to settle
t = threading.current_thread()
while getattr(t, self.THREAD_RUN_REQUESTED, True):
dist = ultrasonic.get_filtered_data()
next_speed = round(self.pid(dist))
if next_speed < 0:
speed_driver.set_speed(0, math.floor(abs(next_speed)))
print('PID: dist: %.2f - pwm: %.2f' % (dist, next_speed))
else:
print('PID: dist :%.2f - no pwm' % dist)
time.sleep(self.pid.sample_time)
speed_driver.set_speed(0, 0)
return
def probe_peer(self, host):
"""Probes a discovered node for info"""
hostname = None
ifaces = None
addrs = None
cluster_iface = None
try:
c = rpyc.connect_by_service('storage', host=host)
hostname = str(c.root.peer_hostname())
uuid = str(c.root.peer_uuid())
cluster_iface = dict(c.root.peer_get_cluster_iface())
ifaces = dict(c.root.peer_list_addrs())
addrs = dict([(y['addr'], y['netmask']) for x in ifaces.values() for y in x])
if None in [hostname, uuid, ifaces, addrs, cluster_iface]:
raise DiscoveryError("Failed to probe discovered peer host=%s: Probe has invalid data.", host)
logger.debug("Discovered peer host=%s; hostname=%s.", host, hostname)
except Exception, e:
logger.error("Failed to probe discovered peer host=%s: %s", host, e)
return
def __handle_watchdog_expiry():
platform = PiRevEn.detect_platform()
if platform == PiRevEn.PI3B_PLUS:
import rpyc
__speed_service = rpyc.connect_by_service("SpeedDriver")
__steer_service = rpyc.connect_by_service("SteeringDriver")
speed_driver = __speed_service.root
steer_driver = __steer_service.root
speed_driver.set_speed(0, 0)
steer_driver.set_steering(0, 0)
speed_driver.enable_disable_driver(False)
steer_driver.enable_disable_driver(False)
else:
from components.core.PiCarController import PiCarController
controller = PiCarController.get_instance()
controller.request_speed(0, 0)
controller.request_steering(0, 0)
controller.activate_control(False, PlatformEn.SHELBYGT500)
def get_server_connection(sevice_name, config=None):
# refer to: rpyc/core/protocol.py for various config options
config_default = {
'allow_public_attrs': True,
# 'allow_pickle': True,
# 'allow_getattr': True
}
config = config_default if config is None else config
# refer to: rpyc/core/protocol.py for various config options
cserv = rpyc.connect_by_service(sevice_name, config=config)
return cserv
def connect_with_name(data):
conn = None
try:
conn = rpyc.connect_by_service(
'central_control',
config={'sync_request_timeout': DEFAULT_REQUEST_TIMEOUT})
print(
f'connected {conn.root.get_service_name().lower()} then wait for processing...'
)
result = conn.root.process(data)
except:
result = (CODE_FAILED, f'errors in app_client: {sys.exc_info()}')
finally:
if conn is not None:
conn.close()
print(f'result: {result}')
def set_states(states):
""" Connects to the server and sets the states of all twelve valves to the
specified value
:param states: twelve element-long array of ints, representing the states
of each valve
:type states: array of integers
:return: A return code (0 for success, 1 for failure), and a feedback
message (to be relayed to the user).
"""
SUCCESS, FAIL = 0, 1 # Return codes, used by the web app
try:
# Connect to RPyC server and get main object
connection = rpyc.connect_by_service("TAMAGOTCHIP")
r = connection.root
except DiscoveryError, e:
return FAIL, "Serial interface daemon unreachable."
def service_enable_lka_request():
enable = True if request.json['enabled'].lower() == "true" else False
platform = PiRevEn.detect_platform()
global lka
if platform == PiRevEn.PI3B_PLUS:
import rpyc
global lka_service
if enable:
lka_service = rpyc.connect_by_service("LaneKeepAssistant")
lka = lka_service.root
lka.enable_disable_driver(True)
else:
lka.enable_disable_driver(False)
lka.close()
lka = None
lka_service = None
else:
raise Exception(
'Cannot initialize lane keep assistant due to invalid platform!')
return Response(request.data)
def get_service(self, name, default='exception', cache=True, client_service=None):
"""Looks for service on Peer. Returns an existing one if possible, otherwise instantiates one."""
NAME = str(name).upper()
check_service = None
if cache:
check_service = self._services.get(NAME)
if not client_service:
client_service = rpyc.VoidService
if not check_service or check_service.closed:
service = None
try:
service = rpyc.connect_by_service(NAME,
host=self.cluster_addr,
service=client_service,
#config=conf.rpyc_conn_config,
)
# Remove existing aliases to old service
if cache:
if check_service:
for alias in self._services.keys():
if self._services[alias] == check_service:
self._services.pop(alias)
# Add in the new service's
for alias in service.root.get_service_aliases():
self._services[alias] = service
except Exception, e:
if check_service:
check_service.close()
if service:
service.close()
if default == 'exception':
raise ConnectionError('Cannot get service "%s": "%s"', name, e.message)
else:
return default
__author__ = 'kirtap'
import rpyc
server = "PrimesServer"
#c = rpyc.connect(server, port = 12345)
c = rpyc.connect_by_service("PrimesServer")
c.root
c.root.isPrime(5)
#!/usr/bin/env python
import dmd
import time
try:
import rpyc
tmp = rpyc.connect_by_service('LISTENER')
actor = tmp.root
except:
print "Using local service"
actor = dmd.ListenerService(None)
def long_time(t):
result = ''
for number, singular, plural in ((t//60, 'hour ', 'hours'), (t%60, 'minute ', 'minutes')):
if number:
result += "%2i %s "%(number, singular if number == 1 else plural)
return result or 'none'
def chrono_display((timeperiod, _, __), actor):
for t, m in actor.exposed_history(range(timeperiod-1, -1, -1)):
print "%40s %s %s"%(time.ctime(t), '*' if m.endswith('**') else ' ', m.rstrip('* '))
def grouped_display((timeperiod, _, __), source):
data = list(source.exposed_grouped(range(timeperiod)))
for task, tm in sorted(data, key=lambda t:t[1], reverse=True):
print "% 40s %s %s"%(task.rstrip('* '), '*' if task.endswith('**') else ' ', long_time(tm))
import rpyc
c = rpyc.connect_by_service("TIME")
print( "server's time is", c.root.get_time())
def RunRobotSim(scale=0.5, dt=0.1, invert=False):
counter = 0
decTime = time.time()
pygame.init()
print "Screen: ", pygame.display.get_driver()
mPerPixel = 0.01 / scale
sizeX = int(1600 * scale)
sizeY = int(800 * scale)
screen = pygame.display.set_mode((sizeX, sizeY))
disp = pygame.Surface((sizeX / 2, sizeY))
disp2 = pygame.Surface((sizeX / 2, sizeY))
from optparse import OptionParser
parser = OptionParser()
parser.add_option("-a",
default="",
dest="ip",
help="addres of robot",
metavar="IP")
parser.add_option("-c",
default="auto",
dest="acontrol",
help="Automatic Control",
metavar="CONTROL")
options, args = parser.parse_args()
ip = options.ip
acontrol = options.acontrol
#acontrol="auto"
engine = None
if ip:
import rpyc
engine = rpyc.connect_by_service("engine", ip)
print "Connectted to service!"
run = True
robotV = RobotVis.RobotVis(RobotSim.RobotSim(mPerPixel), mPerPixel)
#robotShaddow = RobotVis.RobotVis(RobotSim.RobotReal('192.168.0.203', 13500))
activeU = [robotV.robot.maxU, robotV.robot.maxU]
enviroment = Enviroment.Enviroment(sizeX / 2)
enviroment2 = Enviroment.Enviroment(sizeX / 2)
enviroment.LoadFromFile('map.txt')
robotV.enviroment = enviroment
enviroment2.SetClear(80, 60)
graph = grapher.Grapher(sizeX, sizeY / 4)
robotV.robot.dT = dt
joy = None
pygame.joystick.init()
try:
joy = pygame.joystick.Joystick(0)
joy.init()
except:
pass
timeControl = time.time()
#TODO:Fix
while run:
time.sleep(0.02)
for e in pygame.event.get():
if e.type == pygame.QUIT:
run = False
#main cycle
U = robotV.robot.Au(activeU)
X = robotV.robot.Vr(U)
S = robotV.robot.Vs(enviroment, enviroment2)
activeU = [0, 0]
if engine:
activeU = [0, 0]
#commands = engine.root.Get(5)
else:
try:
#print [joy.get_axis(0) * 64, -joy.get_axis(1) * 64]
#print joy.get_axis(0), joy.get_axis(1)
x = joy.get_axis(0) * 60
y = -joy.get_axis(1) * 60
activeU = [y + x / 2, y - x / 2]
if activeU == [0.0, 0.0]:
raise Exception()
timeControl = time.time()
#ret[0] = round(joy.get_axis(0))
#ret[1] = round(joy.get_axis(1))
except:
pass
if timeControl + 2 < time.time():
if acontrol == "auto":
activeU = robotV.robot.As(S)
#print activeU
#paint sensor response
graph.AddData(S)
#paint robot
enviroment.paint(disp)
enviroment2.paint(disp2)
if decTime + 2 < time.time():
decTime = time.time()
print decTime
for i, x in enumerate(enviroment2.map):
for j, y in enumerate(x):
enviroment2.map[i][j] -= 8
if enviroment2.map[i][j] < 0:
enviroment2.map[i][j] = 0
robotV.enviroment.paint(disp)
robotV.paint(disp)
if invert:
screen.fill((255, 255, 255))
screen.blit(disp, (0, 0), None, pygame.BLEND_SUB)
screen.blit(disp2, (sizeX / 2, 0), None, pygame.BLEND_SUB)
else:
screen.blit(disp, (0, 0))
screen.blit(disp2, (sizeX / 2, 0))
for y in range(0, int(sizeY * mPerPixel)):
for x in range(0, int(sizeX * mPerPixel)):
pygame.draw.circle(
screen, (255, 255, 0),
map(int, (x / mPerPixel, y / mPerPixel)), 2)
graph.Paint(screen, sizeY - graph.gr.get_height(), invert)
pygame.display.flip()
def exposed_start(self):
__steer_service = rpyc.connect_by_service("STEERINGDRIVER")
steer = __steer_service.root
self.lka.enable_disable_driver(True, steer)
self.started = True
def exposed_start(self):
__speed_service = rpyc.connect_by_service("SpeedDriver")
speed = __speed_service.root
self.colav.enable_disable_driver(True, speed)
self.started = True
