def main():
global receiver
receiver = canvas.init_receiver()
global sender
sender = canvas.init_sender()
canvas.add_id(receiver, id_filter)
# Main loop, modelled after control node's loop
while 1:
# See if any messages have been sent
msg_name, data = canvas.recv(receiver)
if msg_name == "set_hover_eng_angle":
set_hover_eng_angle(data)
elif msg_name == "set_hover_eng_power":
set_hover_eng_power(data)
elif msg_name == "get_hover_eng_angle":
canvas.send(sender, "get_hover_eng_angle_rep", get_hover_eng_angle())
elif msg_name == "get_hover_eng_power":
canvas.send(sender, "get_hover_eng_power_rep", get_hover_eng_power())
time.sleep(1)
def start_pod():
canvas.print_out("start hover engine L")
canvas.send(sender, ml.messages['start_l']['id'], 0) # start engine
canvas.print_out("get hover engine L status")
canvas.send(sender, ml.messages['get_engine_status_l']['id'],
"") # get engine status L
def main():
global receiver
receiver = canvas.init_receiver()
global sender
sender = canvas.init_sender()
canvas.add_id(receiver, id_filter)
# Main loop, modelled after control node's loop
while 1:
# See if any messages have been sent
msg_name, data = canvas.recv(receiver)
if (msg_name == 'set_hover_eng_angle'):
set_hover_eng_angle(data)
elif (msg_name == 'set_hover_eng_power'):
set_hover_eng_power(data)
elif (msg_name == 'get_hover_eng_angle'):
canvas.send(sender, 'get_hover_eng_angle_rep',
get_hover_eng_angle())
elif (msg_name == 'get_hover_eng_power'):
canvas.send(sender, 'get_hover_eng_power_rep',
get_hover_eng_power())
time.sleep(1)
def move_pod(data):
canvas.print_out("tilt hover engine at angle calculated from target speed")
canvas.send(sender, ml.messages['tilt_l']['id'],
math.asin(float(data) / 20) *
5) # title engine at calculated angle
canvas.print_out("get hover engine L status")
canvas.send(sender, ml.messages['get_engine_status_l']['id'],
"") # get engine status L
def main():
#init canvas sender and receiver
receiver = canvas.init_receiver()
sender = canvas.init_sender()
time.sleep(0.5) #sleep to allow for canvas server startup. horrible hack that will go away soon
#add message id filters on receiver
canvas.add_id(receiver, receive_message_ids)
#remove message id filters on receiver (add and remove only take lists for now..)
canvas.rm_id(receiver, ["7"])
#you have 2 ways of making CAN messages:
#either just make 2 strings
message_id = "100"
message_data = "Ping from node 2"
#or a canvas "message"
message = canvas.msg("100", "Hi it's node 2 again")
while 1:
#print to stdout. python's standard print can interfere with supervisord's
#output and logging functionality in strange ways.
#please use this instead.
canvas.print_out( "This is node 2" )
#send message on the CAN bus
canvas.send(sender, message_id, message_data)
canvas.send_msg(sender, message)
#you can change a canvas message like this
message.id = "101"
message.data="Node 1 should not see this now"
#receive message from CAN bus (only returns messages that this node has subscribed to)
#this call will block untill a message is received
msg_id, msg_data = canvas.recv(receiver)
#print message to stdout
canvas.print_out("Node 2 recieved: %s %s" % (msg_id, msg_data))
#non-blocking receive call (only returns messages that this node has subscribed to)
#will return "no_id", "no_message" if no message was received
msg_id, msg_data = canvas.recv_noblock(receiver)
canvas.print_out("Node 2 recieved: %s %s" % (msg_id, msg_data))
#sleep node for 5 second
time.sleep(5)
def main(): global receiver receiver = canvas.init_receiver() global sender sender = canvas.init_sender() canvas.add_id(receiver, id_filter) # Main loop, modelled after control node's loop while 1: # See if any messages have been sent msg_name, data = canvas.recv(receiver) if (msg_name == 'set_eddy_brake_angle'): set_eddy_brake_angle(data) elif (msg_name == 'set_eddy_brake_power'): set_eddy_brake_power(data) elif (msg_name == 'get_eddy_brake_angle'): canvas.send( sender, 'get_eddy_brake_angle_rep', get_eddy_brake_angle() ) elif (msg_name == 'get_eddy_brake_power'): canvas.send( sender, 'get_eddy_brake_power_rep', get_eddy_brake_power() ) elif (msg_name == 'get_eddy_brake_temp'): canvas.send( sender, 'get_eddy_brake_temp_rep', get_eddy_brake_temp() ) time.sleep(1)
def main():
receiver = canvas.init_receiver()
sender = canvas.init_sender()
time.sleep(0.5) #sleep to allow for canvas server startup. horrible hack that will go away soon
canvas.add_id(receiver, id_filter)
message_id = "asdf"
message_data = "Ping from node 1"
while 1:
#print to stdout. python's standard print can interfere with supervisord's
#output and logging functionality in strange ways.
#please use this instead.
canvas.print_out( "This is node 1" )
canvas.send(sender, message_id, message_data)
msg_id, data = canvas.recv(receiver)
canvas.print_out("Node 1 recieved: %s" % data)
time.sleep(5)
def main():
global receiver
receiver = canvas.init_receiver()
global sender
sender = canvas.init_sender()
canvas.add_id(receiver, id_filter)
# Main loop, modelled after control node's loop
while 1:
# See if any messages have been sent
msg_name, data = canvas.recv(receiver)
if (msg_name == 'set_brake_force'):
set_brake_force(data)
elif ('get_brake_force'):
canvas.send( sender, 'get_brake_force_rep', get_brake_force() )
elif ('is_brake_engaged'):
canvas.send( sender, 'is_brake_engaged_rep', is_brake_engaged() )
time.sleep(1)
def main():
global receiver
receiver = canvas.init_receiver()
global sender
sender = canvas.init_sender()
canvas.add_id(receiver, id_filter)
# Main loop, modelled after control node's loop
while 1:
# See if any messages have been sent
msg_name, data = canvas.recv(receiver)
if (msg_name == 'set_brake_force'):
set_brake_force(data)
elif ('get_brake_force'):
canvas.send(sender, 'get_brake_force_rep', get_brake_force())
elif ('is_brake_engaged'):
canvas.send(sender, 'is_brake_engaged_rep', is_brake_engaged())
time.sleep(1)
def stop_pod():
canvas.print_out("tilt hover engine to stop position")
canvas.send(sender, ml.messages['tilt_l']['id'], 0) # tilt engine back to stop position
canvas.print_out("stop hover engine")
canvas.send(sender, ml.messages['stop_l']['id'], "") # stop engine L
canvas.print_out("get hover engine l status")
canvas.send(sender, ml.messages['get_engine_status_l']['id'], "") # get engine status L
def stop_pod():
canvas.print_out("tilt hover engine to stop position")
canvas.send(sender, ml.messages['tilt_l']['id'],
0) # tilt engine back to stop position
canvas.print_out("stop hover engine")
canvas.send(sender, ml.messages['stop_l']['id'], "") # stop engine L
canvas.print_out("get hover engine l status")
canvas.send(sender, ml.messages['get_engine_status_l']['id'],
"") # get engine status L
def start_pod():
canvas.print_out("start hover engine L")
canvas.send(sender, ml.messages['start_l']['id'], 0) # start engine
canvas.print_out("get hover engine L status")
canvas.send(sender, ml.messages['get_engine_status_l']['id'], "") # get engine status L
def move_pod(data):
canvas.print_out("tilt hover engine at angle calculated from target speed")
canvas.send(sender, ml.messages['tilt_l']['id'], math.asin(float(data)/20)*5) # title engine at calculated angle
canvas.print_out("get hover engine L status")
canvas.send(sender, ml.messages['get_engine_status_l']['id'], "") # get engine status L
def alert_ground_station(emer, loc):
canvas.print_out("Sending message to ground station")
canvas.send(sender, 'emer_1', "Emergency code: {0} \nLocation: {1}".format(emer, loc))
