def simulator_main(sim_class, sim_control_class=TangoTestDeviceServerBase):
"""Main function for a simulator with class sim_class
sim_class is a tango.server.Device subclass
"""
run_ipython = '--ipython' in sys.argv
if run_ipython:
import IPython
sys.argv.remove('--ipython')
def start_ipython(sim_class):
IPython.embed()
t = threading.Thread(target=start_ipython, args=(sim_class, ))
t.setDaemon(True)
t.start()
logging.basicConfig(
format='%(asctime)s - %(name)s - %(levelname)s - %(module)s - '
'%(pathname)s : %(lineno)d - %(message)s',
level=logging.INFO)
classes = [sim_class]
if sim_control_class:
classes.append(sim_control_class)
server_run(classes)
"""
print(("Saving configuration: %s" % path))
config = {
'device': self.attr_device,
'counter': self.attr_counter_input,
'pulse': self.attr_counter_output,
'freq': self.attr_pulse_freq,
'output_dir': self.attr_output_path,
'labels': eval(self.attr_line_labels),
'counter_bits': self.attr_counter_bits,
'event_bits': self.attr_event_bits,
}
with open(path, 'wb') as f:
pickle.dump(config, f)
@command(dtype_in=str, dtype_out=None)
def copy_dataset(self, folder):
"""
Copies last dataset to specified folder.
"""
source = self.attr_output_path
dest = os.path.join(folder, os.path.basename(source))
copyfile(source, dest)
if __name__ == "__main__":
server_run((SyncDevice, ))
pickle.dump(config, f)
@command(dtype_in=str, dtype_out=None)
def copy_dataset(self, folder):
"""
Copies last dataset to specified folder.
"""
source = self.attr_output_path
dest = os.path.join(folder, os.path.basename(source))
copyfile(source, dest)
@command(dtype_in=PyTango.DevVarStringArray, dtype_out=None)
def copy_arbitrary_file(self, path_tuple):
"""
Copy an arbitrary file to a specified path.
(source, destination)
"""
source, destination = path_tuple
print('Copying file:\n %s -> %s' % (source, destination))
copyfile(source, destination)
print("... Finished!")
if self.attr_delete_on_copy:
os.remove(source)
print("*** Local copy removed ***")
if __name__ == "__main__":
server_run((SyncDevice,))
def main():
sim_data_files = ['../tests/MkatVds.xmi', '../tests/MkatVds_SIMDD.json']
model = configure_device_model(sim_data_files)
TangoDeviceServers = get_tango_device_server(model, sim_data_files)
server_run(TangoDeviceServers)
host = device_property(dtype=str)
port = device_property(dtype=int, default_value=9788)
def init_device(self):
Device.init_device(self)
self.__current = 0.0
self .set_state(DevState.STANDBY)
def read_voltage(self):
self.info_stream("read_voltage(%s, %d)", self.host, self.port)
return 9.99, time.time(), AttrQuality.ATTR_WARNING
def get_current(self):
return self.__current
def set_current(self, current):
# should set the power supply current
self.__current = current
@command
def TurnOn(self):
self.set_state(DevState.ON)
@command
def TurnOff(self):
# turn off the actual power supply here
self.set_state(DevState.OFF)
if __name__ == "__main__":
server_run([PowerSupply])
updates the tuple with name = resource_object_string.name
"""
# input strings are expected to have columns seperated with a '#'
strManager = StringManager()
resource_string_object = strManager.str_to_object(
resource_object_string)
resource = Resources.get(Resources.name == resource_string_object.name)
# Updating tuple
resource.rate = resource_string_object.rate
resource.amount = resource_string_object.amount
resource.availability_start = parser.parse(
resource_string_object.availability_start)
resource.availability_end = parser.parse(
resource_string_object.availability_end)
if (resource.save()):
print resource_string_object.name, " tuple successfully updated"
return "SUCCESS"
else:
print "error while updating tuple ", resource_string_object.name
return "FAILURE"
if __name__ == "__main__":
server_run([ResourceManager])
# Removed for now to pass flake8 test. To be used later:
# from PyTango import AttrQuality, AttrWriteType, DispLevel, DevState, DebugIt
# from PyTango.server import device_property
port = device_property(dtype=int, default_value=9788)
def init_device(self):
Device.init_device(self)
self.__current = 0.0
self.set_state(DevState.STANDBY)
def read_voltage(self):
self.info_stream("read_voltage(%s, %d)", self.host, self.port)
return 9.99, time.time(), AttrQuality.ATTR_WARNING
def get_current(self):
return self.__current
def set_current(self, current):
# should set the power supply current
self.__current = current
@command
def TurnOn(self):
self.set_state(DevState.ON)
@command
def TurnOff(self):
# turn off the actual power supply here
self.set_state(DevState.OFF)
if __name__ == "__main__":
server_run([PowerSupply])
def main():
server_run([USBCamera])
def main():
sim_data_files = ['../tests/Weather.xmi']
model = configure_device_model(sim_data_files)
TangoDeviceServers = get_tango_device_server(model, sim_data_files)
server_run(TangoDeviceServers)
#intiates all Robot communication and subscribes to Diagnostics Messages
def init_ros():
try:
rospy.init_node('DiagnosticMessageCollector',
anonymous=False,
log_level=rospy.INFO)
rospy.Subscriber(DIAGNOSTICS_TOPIC, HuskyStatus, callback)
rospy.spin()
except ROSException as err:
print(err)
if __name__ == "__main__":
if SIMULATION_MODE is True:
# global variables for simulation mode
global BatterySim, Speedup, START_TIME
# Battery Simulator Variable which decreases linearly over time
BatterySim = 100.0
#Configure Speedup
Speedup = 0.1
# Get current time in milliseconds
START_TIME = time.time()
else:
init_ros()
# Setup the Device server in the Tango Database
server_run((PyRobotDiagnostics, ))
