def __init__(self, gps=False, servo_port=SERVO_PORT):
# devices
self._gps = gps
self.windsensor = WindSensor(I2C(WINDSENSOR_I2C_ADDRESS))
self.compass = Compass(I2C(COMPASS_I2C_ADDRESS),
I2C(ACCELEROMETER_I2C_ADDRESS))
self.red_led = GpioWriter(17, os)
self.green_led = GpioWriter(18, os)
# Navigation
self.globe = Globe()
self.timer = Timer()
self.application_logger = self._rotating_logger(APPLICATION_NAME)
self.position_logger = self._rotating_logger("position")
self.exchange = Exchange(self.application_logger)
self.timeshift = TimeShift(self.exchange, self.timer.time)
self.event_source = EventSource(self.exchange, self.timer,
self.application_logger,
CONFIG['event source'])
self.sensors = Sensors(self.gps, self.windsensor, self.compass,
self.timer.time, self.exchange,
self.position_logger, CONFIG['sensors'])
self.gps_console_writer = GpsConsoleWriter(self.gps)
self.rudder_servo = Servo(serial.Serial(servo_port),
RUDDER_SERVO_CHANNEL, RUDDER_MIN_PULSE,
RUDDER_MIN_ANGLE, RUDDER_MAX_PULSE,
RUDDER_MAX_ANGLE)
self.steerer = Steerer(self.rudder_servo, self.application_logger,
CONFIG['steerer'])
self.helm = Helm(self.exchange, self.sensors, self.steerer,
self.application_logger, CONFIG['helm'])
self.course_steerer = CourseSteerer(self.sensors, self.helm,
self.timer,
CONFIG['course steerer'])
self.navigator = Navigator(self.sensors, self.globe, self.exchange,
self.application_logger,
CONFIG['navigator'])
self.self_test = SelfTest(self.red_led, self.green_led, self.timer,
self.rudder_servo, RUDDER_MIN_ANGLE,
RUDDER_MAX_ANGLE)
# Tracking
self.tracking_logger = self._rotating_logger("track")
self.tracking_sensors = Sensors(self.gps, self.windsensor,
self.compass, self.timer.time,
self.exchange, self.tracking_logger,
CONFIG['sensors'])
self.tracker = Tracker(self.tracking_logger, self.tracking_sensors,
self.timer)
def __init__(self,gps=False,servo_port=SERVO_PORT):
# devices
self._gps = gps
self.windsensor = WindSensor(I2C(WINDSENSOR_I2C_ADDRESS))
self.compass = Compass(I2C(COMPASS_I2C_ADDRESS),I2C(ACCELEROMETER_I2C_ADDRESS))
self.red_led = GpioWriter(17,os)
self.green_led = GpioWriter(18,os)
# Navigation
self.globe = Globe()
self.timer = Timer()
self.application_logger = self._rotating_logger(APPLICATION_NAME)
self.position_logger = self._rotating_logger("position")
self.exchange = Exchange(self.application_logger)
self.timeshift = TimeShift(self.exchange,self.timer.time)
self.event_source = EventSource(self.exchange,self.timer,self.application_logger,CONFIG['event source'])
self.sensors = Sensors(self.gps,self.windsensor,self.compass,self.timer.time,self.exchange,self.position_logger,CONFIG['sensors'])
self.gps_console_writer = GpsConsoleWriter(self.gps)
self.rudder_servo = Servo(serial.Serial(servo_port),RUDDER_SERVO_CHANNEL,RUDDER_MIN_PULSE,RUDDER_MIN_ANGLE,RUDDER_MAX_PULSE,RUDDER_MAX_ANGLE)
self.steerer = Steerer(self.rudder_servo,self.application_logger,CONFIG['steerer'])
self.helm = Helm(self.exchange,self.sensors,self.steerer,self.application_logger,CONFIG['helm'])
self.course_steerer = CourseSteerer(self.sensors,self.helm,self.timer,CONFIG['course steerer'])
self.navigator = Navigator(self.sensors,self.globe,self.exchange,self.application_logger,CONFIG['navigator'])
self.self_test = SelfTest(self.red_led,self.green_led,self.timer,self.rudder_servo,RUDDER_MIN_ANGLE,RUDDER_MAX_ANGLE)
# Tracking
self.tracking_logger = self._rotating_logger("track")
self.tracking_sensors = Sensors(self.gps,self.windsensor,self.compass,self.timer.time,self.exchange,self.tracking_logger,CONFIG['sensors'])
self.tracker = Tracker(self.tracking_logger,self.tracking_sensors,self.timer)
class TestSelfTest(unittest.TestCase):
def setUp(self):
self.red_led, self.green_led, self.timer, self.rudder = Mock(), Mock(
), Mock(), Mock()
self.self_test = SelfTest(self.red_led, self.green_led, self.timer,
self.rudder, RUDDER_MIN_ANGLE,
RUDDER_MAX_ANGLE)
def test_should_blink_red(self):
self.self_test.run()
self.assertEqual(1, self.red_led.high.call_count)
self.assertEqual(1, self.red_led.low.call_count)
self.timer.wait_for.assert_any_call(0.5)
def test_should_waggle_the_rudder(self):
self.rudder.reset_mock()
self.self_test.run()
self.rudder.set_position.assert_has_calls(
[call(RUDDER_MIN_ANGLE),
call(RUDDER_MAX_ANGLE),
call(0)])
def test_should_signal_green_hopefully_at_the_end(self):
self.self_test.run()
self.assertEqual(1, self.green_led.high.call_count)
self.assertEqual(1, self.green_led.low.call_count)
self.timer.wait_for.assert_any_call(5)
class TestSelfTest(unittest.TestCase):
def setUp(self):
self.red_led,self.green_led,self.timer,self.rudder = Mock(),Mock(),Mock(),Mock()
self.self_test = SelfTest(self.red_led,self.green_led,self.timer,self.rudder,RUDDER_MIN_ANGLE,RUDDER_MAX_ANGLE)
def test_should_blink_red(self):
self.self_test.run()
self.assertEqual(1,self.red_led.high.call_count)
self.assertEqual(1,self.red_led.low.call_count)
self.timer.wait_for.assert_any_call(0.5)
def test_should_waggle_the_rudder(self):
self.rudder.reset_mock()
self.self_test.run()
self.rudder.set_position.assert_has_calls([call(RUDDER_MIN_ANGLE),call(RUDDER_MAX_ANGLE),call(0)])
def test_should_signal_green_hopefully_at_the_end(self):
self.self_test.run()
self.assertEqual(1,self.green_led.high.call_count)
self.assertEqual(1,self.green_led.low.call_count)
self.timer.wait_for.assert_any_call(5)
def setUp(self):
self.red_led, self.green_led, self.timer, self.rudder = Mock(), Mock(
), Mock(), Mock()
self.self_test = SelfTest(self.red_led, self.green_led, self.timer,
self.rudder, RUDDER_MIN_ANGLE,
RUDDER_MAX_ANGLE)
def setUp(self):
self.red_led,self.green_led,self.timer,self.rudder = Mock(),Mock(),Mock(),Mock()
self.self_test = SelfTest(self.red_led,self.green_led,self.timer,self.rudder,RUDDER_MIN_ANGLE,RUDDER_MAX_ANGLE)
class Wiring():
def __init__(self, gps=False, servo_port=SERVO_PORT):
# devices
self._gps = gps
self.windsensor = WindSensor(I2C(WINDSENSOR_I2C_ADDRESS))
self.compass = Compass(I2C(COMPASS_I2C_ADDRESS),
I2C(ACCELEROMETER_I2C_ADDRESS))
self.red_led = GpioWriter(17, os)
self.green_led = GpioWriter(18, os)
# Navigation
self.globe = Globe()
self.timer = Timer()
self.application_logger = self._rotating_logger(APPLICATION_NAME)
self.position_logger = self._rotating_logger("position")
self.exchange = Exchange(self.application_logger)
self.timeshift = TimeShift(self.exchange, self.timer.time)
self.event_source = EventSource(self.exchange, self.timer,
self.application_logger,
CONFIG['event source'])
self.sensors = Sensors(self.gps, self.windsensor, self.compass,
self.timer.time, self.exchange,
self.position_logger, CONFIG['sensors'])
self.gps_console_writer = GpsConsoleWriter(self.gps)
self.rudder_servo = Servo(serial.Serial(servo_port),
RUDDER_SERVO_CHANNEL, RUDDER_MIN_PULSE,
RUDDER_MIN_ANGLE, RUDDER_MAX_PULSE,
RUDDER_MAX_ANGLE)
self.steerer = Steerer(self.rudder_servo, self.application_logger,
CONFIG['steerer'])
self.helm = Helm(self.exchange, self.sensors, self.steerer,
self.application_logger, CONFIG['helm'])
self.course_steerer = CourseSteerer(self.sensors, self.helm,
self.timer,
CONFIG['course steerer'])
self.navigator = Navigator(self.sensors, self.globe, self.exchange,
self.application_logger,
CONFIG['navigator'])
self.self_test = SelfTest(self.red_led, self.green_led, self.timer,
self.rudder_servo, RUDDER_MIN_ANGLE,
RUDDER_MAX_ANGLE)
# Tracking
self.tracking_logger = self._rotating_logger("track")
self.tracking_sensors = Sensors(self.gps, self.windsensor,
self.compass, self.timer.time,
self.exchange, self.tracking_logger,
CONFIG['sensors'])
self.tracker = Tracker(self.tracking_logger, self.tracking_sensors,
self.timer)
def _rotating_logger(self, appname):
logHandler = TimedRotatingFileHandler("/var/log/pi-nav/" + appname,
when="midnight",
backupCount=30)
logHandler.setFormatter(logging.Formatter(LOGGING_FORMAT))
logger = logging.getLogger(appname)
logger.addHandler(logHandler)
logger.setLevel(CONFIG['wiring']['logging level'])
return logger
@property
def gps(self):
if not self._gps:
self._gps = GpsReader()
self._gps.setDaemon(True)
self._gps.start()
return self._gps
def showgps(self):
try:
self.timer.call(self.gps_console_writer.write).every(5)
except (KeyboardInterrupt, SystemExit):
self.gps.running = False
self.gps.join()
def follow(self, waypoints):
self.application_logger.info(
'**************************************************************')
self.application_logger.info(
'*** Pi-Nav starting navigation: ' +
datetime.datetime.now().strftime("%Y-%m-%d"))
self.application_logger.info(
'**************************************************************')
self.self_test.run()
self.rudder_servo.set_position(0)
self.follower = Follower(self.exchange, waypoints,
self.application_logger)
self.event_source.start()
def track(self):
self.self_test.run()
self.tracker.track(10)
class Wiring():
def __init__(self,gps=False,servo_port=SERVO_PORT):
# devices
self._gps = gps
self.windsensor = WindSensor(I2C(WINDSENSOR_I2C_ADDRESS))
self.compass = Compass(I2C(COMPASS_I2C_ADDRESS),I2C(ACCELEROMETER_I2C_ADDRESS))
self.red_led = GpioWriter(17,os)
self.green_led = GpioWriter(18,os)
# Navigation
self.globe = Globe()
self.timer = Timer()
self.application_logger = self._rotating_logger(APPLICATION_NAME)
self.position_logger = self._rotating_logger("position")
self.exchange = Exchange(self.application_logger)
self.timeshift = TimeShift(self.exchange,self.timer.time)
self.event_source = EventSource(self.exchange,self.timer,self.application_logger,CONFIG['event source'])
self.sensors = Sensors(self.gps,self.windsensor,self.compass,self.timer.time,self.exchange,self.position_logger,CONFIG['sensors'])
self.gps_console_writer = GpsConsoleWriter(self.gps)
self.rudder_servo = Servo(serial.Serial(servo_port),RUDDER_SERVO_CHANNEL,RUDDER_MIN_PULSE,RUDDER_MIN_ANGLE,RUDDER_MAX_PULSE,RUDDER_MAX_ANGLE)
self.steerer = Steerer(self.rudder_servo,self.application_logger,CONFIG['steerer'])
self.helm = Helm(self.exchange,self.sensors,self.steerer,self.application_logger,CONFIG['helm'])
self.course_steerer = CourseSteerer(self.sensors,self.helm,self.timer,CONFIG['course steerer'])
self.navigator = Navigator(self.sensors,self.globe,self.exchange,self.application_logger,CONFIG['navigator'])
self.self_test = SelfTest(self.red_led,self.green_led,self.timer,self.rudder_servo,RUDDER_MIN_ANGLE,RUDDER_MAX_ANGLE)
# Tracking
self.tracking_logger = self._rotating_logger("track")
self.tracking_sensors = Sensors(self.gps,self.windsensor,self.compass,self.timer.time,self.exchange,self.tracking_logger,CONFIG['sensors'])
self.tracker = Tracker(self.tracking_logger,self.tracking_sensors,self.timer)
def _rotating_logger(self,appname):
logHandler = TimedRotatingFileHandler("/var/log/pi-nav/" + appname,when="midnight",backupCount=30)
logHandler.setFormatter(logging.Formatter(LOGGING_FORMAT))
logger = logging.getLogger(appname)
logger.addHandler( logHandler )
logger.setLevel( CONFIG['wiring']['logging level'])
return logger
@property
def gps(self):
if not self._gps:
self._gps = GpsReader()
self._gps.setDaemon(True)
self._gps.start()
return self._gps
def showgps(self):
try:
self.timer.call(self.gps_console_writer.write).every(5)
except (KeyboardInterrupt, SystemExit):
self.gps.running = False
self.gps.join()
def follow(self,waypoints):
self.application_logger.info('**************************************************************')
self.application_logger.info('*** Pi-Nav starting navigation: ' + datetime.datetime.now().strftime("%Y-%m-%d"))
self.application_logger.info('**************************************************************')
self.self_test.run()
self.rudder_servo.set_position(0)
self.follower = Follower(self.exchange,waypoints,self.application_logger)
self.event_source.start()
def track(self):
self.self_test.run()
self.tracker.track(10)
