def benchmark_command_run_course_iterator():
"""Benchmark the logic for driving the car."""
logger = DummyLogger()
telemetry = Telemetry(logger)
waypoint_generator = SimpleWaypointGenerator(
SimpleWaypointGenerator.get_waypoints_from_file_name(
'paths/solid-state-depot.kmz'
)
)
driver = DummyDriver(telemetry, logger)
command = Command(telemetry, driver, waypoint_generator, logger)
iterations = 250
start = time.time()
iterator = command._run_course_iterator()
step = None
for step in zip(range(iterations), iterator):
pass
assert step is not None
assert step[0] == iterations - 1
end = time.time()
print(
'{} iterations of Command._run_course_iterator, each took {:.5}'.format(
iterations,
(end - start) / float(iterations)
)
)
def main():
"""Main function."""
logger = DummyLogger()
box = [(0, 0), (1, 0), (1, 1), (0, 1), (0, 0)]
waypoint_generator = SimpleWaypointGenerator(
SimpleWaypointGenerator.get_waypoints_from_file_name(
'control/paths/solid-state-depot.kmz'))
waypoint_generator._waypoints.clear()
for x, y in ((x_ * .005 + 10, y_ * .005 + 10) for x_, y_ in box):
waypoint_generator._waypoints.append((x, y))
telemetry = DummyTelemetry(
logger,
waypoint_generator.get_current_waypoint(
waypoint_generator._waypoints[0][0],
waypoint_generator._waypoints[0][1]))
driver = DummyDriver(telemetry, logger)
command = Command(
telemetry,
driver,
waypoint_generator,
logger,
sleep_time_milliseconds=1,
)
command.run_course()
command.start()
while not waypoint_generator.done():
time.sleep(0.1)
command.kill()
def main():
"""Main function."""
logger = DummyLogger()
box = [(0, 0), (1, 0), (1, 1), (0, 1), (0, 0)]
waypoint_generator = SimpleWaypointGenerator(
SimpleWaypointGenerator.get_waypoints_from_file_name(
'control/paths/solid-state-depot.kmz'
)
)
waypoint_generator._waypoints.clear()
for x, y in ((x_ * .005 + 10, y_ * .005 + 10) for x_, y_ in box):
waypoint_generator._waypoints.append((x, y))
telemetry = DummyTelemetry(
logger,
waypoint_generator.get_current_waypoint(
waypoint_generator._waypoints[0][0],
waypoint_generator._waypoints[0][1]
)
)
driver = DummyDriver(telemetry, logger)
command = Command(
telemetry,
driver,
waypoint_generator,
logger,
sleep_time_milliseconds=1,
)
command.run_course()
command.start()
while not waypoint_generator.done():
time.sleep(0.1)
command.kill()
def benchmark_command_run_course_iterator():
"""Benchmark the logic for driving the car."""
logger = DummyLogger()
telemetry = Telemetry(logger)
waypoint_generator = SimpleWaypointGenerator(
SimpleWaypointGenerator.get_waypoints_from_file_name(
'paths/solid-state-depot.kmz'))
driver = DummyDriver(telemetry, logger)
command = Command(telemetry, driver, waypoint_generator, logger)
iterations = 250
start = time.time()
iterator = command._run_course_iterator()
step = None
for step in zip(range(iterations), iterator):
pass
assert step is not None
assert step[0] == iterations - 1
end = time.time()
print('{} iterations of Command._run_course_iterator, each took {:.5}'.
format(iterations, (end - start) / float(iterations)))
def start_threads(
waypoint_generator,
logger,
web_socket_handler,
max_throttle,
kml_file_name,
):
"""Runs everything."""
logger.info('Creating Telemetry')
telemetry = Telemetry(kml_file_name)
telemetry_dumper = TelemetryDumper(
telemetry,
waypoint_generator,
web_socket_handler
)
logger.info('Done creating Telemetry')
global DRIVER
DRIVER = Driver(telemetry)
DRIVER.set_max_throttle(max_throttle)
logger.info('Setting SUP800F to NMEA mode')
serial_ = serial.Serial('/dev/ttyAMA0', 115200)
serial_.setTimeout(1.0)
for _ in range(10):
serial_.readline()
try:
switch_to_nmea_mode(serial_)
except: # pylint: disable=W0702
logger.error('Unable to set mode')
for _ in range(10):
serial_.readline()
logger.info('Done')
# The following objects must be created in order, because of message
# exchange dependencies:
# sup800f_telemetry: reads from command forwarded
# command: reads from command, writes to command forwarded
# button: writes to command
# cherry_py_server: writes to command
# TODO(2016-08-21) Have something better than sleeps to work around race
# conditions
logger.info('Creating threads')
sup800f_telemetry = Sup800fTelemetry(serial_)
time.sleep(0.5)
command = Command(telemetry, DRIVER, waypoint_generator)
time.sleep(0.5)
button = Button()
port = int(get_configuration('PORT', 8080))
address = get_configuration('ADDRESS', '0.0.0.0')
cherry_py_server = CherryPyServer(
port,
address,
telemetry,
waypoint_generator
)
time.sleep(0.5)
global THREADS
THREADS += (
button,
cherry_py_server,
command,
sup800f_telemetry,
telemetry_dumper,
)
for thread in THREADS:
thread.start()
logger.info('Started all threads')
# Use a fake timeout so that the main thread can still receive signals
sup800f_telemetry.join(100000000000)
# Once we get here, sup800f_telemetry has died and there's no point in
# continuing because we're not receiving telemetry messages any more, so
# stop the command module
command.stop()
command.join(100000000000)
cherry_py_server.kill()
cherry_py_server.join(100000000000)
button.kill()
button.join(100000000000)