def __init__( self , buildDir="", motecom=None, tkRoot=None, comm=None ) :
#first, import all types, msgs, and enums from the nesc app
self.app = nescDecls.nescApp(buildDir, "Oscope")
#use the user's comm and tkroot, if they passed it in
if tkRoot == None:
self.tkRoot = Tk.Tk()
else :
self.tkRoot = tkRoot
if comm == None:
comm = Comm()
comm.connect( motecom ) #defaults to MOTECOM env variable if undefined
self.comm = comm
self.initializeGui()
#create a queue for receiving oscope messages and register it for messages
oscopeMsgQueue = MessageQueue(1)
self.comm.register( deepcopy(self.app.msgs.OscopeMsg) , oscopeMsgQueue )
#start a thread to process the messages (make daemon so it dies when tk is killed)
msgThread = threading.Thread(target=self.processMessages,
args=(oscopeMsgQueue,))
msgThread.setDaemon(True)
msgThread.start()
# start the GUI thread if we own it
if tkRoot == None:
self.tkRoot.mainloop()
print "Oscope.py exited normally"
def __init__(self, buildDir="", motecom=None, tkRoot=None, comm=None):
#first, import all types, msgs, and enums from the nesc app
self.app = nescDecls.nescApp(buildDir, "Oscope")
#use the user's comm and tkroot, if they passed it in
if tkRoot == None:
self.tkRoot = Tk.Tk()
else:
self.tkRoot = tkRoot
if comm == None:
comm = Comm()
comm.connect(
motecom) #defaults to MOTECOM env variable if undefined
self.comm = comm
self.initializeGui()
#create a queue for receiving oscope messages and register it for messages
oscopeMsgQueue = MessageQueue(1)
self.comm.register(deepcopy(self.app.msgs.OscopeMsg), oscopeMsgQueue)
#start a thread to process the messages (make daemon so it dies when tk is killed)
msgThread = threading.Thread(target=self.processMessages,
args=(oscopeMsgQueue, ))
msgThread.setDaemon(True)
msgThread.start()
# start the GUI thread if we own it
if tkRoot == None:
self.tkRoot.mainloop()
print "Oscope.py exited normally"
def __init__( self , moteComStr ) :
self.__msgQueue = MessageQueue( 5 )
self.__nextMessageType = None
# connect to the mote
self.__moteComStr = moteComStr
self.__comm = Comm()
self.__comm.connect( self.__moteComStr )
# When receiving these messages, queue them up
self.__comm.register( msgs[ "MotorState" ] , self.__msgQueue )
self.__comm.register( msgs[ "MotorTrim" ] , self.__msgQueue )
self.__comm.register( msgs[ "MotorMovement" ] , self.__msgQueue )
def __init__( self , motecom=None, tkRoot=None, comm=None ) :
#use the user's tk root, if they passed it in
if tkRoot == None:
self.tkRoot = Tk.Tk()
else:
self.tkRoot = tkRoot
#use the user's comm, if they passed it in
if comm != None:
self.comm = comm
#if no comm passed, create one
else:
# connect using motecom first, then MOTECOM environment var
self.comm = Comm()
if motecom != None :
self.comm.connect( motecom )
elif "MOTECOM" in os.environ :
self.comm.connect( os.environ["MOTECOM"] )
else:
sys.stderr.write("No serial port specified\n")
#register a listener for my message
self.comm.register( tinyos.oscope.OscopeMsg() , self )
# start/stop state
self.started = False
# create the frame where all the widgets will go
self.frame = Tk.Frame( self.tkRoot )
self.frame.pack()
# create the matplotlib figure for displaying the oscope msg payload
#self.fig = Figure()
#self.axes = self.fig.add_subplot(111)
self.fig = figure()
self.axes = subplot(111)
self.axes.plot([0],[0],'b')
#we create a line that holds sensor data
#so that we can update it later
self.line, = self.axes.lines
self.line.set_data([],[])
#remember the current axis limits
self.xlim = self.axes.get_xlim()
self.ylim = self.axes.get_ylim()
# start/stop button
self.startButton = Tk.Button( self.frame , text="start" ,
command = self.toggleStart )
self.startButton.pack( side = Tk.LEFT )
# reset button
self.resetButton = Tk.Button( self.frame , text="reset" ,
command = self.reset )
self.resetButton.pack( side = Tk.LEFT )
#container object for the figure instance
self.canvas = FigureCanvasTkAgg( self.fig , master = self.tkRoot )
self.canvas.show()
self.canvas.get_tk_widget().pack( side = Tk.TOP , fill = Tk.BOTH ,
expand = 1 )
self.toolbar = NavigationToolbar2TkAgg( self.canvas , self.tkRoot )
self.toolbar.update()
self.canvas._tkcanvas.pack( side=Tk.TOP , fill=Tk.BOTH , expand=1)
# start the GUI if I created it
if tkRoot == None:
self.tkRoot.mainloop()
class Oscope( object ) :
"""Oscope is a class that opens a window and prints out data
being passed in by a mote running the tinyos-1.x/apps/Oscilloscope
application.
Usage:
from the shell command line:
python Oscope.py serial@COM1:telos
or
export MOTECOM = serial@COM1:telos
python Oscope.py
from the python command line:
(note, it's slow and loses packets as a module... why?)
from Oscope import Oscope
oscope = Oscope('serial@COM1:telos')
or
from pytos.Comm import Comm
myComm = Comm()
myComm.connect('serial@COM1:telos')
oscope = Oscope(comm=myComm)
and/or (you can use combinations of comm and tkRoot)
import Tkinter as Tk
root = Tk.Tk()
oscope = Oscope(rkRoot = root)
root.mainloop()
"""
def __init__( self , motecom=None, tkRoot=None, comm=None ) :
#use the user's tk root, if they passed it in
if tkRoot == None:
self.tkRoot = Tk.Tk()
else:
self.tkRoot = tkRoot
#use the user's comm, if they passed it in
if comm != None:
self.comm = comm
#if no comm passed, create one
else:
# connect using motecom first, then MOTECOM environment var
self.comm = Comm()
if motecom != None :
self.comm.connect( motecom )
elif "MOTECOM" in os.environ :
self.comm.connect( os.environ["MOTECOM"] )
else:
sys.stderr.write("No serial port specified\n")
#register a listener for my message
self.comm.register( tinyos.oscope.OscopeMsg() , self )
# start/stop state
self.started = False
# create the frame where all the widgets will go
self.frame = Tk.Frame( self.tkRoot )
self.frame.pack()
# create the matplotlib figure for displaying the oscope msg payload
#self.fig = Figure()
#self.axes = self.fig.add_subplot(111)
self.fig = figure()
self.axes = subplot(111)
self.axes.plot([0],[0],'b')
#we create a line that holds sensor data
#so that we can update it later
self.line, = self.axes.lines
self.line.set_data([],[])
#remember the current axis limits
self.xlim = self.axes.get_xlim()
self.ylim = self.axes.get_ylim()
# start/stop button
self.startButton = Tk.Button( self.frame , text="start" ,
command = self.toggleStart )
self.startButton.pack( side = Tk.LEFT )
# reset button
self.resetButton = Tk.Button( self.frame , text="reset" ,
command = self.reset )
self.resetButton.pack( side = Tk.LEFT )
#container object for the figure instance
self.canvas = FigureCanvasTkAgg( self.fig , master = self.tkRoot )
self.canvas.show()
self.canvas.get_tk_widget().pack( side = Tk.TOP , fill = Tk.BOTH ,
expand = 1 )
self.toolbar = NavigationToolbar2TkAgg( self.canvas , self.tkRoot )
self.toolbar.update()
self.canvas._tkcanvas.pack( side=Tk.TOP , fill=Tk.BOTH , expand=1)
# start the GUI if I created it
if tkRoot == None:
self.tkRoot.mainloop()
def reset( self ) :
self.comm.send(65535, tinyos.oscope.OscopeResetMsg() )
self.line.set_data([],[])
self.canvas.draw()
def toggleStart( self ) :
self.started = not self.started
if self.started :
self.startButton["text"] = "stop"
else :
self.startButton["text"] = "start"
def messageReceived( self , addr , msg ) :
# Because callbacks via jpype give awful errors, catch
# and print errors here
try:
if self.started :
if isinstance( msg , tinyos.oscope.OscopeMsg ) :
self.receivedOscopeMsg( msg )
else :
sys.stderr.write("message of unknown type received\n")
except Exception,inst :
print inst
sys.exit(1)
class RoboMote( object ) :
def __init__( self , moteComStr ) :
self.__msgQueue = MessageQueue( 5 )
self.__nextMessageType = None
# connect to the mote
self.__moteComStr = moteComStr
self.__comm = Comm()
self.__comm.connect( self.__moteComStr )
# When receiving these messages, queue them up
self.__comm.register( msgs[ "MotorState" ] , self.__msgQueue )
self.__comm.register( msgs[ "MotorTrim" ] , self.__msgQueue )
self.__comm.register( msgs[ "MotorMovement" ] , self.__msgQueue )
def __query( self , queryType , returnMsgName ) :
self.__nextMessageName = returnMsgName
motorQueryMsg = msgs[ "MotorQuery" ]
motorQueryMsg.type = queryType
self.__comm.send( enums.TOS_BCAST_ADDR , motorQueryMsg );
def getNextMsg( self , timeout = 1 ) :
try:
(addr,msg) = self.__msgQueue.get( True , timeout )
except Queue.Empty :
return None
if msg.nescType == self.__nextMessageName :
return msg
return None
def destroy( self ) :
self.stopMovement()
self.disableMotors()
self.__comm.disconnect( self.__moteComStr )
def sendKeepAlive( self , timeout = 0 ) :
"""Timeout is in seconds; 0 is interpreted (on the mote side) as use the previous value"""
m = msgs[ "MotorKeepAlive" ]
m.stayAliveMillis = timeout*1000.0
self.__comm.send( enums.TOS_BCAST_ADDR , m )
def enableMotors( self ) :
m = msgs[ "MotorState" ]
m.motorState = enums.MOTORSTATE_ENABLED
self.__comm.send( enums.TOS_BCAST_ADDR , m )
def disableMotors( self ) :
m = msgs[ "MotorState" ]
m.motorState = enums.MOTORSTATE_DISABLED
self.__comm.send( enums.TOS_BCAST_ADDR , m )
def stopMovement( self ):
self.setMovement( 0.0 , 0.0 , 0.0 , 0.0 )
def setMovement( self , turnA = 0.0 , turnB = 0.0 , speedA = 0.0 , speedB = 0.0 ) :
"""all values between -1 and 1"""
m = msgs[ "MotorMovement" ]
m.turnA = moteRange(turnA)
m.turnB = moteRange(turnB)
m.speedA = moteRange(speedA)
m.speedB = moteRange(speedB)
self.__comm.send( enums.TOS_BCAST_ADDR , m )
def setTrim( self , turnA = 0.0 , turnB = 0.0 , speedA = 0.0 , speedB = 0.0 ):
"""all values between -1 and 1"""
m = msgs[ "MotorTrim" ]
m.turnATrim = moteRange(turnA)
m.turnBTrim = moteRange(turnB)
m.speedATrim = moteRange(speedA)
m.speedBTrim = moteRange(speedB)
self.__comm.send( enums.TOS_BCAST_ADDR , m )
def getStateDict( self ) :
enabled = self.isEnabled()
if not isinstance( enabled , bool ) :
return None
return { "enabled" : enabled }
def isEnabled( self ) :
self.__query( enums.MOTORQUERY_STATE , "MotorState" )
msg = self.getNextMsg()
if not msg :
return None
if msg.motorState == enums.MOTORSTATE_DISABLED :
return False
return True
def getTrim( self ) :
self.__query( enums.MOTORQUERY_TRIM , "MotorTrim" )
msg = self.getNextMsg()
if not msg :
return None
trim = ( userRange( msg.turnATrim ) ,
userRange( msg.turnBTrim ) ,
userRange( msg.speedATrim ) ,
userRange( msg.speedBTrim ) )
return trim
def getTrimDict( self ) :
trim = self.getTrim()
if not trim :
return None
trimDict = { "turnATrim" : trim[0] ,
"turnBTrim" : trim[1] ,
"speedATrim" : trim[2] ,
"speedBTrim" : trim[3] }
return trimDict
def getMovement( self ) :
self.__query( enums.MOTORQUERY_MOVEMENT , "MotorMovement" )
msg = self.getNextMsg()
if not msg :
return None
movement = ( userRange( msg.turnA ) ,
userRange( msg.turnB ) ,
userRange( msg.speedA ) ,
userRange( msg.speedB ) )
return movement
def getMovementDict( self ) :
movement = self.getMovement()
if not movement :
return None
movementDict = { "turnA" : movement[0] ,
"turnB" : movement[1] ,
"speedA" : movement[2] ,
"speedB" : movement[3] }
return movementDict
def getAllDict( self ) :
d = {}
for newDict in ( self.getStateDict() , self.getTrimDict() , self.getMovementDict() ) :
if newDict :
d.update( newDict )
return d
def __init__(self, motecom=None, tkRoot=None, comm=None):
#use the user's tk root, if they passed it in
if tkRoot == None:
self.tkRoot = Tk.Tk()
else:
self.tkRoot = tkRoot
#use the user's comm, if they passed it in
if comm != None:
self.comm = comm
#if no comm passed, create one
else:
# connect using motecom first, then MOTECOM environment var
self.comm = Comm()
if motecom != None:
self.comm.connect(motecom)
elif "MOTECOM" in os.environ:
self.comm.connect(os.environ["MOTECOM"])
else:
sys.stderr.write("No serial port specified\n")
#register a listener for my message
self.comm.register(tinyos.oscope.OscopeMsg(), self)
# start/stop state
self.started = False
# create the frame where all the widgets will go
self.frame = Tk.Frame(self.tkRoot)
self.frame.pack()
# create the matplotlib figure for displaying the oscope msg payload
#self.fig = Figure()
#self.axes = self.fig.add_subplot(111)
self.fig = figure()
self.axes = subplot(111)
self.axes.plot([0], [0], 'b')
#we create a line that holds sensor data
#so that we can update it later
self.line, = self.axes.lines
self.line.set_data([], [])
#remember the current axis limits
self.xlim = self.axes.get_xlim()
self.ylim = self.axes.get_ylim()
# start/stop button
self.startButton = Tk.Button(self.frame,
text="start",
command=self.toggleStart)
self.startButton.pack(side=Tk.LEFT)
# reset button
self.resetButton = Tk.Button(self.frame,
text="reset",
command=self.reset)
self.resetButton.pack(side=Tk.LEFT)
#container object for the figure instance
self.canvas = FigureCanvasTkAgg(self.fig, master=self.tkRoot)
self.canvas.show()
self.canvas.get_tk_widget().pack(side=Tk.TOP, fill=Tk.BOTH, expand=1)
self.toolbar = NavigationToolbar2TkAgg(self.canvas, self.tkRoot)
self.toolbar.update()
self.canvas._tkcanvas.pack(side=Tk.TOP, fill=Tk.BOTH, expand=1)
# start the GUI if I created it
if tkRoot == None:
self.tkRoot.mainloop()
class Oscope(object):
"""Oscope is a class that opens a window and prints out data
being passed in by a mote running the tinyos-1.x/apps/Oscilloscope
application.
Usage:
from the shell command line:
python Oscope.py serial@COM1:telos
or
export MOTECOM = serial@COM1:telos
python Oscope.py
from the python command line:
(note, it's slow and loses packets as a module... why?)
from Oscope import Oscope
oscope = Oscope('serial@COM1:telos')
or
from pytos.Comm import Comm
myComm = Comm()
myComm.connect('serial@COM1:telos')
oscope = Oscope(comm=myComm)
and/or (you can use combinations of comm and tkRoot)
import Tkinter as Tk
root = Tk.Tk()
oscope = Oscope(rkRoot = root)
root.mainloop()
"""
def __init__(self, motecom=None, tkRoot=None, comm=None):
#use the user's tk root, if they passed it in
if tkRoot == None:
self.tkRoot = Tk.Tk()
else:
self.tkRoot = tkRoot
#use the user's comm, if they passed it in
if comm != None:
self.comm = comm
#if no comm passed, create one
else:
# connect using motecom first, then MOTECOM environment var
self.comm = Comm()
if motecom != None:
self.comm.connect(motecom)
elif "MOTECOM" in os.environ:
self.comm.connect(os.environ["MOTECOM"])
else:
sys.stderr.write("No serial port specified\n")
#register a listener for my message
self.comm.register(tinyos.oscope.OscopeMsg(), self)
# start/stop state
self.started = False
# create the frame where all the widgets will go
self.frame = Tk.Frame(self.tkRoot)
self.frame.pack()
# create the matplotlib figure for displaying the oscope msg payload
#self.fig = Figure()
#self.axes = self.fig.add_subplot(111)
self.fig = figure()
self.axes = subplot(111)
self.axes.plot([0], [0], 'b')
#we create a line that holds sensor data
#so that we can update it later
self.line, = self.axes.lines
self.line.set_data([], [])
#remember the current axis limits
self.xlim = self.axes.get_xlim()
self.ylim = self.axes.get_ylim()
# start/stop button
self.startButton = Tk.Button(self.frame,
text="start",
command=self.toggleStart)
self.startButton.pack(side=Tk.LEFT)
# reset button
self.resetButton = Tk.Button(self.frame,
text="reset",
command=self.reset)
self.resetButton.pack(side=Tk.LEFT)
#container object for the figure instance
self.canvas = FigureCanvasTkAgg(self.fig, master=self.tkRoot)
self.canvas.show()
self.canvas.get_tk_widget().pack(side=Tk.TOP, fill=Tk.BOTH, expand=1)
self.toolbar = NavigationToolbar2TkAgg(self.canvas, self.tkRoot)
self.toolbar.update()
self.canvas._tkcanvas.pack(side=Tk.TOP, fill=Tk.BOTH, expand=1)
# start the GUI if I created it
if tkRoot == None:
self.tkRoot.mainloop()
def reset(self):
self.comm.send(65535, tinyos.oscope.OscopeResetMsg())
self.line.set_data([], [])
self.canvas.draw()
def toggleStart(self):
self.started = not self.started
if self.started:
self.startButton["text"] = "stop"
else:
self.startButton["text"] = "start"
def messageReceived(self, addr, msg):
# Because callbacks via jpype give awful errors, catch
# and print errors here
try:
if self.started:
if isinstance(msg, tinyos.oscope.OscopeMsg):
self.receivedOscopeMsg(msg)
else:
sys.stderr.write("message of unknown type received\n")
except Exception, inst:
print inst
sys.exit(1)
