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Final work to get the build going.

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This commit is contained in:
Piv
2020-04-19 14:17:00 +09:30
parent 86ac59aada
commit 4015f1501f
11 changed files with 41 additions and 34 deletions
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4
car/src/car/control/motor_servicer.py
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@@ -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):

14
car/src/car/controller.py
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@@ -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():

6
car/src/car/slam/slam_servicer.py
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@@ -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

8
car/src/car/slam/slam_streamer.py
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@@ -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.

4
car/src/car/tracking/animate.py
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@@ -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'

4
car/src/car/tracking/animate_alg.py
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@@ -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'

4
car/src/car/tracking/devices/factory.py
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@@ -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'

2
car/src/car/tracking/devices/mock_lidar.py
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@@ -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:

8
car/src/car/tracking/lidar_cache.py
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@@ -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

14
car/src/car/tracking/lidar_servicer.py
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@@ -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):