From 952edc4438fc65745eda1a45298d745102546750 Mon Sep 17 00:00:00 2001
From: Jeffrey <banghajs@dukes.jmu.edu>
Date: Wed, 4 Dec 2019 14:16:53 -0500
Subject: [PATCH] merge conflict

---
 alternative_velodyne_setup.sh                 | 19 +++++++++++++++++++
 cart_endpoints/scripts/motor_endpoint.py      |  6 +++---
 cart_endpoints/scripts/ros_client.py          |  7 ++-----
 .../scripts/test_live_analysis_v2.py          |  3 +--
 velodyne_setup.sh                             | 17 +++++++++++++++++
 5 files changed, 42 insertions(+), 10 deletions(-)
 create mode 100755 alternative_velodyne_setup.sh
 create mode 100755 velodyne_setup.sh

diff --git a/alternative_velodyne_setup.sh b/alternative_velodyne_setup.sh
new file mode 100755
index 00000000..6bd46afd
--- /dev/null
+++ b/alternative_velodyne_setup.sh
@@ -0,0 +1,19 @@
+#!/bin/bash
+
+echo "Running Different Velodyne Setup Script"
+
+echo "Shutting Down WiFi"
+
+nmcli radio wifi off
+
+sudo ifconfig eth0 up
+
+echo "Assigning IP to Port"
+
+sudo ip addr add 192.168.1.200 dev eth0
+
+echo "Adding static route to LIDAR IP"
+
+sudo route add -net 192.168.1.0 netmask 255.255.255.0 dev eth0
+
+echo "Try running the velodyne manager now"
diff --git a/cart_endpoints/scripts/motor_endpoint.py b/cart_endpoints/scripts/motor_endpoint.py
index 9fa124bb..e4b68ed8 100755
--- a/cart_endpoints/scripts/motor_endpoint.py
+++ b/cart_endpoints/scripts/motor_endpoint.py
@@ -28,8 +28,8 @@ def __init__(self):
         rospy.loginfo("Starting motor node!")
         #Connect to arduino for sending speed
         try:
-            rospy.loginfo("remove comments")
-            #self.speed_ser = serial.Serial(cart_port, 57600, write_timeout=0)
+            #rospy.loginfo("remove comments")
+            self.speed_ser = serial.Serial(cart_port, 57600, write_timeout=0)
         except Exception as e:
             print( "Motor_endpoint: " + str(e))
             rospy.logerr("Motor_endpoint: " + str(e))
@@ -113,7 +113,7 @@ def send_to_motors(self):
             else:
                 bitstruct.pack_into('u8u8u8u8u8', data, 0, 42, 21, abs(target_speed), 0, target_angle)
 
-        #self.speed_ser.write(data) 
+        self.speed_ser.write(data) 
 
 
 if __name__ == "__main__":
diff --git a/cart_endpoints/scripts/ros_client.py b/cart_endpoints/scripts/ros_client.py
index 8676f4eb..8cde29ff 100755
--- a/cart_endpoints/scripts/ros_client.py
+++ b/cart_endpoints/scripts/ros_client.py
@@ -50,9 +50,6 @@ def send_audio(msg):
     }
     send('audio',JSON.dumps(json))
 
-#audio call pullover
-def sendPullOver():
-    send('pull_over',id)
    
 #pose tracking send when unsafe
 def sendUnsafe():
@@ -65,7 +62,7 @@ def sendPassengerExit():
 def sendReady():
     send('passenger_ready',id)
 
-def sendLocation():
+def sendLocation(self):
     send('current_location',id)
     
 @sio.on('pull_over',namespace='/cart')
@@ -122,7 +119,7 @@ def status_update(data):
 def pullover_callback(msg):
     if msg.data == True:
         send_stop(True, 2)
-        sendPullOver()
+        sendUnsafe()
     else:
         send_stop(False, 2)
         sendReady() #is this how it should work?'
diff --git a/cart_endpoints/scripts/test_live_analysis_v2.py b/cart_endpoints/scripts/test_live_analysis_v2.py
index a6c0048d..cb0b8f23 100755
--- a/cart_endpoints/scripts/test_live_analysis_v2.py
+++ b/cart_endpoints/scripts/test_live_analysis_v2.py
@@ -21,7 +21,6 @@
 from sklearn.ensemble import RandomForestClassifier
 import paho.mqtt.client as mqtt
 from std_msgs.msg import Int8, String, Bool
-from navigation_msgs import EmergencyStop
 import json
 
 # Add openpose to system PATH and import
@@ -153,7 +152,7 @@ def analyze():
 #Analyze passenger safety.
 # Returns np array
 def safety_check(frame):
-    filename = 'full_dataset_model.sav'
+    filename = '/home/jeffercize/catkin_ws/src/ai-navigation/cart_endpoints/scripts/full_dataset_model.sav'
     loaded_model = pickle.load(open(filename, 'rb'))
     if (len(frame.shape) == 0):
         frame = np.zeros((1,75))
diff --git a/velodyne_setup.sh b/velodyne_setup.sh
new file mode 100755
index 00000000..f9bc7b2c
--- /dev/null
+++ b/velodyne_setup.sh
@@ -0,0 +1,17 @@
+#!/bin/bash
+
+echo "Running Velodyne Setup Script"
+
+echo "Shutting Down WiFi"
+
+nmcli radio wifi off
+
+echo "Assigning IP to Port"
+
+sudo ifconfig eno1 192.168.3.100
+
+echo "Adding static route to LIDAR IP"
+
+sudo route add 192.168.1.201 eno1
+
+echo "Try running the velodyne manager now"