def loop():
global xb, telem, coord
DEFAULT_COM_PORT = 'COM7'
DEFAULT_BAUD_RATE = 57600
DEFAULT_ADDRESS = '\x10\x21'
DEFAULT_PAN = 0x1001
if len(sys.argv) == 1:
com = DEFAULT_COM_PORT
baud = DEFAULT_BAUD_RATE
addr = DEFAULT_ADDRESS
elif len(sys.argv) == 4:
com = sys.argv[1]
baud = int(sys.argv[2])
addr = pack('>H', int(sys.argv[3], 16))
else:
print "Wrong number of arguments. Must be: COM BAUD ADDR"
sys.exit(1)
ser = Serial(port = com, baudrate = baud)
xb = XBee(ser, callback = rxCallback)
print "Setting PAN ID to " + hex(DEFAULT_PAN)
xb.at(command = 'ID', parameter = pack('>H', DEFAULT_PAN))
comm = CommandInterface(addr, txCallback)
telem = TelemetryReader(addr, txCallback)
kbint = KeyboardInterface(comm)
coord = NetworkCoordinator(txCallback)
comm.enableDebug()
telem.setConsoleMode(True)
telem.setFileMode(True)
telem.writeHeader()
coord.resume()
comm.setSlewLimit(3.0)
while True:
try:
c = None
if( msvcrt.kbhit() ):
c = msvcrt.getch()
kbint.process(c)
time.sleep(0.01)
#comm.sendPing()
except:
break
telem.close()
xb.halt()
ser.close()
def loop():
global xb, telem, coord
DEFAULT_COM_PORT = 'COM7'
DEFAULT_BAUD_RATE = 57600
DEFAULT_ADDRESS = '\x10\x21'
DEFAULT_PAN = 0x1001
if len(sys.argv) == 1:
com = DEFAULT_COM_PORT
baud = DEFAULT_BAUD_RATE
addr = DEFAULT_ADDRESS
elif len(sys.argv) == 4:
com = sys.argv[1]
baud = int(sys.argv[2])
addr = pack('>H', int(sys.argv[3], 16))
else:
print "Wrong number of arguments. Must be: COM BAUD ADDR"
sys.exit(1)
ser = Serial(port=com, baudrate=baud)
xb = XBee(ser, callback=rxCallback)
print "Setting PAN ID to " + hex(DEFAULT_PAN)
xb.at(command='ID', parameter=pack('>H', DEFAULT_PAN))
comm = CommandInterface(addr, txCallback)
telem = TelemetryReader(addr, txCallback)
kbint = KeyboardInterface(comm)
coord = NetworkCoordinator(txCallback)
comm.enableDebug()
telem.setConsoleMode(True)
telem.setFileMode(True)
telem.writeHeader()
coord.resume()
comm.setSlewLimit(3.0)
while True:
try:
c = None
if (msvcrt.kbhit()):
c = msvcrt.getch()
kbint.process(c)
time.sleep(0.01)
#comm.sendPing()
except:
break
telem.close()
xb.halt()
ser.close()
def loop():
DEFAULT_COM_PORT = 'COM7'
DEFAULT_BAUD_RATE = 57600
DEFAULT_ADDRESS = '\x10\x21'
DEFAULT_PAN = '\x10\x01'
if len(sys.argv) == 1:
com = DEFAULT_COM_PORT
baud = DEFAULT_BAUD_RATE
addr = DEFAULT_ADDRESS
elif len(sys.argv) == 4:
com = sys.argv[1]
baud = int(sys.argv[2])
addr = pack('>H', int(sys.argv[3], 16))
else:
print "Wrong number of arguments. Must be: COM BAUD ADDR"
sys.exit(1)
coord = CommandInterface(addr, txCallback)
coord.enableDebug()
ser = Serial(port = com, baudrate = baud)
xb = XBee(ser)
print "Setting PAN ID to " + hex(DEFAULT_PAN)
xb.at(command = 'ID', parameter = pack('>H', DEFAULT_PAN))
thrust = 0.0
yaw = 0.0
elevator = 0.0
while True:
try:
c = msvcrt.getch()
if c == 'w':
thrust = thrust + THRUST_INCREMENT
elif c == 'a':
yaw = yaw + YAW_INCREMENT
elif c == 's':
thrust = thrust - THRUST_INCREMENT
elif c == 'd':
yaw = yaw - YAW_INCREMENT
elif c == 'r':
elevator = elevator + ELEVATOR_INCREMENT
elif c == 'f':
elevator = elevator - ELEVATOR_INCREMENT
elif c == 'q':
thrust = 0.0
yaw = 0.0
elevator = 0.0
elif c == 'e':
break
elif c == 't':
coord.setRegulatorMode(RegulatorStates['Remote Control'])
if thrust > THRUST_UPPER_LIMIT:
thrust = THRUST_UPPER_LIMIT
elif thrust < THRUST_LOWER_LIMIT:
thrust = THRUST_LOWER_LIMIT
if yaw > YAW_UPPER_LIMIT:
yaw = YAW_UPPER_LIMIT
elif yaw < YAW_LOWER_LIMIT:
yaw = YAW_LOWER_LIMIT
if elevator > ELEVATOR_UPPER_LIMIT:
elevator = ELEVATOR_UPPER_LIMIT
elif elevator < ELEVATOR_LOWER_LIMIT:
elevator = ELEVATOR_LOWER_LIMIT
coord.setRemoteControlValues(thrust, yaw, elevator)
except:
print "Exception: ", sys.exc_info()[0]
break
xb.halt()
ser.close()
DEFAULT_ITERS = 10
if len(sys.argv) == 1:
com = DEFAULT_COM_PORT
baud = DEFAULT_BAUD_RATE
addr = DEFAULT_ADDRESS
iters = DEFAULT_ITERS
elif len(sys.argv) == 5:
com = sys.argv[1]
baud = int(sys.argv[2])
addr = pack(">H", int(sys.argv[3], 16))
iters = int(sys.argv[4])
coord = CommandInterface(addr, txCallback)
coord.enableDebug()
# Enable XBee
ser = Serial(port=com, baudrate=baud)
xb = XBee(ser, callback=processPacket)
print "Setting PAN ID to " + hex(DEFAULT_PAN)
xb.at(command="ID", parameter=pack(">H", DEFAULT_PAN))
# Create file
today = datetime.today()
d = str(today.year) + "_" + str(today.month) + "_" + str(today.day)
t = str(today.hour) + "_" + str(today.minute) + "_" + str(today.second)
fname = "Latency_Test-" + d + "-" + t + ".txt"
record_log = open(fname, "w")
raw_input("Press any key to begin test...")
def loop():
DEFAULT_COM_PORT = 'COM0'
DEFAULT_BAUD_RATE = 57600
DEFAULT_ADDRESS = '\x10\x21'
DEFAULT_PAN = '\x10\x01'
if len(sys.argv) == 1:
com = DEFAULT_COM_PORT
baud = DEFAULT_BAUD_RATE
addr = DEFAULT_ADDRESS
elif len(sys.argv) == 4:
com = sys.argv[1]
baud = int(sys.argv[2])
addr = pack('>H', int(sys.argv[3], 16))
else:
print "Wrong number of arguments. Must be: COM BAUD ADDR"
sys.exit(1)
coord = CommandInterface(addr, txCallback)
coord.enableDebug()
ser = Serial(port=com, baudrate=baud)
xb = XBee(ser)
print "Setting PAN ID to " + hex(DEFAULT_PAN)
xb.at(command='ID', parameter=pack('>H', DEFAULT_PAN))
thrust = 0.0
yaw = 0.0
elevator = 0.0
while True:
try:
c = msvcrt.getch()
if c == 'w':
thrust = thrust + THRUST_INCREMENT
elif c == 'a':
yaw = yaw + YAW_INCREMENT
elif c == 's':
thrust = thrust - THRUST_INCREMENT
elif c == 'd':
yaw = yaw - YAW_INCREMENT
elif c == 'r':
elevator = elevator + ELEVATOR_INCREMENT
elif c == 'f':
elevator = elevator - ELEVATOR_INCREMENT
elif c == 'q':
thrust = 0.0
yaw = 0.0
elevator = 0.0
elif c == 'e':
break
elif c == 't':
coord.setRegulatorMode(RegulatorStates['Remote Control'])
if thrust > THRUST_UPPER_LIMIT:
thrust = THRUST_UPPER_LIMIT
elif thrust < THRUST_LOWER_LIMIT:
thrust = THRUST_LOWER_LIMIT
if yaw > YAW_UPPER_LIMIT:
yaw = YAW_UPPER_LIMIT
elif yaw < YAW_LOWER_LIMIT:
yaw = YAW_LOWER_LIMIT
if elevator > ELEVATOR_UPPER_LIMIT:
elevator = ELEVATOR_UPPER_LIMIT
elif elevator < ELEVATOR_LOWER_LIMIT:
elevator = ELEVATOR_LOWER_LIMIT
coord.setRemoteControlValues(thrust, yaw, elevator)
except:
print "Exception: ", sys.exc_info()[0]
break
xb.halt()
ser.close()
def loop():
global xb, telem, coord
DEFAULT_COM_PORT = 'COM7'
DEFAULT_BAUD_RATE = 57600
DEFAULT_ADDRESS = '\x10\x21'
DEFAULT_PAN = 0x1001
if len(sys.argv) == 1:
com = DEFAULT_COM_PORT
baud = DEFAULT_BAUD_RATE
addr = DEFAULT_ADDRESS
elif len(sys.argv) == 4:
com = sys.argv[1]
baud = int(sys.argv[2])
addr = pack('>H', int(sys.argv[3], 16))
else:
print "Wrong number of arguments. Must be: COM BAUD ADDR"
sys.exit(1)
ser = Serial(port = com, baudrate = baud)
xb = XBee(ser, callback = rxCallback)
print "Setting PAN ID to " + hex(DEFAULT_PAN)
xb.at(command = 'ID', parameter = pack('>H', DEFAULT_PAN))
comm = CommandInterface(addr, txCallback)
telem = TelemetryReader(addr, txCallback)
kbint = KeyboardInterface(comm)
coord = NetworkCoordinator(txCallback)
comm.enableDebug()
telem.setConsoleMode(True)
telem.setFileMode(True)
telem.writeHeader()
coord.resume()
comm.setSlewLimit(3.0)
while True:
try:
# Copied from code.activestate.com/recipes/134892/
# TODO: Find a way to avoid this blocking call
fd = sys.stdin.fileno()
old_settings = termios.tcgetattr(fd)
try:
tty.setraw(sys.stdin.fileno())
c = sys.stdin.read(1)
finally:
termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
kbint.process(c)
time.sleep(0.01)
#comm.sendPing()
except:
break
telem.close()
xb.halt()
ser.close()
def loop():
global xb, telem, coord
DEFAULT_COM_PORT = 'COM7'
DEFAULT_BAUD_RATE = 57600
DEFAULT_ADDRESS = '\x10\x21'
DEFAULT_PAN = 0x1001
if len(sys.argv) == 1:
com = DEFAULT_COM_PORT
baud = DEFAULT_BAUD_RATE
addr = DEFAULT_ADDRESS
elif len(sys.argv) == 4:
com = sys.argv[1]
baud = int(sys.argv[2])
addr = pack('>H', int(sys.argv[3], 16))
else:
print "Wrong number of arguments. Must be: COM BAUD ADDR"
sys.exit(1)
ser = Serial(port = com, baudrate = baud)
xb = XBee(ser, callback = rxCallback)
print "Setting PAN ID to " + hex(DEFAULT_PAN)
xb.at(command = 'ID', parameter = pack('>H', DEFAULT_PAN))
comm = CommandInterface(addr, txCallback)
telem = TelemetryReader(addr, txCallback)
kbint = KeyboardInterface(comm)
coord = NetworkCoordinator(txCallback)
comm.enableDebug()
telem.setConsoleMode(True)
telem.setFileMode(True)
telem.writeHeader()
coord.resume()
comm.setSlewLimit(3.0)
while True:
try:
# Copied from code.activestate.com/recipes/134892/
# TODO: Find a way to avoid this blocking call
fd = sys.stdin.fileno()
old_settings = termios.tcgetattr(fd)
try:
tty.setraw(sys.stdin.fileno())
c = sys.stdin.read(1)
finally:
termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
kbint.process(c)
time.sleep(0.01)
#comm.sendPing()
except:
break
telem.close()
xb.halt()
ser.close()
DEFAULT_CHAN = 0x12
if len(sys.argv) == 1:
com = DEFAULT_COM_PORT
baud = DEFAULT_BAUD_RATE
#addr = DEFAULT_ADDRESS
iters = DEFAULT_ITERS
elif len(sys.argv) == 5:
com = sys.argv[1]
baud = int(sys.argv[2])
addr = pack('>H', int(sys.argv[3], 16))
iters = int(sys.argv[4])
coord = CommandInterface(addr, txCallback)
coord.enableDebug()
# Enable XBee
ser = Serial(port = com, baudrate = baud)
xb = XBee(ser, callback = processPacket)
print "Setting PAN ID to " + hex(DEFAULT_PAN)
xb.at(command = 'ID', parameter = pack('>H', DEFAULT_PAN))
xb.at(command = 'CH', parameter = pack('>H', DEFAULT_CHAN))
xb.at(command = 'MY', parameter = pack('>H', DEFAULT_ADDRESS))
# Create file
today = datetime.today()
d = str(today.year) + "_" + str(today.month) + "_" + str(today.day)
t = str(today.hour) + "_" + str(today.minute) + "_" + str(today.second)
fname = 'Latency_Test-' + d + '-' + t + '.txt'
record_log = open(fname, 'w')