Space Boys| Set Your Sights High!
Team Updates
N
Naiara Silva Santos This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters. Learn more about bidirectional Unicode characters
| fromsocketimport* | |
| fromev3dev2.motorimportLargeMotor, OUTPUT_A, OUTPUT_B, SpeedPercent, MoveTank | |
| fromev3dev2.sensorimportINPUT_1 | |
| fromev3dev2.sensor.legoimportTouchSensor | |
| importthreading | |
| importstruct | |
| serverPort=12008 | |
| serverSocket=socket(AF_INET, SOCK_STREAM) | |
| serverSocket.bind(('', serverPort)) | |
| serverSocket.listen(1) | |
| motorX=LargeMotor(OUTPUT_A) | |
| motorY=LargeMotor(OUTPUT_B) | |
| classserver(threading.Thread): | |
| defrun(self): | |
| print("Aguardando conexao") | |
| while1: | |
| connectionSocket, addr=serverSocket.accept() | |
| sentence=connectionSocket.recv(1024) | |
| try: | |
| (azimuth, elevation) =struct.unpack('ff', sentence) | |
| print('pointing to: ('+str(azimuth) +'; '+str(elevation) +')') | |
| # Azimuth | |
| azimuth= (azimuth*3) % (360*3) | |
| motorX.run_to_abs_pos(position_sp=azimuth, speed_sp=200, stop_action="hold") | |
| # Elevation | |
| ifelevation<-90: | |
| elevation=-90 | |
| elifelevation>90: | |
| elevation=90 | |
| motorY.run_to_abs_pos(position_sp=elevation, speed_sp=100, stop_action="hold") | |
| connectionSocket.close() | |
| except: | |
| print('something wrong happened') | |
| # Define as threads | |
| server_thread=server() | |
| # Inicia as threads | |
| server_thread.start() | |
| # Resetar posicao dos robos | |
| motorX.run_to_abs_pos(position_sp=0, speed_sp=200, stop_action="hold") | |
| motorY.run_to_abs_pos(position_sp=0, speed_sp=100, stop_action="hold") | |
| # Aguarda as threads serem finalizadas | |
| server_thread.join() |
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| namespaceStarSniper.Services.Impl{ | |
| publicclassObservatoryLocationProvider:IObservatoryLocationProvider{ | |
| publicstaticreadonlyObservatoryLocationProviderInstance=newObservatoryLocationProvider(); | |
| publicstaticreadonlystringApiUrl="https://sscweb.sci.gsfc.nasa.gov/WS/sscr/2/locations/"; | |
| privateDateTime_lastUpdate=DateTime.MinValue; | |
| privateDateTime_nextUpdate=DateTime.MinValue; | |
| publicDateTimeLastUpdate{ | |
| get=>_lastUpdate; | |
| set{ | |
| _lastUpdate=value; | |
| _nextUpdate=value.AddSeconds(Settings.UpdateTime); | |
| } | |
| } | |
| publicDateTimeNextUpdate=>_nextUpdate; | |
| publicObservatoryLocationProvider(){} | |
| publicDictionary<string,ObservatoryLocation[]>RequestPosition(paramsIObservatoryIdProvider[]observatoryIds){ | |
| if(observatoryIds==null) | |
| thrownewArgumentNullException(nameof(observatoryIds)); | |
| Dictionary<string,List<ObservatoryLocation>>locations=newDictionary<string,List<ObservatoryLocation>>(); | |
| foreach(IObservatoryIdProviderobservatoryinobservatoryIds) | |
| locations.Add(observatory.Id,newList<ObservatoryLocation>()); | |
| List<Task>tasks=newList<Task>(); | |
| intbuckets=(int)Math.Ceiling(locations.Count/10.0); | |
| for(inti=0;i<buckets;i++){ | |
| List<IObservatoryIdProvider>bucket=newList<IObservatoryIdProvider>(); | |
| for(intj=0;j<10;j++){ | |
| if((i*10)+j>=observatoryIds.Length) | |
| break; | |
| bucket.Add(observatoryIds[(i*10)+j]); | |
| } | |
| tasks.Add(Task.Run(async()=>awaitAcquire(bucket,locations))); | |
| } | |
| Task.WaitAll(tasks.ToArray()); | |
| LastUpdate=newDateTime(DateTime.Now.Ticks); | |
| returnnewDictionary<string,ObservatoryLocation[]>(locations.Select(kvp =>KeyValuePair.Create(kvp.Key,kvp.Value.ToArray()))); | |
| } | |
| privateasyncTaskAcquire(IEnumerable<IObservatoryIdProvider>observatoryIds,Dictionary<string,List<ObservatoryLocation>>locations){ | |
| HttpClientclient=newHttpClient(); | |
| client.DefaultRequestHeaders.Add("Accept","application/xml"); | |
| LocationRequestrequest=newLocationRequest(observatoryIds); | |
| stringbody=request.ToString(); | |
| HttpResponseMessageresponse=awaitclient.PostAsync(ApiUrl,newStringContent(body,Encoding.UTF8,"application/xml")); | |
| if(!response.IsSuccessStatusCode) | |
| // TODO: Log warning | |
| return; | |
| intlatIndex=0, | |
| lonIndex=0, | |
| xIndex=0, | |
| yIndex=0, | |
| zIndex=0, | |
| timeIndex=0; | |
| stringcurrent=null; | |
| body=awaitresponse.Content.ReadAsStringAsync(); | |
| if(observatoryIds.Count()!=10) | |
| Debug.WriteLine(body); | |
| try{ | |
| using(StringReaderstringReader=newStringReader(body)) | |
| using(XmlReaderreader=XmlReader.Create(stringReader)){ | |
| while(reader.Read()){ | |
| if(reader.NodeType!=XmlNodeType.Element) | |
| continue; | |
| switch(reader.Name){ | |
| case"Id": | |
| reader.Read(); | |
| current=reader.ReadContentAsString(); | |
| latIndex=0; | |
| lonIndex=0; | |
| xIndex=0; | |
| yIndex=0; | |
| zIndex=0; | |
| timeIndex=0; | |
| break; | |
| case"Latitude": | |
| if(latIndex>=locations[current].Count) | |
| locations[current].Add(newObservatoryLocation()); | |
| reader.Read(); | |
| locations[current][latIndex].Latitude=reader.ReadContentAsDouble(); | |
| latIndex++; | |
| break; | |
| case"Longitude": | |
| if(lonIndex>=locations[current].Count) | |
| locations[current].Add(newObservatoryLocation()); | |
| reader.Read(); | |
| locations[current][lonIndex].Longitude=reader.ReadContentAsDouble(); | |
| lonIndex++; | |
| break; | |
| case"X": | |
| if(xIndex>=locations[current].Count) | |
| locations[current].Add(newObservatoryLocation()); | |
| reader.Read(); | |
| locations[current][xIndex].X=reader.ReadContentAsDouble(); | |
| xIndex++; | |
| break; | |
| case"Y": | |
| if(yIndex>=locations[current].Count) | |
| locations[current].Add(newObservatoryLocation()); | |
| reader.Read(); | |
| locations[current][yIndex].Y=reader.ReadContentAsDouble(); | |
| yIndex++; | |
| break; | |
| case"Z": | |
| if(zIndex>=locations[current].Count) | |
| locations[current].Add(newObservatoryLocation()); | |
| reader.Read(); | |
| locations[current][zIndex].Z=reader.ReadContentAsDouble(); | |
| zIndex++; | |
| break; | |
| case"Time": | |
| if(timeIndex>=locations[current].Count) | |
| locations[current].Add(newObservatoryLocation()); | |
| reader.Read(); | |
| locations[current][timeIndex].Time=DateTime.Parse(reader.ReadContentAsString()); | |
| timeIndex++; | |
| break; | |
| } | |
| } | |
| } | |
| } | |
| catch(Exceptione){ | |
| Debug.WriteLine(e); | |
| // TODO: Log error | |
| } | |
| } | |
| } | |
| } |
N
Naiara Silva Santos