def log_output(stream):
for line in stream:
ansible.send_message('UPDATE_CONSOLE',
{'console_output': {
'value': line
}})
time.sleep(0.05) # don't want to flood ansible
def log_output(stream):
#TODO: figure out a way to limit speed of sending messages, so
# ansible is not overflowed by printing too fast
for line in stream:
ansible.send_message('UPDATE_CONSOLE',
{'console_output': {
'value': line
}})
def log_output(stream):
for line in stream:
ansible.send_message('UPDATE_CONSOLE', {
'console_output': {
'value': line
}
})
time.sleep(0.05) # don't want to flood ansible
def log_output(stream):
#TODO: figure out a way to limit speed of sending messages, so
# ansible is not overflowed by printing too fast
for line in stream:
ansible.send_message('UPDATE_CONSOLE', {
'console_output': {
'value': line
}
})
def log_output(stream):
#TODO: figure out a way to limit speed of sending messages, so
# ansible is not overflowed by printing too fast
for line in stream:
if robot_status == 0:
return
time.sleep(0.005)
ansible.send_message('UPDATE_CONSOLE',
{'console_output': {
'value': line
}})
def log_output(stream):
#TODO: figure out a way to limit speed of sending messages, so
# ansible is not overflowed by printing too fast
for line in stream:
if robot_status == 0:
return
time.sleep(0.005)
ansible.send_message('UPDATE_CONSOLE', {
'console_output': {
'value': line
}
})
def send_motor_data(data):
global motor_data_last_sent
if time.time() < motor_data_last_sent + 1:
return
motor_data_last_sent = time.time()
for name, value in data.items():
ansible.send_message('UPDATE_PERIPHERAL', {
'peripheral': {
'name': device_id_get_name(name),
'peripheralType':'MOTOR_SCALAR',
'value': value,
'id': name
}
})
def send_motor_data(data):
global motor_data_last_sent
if time.time() < motor_data_last_sent + 1:
return
motor_data_last_sent = time.time()
for name, value in data.items():
ansible.send_message(
'UPDATE_PERIPHERAL', {
'peripheral': {
'name': device_id_get_name(name),
'peripheralType': 'MOTOR_SCALAR',
'value': value,
'id': name
}
})
def send_peripheral_data(data):
global peripheral_data_last_sent
# TODO: This is a hack. Should put this into a separate process
if time.time() < peripheral_data_last_sent + 1:
return
peripheral_data_last_sent = time.time()
# Send sensor data
for device_id, value in data.items():
ansible.send_message('UPDATE_PERIPHERAL', {
'peripheral': {
'name': device_id_get_name(device_id),
'peripheralType':h.getDeviceName(uid_to_type[device_id_to_uid(device_id)]),
'value': value,
'id': device_id
}
})
def send_peripheral_data(data):
global peripheral_data_last_sent
# TODO: This is a hack. Should put this into a separate process
if time.time() < peripheral_data_last_sent + 1:
return
peripheral_data_last_sent = time.time()
# Send sensor data
for device_id, value in data.items():
ansible.send_message('UPDATE_PERIPHERAL', {
'peripheral': {
'name': 'sensor_{}'.format(device_id),
'peripheralType':'SENSOR_BOOLEAN',
'value': value,
'id': device_id
}
})
def send_peripheral_data(data):
global peripheral_data_last_sent
# TODO: This is a hack. Should put this into a separate process
if time.time() < peripheral_data_last_sent + 1:
return
peripheral_data_last_sent = time.time()
# Send sensor data
for device_id, value in data.items():
ansible.send_message(
'UPDATE_PERIPHERAL', {
'peripheral': {
'name': 'sensor_{}'.format(device_id),
'peripheralType': 'SENSOR_SCALAR',
'value': value,
'id': device_id
}
})
def send_peripheral_data(data):
global peripheral_data_last_sent
# TODO: This is a hack. Should put this into a separate process
if time.time() < peripheral_data_last_sent + 1:
return
peripheral_data_last_sent = time.time()
# Send sensor data
for device_id, value in data.items():
ansible.send_message(
'UPDATE_PERIPHERAL', {
'peripheral': {
'name':
device_id_get_name(device_id),
'peripheralType':
h.getDeviceName(uid_to_type[device_id_to_uid(device_id)]),
'value':
value,
'id':
device_id
}
})
def test_battery():
global battery_UID
if battery_UID is None or battery_UID not in [
x[0] for x in connectedDevices
]:
ansible.send_message(
'ADD_ALERT', {
'payload': {
'heading':
"Battery Error",
'message':
"Battery buzzer not connected. Please connect and restart the robot"
}
})
ansible.send_message('UPDATE_BATTERY', {'battery': {'value': 0}})
return False
try:
(safe, connected, c0, c1, c2,
voltage), timestamp = h.getData(battery_UID, "dataUpdate")
except:
safe, voltage = False, 0.0
ansible.send_message('UPDATE_BATTERY', {'battery': {'value': voltage}})
if not safe:
ansible.send_message(
'ADD_ALERT', {
'payload': {
'heading':
"Battery Error",
'message':
"Battery level critical. Reconnect a safe battery and restart the robot"
}
})
return False
else:
return True
def test_battery():
global battery_UID
if battery_UID is None or battery_UID not in [x[0] for x in connectedDevices]:
ansible.send_message('ADD_ALERT', {
'payload': {
'heading': "Battery Error",
'message': "Battery buzzer not connected. Please connect and restart the robot"
}
})
ansible.send_message('UPDATE_BATTERY', {
'battery': {
'value': 0
}
})
return False
try:
(safe, connected, c0, c1, c2, voltage), timestamp = h.getData(battery_UID,"dataUpdate")
except:
safe, voltage = False, 0.0
ansible.send_message('UPDATE_BATTERY', {
'battery': {
'value': voltage
}
})
if not safe:
ansible.send_message('ADD_ALERT', {
'payload': {
'heading': "Battery Error",
'message': "Battery level critical. Reconnect a safe battery and restart the robot"
}
})
return False
else:
return True
console_proc = multiprocessing.Process(target=log_output, args=(lines_iter,))
console_proc.start()
robotStatus = 1
print 'Running student code'
elif msg_type == 'stop' and robotStatus:
student_proc.terminate()
console_proc.terminate()
robotStatus = 0
print 'Stopping student code'
elif msg_type == 'custom_names':
sensor_id = msg['content']['id']
id_to_name[sensor_id] = msg['content']['name']
ansible.send_message('UPDATE_PERIPHERAL', {
'peripheral': {
'name': id_to_name['1236'],
'peripheralType': 'SENSOR_SCALAR',
'value': random.randint(0, 100),
'id': '1236'
}
})
ansible.send_message('UPDATE_BATTERY', {
'battery': {
'value': batteryLevel
}
})
ansible.send_message('UPDATE_STATUS', {
'status': {
'value': robotStatus
}
})
ansible.send_message('UPDATE_PERIPHERAL', {
'peripheral': {
'name': 'sensor_{}'.format(device_id),
'peripheralType':'SENSOR_BOOLEAN',
'value': value,
'id': device_id
}
})
while True:
msg = ansible.recv()
# Handle any incoming commands from the UI
if msg:
msg_handling(msg)
# Send whether or not robot is executing code
ansible.send_message('UPDATE_STATUS', {
'status': {'value': robot_status}
})
# Send battery level
ansible.send_message('UPDATE_BATTERY', {
'battery': {
'value': 100 # TODO: Make this not a lie
}
})
ansible.send_message('UPDATE_PERIPHERAL', {
'peripheral': {
'name': name,
'peripheralType':'MOTOR_SCALAR',
'value': name_to_value[name],
'id': name_to_ids[name]
print 'Uploading student code'
elif msg_type == 'stop' and robotStatus:
student_proc.terminate()
console_proc.terminate()
robotStatus = 0
print 'Stopping student code'
elif msg_type == 'custom_names':
sensor_id = msg['content']['id']
id_to_name[sensor_id] = msg['content']['name']
elif msg_type == 'update':
print msg['content']['update_path']
print msg['content']['signature_path']
ansible.send_message('UPDATE_BATTERY', {
'battery': {
'value': batteryLevel
}
})
ansible.send_message('UPDATE_STATUS', {
'status': {
'value': robotStatus
}
})
if temporary_send > 0:
ansible.send_message('UPDATE_PERIPHERAL', {
'peripheral': {
'name':id_to_name['1240'],
'peripheralType': 'MOTOR_SCALAR',
'value': random.uniform(-100, 100),
'id': '1240'
robotStatus = 0
print 'Uploading student code'
elif msg_type == 'stop' and robotStatus:
student_proc.terminate()
console_proc.terminate()
robotStatus = 0
print 'Stopping student code'
elif msg_type == 'custom_names':
sensor_id = msg['content']['id']
id_to_name[sensor_id] = msg['content']['name']
elif msg_type == 'update':
print msg['content']['update_path']
print msg['content']['signature_path']
ansible.send_message('UPDATE_BATTERY',
{'battery': {
'value': batteryLevel
}})
ansible.send_message('UPDATE_STATUS', {'status': {'value': robotStatus}})
if temporary_send > 0:
ansible.send_message(
'UPDATE_PERIPHERAL', {
'peripheral': {
'name': id_to_name['1240'],
'peripheralType': 'MOTOR_SCALAR',
'value': random.uniform(-100, 100),
'id': '1240'
}
})
ansible.send_message(
'UPDATE_PERIPHERAL', {
read_naming_map()
enumerate_hibike()
enumerate_motors()
mc.set('competition', {'competition': False})
while True:
if battery_UID: #TODO Only tests battery safety if battery buzzer is connected
battery_safe = test_battery()
if not battery_safe and battery_UID: #TODO Disables sending alert if battery buzzer is not connected
if robot_status:
student_proc.terminate()
stop_motors()
robot_status = 0
for _ in range(10):
ansible.send_message('UPDATE_STATUS', {'status': {'value': False}})
time.sleep(0.1)
continue
msg = ansible.recv()
# Handle any incoming commands from the UI
if msg:
msg_handling(msg)
# Send whether or not robot is executing code
ansible.send_message('UPDATE_STATUS', {'status': {'value': robot_status}})
# Update sensor values, and send to UI
update_hibike()
all_sensor_data = get_all_data(connectedDevices)
send_peripheral_data(all_sensor_data)
'name': 'sensor_{}'.format(device_id),
'peripheralType': 'SENSOR_SCALAR',
'value': value,
'id': device_id
}
})
while True:
msg = ansible.recv()
# Handle any incoming commands from the UI
if msg:
msg_handling(msg)
# Send whether or not robot is executing code
ansible.send_message('UPDATE_STATUS', {'status': {'value': robot_status}})
# Send battery level
ansible.send_message(
'UPDATE_BATTERY',
{
'battery': {
'value': 100 # TODO: Make this not a lie
}
})
# Update sensor values, and send to UI
all_sensor_data = get_all_data(connectedDevices)
send_peripheral_data(all_sensor_data)
mc.set('sensor_values', all_sensor_data)
console_proc.start()
robotStatus = 1
print 'Running student code'
elif msg_type == 'stop' and robotStatus:
student_proc.terminate()
console_proc.terminate()
robotStatus = 0
print 'Stopping student code'
elif msg_type == 'custom_names':
sensor_id = msg['content']['id']
id_to_name[sensor_id] = msg['content']['name']
ansible.send_message(
'UPDATE_PERIPHERAL', {
'peripheral': {
'name': id_to_name['1236'],
'peripheralType': 'SENSOR_SCALAR',
'value': random.randint(0, 100),
'id': '1236'
}
})
ansible.send_message('UPDATE_BATTERY',
{'battery': {
'value': random.randint(0, 100)
}})
ansible.send_message('UPDATE_STATUS', {'status': {'value': robotStatus}})
ansible.send_message(
'UPDATE_PERIPHERAL', {
'peripheral': {
'name': id_to_name['1234'],
'peripheralType': 'MOTOR_SCALAR',
'value': random.randint(0, 100),
read_naming_map()
enumerate_hibike()
enumerate_motors()
mc.set('competition', {'competition': False})
while True:
if battery_UID: #TODO Only tests battery safety if battery buzzer is connected
battery_safe = test_battery()
if not battery_safe and battery_UID: #TODO Disables sending alert if battery buzzer is not connected
if robot_status:
student_proc.terminate()
stop_motors()
robot_status = 0
for _ in range(10):
ansible.send_message('UPDATE_STATUS', {
'status': {'value': False}
})
time.sleep(0.1)
continue
msg = ansible.recv()
# Handle any incoming commands from the UI
if msg:
msg_handling(msg)
# Send whether or not robot is executing code
ansible.send_message('UPDATE_STATUS', {
'status': {'value': robot_status}
})
# Update sensor values, and send to UI