Rev 697 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 697 | Rev 698 | ||
|---|---|---|---|
| Line 276... | Line 276... | ||
| 276 | except InvalidMsg: |
276 | except InvalidMsg: |
| 277 | if self.printDebugMsg: |
277 | if self.printDebugMsg: |
| 278 | print "DebugMsg: \"%s\"" % line[:-1] |
278 | print "DebugMsg: \"%s\"" % line[:-1] |
| 279 | pass |
279 | pass |
| 280 | return msg |
280 | return msg |
| - | 281 | ||
| - | 282 | def sendMsg(self, msg): |
|
| - | 283 | self.sendLn(msg.generateUartLine()) |
|
| Line 281... | Line 284... | ||
| 281 | 284 | ||
| 282 | def sendNCRedirectUartFromFC(self): |
285 | def sendNCRedirectUartFromFC(self): |
| 283 | self.serPort.flushInput() |
286 | self.serPort.flushInput() |
| 284 | msg = MkMsg(address=MkComm.ADDRESS_NC, cmd='u', data=[0]) |
287 | msg = MkMsg(address=MkComm.ADDRESS_NC, cmd='u', data=[0]) |
| 285 | self.sendLn(msg.generateUartLine()) |
288 | self.sendMsg(msg) |
| 286 | time.sleep(.5) |
289 | time.sleep(.5) |
| Line 287... | Line 290... | ||
| 287 | # No reply expected... |
290 | # No reply expected... |
| 288 | 291 | ||
| 289 | def sendSettings(self, settings): |
292 | def sendSettings(self, settings): |
| 290 | msg = MkMsg(address=MkComm.ADDRESS_FC, cmd='s', data=settings) |
293 | msg = MkMsg(address=MkComm.ADDRESS_FC, cmd='s', data=settings) |
| 291 | self.sendLn(msg.generateUartLine()) |
294 | self.sendMsg(msg) |
| Line 292... | Line 295... | ||
| 292 | time.sleep(1) |
295 | time.sleep(1) |
| 293 | msg = self.waitForMsg('S') |
296 | msg = self.waitForMsg('S') |
| Line 300... | Line 303... | ||
| 300 | return msg |
303 | return msg |
| Line 301... | Line 304... | ||
| 301 | 304 | ||
| 302 | def getSettingsMsg(self, index=0xFF): |
305 | def getSettingsMsg(self, index=0xFF): |
| 303 | self.serPort.flushInput() |
306 | self.serPort.flushInput() |
| 304 | msg = MkMsg(address=MkComm.ADDRESS_FC, cmd='q', data=[index]) |
307 | msg = MkMsg(address=MkComm.ADDRESS_FC, cmd='q', data=[index]) |
| 305 | self.sendLn(msg.generateUartLine()) |
308 | self.sendMsg(msg) |
| 306 | msg = self.waitForMsg('Q') |
309 | msg = self.waitForMsg('Q') |
| 307 | msg = SettingsMsg(msg) |
310 | msg = SettingsMsg(msg) |
| Line 308... | Line 311... | ||
| 308 | return msg |
311 | return msg |
| Line 313... | Line 316... | ||
| 313 | msg = VersionMsg(msg) |
316 | msg = VersionMsg(msg) |
| 314 | return msg |
317 | return msg |
| Line 315... | Line 318... | ||
| 315 | 318 | ||
| 316 | def setMotorTest(self, motorSpeeds): |
319 | def setMotorTest(self, motorSpeeds): |
| 317 | msg = MkMsg(address=MkComm.ADDRESS_FC, cmd='t', data=motorSpeeds) |
320 | msg = MkMsg(address=MkComm.ADDRESS_FC, cmd='t', data=motorSpeeds) |
| Line 318... | Line 321... | ||
| 318 | self.sendLn(msg.generateUartLine()) |
321 | self.sendMsg(msg) |
| 319 | 322 | ||
| 320 | def doVibrationTest(self, nbSamples, channel): |
323 | def doVibrationTest(self, nbSamples, channel): |
| 321 | data = [] |
324 | data = [] |
| 322 | for i in range(0,(min(nbSamples,1000)/50)): |
325 | for i in range(0,(min(nbSamples,1000)/50)): |
| 323 | msg = MkMsg(address=MkComm.ADDRESS_FC, cmd='f', data=[channel, i]) |
326 | msg = MkMsg(address=MkComm.ADDRESS_FC, cmd='f', data=[channel, i]) |
| 324 | self.sendLn(msg.generateUartLine()) |
327 | self.sendMsg(msg) |
| 325 | msg = self.waitForMsg('F') |
328 | msg = self.waitForMsg('F') |
| Line 326... | Line 329... | ||
| 326 | msg = VibrationDataMsg(msg) |
329 | msg = VibrationDataMsg(msg) |
| Line 331... | Line 334... | ||
| 331 | return data |
334 | return data |
| Line 332... | Line -... | ||
| 332 | - | ||
| 333 | - | ||
| 334 | 335 | ||
| 335 | 336 | ||
| 336 | 337 | ||
| 337 | 338 | ||