def status(self):
"""
Get led status
"""
actual_levels = self.pcomm.call_device('get_fid_status')
if len(actual_levels) != len(self.controller['devices']):
raise_error('status: petal controller returns incorrect number of items', level='ERROR')
state = []
level = []
for i in range(len(self.controller['devices'])):
id = self.controller['devices'][i]
if str(id) in actual_levels:
value = actual_levels[str(id)]
else:
self.error('get_fid_status does not return can id %r' % id)
continue
if(-1==value):
state.append('unknown')
level.append(0.0)
elif(0==value):
state.append('off')
level.append(0.0)
else:
state.append('on')
try:
v = float(value)
except Exception as e:
raise_error('status: Exception converting actual level: %s' % str(e))
level.append(float(int(v/float(self.Relative_Levels[i]))))
self.controller['level'] = level
self.controller['state'] = state
return self.controller
def level(self, value, set_default = False):
"""
Set the LED value
"""
on_flag = False
if isinstance(value,list):
for value_i in value:
if value_i > 0.00001:
on_flag = True
else:
if value > 0.00001:
on_flag = True
if on_flag is False:
self.controller['state'] = ['off' for i in range(len(self.CanIDs))]
self.controller['level'] = [0.0 for i in range(len(self.CanIDs))]
else:
self.controller['state'] = ['on' for i in range(len(self.CanIDs))]
if isinstance(value, list):
if len(value) == len(self.CanIDs):
self.controller['level'] = value
else:
print(len(value),len(self.CanIDs))
raise_error('Incorrect list length', level='ERROR')
else:
self.controller['level'] = [value for i in range(len(self.CanIDs))]
if set_default == True:
self.controller['default'] = self.controller['level']
def set_fid_off(self):
if not self.fiducials:
raise_error('no fiducials selected',
level='ERROR',
function='set_fiducials_off')
self.fiducials.turn_off()
return 'SUCCESS'
def set_fid_on(self):
if not self.fiducials:
raise_error('no fiducials selected',
level='ERROR',
function='set_fiducials_on')
print(len(self.device_options['Default_Duty']))
self.fiducials.turn_on(level=self.device_options['Default_Duty'])
return 'SUCCESS'
def duty_cycle(self, level, set_default=False):
if not self.fiducials:
raise_error('no fiducials selected',
level='ERROR',
function='duty_cycle')
if not isinstance(level, list):
level = [level for i in range(len(self.CanIDs))]
self.fiducials.level(level, set_default=set_default)
return 'SUCCESS'
def get_fid_status(self):
if not self.fiducials:
raise_error('no fiducials selected',
level='ERROR',
function='get_fid_status')
status = self.fiducials.status()
self.info("fiducials: device %s, state %s, level %s, default_duty %s" %
(status['devices'], status['state'], status['level'],
status['default']))
return 'SUCCESS'
def level(self, percent_duty, set_default = False):
"""
Set the LED value
"""
if not isinstance(percent_duty, list):
percent_duty = [percent_duty for i in range(len(self.CanIDs))]
if set_default == True:
self.Default_Duty = percent_duty
self.controller['default'] = percent_duty
try:
return self.pcomm.call_device('set_fiducials', self.CanBus, self.CanIDs, percent_duty)
except Exception as e:
raise_error('Exception setting level: %s'% str(e), level='ERROR', function= 'level')
def __init__(self, device, controller_type = 'simulator', service = 'PetalControl', device_options = {}):
"""
Initialize fiducials class
device is the DOS device name of the BBB controller
service is the name of the DOS advertiser service used
device_options configure the fipos controller (CanBus, CanIDs, Relative_Levels, Default_Duty)
"""
# Defaults
CanIDs = [784, 1475]
CanBus = ['can0' for i in range(len(CanIDs))]
RelLevel = [1.0 for i in range(len(CanIDs))]
Duty = [5.0 for i in range(len(CanIDs))]
# Log functions
for level in ['msg', 'debug', 'info', 'warn', 'error']:
if hasattr(Log, level):
setattr(self,level, getattr(Log, level))
# default settings
self.hardware = 'fiposled' if str(controller_type).lower() in ['hardware', 'fiposled', 'bbb'] else str(controller_type).lower()
self.petal_controller = device
config = {'service' : service,
'CanBus' : device_options.get('CanBus', CanBus),
'CanIDs' : device_options.get('CanIDs', CanIDs),
'Relative_Levels' : device_options.get('Relative_Levels', RelLevel),
'Default_Duty' : device_options.get('Default_Duty', Duty),
'controller': device_options.get('controller','')}
self.info('fiducials: device %s, controller %s, Config: %r' % (self.petal_controller, self.hardware, config))
# Connect to the controller
print('89753 config')
print(config)
print('89754 config')
try:
if str(self.hardware).lower() == 'simulator':
self.controller = SimulatorLED(self.petal_controller,config)
elif str(self.hardware).lower() == 'fiposled':
self.controller = FiposLED(self.petal_controller, config)
else:
raise_error('fiducials: Invalid controller_type', level='ERROR', function='init')
except Exception as e:
raise_error('fiducials: Exception connecting to LED controller: %s' % str(e), level='ERROR', function='init')
# Turn fiducials off
self.info('fiducials: Turning fiducials off')
self.controller.turn_off()
# get status
self.info('fiducials: device status: %r' % self.controller.status())
def __init__(self, device, config):
# Log functions
for level in ['msg', 'debug', 'info', 'warn', 'error']:
if hasattr(Log, level):
setattr(self,level, getattr(Log, level))
self.petal_controller = device
self.pcomm = None
self.CanBus = config['CanBus']
self.CanIDs = config['CanIDs']
self.Relative_Levels = config['Relative_Levels']
self.Default_Duty = config['Default_Duty']
try:
self.pcomm=FiposComm(device,controller = config["controller"])
except Exception as e:
raise_error('FiposComm: Cannot connect to device %s' % self.petal_controller)
self.controller = {'devices' : self.CanIDs, 'state' : ['off' for i in range(len(self.CanIDs))],
'level' : [0.0 for i in range(len(self.CanIDs))], 'default' : self.Default_Duty}
def level(self, level, set_default = False):
if not self.controller:
raise_error('No LED controller connected', level='WARN', function='level')
self.info('level: setting level to %r (set_default = %r)' % (level, set_default))
self.controller.level(level, set_default = set_default)
def turn_off(self):
if not self.controller:
raise_error('No LED controller connected', level='WARN', function='turn_off')
self.info('turn_off: turning fiducials off')
self.controller.turn_off()
def turn_on(self, level = None):
if not self.controller:
raise_error('No LED controller connected', level='WARN', function='turn_on')
self.info('turn_on: turning fiducials on')
self.controller.turn_on(level = level)
def status(self):
if not self.controller:
raise_error('No LED controller connected', level='WARN', function = 'status')
return self.controller.status()
def __init__(self, device, **options):
"""
Find the petal controller (device) and connect to it
Options include the fipos settings for LED control
"""
# Log functions
for level in ['msg', 'debug', 'info', 'warn', 'error']:
if hasattr(Log, level):
setattr(self,level, getattr(Log, level))
self.petal_controller = device
# Setup Seeker
self.seeker_thread = None
self.repeat = threading.Event()
self.repeat.clear()
self.found_controller = threading.Event()
self.found_controller.clear()
self.stype = '-dos-'
self.service = options.get('service', 'PetalControl')
self.device = {}
delay = options.get('delay', 15.0)
# Did we get controller information or should we seek?
print('89755')
print(options)
print('89756')
print(options['controller'])
if 'controller' in options and isinstance(options['controller'], dict):
print('89757')
self.device = {'connected2instance': 'EXTERN',
'device_instance': '',
'last_updated': '',
'node': options['controller'].get('ip', '140.254.79.198'),
'service': self.service,
'stype': self.stype,
'uid' : '81df0e9a-9409-11e8-b17c-b0d5cc1ef486',
}
print('89757a')
print('897575'+str(options['controller']))
if 'port' in options['controller']:
print('89758')
self.device['pyro_uri'] = 'PYRO:%s@%s:%s' % (self.petal_controller,
str(self.device['node']),
str(options['controller']['port']))
print(self.device['pyro_uri'])
else:
# Setup DOS Seeker
self.seeker = Seeker(self.stype, self.service, found_callback = self._found_dev)
# Start Seeker thread
self.repeat.set()
self.delay = 0.5
self.seeker_thread = threading.Thread(target=self._repeat_seeker)
self.seeker_thread.setDaemon(True)
self.seeker_thread.start()
self.info('Seeker thread is now running. Delay %s' % str(self.delay))
# wait briefly for seeker to find all devices
self.info('Waiting for device %s' % self.petal_controller)
self.found_controller.wait(timeout = delay + 1.0)
self.delay = 10.0
# Make sure we have a device to connect to
start = time.time()
while self.device == {} and delay<(time.time() - start):
self.device['proxy'] = Pyro4.Proxy(self.device['pyro_uri'])
self.info('Now connected to device %s' % self.device)
break
if self.device == {}:
raise_error('fipos_comm: Timeout connecting to controller %s' % (self.petal_controller), level='ERROR', function='init')