def __init__(self, buildDir="", motecom=None, tkRoot=None, comm=None):
#first, import all types, msgs, and enums from the nesc app
self.app = nescDecls.nescApp(buildDir, "Oscope")
#use the user's comm and tkroot, if they passed it in
if tkRoot == None:
self.tkRoot = Tk.Tk()
else:
self.tkRoot = tkRoot
if comm == None:
comm = Comm()
comm.connect(
motecom) #defaults to MOTECOM env variable if undefined
self.comm = comm
self.initializeGui()
#create a queue for receiving oscope messages and register it for messages
oscopeMsgQueue = MessageQueue(1)
self.comm.register(deepcopy(self.app.msgs.OscopeMsg), oscopeMsgQueue)
#start a thread to process the messages (make daemon so it dies when tk is killed)
msgThread = threading.Thread(target=self.processMessages,
args=(oscopeMsgQueue, ))
msgThread.setDaemon(True)
msgThread.start()
# start the GUI thread if we own it
if tkRoot == None:
self.tkRoot.mainloop()
print "Oscope.py exited normally"
def __init__( self , moteComStr ) :
self.__msgQueue = MessageQueue( 5 )
self.__nextMessageType = None
# connect to the mote
self.__moteComStr = moteComStr
self.__comm = Comm()
self.__comm.connect( self.__moteComStr )
# When receiving these messages, queue them up
self.__comm.register( msgs[ "MotorState" ] , self.__msgQueue )
self.__comm.register( msgs[ "MotorTrim" ] , self.__msgQueue )
self.__comm.register( msgs[ "MotorMovement" ] , self.__msgQueue )
class RoboMote( object ) :
def __init__( self , moteComStr ) :
self.__msgQueue = MessageQueue( 5 )
self.__nextMessageType = None
# connect to the mote
self.__moteComStr = moteComStr
self.__comm = Comm()
self.__comm.connect( self.__moteComStr )
# When receiving these messages, queue them up
self.__comm.register( msgs[ "MotorState" ] , self.__msgQueue )
self.__comm.register( msgs[ "MotorTrim" ] , self.__msgQueue )
self.__comm.register( msgs[ "MotorMovement" ] , self.__msgQueue )
def __query( self , queryType , returnMsgName ) :
self.__nextMessageName = returnMsgName
motorQueryMsg = msgs[ "MotorQuery" ]
motorQueryMsg.type = queryType
self.__comm.send( enums.TOS_BCAST_ADDR , motorQueryMsg );
def getNextMsg( self , timeout = 1 ) :
try:
(addr,msg) = self.__msgQueue.get( True , timeout )
except Queue.Empty :
return None
if msg.nescType == self.__nextMessageName :
return msg
return None
def destroy( self ) :
self.stopMovement()
self.disableMotors()
self.__comm.disconnect( self.__moteComStr )
def sendKeepAlive( self , timeout = 0 ) :
"""Timeout is in seconds; 0 is interpreted (on the mote side) as use the previous value"""
m = msgs[ "MotorKeepAlive" ]
m.stayAliveMillis = timeout*1000.0
self.__comm.send( enums.TOS_BCAST_ADDR , m )
def enableMotors( self ) :
m = msgs[ "MotorState" ]
m.motorState = enums.MOTORSTATE_ENABLED
self.__comm.send( enums.TOS_BCAST_ADDR , m )
def disableMotors( self ) :
m = msgs[ "MotorState" ]
m.motorState = enums.MOTORSTATE_DISABLED
self.__comm.send( enums.TOS_BCAST_ADDR , m )
def stopMovement( self ):
self.setMovement( 0.0 , 0.0 , 0.0 , 0.0 )
def setMovement( self , turnA = 0.0 , turnB = 0.0 , speedA = 0.0 , speedB = 0.0 ) :
"""all values between -1 and 1"""
m = msgs[ "MotorMovement" ]
m.turnA = moteRange(turnA)
m.turnB = moteRange(turnB)
m.speedA = moteRange(speedA)
m.speedB = moteRange(speedB)
self.__comm.send( enums.TOS_BCAST_ADDR , m )
def setTrim( self , turnA = 0.0 , turnB = 0.0 , speedA = 0.0 , speedB = 0.0 ):
"""all values between -1 and 1"""
m = msgs[ "MotorTrim" ]
m.turnATrim = moteRange(turnA)
m.turnBTrim = moteRange(turnB)
m.speedATrim = moteRange(speedA)
m.speedBTrim = moteRange(speedB)
self.__comm.send( enums.TOS_BCAST_ADDR , m )
def getStateDict( self ) :
enabled = self.isEnabled()
if not isinstance( enabled , bool ) :
return None
return { "enabled" : enabled }
def isEnabled( self ) :
self.__query( enums.MOTORQUERY_STATE , "MotorState" )
msg = self.getNextMsg()
if not msg :
return None
if msg.motorState == enums.MOTORSTATE_DISABLED :
return False
return True
def getTrim( self ) :
self.__query( enums.MOTORQUERY_TRIM , "MotorTrim" )
msg = self.getNextMsg()
if not msg :
return None
trim = ( userRange( msg.turnATrim ) ,
userRange( msg.turnBTrim ) ,
userRange( msg.speedATrim ) ,
userRange( msg.speedBTrim ) )
return trim
def getTrimDict( self ) :
trim = self.getTrim()
if not trim :
return None
trimDict = { "turnATrim" : trim[0] ,
"turnBTrim" : trim[1] ,
"speedATrim" : trim[2] ,
"speedBTrim" : trim[3] }
return trimDict
def getMovement( self ) :
self.__query( enums.MOTORQUERY_MOVEMENT , "MotorMovement" )
msg = self.getNextMsg()
if not msg :
return None
movement = ( userRange( msg.turnA ) ,
userRange( msg.turnB ) ,
userRange( msg.speedA ) ,
userRange( msg.speedB ) )
return movement
def getMovementDict( self ) :
movement = self.getMovement()
if not movement :
return None
movementDict = { "turnA" : movement[0] ,
"turnB" : movement[1] ,
"speedA" : movement[2] ,
"speedB" : movement[3] }
return movementDict
def getAllDict( self ) :
d = {}
for newDict in ( self.getStateDict() , self.getTrimDict() , self.getMovementDict() ) :
if newDict :
d.update( newDict )
return d
