def main():
# Parse CLI args
args = setup_cli_args(cli.grpc_host, cli.log_level)
# Setup logging
setup_logging(level=args[LOG_LEVEL])
http = Flask(__name__)
@http.route("/count")
def val_count():
global count
return "Read {0} values".format(count)
def read_values():
global count
while True:
print("Got location: {0}".format(client.get_xy()))
count += 1
# Start client
with LocationClient(args[GRPC_HOST]) as client:
# Run read_values in a thread
count = 0
Thread(target=read_values).start()
# Run HTTP server in a thread
Thread(target=http.run, kwargs={"port": 8080}).start()
sleep()
def main():
# Parse CLI args
args = setup_cli_args(ImageServer.args, cli.camera_name_optional,
fifo_name_option, fifo_verbose, cli.log_level)
# Setup logging
setup_logging(level=args[LOG_LEVEL])
image_server = ImageServer(template_file=args[TEMPLATE_FILE],
image_x=args[IMAGE_X],
image_y=args[IMAGE_Y],
camera_name=args[CAMERA_NAME],
http_port=args[HTTP_PORT],
http_delay_secs=args[HTTP_DELAY_SECS],
http_verbose=args[HTTP_VERBOSE])
fifo_reader = FifoReader(image_server=image_server,
fifo_name=args[FIFO_NAME],
fifo_verbose=args[FIFO_VERBOSE])
try:
image_server.start()
fifo_reader.start()
sleep()
except KeyboardInterrupt:
pass
finally:
image_server.stop()
fifo_reader.stop()
logger.info("Exiting")
sys.exit(1)
userdata = {
SHORT_LIDAR_PUB: pub,
SHORT_LIDAR_RATE: rate,
HEALTH_PUB: health_pub,
HEALTH_RATE: health_rate,
COMMAND: "lidar/{0}/command".format(args[DEVICE]),
ENABLED: True,
MOVING_AVERAGE: MovingAverage(size=3),
#OOR_VALUES: OutOfRangeValues(size=args[OOR_SIZE]),
#OOR_TIME: args[OOR_TIME],
#OOR_UPPER: args[OOR_UPPER],
}
logger.info("Opened serial port: " +
SerialReader.lookup_port(args[DEVICE_ID]))
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],
debug=True):
try:
sleep()
except KeyboardInterrupt:
pass
finally:
stopped = True
logger.info("Exiting...")