def get_sensors(self):
"""
return: a namedtuple
WARNING: now this only returns pkt 100, everything. And it is the default
packet reques now.
"""
opcode = OPCODES.SENSORS
cmd = (100, )
sensor_pkt_len = 80
self.SCI.write(opcode, cmd)
time.sleep(0.015) # wait 15 msec
packet_byte_data = self.SCI.read(sensor_pkt_len)
flash_msg = packet_byte_data.find(b'(0x0)\n\r')
wakeup_msg = packet_byte_data.find(b'conds\r\n')
msg = max(flash_msg, wakeup_msg)
if not msg == -1:
print(packet_byte_data)
packet_byte_data_continue = self.SCI.read(msg + 7)
packet_byte_data = packet_byte_data[msg +
7:] + packet_byte_data_continue
print(len(packet_byte_data_continue), len(packet_byte_data))
#print(packet_byte_data)
sensors = SensorPacketDecoder(packet_byte_data)
return sensors
def test_process_packet():
try:
# i need to get a known packet and check values
data = bytearray(os.urandom(80))
sensors = SensorPacketDecoder(data)
assert isinstance(sensors, tuple)
except:
assert False
def get_sensors(self):
"""
return: a namedtuple
WARNING: now this only returns pkt 100, everything. And it is the default
packet reques now.
"""
opcode = OPCODES.SENSORS
cmd = (100, )
sensor_pkt_len = 80
self.SCI.write(opcode, cmd)
time.sleep(0.015) # wait 15 msec
packet_byte_data = self.SCI.read(sensor_pkt_len)
sensors = SensorPacketDecoder(packet_byte_data)
return sensors
def get_sensors(self, pkts=None):
"""
pkts: an array of packets to read.
return: a hash of the roomba's sensors/variables requeted
WARNING: now this only returns pkt 100, everything. And it is the default
packet reques now.
"""
if not pkts:
pkts = [100]
length = len(pkts)
sensor_pkt_len = calc_query_data_len(pkts)
if length == 1:
opcode = OPCODES.SENSORS
cmd = tuple(pkts)
else:
opcode = OPCODES.QUERY_LIST
cmd = (len(pkts), ) + tuple(pkts)
self.SCI.write(opcode, cmd)
time.sleep(0.015) # wait 15 msec
packet_byte_data = list(self.SCI.read(sensor_pkt_len))
packet_byte_data = array.array('B', packet_byte_data).tostring()
# print('-'*60)
# print('returned data len({})'.format(len(packet_byte_data)))
# print('type:', type(packet_byte_data))
# print(packet_byte_data)
# if data was returned, then decode it
# if packet_byte_data:
# for p in pkts:
# self.decoder.decode_packet(p, packet_byte_data, sensors)
if pkts[0] == 100:
sensors = SensorPacketDecoder(packet_byte_data)
return sensors
def get_sensors(self):
"""
return: a namedtuple
WARNING: now this only returns pkt 100, everything. And it is the default
packet reques now.
Modified get sensor, instead of finding partiular debug string, it discards
the readings if read length is not 80 (we expected)
"""
opcode = OPCODES.SENSORS
cmd = (100, )
sensor_pkt_len = 80
packet_byte_data = None
while True:
self.SCI.write(opcode, cmd)
time.sleep(0.5) # wait 15 msec
packet_byte_data = self.SCI.read_all()
if len(packet_byte_data) == sensor_pkt_len:
break
print('Sensor data not 80 bytes long, it is: {}'.format(
len(packet_byte_data)))
print(packet_byte_data)
print("Failed to get sensor, retrying in 0.5 sec")
time.sleep(0.5)
sensors = SensorPacketDecoder(packet_byte_data)
return sensors