send config from python script
This commit is contained in:
parent
1703d656dc
commit
9fe62e38af
160
e32_client/config_pb2.py
Normal file
160
e32_client/config_pb2.py
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@ -0,0 +1,160 @@
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# -*- coding: utf-8 -*-
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# Generated by the protocol buffer compiler. DO NOT EDIT!
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# source: config.proto
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import sys
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_b=sys.version_info[0]<3 and (lambda x:x) or (lambda x:x.encode('latin1'))
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from google.protobuf import descriptor as _descriptor
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from google.protobuf import message as _message
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from google.protobuf import reflection as _reflection
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from google.protobuf import symbol_database as _symbol_database
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# @@protoc_insertion_point(imports)
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_sym_db = _symbol_database.Default()
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DESCRIPTOR = _descriptor.FileDescriptor(
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name='config.proto',
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package='ugv.config',
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syntax='proto3',
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serialized_options=_b('H\003'),
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serialized_pb=_b('\n\x0c\x63onfig.proto\x12\nugv.config\"X\n\tPidParams\x12\n\n\x02kp\x18\x01 \x01(\x02\x12\n\n\x02ki\x18\x02 \x01(\x02\x12\n\n\x02kd\x18\x03 \x01(\x02\x12\x12\n\nmax_output\x18\x04 \x01(\x02\x12\x13\n\x0bmax_i_error\x18\x05 \x01(\x02\"x\n\x06\x43onfig\x12\x17\n\x0fmin_target_dist\x18\x01 \x01(\x02\x12\x13\n\x0b\x64rive_power\x18\x02 \x01(\x02\x12(\n\tangle_pid\x18\x03 \x01(\x0b\x32\x15.ugv.config.PidParams\x12\x16\n\x0emin_flip_pitch\x18\x04 \x01(\x02\x42\x02H\x03\x62\x06proto3')
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)
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_PIDPARAMS = _descriptor.Descriptor(
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name='PidParams',
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full_name='ugv.config.PidParams',
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filename=None,
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file=DESCRIPTOR,
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containing_type=None,
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fields=[
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_descriptor.FieldDescriptor(
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name='kp', full_name='ugv.config.PidParams.kp', index=0,
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number=1, type=2, cpp_type=6, label=1,
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has_default_value=False, default_value=float(0),
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message_type=None, enum_type=None, containing_type=None,
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is_extension=False, extension_scope=None,
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serialized_options=None, file=DESCRIPTOR),
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_descriptor.FieldDescriptor(
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name='ki', full_name='ugv.config.PidParams.ki', index=1,
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number=2, type=2, cpp_type=6, label=1,
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has_default_value=False, default_value=float(0),
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message_type=None, enum_type=None, containing_type=None,
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is_extension=False, extension_scope=None,
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serialized_options=None, file=DESCRIPTOR),
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_descriptor.FieldDescriptor(
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name='kd', full_name='ugv.config.PidParams.kd', index=2,
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number=3, type=2, cpp_type=6, label=1,
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has_default_value=False, default_value=float(0),
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message_type=None, enum_type=None, containing_type=None,
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is_extension=False, extension_scope=None,
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serialized_options=None, file=DESCRIPTOR),
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_descriptor.FieldDescriptor(
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name='max_output', full_name='ugv.config.PidParams.max_output', index=3,
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number=4, type=2, cpp_type=6, label=1,
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has_default_value=False, default_value=float(0),
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message_type=None, enum_type=None, containing_type=None,
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is_extension=False, extension_scope=None,
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serialized_options=None, file=DESCRIPTOR),
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_descriptor.FieldDescriptor(
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name='max_i_error', full_name='ugv.config.PidParams.max_i_error', index=4,
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number=5, type=2, cpp_type=6, label=1,
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has_default_value=False, default_value=float(0),
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message_type=None, enum_type=None, containing_type=None,
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is_extension=False, extension_scope=None,
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serialized_options=None, file=DESCRIPTOR),
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],
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extensions=[
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],
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nested_types=[],
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enum_types=[
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],
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serialized_options=None,
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is_extendable=False,
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syntax='proto3',
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extension_ranges=[],
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oneofs=[
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],
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serialized_start=28,
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serialized_end=116,
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)
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_CONFIG = _descriptor.Descriptor(
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name='Config',
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full_name='ugv.config.Config',
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filename=None,
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file=DESCRIPTOR,
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containing_type=None,
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fields=[
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_descriptor.FieldDescriptor(
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name='min_target_dist', full_name='ugv.config.Config.min_target_dist', index=0,
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number=1, type=2, cpp_type=6, label=1,
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has_default_value=False, default_value=float(0),
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message_type=None, enum_type=None, containing_type=None,
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is_extension=False, extension_scope=None,
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serialized_options=None, file=DESCRIPTOR),
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_descriptor.FieldDescriptor(
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name='drive_power', full_name='ugv.config.Config.drive_power', index=1,
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number=2, type=2, cpp_type=6, label=1,
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has_default_value=False, default_value=float(0),
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message_type=None, enum_type=None, containing_type=None,
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is_extension=False, extension_scope=None,
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serialized_options=None, file=DESCRIPTOR),
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_descriptor.FieldDescriptor(
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name='angle_pid', full_name='ugv.config.Config.angle_pid', index=2,
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number=3, type=11, cpp_type=10, label=1,
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has_default_value=False, default_value=None,
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message_type=None, enum_type=None, containing_type=None,
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is_extension=False, extension_scope=None,
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serialized_options=None, file=DESCRIPTOR),
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_descriptor.FieldDescriptor(
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name='min_flip_pitch', full_name='ugv.config.Config.min_flip_pitch', index=3,
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number=4, type=2, cpp_type=6, label=1,
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has_default_value=False, default_value=float(0),
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message_type=None, enum_type=None, containing_type=None,
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is_extension=False, extension_scope=None,
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serialized_options=None, file=DESCRIPTOR),
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],
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extensions=[
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],
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nested_types=[],
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enum_types=[
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],
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serialized_options=None,
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is_extendable=False,
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syntax='proto3',
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extension_ranges=[],
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oneofs=[
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],
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serialized_start=118,
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serialized_end=238,
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)
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_CONFIG.fields_by_name['angle_pid'].message_type = _PIDPARAMS
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DESCRIPTOR.message_types_by_name['PidParams'] = _PIDPARAMS
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DESCRIPTOR.message_types_by_name['Config'] = _CONFIG
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_sym_db.RegisterFileDescriptor(DESCRIPTOR)
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PidParams = _reflection.GeneratedProtocolMessageType('PidParams', (_message.Message,), dict(
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DESCRIPTOR = _PIDPARAMS,
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__module__ = 'config_pb2'
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# @@protoc_insertion_point(class_scope:ugv.config.PidParams)
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))
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_sym_db.RegisterMessage(PidParams)
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Config = _reflection.GeneratedProtocolMessageType('Config', (_message.Message,), dict(
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DESCRIPTOR = _CONFIG,
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__module__ = 'config_pb2'
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# @@protoc_insertion_point(class_scope:ugv.config.Config)
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))
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_sym_db.RegisterMessage(Config)
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DESCRIPTOR._options = None
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# @@protoc_insertion_point(module_scope)
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@ -14,19 +14,23 @@ from google.protobuf import symbol_database as _symbol_database
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_sym_db = _symbol_database.Default()
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import config_pb2 as config__pb2
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from config_pb2 import *
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DESCRIPTOR = _descriptor.FileDescriptor(
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name='messages.proto',
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package='uas.ugv.messages',
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package='ugv.messages',
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syntax='proto3',
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serialized_options=_b('H\003'),
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serialized_pb=_b('\n\x0emessages.proto\x12\x10uas.ugv.messages\"V\n\x08Location\x12\x13\n\x0b\x66ix_quality\x18\x01 \x01(\r\x12\x10\n\x08latitude\x18\x02 \x01(\x02\x12\x11\n\tlongitude\x18\x03 \x01(\x02\x12\x10\n\x08\x61ltitude\x18\x04 \x01(\x02\"y\n\nUGV_Status\x12*\n\x05state\x18\x01 \x01(\x0e\x32\x1b.uas.ugv.messages.UGV_State\x12,\n\x08location\x18\x02 \x01(\x0b\x32\x1a.uas.ugv.messages.Location\x12\x11\n\tyaw_angle\x18\x03 \x01(\x02\"c\n\x0bUGV_Message\x12.\n\x06status\x18\x01 \x01(\x0b\x32\x1c.uas.ugv.messages.UGV_StatusH\x00\x12\x15\n\x0b\x63ommand_ack\x18\x02 \x01(\rH\x00\x42\r\n\x0bugv_message\"2\n\x10\x44riveHeadingData\x12\x0f\n\x07heading\x18\x01 \x01(\x02\x12\r\n\x05power\x18\x02 \x01(\x02\"\x93\x01\n\rGroundCommand\x12\n\n\x02id\x18\x01 \x01(\r\x12\x31\n\x04type\x18\x02 \x01(\x0e\x32#.uas.ugv.messages.GroundCommandType\x12;\n\rdrive_heading\x18\x03 \x01(\x0b\x32\".uas.ugv.messages.DriveHeadingDataH\x00\x42\x06\n\x04\x64\x61ta\"U\n\rGroundMessage\x12\x32\n\x07\x63ommand\x18\x01 \x01(\x0b\x32\x1f.uas.ugv.messages.GroundCommandH\x00\x42\x10\n\x0eground_message*\xa6\x01\n\tUGV_State\x12\x0e\n\nSTATE_IDLE\x10\x00\x12\x12\n\x0eSTATE_AQUIRING\x10\x01\x12\x11\n\rSTATE_DRIVING\x10\x02\x12\x12\n\x0eSTATE_FINISHED\x10\x03\x12\x0e\n\nSTATE_TEST\x10\x04\x12\x12\n\x0eSTATE_FLIPPING\x10\x05\x12\x11\n\rSTATE_TURNING\x10\x06\x12\x17\n\x13STATE_DRIVE_HEADING\x10\x07*b\n\x11GroundCommandType\x12\x0f\n\x0b\x43MD_DISABLE\x10\x00\x12\x17\n\x13\x43MD_DRIVE_TO_TARGET\x10\x01\x12\x0c\n\x08\x43MD_TEST\x10\x02\x12\x15\n\x11\x43MD_DRIVE_HEADING\x10\x03\x42\x02H\x03\x62\x06proto3')
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)
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serialized_pb=_b('\n\x0emessages.proto\x12\x0cugv.messages\x1a\x0c\x63onfig.proto\"5\n\x0eTargetLocation\x12\x10\n\x08latitude\x18\x01 \x01(\x02\x12\x11\n\tlongitude\x18\x02 \x01(\x02\"V\n\x08Location\x12\x13\n\x0b\x66ix_quality\x18\x01 \x01(\r\x12\x10\n\x08latitude\x18\x02 \x01(\x02\x12\x11\n\tlongitude\x18\x03 \x01(\x02\x12\x10\n\x08\x61ltitude\x18\x04 \x01(\x02\"q\n\nUGV_Status\x12&\n\x05state\x18\x01 \x01(\x0e\x32\x17.ugv.messages.UGV_State\x12(\n\x08location\x18\x02 \x01(\x0b\x32\x16.ugv.messages.Location\x12\x11\n\tyaw_angle\x18\x03 \x01(\x02\"_\n\x0bUGV_Message\x12*\n\x06status\x18\x01 \x01(\x0b\x32\x18.ugv.messages.UGV_StatusH\x00\x12\x15\n\x0b\x63ommand_ack\x18\x02 \x01(\rH\x00\x42\r\n\x0bugv_message\"2\n\x10\x44riveHeadingData\x12\x0f\n\x07heading\x18\x01 \x01(\x02\x12\r\n\x05power\x18\x02 \x01(\x02\"\xea\x01\n\rGroundCommand\x12\n\n\x02id\x18\x01 \x01(\r\x12-\n\x04type\x18\x02 \x01(\x0e\x32\x1f.ugv.messages.GroundCommandType\x12\x37\n\rdrive_heading\x18\x03 \x01(\x0b\x32\x1e.ugv.messages.DriveHeadingDataH\x00\x12\x37\n\x0ftarget_location\x18\x04 \x01(\x0b\x32\x1c.ugv.messages.TargetLocationH\x00\x12$\n\x06\x63onfig\x18\x05 \x01(\x0b\x32\x12.ugv.config.ConfigH\x00\x42\x06\n\x04\x64\x61ta\"Q\n\rGroundMessage\x12.\n\x07\x63ommand\x18\x01 \x01(\x0b\x32\x1b.ugv.messages.GroundCommandH\x00\x42\x10\n\x0eground_message*\xa6\x01\n\tUGV_State\x12\x0e\n\nSTATE_IDLE\x10\x00\x12\x12\n\x0eSTATE_AQUIRING\x10\x01\x12\x11\n\rSTATE_DRIVING\x10\x02\x12\x12\n\x0eSTATE_FINISHED\x10\x03\x12\x0e\n\nSTATE_TEST\x10\x04\x12\x12\n\x0eSTATE_FLIPPING\x10\x05\x12\x11\n\rSTATE_TURNING\x10\x06\x12\x17\n\x13STATE_DRIVE_HEADING\x10\x07*\x8a\x01\n\x11GroundCommandType\x12\x0f\n\x0b\x43MD_DISABLE\x10\x00\x12\x17\n\x13\x43MD_DRIVE_TO_TARGET\x10\x01\x12\x0c\n\x08\x43MD_TEST\x10\x02\x12\x15\n\x11\x43MD_DRIVE_HEADING\x10\x03\x12\x12\n\x0e\x43MD_SET_TARGET\x10\x04\x12\x12\n\x0e\x43MD_SET_CONFIG\x10\x05\x42\x02H\x03P\x00\x62\x06proto3')
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,
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dependencies=[config__pb2.DESCRIPTOR,],
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public_dependencies=[config__pb2.DESCRIPTOR,])
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_UGV_STATE = _descriptor.EnumDescriptor(
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name='UGV_State',
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full_name='uas.ugv.messages.UGV_State',
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full_name='ugv.messages.UGV_State',
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filename=None,
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file=DESCRIPTOR,
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values=[
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@ -65,15 +69,15 @@ _UGV_STATE = _descriptor.EnumDescriptor(
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],
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containing_type=None,
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serialized_options=None,
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serialized_start=638,
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serialized_end=804,
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serialized_start=774,
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serialized_end=940,
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)
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_sym_db.RegisterEnumDescriptor(_UGV_STATE)
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UGV_State = enum_type_wrapper.EnumTypeWrapper(_UGV_STATE)
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_GROUNDCOMMANDTYPE = _descriptor.EnumDescriptor(
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name='GroundCommandType',
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full_name='uas.ugv.messages.GroundCommandType',
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full_name='ugv.messages.GroundCommandType',
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filename=None,
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file=DESCRIPTOR,
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values=[
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@ -93,11 +97,19 @@ _GROUNDCOMMANDTYPE = _descriptor.EnumDescriptor(
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name='CMD_DRIVE_HEADING', index=3, number=3,
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serialized_options=None,
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type=None),
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_descriptor.EnumValueDescriptor(
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name='CMD_SET_TARGET', index=4, number=4,
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serialized_options=None,
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type=None),
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_descriptor.EnumValueDescriptor(
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name='CMD_SET_CONFIG', index=5, number=5,
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serialized_options=None,
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type=None),
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],
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containing_type=None,
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serialized_options=None,
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serialized_start=806,
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serialized_end=904,
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serialized_start=943,
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serialized_end=1081,
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)
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_sym_db.RegisterEnumDescriptor(_GROUNDCOMMANDTYPE)
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@ -114,39 +126,79 @@ CMD_DISABLE = 0
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CMD_DRIVE_TO_TARGET = 1
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CMD_TEST = 2
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CMD_DRIVE_HEADING = 3
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CMD_SET_TARGET = 4
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CMD_SET_CONFIG = 5
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_LOCATION = _descriptor.Descriptor(
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name='Location',
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full_name='uas.ugv.messages.Location',
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_TARGETLOCATION = _descriptor.Descriptor(
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name='TargetLocation',
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full_name='ugv.messages.TargetLocation',
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filename=None,
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file=DESCRIPTOR,
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containing_type=None,
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fields=[
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_descriptor.FieldDescriptor(
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name='fix_quality', full_name='uas.ugv.messages.Location.fix_quality', index=0,
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name='latitude', full_name='ugv.messages.TargetLocation.latitude', index=0,
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number=1, type=2, cpp_type=6, label=1,
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has_default_value=False, default_value=float(0),
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message_type=None, enum_type=None, containing_type=None,
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is_extension=False, extension_scope=None,
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serialized_options=None, file=DESCRIPTOR),
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_descriptor.FieldDescriptor(
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name='longitude', full_name='ugv.messages.TargetLocation.longitude', index=1,
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number=2, type=2, cpp_type=6, label=1,
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has_default_value=False, default_value=float(0),
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message_type=None, enum_type=None, containing_type=None,
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||||
is_extension=False, extension_scope=None,
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serialized_options=None, file=DESCRIPTOR),
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],
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extensions=[
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],
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nested_types=[],
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enum_types=[
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],
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serialized_options=None,
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is_extendable=False,
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syntax='proto3',
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extension_ranges=[],
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oneofs=[
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],
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serialized_start=46,
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serialized_end=99,
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)
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_LOCATION = _descriptor.Descriptor(
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name='Location',
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full_name='ugv.messages.Location',
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filename=None,
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file=DESCRIPTOR,
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containing_type=None,
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fields=[
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_descriptor.FieldDescriptor(
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name='fix_quality', full_name='ugv.messages.Location.fix_quality', index=0,
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number=1, type=13, cpp_type=3, label=1,
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has_default_value=False, default_value=0,
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message_type=None, enum_type=None, containing_type=None,
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is_extension=False, extension_scope=None,
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serialized_options=None, file=DESCRIPTOR),
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_descriptor.FieldDescriptor(
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name='latitude', full_name='uas.ugv.messages.Location.latitude', index=1,
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name='latitude', full_name='ugv.messages.Location.latitude', index=1,
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number=2, type=2, cpp_type=6, label=1,
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has_default_value=False, default_value=float(0),
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message_type=None, enum_type=None, containing_type=None,
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is_extension=False, extension_scope=None,
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serialized_options=None, file=DESCRIPTOR),
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_descriptor.FieldDescriptor(
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name='longitude', full_name='uas.ugv.messages.Location.longitude', index=2,
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name='longitude', full_name='ugv.messages.Location.longitude', index=2,
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number=3, type=2, cpp_type=6, label=1,
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||||
has_default_value=False, default_value=float(0),
|
||||
message_type=None, enum_type=None, containing_type=None,
|
||||
is_extension=False, extension_scope=None,
|
||||
serialized_options=None, file=DESCRIPTOR),
|
||||
_descriptor.FieldDescriptor(
|
||||
name='altitude', full_name='uas.ugv.messages.Location.altitude', index=3,
|
||||
name='altitude', full_name='ugv.messages.Location.altitude', index=3,
|
||||
number=4, type=2, cpp_type=6, label=1,
|
||||
has_default_value=False, default_value=float(0),
|
||||
message_type=None, enum_type=None, containing_type=None,
|
||||
@ -164,34 +216,34 @@ _LOCATION = _descriptor.Descriptor(
|
||||
extension_ranges=[],
|
||||
oneofs=[
|
||||
],
|
||||
serialized_start=36,
|
||||
serialized_end=122,
|
||||
serialized_start=101,
|
||||
serialized_end=187,
|
||||
)
|
||||
|
||||
|
||||
_UGV_STATUS = _descriptor.Descriptor(
|
||||
name='UGV_Status',
|
||||
full_name='uas.ugv.messages.UGV_Status',
|
||||
full_name='ugv.messages.UGV_Status',
|
||||
filename=None,
|
||||
file=DESCRIPTOR,
|
||||
containing_type=None,
|
||||
fields=[
|
||||
_descriptor.FieldDescriptor(
|
||||
name='state', full_name='uas.ugv.messages.UGV_Status.state', index=0,
|
||||
name='state', full_name='ugv.messages.UGV_Status.state', index=0,
|
||||
number=1, type=14, cpp_type=8, label=1,
|
||||
has_default_value=False, default_value=0,
|
||||
message_type=None, enum_type=None, containing_type=None,
|
||||
is_extension=False, extension_scope=None,
|
||||
serialized_options=None, file=DESCRIPTOR),
|
||||
_descriptor.FieldDescriptor(
|
||||
name='location', full_name='uas.ugv.messages.UGV_Status.location', index=1,
|
||||
name='location', full_name='ugv.messages.UGV_Status.location', index=1,
|
||||
number=2, type=11, cpp_type=10, label=1,
|
||||
has_default_value=False, default_value=None,
|
||||
message_type=None, enum_type=None, containing_type=None,
|
||||
is_extension=False, extension_scope=None,
|
||||
serialized_options=None, file=DESCRIPTOR),
|
||||
_descriptor.FieldDescriptor(
|
||||
name='yaw_angle', full_name='uas.ugv.messages.UGV_Status.yaw_angle', index=2,
|
||||
name='yaw_angle', full_name='ugv.messages.UGV_Status.yaw_angle', index=2,
|
||||
number=3, type=2, cpp_type=6, label=1,
|
||||
has_default_value=False, default_value=float(0),
|
||||
message_type=None, enum_type=None, containing_type=None,
|
||||
@ -209,27 +261,27 @@ _UGV_STATUS = _descriptor.Descriptor(
|
||||
extension_ranges=[],
|
||||
oneofs=[
|
||||
],
|
||||
serialized_start=124,
|
||||
serialized_end=245,
|
||||
serialized_start=189,
|
||||
serialized_end=302,
|
||||
)
|
||||
|
||||
|
||||
_UGV_MESSAGE = _descriptor.Descriptor(
|
||||
name='UGV_Message',
|
||||
full_name='uas.ugv.messages.UGV_Message',
|
||||
full_name='ugv.messages.UGV_Message',
|
||||
filename=None,
|
||||
file=DESCRIPTOR,
|
||||
containing_type=None,
|
||||
fields=[
|
||||
_descriptor.FieldDescriptor(
|
||||
name='status', full_name='uas.ugv.messages.UGV_Message.status', index=0,
|
||||
name='status', full_name='ugv.messages.UGV_Message.status', index=0,
|
||||
number=1, type=11, cpp_type=10, label=1,
|
||||
has_default_value=False, default_value=None,
|
||||
message_type=None, enum_type=None, containing_type=None,
|
||||
is_extension=False, extension_scope=None,
|
||||
serialized_options=None, file=DESCRIPTOR),
|
||||
_descriptor.FieldDescriptor(
|
||||
name='command_ack', full_name='uas.ugv.messages.UGV_Message.command_ack', index=1,
|
||||
name='command_ack', full_name='ugv.messages.UGV_Message.command_ack', index=1,
|
||||
number=2, type=13, cpp_type=3, label=1,
|
||||
has_default_value=False, default_value=0,
|
||||
message_type=None, enum_type=None, containing_type=None,
|
||||
@ -247,30 +299,30 @@ _UGV_MESSAGE = _descriptor.Descriptor(
|
||||
extension_ranges=[],
|
||||
oneofs=[
|
||||
_descriptor.OneofDescriptor(
|
||||
name='ugv_message', full_name='uas.ugv.messages.UGV_Message.ugv_message',
|
||||
name='ugv_message', full_name='ugv.messages.UGV_Message.ugv_message',
|
||||
index=0, containing_type=None, fields=[]),
|
||||
],
|
||||
serialized_start=247,
|
||||
serialized_end=346,
|
||||
serialized_start=304,
|
||||
serialized_end=399,
|
||||
)
|
||||
|
||||
|
||||
_DRIVEHEADINGDATA = _descriptor.Descriptor(
|
||||
name='DriveHeadingData',
|
||||
full_name='uas.ugv.messages.DriveHeadingData',
|
||||
full_name='ugv.messages.DriveHeadingData',
|
||||
filename=None,
|
||||
file=DESCRIPTOR,
|
||||
containing_type=None,
|
||||
fields=[
|
||||
_descriptor.FieldDescriptor(
|
||||
name='heading', full_name='uas.ugv.messages.DriveHeadingData.heading', index=0,
|
||||
name='heading', full_name='ugv.messages.DriveHeadingData.heading', index=0,
|
||||
number=1, type=2, cpp_type=6, label=1,
|
||||
has_default_value=False, default_value=float(0),
|
||||
message_type=None, enum_type=None, containing_type=None,
|
||||
is_extension=False, extension_scope=None,
|
||||
serialized_options=None, file=DESCRIPTOR),
|
||||
_descriptor.FieldDescriptor(
|
||||
name='power', full_name='uas.ugv.messages.DriveHeadingData.power', index=1,
|
||||
name='power', full_name='ugv.messages.DriveHeadingData.power', index=1,
|
||||
number=2, type=2, cpp_type=6, label=1,
|
||||
has_default_value=False, default_value=float(0),
|
||||
message_type=None, enum_type=None, containing_type=None,
|
||||
@ -288,39 +340,53 @@ _DRIVEHEADINGDATA = _descriptor.Descriptor(
|
||||
extension_ranges=[],
|
||||
oneofs=[
|
||||
],
|
||||
serialized_start=348,
|
||||
serialized_end=398,
|
||||
serialized_start=401,
|
||||
serialized_end=451,
|
||||
)
|
||||
|
||||
|
||||
_GROUNDCOMMAND = _descriptor.Descriptor(
|
||||
name='GroundCommand',
|
||||
full_name='uas.ugv.messages.GroundCommand',
|
||||
full_name='ugv.messages.GroundCommand',
|
||||
filename=None,
|
||||
file=DESCRIPTOR,
|
||||
containing_type=None,
|
||||
fields=[
|
||||
_descriptor.FieldDescriptor(
|
||||
name='id', full_name='uas.ugv.messages.GroundCommand.id', index=0,
|
||||
name='id', full_name='ugv.messages.GroundCommand.id', index=0,
|
||||
number=1, type=13, cpp_type=3, label=1,
|
||||
has_default_value=False, default_value=0,
|
||||
message_type=None, enum_type=None, containing_type=None,
|
||||
is_extension=False, extension_scope=None,
|
||||
serialized_options=None, file=DESCRIPTOR),
|
||||
_descriptor.FieldDescriptor(
|
||||
name='type', full_name='uas.ugv.messages.GroundCommand.type', index=1,
|
||||
name='type', full_name='ugv.messages.GroundCommand.type', index=1,
|
||||
number=2, type=14, cpp_type=8, label=1,
|
||||
has_default_value=False, default_value=0,
|
||||
message_type=None, enum_type=None, containing_type=None,
|
||||
is_extension=False, extension_scope=None,
|
||||
serialized_options=None, file=DESCRIPTOR),
|
||||
_descriptor.FieldDescriptor(
|
||||
name='drive_heading', full_name='uas.ugv.messages.GroundCommand.drive_heading', index=2,
|
||||
name='drive_heading', full_name='ugv.messages.GroundCommand.drive_heading', index=2,
|
||||
number=3, type=11, cpp_type=10, label=1,
|
||||
has_default_value=False, default_value=None,
|
||||
message_type=None, enum_type=None, containing_type=None,
|
||||
is_extension=False, extension_scope=None,
|
||||
serialized_options=None, file=DESCRIPTOR),
|
||||
_descriptor.FieldDescriptor(
|
||||
name='target_location', full_name='ugv.messages.GroundCommand.target_location', index=3,
|
||||
number=4, type=11, cpp_type=10, label=1,
|
||||
has_default_value=False, default_value=None,
|
||||
message_type=None, enum_type=None, containing_type=None,
|
||||
is_extension=False, extension_scope=None,
|
||||
serialized_options=None, file=DESCRIPTOR),
|
||||
_descriptor.FieldDescriptor(
|
||||
name='config', full_name='ugv.messages.GroundCommand.config', index=4,
|
||||
number=5, type=11, cpp_type=10, label=1,
|
||||
has_default_value=False, default_value=None,
|
||||
message_type=None, enum_type=None, containing_type=None,
|
||||
is_extension=False, extension_scope=None,
|
||||
serialized_options=None, file=DESCRIPTOR),
|
||||
],
|
||||
extensions=[
|
||||
],
|
||||
@ -333,23 +399,23 @@ _GROUNDCOMMAND = _descriptor.Descriptor(
|
||||
extension_ranges=[],
|
||||
oneofs=[
|
||||
_descriptor.OneofDescriptor(
|
||||
name='data', full_name='uas.ugv.messages.GroundCommand.data',
|
||||
name='data', full_name='ugv.messages.GroundCommand.data',
|
||||
index=0, containing_type=None, fields=[]),
|
||||
],
|
||||
serialized_start=401,
|
||||
serialized_end=548,
|
||||
serialized_start=454,
|
||||
serialized_end=688,
|
||||
)
|
||||
|
||||
|
||||
_GROUNDMESSAGE = _descriptor.Descriptor(
|
||||
name='GroundMessage',
|
||||
full_name='uas.ugv.messages.GroundMessage',
|
||||
full_name='ugv.messages.GroundMessage',
|
||||
filename=None,
|
||||
file=DESCRIPTOR,
|
||||
containing_type=None,
|
||||
fields=[
|
||||
_descriptor.FieldDescriptor(
|
||||
name='command', full_name='uas.ugv.messages.GroundMessage.command', index=0,
|
||||
name='command', full_name='ugv.messages.GroundMessage.command', index=0,
|
||||
number=1, type=11, cpp_type=10, label=1,
|
||||
has_default_value=False, default_value=None,
|
||||
message_type=None, enum_type=None, containing_type=None,
|
||||
@ -367,11 +433,11 @@ _GROUNDMESSAGE = _descriptor.Descriptor(
|
||||
extension_ranges=[],
|
||||
oneofs=[
|
||||
_descriptor.OneofDescriptor(
|
||||
name='ground_message', full_name='uas.ugv.messages.GroundMessage.ground_message',
|
||||
name='ground_message', full_name='ugv.messages.GroundMessage.ground_message',
|
||||
index=0, containing_type=None, fields=[]),
|
||||
],
|
||||
serialized_start=550,
|
||||
serialized_end=635,
|
||||
serialized_start=690,
|
||||
serialized_end=771,
|
||||
)
|
||||
|
||||
_UGV_STATUS.fields_by_name['state'].enum_type = _UGV_STATE
|
||||
@ -385,13 +451,22 @@ _UGV_MESSAGE.oneofs_by_name['ugv_message'].fields.append(
|
||||
_UGV_MESSAGE.fields_by_name['command_ack'].containing_oneof = _UGV_MESSAGE.oneofs_by_name['ugv_message']
|
||||
_GROUNDCOMMAND.fields_by_name['type'].enum_type = _GROUNDCOMMANDTYPE
|
||||
_GROUNDCOMMAND.fields_by_name['drive_heading'].message_type = _DRIVEHEADINGDATA
|
||||
_GROUNDCOMMAND.fields_by_name['target_location'].message_type = _TARGETLOCATION
|
||||
_GROUNDCOMMAND.fields_by_name['config'].message_type = config__pb2._CONFIG
|
||||
_GROUNDCOMMAND.oneofs_by_name['data'].fields.append(
|
||||
_GROUNDCOMMAND.fields_by_name['drive_heading'])
|
||||
_GROUNDCOMMAND.fields_by_name['drive_heading'].containing_oneof = _GROUNDCOMMAND.oneofs_by_name['data']
|
||||
_GROUNDCOMMAND.oneofs_by_name['data'].fields.append(
|
||||
_GROUNDCOMMAND.fields_by_name['target_location'])
|
||||
_GROUNDCOMMAND.fields_by_name['target_location'].containing_oneof = _GROUNDCOMMAND.oneofs_by_name['data']
|
||||
_GROUNDCOMMAND.oneofs_by_name['data'].fields.append(
|
||||
_GROUNDCOMMAND.fields_by_name['config'])
|
||||
_GROUNDCOMMAND.fields_by_name['config'].containing_oneof = _GROUNDCOMMAND.oneofs_by_name['data']
|
||||
_GROUNDMESSAGE.fields_by_name['command'].message_type = _GROUNDCOMMAND
|
||||
_GROUNDMESSAGE.oneofs_by_name['ground_message'].fields.append(
|
||||
_GROUNDMESSAGE.fields_by_name['command'])
|
||||
_GROUNDMESSAGE.fields_by_name['command'].containing_oneof = _GROUNDMESSAGE.oneofs_by_name['ground_message']
|
||||
DESCRIPTOR.message_types_by_name['TargetLocation'] = _TARGETLOCATION
|
||||
DESCRIPTOR.message_types_by_name['Location'] = _LOCATION
|
||||
DESCRIPTOR.message_types_by_name['UGV_Status'] = _UGV_STATUS
|
||||
DESCRIPTOR.message_types_by_name['UGV_Message'] = _UGV_MESSAGE
|
||||
@ -402,45 +477,52 @@ DESCRIPTOR.enum_types_by_name['UGV_State'] = _UGV_STATE
|
||||
DESCRIPTOR.enum_types_by_name['GroundCommandType'] = _GROUNDCOMMANDTYPE
|
||||
_sym_db.RegisterFileDescriptor(DESCRIPTOR)
|
||||
|
||||
TargetLocation = _reflection.GeneratedProtocolMessageType('TargetLocation', (_message.Message,), dict(
|
||||
DESCRIPTOR = _TARGETLOCATION,
|
||||
__module__ = 'messages_pb2'
|
||||
# @@protoc_insertion_point(class_scope:ugv.messages.TargetLocation)
|
||||
))
|
||||
_sym_db.RegisterMessage(TargetLocation)
|
||||
|
||||
Location = _reflection.GeneratedProtocolMessageType('Location', (_message.Message,), dict(
|
||||
DESCRIPTOR = _LOCATION,
|
||||
__module__ = 'messages_pb2'
|
||||
# @@protoc_insertion_point(class_scope:uas.ugv.messages.Location)
|
||||
# @@protoc_insertion_point(class_scope:ugv.messages.Location)
|
||||
))
|
||||
_sym_db.RegisterMessage(Location)
|
||||
|
||||
UGV_Status = _reflection.GeneratedProtocolMessageType('UGV_Status', (_message.Message,), dict(
|
||||
DESCRIPTOR = _UGV_STATUS,
|
||||
__module__ = 'messages_pb2'
|
||||
# @@protoc_insertion_point(class_scope:uas.ugv.messages.UGV_Status)
|
||||
# @@protoc_insertion_point(class_scope:ugv.messages.UGV_Status)
|
||||
))
|
||||
_sym_db.RegisterMessage(UGV_Status)
|
||||
|
||||
UGV_Message = _reflection.GeneratedProtocolMessageType('UGV_Message', (_message.Message,), dict(
|
||||
DESCRIPTOR = _UGV_MESSAGE,
|
||||
__module__ = 'messages_pb2'
|
||||
# @@protoc_insertion_point(class_scope:uas.ugv.messages.UGV_Message)
|
||||
# @@protoc_insertion_point(class_scope:ugv.messages.UGV_Message)
|
||||
))
|
||||
_sym_db.RegisterMessage(UGV_Message)
|
||||
|
||||
DriveHeadingData = _reflection.GeneratedProtocolMessageType('DriveHeadingData', (_message.Message,), dict(
|
||||
DESCRIPTOR = _DRIVEHEADINGDATA,
|
||||
__module__ = 'messages_pb2'
|
||||
# @@protoc_insertion_point(class_scope:uas.ugv.messages.DriveHeadingData)
|
||||
# @@protoc_insertion_point(class_scope:ugv.messages.DriveHeadingData)
|
||||
))
|
||||
_sym_db.RegisterMessage(DriveHeadingData)
|
||||
|
||||
GroundCommand = _reflection.GeneratedProtocolMessageType('GroundCommand', (_message.Message,), dict(
|
||||
DESCRIPTOR = _GROUNDCOMMAND,
|
||||
__module__ = 'messages_pb2'
|
||||
# @@protoc_insertion_point(class_scope:uas.ugv.messages.GroundCommand)
|
||||
# @@protoc_insertion_point(class_scope:ugv.messages.GroundCommand)
|
||||
))
|
||||
_sym_db.RegisterMessage(GroundCommand)
|
||||
|
||||
GroundMessage = _reflection.GeneratedProtocolMessageType('GroundMessage', (_message.Message,), dict(
|
||||
DESCRIPTOR = _GROUNDMESSAGE,
|
||||
__module__ = 'messages_pb2'
|
||||
# @@protoc_insertion_point(class_scope:uas.ugv.messages.GroundMessage)
|
||||
# @@protoc_insertion_point(class_scope:ugv.messages.GroundMessage)
|
||||
))
|
||||
_sym_db.RegisterMessage(GroundMessage)
|
||||
|
||||
|
||||
@ -1,5 +1,6 @@
|
||||
#!/usr/bin/env python3
|
||||
|
||||
import logging
|
||||
import sys
|
||||
import serial
|
||||
import threading
|
||||
@ -12,10 +13,13 @@ from e32 import E32
|
||||
import messages_pb2 as messages
|
||||
from google.protobuf.message import Message
|
||||
|
||||
logging.basicConfig(format='%(asctime)s [%(name)s] %(levelname)s: %(message)s', datefmt='%Y-%b-%d %H:%M:%S')
|
||||
log = logging.getLogger("ugv")
|
||||
log.setLevel(logging.DEBUG)
|
||||
|
||||
class UGVComms(E32):
|
||||
MAX_WRITE_RETRY = 5
|
||||
RETRY_TIME = 1.0
|
||||
RETRY_TIME = 3.0
|
||||
|
||||
def __init__(self, serial_port: serial.Serial):
|
||||
E32.__init__(self, serial_port)
|
||||
@ -31,7 +35,7 @@ class UGVComms(E32):
|
||||
self.ser.write(b'\n')
|
||||
|
||||
def write_message(self, msg: Message):
|
||||
print("writing message: ", msg)
|
||||
log.debug("writing message: %s", msg)
|
||||
data = msg.SerializeToString()
|
||||
self.write_base64(data)
|
||||
|
||||
@ -53,11 +57,11 @@ class UGVComms(E32):
|
||||
while True:
|
||||
if cmdid in self.msg_acks:
|
||||
self.msg_acks.remove(cmdid)
|
||||
print("received ack for command")
|
||||
log.debug("received ack for command")
|
||||
return
|
||||
time_left = time.time() - last_write_time
|
||||
if time_left >= self.RETRY_TIME:
|
||||
print("retry writing command")
|
||||
log.warning("retry writing command")
|
||||
self.write_message(gmsg)
|
||||
last_write_time = time.time()
|
||||
self.ack_cv.wait(timeout=time_left)
|
||||
@ -69,7 +73,7 @@ class UGVComms(E32):
|
||||
try:
|
||||
decoded = b64decode(data, validate=True)
|
||||
except binascii.Error:
|
||||
print("read bad data: ", data)
|
||||
log.warning("read bad data: %s", data)
|
||||
self.ser.flush()
|
||||
return None
|
||||
msg = messages.UGV_Message()
|
||||
@ -79,7 +83,7 @@ class UGVComms(E32):
|
||||
def process_message(self, msg: messages.UGV_Message):
|
||||
if msg is None:
|
||||
return
|
||||
print("received UGV message: ", msg)
|
||||
log.debug("received UGV message: %s", msg)
|
||||
if msg.HasField("command_ack"):
|
||||
with self.ack_cv:
|
||||
self.msg_acks.append(msg.command_ack)
|
||||
@ -99,11 +103,13 @@ class UGVComms(E32):
|
||||
try:
|
||||
msg = self.read_message()
|
||||
self.process_message(msg)
|
||||
except serial.SerialException as e:
|
||||
print("serial error: ", e, file=sys.stderr)
|
||||
except serial.SerialException:
|
||||
if not self.ser.is_open: # port was probably just closed
|
||||
return
|
||||
log.error("serial error", exc_info=True)
|
||||
return
|
||||
except Exception as e:
|
||||
print("error reading message: ", e, file=sys.stderr)
|
||||
except Exception:
|
||||
log.error("error reading message", exc_info=True)
|
||||
continue
|
||||
|
||||
|
||||
@ -119,17 +125,31 @@ def main():
|
||||
ugv.start()
|
||||
time.sleep(0.2)
|
||||
try:
|
||||
cmd = messages.GroundCommand()
|
||||
cmd.type = messages.CMD_SET_TARGET
|
||||
cmd.target_location.latitude = 34.068415
|
||||
cmd.target_location.longitude = -118.443217
|
||||
# ugv.write_command(cmd)
|
||||
cmd.type = messages.CMD_SET_CONFIG
|
||||
cmd.config.angle_pid.kp = 0.10
|
||||
cmd.config.angle_pid.ki = 0#.00005
|
||||
cmd.config.angle_pid.kd = 0.4
|
||||
cmd.config.angle_pid.max_output = 0.5
|
||||
cmd.config.angle_pid.max_i_error = 15.0
|
||||
cmd.config.min_target_dist = 10.0
|
||||
cmd.config.min_flip_pitch = 90.0
|
||||
ugv.write_command(cmd)
|
||||
while True:
|
||||
if ugv.last_status is None or ugv.last_status.state is not messages.STATE_DRIVE_HEADING:
|
||||
cmd = messages.GroundCommand()
|
||||
cmd.type = messages.CMD_DRIVE_HEADING
|
||||
cmd.drive_heading.heading = -90.0
|
||||
cmd.drive_heading.power = 0.2
|
||||
cmd.drive_heading.heading = -115.0 - 180
|
||||
cmd.drive_heading.power = 0.3
|
||||
ugv.write_command(cmd)
|
||||
time.sleep(1.0)
|
||||
time.sleep(2.0)
|
||||
except KeyboardInterrupt:
|
||||
ugv.write_command(messages.CMD_DISABLE)
|
||||
print("exiting...")
|
||||
log.info("exiting...")
|
||||
finally:
|
||||
ugv.ser.flush()
|
||||
ugv.ser.close()
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user