class K9dApp:
#Compile RE for iwconfig ouput parsing
brre = re.compile(r"Bit Rate=([\d.]+ \S+)", re.M)
lqre = re.compile(r"Link Quality=(\d+/\d+) Signal level=(-\d+ dBm)", re.M)
def __init__(self):
#Kind a config here
#arduino tracks bridge pinout
self.tracks = Tracks(pin.port.PB5, pin.port.PB6, 28, pin.port.PB7,
pin.port.PB10, 29, 20)
#ip
self.addr = "192.168.0.22"
self.UDP_IP = "0.0.0.0"
self.UDP_PORT = 9999
#sonar
self.sonaron = True
self.sonarfailsafe = 0.
#mjpg_streamer related
self.videomode = 'OFF'
#init
self.faststate = {}
self.faststate["proxalert"] = False
self.sonardist = 0
self.sonarfailsafe_active = False
self.festivalup = False
self.log_init()
#==============UDP INIT====================
self.log.info("spinal interface daemon for K-9 starting")
self.servsock = socket.socket(
socket.AF_INET, # Internet
socket.SOCK_DGRAM) # UDP
self.servsock.bind((self.UDP_IP, self.UDP_PORT))
self.respsock = socket.socket(
socket.AF_INET, # Internet
socket.SOCK_DGRAM) # UDP
#============SERIAL INIT===================
try:
self.spinal = serial.Serial('/dev/ttyS2', 115200, timeout=0.5)
self.spinal_enabled = True
except:
self.spinal_enabled = False
self.log.info(
"Could not open port for arduino -- connection disabled ")
try:
self.sonar = serial.Serial('/dev/ttyS1', 9600, timeout=0.5)
self.sonar_enabled = True
except:
self.log.error("Could not open port for sonar -- sonar disabled")
self.sonar_enabled = False
#===========THREADING INIT=================
self.faststate['S1'] = -1
self.faststate['S2'] = -1
self.faststate['A1'] = -1
self.faststate['A2'] = -1
self.faststate['A3'] = -1
if self.spinal_enabled:
self.tSerialRead = threading.Thread(target=self.sreader)
self.tSerialRead.setDaemon(1)
self.tSerialRead.start()
self.tTrackWatchdog = threading.Thread(target=self.cmdtimeout)
self.tTrackWatchdog.setDaemon(1)
self.tTrackWatchdog.start()
self.tStateUpload = threading.Thread(target=self.tstateup)
self.tStateUpload.setDaemon(1)
self.tStateUpload.start()
if self.sonar_enabled:
self.tSonar = threading.Thread(target=self.tsonar)
self.tSonar.setDaemon(1)
self.tSonar.start()
self.log.info("ready to play")
def __del__(self):
self.log.info("Shutting down daemon")
self.gsens.__del__()
self.gsens = None
def gsens_update(self):
if hasattr(self.gsens, 'yaw'):
self.faststate['yaw'] = self.gsens.yaw
self.faststate['pitch'] = self.gsens.pitch
self.faststate['roll'] = self.gsens.roll
self.faststate['ax'] = self.gsens.ax
self.faststate['ay'] = self.gsens.ay
self.faststate['az'] = self.gsens.az
self.stateupload()
def log_init(self):
if hasattr(self, 'log'):
self.log.removeHandler(self.stdoutloghandler)
self.log.removeHandler(self.udploghandler)
else:
self.log = logging.getLogger('k9d')
self.stdoutloghandler = logging.StreamHandler(sys.stdout)
self.stdoutloghandler.setFormatter(
logging.Formatter(
"%(asctime)s [%(name)s#%(levelname)s]: %(message)s"))
self.stdoutloghandler.setLevel(logging.DEBUG)
self.udploghandler = logging.handlers.DatagramHandler(
self.addr, self.UDP_PORT)
self.udploghandler.setFormatter(
logging.Formatter(
"%(asctime)s [%(name)s#%(levelname)s]: %(message)s"))
self.udploghandler.setLevel(logging.DEBUG)
self.log.setLevel(logging.DEBUG)
self.log.addHandler(self.stdoutloghandler)
self.log.addHandler(self.udploghandler)
def mainloop(self):
while True:
data, (addr, self.port) = self.servsock.recvfrom(
1024) # buffer size is 1024 bytes
if addr != self.addr:
self.log.warn("New client ip: {}".format(addr))
self.addr = addr
self.log_init()
out = "{}>{} &".format(str(self.addr), data)
request = data.split(' ')
CMD = request.pop(0)
CMD = CMD.strip("\n")
if CMD == "STOP":
self.tracks.neutral()
self.faststate['trackr'] = self.tracks.trackr
self.faststate['trackl'] = self.tracks.trackl
self.stateupload()
self.log.debug("Tracks vector set to neutral")
elif CMD == "SPINAL":
emsg = ' '.join(request)
self.log.info("Sending user packet to spinal: {}".format(emsg))
self.spinal_write(emsg)
elif CMD == "PING":
self.log.info("PING {} got".format(request[0]))
self.send("PONG {} {}".format(time.time(), request[0]),
self.addr)
elif CMD == "TRACKS":
self.tracks.vector(request[0], request[1])
self.log.debug("Tracks vector set to {},{}".format(
request[0], request[1]))
self.faststate['trackr'] = self.tracks.trackr
self.faststate['trackl'] = self.tracks.trackl
self.stateupload()
elif CMD == "SERVO":
self.servo(request[0], request[1])
elif CMD == "SON":
if request[0] == 'Failsafe':
self.sonaron = True
if request[1] == 'off': self.sonarfailsafe = 0
else: self.sonarfailsafe = float(request[1])
elif request[0] == 'Sonar' and request[1] == 'off':
self.sonaron = False
self.sonarfailsafe = 0
elif CMD == "CAM":
if request[0] == 'RES':
if hasattr(self, 'pmjpg'):
if self.pmjpg.poll() == None:
pid = self.pmjpg.pid
self.pmjpg.kill()
self.videomode = "OFF"
t = threading.Timer(2.0, self.run_mjpg,
[request[1]])
t.start()
self.log.info(
"Killed mjpg with pid {} and deferred run with {}"
.format(pid, request[1]))
else:
self.run_mjpg(request[1])
else:
self.run_mjpg(request[1])
elif request[0] == 'OFF':
if hasattr(self, 'pmjpg') and self.pmjpg.poll() == None:
self.pmjpg.kill()
self.videomode = "OFF"
self.log.info("Killed mjpg.")
elif request[0] == 'ZOOM' and request[1] == 'OFF':
status = subprocess.call(
["/usr/bin/v4l2-ctl", "--set-ctrl=zoom_absolute=1"])
self.log.info("Zoom OFF")
elif request[0] == 'ZOOM' and request[1] == 'ON':
status = subprocess.call(
["/usr/bin/v4l2-ctl", "--set-ctrl=zoom_absolute=5"])
self.log.info("Zoom ON")
elif CMD == "FESTIVAL":
if request[0] == 'ON':
if hasattr(self, 'pfestival'):
if self.pfestival.poll() == None:
pid = self.pfestival.pid
self.pfestival.kill()
self.festivalup = False
t = threading.Timer(2.0, self.run_festival)
t.start()
self.log.info(
"Killed festival with pid {} and deferred run".
format(pid))
else:
self.run_festival()
else:
self.run_festival()
elif request[0] == 'OFF':
if hasattr(self,
'pfestival') and self.pfestival.poll() == None:
self.pfestival.kill()
self.festivalup = False
self.log.info("Killed festival")
elif CMD == "SAY":
tts = cPickle.loads(data[4:])
if self.festivalup:
self.pfestival.stdin.write("(SayText \"{}\")".format(
tts.encode("utf-8")))
self.pfestival.stdin.flush()
self.log.info("Pronouncing '{}'".format(
tts.encode("utf-8")))
else:
self.log.err("Can't SAY, festival down")
elif CMD == 'EVAL':
ecmd = " ".join(request)
try:
output = eval("pprint.pformat({})".format(ecmd))
self.log.info("{} = {}".format(ecmd, output))
except Exception, e:
self.log.error(
"eval \"{}\" raised {} Exception: {}".format(
ecmd,
type(e).__name__, e))
elif CMD == "GSENSOR":
if request[0] == 'ON':
self.gsens = GSens(0, self.gsens_update, self.log.error,
self.log.info, self.log.debug)
elif request[0] == 'OFF':
self.gsens.__del__()
self.gsens = None
else:
class K9dApp:
#Compile RE for iwconfig ouput parsing
brre = re.compile (r"Bit Rate=([\d.]+ \S+)",re.M)
lqre = re.compile (r"Link Quality=(\d+/\d+) Signal level=(-\d+ dBm)",re.M)
def __init__ (self):
#Kind a config here
#arduino tracks bridge pinout
self.tracks = Tracks (pin.port.PB5, pin.port.PB6, 28, pin.port.PB7, pin.port.PB10, 29, 20)
#ip
self.addr = "192.168.0.22"
self.UDP_IP = "0.0.0.0"
self.UDP_PORT = 9999
#sonar
self.sonaron = True
self.sonarfailsafe = 0.
#mjpg_streamer related
self.videomode = 'OFF'
#init
self.faststate = {}
self.faststate["proxalert"] = False
self.sonardist = 0
self.sonarfailsafe_active = False
self.festivalup = False
self.log_init()
#==============UDP INIT====================
self.log.info ("spinal interface daemon for K-9 starting");
self.servsock = socket.socket(socket.AF_INET, # Internet
socket.SOCK_DGRAM) # UDP
self.servsock.bind((self.UDP_IP, self.UDP_PORT))
self.respsock = socket.socket(socket.AF_INET, # Internet
socket.SOCK_DGRAM) # UDP
#============SERIAL INIT===================
try:
self.spinal = serial.Serial('/dev/ttyS2', 115200, timeout=0.5)
self.spinal_enabled = True
except:
self.spinal_enabled = False
self.log.info("Could not open port for arduino -- connection disabled ")
try:
self.sonar = serial.Serial('/dev/ttyS1', 9600, timeout=0.5)
self.sonar_enabled = True
except:
self.log.error("Could not open port for sonar -- sonar disabled")
self.sonar_enabled = False
#===========THREADING INIT=================
self.faststate['S1']=-1
self.faststate['S2']=-1
self.faststate['A1']=-1
self.faststate['A2']=-1
self.faststate['A3']=-1
if self.spinal_enabled:
self.tSerialRead = threading.Thread(target=self.sreader)
self.tSerialRead.setDaemon (1)
self.tSerialRead.start()
self.tTrackWatchdog = threading.Thread(target=self.cmdtimeout)
self.tTrackWatchdog.setDaemon (1)
self.tTrackWatchdog.start()
self.tStateUpload = threading.Thread(target=self.tstateup)
self.tStateUpload.setDaemon (1)
self.tStateUpload.start()
if self.sonar_enabled:
self.tSonar = threading.Thread(target=self.tsonar)
self.tSonar.setDaemon (1)
self.tSonar.start()
self.log.info ("ready to play");
def __del__ (self):
self.log.info("Shutting down daemon")
self.gsens.__del__()
self.gsens = None
def gsens_update (self):
if hasattr(self.gsens,'yaw'):
self.faststate['yaw'] = self.gsens.yaw
self.faststate['pitch'] = self.gsens.pitch
self.faststate['roll'] = self.gsens.roll
self.faststate['ax'] = self.gsens.ax
self.faststate['ay'] = self.gsens.ay
self.faststate['az'] = self.gsens.az
self.stateupload()
def log_init(self):
if hasattr(self, 'log'):
self.log.removeHandler(self.stdoutloghandler)
self.log.removeHandler(self.udploghandler)
else:
self.log = logging.getLogger('k9d')
self.stdoutloghandler = logging.StreamHandler(sys.stdout)
self.stdoutloghandler.setFormatter(logging.Formatter("%(asctime)s [%(name)s#%(levelname)s]: %(message)s"))
self.stdoutloghandler.setLevel(logging.DEBUG)
self.udploghandler = logging.handlers.DatagramHandler(self.addr, self.UDP_PORT)
self.udploghandler.setFormatter(logging.Formatter("%(asctime)s [%(name)s#%(levelname)s]: %(message)s"))
self.udploghandler.setLevel(logging.DEBUG)
self.log.setLevel(logging.DEBUG)
self.log.addHandler(self.stdoutloghandler)
self.log.addHandler(self.udploghandler)
def mainloop (self):
while True:
data,(addr,self.port) = self.servsock.recvfrom(1024) # buffer size is 1024 bytes
if addr != self.addr:
self.log.warn ("New client ip: {}".format(addr))
self.addr = addr
self.log_init()
out = "{}>{} &".format(str(self.addr),data)
request = data.split(' ');
CMD = request.pop(0)
CMD = CMD.strip("\n")
if CMD == "STOP":
self.tracks.neutral()
self.faststate['trackr'] = self.tracks.trackr
self.faststate['trackl'] = self.tracks.trackl
self.stateupload()
self.log.debug ("Tracks vector set to neutral")
elif CMD == "SPINAL":
emsg = ' '.join(request)
self.log.info ("Sending user packet to spinal: {}".format(emsg))
self.spinal_write (emsg)
elif CMD == "PING":
self.log.info ("PING {} got".format(request[0]))
self.send ("PONG {} {}".format(time.time(),request[0]),self.addr)
elif CMD == "TRACKS":
self.tracks.vector (request[0],request[1]);
self.log.debug ("Tracks vector set to {},{}".format(request[0],request[1]))
self.faststate['trackr'] = self.tracks.trackr
self.faststate['trackl'] = self.tracks.trackl
self.stateupload()
elif CMD == "SERVO":
self.servo (request[0],request[1]);
elif CMD == "SON":
if request[0] == 'Failsafe':
self.sonaron = True
if request[1] == 'off': self.sonarfailsafe = 0
else: self.sonarfailsafe = float(request[1])
elif request[0] == 'Sonar' and request[1] == 'off' :
self.sonaron = False
self.sonarfailsafe = 0
elif CMD == "CAM":
if request[0] == 'RES':
if hasattr(self, 'pmjpg'):
if self.pmjpg.poll() == None:
pid = self.pmjpg.pid
self.pmjpg.kill()
self.videomode = "OFF"
t = threading.Timer(2.0,self.run_mjpg,[request[1]])
t.start()
self.log.info ("Killed mjpg with pid {} and deferred run with {}".format(pid,request[1]))
else:
self.run_mjpg(request[1])
else:
self.run_mjpg(request[1])
elif request[0] == 'OFF':
if hasattr(self, 'pmjpg') and self.pmjpg.poll() == None:
self.pmjpg.kill()
self.videomode = "OFF"
self.log.info ("Killed mjpg.")
elif request[0] == 'ZOOM' and request[1] == 'OFF' :
status = subprocess.call(["/usr/bin/v4l2-ctl", "--set-ctrl=zoom_absolute=1"])
self.log.info ("Zoom OFF")
elif request[0] == 'ZOOM' and request[1] == 'ON' :
status = subprocess.call(["/usr/bin/v4l2-ctl", "--set-ctrl=zoom_absolute=5"])
self.log.info ("Zoom ON")
elif CMD == "FESTIVAL":
if request[0] == 'ON':
if hasattr(self, 'pfestival'):
if self.pfestival.poll() == None:
pid = self.pfestival.pid
self.pfestival.kill()
self.festivalup = False
t = threading.Timer(2.0,self.run_festival)
t.start()
self.log.info ("Killed festival with pid {} and deferred run".format(pid))
else:
self.run_festival()
else:
self.run_festival()
elif request[0] == 'OFF':
if hasattr(self, 'pfestival') and self.pfestival.poll() == None:
self.pfestival.kill()
self.festivalup = False
self.log.info ("Killed festival")
elif CMD == "SAY":
tts = cPickle.loads(data[4:])
if self.festivalup:
self.pfestival.stdin.write ("(SayText \"{}\")".format( tts.encode("utf-8")))
self.pfestival.stdin.flush()
self.log.info ("Pronouncing '{}'".format(tts.encode("utf-8")))
else:
self.log.err ("Can't SAY, festival down")
elif CMD == 'EVAL':
ecmd = " ".join(request)
try:
output = eval("pprint.pformat({})".format(ecmd))
self.log.info ("{} = {}".format(ecmd, output))
except Exception, e:
self.log.error("eval \"{}\" raised {} Exception: {}".format(ecmd,type(e).__name__ ,e))
elif CMD == "GSENSOR":
if request[0] == 'ON':
self.gsens = GSens (0, self.gsens_update, self.log.error, self.log.info, self.log.debug)
elif request[0] == 'OFF':
self.gsens.__del__()
self.gsens = None
else:
def mainloop(self):
while True:
data, (addr, self.port) = self.servsock.recvfrom(
1024) # buffer size is 1024 bytes
if addr != self.addr:
self.log.warn("New client ip: {}".format(addr))
self.addr = addr
self.log_init()
out = "{}>{} &".format(str(self.addr), data)
request = data.split(' ')
CMD = request.pop(0)
CMD = CMD.strip("\n")
if CMD == "STOP":
self.tracks.neutral()
self.faststate['trackr'] = self.tracks.trackr
self.faststate['trackl'] = self.tracks.trackl
self.stateupload()
self.log.debug("Tracks vector set to neutral")
elif CMD == "SPINAL":
emsg = ' '.join(request)
self.log.info("Sending user packet to spinal: {}".format(emsg))
self.spinal_write(emsg)
elif CMD == "PING":
self.log.info("PING {} got".format(request[0]))
self.send("PONG {} {}".format(time.time(), request[0]),
self.addr)
elif CMD == "TRACKS":
self.tracks.vector(request[0], request[1])
self.log.debug("Tracks vector set to {},{}".format(
request[0], request[1]))
self.faststate['trackr'] = self.tracks.trackr
self.faststate['trackl'] = self.tracks.trackl
self.stateupload()
elif CMD == "SERVO":
self.servo(request[0], request[1])
elif CMD == "SON":
if request[0] == 'Failsafe':
self.sonaron = True
if request[1] == 'off': self.sonarfailsafe = 0
else: self.sonarfailsafe = float(request[1])
elif request[0] == 'Sonar' and request[1] == 'off':
self.sonaron = False
self.sonarfailsafe = 0
elif CMD == "CAM":
if request[0] == 'RES':
if hasattr(self, 'pmjpg'):
if self.pmjpg.poll() == None:
pid = self.pmjpg.pid
self.pmjpg.kill()
self.videomode = "OFF"
t = threading.Timer(2.0, self.run_mjpg,
[request[1]])
t.start()
self.log.info(
"Killed mjpg with pid {} and deferred run with {}"
.format(pid, request[1]))
else:
self.run_mjpg(request[1])
else:
self.run_mjpg(request[1])
elif request[0] == 'OFF':
if hasattr(self, 'pmjpg') and self.pmjpg.poll() == None:
self.pmjpg.kill()
self.videomode = "OFF"
self.log.info("Killed mjpg.")
elif request[0] == 'ZOOM' and request[1] == 'OFF':
status = subprocess.call(
["/usr/bin/v4l2-ctl", "--set-ctrl=zoom_absolute=1"])
self.log.info("Zoom OFF")
elif request[0] == 'ZOOM' and request[1] == 'ON':
status = subprocess.call(
["/usr/bin/v4l2-ctl", "--set-ctrl=zoom_absolute=5"])
self.log.info("Zoom ON")
elif CMD == "FESTIVAL":
if request[0] == 'ON':
if hasattr(self, 'pfestival'):
if self.pfestival.poll() == None:
pid = self.pfestival.pid
self.pfestival.kill()
self.festivalup = False
t = threading.Timer(2.0, self.run_festival)
t.start()
self.log.info(
"Killed festival with pid {} and deferred run".
format(pid))
else:
self.run_festival()
else:
self.run_festival()
elif request[0] == 'OFF':
if hasattr(self,
'pfestival') and self.pfestival.poll() == None:
self.pfestival.kill()
self.festivalup = False
self.log.info("Killed festival")
elif CMD == "SAY":
tts = cPickle.loads(data[4:])
if self.festivalup:
self.pfestival.stdin.write("(SayText \"{}\")".format(
tts.encode("utf-8")))
self.pfestival.stdin.flush()
self.log.info("Pronouncing '{}'".format(
tts.encode("utf-8")))
else:
self.log.err("Can't SAY, festival down")
elif CMD == 'EVAL':
ecmd = " ".join(request)
try:
output = eval("pprint.pformat({})".format(ecmd))
self.log.info("{} = {}".format(ecmd, output))
except Exception, e:
self.log.error(
"eval \"{}\" raised {} Exception: {}".format(
ecmd,
type(e).__name__, e))
elif CMD == "GSENSOR":
if request[0] == 'ON':
self.gsens = GSens(0, self.gsens_update, self.log.error,
self.log.info, self.log.debug)
elif request[0] == 'OFF':
self.gsens.__del__()
self.gsens = None
def mainloop (self):
while True:
data,(addr,self.port) = self.servsock.recvfrom(1024) # buffer size is 1024 bytes
if addr != self.addr:
self.log.warn ("New client ip: {}".format(addr))
self.addr = addr
self.log_init()
out = "{}>{} &".format(str(self.addr),data)
request = data.split(' ');
CMD = request.pop(0)
CMD = CMD.strip("\n")
if CMD == "STOP":
self.tracks.neutral()
self.faststate['trackr'] = self.tracks.trackr
self.faststate['trackl'] = self.tracks.trackl
self.stateupload()
self.log.debug ("Tracks vector set to neutral")
elif CMD == "SPINAL":
emsg = ' '.join(request)
self.log.info ("Sending user packet to spinal: {}".format(emsg))
self.spinal_write (emsg)
elif CMD == "PING":
self.log.info ("PING {} got".format(request[0]))
self.send ("PONG {} {}".format(time.time(),request[0]),self.addr)
elif CMD == "TRACKS":
self.tracks.vector (request[0],request[1]);
self.log.debug ("Tracks vector set to {},{}".format(request[0],request[1]))
self.faststate['trackr'] = self.tracks.trackr
self.faststate['trackl'] = self.tracks.trackl
self.stateupload()
elif CMD == "SERVO":
self.servo (request[0],request[1]);
elif CMD == "SON":
if request[0] == 'Failsafe':
self.sonaron = True
if request[1] == 'off': self.sonarfailsafe = 0
else: self.sonarfailsafe = float(request[1])
elif request[0] == 'Sonar' and request[1] == 'off' :
self.sonaron = False
self.sonarfailsafe = 0
elif CMD == "CAM":
if request[0] == 'RES':
if hasattr(self, 'pmjpg'):
if self.pmjpg.poll() == None:
pid = self.pmjpg.pid
self.pmjpg.kill()
self.videomode = "OFF"
t = threading.Timer(2.0,self.run_mjpg,[request[1]])
t.start()
self.log.info ("Killed mjpg with pid {} and deferred run with {}".format(pid,request[1]))
else:
self.run_mjpg(request[1])
else:
self.run_mjpg(request[1])
elif request[0] == 'OFF':
if hasattr(self, 'pmjpg') and self.pmjpg.poll() == None:
self.pmjpg.kill()
self.videomode = "OFF"
self.log.info ("Killed mjpg.")
elif request[0] == 'ZOOM' and request[1] == 'OFF' :
status = subprocess.call(["/usr/bin/v4l2-ctl", "--set-ctrl=zoom_absolute=1"])
self.log.info ("Zoom OFF")
elif request[0] == 'ZOOM' and request[1] == 'ON' :
status = subprocess.call(["/usr/bin/v4l2-ctl", "--set-ctrl=zoom_absolute=5"])
self.log.info ("Zoom ON")
elif CMD == "FESTIVAL":
if request[0] == 'ON':
if hasattr(self, 'pfestival'):
if self.pfestival.poll() == None:
pid = self.pfestival.pid
self.pfestival.kill()
self.festivalup = False
t = threading.Timer(2.0,self.run_festival)
t.start()
self.log.info ("Killed festival with pid {} and deferred run".format(pid))
else:
self.run_festival()
else:
self.run_festival()
elif request[0] == 'OFF':
if hasattr(self, 'pfestival') and self.pfestival.poll() == None:
self.pfestival.kill()
self.festivalup = False
self.log.info ("Killed festival")
elif CMD == "SAY":
tts = cPickle.loads(data[4:])
if self.festivalup:
self.pfestival.stdin.write ("(SayText \"{}\")".format( tts.encode("utf-8")))
self.pfestival.stdin.flush()
self.log.info ("Pronouncing '{}'".format(tts.encode("utf-8")))
else:
self.log.err ("Can't SAY, festival down")
elif CMD == 'EVAL':
ecmd = " ".join(request)
try:
output = eval("pprint.pformat({})".format(ecmd))
self.log.info ("{} = {}".format(ecmd, output))
except Exception, e:
self.log.error("eval \"{}\" raised {} Exception: {}".format(ecmd,type(e).__name__ ,e))
elif CMD == "GSENSOR":
if request[0] == 'ON':
self.gsens = GSens (0, self.gsens_update, self.log.error, self.log.info, self.log.debug)
elif request[0] == 'OFF':
self.gsens.__del__()
self.gsens = None
