def __init__(self):
super(Autopilot, self).__init__()
# setup all processes to exit on any signal
self.childpids = []
def cleanup(signal_number, frame=None):
print('got signal', signal_number, 'cleaning up')
while self.childpids:
pid = self.childpids.pop()
#print('kill child', pid)
os.kill(pid, signal.SIGTERM) # get backtrace
sys.stdout.flush()
if signal_number != 'atexit':
raise KeyboardInterrupt # to get backtrace on all processes
# unfortunately we occasionally get this signal,
# some sort of timing issue where python doesn't realize the pipe
# is broken yet, so doesn't raise an exception
def printpipewarning(signal_number, frame):
print('got SIGPIPE, ignoring')
import signal
for s in range(1, 16):
if s == 13:
signal.signal(s, printpipewarning)
elif s != 9:
signal.signal(s, cleanup)
# self.server = SignalKServer()
self.server = SignalKPipeServer()
self.boatimu = BoatIMU(self.server)
self.sensors = Sensors(self.server)
self.servo = servo.Servo(self.server, self.sensors)
self.version = self.Register(Value, 'version',
'pypilot' + ' ' + strversion)
self.heading_command = self.Register(HeadingProperty,
'heading_command', 0)
self.enabled = self.Register(BooleanProperty, 'enabled', False)
self.lastenabled = False
self.lost_mode = self.Register(BooleanValue, 'lost_mode', False)
self.mode = self.Register(ModeProperty, 'mode')
self.mode.ap = self
self.lastmode = False
self.last_heading = False
self.last_heading_off = self.boatimu.heading_off.value
self.pilots = []
for pilot_type in pilots.default:
self.pilots.append(pilot_type(self))
self.pilot = self.Register(EnumProperty,
'pilot',
'basic',
['simple', 'basic', 'learning', 'wind'],
persistent=True)
timestamp = self.server.TimeStamp('ap')
self.heading = self.Register(SensorValue,
'heading',
timestamp,
directional=True)
self.heading_error = self.Register(SensorValue, 'heading_error',
timestamp)
self.heading_error_int = self.Register(SensorValue,
'heading_error_int', timestamp)
self.heading_error_int_time = time.time()
self.tack = tacking.Tack(self)
self.gps_compass_offset = HeadingOffset()
self.gps_speed = self.Register(SensorValue, 'gps_speed', timestamp)
self.wind_compass_offset = HeadingOffset()
self.true_wind_compass_offset = HeadingOffset()
self.wind_direction = self.Register(SensorValue,
'wind_direction',
timestamp,
directional=True)
self.wind_speed = self.Register(SensorValue, 'wind_speed', timestamp)
self.runtime = self.Register(TimeValue, 'runtime') #, persistent=True)
device = '/dev/watchdog0'
self.watchdog_device = False
try:
self.watchdog_device = open(device, 'w')
except:
print('warning: failed to open special file', device,
'for writing')
print(' cannot stroke the watchdog')
if os.system('sudo chrt -pf 1 %d 2>&1 > /dev/null' % os.getpid()):
print('warning, failed to make autopilot process realtime')
self.starttime = time.time()
self.times = 4 * [0]
self.childpids = [
self.boatimu.imu_process.pid, self.boatimu.auto_cal.process.pid,
self.server.process.pid, self.sensors.nmea.process.pid,
self.sensors.gps.process.pid
]
signal.signal(signal.SIGCHLD, cleanup)
import atexit
atexit.register(lambda: cleanup('atexit'))
self.lastdata = False
self.lasttime = time.time()
def __init__(self):
super(Autopilot, self).__init__()
self.watchdog_device = False
self.server = pypilotServer()
self.client = pypilotClient(self.server)
self.boatimu = BoatIMU(self.client)
self.sensors = Sensors(self.client)
self.servo = servo.Servo(self.client, self.sensors)
self.version = self.register(Value, 'version', 'pypilot' + ' ' + strversion)
self.timestamp = self.client.register(SensorValue('timestamp', 0))
self.starttime = time.monotonic()
self.mode = self.register(ModeProperty, 'mode')
self.preferred_mode = self.register(Value, 'preferred_mode', 'compass')
self.lastmode = False
self.mode.ap = self
self.heading_command = self.register(HeadingProperty, 'heading_command', self.mode)
self.enabled = self.register(BooleanProperty, 'enabled', False)
self.lastenabled = False
self.last_heading = False
self.last_heading_off = self.boatimu.heading_off.value
self.pilots = {}
for pilot_type in pilots.default:
try:
pilot = pilot_type(self)
self.pilots[pilot.name] = pilot
except Exception as e:
print('failed to load pilot', pilot_type, e)
pilot_names = list(self.pilots)
print('Loaded Pilots:', pilot_names)
self.pilot = self.register(EnumProperty, 'pilot', 'basic', pilot_names, persistent=True)
self.heading = self.register(SensorValue, 'heading', directional=True)
self.heading_error = self.register(SensorValue, 'heading_error')
self.heading_error_int = self.register(SensorValue, 'heading_error_int')
self.heading_error_int_time = time.monotonic()
self.tack = tacking.Tack(self)
self.gps_compass_offset = HeadingOffset()
self.gps_speed = 0
self.wind_compass_offset = HeadingOffset()
self.true_wind_compass_offset = HeadingOffset()
self.wind_direction = self.register(SensorValue, 'wind_direction', directional=True)
self.wind_speed = 0
self.runtime = self.register(TimeValue, 'runtime') #, persistent=True)
self.timings = self.register(SensorValue, 'timings', False)
device = '/dev/watchdog0'
try:
self.watchdog_device = open(device, 'w')
except:
print('warning: failed to open special file', device, 'for writing')
print(' cannot stroke the watchdog')
self.server.poll() # setup process before we switch main process to realtime
if os.system('sudo chrt -pf 1 %d 2>&1 > /dev/null' % os.getpid()):
print('warning, failed to make autopilot process realtime')
self.lasttime = time.monotonic()
# setup all processes to exit on any signal
self.childprocesses = [self.boatimu.imu, self.boatimu.auto_cal,
self.sensors.nmea, self.sensors.gpsd,
self.sensors.signalk, self.server]
def cleanup(signal_number, frame=None):
#print('got signal', signal_number, 'cleaning up')
if signal_number == signal.SIGCHLD:
pid = os.waitpid(-1, os.WNOHANG)
#print('sigchld waitpid', pid)
if signal_number != 'atexit': # don't get this signal again
signal.signal(signal_number, signal.SIG_IGN)
while self.childprocesses:
process = self.childprocesses.pop().process
if process:
pid = process.pid
#print('kill', pid, process)
try:
os.kill(pid, signal.SIGTERM) # get backtrace
except Exception as e:
pass
#print('kill failed', e)
sys.stdout.flush()
if signal_number != 'atexit':
raise KeyboardInterrupt # to get backtrace on all processes
# unfortunately we occasionally get this signal,
# some sort of timing issue where python doesn't realize the pipe
# is broken yet, so doesn't raise an exception
def printpipewarning(signal_number, frame):
print('got SIGPIPE, ignoring')
import signal
for s in range(1, 16):
if s == 13:
signal.signal(s, printpipewarning)
elif s != 9:
signal.signal(s, cleanup)
signal.signal(signal.SIGCHLD, cleanup)
import atexit
atexit.register(lambda : cleanup('atexit'))