def main():
"""Parse command line options
"""
usage = "usage: %(prog)s [options]"
parser = ArgumentParser(
prog='pydylogger',
usage=usage,
) #formatter_class=RawTextHelpFormatter)
tw = TextWrapper()
mywrap = lambda x: "\n".join(tw.wrap(x))
tw.width = 80 - 25
#
parser.add_argument('arglist', nargs='*', default=list(), help='N/A')
parser.add_argument('-t', '--translate', action="store_true", \
dest="translate", default=False, help="Print human readable " \
"packets. Default: %(default)s")
parser.add_argument('-a', '--all', action="store_true", \
dest="saveall", default=False, help="Optionally save all bytes/" \
"packets, including malformed packets. Default: %(default)s")
parser.add_argument('-o', '--output', action="store", \
dest="output", default="logging_output.txt", help="Specify output " \
"file for log of packets. Default: %(default)s")
#
options = parser.parse_args()
args = options.arglist
# TODO get rid of these globals...
global saveall
global translate
saveall = options.saveall
translate = options.translate
global port
global baud
global timing
global id_dict
cfg = PyDyConfigParser()
cfg.read()
port, baud, __, timing, __ = cfg.get_params()
id_dict = cfg.get_id_to_device_dict()
if saveall:
print "All packets (including bad packets) will be saved in " \
"{0}".format(options.output)
if translate:
print "Packets will be translated for listing in this window."
logger_method(outputfile=options.output)
return
def main():
"""Parse command line options
"""
usage = "usage: %(prog)s [options]"
parser = ArgumentParser(prog='pydylogger', usage=usage,
)#formatter_class=RawTextHelpFormatter)
tw = TextWrapper()
mywrap = lambda x: "\n".join(tw.wrap(x))
tw.width = 80 - 25
#
parser.add_argument('arglist', nargs='*', default=list(), help='N/A')
parser.add_argument('-t', '--translate', action="store_true", \
dest="translate", default=False, help="Print human readable " \
"packets. Default: %(default)s")
parser.add_argument('-a', '--all', action="store_true", \
dest="saveall", default=False, help="Optionally save all bytes/" \
"packets, including malformed packets. Default: %(default)s")
parser.add_argument('-o', '--output', action="store", \
dest="output", default="logging_output.txt", help="Specify output " \
"file for log of packets. Default: %(default)s")
#
options = parser.parse_args()
args = options.arglist
# TODO get rid of these globals...
global saveall
global translate
saveall = options.saveall
translate = options.translate
global port
global baud
global timing
global id_dict
cfg = PyDyConfigParser()
cfg.read()
port, baud, __, timing, __ = cfg.get_params()
id_dict = cfg.get_id_to_device_dict()
if saveall:
print "All packets (including bad packets) will be saved in " \
"{0}".format(options.output)
if translate:
print "Packets will be translated for listing in this window."
logger_method(outputfile=options.output)
return
from pydypackets import PyDyPackets
from pydypackets.PyDyConfig import PyDyConfigParser
cfg = PyDyConfigParser()
cfg.read()
port, baud, __, timing, __ = cfg.get_params()
id_dict = cfg.get_id_to_device_dict()
def test_vals_split_and_translate_runs():
# Ping packet for servo id 0C.
testpacket = [0xff, 0xff, 0x0c, 0x02, 0x01, 0xec]
PyDyPackets.vals_split_and_translate(testpacket, 2, id_dict)
def test_vals_split_and_translate_keyerr():
# should fail due to lack of a servo with ID FC.
testpacket = [0xff, 0xff, 0xfc, 0x02, 0x01, 0xec]
PyDyPackets.vals_split_and_translate(testpacket, 2, id_dict)
def main():
"""Parse command line options
"""
usage = "usage: %(prog)s [raw-input-file [options] ]\n" \
"Program will filter and/or translate supplied raw packets.\n"
parser = ArgumentParser(prog='pydyparser', usage=usage,
formatter_class=RawTextHelpFormatter)
tw = TextWrapper()
mywrap = lambda x: "\n".join(tw.wrap(x))
tw.width = 80 - 25
quicktext = "\n".join(["\n".join(tw.wrap(_)) for _ in (
"Arg(s) will be concatenated and treated as "
"a single packet and then parsed. Input should be space-delimited "
"bytes. 0xff, 255, and \\xff styles are all supported. "
"If using the latter, space delimiting is optional, but you must "
"wrap the sequence of bytes in quotes "
"(or escape the backslashes).\n\n"
"Example usage:"
"\n$ pydyparser -q 255 255 12 7 3 30 0 2 0 2 195"
"\n$ pydyparser -q 0xFF 0xFF 0x0C 0x07 0x03 0x1E 0x00 0x02 0x00 0x02 0xC3"
"\n$ pydyparser -q \"\\xFF\\xFF\\x0C\\x07\\x03\\x1E\\x00\\x02\\x00\\x02\\xC3\""
"\n$ pydyparser -q \"\\xFF \\xFF \\x0C \\x07 \\x03 \\x1E \\x00 \\x02 \\x00 \\x02 \\xC3\""
"\n\nThese all produce output:\n"
" ['ID: 12', 'write data', 'GOAL_POSITION_L ', 'Val: 512', "
"'GOAL_SPEED_L', 'Val: 512', 'invalid checksum c3 (actual c9)']").splitlines()])
#
parser.add_argument('arglist', nargs='*', default=list(),
help=mywrap("Path to a file to parse/translate, or list of bytes "
"to parse/translate if using -q flag."))
parser.add_argument('-q', '--quick', action="store_true", dest="quick",
default=False, help=quicktext)
parser.add_argument('-s', '--servos', action="store",
dest="my_f_id", default=None,
help=mywrap("A single integer "
"or set of comma separated integers for servo IDs to keep "
"when filtering; e.g. '-s 1,2,3'.\nDefault: %(default)s"))
parser.add_argument('-i', '--instructions', action="store",
dest="my_f_instr", default=None, help=mywrap("A single integer "
"or set of comma separated integers for instructions to keep "
"when filtering; e.g. '-i 1,2,3'.\nDefault: %(default)s"))
parser.add_argument('-c', '--commands', action="store",
dest="my_f_cmd", default=None, help=mywrap("A single integer "
"or set of comma separated integers for commands to keep "
"when filtering; e.g. '-c 1,2,3'.\nDefault: %(default)s"))
parser.add_argument('-o', '--output', action="store",
dest="output", default="filtered_out.txt", help=mywrap("Specify "
"output file for filtered list of packets. (do `-o ''` to prevent "
"output creation.) Default: %(default)s"))
parser.add_argument('-t', '--translate', action="store_true",
dest="translate", default=False, help=mywrap("Write filtered "
"packets in human-readable form.\nDefault: %(default)s"))
parser.add_argument('--time', action="store_true",
dest="timestamp", default=None, help=mywrap("Appends timestamps "
"to end of each translated packet (if timestamps exist). "
"Default: %(default)s"))
parser.add_argument('-T', '--Tally', action="store",
dest="my_tally_by", default=None, help=mywrap("Tally filtered "
"packets by command (cmd), instruction (instr) or servo ID (id). "
"E.g.: '-T id'. Default: %(default)s"))
parser.add_argument('-S', '--SyncWrite', action="store_true",
dest="sync_split", default=None, help=mywrap("Split up sync-write "
"packets when filtering to look for contents satisfying other "
"criteria. Can also be used just to create individual packets. "
"Default: %(default)s"))
#
options = parser.parse_args()
args = options.arglist
if len(args) == 0:
print "Command line use requires the name of a file with a packet " \
"log. (Or a string of bytes if using --quick option.)\n" \
"Use the -h option for more help."
return
cfg = PyDyConfigParser()
cfg.read()
__, __, __, __, itit = cfg.get_params()
id_dict = cfg.get_id_to_device_dict()
if options.timestamp is None:
options.timestamp = itit
do_filtering(options, args, id_dict)
return
from pydypackets import PyDyPackets
from pydypackets.PyDyConfig import PyDyConfigParser
cfg = PyDyConfigParser()
cfg.read()
port, baud, __, timing, __ = cfg.get_params()
id_dict = cfg.get_id_to_device_dict()
def test_vals_split_and_translate_runs():
# Ping packet for servo id 0C.
testpacket = [0xff, 0xff, 0x0c, 0x02, 0x01, 0xec]
PyDyPackets.vals_split_and_translate(testpacket, 2, id_dict)
def test_vals_split_and_translate_keyerr():
# should fail due to lack of a servo with ID FC.
testpacket = [0xff, 0xff, 0xfc, 0x02, 0x01, 0xec]
PyDyPackets.vals_split_and_translate(testpacket, 2, id_dict)
# This should be invoked from the top level of the package directory as "python testing/Test.py"
# Currently a bunch of the checksums are wrong.
# In lieu of doing actual testing, this [was] is my current test-suite. I'm a bad man.
from pydypackets import PyDyPackets as PDP
from pydypackets import PyDyParser as PDPar
from pydypackets.PyDyConfig import PyDyConfigParser
cfg = PyDyConfigParser()
cfg.read()
port, baud, __, timing, __ = cfg.get_params()
z = cfg.get_id_to_device_dict() # z = id_dict
print '\t'.join(PDP.translate_packet([ \
0XFF,0XFF,0XFE,0X18,0X83,0X1E,0X04,0X00,0X10,0X00,0X50,
0X01,0X01,0X20,0X02,0X60,0X03,0X02,0X30,0X00,0X70,0X01,
0X03,0X20,0X02,0X80,0X03,0X12], z) )
print "\nnon-sync-write tests:"
print '\t'.join(PDP.translate_packet([0xff,0xff,0x00,0x02,0x00,0xfd], z))
print '\t'.join(PDP.translate_packet([255,255,52,5,3,8,255,3,185], z)) #write
print '\t'.join(PDP.translate_packet([255,255,61,5,3,30,235,1,176], z)) #write
print '\t'.join(PDP.translate_packet([0xff,0xff,0x00,0x04,0x03,0x04,0x01,0xf3], z)) # write
print '\t'.join(PDP.translate_packet([0xff,0xff,0x00,0x03,0x03,0x04,0xf2], z)) # write
print '\t'.join(PDP.translate_packet([0xff,0xff,0x01,0x04,0x02,0x00,0x03,0xf5], z)) #read data
print '\t'.join(PDP.translate_packet([0xff,0xff,0x00,0x02,0x06,0xf7], z)) #reset
print '\t'.join(PDP.translate_packet([0xff,0xff,0x01,0x02,0x01,0xfb], z)) #ping
print '\t'.join(PDP.translate_packet([0xff,0xff,0x01,0x02,0x05,0xf7], z)) #action
print '\t'.join(PDP.translate_packet([0xff,0xff,0x00,0x07,0x03,0x1e,0x00,0x02,0x00,0x02,0xd3], z)) #example 18
def plot_trends(fr, id=None, instr=3, cmd=30, make_plot=True):
"""A file stream of packets is filtered and plotted
The packet stream is stored as a dictionary of lists, with each list
corresponding to a servo ID.
Parameters
----------
fr : file stream
e.g. via ``open('file', 'r')``
(optional)
id : list/tuple of integers
ID #s to keep
instr : list/tuple of integers
instruction values to keep
cmd : integer
command value to keep
make_plot : boolean
If False, plotting is skipped.
Returns
----------
plotting_dict : dictionary
the dictionary storing the lists that would be plotted
"""
# Get values from PyDyConfigParser:
cfg = PyDyConfigParser()
cfg.read()
subplot_dict = cfg.get_plot_config()
id_dict = cfg.get_id_to_device_dict()
# get list of packets, each packet is a list of integers
packets = PyDyParser.filtering_method(fr, f_id=id, f_instr=instr, \
f_cmd=cmd, sync_split=True)
plotting_dict = {}
for packet in packets:
if packet[0] != "255":
xval = [float(packet[0])]
packet = packet[1:]
else:
xval = []
# packet_id = str(packet[_id])
packet_id = packet[_id]
if packet_id in plotting_dict.keys():
plotting_dict[packet_id].append(sum_single_cmd_val(packet, cmd, id_dict))
else:
plotting_dict[packet_id] = [ sum_single_cmd_val(packet, cmd, id_dict) ]
# plotkeys is the list (and order) of plots to make
if id is None:
plotkeys = plotting_dict.keys()
else:
plotkeys = PyDyParser._is_list(id)
# This preserves the user-specified order, but tosses IDs that weren't
# in the filtered packets.
plotkeys = [x for x in plotkeys if x in plotting_dict.keys()]
# Generate the plots
fignum = 1
plt.figure(1)
cnt = 0;
for key in plotkeys:
# If reached the limit of 'plots per window,' then next plots
# are in a new window.
if cnt == len(subplot_dict.keys()):
fignum += 1
plt.figure(fignum)
cnt = 0
plt.subplot(subplot_dict[cnt])
plt.plot(plotting_dict[key])
plt.title("{1} ID: {0}".format(key, id_dict[key]))
cnt += 1
if make_plot:
plt.show()
# script pauses until plot window is closed.
return plotting_dict
def plot_trends(fr, id=None, instr=3, cmd=30, make_plot=True):
"""A file stream of packets is filtered and plotted
The packet stream is stored as a dictionary of lists, with each list
corresponding to a servo ID.
Parameters
----------
fr : file stream
e.g. via ``open('file', 'r')``
(optional)
id : list/tuple of integers
ID #s to keep
instr : list/tuple of integers
instruction values to keep
cmd : integer
command value to keep
make_plot : boolean
If False, plotting is skipped.
Returns
----------
plotting_dict : dictionary
the dictionary storing the lists that would be plotted
"""
# Get values from PyDyConfigParser:
cfg = PyDyConfigParser()
cfg.read()
subplot_dict = cfg.get_plot_config()
id_dict = cfg.get_id_to_device_dict()
# get list of packets, each packet is a list of integers
packets = PyDyParser.filtering_method(fr, f_id=id, f_instr=instr, \
f_cmd=cmd, sync_split=True)
plotting_dict = {}
for packet in packets:
if packet[0] != "255":
xval = [float(packet[0])]
packet = packet[1:]
else:
xval = []
# packet_id = str(packet[_id])
packet_id = packet[_id]
if packet_id in plotting_dict.keys():
plotting_dict[packet_id].append(
sum_single_cmd_val(packet, cmd, id_dict))
else:
plotting_dict[packet_id] = [
sum_single_cmd_val(packet, cmd, id_dict)
]
# plotkeys is the list (and order) of plots to make
if id is None:
plotkeys = plotting_dict.keys()
else:
plotkeys = PyDyParser._is_list(id)
# This preserves the user-specified order, but tosses IDs that weren't
# in the filtered packets.
plotkeys = [x for x in plotkeys if x in plotting_dict.keys()]
# Generate the plots
fignum = 1
plt.figure(1)
cnt = 0
for key in plotkeys:
# If reached the limit of 'plots per window,' then next plots
# are in a new window.
if cnt == len(subplot_dict.keys()):
fignum += 1
plt.figure(fignum)
cnt = 0
plt.subplot(subplot_dict[cnt])
plt.plot(plotting_dict[key])
plt.title("{1} ID: {0}".format(key, id_dict[key]))
cnt += 1
if make_plot:
plt.show()
# script pauses until plot window is closed.
return plotting_dict