def send_msg(hwa, port, descr_str, d_id, writer_func, smb=0):
rc, lvl3_msg = writer_func()
if rc != 0:
print "fail ", descr_str, ", rc = ", rc
return
else:
print "sending ", descr_str
msg = ("msg_lvl2", ("msg_metadata", hwa, port, smb, d_id), lvl3_msg)
lnet.send(msg)
def test_write():
sync_timeout = 1500 # *1000us = 1.5s
drv_send_timeout = 500000 # *1us = 0.5s
net_confirm_timeout = 1000 # *1000us = 1s
lnet.init(1, 10, sync_timeout, drv_send_timeout, net_confirm_timeout)
lnet.send(("msg_lvl2", ("msg_metadata", 15, 1, 0, 18), "STARTING_TEST"))
hwa = 15
port = 2
s = 1
send_msg(hwa, port, "button.w_up", button_1_id, button.w_up)
send_msg(hwa, port, "button.w_down", button_2_id, button.w_down)
send_msg(hwa, port, "led.w_on", led_1_id, led.w_on)
send_msg(hwa, port, "led.w_off", led_2_id, led.w_off)
send_msg(hwa, port, "led.w_toggle", led_2_id, led.w_toggle)
def try_register(msg, own_port, reg_slave_f, check_slave_reg_f):
hwa = msg[1][1]
#if NORMAL msg:
if ( (msg[1][3] == 0) | ((msg[1][4] != sys.Ids['HEARTBEAT']) & (msg[1][4] != sys.Ids['CONFIG'])) ):
return (rc_ok)
#if CONFIG msg:
if (msg[1][4] == sys.Ids['CONFIG']):
if (reg_states.get(hwa) == reg_state_req_sent):
#send command to set slave regime to Normal
packer_rc, data = sys.set_op_w_normal()
if (packer_rc != 0):
return (rc_packer_err, packer_rc)
msg_setop = ("msg_lvl2", ("msg_metadata", hwa, own_port, 1, sys.Ids['SET_OP']), data)
snd_rc = lnet.send(msg_setop)
if (snd_rc != 0):
return (rc_snd_err, snd_rc)
reg_slave_f(msg)
del reg_states[hwa]
return (rc_processed)
#else: unexpected config - panic
#if HEARTBEAT msg:
#else if already registered - quit: (this way allows app to delete slaves without asking receive_message)
if (check_slave_reg_f(hwa)):
return (rc_processed)
#send request for config (if it hvent been done already):
if (reg_states.get(hwa) != reg_state_req_sent):
packer_rc, data = sys.config_w_request()
if (packer_rc != 0):
return (rc_packer_err, packer_rc)
msg_req = ("msg_lvl2", ("msg_metadata", hwa, own_port, 1, sys.Ids['CONFIG']), data)
snd_rc = lnet.send(msg_req)
if (snd_rc != 0):
return (rc_snd_err, snd_rc)
else:
#quit - only one msg handling on one registration_handler call
reg_states[hwa] = reg_state_req_sent
return (rc_ok)
def virt_slave():
port = 3
rci = can_net_sync_init(comm.port, comm.sync_msgs_limit, comm.sync_timeout, comm.send_frame_timeout_us, comm.net_confirm_timeout);
if (rci):
printf "initialization return code:", rci
return 0;
else:
print "successful initialization\n"
base_period = 0.1 # 100ms
hwa = 13
not_sys = 0
is_sys = 1
#button_id = random.randrange(0, 4)
button_id = 5
rcp, btn_down_data = button.w_down()
msg_btn_down = ("msg_lvl2", ("msg_metadata", hwa, comm.br_port, not_sys, button_id), btn_down_data)
rcp, btn_up_data = button.w_up()
msg_btn_up = ("msg_lvl2", ("msg_metadata", hwa, comm.br_port, not_sys, button_id), btn_up_data)
no_id = 0
rcp, hb_msg_data = sys.heartbeat_w()
hb_msg = ("msg_lvl2", ("msg_metadata", hwa, comm.br_port, is_sys, no_id), hb_msg_data)
x = 0
while(True):
msg = comm.recv_msg(port)
if (msg[1][1] != hwa):
print "Slave:", hwa, "recieved msg for slave:", msg[1][1]
else:
slave_msg_handler(msg)
x += 1
if (x == 9):
snd_rc = lnet.send(msg_btn_down)
if (x == 10):
x = 0
snd_rc = lnet.send(msg_btn_up)
snd_rc = lnet.send(hb_msg)
time.sleep(base_period)
def do_led(self, line):
'''
Control led.
@ 1) led id;
@ 2) command (on, off, toggle)
'''
args = line.split(" ")
if len(args) < 2:
self.args_error("led")
return
if args[1] not in {"on", "off", "toggle"}:
self.args_error("led")
return
r = {"on": pmd_net_led.w_on,
"off": pmd_net_led.w_off,
"toggle": pmd_net_led.w_toggle}[args[1]]()
if r[0] != 0:
print "Fail with led.w_xxx, r[0] = " + repr(r[0])
return
msg = ("msg_lvl2", ("msg_metadata", self.cur_hw_addr, self.cur_port, 0, int(args[0])), r[1])
rc = can_net_sync.send(msg)
if rc != 0:
print "Sending faild with return code %i" % rc
import can_net_sync as cn
import pmd_net_system as sys
cn.init(1, 100, 100, 100, 100)
msg = ("msg_lvl2", ("msg_metadata", 123, 1, 1, sys.Ids["SET_OP"]), sys.set_op_w_configuration()[1])
print msg
cn.send(msg)
