theacodes

Write our robot code in Python on the Raspberry Pi.
We'll use the Arduino as a daughterboard. It'll handle I/O.
Use a serial protocol to communicate between the 2.

Raspberry Pi (Python) <-> USB Serial <-> Arduino (Firmware)


How do we get there?

1. Write a Arduino sketch to act as our firmware. This will receive serial commands and send back data.

theacodes

#!/usr/bin/env python

from gevent import monkey
monkey.patch_all()
monkey.patch_sys(stdin=True, stdout=False, stderr=False)
import gevent
from gevent.queue import Queue
import sys
import signal

theacodes

#!/usr/bin/env python
#
# Copyright 2007 Google Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#

theacodes

import ferris3
import endpoints
import protopigeon
from protorpc import messages
from google.appengine.ext import ndb


class ExampleProperty(ndb.StringProperty):
    def _to_base_type(self, value):
        return "---" + str(value) + "---"

theacodes

def session_test(session):
    session.interpreter = 'python2.7'
    session.install('-e', '.[grpc]')
    session.install('pytest')
    session.run('pytest', '-x', 'google')

theacodes

# Copyright 2015 Google Inc. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,

theacodes

FROM gcr.io/google_appengine/python-compat-multicore

# Install scipy dependences
RUN apt-get update && \
    apt-get install -y --no-install-recommends \
        python-scipy

# Add app code
ADD . /app/

theacodes

from collections import defaultdict
import gc


class MemoryProfilingMiddleware(object):    
    def __init__(self, app):
        self.app = app
        #gc.set_debug(gc.DEBUG_LEAK)
        self.last_count = 0

theacodes

#! /bin/bash
# Copyright 2013 Google Inc. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software

theacodes

from google.appengine.ext import ndb


def reaping_task():
    search_string = "spam"

    # Disable all caching, this prevents out of memory errors as we
    # go through the whole dataset. If we don't do this, ndb will
    # try to keep a copy of every entity we look at.
    ndb.get_context().set_cache_policy(lambda key: False)