def buildRequest(self, data):
RiCHeader.buildRequest(self, data)
bytes = bytearray()
while self.index < CON_REQ_PLACE:
bytes.append(data[self.index])
self.index += 1
self._requestForConnection = struct.unpack('<?', bytes)[0]
def buildRequest(self, data):
RiCHeader.buildRequest(self, data)
bytes = bytearray()
while self.index < VER_PLACE:
bytes.append(data[self.index])
self.index += 1
self._ver = struct.unpack('<f', bytes)[0]
def buildRequest(self, data):
RiCHeader.buildRequest(self, data)
bytes = bytearray()
while self.index < LAT_PLACE:
bytes.append(data[self.index])
self.index += 1
self._lat = struct.unpack('<f', bytes)[0]
bytes = bytearray()
while self.index < LNG_PLACE:
bytes.append(data[self.index])
self.index += 1
self._lng = struct.unpack('<f', bytes)[0]
bytes = bytearray()
while self.index < METERS_PLACE:
bytes.append(data[self.index])
self.index += 1
self._meters = struct.unpack('<f', bytes)[0]
bytes = bytearray()
while self.index < HDOP_PLACE:
bytes.append(data[self.index])
self.index += 1
self._HDOP = struct.unpack('<h', bytes)[0]
bytes = bytearray()
while self.index < SAT_PLACE:
bytes.append(data[self.index])
self.index += 1
self._satellites = struct.unpack('<h', bytes)[0]
bytes = bytearray()
while self.index < FIX_PLACE:
bytes.append(data[self.index])
self.index += 1
self._fix = struct.unpack('<b', bytes)[0]
def __init__(self, type, devId, pubHz):
RiCHeader.__init__(self)
self._id = 103
self._des = 0x1001
self._type = type
self._devId = devId
self._pubHz = pubHz
def buildRequest(self, data):
RiCHeader.buildRequest(self, data)
bytes = bytearray()
while self.index < CON_REQ_PLACE:
bytes.append(data[self.index])
self.index += 1
self._requestForConnection = struct.unpack('<?', bytes)[0]
def buildRequest(self, data):
RiCHeader.buildRequest(self, data)
bytes = bytearray()
while self.index < BAT_STAT:
bytes.append(data[self.index])
self.index += 1
self._status = struct.unpack('<f', bytes)[0]
def buildRequest(self, data):
RiCHeader.buildRequest(self, data)
bytes = bytearray()
while self.index < VER_PLACE:
bytes.append(data[self.index])
self.index += 1
self._ver = struct.unpack("<f", bytes)[0]
def buildRequest(self, data):
RiCHeader.buildRequest(self, data)
bytes = bytearray()
while self.index < LAT_PLACE:
bytes.append(data[self.index])
self.index += 1
self._lat = struct.unpack('<d', bytes)[0]
bytes = bytearray()
while self.index < LNG_PLACE:
bytes.append(data[self.index])
self.index += 1
self._lng = struct.unpack('<d', bytes)[0]
bytes = bytearray()
while self.index < METERS_PLACE:
bytes.append(data[self.index])
self.index += 1
self._meters = struct.unpack('<d', bytes)[0]
bytes = bytearray()
while self.index < HDOP_PLACE:
bytes.append(data[self.index])
self.index += 1
self._HDOP = struct.unpack('<i', bytes)[0]
bytes = bytearray()
while self.index < SAT_PLACE:
bytes.append(data[self.index])
self.index += 1
self._satellites = struct.unpack('<i', bytes)[0]
bytes = bytearray()
while self.index < FIX_PLACE:
bytes.append(data[self.index])
self.index += 1
self._fix = struct.unpack('<q', bytes)[0]
def buildRequest(self, data):
RiCHeader.buildRequest(self, data)
bytes = bytearray()
while self.index < X:
bytes.append(data[self.index])
self.index += 1
self._x = struct.unpack('<f', bytes)[0]
bytes = bytearray()
while self.index < Y:
bytes.append(data[self.index])
self.index += 1
self._y = struct.unpack('<f', bytes)[0]
bytes = bytearray()
while self.index < Z:
bytes.append(data[self.index])
self.index += 1
self._z = struct.unpack('<f', bytes)[0]
def buildRequest(self, data):
RiCHeader.buildRequest(self, data)
bytes = bytearray()
while self.index < X:
bytes.append(data[self.index])
self.index += 1
self._x = struct.unpack('<f', bytes)[0]
bytes = bytearray()
while self.index < Y:
bytes.append(data[self.index])
self.index += 1
self._y = struct.unpack('<f', bytes)[0]
bytes = bytearray()
while self.index < Z:
bytes.append(data[self.index])
self.index += 1
self._z = struct.unpack('<f', bytes)[0]
def __init__(self):
RiCHeader.__init__(self)
self._lat = 0.0
self._lng = 0.0
self._meters = 0.0
self._HDOP = 0
self._satellites = 0
self._fix = 0
def __init__(self):
RiCHeader.__init__(self)
self._id = ID_REQ
self._length = LEN_REQ
self._des = 0
self._checkSum = 0
self._finish = True
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, toConnect):
RiCHeader.__init__(self)
self._id = RES_ID
self._des = 0x1001
self._length = 7
self._checkSum = 0
self._toConnect = toConnect
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self):
RiCHeader.__init__(self)
self._lat = 0.0
self._lng = 0.0
self._meters = 0.0
self._HDOP = 0
self._satellites = 0
self._fix = 0
def __init__(self, angular, linear):
RiCHeader.__init__(self)
self._id = REQ_ID
self._length = REQ_LEN
self._des = 0x1001
self._checkSum = 0
self._angular = angular
self._linear = linear
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, motorNum, postion):
RiCHeader.__init__(self)
self._id = 6
self._length = REQ_LEN
self._des = 0x1001
self._checkSum = 0
self._motorId = motorNum
self._position = postion
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, servoId, position):
RiCHeader.__init__(self)
self._id = REQ_ID
self._des = 0x1001
self._length = REQ_LEN
self._servoId = servoId
self._position = position
self._checkSum = 0
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, motorNum, postion):
RiCHeader.__init__(self)
self._id = 6
self._length = REQ_LEN
self._des = 0x1001
self._checkSum = 0
self._motorId = motorNum
self._position = postion
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, angular, linear):
RiCHeader.__init__(self)
self._id = REQ_ID
self._length = REQ_LEN
self._des = 0x1001
self._checkSum = 0
self._angular = angular
self._linear = linear
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, servoId, position):
RiCHeader.__init__(self)
self._id = REQ_ID
self._des = 0x1001
self._length = REQ_LEN
self._servoId = servoId
self._position = position
self._checkSum = 0
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, motorNum, speed):
RiCHeader.__init__(self)
self._id = OPEN_LOOP_REQ
self._length = MSG_LEN
self._des = 0x1001
self._checkSum = 0
self._motorNum = motorNum
self._speed = speed
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, motorNum, speed):
RiCHeader.__init__(self)
self._id = OPEN_LOOP_REQ
self._length = MSG_LEN
self._des = 0x1001
self._checkSum = 0
self._motorNum = motorNum
self._speed = speed
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self):
RiCHeader.__init__(self)
self._ch1 = 0.0
self._ch2 = 0.0
self._ch3 = 0.0
self._ch4 = 0.0
self._ch5 = 0.0
self._ch6 = 0.0
self._ch7 = 0.0
self._ch8 = 0.0
def __init__(self):
RiCHeader.__init__(self)
self._ch1 = 0.0
self._ch2 = 0.0
self._ch3 = 0.0
self._ch4 = 0.0
self._ch5 = 0.0
self._ch6 = 0.0
self._ch7 = 0.0
self._ch8 = 0.0
def __init__(self, relayNum, status):
RiCHeader.__init__(self)
self._id = RELAY_REQ
self._length = MSG_LEN
self._des = 0x1001
self._checkSum = 0
self._relayNum = relayNum
self._status = status
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, x, y, theta):
RiCHeader.__init__(self)
self._id = REQ_ID
self._length = REQ_LEN
self._des = 0x1001
self._checkSum = 0
self._x = x
self._y = y
self._theta = theta
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self):
RiCHeader.__init__(self)
self._odomX = 0.0
self._odomY = 0.0
self._odomTheta = 0.0
self._translationX = 0.0
self._translationY = 0.0
self._translationZ = 0.0
self._translationRotationZ = 0.0
self._translationRotationW = 0.0
def __init__(self, x, y, theta):
RiCHeader.__init__(self)
self._id = REQ_ID
self._length = REQ_LEN
self._des = 0x1001
self._checkSum = 0
self._x = x
self._y = y
self._theta = theta
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self):
RiCHeader.__init__(self)
self._odomX = 0.0
self._odomY = 0.0
self._odomTheta = 0.0
self._translationX = 0.0
self._translationY = 0.0
self._translationZ = 0.0
self._translationRotationZ = 0.0
self._translationRotationW = 0.0
self._linearVelocity = 0.0
def __init__(self, status):
RiCHeader.__init__(self)
self._id = IMU_REQ
self._length = MSG_LEN
self._des = 0x1001
self._checkSum = 0
self.status = status
self._checkSum = self.calCheckSum(self.dataTosend())
def buildRequest(self, data):
RiCHeader.buildRequest(self, data)
bytes = bytearray()
while self.index < ID_LEN:
bytes.append(data[self.index])
self.index += 1
self._urfId = struct.unpack('<i', bytes)[0]
bytes = bytearray()
while self.index < RANGE_LEN:
bytes.append(data[self.index])
self.index += 1
self._range = struct.unpack('<f', bytes)[0]
def buildRequest(self, data):
RiCHeader.buildRequest(self, data)
bytes = bytearray()
while self.index < DEVICE_ID_PLACE:
bytes.append(data[self.index])
self.index += 1
self._IdToAck = struct.unpack('<b', bytes)[0]
bytes = bytearray()
while self.index < REQ_LENGTH_PLACE:
bytes.append(data[self.index])
self.index += 1
self._requestLength = struct.unpack('<b', bytes)[0]
def buildRequest(self, data):
RiCHeader.buildRequest(self, data)
bytes = bytearray()
while self.index < DEVICE_ID_PLACE:
bytes.append(data[self.index])
self.index += 1
self._IdToAck = struct.unpack('<i', bytes)[0]
bytes = bytearray()
while self.index < REQ_LENGTH_PLACE:
bytes.append(data[self.index])
self.index += 1
self._requestLength = struct.unpack('<i', bytes)[0]
def buildRequest(self, data):
RiCHeader.buildRequest(self, data)
bytes = bytearray()
while self.index < SERVO_NUM_PLACE:
bytes.append(data[self.index])
self.index += 1
self._servoNum = struct.unpack('<B', bytes)[0]
bytes = bytearray()
while self.index < SERVO_POSITION_PLACE:
bytes.append(data[self.index])
self.index += 1
self._position = struct.unpack('<f', bytes)[0]
def buildRequest(self, data):
RiCHeader.buildRequest(self, data)
bytes = bytearray()
while self.index < ID_LEN:
bytes.append(data[self.index])
self.index += 1
self._urfId = struct.unpack('<B', bytes)[0]
bytes = bytearray()
while self.index < RANGE_LEN:
bytes.append(data[self.index])
self.index += 1
self._range = struct.unpack('<f', bytes)[0]
def __init__(self, devType, devId, haveRight):
RiCHeader.__init__(self)
self._id = RIG_REQ
self._length = MSG_LEN
self._des = 0x1001
self._checkSum = 0
self._devType = devType
self._devId = devId
self._haveRight = haveRight
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, devType, devId, haveRight):
RiCHeader.__init__(self)
self._id = RIG_REQ
self._length = MSG_LEN
self._des = 0x1001
self._checkSum = 0
self._devType = devType
self._devId = devId
self._haveRight = haveRight
self._checkSum = self.calCheckSum(self.dataTosend())
def buildRequest(self, data):
RiCHeader.buildRequest(self, data)
bytes = bytearray()
while self.index < ID_LEN:
bytes.append(data[self.index])
self.index += 1
self._switchNum = struct.unpack('<i', bytes)[0]
bytes = bytearray()
while self.index < STATUS_LEN:
bytes.append(data[self.index])
self.index += 1
self._status = struct.unpack('<i', bytes)[0]
def buildRequest(self, data):
RiCHeader.buildRequest(self, data)
bytes = bytearray()
while self.index < ID_LEN:
bytes.append(data[self.index])
self.index += 1
self._switchNum = struct.unpack('<B', bytes)[0]
bytes = bytearray()
while self.index < STATUS_LEN:
bytes.append(data[self.index])
self.index += 1
self._status = struct.unpack('<?', bytes)[0]
def __init__(self, devId, devType, fieldNum, val):
RiCHeader.__init__(self)
self._id = PSET_REQ
self._length = MSG_LEN
self._des = 0x1001
self._checkSum = 0
self._devId = devId # byte
self._devType = devType # byte
self._fieldNum = fieldNum # byte
self._val = val # float
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, devId, devType, fieldNum, val):
RiCHeader.__init__(self)
self._id = PSET_REQ
self._length = MSG_LEN
self._des = 0x1001
self._checkSum = 0
self._devId = devId # byte
self._devType = devType # byte
self._fieldNum = fieldNum # byte
self._val = val # float
self._checkSum = self.calCheckSum(self.dataTosend())
def buildRequest(self, data):
RiCHeader.buildRequest(self, data)
bytes = bytearray()
while self.index < ODOM_X:
bytes.append(data[self.index])
self.index += 1
self._odomX = struct.unpack('<f', bytes)[0]
bytes = bytearray()
while self.index < ODOM_Y:
bytes.append(data[self.index])
self.index += 1
self._odomY = struct.unpack('<f', bytes)[0]
bytes = bytearray()
while self.index < ODOM_THATE:
bytes.append(data[self.index])
self.index += 1
self._odomTheta = struct.unpack('<f', bytes)[0]
# bytes = bytearray()
# while self.index < TRAN_X:
# bytes.append(data[self.index])
# self.index += 1
# self._translationX = struct.unpack('<f', bytes)[0]
# bytes = bytearray()
# while self.index < TRAN_Y:
# bytes.append(data[self.index])
# self.index += 1
# self._translationY = struct.unpack('<f', bytes)[0]
# bytes = bytearray()
# while self.index < TRAN_Z:
# bytes.append(data[self.index])
# self.index += 1
# self._translationZ = struct.unpack('<f', bytes)[0]
bytes = bytearray()
while self.index < TRAN_ROT_Z:
bytes.append(data[self.index])
self.index += 1
self._translationRotationZ = struct.unpack('<f', bytes)[0]
bytes = bytearray()
while self.index < TRAN_ROT_W:
bytes.append(data[self.index])
self.index += 1
self._translationRotationW = struct.unpack('<f', bytes)[0]
bytes = bytearray()
while self.index < LINEAR_VEL:
bytes.append(data[self.index])
self.index += 1
self._linearVelocity = struct.unpack('<f', bytes)[0]
def buildRequest(self, data):
RiCHeader.buildRequest(self, data)
bytes = bytearray()
while self.index < MOTOR_ID:
bytes.append(data[self.index])
self.index += 1
self._devId = struct.unpack('<B', bytes)[0]
bytes = bytearray()
while self.index < MOTOR_RAD:
bytes.append(data[self.index])
self.index += 1
self._rad = struct.unpack('<f', bytes)[0]
bytes = bytearray()
while self.index < MOTOR_RAD_S:
bytes.append(data[self.index])
self.index += 1
self._rad_s = struct.unpack('<f', bytes)[0]
def buildRequest(self, data):
RiCHeader.buildRequest(self, data)
bytes = bytearray()
while self.index < CHANNEL_1:
bytes.append(data[self.index])
self.index += 1
self._ch1 = struct.unpack('<f', bytes)[0]
bytes = bytearray()
while self.index < CHANNEL_2:
bytes.append(data[self.index])
self.index += 1
self._ch2 = struct.unpack('<f', bytes)[0]
bytes = bytearray()
while self.index < CHANNEL_3:
bytes.append(data[self.index])
self.index += 1
self._ch3 = struct.unpack('<f', bytes)[0]
bytes = bytearray()
while self.index < CHANNEL_4:
bytes.append(data[self.index])
self.index += 1
self._ch4 = struct.unpack('<f', bytes)[0]
bytes = bytearray()
while self.index < CHANNEL_5:
bytes.append(data[self.index])
self.index += 1
self._ch5 = struct.unpack('<f', bytes)[0]
bytes = bytearray()
while self.index < CHANNEL_6:
bytes.append(data[self.index])
self.index += 1
self._ch6 = struct.unpack('<f', bytes)[0]
bytes = bytearray()
while self.index < CHANNEL_7:
bytes.append(data[self.index])
self.index += 1
self._ch7 = struct.unpack('<f', bytes)[0]
bytes = bytearray()
while self.index < CHANNEL_8:
bytes.append(data[self.index])
self.index += 1
self._ch8 = struct.unpack('<f', bytes)[0]
def buildRequest(self, data):
RiCHeader.buildRequest(self, data)
bytes = bytearray()
while self.index < CHANNEL_1:
bytes.append(data[self.index])
self.index += 1
self._ch1 = struct.unpack('<f', bytes)[0]
bytes = bytearray()
while self.index < CHANNEL_2:
bytes.append(data[self.index])
self.index += 1
self._ch2 = struct.unpack('<f', bytes)[0]
bytes = bytearray()
while self.index < CHANNEL_3:
bytes.append(data[self.index])
self.index += 1
self._ch3 = struct.unpack('<f', bytes)[0]
bytes = bytearray()
while self.index < CHANNEL_4:
bytes.append(data[self.index])
self.index += 1
self._ch4 = struct.unpack('<f', bytes)[0]
bytes = bytearray()
while self.index < CHANNEL_5:
bytes.append(data[self.index])
self.index += 1
self._ch5 = struct.unpack('<f', bytes)[0]
bytes = bytearray()
while self.index < CHANNEL_6:
bytes.append(data[self.index])
self.index += 1
self._ch6 = struct.unpack('<f', bytes)[0]
bytes = bytearray()
while self.index < CHANNEL_7:
bytes.append(data[self.index])
self.index += 1
self._ch7 = struct.unpack('<f', bytes)[0]
bytes = bytearray()
while self.index < CHANNEL_8:
bytes.append(data[self.index])
self.index += 1
self._ch8 = struct.unpack('<f', bytes)[0]
def __init__(self):
RiCHeader.__init__(self)
self._velocityX = 0.0
self._velocityY = 0.0
self._velocityZ = 0.0
self._accelerationX = 0.0
self._accelerationY = 0.0
self._accelerationZ = 0.0
self._magnetometerX = 0.0
self._magnetometerY = 0.0
self._magnetometerZ = 0.0
self._orientationX = 0.0
self._orientationY = 0.0
self._orientationZ = 0.0
self._orientationW = 0.0
self._roll = 0.0
self._pitch = 0.0
self._yaw = 0.0
self._temperature = 0.0
def __init__(self):
RiCHeader.__init__(self)
self._switchNum = 0
self._status = 0
def dataTosend(self):
return RiCHeader.dataTosend(self) \
+ struct.pack('<I', self._motorId) \
+ struct.pack('<f', self._position)
def __init__(self):
RiCHeader.__init__(self)
self._ver = 0.0
def dataTosend(self):
return RiCHeader.dataTosend(self) \
+ struct.pack('<B', self._motorNum) \
+ struct.pack('<f', self._speed)
def dataTosend(self):
return RiCHeader.dataTosend(self) + struct.pack('<B', self._relayNum) \
+ struct.pack('<?', self._status)
