def main():
global outFile
global outWriter
parent_dir = os.path.join(os.environ['HOME'], 'mrover-data')
if not os.path.exists(parent_dir):
os.makedirs(parent_dir)
path = os.path.join(parent_dir, "SensorData.csv")
needsHeader = not os.path.exists(path)
outFile = open(path, 'a+', newline='')
outWriter = csv.writer(outFile,
delimiter=',',
quotechar='|',
quoting=csv.QUOTE_MINIMAL)
if needsHeader:
outWriter.writerow(print_order)
outFile.flush()
os.fsync(outFile.fileno())
lcm_.subscribe("/sensor_switch", switch_callback)
lcm_.subscribe("/sensors", sensor_callback)
run_coroutines(lcm_.loop())
def main():
# how you get lcm messages
lcm = aiolcm.AsyncLCM()
# instantiates Simulator class
Simulator = SimulatorMetaClass()
# constantly queries lcm server
lcm.subscribe("/autonstate", Simulator.autonstate_cb)
lcm.subscribe("/course", Simulator.course_cb)
lcm.subscribe("/gps", Simulator.gps_cb)
lcm.subscribe("/joystick", Simulator.joystick_cb)
lcm.subscribe("/navstatus", Simulator.navstatus_cb)
lcm.subscribe("/obstacle", Simulator.obstacle_cb)
lcm.subscribe("/obstacles", Simulator.obstacles_cb)
lcm.subscribe("/odometry", Simulator.odometry_cb)
lcm.subscribe("/target", Simulator.target_cb)
lcm.subscribe("/targetlist", Simulator.targetlist_cb)
lcm.subscribe("/waypoint", Simulator.waypoint_cb)
# creates loop to execute this code repeatedly with the lcm
run_coroutines(lcm.loop(), Simulator.publish_autonstate(lcm),
Simulator.publish_course(lcm), Simulator.publish_gps(lcm),
Simulator.publish_joystick(lcm),
Simulator.publish_navstatus(lcm),
Simulator.publish_obstacle(lcm),
Simulator.publish_obstacles(lcm),
Simulator.publish_odometry(lcm),
Simulator.publish_target(lcm),
Simulator.publish_targetlist(lcm),
Simulator.publish_waypoint(lcm)
# runSimulator(Simulator)
)
def main():
hb = heartbeatlib.OnboardHeartbeater(connection_state_changed, 0)
# look LCMSubscription.queue_capacity if messages are discarded
lcm_.subscribe("/drive_control", drive_control_callback)
lcm_.subscribe("/autonomous", autonomous_callback)
lcm_.subscribe('/motor', motor_callback)
lcm_.subscribe('/arm_control', arm_control_callback)
lcm_.subscribe('/sa_control', sa_control_callback)
lcm_.subscribe('/encoder', encoder_callback)
lcm_.subscribe('/arm_demand', enc_out_callback)
# lcm_.subscribe('/arm_demand', transmit_fake_encoders)
new_encoder = Encoder()
new_encoder.joint_a = 0
new_encoder.joint_b = 0
new_encoder.joint_c = 0
new_encoder.joint_d = 0
new_encoder.joint_e = 0
new_encoder.joint_f = 0
lcm_.publish('/encoder', new_encoder.encode())
run_coroutines(hb.loop(),
transmit_fake_odometry(), transmit_fake_sensors(),
lcm_.loop(), transmit_temperature(),
transmit_drive_status())
def main():
config_path = os.environ['MROVER_CONFIG']
geom_file = config_path + '/config_kinematics/mrover_arm_geom.json'
args = {
'geom_file': geom_file,
}
lcm_ = aiolcm.AsyncLCM()
arm = MRoverArm(args, lcm_)
config = ConfigurationSpaceTest(arm)
config.straight_up_torque_test()
# config.write_file()
# config.read_file()
# tester = KinematicsTester(arm)
# tester.kinematics_test()
lcm_.subscribe("/arm_position", arm.arm_position_callback)
lcm_.subscribe("/target_orientation", arm.target_orientation_callback)
lcm_.subscribe("/target_angles", arm.target_angles_callback)
lcm_.subscribe("/confirmation", arm.arm_position_callback)
lcm_.subscribe("/motion_execute", arm.motion_execute_callback)
lcm_.subscribe("/simulation_mode", arm.simulation_mode_callback)
lcm_.subscribe("/ik_arm_control", arm.cartesian_control_callback)
lcm_.subscribe("/lock_joint_e", arm.lock_e_callback)
lcm_.subscribe("/ik_enabled", arm.ik_enabled_callback)
run_coroutines(lcm_.loop(), arm.execute_spline())
def main():
lcm_.subscribe("/ik_arm_control", ik_callback)
lcm_.subscribe("/arm_position", fk_callback)
lcm_.subscribe('/arm_motors', open_loop_callback)
thread = threading.Thread(target=listen_blender)
thread.start()
run_coroutines(lcm_.loop())
def main():
global out_data
make_science_directories()
lcm_.subscribe("/rgb_frame", rgb_frame_callback)
lcm_.subscribe("/rgb", rgb_callback)
run_coroutines(lcm_.loop())
def main():
hb = heartbeatlib.OnboardHeartbeater(connection_state_changed, 0)
# look LCMSubscription.queue_capacity if messages are discarded
lcm_.subscribe("/drive_control", drive_control_callback)
lcm_.subscribe("/autonomous", autonomous_callback)
lcm_.subscribe('/arm_control', arm_control_callback)
lcm_.subscribe('/sa_control', sa_control_callback)
run_coroutines(hb.loop(), lcm_.loop(), transmit_temperature(),
transmit_drive_status())
def main():
global rover
rover = Rover()
lcm_.subscribe("/motor", drive_motor_callback)
lcm_.subscribe("/setparam", set_param_callback)
lcm_.subscribe("/setdemand", set_demand_callback)
lcm_.subscribe("/sa_motors", sa_motor_callback)
# lcm_.subscribe("/arm_demand", arm_demand_callback)
lcm_.subscribe("/arm_motors", open_loop_arm_callback)
run_coroutines(publish_arm_encoders(), lcm_.loop(), rover.run_all())
def main():
if len(sys.argv) != 2:
print(
"[LocSim] Error: Usage is ./jarvis exec simulators/loc <path_file>"
)
exit()
sim = LocSimulator(sys.argv[1])
plot_thread = threading.Thread(target=sim.plotOdom)
plot_thread.start()
run_coroutines(sim.lcm.loop(), sim.sendTrajectory())
def main():
global index
index = int(sys.argv[1])
Gst.init(None)
read_settings()
lcm_.subscribe("/pi_camera", camera_callback)
lcm_.subscribe("/pi_settings", settings_callback)
run_coroutines(lcm_.loop())
def main():
# Uses a context manager to ensure serial port released
with ScienceBridge() as bridge:
_lcm = aiolcm.AsyncLCM()
_lcm.subscribe("/mosfet_cmd", bridge.mosfet_transmit)
_lcm.subscribe("/auton_led", bridge.auton_led)
_lcm.subscribe("/servo_cmd", bridge.servo_transmit)
_lcm.subscribe("/heater_cmd", bridge.heater_transmit)
_lcm.subscribe("/heater_auto_shutdown_cmd", bridge.heater_auto_transmit)
print("properly started")
run_coroutines(_lcm.loop(), bridge.receive(_lcm))
def main():
global out_data
global parent_dir
parent_dir = os.path.join(os.environ['HOME'], 'mrover-data')
if not os.path.exists(parent_dir):
os.makedirs(parent_dir)
print(parent_dir)
lcm_.subscribe("/rgb_frame", rgb_frame_callback)
lcm_.subscribe("/rgb", rgb_callback)
run_coroutines(lcm_.loop())
def main():
hb = heartbeatlib.OnboardHeartbeater(connection_state_changed, 0)
# look LCMSubscription.queue_capacity if messages are discarded
lcm_.subscribe("/joystick", joystick_callback)
lcm_.subscribe("/autonomous", autonomous_callback)
lcm_.subscribe('/motor', motor_callback)
new_kill_msg = Kill_switches()
new_kill_msg.killed = False
lcm_.publish('/kill_switch', new_kill_msg.encode())
run_coroutines(hb.loop(), transmit_fake_odometry(),
transmit_fake_sensors(), lcm_.loop())
def main():
global index
index = int(sys.argv[1])
hb = heartbeatlib.OnboardHeartbeater(connection_state_changed, index)
Gst.init(None)
read_settings()
write_settings()
lcm_.subscribe("/pi_camera", camera_callback)
lcm_.subscribe("/pi_settings", settings_callback)
lcm_.subscribe("/pi_picture", picture_callback)
run_coroutines(lcm_.loop(), hb.loop(), connection_monitor())
def main():
# Perform arming squence for ESCs
for pin in escs:
esc_arm(pin)
# Initialize servos at 0 position
for pin in servos:
servo_init(pin, 0)
lcm_.subscribe("/servo", servo_callback)
lcm_.subscribe("/esc_toggle", esc_toggle_callback)
lcm_.subscribe("/esc_throttle", esc_throttle_callback)
run_coroutines(escs_execute(), lcm_.loop())
def main():
if len(sys.argv) < 3:
usage()
sys.exit(1)
type_name = sys.argv[1]
channel = sys.argv[2]
if not hasattr(rover_msgs, type_name):
print('error: no such type {}'.format(type_name))
sys.exit(1)
lcm_ = aiolcm.AsyncLCM()
lcm_.subscribe(channel, functools.partial(recv_message, type_name))
run_coroutines(lcm_.loop())
def main():
global encoder_value_send_task
if len(sys.argv) != 2:
usage()
sys.exit(1)
device_id = int(sys.argv[1])
if device_id < 0 or device_id >= 63:
usage()
sys.exit(1)
iface = os.environ.get('MROVER_TALON_CAN_IFACE', 'vcan0')
bus = aiocan.AsyncBCM(iface)
wait_for(setup_bus(bus, device_id))
run_coroutines(bus.loop(), status_3(bus, device_id))
def main():
# how you get lcm messages
lcm = aiolcm.AsyncLCM()
# instantiates Simulator class
Simulator = SimulatorMetaClass()
# constantly queries lcm server
lcm.subscribe("/ping", Simulator.ping_cb)
lcm.subscribe("/obstacle", Simulator.obstacle_cb)
# lcm.subscribe("\nav_state", Simulator.nav_state_cb)
# lcm.subscribe("\drive_control", Simulator.joystick_cb)
# creates loop to execute this code repeatedly with the lcm
run_coroutines(lcm.loop(), Simulator.publish_ping(lcm),
Simulator.publish_obstacle(lcm)
# runSimulator(Simulator)
)
def main():
arm = ArmControl()
drive = Drive(reverse=False)
camera = Camera()
def connection_state_changed(c, _):
global connection
if c:
print("Connection established.")
connection = True
else:
connection = False
print("Disconnected.")
drive.send_drive_kill()
arm.send_ra_kill()
arm.send_sa_kill()
hb = heartbeatlib.JetsonHeartbeater(connection_state_changed, 0)
# look LCMSubscription.queue_capacity if messages are discarded
lcm_.subscribe("/auton_enabled", drive.auton_enabled_callback)
lcm_.subscribe("/teleop_enabled", drive.teleop_enabled_callback)
lcm_.subscribe('/teleop_reverse_drive', drive.reverse_callback)
lcm_.subscribe("/drive_control", drive.teleop_drive_callback)
lcm_.subscribe("/auton_drive_control", drive.auton_drive_callback)
lcm_.subscribe('/ra_control', arm.ra_control_callback)
lcm_.subscribe('/sa_control', arm.sa_control_callback)
lcm_.subscribe('/arm_control_state', arm.arm_control_state_callback)
lcm_.subscribe('/ra_b_calib_data', arm.ra_calibration_callback)
lcm_.subscribe('/sa_b_calib_data', arm.sa_calibration_callback)
lcm_.subscribe('/arm_slow_mode', arm.arm_slow_mode_callback)
lcm_.subscribe('/gimbal_control', gimbal_control_callback)
# Subscribe to updated GUI camera channels
lcm_.subscribe('/cameras_control_ish', camera.update_ish_cameras)
lcm_.subscribe('/cameras_control', camera.update_cameras)
lcm_.subscribe('/cameras_mission', camera.update_mission)
run_coroutines(hb.loop(), lcm_.loop())
def main():
config_path = os.environ['MROVER_CONFIG']
geom_file = config_path + '/config_kinematics/mrover_arm_geom.json'
args = {
'geom_file': geom_file,
}
lcm_ = aiolcm.AsyncLCM()
arm = MRoverArm(args, lcm_)
lcm_.subscribe("/arm_position", arm.arm_position_callback)
lcm_.subscribe("/target_point", arm.target_point_callback)
lcm_.subscribe("/target_angles", arm.target_angles_callback)
lcm_.subscribe("/confirmation", arm.arm_position_callback)
lcm_.subscribe("/motion_execute", arm.motion_execute_callback)
lcm_.subscribe("/simulation_mode", arm.simulation_mode_callback)
lcm_.subscribe("/ik_arm_control", arm.cartesian_control_callback)
lcm_.subscribe("/lock_joint_e", arm.lock_e_callback)
lcm_.subscribe("/ik_enabled", arm.ik_enabled_callback)
run_coroutines(lcm_.loop(), arm.execute_spline())
def main():
# how you get lcm messages
lcm = aiolcm.AsyncLCM()
# instantiates Simulator class
Simulator = SimulatorMetaClass()
# constantly queries lcm server
lcm.subscribe("\nav_state", Simulator.nav_state_cb)
lcm.subscribe("\drive_control", Simulator.joystick_cb)
# creates loop to execute this code repeatedly with the lcm
run_coroutines(lcm.loop(), Simulator.publish_auton_state(lcm),
Simulator.publish_course(lcm), Simulator.publish_GPS(lcm),
Simulator.publish_obstacle(lcm),
Simulator.publish_tennis_ball(lcm), runSimulator(Simulator))
# as a general improvement, it may be worth threading all of the
# lcm-related bruhaha to offload the worst of the performance hits
# as the sim becomes more complex and computationally intensive
# time to run this mf'er
runSimulator(Simulator)
def main():
lcm_.subscribe("/ik_arm_control", ik_callback)
thread = threading.Thread(target=listen_blender)
thread.start()
run_coroutines(lcm_.loop())
def main():
# look LCMSubscription.queue_capacity if messages are discarded
lcm_.subscribe("/start_test", start_test_callback)
run_coroutines(lcm_.loop())
def main():
hb = heartbeatlib.OnboardHeartbeater(connection_state_changed)
run_coroutines(hb.loop(), transmit_fake_odometry())
def main():
fuser = SensorFusion()
run_coroutines(fuser.lcm.loop(), fuser.run())
def main():
lcm_.subscribe("/motor", motor_callback)
run_coroutines(lcm_.loop())
def main():
lcm_.subscribe("/camera_servos", camera_servo_callback)
run_coroutines(lcm_.loop())
def main():
lcm_.subscribe("/raman_collect", collect_callback)
run_coroutines(lcm_.loop())
def main():
# Uses a context manager to ensure serial port released
with GPS_Manager() as manager:
lcm = aiolcm.AsyncLCM()
lcm.subscribe("/rtcm", manager.transmit)
run_coroutines(lcm.loop(), manager.recieve(lcm))
def main():
hb = heartbeatlib.OnboardHeartbeater(connection_state_changed, sys.argv[1])
run_coroutines(hb.loop())
