def get_scaled_gyro(self):
"""
This is a vector quantifying the rate of rotation (angular rate) of the
3DM-GX3®. This quantity is derived from the Raw Angular Rate quantities,
but is fully temperature compensated and scaled into units of
radians/second. It is expressed in terms of the 3DM-GX3®’s local
coordinate system in units of radians/second.
Parameters
----------
None
Returns
-------
None
"""
# Create a MPI packet object
mpi_packet = MPI()
mpi_packet.descriptor = MPI.MPI_3DM_CMD_DESCRIPTOR
# Set to idle payload
field_desc = 0x01
field_data = 0x00, 0x01, 0x05, 0x00, 0x00
field_len = len(field_data) + 2
mpi_packet.payload = [field_len, field_desc]
for value in field_data:
mpi_packet.payload.append(value)
# Payload length
mpi_packet.payload_len = len(mpi_packet.payload)
# Build imu ping command in bytes
command = mpi_packet.build()
# Send byte packet to microstrain imu
self.ser.write(command)
# Read output from the imu adter sleeping for 2 ms
sleep(0.002)
reply = self.ser.read(30)
if reply[7] == "\x00":
gyro_x = rad2deg(struct.unpack('>f', reply[16:20])[0])
gyro_y = rad2deg(struct.unpack('>f', reply[20:24])[0])
gyro_z = rad2deg(struct.unpack('>f', reply[24:28])[0])
print " Got Scaled Gyro values successfully!"
print " Scaled Gyro Vector (in degrees/sec) : "
print " X : %6.4f" %gyro_x
print " Y : %6.4f" %gyro_y
print " Z : %6.4f" %gyro_z
else:
print " IMU Scaled Gyro unsuccessful"
err = '0x' + reply[7].encode('hex')
print " Error Code : ", err
print " Error Message : ", MPI.MPI_ACK_NACK_ERROR[err]
return (gyro_x, gyro_y, gyro_z)
def get_scaled_magneto(self):
"""
This is a vector which gives the instantaneous magnetometer direction
and magnitude. It is fully temperature compensated and is expressed in
terms of the 3DM-GX3®’s local coordinate system in units of Gauss.
Parameters
----------
None
Returns
-------
None
"""
# Create a MPI packet object
mpi_packet = MPI()
mpi_packet.descriptor = MPI.MPI_3DM_CMD_DESCRIPTOR
# Set to idle payload
field_desc = 0x01
field_data = 0x00, 0x01, 0x06, 0x00, 0x00
field_len = len(field_data) + 2
mpi_packet.payload = [field_len, field_desc]
for value in field_data:
mpi_packet.payload.append(value)
# Payload length
mpi_packet.payload_len = len(mpi_packet.payload)
# Build imu ping command in bytes
command = mpi_packet.build()
# Send byte packet to microstrain imu
self.ser.write(command)
# Read output from the imu adter sleeping for 2 ms
sleep(0.002)
reply = self.ser.read(30)
if reply[7] == "\x00":
magneto_x = struct.unpack('>f', reply[16:20])[0]
magneto_y = struct.unpack('>f', reply[20:24])[0]
magneto_z = struct.unpack('>f', reply[24:28])[0]
print " Got Scaled Magnetometer values successfully!"
print " Scaled Magnetometer values (in Gauss) : "
print " X : %6.4f" %magneto_x
print " Y : %6.4f" %magneto_y
print " Z : %6.4f" %magneto_z
else:
print " IMU Scaled Magnetometer unsuccessful"
err = '0x' + reply[7].encode('hex')
print " Error Code : ", err
print " Error Message : ", MPI.MPI_ACK_NACK_ERROR[err]
return (magneto_x, magneto_y, magneto_z)
def get_scaled_accelerometer(self):
"""
This is a vector quantifying the direction and magnitude of the
acceleration that the 3DMGX3 s exposed to. This quantity is derived
from Raw Accelerometer, but is fully temperature compensated and scaled
into physical units of g (1 g = 9.80665 m/sec^2). It is expressed in
terms of the 3DM-GX3®’s local coordinate system.
Parameters
----------
None
Returns
-------
None
"""
# Create a MPI packet object
mpi_packet = MPI()
mpi_packet.descriptor = MPI.MPI_3DM_CMD_DESCRIPTOR
# Set to idle payload
field_desc = 0x01
field_data = 0x00, 0x01, 0x04, 0x00, 0x00
field_len = len(field_data) + 2
mpi_packet.payload = [field_len, field_desc]
for value in field_data:
mpi_packet.payload.append(value)
# Payload length
mpi_packet.payload_len = len(mpi_packet.payload)
# Build imu ping command in bytes
command = mpi_packet.build()
# Send byte packet to microstrain imu
self.ser.write(command)
# Read output from the imu adter sleeping for 2 ms
sleep(0.002)
reply = self.ser.read(30)
if reply[7] == "\x00":
print " Got Scaled Accelerometer values successfully!"
print " Scaled Accelerometer (in m/sec^2) : "
print " X : %6.4f" %(struct.unpack('>f', reply[16:20])[0] * 9.080665)
print " Y : %6.4f" %(struct.unpack('>f', reply[20:24])[0] * 9.80665)
print " Z : %6.4f" %(struct.unpack('>f', reply[24:28])[0] * 9.80665)
else:
print " IMU Scaled Accelerometer unsuccessful"
err = '0x' + reply[7].encode('hex')
print " Error Code : ", err
print " Error Message : ", MPI.MPI_ACK_NACK_ERROR[err]
return
def get_euler_angles(self):
"""
Get Pitch, Roll and Yaw angles.
Parameters
----------
None
Returns
-------
None
"""
# Create a MPI packet object
mpi_packet = MPI()
mpi_packet.descriptor = MPI.MPI_3DM_CMD_DESCRIPTOR
# Set to idle payload
field_desc = 0x01
field_data = 0x00, 0x01, 0x0C, 0x00, 0x00
field_len = len(field_data) + 2
mpi_packet.payload = [field_len, field_desc]
for value in field_data:
mpi_packet.payload.append(value)
# Payload length
mpi_packet.payload_len = len(mpi_packet.payload)
# Build imu ping command in bytes
command = mpi_packet.build()
# Send byte packet to microstrain imu
self.ser.write(command)
# Read output from the imu adter sleeping for 2 ms
sleep(0.002)
reply = self.ser.read(30)
if reply[7] == "\x00":
roll = rad2deg(struct.unpack('>f', reply[16:20])[0])
pitch = rad2deg(struct.unpack('>f', reply[20:24])[0])
yaw = rad2deg(struct.unpack('>f', reply[24:28])[0])
print " Got Euler angles successfully!"
print " Euler Angles (in degrees) : "
print " Roll : %6.4f" %roll
print " Pitch : %6.4f" %pitch
print " Yaw : %6.4f" %yaw
else:
print " IMU Euler angles unsuccessful"
err = '0x' + reply[7].encode('hex')
print " Error Code : ", err
print " Error Message : ", MPI.MPI_ACK_NACK_ERROR[err]
return (roll, pitch, yaw)
def get_quaternion(self):
"""
This method returns a 4 component quaternion which describes the
orientation of the 3DM-GX3 with respect to the fixed earth coordinate
quaternion.
Parameters
----------
None
Returns
-------
None
"""
# Create a MPI packet object
mpi_packet = MPI()
mpi_packet.descriptor = MPI.MPI_3DM_CMD_DESCRIPTOR
# Set to idle payload
field_desc = 0x01
field_data = 0x00, 0x01, 0x0A, 0x00, 0x00
field_len = len(field_data) + 2
mpi_packet.payload = [field_len, field_desc]
for value in field_data:
mpi_packet.payload.append(value)
# Payload length
mpi_packet.payload_len = len(mpi_packet.payload)
# Build imu ping command in bytes
command = mpi_packet.build()
# Send byte packet to microstrain imu
self.ser.write(command)
# Read output from the imu adter sleeping for 2 ms
sleep(0.002)
reply = self.ser.read(34)
if reply[7] == "\x00":
print " Got Quaternion successfully!"
print " Quaternions : "
print " q0 : %6.6f" %struct.unpack('>f', reply[16:20])[0]
print " q1 : %6.6f" %struct.unpack('>f', reply[20:24])[0]
print " q2 : %6.6f" %struct.unpack('>f', reply[24:28])[0]
print " q3 : %6.6f" %struct.unpack('>f', reply[28:32])[0]
else:
print " IMU Quaternion unsuccessful"
err = '0x' + reply[7].encode('hex')
print " Error Code : ", err
print " Error Message : ", MPI.MPI_ACK_NACK_ERROR[err]
return
def get_device_info(self):
"""
Get the device ID strings and firmware version. Reply has two fields:
“ACK/NACK” and “Device Info Field”.
Parameters
----------
None
Returns
-------
None
"""
# Create a MPI packet object
mpi_packet = MPI()
mpi_packet.descriptor = MPI.MPI_BASE_CMD_DESCRIPTOR
# Set to idle payload
field_len = 0x02
field_desc = 0x03
mpi_packet.payload = [field_len, field_desc]
# Payload length
mpi_packet.payload_len = len(mpi_packet.payload)
# Build imu ping command in bytes
command = mpi_packet.build()
# Send byte packet to microstrain imu
self.ser.write(command)
# Read output from the imu adter sleeping for 2 ms
sleep(0.002)
reply = self.ser.read(94)
if reply[7] == "\x00":
print " IMU information received!"
print " Firmware version : %d" %int(reply[10:12].encode('hex'), 16)
print " Model Name : %s" %reply[12:28].encode('ascii')
print " Model Number : %s" %reply[28:44].encode('ascii')
print " Serial Number : %s" %reply[44:60].encode('ascii')
print " Lot Number : %s" %reply[60:76].encode('ascii')
print " Device Options : %s" %reply[76:92].encode('ascii')
else:
print " Command unsuccessful"
err = '0x' + reply[7].encode('hex')
print " Error Code : ", err
print " Error Message : ", MPI.MPI_ACK_NACK_ERROR[err]
return
def set_to_idle(self):
"""
Place device into idle mode. Device responds with ACK if successfully
placed in idle mode. This command will suspend streaming (if enabled)
or wake the device from sleep (if sleeping) to allow it to respond to
status and setup commands. You may restore the device mode by issuing
the Resume command.
Parameters
----------
None
Returns
-------
None
"""
# Create a MPI packet object
mpi_packet = MPI()
mpi_packet.descriptor = MPI.MPI_BASE_CMD_DESCRIPTOR
# Set to idle payload
field_len = 0x02
field_desc = 0x02
mpi_packet.payload = [field_len, field_desc]
# Payload length
mpi_packet.payload_len = len(mpi_packet.payload)
# Build imu ping command in bytes
command = mpi_packet.build()
# Send byte packet to microstrain imu
self.ser.write(command)
# Read output from the imu adter sleeping for 2 ms
sleep(0.002)
reply = self.ser.read(10)
if reply[7] == "\x00":
print " IMU placed in idle mode."
else:
print " Command unsuccessful"
err = '0x' + reply[7].encode('hex')
print " Error Code : ", err
print " Error Message : ", MPI.MPI_ACK_NACK_ERROR[err]
return
def reset(self):
"""
Resets the 3DM-GX3-35. This command has a single 32 bit security value
parameter. Device responds with ACK if it recognizes the command and
then immediately resets.
Parameters
----------
None
Returns
-------
None
"""
# Create a MPI packet object
mpi_packet = MPI()
mpi_packet.descriptor = MPI.MPI_BASE_CMD_DESCRIPTOR
# Set to idle payload
field_len = 0x02
field_desc = 0x7E
mpi_packet.payload = [field_len, field_desc]
# Payload length
mpi_packet.payload_len = len(mpi_packet.payload)
# Build imu ping command in bytes
command = mpi_packet.build()
# Send byte packet to microstrain imu
self.ser.write(command)
# Read output from the imu adter sleeping for 2 ms
sleep(0.002)
reply = self.ser.read(10)
if reply[7] == "\x00":
print " IMU reset successful!"
else:
print " IMU reset unsuccessful"
err = '0x' + reply[7].encode('hex')
print " Error Code : ", err
print " Error Message : ", MPI.MPI_ACK_NACK_ERROR[err]
return
def resume(self):
"""
Place device back into the mode it was in before issuing the Set To
Idle command. If the Set To Idle command was not issued, then the
device is placed in default mode.
Parameters
----------
None
Returns
-------
None
"""
# Create a MPI packet object
mpi_packet = MPI()
mpi_packet.descriptor = MPI.MPI_BASE_CMD_DESCRIPTOR
# Set to idle payload
field_len = 0x02
field_desc = 0x06
mpi_packet.payload = [field_len, field_desc]
# Payload length
mpi_packet.payload_len = len(mpi_packet.payload)
# Build imu ping command in bytes
command = mpi_packet.build()
# Send byte packet to microstrain imu
self.ser.write(command)
# Read output from the imu adter sleeping for 2 ms
sleep(0.002)
reply = self.ser.read(10)
if reply[7] == "\x00":
print " Resume successful!"
else:
print " Command unsuccessful"
err = '0x' + reply[7].encode('hex')
print " Error Code : ", err
print " Error Message : ", MPI.MPI_ACK_NACK_ERROR[err]
return
def ping(self):
"""
Send a 'ping' command to the imu.
Parameters
----------
None
Returns
-------
None
"""
# Create a MPI packet object
mpi_packet = MPI()
mpi_packet.descriptor = MPI.MPI_BASE_CMD_DESCRIPTOR
# Ping payload
field_desc = 0x01
field_len = 0x02
mpi_packet.payload = [field_len, field_desc]
# Payload length
mpi_packet.payload_len = len(mpi_packet.payload)
# Build imu ping command in bytes
command = mpi_packet.build()
# Send byte packet to microstrain imu
self.ser.write(command)
# Read output from the imu adter sleeping for 2 ms
sleep(0.002)
reply = self.ser.read(10)
if reply[7] == "\x00":
print " Ping successful!"
else:
print " Ping unsuccessful"
err = '0x' + reply[7].encode('hex')
print " Error Code : ", err
print " Error Message : ", MPI.MPI_ACK_NACK_ERROR[err]
return
def solver(iterations):
mpi = MPI()
world = mpi.MPI_COMM_WORLD
rank = world.rank()
delta = 1
for i in range(iterations):
# Calc takes times
time.sleep(0.1)
# Fake a delta.
delta = min(delta, random.random())
# Take the sum of the delta
world_delta = world.allreduce(delta, sum)
# Update the user register
mpi.user_register = {
'delta': delta,
'world_delta': world_delta,
'iterations': i,
}
#!/usr/bin/env python # meta-description: Test establishment of MPI environment # meta-expectedresult: 0 # meta-minprocesses: 2 from mpi import MPI assert not MPI.initialized( ), "The mpi environment was initialized before starting mpi.. wrong" mpi = MPI() assert MPI.initialized( ), "The mpi environment was not initialized after starting mpi.. wrong" # Close the sockets down nicely mpi.finalize()
def get_uav(self):
"""
Get Pitch, Roll and Yaw angles along with gyro and magnetometer values.
Parameters
----------
None
Returns
-------
None
"""
# Create a MPI packet object
mpi_packet = MPI()
mpi_packet.descriptor = MPI.MPI_3DM_CMD_DESCRIPTOR
# Set to idle payload
field_desc = 0x01
field_data = 0x00, 0x04, 0x0C, 0x00, 0x00, 0x04, 0x00, 0x00, 0x05, 0x00, 0x00, 0x06, 0x00, 0x00
field_len = len(field_data) + 2
mpi_packet.payload = [field_len, field_desc]
for value in field_data:
mpi_packet.payload.append(value)
# Payload length
mpi_packet.payload_len = len(mpi_packet.payload)
# Build imu ping command in bytes
command = mpi_packet.build()
# Send byte packet to microstrain imu
self.ser.write(command)
# Read output from the imu adter sleeping for 2 ms
sleep(0.001)
reply = self.ser.read(72)
if reply[7] == "\x00":
print " IMU UAV Successful!"
roll = rad2deg(struct.unpack('>f', reply[16:20])[0])
pitch = rad2deg(struct.unpack('>f', reply[20:24])[0])
yaw = rad2deg(struct.unpack('>f', reply[24:28])[0])
accl_x = struct.unpack('>f', reply[30:34])[0] * g
accl_y = struct.unpack('>f', reply[34:38])[0] * g
accl_z = struct.unpack('>f', reply[38:42])[0] * g
gyro_x = rad2deg(struct.unpack('>f', reply[44:48])[0])
gyro_y = rad2deg(struct.unpack('>f', reply[48:52])[0])
gyro_z = rad2deg(struct.unpack('>f', reply[52:56])[0])
magneto_x = struct.unpack('>f', reply[58:62])[0]
magneto_y = struct.unpack('>f', reply[62:66])[0]
magneto_z = struct.unpack('>f', reply[66:70])[0]
else:
print " IMU UAV unsuccessful"
err = '0x' + reply[7].encode('hex')
print " Error Code : ", err
print " Error Message : ", MPI.MPI_ACK_NACK_ERROR[err]
return (roll, pitch, yaw, accl_x, accl_y, accl_z, gyro_x, gyro_y, gyro_z, magneto_x, magneto_y, magneto_z)
#!/usr/bin/env python
# meta-description: Test abort, rank 0 will abort right away, other processes will sleep and should not exit with code 0
# meta-expectedresult: 1
# meta-minprocesses: 4
from mpi import MPI
mpi = MPI()
world = mpi.MPI_COMM_WORLD
if world.rank() == 0:
mpi.abort()
else:
import time, sys
time.sleep(4)
#print "We're about to sys exit with a positive return value"
# If we get to this line the abort stuff has not worked
# so we actually return nicely, which is not expected.
sys.exit(0)
def main(reps):
mpi = MPI()
world = mpi.MPI_COMM_WORLD
rank = world.rank()
size = world.size()
handle_list = []
obj = None # Will be replaced when calling a NBC.
if rank == 0:
print "Benchmarking with %d reps" % reps
datacount = 1000
while datacount % size != 0:
datacount += 1
data = range(datacount)
b = Benchmark(communicator=world, roots=range(size))
# Testing allgather
bw, _ = b.get_tester("allgather", datasize=rank)
for _ in range(reps):
with bw:
obj = world.iallgather(data)
handle_list.append(obj)
world.waitall(handle_list)
world.barrier()
# Testing barrier
bw, _ = b.get_tester("barrier", datasize=rank)
for _ in range(reps):
with bw:
obj = world.ibarrier()
handle_list.append(obj)
world.waitall(handle_list)
world.barrier()
# Testing bcast
bw, _ = b.get_tester("bcast", datasize=rank)
for _ in range(reps):
with bw:
obj = world.ibcast(data, root=0)
handle_list.append(obj)
world.waitall(handle_list)
world.barrier()
# Allreduce
bw, _ = b.get_tester("allreduce", datasize=rank)
for _ in range(reps):
with bw:
obj = world.iallreduce(data, MPI_sum)
handle_list.append(obj)
world.waitall(handle_list)
world.barrier()
# Alltoall
bw, _ = b.get_tester("alltoall", datasize=rank)
for _ in range(reps):
with bw:
obj = world.ialltoall(data)
handle_list.append(obj)
world.waitall(handle_list)
world.barrier()
# Gather
bw, _ = b.get_tester("gather", datasize=rank)
for _ in range(reps):
with bw:
obj = world.igather(data)
handle_list.append(obj)
world.waitall(handle_list)
world.barrier()
# Reduce
bw, _ = b.get_tester("reduce", datasize=rank)
for _ in range(reps):
with bw:
obj = world.ireduce(data, MPI_sum, 0)
handle_list.append(obj)
world.waitall(handle_list)
b.flush()
mpi.finalize()
def solver_it(mpi):
world = mpi.MPI_COMM_WORLD
rank = world.rank()
delta = 1
# Calc takes times
time.sleep(0.1)
# Fake a delta.
delta = min(delta, random.random())
# Take the sum of the delta
world_delta = world.allreduce(delta, sum)
# Update the user register
mpi.user_register = {
'delta': delta,
'world_delta': world_delta,
'iterations': i,
}
if __name__ == "__main__":
it = 100000
m = MPI()
for i in range(it):
solver_it(m)
import numpy, sys, time
from mpi import MPI
from mpi.collective.operations import MPI_sum
pupy = MPI()
world, rank, size = pupy.initinfo
def stencil_solver(local, epsilon):
"""
The function receives a partial system-matrix including ghost rows in top and bottom
"""
# We define the data size as the product of W and H times the byte size of the inner
# data type.
W, H = local.shape
maxrank = size - 1
work = numpy.zeros((W - 2, H - 2)) # temp workspace
cells = local[1:-1, 1:-1] # interior
left = local[1:-1, 0:-2]
up = local[0:-2, 1:-1]
down = local[2:, 1:-1]
right = local[1:-1, 2:]
delta = epsilon + 1
counter = 0
while epsilon < delta:
if rank != 0:
local[0, :] = world.sendrecv(local[1, :], dest=rank - 1)
def device_test(self):
"""
Run the device Built-In Test (BIT). The Built-In Test command always
returns a 32 bit value. A value of 0 means that all tests passed. A
non-zero value indicates that not all tests passed. The failure flags
are device dependent. The flags for the 3DM-GX3-35 are defined below.
The BIT will take approximately 5 seconds to complete on the 3DM-GX3-35.
The GPS power will be cycled during the test resulting in the temporary
loss and subsequent recalculation of the position solution.
Byte Byte 1(LSB) Byte 2 Byte 3 Byte 4(MSB)
Device AP-1 Processor AHRS GPS Reserved
===========================================================
Bit 1 (LSB)I2C Hardware Error Communication Error Communication Error Reserved
Bit 2 I2C EEPROM Error Reserved 1PPS Signal Error Reserved
Bit 3 Reserved Reserved 1 PPS Inhibit Error Reserved
Bit 4 Reserved Reserved Power Control Error Reserved
Bit 5 Reserved Reserved Reserved Reserved
Bit 6 Reserved Reserved Reserved Reserved
Bit 7 Reserved Reserved Reserved Reserved
Bit 8 (MSB) Reserved Reserved Reserved Reserved
Parameters
----------
None
Returns
-------
None
"""
# Create a MPI packet object
mpi_packet = MPI()
mpi_packet.descriptor = MPI.MPI_BASE_CMD_DESCRIPTOR
# Set to idle payload
field_len = 0x02
field_desc = 0x05
mpi_packet.payload = [field_len, field_desc]
# Payload length
mpi_packet.payload_len = len(mpi_packet.payload)
# Build imu ping command in bytes
command = mpi_packet.build()
# Send byte packet to microstrain imu
self.ser.write(command)
# Read output from the imu adter sleeping for 2 ms
sleep(0.002)
reply = self.ser.read(16)
if reply[7] == "\x00":
print " Device Built-In Test (BIT) successful!"
print " BIT Error Flags : "
print " Byte 1 : ", '0x' + reply[10].encode('hex')
print " Byte 2 : ", '0x' + reply[11].encode('hex')
print " Byte 3 : ", '0x' + reply[12].encode('hex')
print " Byte 4 : ", '0x' + reply[13].encode('hex')
else:
print " Command unsuccessful"
err = '0x' + reply[7].encode('hex')
print " Error Code : ", err
print " Error Message : ", MPI.MPI_ACK_NACK_ERROR[err]
return
#!/usr/bin/env python
# meta-description: Test alltoall, while refactoring collective ops
# meta-expectedresult: 0
# meta-minprocesses: 10
# meta-max_runtime: 60
from mpi import MPI
mpi = MPI()
world = mpi.MPI_COMM_WORLD
rank = world.rank()
size = world.size()
chunk_size = 4
iterations = 1000
data = [str(i) * chunk_size for i in range(size)]
#print "DATA:" + str(data)
recv_data = world.alltoall(data)
for i in xrange(iterations):
if rank == 0:
print "doing iteration %i of %i" % (i + 1, iterations)
recv_data = world.alltoall(data)
#if rank == 0:
# print "\tdata:%s \n\trecv_data:%s" % (data,recv_data)
migrate = False
migrate_data = None
all_commands = []
rank = mpi.MPI_COMM_WORLD.comm_group.rank()
# Try to find a migrate command.
with mpi.pending_systems_commands_lock:
for obj in mpi.pending_systems_commands:
cmd, connection, user_data = obj
if cmd == constants.CMD_MIGRATE_PACK:
migrate = True
migrate_data = user_data
else:
all_commands.append(obj)
mpi.pending_systems_commands = all_commands
if migrate:
from mpi.migrate import MigratePack
migration = MigratePack(mpi, migrate_data)
return f(mpi, *args, **kwargs)
return inner
if __name__ == "__main__":
# If this script is called directly it means that we are unpacking.
mpi = MPI()
