-

modules/catkin_ws/src/VeloxProtocolLib/test/TerminalControl.cpp

@@ -8,6 +8,7 @@
 #include <fstream>
 #include "ultrasonic/UltrasonicSensor.h"
 #include "tools/StreamMeanFilter.h"
+#include "NetworkingLib/DatagramSender.h"
 
 constexpr bool usesPid{true};
 
@@ -58,6 +59,7 @@ int readDevId()
 int main(int argc, char ** argv)
 {
     using namespace veloxProtocol;
+    using namespace std::chrono_literals;
     networking::Networking net;
     std::atomic<bool> monitorSTM{false};
     std::atomic<bool> monitorUSS{false};
@@ -66,6 +68,8 @@ int main(int argc, char ** argv)
     std::mutex outputMutex;
     auto sensor = UltrasonicSensor::create(net, readDevId());
     car::StreamMeanFilter streamMeanFilter{5};
+    auto timer = networking::time::Timer::create(net);
+    auto sender = networking::message::DatagramSender<std::string>::create(net);
     auto conn = Connection::create(net);
     conn->open(
         "/dev/ttySAC0",
@@ -79,6 +83,11 @@ int main(int argc, char ** argv)
                       << "\nSteering Angle: " << conn->getMeasuredSteeringAngle().get() << "\n\n";
         }, [] {});
 
+    timer->startPeriodicTimeout(
+        10ms,
+        [&]
+        { sender->send(std::to_string(conn->getMeasuredSpeed().get()), "10.5.33.26", 10150, 1ms); });
+
     sensor->start(
         [&](auto distance)
         {

scripts/remote_control.py

@@ -2,6 +2,9 @@ import pygame
 import sys
 from pexpect import pxssh
 from pygame.locals import *
+import threading
+import socket
+import sys
 
 
 ODROID_HOST_ADDRESS = "10.5.37.177"
@@ -94,10 +97,37 @@ class Button:
 		surf.blit(text, text_rect)
 
 
+speedLock = threading.Lock()
+speed = 0
+
+
+def receive_speed():
+	sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+	server_address = ('0.0.0.0', 10150)
+	sock.bind(server_address)
+	while True:
+		data, address = sock.recvfrom(30)
+		if data:
+			print(data)
+			speedLock.acquire()
+			speed = float(data[4:])
+			speedLock.release()
+
+
+def renderSpeed(surf):
+	font = pygame.font.Font(None, 36)
+	speedLock.acquire()
+	text = font.render(str(speed), True, (10, 10, 10))
+	speedLock.release()
+	text_rect = text.get_rect()
+	surf.blit(text, text_rect)
+
 if __name__ == '__main__':
 	conn = OdroidConnection(ODROID_HOST_ADDRESS, "/root/repos/Hochautomatisiertes-Fahren/modules/catkin_ws/src/VeloxProtocolLib/cmake-build-debug/TerminalControl")
 	conn.connect()
 
+	threading.Thread(target=receive_speed)
+
 	FPS = 60
 	pygame.init()
 	fpsClock = pygame.time.Clock()
@@ -120,7 +150,7 @@ if __name__ == '__main__':
 	buttonsSurface = buttonsSurface.convert()
 	buttonsSurface.fill(BACKGROUND_COLOR)
 
-	SPEED = 1
+	SPEED = 0.6
 	ANGLE = 20
 	ZERO_SPEED = 0
 	ZERO_ANGLE = -4
@@ -184,6 +214,9 @@ if __name__ == '__main__':
 			button.draw(buttonsSurface)
 
 		background.blit(buttonsSurface, buttons_rect)
+
+		renderSpeed(background)
+
 		screen.blit(background, (0, 0))
 		pygame.display.update()
 		fpsClock.tick(FPS)
\ No newline at end of file