diff --git a/car/build.gradle b/car/build.gradle index 43e3d4b..9fdce20 100644 --- a/car/build.gradle +++ b/car/build.gradle @@ -17,4 +17,11 @@ task copyPythonCode(type: Copy, dependsOn: configurations.python){ task build(type: Exec, dependsOn: copyPythonCode) { commandLine 'python3', 'setup.py', 'bdist_wheel' +} + +task clean { + doLast { + delete 'dist' + delete 'build' + } } \ No newline at end of file diff --git a/car/src/car/control/motor_servicer.py b/car/src/car/control/motor_servicer.py index 4e24b68..2b3052a 100644 --- a/car/src/car/control/motor_servicer.py +++ b/car/src/car/control/motor_servicer.py @@ -2,8 +2,8 @@ from threading import Timer, Thread from concurrent import futures import time -import control.motorService_pb2 as motorService_pb2 -import control.motorService_pb2_grpc as motorService_pb2_grpc +import car.control.motorService_pb2 as motorService_pb2 +import car.control.motorService_pb2_grpc as motorService_pb2_grpc class MotorServicer(motorService_pb2_grpc.CarControlServicer): def __init__(self, vehicle): diff --git a/car/src/car/controller.py b/car/src/car/controller.py index b49d8d5..de63332 100755 --- a/car/src/car/controller.py +++ b/car/src/car/controller.py @@ -6,13 +6,13 @@ import time import grpc -import control.motorService_pb2_grpc as motorService_pb2_grpc -from control.gpio.vehicle import Vehicle -from control.motor_servicer import MotorServicer -from slam.slam_servicer import SlamServicer -import slam.SlamController_pb2_grpc as SlamController_pb2_grpc -import tracking.lidar_tracker_pb2_grpc as lidar_tracker_pb2_grpc -from tracking.lidar_servicer import LidarServicer +import car.control.motorService_pb2_grpc as motorService_pb2_grpc +from car.control.gpio.vehicle import Vehicle +from car.control.motor_servicer import MotorServicer +from car.slam.slam_servicer import SlamServicer +import car.slam.SlamController_pb2_grpc as SlamController_pb2_grpc +import car.tracking.lidar_tracker_pb2_grpc as lidar_tracker_pb2_grpc +from car.tracking.lidar_servicer import LidarServicer class CarServer(): diff --git a/car/src/car/slam/slam_servicer.py b/car/src/car/slam/slam_servicer.py index 5209d34..7e40669 100644 --- a/car/src/car/slam/slam_servicer.py +++ b/car/src/car/slam/slam_servicer.py @@ -1,6 +1,6 @@ -import slam.SlamController_pb2_grpc as grpc -import slam.SlamController_pb2 as proto -import slam.slam_streamer as slam +import car.slam.SlamController_pb2_grpc as grpc +import car.slam.SlamController_pb2 as proto +import car.slam.slam_streamer as slam from multiprocessing import Process diff --git a/car/src/car/slam/slam_streamer.py b/car/src/car/slam/slam_streamer.py index 601a186..1602b1f 100644 --- a/car/src/car/slam/slam_streamer.py +++ b/car/src/car/slam/slam_streamer.py @@ -1,10 +1,10 @@ import zmq from breezyslam.algorithms import RMHC_SLAM from breezyslam.sensors import RPLidarA1 as LaserModel -from slam.SlamController_pb2 import SlamScan, SlamLocation -import messaging.message_factory as mf -import messaging.messages as messages -import tracking.devices.factory as lidar_fact +from car.slam.SlamController_pb2 import SlamScan, SlamLocation +import car.messaging.message_factory as mf +import car.messaging.messages as messages +import car.tracking.devices.factory as lidar_fact # Left here as was used in the example, configure as necessary. diff --git a/car/src/car/tracking/animate.py b/car/src/car/tracking/animate.py index 451ec7f..3e31974 100755 --- a/car/src/car/tracking/animate.py +++ b/car/src/car/tracking/animate.py @@ -1,10 +1,10 @@ #!/usr/bin/env python3 '''Animates distances and measurment quality''' -from tracking.mock_lidar import MockLidar +from car.tracking.mock_lidar import MockLidar import matplotlib.pyplot as plt import numpy as np import matplotlib.animation as animation -import tracking.lidar_loader as loader +import car.tracking.lidar_loader as loader PORT_NAME = '/dev/ttyUSB0' diff --git a/car/src/car/tracking/animate_alg.py b/car/src/car/tracking/animate_alg.py index 879b12c..e076542 100644 --- a/car/src/car/tracking/animate_alg.py +++ b/car/src/car/tracking/animate_alg.py @@ -6,8 +6,8 @@ from tracking.mock_lidar import MockLidar import matplotlib.pyplot as plt import numpy as np import matplotlib.animation as animation -import tracking.lidar_loader as loader -import tracking.algorithms as alg +import car.tracking.lidar_loader as loader +import car.tracking.algorithms as alg PORT_NAME = '/dev/ttyUSB0' diff --git a/car/src/car/tracking/devices/factory.py b/car/src/car/tracking/devices/factory.py index 3ac3bea..43e1123 100644 --- a/car/src/car/tracking/devices/factory.py +++ b/car/src/car/tracking/devices/factory.py @@ -1,5 +1,5 @@ -from tracking.devices.mock_lidar import MockLidar -import tracking.lidar_loader as loader +from car.tracking.devices.mock_lidar import MockLidar +import car.tracking.lidar_loader as loader # connection = "TEST" connection = '/dev/ttyUSB0' diff --git a/car/src/car/tracking/devices/mock_lidar.py b/car/src/car/tracking/devices/mock_lidar.py index f5ccea6..a69b8a6 100644 --- a/car/src/car/tracking/devices/mock_lidar.py +++ b/car/src/car/tracking/devices/mock_lidar.py @@ -4,7 +4,7 @@ Importantly, it implements iter_scans, so it can be substituted for RPLidar in the lidar_cache for testing (or anywhere else the rplidar may be used) """ -import tracking.lidar_loader as loader +import car.tracking.lidar_loader as loader class MockLidar: diff --git a/car/src/car/tracking/lidar_cache.py b/car/src/car/tracking/lidar_cache.py index f74b6f1..40eb789 100644 --- a/car/src/car/tracking/lidar_cache.py +++ b/car/src/car/tracking/lidar_cache.py @@ -1,6 +1,6 @@ from threading import Thread -from tracking import algorithms -import tracking.lidar_tracker_pb2 as tracker_pb +from car.tracking import algorithms +import car.tracking.lidar_tracker_pb2 as tracker_pb import zmq @@ -14,8 +14,8 @@ class LidarCache(): def __init__(self, lidar, measurements=100): self.lidar = lidar self.measurements = measurements - print('Info: ' + self.lidar.get_info()) - print('Health: ' + self.lidar.get_health()) + print('Info: ' + str(self.lidar.get_info())) + print('Health: ' + str(self.lidar.get_health())) self.run = True self.tracking_group_number = -1 self.currentGroups = None diff --git a/car/src/car/tracking/lidar_servicer.py b/car/src/car/tracking/lidar_servicer.py index 5386fc3..e9e7491 100644 --- a/car/src/car/tracking/lidar_servicer.py +++ b/car/src/car/tracking/lidar_servicer.py @@ -1,12 +1,12 @@ -import tracking.lidar_tracker_pb2 as lidar_tracker_pb2 -from tracking.lidar_tracker_pb2_grpc import PersonTrackingServicer -from tracking.lidar_cache import LidarCache +import car.tracking.lidar_tracker_pb2 as lidar_tracker_pb2 +from car.tracking.lidar_tracker_pb2_grpc import PersonTrackingServicer +from car.tracking.lidar_cache import LidarCache from multiprocessing import Process -import messaging.message_factory as mf -import tracking.devices.factory as lidar_factory +import car.messaging.message_factory as mf +import car.tracking.devices.factory as lidar_factory -from messaging import messages -import tracking.algorithms as alg +from car.messaging import messages +import car.tracking.algorithms as alg class LidarServicer(PersonTrackingServicer):