control_mode = False
mission_mode = False
#--------------------------------------------------------------------------------#
# inizializing UDP connection with Unity
HOST_IP = 'localhost'
HOST_PORT_UDP = 29000
UDP_IP = 'localhost'
UDP_PORT = 25000
unity_com = CustomUDP(HOST_IP, HOST_PORT_UDP, UDP_IP, UDP_PORT)
unity_com.start()
# inizializing connection with mission_manager
mission_com = SerialConnection(port='com2', baud=115200)
mission_com.start()
# inizializing pygame
pg.init()
# creation GUI screen
pg.display.set_caption('Zeno GUI')
screen = pg.display.set_mode(SCREEN_DIM)
# creation of stylised images of the AUV (top, side and back view)
# note: images are square and image width is equal to dial diameter
image_width = 2 * DIAL_R
image_1 = create_view('images/zeno_top.bmp', image_width) # top view
image_2 = create_view('images/zeno_side.bmp', image_width) # side view
image_3 = create_view('images/zeno_back.bmp', image_width) # back view
nav_status_lock = threading.Lock()
command = 6 * [0]
command_lock = threading.Lock()
# global variables
mission_running = True
mission_mode = True
blocking = True
thread1 = None
thread2 = None
obj_detection = ObjectDetection()
# initializing serial connection with AUV_simulator
simulator_com = SerialConnection(port='com1', baud=115200)
simulator_com.start()
# wait for the first not empty message from AUV_simulator
while nav_status == None:
receive_nav_status()
# threads running
start_threads()
# wait for threads termination
wait_for_threads_termination()
# close serial connection with AUV_simulator
simulator_com.close()
from serial_connection import SerialConnection
import signal
def new_packet(incoming_queue):
packet = incoming_queue.get()
print(packet)
incoming_queue.task_done()
def exit_handler(signal, frame):
print("Exit called")
con.stop()
con = SerialConnection('/dev/pts/2', 19200, new_packet, "ACK\n")
items = ["esimene", "teine", "kolmas", "neljas"]
con.start()
for i in items:
con.write(i)
print("items added to write queue")
# register exit handler
signal.signal(signal.SIGINT, exit_handler)
