def __init__(self, name):
# set-up logger:
logfile = user_data_dir() + sep + 'PowerMan.log'
log_config(filename = logfile, level = DEBUG,
format = '%(asctime)s - %(levelname)s: %(message)s')
# initialized and load config:
log_info('powerman starting up')
map = generate_map(name)
self.ctrl_socket = map['ctrl']
self.monitor_socket = map['mon']
self.opcd = OPCD_Interface(map['opcd_ctrl'], 'powerman')
bus = SMBus(self.opcd.get('gpio_i2c_bus'))
self.gpio_mosfet = GPIO_Bank(bus, self.opcd.get('gpio_i2c_address'))
self.power_pin = self.opcd.get('gpio_power_pin')
self.cells = self.opcd.get('battery_cells')
self.low_cell_voltage = self.opcd.get('battery_low_cell_voltage')
self.capacity = self.opcd.get('battery_capacity')
self.low_battery_voltage = self.cells * self.low_cell_voltage
self.critical = False
self.gpio_mosfet.write()
self.warning_started = False
# start threads:
self.standing = True
self.adc_thread = start_daemon_thread(self.adc_reader)
self.emitter_thread = start_daemon_thread(self.power_state_emitter)
self.request_thread = start_daemon_thread(self.request_handler)
log_info('powerman running')
def __init__(self):
self.LEAF_TYPES = [str, int, float, bool]
self.base_path = os.getenv('MOBICOM_SUBPROJECT_PATH') + os.sep + 'common' + os.sep + 'config' + os.sep + 'sys_params_base.yaml'
self.overlay_path = user_data_dir() + os.sep + 'sys_params_overlay.yaml'
# load base config and overlay of present:
self.base = yaml.load(file(self.base_path))
try:
self.overlay = yaml.load(file(self.overlay_path))
except:
self.overlay = {}
# check single document integrity:
for doc in self.base, self.overlay:
self._check_tree(doc)
# check inter-document integrity:
for key in self.get_all_keys(self.overlay):
self._validate_overlay_key(key)
def __init__(self, sockets):
logfile = user_data_dir() + sep + "ICARUS.log"
log_config(filename=logfile, level=DEBUG, format="%(asctime)s - %(levelname)s: %(message)s")
log_info("icarus starting up")
self.setpoints = [0.0, 0.0, 2.0] # x, y, z
self.flight_time = 0
self.icarus_takeover = False
self.emergency_land = False
self.factory = ICARUS_MissionFactory
self.fsm = flight_sm(self)
self.landing_spots = LandingSpots(3.0)
self.core = CoreInterface(sockets["core"], sockets["mon"])
# self.gps_shifter = GPS_Shifter()
self.state_emitter = StateEmitter(sockets["state"])
self.powerman = PowerMan(sockets["power_ctrl"], sockets["power_mon"])
start_daemon_thread(self.power_state_monitor)
start_daemon_thread(self.state_time_monitor)
start_daemon_thread(self.core_monitor)
self.activity = DummyActivity()
self.activity.start()
self.icarus_srv = ICARUS_Server(sockets["ctrl"], self)
self.icarus_srv.start()
log_info("icarus up and running")
#!/usr/bin/env python
import atexit
import os
import readline
import rlcompleter
from scl import generate_map
from core_pb2 import *
from core_interface import CoreInterface
from misc import user_data_dir
# set-up command history:
_path = user_data_dir() + os.sep + 'core_shell.history'
_history = os.path.expanduser(_path)
def _save_history(historyPath = _history):
readline.write_history_file(_history)
if os.path.exists(_history):
readline.read_history_file(_history)
readline.parse_and_bind("tab: complete")
atexit.register(_save_history)
def monitor():
mon_data = MonData()
try:
while True:
i.mon_read(mon_data)
print mon_data
except:
pass
#!/usr/bin/env python
import atexit
import os
import readline
import rlcompleter
from scl import generate_map
from icarus_interface import ICARUS_Client, ICARUS_MissionFactory
from misc import user_data_dir
# set-up command history:
_path = user_data_dir() + os.sep + "ICARUS_shell.history"
_history = os.path.expanduser(_path)
def _save_history(historyPath=_history):
readline.write_history_file(_history)
if os.path.exists(_history):
readline.read_history_file(_history)
readline.parse_and_bind("tab: complete")
atexit.register(_save_history)
# define
_socket = generate_map("icarus_shell")["ctrl"]
_client = ICARUS_Client(_socket)
i = ICARUS_MissionFactory()
import atexit
import os
import readline
import pprint
from opcd_interface import OPCD_Interface
from scl import generate_map
from misc import user_data_dir
# set-up command history:
_path = user_data_dir() + os.sep + 'OPCD_shell.history'
_history = os.path.expanduser(_path)
def _save_history(historyPath = _history):
readline.write_history_file(_history)
if os.path.exists(_history):
readline.read_history_file(_history)
readline.parse_and_bind("tab: complete")
atexit.register(_save_history)
#initialize and define interface:
_interface = OPCD_Interface(generate_map('opcd_shell')['ctrl'])
_pp = pprint.PrettyPrinter(indent = 3)
def get(key = ''):
try:
_pp.pprint(_interface.get(key))
except KeyError:
print('key not found')
