def start_pod():
canvas.print_out("start hover engine L")
canvas.send(sender, ml.messages['start_l']['id'], 0) # start engine
canvas.print_out("get hover engine L status")
canvas.send(sender, ml.messages['get_engine_status_l']['id'],
"") # get engine status L
def main():
receiver = canvas.init_receiver()
sender = canvas.init_sender()
time.sleep(0.5) #sleep to allow for canvas server startup. horrible hack that will go away soon
canvas.add_id(receiver, id_filter)
canvas.print_out("Power distribution node started")
canvas.send_cmd(sender, "power_distribution_node_started")
while 1:
canvas.send_cmd(sender, 'uc_temp_req')
canvas.send_cmd(sender, 'batt_temp_req')
canvas.send_cmd(sender, 'batt_power_req')
canvas.send_cmd(sender, 'so_temp_req')
msg_name, msg_data = canvas.recv(receiver)
if (msg_name == 'uc_temp_req'):
data = get_umbilical_temp()
canvas.print_out("Umbilical temp: %s" % (data))
elif (msg_name == 'batt_temp_req'):
data = get_battery_temp()
canvas.print_out("Battery temp: %s" % (data))
elif (msg_name == 'batt_power_req'):
data = get_batter_power()
canvas.print_out("Battery power: %s" % (data))
elif (msg_name == 'so_temp_req'):
data = get_standard_outlet_temp()
canvas.print_out("Standard outlet temp: %s" % (data))
time.sleep(2)
def main():
receiver = canvas.init_receiver()
sender = canvas.init_sender()
time.sleep(0.5) #sleep to allow for canvas server startup. horrible hack that will go away soon
canvas.add_id(receiver, id_filter)
canvas.print_out("Status node started")
canvas.send_cmd(sender, "status_node_started")
while 1:
msg_name, data = canvas.recv(receiver)
if (msg_name == 'pod_temp_req'):
data = read_temp();
canvas.send_data(sender, 'pod_temp_data', data)
if (msg_name == 'pod_pressure_req'):
data = read_pressure();
canvas.send_data(sender, 'pod_pressure_data', data)
if (msg_name == 'pod_attitude_req'):
data = read_attitude();
canvas.send_data(sender, 'pod_attitude_data', data)
if (msg_name == 'pod_position_req'):
data = read_position();
canvas.send_data(sender, 'pod_position_data', data)
def main():
receiver = canvas.init_receiver()
sender = canvas.init_sender()
time.sleep(
0.5
) #sleep to allow for canvas server startup. horrible hack that will go away soon
canvas.add_id(receiver, id_filter)
canvas.print_out("Status node started")
canvas.send_cmd(sender, "status_node_started")
while 1:
msg_name, data = canvas.recv(receiver)
if (msg_name == 'pod_temp_req'):
data = read_temp()
canvas.send_data(sender, 'pod_temp_data', data)
if (msg_name == 'pod_pressure_req'):
data = read_pressure()
canvas.send_data(sender, 'pod_pressure_data', data)
if (msg_name == 'pod_attitude_req'):
data = read_attitude()
canvas.send_data(sender, 'pod_attitude_data', data)
if (msg_name == 'pod_position_req'):
data = read_position()
canvas.send_data(sender, 'pod_position_data', data)
def move_pod(data):
canvas.print_out("tilt hover engine at angle calculated from target speed")
canvas.send(sender, ml.messages['tilt_l']['id'],
math.asin(float(data) / 20) *
5) # title engine at calculated angle
canvas.print_out("get hover engine L status")
canvas.send(sender, ml.messages['get_engine_status_l']['id'],
"") # get engine status L
def main():
receiver = canvas.init_receiver()
sender = canvas.init_sender()
time.sleep(0.5) #sleep to allow for canvas server startup. horrible hack that will go away soon
canvas.add_id(receiver, id_filter)
message_id = "asdf"
message_data = "Ping from node 1"
while 1:
#print to stdout. python's standard print can interfere with supervisord's
#output and logging functionality in strange ways.
#please use this instead.
canvas.print_out( "This is node 1" )
canvas.send(sender, message_id, message_data)
msg_id, data = canvas.recv(receiver)
canvas.print_out("Node 1 recieved: %s" % data)
time.sleep(5)
def stop_pod():
canvas.print_out("tilt hover engine to stop position")
canvas.send(sender, ml.messages['tilt_l']['id'], 0) # tilt engine back to stop position
canvas.print_out("stop hover engine")
canvas.send(sender, ml.messages['stop_l']['id'], "") # stop engine L
canvas.print_out("get hover engine l status")
canvas.send(sender, ml.messages['get_engine_status_l']['id'], "") # get engine status L
def main():
receiver = canvas.init_receiver()
sender = canvas.init_sender()
time.sleep(
0.5
) #sleep to allow for canvas server startup. horrible hack that will go away soon
canvas.add_id(receiver, id_filter)
canvas.print_out("Power distribution node started")
canvas.send_cmd(sender, "power_distribution_node_started")
while 1:
canvas.send_cmd(sender, 'uc_temp_req')
canvas.send_cmd(sender, 'batt_temp_req')
canvas.send_cmd(sender, 'batt_power_req')
canvas.send_cmd(sender, 'so_temp_req')
msg_name, msg_data = canvas.recv(receiver)
if (msg_name == 'uc_temp_req'):
data = get_umbilical_temp()
canvas.print_out("Umbilical temp: %s" % (data))
elif (msg_name == 'batt_temp_req'):
data = get_battery_temp()
canvas.print_out("Battery temp: %s" % (data))
elif (msg_name == 'batt_power_req'):
data = get_batter_power()
canvas.print_out("Battery power: %s" % (data))
elif (msg_name == 'so_temp_req'):
data = get_standard_outlet_temp()
canvas.print_out("Standard outlet temp: %s" % (data))
time.sleep(2)
def stop_pod():
canvas.print_out("tilt hover engine to stop position")
canvas.send(sender, ml.messages['tilt_l']['id'],
0) # tilt engine back to stop position
canvas.print_out("stop hover engine")
canvas.send(sender, ml.messages['stop_l']['id'], "") # stop engine L
canvas.print_out("get hover engine l status")
canvas.send(sender, ml.messages['get_engine_status_l']['id'],
"") # get engine status L
def main():
#init canvas sender and receiver
receiver = canvas.init_receiver()
sender = canvas.init_sender()
time.sleep(0.5) #sleep to allow for canvas server startup. horrible hack that will go away soon
#add message id filters on receiver
canvas.add_id(receiver, receive_message_ids)
#remove message id filters on receiver (add and remove only take lists for now..)
canvas.rm_id(receiver, ["7"])
#you have 2 ways of making CAN messages:
#either just make 2 strings
message_id = "100"
message_data = "Ping from node 2"
#or a canvas "message"
message = canvas.msg("100", "Hi it's node 2 again")
while 1:
#print to stdout. python's standard print can interfere with supervisord's
#output and logging functionality in strange ways.
#please use this instead.
canvas.print_out( "This is node 2" )
#send message on the CAN bus
canvas.send(sender, message_id, message_data)
canvas.send_msg(sender, message)
#you can change a canvas message like this
message.id = "101"
message.data="Node 1 should not see this now"
#receive message from CAN bus (only returns messages that this node has subscribed to)
#this call will block untill a message is received
msg_id, msg_data = canvas.recv(receiver)
#print message to stdout
canvas.print_out("Node 2 recieved: %s %s" % (msg_id, msg_data))
#non-blocking receive call (only returns messages that this node has subscribed to)
#will return "no_id", "no_message" if no message was received
msg_id, msg_data = canvas.recv_noblock(receiver)
canvas.print_out("Node 2 recieved: %s %s" % (msg_id, msg_data))
#sleep node for 5 second
time.sleep(5)
def main():
global receiver
receiver = canvas.init_receiver()
global sender
sender = canvas.init_sender()
time.sleep(
0.5
) #sleep to allow for canvas server startup. horrible hack that will go away soon
canvas.add_id(receiver, id_filter)
canvas.print_out("Control node started")
canvas.wait(receiver,
['power_distribution_node_stared', 'status_node_started'])
canvas.print_out("rPod running")
while 1:
canvas.send_cmd(sender, 'get_pod_status')
msg_name, data = canvas.recv(receiver)
# get status of all engines
if (msg_name == 'get_engine_status'):
canvas.print_out("COMMANDS:")
canvas.print_out("get all engine statuses")
# get the status for each individual engine node
canvas.send_cmd(sender, 'get_engine_status_l')
elif (msg_name == 'move'):
canvas.print_out("COMMANDS:")
canvas.print_out("move %s" % data)
move_pod(data)
elif (msg_name == 'start'):
canvas.print_out("COMMANDS:")
canvas.print_out("start pod")
start_pod()
elif (msg_name == 'stop'):
canvas.print_out("COMMANDS:")
canvas.print_out("stop")
stop_pod()
#collect data from all pod sensors
elif (msg_name == 'get_pod_status'):
canvas.print_out("COMMANDS:")
canvas.print_out("get pod status")
height = get_hover_height()
temp, pressure, attitude, position = get_pod_status()
canvas.print_out(
"Pod stauts: height - %smm, temp - %sC, pressure - %skPa, attitude - %s, position - %sm"
% (height, temp, pressure, attitude, position))
time.sleep(1)
def main():
global receiver
receiver = canvas.init_receiver()
global sender
sender = canvas.init_sender()
time.sleep(0.5) #sleep to allow for canvas server startup. horrible hack that will go away soon
canvas.add_id(receiver, id_filter)
canvas.print_out("Control node started")
canvas.wait(receiver, ['power_distribution_node_stared', 'status_node_started'])
canvas.print_out("rPod running")
while 1:
canvas.send_cmd(sender, 'get_pod_status')
msg_name, data = canvas.recv(receiver)
# get status of all engines
if (msg_name == 'get_engine_status'):
canvas.print_out("COMMANDS:")
canvas.print_out("get all engine statuses")
# get the status for each individual engine node
canvas.send_cmd(sender, 'get_engine_status_l')
elif (msg_name == 'move'):
canvas.print_out("COMMANDS:")
canvas.print_out("move %s" % data)
move_pod(data)
elif (msg_name == 'start'):
canvas.print_out("COMMANDS:")
canvas.print_out("start pod")
start_pod()
elif (msg_name == 'stop'):
canvas.print_out("COMMANDS:")
canvas.print_out("stop")
stop_pod()
#collect data from all pod sensors
elif (msg_name == 'get_pod_status'):
canvas.print_out("COMMANDS:")
canvas.print_out("get pod status")
height = get_hover_height()
temp, pressure, attitude, position = get_pod_status()
canvas.print_out("Pod stauts: height - %smm, temp - %sC, pressure - %skPa, attitude - %s, position - %sm" % (height, temp, pressure, attitude, position) )
time.sleep(1)
def start_pod():
canvas.print_out("start hover engine L")
canvas.send(sender, ml.messages['start_l']['id'], 0) # start engine
canvas.print_out("get hover engine L status")
canvas.send(sender, ml.messages['get_engine_status_l']['id'], "") # get engine status L
def move_pod(data):
canvas.print_out("tilt hover engine at angle calculated from target speed")
canvas.send(sender, ml.messages['tilt_l']['id'], math.asin(float(data)/20)*5) # title engine at calculated angle
canvas.print_out("get hover engine L status")
canvas.send(sender, ml.messages['get_engine_status_l']['id'], "") # get engine status L
def pod_shutdown():
canvas.print_out("Shutting down pod")
canvas.send_cmd(sender, 'stop')
def alert_ground_station(emer, loc):
canvas.print_out("Sending message to ground station")
canvas.send(sender, 'emer_1', "Emergency code: {0} \nLocation: {1}".format(emer, loc))