Dummy-Robot/3.Software/CLI-Tool/ref_tool/shell.py
2022-02-09 11:59:08 +08:00

81 lines
2.9 KiB
Python

import fibre
import ref_tool
from ref_tool.utils import start_liveplotter
def print_banner():
print('Please connect your Dummy-Robot.')
print('You can also type help() or quit().')
def print_help(args, have_devices):
print('')
if have_devices:
print('Connect your REF-Unit to {} and power it up.'.format(args.path))
print('After that, the following message should appear:')
print(' "Connected to REF-Unit [serial number] as odrv0"')
print('')
print('Once the REF-Unit is connected, type "ref0." and press <tab>')
else:
print('Type "ref0." and press <tab>')
print('This will present you with all the properties that you can reference')
print('')
print('For example: "odrv0.motor0.encoder.pos_estimate"')
print('will print the current encoder position on motor 0')
print('and "odrv0.motor0.pos_setpoint = 10000"')
print('will send motor0 to 10000')
print('')
interactive_variables = {}
discovered_devices = []
def did_discover_device(odrive, logger, app_shutdown_token):
"""
Handles the discovery of new devices by displaying a
message and making the device available to the interactive
console
"""
serial_number = odrive.serial_number if hasattr(odrive, 'serial_number') else "[unknown serial number]"
if serial_number in discovered_devices:
verb = "Reconnected"
index = discovered_devices.index(serial_number)
else:
verb = "Connected"
discovered_devices.append(serial_number)
index = len(discovered_devices) - 1
interactive_name = "odrv" + str(index)
# Publish new ODrive to interactive console
interactive_variables[interactive_name] = odrive
globals()[interactive_name] = odrive # Add to globals so tab complete works
logger.notify("{} to ODrive {:012X} as {}".format(verb, serial_number, interactive_name))
# Subscribe to disappearance of the device
odrive.__channel__._channel_broken.subscribe(lambda: did_lose_device(interactive_name, logger, app_shutdown_token))
def did_lose_device(interactive_name, logger, app_shutdown_token):
"""
Handles the disappearance of a device by displaying
a message.
"""
if not app_shutdown_token.is_set():
logger.warn("Oh no {} disappeared".format(interactive_name))
def launch_shell(args, logger, app_shutdown_token):
"""
Launches an interactive python or IPython command line
interface.
As ODrives are connected they are made available as
"odrv0", "odrv1", ...
"""
interactive_variables = {
'start_liveplotter': start_liveplotter,
}
fibre.launch_shell(args,
interactive_variables,
print_banner, print_help,
logger, app_shutdown_token,
branding_short="dummy", branding_long="Dummy-Robot")