simplified scl api

ads1x15/service/ads1x15.py

@@ -28,8 +28,7 @@
  GNU General Public License for more details. """
 
 
-from msgpack import dumps
-from scl import generate_map
+from scl import scl_get_socket
 from opcd_interface import OPCD_Interface
 from misc import daemonize
 from time import sleep
@@ -47,20 +46,14 @@ def read(self):
 
 
 def main(name):
-   map = generate_map(name)
-   socket = map['power']
+   socket = scl_get_socket('voltage', 'pub')
    opcd = OPCD_Interface(map['opcd_ctrl'], 'pi_quad')
    voltage_adc = ADS1x15_ADC(opcd.get('voltage_channel'))
-   #current_adc = ADS1x15_ADC(opcd.get('current_channel'))
    voltage_lambda = eval(opcd.get('adc_to_voltage'))
-   #current_lambda = eval(opcd.get('adc_to_current'))
    while True:
       sleep(0.2)
       voltage = voltage_lambda(voltage_adc.read())  
-      #current = current_lambda(current_adc.read())
-      state = [voltage,  # 0 [V]
-               0.4]      # 1 [A]
-      socket.send(dumps(state))
+      socket.send([voltage])
 
 
 daemonize('ads1x15', main)

aircomm/service/aircomm.py

@@ -72,7 +72,7 @@ def run(self):
                addr = msg[0]
                # if message is meant for us, forward to application(s):
                if addr in [THIS_SYS_ID, BCAST, BCAST_NOFW]:
-                  msg_scl = dumps(msg[1:]) # strip the type and pack again
+                  msg_scl = msg[1:] # strip the type
                   self.scl_socket.send(msg_scl)
 
                # if the message (a) is not meant for us or (b) is NOFW, re-broadcast:
@@ -105,7 +105,7 @@ def main(name):
 
    # read from SCL in socket and send data via NRF
    while True:
-      data = loads(in_socket.recv())
+      data = in_socket.recv()
       if len(data) == 2:
          msg = [data[0], THIS_SYS_ID, data[1]]
       elif len(data) > 2:

api/ctrl_api.py

@@ -27,7 +27,6 @@
 
 
 from scl import scl_get_socket
-from msgpack import dumps
 
 
 ### PRIVATE API: ###
@@ -42,7 +41,7 @@ def set(self, state):
       assert state == 0 or state == 1
       if self.prev_state != state:
          for s in self.sockets:
-            s.send(dumps(state))
+            s.send(state)
       self.prev_state = state
 
 
@@ -105,37 +104,37 @@ def set(self, state):
 
 def mot_en(val):
    """enables (True) or disables (False) the motors"""
-   _mot_en.send(dumps(int(val)))
+   _mot_en.send(int(val))
 
 
 def set_ys(val):
    """sets the yaw speed in rad/s"""
    _rp_y_oe.set(0)
-   _rs_sp_y.send(dumps(float(val)))
+   _rs_sp_y.send(float(val))
 
 
 def set_yp(val):
    """sets yaw position in rad, North direction is 0, rotating right positive"""
    _rp_y_oe.set(1)
-   _rp_sp_y.send(dumps(float(val)))
+   _rp_sp_y.send(float(val))
 
 
 def set_thrust(val):
    """sets the overall thrust value in Newtons"""
    _vs_oe.set(0)
-   _thrust.send(dumps(float(val)))
+   _thrust.send(float(val))
 
 
 def set_thrust_max(val):
    """sets upper thrust limit, used as a safety feature in autonomous flight"""
-   _thrust_max.send(dumps(float(val)))
+   _thrust_max.send(float(val))
 
 
 def set_vs(val):
    """sets vertical speed based on barometer speed estimate"""
    _vs_oe.set(1)
    _vp_oe.set(0)
-   _vs_sp.send(dumps(float(val)))
+   _vs_sp.send(float(val))
 
 
 def set_vp(val, mode = 'ultra'):
@@ -146,31 +145,31 @@ def set_vp(val, mode = 'ultra'):
       - evel: baro control accoding to SRTM elevation map (val: safety distance)"""
    _vs_oe.set(1)
    _vp_oe.set(1)
-   _vp_sp.send(dumps([str(mode), float(val)]))
+   _vp_sp.send([str(mode), float(val)])
 
 
 def set_torques(vec):
    """sets 3D torques directly, without control; this is intended for debugging or calibration, not for flying!"""
    _rs_oe.set(0)
    vec = map(float, vec)
-   _torques.send(dumps(vec))
+   _torques.send(vec)
 
 
 def set_rs(vec):
    """sets the rotation speed of pitch and roll"""
    _rs_oe.set(1)
    _rp_oe.set(0)
-   _rs_sp_p.send(dumps(float(vec[0])))
-   _rs_sp_r.send(dumps(float(vec[1])))
+   _rs_sp_p.send(float(vec[0]))
+   _rs_sp_r.send(float(vec[1]))
 
 
 def set_rp(vec):
    """sets the rotation position of pitch and roll"""
    _rs_oe.set(1)
    _rp_oe.set(1)
    _hs_oe.set(0)
-   _rp_sp_p.send(dumps(float(vec[0])))
-   _rp_sp_r.send(dumps(float(vec[1])))
+   _rp_sp_p.send(float(vec[0]))
+   _rp_sp_r.send(float(vec[1]))
 
 
 def set_hs(vec):
@@ -179,8 +178,8 @@ def set_hs(vec):
    _rp_oe.set(1)
    _hs_oe.set(1)
    _hp_oe.set(0)
-   _hs_sp_n.send(dumps(float(vec[0])))
-   _hs_sp_e.send(dumps(float(vec[1])))
+   _hs_sp_n.send(float(vec[0]))
+   _hs_sp_e.send(float(vec[1]))
 
 
 def set_hp(vec):
@@ -189,8 +188,8 @@ def set_hp(vec):
    _rp_oe.set(1)
    _hs_oe.set(1)
    _hp_oe.set(1)
-   _hp_sp_n.send(dumps(float(vec[0])))
-   _hp_sp_e.send(dumps(float(vec[1])))
+   _hp_sp_n.send(float(vec[0]))
+   _hp_sp_e.send(float(vec[1]))
 
 
 if __name__ == '__main__':

battmon/service/battmon.py

@@ -27,7 +27,6 @@
 
 
 from misc import Hysteresis
-from msgpack import loads, dumps
 from scl import scl_get_socket, SCL_Reader
 from opcd_interface import OPCD_Interface
 from misc import daemonize
@@ -60,14 +59,14 @@ def main(name):
    low_cell_voltage_load = opcd.get('battmon.low_cell_voltage_load')
    current_treshold = opcd.get('battmon.current_treshold')
    vmax = cells * 4.1
-   voltage = loads(voltage_socket.recv())[0]
+   voltage = voltage_socket.recv()[0]
    vmin_idle = cells * low_cell_voltage_idle
    vmin_load = cells * low_cell_voltage_load
    time_prev = time()
    critical = False
    while True:
       current = current_reader.data[0]
-      voltage = loads(voltage_socket.recv())[0]
+      voltage = voltage_socket.recv()[0]
       time_prev = time()
       if current < current_treshold:
           vmin = vmin_idle
@@ -80,7 +79,7 @@ def main(name):
       if critical:
          warning()
       percent = min(1.0, max(0.0, (voltage - vmin) / (vmax - vmin)))
-      battery_socket.send(dumps((percent, critical)))
+      battery_socket.send([percent, critical])
 
 
 daemonize('battmon', main)

cmc/tools/cmc_util.py

@@ -27,20 +27,16 @@
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details. """
 
-
+from ctrl_api import *
 from geomath import rad2deg
 from numpy import array
 import numpy as np
 from scl import scl_get_socket, SCL_Reader
 from opcd_interface import OPCD_Interface
 from time import sleep
 from threading import Thread
-from msgpack import loads, dumps
 
 
-thrust_socket = scl_get_socket('thrust', 'pub')
-torques_socket = scl_get_socket('torques', 'pub')
-mot_en_socket = scl_get_socket('mot_en', 'push')
 mag = SCL_Reader('mag_adc_cal', 'sub', [0.0, 0.0, 0.0])
 curr = SCL_Reader('current', 'sub', [0.0])
 int_en = SCL_Reader('int_en', 'sub', 1)
@@ -53,10 +49,10 @@
 
 # start motors:
 sleep(1)
-mot_en_socket.send(dumps(1))
+mot_en(True)
 for i in range(10000):
-   thrust_socket.send(dumps(0.0))
-   torques_socket.send(dumps([0.0, 0.0, 0.0]))
+   set_thrust(0.0)
+   set_torques([0.0, 0.0, 0.0])
 
 # increase gas and store measurements:
 o_start = orientation.data[0]
@@ -65,15 +61,15 @@
    thrust = 0.0
    while True:
       thrust += 0.01
-      thrust_socket.send(dumps(thrust))
-      torques_socket.send(dumps([0.0, 0.0, 0.0]))
+      set_thrust(thrust)
+      set_torques([0.0, 0.0, 0.0])
       meas.append([curr.data[0]] + mag.data)
       sleep(0.01)
       print 'error:', rad2deg(o_start - orientation.data[0])
       #if not int_en.data:
       #    break
 finally:
-   mot_en_socket.send(dumps(0))
+   mot_en(False)
 
 opcd = OPCD_Interface()
 

elevmap/service/elevmap.py

@@ -29,7 +29,6 @@
 from scl import scl_get_socket
 from misc import daemonize, RateTimer
 from gps_msgpack import *
-from msgpack import loads, dumps
 from srtm import SrtmElevMap
 
 
@@ -39,9 +38,10 @@ def main(name):
    elev_socket = scl_get_socket('elev', 'pub')
    rt = RateTimer(2.0)
    while True:
-      gps = loads(gps_socket.recv())
+      gps = gps_socket.recv()
       if rt.expired():
          elev = elev_map.lookup((gps[LON], gps[LAT]))
-         elev_socket.send(dumps(elev))
+         elev_socket.send(elev)
+
 
 daemonize('elevmap', main)

flight_detect/service/flight_detect.py

@@ -28,14 +28,13 @@
 
 from misc import daemonize
 from scl import scl_get_socket
-from msgpack import loads, dumps
 from numpy import var
 
 
 def main(name):
    acc_socket = scl_get_socket('acc_neu', 'sub')
    flying_socket = scl_get_socket('flying', 'pub')
-   acc_vec = loads(acc_socket.recv())
+   acc_vec = acc_socket.recv()
 
    size = 80
    histn = [acc_vec[0]] * size
@@ -44,7 +43,7 @@ def main(name):
 
    i = 0
    while True:
-      acc_vec = loads(acc_socket.recv())
+      acc_vec = acc_socket.recv()
       i += 1
       if i < 4:
          continue
@@ -57,7 +56,7 @@ def main(name):
       else:
          s = 0
       if s != sp:
-         flying_socket.send(dumps(s))
+         flying_socket.send(s)
       sp = s
 
 daemonize('flight_detect', main)

flight_logic/manual_logic.py

@@ -28,7 +28,6 @@
 
 from sticks import *
 from scl import scl_get_socket, SCL_Reader
-from msgpack import dumps, loads
 from time import sleep
 from geomath import vec2_rot
 from ctrl_api import *
@@ -59,7 +58,7 @@ def mot_en_cb(gesture):
    hold_baro = None
    pos_locked = None
    while True:
-      rc_data = loads(rc_socket.recv())
+      rc_data = rc_socket.recv()
       if rc_data[0]:
          pitch_stick, roll_stick, yaw_stick, gas_stick, on_switch, mode_switch = rc_data[1:7]
          mot_en(on_switch > 0.5)

geomag/service/geomag.py

@@ -33,7 +33,6 @@
 from time import time
 from datetime import datetime
 from gps_msgpack import *
-from msgpack import loads, dumps
 from math import pi
 
 
@@ -44,13 +43,12 @@ def main(name):
    decl_socket = scl_get_socket('decl', 'pub')
    rt = RateTimer(1)
    while True:
-      raw = gps_socket.recv()
+      gps = gps_socket.recv()
       if rt.expired():
-         gps = loads(raw)
          try:
             date = datetime.strptime(gps[TIME], '%Y-%m-%d %H:%M:%S').date()
             decl = pi * gm.GeoMag(gps[LAT], gps[LON], time = date).dec / 180.0
-            decl_socket.send(dumps(decl))
+            decl_socket.send(decl)
          except:
             pass
 

heartbeat/service/heartbeat.py

@@ -32,7 +32,6 @@
 from scl import generate_map
 from math import sin, cos, pi
 from misc import daemonize, RateTimer
-from msgpack import loads, dumps
 from aircomm_shared import BCAST_NOFW, HEARTBEAT
 from gps_msgpack import *
 
@@ -45,11 +44,8 @@
 def gps_reader():
    global gps
    socket = socket_map['gps']
-   rt = RateTimer(1)
    while True:
-      data = socket.recv()
-      if rt.expired():
-         gps = loads(data)
+      gps = socket.recv()
 
 
 def cpu_reader():
@@ -67,7 +63,7 @@ def pm_reader():
    s = socket_map['powerman']
    global voltage, current, critical
    while True:
-      _voltage, _current, _, critical = loads(s.recv())
+      _voltage, _current, _, critical = s.recv()
       if voltage is None:
          voltage = _voltage
       else:
@@ -109,7 +105,7 @@ def main(name):
             data += [gps[LAT], gps[LON]]
          except:
             pass
-         socket.send(dumps(data))
+         socket.send(data)
       except Exception, e:
          print e
       sleep(1.0)