From 291de87220a50e80fb9d850f0ef102716064888e Mon Sep 17 00:00:00 2001 From: Buzz Date: Fri, 28 Jul 2017 17:02:51 +1000 Subject: [PATCH] Initial commit, based on .tar.gz file as provided by 3DR , see SOURCE file. --- sololink-python/COPYRIGHT-3DR | 22 +++ sololink-python/LICENSE-APACHE | 202 +++++++++++++++++++++++++++ sololink-python/README.md | 45 ++++++ sololink-python/SOURCE | 1 + sololink-python/requirements.txt | 2 + sololink-python/setup.py | 27 ++++ sololink-python/sololink/__init__.py | 0 sololink-python/sololink/btn_msg.py | 148 ++++++++++++++++++++ sololink-python/sololink/rc_ipc.py | 80 +++++++++++ sololink-python/sololink/rc_pkt.py | 48 +++++++ 10 files changed, 575 insertions(+) create mode 100644 sololink-python/COPYRIGHT-3DR create mode 100644 sololink-python/LICENSE-APACHE create mode 100644 sololink-python/README.md create mode 100644 sololink-python/SOURCE create mode 100644 sololink-python/requirements.txt create mode 100644 sololink-python/setup.py create mode 100644 sololink-python/sololink/__init__.py create mode 100644 sololink-python/sololink/btn_msg.py create mode 100755 sololink-python/sololink/rc_ipc.py create mode 100644 sololink-python/sololink/rc_pkt.py diff --git a/sololink-python/COPYRIGHT-3DR b/sololink-python/COPYRIGHT-3DR new file mode 100644 index 0000000..8b3a643 --- /dev/null +++ b/sololink-python/COPYRIGHT-3DR @@ -0,0 +1,22 @@ +Copyright 2014-2016 3D Robotics + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use these files except in compliance with the License. +You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. + +~~~~ + +Contributors prior to public release: + + * John Finley + * Will Silva + * Tim Ryan + * Hamish Willee diff --git a/sololink-python/LICENSE-APACHE b/sololink-python/LICENSE-APACHE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/sololink-python/LICENSE-APACHE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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IT DOES NOT WORK. + +We are actively working on fixing it, and we really, really do not recommend you download it just yet. + +We will remove this warning from the repository when it is no longer required. + +``` + +pip -i install requirements.txt +python setup.py build + + +# sololink-python + +This is a Python interface for SoloLink. + +## Overview + +*sololink-python* is used by the ShotManager button manager to get information about Controller (Artoo) button events (A,B,Pause,Fly), to get and remap RC stick values (from PWM into the more easily processed -1 to 1 range), and to send information for display on the Controller (for example, the current shot if in a shot or the mode). + +## Dependencies (upstream and downstream) + +This project is dependent on: + +* SoloLink - This contains all the *3DR-created* software in the Yocto image running on the Companion Computer (i.MX6). + + +The project is a dependency of: + +* ShotManager - ShotManager is a Python application that governs smart shots, GoPro control, and some Solo Controller (Artoo) functionality. + +* meta-3dr - This contains the central definition of how the whole i.MX6 Yocto image is constructed. It contains [Bitbake](https://www.yoctoproject.org/tools-resources/projects/bitbake) recipes for the different included software, including ShotManager, SoloLink etc. + + +## Developer Setup + +sololink-python is tested as part of ShotManager (for example, RC Mapping is tested as part of `/shotmanager/sim/TestRC.py`.) + +## Resources + +* The API is documented in-source. + diff --git a/sololink-python/SOURCE b/sololink-python/SOURCE new file mode 100644 index 0000000..7c24124 --- /dev/null +++ b/sololink-python/SOURCE @@ -0,0 +1 @@ +This source code was released by 3DR in the file: sololink-python_1.3.0_5e25ed54.tar.gz diff --git a/sololink-python/requirements.txt b/sololink-python/requirements.txt new file mode 100644 index 0000000..ef7b14e --- /dev/null +++ b/sololink-python/requirements.txt @@ -0,0 +1,2 @@ +posix_ipc + diff --git a/sololink-python/setup.py b/sololink-python/setup.py new file mode 100644 index 0000000..a253a13 --- /dev/null +++ b/sololink-python/setup.py @@ -0,0 +1,27 @@ +from setuptools import setup, Extension +import platform + +version = '1.3.0' + +setup(name='sololink', + zip_safe=True, + version=version, + description='Python interface for SoloLink', + long_description='Python interface for SoloLink', + url='https://github.com/3drobotics/sololink-python', + author='3D Robotics', + install_requires=[ + 'posix_ipc', + ], + author_email='will.silva@3drobotics.com, jfinley@3drobotics.com,', + classifiers=[ + 'Development Status :: 4 - Beta', + 'Environment :: Console', + 'Operating System :: OS Independent', + 'Programming Language :: Python :: 2.7', + 'Topic :: Scientific/Engineering', + ], + packages=[ + 'sololink' + ], + ext_modules=[]) diff --git a/sololink-python/sololink/__init__.py b/sololink-python/sololink/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/sololink-python/sololink/btn_msg.py b/sololink-python/sololink/btn_msg.py new file mode 100644 index 0000000..23b84dd --- /dev/null +++ b/sololink-python/sololink/btn_msg.py @@ -0,0 +1,148 @@ + +import struct + +""" +Button Message as received from the controller's button message server. + +Start +Byte Size Description +0 8 Timestamp, usec since epoch +8 1 Button ID +9 1 Button event +10 2 Buttons-pressed mask +12 (packet length) + +The buttons-pressed mask indicates all of the buttons that are pressed at +the time of the event, e.g. if it is 0x0012, then the "A" (1 << 4 = 0x0010) +and "Fly" (1 << 1 = 0x0002) buttons are pressed. + +The timestamp is in microseconds since the Unix epoch. Note that it is set +when the message is first created on the controller, whose time may not be +synchronized to anything in particular. At the moment it is only useful when +comparing event timestamps to each other. +""" + +LENGTH = 12 + +# Button IDs +# match artoo/src/io.h and SoloLink/flightcode/stm32/ButtonEventHandler.h +ButtonPower = 0 +ButtonFly = 1 +ButtonRTL = 2 +ButtonLoiter = 3 +ButtonA = 4 +ButtonB = 5 +ButtonPreset1 = 6 +ButtonPreset2 = 7 +ButtonCameraClick = 8 +# index of each name expected to match IDs above +ButtonName = ["Power", "Fly", "RTL", "Loiter", "A", "B", + "Preset1", "Preset2", "CameraClick"] + +# Button Events +# match artoo/src/button.h and SoloLink/flightcode/stm32/ButtonEventHandler.h +Press = 0 +Release = 1 +ClickRelease = 2 +Hold = 3 +LongHold = 4 +DoubleClick = 5 +# index of each name expected to match events above +EventName = ["Press", "Release", "ClickRelease", + "Hold", "LongHold", "DoubleClick"] + + +# packet type ids +# starting these at 2000 to avoid any collisions with app_packet, +# even though they are different connections so it won't matter +ARTOO_MSG_BUTTON_EVENT = 2000 +ARTOO_MSG_SET_BUTTON_STRING = 2001 +ARTOO_MSG_SET_SHOT_STRING = 2002 + +# values for bitmask to send to Artoo +ARTOO_BITMASK_ENABLED = 1 +ARTOO_BITMASK_HIGHLIGHTED = 2 + + +# Returns tuple: +# (timestamp_us, button_id, button_event, pressed_mask) +def unpack(s): + if len(s) != LENGTH: + return None + return struct.unpack(" 0 and len(msg_buf) < 12: + msg_buf_short = len(msg_buf) + elif len(msg_buf) > 12: + msg_buf_long = len(msg_buf) + # got enough data yet? + if len(msg_buf) >= 12: + # return the first 12 bytes in the buffer + msg = msg_buf[:12] + msg_buf = msg_buf[12:] + return struct.unpack("