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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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7
car/build.gradle
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@@ -18,3 +18,10 @@ task copyPythonCode(type: Copy, dependsOn: configurations.python){
task build(type: Exec, dependsOn: copyPythonCode) { task build(type: Exec, dependsOn: copyPythonCode) {
commandLine 'python3', 'setup.py', 'bdist_wheel' commandLine 'python3', 'setup.py', 'bdist_wheel'
} }
task clean {
doLast {
delete 'dist'
delete 'build'
}
}

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 from concurrent import futures
import time import time
import control.motorService_pb2 as motorService_pb2 import car.control.motorService_pb2 as motorService_pb2
import control.motorService_pb2_grpc as motorService_pb2_grpc import car.control.motorService_pb2_grpc as motorService_pb2_grpc
class MotorServicer(motorService_pb2_grpc.CarControlServicer): class MotorServicer(motorService_pb2_grpc.CarControlServicer):
def __init__(self, vehicle): def __init__(self, vehicle):

14
car/src/car/controller.py
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@@ -6,13 +6,13 @@ import time
import grpc import grpc
import control.motorService_pb2_grpc as motorService_pb2_grpc import car.control.motorService_pb2_grpc as motorService_pb2_grpc
from control.gpio.vehicle import Vehicle from car.control.gpio.vehicle import Vehicle
from control.motor_servicer import MotorServicer from car.control.motor_servicer import MotorServicer
from slam.slam_servicer import SlamServicer from car.slam.slam_servicer import SlamServicer
import slam.SlamController_pb2_grpc as SlamController_pb2_grpc import car.slam.SlamController_pb2_grpc as SlamController_pb2_grpc
import tracking.lidar_tracker_pb2_grpc as lidar_tracker_pb2_grpc import car.tracking.lidar_tracker_pb2_grpc as lidar_tracker_pb2_grpc
from tracking.lidar_servicer import LidarServicer from car.tracking.lidar_servicer import LidarServicer
class CarServer(): 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 car.slam.SlamController_pb2_grpc as grpc
import slam.SlamController_pb2 as proto import car.slam.SlamController_pb2 as proto
import slam.slam_streamer as slam import car.slam.slam_streamer as slam
from multiprocessing import Process from multiprocessing import Process

8
car/src/car/slam/slam_streamer.py
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@@ -1,10 +1,10 @@
import zmq import zmq
from breezyslam.algorithms import RMHC_SLAM from breezyslam.algorithms import RMHC_SLAM
from breezyslam.sensors import RPLidarA1 as LaserModel from breezyslam.sensors import RPLidarA1 as LaserModel
from slam.SlamController_pb2 import SlamScan, SlamLocation from car.slam.SlamController_pb2 import SlamScan, SlamLocation
import messaging.message_factory as mf import car.messaging.message_factory as mf
import messaging.messages as messages import car.messaging.messages as messages
import tracking.devices.factory as lidar_fact import car.tracking.devices.factory as lidar_fact
# Left here as was used in the example, configure as necessary. # 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 #!/usr/bin/env python3
'''Animates distances and measurment quality''' '''Animates distances and measurment quality'''
from tracking.mock_lidar import MockLidar from car.tracking.mock_lidar import MockLidar
import matplotlib.pyplot as plt import matplotlib.pyplot as plt
import numpy as np import numpy as np
import matplotlib.animation as animation import matplotlib.animation as animation
import tracking.lidar_loader as loader import car.tracking.lidar_loader as loader
PORT_NAME = '/dev/ttyUSB0' 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 matplotlib.pyplot as plt
import numpy as np import numpy as np
import matplotlib.animation as animation import matplotlib.animation as animation
import tracking.lidar_loader as loader import car.tracking.lidar_loader as loader
import tracking.algorithms as alg import car.tracking.algorithms as alg
PORT_NAME = '/dev/ttyUSB0' 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 from car.tracking.devices.mock_lidar import MockLidar
import tracking.lidar_loader as loader import car.tracking.lidar_loader as loader
# connection = "TEST" # connection = "TEST"
connection = '/dev/ttyUSB0' 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) 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: class MockLidar:

8
car/src/car/tracking/lidar_cache.py
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@@ -1,6 +1,6 @@
from threading import Thread from threading import Thread
from tracking import algorithms from car.tracking import algorithms
import tracking.lidar_tracker_pb2 as tracker_pb import car.tracking.lidar_tracker_pb2 as tracker_pb
import zmq import zmq
@@ -14,8 +14,8 @@ class LidarCache():
def __init__(self, lidar, measurements=100): def __init__(self, lidar, measurements=100):
self.lidar = lidar self.lidar = lidar
self.measurements = measurements self.measurements = measurements
print('Info: ' + self.lidar.get_info()) print('Info: ' + str(self.lidar.get_info()))
print('Health: ' + self.lidar.get_health()) print('Health: ' + str(self.lidar.get_health()))
self.run = True self.run = True
self.tracking_group_number = -1 self.tracking_group_number = -1
self.currentGroups = None 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 import car.tracking.lidar_tracker_pb2 as lidar_tracker_pb2
from tracking.lidar_tracker_pb2_grpc import PersonTrackingServicer from car.tracking.lidar_tracker_pb2_grpc import PersonTrackingServicer
from tracking.lidar_cache import LidarCache from car.tracking.lidar_cache import LidarCache
from multiprocessing import Process from multiprocessing import Process
import messaging.message_factory as mf import car.messaging.message_factory as mf
import tracking.devices.factory as lidar_factory import car.tracking.devices.factory as lidar_factory
from messaging import messages from car.messaging import messages
import tracking.algorithms as alg import car.tracking.algorithms as alg
class LidarServicer(PersonTrackingServicer): class LidarServicer(PersonTrackingServicer):