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 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 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 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 on_magnetometer_calibration_complete_notify(target, timeout):
return {
'did':
DevicesEnum.sensor,
'cid':
CommandsEnum.magnetometer_calibration_complete_notify,
'target':
target,
'timeout':
timeout,
'outputs': [
Parameter(
name='is_successful',
data_type='bool',
index=0,
size=1,
),
Parameter(
name='yaw_north_direction',
data_type='int16_t',
index=1,
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 on_motor_stall_notify(target, timeout):
return {
'did':
DevicesEnum.drive,
'cid':
CommandsEnum.motor_stall_notify,
'target':
target,
'timeout':
timeout,
'outputs': [
Parameter(
name='motorIndex',
data_type='uint8_t',
index=0,
size=1,
),
Parameter(
name='isTriggered',
data_type='bool',
index=1,
size=1,
),
]
}
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 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 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 on_streaming_service_data_notify(target, timeout):
return {
'did':
DevicesEnum.sensor,
'cid':
CommandsEnum.streaming_service_data_notify,
'target':
target,
'timeout':
timeout,
'outputs': [
Parameter(
name='token',
data_type='uint8_t',
index=0,
size=1,
),
Parameter(
name='sensorData',
data_type='uint8_t',
index=1,
size=9999,
),
]
}
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 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 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_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 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 drive_to_position_normalized(yaw_angle, x, y, linear_speed, flags, target, timeout):
return {
'did': DevicesEnum.drive,
'cid': CommandsEnum.drive_to_position_normalized,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
'inputs': [
Parameter(
name='yaw_angle',
data_type='int16_t',
index=0,
value=yaw_angle,
size=1
),
Parameter(
name='x',
data_type='float',
index=1,
value=x,
size=1
),
Parameter(
name='y',
data_type='float',
index=2,
value=y,
size=1
),
Parameter(
name='linear_speed',
data_type='int8_t',
index=3,
value=linear_speed,
size=1
),
Parameter(
name='flags',
data_type='uint8_t',
index=4,
value=flags,
size=1
),
],
}
def set_drive_target_slew_parameters(a, b, c, linear_acceleration, linear_velocity_slew_method, target, timeout):
return {
'did': DevicesEnum.drive,
'cid': CommandsEnum.set_drive_target_slew_parameters,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
'inputs': [
Parameter(
name='a',
data_type='float',
index=0,
value=a,
size=1
),
Parameter(
name='b',
data_type='float',
index=1,
value=b,
size=1
),
Parameter(
name='c',
data_type='float',
index=2,
value=c,
size=1
),
Parameter(
name='linear_acceleration',
data_type='float',
index=3,
value=linear_acceleration,
size=1
),
Parameter(
name='linear_velocity_slew_method',
data_type='uint8_t',
index=4,
value=linear_velocity_slew_method,
size=1
),
],
}
def get_color_identification_report(red, green, blue, confidence_threshold,
target, timeout):
return {
'did':
DevicesEnum.io,
'cid':
CommandsEnum.get_color_identification_report,
'seq':
SequenceNumberGenerator.get_sequence_number(),
'target':
target,
'timeout':
timeout,
'inputs': [
Parameter(name='red',
data_type='uint8_t',
index=0,
value=red,
size=1),
Parameter(name='green',
data_type='uint8_t',
index=1,
value=green,
size=1),
Parameter(name='blue',
data_type='uint8_t',
index=2,
value=blue,
size=1),
Parameter(name='confidence_threshold',
data_type='uint8_t',
index=3,
value=confidence_threshold,
size=1),
],
'outputs': [
Parameter(
name='index_confidence_byte',
data_type='uint8_t',
index=0,
size=24,
),
]
}
def on_color_detection_notify(target, timeout):
return {
'did':
DevicesEnum.sensor,
'cid':
CommandsEnum.color_detection_notify,
'target':
target,
'timeout':
timeout,
'outputs': [
Parameter(
name='red',
data_type='uint8_t',
index=0,
size=1,
),
Parameter(
name='green',
data_type='uint8_t',
index=1,
size=1,
),
Parameter(
name='blue',
data_type='uint8_t',
index=2,
size=1,
),
Parameter(
name='confidence',
data_type='uint8_t',
index=3,
size=1,
),
Parameter(
name='colorClassificationId',
data_type='uint8_t',
index=4,
size=1,
),
]
}
def send_infrared_message(infrared_code, front_strength, left_strength,
right_strength, rear_strength, target, timeout):
return {
'did':
DevicesEnum.sensor,
'cid':
CommandsEnum.send_infrared_message,
'seq':
SequenceNumberGenerator.get_sequence_number(),
'target':
target,
'timeout':
timeout,
'inputs': [
Parameter(name='infraredCode',
data_type='uint8_t',
index=0,
value=infrared_code,
size=1),
Parameter(name='frontStrength',
data_type='uint8_t',
index=1,
value=front_strength,
size=1),
Parameter(name='leftStrength',
data_type='uint8_t',
index=2,
value=left_strength,
size=1),
Parameter(name='rightStrength',
data_type='uint8_t',
index=3,
value=right_strength,
size=1),
Parameter(name='rearStrength',
data_type='uint8_t',
index=4,
value=rear_strength,
size=1),
],
}
def get_drive_target_slew_parameters(target, timeout):
return {
'did': DevicesEnum.drive,
'cid': CommandsEnum.get_drive_target_slew_parameters,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
'outputs': [
Parameter(
name='a',
data_type='float',
index=0,
size=1,
),
Parameter(
name='b',
data_type='float',
index=1,
size=1,
),
Parameter(
name='c',
data_type='float',
index=2,
size=1,
),
Parameter(
name='linear_acceleration',
data_type='float',
index=3,
size=1,
),
Parameter(
name='linear_velocity_slew_method',
data_type='uint8_t',
index=4,
size=1,
),
]
}
def get_motor_thermal_protection_status(target, timeout):
return {
'did':
DevicesEnum.sensor,
'cid':
CommandsEnum.get_motor_thermal_protection_status,
'seq':
SequenceNumberGenerator.get_sequence_number(),
'target':
target,
'timeout':
timeout,
'outputs': [
Parameter(
name='leftMotorTemperature',
data_type='float',
index=0,
size=1,
),
Parameter(
name='leftMotorStatus',
data_type='uint8_t',
index=1,
size=1,
),
Parameter(
name='rightMotorTemperature',
data_type='float',
index=2,
size=1,
),
Parameter(
name='rightMotorStatus',
data_type='uint8_t',
index=3,
size=1,
),
]
}
def get_rgbc_sensor_values(target, timeout):
return {
'did':
DevicesEnum.sensor,
'cid':
CommandsEnum.get_rgbc_sensor_values,
'seq':
SequenceNumberGenerator.get_sequence_number(),
'target':
target,
'timeout':
timeout,
'outputs': [
Parameter(
name='redChannelValue',
data_type='uint16_t',
index=0,
size=1,
),
Parameter(
name='greenChannelValue',
data_type='uint16_t',
index=1,
size=1,
),
Parameter(
name='blueChannelValue',
data_type='uint16_t',
index=2,
size=1,
),
Parameter(
name='clearChannelValue',
data_type='uint16_t',
index=3,
size=1,
),
]
}
def raw_motors(left_mode, left_duty_cycle, right_mode, right_duty_cycle, target, timeout):
return {
'did': DevicesEnum.drive,
'cid': CommandsEnum.raw_motors,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
'inputs': [
Parameter(
name='left_mode',
data_type='uint8_t',
index=0,
value=left_mode,
size=1
),
Parameter(
name='left_duty_cycle',
data_type='uint8_t',
index=1,
value=left_duty_cycle,
size=1
),
Parameter(
name='right_mode',
data_type='uint8_t',
index=2,
value=right_mode,
size=1
),
Parameter(
name='right_duty_cycle',
data_type='uint8_t',
index=3,
value=right_duty_cycle,
size=1
),
],
}
def on_motor_thermal_protection_status_notify(target, timeout):
return {
'did':
DevicesEnum.sensor,
'cid':
CommandsEnum.motor_thermal_protection_status_notify,
'target':
target,
'timeout':
timeout,
'outputs': [
Parameter(
name='leftMotorTemperature',
data_type='float',
index=0,
size=1,
),
Parameter(
name='leftMotorStatus',
data_type='uint8_t',
index=1,
size=1,
),
Parameter(
name='rightMotorTemperature',
data_type='float',
index=2,
size=1,
),
Parameter(
name='rightMotorStatus',
data_type='uint8_t',
index=3,
size=1,
),
]
}
def on_xy_position_drive_result_notify(target, timeout):
return {
'did': DevicesEnum.drive,
'cid': CommandsEnum.xy_position_drive_result_notify,
'target': target,
'timeout': timeout,
'outputs': [
Parameter(
name='success',
data_type='bool',
index=0,
size=1,
),
]
}
def drive_with_yaw_si(yaw_angle, linear_velocity, target, timeout):
return {
'did': DevicesEnum.drive,
'cid': CommandsEnum.drive_with_yaw_si,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
'inputs': [
Parameter(
name='yaw_angle',
data_type='float',
index=0,
value=yaw_angle,
size=1
),
Parameter(
name='linear_velocity',
data_type='float',
index=1,
value=linear_velocity,
size=1
),
],
}
def drive_tank_normalized(left_velocity, right_velocity, target, timeout):
return {
'did': DevicesEnum.drive,
'cid': CommandsEnum.drive_tank_normalized,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
'inputs': [
Parameter(
name='left_velocity',
data_type='int8_t',
index=0,
value=left_velocity,
size=1
),
Parameter(
name='right_velocity',
data_type='int8_t',
index=1,
value=right_velocity,
size=1
),
],
}
