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55 lines
1.5 KiB
55 lines
1.5 KiB
#!/usr/bin/env python3 |
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import socketio |
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import logging |
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from base64 import b64encode |
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from threading import Thread |
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from ugv_cmd import UGV_CLI |
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import messages_pb2 as messages |
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from google.protobuf.message import Message |
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def encode_msg(msg: Message): |
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data = msg.SerializeToString() |
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return b64encode(data) |
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if __name__ == "__main__": |
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logging.basicConfig(format='%(asctime)s [%(name)s] %(levelname)s: %(message)s', datefmt='%Y-%b-%d %H:%M:%S') |
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logging.getLogger().setLevel(logging.INFO) |
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server_ip = 'localhost' |
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sio = socketio.Client() |
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def on_msg_received(msg: messages.UGV_Message): |
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sio.emit('UGV_MESSAGE', encode_msg(msg), namespace='/ugv') |
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ugv_cli = UGV_CLI(on_msg_received) |
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ugv_cli.start() |
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@sio.on('connect', namespace='/ugv') |
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def on_connect(): |
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print("connected to ground server") |
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@sio.on('disconnect', namespace='/ugv') |
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def on_disconnect(): |
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print("disconnected from ground server!") |
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@sio.on('SET_TARGET', namespace='/ugv') |
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def set_target(msg): |
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print("Setting UGV target") |
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ugv_cli.set_target(msg['lat'], msg['lng']) |
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@sio.on('DRIVE_TO_TARGET', namespace='/ugv') |
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def drive_to_target(): |
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print("Driving to target!") |
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ugv_cli.drive_to_target() |
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while True: |
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try: |
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sio.connect('http://'+server_ip+':8081', namespaces=['/ugv'], transports='websocket') |
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break |
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except: |
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print("Can't connect to ground server. Retrying in 2 seconds...") |
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sio.sleep(2) |
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ugv_cli.run_cli()
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