50 lines
1.4 KiB
Python
50 lines
1.4 KiB
Python
import threading
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from remote_control_unit import RemoteControlUnit
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from navigation import Navigation
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from control import Control
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from settings import Settings
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from ground_control_station import GroundControlStation
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from mission import Mission
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from log import Log
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class UsvControl:
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"""程序入口"""
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def __init__(self):
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self.settings = Settings()
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self.futaba = RemoteControlUnit(self.settings.sbus_com)
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self.navigation = Navigation(self)
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self.control = Control()
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self.gcs = GroundControlStation(self.settings.gcs_com)
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self.mission = Mission(self.settings.usv_id)
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self.log = Log(self.settings.usv_id)
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def ms10_run(self):
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self.futaba.rcu_run(self)
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self.control.c_run(self)
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self.navigation.n_run(self)
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self.gcs.g_run(self)
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self.futaba.backup_data()
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self.log.write_log(self)
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timer_10 = threading.Timer(0.01, self.ms10_run, )
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timer_10.start()
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def ms1000_run(self):
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print(self.futaba.receive_data)
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print(self.navigation.data)
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print(self.control.data)
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print(self.control.pid)
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print(self.gcs.heart_beat)
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print(self.gcs.command)
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timer_1000 = threading.Timer(1, self.ms1000_run, )
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timer_1000.start()
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# 按间距中的绿色按钮以运行脚本。
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if __name__ == '__main__':
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usv1 = UsvControl()
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usv1.ms10_run()
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usv1.ms1000_run()
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