def play(self, module_name):
try:
m = importlib.import_module(module_name)
reload(m)
m.play(self)
except:
term.ppln('erreur avec le module ' + module_name)
def kill(self):
self.mutex.acquire()
self.ok = False
self.mutex.release()
while True:
done = False
self.mutex.acquire()
if not self.alive: done = True
self.mutex.release()
if done: break
term.ppln('- imu reader killed')
def check_distance_sensor(self, pos, verbose=False):
if pos is None:
log.warning('check_distance_sensor: mauvaise valeur pour pos')
return False
N = 10
echantillon = []
for i in range(N):
echantillon.append(self.distance(pos))
time.sleep(0.05)
echantillon = np.array(echantillon)
stddev = np.std(echantillon)
if verbose:
term.ppln('check_distance_sensor. Echantillon de mesure:')
term.ppln(str(echantillon))
term.ppln('std dev: ' + str(stddev))
return stddev > 0
def kill(self):
self.epd.sleep()
term.ppln('- display system killed')
def check(self):
all_ok = True
term.ppln('- initialisation procédure de test globale')
term.ppln(' - check moteurs:')
try:
temps = self.motor_temperature()
voltages = self.motor_voltage()
for m in range(4):
t = temps[m]
v = voltages[m]
v_str = "%0.2f" % v
term.pp(' [' + servo_names[m] + '] \ttemp: ' + str(t) +
'° ')
term.pp('\tvolt: ' + v_str + 'V ')
if t < 50 and v > 9.98:
term.ppln(' \t[ok]', style=['green'])
else:
term.ppln(' \t[error]', style=['red'])
all_ok = False
except:
term.ppln(' [erreur]', style=['red'])
term.ppln(' - check capteurs:')
dist_sensors = ['avant', 'droite', 'gauche']
for s in dist_sensors:
term.pp(' [dist. ' + s + '] ... ')
if self.check_distance_sensor(s):
term.ppln('[ok]', style=['green'])
else:
term.ppln('[erreur]', style=['red'])
all_ok = False
term.pp(' [camera] ... ')
if self.camera.ready:
term.ppln('[ok]', style=['green'])
else:
term.ppln('[erreur]', style=['red'])
all_ok = False
if all_ok:
term.pp('- procédure de test globale ... ')
term.ppln('[ok]', style=['green'])
else:
log.warning('Erreur procédure de test')
return all_ok
def __init__(self):
self.ready = True
try:
term.pp("- connexion aux moteurs ... ")
ports = pypot.dynamixel.get_available_ports()
self.dxl = pypot.dynamixel.DxlIO(ports[0], baudrate=1000000)
self.left_up = 1
self.left_down = 6
self.right_up = 7
self.right_down = 15
self.servos = [self.left_up, self.left_down, \
self.right_up, self.right_down]
self.dxl.set_wheel_mode(self.servos)
time.sleep(0.5)
self.temperatures = self.motor_temperature()
term.ppln("[ok]", style=['green'])
self.avance(vitesse=5, duree=0.05)
self.avance(vitesse=-5, duree=0.05)
time.sleep(1)
except:
term.ppln("[error]", style=['red'])
term.ppln(" *verifiez que la batterie arrière est en service*",
style=['red'])
term.ppln(
" *l'affichage de l'état de la batterie doit être actif*",
style=['red'])
self.ready = False
term.pp("- connexion à la caméra ... ")
self.camera = camera.Camera()
if self.camera.ready: term.ppln('[ok]', style=['green'])
else: term.ppln("error", style=['red'])
term.pp('- Initialisation de l\'affichage ... ')
self.display = display.Display()
if self.display.ready: term.ppln('[ok]', style=['green'])
else: term.ppln("error", style=['red'])
term.pp("- calibration de l'imu ")
self.imu = imu_reader.ImuReader(self)
self.imu.start()
time.sleep(0.250)
self.imu.calib(1)
time.sleep(1)
term.pp('.')
time.sleep(1)
term.pp('.')
time.sleep(1)
term.pp('. ')
self.imu.reset_orientation()
term.ppln('[ok]', style=['green'])
self.check()
def photo(self, filename='image'):
term.ppln('- Enregistrement de l\'image dans ' + filename + '.' +
self.camera.file_format())
self.camera.take_photo(filename)
def warning(str):
term.pp('[warning] ', style=['red'])
term.ppln(str)