allow setting interactive shell variables, fix some warnings

Firmware/fibre/python/fibre/__init__.py

@@ -1,5 +1,5 @@
 
-from fibre.discovery import find_any, find_all
-from fibre.utils import Event, Logger
-from fibre.protocol import ChannelBrokenException, ChannelDamagedException
-from fibre.shell import launch_shell
+from .discovery import find_any, find_all
+from .utils import Event, Logger
+from .protocol import ChannelBrokenException, ChannelDamagedException
+from .shell import launch_shell

Firmware/fibre/python/fibre/shell.py

@@ -4,10 +4,10 @@ import platform
 import threading
 import fibre
 
-interactive_variables = {}
-discovered_devices = []
-
-def did_discover_device(device, branding_short, branding_long, logger, app_shutdown_token):
+def did_discover_device(device,
+                        interactive_variables, discovered_devices,
+                        branding_short, branding_long,
+                        logger, app_shutdown_token):
     """
     Handles the discovery of new devices by displaying a
     message and making the device available to the interactive
@@ -40,6 +40,7 @@ def did_lose_device(interactive_name, logger, app_shutdown_token):
         logger.warn("Oh no {} disappeared".format(interactive_name))
 
 def launch_shell(args,
+                interactive_variables,
                 print_banner, print_help,
                 logger, app_shutdown_token,
                 branding_short="dev", branding_long="device"):
@@ -51,10 +52,13 @@ def launch_shell(args,
     The names of the variables can be customized by setting branding_short.
     """
 
+    discovered_devices = []
+    globals().update(interactive_variables)
+
     # Connect to device
     logger.debug("Waiting for {}...".format(branding_long))
     fibre.find_all(args.path, args.serial_number,
-                    lambda dev: did_discover_device(dev, branding_short, branding_long, logger, app_shutdown_token),
+                    lambda dev: did_discover_device(dev, interactive_variables, discovered_devices, branding_short, branding_long, logger, app_shutdown_token),
                     app_shutdown_token,
                     app_shutdown_token,
                     logger=logger)

Firmware/fibre/python/fibre/udp_transport.py

@@ -25,7 +25,7 @@ class UDPTransport(fibre.protocol.PacketSource, fibre.protocol.PacketSink):
 
   def get_packet(self, deadline):
     # TODO: implement deadline
-    data, addr = self.sock.recvfrom(1024)
+    data, _ = self.sock.recvfrom(1024)
     return data
 
 def discover_channels(path, serial_number, callback, cancellation_token, channel_termination_token, logger):

Firmware/fibre/tools/fibre-shell

@@ -7,7 +7,7 @@ import sys
 import os
 
 sys.path.insert(0, os.path.dirname(os.path.dirname(os.path.realpath(__file__))) + "/python")
-import fibre
+
 from fibre import Logger, Event
 
 # Parse arguments
@@ -54,4 +54,4 @@ def print_help(args, have_devices):
     pass
 
 import fibre
-fibre.launch_shell(args, print_banner, print_help, logger, app_shutdown_token)
+fibre.launch_shell(args, {}, print_banner, print_help, logger, app_shutdown_token)

tools/odrive/__init__.py

@@ -1,10 +1,9 @@
 
+import fibre
+find_any = fibre.find_any
+find_all = fibre.find_all
+
 # Standard convention is to add a __version__ attribute to the package
 from .version import get_version_str
 __version__ = get_version_str()
 del get_version_str
-
-
-import fibre
-find_any = fibre.find_any
-find_all = fibre.find_all

tools/odrive/enums.py

@@ -27,7 +27,7 @@ MOTOR_TYPE_HIGH_CURRENT = 0
 #MOTOR_TYPE_LOW_CURRENT = 1
 MOTOR_TYPE_GIMBAL = 2
 
-CTRL_MODE_VOLTAGE_CONTROL = 0,
-CTRL_MODE_CURRENT_CONTROL = 1,
-CTRL_MODE_VELOCITY_CONTROL = 2,
+CTRL_MODE_VOLTAGE_CONTROL = 0
+CTRL_MODE_CURRENT_CONTROL = 1
+CTRL_MODE_VELOCITY_CONTROL = 2
 CTRL_MODE_POSITION_CONTROL = 3

tools/odrive/shell.py

@@ -4,8 +4,9 @@ import platform
 import threading
 import fibre
 import odrive
+import odrive.enums
 from odrive.utils import start_liveplotter
-from odrive.enums import * # pylint: disable=W0614
+#from odrive.enums import * # pylint: disable=W0614
 
 def print_banner():
     print('Please connect your ODrive.')
@@ -74,7 +75,15 @@ def launch_shell(args, logger, printer, app_shutdown_token):
     "odrv0", "odrv1", ...
     """
 
+    interactive_variables = {
+        'start_liveplotter': start_liveplotter
+    }
+
+    # Expose all enums from odrive.enums
+    interactive_variables.update({k: v for (k, v) in odrive.enums.__dict__.items() if not k.startswith("_")})
+
     fibre.launch_shell(args,
+                       interactive_variables,
                        print_banner, print_help,
                        logger, app_shutdown_token,
                        branding_short="odrv", branding_long="ODrive")

tools/odrivetool

@@ -5,10 +5,14 @@ ODrive command line utility
 
 from __future__ import print_function
 import sys
+import os
 import argparse
-import odrive
+
+sys.path.insert(0, os.path.dirname(os.path.dirname(os.path.realpath(__file__))) + "/Firmware/fibre/python")
+
 import fibre.discovery
-from fibre.utils import Logger, Event
+from fibre import Logger, Event
+import odrive
 
 #print("Refer to install instructions at http://docs.odriverobotics.com/#downloading-and-installing-tools")