def buildRequest(self, data): RiCHeader.buildRequest(self, data) bytes = bytearray() while self.index < CON_REQ_PLACE: bytes.append(data[self.index]) self.index += 1 self._requestForConnection = struct.unpack('<?', bytes)[0]
def buildRequest(self, data): RiCHeader.buildRequest(self, data) bytes = bytearray() while self.index < VER_PLACE: bytes.append(data[self.index]) self.index += 1 self._ver = struct.unpack('<f', bytes)[0]
def buildRequest(self, data): RiCHeader.buildRequest(self, data) bytes = bytearray() while self.index < LAT_PLACE: bytes.append(data[self.index]) self.index += 1 self._lat = struct.unpack('<f', bytes)[0] bytes = bytearray() while self.index < LNG_PLACE: bytes.append(data[self.index]) self.index += 1 self._lng = struct.unpack('<f', bytes)[0] bytes = bytearray() while self.index < METERS_PLACE: bytes.append(data[self.index]) self.index += 1 self._meters = struct.unpack('<f', bytes)[0] bytes = bytearray() while self.index < HDOP_PLACE: bytes.append(data[self.index]) self.index += 1 self._HDOP = struct.unpack('<h', bytes)[0] bytes = bytearray() while self.index < SAT_PLACE: bytes.append(data[self.index]) self.index += 1 self._satellites = struct.unpack('<h', bytes)[0] bytes = bytearray() while self.index < FIX_PLACE: bytes.append(data[self.index]) self.index += 1 self._fix = struct.unpack('<b', bytes)[0]
def __init__(self, type, devId, pubHz): RiCHeader.__init__(self) self._id = 103 self._des = 0x1001 self._type = type self._devId = devId self._pubHz = pubHz
def buildRequest(self, data): RiCHeader.buildRequest(self, data) bytes = bytearray() while self.index < BAT_STAT: bytes.append(data[self.index]) self.index += 1 self._status = struct.unpack('<f', bytes)[0]
def buildRequest(self, data): RiCHeader.buildRequest(self, data) bytes = bytearray() while self.index < VER_PLACE: bytes.append(data[self.index]) self.index += 1 self._ver = struct.unpack("<f", bytes)[0]
def buildRequest(self, data): RiCHeader.buildRequest(self, data) bytes = bytearray() while self.index < LAT_PLACE: bytes.append(data[self.index]) self.index += 1 self._lat = struct.unpack('<d', bytes)[0] bytes = bytearray() while self.index < LNG_PLACE: bytes.append(data[self.index]) self.index += 1 self._lng = struct.unpack('<d', bytes)[0] bytes = bytearray() while self.index < METERS_PLACE: bytes.append(data[self.index]) self.index += 1 self._meters = struct.unpack('<d', bytes)[0] bytes = bytearray() while self.index < HDOP_PLACE: bytes.append(data[self.index]) self.index += 1 self._HDOP = struct.unpack('<i', bytes)[0] bytes = bytearray() while self.index < SAT_PLACE: bytes.append(data[self.index]) self.index += 1 self._satellites = struct.unpack('<i', bytes)[0] bytes = bytearray() while self.index < FIX_PLACE: bytes.append(data[self.index]) self.index += 1 self._fix = struct.unpack('<q', bytes)[0]
def buildRequest(self, data): RiCHeader.buildRequest(self, data) bytes = bytearray() while self.index < X: bytes.append(data[self.index]) self.index += 1 self._x = struct.unpack('<f', bytes)[0] bytes = bytearray() while self.index < Y: bytes.append(data[self.index]) self.index += 1 self._y = struct.unpack('<f', bytes)[0] bytes = bytearray() while self.index < Z: bytes.append(data[self.index]) self.index += 1 self._z = struct.unpack('<f', bytes)[0]
def __init__(self): RiCHeader.__init__(self) self._lat = 0.0 self._lng = 0.0 self._meters = 0.0 self._HDOP = 0 self._satellites = 0 self._fix = 0
def __init__(self): RiCHeader.__init__(self) self._id = ID_REQ self._length = LEN_REQ self._des = 0 self._checkSum = 0 self._finish = True self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, toConnect): RiCHeader.__init__(self) self._id = RES_ID self._des = 0x1001 self._length = 7 self._checkSum = 0 self._toConnect = toConnect self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, angular, linear): RiCHeader.__init__(self) self._id = REQ_ID self._length = REQ_LEN self._des = 0x1001 self._checkSum = 0 self._angular = angular self._linear = linear self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, motorNum, postion): RiCHeader.__init__(self) self._id = 6 self._length = REQ_LEN self._des = 0x1001 self._checkSum = 0 self._motorId = motorNum self._position = postion self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, servoId, position): RiCHeader.__init__(self) self._id = REQ_ID self._des = 0x1001 self._length = REQ_LEN self._servoId = servoId self._position = position self._checkSum = 0 self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, motorNum, speed): RiCHeader.__init__(self) self._id = OPEN_LOOP_REQ self._length = MSG_LEN self._des = 0x1001 self._checkSum = 0 self._motorNum = motorNum self._speed = speed self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self): RiCHeader.__init__(self) self._ch1 = 0.0 self._ch2 = 0.0 self._ch3 = 0.0 self._ch4 = 0.0 self._ch5 = 0.0 self._ch6 = 0.0 self._ch7 = 0.0 self._ch8 = 0.0
def __init__(self, relayNum, status): RiCHeader.__init__(self) self._id = RELAY_REQ self._length = MSG_LEN self._des = 0x1001 self._checkSum = 0 self._relayNum = relayNum self._status = status self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, x, y, theta): RiCHeader.__init__(self) self._id = REQ_ID self._length = REQ_LEN self._des = 0x1001 self._checkSum = 0 self._x = x self._y = y self._theta = theta self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self): RiCHeader.__init__(self) self._odomX = 0.0 self._odomY = 0.0 self._odomTheta = 0.0 self._translationX = 0.0 self._translationY = 0.0 self._translationZ = 0.0 self._translationRotationZ = 0.0 self._translationRotationW = 0.0
def __init__(self): RiCHeader.__init__(self) self._odomX = 0.0 self._odomY = 0.0 self._odomTheta = 0.0 self._translationX = 0.0 self._translationY = 0.0 self._translationZ = 0.0 self._translationRotationZ = 0.0 self._translationRotationW = 0.0 self._linearVelocity = 0.0
def __init__(self, status): RiCHeader.__init__(self) self._id = IMU_REQ self._length = MSG_LEN self._des = 0x1001 self._checkSum = 0 self.status = status self._checkSum = self.calCheckSum(self.dataTosend())
def buildRequest(self, data): RiCHeader.buildRequest(self, data) bytes = bytearray() while self.index < ID_LEN: bytes.append(data[self.index]) self.index += 1 self._urfId = struct.unpack('<i', bytes)[0] bytes = bytearray() while self.index < RANGE_LEN: bytes.append(data[self.index]) self.index += 1 self._range = struct.unpack('<f', bytes)[0]
def buildRequest(self, data): RiCHeader.buildRequest(self, data) bytes = bytearray() while self.index < DEVICE_ID_PLACE: bytes.append(data[self.index]) self.index += 1 self._IdToAck = struct.unpack('<b', bytes)[0] bytes = bytearray() while self.index < REQ_LENGTH_PLACE: bytes.append(data[self.index]) self.index += 1 self._requestLength = struct.unpack('<b', bytes)[0]
def buildRequest(self, data): RiCHeader.buildRequest(self, data) bytes = bytearray() while self.index < DEVICE_ID_PLACE: bytes.append(data[self.index]) self.index += 1 self._IdToAck = struct.unpack('<i', bytes)[0] bytes = bytearray() while self.index < REQ_LENGTH_PLACE: bytes.append(data[self.index]) self.index += 1 self._requestLength = struct.unpack('<i', bytes)[0]
def buildRequest(self, data): RiCHeader.buildRequest(self, data) bytes = bytearray() while self.index < SERVO_NUM_PLACE: bytes.append(data[self.index]) self.index += 1 self._servoNum = struct.unpack('<B', bytes)[0] bytes = bytearray() while self.index < SERVO_POSITION_PLACE: bytes.append(data[self.index]) self.index += 1 self._position = struct.unpack('<f', bytes)[0]
def buildRequest(self, data): RiCHeader.buildRequest(self, data) bytes = bytearray() while self.index < ID_LEN: bytes.append(data[self.index]) self.index += 1 self._urfId = struct.unpack('<B', bytes)[0] bytes = bytearray() while self.index < RANGE_LEN: bytes.append(data[self.index]) self.index += 1 self._range = struct.unpack('<f', bytes)[0]
def __init__(self, devType, devId, haveRight): RiCHeader.__init__(self) self._id = RIG_REQ self._length = MSG_LEN self._des = 0x1001 self._checkSum = 0 self._devType = devType self._devId = devId self._haveRight = haveRight self._checkSum = self.calCheckSum(self.dataTosend())
def buildRequest(self, data): RiCHeader.buildRequest(self, data) bytes = bytearray() while self.index < ID_LEN: bytes.append(data[self.index]) self.index += 1 self._switchNum = struct.unpack('<i', bytes)[0] bytes = bytearray() while self.index < STATUS_LEN: bytes.append(data[self.index]) self.index += 1 self._status = struct.unpack('<i', bytes)[0]
def buildRequest(self, data): RiCHeader.buildRequest(self, data) bytes = bytearray() while self.index < ID_LEN: bytes.append(data[self.index]) self.index += 1 self._switchNum = struct.unpack('<B', bytes)[0] bytes = bytearray() while self.index < STATUS_LEN: bytes.append(data[self.index]) self.index += 1 self._status = struct.unpack('<?', bytes)[0]
def __init__(self, devId, devType, fieldNum, val): RiCHeader.__init__(self) self._id = PSET_REQ self._length = MSG_LEN self._des = 0x1001 self._checkSum = 0 self._devId = devId # byte self._devType = devType # byte self._fieldNum = fieldNum # byte self._val = val # float self._checkSum = self.calCheckSum(self.dataTosend())
def buildRequest(self, data): RiCHeader.buildRequest(self, data) bytes = bytearray() while self.index < ODOM_X: bytes.append(data[self.index]) self.index += 1 self._odomX = struct.unpack('<f', bytes)[0] bytes = bytearray() while self.index < ODOM_Y: bytes.append(data[self.index]) self.index += 1 self._odomY = struct.unpack('<f', bytes)[0] bytes = bytearray() while self.index < ODOM_THATE: bytes.append(data[self.index]) self.index += 1 self._odomTheta = struct.unpack('<f', bytes)[0] # bytes = bytearray() # while self.index < TRAN_X: # bytes.append(data[self.index]) # self.index += 1 # self._translationX = struct.unpack('<f', bytes)[0] # bytes = bytearray() # while self.index < TRAN_Y: # bytes.append(data[self.index]) # self.index += 1 # self._translationY = struct.unpack('<f', bytes)[0] # bytes = bytearray() # while self.index < TRAN_Z: # bytes.append(data[self.index]) # self.index += 1 # self._translationZ = struct.unpack('<f', bytes)[0] bytes = bytearray() while self.index < TRAN_ROT_Z: bytes.append(data[self.index]) self.index += 1 self._translationRotationZ = struct.unpack('<f', bytes)[0] bytes = bytearray() while self.index < TRAN_ROT_W: bytes.append(data[self.index]) self.index += 1 self._translationRotationW = struct.unpack('<f', bytes)[0] bytes = bytearray() while self.index < LINEAR_VEL: bytes.append(data[self.index]) self.index += 1 self._linearVelocity = struct.unpack('<f', bytes)[0]
def buildRequest(self, data): RiCHeader.buildRequest(self, data) bytes = bytearray() while self.index < MOTOR_ID: bytes.append(data[self.index]) self.index += 1 self._devId = struct.unpack('<B', bytes)[0] bytes = bytearray() while self.index < MOTOR_RAD: bytes.append(data[self.index]) self.index += 1 self._rad = struct.unpack('<f', bytes)[0] bytes = bytearray() while self.index < MOTOR_RAD_S: bytes.append(data[self.index]) self.index += 1 self._rad_s = struct.unpack('<f', bytes)[0]
def buildRequest(self, data): RiCHeader.buildRequest(self, data) bytes = bytearray() while self.index < CHANNEL_1: bytes.append(data[self.index]) self.index += 1 self._ch1 = struct.unpack('<f', bytes)[0] bytes = bytearray() while self.index < CHANNEL_2: bytes.append(data[self.index]) self.index += 1 self._ch2 = struct.unpack('<f', bytes)[0] bytes = bytearray() while self.index < CHANNEL_3: bytes.append(data[self.index]) self.index += 1 self._ch3 = struct.unpack('<f', bytes)[0] bytes = bytearray() while self.index < CHANNEL_4: bytes.append(data[self.index]) self.index += 1 self._ch4 = struct.unpack('<f', bytes)[0] bytes = bytearray() while self.index < CHANNEL_5: bytes.append(data[self.index]) self.index += 1 self._ch5 = struct.unpack('<f', bytes)[0] bytes = bytearray() while self.index < CHANNEL_6: bytes.append(data[self.index]) self.index += 1 self._ch6 = struct.unpack('<f', bytes)[0] bytes = bytearray() while self.index < CHANNEL_7: bytes.append(data[self.index]) self.index += 1 self._ch7 = struct.unpack('<f', bytes)[0] bytes = bytearray() while self.index < CHANNEL_8: bytes.append(data[self.index]) self.index += 1 self._ch8 = struct.unpack('<f', bytes)[0]
def __init__(self): RiCHeader.__init__(self) self._velocityX = 0.0 self._velocityY = 0.0 self._velocityZ = 0.0 self._accelerationX = 0.0 self._accelerationY = 0.0 self._accelerationZ = 0.0 self._magnetometerX = 0.0 self._magnetometerY = 0.0 self._magnetometerZ = 0.0 self._orientationX = 0.0 self._orientationY = 0.0 self._orientationZ = 0.0 self._orientationW = 0.0 self._roll = 0.0 self._pitch = 0.0 self._yaw = 0.0 self._temperature = 0.0
def __init__(self): RiCHeader.__init__(self) self._switchNum = 0 self._status = 0
def dataTosend(self): return RiCHeader.dataTosend(self) \ + struct.pack('<I', self._motorId) \ + struct.pack('<f', self._position)
def __init__(self): RiCHeader.__init__(self) self._ver = 0.0
def dataTosend(self): return RiCHeader.dataTosend(self) \ + struct.pack('<B', self._motorNum) \ + struct.pack('<f', self._speed)
def dataTosend(self): return RiCHeader.dataTosend(self) + struct.pack('<B', self._relayNum) \ + struct.pack('<?', self._status)