83 lines
2.0 KiB
Python
83 lines
2.0 KiB
Python
from UnifiWebsockets import Unifi
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from URSentry import URSentry
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import queue
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import time
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import threading
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import BBoxProcessor
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import os
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unifi_password = os.getenv('UNIFI_PASSWORD')
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if unifi_password == '':
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print("Please set the 'UNIFI_PASSWORD' environment variable.")
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exit(1)
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q = queue.Queue()
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x = threading.Thread(target=Unifi.run, args=(q,unifi_password))
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x.start()
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b = BBoxProcessor.BBoxProcessor()
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ur = URSentry("172.22.114.160")
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joystick_queue = queue.Queue()
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class CameraJoystick(threading.Thread):
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def __init__(self, joystick_queue: queue.Queue[list[int]]):
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threading.Thread.__init__(self)
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self.joystick_queue = joystick_queue
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self.keep_running = True
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def run(self):
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global current_joystick
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while self.keep_running:
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time.sleep(0.0001)
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q_val = []
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try:
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q_val = q.get_nowait()
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except queue.Empty:
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pass
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#print(bb)
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current_joystick = b.get_joystick_position_from_new_set_of_bboxes(q_val)
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#self.joystick_queue.put(bb)
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def stop(self):
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self.keep_running = False
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current_joystick = [0, 0]
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class JoystickScheduler(threading.Thread):
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def __init__(self, joystick_queue: queue.Queue[list[int]]):
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threading.Thread.__init__(self)
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self.joystick_queue = joystick_queue
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self.keep_running = True
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def run(self):
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while self.keep_running:
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global current_joystick
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current_joystick = self.joystick_queue.get()
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def stop(self):
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self.keep_running = False
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camera_joystick = CameraJoystick(joystick_queue)
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camera_joystick.start()
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# joystick_scheduler = JoystickScheduler(joystick_queue)
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# joystick_scheduler.start()
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ur.initialize_pose()
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while True:
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try:
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ur.control_robot(current_joystick)
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#print("Setting robot base velocity to: ", current_joystick[0])
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time.sleep(0.1)
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except KeyboardInterrupt:
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camera_joystick.stop()
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# joystick_scheduler.stop()
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break
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