def test_board_type(self):
board_cfg = board_config.BoardConfig()
self.assertEqual('m3', board_cfg.board_type)
self.assertEqual('m3', board_cfg.board_class.TYPE)
self.assertEqual('turtlebot2', board_cfg.robot_type)
self.assertNotEqual('', board_config.BoardConfig().node_id)
def flash():
""" flash node function """
board_cfg = board_config.BoardConfig()
firmware = os.getenv('FW')
opts = _setup_parser(_FLASH, board_cfg)
control_node = opts.cn if hasattr(opts, 'cn') else False
node = _get_node(board_cfg, control_node)
if firmware is not None and not control_node:
if firmware == 'idle':
firmware = node.FW_IDLE
if firmware == 'autotest':
firmware = node.FW_AUTOTEST
else:
firmware = opts.firmware
if firmware is None:
ret = -2
_print_result(ret, _FLASH)
return ret
if node.programmer is None:
ret = -1
else:
try:
firmware_path = common.abspath(firmware)
except IOError as err:
print(err)
return 1
if not opts.quiet:
node.programmer.out = None
ret = node.flash(firmware_path, opts.bin, opts.offset)
_print_result(ret, _FLASH, node.TYPE)
return ret
def reset():
""" reset node function """
board_cfg = board_config.BoardConfig()
opts = _setup_parser(_RESET, board_cfg)
control_node = opts.cn if hasattr(opts, 'cn') else False
node = _get_node(board_cfg, control_node)
ret = node.reset() if hasattr(node, _RESET) else -1
_print_result(ret, _RESET, node.TYPE)
return ret
def debug():
""" debug node function """
board_cfg = board_config.BoardConfig()
opts = _setup_parser(_DEBUG, board_cfg)
control_node = opts.cn if hasattr(opts, 'cn') else False
node = _get_node(board_cfg, control_node)
start_debug = hasattr(node, f'{_DEBUG}_start')
stop_debug = hasattr(node, f'{_DEBUG}_stop')
ret = _debug(node) if (start_debug and stop_debug) else -1
_print_result(ret, _DEBUG, node.TYPE)
return ret
def __init__(self, gateway_manager):
self.g_m = gateway_manager
board_cfg = board_config.BoardConfig()
self.on_class = board_cfg.board_class
self.cn_class = board_cfg.cn_class
self.on_serial = None
self.a8_connection = None
self.ret_dict = {'ret': None, 'success': [], 'error': [], 'mac': {}}
self.cn_measures = []
def reset():
""" reset node function """
board_cfg = board_config.BoardConfig()
opts = _setup_parser(_RESET, board_cfg)
control_node = opts.cn if hasattr(opts, 'cn') else False
node = _get_node(board_cfg, control_node)
if node.programmer is not None:
if not opts.quiet:
node.programmer.out = None
ret = node.reset()
else:
ret = -1
_print_result(ret, _RESET, node.TYPE)
return ret
def main():
""" serial_redirection cli main function """
# Catch SIGTERM signal sending by start-stop-daemon
# init script
signal.signal(signal.SIGTERM, _handle_signal)
board_cfg = board_config.BoardConfig()
node = _get_node(board_cfg)
try:
node.serial_redirection.start()
print('Press Ctrl+C to stop')
signal.pause()
except KeyboardInterrupt:
pass
finally:
node.serial_redirection.stop()
print('Stopped')
def __init__(self, log_folder='.', log_stdout=False):
gateway_logging.init_logger(log_folder, log_stdout)
self.board_cfg = board_config.BoardConfig()
self.rlock = RLock()
# Nodes instance
self.open_node = self.board_cfg.board_class()
self.control_node = self.board_cfg.cn_class(
self.board_cfg.node_id, self.board_cfg.default_profile)
self._nodes = {'control': self.control_node, 'open': self.open_node}
# current experiment infos
self.exp_id = None
self.user = None
self.exp_files = {}
self.experiment_is_running = False
self.user_log_handler = None
self.timeout_timer = None
def __init__(self, gateway_manager):
super(GatewayRest, self).__init__()
self.gateway_manager = gateway_manager
self.board_config = board_config.BoardConfig()
self._app_routing()
def test_board_type_no_robot(self):
board_cfg = board_config.BoardConfig()
self.assertEqual('m3', board_cfg.board_type)
self.assertEqual(None, board_cfg.robot_type)
