def _GetParam(self, line): # pylint: disable=invalid-name
"""Sets a parameter for a specified inverter."""
if not self._inverters_selected:
raise GroundPowerClientError(
'No targets selected. Use set_targets.')
targets, args = cmd_client.SelectArgs(line.split(),
self._inverters_selected,
require_some=True,
select_all=True)
args, param = cmd_client.SelectArgs(args,
INVERTER_PARAMS.keys(),
require_some=True,
select_all=False)
param = list(args)[0]
modbus_param = INVERTER_PARAMS[param]
failed_targets = []
for target in sorted(targets):
print 'Getting %s from %s.' % (param, target)
success = self._inverter_list[InverterNameToId(
target)].TryGetParam(modbus_param)
if not success:
failed_targets.append(target)
if failed_targets:
raise GroundPowerClientError('Failed to get value %s from %s.' %
(param, failed_targets))
def _GetParam(self, line, message):
targets, args = cmd_client.SelectArgs(line.split(),
LIGHTS,
require_some=True,
select_all=True)
param, _ = cmd_client.SelectArgs(args,
LIGHT_PARAMS.keys(),
require_one=True,
select_all=False)
message.id = LIGHT_PARAMS[param]
failed_targets = []
for target in targets:
print 'Getting %s from %s...' % (param, target)
success = True
aio_target = AioNodeNameFromLightNickname(target)
message.target = aio_node_helper.Value(aio_target)
success = self._TryGetParam(message,
'kMessageTypeFaaLightGetParam', param,
target, aio_target)
if not success:
failed_targets.append(target)
if failed_targets:
raise LightClientError('Failed to get %s from %s.' %
(param, failed_targets))
def do_set_param(self, line): # pylint: disable=invalid-name
"""Sets a param for a specified servo, e.g. "set_param R1 XYZ 150"."""
self._CheckState([
actuator_types.kActuatorStateInit,
actuator_types.kActuatorStateError
])
servos, args = cmd_client.SelectArgs(line.split(),
SERVOS,
require_some=True,
select_all=True)
param, args = cmd_client.SelectArgs(args,
SERVO_PARAMS,
require_one=True,
select_all=False)
try:
value = int(args[0], 0)
except ValueError:
raise ServoClientError('Invalid value: "%s".' % args[0])
message = pack_avionics_messages.ServoSetParamMessage()
message.param = r22_param_helper.Value(param)
message.value = value
for target in servos:
print 'Setting %s to %g on %s...' % (param, value, target)
message.selected_servos = ServosAsBits([target])
ack_received = False
for _ in xrange(self._NUM_RETRIES):
self._set_param_aio_client.Send(message,
'kMessageTypeServoSetParam',
OPERATOR)
try:
_, header, ack = self._ack_param_aio_client.Recv()
if (header.source == aio_node_helper.Value(
AioNodeNameFromServoNickname(target))
and header.type
== message_type.kMessageTypeServoAckParam
and ack.param == message.param):
if ack.value == message.value:
ack_received = True
print '%s %s: %g' % (target, param, ack.value)
break
else:
print 'Got response with incorrect value.'
except socket.timeout:
pass
if not ack_received:
raise ServoClientError('Failed to get %s from %s; giving up.' %
(param, target))
def do_stop(self, line): # pylint: disable=invalid-name
"""Stops specified inverters, e.g. "stop Inv1 Inv2 Inv3"."""
if not self._inverters_selected:
raise GroundPowerClientError(
'No targets selected. Use "set_targets".')
targets, _ = cmd_client.SelectArgs(line.split(),
self._inverters_selected,
require_some=False,
require_all=True,
select_all=True,
require_one=False)
if not targets:
raise GroundPowerClientError('No valid arguments selected.')
if sorted(targets) == sorted(self._inverters_selected):
for target in self._inverter_stop_sequence:
try:
self._inverter_list[InverterNameToId(target)].SetState(
inverter_types.kInverterStatusStopped)
except GroundPowerClientError:
print 'Failed to stop %s.' % target
else:
target_order = line.split()
for target in target_order:
try:
self._inverter_list[InverterNameToId(target)].SetState(
inverter_types.kInverterStatusStopped)
except GroundPowerClientError:
print 'Failed to stop %s.' % target
def do_start(self, line): # pylint: disable=invalid-name
"""Starts specified inverters, e.g start Inv1 Inv2 Inv3."""
if not self._inverters_selected:
raise GroundPowerClientError(
'No targets selected. Use "set_targets".')
targets, _ = cmd_client.SelectArgs(line.split(),
self._inverters_selected,
require_some=False,
require_all=True,
select_all=True,
require_one=False)
if not targets:
raise GroundPowerClientError('No valid arguments selected.')
if sorted(targets) == sorted(self._inverters_selected):
for target in self._inverter_start_sequence:
self._inverter_list[InverterNameToId(target)].SetState(
inverter_types.kInverterStatusRunning)
else:
target_order = line.split()
for target in target_order:
self._inverter_list[InverterNameToId(target)].SetState(
inverter_types.kInverterStatusRunning)
def do_get_param(self, line): # pylint: disable=invalid-name
"""Gets a param value for a servo, e.g. "get_param R1 VelocityVp"."""
s, args = cmd_client.SelectArgs(line.split(),
SERVOS,
require_some=True,
select_all=True)
param, _ = cmd_client.SelectArgs(args,
SERVO_PARAMS,
require_one=True,
select_all=False)
msg = pack_avionics_messages.ServoGetParamMessage()
msg.param = r22_param_helper.Value(param)
for target in s:
print 'Getting %s from %s...' % (param, target)
msg.selected_servos = ServosAsBits([target])
success = False
for _ in xrange(self._NUM_RETRIES):
self._get_param_aio_client.Send(msg,
'kMessageTypeServoGetParam',
OPERATOR)
try:
_, header, ack = self._ack_param_aio_client.Recv()
if (header.source == aio_node_helper.Value(
AioNodeNameFromServoNickname(target))
and header.type
== message_type.kMessageTypeServoAckParam
and ack.param == msg.param):
print '%s %s: 0x%X' % (target, param, ack.value)
success = True
break
except socket.timeout:
pass
if not success:
raise ServoClientError('Failed to get %s from %s; giving up.' %
(param, target))
def _SetParam(self, line, message): # pylint: disable=invalid-name
"""Sets a param for a specified light node."""
targets, args = cmd_client.SelectArgs(line.split(),
LIGHTS,
require_some=True,
select_all=True)
param, args = cmd_client.SelectArgs(args,
LIGHT_PARAMS.keys(),
require_one=True,
select_all=False)
try:
value = float(args[0])
except ValueError:
raise LightClientError('Invalid value: "%s".' % args[0])
message.id = LIGHT_PARAMS[param]
message.value = value
failed_targets = []
for target in targets:
print 'Setting %s to %g on %s.' % (param, value, target)
aio_target = AioNodeNameFromLightNickname(target)
message.target = aio_node_helper.Value(aio_target)
success = self._TrySetParam(message,
'kMessageTypeFaaLightSetParam', param,
target, aio_target)
if not success:
failed_targets.append(target)
if failed_targets:
raise LightClientError('Failed to verify %s from %s.' %
(param, failed_targets))
def _SetTargets(self, line, **kwargs):
"""Sets inverter targets.
Args:
line: User supplied arguments specifying target inverters.
**kwargs: set_defaults present if defaults should be used.
Raises:
GroundPowerClientError: An invalid set of targets was supplied.
"""
if not kwargs['set_defaults']:
if self._inverters_selected:
self._ClearTargets()
targets_selected, _ = cmd_client.SelectArgs(line.split(),
DEFAULTS['targets'],
require_some=True,
require_all=True,
select_all=True,
require_one=False)
self._inverters_selected = sorted(targets_selected)
if self._inverters_selected == DEFAULTS['targets']:
self._inverter_start_sequence = DEFAULTS['start_sequence']
self._inverter_stop_sequence = DEFAULTS['stop_sequence']
else:
self._inverter_start_sequence = sorted(targets_selected)
self._inverter_stop_sequence = sorted(targets_selected)
else:
self._inverters_selected = DEFAULTS['targets']
self._inverter_start_sequence = DEFAULTS['start_sequence']
self._inverter_stop_sequence = DEFAULTS['stop_sequence']
if self._inverters_selected:
print 'Inverters selected: %s.' % ', '.join(
sorted(self._inverters_selected))
print 'Start sequence: %s.' % ', '.join(
self._inverter_start_sequence)
print 'Stop sequence: %s.' % ', '.join(
self._inverter_stop_sequence)
self._ground_power_listener = Listener(
set(self._inverters_selected))
self._inverter_list = [
Inverter(inverter_id, self._ground_power_listener)
for inverter_id in xrange(inverter_types.kNumInverters)
]
def do_set_targets(self, line): # pylint: disable=invalid-name
"""Sets target servos, e.g. "set_targets A2 A4"."""
self._CheckState([actuator_types.kActuatorStateInit])
servos_selected, _ = cmd_client.SelectArgs(line.split(),
SERVOS,
require_some=True,
require_all=True,
select_all=True,
require_one=False)
print 'Servos selected: [%s]' % ', '.join(sorted(
list(servos_selected)))
self._servos_selected = servos_selected
self.TryStopThreads()
self._runner = Runner(servos_selected)
self._listener = Listener(self._servos_selected, self._runner.StopRun)
def do_set_stop_sequence(self, line): # pylint: disable=invalid-name
"""Sets stop sequence for selected inverters."""
if not self._inverters_selected:
raise GroundPowerClientError(
'No targets selected. Use "set_targets".')
targets_selected, _ = cmd_client.SelectArgs(line.split(),
self._inverters_selected,
require_some=False,
require_all=True,
select_all=False,
require_one=False)
if len(targets_selected) != len(self._inverters_selected):
print 'Stop sequence must contain all selected inverters.'
else:
self._inverter_stop_sequence = line.split()
print 'Setting stop sequence to: %s.' % ', '.join(
self._inverter_stop_sequence)
def do_get_faults(self, line): # pylint: disable=invalid-name
"""Gets faults for specified inverters, e.g "get_faults Inv1 Inv2 Inv3"."""
if not self._inverters_selected:
raise GroundPowerClientError(
'No targets selected. Use "set_targets".')
targets, _ = cmd_client.SelectArgs(line.split(),
self._inverters_selected,
require_some=False,
require_all=True,
select_all=True,
require_one=False)
if not targets:
raise GroundPowerClientError('No valid arguments selected.')
for target in sorted(targets):
try:
print self._inverter_list[InverterNameToId(target)].GetFaults()
except GroundPowerClientError:
print 'Failed to get faults from %s.' % target
def _SetParam(self, line, **kwargs): # pylint: disable=invalid-name
"""Sets a parameter for a specified inverter."""
if not self._inverters_selected:
raise GroundPowerClientError(
'No targets selected. Use "set_targets".')
targets, args = cmd_client.SelectArgs(line.split(),
self._inverters_selected,
require_some=True,
select_all=True)
if kwargs:
param, args = cmd_client.SelectArgs(args, ['value'],
require_one=True,
select_all=False)
if args:
try:
value = int(args[0])
except ValueError:
raise GroundPowerClientError('Invalid value: ', args[0])
if value not in range(int(kwargs['lower_lim']),
int(kwargs['upper_lim'])):
raise GroundPowerClientError(
'Supplied value out of range.')
if any('scaling' in k for k in kwargs):
value = int(kwargs['scaling']) * value
else:
value = GetStrandedArgs(line)
modbus_reg = INVERTER_SET_PARAMS[kwargs['param']]
else:
param, args = cmd_client.SelectArgs(args,
INVERTER_SET_PARAMS.keys(),
require_one=True,
select_all=False)
if args:
try:
value = int(args[0])
except ValueError:
raise GroundPowerClientError('Invalid value: ', args[0])
else:
value = GetStrandedArgs(line)
modbus_reg = INVERTER_SET_PARAMS[param]
failed_targets = []
for target in sorted(targets):
print 'Setting %s to %g on %s.' % (param, value, target)
success = self._inverter_list[InverterNameToId(
target)].TrySetParam(modbus_reg, value)
if not success:
failed_targets.append(target)
if failed_targets:
raise GroundPowerClientError('Failed to verify %s from %s.' %
(param, failed_targets))
