def check_for_thrusters():
''' Checks for a response from thrusters on a given port '''
# Stop all thrusters
for key in individual_thrusts.keys():
individual_thrusts[key] = 0
declared_ports = []
for port in thruster_ports.values():
if port not in declared_ports:
declared_ports.append(port)
declared_ports.sort(key=lambda p: p.port_name)
fprint('Declared ports:')
for i, p in enumerate(declared_ports):
print '{})'.format(i), p.port_name
fprint('Select a port by index: ')
sel = int(raw_input())
start_id = 0
end_id = 127
fprint('Checking for thrusters with id\'s in [{}, {}]'.format(
start_id, end_id))
found_motor_ids, avg_turnaround_time = declared_ports[
sel].get_node_ids_on_port(start_id, end_id)
fprint('Responding motor ids:\t\t\t{}'.format(
te.Printer().set_cyan.bold(found_motor_ids)))
fprint('Average packet turnaround time:\t{} seconds'.format(
te.Printer().set_cyan.bold(avg_turnaround_time)))
def check_for_thrusters():
''' Checks for a response from thrusters on a given port '''
active_thrusters = set()
fprint("Active thrusters: {}".format(list(active_thrusters)))
declared_ports = []
for port in thruster_ports.values():
if port not in declared_ports:
declared_ports.append(port)
declared_ports.sort(key=lambda p: p.port_name)
fprint('Declared ports:')
for i, p in enumerate(declared_ports):
print "{})".format(i), p.port_name
fprint("Select a port by index: ")
sel = int(raw_input())
start_id = 0
end_id = 10
fprint("Checking for thrusters with id's in [{}, {}]".format(
start_id, end_id))
found_motor_ids, avg_turnaround_time = \
declared_ports[sel].get_motor_ids_on_port(start_id, end_id)
fprint("Responding motor ids:\t\t\t{}".format(
te.Printer().set_cyan.bold(found_motor_ids)))
fprint("Average packet turnaround time:\t{} seconds".format(
te.Printer().set_cyan.bold(avg_turnaround_time)))
def ports_from_layout(layout):
'''Load and handle the thruster bus layout'''
port_dict = {}
thruster_definitions = layout['thrusters']
msg = te.Printer('Instantiating thruster_port:')
for port_info in layout['thruster_ports']:
try:
port = port_info['port']
thruster_names = port_info['thruster_names']
thruster_port = thrust_comm.thruster_comm_factory(
port_info, thruster_definitions, fake=False)
# Add the thrusters to the thruster dict
for name in thruster_names:
port_dict[name] = thruster_port
s = list(thruster_port.online_thruster_names)
fprint(
msg.reset.text('\n\tName: ').set_yellow.text(port).reset.text(
'\n\tMotor id\'s on port: ').set_cyan.bold(s).reset)
except SubjuGatorException:
pass
return port_dict
def ports_from_layout(layout):
'''Load and handle the thruster bus layout'''
port_dict = {}
thruster_definitions = layout['thrusters']
msg = te.Printer('Instantiating thruster_port:')
for port_info in layout['thruster_ports']:
try:
port = port_info['port']
thruster_names = port_info['thruster_names']
thruster_port = thruster_comm_factory(port_info,
thruster_definitions,
fake=False)
# Add the thrusters to the thruster dict
for name in thruster_names:
port_dict[name] = thruster_port
s = str(
np.sort([x[1] for x in thruster_port.thruster_dict.items()
]).tolist())
fprint(
msg.reset.text("\n\tName: ").set_yellow.text(port).reset.text(
"\n\tMotor id's on port: ").set_cyan.bold(s).reset)
except serial.serialutil.SerialException:
pass
return port_dict
def main():
nh = yield txros.NodeHandle.from_argv("startup_checker")
check_order = [
ThrusterChecker(nh, "Thrusters"),
CameraChecker(nh, "Cameras"),
StateEstChecker(nh, "State Estimation"),
ShoreControlChecker(nh, "Shore Control")
]
p = text_effects.Printer()
yield txros.util.nonblocking_raw_input(
str(
p.bold("\n >>>>").text(" Press return when ").negative(
"sub8.launch").text(" is running.")))
print p.newline().set_blue.bold(
"-------- Running self checks...").newline()
for check in check_order:
try:
yield check.tx_init()
yield nh.sleep(0.1)
yield check.do_check()
except Exception as e:
exc_type, exc_obj, exc_tb = sys.exc_info()
check.err_msg(e, exc_tb.tb_lineno)
del check
print p.newline().set_blue.bold("-------- Finished!").newline()
reactor.stop()
def __init__(self, nh, name):
self.nh = nh
self.name = name
self.p = text_effects.Printer()