155 lines
7.0 KiB
Python
155 lines
7.0 KiB
Python
"""
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Compute steering from camera images
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Usage:
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rc-pca9685 [steering|throttle] [-u USERNAME | --mqtt-username=USERNAME] [--mqtt-password=PASSWORD] \
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[--mqtt-broker=HOSTNAME] [--mqtt-topic=TOPIC] [--mqtt-client-id=CLIENT_ID] [--i2c-bus=BUS] \
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[--i2c-address=ADDRESS] [--pca9685-channel=CHANNEL] [--left-pulse=LEFT_PULSE] [--right-pulse=RIGHT_PULSE] \
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[--max-pulse=MAX_PULSE] [--min-pulse=MIN_PULSE] [--zero-pulse=ZEO_PULSE]
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Options:
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-h --help Show this screen.
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-u USERID --mqtt-username=USERNAME MQTT user
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-p PASSWORD --mqtt-password=PASSWORD MQTT password
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-b HOSTNAME --mqtt-broker=HOSTNAME MQTT broker host
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-C CLIENT_ID --mqtt-client-id=CLIENT_ID MQTT client id
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-t TOPIC --mqtt-topic=TOPIC MQTT topic where to read instructions
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-b BUS --i2c-bus=BUS I2C bus number
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-a ADDRESS --i2c-address=ADDRESS I2C base address
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-c CHANNEL --pca9685-channel=CHANNEL Device channel
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-l LEFT_PULSE --left-pulse=LEFT_PULSE Pulse for left steering
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-r RIGHT_PULSE --right-pulse=RIGHT_PULSE Pulse for right steering
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-M MAX_PULSE --max-pulse=MAX_PULSE Max Pulse for throttle
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-m MIN_PULSE --min-pulse=MIN_PULSE Min Pulse for throttle
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-z ZERO_PULE --zero-pulse=ZEO_PULSE Zero Pulse for throttle
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"""
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import logging
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import os
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import signal, sys
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from docopt import docopt
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import paho.mqtt.client as mqtt
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from donkeycar.parts import actuator
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import donkeycar
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from events.events_pb2 import SteeringMessage
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from events.events_pb2 import ThrottleMessage
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logger = logging.getLogger(__name__)
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logging.basicConfig(level=logging.INFO)
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default_client_id = "robocar-pca9685-python"
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class SignalHandler:
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def __init__(self, client: mqtt.Client):
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self._client = client
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def sigterm_handler(self, _signo, _stack_frame):
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logger.info("exit on SIG_TERM")
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self._client.disconnect()
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sys.exit(0)
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def init_mqtt_steering_client(steering_controller: actuator.PWMSteering, broker_host: str, user: str, password: str, client_id: str,
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steering_topic: str) -> mqtt.Client:
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logger.info("Start steering part")
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client = mqtt.Client(client_id=client_id, clean_session=True, userdata=None, protocol=mqtt.MQTTv311)
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def on_connect(client: mqtt.Client, userdata, flags, rc):
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logger.info("Register callback on topic %s", steering_topic)
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# Subscribing in on_connect() means that if we lose the connection and
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# reconnect then subscriptions will be renewed.
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client.subscribe(steering_topic)
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def on_steering_message(mqtt_client: mqtt.Client, userdata, msg: mqtt.MQTTMessage):
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try:
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steering_msg = SteeringMessage()
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steering_msg.ParseFromString(msg.payload)
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steering_controller.run_threaded(steering_msg.Steering)
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except:
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logger.exception("unexpected error: unable to process steering, skip message")
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client.username_pw_set(user, password)
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client.on_connect = on_connect
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client.on_message = on_steering_message
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logger.info("Connect to mqtt broker")
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client.connect(host=broker_host, port=1883, keepalive=60)
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logger.info("Connected to mqtt broker")
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return client
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def init_mqtt_throttle_client(throttle_controller: actuator.PWMThrottle, broker_host: str, user: str, password: str,
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client_id: str, throttle_topic: str) -> mqtt.Client:
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logger.info("Start throttle part")
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client = mqtt.Client(client_id=client_id, clean_session=True, userdata=None, protocol=mqtt.MQTTv311)
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def on_connect(client, userdata, flags, rc):
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logger.info("Register callback on topic %s", throttle_topic)
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# Subscribing in on_connect() means that if we lose the connection and
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# reconnect then subscriptions will be renewed.
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client.subscribe(throttle_topic)
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def on_throttle_message(mqtt_client: mqtt.Client, userdata, msg: mqtt.MQTTMessage):
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try:
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throttle_msg = ThrottleMessage()
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throttle_msg.ParseFromString(msg.payload)
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throttle_controller.run_threaded(throttle_msg.Throttle)
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except:
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logger.exception("unexpected error: unable to process throttle, skip message")
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client.username_pw_set(user, password)
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client.on_connect = on_connect
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client.on_message = on_throttle_message
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logger.info("Connect to mqtt broker")
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client.connect(host=broker_host, port=1883, keepalive=60)
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logger.info("Connected to mqtt broker")
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return client
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def execute_from_command_line():
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logging.basicConfig(level=logging.INFO)
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args = docopt(__doc__)
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broker_host = get_default_value(args["--mqtt-broker"], "MQTT_BROKER", "localhost")
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user = get_default_value(args["--mqtt-username"], "MQTT_USERNAME", "")
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password = get_default_value(args["--mqtt-password"], "MQTT_PASSWORD", "")
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client_id = get_default_value(args["--mqtt-client-id"], "MQTT_CLIENT_ID", default_client_id)
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topic = get_default_value(args["--mqtt-topic"], "MQTT_TOPIC", "/pca9685")
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i2c_bus = get_default_value(args["--i2c-bus"], "I2C_BUS", 0)
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i2c_address = get_default_value(args["--i2c-address"], "I2C_ADDRESS", 40)
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pca9685_channel = get_default_value(args["--pca9685-channel"], "PCA9685_CHANNEL", 0)
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pin_id = "PCA9685.{bus}:{address}.{channel}".format(bus=i2c_bus, address=i2c_address,channel=pca9685_channel)
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if args["steering"]:
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steering_pin = donkeycar.parts.pins.pwm_pin_by_id(pin_id)
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controller = actuator.PulseController(steering_pin)
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steering = actuator.PWMSteering(controller=controller, left_pulse=int(args["--left-pulse"]), right_pulse=int(args["--right-pulse"]))
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client = init_mqtt_steering_client(steering_controller=steering, broker_host=broker_host, user=user,
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password=password, client_id=client_id, steering_topic=topic)
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elif args["throttle"]:
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throttle_pin = donkeycar.parts.pins.pwm_pin_by_id(pin_id)
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controller = actuator.PulseController(throttle_pin)
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throttle = actuator.PWMThrottle(controller=controller, max_pulse=int(args["--max-pulse"]), min_pulse=int(args["--min-pulse"]),
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zero_pulse=int(args["--zero-pulse"]))
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client = init_mqtt_throttle_client(throttle_controller=throttle, broker_host=broker_host, user=user,
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password=password, client_id=client_id, throttle_topic=topic)
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else:
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raise Exception('invalid mode selected, must be steering or throttle')
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sh = SignalHandler(client)
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signal.signal(signal.SIGTERM, sh.sigterm_handler)
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client.loop_forever()
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def get_default_value(value, env_var: str, default_value) -> str:
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if value:
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return value
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if env_var in os.environ:
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return os.environ[env_var]
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return default_value
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