def get_pod_status(): temp = 0 pressure = 0 attitude = "" position = 0 i = 4 canvas.send_batch(sender, ['pod_temp_req', 'pod_pressure_req', 'pod_position_req', 'pod_attitude_req']) #wait untill all 4 responses have arrived. order of responses arriving does not matter with this method #we also make sure we do not count the same data arriving twice. while i > 0: msg_name, data = canvas.recv(receiver) #if the "temp" variable is not 0 (its default value), that means we have received the temperature data already. if(msg_name == 'pod_temp_data' and temp == 0): temp = data i -= 1 elif(msg_name == 'pod_pressure_data' and pressure == 0): pressure = data i -= 1 elif(msg_name == 'pod_attitude_data' and attitude == ""): attitude = data i -= 1 elif(msg_name == 'pod_position_data' and position == 0): position = data i -= 1 return temp, pressure, attitude, position
def main(): global receiver receiver = canvas.init_receiver() global sender sender = canvas.init_sender() canvas.add_id(receiver, id_filter) # Main loop, modelled after control node's loop while 1: # See if any messages have been sent msg_name, data = canvas.recv(receiver) if (msg_name == 'set_eddy_brake_angle'): set_eddy_brake_angle(data) elif (msg_name == 'set_eddy_brake_power'): set_eddy_brake_power(data) elif (msg_name == 'get_eddy_brake_angle'): canvas.send( sender, 'get_eddy_brake_angle_rep', get_eddy_brake_angle() ) elif (msg_name == 'get_eddy_brake_power'): canvas.send( sender, 'get_eddy_brake_power_rep', get_eddy_brake_power() ) elif (msg_name == 'get_eddy_brake_temp'): canvas.send( sender, 'get_eddy_brake_temp_rep', get_eddy_brake_temp() ) time.sleep(1)
def main():
global receiver
receiver = canvas.init_receiver()
global sender
sender = canvas.init_sender()
canvas.add_id(receiver, id_filter)
# Main loop, modelled after control node's loop
while 1:
# See if any messages have been sent
msg_name, data = canvas.recv(receiver)
if (msg_name == 'set_eddy_brake_angle'):
set_eddy_brake_angle(data)
elif (msg_name == 'set_eddy_brake_power'):
set_eddy_brake_power(data)
elif (msg_name == 'get_eddy_brake_angle'):
canvas.send(sender, 'get_eddy_brake_angle_rep',
get_eddy_brake_angle())
elif (msg_name == 'get_eddy_brake_power'):
canvas.send(sender, 'get_eddy_brake_power_rep',
get_eddy_brake_power())
elif (msg_name == 'get_eddy_brake_temp'):
canvas.send(sender, 'get_eddy_brake_temp_rep',
get_eddy_brake_temp())
time.sleep(1)
def main():
global receiver
receiver = canvas.init_receiver()
global sender
sender = canvas.init_sender()
canvas.add_id(receiver, id_filter)
# Main loop, modelled after control node's loop
while 1:
# See if any messages have been sent
msg_name, data = canvas.recv(receiver)
if msg_name == "set_hover_eng_angle":
set_hover_eng_angle(data)
elif msg_name == "set_hover_eng_power":
set_hover_eng_power(data)
elif msg_name == "get_hover_eng_angle":
canvas.send(sender, "get_hover_eng_angle_rep", get_hover_eng_angle())
elif msg_name == "get_hover_eng_power":
canvas.send(sender, "get_hover_eng_power_rep", get_hover_eng_power())
time.sleep(1)
def main():
receiver = canvas.init_receiver()
sender = canvas.init_sender()
time.sleep(0.5) #sleep to allow for canvas server startup. horrible hack that will go away soon
canvas.add_id(receiver, id_filter)
canvas.print_out("Status node started")
canvas.send_cmd(sender, "status_node_started")
while 1:
msg_name, data = canvas.recv(receiver)
if (msg_name == 'pod_temp_req'):
data = read_temp();
canvas.send_data(sender, 'pod_temp_data', data)
if (msg_name == 'pod_pressure_req'):
data = read_pressure();
canvas.send_data(sender, 'pod_pressure_data', data)
if (msg_name == 'pod_attitude_req'):
data = read_attitude();
canvas.send_data(sender, 'pod_attitude_data', data)
if (msg_name == 'pod_position_req'):
data = read_position();
canvas.send_data(sender, 'pod_position_data', data)
def main():
receiver = canvas.init_receiver()
sender = canvas.init_sender()
time.sleep(0.5) #sleep to allow for canvas server startup. horrible hack that will go away soon
canvas.add_id(receiver, id_filter)
canvas.print_out("Power distribution node started")
canvas.send_cmd(sender, "power_distribution_node_started")
while 1:
canvas.send_cmd(sender, 'uc_temp_req')
canvas.send_cmd(sender, 'batt_temp_req')
canvas.send_cmd(sender, 'batt_power_req')
canvas.send_cmd(sender, 'so_temp_req')
msg_name, msg_data = canvas.recv(receiver)
if (msg_name == 'uc_temp_req'):
data = get_umbilical_temp()
canvas.print_out("Umbilical temp: %s" % (data))
elif (msg_name == 'batt_temp_req'):
data = get_battery_temp()
canvas.print_out("Battery temp: %s" % (data))
elif (msg_name == 'batt_power_req'):
data = get_batter_power()
canvas.print_out("Battery power: %s" % (data))
elif (msg_name == 'so_temp_req'):
data = get_standard_outlet_temp()
canvas.print_out("Standard outlet temp: %s" % (data))
time.sleep(2)
def main():
receiver = canvas.init_receiver()
sender = canvas.init_sender()
time.sleep(
0.5
) #sleep to allow for canvas server startup. horrible hack that will go away soon
canvas.add_id(receiver, id_filter)
canvas.print_out("Status node started")
canvas.send_cmd(sender, "status_node_started")
while 1:
msg_name, data = canvas.recv(receiver)
if (msg_name == 'pod_temp_req'):
data = read_temp()
canvas.send_data(sender, 'pod_temp_data', data)
if (msg_name == 'pod_pressure_req'):
data = read_pressure()
canvas.send_data(sender, 'pod_pressure_data', data)
if (msg_name == 'pod_attitude_req'):
data = read_attitude()
canvas.send_data(sender, 'pod_attitude_data', data)
if (msg_name == 'pod_position_req'):
data = read_position()
canvas.send_data(sender, 'pod_position_data', data)
def main():
global receiver
receiver = canvas.init_receiver()
global sender
sender = canvas.init_sender()
time.sleep(
0.5
) #sleep to allow for canvas server startup. horrible hack that will go away soon
canvas.add_id(receiver, id_filter)
canvas.print_out("Control node started")
canvas.wait(receiver,
['power_distribution_node_stared', 'status_node_started'])
canvas.print_out("rPod running")
while 1:
canvas.send_cmd(sender, 'get_pod_status')
msg_name, data = canvas.recv(receiver)
# get status of all engines
if (msg_name == 'get_engine_status'):
canvas.print_out("COMMANDS:")
canvas.print_out("get all engine statuses")
# get the status for each individual engine node
canvas.send_cmd(sender, 'get_engine_status_l')
elif (msg_name == 'move'):
canvas.print_out("COMMANDS:")
canvas.print_out("move %s" % data)
move_pod(data)
elif (msg_name == 'start'):
canvas.print_out("COMMANDS:")
canvas.print_out("start pod")
start_pod()
elif (msg_name == 'stop'):
canvas.print_out("COMMANDS:")
canvas.print_out("stop")
stop_pod()
#collect data from all pod sensors
elif (msg_name == 'get_pod_status'):
canvas.print_out("COMMANDS:")
canvas.print_out("get pod status")
height = get_hover_height()
temp, pressure, attitude, position = get_pod_status()
canvas.print_out(
"Pod stauts: height - %smm, temp - %sC, pressure - %skPa, attitude - %s, position - %sm"
% (height, temp, pressure, attitude, position))
time.sleep(1)
def main():
global receiver
receiver = canvas.init_receiver()
global sender
sender = canvas.init_sender()
time.sleep(0.5) #sleep to allow for canvas server startup. horrible hack that will go away soon
canvas.add_id(receiver, id_filter)
canvas.print_out("Control node started")
canvas.wait(receiver, ['power_distribution_node_stared', 'status_node_started'])
canvas.print_out("rPod running")
while 1:
canvas.send_cmd(sender, 'get_pod_status')
msg_name, data = canvas.recv(receiver)
# get status of all engines
if (msg_name == 'get_engine_status'):
canvas.print_out("COMMANDS:")
canvas.print_out("get all engine statuses")
# get the status for each individual engine node
canvas.send_cmd(sender, 'get_engine_status_l')
elif (msg_name == 'move'):
canvas.print_out("COMMANDS:")
canvas.print_out("move %s" % data)
move_pod(data)
elif (msg_name == 'start'):
canvas.print_out("COMMANDS:")
canvas.print_out("start pod")
start_pod()
elif (msg_name == 'stop'):
canvas.print_out("COMMANDS:")
canvas.print_out("stop")
stop_pod()
#collect data from all pod sensors
elif (msg_name == 'get_pod_status'):
canvas.print_out("COMMANDS:")
canvas.print_out("get pod status")
height = get_hover_height()
temp, pressure, attitude, position = get_pod_status()
canvas.print_out("Pod stauts: height - %smm, temp - %sC, pressure - %skPa, attitude - %s, position - %sm" % (height, temp, pressure, attitude, position) )
time.sleep(1)
def main():
#init canvas sender and receiver
receiver = canvas.init_receiver()
sender = canvas.init_sender()
time.sleep(0.5) #sleep to allow for canvas server startup. horrible hack that will go away soon
#add message id filters on receiver
canvas.add_id(receiver, receive_message_ids)
#remove message id filters on receiver (add and remove only take lists for now..)
canvas.rm_id(receiver, ["7"])
#you have 2 ways of making CAN messages:
#either just make 2 strings
message_id = "100"
message_data = "Ping from node 2"
#or a canvas "message"
message = canvas.msg("100", "Hi it's node 2 again")
while 1:
#print to stdout. python's standard print can interfere with supervisord's
#output and logging functionality in strange ways.
#please use this instead.
canvas.print_out( "This is node 2" )
#send message on the CAN bus
canvas.send(sender, message_id, message_data)
canvas.send_msg(sender, message)
#you can change a canvas message like this
message.id = "101"
message.data="Node 1 should not see this now"
#receive message from CAN bus (only returns messages that this node has subscribed to)
#this call will block untill a message is received
msg_id, msg_data = canvas.recv(receiver)
#print message to stdout
canvas.print_out("Node 2 recieved: %s %s" % (msg_id, msg_data))
#non-blocking receive call (only returns messages that this node has subscribed to)
#will return "no_id", "no_message" if no message was received
msg_id, msg_data = canvas.recv_noblock(receiver)
canvas.print_out("Node 2 recieved: %s %s" % (msg_id, msg_data))
#sleep node for 5 second
time.sleep(5)
def main(): global receiver receiver = canvas.init_receiver() global sender sender = canvas.init_sender() canvas.add_id(receiver, id_filter) # Main loop, modelled after control node's loop while 1: #Request several data points canvas.send_batch(sender, ['pod_temp_req', 'pod_pressure_req', 'pod_attitude_req']) msg_name, data = canvas.recv(receiver) # Check data, make sure none is abnormal if (msg_name == 'pod_temp_data'): if (data > pod_temp_max): alert_ground_station(1,location) pod_shutdown() elif (data < pod_temp_min): alert_ground_station(2,location) pod_shutdown() elif (msg_name == 'pod_pressure_data'): if (data > pod_pres_max): alert_ground_station(3,location) pod_shutdown() elif (data < pod_pres_min): alert_ground_station(4,location) pod_shutdown() elif (msg_name == 'pod_attitude_data'): elif (msg_name == 'hover_height_data'): if (data > hover_height_max): alert_ground_station(7,location) pod_shutdown() elif (data < hover_height_min): alert_ground_station(8,location) pod_shutdown() time.sleep(1)
def main():
receiver = canvas.init_receiver()
sender = canvas.init_sender()
time.sleep(0.5) #sleep to allow for canvas server startup. horrible hack that will go away soon
canvas.add_id(receiver, id_filter)
message_id = "asdf"
message_data = "Ping from node 1"
while 1:
#print to stdout. python's standard print can interfere with supervisord's
#output and logging functionality in strange ways.
#please use this instead.
canvas.print_out( "This is node 1" )
canvas.send(sender, message_id, message_data)
msg_id, data = canvas.recv(receiver)
canvas.print_out("Node 1 recieved: %s" % data)
time.sleep(5)
def main():
global receiver
receiver = canvas.init_receiver()
global sender
sender = canvas.init_sender()
canvas.add_id(receiver, id_filter)
# Main loop, modelled after control node's loop
while 1:
# See if any messages have been sent
msg_name, data = canvas.recv(receiver)
if (msg_name == 'set_brake_force'):
set_brake_force(data)
elif ('get_brake_force'):
canvas.send( sender, 'get_brake_force_rep', get_brake_force() )
elif ('is_brake_engaged'):
canvas.send( sender, 'is_brake_engaged_rep', is_brake_engaged() )
time.sleep(1)
def main():
global receiver
receiver = canvas.init_receiver()
global sender
sender = canvas.init_sender()
canvas.add_id(receiver, id_filter)
# Main loop, modelled after control node's loop
while 1:
# See if any messages have been sent
msg_name, data = canvas.recv(receiver)
if (msg_name == 'set_brake_force'):
set_brake_force(data)
elif ('get_brake_force'):
canvas.send(sender, 'get_brake_force_rep', get_brake_force())
elif ('is_brake_engaged'):
canvas.send(sender, 'is_brake_engaged_rep', is_brake_engaged())
time.sleep(1)
def main():
receiver = canvas.init_receiver()
sender = canvas.init_sender()
time.sleep(
0.5
) #sleep to allow for canvas server startup. horrible hack that will go away soon
canvas.add_id(receiver, id_filter)
canvas.print_out("Power distribution node started")
canvas.send_cmd(sender, "power_distribution_node_started")
while 1:
canvas.send_cmd(sender, 'uc_temp_req')
canvas.send_cmd(sender, 'batt_temp_req')
canvas.send_cmd(sender, 'batt_power_req')
canvas.send_cmd(sender, 'so_temp_req')
msg_name, msg_data = canvas.recv(receiver)
if (msg_name == 'uc_temp_req'):
data = get_umbilical_temp()
canvas.print_out("Umbilical temp: %s" % (data))
elif (msg_name == 'batt_temp_req'):
data = get_battery_temp()
canvas.print_out("Battery temp: %s" % (data))
elif (msg_name == 'batt_power_req'):
data = get_batter_power()
canvas.print_out("Battery power: %s" % (data))
elif (msg_name == 'so_temp_req'):
data = get_standard_outlet_temp()
canvas.print_out("Standard outlet temp: %s" % (data))
time.sleep(2)
def get_pod_status():
temp = 0
pressure = 0
attitude = ""
position = 0
i = 4
canvas.send_batch(sender, [
'pod_temp_req', 'pod_pressure_req', 'pod_position_req',
'pod_attitude_req'
])
#wait untill all 4 responses have arrived. order of responses arriving does not matter with this method
#we also make sure we do not count the same data arriving twice.
while i > 0:
msg_name, data = canvas.recv(receiver)
#if the "temp" variable is not 0 (its default value), that means we have received the temperature data already.
if (msg_name == 'pod_temp_data' and temp == 0):
temp = data
i -= 1
elif (msg_name == 'pod_pressure_data' and pressure == 0):
pressure = data
i -= 1
elif (msg_name == 'pod_attitude_data' and attitude == ""):
attitude = data
i -= 1
elif (msg_name == 'pod_position_data' and position == 0):
position = data
i -= 1
return temp, pressure, attitude, position
