def setupParams(self):
self.cmdCounterMax = 255 # DEPRECATED - TODO - DELETE
self.cmdCounterThreshold = 10 # DEPRECATED - TODO - DELETE
self.commStartTime = []
#self.cmdRelayBuffer = []
self.cmdHistory = deque(
maxlen=50) # FIFO list of last commands received
# Node status
self.nodeStatus = [
NodeState(node + 1) for node in range(self.config.maxNumNodes)
]
# Formation clock
self.clock = FormationClock()
# TDMA Failsafe status
self.tdmaStatus = TDMAStatus.nominal
self.frameStartTime = [] # DEPRECATED - REMOVE
self.tdmaFailsafe = False
self.timeOffsetTimer = None
if (self.config.commConfig['fpga'] == True):
# Setup FPGA failsafe status pin
self.fpgaFailsafePin = self.config.commConfig['fpgaFailsafePin']
GPIO.setup(self.fpgaFailsafePin, "in")
else:
self.fpgaFailsafePin = []
# Comm link status
self.linkStatus = [[
LinkStatus.NoLink for i in range(self.config.maxNumNodes)
] for j in range(self.config.maxNumNodes)]
def __init__(self, ppsPin, timerUpdate):
threading.Thread.__init__(self)
# Setup PPS GPIO pin
self.ppsPin = ppsPin
GPIO.setup(ppsPin, "in")
self.stopThread = False
self.timerUpdate = timerUpdate
def __init__(self, serial, config, sleepPin=[]):
Radio.__init__(self, serial, config)
self.sleepPin = sleepPin
# Setup sleep pin
if self.sleepPin:
GPIO.setup(self.sleepPin, "out")
self.setOff() # default to off mode
pass
def __init__(self, initBound, useLEDs=False):
self.initSyncBound = initBound
self.gpsdActive = True
self.useLEDs = useLEDs
# Set up logging to syslog
formatter = logging.Formatter(
'%(module)s: [%(levelname)s] %(message)s')
self.sysLogger = logging.getLogger(__name__)
self.sysLogger.setLevel(logging.DEBUG)
syslogHandler = logging.handlers.SysLogHandler(address='/dev/log')
syslogHandler.setFormatter(formatter)
self.sysLogger.addHandler(syslogHandler)
# Set up LEDs
if (self.useLEDs):
GPIO.setup("P8_15", "out")
GPIO.output("P8_15", "low")
GPIO.setup("P8_16", "out")
GPIO.output("P8_16", "low")
GPIO.setup("P8_17", "out")
GPIO.output("P8_17", "low")
GPIO.setup("P8_18", "out")
GPIO.output("P8_18", "low")
# Time sync variables
self.timeSyncTime = 0.0
def readNodeId(self):
'''Determines node ID of this node by reading the GPIO input values wired to the DIP switches on the node formation cape.'''
if not isBeaglebone(): # not a Beaglebone (assumed to be gcs)
self.nodeId = self.maxNumNodes
return
import mesh.generic.gpio as GPIO
# Enable switches
GPIO.setup("P8_7", "in")
GPIO.setup("P8_8", "in")
GPIO.setup("P8_10", "in")
if(GPIO.input("P8_7") == 0 and GPIO.input("P8_8") == 0 and GPIO.input("P8_10") == 0):
if (self.gcsPresent): # ground node
self.nodeId = self.maxNumNodes
else: # Node disabled
print("Invalid Node ID switch settings. Exiting node control script")
sys.exit()
elif(GPIO.input("P8_7") == 0 and GPIO.input("P8_8") == 1 and GPIO.input("P8_10") == 0):
self.nodeId = 1
elif(GPIO.input("P8_7") == 1 and GPIO.input("P8_8") == 0 and GPIO.input("P8_10") == 0):
self.nodeId = 2
elif(GPIO.input("P8_7") == 1 and GPIO.input("P8_8") == 1 and GPIO.input("P8_10") == 0):
self.nodeId = 3
elif(GPIO.input("P8_7") == 0 and GPIO.input("P8_8") == 0 and GPIO.input("P8_10") == 1):
self.nodeId = 4
elif(GPIO.input("P8_7") == 0 and GPIO.input("P8_8") == 1 and GPIO.input("P8_10") == 1):
self.nodeId = 5
elif(GPIO.input("P8_7") == 1 and GPIO.input("P8_8") == 0 and GPIO.input("P8_10") == 1):
self.nodeId = 6
elif(GPIO.input("P8_7") == 1 and GPIO.input("P8_8") == 1 and GPIO.input("P8_10") == 1):
self.nodeId = 7
else:
# Node disabled
print("Node is disabled. Exiting node control script")
sys.exit()
print("Node id: " + str(self.nodeId))
# Set ip address and hostname based on node id
if self.nodeId > 0:
os.system('sudo hostname node' + str(self.nodeId))
os.system('sudo ifconfig eth0 192.168.0.' + str(self.nodeId) + '0')
os.system('sudo route add default gw 192.168.0.1')
with open("hostname", "a") as f:
f.write("node" + str(self.nodeId))
with open("hosts", "a") as f:
f.write("127.0.0.1 localhost.localdomain localhost \n")
f.write("127.0.0.1 node" + str(self.nodeId))
os.system("sudo mv hostname /etc/")
os.system("sudo mv hosts /etc/")