def quick_scan(GCS_TIMESTAMP = 0, CONNECTION_TIMESTAMP = 0):
# Parse configs file
configs = parse_configs(sys.argv)
# Create output file if not already created
if autonomy.outfile is None:
autonomy.outfile = new_output_file()
tee = autonomy.Tee(sys.stdout, autonomy.outfile)
sys.stdout = tee
sys.stderr = tee
# Start autonomy and CV threads
autonomyToCV = QuickScanAutonomyToCV()
autonomy_thread = Thread(target=quick_scan_autonomy,
args=(configs, autonomyToCV, GCS_TIMESTAMP, CONNECTION_TIMESTAMP))
autonomy_thread.daemon = True
autonomy_thread.start()
cv_thread = Thread(target=quick_scan_cv, args=(configs, autonomyToCV, GCS_TIMESTAMP, CONNECTION_TIMESTAMP))
cv_thread.daemon = True
cv_thread.start()
# Wait for the threads to finish
autonomy_thread.join()
cv_thread.join()
# Close XBee device
if autonomy.xbee:
autonomyToCV.xbeeMutex.release()
autonomy.xbee.close()
autonomyToCV.xbeeMutex.release()
def main():
configs = parse_configs(sys.argv)
# create output file for all console output
autonomy.outfile = new_output_file()
tee = autonomy.Tee(sys.stdout, autonomy.outfile)
sys.stdout = tee
sys.stderr = tee
# no comms simulation; that wouldn't be useful as this program is supposed to interact w/ GCS
global XBEE
XBEE = setup_xbee()
# send connection message
connection_message = {
"type": "connect",
"time": 0, # This field is currently not used
"sid": configs['vehicle_id'],
"tid": 0, # The ID of GCS
"id": 0, # The ID of this message
"jobsAvailable": ["quickScan", "detailedSearch", "guide"]
}
# wait to receive the connection ack and start message
XBEE.add_data_received_callback(xbee_callback)
send_till_ack(configs["mission_control_MAC"], connection_message, 0)
if not autonomy.outfile.closed:
autonomy.outfile.close()
def detailed_search(vehicle = None, gcs_timestamp = 0, connection_timestamp = 0):
# Parse configs file
configs = parse_configs(sys.argv)
# Create output file if not already created
if autonomy.outfile is None:
autonomy.outfile = new_output_file()
tee = autonomy.Tee(sys.stdout, autonomy.outfile)
sys.stdout = tee
sys.stderr = tee
# Start autonomy and CV threads
autonomyToCV = DetailedSearchAutonomyToCV()
autonomy_thread = Thread(target = detailed_search_autonomy,
args = (configs, autonomyToCV, gcs_timestamp, connection_timestamp, vehicle))
autonomy_thread.daemon = True
autonomy_thread.start()
cv_thread = Thread(target = detailed_search_cv, args = (configs, autonomyToCV))
cv_thread.daemon = True
cv_thread.start()
# Wait for the threads to finish
autonomy_thread.join()
cv_thread.join()
# Close XBee device
if autonomy.xbee:
autonomy.xbee.close()