mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-18 16:18:03 +08:00
Kirk Scheper
105 lines
3.5 KiB
Python
Executable File
105 lines
3.5 KiB
Python
Executable File
#! /usr/bin/env python
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from __future__ import print_function
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from arduino_dangerboard import arduino_dangerboard
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from ivy.std_api import *
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import logging
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import os
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import sys
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import getopt
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import signal
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PPRZ_HOME = os.getenv("PAPARAZZI_HOME")
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sys.path.append(PPRZ_HOME + "/sw/lib/python")
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from settings_tool import IvySettingsInterface
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DEFAULT_AC_IDS = [ ]
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# Map dangerboard sliders to these settings from aircraft settings
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# file, in that order (dimension of this list needs to match number
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# of sliders!)
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DEFAULT_SLIDERS = [ ]
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DEFAULT_PORT = '/dev/ttyUSB0'
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class IvyStick(arduino_dangerboard):
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def __init__(self, ac_ids, settings_names, port):
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arduino_dangerboard.__init__(self, port)
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if (len(settings_names) > self.SLIDER_COUNT):
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raise Exception("Number of settings greater than number of sliders")
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if (len(ac_ids) < 1):
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raise Exception("Need at least one ac_id")
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self.last_values = [0] * len(settings_names)
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self.ac_settings = IvySettingsInterface(ac_ids)
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self.settings = []
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for name in settings_names:
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self.settings.append(self.ac_settings.name_lookup[name])
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def ScalePot(self, pot_value, min_value, max_value, step_size):
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scale_factor = (max_value - min_value) / (self.POT_MAX - self.POT_MIN)
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offset = (self.POT_MIN - min_value) / scale_factor
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return int((pot_value - offset) * scale_factor / step_size) * step_size
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def HandleEvent(self):
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for setting_index in range(0, len(self.settings)):
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value = self.ScalePot(self.sliders[setting_index],
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self.settings[setting_index].min_value,
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self.settings[setting_index].max_value,
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self.settings[setting_index].step)
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# keep track of last value and only send a value
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# if the value has changed since last update
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if (value != self.last_values[setting_index]):
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self.settings[setting_index].value = value
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self.ac_settings.SendSetting(self.settings[setting_index].index)
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self.last_values[setting_index] = value
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def Usage(scmd):
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lpathitem = scmd.split('/')
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fmt = '''Usage: %s [-h | --help] [-a AC_ID | --ac_id=AC_ID]
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where
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\t-h | --help print this message
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\t-a AC_ID | --ac_id=AC_ID where AC_ID is an aircraft ID to use for settings (multiple IDs may be passed)
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\t-s S1:S2:S3 | --sliders=S1:S2:S3 where S1, S2, S3 are the names of the slider settings to send
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\t-p PORT | --port=PORT where PORT is the name of the serial port for the slider box
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'''
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print(fmt % lpathitem[-1])
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def GetOptions():
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# Map dangerboard sliders to these settings from aircraft settings
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# file, in that order (dimension of this list needs to match number
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# of sliders!)
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options = {'ac_id':DEFAULT_AC_IDS, 'sliders':DEFAULT_SLIDERS, 'port':DEFAULT_PORT}
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try:
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optlist, left_args = getopt.getopt(sys.argv[1:],'h:a:s:p:', ['help', 'ac_id=', 'sliders=', 'port='])
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except getopt.GetoptError:
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# print help information and exit:
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Usage(sys.argv[0])
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sys.exit(2)
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for o, a in optlist:
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if o in ("-h", "--help"):
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Usage(sys.argv[0])
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sys.exit()
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elif o in ("-a", "--ac_id"):
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options['ac_id'] = [ int(a) ]
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elif o in ("-s", "--sliders"):
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options['sliders'] = a.split(':')
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elif o in ("-p", "--port"):
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options['port'] = a
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return options
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def signal_handler(signal, frame):
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sys.exit(0)
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def main():
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signal.signal(signal.SIGINT, signal_handler)
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options = GetOptions()
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ivyStick = IvyStick(options['ac_id'], options['sliders'], options['port'])
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ivyStick.poll()
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if __name__ == '__main__':
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main()
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