mirror of
https://github.com/odriverobotics/ODrive.git
synced 2026-08-20 22:14:34 +08:00
Merge branch 'sam_python_fixes' into sam_testing
This commit is contained in:
Samuel Sadok
@@ -15,6 +15,13 @@ Please add a note of your changes below this heading if you make a Pull Request.
|
||||
* Update CubeMX generated STM platform code to version 1.19.0
|
||||
* Remove `UUID_0`, `UUID_1` and `UUID_2` from USB protocol. Use `serial_number` instead.
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||||
* Freertos memory pool (task stacks, etc) now uses Core Coupled Memory.
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||||
* Refactor python tools
|
||||
* `explore_odrive.py` now supports controlling multiple ODrives concurrently (`odrv0`, `odrv1`, ...)
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||||
* No need to restart `explore_odrive.py` when devices get disconnected and reconnected
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* The command line arguments of `explore_odrive.py` have changed. See `explore_odrive.py --help` for more details.
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* ODrive accesses from within python tools are now thread-safe
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||||
* Liveplotter does no longer steal focus and closes as expected
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* (experimental: start liveplotter from `explore_odrive.py` by typing `start_liveplotter(lambda: odrv0.motor0.encoder.encoder_state)`)
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||||
|
||||
### Fixed
|
||||
* malloc now fails if we run out of memory (before it would always succeed even if we are out of ram...)
|
||||
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||||
+1
-1
@@ -165,7 +165,7 @@ pip install pyusb pyserial
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6. Open the bash prompt in the `ODrive/tools/` folder.
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7. Run `python3 demo.py` or `python3 explore_odrive.py`.
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- `demo.py` is a very simple script which will make motor 0 turn back and forth. Use this as an example if you want to control the ODrive yourself programatically.
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- `explore_odrive.py` drops you into an interactive python shell where you can explore and edit the parameters that are available on your device. For instance `my_odrive.motor0.pos_setpoint = 10000` makes motor0 move to position 10000. To connect over serial instead of USB run `./tools/explore_odrive.py --discover serial`.
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- `explore_odrive.py` drops you into an interactive python shell where you can explore and edit the parameters that are available on your device. For instance `my_odrive.motor0.pos_setpoint = 10000` makes motor0 move to position 10000. To connect over serial instead of USB run `./tools/explore_odrive.py --path serial`.
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### From Arduino
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[See ODrive Arduino Library](https://github.com/madcowswe/ODriveArduino)
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||||
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||||
+5
-2
@@ -5,12 +5,15 @@ Example usage of the ODrive python library to monitor and control ODrive devices
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||||
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from __future__ import print_function
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import odrive.core
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||||
import odrive.discovery
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import time
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||||
import math
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||||
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# Find a connected ODrive (this will block until you connect one)
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my_drive = odrive.core.find_any(consider_usb=True, consider_serial=False, printer=print)
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my_drive = odrive.discovery.find_any()
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# Find an ODrive that is connected on the serial port /dev/ttyUSB0
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#my_drive = odrive.discovery.find_any("serial:/dev/ttyUSB0")
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# The above call returns a python object with a dynamically generated type. The
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# type hierarchy will correspond to the endpoint list in `MotorControl/protocol.cpp`.
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+21
-55
@@ -12,7 +12,7 @@ import struct
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import dfuse
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import usb.core
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import usb.util
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import odrive.core
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import odrive.discovery
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# We are interactively printing status messages, so flush by default
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import functools
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||||
@@ -142,18 +142,6 @@ def jump_to_application(dfudev, address):
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if status[1] != dfuse.DfuState.DFU_MANIFEST:
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raise RuntimeError("An error occured. Device Status: {}".format(status[1]))
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def str_to_uuid(uuid):
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uuid = bytearray.fromhex(uuid.replace('-', ''))
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return struct.unpack('>I', uuid[0:4]), struct.unpack('>I', uuid[4:8]), struct.unpack('>I', uuid[8:12])
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def uuid_to_str(uuid0, uuid1, uuid2):
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return "{:08X}-{:08X}-{:08X}".format(struct.pack('>I', uuid0), struct.pack('>I', uuid1), struct.pack('>I', uuid2))
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def uuid_to_serial(uuid0, uuid1, uuid2):
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return (struct.pack('>I', uuid0 + uuid2) + struct.pack('>I', uuid1)[0:2]).hex().upper()
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### THREADS ###
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||||
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def show_deferred_message(message, cancellation_token):
|
||||
"""
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||||
@@ -170,43 +158,25 @@ def show_deferred_message(message, cancellation_token):
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||||
t.daemon = True
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t.start()
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def put_odrive_into_dfu_mode_thread(cancellation_token):
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def put_odrive_into_dfu_mode(my_drive):
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"""
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Waits for an ODrive with a matching serial number and puts
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it into DFU mode once it's found. The thread continues to put
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matching devices into DFU mode until cancellation_token
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is set.
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Puts the specified device into DFU mode
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"""
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global app_cancellation_token
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while not cancellation_token.is_set():
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constraints = {} if serial_number == None else {'serial_number': serial_number}
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my_drive = odrive.core.find_any(consider_usb=True, consider_serial=False,
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cancellation_token=cancellation_token,
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**constraints)
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if cancellation_token.is_set():
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return
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if not hasattr(my_drive, "enter_dfu_mode"):
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print("The firmware on device {} does not support DFU. You need to \n"
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"flash the firmware once using STLink (`make flash`), after that \n"
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"DFU with this script should work fine."
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.format(my_drive.__channel__.usb_device.serial_number))
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# Terminate script, otherwise it would try to reconnect to the same
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# incompatible device
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app_cancellation_token.set() # TODO: implement a more sensible discorvery mechanism to fix this
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return
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print("Putting device {} into DFU mode...".format(my_drive.__channel__.usb_device.serial_number))
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try:
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my_drive.enter_dfu_mode()
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except usb.core.USBError as ex:
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pass # this is expected because the device reboots
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if platform.system() == "Windows":
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show_deferred_message("Still waiting for the device to reappear.\n"
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||||
"Use the Zadig utility to set the driver of 'STM32 BOOTLOADER' to libusb-win32.",
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||||
cancellation_token)
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# If we immediately continue we might still pick up the device that was
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# just rebooted. This isn't an issue but will display a distracting
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# error message.
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time.sleep(1)
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if not hasattr(my_drive, "enter_dfu_mode"):
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print("The firmware on device {} does not support DFU. You need to \n"
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"flash the firmware once using STLink (`make flash`), after that \n"
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"DFU with this script should work fine."
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.format(my_drive.__channel__.usb_device.serial_number))
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return
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print("Putting device {} into DFU mode...".format(my_drive.__channel__.usb_device.serial_number))
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try:
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my_drive.enter_dfu_mode()
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except odrive.protocol.ChannelBrokenException as ex:
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||||
pass # this is expected because the device reboots
|
||||
if platform.system() == "Windows":
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||||
show_deferred_message("Still waiting for the device to reappear.\n"
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||||
"Use the Zadig utility to set the driver of 'STM32 BOOTLOADER' to libusb-win32.",
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find_odrive_cancellation_token)
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||||
### BEGINNING OF APPLICATION ###
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||||
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||||
@@ -230,12 +200,7 @@ hexfile = IntelHex(args.file)
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||||
#for start, end in hexfile.segments():
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||||
# print(" {:08X} to {:08X}".format(start, end - 1))
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||||
if args.uuid != None:
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serial_number = uuid_to_serial(*str_to_uuid(args.uuid))
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elif args.serial_number != None:
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serial_number = args.serial_number
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else:
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serial_number = None
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serial_number = args.serial_number
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app_cancellation_token = threading.Event()
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@@ -244,7 +209,8 @@ try:
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print("Waiting for ODrive...")
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# Scan for ODrives not in DFU mode and put them into DFU mode once they appear
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threading.Thread(target=put_odrive_into_dfu_mode_thread, args=(find_odrive_cancellation_token,)).start()
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# We only scan on USB because DFU is only possible over USB
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odrive.discovery.find_all("usb", serial_number, put_odrive_into_dfu_mode, find_odrive_cancellation_token)
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# Poll libUSB until a device in DFU mode is found
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while not app_cancellation_token.is_set():
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Regular → Executable
+4
-2
@@ -5,12 +5,14 @@ Example usage of the ODrive python library to monitor and control ODrive devices
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||||
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||||
from __future__ import print_function
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||||
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||||
import odrive.core
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import odrive.discovery
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import time
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import math
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||||
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# Find a connected ODrive (this will block until you connect one)
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my_drive = odrive.core.find_any(consider_usb=True, consider_serial=False, printer=print)
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print("Waiting for ODrive...")
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my_drive = odrive.discovery.find_any()
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print("connected")
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# Print DRV device regs for Motor 0
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fault = my_drive.motor0.gate_driver.drv_fault
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+174
-78
@@ -3,37 +3,16 @@
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Load an odrive object to play with in the IPython interactive shell.
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"""
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import odrive.core
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import argparse
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import sys
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import platform
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import threading
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import odrive.discovery
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from odrive.utils import start_liveplotter
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# Check if IPython is installed
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try:
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import IPython
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embed_ipython = True
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except:
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||||
embed_ipython = False
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||||
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||||
print("Warning: you don't have IPython installed.")
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print("If you want to have an improved interactive console with pretty colors,")
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||||
print("you should install IPython\n")
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||||
# Ensure interactive mode
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if not bool(getattr(sys, 'ps1', sys.flags.interactive)):
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print("You're not running in interactive mode. Run python -i explore_odrive.py")
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print('')
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sys.exit(1)
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# Enable tab complete if possible
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try:
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import readline
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readline.parse_and_bind("tab: complete")
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except:
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sudo_prefix = "" if platform.system() == "Windows" else "sudo "
|
||||
print("Warning: could not enable tab-complete. User experience will suffer.\n"
|
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"Run `{}pip install readline` and then restart this script to fix this."
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.format(sudo_prefix))
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# Flush stdout by default
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import functools
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print = functools.partial(print, flush=True)
|
||||
|
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# some enums described in the README
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@@ -48,25 +27,32 @@ CTRL_MODE_VELOCITY_CONTROL = 2,
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CTRL_MODE_POSITION_CONTROL = 3
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# Parse arguments
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||||
parser = argparse.ArgumentParser(description='Load an odrive object to play with in the IPython interactive shell.')
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## Parse arguments ##
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parser = argparse.ArgumentParser(description='Load an odrive object to play with in the IPython interactive shell.',
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||||
formatter_class=argparse.RawTextHelpFormatter)
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parser.add_argument("-v", "--verbose", action="store_true",
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help="print debug information")
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group = parser.add_mutually_exclusive_group()
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group.add_argument("-d", "--discover", metavar="CHANNELS", action="store",
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help="Automatically discover ODrives. Takes a comma-separated list (without spaces) "
|
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"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",
|
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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`.")
|
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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")
|
||||
parser.add_argument("-p", "--path", metavar="PATH", action="store",
|
||||
help="The path(s) where ODrive(s) should be discovered.\n"
|
||||
"By default the script will connect to any ODrive on USB.\n\n"
|
||||
"To select a specific USB device:\n"
|
||||
" --path usb:BUS:DEVICE\n"
|
||||
"usbwhere BUS and DEVICE are the bus and device numbers as shown in `lsusb`.\n\n"
|
||||
"To select a specific serial port:\n"
|
||||
" --path serial:PATH\n"
|
||||
"where PATH is the path of the serial port. For example \"/dev/ttyUSB0\".\n"
|
||||
"You can use `ls /dev/tty*` to find the correct port.\n\n"
|
||||
"You can combine USB and serial specs by separating them with a comma (no space!)\n"
|
||||
"Example:\n"
|
||||
" --path usb,serial:/dev/ttyUSB0\n"
|
||||
"means \"discover any USB device or a serial device on /dev/ttyUSB0\"")
|
||||
parser.add_argument("--no-ipython", action="store_true",
|
||||
help="Use the regular Python shell\n"
|
||||
"instead of the IPython shell,\n"
|
||||
"even if IPython is installed\n")
|
||||
parser.add_argument("-s", "--serial-number", action="store",
|
||||
help="The serial number of the device. If omitted, any device is accepted.\n")
|
||||
parser.set_defaults(path="usb")
|
||||
args = parser.parse_args()
|
||||
|
||||
if (args.verbose):
|
||||
@@ -74,41 +60,151 @@ if (args.verbose):
|
||||
else:
|
||||
printer = lambda x: None
|
||||
|
||||
|
||||
## Interactive console utils ##
|
||||
|
||||
COLOR_RED = '\x1b[91;1m'
|
||||
COLOR_CYAN = '\x1b[96;1m'
|
||||
COLOR_RESET = '\x1b[0m'
|
||||
|
||||
def print_on_second_last_line(text, **kwargs):
|
||||
"""
|
||||
Prints a text on the second last line.
|
||||
This can be used to print a message above the command
|
||||
prompt. If the command prompt spans multiple lines,
|
||||
there will be glitches.
|
||||
"""
|
||||
# Escape character sequence:
|
||||
# ESC 7: store cursor position
|
||||
# ESC 1A: move cursor up by one
|
||||
# ESC 1S: scroll entire viewport by one
|
||||
# ESC 1L: insert 1 line at cursor position
|
||||
# (print text)
|
||||
# ESC 8: restore old cursor position
|
||||
kwargs['end'] = ''
|
||||
kwargs['flush'] = True
|
||||
print('\x1b7\x1b[1A\x1b[1S\x1b[1L' + text + '\x1b8', **kwargs)
|
||||
|
||||
def print_banner():
|
||||
print('ODrive control utility v0.4')
|
||||
print('Please connect your ODrive.')
|
||||
print('Type help() for help.')
|
||||
|
||||
def print_help():
|
||||
print('')
|
||||
if len(discovered_devices) == 0:
|
||||
print('Connect your ODrive to {} and power it up.'.format(args.path))
|
||||
print('After that, the following message should appear:')
|
||||
print(' "Connected to ODrive [serial number] as odrv0"')
|
||||
print('')
|
||||
print('Once the ODrive is connected, type "odrv0." and press <tab>')
|
||||
else:
|
||||
print('Type "odrv0." and press <tab>')
|
||||
print('This will present you with all the properties that you can reference')
|
||||
print('')
|
||||
print('For example: "odrv0.motor0.encoder.pll_pos"')
|
||||
print('will print the current encoder position on motor 0')
|
||||
print('and "odrv0.motor0.pos_setpoint = 10000"')
|
||||
print('will send motor0 to 10000')
|
||||
print('')
|
||||
|
||||
interactive_variables = {}
|
||||
interactive_variables["help"] = print_help
|
||||
|
||||
|
||||
## Device discovery ##
|
||||
|
||||
discovered_devices = []
|
||||
|
||||
def did_discover_device(odrive):
|
||||
"""
|
||||
Handles the discovery of new devices by displaying a
|
||||
message and making the device available to the interactive
|
||||
console
|
||||
"""
|
||||
serial_number = odrive.serial_number if hasattr(odrive, 'serial_number') else "[unknown serial number]"
|
||||
if serial_number in discovered_devices:
|
||||
verb = "Reconnected"
|
||||
index = discovered_devices.index(serial_number)
|
||||
else:
|
||||
verb = "Connected"
|
||||
discovered_devices.append(serial_number)
|
||||
index = len(discovered_devices) - 1
|
||||
interactive_name = "odrv" + str(index)
|
||||
|
||||
# Publish new ODrive to interactive console
|
||||
interactive_variables[interactive_name] = odrive
|
||||
globals()[interactive_name] = odrive # Add to globals so tab complete works
|
||||
print_on_second_last_line(COLOR_CYAN + "{} to ODrive {:012X} as {}".format(verb, serial_number, interactive_name) + COLOR_RESET)
|
||||
|
||||
# Subscribe to disappearance of the device
|
||||
odrive.__channel__._channel_broken.subscribe(lambda: did_lose_device(interactive_name))
|
||||
|
||||
def did_lose_device(interactive_name):
|
||||
"""
|
||||
Handles the disappearance of a device by displaying
|
||||
a message.
|
||||
"""
|
||||
if not app_shutdown_token.is_set():
|
||||
print_on_second_last_line(COLOR_RED + "Oh no {} disappeared".format(interactive_name) + COLOR_RESET)
|
||||
|
||||
# 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:
|
||||
my_odrive = 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:
|
||||
my_odrive = odrive.core.open_serial(args.serial, printer=printer)
|
||||
printer("Waiting for device...")
|
||||
app_shutdown_token = threading.Event()
|
||||
odrive.discovery.find_all(args.path, args.serial_number,
|
||||
did_discover_device, app_shutdown_token,
|
||||
printer=printer)
|
||||
|
||||
|
||||
## Launch interactive shell ##
|
||||
|
||||
# Check if IPython is installed
|
||||
if args.no_ipython:
|
||||
use_ipython = False
|
||||
else:
|
||||
print("Waiting for device...")
|
||||
consider_usb = 'usb' in args.discover.split(',')
|
||||
consider_serial = 'serial' in args.discover.split(',')
|
||||
my_odrive = odrive.core.find_any(consider_usb, consider_serial, printer=printer)
|
||||
print("Connected!")
|
||||
try:
|
||||
import IPython
|
||||
use_ipython = True
|
||||
except:
|
||||
print("Warning: you don't have IPython installed.")
|
||||
print("If you want to have an improved interactive console with pretty colors,")
|
||||
print("you should install IPython\n")
|
||||
use_ipython = False
|
||||
|
||||
# If IPython is installed, embed IPython shell, otherwise embed regular shell
|
||||
if use_ipython:
|
||||
#interactive_variables["lalala"] = print_help
|
||||
help = print_help # Override help function
|
||||
console = IPython.terminal.embed.InteractiveShellEmbed(local_ns=interactive_variables, banner1='')
|
||||
console.runcode = console.run_code # hack to make IPython look like the regular console
|
||||
interact = console
|
||||
else:
|
||||
|
||||
# Enable tab complete if possible
|
||||
try:
|
||||
import rlcompleter
|
||||
import readline
|
||||
readline.parse_and_bind("tab: complete")
|
||||
except:
|
||||
sudo_prefix = "" if platform.system() == "Windows" else "sudo "
|
||||
print("Warning: could not enable tab-complete. User experience will suffer.\n"
|
||||
"Run `{}pip install readline` and then restart this script to fix this."
|
||||
.format(sudo_prefix))
|
||||
|
||||
import code
|
||||
console = code.InteractiveConsole(locals=interactive_variables)
|
||||
interact = lambda: console.interact(banner='')
|
||||
|
||||
# install hook to hide ChannelBrokenException
|
||||
console.runcode('import sys')
|
||||
console.runcode('superexcepthook = sys.excepthook')
|
||||
console.runcode('def newexcepthook(ex_class,ex,trace):\n'
|
||||
' if ex_class.__module__ + "." + ex_class.__name__ != "odrive.protocol.ChannelBrokenException":\n'
|
||||
' superexcepthook(ex_class,ex,trace)')
|
||||
console.runcode('sys.excepthook=newexcepthook')
|
||||
|
||||
|
||||
print('')
|
||||
print('ODRIVE EXPLORER')
|
||||
print('')
|
||||
print('You can now type "my_odrive." and press <tab>')
|
||||
print('This will present you with all the properties that you can reference')
|
||||
print('')
|
||||
print('For example: "my_odrive.motor0.encoder.pll_pos"')
|
||||
print('will print the current encoder position on motor 0')
|
||||
print('and "my_odrive.motor0.pos_setpoint = 10000"')
|
||||
print('will send motor0 to 10000')
|
||||
print('')
|
||||
|
||||
# If IPython is installed, embed shell, otherwise drop into interactive stock python shell
|
||||
if embed_ipython:
|
||||
IPython.embed()
|
||||
# Launch shell
|
||||
print_banner()
|
||||
interact()
|
||||
app_shutdown_token.set()
|
||||
|
||||
+7
-38
@@ -4,49 +4,18 @@ Liveplotter
|
||||
"""
|
||||
|
||||
import time
|
||||
import odrive.core
|
||||
import matplotlib.pyplot as plt
|
||||
import numpy as np
|
||||
import threading
|
||||
import odrive.discovery
|
||||
from odrive.utils import start_liveplotter
|
||||
|
||||
data_rate = 100
|
||||
plot_rate = 10
|
||||
num_samples = 1000
|
||||
|
||||
my_odrive = odrive.core.find_any()
|
||||
my_odrive = odrive.discovery.find_any()
|
||||
|
||||
plt.ion()
|
||||
global vals
|
||||
vals = []
|
||||
# If you want to plot different values, change them here.
|
||||
# You can plot any number of values concurrently.
|
||||
start_liveplotter(lambda: [my_odrive.motor0.encoder.pll_pos,
|
||||
my_odrive.motor1.encoder.pll_pos])
|
||||
|
||||
# Make sure the script terminates when the user closes the plotter
|
||||
cancellation_token = threading.Event()
|
||||
def handle_close(evt):
|
||||
cancellation_token.set()
|
||||
fig = plt.figure()
|
||||
fig.canvas.mpl_connect('close_event', handle_close)
|
||||
|
||||
def fetch_data():
|
||||
global vals
|
||||
global cancellation_token
|
||||
while not cancellation_token.is_set():
|
||||
vals.append(my_odrive.motor0.timing_log.TIMING_LOG_FOC_CURRENT)
|
||||
if len(vals) > num_samples:
|
||||
vals = vals[-num_samples:]
|
||||
time.sleep(1/data_rate)
|
||||
|
||||
# TODO: use animation for better UI performance, see:
|
||||
# https://matplotlib.org/examples/animation/simple_anim.html
|
||||
def plot_data():
|
||||
global vals
|
||||
global cancellation_token
|
||||
while not cancellation_token.is_set():
|
||||
plt.clf()
|
||||
plt.plot(vals)
|
||||
#time.sleep(1/plot_rate)
|
||||
fig.canvas.flush_events()
|
||||
|
||||
fetch_thread = threading.Thread(target=fetch_data, daemon=True)
|
||||
fetch_thread.start()
|
||||
|
||||
plot_data()
|
||||
|
||||
@@ -1,334 +0,0 @@
|
||||
"""
|
||||
Provides functions for the discovery of ODrive devices
|
||||
"""
|
||||
|
||||
import sys
|
||||
import time
|
||||
import json
|
||||
import usb.core
|
||||
import usb.util
|
||||
import serial
|
||||
import serial.tools.list_ports
|
||||
import odrive.util
|
||||
import odrive.usbbulk_transport
|
||||
import odrive.serial_transport
|
||||
import re
|
||||
import time
|
||||
import os
|
||||
import odrive.protocol
|
||||
import itertools
|
||||
import struct
|
||||
import functools
|
||||
|
||||
def noprint(x):
|
||||
pass
|
||||
|
||||
|
||||
class SimpleDeviceProperty(property):
|
||||
"""
|
||||
Used internally by dynamically created objects to translate
|
||||
property assignments and fetches into endpoint operations on the
|
||||
object's associated channel
|
||||
"""
|
||||
def __init__(self, channel, id, type, struct_format, can_read, can_write):
|
||||
self._channel = channel
|
||||
self._id = id
|
||||
self._type = type
|
||||
self._struct_format = struct_format
|
||||
property.__init__(self,
|
||||
self.fget if can_read else None,
|
||||
self.fset if can_write else None)
|
||||
|
||||
def fget(self, obj):
|
||||
size = struct.calcsize(self._struct_format)
|
||||
buffer = self._channel.remote_endpoint_operation(self._id, None, True, size)
|
||||
return struct.unpack(self._struct_format, buffer)[0]
|
||||
|
||||
def fset(self, obj, value):
|
||||
value = self._type(value)
|
||||
buffer = struct.pack(self._struct_format, value)
|
||||
# TODO: Currenly we wait for an ack here. Settle on the default guarantee.
|
||||
self._channel.remote_endpoint_operation(self._id, buffer, True, 0)
|
||||
|
||||
def call_remote_function(channel, trigger_id, arg_properties, *args):
|
||||
"""
|
||||
Used internally by the dynamically created objects to translate
|
||||
function calls into endpoint operations on the associated channel
|
||||
"""
|
||||
if (len(arg_properties) != len(args)):
|
||||
raise TypeError("expected {} arguments but have {}".format(len(arg_properties), len(args)))
|
||||
for i in range(len(args)):
|
||||
arg_properties[i].fset(None, args[i])
|
||||
channel.remote_endpoint_operation(trigger_id, None, True, 0)
|
||||
|
||||
def setattr_or_raise_if_undefined(self, name, value):
|
||||
"""
|
||||
If employed as an object's __setattr__ function, this function
|
||||
makes sure that an assignment to an undefined attribute doesn't
|
||||
create a new attribute but instead raises an exception
|
||||
"""
|
||||
# We can't use hasattr here because internally it fetches the property
|
||||
# value, creating unnecessary bus traffic
|
||||
if name in dir(self):
|
||||
object.__setattr__(self, name, value)
|
||||
else:
|
||||
raise TypeError('Cannot set name %r on object of type %s' % (
|
||||
name, self.__class__.__name__))
|
||||
|
||||
def create_property(name, json_data, channel, printer):
|
||||
"""
|
||||
Dynamically creates a property based on a JSON definition
|
||||
"""
|
||||
name = name or "[anonymous]"
|
||||
|
||||
type_str = json_data.get("type", None)
|
||||
if type_str is None:
|
||||
printer("property {} has no specified type".format(name))
|
||||
return None
|
||||
|
||||
if type_str == "float":
|
||||
property_type = float
|
||||
struct_format = "<f"
|
||||
elif type_str == "bool":
|
||||
property_type = bool
|
||||
struct_format = "<?"
|
||||
elif type_str == "int8":
|
||||
property_type = int
|
||||
struct_format = "<b"
|
||||
elif type_str == "uint8":
|
||||
property_type = int
|
||||
struct_format = "<B"
|
||||
elif type_str == "int16":
|
||||
property_type = int
|
||||
struct_format = "<h"
|
||||
elif type_str == "uint16":
|
||||
property_type = int
|
||||
struct_format = "<H"
|
||||
elif type_str == "int32":
|
||||
property_type = int
|
||||
struct_format = "<i"
|
||||
elif type_str == "uint32":
|
||||
property_type = int
|
||||
struct_format = "<I"
|
||||
elif type_str == "int64":
|
||||
property_type = int
|
||||
struct_format = "<q"
|
||||
elif type_str == "uint64":
|
||||
property_type = int
|
||||
struct_format = "<Q"
|
||||
else:
|
||||
printer("property {} has unsupported type {}".format(name, type_str))
|
||||
return None
|
||||
|
||||
id_str = json_data.get("id", None)
|
||||
if id_str is None:
|
||||
printer("property {} has no specified ID".format(name))
|
||||
return None
|
||||
|
||||
access_mode = json_data.get("access", "r")
|
||||
return SimpleDeviceProperty(channel, id_str, property_type,
|
||||
struct_format,
|
||||
'r' in access_mode,
|
||||
'w' in access_mode)
|
||||
|
||||
def create_function(name, json_data, channel, printer):
|
||||
"""
|
||||
Dynamically creates a function based on a JSON definition
|
||||
"""
|
||||
id_str = json_data.get("id", None)
|
||||
if id_str is None:
|
||||
printer("function {} has no specified ID".format(name))
|
||||
return None
|
||||
|
||||
inputs = []
|
||||
for param in json_data.get("arguments", []):
|
||||
param["mode"] = "r"
|
||||
inputs.append(create_property(json_data["name"], param, channel, printer))
|
||||
return functools.partial(call_remote_function, channel, id_str, inputs)
|
||||
|
||||
def create_object(name, json_data, namespace, channel, printer=noprint):
|
||||
"""
|
||||
Creates an object that implements the specified JSON type description by
|
||||
communicating with the provided device object
|
||||
"""
|
||||
if not namespace is None:
|
||||
namespace = namespace + "." + name
|
||||
else:
|
||||
namespace = name
|
||||
|
||||
# Build attribute list from JSON
|
||||
attributes = {"__setattr__": setattr_or_raise_if_undefined,
|
||||
"__channel__": channel}
|
||||
for member in json_data.get("members", []):
|
||||
member_name = member.get("name", None)
|
||||
if member_name is None:
|
||||
printer("ignoring unnamed attribute in {}".format(namespace))
|
||||
continue
|
||||
|
||||
type_str = member.get("type", None)
|
||||
if type_str is None:
|
||||
printer("member {} has no specified type".format(member_name))
|
||||
continue
|
||||
|
||||
if type_str == "object":
|
||||
attribute = create_object(member_name, member, namespace, channel, printer=printer)
|
||||
elif type_str == "function":
|
||||
attribute = create_function(member_name, member, channel, printer)
|
||||
else:
|
||||
attribute = create_property(member_name, member, channel, printer)
|
||||
|
||||
if not attribute is None:
|
||||
attributes[member_name] = attribute
|
||||
|
||||
# Create a type from the property list and instantiate it
|
||||
jit_type = type(str(namespace), (object,), attributes)
|
||||
new_object = jit_type()
|
||||
return new_object
|
||||
|
||||
|
||||
def channel_from_usb_device(usb_device, printer=noprint):
|
||||
"""
|
||||
Inits an ODrive Protocol channel from a PyUSB device object.
|
||||
"""
|
||||
bulk_device = odrive.usbbulk_transport.USBBulkTransport(usb_device, printer)
|
||||
printer(bulk_device.info())
|
||||
bulk_device.init()
|
||||
channel = odrive.protocol.Channel(
|
||||
"USB device bus {} device {}".format(usb_device.bus, usb_device.address),
|
||||
bulk_device, bulk_device)
|
||||
channel.usb_device = usb_device # for debugging only
|
||||
return channel
|
||||
|
||||
def channel_from_serial_port(port, baud, packet_based, printer=noprint):
|
||||
"""
|
||||
Inits an ODrive Protocol channel from a serial port name and baudrate.
|
||||
"""
|
||||
if packet_based == True:
|
||||
# TODO: implement packet based transport over serial
|
||||
raise NotImplementedError("not supported yet")
|
||||
serial_device = odrive.serial_transport.SerialStreamTransport(port, baud)
|
||||
input_stream = odrive.protocol.PacketFromStreamConverter(serial_device)
|
||||
output_stream = odrive.protocol.PacketToStreamConverter(serial_device)
|
||||
return odrive.protocol.Channel(
|
||||
"serial port {}@{}".format(port, baud),
|
||||
input_stream, output_stream)
|
||||
|
||||
def object_from_channel(channel, printer=noprint):
|
||||
"""
|
||||
Inits an object from a given channel.
|
||||
This queries the endpoint 0 on that channel to gain information
|
||||
about the interface, which is then used to init the corresponding object.
|
||||
"""
|
||||
printer("Connecting to device on " + channel._name)
|
||||
try:
|
||||
json_bytes = channel.remote_endpoint_read_buffer(0)
|
||||
except (odrive.protocol.TimeoutException, odrive.protocol.ChannelBrokenException):
|
||||
raise odrive.protocol.DeviceInitException("no response - probably incompatible")
|
||||
json_crc16 = odrive.protocol.calc_crc16(odrive.protocol.PROTOCOL_VERSION, json_bytes)
|
||||
channel._interface_definition_crc = json_crc16
|
||||
try:
|
||||
json_string = json_bytes.decode("ascii")
|
||||
except UnicodeDecodeError:
|
||||
raise odrive.protocol.DeviceInitException("device responded on endpoint 0 with something that is not ASCII")
|
||||
printer("JSON: " + json_string)
|
||||
try:
|
||||
json_data = json.loads(json_string)
|
||||
except json.decoder.JSONDecodeError:
|
||||
raise odrive.protocol.DeviceInitException("device responded on endpoint 0 with something that is not JSON")
|
||||
json_data = {"name": "odrive", "members": json_data}
|
||||
return create_object("odrive", json_data, None, channel, printer=printer)
|
||||
|
||||
def find_usb_channels(vid_pid_pairs=odrive.util.USB_VID_PID_PAIRS, printer=noprint, **kwargs):
|
||||
"""
|
||||
Scans for compatible USB devices.
|
||||
Returns a generator of odrive.protocol.Channel objects.
|
||||
"""
|
||||
for vid_pid_pair in vid_pid_pairs:
|
||||
for usb_device in usb.core.find(idVendor=vid_pid_pair[0], idProduct=vid_pid_pair[1], find_all=True):
|
||||
if "serial_number" in kwargs:
|
||||
if usb_device.serial_number != kwargs["serial_number"]:
|
||||
continue
|
||||
printer("Found ODrive via PyUSB")
|
||||
try:
|
||||
yield channel_from_usb_device(usb_device, printer)
|
||||
except usb.core.USBError as ex:
|
||||
if ex.errno == 13:
|
||||
printer("USB device access denied. Did you set up your udev rules correctly?")
|
||||
continue
|
||||
raise
|
||||
|
||||
def find_dev_serial_ports(search_regex):
|
||||
try:
|
||||
return ['/dev/' + x for x in filter(re.compile(search_regex).search, os.listdir('/dev'))]
|
||||
except FileNotFoundError:
|
||||
return []
|
||||
|
||||
def find_pyserial_ports():
|
||||
return [x.device for x in serial.tools.list_ports.comports()]
|
||||
|
||||
def find_serial_channels(printer=noprint):
|
||||
"""
|
||||
Scans for serial ports.
|
||||
Returns a generator of odrive.protocol.Channel objects.
|
||||
Not every returned object necessarily represents a compatible device.
|
||||
"""
|
||||
|
||||
# Real serial ports or USB-Serial converters (tested on Linux and Windows)
|
||||
real_serial_ports = find_pyserial_ports()
|
||||
|
||||
# Serial devices that are exposed by the platform
|
||||
# for the device's USB connection
|
||||
linux_usb_serial_ports = find_dev_serial_ports(r'^ttyACM')
|
||||
macos_usb_serial_ports = find_dev_serial_ports(r'^tty\.usbmodem')
|
||||
|
||||
for port in real_serial_ports + linux_usb_serial_ports + macos_usb_serial_ports:
|
||||
yield channel_from_serial_port(port, 115200, False, printer)
|
||||
|
||||
|
||||
def find_all(consider_usb=True, consider_serial=False, printer=noprint, **kwargs):
|
||||
"""
|
||||
Returns a generator with all the connected devices that speak the ODrive protocol
|
||||
"""
|
||||
channels = iter(())
|
||||
if (consider_usb):
|
||||
channels = itertools.chain(channels, find_usb_channels(printer=printer, **kwargs))
|
||||
if (consider_serial):
|
||||
channels = itertools.chain(channels, find_serial_channels(printer=printer))
|
||||
for channel in channels:
|
||||
# TODO: blacklist known bad channels
|
||||
try:
|
||||
yield object_from_channel(channel, printer)
|
||||
except odrive.protocol.DeviceInitException as ex:
|
||||
printer(str(ex))
|
||||
continue
|
||||
|
||||
|
||||
def find_any(consider_usb=True, consider_serial=False,
|
||||
cancellation_token=None, printer=noprint, **kwargs):
|
||||
"""
|
||||
Scans for ODrives on all supported interfaces and returns the first device
|
||||
that is found. If no device is connected the function blocks.
|
||||
"""
|
||||
# TODO: do device discovery and instantiation in a separate thread and just wait on a semaphore here
|
||||
|
||||
# poll for device
|
||||
printer("looking for ODrive...")
|
||||
while cancellation_token == None or not cancellation_token.is_set():
|
||||
dev = next(find_all(consider_usb, consider_serial, printer=printer, **kwargs), None)
|
||||
if dev is not None:
|
||||
return dev
|
||||
printer("no device found")
|
||||
time.sleep(1)
|
||||
return None
|
||||
|
||||
def open_serial(port_name, printer=noprint):
|
||||
channel = channel_from_serial_port(port_name, 115200, False, printer)
|
||||
return object_from_channel(channel, printer)
|
||||
|
||||
def open_usb(bus, address, printer=noprint):
|
||||
usb_device1 = usb.core.find(bus=1, address=16)
|
||||
usb_device = usb.core.find(bus=bus, address=address)
|
||||
if usb_device is None:
|
||||
raise odrive.protocol.DeviceInitException("No USB device found on bus {} device {}".format(bus, address))
|
||||
channel = channel_from_usb_device(usb_device, printer)
|
||||
return object_from_channel(channel, printer)
|
||||
@@ -0,0 +1,96 @@
|
||||
"""
|
||||
Provides functions for the discovery of ODrive devices
|
||||
"""
|
||||
|
||||
import sys
|
||||
import json
|
||||
import time
|
||||
import threading
|
||||
import traceback
|
||||
import odrive.protocol
|
||||
import odrive.utils
|
||||
import odrive.remote_object
|
||||
import odrive.usbbulk_transport
|
||||
import odrive.serial_transport
|
||||
|
||||
channel_types = {
|
||||
"usb": odrive.usbbulk_transport.discover_channels,
|
||||
"serial": odrive.serial_transport.discover_channels
|
||||
}
|
||||
|
||||
def noprint(text):
|
||||
pass
|
||||
|
||||
def find_all(path, serial_number,
|
||||
did_discover_object_callback,
|
||||
cancellation_token, printer=noprint):
|
||||
"""
|
||||
Starts scanning for ODrives that match the specified path spec and calls
|
||||
the callback for each ODrive that is found.
|
||||
This function is non-blocking.
|
||||
"""
|
||||
|
||||
def did_discover_channel(channel):
|
||||
"""
|
||||
Inits an object from a given channel and then calls did_discover_object_callback
|
||||
with the created object
|
||||
This queries the endpoint 0 on that channel to gain information
|
||||
about the interface, which is then used to init the corresponding object.
|
||||
"""
|
||||
try:
|
||||
printer("Connecting to device on " + channel._name)
|
||||
try:
|
||||
json_bytes = channel.remote_endpoint_read_buffer(0)
|
||||
except (odrive.utils.TimeoutException, odrive.protocol.ChannelBrokenException):
|
||||
printer("no response - probably incompatible")
|
||||
return
|
||||
json_crc16 = odrive.protocol.calc_crc16(odrive.protocol.PROTOCOL_VERSION, json_bytes)
|
||||
channel._interface_definition_crc = json_crc16
|
||||
try:
|
||||
json_string = json_bytes.decode("ascii")
|
||||
except UnicodeDecodeError:
|
||||
printer("device responded on endpoint 0 with something that is not ASCII")
|
||||
return
|
||||
printer("JSON: " + json_string)
|
||||
try:
|
||||
json_data = json.loads(json_string)
|
||||
except json.decoder.JSONDecodeError as error:
|
||||
printer("device responded on endpoint 0 with something that is not JSON: " + str(error))
|
||||
return
|
||||
json_data = {"name": "odrive", "members": json_data}
|
||||
obj = odrive.remote_object.RemoteObject(json_data, None, channel, printer)
|
||||
device_serial_number = serial_number if hasattr(obj, 'serial_number') else "[unknown serial number]"
|
||||
if serial_number != None and device_serial_number != serial_number:
|
||||
printer("Ignoring device with serial number {}".format(device_serial_number))
|
||||
return
|
||||
did_discover_object_callback(obj)
|
||||
except Exception:
|
||||
printer("Unexpected exception after discovering channel: " + traceback.format_exc())
|
||||
|
||||
# For each connection type, kick off an appropriate discovery loop
|
||||
for search_spec in path.split(','):
|
||||
prefix = search_spec.split(':')[0]
|
||||
the_rest = ':'.join(search_spec.split(':')[1:])
|
||||
if prefix in channel_types:
|
||||
threading.Thread(target=channel_types[prefix],
|
||||
args=(the_rest, serial_number, did_discover_channel, cancellation_token, printer)).start()
|
||||
else:
|
||||
raise Exception("Invalid path spec \"{}\"".format(search_spec))
|
||||
|
||||
|
||||
def find_any(path="usb", serial_number=None, printer=noprint):
|
||||
"""
|
||||
Blocks until the first matching ODrive is connected and then returns that device
|
||||
"""
|
||||
cancellation_token = None # TODO: make this a parameter (see todo below)
|
||||
if cancellation_token is None:
|
||||
cancellation_token = threading.Event()
|
||||
done_signal = threading.Event()
|
||||
def did_discover_object(obj):
|
||||
global result
|
||||
result = obj
|
||||
done_signal.set()
|
||||
find_all(path, serial_number, did_discover_object, cancellation_token, printer)
|
||||
done_signal.wait() # TODO: wait on done_signal OR cancellation_token
|
||||
cancellation_token.set()
|
||||
return result
|
||||
+94
-46
@@ -3,6 +3,11 @@
|
||||
import time
|
||||
import struct
|
||||
import sys
|
||||
import threading
|
||||
import traceback
|
||||
import odrive.utils
|
||||
from odrive.utils import wait_any
|
||||
from odrive.utils import Event
|
||||
|
||||
import abc
|
||||
|
||||
@@ -63,17 +68,21 @@ def calc_crc16(remainder, value):
|
||||
#print(hex(calc_crc16(0xfeef, [1, 2, 3, 4, 5, 0x10, 0x13, 0x37])))
|
||||
|
||||
|
||||
class TimeoutException(Exception):
|
||||
pass
|
||||
|
||||
class ChannelBrokenException(Exception):
|
||||
pass
|
||||
|
||||
class DeviceInitException(Exception):
|
||||
pass
|
||||
|
||||
class USBHaltException(Exception):
|
||||
pass
|
||||
class ChannelDamagedException(Exception):
|
||||
"""
|
||||
Raised when the channel is temporarily broken and a
|
||||
resend of the message might be successful
|
||||
"""
|
||||
pass
|
||||
|
||||
class ChannelBrokenException(Exception):
|
||||
"""
|
||||
Raised when the channel is permanently broken
|
||||
"""
|
||||
pass
|
||||
|
||||
|
||||
class StreamSource(ABC):
|
||||
@@ -98,11 +107,10 @@ class PacketSink(ABC):
|
||||
|
||||
|
||||
class StreamToPacketConverter(StreamSink):
|
||||
_header = []
|
||||
_packet = []
|
||||
_packet_length = 0
|
||||
|
||||
def __init__(self, output):
|
||||
self._header = []
|
||||
self._packet = []
|
||||
self._packet_length = 0
|
||||
self._output = output
|
||||
|
||||
def process_bytes(self, bytes):
|
||||
@@ -194,15 +202,11 @@ class PacketFromStreamConverter(PacketSource):
|
||||
|
||||
|
||||
class Channel(PacketSink):
|
||||
_outbound_seq_no = 0
|
||||
_interface_definition_crc = 0
|
||||
_expected_acks = {}
|
||||
|
||||
# Choose these parameters to be sensible for a specific transport layer
|
||||
_resend_timeout = 0.1 # [s]
|
||||
_send_attempts = 5
|
||||
|
||||
def __init__(self, name, input, output):
|
||||
def __init__(self, name, input, output, printer):
|
||||
"""
|
||||
Params:
|
||||
input: A PacketSource where this channel will source packets from on
|
||||
@@ -213,6 +217,41 @@ class Channel(PacketSink):
|
||||
self._name = name
|
||||
self._input = input
|
||||
self._output = output
|
||||
self._printer = printer
|
||||
self._outbound_seq_no = 0
|
||||
self._interface_definition_crc = 0
|
||||
self._expected_acks = {}
|
||||
self._responses = {}
|
||||
self._my_lock = threading.Lock()
|
||||
self._channel_broken = Event()
|
||||
self.start_receiver_thread(Event()) # TODO: use app_shutdown_token
|
||||
|
||||
def start_receiver_thread(self, cancellation_token):
|
||||
"""
|
||||
Starts the receiver thread that processes incoming messages.
|
||||
The thread quits as soon as the channel enters a broken state.
|
||||
"""
|
||||
def receiver_thread():
|
||||
try:
|
||||
while (not cancellation_token.is_set()) and (not self._channel_broken.is_set()):
|
||||
# Set an arbitrary deadline because the get_packet function
|
||||
# currently doesn't support a cancellation_token
|
||||
deadline = time.monotonic() + 1.0
|
||||
try:
|
||||
response = self._input.get_packet(deadline)
|
||||
except odrive.utils.TimeoutException:
|
||||
continue # try again
|
||||
except ChannelDamagedException:
|
||||
continue # try again
|
||||
# Process response
|
||||
# This should not throw an exception, otherwise the channel breaks
|
||||
self.process_packet(response)
|
||||
print("receiver thread is exiting")
|
||||
except Exception:
|
||||
self._printer("receiver thread is exiting: " + traceback.format_exc())
|
||||
finally:
|
||||
self._channel_broken.set()
|
||||
threading.Thread(target=receiver_thread, daemon=True).start()
|
||||
|
||||
def remote_endpoint_operation(self, endpoint_id, input, expect_ack, output_length):
|
||||
if input is None:
|
||||
@@ -223,9 +262,13 @@ class Channel(PacketSink):
|
||||
if (expect_ack):
|
||||
endpoint_id |= 0x8000
|
||||
|
||||
self._outbound_seq_no = ((self._outbound_seq_no + 1) & 0x7fff)
|
||||
self._outbound_seq_no |= 0x80 # FIXME: we hardwire one bit of the seq-no to 1 to avoid conflicts with the legacy protocol
|
||||
seq_no = self._outbound_seq_no
|
||||
self._my_lock.acquire()
|
||||
try:
|
||||
self._outbound_seq_no = ((self._outbound_seq_no + 1) & 0x7fff)
|
||||
seq_no = self._outbound_seq_no
|
||||
finally:
|
||||
self._my_lock.release()
|
||||
seq_no |= 0x80 # FIXME: we hardwire one bit of the seq-no to 1 to avoid conflicts with the legacy protocol
|
||||
packet = struct.pack('<HHH', seq_no, endpoint_id, output_length)
|
||||
packet = packet + input
|
||||
|
||||
@@ -238,32 +281,32 @@ class Channel(PacketSink):
|
||||
packet = packet + struct.pack('<H', trailer)
|
||||
|
||||
if (expect_ack):
|
||||
self._expected_acks[seq_no] = None
|
||||
attempt = 0
|
||||
while (attempt < self._send_attempts):
|
||||
try:
|
||||
self._output.process_packet(packet)
|
||||
except USBHaltException:
|
||||
attempt += 1
|
||||
continue # resend
|
||||
deadline = time.monotonic() + self._resend_timeout
|
||||
# Read and process packets until we get an ack or need to resend
|
||||
# TODO: support I/O driven reception (wait on semaphore)
|
||||
while True:
|
||||
ack_event = Event()
|
||||
self._expected_acks[seq_no] = ack_event
|
||||
try:
|
||||
attempt = 0
|
||||
while (attempt < self._send_attempts):
|
||||
self._my_lock.acquire()
|
||||
try:
|
||||
response = self._input.get_packet(deadline)
|
||||
except TimeoutException:
|
||||
break # resend
|
||||
except USBHaltException:
|
||||
break # resend
|
||||
# process response, which is hopefully our ACK
|
||||
self.process_packet(response)
|
||||
if not self._expected_acks[seq_no] is None:
|
||||
return self._expected_acks.pop(seq_no, None)
|
||||
break
|
||||
# TODO: record channel statistics
|
||||
attempt += 1
|
||||
raise ChannelBrokenException()
|
||||
self._output.process_packet(packet)
|
||||
except ChannelDamagedException:
|
||||
attempt += 1
|
||||
continue # resend
|
||||
finally:
|
||||
self._my_lock.release()
|
||||
# Wait for ACK until the resend timeout is exceeded
|
||||
try:
|
||||
if wait_any(ack_event, self._channel_broken, timeout=self._resend_timeout) != 0:
|
||||
raise ChannelBrokenException()
|
||||
except odrive.utils.TimeoutException:
|
||||
attempt += 1
|
||||
continue # resend
|
||||
return self._responses.pop(seq_no)
|
||||
# TODO: record channel statistics
|
||||
raise ChannelBrokenException() # Too many resend attempts
|
||||
finally:
|
||||
self._expected_acks.pop(seq_no)
|
||||
self._responses.pop(seq_no, None)
|
||||
else:
|
||||
# fire and forget
|
||||
self._output.process_packet(packet)
|
||||
@@ -293,7 +336,12 @@ class Channel(PacketSink):
|
||||
|
||||
if (seq_no & 0x8000):
|
||||
seq_no &= 0x7fff
|
||||
self._expected_acks[seq_no] = packet[2:]
|
||||
ack_signal = self._expected_acks.get(seq_no, None)
|
||||
if (ack_signal):
|
||||
self._responses[seq_no] = packet[2:]
|
||||
ack_signal.set()
|
||||
else:
|
||||
print("received unexpected ACK: " + str(seq_no))
|
||||
|
||||
else:
|
||||
#if (calc_crc16(CRC16_INIT, struct.pack('<HBB', PROTOCOL_VERSION, packet[-2], packet[-1]))):
|
||||
|
||||
@@ -0,0 +1,193 @@
|
||||
"""
|
||||
Provides functions for the discovery of ODrive devices
|
||||
"""
|
||||
|
||||
import sys
|
||||
import json
|
||||
import struct
|
||||
import threading
|
||||
import odrive.protocol
|
||||
|
||||
#class ObjectDisappearedError(Exception):
|
||||
# def __init__(self, channel):
|
||||
# self._obj = obj
|
||||
# pass
|
||||
|
||||
class ObjectDefinitionError(Exception):
|
||||
pass
|
||||
|
||||
class RemoteProperty():
|
||||
"""
|
||||
Used internally by dynamically created objects to translate
|
||||
property assignments and fetches into endpoint operations on the
|
||||
object's associated channel
|
||||
"""
|
||||
def __init__(self, json_data, parent):
|
||||
self._parent = parent
|
||||
id_str = json_data.get("id", None)
|
||||
if id_str is None:
|
||||
raise ObjectDefinitionError("unspecified endpoint ID")
|
||||
self._id = int(id_str)
|
||||
|
||||
self._name = json_data.get("name", None)
|
||||
if self._name is None:
|
||||
self._name = "[anonymous]"
|
||||
|
||||
type_str = json_data.get("type", None)
|
||||
if type_str is None:
|
||||
raise ObjectDefinitionError("unspecified type")
|
||||
|
||||
if type_str == "float":
|
||||
self._property_type = float
|
||||
self._struct_format = "<f"
|
||||
elif type_str == "bool":
|
||||
self._property_type = bool
|
||||
self._struct_format = "<?"
|
||||
elif type_str == "int8":
|
||||
self._property_type = int
|
||||
self._struct_format = "<b"
|
||||
elif type_str == "uint8":
|
||||
self._property_type = int
|
||||
self._struct_format = "<B"
|
||||
elif type_str == "int16":
|
||||
self._property_type = int
|
||||
self._struct_format = "<h"
|
||||
elif type_str == "uint16":
|
||||
self._property_type = int
|
||||
self._struct_format = "<H"
|
||||
elif type_str == "int32":
|
||||
self._property_type = int
|
||||
self._struct_format = "<i"
|
||||
elif type_str == "uint32":
|
||||
self._property_type = int
|
||||
self._struct_format = "<I"
|
||||
elif type_str == "int64":
|
||||
self._property_type = int
|
||||
self._struct_format = "<q"
|
||||
elif type_str == "uint64":
|
||||
self._property_type = int
|
||||
self._struct_format = "<Q"
|
||||
else:
|
||||
raise ObjectDefinitionError("unsupported type {}".format(type_str))
|
||||
|
||||
access_mode = json_data.get("access", "r")
|
||||
self._can_read = 'r' in access_mode
|
||||
self._can_write = 'w' in access_mode
|
||||
|
||||
def get_value(self):
|
||||
size = struct.calcsize(self._struct_format)
|
||||
buffer = self._parent.__channel__.remote_endpoint_operation(self._id, None, True, size)
|
||||
return struct.unpack(self._struct_format, buffer)[0]
|
||||
|
||||
def set_value(self, value):
|
||||
value = self._property_type(value)
|
||||
buffer = struct.pack(self._struct_format, value)
|
||||
# TODO: Currenly we wait for an ack here. Settle on the default guarantee.
|
||||
self._parent.__channel__.remote_endpoint_operation(self._id, buffer, True, 0)
|
||||
|
||||
class RemoteFunction(object):
|
||||
"""
|
||||
Represents a callable function that maps to a function call on a remote object
|
||||
"""
|
||||
def __init__(self, json_data, parent):
|
||||
self._parent = parent
|
||||
id_str = json_data.get("id", None)
|
||||
if id_str is None:
|
||||
raise ObjectDefinitionError("unspecified endpoint ID")
|
||||
self._trigger_id = int(id_str)
|
||||
|
||||
self._inputs = []
|
||||
for param_json in json_data.get("arguments", []) + json_data.get("inputs", []): # TODO: deprecate "arguments" keyword
|
||||
param_json["mode"] = "r"
|
||||
self._inputs.append(RemoteProperty(param_json, parent))
|
||||
|
||||
def __call__(self, *args):
|
||||
if (len(self._inputs) != len(args)):
|
||||
raise TypeError("expected {} arguments but have {}".format(len(self._inputs), len(args)))
|
||||
for i in range(len(args)):
|
||||
self._inputs[i].set_value(args[i])
|
||||
self._parent.__channel__.remote_endpoint_operation(self._trigger_id, None, True, 0)
|
||||
|
||||
class RemoteObject(object):
|
||||
"""
|
||||
Object with functions and properties that map to remote endpoints
|
||||
"""
|
||||
def __init__(self, json_data, parent, channel, printer):
|
||||
"""
|
||||
Creates an object that implements the specified JSON type description by
|
||||
communicating over the provided channel
|
||||
"""
|
||||
# Directly write to __dict__ to avoid calling __setattr__ too early
|
||||
object.__getattribute__(self, "__dict__")["_remote_attributes"] = {}
|
||||
object.__getattribute__(self, "__dict__")["__sealed__"] = False
|
||||
# Assign once more to make linter happy
|
||||
self._remote_attributes = {}
|
||||
self.__sealed__ = False
|
||||
|
||||
self.__channel__ = channel
|
||||
self.__parent__ = parent
|
||||
|
||||
# Build attribute list from JSON
|
||||
for member_json in json_data.get("members", []):
|
||||
member_name = member_json.get("name", None)
|
||||
if member_name is None:
|
||||
printer("ignoring unnamed attribute")
|
||||
continue
|
||||
|
||||
try:
|
||||
type_str = member_json.get("type", None)
|
||||
if type_str == "object":
|
||||
attribute = RemoteObject(member_json, self, channel, printer)
|
||||
elif type_str == "function":
|
||||
attribute = RemoteFunction(member_json, self)
|
||||
elif type_str != None:
|
||||
attribute = RemoteProperty(member_json, self)
|
||||
else:
|
||||
raise ObjectDefinitionError("no type information")
|
||||
except ObjectDefinitionError as ex:
|
||||
printer("malformed member {}: {}".format(member_name, str(ex)))
|
||||
continue
|
||||
|
||||
self._remote_attributes[member_name] = attribute
|
||||
self.__dict__[member_name] = attribute
|
||||
|
||||
# Ensure that from here on out assignments to undefined attributes
|
||||
# raise an exception
|
||||
self.__sealed__ = True
|
||||
channel._channel_broken.subscribe(self._tear_down)
|
||||
|
||||
def __str__(self):
|
||||
return str(dir(self)) # TODO: improve print output
|
||||
def __repr__(self):
|
||||
return self.__str__()
|
||||
|
||||
def __getattribute__(self, name):
|
||||
attr = object.__getattribute__(self, "_remote_attributes").get(name, None)
|
||||
if isinstance(attr, RemoteProperty):
|
||||
if attr._can_read:
|
||||
return attr.get_value()
|
||||
else:
|
||||
raise Exception("Cannot read from property {}".format(name))
|
||||
elif attr != None:
|
||||
return attr
|
||||
else:
|
||||
return object.__getattribute__(self, name)
|
||||
#raise AttributeError("Attribute {} not found".format(name))
|
||||
|
||||
def __setattr__(self, name, value):
|
||||
attr = object.__getattribute__(self, "_remote_attributes").get(name, None)
|
||||
if isinstance(attr, RemoteProperty):
|
||||
if attr._can_write:
|
||||
attr.set_value(value)
|
||||
else:
|
||||
raise Exception("Cannot write to property {}".format(name))
|
||||
elif not object.__getattribute__(self, "__sealed__") or name in object.__getattribute__(self, "__dict__"):
|
||||
object.__getattribute__(self, "__dict__")[name] = value
|
||||
else:
|
||||
raise AttributeError("Attribute {} not found".format(name))
|
||||
|
||||
def _tear_down(self):
|
||||
# Clear all remote members
|
||||
for k in self._remote_attributes.keys():
|
||||
self.__dict__.pop(k)
|
||||
self._remote_attributes = {}
|
||||
@@ -3,9 +3,15 @@ Provides classes that implement the StreamSource/StreamSink and
|
||||
PacketSource/PacketSink interfaces for serial ports.
|
||||
"""
|
||||
|
||||
import odrive
|
||||
import serial
|
||||
import os
|
||||
import re
|
||||
import time
|
||||
import serial
|
||||
import serial.tools.list_ports
|
||||
import odrive.protocol
|
||||
import odrive.utils
|
||||
|
||||
ODRIVE_BAUDRATE = 115200
|
||||
|
||||
class SerialStreamTransport(odrive.protocol.StreamSource, odrive.protocol.StreamSink):
|
||||
def __init__(self, port, baud):
|
||||
@@ -30,7 +36,63 @@ class SerialStreamTransport(odrive.protocol.StreamSource, odrive.protocol.Stream
|
||||
def get_bytes_or_fail(self, n_bytes, deadline):
|
||||
result = self.get_bytes(n_bytes, deadline)
|
||||
if len(result) < n_bytes:
|
||||
raise odrive.protocol.TimeoutException("expected {} bytes but got only {}", n_bytes, len(result))
|
||||
raise odrive.utils.TimeoutException("expected {} bytes but got only {}", n_bytes, len(result))
|
||||
return result
|
||||
|
||||
# TODO: provide SerialPacketTransport
|
||||
def close(self):
|
||||
self._dev.close()
|
||||
|
||||
|
||||
def find_dev_serial_ports():
|
||||
try:
|
||||
return ['/dev/' + x for x in os.listdir('/dev')]
|
||||
except FileNotFoundError:
|
||||
return []
|
||||
|
||||
def find_pyserial_ports():
|
||||
return [x.device for x in serial.tools.list_ports.comports()]
|
||||
|
||||
|
||||
def discover_channels(path, serial_number, callback, cancellation_token, printer):
|
||||
"""
|
||||
Scans for serial ports that match the path spec.
|
||||
This function blocks until cancellation_token is set.
|
||||
"""
|
||||
if path == None:
|
||||
# This regex should match all desired port names on macOS,
|
||||
# Linux and Windows but might match some incorrect port names.
|
||||
regex = r'^(/dev/tty\.usbmodem.*|/dev/ttyACM.*|COM[0-9]+)$'
|
||||
else:
|
||||
regex = "^" + path + "$"
|
||||
|
||||
known_devices = []
|
||||
def device_matcher(port_name):
|
||||
if port_name in known_devices:
|
||||
return False
|
||||
return bool(re.match(regex, port_name))
|
||||
|
||||
def did_disconnect(port_name, device):
|
||||
device.close()
|
||||
# TODO: yes there is a race condition here in case you wonder.
|
||||
known_devices.pop(known_devices.index(port_name))
|
||||
|
||||
while not cancellation_token.is_set():
|
||||
all_ports = find_pyserial_ports() + find_dev_serial_ports()
|
||||
new_ports = filter(device_matcher, all_ports)
|
||||
for port_name in new_ports:
|
||||
try:
|
||||
serial_device = SerialStreamTransport(port_name, ODRIVE_BAUDRATE)
|
||||
input_stream = odrive.protocol.PacketFromStreamConverter(serial_device)
|
||||
output_stream = odrive.protocol.PacketToStreamConverter(serial_device)
|
||||
channel = odrive.protocol.Channel(
|
||||
"serial port {}@{}".format(port_name, ODRIVE_BAUDRATE),
|
||||
input_stream, output_stream, printer)
|
||||
channel.serial_device = serial_device
|
||||
except serial.serialutil.SerialException:
|
||||
printer("Serial device init failed. Ignoring this port")
|
||||
known_devices.append(port_name)
|
||||
else:
|
||||
known_devices.append(port_name)
|
||||
channel._channel_broken.subscribe(lambda: did_disconnect(port_name, serial_device))
|
||||
callback(channel)
|
||||
time.sleep(1)
|
||||
|
||||
@@ -1,21 +1,24 @@
|
||||
# requires pyusb
|
||||
# pip install --pre pyusb
|
||||
|
||||
import sys
|
||||
import time
|
||||
import usb.core
|
||||
import usb.util
|
||||
import sys
|
||||
import odrive.protocol
|
||||
import time
|
||||
|
||||
|
||||
def noprint(x):
|
||||
pass
|
||||
ODRIVE_VID_PID_PAIRS = [
|
||||
(0x1209, 0x0D31),
|
||||
(0x1209, 0x0D32), # <== TODO: this is the only official ODrive PID, remove the other ones
|
||||
(0x1209, 0x0D33)
|
||||
]
|
||||
|
||||
class USBBulkTransport(odrive.protocol.PacketSource, odrive.protocol.PacketSink):
|
||||
def __init__(self, dev, printer=noprint):
|
||||
def __init__(self, dev, printer):
|
||||
self._printer = printer
|
||||
self.dev = dev
|
||||
self._name = "USB device {}:{}".format(dev.idVendor, dev.idProduct)
|
||||
self._was_damaged = False
|
||||
|
||||
##
|
||||
# information about the connected device
|
||||
@@ -26,16 +29,12 @@ class USBBulkTransport(odrive.protocol.PacketSource, odrive.protocol.PacketSink)
|
||||
for cfg in self.dev:
|
||||
string += "ConfigurationValue {0}\n".format(cfg.bConfigurationValue)
|
||||
for intf in cfg:
|
||||
string += "\tInterfaceNumber {0},{0}\n".format(intf.bInterfaceNumber, intf.bAlternateSetting)
|
||||
string += "\tInterfaceNumber {0},{1}\n".format(intf.bInterfaceNumber, intf.bAlternateSetting)
|
||||
for ep in intf:
|
||||
string += "\t\tEndpointAddress {0}\n".format(ep.bEndpointAddress)
|
||||
return string
|
||||
|
||||
def init(self):
|
||||
# Resetting device to start init from a known state
|
||||
# self.dev.reset()
|
||||
# time.sleep(1)
|
||||
# detach kernel driver
|
||||
try:
|
||||
if self.dev.is_kernel_driver_active(1):
|
||||
self.dev.detach_kernel_driver(1)
|
||||
@@ -75,39 +74,108 @@ class USBBulkTransport(odrive.protocol.PacketSource, odrive.protocol.PacketSink)
|
||||
def process_packet(self, usbBuffer):
|
||||
try:
|
||||
ret = self.epw.write(usbBuffer, 0)
|
||||
if self._was_damaged:
|
||||
self._printer("Recovered from USB halt/stall condition")
|
||||
self._was_damaged = False
|
||||
return ret
|
||||
except usb.core.USBError as ex:
|
||||
if ex.errno == 19: # "no such device"
|
||||
raise odrive.protocol.ChannelBrokenException()
|
||||
else:
|
||||
# Try resetting halt/stall condition
|
||||
self.epw.clear_halt()
|
||||
# Resend
|
||||
ret = self.epw.write(usbBuffer, 0)
|
||||
self._printer("Recovered from USB halt/stall condition on write")
|
||||
return ret
|
||||
# Signal to retry transfer
|
||||
# raise odrive.protocol.USBHaltException()
|
||||
try:
|
||||
self.epw.clear_halt()
|
||||
except usb.core.USBError:
|
||||
raise odrive.protocol.ChannelBrokenException()
|
||||
# Retry transfer
|
||||
self._was_damaged = True
|
||||
raise odrive.protocol.ChannelDamagedException()
|
||||
|
||||
def get_packet(self, deadline):
|
||||
try:
|
||||
bufferLen = self.epr.wMaxPacketSize
|
||||
timeout = max(int((deadline - time.monotonic()) * 1000), 0)
|
||||
ret = self.epr.read(bufferLen, timeout)
|
||||
if self._was_damaged:
|
||||
self._printer("Recovered from USB halt/stall condition")
|
||||
self._was_damaged = False
|
||||
return bytearray(ret)
|
||||
except usb.core.USBError as ex:
|
||||
if ex.errno == 19: # "no such device"
|
||||
raise odrive.protocol.ChannelBrokenException()
|
||||
else:
|
||||
# Try resetting halt/stall condition and flush buffer
|
||||
self.epr.clear_halt()
|
||||
ret = self.epr.read(bufferLen, timeout)
|
||||
self._printer("Recovered from USB halt/stall condition on read")
|
||||
# Signal to retry transfer
|
||||
raise odrive.protocol.USBHaltException()
|
||||
# Try resetting halt/stall condition
|
||||
try:
|
||||
self.epw.clear_halt()
|
||||
except usb.core.USBError:
|
||||
raise odrive.protocol.ChannelBrokenException()
|
||||
# Retry transfer
|
||||
self._was_damaged = True
|
||||
raise odrive.protocol.ChannelDamagedException()
|
||||
|
||||
def send_max(self):
|
||||
return 64
|
||||
|
||||
def receive_max(self):
|
||||
return 64
|
||||
|
||||
|
||||
def discover_channels(path, serial_number, callback, cancellation_token, printer):
|
||||
"""
|
||||
Scans for USB devices that match the path spec.
|
||||
This function blocks until cancellation_token is set.
|
||||
"""
|
||||
if path == None or path == "":
|
||||
bus = None
|
||||
address = None
|
||||
else:
|
||||
try:
|
||||
bus = int(path.split(":")[0])
|
||||
address = int(path.split(":")[1])
|
||||
except (ValueError, IndexError):
|
||||
raise Exception("{} is not a valid USB path specification. "
|
||||
"Expected a string of the format BUS:DEVICE where BUS "
|
||||
"and DEVICE are integers.".format(path))
|
||||
|
||||
known_devices = []
|
||||
def device_matcher(device):
|
||||
#print(" test {:04X}:{:04X}".format(device.idVendor, device.idProduct))
|
||||
if (device.bus, device.address) in known_devices:
|
||||
return False
|
||||
if bus != None and device.bus != bus:
|
||||
return False
|
||||
if address != None and device.address != address:
|
||||
return False
|
||||
if serial_number != None and device.serial_number != serial_number:
|
||||
return False
|
||||
if (device.idVendor, device.idProduct) not in ODRIVE_VID_PID_PAIRS:
|
||||
return False
|
||||
return True
|
||||
|
||||
while not cancellation_token.is_set():
|
||||
printer("USB discover loop")
|
||||
devices = usb.core.find(find_all=True, custom_match=device_matcher)
|
||||
for usb_device in devices:
|
||||
try:
|
||||
bulk_device = USBBulkTransport(usb_device, printer)
|
||||
printer(bulk_device.info())
|
||||
bulk_device.init()
|
||||
channel = odrive.protocol.Channel(
|
||||
"USB device bus {} device {}".format(usb_device.bus, usb_device.address),
|
||||
bulk_device, bulk_device, printer)
|
||||
channel.usb_device = usb_device # for debugging only
|
||||
except usb.core.USBError as ex:
|
||||
if ex.errno == 13:
|
||||
printer("USB device access denied. Did you set up your udev rules correctly?")
|
||||
continue
|
||||
elif ex.errno == 16:
|
||||
printer("USB device busy. I'll reset it and try again.")
|
||||
usb_device.reset()
|
||||
continue
|
||||
else:
|
||||
printer("USB device init failed. Ignoring this device")
|
||||
known_devices.append((usb_device.bus, usb_device.address))
|
||||
else:
|
||||
known_devices.append((usb_device.bus, usb_device.address))
|
||||
callback(channel)
|
||||
time.sleep(1)
|
||||
|
||||
@@ -1,23 +0,0 @@
|
||||
# requires pyusb
|
||||
# pip install --pre pyusb
|
||||
|
||||
|
||||
# Exceptions
|
||||
class ODriveError(Exception):
|
||||
pass
|
||||
|
||||
class ODriveNotConnectedError(ODriveError):
|
||||
pass
|
||||
|
||||
USB_DEV_ODRIVE_3_1 = (0x1209, 0x0D31)
|
||||
USB_DEV_ODRIVE_3_2 = (0x1209, 0x0D32)
|
||||
USB_DEV_ODRIVE_3_3 = (0x1209, 0x0D33)
|
||||
# all devices
|
||||
USB_VID_PID_PAIRS = [
|
||||
USB_DEV_ODRIVE_3_1,
|
||||
USB_DEV_ODRIVE_3_2,
|
||||
USB_DEV_ODRIVE_3_3,
|
||||
]
|
||||
|
||||
def noprint(x):
|
||||
pass
|
||||
Executable
+141
@@ -0,0 +1,141 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
Liveplotter
|
||||
"""
|
||||
|
||||
import sys
|
||||
import time
|
||||
import threading
|
||||
|
||||
data_rate = 100
|
||||
plot_rate = 10
|
||||
num_samples = 1000
|
||||
|
||||
def start_liveplotter(get_var_callback):
|
||||
"""
|
||||
Starts a liveplotter.
|
||||
The variable that is plotted is retrieved from get_var_callback.
|
||||
This function returns immediately and the liveplotter quits when
|
||||
the user closes it.
|
||||
"""
|
||||
|
||||
import matplotlib.pyplot as plt
|
||||
|
||||
cancellation_token = threading.Event()
|
||||
|
||||
global vals
|
||||
vals = []
|
||||
def fetch_data():
|
||||
global vals
|
||||
while not cancellation_token.is_set():
|
||||
try:
|
||||
data = get_var_callback()
|
||||
except Exception as ex:
|
||||
print(str(ex))
|
||||
time.sleep(1)
|
||||
continue
|
||||
vals.append(data)
|
||||
if len(vals) > num_samples:
|
||||
vals = vals[-num_samples:]
|
||||
time.sleep(1/data_rate)
|
||||
|
||||
# TODO: use animation for better UI performance, see:
|
||||
# https://matplotlib.org/examples/animation/simple_anim.html
|
||||
def plot_data():
|
||||
global vals
|
||||
|
||||
plt.ion()
|
||||
|
||||
# Make sure the script terminates when the user closes the plotter
|
||||
def did_close(evt):
|
||||
cancellation_token.set()
|
||||
fig = plt.figure()
|
||||
fig.canvas.mpl_connect('close_event', did_close)
|
||||
|
||||
while not cancellation_token.is_set():
|
||||
plt.clf()
|
||||
plt.plot(vals)
|
||||
#time.sleep(1/plot_rate)
|
||||
fig.canvas.flush_events()
|
||||
|
||||
threading.Thread(target=fetch_data).start()
|
||||
threading.Thread(target=plot_data).start()
|
||||
#plot_data()
|
||||
|
||||
## Exceptions ##
|
||||
|
||||
class TimeoutException(Exception):
|
||||
pass
|
||||
|
||||
## Threading utils ##
|
||||
|
||||
class Event():
|
||||
"""
|
||||
Alternative to threading.Event(), enhanced by the subscribe() function
|
||||
that the original fails to provide.
|
||||
"""
|
||||
def __init__(self):
|
||||
self._evt = threading.Event()
|
||||
self._subscribers = []
|
||||
self._mutex = threading.Lock()
|
||||
|
||||
def is_set(self):
|
||||
return self._evt.is_set()
|
||||
|
||||
def set(self):
|
||||
"""
|
||||
Sets the event and invokes all subscribers if the event was
|
||||
not already set
|
||||
"""
|
||||
self._mutex.acquire()
|
||||
try:
|
||||
if not self._evt.is_set():
|
||||
self._evt.set()
|
||||
for s in self._subscribers:
|
||||
s()
|
||||
finally:
|
||||
self._mutex.release()
|
||||
|
||||
def subscribe(self, handler):
|
||||
"""
|
||||
Invokes the specified handler exactly once as soon as the
|
||||
specified event is set. If the event is already set, the
|
||||
handler is invoked immediately.
|
||||
Returns a function that can be invoked to unsubscribe.
|
||||
"""
|
||||
self._mutex.acquire()
|
||||
try:
|
||||
self._subscribers.append(handler)
|
||||
if self._evt.is_set():
|
||||
handler()
|
||||
finally:
|
||||
self._mutex.release()
|
||||
return lambda: self.unsubscribe(handler)
|
||||
|
||||
def unsubscribe(self, handler):
|
||||
self._mutex.acquire()
|
||||
try:
|
||||
self._subscribers.pop(self._subscribers.index(handler))
|
||||
finally:
|
||||
self._mutex.release()
|
||||
|
||||
def wait(self, timeout=None):
|
||||
return self._evt.wait(timeout=timeout)
|
||||
|
||||
def wait_any(*events, timeout=None):
|
||||
"""
|
||||
Blocks until any of the specified events are triggered.
|
||||
Returns the number of the event that was triggerd or raises
|
||||
a TimeoutException
|
||||
"""
|
||||
or_event = threading.Event()
|
||||
unsubscribe_functions = []
|
||||
for event in events:
|
||||
unsubscribe_functions.append(event.subscribe(lambda: or_event.set()))
|
||||
or_event.wait(timeout=timeout)
|
||||
for unsubscribe_function in unsubscribe_functions:
|
||||
unsubscribe_function()
|
||||
for i in range(len(events)):
|
||||
if events[i].is_set():
|
||||
return i
|
||||
raise TimeoutException()
|
||||
Regular → Executable
+7
-2
@@ -1,9 +1,14 @@
|
||||
#!/usr/bin/env python3
|
||||
|
||||
import time
|
||||
import odrive.core
|
||||
import odrive.discovery
|
||||
import matplotlib.pyplot as plt
|
||||
import numpy as np
|
||||
|
||||
myOdrive = odrive.core.find_any()
|
||||
# Find a connected ODrive (this will block until you connect one)
|
||||
print("Waiting for ODrive...")
|
||||
myOdrive = odrive.discovery.find_any()
|
||||
print("connected")
|
||||
|
||||
plt.ion()
|
||||
|
||||
|
||||
Reference in New Issue
Block a user