def __init__(self, map, req):
Thread.__init__(self)
#system('svctrl --start wifi_sensor > /dev/null')
self.gps_reader = _GPS_Reader(map['gps'])
self.measure_reader = _MeasureReader(map['net'])
self.combined_publisher = _CombinedPublisher(map['pub_server'], self.gps_reader, self.measure_reader)
self.map = map
self.req = req
self.factory = ICARUS_MissionFactory()
self.client = ICARUS_SynClient(map['ctrl'], map['state'])
class LocMission(Thread):
"""
- manages a measurement publisher
- executes a configurable zigzag mission
"""
def __init__(self, map, req):
Thread.__init__(self)
#system('svctrl --start wifi_sensor > /dev/null')
self.gps_reader = _GPS_Reader(map['gps'])
self.measure_reader = _MeasureReader(map['net'])
self.combined_publisher = _CombinedPublisher(map['pub_server'], self.gps_reader, self.measure_reader)
self.map = map
self.req = req
self.factory = ICARUS_MissionFactory()
self.client = ICARUS_SynClient(map['ctrl'], map['state'])
def run(self):
self.gps_reader.start()
self.measure_reader.start()
self.combined_publisher.start()
for x, y in self._zigzag_gen(0.0, 0.0, 0.1, 0.1, 10):
self.client.execute(self.factory.move_xy(x, y))
self.combined_publisher.term()
self.measure_reader.term()
self.gps_reader.term()
self.req.status = MissionMessage.DONE
self.map['pub_server'].send(self.req.SerializeToString())
def _zigzag_gen(self, x, y, width, height, breaks):
for i in range(breaks):
yield x + width / 2.0, y
y += (height / breaks) / 2.0
yield x - width / 2.0, y
y += (height / breaks) / 2.0
yield width / 2.0, height
from scl import generate_map
from icarus_interface import ICARUS_SynClient, ICARUS_MissionFactory
from misc import user_data_dir
# set-up command history:
_path = user_data_dir + os.sep + 'ICARUS_shell.history'
_history = os.path.expanduser(_path)
def _save_history(historyPath=_history):
readline.write_history_file(_history)
if os.path.exists(_history):
readline.read_history_file(_history)
readline.parse_and_bind("tab: complete")
atexit.register(_save_history)
# define
_map = generate_map('mission')
_client = ICARUS_SynClient(_map['icarus_ctrl'], _map['icarus_state'])
i = ICARUS_MissionFactory()
def request(item):
try:
_client.execute(item)
except Exception, e:
print e