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  • Committer: Tim Marston
  • Date: 2013-11-28 22:56:14 UTC
  • Revision ID: tim@ed.am-20131128225614-016og5owu7b0qp3k
test/escs: added ESC (motor control) testing program

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test/rc-interface/rc-interface-test
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#!/usr/bin/python
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#
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# rc-interface-test
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import pygtk
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pygtk.require( '2.0' );
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import gtk, serial, struct
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from io import BytesIO
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class MainDialogue:
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        # number of channels to read
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        NUM_CHANNELS = 8
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        # maximum channel value
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        MAX_CHANNEL_VALUE = 1000
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        # serial device to use
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        SERIAL_DEVICE = '/dev/ttyUSB0'
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        def __init__( self ):
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                self.link = serial.Serial( self.SERIAL_DEVICE, 9600 )
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                self.got_one = False
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                self.channel_values = []
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                self.quit = False
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                self.buffer = bytearray()
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        def setup_window( self ):
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                # create and set up window
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                self.window = gtk.Window( gtk.WINDOW_TOPLEVEL )
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                self.window.connect( "delete_event", self.destroy )
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                self.window.connect( "destroy", self.destroy )
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                self.window.set_title( "Testing rc-interface serial comms" );
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                self.window.set_border_width( 30 )
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                self.window.set_modal( True )
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                self.window.connect( "key-press-event", self.key_press_event )
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                # add widgets
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                table = gtk.Table( self.NUM_CHANNELS, 2 )
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                table.set_row_spacings( 20 )
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                table.set_col_spacings( 10 )
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                self.window.add( table )
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                # add channels
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                self.controls = []
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                for a in range( 0, self.NUM_CHANNELS ):
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                        label = gtk.Label( "Channel %d" % ( a + 1 ) )
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                        table.attach( label, 0, 1, a, a + 1 )
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                        adj = gtk.Adjustment( 0, 0, self.MAX_CHANNEL_VALUE, 1, 0, 0 )
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                        control = gtk.HScale( adj )
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                        control.set_draw_value( False )
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                        control.set_property( 'width-request', 300 )
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                        control.set_sensitive( False )
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                        table.attach( control, 1, 2, a, a + 1 )
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                        self.controls.append( control )
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                # show it
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                self.window.show_all()
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        def key_press_event( self, widget, event ):
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                if event.keyval == gtk.keysyms.Escape:
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                        self.window.destroy()
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                else:
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                        return False
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        def destroy( self, widget, data = None ):
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                self.quit = True
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        def process_serial_data_at( self, pos ):
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                for a in range( 0, self.NUM_CHANNELS ):
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                        at = 2 * a + pos
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                        value = struct.unpack( "h", self.buffer[ at : at + 2 ] )[ 0 ]
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                        # update control
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                        self.controls[ a ].set_value( value )
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        def read_serial( self ):
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                # try and read
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                in_waiting = self.link.inWaiting()
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                if( in_waiting ):
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                        self.buffer.extend( self.link.read( in_waiting ) )
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                        # check buffer for double -1
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                        got = bytearray()
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                        i = 0
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                        while i < len( self.buffer ):
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                                # check foir double -1
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                                if i > 0 and self.buffer[ i ] == 255 and \
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                                                self.buffer[ i - 1 ] == 255:
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                                        # if we've got enough data, process it
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                                        start_index = i - ( self.NUM_CHANNELS * 2 + 1 )
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                                        if start_index >= 0:
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                                                self.process_serial_data_at( start_index )
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                                        # remove everything up to and including this double -1 from
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                                        # the serial buffer
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                                        self.buffer = self.buffer[ i + 1 : ]
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                                        i = 0
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                                else:
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                                        i += 1
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        def main( self ):
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                self.setup_window()
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                while not self.quit:
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                        # update gtk
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                        while gtk.events_pending():
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                                gtk.main_iteration( False )
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                        # check serial interface
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                        self.read_serial()
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MainDialogue().main()