remove old test_communication.py

tools/test_communication.py

@@ -1,155 +0,0 @@
-#!/usr/bin/env python3
-
-import argparse
-import prompt_toolkit
-
-def parse_args():
-  parser = argparse.ArgumentParser(description='Talk to a ODrive board over USB or serial.\n')
-  parser.add_argument("-v", "--verbose", action="store_true",
-                      help="print debug information")
-  group = parser.add_mutually_exclusive_group()
-  group.add_argument("-d", "--discover", metavar="CHANNELS", action="store",
-                      help="Automatically discover ODrives. Takes a comma-separated list (without spaces) "
-                      "to indicate which connection types should be considered. Possible values are "
-                      "usb and serial. For example \"--discover usb,serial\" indicates "
-                      "that USB and serial ports should be scanned for ODrives. "
-                      "If none of the below options are specified, --discover usb is assumed.")
-  group.add_argument("-u", "--usb", metavar="BUS:DEVICE", action="store",
-                      help="Specifies the USB port on which the device is connected. "
-                      "For example \"001:014\" means bus 001, device 014. The numbers can be obtained "
-                      "using `lsusb`.")
-  group.add_argument("-s", "--serial", metavar="PORT", action="store",
-                      help="Specifies the serial port on which the device is connected. "
-                      "For example \"/dev/ttyUSB0\". Use `ls /dev/tty*` to find your port name.")
-  parser.set_defaults(discover="usb")
-  return parser.parse_args()
-
-if __name__ == '__main__':
-  # parse args before other imports
-  args = parse_args()
-
-import sys
-import time
-import odrive.core
-
-def noprint(str):
-  pass
-
-def print_usage():
-  print("ODrive Control Utility")
-  print("---------------------------------------------------------------------")
-  print("USAGE:")
-  print("\tPOSITION_CONTROL:\n\t\tp MOTOR_NUMBER POSITION VELOCITY CURRENT")
-  print("\tVELOCITY_CONTROL:\n\t\tv MOTOR_NUMBER VELOCITY CURRENT")
-  print("\tCURRENT_CONTROL:\n\t\tc MOTOR_NUMBER CURRENT")
-  # TODO: implement the following features:
-  #print("\tList parameters:\n\t\tmotor0.[TAB]")
-  #print("\tShow parameter:\n\t\tmotor0.pos_setpoint")
-  #print("\tChange parameter:\n\t\tmotor0.pos_setpoint = 0")
-  # print("\tHALT:\n\t\th")
-  print("\tQuit Python Script:\n\t\tq")
-  print("---------------------------------------------------------------------")
-
-def command_prompt_loop(device, history):
-  """
-  Presents the command prompt indefinitely until something goes wrong
-  """
-  # Load all motors
-  motors = []
-  if "motor0" in dir(device):
-    motors.append(device.motor0)
-  if "motor1" in dir(device):
-    motors.append(device.motor1)
-
-  print("Connected - have {} {}".format(len(motors), "motor" if len(motors) == 1 else "motors"))
-
-  while True:
-    try:
-      command = prompt_toolkit.prompt(
-        "ODrive> ",
-        history=history).strip()
-    except EOFError:
-      command = "exit"
-
-    if len(command) == 0:
-      continue
-    elif command.startswith("p "):
-      args = command[2:].split()
-      try:
-        motor = motors[int(args[0])]
-        pos = float(args[1])
-        vel = float(args[2])
-        cur = float(args[3])
-      except (ValueError, IndexError):
-        print("invalid command format")
-        continue
-      motor.set_pos_setpoint(pos, vel, cur)
-    elif command.startswith("v "):
-      args = command[2:].split()
-      try:
-        motor = motors[int(args[0])]
-        vel = float(args[1])
-        cur = float(args[2])
-      except (ValueError, IndexError):
-        print("invalid command format")
-        continue
-      motor.set_vel_setpoint(vel, cur)
-    elif command.startswith("c "):
-      args = command[2:].split()
-      try:
-        motor = motors[int(args[0])]
-        cur = float(args[1])
-      except (ValueError, IndexError):
-        print("invalid command format")
-        continue
-      motor.set_current_setpoint(cur)
-    elif command == "h" or command == '?' or command == 'help':
-      print_usage()
-    elif command == "q" or command == 'exit':
-      sys.exit(0)
-    else:
-      print("unknown command \"" + command + "\"")
-
-def main(args):
-  if (args.verbose):
-    printer = print
-  else:
-    printer = noprint
-
-  history = prompt_toolkit.history.InMemoryHistory()
-
-  print_usage()
-
-  while True:
-    # Connect to device
-    if not args.usb is None:
-      try:
-        bus = int(args.usb.split(":")[0])
-        address = int(args.usb.split(":")[1])
-      except (ValueError, IndexError):
-        print("the --usb argument must look something like this: \"001:014\"")
-        sys.exit(1)
-      try:
-        device = odrive.core.open_usb(bus, address, printer=printer)
-      except odrive.protocol.DeviceInitException as ex:
-        print(str(ex))
-        sys.exit(1)
-    elif not args.serial is None:
-      device = odrive.core.open_serial(args.serial, printer=printer)
-    else:
-      print("Waiting for device...")
-      consider_usb = 'usb' in args.discover.split(',')
-      consider_serial = 'serial' in args.discover.split(',')
-      device = odrive.core.find_any(consider_usb, consider_serial, printer=printer)
-      autoconnected = True
-
-    try:
-      command_prompt_loop(device, history)
-    except odrive.protocol.ChannelBrokenException:
-      print("ODrive disconnected")
-      if not autoconnected:
-        sys.exit(1)
-  
-
-if __name__ == "__main__":
-   main(args)