def loggingUIMain(argv, stdout, env):
global master
#check arguments for a help flag
optlist, args = getopt.getopt(argv[1:], "h?", ["help"])
if filter(lambda x: x in ["-h", "-?", "--help"], optlist):
usage(stdout, argv[0])
return
# HACK to get things running
serverUri = 'http://localhost:%s/' % rospy.DEFAULT_TEST_PORT
print "TEST MODE: Providing ROS parameters manually"
print "NOTE: assuming server at %s" % serverUri
os.environ[rospy.ROS_PORT] = str(0) #any
os.environ[rospy.ROS_MASTER_URI] = serverUri
os.environ[rospy.ROS_NODE] = NAME
rospy.start() #blocks until connected to master
master = rospy.getMaster()
print "ready to run"
root = Tkinter.Tk()
#Tkinter.Button(root,text="Load Graph").pack()
#root.update()
f = InitialPrompt(root)
# root.wait_window(f.top)
# print "got my initial prompt"
#d = RecordManagement(root)
# print "record management has returned"
# root.wait_window(d.top)
# Tkinter.Button(root, text="test").pack()
# root.update()
root.mainloop()
def viewGraphMain(argv, stdout, env):
# default arguments
server = "http://localhost"
server_port = rospy.DEFAULT_TEST_PORT
#check arguments for a help flag
optlist, args = getopt.getopt(argv[1:], "h?p:s:",
["help", "port=", "server=", "test"])
for o, a in optlist:
if o in ("-h", "-?", "--help"):
usage(stdout, argv[0])
return
elif o in ("--test"):
server_port = rospy.DEFAULT_TEST_PORT
elif o in ("-p", "--port"):
server_port = a
elif o in ("-s", "--server"):
server = a
serverUri = '%s:%s/' % (server, server_port)
print "Looking for server at %s" % serverUri
os.environ[rospy.ROS_MASTER_URI] = serverUri
os.environ[rospy.ROS_NODE] = "viewGraph"
os.environ[rospy.ROS_PORT] = str(0) # any
master = rospy.getMaster()
rospy.ready()
while 1:
status_code, statusMessage, [nodes, flows] = master.getGraph()
# print 'nodes' + str(nodes)
# print 'flows ' + str(flows)
print '--------------------------------------------'
print 'This is the graph:'
print 'refreshing every 10 seconds'
print '--------------------------------------------'
for anode in nodes:
status_code, statusMessage, [machine, address,
port] = master.getNodeAddress(anode)
print 'NODE: ' + str(anode) + ' on ' + str(machine) + ' at ' + str(
address) + ' on port: ' + str(port)
for aflow in flows:
aflow_split = str(aflow[1]).split(':')
destination = aflow_split[0]
aflow_split_source = str(aflow[0]).split(':')
source = aflow_split_source[0]
if destination == anode:
print '\tINFLOW: ' + str(aflow_split[1]) + ' from: ' + str(
aflow[0])
if source == anode:
print '\tOUTFLOW: ' + str(
aflow_split_source[1]) + ' to: ' + str(aflow[1])
print '--------------------------------------------'
time.sleep(10.0)
def viewGraphMain(argv, stdout, env):
# default arguments
server = "http://localhost"
server_port = rospy.DEFAULT_TEST_PORT
#check arguments for a help flag
optlist, args = getopt.getopt(argv[1:], "h?p:s:", ["help","port=","server=","test"])
for o, a in optlist:
if o in ("-h","-?","--help"):
usage(stdout, argv[0])
return
elif o in ("--test"):
server_port = rospy.DEFAULT_TEST_PORT
elif o in ("-p", "--port"):
server_port = a
elif o in ("-s", "--server"):
server = a
serverUri = '%s:%s/'%(server,server_port)
print "Looking for server at %s"%serverUri
os.environ[rospy.ROS_MASTER_URI] = serverUri
os.environ[rospy.ROS_NODE] = "viewGraph"
os.environ[rospy.ROS_PORT] = str(0) # any
master = rospy.getMaster()
rospy.ready()
while 1:
status_code, statusMessage, [nodes,flows] = master.getGraph()
# print 'nodes' + str(nodes)
# print 'flows ' + str(flows)
print '--------------------------------------------'
print 'This is the graph:'
print 'refreshing every 10 seconds'
print '--------------------------------------------'
for anode in nodes:
status_code, statusMessage, [machine, address, port] = master.getNodeAddress(anode)
print 'NODE: ' + str(anode) + ' on ' + str(machine) + ' at ' + str(address) + ' on port: ' + str(port)
for aflow in flows:
aflow_split= str(aflow[1]).split(':')
destination = aflow_split[0]
aflow_split_source = str(aflow[0]).split(':')
source = aflow_split_source[0]
if destination == anode:
print '\tINFLOW: ' + str(aflow_split[1]) + ' from: ' + str(aflow[0])
if source == anode:
print '\tOUTFLOW: ' + str(aflow_split_source[1]) + ' to: ' + str(aflow[1])
print '--------------------------------------------'
time.sleep(10.0)
def viewGraphMain(argv, stdout, env):
# default arguments
server = "http://localhost"
server_port = rospy.DEFAULT_TEST_PORT
#check arguments for a help flag
optlist, args = getopt.getopt(argv[1:], "h?p:s:", ["help","port=","server=","test"])
for o, a in optlist:
if o in ("-h","-?","--help"):
usage(stdout, argv[0])
return
elif o in ("--test"):
server_port = rospy.DEFAULT_TEST_PORT
elif o in ("-p", "--port"):
server_port = a
elif o in ("-s", "--server"):
server = a
serverUri = '%s:%s/'%(server,server_port)
print "Looking for server at %s"%serverUri
os.environ[rospy.ROS_MASTER_URI] = serverUri
os.environ[rospy.ROS_NODE] = "watchBatteries"
os.environ[rospy.ROS_PORT] = str(0) # any
master = rospy.getMaster()
rospy.ready()
while 1:
print "-------------------------------------------------------------------"
print "Getting IBPS params from Parameter Server"
print "-------------------------------------------------------------------"
status_code, statusMessage, current = master.getParam('IBPS.current')
print "Current (A into Battery)"
print current
status_code, statusMessage, voltage = master.getParam('IBPS.voltage')
print "Voltage (V)"
print voltage
status_code, statusMessage, time_remaining = master.getParam('IBPS.time_remaining')
print "Time Remaining (minutes)"
print time_remaining
status_code, statusMessage, average_charge = master.getParam('IBPS.average_charge')
print "Average Charge (percentage)"
print average_charge
time.sleep(1.0)
def logging_nodeMain(argv, stdout, env):
#check arguments for a help flag
optlist, args = getopt.getopt(argv[1:], "h?", ["help"])
if filter(lambda x: x in ["-h", "-?", "--help"], optlist):
usage(stdout, argv[0])
return
rospy.start() #blocks until connected to master
master = rospy.getMaster()
#initialize flows
in_string_in = common_flows.FlowString(".input")
while 1: #TODO: replace with shutdown check
#read/publish flows
# - read inflow data
#print master.getParam('.name')
string_inData = in_string_in.receive()
print "logging_node recieved: " + string_inData.data
def logging_nodeMain(argv, stdout, env):
#check arguments for a help flag
optlist, args = getopt.getopt(argv[1:], "h?", ["help"])
if filter(lambda x: x in ["-h","-?","--help"], optlist):
usage(stdout, argv[0])
return
rospy.start() #blocks until connected to master
master = rospy.getMaster();
#initialize flows
in_string_in = common_flows.FlowString(".input")
while 1: #TODO: replace with shutdown check
#read/publish flows
# - read inflow data
#print master.getParam('.name')
string_inData = in_string_in.receive()
print "logging_node recieved: " + string_inData.data
def loggingUIMain(argv, stdout, env):
global master
#check arguments for a help flag
optlist, args = getopt.getopt(argv[1:], "h?", ["help"])
if filter(lambda x: x in ["-h","-?","--help"], optlist):
usage(stdout, argv[0])
return
# HACK to get things running
serverUri = 'http://localhost:%s/'%rospy.DEFAULT_TEST_PORT
print "TEST MODE: Providing ROS parameters manually"
print "NOTE: assuming server at %s"%serverUri
os.environ[rospy.ROS_PORT] = str(0) #any
os.environ[rospy.ROS_MASTER_URI] = serverUri
os.environ[rospy.ROS_NODE] = NAME
rospy.start() #blocks until connected to master
master = rospy.getMaster()
print "ready to run"
root = Tkinter.Tk()
#Tkinter.Button(root,text="Load Graph").pack()
#root.update()
f = InitialPrompt(root)
# root.wait_window(f.top)
# print "got my initial prompt"
#d = RecordManagement(root)
# print "record management has returned"
# root.wait_window(d.top)
# Tkinter.Button(root, text="test").pack()
# root.update()
root.mainloop()
def monitorBatteriesMain(argv, stdout, env):
# default arguments
server = "http://localhost"
server_port = rospy.DEFAULT_TEST_PORT
#check arguments for a help flag
optlist, args = getopt.getopt(argv[1:], "h?p:s:", ["help","port=","server=","test"])
for o, a in optlist:
if o in ("-h","-?","--help"):
usage(stdout, argv[0])
return
elif o in ("--test"):
server_port = rospy.DEFAULT_TEST_PORT
elif o in ("-p", "--port"):
server_port = a
elif o in ("-s", "--server"):
server = a
serverUri = '%s:%s/'%(server,server_port)
print "Looking for server at %s"%serverUri
os.environ[rospy.ROS_MASTER_URI] = serverUri
os.environ[rospy.ROS_NODE] = NAME
os.environ[rospy.ROS_PORT] = str(0) # any
master = rospy.getMaster()
rospy.ready()
setupPorts()
#f= open('testfile.txt','r')
f0 = open('/dev/ttyUSB0','r')
f1 = open('/dev/ttyUSB1','r')
f2 = open('/dev/ttyUSB2','r')
f3 = open('/dev/ttyUSB3','r')
# split on % to string and checksum
# check checksum
myPow = robotPower()
start_time = time.time()
last_time = start_time
while True:
current, blah, blah2 = select.select([f0,f1,f2,f3],[],[],1)
for f in current:
if f == f0:
port = 0;
port_string = 'f0'
if f == f1:
port = 1;
port_string = 'f1'
if f == f2:
port = 2;
port_string = 'f2'
if f == f3:
port = 3;
port_string = 'f3'
line = f.readline()
halves = line.split('%')
if len(halves) != 2:
# print 'I did not split on \% correctly'
continue
halves[1]=halves[1].strip()
halves[0]=halves[0].lstrip('$')
# print line
# print halves
# print len(halves)
# print checksum256(halves[0])
# print hex2dec(halves[1])
# print hex(255)
# read first char and switch
message = halves[0]
# case C controller
# split on commas
# first element is controller number
# for each pair
# read index 01-07
# record value
if len(message) < 2:
print "error message too short: \"%s\" from \"%s\""%(message, line)
print "This often indicates a misconfigured serial port check port:"
print f
continue
if message[0] == 'C':
controller_number = int(message[1])
#print 'Controller on port %s says:'%(port_string)
splitmessage = message.split(',')
#print 'batteries present'
#print readmask(splitmessage[2])
mask = readmask(splitmessage[2])
for i in range(0,8):
myPow.controllers[port].batteries[i].present = mask[i]
#print 'batteries charging'
#print readmask(splitmessage[4])
mask = readmask(splitmessage[2])
for i in range(0,8):
myPow.controllers[port].batteries[i].charging = mask[i]
#print 'batteries supplying power to system'
#print readmask(splitmessage[6])
mask = readmask(splitmessage[6])
for i in range(0,8):
myPow.controllers[port].batteries[i].supplying_power = mask[i]
#print 'batteries which have charge power present'
#print readmask(splitmessage[10])
mask = readmask(splitmessage[10])
for i in range(0,8):
myPow.controllers[port].batteries[i].w_charge_power = mask[i]
#print 'batteries with "Power no good"'
#print readmask(splitmessage[12])
mask = readmask(splitmessage[12])
for i in range(0,8):
myPow.controllers[port].batteries[i].power_no_good = mask[i]
#print 'batteries charge inhibited'
#print readmask(splitmessage[14])
mask = readmask(splitmessage[14])
for i in range(0,8):
myPow.controllers[port].batteries[i].charge_inhibited = mask[i]
else:
pass
if message[0] == 'B':
controller_number = int(message[1])
battery_number = int(message[2])
#print 'Battery %d on Controller %d'%(battery_number, controller_number)
splitmessage = message.split(',')
for i in range(0,(len(splitmessage)-1)/2):
key = splitmessage[i*2+1]
value = splitmessage[i*2+2]
# print 'key %s , value %s'%(splitmessage[i*2+1],splitmessage[i*2+2])
# print 'key %s , value dec %s'%(splitmessage[i*2+1],hex2dec(splitmessage[i*2+2]))
if key == '09':
#print 'voltage is %f'%(float(hex2dec(value))/1000.0)
myPow.controllers[port].batteries[battery_number].voltage = float(hex2dec(value))/1000.0
if key == '0A':
intval = float(hex2dec(value))
if intval < 32767:
val = intval
else:
val = (intval - 65636.0)
#print 'current is %f'%(val/1000.0)
myPow.controllers[port].batteries[battery_number].current = val/1000.0
# case B battery
# split on commas
# first number is battery number
# foreach pair
# lookup index
# record value cast properly so pages 13 to 35
#case S system data
if message[0] == 'S':
splitmessage = message.split(',')
#print 'System Message'
for i in range(0,(len(splitmessage)-1)/2):
key = splitmessage[i*2+1]
value = splitmessage[i*2+2]
# print 'key %s , value %s'%(key,value)
# print 'key %s , value dec %s'%(key,hex2dec(value))
if key == '01':
#print 'time until exhaustion = %s minutes'%hex2dec(value)
myPow.controllers[port].time_remaining = int(hex2dec(value))
if key == '02':
#reserved
pass
if key == '03':
#print 'text message to the system %s'%value
myPow.controllers[port].new_system_message(value)
if key == '04':
#print 'average charge percent %d'% hex2dec(value)
myPow.controllers[port].average_charge = int(hex2dec(value))
#print time.time()
increment = 1.0
if time.time() - last_time > increment:
last_time = last_time + increment
print "displaying to screen"
myPow.print_remaining()
print "updating param server"
myPow.updateParamServer(master)
def renderGraphMain(argv, stdout, env):
# default arguments
server = "http://localhost"
server_port = rospy.DEFAULT_TEST_PORT
#check arguments for a help flag
optlist, args = getopt.getopt(argv[1:], "h?p:s:",
["help", "port=", "server=", "test"])
for o, a in optlist:
if o in ("-h", "-?", "--help"):
usage(stdout, argv[0])
return
elif o in ("--test"):
server_port = rospy.DEFAULT_TEST_PORT
elif o in ("-p", "--port"):
server_port = a
elif o in ("-s", "--server"):
server = a
serverUri = '%s:%s/' % (server, server_port)
print "Looking for server at %s" % serverUri
os.environ[rospy.ROS_MASTER_URI] = serverUri
os.environ[rospy.ROS_NODE] = NAME
os.environ[rospy.ROS_PORT] = str(0) # any
master = rospy.getMaster()
out_FlowImageString = OutflowpyImageString(".imageOut")
require(
master.addMachine('default', rospy.getRosRoot(), 'localhost', 22, '',
''))
require(
master.addNode('', 'imageViewer', 'pyImageViewer', 'imageViewer',
'default', 0))
rospy.ready()
require(
master.connectFlow(out_FlowImageString.locator, "imageViewer:imageIn",
1))
while not rospy.isShutdown():
status_code, statusMessage, [nodes, flows] = master.getGraph()
# print 'nodes' + str(nodes)
# print 'flows ' + str(flows)
print '--------------------------------------------'
print 'This is the graph:'
print 'refreshing every ' + str(sleep_time) + ' seconds'
print '--------------------------------------------'
for anode in nodes:
status_code, statusMessage, [machine, address,
port] = master.getNodeAddress(anode)
print 'NODE: ' + str(anode) + ' on ' + str(machine) + ' at ' + str(
address) + ' on port: ' + str(port)
for aflow in flows:
aflow_split = str(aflow[1]).split('.')
destination = aflow_split[0]
aflow_split_source = str(aflow[0]).split('.')
source = aflow_split_source[0]
if destination == anode:
print '\tINFLOW: ' + str(aflow_split[1]) + ' from: ' + str(
aflow[0])
if source == anode:
print '\tOUTFLOW: ' + str(
aflow_split_source[1]) + ' to: ' + str(aflow[1])
output_file = 'ROSGraph.jpeg'
pid = os.fork(
) # This is a hack to get around an underlying memory leak in
# the agraph library.
if pid == 0:
#print "starting yapgvb process"
try:
print '--------------------------------------------'
ygraph = yapgvb.Digraph('ROSGraph')
gnodes = {}
for anode in nodes:
gnodes[anode] = ygraph.add_node(label=anode)
#print "added allnodes"
#print flows
for aflow in flows:
aflow_split = str(aflow[1]).split(':')
destination = aflow_split[0]
aflow_split_source = str(aflow[0]).split(':')
source = aflow_split_source[0]
gnodes[source] >> gnodes[destination]
#print "done setting up graph for rendering"
ygraph.layout(yapgvb.engines.dot)
ygraph.render(output_file)
finally:
mpid = os.getpid()
os.kill(mpid, 9)
else:
os.wait()
# Wrap up the image and send it out over a flow
imToSend = Image.open(output_file)
future_packet = pyImageString()
future_packet.imageString = imToSend.tostring()
future_packet.imageFormat = "RGB"
future_packet.width, future_packet.height = imToSend.size
out_FlowImageString.publish(future_packet)
# don't loop too fast
time.sleep(sleep_time)
def renderGraphMain(argv, stdout, env):
# default arguments
server = "http://localhost"
server_port = rospy.DEFAULT_TEST_PORT
#check arguments for a help flag
optlist, args = getopt.getopt(argv[1:], "h?p:s:", ["help","port=","server=","test"])
for o, a in optlist:
if o in ("-h","-?","--help"):
usage(stdout, argv[0])
return
elif o in ("--test"):
server_port = rospy.DEFAULT_TEST_PORT
elif o in ("-p", "--port"):
server_port = a
elif o in ("-s", "--server"):
server = a
serverUri = '%s:%s/'%(server,server_port)
print "Looking for server at %s"%serverUri
os.environ[rospy.ROS_MASTER_URI] = serverUri
os.environ[rospy.ROS_NODE] = NAME
os.environ[rospy.ROS_PORT] = str(0) # any
master = rospy.getMaster()
out_FlowImageString = OutflowpyImageString(".imageOut")
require(master.addMachine('default', rospy.getRosRoot(), 'localhost', 22, '', ''))
require(master.addNode('','imageViewer','pyImageViewer','imageViewer','default',0))
rospy.ready()
require(master.connectFlow(out_FlowImageString.locator, "imageViewer:imageIn",1))
while not rospy.isShutdown():
status_code, statusMessage, [nodes,flows] = master.getGraph()
# print 'nodes' + str(nodes)
# print 'flows ' + str(flows)
print '--------------------------------------------'
print 'This is the graph:'
print 'refreshing every '+str(sleep_time)+' seconds'
print '--------------------------------------------'
for anode in nodes:
status_code, statusMessage, [machine, address, port] = master.getNodeAddress(anode)
print 'NODE: ' + str(anode) + ' on ' + str(machine) + ' at ' + str(address) + ' on port: ' + str(port)
for aflow in flows:
aflow_split= str(aflow[1]).split('.')
destination = aflow_split[0]
aflow_split_source = str(aflow[0]).split('.')
source = aflow_split_source[0]
if destination == anode:
print '\tINFLOW: ' + str(aflow_split[1]) + ' from: ' + str(aflow[0])
if source == anode:
print '\tOUTFLOW: ' + str(aflow_split_source[1]) + ' to: ' + str(aflow[1])
output_file = 'ROSGraph.jpeg'
pid = os.fork() # This is a hack to get around an underlying memory leak in
# the agraph library.
if pid == 0:
#print "starting yapgvb process"
try:
print '--------------------------------------------'
ygraph = yapgvb.Digraph('ROSGraph');
gnodes = {}
for anode in nodes:
gnodes[anode] = ygraph.add_node(label = anode)
#print "added allnodes"
#print flows
for aflow in flows:
aflow_split= str(aflow[1]).split(':')
destination = aflow_split[0]
aflow_split_source = str(aflow[0]).split(':')
source = aflow_split_source[0]
gnodes[source] >> gnodes[destination]
#print "done setting up graph for rendering"
ygraph.layout(yapgvb.engines.dot)
ygraph.render(output_file)
finally:
mpid = os.getpid()
os.kill(mpid,9)
else:
os.wait()
# Wrap up the image and send it out over a flow
imToSend = Image.open(output_file)
future_packet = pyImageString()
future_packet.imageString = imToSend.tostring()
future_packet.imageFormat = "RGB"
future_packet.width, future_packet.height = imToSend.size
out_FlowImageString.publish(future_packet)
# don't loop too fast
time.sleep(sleep_time)
def monitorBatteriesMain(argv, stdout, env):
# default arguments
server = "http://localhost"
server_port = rospy.DEFAULT_TEST_PORT
#check arguments for a help flag
optlist, args = getopt.getopt(argv[1:], "h?p:s:",
["help", "port=", "server=", "test"])
for o, a in optlist:
if o in ("-h", "-?", "--help"):
usage(stdout, argv[0])
return
elif o in ("--test"):
server_port = rospy.DEFAULT_TEST_PORT
elif o in ("-p", "--port"):
server_port = a
elif o in ("-s", "--server"):
server = a
serverUri = '%s:%s/' % (server, server_port)
print "Looking for server at %s" % serverUri
os.environ[rospy.ROS_MASTER_URI] = serverUri
os.environ[rospy.ROS_NODE] = NAME
os.environ[rospy.ROS_PORT] = str(0) # any
master = rospy.getMaster()
rospy.ready()
setupPorts()
#f= open('testfile.txt','r')
f0 = open('/dev/ttyUSB0', 'r')
f1 = open('/dev/ttyUSB1', 'r')
f2 = open('/dev/ttyUSB2', 'r')
f3 = open('/dev/ttyUSB3', 'r')
# split on % to string and checksum
# check checksum
myPow = robotPower()
start_time = time.time()
last_time = start_time
while True:
current, blah, blah2 = select.select([f0, f1, f2, f3], [], [], 1)
for f in current:
if f == f0:
port = 0
port_string = 'f0'
if f == f1:
port = 1
port_string = 'f1'
if f == f2:
port = 2
port_string = 'f2'
if f == f3:
port = 3
port_string = 'f3'
line = f.readline()
halves = line.split('%')
if len(halves) != 2:
# print 'I did not split on \% correctly'
continue
halves[1] = halves[1].strip()
halves[0] = halves[0].lstrip('$')
# print line
# print halves
# print len(halves)
# print checksum256(halves[0])
# print hex2dec(halves[1])
# print hex(255)
# read first char and switch
message = halves[0]
# case C controller
# split on commas
# first element is controller number
# for each pair
# read index 01-07
# record value
if len(message) < 2:
print "error message too short: \"%s\" from \"%s\"" % (message,
line)
print "This often indicates a misconfigured serial port check port:"
print f
continue
if message[0] == 'C':
controller_number = int(message[1])
#print 'Controller on port %s says:'%(port_string)
splitmessage = message.split(',')
#print 'batteries present'
#print readmask(splitmessage[2])
mask = readmask(splitmessage[2])
for i in range(0, 8):
myPow.controllers[port].batteries[i].present = mask[i]
#print 'batteries charging'
#print readmask(splitmessage[4])
mask = readmask(splitmessage[2])
for i in range(0, 8):
myPow.controllers[port].batteries[i].charging = mask[i]
#print 'batteries supplying power to system'
#print readmask(splitmessage[6])
mask = readmask(splitmessage[6])
for i in range(0, 8):
myPow.controllers[port].batteries[
i].supplying_power = mask[i]
#print 'batteries which have charge power present'
#print readmask(splitmessage[10])
mask = readmask(splitmessage[10])
for i in range(0, 8):
myPow.controllers[port].batteries[i].w_charge_power = mask[
i]
#print 'batteries with "Power no good"'
#print readmask(splitmessage[12])
mask = readmask(splitmessage[12])
for i in range(0, 8):
myPow.controllers[port].batteries[i].power_no_good = mask[
i]
#print 'batteries charge inhibited'
#print readmask(splitmessage[14])
mask = readmask(splitmessage[14])
for i in range(0, 8):
myPow.controllers[port].batteries[
i].charge_inhibited = mask[i]
else:
pass
if message[0] == 'B':
controller_number = int(message[1])
battery_number = int(message[2])
#print 'Battery %d on Controller %d'%(battery_number, controller_number)
splitmessage = message.split(',')
for i in range(0, (len(splitmessage) - 1) / 2):
key = splitmessage[i * 2 + 1]
value = splitmessage[i * 2 + 2]
# print 'key %s , value %s'%(splitmessage[i*2+1],splitmessage[i*2+2])
# print 'key %s , value dec %s'%(splitmessage[i*2+1],hex2dec(splitmessage[i*2+2]))
if key == '09':
#print 'voltage is %f'%(float(hex2dec(value))/1000.0)
myPow.controllers[
port].batteries[battery_number].voltage = float(
hex2dec(value)) / 1000.0
if key == '0A':
intval = float(hex2dec(value))
if intval < 32767:
val = intval
else:
val = (intval - 65636.0)
#print 'current is %f'%(val/1000.0)
myPow.controllers[port].batteries[
battery_number].current = val / 1000.0
# case B battery
# split on commas
# first number is battery number
# foreach pair
# lookup index
# record value cast properly so pages 13 to 35
#case S system data
if message[0] == 'S':
splitmessage = message.split(',')
#print 'System Message'
for i in range(0, (len(splitmessage) - 1) / 2):
key = splitmessage[i * 2 + 1]
value = splitmessage[i * 2 + 2]
# print 'key %s , value %s'%(key,value)
# print 'key %s , value dec %s'%(key,hex2dec(value))
if key == '01':
#print 'time until exhaustion = %s minutes'%hex2dec(value)
myPow.controllers[port].time_remaining = int(
hex2dec(value))
if key == '02':
#reserved
pass
if key == '03':
#print 'text message to the system %s'%value
myPow.controllers[port].new_system_message(value)
if key == '04':
#print 'average charge percent %d'% hex2dec(value)
myPow.controllers[port].average_charge = int(
hex2dec(value))
#print time.time()
increment = 1.0
if time.time() - last_time > increment:
last_time = last_time + increment
print "displaying to screen"
myPow.print_remaining()
print "updating param server"
myPow.updateParamServer(master)
