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How to use wheel method in keyboard

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wheel_builder.py

Source:wheel_builder.py

1"""Orchestrator for building wheels from InstallRequirements.2"""3import logging4import os.path5import re6import shutil7from pip._internal.models.link import Link8from pip._internal.operations.build.wheel import build_wheel_pep5179from pip._internal.operations.build.wheel_legacy import build_wheel_legacy10from pip._internal.utils.logging import indent_log11from pip._internal.utils.misc import ensure_dir, hash_file, is_wheel_installed12from pip._internal.utils.setuptools_build import make_setuptools_clean_args13from pip._internal.utils.subprocess import call_subprocess14from pip._internal.utils.temp_dir import TempDirectory15from pip._internal.utils.typing import MYPY_CHECK_RUNNING16from pip._internal.utils.urls import path_to_url17from pip._internal.vcs import vcs18if MYPY_CHECK_RUNNING:19    from typing import (20        Any, Callable, Iterable, List, Optional, Tuple,21    )22    from pip._internal.cache import WheelCache23    from pip._internal.req.req_install import InstallRequirement24    BinaryAllowedPredicate = Callable[[InstallRequirement], bool]25    BuildResult = Tuple[List[InstallRequirement], List[InstallRequirement]]26logger = logging.getLogger(__name__)27_egg_info_re = re.compile(r'([a-z0-9_.]+)-([a-z0-9_.!+-]+)', re.IGNORECASE)28def _contains_egg_info(s):29    # type: (str) -> bool30    """Determine whether the string looks like an egg_info.31    :param s: The string to parse. E.g. foo-2.132    """33    return bool(_egg_info_re.search(s))34def _should_build(35    req,  # type: InstallRequirement36    need_wheel,  # type: bool37    check_binary_allowed,  # type: BinaryAllowedPredicate38):39    # type: (...) -> bool40    """Return whether an InstallRequirement should be built into a wheel."""41    if req.constraint:42        # never build requirements that are merely constraints43        return False44    if req.is_wheel:45        if need_wheel:46            logger.info(47                'Skipping %s, due to already being wheel.', req.name,48            )49        return False50    if need_wheel:51        # i.e. pip wheel, not pip install52        return True53    # From this point, this concerns the pip install command only54    # (need_wheel=False).55    if req.editable or not req.source_dir:56        return False57    if not check_binary_allowed(req):58        logger.info(59            "Skipping wheel build for %s, due to binaries "60            "being disabled for it.", req.name,61        )62        return False63    if not req.use_pep517 and not is_wheel_installed():64        # we don't build legacy requirements if wheel is not installed65        logger.info(66            "Using legacy 'setup.py install' for %s, "67            "since package 'wheel' is not installed.", req.name,68        )69        return False70    return True71def should_build_for_wheel_command(72    req,  # type: InstallRequirement73):74    # type: (...) -> bool75    return _should_build(76        req, need_wheel=True, check_binary_allowed=_always_true77    )78def should_build_for_install_command(79    req,  # type: InstallRequirement80    check_binary_allowed,  # type: BinaryAllowedPredicate81):82    # type: (...) -> bool83    return _should_build(84        req, need_wheel=False, check_binary_allowed=check_binary_allowed85    )86def _should_cache(87    req,  # type: InstallRequirement88):89    # type: (...) -> Optional[bool]90    """91    Return whether a built InstallRequirement can be stored in the persistent92    wheel cache, assuming the wheel cache is available, and _should_build()93    has determined a wheel needs to be built.94    """95    if req.editable or not req.source_dir:96        # never cache editable requirements97        return False98    if req.link and req.link.is_vcs:99        # VCS checkout. Do not cache100        # unless it points to an immutable commit hash.101        assert not req.editable102        assert req.source_dir103        vcs_backend = vcs.get_backend_for_scheme(req.link.scheme)104        assert vcs_backend105        if vcs_backend.is_immutable_rev_checkout(req.link.url, req.source_dir):106            return True107        return False108    assert req.link109    base, ext = req.link.splitext()110    if _contains_egg_info(base):111        return True112    # Otherwise, do not cache.113    return False114def _get_cache_dir(115    req,  # type: InstallRequirement116    wheel_cache,  # type: WheelCache117):118    # type: (...) -> str119    """Return the persistent or temporary cache directory where the built120    wheel need to be stored.121    """122    cache_available = bool(wheel_cache.cache_dir)123    assert req.link124    if cache_available and _should_cache(req):125        cache_dir = wheel_cache.get_path_for_link(req.link)126    else:127        cache_dir = wheel_cache.get_ephem_path_for_link(req.link)128    return cache_dir129def _always_true(_):130    # type: (Any) -> bool131    return True132def _build_one(133    req,  # type: InstallRequirement134    output_dir,  # type: str135    build_options,  # type: List[str]136    global_options,  # type: List[str]137):138    # type: (...) -> Optional[str]139    """Build one wheel.140    :return: The filename of the built wheel, or None if the build failed.141    """142    try:143        ensure_dir(output_dir)144    except OSError as e:145        logger.warning(146            "Building wheel for %s failed: %s",147            req.name, e,148        )149        return None150    # Install build deps into temporary directory (PEP 518)151    with req.build_env:152        return _build_one_inside_env(153            req, output_dir, build_options, global_options154        )155def _build_one_inside_env(156    req,  # type: InstallRequirement157    output_dir,  # type: str158    build_options,  # type: List[str]159    global_options,  # type: List[str]160):161    # type: (...) -> Optional[str]162    with TempDirectory(kind="wheel") as temp_dir:163        assert req.name164        if req.use_pep517:165            assert req.metadata_directory166            wheel_path = build_wheel_pep517(167                name=req.name,168                backend=req.pep517_backend,169                metadata_directory=req.metadata_directory,170                build_options=build_options,171                tempd=temp_dir.path,172            )173        else:174            wheel_path = build_wheel_legacy(175                name=req.name,176                setup_py_path=req.setup_py_path,177                source_dir=req.unpacked_source_directory,178                global_options=global_options,179                build_options=build_options,180                tempd=temp_dir.path,181            )182        if wheel_path is not None:183            wheel_name = os.path.basename(wheel_path)184            dest_path = os.path.join(output_dir, wheel_name)185            try:186                wheel_hash, length = hash_file(wheel_path)187                shutil.move(wheel_path, dest_path)188                logger.info('Created wheel for %s: '189                            'filename=%s size=%d sha256=%s',190                            req.name, wheel_name, length,191                            wheel_hash.hexdigest())192                logger.info('Stored in directory: %s', output_dir)193                return dest_path194            except Exception as e:195                logger.warning(196                    "Building wheel for %s failed: %s",197                    req.name, e,198                )199        # Ignore return, we can't do anything else useful.200        if not req.use_pep517:201            _clean_one_legacy(req, global_options)202        return None203def _clean_one_legacy(req, global_options):204    # type: (InstallRequirement, List[str]) -> bool205    clean_args = make_setuptools_clean_args(206        req.setup_py_path,207        global_options=global_options,208    )209    logger.info('Running setup.py clean for %s', req.name)210    try:211        call_subprocess(clean_args, cwd=req.source_dir)212        return True213    except Exception:214        logger.error('Failed cleaning build dir for %s', req.name)215        return False216def build(217    requirements,  # type: Iterable[InstallRequirement]218    wheel_cache,  # type: WheelCache219    build_options,  # type: List[str]220    global_options,  # type: List[str]221):222    # type: (...) -> BuildResult223    """Build wheels.224    :return: The list of InstallRequirement that succeeded to build and225        the list of InstallRequirement that failed to build.226    """227    if not requirements:228        return [], []229    # Build the wheels.230    logger.info(231        'Building wheels for collected packages: %s',232        ', '.join(req.name for req in requirements),  # type: ignore233    )234    with indent_log():235        build_successes, build_failures = [], []236        for req in requirements:237            cache_dir = _get_cache_dir(req, wheel_cache)238            wheel_file = _build_one(239                req, cache_dir, build_options, global_options240            )241            if wheel_file:242                # Update the link for this.243                req.link = Link(path_to_url(wheel_file))244                req.local_file_path = req.link.file_path245                assert req.link.is_wheel246                build_successes.append(req)247            else:248                build_failures.append(req)249    # notify success/failure250    if build_successes:251        logger.info(252            'Successfully built %s',253            ' '.join([req.name for req in build_successes]),  # type: ignore254        )255    if build_failures:256        logger.info(257            'Failed to build %s',258            ' '.join([req.name for req in build_failures]),  # type: ignore259        )260    # Return a list of requirements that failed to build...

Car.js

Source:Car.js

1/**2 * @author alteredq / http://alteredqualia.com/3 */4THREE.Car = function () {5	var scope = this;6	// car geometry manual parameters7	this.modelScale = 1;8	this.backWheelOffset = 2;9	this.autoWheelGeometry = true;10	// car geometry parameters automatically set from wheel mesh11	// 	- assumes wheel mesh is front left wheel in proper global12	//    position with respect to body mesh13	//	- other wheels are mirrored against car root14	//	- if necessary back wheels can be offset manually15	this.wheelOffset = new THREE.Vector3();16	this.wheelDiameter = 1;17	// car "feel" parameters18	this.MAX_SPEED = 2200;19	this.MAX_REVERSE_SPEED = -1500;20	this.MAX_WHEEL_ROTATION = 0.6;21	this.FRONT_ACCELERATION = 1250;22	this.BACK_ACCELERATION = 1500;23	this.WHEEL_ANGULAR_ACCELERATION = 1.5;24	this.FRONT_DECCELERATION = 750;25	this.WHEEL_ANGULAR_DECCELERATION = 1.0;26	this.STEERING_RADIUS_RATIO = 0.0023;27	this.MAX_TILT_SIDES = 0.05;28	this.MAX_TILT_FRONTBACK = 0.015;29	// internal control variables30	this.speed = 0;31	this.acceleration = 0;32	this.wheelOrientation = 0;33	this.carOrientation = 0;34	// car rigging35	this.root = new THREE.Object3D();36	this.frontLeftWheelRoot = new THREE.Object3D();37	this.frontRightWheelRoot = new THREE.Object3D();38	this.bodyMesh = null;39	this.frontLeftWheelMesh = null;40	this.frontRightWheelMesh = null;41	this.backLeftWheelMesh = null;42	this.backRightWheelMesh = null;43	this.bodyGeometry = null;44	this.wheelGeometry = null;45	this.bodyMaterials = null;46	this.wheelMaterials = null;47	// internal helper variables48	this.loaded = false;49	this.meshes = [];50	// API51	this.enableShadows = function ( enable ) {52		for ( var i = 0; i < this.meshes.length; i ++ ) {53			this.meshes[ i ].castShadow = enable;54			this.meshes[ i ].receiveShadow = enable;55		}56	};57	this.setVisible = function ( enable ) {58		for ( var i = 0; i < this.meshes.length; i ++ ) {59			this.meshes[ i ].visible = enable;60			this.meshes[ i ].visible = enable;61		}62	};63	this.loadPartsJSON = function ( bodyURL, wheelURL ) {64		var loader = new THREE.JSONLoader();65		loader.load( bodyURL, function( geometry, materials ) { createBody( geometry, materials ) } );66		loader.load( wheelURL, function( geometry, materials ) { createWheels( geometry, materials ) } );67	};68	this.loadPartsBinary = function ( bodyURL, wheelURL ) {69		var loader = new THREE.BinaryLoader();70		loader.load( bodyURL, function( geometry, materials ) { createBody( geometry, materials ) } );71		loader.load( wheelURL, function( geometry, materials ) { createWheels( geometry, materials ) } );72	};73	this.updateCarModel = function ( delta, controls ) {74		// speed and wheels based on controls75		if ( controls.moveForward ) {76			this.speed = THREE.Math.clamp( this.speed + delta * this.FRONT_ACCELERATION, this.MAX_REVERSE_SPEED, this.MAX_SPEED );77			this.acceleration = THREE.Math.clamp( this.acceleration + delta, -1, 1 );78		}79		if ( controls.moveBackward ) {80			this.speed = THREE.Math.clamp( this.speed - delta * this.BACK_ACCELERATION, this.MAX_REVERSE_SPEED, this.MAX_SPEED );81			this.acceleration = THREE.Math.clamp( this.acceleration - delta, -1, 1 );82		}83		if ( controls.moveLeft ) {84			this.wheelOrientation = THREE.Math.clamp( this.wheelOrientation + delta * this.WHEEL_ANGULAR_ACCELERATION, - this.MAX_WHEEL_ROTATION, this.MAX_WHEEL_ROTATION );85		}86		if ( controls.moveRight ) {87			this.wheelOrientation = THREE.Math.clamp( this.wheelOrientation - delta * this.WHEEL_ANGULAR_ACCELERATION, - this.MAX_WHEEL_ROTATION, this.MAX_WHEEL_ROTATION );88		}89		// speed decay90		if ( ! ( controls.moveForward || controls.moveBackward ) ) {91			if ( this.speed > 0 ) {92				var k = exponentialEaseOut( this.speed / this.MAX_SPEED );93				this.speed = THREE.Math.clamp( this.speed - k * delta * this.FRONT_DECCELERATION, 0, this.MAX_SPEED );94				this.acceleration = THREE.Math.clamp( this.acceleration - k * delta, 0, 1 );95			} else {96				var k = exponentialEaseOut( this.speed / this.MAX_REVERSE_SPEED );97				this.speed = THREE.Math.clamp( this.speed + k * delta * this.BACK_ACCELERATION, this.MAX_REVERSE_SPEED, 0 );98				this.acceleration = THREE.Math.clamp( this.acceleration + k * delta, -1, 0 );99			}100		}101		// steering decay102		if ( ! ( controls.moveLeft || controls.moveRight ) ) {103			if ( this.wheelOrientation > 0 ) {104				this.wheelOrientation = THREE.Math.clamp( this.wheelOrientation - delta * this.WHEEL_ANGULAR_DECCELERATION, 0, this.MAX_WHEEL_ROTATION );105			} else {106				this.wheelOrientation = THREE.Math.clamp( this.wheelOrientation + delta * this.WHEEL_ANGULAR_DECCELERATION, - this.MAX_WHEEL_ROTATION, 0 );107			}108		}109		// car update110		var forwardDelta = this.speed * delta;111		this.carOrientation += ( forwardDelta * this.STEERING_RADIUS_RATIO )* this.wheelOrientation;112		// displacement113		this.root.position.x += Math.sin( this.carOrientation ) * forwardDelta;114		this.root.position.z += Math.cos( this.carOrientation ) * forwardDelta;115		// steering116		this.root.rotation.y = this.carOrientation;117		// tilt118		if ( this.loaded ) {119			this.bodyMesh.rotation.z = this.MAX_TILT_SIDES * this.wheelOrientation * ( this.speed / this.MAX_SPEED );120			this.bodyMesh.rotation.x = - this.MAX_TILT_FRONTBACK * this.acceleration;121		}122		// wheels rolling123		var angularSpeedRatio = 1 / ( this.modelScale * ( this.wheelDiameter / 2 ) );124		var wheelDelta = forwardDelta * angularSpeedRatio;125		if ( this.loaded ) {126			this.frontLeftWheelMesh.rotation.x += wheelDelta;127			this.frontRightWheelMesh.rotation.x += wheelDelta;128			this.backLeftWheelMesh.rotation.x += wheelDelta;129			this.backRightWheelMesh.rotation.x += wheelDelta;130		}131		// front wheels steering132		this.frontLeftWheelRoot.rotation.y = this.wheelOrientation;133		this.frontRightWheelRoot.rotation.y = this.wheelOrientation;134	};135	// internal helper methods136	function createBody ( geometry, materials ) {137		scope.bodyGeometry = geometry;138		scope.bodyMaterials = materials;139		createCar();140	};141	function createWheels ( geometry, materials ) {142		scope.wheelGeometry = geometry;143		scope.wheelMaterials = materials;144		createCar();145	};146	function createCar () {147		if ( scope.bodyGeometry && scope.wheelGeometry ) {148			// compute wheel geometry parameters149			if ( scope.autoWheelGeometry ) {150				scope.wheelGeometry.computeBoundingBox();151				var bb = scope.wheelGeometry.boundingBox;152				scope.wheelOffset.addVectors( bb.min, bb.max );153				scope.wheelOffset.multiplyScalar( 0.5 );154				scope.wheelDiameter = bb.max.y - bb.min.y;155				scope.wheelGeometry.center();156			}157			// rig the car158			var s = scope.modelScale,159				delta = new THREE.Vector3();160			var bodyFaceMaterial = new THREE.MeshFaceMaterial( scope.bodyMaterials );161			var wheelFaceMaterial = new THREE.MeshFaceMaterial( scope.wheelMaterials );162			// body163			scope.bodyMesh = new THREE.Mesh( scope.bodyGeometry, bodyFaceMaterial );164			scope.bodyMesh.scale.set( s, s, s );165			scope.root.add( scope.bodyMesh );166			// front left wheel167			delta.multiplyVectors( scope.wheelOffset, new THREE.Vector3( s, s, s ) );168			scope.frontLeftWheelRoot.position.add( delta );169			scope.frontLeftWheelMesh = new THREE.Mesh( scope.wheelGeometry, wheelFaceMaterial );170			scope.frontLeftWheelMesh.scale.set( s, s, s );171			scope.frontLeftWheelRoot.add( scope.frontLeftWheelMesh );172			scope.root.add( scope.frontLeftWheelRoot );173			// front right wheel174			delta.multiplyVectors( scope.wheelOffset, new THREE.Vector3( -s, s, s ) );175			scope.frontRightWheelRoot.position.add( delta );176			scope.frontRightWheelMesh = new THREE.Mesh( scope.wheelGeometry, wheelFaceMaterial );177			scope.frontRightWheelMesh.scale.set( s, s, s );178			scope.frontRightWheelMesh.rotation.z = Math.PI;179			scope.frontRightWheelRoot.add( scope.frontRightWheelMesh );180			scope.root.add( scope.frontRightWheelRoot );181			// back left wheel182			delta.multiplyVectors( scope.wheelOffset, new THREE.Vector3( s, s, -s ) );183			delta.z -= scope.backWheelOffset;184			scope.backLeftWheelMesh = new THREE.Mesh( scope.wheelGeometry, wheelFaceMaterial );185			scope.backLeftWheelMesh.position.add( delta );186			scope.backLeftWheelMesh.scale.set( s, s, s );187			scope.root.add( scope.backLeftWheelMesh );188			// back right wheel189			delta.multiplyVectors( scope.wheelOffset, new THREE.Vector3( -s, s, -s ) );190			delta.z -= scope.backWheelOffset;191			scope.backRightWheelMesh = new THREE.Mesh( scope.wheelGeometry, wheelFaceMaterial );192			scope.backRightWheelMesh.position.add( delta );193			scope.backRightWheelMesh.scale.set( s, s, s );194			scope.backRightWheelMesh.rotation.z = Math.PI;195			scope.root.add( scope.backRightWheelMesh );196			// cache meshes197			scope.meshes = [ scope.bodyMesh, scope.frontLeftWheelMesh, scope.frontRightWheelMesh, scope.backLeftWheelMesh, scope.backRightWheelMesh ];198			// callback199			scope.loaded = true;200			if ( scope.callback ) {201				scope.callback( scope );202			}203		}204	};205	function quadraticEaseOut( k ) { return - k * ( k - 2 ); }206	function cubicEaseOut( k ) { return --k * k * k + 1; }207	function circularEaseOut( k ) { return Math.sqrt( 1 - --k * k ); }208	function sinusoidalEaseOut( k ) { return Math.sin( k * Math.PI / 2 ); }209	function exponentialEaseOut( k ) { return k === 1 ? 1 : - Math.pow( 2, - 10 * k ) + 1; }...

wheel.py

Source:wheel.py

...38                "Error decoding metadata for {}: {}".format(39                    self._wheel_name, e40                )41            )42def pkg_resources_distribution_for_wheel(wheel_zip, name, location):43    # type: (ZipFile, str, str) -> Distribution44    """Get a pkg_resources distribution given a wheel.45    :raises UnsupportedWheel: on any errors46    """47    info_dir, _ = parse_wheel(wheel_zip, name)48    metadata_files = [49        p for p in wheel_zip.namelist() if p.startswith("{}/".format(info_dir))50    ]51    metadata_text = {}  # type: Dict[str, bytes]52    for path in metadata_files:53        # If a flag is set, namelist entries may be unicode in Python 2.54        # We coerce them to native str type to match the types used in the rest55        # of the code. This cannot fail because unicode can always be encoded56        # with UTF-8.57        full_path = ensure_str(path)58        _, metadata_name = full_path.split("/", 1)59        try:60            metadata_text[metadata_name] = read_wheel_metadata_file(61                wheel_zip, full_path62            )63        except UnsupportedWheel as e:64            raise UnsupportedWheel(65                "{} has an invalid wheel, {}".format(name, str(e))66            )67    metadata = WheelMetadata(metadata_text, location)68    return DistInfoDistribution(69        location=location, metadata=metadata, project_name=name70    )71def parse_wheel(wheel_zip, name):72    # type: (ZipFile, str) -> Tuple[str, Message]73    """Extract information from the provided wheel, ensuring it meets basic74    standards.75    Returns the name of the .dist-info directory and the parsed WHEEL metadata.76    """77    try:78        info_dir = wheel_dist_info_dir(wheel_zip, name)79        metadata = wheel_metadata(wheel_zip, info_dir)80        version = wheel_version(metadata)81    except UnsupportedWheel as e:82        raise UnsupportedWheel(83            "{} has an invalid wheel, {}".format(name, str(e))84        )85    check_compatibility(version, name)...

AWSAutonomousVehicleIOT.py

Source:AWSAutonomousVehicleIOT.py

1#!/usr/bin/python2# Replace aws_rest_endpoint with your AWS IoT endpoint dns name3# Replace the ca_path, cert_path and key_path with the credentials to you created with the AWS IoT service4# Replace your vehicleid and wheel_travel with your vehicle information5# DynamoDB TTL is set for 30 days for expiration6# battery_capacity is an arbitrary number7# Replace vehicle_topic with the AWS IoT that you want to send the telemetry to8import time9from time import sleep10import json11import random12import uuid13import datetime14import paho.mqtt.client as paho15import ssl16import rightfrontwheel17import leftfrontwheel18import rightrearwheel19import leftrearwheel20# Fill out this area with AWS account specific details21aws_rest_endpoint = "youriotendpoint.iot.us-east-1.amazonaws.com"22awsport = 888323# Location of Certificates24ca_path = "/home/pi/d2/creds/VeriSign-Class 3-Public-Primary-Certification-Authority-G5.pem"25cert_path = "/home/pi/d2/creds/avaws01.donkeycar.cert.pem"26key_path = "/home/pi/d2/creds/avaws01.donkeycar.private.key"27connflag = False28def on_connect(client, userdata, flags, rc):29    global connflag30    connflag = True31    print("Connection returned result: " + str(rc))32def on_message(client, userdata, msg):33    print(msg.topic+" "+str(msg.payload))34    print(Iot_Topic+str(msg.payload))35def getTime():36    currenttime = time.localtime()37    return (time.strftime("%Y%m%d%H%M%S", currenttime))38def drivetelemetry():39    vehicleid = "avaws01"40    actualtime = getTime()41    unixtime = str(datetime.datetime.now())42    event = uuid.uuid4()43    eventid = event.hex44    dynamodb_ttl = int(time.time()) + 259200045    wheel_travel = 9.546    feet = 1247    wheel_rotations_per_mile = 6336048    speed_reset = random.randint(1, 9)49    battery_capacity = 532050    right_front_wheel_rpm = int(rightfrontwheel.get_wheelrpm())51    right_front_wheel_odometer = round((rightfrontwheel.get_wheeldistance())/feet, 2)52    right_front_wheel_distance = right_front_wheel_rpm * wheel_travel53    right_front_wheel_mpm = right_front_wheel_distance / wheel_rotations_per_mile54    right_front_wheel_mph = right_front_wheel_mpm * 6055    right_front_wheel_speed = round(right_front_wheel_mph)56    right_front_wheel_data = {"right_front_speed": right_front_wheel_speed, "right_front_rpm": right_front_wheel_rpm, "right_front_wheel_odometer": right_front_wheel_odometer}57    left_front_wheel_rpm = int(leftfrontwheel.get_wheelrpm())58    left_front_wheel_odometer = round((leftfrontwheel.get_wheeldistance())/feet, 2)59    left_front_wheel_distance = left_front_wheel_rpm * wheel_travel60    left_front_wheel_mpm = left_front_wheel_distance / wheel_rotations_per_mile61    left_front_wheel_mph = left_front_wheel_mpm * 6062    left_front_wheel_speed = round(left_front_wheel_mph)63    left_front_wheel_data = {"left_front_speed": left_front_wheel_speed, "left_front_rpm": left_front_wheel_rpm, "left_front_wheel_odometer": left_front_wheel_odometer}64    right_rear_wheel_rpm = int(rightrearwheel.get_wheelrpm())65    right_rear_wheel_odometer = round((rightrearwheel.get_wheeldistance())/feet, 2)66    right_rear_wheel_distance = right_rear_wheel_rpm * wheel_travel67    right_rear_wheel_mpm = right_rear_wheel_distance / wheel_rotations_per_mile68    right_rear_wheel_mph = right_rear_wheel_mpm * 6069    right_rear_wheel_speed = round(right_rear_wheel_mph)70    right_rear_wheel_data = {"right_rear_speed": right_rear_wheel_speed, "right_rear_rpm": right_rear_wheel_rpm, "right_rear_wheel_odometer": right_rear_wheel_odometer}71    left_rear_wheel_rpm = int(leftrearwheel.get_wheelrpm())72    left_rear_wheel_odometer = round((leftrearwheel.get_wheeldistance())/feet, 2)73    left_rear_wheel_distance = left_rear_wheel_rpm * wheel_travel74    left_rear_wheel_mpm = left_rear_wheel_distance / wheel_rotations_per_mile75    left_rear_wheel_mph = left_rear_wheel_mpm * 6076    left_rear_wheel_speed = round(left_rear_wheel_mph)77    left_rear_wheel_data = {"left_rear_speed": left_rear_wheel_speed, "left_rear_rpm": left_rear_wheel_rpm, "left_rear_wheel_odometer": left_rear_wheel_odometer}78    vehicle_speed = int((right_front_wheel_speed + right_rear_wheel_speed + left_front_wheel_speed + left_rear_wheel_speed)/4)79    average_wheel_rpm = int((right_front_wheel_rpm + right_rear_wheel_rpm + left_front_wheel_rpm + left_rear_wheel_rpm)/4)80    vehicle_odometer = ((right_front_wheel_odometer + right_rear_wheel_odometer + left_front_wheel_odometer + left_rear_wheel_odometer)/4)81    remaining_power = int(battery_capacity - vehicle_odometer)82    engine_rpm = int(average_wheel_rpm * 11)83    # JSON Key/Value pairs of telemetry84    vehiclepayload = json.dumps(85      {86       "vehicleid": vehicleid,87       "eventid": eventid,88       "time": actualtime,89       "timestamp": unixtime,90       "average_wheel_rpm": average_wheel_rpm,91       "engine_rpm": engine_rpm,92       "vehicle_speed": vehicle_speed,93       "vehicle_odometer": vehicle_odometer,94       "remaining_power": remaining_power,95       "right_front_wheel_rpm": right_front_wheel_rpm,96       "left_front_wheel_rpm": left_front_wheel_rpm,97       "right_rear_wheel_rpm": right_rear_wheel_rpm,98       "left_rear_wheel_rpm": left_rear_wheel_rpm,99       "right_front_wheel_speed": right_front_wheel_speed,100       "left_front_wheel_speed": left_front_wheel_speed,101       "right_rear_wheel_speed": right_rear_wheel_speed,102       "left_rear_wheel_speed": left_rear_wheel_speed,103       "right_front_wheel_odometer": right_front_wheel_odometer,104       "left_front_wheel_odometer": left_front_wheel_odometer,105       "right_rear_wheel_odometer": right_rear_wheel_odometer,106       "left_rear_wheel_odometer": left_rear_wheel_odometer,107       "dynamodb_ttl": dynamodb_ttl108            }109     )110    # print (vehiclepayload)111    return(vehiclepayload)112# Logging can be enabled by uncommenting below113# def on_log(client, userdata, level, buf):114    # print(msg.topic+" "+str(msg.payload))115    # print(Iot_Topic +str(msg.payload))116mqttc = paho.Client()117mqttc.on_connect = on_connect118mqttc.on_message = on_message119# mqttc.on_log = on_log120mqttc.tls_set(ca_path, certfile=cert_path, keyfile=key_path, cert_reqs=ssl.CERT_REQUIRED, tls_version=ssl.PROTOCOL_TLSv1_2, ciphers=None)121mqttc.connect(aws_rest_endpoint, awsport, keepalive=60)122# Begin reading sensor telemetry123mqttc.loop_start()124# drivetelemetry()125for r in range(10000000):126    # Sending telemetry to AWS IoT Service127    vehicle_topic = "/topics/DonkeyCars/AVAWS01"128    telemetry_payload = drivetelemetry()129    print(telemetry_payload)130    mqttc.publish(vehicle_topic, telemetry_payload,  1)...

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