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'''
Created on Nov 11, 2012
@author: attero
'''
import serial
import glob
import threading
import math
def mutex(m):
def wrapper(self, *args, **kwargs):
self.s.acquire()
m()
self.s.release()
return wrapper
class CannonController :
def __init__(self):
self.s = threading.Semaphore()
print("cannon controller started")
self.position = [0, 0]
self.fired = False
self.laser = False
ports = glob.glob("/dev/ttyACM*")
if(len(ports) == 1):
try:
self.ser = serial.Serial(ports[0], 115200, timeout=1)
except serial.SerialException:
raise Exception("Could not open serial connction (busy?)")
self.connected_to_serial = True
else:
self.ser = False
self.connected_to_serial = False
if len(ports) > 1 :
raise Exception("To many devices to handle")
elif len(ports) == 0 :
print Exception("No device is connected")
def set_position(self, point):
self.position = point
def translate_yaw(self, yaw):
return yaw
def fire(self):
self.fired = True
def enable_laser(self):
self.laser = True
def disable_laser(self):
self.laser = False
def move_left(self, change):
if(self.position[0] >= change):
self.position[0] -= change
def move_right(self, change):
if(self.position[0] < 255 - change):
self.position[0] += change
def move_up(self, change):
if(self.position[1] < 255 - change):
self.position[1] += change
def move_down(self, change):
if(self.position[1] >= change):
self.position[1] -= change
def check_validity_of_data(self):
if(abs(self.position[0]) > 255):
return False
if (abs(self.position[1]) > 255):
return False
return True
def get_data(self):
if self.check_validity_of_data():
data = []
data.extend(self.position)
if(self.fired):
data.append(255)
self.fired = False
else:
data.append(0)
if(self.laser):
data.append(255)
else:
data.append(0)
return data
else:
return [0, 0, 0, 0]
def get_data_to_send(self):
data = self.get_data()
data[0] = self.translate_yaw(data[0])
return [chr(x) for x in data]
def send_data(self):
if(self.connected_to_serial):
data = self.get_data_to_send()
self.ser.write('a')
self.ser.write(data[0])
print "wrote %i" % ord(data[0])
self.ser.write('b')
self.ser.write(data[1])
self.ser.write('c')
self.ser.write(data[2])
self.ser.write('d')
self.ser.write(data[3])
else:
print "Cannot send data, not connected..."
class HackWAWCannonController(CannonController):
AXIS_DISTANCE = 20
ARM_LENGTH = 1
def translate_yaw(self, yaw):
return yaw
try:
turret_angle = (yaw * math.pi) / 256 - (math.pi / 2)
servo_angle = math.asin((self.ARM_LENGTH * math.tan(turret_angle)) / (self.AXIS_DISTANCE - self.ARM_LENGTH))
except:
return 0 if yaw == 0 else 255
return int(((servo_angle + (math.pi / 2)) * 256) / math.pi)
class Gunpoint :
def __init__(self, point1, point2, point3):
self.vertical_angle = point3[1] - point1[1]
self.horizontal_angle = point2[0] - point1[0]
self.beginnig_horizontal = point1[0]
self.beginnig_vertical = point1[1]
def calibrate(self, point1, point2, point3):
self.vertical_angle = point3[1] - point1[1]
self.horizontal_angle = point2[0] - point1[0]
self.beginnig_horizontal = point1[0]
self.beginnig_vertical = point1[1]
def aim(self, point):
horizontal = math.ceil(self.beginnig_horizontal + self.horizontal_angle*point[0])
vertical = math.ceil(self.beginnig_vertical + self.vertical_angle*point[1])
return [horizontal, vertical]
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