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boat.py
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boat.py
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import sys
import os
import xbee
import time
import variables as var
#import lib.imu as imu
#import lib.variables as var
x = xbee.xbee("/dev/ttyUSB1")
challenges = ['autonomous','speed', 'follow', 'path', 'docking', 'return']
courses = ['courseA', 'courseB', 'courseC']
#To do: Sacar coordenadas de la imu
lat_long = ["29.151098","-81.016505"];
# challenge string
var.currChallenge = 'N'
data = ['','','','','','','','']
enable_pos = 0
R_kill_switch = 1
status = 2
course = 3
challenge_pos = 4
dock = 5
def testing_case():
global data
#imu.init();
var.currChallenge = 's'
for i in range(1,5):
send_heartbeat()
var.currChallenge = 'a'
for i in range(1,5):
send_heartbeat()
var.currChallenge = 'N'
for i in range(1,5):
send_heartbeat()
var.currChallenge = 'd'
for i in range(1,5):
send_heartbeat()
# Aqui esta haciendo el docking
resp = '0'
counter = 0
print("Receiving docking data...")
while resp == '0':
s = x.receive_from_station();
resp = s[enable_pos];
counter += 1
print("Go to dock : ", s[dock])
if(counter < 5):
time.sleep(6-counter);
else:
print("Algo salio mal con la respuesta del dock")
var.currChallenge = 'r'
for i in range(1,5):
send_heartbeat()
var.currChallenge = 'e'
for i in range(1,5):
send_heartbeat()
def start_mission():
global data
#imu.init();
for i in range(1,5):
send_start(lat_long)
while(data[challenge_pos] != 'd'):
send_heartbeat()
# Aqui esta haciendo el docking
resp = '0'
counter = 0
print("Receiving docking data...")
while resp == '0':
s = x.receive_from_station();
resp = s[enable_pos];
counter += 1
print("Go to dock : ", s[dock])
if(counter < 5):
time.sleep(6-counter);
else:
print("Algo salio mal con la respuesta del dock")
# To Do: Mover el barco hacia s[dock]
# Espera a que se mande la 'e' de fin de mision
while(data[challenge_pos] != 'e'):
send_heartbeat()
def send_heartbeat():
# To Do: Obtener coordenadas y cambiar en la siguiente linea
#coords = imu.get_gps_coords();
la = lat_long[0].zfill(10);
lo = lat_long[1].zfill(10);
x.set_latlong(la,lo);
x.set_challenge(var.currChallenge)
x.send2station()
time.sleep(1.05)
def send_start(latlong):
x.set_flying("0");
x.set_takeoff("0");
la = lat_long[0].zfill(10);
lo = lat_long[1].zfill(10);
x.set_latlong(la,lo);
x.set_challenge('s');
x.send2station();
time.sleep(1.05);
def send_end(latlong):
x.set_flying("0");
x.set_takeoff("0");
x.set_latlong(latlong[0],latlong[1]);
x.set_challenge('e');
x.send2station();
time.sleep(1.05);
def send_return(latlong):
x.set_flying("0");
x.set_takeoff("0");
x.set_latlong(latlong[0],latlong[1]);
x.set_challenge('r');
x.send2station();
time.sleep(1.05);
def send_follow(latlong):
x.set_flying("0");
x.set_takeoff("0");
x.set_latlong(latlong[0],latlong[1]);
x.set_challenge('f');
x.send2station();
time.sleep(1.05);
def send_docking(latlong):
x.set_flying("0");
x.set_takeoff("0");
x.set_latlong(latlong[0],latlong[1]);
x.set_challenge('d');
x.send2station();
time.sleep(1.05);
def send_heart_beat(latlong):
x.set_flying("0");
x.set_takeoff("0");
x.set_latlong(latlong[0],latlong[1]);
x.set_challenge('N');
x.send2station();
time.sleep(1.05);
def send_takeoff(latlong):
x.set_flying("0");
x.set_takeoff("1");
x.set_latlong(latlong[0],latlong[1]);
x.set_challenge('d');
x.send2station();
time.sleep(1.05);
def send_flying(latlong):
x.set_flying("1");
x.set_takeoff("1");
x.set_latlong(latlong[0],latlong[1]);
x.set_challenge('d');
x.send2station();
time.sleep(1.05);
def send_landing(latlong):
x.set_flying("0");
x.set_takeoff("0");
x.set_landing("1");
x.set_latlong(latlong[0],latlong[1]);
x.set_challenge('d');
x.send2station();
time.sleep(1.05);
#Send Testing OK
def send_testing():
global enable_pos
#while True:
send_start(lat_long);
send_start(lat_long);
send_start(lat_long);
for i in range(1,5):
send_heart_beat(lat_long);
if i == 2:
send_docking(lat_long);
send_docking(lat_long);
time.sleep(2);
resp = '0'
counter = 0
while resp == '0':
print("Receiving")
s = x.receive_from_station();
resp = s[enable_pos];
counter += 1
print("Go to dock : ", s[dock])
if(counter < 5):
time.sleep(6-counter);
send_takeoff(lat_long);
send_flying(lat_long);
send_landing(lat_long);
elif i == 5:
send_follow(lat_long);
elif i == 9:
send_return(lat_long);
send_end(lat_long);
send_end(lat_long);
send_end(lat_long);
def send_testing_2():
resp = ''
while(resp != '1'):
s = x.receive_from_station();
resp = s[enable_pos];
while(s[challenge_pos] == '0'):
send_start(lat_long);
s = x.receive_from_station();
print("Starting")
x.send_end();
#Receive Testing
def receive_testing():
s = x.receive_from_station();
print(s)
return s
if __name__ == '__main__':
testing_case()
#start_mission()
'''
while True:
s = receive_testing();
if (s[enable_pos] == '1'):
send_heart_beat()
'''