def find_any(path=default_search_path,
serial_number=None,
search_cancellation_token=None,
channel_termination_token=None,
timeout=None,
logger=fibre.Logger(verbose=False)):
"""
Blocks until the first matching ODrive object is connected and then returns that object
"""
result = []
done_signal = fibre.Event(search_cancellation_token)
channel_termination_token = fibre.Event(channel_termination_token)
async def discovered_object(obj):
if not (serial_number is None) and (
(await get_serial_number_str(obj)) != serial_number):
return # ignore this device
obj._on_lost.add_done_callback(
lambda x: channel_termination_token.set())
result.append(obj)
done_signal.set()
def domain_thread():
with fibre.Domain(path) as domain:
discovery = domain.run_discovery(discovered_object)
channel_termination_token.wait()
discovery.stop()
threading.Thread(target=domain_thread).start()
try:
done_signal.wait(timeout=timeout)
except:
channel_termination_token.set()
raise
return result[0] if len(result) > 0 else None
def _start_discovery(path):
_domain_termination_token = fibre.Event()
async def discovered_object(obj):
def lost_object(_):
idx = [i for i, (o, _) in enumerate(_objects) if o == obj][0]
_objects.pop(idx)
_objects.append((obj, await get_serial_number_str(obj)))
obj._on_lost.add_done_callback(lost_object)
with _discovery_signal:
_discovery_signal.notify_all()
def domain_thread():
with fibre.Domain(path) as domain:
discovery = domain.run_discovery(discovered_object)
_domain_termination_token.wait()
discovery.stop()
threading.Thread(target=domain_thread, daemon=True).start()
print(
"You must either provide a --test-rig-yaml argument or set the environment variable ODRIVE_TEST_RIG_NAME."
)
sys.exit(1)
path = os.path.join(
os.path.dirname(
os.path.dirname(os.path.dirname(os.path.realpath(__file__)))),
test_rig_name + '.yaml')
args.test_rig_yaml = open(path, 'r')
# Load objects
test_rig_yaml = yaml.load(args.test_rig_yaml, Loader=yaml.BaseLoader)
logger = Logger()
testrig = TestRig(test_rig_yaml, logger)
shutdown_token = fibre.Event()
if args.setup_host:
for gpio in testrig.get_components(LinuxGpioComponent):
num = gpio.num
logger.debug('exporting GPIO ' + str(num) + ' to user space...')
if not os.path.isdir("/sys/class/gpio/gpio{}".format(num)):
with open("/sys/class/gpio/export", "w") as fp:
fp.write(str(num))
os.chmod("/sys/class/gpio/gpio{}/value".format(num),
stat.S_IRWXU | stat.S_IRWXG | stat.S_IRWXO)
os.chmod("/sys/class/gpio/gpio{}/direction".format(num),
stat.S_IRWXU | stat.S_IRWXG | stat.S_IRWXO)
for port in testrig.get_components(SerialPortComponent):
logger.debug('changing permissions on ' + port.yaml['port'] + '...')
print("fcn call failed")
if __name__ == "__main__":
print("args from python: " + str(sys.argv[1:0]))
#print(sys.argv[1:])
# try to import based on command line arguments or config file
for optPath in sys.argv[1:]:
print("adding " + str(optPath.rstrip()) +
" to import path for odrive_server.py")
sys.path.insert(0, optPath.rstrip())
import odrive
import odrive.utils # for dump_errors()
import fibre
# global for holding references to all connected odrives
globals()['odrives'] = {}
# global dict {'odriveX': True/False} where True/False reflects status of connection
# on handle_disconnect, set it to False. On connection, set it to True
globals()['odrives_status'] = {}
globals()['discovered_devices'] = []
# spinlock
globals()['inUse'] = False
log = fibre.Logger(verbose=False)
shutdown = fibre.Event()
socketio.run(app, host='0.0.0.0', port=5000)
def main():
app_shutdown_token = fibre.Event()
odrv = odrive.find_any()
print("serial: {}".format(odrv.serial_number))
config_axis(odrv, odrv.axis1
)