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LP-483 Updates example scripts, code cleanup
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padeler
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8c0f29a4ea
commit
364e24e59c
0
python/examples/__init__.py
Normal file
0
python/examples/__init__.py
Normal file
@ -91,7 +91,7 @@ class UavtalkDemo():
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def showAttitudeViaObserver(self):
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print "Request fast periodic updates for AttitudeState"
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self.objMan.AttitudeState.metadata.telemetryUpdateMode.value = UAVMetaDataObject.UpdateMode.PERIODIC
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self.objMan.AttitudeState.metadata.telemetryUpdateMode = UAVMetaDataObject.UpdateMode.PERIODIC
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self.objMan.AttitudeState.metadata.telemetryUpdatePeriod.value = 50
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self.objMan.AttitudeState.metadata.updated()
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@ -104,7 +104,7 @@ class UavtalkDemo():
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def showAttitudeViaWait(self):
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print "Request fast periodic updates for AttitudeState"
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self.objMan.AttitudeState.metadata.telemetryUpdateMode = UAVMetaDataObject.UpdateMode.PERIODIC
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self.objMan.AttitudeState.metadata.telemetryUpdatePeriod = 50
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self.objMan.AttitudeState.metadata.telemetryUpdatePeriod.value = 50
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self.objMan.AttitudeState.metadata.updated()
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while True:
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@ -146,10 +146,8 @@ class UavtalkDemo():
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def driveServo(self):
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print "Taking control of self.actuatorCmd"
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self.objMan.ActuatorCommand.metadata.access.value = UAVMetaDataObject.Access.READONLY
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self.objMan.ActuatorCommand.metadata.access = UAVMetaDataObject.Access.READONLY
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self.objMan.ActuatorCommand.metadata.updated()
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self.objMan.ManualControlCommand.metadata.access.value = UAVMetaDataObject.Access.READONLY
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self.objMan.ManualControlCommand.metadata.updated()
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while True:
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self.objMan.ActuatorCommand.Channel.value[0] = 1000
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@ -36,12 +36,13 @@ from librepilot.uavtalk.uavobject import *
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from librepilot.uavtalk.uavtalk import *
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from librepilot.uavtalk.objectManager import *
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from librepilot.uavtalk.connectionManager import *
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from example import UavtalkDemo
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def _hex02(value):
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return "%02X" % value
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class UavtalkDemo():
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class UavtalkLogDemo(UavtalkDemo):
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def __init__(self):
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self.nbUpdates = 0
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@ -50,7 +51,7 @@ class UavtalkDemo():
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self.objMan = None
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self.connMan = None
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def setup(self, port, filename):
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def setup(self, filename):
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print "Opening File \"%s\"" % filename
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file = open(filename,"rb")
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if file == None:
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@ -58,86 +59,13 @@ class UavtalkDemo():
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print "Creating UavTalk"
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self.uavTalk = UavTalk(None, filename)
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print "Starting ObjectManager"
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self.objMan = ObjManager(self.uavTalk)
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self.objMan.importDefinitions()
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print "Starting UavTalk"
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self.uavTalk.start()
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def stop(self):
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if self.uavTalk:
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print "Stopping UavTalk"
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self.uavTalk.stop()
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def showAttitudeViaObserver(self):
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print "Request fast periodic updates for AttitudeActual"
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self.objMan.AttitudeActual.metadata.telemetryUpdateMode.value = UAVMetaDataObject.UpdateMode.PERIODIC
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self.objMan.AttitudeActual.metadata.telemetryUpdatePeriod.value = 50
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self.objMan.AttitudeActual.metadata.updated()
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print "Install Observer for AttitudeActual updates\n"
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self.objMan.regObjectObserver(self.objMan.AttitudeActual, self, "_onAttitudeUpdate")
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# Spin until we get interrupted
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while True:
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time.sleep(1)
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def showAttitudeViaWait(self):
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print "Request fast periodic updates for AttitudeActual"
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self.objMan.AttitudeActual.metadata.telemetryUpdateMode.value = UAVMetaDataObject.UpdateMode.PERIODIC
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self.objMan.AttitudeActual.metadata.telemetryUpdatePeriod.value = 50
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self.objMan.AttitudeActual.metadata.updated()
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while True:
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self.objMan.AttitudeActual.waitUpdate()
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self._onAttitudeUpdate(self.objMan.AttitudeActual)
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def showAttitudeViaGet(self):
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while True:
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self.objMan.AttitudeActual.getUpdate()
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self._onAttitudeUpdate(self.objMan.AttitudeActual)
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def _onAttitudeUpdate(self, args):
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self.nbUpdates += 1
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now = time.time()
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if now-self.lastRateCalc > 1:
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self.updateRate = self.nbUpdates/(now-self.lastRateCalc)
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self.lastRateCalc = now
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self.nbUpdates = 0
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if self.nbUpdates & 1:
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dot = "."
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else:
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dot= " "
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print " %s Rate: %02.1f Hz " % (dot, self.updateRate),
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roll = self.objMan.AttitudeActual.Roll.value
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print "Roll: %-4d " % roll,
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i = roll/90
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if i<-1: i=-1
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if i>1: i= 1
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i = int((i+1)*15)
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print "-"*i+"*"+"-"*(30-i)+" \r",
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def driveServo(self):
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print "Taking control of self.actuatorCmd"
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self.objMan.ActuatorCommand.metadata.access.value = UAVMetaDataObject.Access.READONLY
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self.objMan.ActuatorCommand.metadata.updated()
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self.objMan.ManualControlCommand.metadata.access.value = UAVMetaDataObject.Access.READONLY
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self.objMan.ManualControlCommand.metadata.updated()
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while True:
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self.objMan.ActuatorCommand.Channel.value[0] = 1000
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self.objMan.ActuatorCommand.updated()
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time.sleep(1)
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self.objMan.ActuatorCommand.Channel.value[0] = 2000
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self.objMan.ActuatorCommand.updated()
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time.sleep(1)
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def printUsage():
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appName = os.path.basename(sys.argv[0])
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@ -164,10 +92,12 @@ if __name__ == '__main__':
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logging.basicConfig(level=logging.INFO)
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try:
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demo = UavtalkDemo()
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demo.setup(None, filename)
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demo = UavtalkLogDemo()
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demo.setup(filename)
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while True:
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demo.objMan.AttitudeState.waitUpdate()
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demo._onAttitudeUpdate(demo.objMan.AttitudeState)
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except KeyboardInterrupt:
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pass
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@ -63,24 +63,25 @@ if __name__ == '__main__':
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serPort = serial.Serial(_port, 57600, timeout=.5)
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uavTalk = UavTalk(serPort, None)
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print "Starting ObjectManager"
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objMan = ObjManager(uavTalk)
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objMan.importDefinitions()
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print "Starting UavTalk"
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uavTalk.start()
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import objectpersistence
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print "Getting Current Settings:"
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for _ in range(2): # Try only twice to get the settings
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try:
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time.sleep(10)
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time.sleep(1)
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objMan.StabilizationSettingsBank1.getUpdate()
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except TimeoutException:
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print "Timeout"
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pass
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except KeyboardInterrupt:
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os._exit(1)
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else:
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raise
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exit(1)
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while True:
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while True:
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@ -122,12 +122,12 @@ class UavTalkRecThread(threading.Thread):
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self.stop = False
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if self.uavTalk.logFile is not None:
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file = open(self.uavTalk.logFile)
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file = open(self.uavTalk.logFile, "rb")
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while not self.stop:
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rx = file.read(1)
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if len(rx) > 0:
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rx = ord(rx)
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self._consumeByte(rx)
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self._consumeByte(rx)
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elif self.uavTalk.serial is not None:
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while not self.stop:
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rx = self.uavTalk.serial.read(1)
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@ -233,7 +233,7 @@ class UavTalkRecThread(threading.Thread):
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elif self.rxState == UavTalkRecThread.STATE_CS:
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# by now, the CS has been added to the CRC calc, so now the CRC calc should read 0
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if self.rxCrc.read() != 0:
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logging.error("CRC ERROR")
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logging.debug("CRC ERROR")
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else:
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self.uavTalk._onRecevedPacket(self.obj, self.rxType, self.rxData)
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self.rxState = UavTalkRecThread.STATE_SYNC
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