def main(args):
if args.verbose:
print(
'''accessing bus interface:
- port : %s
- baudrate : %d
- timeout : %.3f s''' % (args.port, args.baudrate, args.timeout))
try:
intf = dmxl.DynamixelBusInterface(
port=args.port,
baudrate=args.baudrate,
timeout=args.timeout
)
except Exception as e:
cli.die(e)
print('Scanning bus on %s from id=%d to id=%d...' % (args.port,
args.from_id, args.to_id))
ids = intf.scan(args.from_id, args.to_id)
if ids:
print ('%d servo(s) found with id(s) : %s' %
(len(ids), ', '.join([str(_id) for _id in ids]))
)
else:
print('No servo found.')
return 0
def main(args): #pylint: disable=W0621
# process the 'list registers' action which invovles no equipment
if args.list:
list_registers()
return
try:
intf = dmxl.DynamixelBusInterface(
port=args.port,
baudrate=args.baudrate,
timeout=args.timeout,
debug=args.debug
)
except Exception as e: #pylint: disable=W0703
cli.die(e)
if args.intf or intf.ping(args.id):
if args.intf:
print('Interface register(s) :')
else:
print('Servo id=%s register(s) :' % args.id)
if args.readall:
# we want to display all registers
intf.dump_regs(args.id)
elif args.read != None:
# we want to read a specific register
display_register(intf, args.id, args.read)
elif args.write:
# we want to write to a specific register
reg, value = WriteStatement.parse(args.write)
if reg == dmxl.Register.Id:
print( '''
Warning : Writing to register 0x%0.2x will change the servo id.
Use dmxl_setid.py script for doing this in a secure way.
''' % dmxl.Register.Id
)
return
write_register(intf, args.id, reg, value)
display_register(intf, args.id, reg)
else:
cli.print_err('no servo found with id=%d' % args.id)
def main(args):
try:
intf = dmxl.DynamixelBusInterface(port=args.port,
baudrate=args.baudrate, timeout=args.timeout)
except Exception as e:
cli.die(e)
if not args.force:
print('Scanning bus on %s to find connected servos...' % args.port)
nb_servos = len(intf.scan())
if nb_servos == 0:
cli.print_err('no servo found on the bus')
return 1
if nb_servos > 1:
cli.print_err('only ONE servo must be connected to the bus (%d servos found)' % nb_servos)
return 1
intf.write_register(dmxl.DynamixelBusInterface.BROADCASTING_ID, dmxl.Register.Id, args.newid)
print("Servo id changed to %d." % args.newid)
return 0
default=300,
dest='scan_off_delay'
)
parser.add_argument('--laser_off_delay',
help='delay of lasers auto off (secs)',
type=int,
default=30,
dest='laser_off_delay'
)
cli_args = parser.parse_args()
try:
_ctrl = BeaconsController(cli_args)
except Exception as e: #pylint: disable=W0703
cli.die(e)
else:
# Publish the service with Avahi
svc = avahi_utils.AvahiService(
svc_name='beacons',
svc_type='pobot_demo',
svc_port=cli_args.control_port
)
try:
# starts the beacons controller
signal.signal(signal.SIGTERM, sigterm_handler)
svc.publish()
_ctrl.run()
finally:
svc.unpublish()
parser.add_argument('-T', '--trace',
help="""Trace the communications with the Create and set the display format
('d' = decimal, 'h' = hex)""",
choices=['d', 'h'],
dest='trace',
default=None
)
_args = parser.parse_args()
demo_name = _args.demo[0]
if demo_name == '?':
wrapper = textwrap.TextWrapper(initial_indent=' | ', subsequent_indent=' | ')
print("%s available demos :\n" % parser.prog)
for _name, _doc in _all_demos.iteritems():
txt = '\n'.join(l.strip() for l in _doc.split('\n'))
print('- %s :\n%s\n' % (_name, wrapper.fill(txt)))
sys.exit(0)
try:
demo = Demo(demo_name, _args)
demo.run()
except ValueError as e: #pylint: disable=W0703
cli.die('demo error : %s' % e)
except:
cli.die(traceback.format_exc())