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from multiprocessing import Process, Queue |
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import uavcan |
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from contextlib import closing |
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import tkinter |
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def node_status_callback(event): |
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print('#',event.transfer.source_node_id,': ', event.message.uptime_sec) |
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# Messages, service requests, service responses, and entire events |
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# can be converted into YAML formatted data structure using to_yaml(): |
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print(uavcan.to_yaml(event)) |
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def getset_response(e): |
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print(e) |
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def set_mosfet_driver(node,state,node_id): |
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node.request( |
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uavcan.protocol.param.GetSet.Request( |
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value=uavcan.protocol.param.Value(integer_value=state), |
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name='drivers'), |
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node_id, |
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getset_response, |
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priority=uavcan.TRANSFER_PRIORITY_HIGHEST |
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) |
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def tkinter_worker(q): |
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class Drivers(object): |
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A = 0 |
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B = 0 |
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def resetB(self): |
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q.put(['B', 0]) |
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def setB(self): |
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q.put(['B', self.B]) |
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def resetA(self): |
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q.put(['A', 0]) |
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def setA(self): |
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q.put(['A', self.A]) |
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def toggleA(self, btn, name): |
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Adrivers = self.A |
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if btn.config('relief')[-1] == 'sunken': |
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btn.config(relief="raised") |
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if name == 'A1': |
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Adrivers = Adrivers & 0b1111111110 |
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if name == 'A2': |
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Adrivers = Adrivers & 0b1111111101 |
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if name == 'A3': |
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Adrivers = Adrivers & 0b1111111011 |
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if name == 'A4': |
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Adrivers = Adrivers & 0b1111110111 |
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if name == 'A5': |
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Adrivers = Adrivers & 0b1111101111 |
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if name == 'A6': |
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Adrivers = Adrivers & 0b1111011111 |
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if name == 'A7': |
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Adrivers = Adrivers & 0b1110111111 |
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if name == 'A8': |
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Adrivers = Adrivers & 0b1101111111 |
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if name == 'A9': |
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Adrivers = Adrivers & 0b1011111111 |
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if name == 'A10': |
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Adrivers = Adrivers & 0b0111111111 |
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else: |
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btn.config(relief="sunken") |
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if name == 'A1': |
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Adrivers = Adrivers | 0b0000000001 |
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if name == 'A2': |
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Adrivers = Adrivers | 0b0000000010 |
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if name == 'A3': |
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Adrivers = Adrivers | 0b0000000100 |
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if name == 'A4': |
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Adrivers = Adrivers | 0b0000001000 |
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if name == 'A5': |
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Adrivers = Adrivers | 0b0000010000 |
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if name == 'A6': |
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Adrivers = Adrivers | 0b0000100000 |
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if name == 'A7': |
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Adrivers = Adrivers | 0b0001000000 |
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if name == 'A8': |
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Adrivers = Adrivers | 0b0010000000 |
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if name == 'A9': |
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Adrivers = Adrivers | 0b0100000000 |
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if name == 'A10': |
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Adrivers = Adrivers | 0b1000000000 |
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self.A = Adrivers |
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def toggleB(self, btn, name): |
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Bdrivers = self.B |
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if btn.config('relief')[-1] == 'sunken': |
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btn.config(relief="raised") |
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if name == 'B1': |
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Bdrivers = Bdrivers & 0b1111111110 |
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if name == 'B2': |
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Bdrivers = Bdrivers & 0b1111111101 |
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if name == 'B3': |
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Bdrivers = Bdrivers & 0b1111111011 |
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if name == 'B4': |
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Bdrivers = Bdrivers & 0b1111110111 |
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if name == 'B5': |
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Bdrivers = Bdrivers & 0b1111101111 |
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if name == 'B6': |
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Bdrivers = Bdrivers & 0b1111011111 |
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if name == 'B7': |
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Bdrivers = Bdrivers & 0b1110111111 |
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if name == 'B8': |
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Bdrivers = Bdrivers & 0b1101111111 |
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if name == 'B9': |
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Bdrivers = Bdrivers & 0b1011111111 |
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if name == 'B10': |
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Bdrivers = Bdrivers & 0b0111111111 |
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else: |
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btn.config(relief="sunken") |
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if name == 'B1': |
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Bdrivers = Bdrivers | 0b0000000001 |
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if name == 'B2': |
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Bdrivers = Bdrivers | 0b0000000010 |
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if name == 'B3': |
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Bdrivers = Bdrivers | 0b0000000100 |
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if name == 'B4': |
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Bdrivers = Bdrivers | 0b0000001000 |
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if name == 'B5': |
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Bdrivers = Bdrivers | 0b0000010000 |
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if name == 'B6': |
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Bdrivers = Bdrivers | 0b0000100000 |
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if name == 'B7': |
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Bdrivers = Bdrivers | 0b0001000000 |
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if name == 'B8': |
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Bdrivers = Bdrivers | 0b0010000000 |
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if name == 'B9': |
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Bdrivers = Bdrivers | 0b0100000000 |
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if name == 'B10': |
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Bdrivers = Bdrivers | 0b1000000000 |
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self.B = Bdrivers |
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def exitDebugger(): |
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q.put(['exit',1]) |
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exit() |
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drivers = Drivers() |
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root = tkinter.Tk() |
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A1 = tkinter.Button(text="A1", width=4, relief="raised", command=lambda: drivers.toggleA(A1, 'A1')) |
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A2 = tkinter.Button(text="A2", width=4, relief="raised", command=lambda: drivers.toggleA(A2, 'A2')) |
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A3 = tkinter.Button(text="A3", width=4, relief="raised", command=lambda: drivers.toggleA(A3, 'A3')) |
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A4 = tkinter.Button(text="A4", width=4, relief="raised", command=lambda: drivers.toggleA(A4, 'A4')) |
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A5 = tkinter.Button(text="A5", width=4, relief="raised", command=lambda: drivers.toggleA(A5, 'A5')) |
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A6 = tkinter.Button(text="A6", width=4, relief="raised", command=lambda: drivers.toggleA(A6, 'A6')) |
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A7 = tkinter.Button(text="A7", width=4, relief="raised", command=lambda: drivers.toggleA(A7, 'A7')) |
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A8 = tkinter.Button(text="A8", width=4, relief="raised", command=lambda: drivers.toggleA(A8, 'A8')) |
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A9 = tkinter.Button(text="A9", width=4, relief="raised", command=lambda: drivers.toggleA(A9, 'A9')) |
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A10 = tkinter.Button(text="A10", width=4, relief="raised", command=lambda: drivers.toggleA(A10, 'A10')) |
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setAbtn = tkinter.Button(text="Set A", width=5, relief="raised", command=drivers.setA) |
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resetAbtn = tkinter.Button(text="Reset A", width=5, relief="raised", command=drivers.resetA) |
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B1 = tkinter.Button(text="B1", width=4, relief="raised", command=lambda: drivers.toggleB(B1, 'B1')) |
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B2 = tkinter.Button(text="B2", width=4, relief="raised", command=lambda: drivers.toggleB(B2, 'B2')) |
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B3 = tkinter.Button(text="B3", width=4, relief="raised", command=lambda: drivers.toggleB(B3, 'B3')) |
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B4 = tkinter.Button(text="B4", width=4, relief="raised", command=lambda: drivers.toggleB(B4, 'B4')) |
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B5 = tkinter.Button(text="B5", width=4, relief="raised", command=lambda: drivers.toggleB(B5, 'B5')) |
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B6 = tkinter.Button(text="B6", width=4, relief="raised", command=lambda: drivers.toggleB(B6, 'B6')) |
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B7 = tkinter.Button(text="B7", width=4, relief="raised", command=lambda: drivers.toggleB(B7, 'B7')) |
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B8 = tkinter.Button(text="B8", width=4, relief="raised", command=lambda: drivers.toggleB(B8, 'B8')) |
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B9 = tkinter.Button(text="B9", width=4, relief="raised", command=lambda: drivers.toggleB(B9, 'B9')) |
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B10 = tkinter.Button(text="B10", width=4, relief="raised", command=lambda: drivers.toggleB(B10, 'B10')) |
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setBbtn = tkinter.Button(text="Set B", width=5, relief="raised", command=drivers.setB) |
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resetBbtn = tkinter.Button(text="Reset B", width=5, relief="raised", command=drivers.resetB) |
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A1.grid(row=0,column=0) |
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A2.grid(row=0,column=1) |
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A3.grid(row=0,column=2) |
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A4.grid(row=0,column=3) |
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A5.grid(row=0,column=4) |
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A6.grid(row=0,column=5) |
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A7.grid(row=0,column=6) |
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A8.grid(row=0,column=7) |
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A9.grid(row=0,column=8) |
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A10.grid(row=0,column=9) |
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setAbtn.grid(row=0,column=10) |
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resetAbtn.grid(row=0,column=11) |
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B1.grid(row=1,column=0) |
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B2.grid(row=1,column=1) |
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B3.grid(row=1,column=2) |
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B4.grid(row=1,column=3) |
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B5.grid(row=1,column=4) |
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B6.grid(row=1,column=5) |
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B7.grid(row=1,column=6) |
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B8.grid(row=1,column=7) |
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B9.grid(row=1,column=8) |
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B10.grid(row=1,column=9) |
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setBbtn.grid(row=1,column=10) |
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resetBbtn.grid(row=1,column=11) |
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exitButton = tkinter.Button(text="Exit", command=exitDebugger) |
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exitButton.grid(row=5) |
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root.mainloop() |
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def uavcan_worker(q): |
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"""uavcan worker function""" |
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node_info = uavcan.protocol.GetNodeInfo.Response() |
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node_info.name = 'ch.octanis.debugger' |
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node_info.software_version.major = 1 |
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node_info.hardware_version.unique_id = b'11100' # Setting first 5 bytes; rest will be kept zero |
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with closing(uavcan.make_node('/dev/ttyACM3',bitrate=100000,node_id=127,node_info=node_info)) as node: |
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#handle = node.add_handler(uavcan.protocol.NodeStatus, node_status_callback) |
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print('opening can adapter') |
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Aid = 2 |
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Bid = 3 |
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while True: |
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try: |
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node.spin(0.2) |
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m = q.get() |
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if m[0] == 'exit': |
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exit() |
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if m[0] == 'A': |
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set_mosfet_driver(node,m[1],Aid) |
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if m[0] == 'B': |
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set_mosfet_driver(node,m[1],Bid) |
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node.spin(0.2) |
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except KeyboardInterrupt: |
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print('Node error') |
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break |
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return |
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if __name__ == '__main__': |
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q = Queue() |
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p1 = Process(target=uavcan_worker, args=(q,)) |
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p2 = Process(target=tkinter_worker, args=(q,)) |
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p1.start() |
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p2.start() |
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p1.join() |
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