control_mode = False mission_mode = False #--------------------------------------------------------------------------------# # inizializing UDP connection with Unity HOST_IP = 'localhost' HOST_PORT_UDP = 29000 UDP_IP = 'localhost' UDP_PORT = 25000 unity_com = CustomUDP(HOST_IP, HOST_PORT_UDP, UDP_IP, UDP_PORT) unity_com.start() # inizializing connection with mission_manager mission_com = SerialConnection(port='com2', baud=115200) mission_com.start() # inizializing pygame pg.init() # creation GUI screen pg.display.set_caption('Zeno GUI') screen = pg.display.set_mode(SCREEN_DIM) # creation of stylised images of the AUV (top, side and back view) # note: images are square and image width is equal to dial diameter image_width = 2 * DIAL_R image_1 = create_view('images/zeno_top.bmp', image_width) # top view image_2 = create_view('images/zeno_side.bmp', image_width) # side view image_3 = create_view('images/zeno_back.bmp', image_width) # back view
nav_status_lock = threading.Lock() command = 6 * [0] command_lock = threading.Lock() # global variables mission_running = True mission_mode = True blocking = True thread1 = None thread2 = None obj_detection = ObjectDetection() # initializing serial connection with AUV_simulator simulator_com = SerialConnection(port='com1', baud=115200) simulator_com.start() # wait for the first not empty message from AUV_simulator while nav_status == None: receive_nav_status() # threads running start_threads() # wait for threads termination wait_for_threads_termination() # close serial connection with AUV_simulator simulator_com.close()
from serial_connection import SerialConnection import signal def new_packet(incoming_queue): packet = incoming_queue.get() print(packet) incoming_queue.task_done() def exit_handler(signal, frame): print("Exit called") con.stop() con = SerialConnection('/dev/pts/2', 19200, new_packet, "ACK\n") items = ["esimene", "teine", "kolmas", "neljas"] con.start() for i in items: con.write(i) print("items added to write queue") # register exit handler signal.signal(signal.SIGINT, exit_handler)