def __init__(self, transport=None, stdout=None):
# cmd Initialization and configuration
cmd.Cmd.__init__(self, stdout=stdout)
self.intro = 'pytelemetry terminal started.' \
+ ' (type help for a list of commands.)'
self.prompt = ':> '
self.file = None
# pytelemetry setup
if not transport:
self.transport = transports.SerialTransport()
else:
self.transport = transport
self.telemetry = Pytelemetry(self.transport)
self.topics = Topics()
self.plots = []
self.plotsLock = Lock()
self.runner = Runner(self.transport, self.telemetry, self.plots,
self.plotsLock, self.topics)
self.telemetry.subscribe(None, self.topics.process)
self.types_lookup = {
'--s': 'string',
'--u8': 'uint8',
'--u16': 'uint16',
'--u32': 'uint32',
'--i8': 'int8',
'--i16': 'int16',
'--i32': 'int32',
'--f32': 'float32'
}
logger.info("Module path : %s" %
os.path.dirname(os.path.realpath(__file__)))
try:
logger.info("Module version : %s" % __version__)
except:
logger.warning("Module version : not found.")
def __init__(self, transport=None, stdout=None):
# cmd Initialization and configuration
cmd.Cmd.__init__(self,stdout=stdout)
self.intro = 'pytelemetry terminal started.' \
+ ' (type help for a list of commands.)'
self.prompt = ':> '
self.file = None
# pytelemetry setup
if not transport:
self.transport = transports.SerialTransport()
else:
self.transport = transport
self.telemetry = Pytelemetry(self.transport)
self.topics = Topics()
self.plots = []
self.plotsLock = Lock()
self.runner = Runner(self.transport,
self.telemetry,
self.plots,
self.plotsLock,
self.topics)
self.telemetry.subscribe(None,self.topics.process)
self.types_lookup = {'--s' : 'string',
'--u8' : 'uint8',
'--u16' : 'uint16',
'--u32' : 'uint32',
'--i8' : 'int8',
'--i16' : 'int16',
'--i32' : 'int32',
'--f32' : 'float32'}
logger.info("Module path : %s" % os.path.dirname(os.path.realpath(__file__)))
try:
logger.info("Module version : %s" % __version__)
except:
logger.warning("Module version : not found.")
class Application(cmd.Cmd):
def __init__(self, transport=None, stdout=None):
# cmd Initialization and configuration
cmd.Cmd.__init__(self, stdout=stdout)
self.intro = 'pytelemetry terminal started.' \
+ ' (type help for a list of commands.)'
self.prompt = ':> '
self.file = None
# pytelemetry setup
if not transport:
self.transport = transports.SerialTransport()
else:
self.transport = transport
self.telemetry = Pytelemetry(self.transport)
self.topics = Topics()
self.plots = []
self.plotsLock = Lock()
self.runner = Runner(self.transport, self.telemetry, self.plots,
self.plotsLock, self.topics)
self.telemetry.subscribe(None, self.topics.process)
self.types_lookup = {
'--s': 'string',
'--u8': 'uint8',
'--u16': 'uint16',
'--u32': 'uint32',
'--i8': 'int8',
'--i16': 'int16',
'--i32': 'int32',
'--f32': 'float32'
}
logger.info("Module path : %s" %
os.path.dirname(os.path.realpath(__file__)))
try:
logger.info("Module version : %s" % __version__)
except:
logger.warning("Module version : not found.")
def emptyline(self):
pass # Override default behavior to repeat last command if empty input
@docopt_cmd
def do_serial(self, arg):
"""
List serial ports or connect to one of them.
Usage: serial ((-l | --list) | <port> [options])
Options:
-b X, --bauds X Connection speed in bauds [default: 9600]
"""
if arg['--list'] or arg['-l']:
self.stdout.write("Available COM ports:\n")
for port, desc, hid in list_ports.comports():
self.stdout.write("%s \t %s\n" % (port, desc))
return
try:
self.runner.disconnect()
logger.warn("User requested connect without desconnecting first.")
except (IOError, AttributeError) as e:
logger.warn(
"Already disconnected. Continuing happily. E : {0}".format(e))
pass
self.topics.clear()
logger.info("Cleared all topics for new session.")
self.transport.resetStats(averaging_window=10)
self.runner.resetStats()
self.telemetry.resetStats()
logger.info("Cleared all stats for new session.")
try:
b = int(arg['--bauds'])
self.runner.connect(arg['<port>'], b)
except IOError as e:
self.stdout.write(
"Failed to connect to {0} at {1} (bauds).\n".format(
arg['<port>'], b))
logger.warn(
"Failed to connect to {0} at {1} (bauds). E : \n".format(
arg['<port>'], b, e))
else:
s = "Connected to {0} at {1} (bauds).\n".format(arg['<port>'], b)
self.stdout.write(s)
logger.info(s)
@docopt_cmd
def do_print(self, arg):
"""
Prints X last received samples from <topic>.
Usage: print <topic> [options]
Options:
-a, --all Display all received samples under <topic>
-l X, --limit X Display X last received samples under <topic> [default: 1]
"""
topic = arg['<topic>']
if not self.topics.exists(topic):
s = "Topic '{0}' unknown. Type 'ls' to list all available topics.\n".format(
topic)
self.stdout.write(s)
logger.warn(s)
return
try:
if arg['--all']:
amount = 0 # 0 is understood as 'return all samples' by self.topics.samples()
else:
amount = int(arg['--limit'])
except:
s = "Could not cast --limit = '{0}' to integer. Using 1.\n".format(
arg['--limit'])
self.stdout.write(s)
logger.warn(s)
amount = 1
s = self.topics.samples(topic, amount)
if s is not None:
for i in s:
self.stdout.write("{0}\n".format(i))
else:
logger.error(
"Could not retrieve {0} sample(s) under topic '{1}'.\n".format(
amount, topic))
@docopt_cmd
def do_ls(self, arg):
"""
Prints available topics. Topics are basically labels under which data is available (for display, plot, etc).
Data can come from remote source (a connected embedded device) or the command-line interface itself (reception speed, etc).
Without flags, prints a list of remote topics.
Usage: ls [options]
Options:
-c, --cli Prints all CLI topics. Use this to display topics for monitoring reception speed, errors amount, etc.
"""
if arg['--cli']:
for topic in self.topics.ls(source='cli'):
self.stdout.write("%s\n" % topic)
return
for topic in self.topics.ls(source='remote'):
self.stdout.write("%s\n" % topic)
@docopt_cmd
def do_plot(self, arg):
"""
Plots <topic> in a graph window.
Usage: plot <topic>
"""
topic = arg['<topic>']
if not self.topics.exists(topic):
s = "Topic '{0}' unknown. Type 'ls' to list all available topics.\n".format(
topic)
self.stdout.write(s)
logger.warn(s)
return
if self.topics.intransfer(topic):
s = "Topic '{0}' already plotting.\n".format(topic)
self.stdout.write(s)
logger.warn(s)
return
has_indexes = self.topics.has_indexed_data(arg['<topic>'])
if has_indexes:
plotType = PlotType.indexed
transferType = "indexed"
else:
plotType = PlotType.linear
transferType = "linear"
p = Superplot(topic, plotType)
q, ctrl = p.start()
# Protect self.plots from modifications from the runner thread
self.plotsLock.acquire()
self.plots.append({
'topic': topic,
'plot': p, # Plot handler
'queue': q, # Data queue
'ctrl': ctrl # Plot control pipe
})
self.plotsLock.release()
self.topics.transfer(topic, q, transfer_type=transferType)
s = "Plotting '{0}' in mode [{1}].\n".format(topic, transferType)
logger.info(s)
self.stdout.write(s)
@docopt_cmd
def do_pub(self, arg):
"""
Publishes a (value | string) on <topic>.
Usage: pub (--u8 | --u16 | --u32 | --i8 | --i16 | --i32 | --f32 | --s) <topic> <value>
"""
if arg['--f32']:
arg['<value>'] = float(arg['<value>'])
elif not arg['--s']:
try:
arg['<value>'] = int(arg['<value>'])
except:
# User most likely entered a float with an integer flag
inter = float(arg['<value>'])
rounded = int(inter)
if isclose(inter, rounded):
arg['<value>'] = rounded
else:
s = "Aborted : Wrote decimal number ({0}) with integer flag.".format(
arg['<value>'])
self.stdout.write(s + "\n")
logger.warning(s)
return
subset = {
k: arg[k]
for k in ("--u8", "--u16", "--u32", "--i8", "--i16", "--i32",
"--f32", "--s")
}
valtype = None
for i, k in subset.items():
if k:
valtype = self.types_lookup[i]
if not valtype:
logger.error("Payload type [{0}] unkown.".format(arg))
return
try:
self.telemetry.publish(arg['<topic>'], arg['<value>'], valtype)
except SerialTimeoutException as e:
self.stdout.write("Pub failed. Connection most likely terminated.")
logger.error(
"Pub failed. Connection most likely terminated. exception : %s"
% e)
return
except AttributeError as e:
self.stdout.write(
"Pub failed because you are not connected to any device. Connect first using `serial` command."
)
logger.warning(
"Trying to publish while not connected. exception : %s" % e)
return
s = "Published on topic '{0}' : {1} [{2}]".format(
arg['<topic>'], arg['<value>'], valtype)
self.stdout.write(s + "\n")
logger.info(s)
@docopt_cmd
def do_count(self, arg):
"""
Prints a count of received samples for each topic.
Usage: count
"""
for topic in self.topics.ls():
self.stdout.write("{0} : {1}\n".format(topic,
self.topics.count(topic)))
@docopt_cmd
def do_disconnect(self, arg):
"""
Disconnects from any open connection.
Usage: disconnect
"""
try:
self.runner.disconnect()
self.stdout.write("Disconnected.\n")
logger.info("Disconnected.")
measures = self.transport.stats()
for key, item in measures.items():
logger.info("Raw IO : %s : %s" % (key, item))
measures = self.runner.stats()
for key, item in measures.items():
logger.info("IO speeds : %s : %s" % (key, item))
measures = self.telemetry.stats()
for key, item in measures['framing'].items():
logger.info("Framing : %s : %s" % (key, item))
for key, item in measures['protocol'].items():
logger.info("Protocol : %s : %s" % (key, item))
logger.info("Logged session statistics.")
except:
logger.warn("Already disconnected. Continuing happily.")
@docopt_cmd
def do_info(self, arg):
"""
Prints out cli.py full path, module version.
Usage: info
"""
self.stdout.write("- CLI path : %s\n" %
os.path.dirname(os.path.realpath(__file__)))
try:
self.stdout.write("- version : %s\n" % __version__)
except:
self.stdout.write("- version : not found.\n")
@docopt_cmd
def do_stats(self, arg):
"""
Displays different metrics about the active transport (ex : serial port).
This allows you to know if for instance corrupted frames are received, what fraction
of the maximum baudrate is being used, etc.
Usage: stats
"""
measures = self.transport.stats()
self.stdout.write("Raw IO:\n")
for key, item in measures.items():
self.stdout.write("\t%s : %s\n" % (key, item))
measures = self.runner.stats()
self.stdout.write("IO speeds:\n")
for key, item in measures.items():
self.stdout.write("\t%s : %s\n" % (key, item))
measures = self.telemetry.stats()
self.stdout.write("Framing:\n")
for key, item in measures['framing'].items():
self.stdout.write("\t%s : %s\n" % (key, item))
self.stdout.write("Protocol:\n")
for key, item in measures['protocol'].items():
self.stdout.write("\t%s : %s\n" % (key, item))
def do_quit(self, arg):
"""
Exits the terminal application.
Usage: quit
"""
self.runner.terminate()
self.do_disconnect("")
self.stdout.write("Good Bye!\n")
logger.info("Application quit.")
exit()
class Application (cmd.Cmd):
def __init__(self, transport=None, stdout=None):
# cmd Initialization and configuration
cmd.Cmd.__init__(self,stdout=stdout)
self.intro = 'pytelemetry terminal started.' \
+ ' (type help for a list of commands.)'
self.prompt = ':> '
self.file = None
# pytelemetry setup
if not transport:
self.transport = transports.SerialTransport()
else:
self.transport = transport
self.telemetry = Pytelemetry(self.transport)
self.topics = Topics()
self.plots = []
self.plotsLock = Lock()
self.runner = Runner(self.transport,
self.telemetry,
self.plots,
self.plotsLock,
self.topics)
self.telemetry.subscribe(None,self.topics.process)
self.types_lookup = {'--s' : 'string',
'--u8' : 'uint8',
'--u16' : 'uint16',
'--u32' : 'uint32',
'--i8' : 'int8',
'--i16' : 'int16',
'--i32' : 'int32',
'--f32' : 'float32'}
logger.info("Module path : %s" % os.path.dirname(os.path.realpath(__file__)))
try:
logger.info("Module version : %s" % __version__)
except:
logger.warning("Module version : not found.")
def emptyline(self):
pass # Override default behavior to repeat last command if empty input
@docopt_cmd
def do_serial(self, arg):
"""
List serial ports or connect to one of them.
Usage: serial ((-l | --list) | <port> [options])
Options:
-b X, --bauds X Connection speed in bauds [default: 9600]
"""
if arg['--list'] or arg['-l']:
self.stdout.write("Available COM ports:\n")
for port,desc,hid in list_ports.comports():
self.stdout.write("%s \t %s\n" % (port,desc))
return
try:
self.runner.disconnect()
logger.warn("User requested connect without desconnecting first.")
except (IOError,AttributeError) as e:
logger.warn("Already disconnected. Continuing happily. E : {0}"
.format(e))
pass
self.topics.clear()
logger.info("Cleared all topics for new session.")
self.transport.resetStats(averaging_window=10)
self.runner.resetStats()
self.telemetry.resetStats()
logger.info("Cleared all stats for new session.")
try:
b = int(arg['--bauds'])
self.runner.connect(arg['<port>'],b)
except IOError as e:
self.stdout.write("Failed to connect to {0} at {1} (bauds).\n"
.format(arg['<port>'],b))
logger.warn("Failed to connect to {0} at {1} (bauds). E : \n"
.format(arg['<port>'],b,e))
else:
s = "Connected to {0} at {1} (bauds).\n".format(arg['<port>'],b)
self.stdout.write(s)
logger.info(s)
@docopt_cmd
def do_print(self, arg):
"""
Prints X last received samples from <topic>.
Usage: print <topic> [options]
Options:
-a, --all Display all received samples under <topic>
-l X, --limit X Display X last received samples under <topic> [default: 1]
"""
topic = arg['<topic>']
if not self.topics.exists(topic):
s = "Topic '{0}' unknown. Type 'ls' to list all available topics.\n".format(topic)
self.stdout.write(s)
logger.warn(s)
return
try:
if arg['--all']:
amount = 0 # 0 is understood as 'return all samples' by self.topics.samples()
else:
amount = int(arg['--limit'])
except:
s = "Could not cast --limit = '{0}' to integer. Using 1.\n".format(arg['--limit'])
self.stdout.write(s)
logger.warn(s)
amount = 1
s = self.topics.samples(topic,amount)
if s is not None:
for i in s:
self.stdout.write("{0}\n".format(i))
else:
logger.error("Could not retrieve {0} sample(s) under topic '{1}'.\n".format(amount,topic))
@docopt_cmd
def do_ls(self, arg):
"""
Prints available topics. Topics are basically labels under which data is available (for display, plot, etc).
Data can come from remote source (a connected embedded device) or the command-line interface itself (reception speed, etc).
Without flags, prints a list of remote topics.
Usage: ls [options]
Options:
-c, --cli Prints all CLI topics. Use this to display topics for monitoring reception speed, errors amount, etc.
"""
if arg['--cli']:
for topic in self.topics.ls(source='cli'):
self.stdout.write("%s\n" % topic)
return
for topic in self.topics.ls(source='remote'):
self.stdout.write("%s\n" % topic)
@docopt_cmd
def do_plot(self, arg):
"""
Plots <topic> in a graph window.
Usage: plot <topic>
"""
topic = arg['<topic>']
if not self.topics.exists(topic):
s = "Topic '{0}' unknown. Type 'ls' to list all available topics.\n".format(topic)
self.stdout.write(s)
logger.warn(s)
return
if self.topics.intransfer(topic):
s = "Topic '{0}' already plotting.\n".format(topic)
self.stdout.write(s)
logger.warn(s)
return
has_indexes = self.topics.has_indexed_data(arg['<topic>'])
if has_indexes:
plotType = PlotType.indexed
transferType = "indexed"
else:
plotType = PlotType.linear
transferType = "linear"
p = Superplot(topic,plotType)
q, ctrl = p.start()
# Protect self.plots from modifications from the runner thread
self.plotsLock.acquire()
self.plots.append({
'topic': topic,
'plot': p, # Plot handler
'queue': q, # Data queue
'ctrl': ctrl # Plot control pipe
})
self.plotsLock.release()
self.topics.transfer(topic,q, transfer_type=transferType)
s = "Plotting '{0}' in mode [{1}].\n".format(topic,transferType)
logger.info(s)
self.stdout.write(s)
@docopt_cmd
def do_pub(self, arg):
"""
Publishes a (value | string) on <topic>.
Usage: pub (--u8 | --u16 | --u32 | --i8 | --i16 | --i32 | --f32 | --s) <topic> <value>
"""
if arg['--f32']:
arg['<value>'] = float(arg['<value>'])
elif not arg['--s']:
try:
arg['<value>'] = int(arg['<value>'])
except:
# User most likely entered a float with an integer flag
inter = float(arg['<value>'])
rounded = int(inter)
if isclose(inter,rounded):
arg['<value>'] = rounded
else:
s = "Aborted : Wrote decimal number ({0}) with integer flag.".format(arg['<value>'])
self.stdout.write(s + "\n")
logger.warning(s)
return
subset = {k: arg[k] for k in ("--u8","--u16","--u32","--i8","--i16","--i32","--f32","--s")}
valtype = None
for i, k in subset.items():
if k:
valtype = self.types_lookup[i]
if not valtype:
logger.error(
"Payload type [{0}] unkown."
.format(arg))
return
try:
self.telemetry.publish(arg['<topic>'],arg['<value>'],valtype)
except SerialTimeoutException as e:
self.stdout.write("Pub failed. Connection most likely terminated.")
logger.error("Pub failed. Connection most likely terminated. exception : %s" % e)
return
except AttributeError as e:
self.stdout.write("Pub failed because you are not connected to any device. Connect first using `serial` command.")
logger.warning("Trying to publish while not connected. exception : %s" % e)
return
s = "Published on topic '{0}' : {1} [{2}]".format(arg['<topic>'], arg['<value>'],valtype)
self.stdout.write(s + "\n")
logger.info(s)
@docopt_cmd
def do_count(self, arg):
"""
Prints a count of received samples for each topic.
Usage: count
"""
for topic in self.topics.ls():
self.stdout.write("{0} : {1}\n".format(topic, self.topics.count(topic)))
@docopt_cmd
def do_disconnect(self, arg):
"""
Disconnects from any open connection.
Usage: disconnect
"""
try:
self.runner.disconnect()
self.stdout.write("Disconnected.\n")
logger.info("Disconnected.")
measures = self.transport.stats()
for key,item in measures.items():
logger.info("Raw IO : %s : %s" % (key,item))
measures = self.runner.stats()
for key,item in measures.items():
logger.info("IO speeds : %s : %s" % (key,item))
measures = self.telemetry.stats()
for key,item in measures['framing'].items():
logger.info("Framing : %s : %s" % (key,item))
for key,item in measures['protocol'].items():
logger.info("Protocol : %s : %s" % (key,item))
logger.info("Logged session statistics.")
except:
logger.warn("Already disconnected. Continuing happily.")
@docopt_cmd
def do_info(self, arg):
"""
Prints out cli.py full path, module version.
Usage: info
"""
self.stdout.write("- CLI path : %s\n" % os.path.dirname(os.path.realpath(__file__)))
try:
self.stdout.write("- version : %s\n" % __version__)
except:
self.stdout.write("- version : not found.\n")
@docopt_cmd
def do_stats(self, arg):
"""
Displays different metrics about the active transport (ex : serial port).
This allows you to know if for instance corrupted frames are received, what fraction
of the maximum baudrate is being used, etc.
Usage: stats
"""
measures = self.transport.stats()
self.stdout.write("Raw IO:\n")
for key,item in measures.items():
self.stdout.write("\t%s : %s\n" % (key,item))
measures = self.runner.stats()
self.stdout.write("IO speeds:\n")
for key,item in measures.items():
self.stdout.write("\t%s : %s\n" % (key,item))
measures = self.telemetry.stats()
self.stdout.write("Framing:\n")
for key,item in measures['framing'].items():
self.stdout.write("\t%s : %s\n" % (key,item))
self.stdout.write("Protocol:\n")
for key,item in measures['protocol'].items():
self.stdout.write("\t%s : %s\n" % (key,item))
def do_quit(self, arg):
"""
Exits the terminal application.
Usage: quit
"""
self.runner.terminate()
self.do_disconnect("")
self.stdout.write("Good Bye!\n")
logger.info("Application quit.")
exit()
