def __init__( self, **kwargs ):
"""
Corresponde al constructor de la clase.
type port: string
param port: la puerta a conectar con el S2
type bauds: integer
param bauds: velocidad de la conexion
type timeout: integer
param timeout: timeout para cada comando
"""
self.mylock = threading.Lock()
self.s2Inner = S2Inner( self )
self.s2IRSensors = S2IRSensors( self )
self.s2LEDs = S2LEDs( self )
self.s2LightSensors = S2LightSensors( self )
self.s2LineSensors = S2LineSensors( self )
self.s2Microphone = S2Microphone( self )
self.s2Motors = S2Motors( self )
self.s2Speaker = S2Speaker( self )
self.s2Path = S2Path( self )
#def __init__( self, port=None, bauds=9600, timeout=500, dtr=None ):
if( len( kwargs ) != 0 ):
self.conn = Serial( kwargs['port'], kwargs['bauds'], kwargs['timeout'] )
if( 'dtr' in kwargs ):
self.conn.setDTR( kwargs['dtr'] )
Utils.pause( 2000 )
self.conn.ignoreInput( 1000 )
def main():
"""Realiza las pruebas de los motores del S2.
Las pruebas consideran:
#robot = Scribbler2( port="/dev/ttyUSB1", bauds=38400, timeout=500, dtr=False )
#robot = Fluke2( port="/dev/rfcomm2", bauds=9600, timeout=500 )
#robot = Net2( "192.168.145.1", 1500, 500 )
s2Motors = robot.getS2Motors()
s2Motors.getMotorStats()
s2Motors.getEncoders()
s2Motors.getStall()
s2Motors.setMotors()
s2Motors.setMotorsOff()
"""
#robot = Scribbler2( port="/dev/ttyUSB1", bauds=38400, timeout=500, dtr=False )
robot = Fluke2( port="/dev/rfcomm2", bauds=9600, timeout=500 )
#robot = Net2( "192.168.145.1", 1500, 500 )
s2Motors = robot.getS2Motors()
print( "getMotorStats: " + str( s2Motors.getMotorStats() ) )
print( "getEncoders: " + str( s2Motors.getEncoders( 1 ) ) )
print( "getStall: " + str( s2Motors.getStall() ) )
print( "setMotors 100, -100 : " + str( s2Motors.setMotors( 100, -100) ) )
Utils.pause( 3000 )
print( "setMotors -100, 100 : " + str( s2Motors.setMotors( -100, 100) ) )
Utils.pause( 3000 )
print( "setMotorsOff: " + str( s2Motors.setMotorsOff() ) )
robot.close()
def __init__(self, port, speed, timeout):
"""
Corresponde al constructor de la clase.
@type port: string
@param port: la puerta a conectar con el S2
@type speed: integer
@param speed: velocidad de la conexion
@type timeout: integer
@param timeout: timeout para cada comando
"""
self.mylock = threading.Lock()
self.serial = Serial(port, speed, timeout)
Utils.pause(1000)
self.serial.flushRead(1000)
self.s2Inner = S2Inner(self)
self.s2IRSensors = S2IRSensors(self)
self.s2LEDs = S2LEDs(self)
self.s2LightSensors = S2LightSensors(self)
self.s2LineSensors = S2LineSensors(self)
self.s2Microphone = S2Microphone(self)
self.s2Motors = S2Motors(self)
self.s2Speaker = S2Speaker(self)
self.s2Path = S2Path(self)
self.f2Camera = F2Camera(self)
self.f2Inner = F2Inner(self)
self.f2IRSensors = F2IRSensors(self)
self.f2LEDs = F2LEDs(self)
self.f2Servos = F2Servos(self)
def main():
"""Realiza las pruebas de los motores del S2.
Las pruebas consideran:
robot = Scribbler2( "/dev/rfcomm2", 9600, 500 )
s2Motors = robot.getS2Motors()
s2Motors.getMotorStats()
s2Motors.getEncoders()
s2Motors.getStall()
s2Motors.setMotors()
s2Motors.setMotorsOff()
"""
robot = Scribbler2("/dev/rfcomm2", 9600, 500)
s2Motors = robot.getS2Motors()
print("getMotorStats: " + str(s2Motors.getMotorStats()))
print("getEncoders: " + str(s2Motors.getEncoders(1)))
print("getStall: " + str(s2Motors.getStall()))
print("setMotors 100, -100 : " + str(s2Motors.setMotors(100, -100)))
Utils.pause(3000)
print("setMotors -100, 100 : " + str(s2Motors.setMotors(-100, 100)))
Utils.pause(3000)
print("setMotorsOff: " + str(s2Motors.setMotorsOff()))
robot.close()
def resetScribbler( self ):
"""Resetea el S2/F2."""
try:
self.f2.lock()
packet = bytearray( 1 )
packet[0] = 124
self.f2.sendF2Command( packet, 100 )
Utils.pause( 4000 )
except Exception as e:
raise
finally:
self.f2.unlock()
def sendF2Command( self, packet, pause ):
"""
Envia comando a la tarjeta F2.
@type packet: bytearray
@param packet: comando a enviar a la F2
@type pause: integer
@param pause: pausa en ms a realizar una vez enviado el comando
"""
self.conn.write( packet )
if( pause > 0 ):
Utils.pause( pause )
def sendF2Command(self, packet, pause):
"""
Envia comando a la tarjeta F2.
@type packet: bytearray
@param packet: comando a enviar a la F2
@type pause: integer
@param pause: pausa en ms a realizar una vez enviado el comando
"""
self.serial.write(packet)
if (pause > 0):
Utils.pause(pause)
def resetScribbler(self):
"""Resetea el S2."""
try:
self.s2.lock()
packet = bytearray(1)
packet[0] = 124
self.s2.sendF2Command(packet, 100)
Utils.pause(4000)
except Exception as e:
raise
finally:
self.s2.unlock()
def main():
"""Realiza las pruebas de los motores servos de la tarjeta F2.
Las pruebas consideran:
robot = Fluke2( port="/dev/rfcomm2", bauds=9600, timeout=500 )
f2Servos = robot.getF2Servos()
f2Servos.setServo()
"""
robot = Fluke2( port="/dev/rfcomm2", bauds=9600, timeout=500 )
f2Servos = robot.getF2Servos()
id = 0;
for value in range(0, 256, 5):
print("setServo(%d, %d)" % (id, value))
f2Servos.setServo(id, value)
Utils.pause(60)
robot.close()
def identifyRobot( self ):
"""
Obtiene infromacion que identifica al S2/F2.
@rtype: string
@return: identifiacion del S2/F2
"""
try:
self.f2.lock()
packet = bytearray( 1 )
packet[0] = 156
self.f2.sendF2Command( packet, 100 )
id = self.f2.getLineResponse( 128 )
Utils.pause( 4000 )
return id
except Exception as e:
raise
finally:
self.f2.unlock()
def identifyRobot(self):
"""
Obtiene infromacion que identifica al S2.
@rtype: string
@return: identifiacion del S2
"""
try:
self.s2.lock()
packet = bytearray(1)
packet[0] = 156
self.s2.sendF2Command(packet, 100)
id = self.s2.getLineResponse(128)
Utils.pause(4000)
return id
except Exception as e:
raise
finally:
self.s2.unlock()
def main():
"""Realiza las pruebas de los motores servos de la tarjeta F2.
Las pruebas consideran:
robot = Scribbler2( "/dev/rfcomm2", 9600, 500 )
f2Servos = robot.getF2Servos()
f2Servos.setServo()
"""
robot = Scribbler2( "/dev/rfcomm2", 9600, 500 )
f2Servos = robot.getF2Servos()
id = 0;
for value in range(0, 256, 5):
print("setServo(%d, %d)" % (id, value))
f2Servos.setServo(id, value)
Utils.pause(60)
robot.close()
def main():
"""Realiza las pruebas de los elementos internos del S2.
Las pruebas consideran:
#robot = Scribbler2( port="/dev/ttyUSB1", bauds=38400, timeout=500, dtr=False )
#robot = Fluke2( port="/dev/rfcomm2", bauds=9600, timeout=500 )
#robot = Net2( host="192.168.145.1", port=1500, timeout=500 )
s2Inner = robot.getS2Inner()
s2Inner.getInfo()
s2Inner.getAllSensors()
s2Inner.setPass()
s2Inner.getPass()
s2Inner.setName()
s2Inner.getName()
s2Inner.getState()
s2Inner.setData()
s2Inner.setSingleData()
"""
#robot = Scribbler2( port="/dev/ttyUSB1", bauds=38400, timeout=500, dtr=False )
robot = Fluke2( port="/dev/rfcomm2", bauds=9600, timeout=500 )
#robot = Net2( host="192.168.145.1", port=1500, timeout=500 )
s2Inner = robot.getS2Inner()
print( "getInfo: " + str( s2Inner.getInfo() ) )
print( "getAllSensors: " + str( s2Inner.getAllSensors() ) )
print( "setPass: "******"1234567898765432" ) ) )
print( "getPass: "******"setPass: "******"ABCDEFGHIHGFRDCB" ) ) )
print( "getPass: "******"setName: " + str( s2Inner.setName( "NAME1234" ) ) )
print( "getName: " + str( s2Inner.getName() ) )
print( "setName: " + str( s2Inner.setName( "LilyBot" ) ) )
print( "getName: " + str( s2Inner.getName() ) )
print( "getState: " + str( s2Inner.getState() ) )
print( "setData: " + str( s2Inner.setData( bytearray( [ 1, 2, 3, 4, 5, 6, 7, 8 ] ) ) ) )
print( "getData: " + str( Utils.bytesToHex( s2Inner.getData() ) ) )
print( "setData: " + str( s2Inner.setData( bytearray( [ 8, 7, 6, 5, 4, 3, 2, 1 ] ) ) ) )
print( "getData: " + str( Utils.bytesToHex( s2Inner.getData() ) ) )
print( "setSingleData: " + str( s2Inner.setSingleData( 4, 44 ) ) )
print( "getData: " + str( Utils.bytesToHex( s2Inner.getData() ) ) )
robot.close()
def sendS2PathCommand( self, packet ):
"""
Envia comando de trazado (path) al S2.
@type packet: bytearray
@param packet: comando de trazado a enviar
"""
self.conn.write( packet )
t = time.time()
while( time.time() - t < 3.5 ):
try:
b = self.conn.read( self.PACKET_LENGTH )
if( packet != b ):
Utils.debug( "Packet Mismatch (path):" )
Utils.debug( packet )
Utils.debug( b )
raise self.conn.TimeoutException
return
except self.conn.TimeoutException as e:
pass
# necesitamos sincronizar las respuestas, lo hacemos con GetAll()
packet = self.makeS2Packet( 65 )
while( True ):
self.conn.write( packet )
try:
self.conn.read( 11 ) # estos bytes quedaron sin ser recibidos
self.conn.read( self.PACKET_LENGTH )
break
except self.conn.TimeoutException as e:
pass
# solicitamos el estado de los sensores
self.sendS2Command( packet, 0 )
def sendS2PathCommand(self, packet):
"""
Envia comando de trazado (path) al S2.
@type packet: bytearray
@param packet: comando de trazado a enviar
"""
self.serial.write(packet)
t = time.time()
while (time.time() - t < 3.5):
try:
b = self.serial.read(self.PACKET_LENGTH)
if (packet != b):
Utils.debug("Packet Mismatch (path):")
Utils.debug(packet)
Utils.debug(b)
raise serial.SerialTimeoutException
return
except serial.SerialTimeoutException as e:
pass
# necesitamos sincronizar las respuestas, lo hacemos con GetAll()
packet = self.makeS2Packet(65)
while (True):
self.serial.write(packet)
try:
self.serial.read(11) # estos bytes quedaron sin ser recibidos
self.serial.read(self.PACKET_LENGTH)
break
except serial.SerialTimeoutException as e:
pass
# solicitamos el estado de los sensores
self.sendS2Command(packet, 0)
def main():
"""Realiza las pruebas de los elementos internos del S2.
Las pruebas consideran:
robot = Scribbler2( "/dev/rfcomm2", 9600, 500 )
s2Inner = robot.getS2Inner()
s2Inner.getInfo()
s2Inner.getAllSensors()
s2Inner.setPass()
s2Inner.getPass()
s2Inner.setName()
s2Inner.getName()
s2Inner.getState()
s2Inner.setData()
s2Inner.setSingleData()
"""
robot = Scribbler2( "/dev/rfcomm2", 9600, 500 )
s2Inner = robot.getS2Inner()
print( "getInfo: " + str( s2Inner.getInfo() ) )
print( "getAllSensors: " + str( s2Inner.getAllSensors() ) )
print( "setPass: "******"1234567898765432" ) ) )
print( "getPass: "******"setPass: "******"ABCDEFGHIHGFRDCB" ) ) )
print( "getPass: "******"setName: " + str( s2Inner.setName( "NAME1234" ) ) )
print( "getName: " + str( s2Inner.getName() ) )
print( "setName: " + str( s2Inner.setName( "LilyBot" ) ) )
print( "getName: " + str( s2Inner.getName() ) )
print( "getState: " + str( s2Inner.getState() ) )
print( "setData: " + str( s2Inner.setData( bytearray( [ 1, 2, 3, 4, 5, 6, 7, 8 ] ) ) ) )
print( "getData: " + str( Utils.bytesToHex( s2Inner.getData() ) ) )
print( "setData: " + str( s2Inner.setData( bytearray( [ 8, 7, 6, 5, 4, 3, 2, 1 ] ) ) ) )
print( "getData: " + str( Utils.bytesToHex( s2Inner.getData() ) ) )
print( "setSingleData: " + str( s2Inner.setSingleData( 4, 44 ) ) )
print( "getData: " + str( Utils.bytesToHex( s2Inner.getData() ) ) )
robot.close()
def main():
"""Realiza las pruebas de los LEDs de la tarjeta F2.
Las pruebas consideran:
robot = Fluke2( port="/dev/rfcomm2", bauds=9600, timeout=500 )
f2LEDs = robot.getF2LEDs()
f2LEDs.setBrightLed()
"""
robot = Fluke2( port="/dev/rfcomm2", bauds=9600, timeout=500 )
f2LEDs = robot.getF2LEDs()
print( "setBrightLed: " )
f2LEDs.setBrightLed( 255 )
Utils.pause( 2000 )
print( "setBrightLed: " )
f2LEDs.setBrightLed( 128 )
Utils.pause( 2000 )
print( "setBrightLed: " )
f2LEDs.setBrightLed( 0 )
robot.close()
def sendS2Command(self, packet, pause):
"""
Envia un comando al S2.
@type packet: bytearray
@param packet: comando a enviar
@type pause: integer
@param pause: tiempo en ms a esperar por la respuesta luego de enviar el comando
@rtype: bool
@return: Verdadero si el ACK enviado por el S2 corresponde al esperado
"""
self.serial.write(packet)
if (pause > 0):
Utils.pause(pause)
if (packet[0] != 0x50):
b = self.serial.read(self.PACKET_LENGTH)
if (packet != b):
Utils.debug("Packet Mismatch:")
Utils.debug(packet)
Utils.debug(b)
return False
return True
def sendS2Command( self, packet, pause ):
"""
Envia un comando al S2.
@type packet: bytearray
@param packet: comando a enviar
@type pause: integer
@param pause: tiempo en ms a esperar por la respuesta luego de enviar el comando
@rtype: bool
@return: Verdadero si el ACK enviado por el S2 corresponde al esperado
"""
self.conn.write( packet )
if( pause > 0 ):
Utils.pause( pause )
if( packet[0] != 0x50 ):
b = self.conn.read( self.PACKET_LENGTH )
if( packet != b ):
Utils.debug( "Packet Mismatch:" )
Utils.debug( packet )
Utils.debug( b )
return False
return True
def main():
"""Realiza las pruebas del los LEDs del S2.
Las pruebas consideran:
#robot = Scribbler2( port="/dev/ttyUSB1", bauds=38400, timeout=500, dtr=False )
#robot = Fluke2( port="/dev/rfcomm2", bauds=9600, timeout=500 )
#robot = Net2( "192.168.145.1", 1500, 500 )
s2LEDs = robot.getS2LEDs()
s2LEDs.setLeftLed()
s2LEDs.setCenterLed()
s2LEDs.setRightLed()
s2LEDs.setAllLed()
"""
#robot = Scribbler2( port="/dev/ttyUSB1", bauds=38400, timeout=500, dtr=False )
robot = Fluke2( port="/dev/rfcomm2", bauds=9600, timeout=500 )
#robot = Net2( "192.168.145.1", 1500, 500 )
s2LEDs = robot.getS2LEDs()
print( "setLeftLed: " + str( s2LEDs.setLeftLed( True ) ) )
Utils.pause( 2000 )
print( "setLeftLed: " + str( s2LEDs.setLeftLed( False ) ) )
Utils.pause( 2000 )
print( "setCenterLed: " + str( s2LEDs.setCenterLed( True ) ) )
Utils.pause( 2000 )
print( "setCenterLed: " + str( s2LEDs.setCenterLed( False ) ) )
Utils.pause( 2000 )
print( "setRightLed: " + str( s2LEDs.setRightLed( True ) ) )
Utils.pause( 2000 )
print( "setRightLed: " + str( s2LEDs.setRightLed( False ) ) )
Utils.pause( 2000 )
print( "setAllLed: " + str( s2LEDs.setAllLed( 1, 1, 1 ) ) )
Utils.pause( 2000 )
print( "setAllLed: " + str( s2LEDs.setAllLed( 0, 0, 0 ) ) )
Utils.pause( 2000 )
robot.close()
def main():
"""Realiza las pruebas del los LEDs del S2.
Las pruebas consideran:
robot = Scribbler2( "/dev/rfcomm2", 9600, 500 )
s2LEDs = robot.getS2LEDs()
s2LEDs.setLeftLed()
s2LEDs.setCenterLed()
s2LEDs.setRightLed()
s2LEDs.setAllLed()
"""
robot = Scribbler2("/dev/rfcomm2", 9600, 500)
s2LEDs = robot.getS2LEDs()
print("setLeftLed: " + str(s2LEDs.setLeftLed(True)))
Utils.pause(2000)
print("setLeftLed: " + str(s2LEDs.setLeftLed(False)))
Utils.pause(2000)
print("setCenterLed: " + str(s2LEDs.setCenterLed(True)))
Utils.pause(2000)
print("setCenterLed: " + str(s2LEDs.setCenterLed(False)))
Utils.pause(2000)
print("setRightLed: " + str(s2LEDs.setRightLed(True)))
Utils.pause(2000)
print("setRightLed: " + str(s2LEDs.setRightLed(False)))
Utils.pause(2000)
print("setAllLed: " + str(s2LEDs.setAllLed(1, 1, 1)))
Utils.pause(2000)
print("setAllLed: " + str(s2LEDs.setAllLed(0, 0, 0)))
Utils.pause(2000)
robot.close()