def get_magnetometer_reading(target, timeout):
return {
'did':
DevicesEnum.sensor,
'cid':
CommandsEnum.get_magnetometer_reading,
'seq':
SequenceNumberGenerator.get_sequence_number(),
'target':
target,
'timeout':
timeout,
'outputs': [
Parameter(
name='x_axis',
data_type='float',
index=0,
size=1,
),
Parameter(
name='y_axis',
data_type='float',
index=1,
size=1,
),
Parameter(
name='z_axis',
data_type='float',
index=2,
size=1,
),
]
}
def start_robot_to_robot_infrared_evading(far_code, near_code, target,
timeout):
return {
'did':
DevicesEnum.sensor,
'cid':
CommandsEnum.start_robot_to_robot_infrared_evading,
'seq':
SequenceNumberGenerator.get_sequence_number(),
'target':
target,
'timeout':
timeout,
'inputs': [
Parameter(name='farCode',
data_type='uint8_t',
index=0,
value=far_code,
size=1),
Parameter(name='nearCode',
data_type='uint8_t',
index=1,
value=near_code,
size=1),
],
}
def get_battery_voltage_in_volts(reading_type, target, timeout):
return {
'did':
DevicesEnum.power,
'cid':
CommandsEnum.get_battery_voltage_in_volts,
'seq':
SequenceNumberGenerator.get_sequence_number(),
'target':
target,
'timeout':
timeout,
'inputs': [
Parameter(name='reading_type',
data_type='uint8_t',
index=0,
value=reading_type,
size=1),
],
'outputs': [
Parameter(
name='voltage',
data_type='float',
index=0,
size=1,
),
]
}
def get_default_control_system_for_type(control_system_type, target, timeout):
return {
'did': DevicesEnum.drive,
'cid': CommandsEnum.get_default_control_system_for_type,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
'inputs': [
Parameter(
name='control_system_type',
data_type='uint8_t',
index=0,
value=control_system_type,
size=1
),
],
'outputs': [
Parameter(
name='controller_id',
data_type='uint8_t',
index=0,
size=1,
),
]
}
def get_motor_temperature(motor_index, target, timeout):
return {
'did':
DevicesEnum.sensor,
'cid':
CommandsEnum.get_motor_temperature,
'seq':
SequenceNumberGenerator.get_sequence_number(),
'target':
target,
'timeout':
timeout,
'inputs': [
Parameter(name='motorIndex',
data_type='uint8_t',
index=0,
value=motor_index,
size=1),
],
'outputs': [
Parameter(
name='windingCoilTemperature',
data_type='float',
index=0,
size=1,
),
Parameter(
name='caseTemperature',
data_type='float',
index=1,
size=1,
),
]
}
def get_current_sense_amplifier_current(amplifier_id, target, timeout):
return {
'did':
DevicesEnum.power,
'cid':
CommandsEnum.get_current_sense_amplifier_current,
'seq':
SequenceNumberGenerator.get_sequence_number(),
'target':
target,
'timeout':
timeout,
'inputs': [
Parameter(name='amplifier_id',
data_type='uint8_t',
index=0,
value=amplifier_id,
size=1),
],
'outputs': [
Parameter(
name='amplifier_current',
data_type='float',
index=0,
size=1,
),
]
}
def set_all_leds(led_group, led_brightness_values, target, timeout):
return {
'did':
DevicesEnum.io,
'cid':
CommandsEnum.set_all_leds,
'seq':
SequenceNumberGenerator.get_sequence_number(),
'target':
target,
'timeout':
timeout,
'inputs': [
Parameter(name='led_group',
data_type='uint32_t',
index=0,
value=led_group,
size=1),
Parameter(name='led_brightness_values',
data_type='uint8_t',
index=1,
value=led_brightness_values,
size=32),
],
}
def drive_rc_normalized(yaw_angular_velocity, linear_velocity, flags, target, timeout):
return {
'did': DevicesEnum.drive,
'cid': CommandsEnum.drive_rc_normalized,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
'inputs': [
Parameter(
name='yaw_angular_velocity',
data_type='int8_t',
index=0,
value=yaw_angular_velocity,
size=1
),
Parameter(
name='linear_velocity',
data_type='int8_t',
index=1,
value=linear_velocity,
size=1
),
Parameter(
name='flags',
data_type='uint8_t',
index=2,
value=flags,
size=1
),
],
}
def configure_streaming_service(token, configuration, target, timeout):
return {
'did':
DevicesEnum.sensor,
'cid':
CommandsEnum.configure_streaming_service,
'seq':
SequenceNumberGenerator.get_sequence_number(),
'target':
target,
'timeout':
timeout,
'inputs': [
Parameter(name='token',
data_type='uint8_t',
index=0,
value=token,
size=1),
Parameter(name='configuration',
data_type='uint8_t',
index=1,
value=configuration,
size=15),
],
}
def enable_color_detection_notify(is_enabled, interval,
minimum_confidence_threshold, target,
timeout):
return {
'did':
DevicesEnum.sensor,
'cid':
CommandsEnum.enable_color_detection_notify,
'seq':
SequenceNumberGenerator.get_sequence_number(),
'target':
target,
'timeout':
timeout,
'inputs': [
Parameter(name='isEnabled',
data_type='bool',
index=0,
value=is_enabled,
size=1),
Parameter(name='interval',
data_type='uint16_t',
index=1,
value=interval,
size=1),
Parameter(name='minimumConfidenceThreshold',
data_type='uint8_t',
index=2,
value=minimum_confidence_threshold,
size=1),
],
}
def get_battery_voltage_state_thresholds(target, timeout):
return {
'did':
DevicesEnum.power,
'cid':
CommandsEnum.get_battery_voltage_state_thresholds,
'seq':
SequenceNumberGenerator.get_sequence_number(),
'target':
target,
'timeout':
timeout,
'outputs': [
Parameter(
name='critical_threshold',
data_type='float',
index=0,
size=1,
),
Parameter(
name='low_threshold',
data_type='float',
index=1,
size=1,
),
Parameter(
name='hysteresis',
data_type='float',
index=2,
size=1,
),
]
}
def get_bootloader_version(target, timeout):
return {
'did':
DevicesEnum.system_info,
'cid':
CommandsEnum.get_bootloader_version,
'seq':
SequenceNumberGenerator.get_sequence_number(),
'target':
target,
'timeout':
timeout,
'outputs': [
Parameter(
name='major',
data_type='uint16_t',
index=0,
size=1,
),
Parameter(
name='minor',
data_type='uint16_t',
index=1,
size=1,
),
Parameter(
name='revision',
data_type='uint16_t',
index=2,
size=1,
),
]
}
def drive_with_heading(speed, heading, flags, target, timeout):
return {
'did': DevicesEnum.drive,
'cid': CommandsEnum.drive_with_heading,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
'inputs': [
Parameter(
name='speed',
data_type='uint8_t',
index=0,
value=speed,
size=1
),
Parameter(
name='heading',
data_type='uint16_t',
index=1,
value=heading,
size=1
),
Parameter(
name='flags',
data_type='uint8_t',
index=2,
value=flags,
size=1
),
],
}
def echo(data, target, timeout):
return {
'did':
DevicesEnum.api_and_shell,
'cid':
CommandsEnum.echo,
'seq':
SequenceNumberGenerator.get_sequence_number(),
'target':
target,
'timeout':
timeout,
'inputs': [
Parameter(name='data',
data_type='uint8_t',
index=0,
value=data,
size=16),
],
'outputs': [
Parameter(
name='data',
data_type='uint8_t',
index=0,
size=16,
),
]
}
def clear_streaming_service(target, timeout):
return {
'did': DevicesEnum.sensor,
'cid': CommandsEnum.clear_streaming_service,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
}
def get_current_detected_color_reading(target, timeout):
return {
'did': DevicesEnum.sensor,
'cid': CommandsEnum.get_current_detected_color_reading,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
}
def stop_robot_to_robot_infrared_evading(target, timeout):
return {
'did': DevicesEnum.sensor,
'cid': CommandsEnum.stop_robot_to_robot_infrared_evading,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
}
def release_led_requests(target, timeout):
return {
'did': DevicesEnum.io,
'cid': CommandsEnum.release_led_requests,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
}
def disable_notifications_and_active_commands(target, timeout):
return {
'did': DevicesEnum.sensor,
'cid': CommandsEnum.disable_notifications_and_active_commands,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
}
def reset_locator_x_and_y(target, timeout):
return {
'did': DevicesEnum.sensor,
'cid': CommandsEnum.reset_locator_x_and_y,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
}
def magnetometer_calibrate_to_north(target, timeout):
return {
'did': DevicesEnum.sensor,
'cid': CommandsEnum.magnetometer_calibrate_to_north,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
}
def restore_default_drive_target_slew_parameters(target, timeout):
return {
'did': DevicesEnum.drive,
'cid': CommandsEnum.restore_default_drive_target_slew_parameters,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
}
def restore_initial_default_control_systems(target, timeout):
return {
'did': DevicesEnum.drive,
'cid': CommandsEnum.restore_initial_default_control_systems,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
}
def drive_stop(target, timeout):
return {
'did': DevicesEnum.drive,
'cid': CommandsEnum.drive_stop,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
}
def wake(target, timeout):
return {
'did': DevicesEnum.power,
'cid': CommandsEnum.wake,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
}
def get_temperature(id0, id1, target, timeout):
return {
'did':
DevicesEnum.sensor,
'cid':
CommandsEnum.get_temperature,
'seq':
SequenceNumberGenerator.get_sequence_number(),
'target':
target,
'timeout':
timeout,
'inputs': [
Parameter(name='id0',
data_type='uint8_t',
index=0,
value=id0,
size=1),
Parameter(name='id1',
data_type='uint8_t',
index=1,
value=id1,
size=1),
],
'outputs': [
Parameter(
name='id0',
data_type='uint8_t',
index=0,
size=1,
),
Parameter(
name='temp0',
data_type='float',
index=1,
size=1,
),
Parameter(
name='id1',
data_type='uint8_t',
index=2,
size=1,
),
Parameter(
name='temp1',
data_type='float',
index=3,
size=1,
),
]
}
def get_active_control_system_id(target, timeout):
return {
'did': DevicesEnum.drive,
'cid': CommandsEnum.get_active_control_system_id,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
'outputs': [
Parameter(
name='controller_id',
data_type='uint8_t',
index=0,
size=1,
),
]
}
def get_stop_controller_state(target, timeout):
return {
'did': DevicesEnum.drive,
'cid': CommandsEnum.get_stop_controller_state,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
'outputs': [
Parameter(
name='stopped',
data_type='bool',
index=0,
size=1,
),
]
}
def get_mac_address(target, timeout):
return {
'did': DevicesEnum.system_info,
'cid': CommandsEnum.get_mac_address,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
'outputs': [
Parameter(
name='mac_address',
data_type='std::string',
index=0,
size=1,
),
]
}
def get_bluetooth_advertising_name(target, timeout):
return {
'did': DevicesEnum.connection,
'cid': CommandsEnum.get_bluetooth_advertising_name,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
'outputs': [
Parameter(
name='name',
data_type='std::string',
index=0,
size=1,
),
]
}