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How to use _run_command method in lisa
Best Python code snippet using lisa_python
controller.py
Source:controller.py 
...9from pykeigan.utils import *10class Controller:11 def __init__(self):12 pass13 def _run_command(self,val,characteristics):14 pass15 @property16 def flash_memory_states(self):17 return {0:"FLASH_STATE_READY",1:"FLASH_STATE_TEACHING_PREPARE",2:"FLASH_STATE_TEACHING_DOING",3:"FLASH_STATE_PLAYBACK_PREPARE",4:"FLASH_STATE_PLAYBACK_DOING",5:"FLASH_STATE_PLAYBACK_PAUSING",6:"FLASH_STATE_TASKSET_RECORDING",7:"FLASH_STATE_TASKSET_DOING",8:"FLASH_STATE_TASKSET_PAUSING",20:"FLASH_STATE_IMU"}18 @property19 def motor_control_modes(self):20 return {0:"MOTOR_CONTROL_MODE_NONE",1:"MOTOR_CONTROL_MODE_VELOCITY",2:"MOTOR_CONTROL_MODE_POSITION",3:"MOTOR_CONTROL_MODE_TORQUE",0xFF:"MOTOR_CONTROL_MODE_OTHERS"}21 22 @property23 def baud_rates(self):24 return {0:"115200",1:"230400",2:"250000",3:"460800",4:"921600",5:"1000000"}25 @property26 def error_codes(self):27 return {28 0x00:"KM_SUCCESS",29 0x03:"KM_ERROR_NOT_FOUND",30 0x05:"KM_ERROR_INVALID_COMMAND",31 0x06:"KM_ERROR_INVALID_PARAM",32 0x07:"KM_ERROR_STORAGE_FULL",33 0x08:"KM_ERROR_INVALID_FLASH_STATE", 34 0x09:"KM_ERROR_INVALID_LENGTH",35 0x0A:"KM_ERROR_INVALID_CHECKSUM",36 0x0F:"KM_ERROR_FORBIDDEN",37 0x10:"KM_ERROR_INVALID_ADDR",38 0x14:"KM_ERROR_MOTOR_DISABLED",39 0x46:"KM_ERROR_NRF_DEVICE", 40 0x50:"KM_ERROR_WDT_EVENT",41 0x51:"KM_ERROR_OVER_HEAT",42 0x64:"KM_SUCCESS_ARRIVAL"43 }44 45 @property46 def command_names(self):47 return {48 0x00:"unknown",49 0x02:"set_max_speed",50 0x03:"set_min_speed",51 0x05:"set_curve_type",52 0x07:"set_acc",53 0x08:"set_dec",54 0x0e:"set_max_torque",55 0x16:"set_teaching_interval",56 0x17:"set_playback_interval",57 0x18:"set_qcurrent_p",58 0x19:"set_qcurrent_i",59 0x1A:"set_qcurrent_d",60 0x1B:"set_speed_p",61 0x1C:"set_speed_i",62 0x1D:"set_speed_d",63 0x1E:"set_position_p",64 0x1F:"set_position_i",65 0x20:"set_position_d",66 0x21:"set_pos_control_threshold",67 0x22:"reset_all_pid",68 0x23:"set_pid_table_value",69 0x24:"select_pid_table",70 0x25:"read_pid_table",71 0x27:"set_low_pass_filter",72 0x2B:"set_notify_pos_arrival_settings",73 0x2C:"set_motor_measurement_interval",74 0x2D:"set_motor_measurement_settings",75 0x2E:"set_interface",76 0x30:"set_response",77 0x31:"set_safe_run_settings",78 0x32:"set_safety_settings",79 0x33:"set_limit_current",80 0x37:"set_linkage_key",81 0x3A:"set_own_color",82 0x3C:"set_imu_measurement_interval",83 0x3D:"set_imu_measurement_settings",84 0x40:"read_register",85 0x41:"save_all_registers",86 0x46:"read_device_name",87 0x47:"read_device_info",88 0x4E:"reset_register",89 0x4F:"reset_all_registers",90 0x50:"disable_action",91 0x51:"enable_action",92 0x58:"set_speed",93 0x5A:"preset_position",94 0x5B:"get_position_offset",95 0x60:"run_forward",96 0x61:"run_reverse",97 0x62:"run_at_velocity",98 0x65:"move_to_pos",99 0x66:"move_to_pos",100 0x67:"move_by_dist",101 0x68:"move_by_dist",102 0x6A:"enable_action_task",103 0x6B:"disable_action_task",104 0x6C:"free_motor",105 0x6D:"stop_motor",106 0x72:"hold_torque",107 0x75:"move_to_pos_wait",108 0x76:"move_to_pos_wait",109 0x77:"move_by_dist_wait",110 0x78:"move_by_dist_wait",111 0x81:"start_doing_taskset",112 0x82:"stop_doing_taskset",113 0x85:"start_playback_motion",114 0x86:"prepare_playback_motion",115 0x87:"start_playback_motion_from_prep",116 0x88:"stop_playback_motion",117 0x90:"pause_queue",118 0x91:"resume_queue",119 0x92:"wait_queue",120 0x94:"erase_task",121 0x95:"clear_queue",122 0x96:"wait_queue_until_input",123 0x9A:"read_status",124 0xA0:"start_recording_taskset",125 0xA2:"stop_recording_taskset",126 0xA3:"erase_taskset",127 0xA4:"erase_all_tasksets",128 0xA5:"set_taskset_name",129 0xA6:"read_taskset_info",130 0xA7:"read_taskset_usage",131 0xA8:"set_trigger_taskset_settings",132 0xA9:"start_teaching_motion",133 0xAA:"prepare_teaching_motion",134 0xAB:"start_teaching_motion_from_prep",135 0xAC:"stop_teaching_motion",136 0xAD:"erase_motion",137 0xAE:"erase_all_motions",138 0xAF:"set_motion_name",139 0xB0:"read_motion_info",140 0xB1:"read_motion_usage",141 0xB2:"set_trigger_motion_settings",142 0xB7:"read_motion",143 0xB8:"write_motion_position",144 0xBC:"set_autostart_setting",145 0xBD:"set_button_setting",146 0xBE:"read_error",147 0xC0:"set_i2c_address",148 0xC3:"set_baud_rate",149 0xE0:"set_led",150 0xE6:"enable_motor_measurement",151 0xE7:"disable_motor_measurement",152 0xEA:"enable_imu_measurement",153 0xEB:"disable_imu_measurement",154 0xF0:"reboot",155 0xF3:"enable_check_sum"156 }157 158 @property159 def event_types(self):160 return {1:"button", 10:"gpio"}161 162 # Settings163 def set_max_speed(self,max_speed,identifier=b'\x00\x00'):164 """165 Set the maximum speed of rotation to the 'max_speed' in rad/sec.166 """167 command=b'\x02'168 values=float2bytes(max_speed)169 self._run_command(command+identifier+values,'motor_rx')170 def set_min_speed(self,min_speed,identifier=b'\x00\x00'):171 """172 Set the minimum speed of rotation to the 'min_speed' in rad/sec.173 """174 command=b'\x03'175 values=float2bytes(min_speed)176 self._run_command(command+identifier+values,'motor_rx')177 def set_curve_type(self,curve_type,identifier=b'\x00\x00'):178 """179 Set the acceleration or deceleration curve to the 'curve_type'.180 typedef enum curveType =181 {182 CURVE_TYPE_NONE = 0, // Turn off Motion control183 CURVE_TYPE_TRAPEZOID = 1, // Turn on Motion control with trapezoidal curve184 CURVE_TYPE_DIRECT_POS = 10 // Turn off Motion control (Direct position control)185 }186 """187 command=b'\x05'188 values=uint8_t2bytes(curve_type)189 self._run_command(command+identifier+values,'motor_rx')190 def set_acc(self,_acc,identifier=b'\x00\x00'):191 """192 Set the acceleration of rotation to the positive 'acc' in rad/sec^2.193 """194 command=b'\x07'195 values=float2bytes(_acc)196 self._run_command(command+identifier+values,'motor_rx')197 def set_dec(self,_dec,identifier=b'\x00\x00'):198 """199 Set the deceleration of rotation to the positive 'dec' in rad/sec^2.200 """201 command=b'\x08'202 values=float2bytes(_dec)203 self._run_command(command+identifier+values,'motor_rx')204 def set_max_torque(self,max_torque,identifier=b'\x00\x00'):205 """206 Set the maximum torque to the positive 'max_torque' in N.m.207 """208 command=b'\x0E'209 if max_torque < 0:210 raise ValueError("Value out of range")211 values=float2bytes(max_torque)212 self._run_command(command+identifier+values,'motor_rx')213 def set_teaching_interval(self,interval_ms,identifier=b'\x00\x00'):214 """215 Set the interval time of teaching to the positive integer "interval_ms" in ms.216 """217 command=b'\x16'218 values=uint32_t2bytes(interval_ms)219 self._run_command(command+identifier+values,'motor_rx')220 def set_playback_interval(self,interval_ms,identifier=b'\x00\x00'):221 """222 Set the interval time of playback to the positive integer "interval_ms" in ms.223 """224 command=b'\x17'225 values=uint32_t2bytes(interval_ms)226 self._run_command(command+identifier+values,'motor_rx')227 def set_qcurrent_p(self,q_current_p,identifier=b'\x00\x00'):228 """229 Set the q-axis current PID controller's Proportional gain to the postiive 'q_current_p'.230 """231 command=b'\x18'232 values=float2bytes(q_current_p)233 self._run_command(command+identifier+values,'motor_rx')234 def set_qcurrent_i(self,q_current_i,identifier=b'\x00\x00'):235 """236 Set the q-axis current PID controller's Integral gain to the positive 'q_current_i'.237 """238 command=b'\x19'239 values=float2bytes(q_current_i)240 self._run_command(command+identifier+values,'motor_rx')241 def set_qcurrent_d(self,q_current_d,identifier=b'\x00\x00'):242 """243 Set the q-axis current PID controller's Differential gain to the postiive 'q_current_d'.244 """245 command=b'\x1A'246 values=float2bytes(q_current_d)247 self._run_command(command+identifier+values,'motor_rx')248 def set_speed_p(self,speed_p,identifier=b'\x00\x00'):249 """250 Set the speed PID controller's Proportional gain to the positive 'speed_p'.251 """252 command=b'\x1B'253 values=float2bytes(speed_p)254 self._run_command(command+identifier+values,'motor_rx')255 def set_speed_i(self,speed_i,identifier=b'\x00\x00'):256 """257 Set the speed PID controller's Integral gain to the positive 'speed_i'.258 """259 command=b'\x1C'260 values=float2bytes(speed_i)261 self._run_command(command+identifier+values,'motor_rx')262 def set_speed_d(self,speed_d,identifier=b'\x00\x00'):263 """264 Set the speed PID controller's Deferential gain to the positive 'speed_d'.265 """266 command=b'\x1D'267 values=float2bytes(speed_d)268 self._run_command(command+identifier+values,'motor_rx')269 def set_position_p(self,position_p,identifier=b'\x00\x00'):270 """271 Set the position PID controller's Proportional gain to the positive 'position_p'.272 """273 command=b'\x1E'274 values=float2bytes(position_p)275 self._run_command(command+identifier+values,'motor_rx')276 def set_position_i(self,position_i,identifier=b'\x00\x00'):277 """278 Set the position PID controller's Integral gain to the positive 'position_i'.279 """280 command=b'\x1F'281 values=float2bytes(position_i)282 self._run_command(command+identifier+values,'motor_rx')283 def set_position_d(self,position_d,identifier=b'\x00\x00'):284 """285 Set the position PID controller's Differential gain to the positive 'position_d'.286 """287 command=b'\x20'288 values=float2bytes(position_d)289 self._run_command(command+identifier+values,'motor_rx')290 def set_pos_control_threshold(self,poscontrol_d,identifier=b'\x00\x00'):291 """292 Set the threshold of the deviation between the target and current position. While the deviation is more than the threshold, integral and differential gain is set to be zero.293 """294 command=b'\x21'295 values=float2bytes(poscontrol_d)296 self._run_command(command+identifier+values,'motor_rx')297 def reset_all_pid(self,identifier=b'\x00\x00'):298 """299 Reset all the PID parameters to the firmware default settings.300 """301 command=b'\x22'302 self._run_command(command+identifier,'motor_rx')303 def set_motor_measurement_interval(self,interval,identifier=b'\x00\x00'):304 """305 Set the notification interval of motor measurement values. It is valid only for USB(UART) and BLE.306 In case of BLE, the allowed minimum value is 100 [ms]. 307 -----------308 0: 2 [ms]309 1: 5 [ms]310 2: 10 [ms]311 3: 20 [ms]312 4: 50 [ms]313 5: 100 [ms]314 6: 200 [ms]315 7: 500 [ms]316 8: 1000 [ms]317 9: 2000 [ms]318 10: 5000 [ms]319 11: 10000 [ms]320 ----------- 321 """322 command=b'\x2C'323 values = uint8_t2bytes(interval)324 self._run_command(command+identifier+values,'motor_rx')325 def set_motor_measurement_settings(self,flag,identifier=b'\x00\x00'):326 """327 Set the notification setting of motor measurement values.328 -----------329 bit7: -330 bit6: -331 bit5: -332 bit4: -333 bit3: -334 bit2: -335 bit1: Notification of motor measurement (1:ON, 0:OFF)336 bit0: To start Notification of motor measurement when booting(1:ON, 0:OFF)337 -----------338 """339 command=b'\x2D'340 values=uint8_t2bytes(flag)341 self._run_command(command+identifier+values,'motor_rx')342 @property343 def interface_type(self):344 return {345 "BLE": 0b1,346 "USB": 0b1000,347 "I2C": 0b10000,348 "BTN": 0b10000000,349 }350 def set_interface(self,flag,identifier=b'\x00\x00'):351 """352 You can enable or disable the data interfaces(physical 3 buttons, I2C, USB and BLE).353 The motor chooses the output interface of motor measurement values and IMU values as354 (High priority)BLE > USB > I2C(Low priority) by default.355 If you want to force it to send measurement values through USB,356 you need to set bit0(BLE) to OFF(0) and bit3(USB) to ON(1).357 For example, if you call set_interface(0b10001000), Physical 3 buttons: enabled, I2C: disabled, USB: enabled and BLE: disabled.358 To save this setting to the flash memory, ensure you call saveAllRegisters().@n359 -----------360 - bit7: Physical 3 buttons361 - bit6: UART2362 - bit5: Digital In363 - bit4: I2C(Wired)364 - bit3: UART1(USB, Wired)365 - bit2: -366 - bit1: Linkage367 - bit0: BLE(Wireless)368 -----------369 """370 command=b'\x2E'371 values=uint8_t2bytes(flag)372 self._run_command(command+identifier+values,'motor_rx')373 def set_safe_run_settings(self,isEnabled,timeout,stopAction,identifier=b'\x00\x00'):374 """set_safe_run_settings375 Set safe run mode to stop motor automatically when it cannot receive next command within a certain period (timeout).376 Args:377 isEnabled (bool): true if setting safe run mode enabled378 timeout (int): stop action will occur after this period379 stopAction (int):380 - 0: free_motor381 - 1: disable_motor_action382 - 2: stop_motor383 - 3: Fix to the current position (move_to)384 """385 command=b'\x31'386 values=uint8_t2bytes(isEnabled)+uint32_t2bytes(timeout)+uint8_t2bytes(stopAction)387 self._run_command(command+identifier+values,'motor_rx')388 def set_own_color(self,red,green,blue,identifier=b'\x00\x00'):389 """390 Set the own LED color(red:0-255, green:0-255, blue:0-255).391 """392 command=b'\x3A'393 values=uint8_t2bytes(red)+uint8_t2bytes(green)+uint8_t2bytes(blue)394 self._run_command(command+identifier+values,'motor_rx')395 def set_imu_measurement_interval(self,interval,identifier=b'\x00\x00'):396 """397 Set the notification interval of IMU measurement values. It is valid only for USB(UART) and BLE.398 In case of BLE, the allowed minimum value is 100 [ms]. 399 -----------400 0: 10 [ms]401 1: 20 [ms]402 2: 50 [ms]403 3: 100 [ms]404 4: 200 [ms]405 5: 500 [ms]406 6: 1000 [ms]407 7: 2000 [ms]408 9: 5000 [ms]409 10: 10000 [ms]410 ----------- 411 """412 command=b'\x3C'413 values = uint8_t2bytes(interval)414 self._run_command(command+identifier+values,'motor_rx')415 def set_imu_measurement_settings(self,flag,identifier=b'\x00\x00'):416 """417 Set the notification setting of IMU.418 -----------419 bit7: -420 bit6: -421 bit5: -422 bit4: -423 bit3: -424 bit2: -425 bit1: Notification of IMU (1:ON, 0:OFF)426 bit0: To start Notification of IMU when booting(1:ON, 0:OFF)427 -----------428 """429 command=b'\x3D'430 values=uint8_t2bytes(flag)431 self._run_command(command+identifier+values,'motor_rx')432 def set_autostart_setting(self, mode, identifier=b'\x00\x00'):433 """434 Set the button setting (Motor Firmware Ver. requires >= 2.42)435 -----------436 mode = 0: Without auto start 437 mode = 1: Auto start doing taskset (config by set_taskset_trigger_settings)438 mode = 2: Auto start playback motion (config by set_motion_trigger_settings)439 -----------440 """441 command=b'\xBC'442 values=uint8_t2bytes(mode)443 self._run_command(command+identifier+values,'motor_rx')444 def set_button_setting(self, mode, identifier=b'\x00\x00'):445 """446 Set the button setting (MotorFirmVer. >= 2.28)447 -----------448 mode = 0: Manual button mode with Motion 449 mode = 1: Manual button mode with Taskset450 mode = 30: Child button mode (Receive button action event from KeiganMotor)451 -----------452 """453 command=b'\xBD'454 values=uint8_t2bytes(mode)455 self._run_command(command+identifier+values,'motor_rx')456 def set_baud_rate(self, baud, identifier=b'\x00\x00'):457 """458 Set baud rate for serial communication setting 459 (baud rate unit is kbps)460 -----------461 0: 115200 462 1: 230400 463 2: 250000464 3: 460800465 4: 921600466 5: 1000000 (1M)467 -----------468 """469 command=b'\xC3'470 values=uint8_t2bytes(baud)471 self._run_command(command+identifier+values,'motor_rx')472 def set_notify_pos_arrival_settings(self, isEnabled, tolerance, settleTime, identifier=b'\x00\x00'):473 """474 Set notification settings when arriving at the target position 475 """476 command=b'\x2B'477 values=uint8_t2bytes(isEnabled)+float2bytes(tolerance)+uint32_t2bytes(settleTime)478 self._run_command(command+identifier+values,'motor_rx')479 def read_register(self,register,identifier=b'\x00\x00'):480 '''481 Read a specified setting (register).482 '''483 command=b'\x40'484 values=uint8_t2bytes(register)485 self._run_command(command+identifier+values,'motor_rx')486 def save_all_registers(self,identifier=b'\x00\x00'):487 """488 Save all settings (registers) in flash memory.489 """490 command=b'\x41'491 self._run_command(command+identifier,'motor_rx')492 time.sleep(3) # wait for next command to store registers in flash493 def reset_register(self,register,identifier=b'\x00\x00'):494 """495 Reset a specified register's value to the firmware default setting.496 """497 command=b'\x4E'498 values=uint8_t2bytes(register)499 self._run_command(command+identifier+values,'motor_rx')500 def reset_all_registers(self,identifier=b'\x00\x00'):501 """502 Reset all registers' values to the firmware default setting.503 """504 command=b'\x4F'505 self._run_command(command+identifier,'motor_rx')506 # Motor Action507 def disable_action(self,identifier=b'\x00\x00'):508 """509 Disable motor action.510 """511 command=b'\x50'512 self._run_command(command+identifier,'motor_tx')513 def enable_action(self,identifier=b'\x00\x00'):514 """515 Enable motor action.516 """517 command=b'\x51'518 self._run_command(command+identifier,'motor_tx')519 def set_speed(self,speed,identifier=b'\x00\x00'):520 """521 Set the speed of rotation to the positive 'speed' in rad/sec.522 """523 command=b'\x58'524 values=float2bytes(speed)525 self._run_command(command+identifier+values,'motor_tx')526 def preset_position(self,position,identifier=b'\x00\x00'):527 """528 Preset the current absolute position as the specified 'position' in rad. (Set it to zero when setting origin)529 """530 command=b'\x5A'531 values=float2bytes(position)532 self._run_command(command+identifier+values,'motor_tx')533 def get_position_offset(self,position,identifier=b'\x00\x00'):534 """535 Get the offset value of the absolute position.536 """537 command=b'\x5B'538 values=float2bytes(position)539 self._run_command(command+identifier+values,'motor_tx')540 def run_forward(self,identifier=b'\x00\x00'):541 """542 Rotate the motor forward (counter clock-wise) at the speed set by 0x58: speed.543 """544 command=b'\x60'545 self._run_command(command+identifier,'motor_tx')546 def run_reverse(self,identifier=b'\x00\x00'):547 """548 Rotate the motor reverse (clock-wise) at the speed set by 0x58: speed.549 """550 command=b'\x61'551 self._run_command(command+identifier,'motor_tx')552 def run_at_velocity(self,velocity,identifier=b'\x00\x00'):553 """554 Rotate the motor at the 'velocity'. The velocity can be positive or negative.555 """556 command=b'\x62'557 values=float2bytes(velocity)558 self._run_command(command+identifier+values,'motor_tx')559 def move_to_pos(self,position,speed=None,identifier=b'\x00\x00'):560 """561 Move the motor to the specified absolute 'position' at the 'speed'.562 If the speed is None, move at the speed set by 0x58: set_speed.563 """564 if speed is not None:565 command=b'\x65'566 values=float2bytes(position)+float2bytes(speed)567 else:568 command=b'\x66'569 values=float2bytes(position)570 self._run_command(command+identifier+values,'motor_tx')571 def move_by_dist(self,distance,speed=None,identifier=b'\x00\x00'):572 """573 Move the motor by the specified relative 'distance' from the current position at the 'speed'.574 If the speed is None, move at the speed set by 0x58: set_speed.575 """576 if speed is not None:577 command=b'\x67'578 values=float2bytes(distance)+float2bytes(speed)579 else:580 command=b'\x68'581 values=float2bytes(distance)582 self._run_command(command+identifier+values,'motor_tx')583 def move_to_pos_wait(self,position,speed=None,identifier=b'\x00\x00'):584 """585 Move the motor to the specified absolute 'position' at the 'speed'.586 It pauses the queue to handle commands in motor side at the same time.587 "Queue" will resume automatically if it arrives at the target position.588 See "set_notify_pos_arrival_settings" to change parameters such as the tolerance.589 If the speed is None, move at the speed set by 0x58: set_speed.590 """591 if speed is not None:592 command=b'\x75'593 values=float2bytes(position)+float2bytes(speed)594 else:595 command=b'\x76'596 values=float2bytes(position)597 self._run_command(command+identifier+values,'motor_tx')598 def move_by_dist_wait(self,distance,speed=None,identifier=b'\x00\x00'):599 """600 Move the motor by the specified relative 'distance' from the current position at the 'speed'.601 It pauses the queue to handle commands in motor side at the same time.602 The queue will be resumed automatically if it arrives at the target position.603 See "set_notify_pos_arrival_settings" to change parameters such as the tolerance.604 If the speed is None, move at the speed set by 0x58: set_speed.605 """606 if speed is not None:607 command=b'\x77'608 values=float2bytes(distance)+float2bytes(speed)609 else:610 command=b'\x78'611 values=float2bytes(distance)612 self._run_command(command+identifier+values,'motor_tx')613 def disable_action_task(self,identifier=b'\x00\x00'):614 """615 Disable motor action. (Firmware ver. requires >= 2.42)616 This function can be stored in taskset, while disable_action() cannot be stored.617 """ 618 command=b'\x6A'619 self._run_command(command+identifier,'motor_tx') 620 def enable_action_task(self,identifier=b'\x00\x00'):621 """622 Enable motor action. (Firmware ver. requires >= 2.42)623 This function can be stored in taskset, while enable_action() cannot be stored.624 """ 625 command=b'\x6B'626 self._run_command(command+identifier,'motor_tx') 627 def free_motor(self,identifier=b'\x00\x00'):628 """629 Stop the motor's excitation630 """631 command=b'\x6C'632 self._run_command(command+identifier,'motor_tx')633 def stop_motor(self,identifier=b'\x00\x00'):634 """635 Decelerate the speed to zero and stop.636 """637 command=b'\x6D'638 self._run_command(command+identifier,'motor_tx')639 def hold_torque(self,torque,identifier=b'\x00\x00'):640 """641 Keep and output the specified torque.642 """643 command=b'\x72'644 values=float2bytes(torque)645 self._run_command(command+identifier+values,'motor_tx')646 def start_doing_taskset(self,index,repeating,identifier=b'\x00\x00'):647 """648 Do taskset at the specified 'index' 'repeating' times.649 """650 command=b'\x81'651 values=uint16_t2bytes(index)+uint32_t2bytes(repeating)652 self._run_command(command+identifier+values,'motor_tx')653 def stop_doing_taskset(self,identifier=b'\x00\x00'):654 """655 Stop doing the current taskset.656 """657 command=b'\x82'658 self._run_command(command+identifier,'motor_tx')659 def start_playback_motion(self,index,repeating,option,identifier=b'\x00\x00'):660 """661 Start to playback motion at the specified 'index' 'repeating' times.662 """663 command=b'\x85'664 values=uint16_t2bytes(index)+uint32_t2bytes(repeating)+uint8_t2bytes(option)665 self._run_command(command+identifier+values,'motor_tx')666 def prepare_playback_motion(self,index,repeating,option,identifier=b'\x00\x00'):667 """668 Prepare to playback motion at the specified 'index' 'repeating' times.669 """670 command=b'\x86'671 values=uint16_t2bytes(index)+uint32_t2bytes(repeating)+uint8_t2bytes(option)672 self._run_command(command+identifier+values,'motor_tx')673 def start_playback_motion_from_prep(self,identifier=b'\x00\x00'):674 """675 Start to playback motion in the condition of the last preparePlaybackMotion.676 """677 command=b'\x87'678 self._run_command(command+identifier,'motor_tx')679 def stop_playback_motion(self,identifier=b'\x00\x00'):680 """681 Stop to playback motion.682 """683 command=b'\x88'684 self._run_command(command+identifier,'motor_tx')685 # Queue686 def pause_queue(self,identifier=b'\x00\x00'):687 """688 Pause the queue until 0x91: resume is executed.689 """690 command=b'\x90'691 self._run_command(command+identifier,'motor_tx')692 def resume_queue(self,identifier=b'\x00\x00'):693 """694 Resume the queue.695 """696 command=b'\x91'697 self._run_command(command+identifier,'motor_tx')698 def wait_queue(self,waittime,identifier=b'\x00\x00'):699 """700 Wait the queue or pause the queue for the specified 'time' in msec and resume it automatically.701 """702 command=b'\x92'703 values=uint32_t2bytes(waittime)704 self._run_command(command+identifier+values,'motor_tx')705 def clear_queue(self,identifier=b'\x00\x00'):706 """707 Clear the queue. Erase all tasks in the queue. This command works when 0x90: pause or 0x92: wait are executed.708 """709 command=b'\x95'710 self._run_command(command+identifier,'motor_tx')711 def wait_queue_until_input(self, pin, event=2, timeout=0, sub_pin1=0xFF, sub_state1=0, sub_pin2=0xFF, sub_state2=0, sub_pin3=0xFF, sub_state3=0, identifier=b'\x00\x00'):712 """713 Wait the queue or pause the queue for the specified GPIO digital pin event.714 It is resumd automatically if timeout[ms] passed.715 event parameter is as follows.716 -----------717 1: RISING (Low to High) 718 2: FALLING (High to Low)719 -----------720 """721 command=b'\x96'722 values=uint8_t2bytes(pin)+uint8_t2bytes(event)+uint32_t2bytes(timeout)+uint8_t2bytes(sub_pin1)+uint8_t2bytes(sub_state1)+uint8_t2bytes(sub_pin2)+uint8_t2bytes(sub_state2)+uint8_t2bytes(sub_pin3)+uint8_t2bytes(sub_state3)723 self._run_command(command+identifier+values,'motor_tx') 724 # Taskset725 def start_recording_taskset(self,index,identifier=b'\x00\x00'):726 """727 Start recording taskset at the specified 'index' in the flash memory.728 In the case of KM-1, index value is from 0 to 49 (50 in total).729 """730 command=b'\xA0'731 values=uint16_t2bytes(index)732 self._run_command(command+identifier+values,'motor_tx')733 def stop_recording_taskset(self,identifier=b'\x00\x00'):734 """735 Stop recording taskset.736 This command works while 0xA0: startRecordingTaskset is executed.737 """738 command=b'\xA2'739 self._run_command(command+identifier,'motor_tx')740 def erase_taskset(self,index,identifier=b'\x00\x00'):741 """742 Erase taskset at the specified index in the flash memory.743 In the case of KM-1, index value is from 0 to 49 (50 in total).744 """745 command=b'\xA3'746 values=uint16_t2bytes(index)747 self._run_command(command+identifier+values,'motor_tx')748 def erase_all_tasksets(self,identifier=b'\x00\x00'):749 """750 Erase all tasksets in the flash memory.751 """752 command=b'\xA4'753 self._run_command(command+identifier,'motor_tx')754 def set_trigger_taskset_settings(self,index,repeating,identifier=b'\x00\x00'):755 """756 Set taskset settings by trigger such as button757 """758 command=b'\xA8'759 values=uint16_t2bytes(index)+uint32_t2bytes(repeating)760 self._run_command(command+identifier+values,'motor_tx')761 # Teaching762 def start_teaching_motion(self,index,time_ms,identifier=b'\x00\x00'):763 """764 Start teaching motion without preparing by specifying the 'index' in the flash memory and recording 'time' in milliseconds.765 In the case of KM-1, index value is from 0 to 9 (10 in total). Recording time cannot exceed 65408 [msec].766 """767 command=b'\xA9'768 values=uint16_t2bytes(index)+uint32_t2bytes(time_ms)769 self._run_command(command+identifier+values,'motor_tx')770 def prepare_teaching_motion(self,index,time_ms,identifier=b'\x00\x00'):771 """772 Prepare teaching motion by specifying the 'index' in the flash memory and recording 'time' in milliseconds.773 In the case of KM-1, index value is from 0 to 9 (10 in total). Recording time cannot exceed 65408 [msec].774 """775 command=b'\xAA'776 values=uint16_t2bytes(index)+uint32_t2bytes(time_ms)777 self._run_command(command+identifier+values,'motor_tx')778 def start_teaching_motion_from_prep(self,identifier=b'\x00\x00'):779 """780 Start teaching motion in the condition of the last prepareTeachingMotion.781 This command works when the teaching index is specified by 0xAA: prepareTeachingMotion.782 """783 command=b'\xAB'784 self._run_command(command+identifier,'motor_tx')785 def stop_teaching_motion(self,identifier=b'\x00\x00'):786 """787 Stop teaching motion.788 """789 command=b'\xAC'790 self._run_command(command+identifier,'motor_tx')791 def erase_motion(self,index,identifier=b'\x00\x00'):792 """793 Erase motion at the specified index in the flash memory.794 In the case of KM-1, index value is from 0 to 9 (10 in total).795 """796 command=b'\xAD'797 values=uint16_t2bytes(index)798 self._run_command(command+identifier+values,'motor_tx')799 def erase_all_motions(self,identifier=b'\x00\x00'):800 """801 Erase all motions in the flash memory.802 """803 command=b'\xAE'804 self._run_command(command+identifier,'motor_tx')805 def set_trigger_motion_settings(self,index,repeating,option,autoStart,identifier=b'\x00\x00'):806 """807 Set playback motion settings by trigger such as button808 """809 command=b'\xB2'810 values=uint16_t2bytes(index)+uint32_t2bytes(repeating)+uint8_t2bytes(option)+uint8_t2bytes(autoStart)811 self._run_command(command+identifier+values,'motor_tx')812 def read_motion(self,index,read_comp_cb,identifier=b'\x00\x00'):813 """814 Externally output the motion stored by direct teaching. (Motor farm ver>=2.0)815 It is valid only for a wired connection(USB).816 callback signature817 read_comp_cb(motion_index,motion_value[])818 """819 command=b'\xB7'820 values = uint16_t2bytes(index)821 self._run_command(command + identifier + values, 'motor_tx')822 self.on_read_motion_read_comp_cb=read_comp_cb823 return True824 def write_motion_position(self,position,identifier=b'\x00\x00'):825 """826 Record one coordinate of movement from the outside. (Motor farm ver>=2.0)827 It is valid only for a wired connection(USB).828 â» This command can not be accepted unless it is in prepareTeaching state.What to do after running "prepareTeachingMotion"829 â» This command records coordinates one by one. If one record is made, it will be waiting to record the next coordinate.830 â» After recording coordinates with this command, recording can not be completed normally unless stopTeaching is executed.831 """832 command=b'\xB8'833 values = float2bytes(position)834 self._run_command(command + identifier + values, 'motor_tx')835 # LED836 def set_led(self,ledState,red,green,blue,identifier=b'\x00\x00'):837 """838 Set the LED state (off, solid, flash and dim) and color intensity (red, green and blue).839 typedef enum ledState =840 {841 LED_STATE_OFF = 0, // LED off842 LED_STATE_ON_SOLID = 1, // LED solid843 LED_STATE_ON_FLASH = 2, // LED flash844 LED_STATE_ON_DIM = 3 // LED dim845 }846 """847 command=b'\xE0'848 values=uint8_t2bytes(ledState)+uint8_t2bytes(red)+uint8_t2bytes(green)+uint8_t2bytes(blue)849 self._run_command(command+identifier+values,"motor_tx")850 def enable_continual_motor_measurement(self,identifier=b'\x00\x00'):851 """852 Enable the motor measurement and start continual notification of the measurement values.853 """854 command=b'\xE6'855 self._run_command(command+identifier,'motor_tx')856 def disable_continual_motor_measurement(self,identifier=b'\x00\x00'):857 """858 Disable the motor measurement and stop notification of the measurement values.859 """860 command=b'\xE7'861 self._run_command(command+identifier,'motor_tx')862 # IMU863 def enable_continual_imu_measurement(self,identifier=b'\x00\x00'):864 """865 Enable the IMU and start notification of the measurement values.866 """867 command=b'\xEA'868 self._run_command(command+identifier,'motor_tx')869 def disable_continual_imu_measurement(self,identifier=b'\x00\x00'):870 """871 Disable the IMU and stop notification of the measurement values.872 """873 command=b'\xEB'874 self._run_command(command+identifier,'motor_tx')875 # System876 def reboot(self,identifier=b'\x00\x00'):877 """878 Reboot the system.879 """880 command=b'\xF0'881 self._run_command(command+identifier,'motor_tx')882 def enable_check_sum(self,identifier=b'\x00\x00'):883 command=b'\xF3'884 self._run_command(command+identifier,'motor_tx')885 def enter_device_firmware_update(self,identifier=b'\x00\x00'):886 """887 Enter the device firmware update mode or bootloader mode. It goes with reboot.888 """889 command=b'\xFD'890 self._run_command(command+identifier,'motor_tx')891 def read_max_speed(self):892 """893 Read the current maximum speed of rotation 'max_speed' in rad/sec.894 """895 return self._read_setting_value(0x02)896 def read_min_speed(self):897 """898 Read the current minimum speed of rotation 'min_speed' in rad/sec.899 """900 return self._read_setting_value(0x03)901 def read_curve_type(self):902 """903 Read the current acceleration or deceleration curve 'curve_type'.904 typedef enum curveType =...
util.py
Source:util.py
2 '''3 Splice testing exception4 '''5 pass6def _run_command(connection, command, timeout=60, get_pty=False):7 """ Run a command and raise exception in case of timeout or none-zero result """8 status = connection.recv_exit_status(command, timeout, get_pty=get_pty)9 if status is not None and status != 0:10 raise SpliceTestFailed("Failed to run %s: got %s return value\nSTDOUT: %s\nSTDERR: %s" % (command, status, connection.last_stdout, connection.last_stderr))11 elif status is None:12 raise SpliceTestFailed("Failed to run %s: got timeout %s\nSTDOUT: %s\nSTDERR: %s" % (command, timeout, connection.last_stdout, connection.last_stderr))13def run_sst(connection, spacewalk_only=False, splice_only=False, timeout=120):14 """ Run spacewalk-splice-tool """15 command = "sudo -u splice spacewalk-splice-checkin"16 if spacewalk_only:17 command += " --spacewalk-sync"18 elif splice_only:19 command += " --splice-sync"20 # changing system date21 _run_command(connection, "[ ! -z \"`spacewalk-report fake-checkin-date`\" ] && date -s \"`spacewalk-report fake-checkin-date`\" && katello-service restart && sleep 10 ||:", 3 * timeout)22 _run_command(connection, command, timeout, get_pty=True)23def fake_spacewalk_env(connection, test_name):24 """ Select test with fake spacewalk """25 _run_command(connection, "spacewalk-report-set %s" % test_name)26def fake_spacewalk_step(connection):27 """ Step to next data """28 _run_command(connection, "spacewalk-report-set -n")29def sst_step(connection, fake_spacewalk_connection=None, timeout=120):30 """ Run sst and step to next data (iteration) """31 run_sst(connection, timeout=timeout)32 if fake_spacewalk_connection is None:33 fake_spacewalk_step(connection)34 else:35 fake_spacewalk_step(fake_spacewalk_connection)36def cleanup_katello(connection, katello, keep_splice=False, full_reset=False):37 """ Clean up katello and splice databases """38 if full_reset:39 _run_command(connection, "katello-configure --no-bars --user-pass='%s' --reset-data=YES" % katello.password, 900)40 else:41 for org in katello.list_organizations():42 if org['id'] != 1:43 # keeping default org44 katello.delete_organization(org['label'])45 for role in katello.list_roles():46 if not role['id'] in [1, 2]:47 # keeping default roles48 katello.delete_role(role['id'])49 if not keep_splice:50 _run_command(connection, "service splice_all stop ||:")51 _run_command(connection, "mongo checkin_service --eval 'db.dropDatabase()'")52 _run_command(connection, "service splice_all start ||:")53def parse_report_json(report):54 """ Read json report and figure out important facts """55 result = {}56 result["total_number_of_instances"] = len(report)57 result["number_of_current"] = sum(1 for instance in report if instance['entitlement_status']['status'] == 'valid')58 result["number_of_insufficient"] = sum(1 for instance in report if instance['entitlement_status']['status'] == 'partial')59 result["number_of_invalid"] = sum(1 for instance in report if instance['entitlement_status']['status'] == 'invalid')...
services.py
Source:services.py
...5from pyholecli import settings6class RunnableBaseClass:7 def __init__(self, connection):8 self._c = connection9 def _run_command(self, *args, **kwargs):10 return run_command(self._c, *args, **kwargs)11 def _put_file(self, local, remote, *args, **kwargs):12 return put_file(self._c, local, remote, *args, **kwargs)13class HostnameUtility(RunnableBaseClass):14 hosts_file = settings.LOCAL_HOSTNAME_FILENAME15 @property16 def hosts(self):17 if not hasattr(self, '_hosts'):18 result = self._run_command('cat', self.hosts_file, hide=True)19 self._hosts = Hosts.from_hosts_string(result.stdout)20 return self._hosts21 def get_host(self, hostname):22 try:23 return self.hosts[hostname]24 except KeyError:25 message = 'Could not find hostname {}'.format(hostname)26 raise HostnameNotFound(message)27 def set_host(self, hostname, ip):28 self.hosts[hostname] = Host(hostname, ip)29 self._write_hosts()30 def remove_hosts(self, hostnames):31 hostnames = [hostnames] if isinstance(hostnames, str) else hostnames32 for hostname in hostnames:33 try:34 del self.hosts[hostname]35 except KeyError:36 message = 'Could not find hostname {}'.format(hostname)37 raise HostnameNotFound(message)38 self._write_hosts()39 def _write_hosts(self):40 hosts_fd = BytesIO(str(self.hosts).encode('utf-8'))41 self._put_file(hosts_fd, self.hosts_file)42 self._run_command('pihole', 'restartdns')43class PiholeCLI(RunnableBaseClass):44 def _run_command(self, *args, **kwargs):45 return super()._run_command('pihole', *args, **kwargs)46 def status(self):47 return self._run_command('status')48 def enable(self):49 return self._run_command('enable')50 def disable(self):51 return self._run_command('disable')52 def query(self, domain):53 return self._run_command('-q', domain)54 def chronometer(self):55 return self._run_command('-c', pty=True)56 def tail(self):57 return self._run_command('-t', pty=True)58 def blacklist(self, domains):59 return self._run_command('-b', domains)60 def get_blacklisted_domains(self):61 return self._run_command('-b', '-l')62 def remove_blacklisted_domains(self, domains):63 return self._run_command('-b', '-d', domains)64 def whitelist(self, domains):65 return self._run_command('-w', domains)66 def get_whitelisted_domains(self):67 return self._run_command('-w', '-l')68 def remove_whitelisted_domains(self, domains):69 return self._run_command('-w', '-d', domains)70 def wildcard_blacklist(self, domains):71 return self._run_command('-wild', domains)72 def get_wildcard_blacklist(self):73 return self._run_command('-wild', '-l')74 def remove_wildcard_blacklist(self, domains):...
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