def __init__(self):
rospy.init_node('pf')
self.particle_publisher = rospy.Publisher("particlecloud",
PoseArray,
queue_size=10)
self.occupancy_field = OccupancyField()
self.transform_helper = TFHelper()
self.particle_manager = ParticleManager()
self.sensor_manager = SensorManager()
self.particle_manager.init_particles(self.occupancy_field)
self.scanDistance = 0.2
self.scanAngle = 0.5
self.moved = (0, 0)
#!/usr/bin/env python3
from sensor_manager import SensorManager
from ble_controller import BleController, BleDelegate
from mqtt import MqttBroker
import json
import time
SENSOR_ADDR = "F0:C7:7F:94:7D:D1"
SENSOR_UUID = "0000ffe1-0000-1000-8000-00805f9b34fb"
SENSOR_HANDLE = 0x12
TOPIC_ENVIRONMENT = "home/env/"
TOPIC_DATASET = "dataset"
TOPIC_GET = "/raw"
sensor_manager = SensorManager()
ble = BleController()
mqtt = MqttBroker()
def on_ble_data(data):
sensor_manager.receive_raw_data(data)
def on_valid_data(data):
print("New dataset received -> {}".format(data))
mqtt.publish(TOPIC_ENVIRONMENT + TOPIC_DATASET, json.dumps(data))
def on_sensor_data(sensor, data):
mqtt.publish(TOPIC_ENVIRONMENT + sensor + TOPIC_GET, data)
