class ObjectGenNOc(Pyro.core.ObjBase):
def __init__ (self, name = "Object", port = 0):
Pyro.core.ObjBase.__init__(self)
#instatiates an instace of communication and starts it
self.comm = Communications()
self.serverName = "ObjectGenNOc"
self.PORT = port
#if invalid returns 0
self.status = self.comm.initialize(self, self.PORT)
self.comm.start()
#instantiate an empty waypoint list
#instantiate empty packets
self.vehiclePacket = []
self.groundPacket1 = []
self.groundPacket2 = []
self.wayListForValidating = []
#!!!added my own waylist, no waylist manager
self.jimmyWayList = []
#instantiate variables to 0 so errors do not occur when GUI calls them
self.curWaypoint = None
self.isHandshaken = None
self.targetLat = 0
self.targetLong = 0
self.planeLat = 0
self.planeLong = 0
self.planeHeading = 99
self.mode = "waypoint"
self.navStat = True
self.gpsStat = True
self.commStat = True
self.GPSErrorType = ""
navigator = None
wayList = []
#sends the handshake to comm
#sets the flags to true
def setHandshake(self):
self.comm.handshake()
self.isHandshaken = True
#!!!do not start navigator
#!!!if self.navigator == None:
#!!!self.navigator = Navigator(self)
#!!!self.wayList = self.navigator.waylist
return "12345"
#!!!return a dummy key to gui, no more multiple guis
#!!!return self.navigator.obstacleManager.subscribe()
def completeHandShake(self):
self.shakeFlag = False
def getHandshake(self):
return self.isHandshaken
#returns the lost packet information/status
def getLostPacketStats(self):
return self.comm.getLostPacketStats()
def getPacketB(self):
self.comm.getPacketB()
def getPacketA(self):
self.comm.getPacketA()
def setTelError(self,error):
self.packetError = error;
def getTelError(self):
return self.packetError
#Method called by comm to push a packet to the object
#packetNum determines which packet it is
#Then it copys that packet list to be stored by the object
def pushPacket(self, packetNum, dataList):
if(packetNum == 1):
self.groundPacket1 = dataList
#print "packet A stuff:" + str(dataList['battery_voltage'])
if(packetNum == 2):
self.groundPacket2 = dataList
if(packetNum == 3):
self.vehiclePacket = dataList
#print "packet B stuff: " + str(dataList['latitude'])
if(packetNum == 4): #waylist for validating
self.wayListForValidating = dataList
#pushes information to navigator every time a packet is pushed
#!!!do not send navigator interpret
#!!!try:
#!!!self.navigator.obstacleManager.interpretTruckSensors(self.vehiclePacket['latitude'], self.vehiclePacket['longitude'], self.vehiclePacket['heading'], self.vehiclePacket['range'])
#!!!except Exception, e:
#!!!print e
#method to validate waylists
def ValidateWaylist(self):
self.tmpSystemList = self.getWaypointList() #get system waylist
self.tmpCorrectCount = 0 #count of correct waylists
self.tmpTruckCount = (self.wayListForValidating).__len__() #size of truck list
for w in tmpSystemList: #test if waypoints are equal
if(w.equals(self.wayListForValidating.pop(tmpTruckCount=tmpTruckCount - 1))):
self.tmpCorrectCount = self.tmpCorrectCount +1
if(self.tmpCorrectCount!=(self.getWaypointList()).__len__() ): #if correct waypoints match size of list
return False
else:
return True
#####Getter methods for GROUND STATION#########
#if the packet is empty we return dummy variables
#when the packet is filled by comm we return the actual numbers
def getGroundVersion(self):
if self.groundPacket1 == []:
return 0
return str(self.groundPacket1['version'])
def getGroundTimeAlive(self):
if self.groundPacket1 == []:
return 0
return str(self.groundPacket1['alive'])
def getGroundBat(self):
if self.groundPacket1 == []:
return 0
return str(self.groundPacket1['battery_voltage'])
def getGroundLat(self):
if self.groundPacket2 == []:
return 0
return str(self.groundPacket2['latitude'])
def getGroundLong(self):
if self.groundPacket2 == []:
return 0
return str(self.groundPacket2['longitude'])
def getGroundAlt(self):
if self.groundPacket2 == []:
return 0
return str(self.groundPacket2['air_pressure'])
def getGroundXpos(self):
if self.groundPacket2 == []:
return 0
return 0
#return str(self.groundPacket2['xpos'])
#hardware has not yet finished this functionality
def getGroundYpos(self):
if self.groundPacket2 == []:
return 0
return 0
#return str(self.groundPacket2['ypos'])
#hardware has not yet finished this functionality
def getGroundHeading(self):
if self.groundPacket2 == []:
return 0
return (str(self.groundPacket2['heading']))
######Getter methods for VEHICLE###########
#if the packet is empty we return 0
#when the packet is filled by comm we return the actual numbers
def getVehicleLatitude(self):
if self.vehiclePacket == []:
return 0
if str(self.vehiclePacket['latitude']) == '^':
return 00
return str(self.vehiclePacket['latitude'])
def getVehicleLongitude(self):
if self.vehiclePacket == []:
return 0
if str(self.vehiclePacket['longitude']) == '^':
return 00
return str(self.vehiclePacket['longitude'])
def getVehicleSpeed(self):
if self.vehiclePacket == []:
return 0
return str(self.vehiclePacket['speed'])
def getVehicleHeading(self):
if self.vehiclePacket == []:
return 0
return str(self.vehiclePacket['heading'])
def getVehicleMode(self):
if self.vehiclePacket == []:
return 0
return str(self.vehiclePacket['mode'])
def getVehicleTemperature(self):
if self.vehiclePacket == []:
return 0
return str(self.vehiclePacket['temperature'])
def getVehicleVoltage(self):
if self.vehiclePacket == []:
return 0
return str(self.vehiclePacket['battery_voltage'])
def getVehicleRange(self):
if self.vehiclePacket == []:
return 0
return str(self.vehiclePacket['range'])
###################iteration5#####################
#Adds the waypoint to the list
#Sets the current waypoint to the latest
#Validates the waypoint with Control
#Sends the updated waypoint list to comm
def addWaypoint(self, waypoint):
self.curWaypoint = waypoint
#!!!self.wayList.append(self.curWaypoint)
self.jimmyWayList.append(waypoint)
self.sendWaylist(jimmyWayList)
#returns the current waypoint
def getWaypoint(self):
return self.curWaypoint
#sends the entire waypoint list to comm to be updated to truck
def sendWaylist(self, list = None):
if list == None: list = self.jimmyWayList[:]
self.comm.addWaypoint(list)
#deletes a waypoint by index number
def deleteWaypoint(self,index):
print "deleting waypoint"
print len(self.jimmyWayList)
#!!!self.wayList.remove(index)
self.jimmyWayList.remove(index)
self.sendWaylist(jimmyWayList)
#clears the entire waylist
def clearWaylist(self):
#self.wayList.clear()
self.jimmyWayList = []
self.sendWaylist(jimmyWayList)
#modifys a waypoint by deleteing the old vale
#and reinserting the new given value into the olds place
def modifyWaypoint(self,waypoint,index):
print "modify waypoint"
print len(self.jimmyWayList)
#!!!self.wayList.update(index,waypoint)
del self.jimmyWayList[index]
self.jimmyWayList.insertWaypoint(waypoint,index-1)
#inserts a waypoint AFTER the index
#moves all other waypoints down the waypoint list
def insertWaypoint(self, waypoint, index):
print "inserting waypoint"
print len(self.wayList)
self.jimmyWayList.inset(index+1, waypoint)
self.sendWaylist(jimmyWayList)
###################iteration6#####################
#sets the mode
#calls the method to set the mode in control
def setMode(self,string):
self.mode = string
#!!!self.navigator.mode = string
#returns the mode from control
def getMode(self):
#!!!return self.navigator.mode
return self.mode
#returns the current waypoint list
def getWaypointList(self):
return self.jimmyWayList[:]
#return the Obstacle Manager
def getObstacleManager(self):
return None
#!!!return self.navigator.getObstacleManager()
#returns the Obstacle grid
def getObjectGrid(self,lat,long,lat2,long2):
return None
#!!!return self.navigator.getObsManager().getGrid(lat,long,lat2,long2)
#allows to add a Line to the ObstacleManager
def addLineObject(self,lat,long,lat2,long2):
return None
#!!!self.navigator.obstacleManager.addLine(lat, long, lat2, long2)
#Calls controls method to add line object
#allows to add a Circle to the ObstacleManager
def addCircleObject(self,lat,long, radiusLong, radiusLat):
return None
#!!!self.navigator.obstacleManager.addCircle(lat, long, radiusLat, radiusLong)
#Calls controls method to add circle object
#returns the update queue from control to the caller
def getObstacleUpdateList(self, key):
return []
#!!!return self.navigator.obstacleManager.getUpdates(key)
def checkArea(self, degreesLat, degreesLong, degreesLat2, degreesLong2, key):
return None
#!!!self.navigator.obstacleManager.checkArea(degreesLat, degreesLong, degreesLat2, degreesLong2, key)
def clearArea(self, degreesLat, degreesLong, degreesLat2, degreesLong2):
return None
#!!!self.navigator.obstacleManager.clearArea(degreesLat, degreesLong, degreesLat2, degreesLong2)
def unsubscribe(self, key):
return None
#!!!self.navigator.obstacleManager.unsubscribe(key)
def setHaltMode(self):
self.comm.setHaltMode()
def setResumeMode(self):
#!!!self.navigator.resume()
print "Dmitri called me"
self.comm.setWaypointMode()
#sends the truck to the waypoint index
def setGoTo(self, index):
print "GOTO"
print index
#!!!self.navigator.goToUserWaypoint(index)
######### BLACKBIRD METHODS ###########
#sets the plane position
def setPlanePosition(self,lat,long, heading):
self.planeLat = lat
self.planeLong = long
self.planeHeading = heading
#returns the plane's position to whoever calls it
def getPlanePositionLat(self):
return self.planeLat
def getPlanePositionLong(self):
return self.planeLong
def getPlaneHeading(self):
return self.planeHeading
#BLACKBIRD add Waypoints and Obstacles
def BBaddWaypoint(self,waypoint):
print "BB has added a waypoint"
self.addWaypoint(waypoint)
def BBaddLineObstacle(self,lat,long,lat2,long2):
print "BB has added a LINE obstacle"
#!!!self.navigator.obstacleManager.addLine(lat, long, lat2, long2)
def BBaddCircleObstacle(self,lat,long, radiusLong, radiusLat):
print "BB has added a CIRCLE obstacle"
#!!!self.navigator.obstacleManager.addCircle(lat, long, radiusLat, radiusLong)
def getStatus(self):
return self.status
def setPreflight(self,type,errorRate=100):
self.comm.setPreFlight(type,errorRate)
self.error = self.comm.checkErrorRate()
self.errorType = type
print "ERROR IS: "
print self.error
if(self.error):
if(self.errorType=="HALT"):
self.setHaltMode()
elif(self.errorType=="IGNORE"):
pass
elif(self.errorType=="RETURN"):
#self.HOME = Waypoint(self.groundPacket2['latitude'], self.groundPacket2['longitude'],1,0)
self.HOME = self.wayList[0]
self.clearWaylist()
self.addWaypoint(self.HOME)
#Similiar to Preflight, but for GPS ERROR
#Error Types: HALT, IGNORE
def setGPSError(self, type):
self.GPSErrorType = type
print "GPS Error Type Set: " + str(self.GPSErrorType)
#Acknowledges that there was a GPS error and takes correct action
#Action is determined by GUI
def AckGPSError(self):
if(self.GPSErrorType == "HALT"):
self.setHaltMode()
elif(self.GPSErrorType=="IGNORE"):
pass
#set by other layers for the status lights
def setNavError(self,error):
self.navStat = not error
def setCOMMStatus(self,status):
self.commStat = status
def setGPSStatus(self,status):
self.gpsStat = status
if(status):
# print "----GPS ERROR is---- "
# print self.gpsStat
pass
#methods for GUI status lights
def checkNavStatus(self):
#method by navigator team to check status
return self.navStat
def checkGPSStatus(self):
#method by comm to check gps status
return self.gpsStat
def checkCOMMStatus(self):
#method by comm to check COMM status
return self.commStat
def checkWaypointModeStatus(self):
if(self.comm.getCurrentTruckMode() == "%1"):
return True
else:
return False
def guiUnsubscribe(self, key):
#!!!self.navigator.obstacleManager.unsubscribe(key)
pass
class ObjectGen(Pyro.core.ObjBase):
def __init__ (self, name = "Object", port = 0):
Pyro.core.ObjBase.__init__(self)
#instatiates an instace of communication and starts it
self.comm = Communications()
self.serverName = "ObjectGen"
self.PORT = port
#if invalid returns 0
self.status = self.comm.initialize(self, self.PORT)
self.comm.start()
#instantiate an empty waypoint list
#instantiate empty packets
self.vehiclePacket = []
self.groundPacket1 = []
self.groundPacket2 = []
self.wayListForValidating = []
#instantiate variables to 0 so errors do not occur when GUI calls them
self.curWaypoint = None
self.isHandshaken = None
self.targetLat = 0
self.targetLong = 0
self.planeLat = 0
self.planeLong = 0
self.planeHeading = 99
self.mode = "waypoint"
self.navStat = True
self.gpsStat = True
self.commStat = True
self.GPSErrorType = ""
navigator = None
wayList = []
#sends the handshake to comm
#sets the flags to true
def setHandshake(self):
self.comm.handshake()
self.isHandshaken = True
if self.navigator == None:
self.navigator = Navigator(self)
self.wayList = self.navigator.waylist
return self.navigator.obstacleManager.subscribe()
def completeHandShake(self):
self.shakeFlag = False
def getHandshake(self):
return self.isHandshaken
#returns the lost packet information/status
def getLostPacketStats(self):
return self.comm.getLostPacketStats()
def getPacketB(self):
self.comm.getPacketB()
def getPacketA(self):
self.comm.getPacketA()
def setTelError(self,error):
self.packetError = error;
def getTelError(self):
return self.packetError
#Method called by comm to push a packet to the object
#packetNum determines which packet it is
#Then it copys that packet list to be stored by the object
def pushPacket(self, packetNum, dataList):
if(packetNum == 1):
self.groundPacket1 = dataList
#print "packet A stuff:" + str(dataList['battery_voltage'])
if(packetNum == 2):
self.groundPacket2 = dataList
if(packetNum == 3):
self.vehiclePacket = dataList
#print "packet B stuff: " + str(dataList['latitude'])
if(packetNum == 4): #waylist for validating
self.wayListForValidating = dataList
#pushes information to navigator every time a packet is pushed
try:
self.navigator.obstacleManager.interpretTruckSensors(self.vehiclePacket['latitude'], self.vehiclePacket['longitude'], self.vehiclePacket['heading'], self.vehiclePacket['range'])
except Exception, e:
print e