def pre_run():
afe = atm90e26()
afe.setup('spi')
cfg = {k: base_config[k] for k in base_config}
local_overrides = json.load(open('./device_params.json'))
for k in local_overrides:
cfg[k] = local_overrides[k]
if cfg.get('calibration', None) is not None:
afe.loadCalibration(cfg['calibration'])
afe.reset()
cfg['lights'] = Lights.Lights()
cfg['afe'] = afe
cfg['serial'] = getSerial()
cfg['ips'] = getIPaddrs()
sdn = sdnotify.SystemdNotifier()
cfg['sdnotify'] = sdn
sdn.notify('READY=1')
i = iSetup(cfg)
cfg['iconn'] = i
return cfg
def get_request():
if request.method == 'POST':
payload = request.get_json(silent=True)
if 'plants' in payload:
plants = Plants.Plants(payload)
plants.handle_plants()
if 'lights' in payload:
lights = Lights.Lights(payload)
lights.handle_lights()
else:
print ('nothing in the payload')
#print ("Got data: " + str(payload))
return {'succeeded with query' : str(payload)}
def __init__(self):
ip = "0.0.0.0"
port = 8005
self._topcommunicator = TcpCommunicator(ip, port, bind=True)
self._botcommunicator = I2cCommunicator()
self._myhardware = Hardware(self._botcommunicator)
#===============AVR
self._Avr1address = 6
self._Avr2address = 7
self._myhardware.addAVR(self._Avr1address)
self._myhardware.addAVR(self._Avr2address)
#===============Devices
motorsbasepwm = 1440
zero = 0
cameraservobase = 1500
RGBwhite = 7
self._myhardware._avrList[0].addDevice("Front_Right_Thruster",
motorsbasepwm, 2)
self._myhardware._avrList[0].addDevice("Front_Left_Thruster",
motorsbasepwm, 2)
self._myhardware._avrList[0].addDevice("Back_Right_Thruster",
motorsbasepwm, 2)
self._myhardware._avrList[0].addDevice("Back_Left_Thruster",
motorsbasepwm, 2)
self._myhardware._avrList[0].addDevice("Up_Front_Thruster",
motorsbasepwm, 2)
self._myhardware._avrList[0].addDevice("Up_Back_Thruster",
motorsbasepwm, 2)
self._myhardware._avrList[0].addDevice("DC", zero, 1)
self._myhardware._avrList[1].addDevice("Camera_Servo", cameraservobase,
2)
self._myhardware._avrList[1].addDevice("LED", RGBwhite, 1)
self._myhardware._avrList[1].addDevice("Cycle_Flag", zero, 1)
#=============Components
#identifiers must be in the form of a list
self._rovmanipulator = Manipulator(self._myhardware, {"grip": 0})
self._rovLights = Lights(self._myhardware, {"led": 7})
self._rovCamera = Camera(self._myhardware, {"cam": 0})
self._rovmotion = Motion(self._myhardware, {
"x": 0,
"y": 0,
"z": 0,
"r": 0,
"currentmode": "normal"
})
modules = [
self._rovmanipulator, self._rovLights, self._rovCamera,
self._rovmotion
]
#=============PostOffcie
self.mypostoffice = PostOffice()
for module in modules:
self.mypostoffice.registerEventListner("TCP", module.mail)
self.mypostoffice.registerEventListner("TCP ERROR", module.mail)
self.mypostoffice.registerEventListner("I2C",
self._rovmanipulator.mail)
self.mypostoffice.registerEventListner(
"I2C", self._myhardware._avrList[1].mail)
self.mypostoffice.registerEventListner(
"I2C", self._myhardware._avrList[0].mail)
self.mypostoffice.registerEventListner("Sensors",
self._topcommunicator._send)
self._topcommunicator.registerCallBack(self.mypostoffice.triggerEvent)
#=============Sensors
# self._mysensors=SensorRegistry()
# self._mysensors.registerSensor(sensor)
# self._mysensors.registerCallBack(self.mypostoffice.triggerEvent)
#=====intterupts
self._interruptor = Interrupt()
self._interruptor.register(23, False, self.mypostoffice.triggerEvent,
"I2C")
self._topcommunicator._mainLoop()
