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DemoinitConnection.py
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# -*- coding: utf-8 -*-
#!/usr/bin/env python
"""
@author: Quentin
"""
import socket
import SQLTools
import SELECTTools
import InsertTools
import time
import subprocess
import rospy
import PubForHeron
from geometry_msgs.msg import Twist
from std_msgs.msg import Bool
from heron.msg import Motion
HERON_ID='Heron01'
rospy.init_node('centralheron', anonymous=True)
velocity_publisher = rospy.Publisher('/'+HERON_ID+'/cmd_vel', Twist, queue_size=10)
zone_publisher = rospy.Publisher('/'+HERON_ID+'/move_to', Motion, queue_size=10)
rospy.sleep(1)
import PubForHeron
import rospy
from std_msgs.msg import String
HERON_ID='Heron01'
ListFunction=[['DICTIONNARY','DICTIONNARY',''],
['TEMPERATURE','TEMPERATURE(nZone)','Return in Comm the TEMPERATURE of the zone : BCPU-therm / MCPU-therm / GPU-therm / PLL-therm / Tboard_tegra / Tdiode_tegra / PMIC-Die / thermal-fan-est'],
['CIRCLE','CIRCLE',''],['ZONE','ZONE(ZoneName)','Send Robot to the zone named "BANC", "BASE", "STOCK"']]
def RecovPass():#Récupère la phrase de passe à l'intérieur du fichier et stock la chaîne de caractère dans une variable (retournée)
f= open("../Guess.txt","r")
data=f.read()
f.close()
return(data)
def openFile(mode):
return open("/home/centralheron/MapKeyPos.txt", mode)
def load():
file = openFile("r")
content = file.readlines()
file.close()
if(len(content) == 0):
sys.exit()
lines = content[1::]
Ret=[]
for line in lines:
name = line.split(":")[0]
x = float(line.split(":")[1].split(";")[0])
y = float(line.split(":")[1].split(";")[1])
z = float(line.split(":")[1].split(";")[2])
w = float(line.split(":")[1].split(";")[3])
h = float(line.split(":")[1].split(";")[4].split("\n")[0])
Ret.append([name,x,y,z,w,h])
return Ret
def InitConnection(name):
Server = '192.168.0.105' #IP du Server
passwd=RecovPass() #Récupération de la Phrase de passe
port = 22322
s = socket.socket(socket.AF_INET,socket.SOCK_STREAM)#Préparation de la socket
s.connect((Server,port))#Connection
s.send(name.encode('ascii'))#On envoi la demande
data = int(s.recv(1024).decode("ascii"))#On récupère le mot de passe demandé
s.send(passwd[data:data+24].encode('ascii'))#Et on l'envoi
data2 = s.recv(1024).decode('ascii')#On récupère le message confirmant l'autorisation de communication
#print(data2)
s.close()#Fermeture de la connection
return data2
#ID=InitConnection("heron")
print("----------------------")
now=time.time()
while(time.time()-now<600):
InsertTools.InsertCOMMANDS(HERON_ID,HERON_ID,"DEMOSPRINT","Central",com=None)
itDemo=0
commands=SELECTTools.CommandsFor(HERON_ID)
for elt in commands:
LineOrder,OrderID,Function,Target,Status,Source,ComOrder=elt[0],elt[1],elt[2],elt[3],elt[4],elt[5],elt[6]
if(Status=='waiting'):
if(Status=='waiting'):
if(Function=='DEMOSPRINT'):
InsertTools.ChangeCOMMANDS("accepted",LineOrder)
itDemo+=1
print("---------PHASE 1-----------")
ref1,ref2="DemoPhase1-"+str(itDemo)+"-Heron","DemoPhase1-"+str(itDemo)+"-Niryo"
#A décom
InsertTools.InsertCOMMANDS(ref2,"niryo-1","TAKE(STOCK,0)","Central",com=None)
#status1=SELECTTools.SELECT("COMMANDS","OrderID='"+ref1+"'")[0][4]
#A décom
status2=SELECTTools.SELECT("COMMANDS","OrderID='"+ref2+"'")[0][4]
for pos in load():
if ('niryo-1' in pos[0]):
x,y,z,w,h=pos[1],pos[2],pos[3],pos[4],pos[5]
PubForHeron.Zone(x,y,z,w,h,zone_publisher)
#A décom
while(status2!='done'):
#status1=SELECTTools.SELECT("COMMANDS","OrderID='"+ref1+"'")[0][4]
#A décom
status2=SELECTTools.SELECT("COMMANDS","OrderID='"+ref2+"'")[0][4]
#print("status1 : ",status1)
#A décom
print("status2 : ",status2)
ref2=ref2+"bis"
InsertTools.InsertCOMMANDS(ref2,"niryo-1","RELEASE()","Central",com=None)
status2=SELECTTools.SELECT("COMMANDS","OrderID='"+ref2+"'")[0][4]
while(status2!='done'):
#status1=SELECTTools.SELECT("COMMANDS","OrderID='"+ref1+"'")[0][4]
#A décom
status2=SELECTTools.SELECT("COMMANDS","OrderID='"+ref2+"'")[0][4]
#print("status1 : ",status1)
#A décom
print("status2 : ",status2)
print("---------PHASE 2-----------")
ref1="DemoPhase1b-"+str(itDemo)+"-Niryo"
#A décom
InsertTools.InsertCOMMANDS(ref1,"niryo-2","PREPARE(ROBOT)","Central",com=None)
#A décom
status1=SELECTTools.SELECT("COMMANDS","OrderID='"+ref1+"'")[0][4]
#A décom
while(status1!='done'):
#A décom
status1=SELECTTools.SELECT("COMMANDS","OrderID='"+ref1+"'")[0][4]
print("---------PHASE 3-----------")
#ref1="DemoPhase3-"+str(itDemo)+"-Heron"
#InsertTools.InsertCOMMANDS(ref1,"heron-1","ZONE(BANC)","Central",com=None)
#status1=SELECTTools.SELECT("COMMANDS","OrderID='"+ref1+"'")[0][4]
#while(status1!='done'):
# status1=SELECTTools.SELECT("COMMANDS","OrderID='"+ref1+"'")[0][4]
for pos in load():
if ('niryo-2' in pos[0]):
x,y,z,w,h=pos[1],pos[2],pos[3],pos[4],pos[5]
PubForHeron.Zone(x,y,z,w,h,zone_publisher)
print("---------PHASE 4-----------")
#A décom
ref1="DemoPhase1b-"+str(itDemo)+"-Niryo"
#A décom
InsertTools.InsertCOMMANDS(ref1,"niryo-2","TAKE(ROBOT)","Central",com=None)
#A décom
status1=SELECTTools.SELECT("COMMANDS","OrderID='"+ref1+"'")[0][4]
#A décom
while(status1!='done'):
#A décom
status1=SELECTTools.SELECT("COMMANDS","OrderID='"+ref1+"'")[0][4]
print("---------PHASE 5-----------")
#ref1="DemoPhase5-"+str(itDemo)+"-Heron"
#InsertTools.InsertCOMMANDS(ref1,"heron-1","ZONE(BASE)","Central",com=None)
#status1=SELECTTools.SELECT("COMMANDS","OrderID='"+ref1+"'")[0][4]
#while(status1!='done'):
# status1=SELECTTools.SELECT("COMMANDS","OrderID='"+ref1+"'")[0][4]
for pos in load():
if ('Base' in pos[0]):
x,y,z,w,h=pos[1],pos[2],pos[3],pos[4],pos[5]
PubForHeron.Zone(x,y,z,w,h,zone_publisher)
InsertTools.ChangeCOMMANDS("done",LineOrder)
"""
now=time.time()
while(time.time()-now<600):
commands=SELECTTools.CommandsFor(ID)
for elt in commands:
LineOrder,OrderID,Function,Target,Status,Source,ComOrder=elt[0],elt[1],elt[2],elt[3],elt[4],elt[5],elt[6]
if(Status=='waiting'):
if(Status=='waiting'):
if(Function=='DICTIONNARY'):
print("DICTIONNARY")
#time.sleep(5)
InsertTools.ChangeCOMMANDS("accepted",LineOrder)
#time.sleep(5)
InsertTools.InsertDICTIONNARY(ListFunction,ID)
#time.sleep(5)
InsertTools.ChangeCOMMANDS("done",LineOrder)
#time.sleep(5)
if('TEMPERATURE' in Function):
print("TEMPERATURE")
InsertTools.ChangeCOMMANDS("accepted",LineOrder)
zone=str(int(Function[-2]))
#temperatureValue='tempOf'+zone
#For jetson
temperatureValue=0.001*int(subprocess.check_output("cat /sys/devices/virtual/thermal/thermal_zone"+zone+"/temp", shell=True))
temperatureValue=str(temperatureValue)
InsertTools.UpdateCom(temperatureValue,LineOrder)
InsertTools.ChangeCOMMANDS("done",LineOrder)
if('CIRCLE' in Function):
print("TEMPERATURE")
InsertTools.ChangeCOMMANDS("accepted",LineOrder)
PubForHeron.Circle(velocity_publisher)
InsertTools.ChangeCOMMANDS("done",LineOrder)
if('ZONE' in Function):
if('BANC' in Function):
print("Banc")
position_x,position_y,orientation_z,orientation_w,plate_height=5.6612,3.9858,-0.9996,0.02776,0.79
if('BASE' in Function):
position_x,position_y,orientation_z,orientation_w,plate_height=4.55638,5.115,0.0839,0.0839,0.01
print("Base")
if('STOCK' in Function):
position_x,position_y,orientation_z,orientation_w,plate_height=5.8376,5.50369,0.73822,0.674549,0.787
print("Stock")
InsertTools.ChangeCOMMANDS("accepted",LineOrder)
PubForHeron.Zone(position_x,position_y,orientation_z,orientation_w,plate_height,zone_publisher)
InsertTools.ChangeCOMMANDS("done",LineOrder)
"""
print("end")