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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

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WARNING - WORK IN PROGRESS
```
This code is known to be broken and/or incomplete. 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.

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This source code was released by 3DR in the file: sololink-python_1.3.0_5e25ed54.tar.gz

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posix_ipc

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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=[])

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sololink-python/sololink/__init__.py Normal file
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sololink-python/sololink/btn_msg.py Normal file
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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("<QBBH", s)
# Reads message from stream and returns it.
# 's' is expected to be a stream-oriented socket
# returned message is tuple:
# (timestamp_us, button_id, button_event, pressed_mask)
# Buffer for accumulated data. It has been observed that we can get multiple
# events in the same socket read. It is possible that we could get a message
# split across two socket reads (although that has not been observed).
msg_buf = ""
# Debug flags
msg_buf_short = 0 # if nonzero, have seen msg_buf with this many bytes
msg_buf_long = 0 # if nonzero, have seen msg_buf with this many bytes
def recv(s):
global msg_buf
global msg_buf_short
global msg_buf_long
while True:
# debug
if len(msg_buf) > 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("<QBBH", msg)
else:
# not enough yet; wait for more
data = s.recv(1024)
if data is None:
# this case has not been observed to happen
continue
elif data == "":
# this happens if the other end closes
return None
else:
# append it to what we have then loop back and check for
# complete message
msg_buf = msg_buf + data
# end if
# end while
# Sends a button string to Artoo
# in the format (little-endian):
# Message ID : 4 bytes
# Length: N (4 bytes)
# Button ID: unsigned char
# Button event: unsigned char
# shot ID: signed char (-1 for none)
# bitmask: char :
# Lowest bit is "enabled" where "disabled" is greyed out on Artoo
# 2nd lowest bit is "lit up"
# string descriptor: n bytes
def sendArtooString(s, button_id, shot, mask, artooStr):
length = 4 + len(artooStr)
packstr = "<IIBBbb%ds"%(len(artooStr),)
pkt = struct.pack(packstr, ARTOO_MSG_SET_BUTTON_STRING, length, button_id,
Press, shot, mask, artooStr)
s.send(pkt)
# Sends a shot string to Artoo
# in the format (little-endian):
# Message ID : 4 bytes
# Length: N (4 bytes)
# string descriptor: n bytes
def sendShotString(s, shotStr):
length = len(shotStr)
packstr = "<II%ds"%(len(shotStr),)
pkt = struct.pack(packstr, ARTOO_MSG_SET_SHOT_STRING, length, shotStr)
s.send(pkt)

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#!/usr/bin/env python
import mmap
import posix_ipc
import rc_pkt
# see rc_remap_sample.py for usage
# must match rc_ipc.c
shm_name = "/rc_shm"
sem_name = "/rc_sem"
# must match sizeof(struct rc_pkt)
shm_size = rc_pkt.LENGTH
shm = None
sem = None
shm_file = None
def attach():
global shm
global sem
global shm_file
# create/attach shared memory
try:
shm = posix_ipc.SharedMemory(shm_name, posix_ipc.O_CREAT, size=shm_size)
except:
print "rc_shm.attach: ERROR creating shared memory", shm_name
return False
shm_file = mmap.mmap(shm.fd, shm.size)
shm.close_fd()
# create/attach semaphore
try:
sem = posix_ipc.Semaphore(sem_name, posix_ipc.O_CREAT)
except:
print "rc_shm.attach: ERROR creating semaphore", sem_name
return False
return True
# pkt is a tuple (timestamp, sequence, channels[])
def put(pkt):
if shm_file is None or sem is None:
#print "rc_shm.put: must attach first"
return False
# convert from tuple to string
p = rc_pkt.pack(pkt)
if p is None:
return False
# write to shared memory
sem.acquire()
shm_file.seek(0)
shm_file.write(p)
sem.release()
return True
# return pkt or None
# pkt is returned as a tuple (timestamp, sequence, channels[])
def get():
if shm_file is None or sem is None:
#print "rc_shm.get: must attach first"
return False
sem.acquire()
shm_file.seek(0)
s = shm_file.read(shm_size)
sem.release()
return rc_pkt.unpack(s)
def detach():
global shm
global sem
global shm_file
if shm_file:
shm_file.close()
shm_file = None
shm = None
sem = None

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import struct
"""
RC packet sent over network looks as follows. All fields are little-endian.
Start
Byte Size Description
0 8 Timestamp, usec since some epoch
8 2 Sequence number
10 2 Channel 1
12 2 Channel 2
14 2 Channel 3
16 2 Channel 4
18 2 Channel 5
20 2 Channel 6
22 2 Channel 7
24 2 Channel 8
26 (packet length)
"""
LENGTH = 26
# Input is binary packet (string)
# Output is tuple (timestamp, sequence, channels[])
def unpack(s):
if len(s) != LENGTH:
return None
ts, seq = struct.unpack("<QH", s[:10])
ch = []
for i in range(10, 26, 2):
ch.extend(struct.unpack("<H", s[i:i+2]))
return (ts, seq, ch)
# Input is tuple (timestamp, sequence, channels[])
# Output is binary packet (string)
def pack(p):
if type(p) != tuple or len(p) != 3 or \
(type(p[0]) != int and type(p[0]) != long) or \
(type(p[1]) != int and type(p[1]) != long) or \
type(p[2]) != list or len(p[2]) != 8:
print "expect tuple, 3:", type(p), len(p)
print "expect int/long, int/long, list:", type(p[0]), type(p[1]), type(p[2])
print "expect 8:", len(p[2])
return None
s = struct.pack('<QHHHHHHHHH', p[0], p[1],
p[2][0], p[2][1], p[2][2], p[2][3],
p[2][4], p[2][5], p[2][6], p[2][7])
return s