Changeset 424

Timestamp:

02/25/09 16:16:59 (3 years ago)

Author:

mosttw

Message:

Tweaks

Location:

trunk/software/rb

Files:

• drive.py (modified) (8 diffs)
• gui/gui.py (modified) (5 diffs)

trunk/software/rb/drive.py

@@ -91 +91 @@
                 corresponding data. If data is None, it will not be set
                 '''
-                if lt_data == None:
+                if lt_data is None:
                         l = None
                 else:
                         l = self.left._send(type,  *lt_data)
-                if rt_data == None:
+                if rt_data is None:
                         r = None
                 else:
@@ -112 +112 @@
                 '''
                 #print "Drive.setspeed: %f, %f" % (left, right)
-                self.left.target  = clip(left,  -1.0, 1.0)*MAX
-                self.right.target = clip(right, -1.0, 1.0)*MAX
+                self.left.target  = clip(left,  -1.0, 1.0) * MAX
+                self.right.target = clip(right, -1.0, 1.0) * MAX
 
         def getspeed(self):
-                return (float(self.left._send( "getspeed")*50*60/256) / MAX,
-                        float(self.right._send("getspeed")*50*60/256) / MAX)
+                return (self.left.current, self.right.current)
 
         def disable(self):     return self._split("disable", (), ())
@@ -137 +136 @@
                 self._port_name = port
                 self.running    = True
-                self.target     = 0 # Speed the motor coltrollers should be at
+                self.target     = 0 # Speed the motor controllers should be at
+                self.current    = 0 # Latest reported speed of the motors
                 self._port      = Serial(port, 19200, timeout=.5)
                 sleep(1)
-                #print "wrote: ", self._port.write(chr(14) + chr(0))
-                #print "read: ", len(self._port.read(4))
                 self._port_lock = Lock()
                 start_new_thread(self._main, ())
@@ -150 +148 @@
                         #print "Motor._main: stepping"
                         cur = self._send("getspeed")
-                        if cur != None:
+                        if cur is not None:
                                 #print "updating speed, cur=%d target=%d" % (cur, self.target)
                                 #inc = min(0.05*MAX, abs(self.target - cur))
@@ -158 +156 @@
                                 #       self._send("setspeed", cur - inc)
                                 #else:
+                                self.current = (cur*50*60 / 256.0) / MAX
                                 self._send("setspeed", self.target) # Ping!
                         else:
                                 print "Motor._main: timeout getting speed"
-                        sleep(.1)
+                        sleep(.05)
                 print "Motor._main: exiting"
                 self._send("setspeed", 0)
@@ -167 +166 @@
         def _send(self, type, *t_data):
                 self._port_lock.acquire()
-
-                t, r = messages[type]
-
-                # Transmit query
-                t_st = struct.pack(t['fmt'], *t_data)
-                #print "Motor(%s)._send: %s (%d) - %d bytes" % \
-                #       (self._port_name, type, t['op'], len(t_st))
-                ln = self._port.write(chr(t['op']))
-                self._port.write(chr(len(t_st)))
-                self._port.write(t_st)
-                
-                # Recieve response
-                r_op = self._port.read(1)
-                if len(r_op) != 1:
-                        print "Motor._send: Timeout reading `r_type' from motor controller"
-                elif r_op != chr(r['op']):
-                        print "Motor._send: Recieved incorrect `r_type' (%d) from motor controller" % ord(r_op)
-
-                r_length = self._port.read(1)
-                if len(r_length) != 1:
-                        print "Motor._send: Timeout reading `r_length' from motor controller"
+                try:
+                        t, r = messages[type]
+
+                        # Transmit query
+                        t_st = struct.pack(t['fmt'], *t_data)
+                        #print "Motor(%s)._send: %s (%d) - %d bytes" % \
+                        #       (self._port_name, type, t['op'], len(t_st))
+                        ln = self._port.write(chr(t['op']))
+                        self._port.write(chr(len(t_st)))
+                        self._port.write(t_st)
+                        
+                        # Recieve response
+                        r_op = self._port.read(1)
+                        if len(r_op) != 1:
+                                print "Motor._send: Timeout reading `r_type' from motor controller"
+                        elif r_op != chr(r['op']):
+                                print "Motor._send: Recieved incorrect `r_type' (%d) from motor controller" % ord(r_op)
+
+                        r_length = self._port.read(1)
+                        if len(r_length) != 1:
+                                print "Motor._send: Timeout reading `r_length' from motor controller"
+                                return None
+                        r_length = ord(r_length)
+                        if r_length != struct.calcsize(r['fmt']):
+                                print "Motor._send: Recieved incorrect `r_length' (%d) from motor controller" % r_length
+
+                        if r_length == 0:
+                                return None
+
+                        r_st = self._port.read(r_length)
+                        if len(r_st) != r_length:
+                                print "Motor._send: Timeout reading `r_data' from motor controller"
+                        r_data = struct.unpack(r['fmt'], r_st)
+
+                        if len(r_data) == 1:
+                                # struct's return format is annoying
+                                return r_data[0]
+                        return r_data
+                finally:
                         self._port_lock.release()
-                        return
-                r_length = ord(r_length)
-                if r_length != struct.calcsize(r['fmt']):
-                        print "Motor._send: Recieved incorrect `r_length' (%d) from motor controller" % r_length
-
-                if r_length == 0:
-                        # No need to recieve/unpack structure
-                        self._port_lock.release()
-                        return
-
-                
-                r_st = self._port.read(r_length)
-                if len(r_st) != r_length:
-                        print "Motor._send: Timeout reading `r_data' from motor controller"
-                r_data = struct.unpack(r['fmt'], r_st)
-
-                if (len(r_data) == 1):
-                        # struct's return format is annoying
-                        self._port_lock.release()
-                        return r_data[0]
-
-                self._port_lock.release()
-                return r_data
 
 
@@ -229 +223 @@
                 self.left.target = left
                 self.right.target = right
+        
+        def getspeed(self):
+                return (self.left.target, self.right.target)
 
 
@@ -234 +231 @@
         def __init__(self, *args, **kwargs):
                 self.target = 0
+        
         def _send(type, *t_data):
-                print "sending %s - %s" % (type, repr(t_data))
+                print "FakeMotor sending %s - %s" % (type, repr(t_data))
+        
+        current = property(lambda s: s.target)

trunk/software/rb/gui/gui.py

@@ -9 +9 @@
 from rb.gui.analog   import AnalogWidget
 
+import os.path
+
 # Full path to the GUI definition file
-import os.path
 GTKBUILDER_FILE = os.path.join(os.path.dirname(__file__), 'gui.xml')
 
@@ -19 +20 @@
         
         def __init__(self):
-                # TODO: move analog/digital to other files
                 Controller.__init__(self)
 
@@ -61 +61 @@
                 # Switch tabs
                 elif event.keyval == gtk.keysyms.Tab:
-                        nb.set_current_page(not tab)
-
+                        nb.set_current_page(not tab) # FIXME: make this robust
 
                 # Set motor speeds
@@ -68 +67 @@
                         lo, ro = self.arrow_keys_map[event.keyval]
                         self.set_speed(self.drive.left.target+lo,
-                                       self.drive.right.target+ro)
+                                                        self.drive.right.target+ro)
 
                 # Key not found
@@ -74 +73 @@
                         return False
 
-                # Stop event propigation
+                # Stop event propagation
                 return True