def send_ping1d_request():
data = pingmessage.PingMessage()
data.request_id = pingmessage.PING1D_DISTANCE_SIMPLE
data.src_device_id = 0
data.pack_msg_data()
ping1d_io.sendto(data.msg_data, pingserver)
print("Sent Request")
def control_auto_transmit(self, start_angle, stop_angle, num_steps, delay):
m = pingmessage.PingMessage(definitions.PING360_AUTO_TRANSMIT)
m.start_angle = start_angle
m.stop_angle = stop_angle
m.num_steps = num_steps
m.delay = delay
m.pack_msg_data()
self.write(m.msg_data)
def request(self, m_id, timeout=0.5):
msg = pingmessage.PingMessage(definitions.COMMON_GENERAL_REQUEST)
msg.requested_id = m_id
msg.pack_msg_data()
self.write(msg.msg_data)
# uncomment to return nacks in addition to m_id
# return self.wait_message([m_id, definitions.COMMON_NACK], timeout)
return self.wait_message([m_id], timeout)
def __request(self, id):
'''
Request new messages of a specific ID
:param id: The ID to refrest messages with
'''
msg = pingmessage.PingMessage()
msg.request_id = id
msg.pack_msg_data()
self.__sock.sendto(msg.msg_data, self.address)
self.log.trace('Request sent for message of id: ' + str(id))
def set_ping_interval(self, ping_interval, verify=True):
m = pingmessage.PingMessage(definitions.PING1D_SET_PING_INTERVAL)
m.ping_interval = ping_interval
m.pack_msg_data()
self.write(m.msg_data)
if self.legacyRequest(definitions.PING1D_PING_INTERVAL) is None:
return False
# Read back the data and check that changes have been applied
if (verify and (self._ping_interval != ping_interval)):
return False
return True # success
def set_speed_of_sound(self, speed_of_sound, verify=True):
m = pingmessage.PingMessage(definitions.PING1D_SET_SPEED_OF_SOUND)
m.speed_of_sound = speed_of_sound
m.pack_msg_data()
self.write(m.msg_data)
if self.legacyRequest(definitions.PING1D_SPEED_OF_SOUND) is None:
return False
# Read back the data and check that changes have been applied
if (verify and (self._speed_of_sound != speed_of_sound)):
return False
return True # success
def set_ping_enable(self, ping_enabled, verify=True):
m = pingmessage.PingMessage(definitions.PING1D_SET_PING_ENABLE)
m.ping_enabled = ping_enabled
m.pack_msg_data()
self.write(m.msg_data)
if self.legacyRequest(definitions.PING1D_PING_ENABLE) is None:
return False
# Read back the data and check that changes have been applied
if (verify and (self._ping_enabled != ping_enabled)):
return False
return True # success
def set_gain_setting(self, gain_setting, verify=True):
m = pingmessage.PingMessage(definitions.PING1D_SET_GAIN_SETTING)
m.gain_setting = gain_setting
m.pack_msg_data()
self.write(m.msg_data)
if self.legacyRequest(definitions.PING1D_GAIN_SETTING) is None:
return False
# Read back the data and check that changes have been applied
if (verify and (self._gain_setting != gain_setting)):
return False
return True # success
def set_mode_auto(self, mode_auto, verify=True):
m = pingmessage.PingMessage(definitions.PING1D_SET_MODE_AUTO)
m.mode_auto = mode_auto
m.pack_msg_data()
self.write(m.msg_data)
if self.legacyRequest(definitions.PING1D_MODE_AUTO) is None:
return False
# Read back the data and check that changes have been applied
if (verify and (self._mode_auto != mode_auto)):
return False
return True # success
def set_gain_index(self, gain_index, verify=True):
m = pingmessage.PingMessage(pingmessage.PING1D_SET_GAIN_INDEX)
m.gain_index = gain_index
m.pack_msg_data()
self.write(m.msg_data)
if self.request(pingmessage.PING1D_GAIN_INDEX) is None:
return False
# Read back the data and check that changes have been applied
if (verify and (self._gain_index != gain_index)):
return False
return True # success
def set_device_id(self, device_id, verify=True):
m = pingmessage.PingMessage(definitions.PING1D_SET_DEVICE_ID)
m.device_id = device_id
m.pack_msg_data()
self.write(m.msg_data)
if self.legacyRequest(definitions.PING1D_DEVICE_ID) is None:
return False
# Read back the data and check that changes have been applied
if (verify and (self._device_id != device_id)):
return False
return True # success
def legacyRequest(self, m_id, timeout=0.5):
msg = pingmessage.PingMessage()
# legacy hack logic is in PingMessage
# TODO: remove that logic and construct/assemble an arbitrary PingMessage
msg.request_id = m_id
msg.pack_msg_data()
self.write(msg.msg_data)
# uncomment to return nacks in addition to m_id
# return self.wait_message([m_id, definitions.COMMON_NACK], timeout)
return self.wait_message([m_id], timeout)
def set_range(self, scan_start, scan_length, verify=True):
m = pingmessage.PingMessage(definitions.PING1D_SET_RANGE)
m.scan_start = scan_start
m.scan_length = scan_length
m.pack_msg_data()
self.write(m.msg_data)
if self.legacyRequest(definitions.PING1D_RANGE) is None:
return False
# Read back the data and check that changes have been applied
if (verify and (self._scan_start != scan_start
or self._scan_length != scan_length)):
return False
return True # success
def control_transducer(self, mode, gain_setting, angle, transmit_duration, sample_period, transmit_frequency,
number_of_samples, transmit, reserved):
m = pingmessage.PingMessage(definitions.PING360_TRANSDUCER)
m.mode = mode
m.gain_setting = gain_setting
m.angle = angle
m.transmit_duration = transmit_duration
m.sample_period = sample_period
m.transmit_frequency = transmit_frequency
m.number_of_samples = number_of_samples
m.transmit = transmit
m.reserved = reserved
m.pack_msg_data()
self.write(m.msg_data)
def device_id(self, id, reserved, verify=True):
m = pingmessage.PingMessage(definitions.PING360_DEVICE_ID)
m.id = id
m.reserved = reserved
m.pack_msg_data()
self.write(m.msg_data)
if self.request(definitions.PING360_DEVICE_ID) is None:
return False
# Read back the data and check that changes have been applied
if (verify and (self._id != id or self._reserved != reserved)):
return False
return True # success m.id = id
m.reserved = reserved
m.pack_msg_data()
self.write(m.msg_data)
def control_reset(self, bootloader, reserved):
m = pingmessage.PingMessage(definitions.PING360_RESET)
m.bootloader = bootloader
m.reserved = reserved
m.pack_msg_data()
self.write(m.msg_data)
def control_motor_off(self):
m = pingmessage.PingMessage(definitions.PING360_MOTOR_OFF)
m.pack_msg_data()
self.write(m.msg_data)
def request(self, m_id, timeout=0.5):
msg = pingmessage.PingMessage()
msg.request_id = m_id
msg.pack_msg_data()
self.write(msg.msg_data)
return self.wait_message(m_id, timeout)
def request(id: int):
msg = pingmessage.PingMessage()
msg.request_id = id
msg.pack_msg_data()
SOCK.sendto(msg.msg_data, ADDRESS)