def magnetometer_calibrate_to_north(target, timeout):
return {
'did': DevicesEnum.sensor,
'cid': CommandsEnum.magnetometer_calibrate_to_north,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
}
def stop_robot_to_robot_infrared_evading(target, timeout):
return {
'did': DevicesEnum.sensor,
'cid': CommandsEnum.stop_robot_to_robot_infrared_evading,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
}
def release_led_requests(target, timeout):
return {
'did': DevicesEnum.io,
'cid': CommandsEnum.release_led_requests,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
}
def reset_locator_x_and_y(target, timeout):
return {
'did': DevicesEnum.sensor,
'cid': CommandsEnum.reset_locator_x_and_y,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
}
def disable_notifications_and_active_commands(target, timeout):
return {
'did': DevicesEnum.sensor,
'cid': CommandsEnum.disable_notifications_and_active_commands,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
}
def reset_yaw(target, timeout):
return {
'did': DevicesEnum.drive,
'cid': CommandsEnum.reset_yaw,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
}
def sleep(target, timeout):
return {
'did': DevicesEnum.power,
'cid': CommandsEnum.sleep,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
}
def get_current_detected_color_reading(target, timeout):
return {
'did': DevicesEnum.sensor,
'cid': CommandsEnum.get_current_detected_color_reading,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
}
def clear_streaming_service(target, timeout):
return {
'did': DevicesEnum.sensor,
'cid': CommandsEnum.clear_streaming_service,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
}
def get_temperature(id0, id1, target, timeout):
return {
'did':
DevicesEnum.sensor,
'cid':
CommandsEnum.get_temperature,
'seq':
SequenceNumberGenerator.get_sequence_number(),
'target':
target,
'timeout':
timeout,
'inputs': [
Parameter(name='id0',
data_type='uint8_t',
index=0,
value=id0,
size=1),
Parameter(name='id1',
data_type='uint8_t',
index=1,
value=id1,
size=1),
],
'outputs': [
Parameter(
name='id0',
data_type='uint8_t',
index=0,
size=1,
),
Parameter(
name='temp0',
data_type='float',
index=1,
size=1,
),
Parameter(
name='id1',
data_type='uint8_t',
index=2,
size=1,
),
Parameter(
name='temp1',
data_type='float',
index=3,
size=1,
),
]
}
def get_mac_address(target, timeout):
return {
'did': DevicesEnum.system_info,
'cid': CommandsEnum.get_mac_address,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
'outputs': [
Parameter(
name='mac_address',
data_type='std::string',
index=0,
size=1,
),
]
}
def get_board_revision(target, timeout):
return {
'did': DevicesEnum.system_info,
'cid': CommandsEnum.get_board_revision,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
'outputs': [
Parameter(
name='revision',
data_type='uint8_t',
index=0,
size=1,
),
]
}
def get_core_up_time_in_milliseconds(target, timeout):
return {
'did': DevicesEnum.system_info,
'cid': CommandsEnum.get_core_up_time_in_milliseconds,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
'outputs': [
Parameter(
name='up_time',
data_type='uint64_t',
index=0,
size=1,
),
]
}
def get_active_control_system_id(target, timeout):
return {
'did': DevicesEnum.drive,
'cid': CommandsEnum.get_active_control_system_id,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
'outputs': [
Parameter(
name='controller_id',
data_type='uint8_t',
index=0,
size=1,
),
]
}
def get_bluetooth_advertising_name(target, timeout):
return {
'did': DevicesEnum.connection,
'cid': CommandsEnum.get_bluetooth_advertising_name,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
'outputs': [
Parameter(
name='name',
data_type='std::string',
index=0,
size=1,
),
]
}
def get_stop_controller_state(target, timeout):
return {
'did': DevicesEnum.drive,
'cid': CommandsEnum.get_stop_controller_state,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
'outputs': [
Parameter(
name='stopped',
data_type='bool',
index=0,
size=1,
),
]
}
def generate_api_error(error, target, timeout):
return {
'did': DevicesEnum.api_and_shell,
'cid': CommandsEnum.generate_api_error,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
'inputs': [
Parameter(
name='error',
data_type='uint8_t',
index=0,
value=error,
size=1
),
],
}
def drive_stop_custom_decel(deceleration_rate, target, timeout):
return {
'did': DevicesEnum.drive,
'cid': CommandsEnum.drive_stop_custom_decel,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
'inputs': [
Parameter(
name='deceleration_rate',
data_type='float',
index=0,
value=deceleration_rate,
size=1
),
],
}
def enable_motor_fault_notify(is_enabled, target, timeout):
return {
'did': DevicesEnum.drive,
'cid': CommandsEnum.enable_motor_fault_notify,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
'inputs': [
Parameter(
name='is_enabled',
data_type='bool',
index=0,
value=is_enabled,
size=1
),
],
}
def set_custom_control_system_timeout(command_timeout, target, timeout):
return {
'did': DevicesEnum.drive,
'cid': CommandsEnum.set_custom_control_system_timeout,
'seq': SequenceNumberGenerator.get_sequence_number(),
'target': target,
'timeout': timeout,
'inputs': [
Parameter(
name='command_timeout',
data_type='uint16_t',
index=0,
value=command_timeout,
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 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 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 enable_battery_voltage_state_change_notify(is_enabled, target, timeout):
return {
'did':
DevicesEnum.power,
'cid':
CommandsEnum.enable_battery_voltage_state_change_notify,
'seq':
SequenceNumberGenerator.get_sequence_number(),
'target':
target,
'timeout':
timeout,
'inputs': [
Parameter(name='is_enabled',
data_type='bool',
index=0,
value=is_enabled,
size=1),
],
}
def enable_color_detection(is_enabled, target, timeout):
return {
'did':
DevicesEnum.sensor,
'cid':
CommandsEnum.enable_color_detection,
'seq':
SequenceNumberGenerator.get_sequence_number(),
'target':
target,
'timeout':
timeout,
'inputs': [
Parameter(name='is_enabled',
data_type='bool',
index=0,
value=is_enabled,
size=1),
],
}
def save_color_palette(palette_index, target, timeout):
return {
'did':
DevicesEnum.io,
'cid':
CommandsEnum.save_color_palette,
'seq':
SequenceNumberGenerator.get_sequence_number(),
'target':
target,
'timeout':
timeout,
'inputs': [
Parameter(name='palette_index',
data_type='uint8_t',
index=0,
value=palette_index,
size=1),
],
}
def set_locator_flags(flags, target, timeout):
return {
'did':
DevicesEnum.sensor,
'cid':
CommandsEnum.set_locator_flags,
'seq':
SequenceNumberGenerator.get_sequence_number(),
'target':
target,
'timeout':
timeout,
'inputs': [
Parameter(name='flags',
data_type='uint8_t',
index=0,
value=flags,
size=1),
],
}
def set_active_color_palette(rgb_index_bytes, target, timeout):
return {
'did':
DevicesEnum.io,
'cid':
CommandsEnum.set_active_color_palette,
'seq':
SequenceNumberGenerator.get_sequence_number(),
'target':
target,
'timeout':
timeout,
'inputs': [
Parameter(name='rgb_index_bytes',
data_type='uint8_t',
index=0,
value=rgb_index_bytes,
size=48),
],
}
def enable_robot_infrared_message_notify(is_enabled, target, timeout):
return {
'did':
DevicesEnum.sensor,
'cid':
CommandsEnum.enable_robot_infrared_message_notify,
'seq':
SequenceNumberGenerator.get_sequence_number(),
'target':
target,
'timeout':
timeout,
'inputs': [
Parameter(name='isEnabled',
data_type='bool',
index=0,
value=is_enabled,
size=1),
],
}
def start_streaming_service(period, target, timeout):
return {
'did':
DevicesEnum.sensor,
'cid':
CommandsEnum.start_streaming_service,
'seq':
SequenceNumberGenerator.get_sequence_number(),
'target':
target,
'timeout':
timeout,
'inputs': [
Parameter(name='period',
data_type='uint16_t',
index=0,
value=period,
size=1),
],
}