def test_socket_nonblock():
handler1 = PyserialSerialHandler("/dev/ttyUSB0", baudrate=19200)
handler2 = PyserialSerialHandler("/dev/ttyUSB1", baudrate=19200)
im920_1 = Im920(handler1, name="im920_1")
im920_2 = Im920(handler2, name="im920_2")
im920_1.clear_buf()
im920_2.clear_buf()
address_1 = ("2785", )
address_2 = ("1CD2", )
transceiver_1 = SocketTransceiver(im920_1, period=0.1, certain=True)
transceiver_2 = SocketTransceiver(im920_2, period=0.1, certain=True)
socket_1 = transceiver_1.create_socket(address_2)
socket_2 = transceiver_2.create_socket(address_1)
socket_1.send(im920_1.encode("Hello World " * 10), blocking=False)
print("blocking...")
sleep(5)
count = 0
while True:
data = socket_2.recv(256)
if len(data):
print("data: {} , len: {}".format(im920_1.decode(data), len(data)))
else:
count += 1
if count > 5:
break
def test_socket():
handler1 = PyserialSerialHandler("/dev/ttyUSB0",
baudrate=19200,
read_timeout=0.1)
handler2 = PyserialSerialHandler("/dev/ttyUSB1",
baudrate=19200,
read_timeout=0.1)
im920_1 = Im920(handler1, name="im920_1")
im920_2 = Im920(handler2, name="im920_2")
im920_1.clear_buf()
im920_2.clear_buf()
address_1 = ("2785", )
address_2 = ("1CD2", )
transceiver_1 = SocketTransceiver(im920_1)
transceiver_2 = SocketTransceiver(im920_2)
socket_1 = transceiver_1.create_socket(address_2)
socket_2 = transceiver_2.create_socket(address_1)
socket_1.send(im920_1.encode("Hello World " * 100))
transceiver_1.flush(period=0.1, certain=True)
count = 0
while True:
transceiver_2.load()
data = socket_2.recv(256)
if len(data):
print("data: {} , len: {}".format(im920_1.decode(data), len(data)))
else:
count += 1
if count > 5:
break
def main():
handler = PyserialSerialHandler(control_setting.SERIAL_PORT, control_setting.BAUDRATE_IM920)
im920 = Im920(handler, name=control_setting.NAME_IM920)
print(f"Listen Start from ID: {im920.id}", end="\n\n")
try:
while True:
if len(im920.buf):
raw = im920.recv_raw()
print(raw)
if len(raw) == 2:
addr, data = raw
data = data.decode()
device = ""
if addr == whole_setting.ADDR_IM920_CHILD:
device = "CHILD"
if addr == whole_setting.ADDR_IM920_PARENT:
device = "PARENT"
if device:
print(f"from {device}: {data}")
except KeyboardInterrupt:
handler.close()
def test_non_socket():
handler1 = PyserialSerialHandler("/dev/ttyUSB0", baudrate=19200)
handler2 = PyserialSerialHandler("/dev/ttyUSB1", baudrate=19200)
im920_1 = Im920(handler1, name="im920_1")
im920_2 = Im920(handler2, name="im920_2")
im920_1.clear_buf()
im920_2.clear_buf()
def main_1():
for _ in range(10):
im920_1.send_raw(None, im920_1.encode("Hello World "))
sleep(0.2)
def main_2():
que = deque()
for _ in range(10):
raw = im920_2.recv_raw()
sleep(0.2)
if not len(raw):
continue
que.append(raw[1])
stream = CommBytesStream()
for d in que:
stream.add(d)
while True:
data = stream.pop(32)
if len(data):
print(im920_1.decode(data))
else:
break
thread_1 = Thread(target=main_1)
thread_2 = Thread(target=main_2)
thread_1.start()
thread_2.start()
def run_child():
pi = pigpio.pi()
# handlers
handler_bme280 = PigpioI2CHandler(pi, I2C_ADDRESS_BME280)
handler_opt3002 = PigpioI2CHandler(pi, I2C_ADDRESS_OPT3002)
handler_gps = PyserialSerialHandler(SERIAL_PORT_GPS, BAUDRATE_GPS)
handler_im920 = PyserialSerialHandler(SERIAL_PORT_IM920, BAUDRATE_IM920)
handler_led = PigpioDigitalOutputHandler(pi, GPIO_LED, name=NAME_LED)
# sensors
bme280 = Bme280(handler_bme280, name=NAME_BME280)
opt3002 = Opt3002(handler_opt3002, name=NAME_OPT3002)
gps = SamM8Q(handler_gps, name=NAME_GPS)
# transceiver
im920 = Im920(handler_im920, name=NAME_IM920)
socket_transceiver = SocketTransceiver(im920,
certain=True,
name=NAME_SOCKET_TRANSCEIVER)
# logger
que = LogQueue(ChildLoggingModel, maxlen=5000, name=NAME_LOGQUEUE)
dlogger = DataLogger(que, bme280, opt3002, gps, name=NAME_DATA_LOGGER)
slogger = SystemLogger(name=NAME_SYSTEM_LOGGER)
slogger.setFileHandler()
manager = ComponentManager(handler_led,
im920,
socket_transceiver,
dlogger,
recursive=True,
name=NAME_MANAGER)
context = Context(
{
MissionStandbyNode: {
True: ChildServerNode,
False: MissionStandbyNode
},
ChildServerNode: {
True: None,
False: ChildServerNode
}
},
start=MissionStandbyNode)
cansat = CanSat(context, manager, dlogger=dlogger, slogger=slogger)
cansat.run()
def test_socket_sender():
handler = PyserialSerialHandler("/dev/ttyUSB0", baudrate=19200)
im920 = Im920(handler, name="im920")
im920.clear_buf()
address = ("1CD2", )
transceiver = SocketTransceiver(im920, period=0.1)
socket = transceiver.create_socket(address)
for _ in range(1):
socket.send_later(im920.encode("Hello Taiki " * 10))
socket.flush()
def main():
device = sys.argv[1]
if device not in (NAME_CHILD, NAME_PARENT):
raise ValueError("The argument must be 'child' or 'parent'.")
handler = PyserialSerialHandler(control_setting.SERIAL_PORT,
control_setting.BAUDRATE_IM920)
im920 = Im920(handler, name=control_setting.NAME_IM920)
transceiver = SocketTransceiver(im920, certain=True)
if device == NAME_CHILD:
socket = transceiver.create_socket(whole_setting.ADDR_IM920_CHILD)
else:
socket = transceiver.create_socket(whole_setting.ADDR_IM920_PARENT)
send(socket)
recv(transceiver)
def test_socket_recver():
handler = PyserialSerialHandler("/dev/ttyUSB0", baudrate=19200)
im920 = Im920(handler, name="im920")
im920.clear_buf()
address = ("37B6", )
transceiver = SocketTransceiver(im920, period=0.1)
socket = transceiver.create_socket(address)
sleep(10)
count = 0
while True:
data = socket.recv(256)
if len(data):
print("data: {} , len: {}".format(im920.decode(data), len(data)))
else:
count += 1
if count > 5:
break
def exit(self) -> None:
sock2control = self.transceiver.create_socket(
whole_setting.ADDR_IM920_CONTROL)
sock2control.send(Im920.encode("Child: Exit MissionStandbyNode."))
def exit(self) -> None:
sock = self.transceiver.create_socket(whole_setting.ADDR_IM920_CONTROL)
sock.send(Im920.encode("Child: Exit ChildServerNode."))
def run_parent():
# device setting
pi = pigpio.pi()
handler_bno055 = PigpioI2CHandler(pi, I2C_ADDRESS_BNO055)
handler_bme280 = PigpioI2CHandler(pi, I2C_ADDRESS_BME280)
handler_gps = PyserialSerialHandler(SERIAL_PORT_GPS, baudrate=BAUDRATE_GPS)
handler_im920 = PyserialSerialHandler(SERIAL_PORT_IM920,
baudrate=BAUDRATE_IM920)
handler_motor_L_fin = PigpioPWMHandler(pi,
GPIO_MOTOR_L_FIN,
freq=MOTOR_PWM_FREQ)
handler_motor_L_rin = PigpioPWMHandler(pi,
GPIO_MOTOR_L_RIN,
freq=MOTOR_PWM_FREQ)
handler_motor_R_fin = PigpioPWMHandler(pi,
GPIO_MOTOR_R_FIN,
freq=MOTOR_PWM_FREQ)
handler_motor_R_rin = PigpioPWMHandler(pi,
GPIO_MOTOR_R_RIN,
freq=MOTOR_PWM_FREQ)
handler_mosfet_para = PigpioDigitalOutputHandler(pi,
GPIO_MOSFET_PARA,
name=NAME_MOSFET_PARA)
handler_mosfet_child = PigpioDigitalOutputHandler(pi,
GPIO_MOSFET_CHILD,
name=NAME_MOSFET_CHILD)
handler_sonic_trig = PigpioDigitalOutputHandler(pi, GPIO_SONIC_TRIG)
handler_sonic_echo = PigpioDigitalInputHandler(pi, GPIO_SONIC_ECHO)
handler_led = PigpioDigitalOutputHandler(pi, GPIO_LED, name=NAME_LED)
# actuator
motor_L = BD62xx(handler_motor_L_fin,
handler_motor_L_rin,
name=NAME_MOTOR_L)
motor_R = BD62xx(handler_motor_R_fin,
handler_motor_R_rin,
name=NAME_MOTOR_R)
wheels = TwoWheels(motor_L, motor_R, name=NAME_WHEELS)
# transceiver
im920 = Im920(handler_im920, name=NAME_IM920)
im920.clear_buf()
socket_transceiver = SocketTransceiver(im920,
certain=True,
name=NAME_SOCKET_TRANSCEIVER)
# sensor
bno055 = Bno055(handler_bno055, name=NAME_BNO055)
bno055.change_operation_mode(Bno055.OperationMode.NDOF)
bno055.remap_axis(Bno055.Axis.Y, Bno055.Axis.X, Bno055.Axis.Z)
bno055.remap_sign(y=Bno055.AxisSign.NEGATIVE)
bme280 = Bme280(handler_bme280, name=NAME_BME280)
gps = SamM8Q(handler_gps, name=NAME_GPS)
sonic = HcSr04(handler_sonic_echo,
handler_sonic_trig,
name=NAME_SUPERSONIC)
que = LogQueue(LoggingModel, maxlen=10000, name=NAME_LOGQUEUE)
dlogger = DataLogger(que,
bno055,
bme280,
gps,
sonic,
name=NAME_DATA_LOGGER)
slogger = SystemLogger(name=NAME_SYSTEM_LOGGER)
slogger.setFileHandler()
# register callable components in Nodes
manager = ComponentManager(motor_L,
motor_R,
wheels,
im920,
socket_transceiver,
handler_mosfet_para,
handler_mosfet_child,
handler_led,
dlogger,
slogger,
recursive=True,
name=NAME_MANAGER)
# context setting
context = Context(
{
MissionStandbyNode: {
True: FallingNode,
False: MissionStandbyNode
},
FallingNode: {
True: ParaSeparateNode,
False: FallingNode
},
ParaSeparateNode: {
True: FirstRunningNode,
False: ParaSeparateNode
},
FirstRunningNode: {
True: ChildSeparateNode,
False: FirstRunningNode
},
ChildSeparateNode: {
True: SencondRunningNode,
False: ChildSeparateNode
},
SencondRunningNode: {
True: GoalSearchNode,
False: SencondRunningNode
},
GoalSearchNode: {
True: GoalDetectNode,
False: GoalSearchNode
},
GoalDetectNode: {
True: None,
False: GoalDetectNode
}
},
start=MissionStandbyNode)
# build a cansat
cansat = CanSat(context, manager, dlogger=dlogger, slogger=slogger)
cansat.run()