def load_configuration(configuration_file):
"""Generates a dict of JSON command messages for each movement."""
configuration = json.loads(configuration_file.read())
dead = dead_frequency(configuration['frequency'])
sync_command = {
'frequency': configuration['frequency'],
'dead_frequency': dead,
'burst_us': configuration['synchronization_burst_us'],
'spacing_us': configuration['synchronization_spacing_us'],
'repeats': configuration['total_synchronizations'],
}
base_command = {
'frequency': configuration['frequency'],
'dead_frequency': dead,
'burst_us': configuration['signal_burst_us'],
'spacing_us': configuration['signal_spacing_us'],
}
movement_to_command = {}
for key in (
'forward',
'forward_left',
'forward_right',
'left',
'reverse',
'reverse_left',
'reverse_right',
'right',
):
command_dict = base_command.copy()
command_dict['repeats'] = configuration[key]
movement_to_command[key] = command_dict
direct_commands = {
key: json.dumps([sync_command, movement_to_command[key]])
for key in movement_to_command
}
# We also need to add an idle command; just broadcast at the dead frequency
command_dict = [base_command.copy()]
command_dict[0]['frequency'] = dead
command_dict[0]['repeats'] = 20 # Doesn't matter
direct_commands['idle'] = json.dumps(command_dict)
return direct_commands
def load_configuration(configuration_file):
"""Generates a dict of JSON command messages for each movement."""
configuration = json.loads(configuration_file.read())
dead = dead_frequency(configuration['frequency'])
sync_command = {
'frequency': configuration['frequency'],
'dead_frequency': dead,
'burst_us': configuration['synchronization_burst_us'],
'spacing_us': configuration['synchronization_spacing_us'],
'repeats': configuration['total_synchronizations'],
}
base_command = {
'frequency': configuration['frequency'],
'dead_frequency': dead,
'burst_us': configuration['signal_burst_us'],
'spacing_us': configuration['signal_spacing_us'],
}
movement_to_command = {}
for key in (
'forward',
'forward_left',
'forward_right',
'left',
'reverse',
'reverse_left',
'reverse_right',
'right',
):
command_dict = base_command.copy()
command_dict['repeats'] = configuration[key]
movement_to_command[key] = command_dict
direct_commands = {
key: json.dumps([sync_command, movement_to_command[key]])
for key in movement_to_command
}
# We also need to add an idle command; just broadcast at the dead frequency
command_dict = [base_command.copy()]
command_dict[0]['frequency'] = dead
command_dict[0]['repeats'] = 20 # Doesn't matter
direct_commands['idle'] = json.dumps(command_dict)
return direct_commands
def main():
"""Parses command line arguments and runs the simple controller."""
parser = make_parser()
args = parser.parse_args()
if args.frequency is not None:
frequency = dead_frequency(args.frequency)
else:
frequency = 49.830
if not server_up(args.server, args.port, frequency):
print('Server does not appear to be listening for messages, aborting')
return
command_array = get_command_array(parser)
print('Sending commands to ' + args.server + ':' + str(args.port))
send_signal_repeats(args.server, args.port, command_array)
def main():
"""Parses command line arguments and runs the simple controller."""
parser = make_parser()
args = parser.parse_args()
if args.frequency is not None:
frequency = dead_frequency(args.frequency)
else:
frequency = 49.830
if not server_up(args.server, args.port, frequency):
print('Server does not appear to be listening for messages, aborting')
return
command_array = get_command_array(parser)
print('Sending commands to ' + args.server + ':' + str(args.port))
send_signal_repeats(args.server, args.port, command_array)
