Rev 618 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 618 | Rev 653 | ||
|---|---|---|---|
| Line 188... | Line 188... | ||
| 188 | 188 | ||
| 189 | def getVersion(self): |
189 | def getVersion(self): |
| Line 190... | Line 190... | ||
| 190 | return (self.msg.data[0], self.msg.data[1]) |
190 | return (self.msg.data[0], self.msg.data[1]) |
| - | 191 | ||
| 191 | 192 | class MkComm: |
|
| - | 193 | ADDRESS_ALL = 0 |
|
| - | 194 | ADDRESS_FC = 1 |
|
| 192 | class MkComm: |
195 | ADDRESS_NC = 2 |
| 193 | FCADDRESS = 1 |
196 | ADDRESS_MK3MAG = 3 |
| 194 | 197 | ||
| Line 195... | Line 198... | ||
| 195 | def __init__(self, printDebugMsg=False): |
198 | def __init__(self, printDebugMsg=False): |
| 196 | #self.logfile = open('mklog.txt', "rbU") |
199 | #self.logfile = open('mklog.txt', "rbU") |
| Line 202... | Line 205... | ||
| 202 | self.getVersionMsgLn = msg.generateMsg() |
205 | self.getVersionMsgLn = msg.generateMsg() |
| 203 | msg = MkMsg(address=0, cmd='d', data=[500]) |
206 | msg = MkMsg(address=0, cmd='d', data=[500]) |
| 204 | self.getDebugMsgLn = msg.generateMsg() |
207 | self.getDebugMsgLn = msg.generateMsg() |
| Line 205... | Line -... | ||
| 205 | - | ||
| 206 | 208 | ||
| 207 | 209 | ||
| 208 | def open(self, comPort): |
210 | def open(self, comPort): |
| 209 | self.serPort = serial.Serial(comPort, 57600, timeout=0.5) |
211 | self.serPort = serial.Serial(comPort, 57600, timeout=0.5) |
| Line 237... | Line 239... | ||
| 237 | if self.printDebugMsg: |
239 | if self.printDebugMsg: |
| 238 | print "DebugMsg: \"%s\"" % line[:-1] |
240 | print "DebugMsg: \"%s\"" % line[:-1] |
| 239 | pass |
241 | pass |
| 240 | return msg |
242 | return msg |
| Line -... | Line 243... | ||
| - | 243 | ||
| - | 244 | def sendNCRedirectUartFromFC(self): |
|
| - | 245 | self.serPort.flushInput() |
|
| - | 246 | msg = MkMsg(address=MkComm.ADDRESS_NC, cmd='u', data=[0]) |
|
| - | 247 | self.sendLn(msg.generateMsg()) |
|
| - | 248 | time.sleep(.5) |
|
| - | 249 | # No reply expected... |
|
| 241 | 250 | ||
| 242 | def getDebugMsg(self): |
251 | def getDebugMsg(self): |
| 243 | self.serPort.flushInput() |
252 | self.serPort.flushInput() |
| 244 | self.sendLn(self.getDebugMsgLn) |
253 | self.sendLn(self.getDebugMsgLn) |
| 245 | msg = self.waitForMsg('D') |
254 | msg = self.waitForMsg('D') |
| Line 251... | Line 260... | ||
| 251 | msg = self.waitForMsg('V') |
260 | msg = self.waitForMsg('V') |
| 252 | msg = VersionMsg(msg) |
261 | msg = VersionMsg(msg) |
| 253 | return msg |
262 | return msg |
| Line 254... | Line 263... | ||
| 254 | 263 | ||
| 255 | def setMotorTest(self, motorSpeeds): |
264 | def setMotorTest(self, motorSpeeds): |
| 256 | msg = MkMsg(address=MkComm.FCADDRESS, cmd='t', data=motorSpeeds) |
265 | msg = MkMsg(address=MkComm.ADDRESS_FC, cmd='t', data=motorSpeeds) |
| Line 257... | Line 266... | ||
| 257 | self.sendLn(msg.generateMsg()) |
266 | self.sendLn(msg.generateMsg()) |
| 258 | 267 | ||
| 259 | def doVibrationTest(self, nbSamples, channel): |
268 | def doVibrationTest(self, nbSamples, channel): |
| 260 | data = [] |
269 | data = [] |
| 261 | for i in range(0,(min(nbSamples,1000)/50)): |
270 | for i in range(0,(min(nbSamples,1000)/50)): |
| 262 | msg = MkMsg(address=MkComm.FCADDRESS, cmd='f', data=[channel, i]) |
271 | msg = MkMsg(address=MkComm.ADDRESS_FC, cmd='f', data=[channel, i]) |
| 263 | self.sendLn(msg.generateMsg()) |
272 | self.sendLn(msg.generateMsg()) |
| 264 | msg = self.waitForMsg('F') |
273 | msg = self.waitForMsg('F') |