def main():
for i in range(len(sys.argv)):
if sys.argv[i] == '-t':
if len(sys.argv) < i + 3:
print 'device and baud needed for option -t'
exit(1)
test(sys.argv[i + 1], int(sys.argv[i + 2]))
print 'Servo Server'
server = SignalKServer()
from sensors import Sensors
sensors = Sensors(server)
servo = Servo(server, sensors)
servo.max_current.set(10)
period = .1
start = lastt = time.time()
while True:
servo.poll()
sensors.poll()
if servo.controller.value != 'none':
print 'voltage:', servo.voltage.value, 'current', servo.current.value, 'ctrl temp', servo.controller_temp.value, 'motor temp', servo.motor_temp.value, 'rudder pos', sensors.rudder.angle.value, 'flags', servo.flags.strvalue(
)
#print servo.command.value, servo.speed.value, servo.windup
pass
server.HandleRequests()
dt = period - time.time() + lastt
if dt > 0 and dt < period:
time.sleep(dt)
lastt += period
else:
lastt = time.time()
def connect(self):
watchlist = [
'ap.enabled', 'ap.mode', 'ap.pilot', 'ap.bell_server',
'ap.heading', 'ap.heading_command', 'gps.source', 'wind.source',
'servo.controller', 'servo.flags', 'ap.pilot.basic.P',
'ap.pilot.basic.I', 'ap.pilot.basic.D'
]
self.last_msg = {}
host = ''
if len(sys.argv) > 1:
host = sys.argv[1]
def on_con(client):
self.value_list = client.list_values(10)
for name in watchlist:
client.watch(name)
try:
self.client = SignalKClient(on_con, host)
if self.value_list:
print('connected')
else:
client.disconnect()
raise 1
except Exception as e:
print(e)
self.client = False
time.sleep(1)
self.server = SignalKServer()
def Register(_type, name, *args, **kwargs):
return self.server.Register(_type(*([name] + list(args)),
**kwargs))
ap_bell_server = Register(
EnumProperty,
'ap.bell_server',
'10.10.10.1',
['10.10.10.1', '10.10.10.2', '10.10.10.4', '192.168.178.129'],
persistent=True)
self.last_msg['ap.bell_server'] = ap_bell_server.value
ap_pilot = Register(StringValue, 'ap.pilot', 'none')
self.last_msg['ap.pilot'] = ap_pilot.value
print 'loading servo calibration', filename
file = open(filename)
self.calibration.set(json.loads(file.readline()))
except:
print 'WARNING: using default servo calibration!!'
self.calibration.set({'forward': [.2, .6], 'reverse': [.2, .6]})
def save_calibration(self):
file = open(Servo.calibration_filename, 'w')
file.write(json.dumps(self.calibration))
if __name__ == '__main__':
import serialprobe
print 'Servo Server'
server = SignalKServer()
serial_probe = serialprobe.SerialProbe()
servo = Servo(server, serial_probe)
servo.max_current.set(10)
period = .1
lastt = time.time()
while True:
servo.poll()
if servo.driver:
print 'voltage:', servo.voltage.value, 'current', servo.current.value, 'ctrl temp', servo.controller_temp.value, 'motor temp', servo.motor_temp.value, 'rudder pos', servo.rudder_pos.value, 'flags', servo.flags.strvalue()
#print servo.command.value, servo.speed.value, servo.windup
pass
server.HandleRequests()