Update
This commit is contained in:
Konstantin Lampalzer
parent
d1e385a2a1
commit
1d91792c56
35 changed files with 2275 additions and 237 deletions
312
client_s2/.gitignore
vendored
Normal file
312
client_s2/.gitignore
vendored
Normal file
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@ -0,0 +1,312 @@
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|||
# Created by https://www.toptal.com/developers/gitignore/api/macos,python,pycharm
|
||||
# Edit at https://www.toptal.com/developers/gitignore?templates=macos,python,pycharm
|
||||
|
||||
### macOS ###
|
||||
# General
|
||||
.DS_Store
|
||||
.AppleDouble
|
||||
.LSOverride
|
||||
|
||||
# Icon must end with two \r
|
||||
Icon
|
||||
|
||||
|
||||
# Thumbnails
|
||||
._*
|
||||
|
||||
# Files that might appear in the root of a volume
|
||||
.DocumentRevisions-V100
|
||||
.fseventsd
|
||||
.Spotlight-V100
|
||||
.TemporaryItems
|
||||
.Trashes
|
||||
.VolumeIcon.icns
|
||||
.com.apple.timemachine.donotpresent
|
||||
|
||||
# Directories potentially created on remote AFP share
|
||||
.AppleDB
|
||||
.AppleDesktop
|
||||
Network Trash Folder
|
||||
Temporary Items
|
||||
.apdisk
|
||||
|
||||
### macOS Patch ###
|
||||
# iCloud generated files
|
||||
*.icloud
|
||||
|
||||
### PyCharm ###
|
||||
# Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio, WebStorm and Rider
|
||||
# Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839
|
||||
|
||||
# User-specific stuff
|
||||
.idea/**/workspace.xml
|
||||
.idea/**/tasks.xml
|
||||
.idea/**/usage.statistics.xml
|
||||
.idea/**/dictionaries
|
||||
.idea/**/shelf
|
||||
|
||||
# AWS User-specific
|
||||
.idea/**/aws.xml
|
||||
|
||||
# Generated files
|
||||
.idea/**/contentModel.xml
|
||||
|
||||
# Sensitive or high-churn files
|
||||
.idea/**/dataSources/
|
||||
.idea/**/dataSources.ids
|
||||
.idea/**/dataSources.local.xml
|
||||
.idea/**/sqlDataSources.xml
|
||||
.idea/**/dynamic.xml
|
||||
.idea/**/uiDesigner.xml
|
||||
.idea/**/dbnavigator.xml
|
||||
|
||||
# Gradle
|
||||
.idea/**/gradle.xml
|
||||
.idea/**/libraries
|
||||
|
||||
# Gradle and Maven with auto-import
|
||||
# When using Gradle or Maven with auto-import, you should exclude module files,
|
||||
# since they will be recreated, and may cause churn. Uncomment if using
|
||||
# auto-import.
|
||||
# .idea/artifacts
|
||||
# .idea/compiler.xml
|
||||
# .idea/jarRepositories.xml
|
||||
# .idea/modules.xml
|
||||
# .idea/*.iml
|
||||
# .idea/modules
|
||||
# *.iml
|
||||
# *.ipr
|
||||
|
||||
# CMake
|
||||
cmake-build-*/
|
||||
|
||||
# Mongo Explorer plugin
|
||||
.idea/**/mongoSettings.xml
|
||||
|
||||
# File-based project format
|
||||
*.iws
|
||||
|
||||
# IntelliJ
|
||||
out/
|
||||
|
||||
# mpeltonen/sbt-idea plugin
|
||||
.idea_modules/
|
||||
|
||||
# JIRA plugin
|
||||
atlassian-ide-plugin.xml
|
||||
|
||||
# Cursive Clojure plugin
|
||||
.idea/replstate.xml
|
||||
|
||||
# SonarLint plugin
|
||||
.idea/sonarlint/
|
||||
|
||||
# Crashlytics plugin (for Android Studio and IntelliJ)
|
||||
com_crashlytics_export_strings.xml
|
||||
crashlytics.properties
|
||||
crashlytics-build.properties
|
||||
fabric.properties
|
||||
|
||||
# Editor-based Rest Client
|
||||
.idea/httpRequests
|
||||
|
||||
# Android studio 3.1+ serialized cache file
|
||||
.idea/caches/build_file_checksums.ser
|
||||
|
||||
### PyCharm Patch ###
|
||||
# Comment Reason: https://github.com/joeblau/gitignore.io/issues/186#issuecomment-215987721
|
||||
|
||||
# *.iml
|
||||
# modules.xml
|
||||
# .idea/misc.xml
|
||||
# *.ipr
|
||||
|
||||
# Sonarlint plugin
|
||||
# https://plugins.jetbrains.com/plugin/7973-sonarlint
|
||||
.idea/**/sonarlint/
|
||||
|
||||
# SonarQube Plugin
|
||||
# https://plugins.jetbrains.com/plugin/7238-sonarqube-community-plugin
|
||||
.idea/**/sonarIssues.xml
|
||||
|
||||
# Markdown Navigator plugin
|
||||
# https://plugins.jetbrains.com/plugin/7896-markdown-navigator-enhanced
|
||||
.idea/**/markdown-navigator.xml
|
||||
.idea/**/markdown-navigator-enh.xml
|
||||
.idea/**/markdown-navigator/
|
||||
|
||||
# Cache file creation bug
|
||||
# See https://youtrack.jetbrains.com/issue/JBR-2257
|
||||
.idea/$CACHE_FILE$
|
||||
|
||||
# CodeStream plugin
|
||||
# https://plugins.jetbrains.com/plugin/12206-codestream
|
||||
.idea/codestream.xml
|
||||
|
||||
# Azure Toolkit for IntelliJ plugin
|
||||
# https://plugins.jetbrains.com/plugin/8053-azure-toolkit-for-intellij
|
||||
.idea/**/azureSettings.xml
|
||||
|
||||
### Python ###
|
||||
# Byte-compiled / optimized / DLL files
|
||||
__pycache__/
|
||||
*.py[cod]
|
||||
*$py.class
|
||||
|
||||
# C extensions
|
||||
*.so
|
||||
|
||||
# Distribution / packaging
|
||||
.Python
|
||||
build/
|
||||
develop-eggs/
|
||||
dist/
|
||||
downloads/
|
||||
eggs/
|
||||
.eggs/
|
||||
lib/
|
||||
lib64/
|
||||
parts/
|
||||
sdist/
|
||||
var/
|
||||
wheels/
|
||||
share/python-wheels/
|
||||
*.egg-info/
|
||||
.installed.cfg
|
||||
*.egg
|
||||
MANIFEST
|
||||
|
||||
# PyInstaller
|
||||
# Usually these files are written by a python script from a template
|
||||
# before PyInstaller builds the exe, so as to inject date/other infos into it.
|
||||
*.manifest
|
||||
*.spec
|
||||
|
||||
# Installer logs
|
||||
pip-log.txt
|
||||
pip-delete-this-directory.txt
|
||||
|
||||
# Unit test / coverage reports
|
||||
htmlcov/
|
||||
.tox/
|
||||
.nox/
|
||||
.coverage
|
||||
.coverage.*
|
||||
.cache
|
||||
nosetests.xml
|
||||
coverage.xml
|
||||
*.cover
|
||||
*.py,cover
|
||||
.hypothesis/
|
||||
.pytest_cache/
|
||||
cover/
|
||||
|
||||
# Translations
|
||||
*.mo
|
||||
*.pot
|
||||
|
||||
# Django stuff:
|
||||
*.log
|
||||
local_settings.py
|
||||
db.sqlite3
|
||||
db.sqlite3-journal
|
||||
|
||||
# Flask stuff:
|
||||
instance/
|
||||
.webassets-cache
|
||||
|
||||
# Scrapy stuff:
|
||||
.scrapy
|
||||
|
||||
# Sphinx documentation
|
||||
docs/_build/
|
||||
|
||||
# PyBuilder
|
||||
.pybuilder/
|
||||
target/
|
||||
|
||||
# Jupyter Notebook
|
||||
.ipynb_checkpoints
|
||||
|
||||
# IPython
|
||||
profile_default/
|
||||
ipython_config.py
|
||||
|
||||
# pyenv
|
||||
# For a library or package, you might want to ignore these files since the code is
|
||||
# intended to run in multiple environments; otherwise, check them in:
|
||||
# .python-version
|
||||
|
||||
# pipenv
|
||||
# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
|
||||
# However, in case of collaboration, if having platform-specific dependencies or dependencies
|
||||
# having no cross-platform support, pipenv may install dependencies that don't work, or not
|
||||
# install all needed dependencies.
|
||||
#Pipfile.lock
|
||||
|
||||
# poetry
|
||||
# Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
|
||||
# This is especially recommended for binary packages to ensure reproducibility, and is more
|
||||
# commonly ignored for libraries.
|
||||
# https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
|
||||
#poetry.lock
|
||||
|
||||
# pdm
|
||||
# Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
|
||||
#pdm.lock
|
||||
# pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
|
||||
# in version control.
|
||||
# https://pdm.fming.dev/#use-with-ide
|
||||
.pdm.toml
|
||||
|
||||
# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
|
||||
__pypackages__/
|
||||
|
||||
# Celery stuff
|
||||
celerybeat-schedule
|
||||
celerybeat.pid
|
||||
|
||||
# SageMath parsed files
|
||||
*.sage.py
|
||||
|
||||
# Environments
|
||||
.env
|
||||
.venv
|
||||
env/
|
||||
venv/
|
||||
ENV/
|
||||
env.bak/
|
||||
venv.bak/
|
||||
|
||||
# Spyder project settings
|
||||
.spyderproject
|
||||
.spyproject
|
||||
|
||||
# Rope project settings
|
||||
.ropeproject
|
||||
|
||||
# mkdocs documentation
|
||||
/site
|
||||
|
||||
# mypy
|
||||
.mypy_cache/
|
||||
.dmypy.json
|
||||
dmypy.json
|
||||
|
||||
# Pyre type checker
|
||||
.pyre/
|
||||
|
||||
# pytype static type analyzer
|
||||
.pytype/
|
||||
|
||||
# Cython debug symbols
|
||||
cython_debug/
|
||||
|
||||
# PyCharm
|
||||
# JetBrains specific template is maintained in a separate JetBrains.gitignore that can
|
||||
# be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
|
||||
# and can be added to the global gitignore or merged into this file. For a more nuclear
|
||||
# option (not recommended) you can uncomment the following to ignore the entire idea folder.
|
||||
#.idea/
|
||||
|
||||
# End of https://www.toptal.com/developers/gitignore/api/macos,python,pycharm
|
||||
312
client_s2/compLib/.gitignore
vendored
Normal file
312
client_s2/compLib/.gitignore
vendored
Normal file
|
|
@ -0,0 +1,312 @@
|
|||
# Created by https://www.toptal.com/developers/gitignore/api/macos,python,pycharm
|
||||
# Edit at https://www.toptal.com/developers/gitignore?templates=macos,python,pycharm
|
||||
|
||||
### macOS ###
|
||||
# General
|
||||
.DS_Store
|
||||
.AppleDouble
|
||||
.LSOverride
|
||||
|
||||
# Icon must end with two \r
|
||||
Icon
|
||||
|
||||
|
||||
# Thumbnails
|
||||
._*
|
||||
|
||||
# Files that might appear in the root of a volume
|
||||
.DocumentRevisions-V100
|
||||
.fseventsd
|
||||
.Spotlight-V100
|
||||
.TemporaryItems
|
||||
.Trashes
|
||||
.VolumeIcon.icns
|
||||
.com.apple.timemachine.donotpresent
|
||||
|
||||
# Directories potentially created on remote AFP share
|
||||
.AppleDB
|
||||
.AppleDesktop
|
||||
Network Trash Folder
|
||||
Temporary Items
|
||||
.apdisk
|
||||
|
||||
### macOS Patch ###
|
||||
# iCloud generated files
|
||||
*.icloud
|
||||
|
||||
### PyCharm ###
|
||||
# Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio, WebStorm and Rider
|
||||
# Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839
|
||||
|
||||
# User-specific stuff
|
||||
.idea/**/workspace.xml
|
||||
.idea/**/tasks.xml
|
||||
.idea/**/usage.statistics.xml
|
||||
.idea/**/dictionaries
|
||||
.idea/**/shelf
|
||||
|
||||
# AWS User-specific
|
||||
.idea/**/aws.xml
|
||||
|
||||
# Generated files
|
||||
.idea/**/contentModel.xml
|
||||
|
||||
# Sensitive or high-churn files
|
||||
.idea/**/dataSources/
|
||||
.idea/**/dataSources.ids
|
||||
.idea/**/dataSources.local.xml
|
||||
.idea/**/sqlDataSources.xml
|
||||
.idea/**/dynamic.xml
|
||||
.idea/**/uiDesigner.xml
|
||||
.idea/**/dbnavigator.xml
|
||||
|
||||
# Gradle
|
||||
.idea/**/gradle.xml
|
||||
.idea/**/libraries
|
||||
|
||||
# Gradle and Maven with auto-import
|
||||
# When using Gradle or Maven with auto-import, you should exclude module files,
|
||||
# since they will be recreated, and may cause churn. Uncomment if using
|
||||
# auto-import.
|
||||
# .idea/artifacts
|
||||
# .idea/compiler.xml
|
||||
# .idea/jarRepositories.xml
|
||||
# .idea/modules.xml
|
||||
# .idea/*.iml
|
||||
# .idea/modules
|
||||
# *.iml
|
||||
# *.ipr
|
||||
|
||||
# CMake
|
||||
cmake-build-*/
|
||||
|
||||
# Mongo Explorer plugin
|
||||
.idea/**/mongoSettings.xml
|
||||
|
||||
# File-based project format
|
||||
*.iws
|
||||
|
||||
# IntelliJ
|
||||
out/
|
||||
|
||||
# mpeltonen/sbt-idea plugin
|
||||
.idea_modules/
|
||||
|
||||
# JIRA plugin
|
||||
atlassian-ide-plugin.xml
|
||||
|
||||
# Cursive Clojure plugin
|
||||
.idea/replstate.xml
|
||||
|
||||
# SonarLint plugin
|
||||
.idea/sonarlint/
|
||||
|
||||
# Crashlytics plugin (for Android Studio and IntelliJ)
|
||||
com_crashlytics_export_strings.xml
|
||||
crashlytics.properties
|
||||
crashlytics-build.properties
|
||||
fabric.properties
|
||||
|
||||
# Editor-based Rest Client
|
||||
.idea/httpRequests
|
||||
|
||||
# Android studio 3.1+ serialized cache file
|
||||
.idea/caches/build_file_checksums.ser
|
||||
|
||||
### PyCharm Patch ###
|
||||
# Comment Reason: https://github.com/joeblau/gitignore.io/issues/186#issuecomment-215987721
|
||||
|
||||
# *.iml
|
||||
# modules.xml
|
||||
# .idea/misc.xml
|
||||
# *.ipr
|
||||
|
||||
# Sonarlint plugin
|
||||
# https://plugins.jetbrains.com/plugin/7973-sonarlint
|
||||
.idea/**/sonarlint/
|
||||
|
||||
# SonarQube Plugin
|
||||
# https://plugins.jetbrains.com/plugin/7238-sonarqube-community-plugin
|
||||
.idea/**/sonarIssues.xml
|
||||
|
||||
# Markdown Navigator plugin
|
||||
# https://plugins.jetbrains.com/plugin/7896-markdown-navigator-enhanced
|
||||
.idea/**/markdown-navigator.xml
|
||||
.idea/**/markdown-navigator-enh.xml
|
||||
.idea/**/markdown-navigator/
|
||||
|
||||
# Cache file creation bug
|
||||
# See https://youtrack.jetbrains.com/issue/JBR-2257
|
||||
.idea/$CACHE_FILE$
|
||||
|
||||
# CodeStream plugin
|
||||
# https://plugins.jetbrains.com/plugin/12206-codestream
|
||||
.idea/codestream.xml
|
||||
|
||||
# Azure Toolkit for IntelliJ plugin
|
||||
# https://plugins.jetbrains.com/plugin/8053-azure-toolkit-for-intellij
|
||||
.idea/**/azureSettings.xml
|
||||
|
||||
### Python ###
|
||||
# Byte-compiled / optimized / DLL files
|
||||
__pycache__/
|
||||
*.py[cod]
|
||||
*$py.class
|
||||
|
||||
# C extensions
|
||||
*.so
|
||||
|
||||
# Distribution / packaging
|
||||
.Python
|
||||
build/
|
||||
develop-eggs/
|
||||
dist/
|
||||
downloads/
|
||||
eggs/
|
||||
.eggs/
|
||||
lib/
|
||||
lib64/
|
||||
parts/
|
||||
sdist/
|
||||
var/
|
||||
wheels/
|
||||
share/python-wheels/
|
||||
*.egg-info/
|
||||
.installed.cfg
|
||||
*.egg
|
||||
MANIFEST
|
||||
|
||||
# PyInstaller
|
||||
# Usually these files are written by a python script from a template
|
||||
# before PyInstaller builds the exe, so as to inject date/other infos into it.
|
||||
*.manifest
|
||||
*.spec
|
||||
|
||||
# Installer logs
|
||||
pip-log.txt
|
||||
pip-delete-this-directory.txt
|
||||
|
||||
# Unit test / coverage reports
|
||||
htmlcov/
|
||||
.tox/
|
||||
.nox/
|
||||
.coverage
|
||||
.coverage.*
|
||||
.cache
|
||||
nosetests.xml
|
||||
coverage.xml
|
||||
*.cover
|
||||
*.py,cover
|
||||
.hypothesis/
|
||||
.pytest_cache/
|
||||
cover/
|
||||
|
||||
# Translations
|
||||
*.mo
|
||||
*.pot
|
||||
|
||||
# Django stuff:
|
||||
*.log
|
||||
local_settings.py
|
||||
db.sqlite3
|
||||
db.sqlite3-journal
|
||||
|
||||
# Flask stuff:
|
||||
instance/
|
||||
.webassets-cache
|
||||
|
||||
# Scrapy stuff:
|
||||
.scrapy
|
||||
|
||||
# Sphinx documentation
|
||||
docs/_build/
|
||||
|
||||
# PyBuilder
|
||||
.pybuilder/
|
||||
target/
|
||||
|
||||
# Jupyter Notebook
|
||||
.ipynb_checkpoints
|
||||
|
||||
# IPython
|
||||
profile_default/
|
||||
ipython_config.py
|
||||
|
||||
# pyenv
|
||||
# For a library or package, you might want to ignore these files since the code is
|
||||
# intended to run in multiple environments; otherwise, check them in:
|
||||
# .python-version
|
||||
|
||||
# pipenv
|
||||
# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
|
||||
# However, in case of collaboration, if having platform-specific dependencies or dependencies
|
||||
# having no cross-platform support, pipenv may install dependencies that don't work, or not
|
||||
# install all needed dependencies.
|
||||
#Pipfile.lock
|
||||
|
||||
# poetry
|
||||
# Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
|
||||
# This is especially recommended for binary packages to ensure reproducibility, and is more
|
||||
# commonly ignored for libraries.
|
||||
# https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
|
||||
#poetry.lock
|
||||
|
||||
# pdm
|
||||
# Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
|
||||
#pdm.lock
|
||||
# pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
|
||||
# in version control.
|
||||
# https://pdm.fming.dev/#use-with-ide
|
||||
.pdm.toml
|
||||
|
||||
# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
|
||||
__pypackages__/
|
||||
|
||||
# Celery stuff
|
||||
celerybeat-schedule
|
||||
celerybeat.pid
|
||||
|
||||
# SageMath parsed files
|
||||
*.sage.py
|
||||
|
||||
# Environments
|
||||
.env
|
||||
.venv
|
||||
env/
|
||||
venv/
|
||||
ENV/
|
||||
env.bak/
|
||||
venv.bak/
|
||||
|
||||
# Spyder project settings
|
||||
.spyderproject
|
||||
.spyproject
|
||||
|
||||
# Rope project settings
|
||||
.ropeproject
|
||||
|
||||
# mkdocs documentation
|
||||
/site
|
||||
|
||||
# mypy
|
||||
.mypy_cache/
|
||||
.dmypy.json
|
||||
dmypy.json
|
||||
|
||||
# Pyre type checker
|
||||
.pyre/
|
||||
|
||||
# pytype static type analyzer
|
||||
.pytype/
|
||||
|
||||
# Cython debug symbols
|
||||
cython_debug/
|
||||
|
||||
# PyCharm
|
||||
# JetBrains specific template is maintained in a separate JetBrains.gitignore that can
|
||||
# be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
|
||||
# and can be added to the global gitignore or merged into this file. For a more nuclear
|
||||
# option (not recommended) you can uncomment the following to ignore the entire idea folder.
|
||||
#.idea/
|
||||
|
||||
# End of https://www.toptal.com/developers/gitignore/api/macos,python,pycharm
|
||||
|
|
@ -58,16 +58,24 @@ message IRSensorsReadAllResponse {
|
|||
repeated uint32 data = 3 [packed = true];
|
||||
}
|
||||
|
||||
message MotorSetPowerRequest {
|
||||
uint32 port = 1;
|
||||
double power = 2;
|
||||
}
|
||||
|
||||
message MotorsSetPowerRequest {
|
||||
Header header = 1;
|
||||
uint32 port = 2;
|
||||
double power = 3;
|
||||
repeated MotorSetPowerRequest requests = 2;
|
||||
}
|
||||
|
||||
message MotorSetSpeedRequest {
|
||||
uint32 port = 1;
|
||||
double speed = 2;
|
||||
}
|
||||
|
||||
message MotorsSetSpeedRequest {
|
||||
Header header = 1;
|
||||
uint32 port = 2;
|
||||
double speed = 3;
|
||||
repeated MotorSetSpeedRequest requests = 2;
|
||||
}
|
||||
|
||||
message OdometryReadRequest {
|
||||
|
|
@ -98,4 +106,8 @@ message DriveRequest {
|
|||
Header header = 1;
|
||||
double linear_velocity_m_s = 2;
|
||||
double angular_velocity_rad_s = 3;
|
||||
}
|
||||
|
||||
message HealthUpdateRequest {
|
||||
Header header = 1;
|
||||
}
|
||||
|
|
@ -1,30 +1,65 @@
|
|||
import socket
|
||||
from threading import Lock
|
||||
|
||||
import compLib.CompLib_pb2 as CompLib_pb2
|
||||
|
||||
UNIX_SOCKET_PATH = "/tmp/compLib"
|
||||
TCP_SOCKET_HOST = "192.168.0.151"
|
||||
TCP_SOCKET_PORT = 9090
|
||||
|
||||
|
||||
class CompLibClient(object):
|
||||
USE_UNIX_SOCKET = False
|
||||
UNIX_SOCKET_PATH = "/tmp/compLib"
|
||||
USE_TCP_SOCKET = False
|
||||
TCP_SOCKET_HOST = "10.20.5.1"
|
||||
TCP_SOCKET_PORT = 9090
|
||||
SOCKET = None
|
||||
LOCK = Lock()
|
||||
|
||||
@staticmethod
|
||||
def use_unix_socket(socket_path="/tmp/compLib"):
|
||||
CompLibClient.UNIX_SOCKET_PATH = socket_path
|
||||
CompLibClient.USE_UNIX_SOCKET = True
|
||||
CompLibClient.USE_TCP_SOCKET = False
|
||||
|
||||
CompLibClient.SOCKET = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
|
||||
CompLibClient.SOCKET.connect(CompLibClient.UNIX_SOCKET_PATH)
|
||||
|
||||
from compLib.HealthCheck import HealthUpdater
|
||||
HealthUpdater.start()
|
||||
|
||||
@staticmethod
|
||||
def use_tcp_socket(socket_host, socket_port=TCP_SOCKET_PORT):
|
||||
CompLibClient.TCP_SOCKET_HOST = socket_host
|
||||
CompLibClient.TCP_SOCKET_PORT = socket_port
|
||||
CompLibClient.USE_UNIX_SOCKET = False
|
||||
CompLibClient.USE_TCP_SOCKET = True
|
||||
|
||||
CompLibClient.SOCKET = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
|
||||
CompLibClient.SOCKET.connect((CompLibClient.TCP_SOCKET_HOST, CompLibClient.TCP_SOCKET_PORT))
|
||||
|
||||
from compLib.HealthCheck import HealthUpdater
|
||||
HealthUpdater.start()
|
||||
|
||||
@staticmethod
|
||||
def send(data: bytes, size: int) -> bytes:
|
||||
with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as sock:
|
||||
sock.connect((TCP_SOCKET_HOST, TCP_SOCKET_PORT))
|
||||
with CompLibClient.LOCK:
|
||||
# if CompLibClient.USE_TCP_SOCKET:
|
||||
# sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
|
||||
# sock.connect((CompLibClient.TCP_SOCKET_HOST, CompLibClient.TCP_SOCKET_PORT))
|
||||
#
|
||||
# elif CompLibClient.USE_UNIX_SOCKET:
|
||||
# sock = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
|
||||
# sock.connect(CompLibClient.UNIX_SOCKET_PATH)
|
||||
#
|
||||
# else:
|
||||
# return bytes(0)
|
||||
|
||||
# with socket.socket(socket.AF_UNIX, socket.SOCK_STREAM) as sock:
|
||||
# sock.connect(UNIX_SOCKET_PATH)
|
||||
CompLibClient.SOCKET.sendall(size.to_bytes(1, byteorder='big'))
|
||||
CompLibClient.SOCKET.sendall(data)
|
||||
|
||||
sock.sendall(size.to_bytes(1, byteorder='big'))
|
||||
sock.sendall(data)
|
||||
|
||||
response_size_bytes = sock.recv(1)
|
||||
response_size_bytes = CompLibClient.SOCKET.recv(1)
|
||||
response_size = int.from_bytes(response_size_bytes, byteorder="big")
|
||||
# print(response_size)
|
||||
|
||||
response_bytes = sock.recv(response_size)
|
||||
response_bytes = CompLibClient.SOCKET.recv(response_size)
|
||||
# print(response_bytes.hex())
|
||||
# print(len(response_bytes))
|
||||
|
||||
|
|
@ -34,7 +69,7 @@ class CompLibClient(object):
|
|||
|
||||
@staticmethod
|
||||
def check_response(response_bytes: bytes) -> bool:
|
||||
print(f"{response_bytes}")
|
||||
# print(f"{response_bytes}")
|
||||
res = CompLib_pb2.GenericResponse()
|
||||
res.ParseFromString(response_bytes)
|
||||
|
||||
|
|
|
|||
File diff suppressed because it is too large
Load diff
23
client_s2/compLib/HealthCheck.py
Normal file
23
client_s2/compLib/HealthCheck.py
Normal file
|
|
@ -0,0 +1,23 @@
|
|||
import threading
|
||||
import time
|
||||
|
||||
import compLib.CompLib_pb2 as CompLib_pb2
|
||||
from compLib.CompLibClient import CompLibClient
|
||||
|
||||
|
||||
class HealthUpdater(object):
|
||||
started = False
|
||||
|
||||
@staticmethod
|
||||
def start():
|
||||
if not HealthUpdater.started:
|
||||
threading.Thread(target=HealthUpdater.loop, daemon=True).start()
|
||||
HealthUpdater.started = True
|
||||
|
||||
@staticmethod
|
||||
def loop():
|
||||
while True:
|
||||
request = CompLib_pb2.HealthUpdateRequest()
|
||||
request.header.message_type = request.DESCRIPTOR.full_name
|
||||
CompLibClient.send(request.SerializeToString(), request.ByteSize())
|
||||
time.sleep(0.25)
|
||||
|
|
@ -1,4 +1,5 @@
|
|||
import compLib.CompLib_pb2 as CompLib_pb2
|
||||
|
||||
from compLib.CompLibClient import CompLibClient
|
||||
|
||||
|
||||
|
|
@ -10,7 +11,7 @@ class IRSensor(object):
|
|||
def read_all():
|
||||
"""Read all IR sensors at once.
|
||||
|
||||
:return: Tuple of all current ir sensors
|
||||
:return: Array of all current ir sensors
|
||||
"""
|
||||
request = CompLib_pb2.IRSensorsReadAllRequest()
|
||||
request.header.message_type = request.DESCRIPTOR.full_name
|
||||
|
|
@ -18,7 +19,7 @@ class IRSensor(object):
|
|||
response = CompLib_pb2.IRSensorsReadAllResponse()
|
||||
response.ParseFromString(CompLibClient.send(request.SerializeToString(), request.ByteSize()))
|
||||
|
||||
return tuple(i for i in response.data)
|
||||
return [i for i in response.data]
|
||||
|
||||
@staticmethod
|
||||
def enable():
|
||||
|
|
|
|||
|
|
@ -30,6 +30,31 @@ class Motor(object):
|
|||
|
||||
CompLibClient.send(request.SerializeToString(), request.ByteSize())
|
||||
|
||||
@staticmethod
|
||||
def multiple_power(*arguments: tuple[int, float]):
|
||||
"""Set specified motors to percentage power
|
||||
|
||||
:param arguments: tuples of port, percentage
|
||||
:raises: IndexError
|
||||
"""
|
||||
request = CompLib_pb2.MotorsSetPowerRequest()
|
||||
request.header.message_type = request.DESCRIPTOR.full_name
|
||||
|
||||
for port, percent in arguments:
|
||||
if port < 0 or port >= MOTOR_COUNT:
|
||||
raise IndexError("Invalid Motor port specified!")
|
||||
|
||||
if percent < -100 or percent > 100:
|
||||
raise IndexError("Invalid Motor speed specified! Speed is between -100 and 100 percent!")
|
||||
|
||||
inner_request = CompLib_pb2.MotorSetPowerRequest()
|
||||
inner_request.port = port
|
||||
inner_request.power = percent
|
||||
|
||||
request.requests.append(inner_request)
|
||||
|
||||
CompLibClient.send(request.SerializeToString(), request.ByteSize())
|
||||
|
||||
@staticmethod
|
||||
def speed(port: int, speed: float):
|
||||
"""Set specified motor to percentage power
|
||||
|
|
@ -49,6 +74,29 @@ class Motor(object):
|
|||
|
||||
CompLibClient.send(request.SerializeToString(), request.ByteSize())
|
||||
|
||||
@staticmethod
|
||||
def multiple_speed(*arguments: tuple[int, float]):
|
||||
"""Set specified motor to percentage power
|
||||
|
||||
:param arguments: tuples of port, speed in rpm
|
||||
:raises: IndexError
|
||||
"""
|
||||
|
||||
request = CompLib_pb2.MotorsSetSpeedRequest()
|
||||
request.header.message_type = request.DESCRIPTOR.full_name
|
||||
|
||||
for port, speed in arguments:
|
||||
if port < 0 or port >= MOTOR_COUNT:
|
||||
raise IndexError("Invalid Motor port specified!")
|
||||
|
||||
inner_request = CompLib_pb2.MotorSetSpeedRequest()
|
||||
inner_request.port = port
|
||||
inner_request.speed = speed
|
||||
|
||||
request.requests.append(inner_request)
|
||||
|
||||
CompLibClient.send(request.SerializeToString(), request.ByteSize())
|
||||
|
||||
# @staticmethod
|
||||
# def all_off():
|
||||
# """
|
||||
|
|
|
|||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
24
client_s2/dev01.py
Normal file
24
client_s2/dev01.py
Normal file
|
|
@ -0,0 +1,24 @@
|
|||
import time
|
||||
|
||||
from compLib.CompLibClient import CompLibClient
|
||||
|
||||
|
||||
def main():
|
||||
from compLib.Motor import Motor
|
||||
|
||||
# Motor.speed(0, -50)
|
||||
# Motor.speed(3, 50)
|
||||
|
||||
Motor.power(0, 50)
|
||||
Motor.power(3, -50)
|
||||
|
||||
time.sleep(2)
|
||||
|
||||
Motor.power(0, 0)
|
||||
Motor.power(3, -0)
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
CompLibClient.use_tcp_socket("dev01.local")
|
||||
# follow()
|
||||
main()
|
||||
34
client_s2/dev03.py
Normal file
34
client_s2/dev03.py
Normal file
|
|
@ -0,0 +1,34 @@
|
|||
import time
|
||||
|
||||
from compLib.CompLibClient import CompLibClient
|
||||
from compLib.IRSensor import IRSensor
|
||||
|
||||
|
||||
def main():
|
||||
# Motor.speed(0, -50)
|
||||
# Motor.speed(3, 50)
|
||||
|
||||
# Motor.power(0, 50)
|
||||
# Motor.power(3, -50)
|
||||
#
|
||||
# time.sleep(2)
|
||||
#
|
||||
# Motor.power(0, 0)
|
||||
# Motor.power(3, -0)
|
||||
|
||||
start_time = time.time()
|
||||
for i in range(0, 1000):
|
||||
IRSensor.read_all()
|
||||
# Motor.multiple_power((0, 1), (3, 1))
|
||||
# Motor.speed(0, 1)
|
||||
# Motor.speed(3, 1)
|
||||
|
||||
print(1000.0 / (time.time() - start_time))
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
# CompLibClient.use_tcp_socket("dev03.local")
|
||||
CompLibClient.use_unix_socket()
|
||||
# follow()
|
||||
# cProfile.run("main()")
|
||||
main()
|
||||
109
client_s2/lf.py
Normal file
109
client_s2/lf.py
Normal file
|
|
@ -0,0 +1,109 @@
|
|||
import time
|
||||
|
||||
from compLib.CompLibClient import CompLibClient
|
||||
from compLib.IRSensor import IRSensor
|
||||
from compLib.Motor import Motor
|
||||
|
||||
DRIVE_SPEED = 5.0
|
||||
COLOR_BREAK = 1500.0
|
||||
KP = 2.0
|
||||
KD = 0.0
|
||||
|
||||
|
||||
def drive(left_speed, right_speed):
|
||||
print(left_speed, right_speed)
|
||||
|
||||
right_speed *= -1.0
|
||||
|
||||
Motor.speed(0, right_speed)
|
||||
Motor.speed(3, left_speed)
|
||||
|
||||
|
||||
def follow(sleep_time=0.1):
|
||||
last_error = 0
|
||||
sensors_black = 0
|
||||
while sensors_black <= 3:
|
||||
sensor_values = IRSensor.read_all()
|
||||
|
||||
sensors_black = 0
|
||||
for sensor in sensor_values:
|
||||
if sensor > COLOR_BREAK:
|
||||
sensors_black += 1
|
||||
|
||||
error = last_error
|
||||
if sensor_values[2] > COLOR_BREAK:
|
||||
error = 0
|
||||
elif sensor_values[0] > COLOR_BREAK:
|
||||
error = -1.5
|
||||
elif sensor_values[4] > COLOR_BREAK:
|
||||
error = 1.5
|
||||
elif sensor_values[1] > COLOR_BREAK:
|
||||
error = -1
|
||||
elif sensor_values[3] > COLOR_BREAK:
|
||||
error = 1
|
||||
elif error == 1.5:
|
||||
error = 3.5
|
||||
elif error == -1.5:
|
||||
error = -3.5
|
||||
|
||||
last_error = error
|
||||
|
||||
adjustment = KP * error + KD * (error - last_error)
|
||||
left_speed = DRIVE_SPEED + adjustment
|
||||
right_speed = DRIVE_SPEED - adjustment
|
||||
|
||||
print(sensor_values)
|
||||
print(f"{left_speed} {right_speed} {adjustment} {error}")
|
||||
drive(left_speed, right_speed)
|
||||
|
||||
drive(0, 0)
|
||||
time.sleep(sleep_time)
|
||||
|
||||
|
||||
def follow_simple():
|
||||
left_speed = DRIVE_SPEED
|
||||
right_speed = DRIVE_SPEED
|
||||
sensor_values = IRSensor.read_all()
|
||||
while True:
|
||||
sensor_values = IRSensor.read_all()
|
||||
# for i in range(len(sensor_values)):
|
||||
# sensor_values[i] = (sensor_values[i] + new_sensor_values[i]) / 2.0
|
||||
|
||||
print(sensor_values)
|
||||
|
||||
if sensor_values[0] > COLOR_BREAK and sensor_values[4] > COLOR_BREAK:
|
||||
break
|
||||
|
||||
if sensor_values[0] > COLOR_BREAK:
|
||||
left_speed = -DRIVE_SPEED / 2
|
||||
right_speed = DRIVE_SPEED
|
||||
elif sensor_values[4] > COLOR_BREAK:
|
||||
left_speed = DRIVE_SPEED
|
||||
right_speed = -DRIVE_SPEED / 2
|
||||
elif sensor_values[2] > COLOR_BREAK:
|
||||
left_speed = DRIVE_SPEED
|
||||
right_speed = DRIVE_SPEED
|
||||
|
||||
drive(left_speed, right_speed)
|
||||
|
||||
|
||||
def main():
|
||||
CompLibClient.use_unix_socket()
|
||||
|
||||
IRSensor.enable()
|
||||
time.sleep(0.1)
|
||||
|
||||
# while True:
|
||||
# print(IRSensor.read_all())
|
||||
|
||||
# follow_simple()
|
||||
# drive(5, 5)
|
||||
# time.sleep(5)
|
||||
# follow()
|
||||
# follow()
|
||||
# follow()
|
||||
# follow()
|
||||
# follow(0.2)
|
||||
|
||||
|
||||
main()
|
||||
|
|
@ -1,4 +1,6 @@
|
|||
SOCKET_PATH = "/tmp/compLib"
|
||||
import time
|
||||
|
||||
from compLib.CompLibClient import CompLibClient
|
||||
|
||||
|
||||
# def send(data, size):
|
||||
|
|
@ -30,61 +32,143 @@ def main():
|
|||
# send(encoder_read_positions_request.SerializeToString(), encoder_read_positions_request.ByteSize())
|
||||
# print("--- %s seconds ---" % (time.time() - start_time))
|
||||
|
||||
# from compLib.IRSensor import IRSensor
|
||||
# IRSensor.read_all()
|
||||
#
|
||||
from compLib.IRSensor import IRSensor
|
||||
IRSensor.enable()
|
||||
|
||||
startTime = time.time()
|
||||
while time.time() - startTime < 10:
|
||||
print(IRSensor.read_all())
|
||||
time.sleep(0.01)
|
||||
|
||||
# from compLib.Encoder import Encoder
|
||||
# print(Encoder.read_all_positions())
|
||||
# print(Encoder.read_all_velocities())
|
||||
|
||||
# from compLib.Motor import Motor
|
||||
# Motor.speed(0, 50)
|
||||
# Motor.speed(3, -50)
|
||||
#
|
||||
# import time
|
||||
# time.sleep(2)
|
||||
#
|
||||
# Motor.speed(0, 0)
|
||||
# Motor.speed(3, -0)
|
||||
|
||||
# Motor.power(0, 0)
|
||||
# Motor.power(3, 0)
|
||||
# Motor.speed(0, -50)
|
||||
# Motor.speed(3, 50)
|
||||
|
||||
# import math
|
||||
# from compLib.Movement import Movement
|
||||
# Movement.turn_degrees(90, math.pi * 2)
|
||||
# Movement.turn_degrees(-90, math.pi * 2)
|
||||
#
|
||||
# Movement.turn_degrees(90, math.pi * 2)
|
||||
# Movement.turn_degrees(90, -math.pi * 2)
|
||||
#
|
||||
# Movement.turn_degrees(90, math.pi * 2)
|
||||
# Movement.turn_degrees(-90, -math.pi * 2)
|
||||
# Motor.power(0, -50)
|
||||
# Motor.power(3, 50)
|
||||
|
||||
# from compLib.Movement import Movement
|
||||
# Movement.drive_distance(0.1, 0.5)
|
||||
# Movement.drive_distance(-0.1, 0.5)
|
||||
#
|
||||
# Movement.drive_distance(0.1, 0.5)
|
||||
# Movement.drive_distance(0.1, -0.5)
|
||||
#
|
||||
# Movement.drive_distance(0.1, 0.5)
|
||||
# Movement.drive_distance(-0.1, -0.5)
|
||||
# time.sleep(5)
|
||||
|
||||
from compLib.Movement import Movement
|
||||
import math
|
||||
Movement.drive_distance(0.5, 0.5)
|
||||
Movement.turn_degrees(90, math.pi * 2)
|
||||
|
||||
Movement.drive_distance(0.5, 0.5)
|
||||
Movement.turn_degrees(90, math.pi * 2)
|
||||
#
|
||||
# import time
|
||||
# time.sleep(2)
|
||||
#
|
||||
# Motor.speed(0, 0)
|
||||
# Motor.speed(3, -0)
|
||||
|
||||
Movement.drive_distance(0.5, 0.5)
|
||||
Movement.turn_degrees(90, math.pi * 2)
|
||||
# Motor.power(0, 0)
|
||||
# Motor.power(3, 0)
|
||||
|
||||
Movement.drive_distance(0.5, 0.5)
|
||||
Movement.turn_degrees(90, math.pi * 2)
|
||||
# import math
|
||||
# from compLib.Movement import Movement
|
||||
# Movement.turn_degrees(90, math.pi * 2)
|
||||
# Movement.turn_degrees(-90, math.pi * 2)
|
||||
#
|
||||
# Movement.turn_degrees(90, math.pi * 2)
|
||||
# Movement.turn_degrees(90, -math.pi * 2)
|
||||
#
|
||||
# Movement.turn_degrees(90, math.pi * 2)
|
||||
# Movement.turn_degrees(-90, -math.pi * 2)
|
||||
|
||||
# from compLib.Movement import Movement
|
||||
# Movement.drive_distance(0.1, 0.5)
|
||||
# Movement.drive_distance(-0.1, 0.5)
|
||||
#
|
||||
# Movement.drive_distance(0.1, 0.5)
|
||||
# Movement.drive_distance(0.1, -0.5)
|
||||
#
|
||||
# Movement.drive_distance(0.1, 0.5)
|
||||
# Movement.drive_distance(-0.1, -0.5)
|
||||
|
||||
# from compLib.Movement import Movement
|
||||
# import math
|
||||
# import time
|
||||
# Movement.drive_distance(0.5, 0.5)
|
||||
# time.sleep(1)
|
||||
# Movement.turn_degrees(90, math.pi * 2)
|
||||
# time.sleep(1)
|
||||
#
|
||||
# Movement.drive_distance(0.5, 0.5)
|
||||
# time.sleep(1)
|
||||
# Movement.turn_degrees(90, math.pi * 2)
|
||||
# time.sleep(1)
|
||||
#
|
||||
# Movement.drive_distance(0.5, 0.5)
|
||||
# time.sleep(1)
|
||||
# Movement.turn_degrees(90, math.pi * 2)
|
||||
# time.sleep(1)
|
||||
#
|
||||
# Movement.drive_distance(0.5, 0.5)
|
||||
# time.sleep(1)
|
||||
# Movement.turn_degrees(90, math.pi * 2)
|
||||
# time.sleep(1)
|
||||
|
||||
# import time
|
||||
#
|
||||
# from compLib.IRSensor import IRSensor
|
||||
# from compLib.Motor import Motor
|
||||
#
|
||||
# IRSensor.enable()
|
||||
#
|
||||
# DRIVE_SPEED = 2.0
|
||||
# COLOR_BREAK = 900
|
||||
# KP = 0.25
|
||||
# KD = 0.0
|
||||
#
|
||||
#
|
||||
# def drive(leftSpeed, rightSpeed):
|
||||
# Motor.speed(0, -rightSpeed)
|
||||
# Motor.power(3, leftSpeed)
|
||||
#
|
||||
#
|
||||
# def follow(sleepTime=0.1):
|
||||
# lastError = 0
|
||||
# sensorsBlack = 0
|
||||
#
|
||||
# while sensorsBlack < 3:
|
||||
# data = IRSensor.read_all()
|
||||
#
|
||||
# sensorsBlack = 0
|
||||
# for i in range(len(data)):
|
||||
# if data[i] > COLOR_BREAK:
|
||||
# sensorsBlack += 1
|
||||
#
|
||||
# error = lastError
|
||||
# if data[2] > COLOR_BREAK:
|
||||
# error = 0
|
||||
# elif data[0] > COLOR_BREAK:
|
||||
# error = -1.5
|
||||
# elif data[4] > COLOR_BREAK:
|
||||
# error = 1.5
|
||||
# elif data[1] > COLOR_BREAK:
|
||||
# error = -1
|
||||
# elif data[3] > COLOR_BREAK:
|
||||
# error = 1
|
||||
# elif error == 1.5:
|
||||
# error = 3
|
||||
# elif error == -1.5:
|
||||
# error = -3
|
||||
#
|
||||
# lastError = error
|
||||
#
|
||||
# adjustment = KP * error + KD * (error - lastError)
|
||||
# leftSpeed = DRIVE_SPEED + adjustment
|
||||
# rightSpeed = DRIVE_SPEED - adjustment
|
||||
#
|
||||
# print(f"{leftSpeed} {rightSpeed} {adjustment} {error}")
|
||||
# drive(leftSpeed, rightSpeed)
|
||||
#
|
||||
# drive(0, 0)
|
||||
# time.sleep(sleepTime)
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
CompLibClient.use_tcp_socket("dev03.local")
|
||||
# follow()
|
||||
main()
|
||||
|
|
|
|||
Reference in a new issue