def __init__(self):
QtCore.QThread.__init__(self)
self.control_instance=Control()
self.running=True #用于停止线程
self.flag=True #用于暂停线程
self.runed_times=0 #用于记录暂停前的执行的次数
self.runed_looptimes=1 #用于记录暂停前要循环执行的次数
self.loopflag=True #用于循环暂停
def main():
try:
opts, args = getopt.getopt(
sys.argv[1:], "h",
["help", "name=", "task=", "show-config", "reboot", "test"])
except getopt.GetoptError as err:
print("Error: ", err)
sys.exit(2)
name = None
tasks = []
for o, a in opts:
if o in "--reboot":
Control.rebootXPS()
sys.exit()
elif o in "--name":
name = a
elif o in "--test":
task = os.path.dirname(
os.path.abspath(__file__)) + "\\tasks\\" + "test.json"
name = "test"
if os.path.exists(task):
tasks.append(task)
else:
logger.error("Task test task does'nt exist!")
elif o in "--task":
if not os.path.isabs(a):
a = os.path.dirname(
os.path.abspath(__file__)) + "\\tasks\\" + a
for i in a.split(','):
t = i + '.json'
if os.path.exists(t):
tasks.append(t)
else:
logger.error("Task file %s does'nt exist!", a)
elif o in "--show-config":
print(vars(Config))
else:
usage()
sys.exit(2)
if len(tasks) < 1:
usage()
sys.exit()
for t in tasks:
Control.start(t, name)
class controlThread(QtCore.QThread):
def __init__(self):
QtCore.QThread.__init__(self)
self.control_instance=Control()
self.running=True #用于停止线程
self.flag=True #用于暂停线程
self.runed_times=0 #用于记录暂停前的执行的次数
self.runed_looptimes=1 #用于记录暂停前要循环执行的次数
self.loopflag=True #用于循环暂停
def run(self):
# print("start controlThread")
while self.running:
if not control_q.empty():
# print("got cmd windows data")
cmd_all_list=control_q.get()
self.runed_looptimes=cmd_all_list[0]
self.loopflag=True
while self.loopflag:
for t in range(self.runed_times,self.runed_looptimes): #循环次数
# print(self.flag)
if self.flag:
if self.running:
counts=t+1
self.emit(QtCore.SIGNAL("getcounts(QString)"),_fromUtf8(str(counts)))
for i in range(1,(len(cmd_all_list))):
msg_list=cmd_all_list[i]
dev_class_type=msg_list[0]
cmd_list=msg_list[1]
self.control_instance.devices_c(dev_class_type,cmd_list)
# print("send control cmd to server")
else:
break
else:
self.runed_times=t
break
if self.flag:
self.loopflag=False
else:
self.loopflag=True
def pause(self):
self.flag=False
def resume(self):
self.running=True
self.loopflag=True #用于循环暂停
self.flag=True
def stop(self):
self.loopflag=True #用于循环暂停
self.flag=True # 将线程从暂停状态恢复, 如何已经暂停的话
self.running=False
self.runed_times=0 #用于记录暂停前的执行的次数
self.runed_looptimes=1 #用于记录暂停前要循环执行的次数
def main():
""" CONTROL """
# Start the control
control_thread = Control(name="ControlThread")
control_thread.start()
""" GUI """
# S E T U P
root = tk.Tk()
# S T A R T
pro_gui = PROTrainerGUI(root=root, control_thread=control_thread)
pro_gui.mainloop()
def __init__(self):
rospy.init_node('control')
rospy.Subscriber('/tachyon/geometry',
MsgGeometry,
self.cb_geometry,
queue_size=1)
rospy.Subscriber('/control/mode', MsgMode, self.cb_mode, queue_size=1)
rospy.Subscriber('/control/parameters',
MsgControl,
self.cb_control,
queue_size=1)
rospy.Subscriber('/supervisor/status',
MsgStatus,
self.cb_status,
queue_size=1)
self.pub_power = rospy.Publisher('/control/power',
MsgPower,
queue_size=10)
self.msg_power = MsgPower()
self.mode = MANUAL
self.status = False
self.time_step = None
self.control = Control()
self.updateParameters()
self.setPowerParameters(rospy.get_param('/control/power'))
self.control.pid.set_limits(self.power_min, self.power_max)
self.control.pid.set_setpoint(self.setpoint)
rospy.spin()
def create_control(self, control_json, addon):
control = Control(control_json, addon)
collection = self.controls
try:
collection.insert(control.__dict__)
except errors.DuplicateKeyError as e:
print(e)
def __init__(self, path, flags, *mode):
self.control = Control.getInstance()
print "attempting to open path: %s" % (path)
base, name = os.path.split(path)
print "makedirs: %s" % (base)
os.makedirs(base)
print path, flag2mode(flags)
self.file = open(path, flag2mode(flags))
self.fd = self.file.fileno()
def __init__(self,
width,
height,
frame_rate,
name,
title,
server_host="localhost",
server_port=20149):
PygameSocketGame.__init__(self, title, width, height, frame_rate,
server_host, server_port)
self.name = name
self.display = Display(width, height)
self.control = Control(width, height)
self.control.player_image = "duck2.png"
# music_path = os.path.join('display', 'music', 'LukHash_-_ARCADE_JOURNEYS.wav')
# pygame.mixer.music(music_path).play(-1)
return
def __init__(self, width, height, frame_rate, name, title, server_host="localhost", server_port=20149):
PygameSocketGame.__init__(self, title, width, height, frame_rate, server_host, server_port)
self.name = name
self.display = Display(width, height)
self.control = Control(width, height)
self.control.player_image = 'shooter3.png'
#pygame.mixer.init()
#pygame.mixer.music('display/sounds/background.wav')
#pygame.mixer.music.play()
sound_path = os.path.join('display', 'sounds', 'bac2.wav')
pygame.mixer.Sound(sound_path).play(-1)
return
def main():
try:
opts, args = getopt.getopt(
sys.argv[1:], "hs:lL:n:t:",
["help", "server=", "localhost", "logging=", "name=", "title="])
except getopt.GetoptError as e:
print(str(e))
usage()
sys.exit(1)
show_help = False
server = "rookie.cs.dixie.edu"
name = DEFAULT_TEAM_NAME
title = DEFAULT_GAME_TITLE
logging_level = "error"
for o, a in opts:
if o in ("-h", "--help"):
show_help = True
elif o in ("-s", "--server"):
server = a
elif o in ("-l", "--localhost"):
server = "127.0.0.1"
elif o in ("-L", "--logging"):
logging_level = a
elif o in ("-n", "--name"):
name = a
elif o in ("-t", "--title"):
title = a
else:
print("Unexpected option: %s" % (o))
usage()
sys.exit(1)
if show_help:
usage()
sys.exit(1)
if logging_level == "info":
logging.basicConfig(level=logging.INFO)
elif logging_level == "debug":
logging.basicConfig(level=logging.DEBUG)
elif logging_level == "warning":
logging.basicConfig(level=logging.WARNING)
elif logging_level == "error":
logging.basicConfig(level=logging.ERROR)
else:
logging.basicConfig(level=logging.ERROR)
display = Display(WINDOW_WIDTH, WINDOW_HEIGHT)
control = Control(WINDOW_WIDTH, WINDOW_HEIGHT)
g = PygameClient(display, control, WINDOW_WIDTH, WINDOW_HEIGHT,
FRAMES_PER_SECOND, name, title, server)
g.main_loop()
return
def __init__(self):
"""
Initializes the app and creates an control instance
"""
super().__init__(sys.argv)
self.control = Control()
while self.control.view.isVisible():
self.control.view.update()
self.processEvents()
sys.exit()
def trigger_post(action=None):
data = request.get_json(force=True)
key = data['key'] if 'key' in data else None
durationInMinutes = data[
'durationInMinutes'] if 'durationInMinutes' in data else None
deviceName = data['deviceName'] if 'deviceName' in data else None
targetState = data['targetState'] if 'targetState' in data else False
if (key is None) or (durationInMinutes is None) or (deviceName is None):
return jsonify({"statusCode": 400, "message": "Missing data"}), 400
if key != config['SECURITY_KEY']:
return jsonify({"statusCode": 403, "message": "Unauthorised"}), 403
print("New action ({}) on {} in {} minutes".format(
('on' if targetState else 'off'), deviceName, durationInMinutes))
durationInSeconds = int(durationInMinutes) * 60
control = Control(deviceName, config['IFTTT'])
if targetState:
control.off_to_on(durationInSeconds)
elif not targetState:
control.on_to_off(durationInSeconds)
else:
return jsonify({
"statusCode": 400,
"message": "Wrong 'targetState' option"
}), 400
return jsonify({"statusCode": 200})
def __init__(self):
rospy.init_node('control')
rospy.Subscriber('/tachyon/geometry',
MsgGeometry,
self.cb_geometry,
queue_size=1)
rospy.Subscriber('/control/mode', MsgMode, self.cb_mode, queue_size=1)
rospy.Subscriber('/control/parameters',
MsgControl,
self.cb_control,
queue_size=1)
self.pub_power = rospy.Publisher('/control/power',
MsgPower,
queue_size=10)
power_min = rospy.get_param('~power_min', 0.0)
power_max = rospy.get_param('~power_max', 1500.0)
power = rospy.get_param('~power', 1000)
setpoint = rospy.get_param('~setpoint', 3.0)
Kp = rospy.get_param('~Kp', 5.0)
Ki = rospy.get_param('~Ki', 100.0)
Kd = rospy.get_param('~Kd', 0.0)
print 'Kp:', Kp, 'Ki:', Ki, 'Kd', Kd
self.msg_power = MsgPower()
self.msg_labjack = MsgLabJack()
self.mode = MANUAL
self.power = power
self.setpoint = setpoint
self.control = Control()
self.control.load_conf(os.path.join(path, 'config/control.yaml'))
self.control.pid.set_limits(power_min, power_max)
self.control.pid.set_setpoint(self.setpoint)
rospy.spin()
class PygameClient(PygameSocketGame):
"""
This class connects the control and display for the game.
You shouldn't need to make changes here.
"""
def __init__(self,
width,
height,
frame_rate,
name,
title,
server_host="localhost",
server_port=20149):
PygameSocketGame.__init__(self, title, width, height, frame_rate,
server_host, server_port)
self.name = name
self.display = Display(width, height)
self.control = Control(width, height)
self.control.player_image = "duck2.png"
# music_path = os.path.join('display', 'music', 'LukHash_-_ARCADE_JOURNEYS.wav')
# pygame.mixer.music(music_path).play(-1)
return
def game_logic(self, keys, newkeys, buttons, newbuttons, mouse_position):
self.control.control(self.engine, keys, newkeys, buttons, newbuttons,
mouse_position)
if self.control.get_state() == CONTROL_STATE_WANT_DUAL:
self.new_game(game_engine.MODE_DUAL)
elif self.control.get_state() == CONTROL_STATE_WANT_SINGLE:
self.new_game(game_engine.MODE_SINGLE)
elif self.control.get_state() == CONTROL_STATE_WANT_TOURNAMENT:
self.new_game(game_engine.MODE_TOURNAMENT)
elif self.control.get_state() == CONTROL_STATE_WANT_VIEW:
self.new_game(game_engine.MODE_VIEW)
if self.engine and self.engine.get_data().get_game_over():
self.game_over_pause += 1
if self.game_over_pause > self.frames_per_second * POST_GAME_WAIT_TIME:
self.disconnect_from_server()
self.set_engine(None)
return
def paint(self, surface):
self.display.paint(surface, self.engine, self.control)
return
def new_game(self, mode):
self.set_engine(ClientGameEngine(self.name, mode))
self.disconnect_from_server()
self.connect_to_server()
self.game_over_pause = 0
return
class PygameClient(PygameSocketGame):
"""
This class connects the control and display for the game.
You shouldn't need to make changes here.
"""
def __init__(self, width, height, frame_rate, name, title, server_host="localhost", server_port=20149):
PygameSocketGame.__init__(self, title, width, height, frame_rate, server_host, server_port)
self.name = name
self.display = Display(width, height)
self.control = Control(width, height)
self.control.player_image = 'shooter3.png'
#pygame.mixer.init()
#pygame.mixer.music('display/sounds/background.wav')
#pygame.mixer.music.play()
sound_path = os.path.join('display', 'sounds', 'bac2.wav')
pygame.mixer.Sound(sound_path).play(-1)
return
def game_logic(self, keys, newkeys, buttons, newbuttons, mouse_position):
self.control.control(self.engine, keys, newkeys, buttons, newbuttons, mouse_position)
if self.control.get_state() == CONTROL_STATE_WANT_DUAL:
self.new_game(game_engine.MODE_DUAL)
elif self.control.get_state() == CONTROL_STATE_WANT_SINGLE:
self.new_game(game_engine.MODE_SINGLE)
elif self.control.get_state() == CONTROL_STATE_WANT_TOURNAMENT:
self.new_game(game_engine.MODE_TOURNAMENT)
elif self.control.get_state() == CONTROL_STATE_WANT_VIEW:
self.new_game(game_engine.MODE_VIEW)
if self.engine and self.engine.get_data().get_game_over():
self.game_over_pause += 1
if self.game_over_pause > self.frames_per_second * POST_GAME_WAIT_TIME:
self.disconnect_from_server()
self.set_engine(None)
return
def paint(self, surface):
self.display.paint(surface, self.engine, self.control)
return
def new_game(self, mode):
self.set_engine(ClientGameEngine(self.name, mode))
self.disconnect_from_server()
self.connect_to_server()
self.game_over_pause = 0
return
class PygameClient(PygameSocketGame):
"""
This class connects the control and display for the game.
You shouldn't need to make changes here.
"""
def __init__(self, width, height, frame_rate, name, title, server_host="localhost", server_port=20149):
PygameSocketGame.__init__(self, title, width, height, frame_rate, server_host, server_port)
self.name = name
self.display = Display(width, height)
self.control = Control(width, height)
return
def game_logic(self, keys, newkeys, buttons, newbuttons, mouse_position):
self.control.control(self.engine, keys, newkeys, buttons, newbuttons, mouse_position)
if self.control.get_state() == CONTROL_STATE_WANT_DUAL:
self.new_game(game_engine.MODE_DUAL)
elif self.control.get_state() == CONTROL_STATE_WANT_SINGLE:
self.new_game(game_engine.MODE_SINGLE)
elif self.control.get_state() == CONTROL_STATE_WANT_TOURNAMENT:
self.new_game(game_engine.MODE_TOURNAMENT)
elif self.control.get_state() == CONTROL_STATE_WANT_VIEW:
self.new_game(game_engine.MODE_VIEW)
#elif self.control.get_state() == CONTROL_STATE_WANT_SELECT:
self.new_game(game_engine.MODE_SELECT)
if self.engine and self.engine.get_data().get_game_over():
self.game_over_pause += 1
if self.game_over_pause > self.frames_per_second * POST_GAME_WAIT_TIME:
self.disconnect_from_server()
self.set_engine(None)
return
def paint(self, surface):
self.display.paint(surface, self.engine, self.control)
return
def new_game(self, mode):
self.set_engine(ClientGameEngine(self.name, mode))
self.disconnect_from_server()
self.connect_to_server()
self.game_over_pause = 0
return
def __init__(self):
rospy.init_node('control')
rospy.Subscriber(
'/tachyon/geometry', MsgGeometry, self.cb_geometry, queue_size=1)
rospy.Subscriber(
'/control/mode', MsgMode, self.cb_mode, queue_size=1)
rospy.Subscriber(
'/control/parameters', MsgControl, self.cb_control, queue_size=1)
self.pub_power = rospy.Publisher(
'/control/power', MsgPower, queue_size=10)
power_min = rospy.get_param('~power_min', 0.0)
power_max = rospy.get_param('~power_max', 1500.0)
power = rospy.get_param('~power', 1000)
setpoint = rospy.get_param('~setpoint', 3.0)
Kp = rospy.get_param('~Kp', 5.0)
Ki = rospy.get_param('~Ki', 100.0)
Kd = rospy.get_param('~Kd', 0.0)
print 'Kp:', Kp, 'Ki:', Ki, 'Kd', Kd
self.msg_power = MsgPower()
self.msg_labjack = MsgLabJack()
self.mode = MANUAL
self.power = power
self.setpoint = setpoint
self.control = Control()
self.control.load_conf(os.path.join(path, 'config/control.yaml'))
self.control.pid.set_limits(power_min, power_max)
self.control.pid.set_setpoint(self.setpoint)
rospy.spin()
def __init__(self, width, height, frame_rate, name, title, server_host="localhost", server_port=20149):
PygameSocketGame.__init__(self, title, width, height, frame_rate, server_host, server_port)
self.name = name
self.display = Display(width, height)
self.control = Control(width, height)
return
import time
import os
import sys
from control.control import Control
from control import Control
c = Control()
stop_distance = 20
# Drive arounf em301
if __name__ == '__main__':
c.turnTo(-136)
c.driveForwardUntilWall(30)
c.turnRight90Degrees()
c.turnLeft90Degrees()
c.driveBackwardUntilWall(30)
#! /usr/bin/python
import sys
from PyQt4 import QtGui
from gui.gui import Gui
from gui.threadgui import ThreadGui
from control.control import Control
from control.threadcontrol import ThreadControl
import signal
signal.signal(signal.SIGINT, signal.SIG_DFL)
if __name__ == '__main__':
control = Control()
app = QtGui.QApplication(sys.argv)
print 'app creada'
window = Gui()
window.setControl(control)
window.show()
print 'window'
t1 = ThreadControl(control)
t1.start()
print 'threadcontrol'
t2 = ThreadGui(window)
t2.start()
print 'threadgui'
def __init__(self):
"""
Initializes the aap and creates an control instance
"""
super().__init__(sys.argv)
self.c = Control()
def __init__(self, *args, **kw):
Fuse.__init__(self, *args, **kw)
self.root = '/'
#self.file_class = FuseBaffsFile
self.control = Control.getInstance()
class NdControl():
def __init__(self):
rospy.init_node('control')
rospy.Subscriber('/tachyon/geometry',
MsgGeometry,
self.cb_geometry,
queue_size=1)
rospy.Subscriber('/control/mode', MsgMode, self.cb_mode, queue_size=1)
rospy.Subscriber('/control/parameters',
MsgControl,
self.cb_control,
queue_size=1)
self.pub_power = rospy.Publisher('/control/power',
MsgPower,
queue_size=10)
power_min = rospy.get_param('~power_min', 0.0)
power_max = rospy.get_param('~power_max', 1500.0)
power = rospy.get_param('~power', 1000)
setpoint = rospy.get_param('~setpoint', 3.0)
Kp = rospy.get_param('~Kp', 5.0)
Ki = rospy.get_param('~Ki', 100.0)
Kd = rospy.get_param('~Kd', 0.0)
print 'Kp:', Kp, 'Ki:', Ki, 'Kd', Kd
self.msg_power = MsgPower()
self.msg_labjack = MsgLabJack()
self.mode = MANUAL
self.power = power
self.setpoint = setpoint
self.control = Control()
self.control.load_conf(os.path.join(path, 'config/control.yaml'))
self.control.pid.set_limits(power_min, power_max)
self.control.pid.set_setpoint(self.setpoint)
rospy.spin()
def cb_mode(self, msg_mode):
self.mode = msg_mode.value
rospy.loginfo('Mode: ' + str(self.mode))
def cb_control(self, msg_control):
self.power = msg_control.power
self.setpoint = msg_control.setpoint
Kp = msg_control.kp
Ki = msg_control.ki
Kd = msg_control.kd
self.control.pid.set_setpoint(self.setpoint)
self.control.pid.set_parameters(Kp, Ki, Kd)
rospy.loginfo('Params: ' + str(msg_control))
def cb_geometry(self, msg_geo):
time = msg_geo.header.stamp.to_sec()
if self.mode == MANUAL:
value = self.control.pid.power(self.power)
self.msg_power.value = value
elif self.mode == AUTOMATIC:
minor_axis = msg_geo.minor_axis
if minor_axis > 0.5:
value = self.control.pid.update(minor_axis, time)
else:
value = self.control.pid.power(self.power)
self.msg_power.value = value
else:
major_axis = msg_geo.major_axis
if major_axis:
value = self.control.pid.update(major_axis, time)
else:
value = self.control.pid.power(self.power)
self.msg_power.value = value
print '# Timestamp', time, '# Power', self.msg_power.value
self.pub_power.publish(self.msg_power)
class NdControl():
def __init__(self):
rospy.init_node('control')
rospy.Subscriber(
'/tachyon/geometry', MsgGeometry, self.cb_geometry, queue_size=1)
rospy.Subscriber(
'/control/mode', MsgMode, self.cb_mode, queue_size=1)
rospy.Subscriber(
'/control/parameters', MsgControl, self.cb_control, queue_size=1)
self.pub_power = rospy.Publisher(
'/control/power', MsgPower, queue_size=10)
power_min = rospy.get_param('~power_min', 0.0)
power_max = rospy.get_param('~power_max', 1500.0)
power = rospy.get_param('~power', 1000)
setpoint = rospy.get_param('~setpoint', 3.0)
Kp = rospy.get_param('~Kp', 5.0)
Ki = rospy.get_param('~Ki', 100.0)
Kd = rospy.get_param('~Kd', 0.0)
print 'Kp:', Kp, 'Ki:', Ki, 'Kd', Kd
self.msg_power = MsgPower()
self.msg_labjack = MsgLabJack()
self.mode = MANUAL
self.power = power
self.setpoint = setpoint
self.control = Control()
self.control.load_conf(os.path.join(path, 'config/control.yaml'))
self.control.pid.set_limits(power_min, power_max)
self.control.pid.set_setpoint(self.setpoint)
rospy.spin()
def cb_mode(self, msg_mode):
self.mode = msg_mode.value
rospy.loginfo('Mode: ' + str(self.mode))
def cb_control(self, msg_control):
self.power = msg_control.power
self.setpoint = msg_control.setpoint
Kp = msg_control.kp
Ki = msg_control.ki
Kd = msg_control.kd
self.control.pid.set_setpoint(self.setpoint)
self.control.pid.set_parameters(Kp, Ki, Kd)
rospy.loginfo('Params: ' + str(msg_control))
def cb_geometry(self, msg_geo):
time = msg_geo.header.stamp.to_sec()
if self.mode == MANUAL:
value = self.control.pid.power(self.power)
self.msg_power.value = value
elif self.mode == AUTOMATIC:
minor_axis = msg_geo.minor_axis
if minor_axis > 0.5:
value = self.control.pid.update(minor_axis, time)
else:
value = self.control.pid.power(self.power)
self.msg_power.value = value
else:
major_axis = msg_geo.major_axis
if major_axis:
value = self.control.pid.update(major_axis, time)
else:
value = self.control.pid.power(self.power)
self.msg_power.value = value
print '# Timestamp', time, '# Power', self.msg_power.value
self.pub_power.publish(self.msg_power)
# Import
from control.control import Control
# Variabili
boolD = False
# Funzioni
if __name__ == '__main__':
if boolD:
print("Inizio Programma\n")
Control()
if boolD:
print("\nFine Programma")
except queue.Empty:
break
if __name__ == '__main__':
pid = os.getpid()
print('seedling: pid %d' % pid)
with open(PID_FILE, 'w') as f:
f.write(str(pid))
msg_queue = Queue()
rsp_queue = Queue()
app.config['msg_queue'] = msg_queue
app.config['rsp_queue'] = rsp_queue
control = Control(msg_queue, rsp_queue)
control_proc = Process(target=control.main_loop, daemon=False)
control_proc.start()
# print('seedling: control process started, daemon: %s' % control_proc.daemon)
# serve(app, listen='0.0.0.0:8080')
web_proc = Process(target=serve,
args=(app, ),
kwargs={'listen': '0.0.0.0:8080'},
daemon=False)
web_proc.start()
# print('seedling: web process started, daemon: %s' % web_proc.daemon)
import sys
from control.control import Control
from control import Control
c = Control()
if __name__ == "__main__":
try:
c.driveStraight(50, 13) # 50% speed for 11.5s
c.turnRight90Degrees()
c.driveStraight(50, 15)
c.turnRight90Degrees()
except KeyboardInterrupt:
c.motors.stop()