Update MINTlisten.py

mintpatch/MINTlisten.py

@@ -103,8 +103,8 @@ def listen():
 
 
     # END LOOP
-    print("Thank you for using MintPatch!")
+    #rint("Thank you for using MintPatch!")
     listener.disconnect("tcp://127.0.0.1:4242")
 
 if __name__ == '__main__':
-    listen()
+    listen()

mintpatch/MINTpatchServer.py

@@ -31,7 +31,7 @@ def print_servo(self):
 
         # Prints the info out in one line as a formatted string.
         # Every element is seperated by a space.
-        return '{id} {state} {voltage} {temp} {pos} {speed}'.format(id = self.output_name, 
+        return '\"id\": {id}, \"state\": {state}, \"voltage\": {voltage}, \"temp\": {temp}, \"position\": {pos}, \"speed\": {speed}'.format(id = self.output_name, 
         state = state, voltage = idict["voltage"], temp = idict["temperature"], 
         pos = idict["position"], speed = idict["speed"])
 
@@ -158,9 +158,9 @@ def running_update(self, console_input, input_length):
             self.update_motor(rmotor)
 
         #Returns a string with all motor info
-        motor_info=''
+        motor_info=[]
         for servo_log in self.log_list:
-            motor_info=motor_info+self.log_list[servo_log].print_servo()+'\n'
+            motor_info.append(str(self.log_list[servo_log].print_servo()))
 
         return motor_info
 

mintpatch/fakeProxy.py

@@ -1,3 +1,4 @@
+#Nathan Moder
 
 from emulatedMotor import tm1
 from emulatedMotor import tm2
@@ -17,15 +18,77 @@ def __init__(self,
     readback_echo=False,
     protocol_version=2.0):
     self.motors=[]
+    self.port_name=port_name
     if(port_namespace=='port_1'):
       #self.motors[0]=tm1
       self.motors.append(1)
       #self.motors[1]=tm2
-      self.motors.append(5)
+      self.motors.append(15)
     if(port_namespace=='port_2'):
-      self.motors.append(1)
+      self.motors.append(110)
     #print("proxy init")
   def connect(self):
     self.__find_motors()
   def __find_motors(self):
     a=1
+  def set_goal_position(self, servo_id, goal):
+        #print(self.port)
+        if self.port_name=="/dev/port_1":
+            #print(servo_id)
+            if 1==int(servo_id):
+                #print("into if")
+                tm1.set_goal_speed(goal)
+            elif int(servo_id)==15:
+                tm2.set_goal_speed(goal)
+        elif self.port_name=="/dev/port_2":
+            if int(servo_id)==110:
+                tm3.set_goal_speed(goal)
+
+  def get_feedback(self,servo_id):
+    if self.port_name=="/dev/port_1":
+      if int(servo_id)==1:
+        if tm1.moving:
+          tm1.check_while_running()
+        return {
+              'id':tm1.id,
+              'goal': 0,
+              'position': tm1.angle,
+              'error' : 0,
+              'speed' : tm1.speed,
+              'load' : 0,
+              'voltage' : tm1.voltage,
+              'temperature' : tm1.temperature,
+              'moving' : tm1.moving
+              }
+      if int(servo_id)==15:
+        if tm2.moving:
+          tm2.check_while_running()
+        return {
+              'id':tm2.id,
+              'goal': 0,
+              'position': tm2.angle,
+              'error' : 0,
+              'speed' : tm2.speed,
+              'load' : 0,
+              'voltage' : tm2.voltage,
+              'temperature' : tm2.temperature,
+              'moving' : tm2.moving
+              }
+    if self.port_name=="/dev/port_2":
+      if int(servo_id)==110:
+        if tm3.moving:
+          tm3.check_while_running()
+        return {
+          'id':tm3.id,
+          'goal': 0,
+          'position': tm3.angle,
+          'error' : 0,
+          'speed' : tm3.speed,
+          'load' : 0,
+          'voltage' : tm3.voltage,
+          'temperature' : tm3.temperature,
+          'moving' : tm3.moving
+          }
+    return 'no such servo'
+  def set_torque_enabled(self, sid, thing):
+    a=1

mintpatch/fakeWrapper.py

@@ -80,3 +80,4 @@ def get_feedback(self,servo_id):
         return 'no such servo'
 
 
+

mintpatch/startup.py

@@ -1,4 +1,3 @@
-
 """
 The startup code for MintPatch.
 Nathan Moder & M. Arnett
@@ -18,35 +17,39 @@
 import zerorpc
 
 def main():
-    # """
+    """
     # Setttings for configuring our pinging to the motors.
     settings_set = {}
+
     # Get the port name through a system call
     raw_port_command = os.popen("ls /dev/ttyUSB*")
     raw_ports = raw_port_command.read()
     port_list_raw = raw_ports.split()
     port_list = []
+
     # Real motors, and matches the launch file simple_l_arm_controller_manager.launch
+    # port_list = {port}
     settings = {
         'baudrate': 1000000,
         'minID': 1,
         'maxID': 40,
         'updateRate' : 20,
         'diagnosticsRate' : 1
     }
+
     # Get Port List without /dev/
     for raw_port in port_list_raw:
         port = raw_port.replace('/dev/', '')
         settings_set[port] = settings
         port_list.append(port)
-    # """
+    """
 
     #This seperate code with the emulated servos included in the directory.
     #Comment it out when using real motors
     """
     DO NOT REMOVE THIS CODE! Our team has members without constant access to real motors.
     """
-    """
+    #"""
     settings_set = {}
     port_list={'port_1','port_2'}
     settings={
@@ -58,14 +61,16 @@ def main():
     }
     settings_set['port_1']=settings
     settings_set['port_2']=settings
-    """
+    #"""
 
     # Making robot manager, and basically listening in on the GUI translator
     manager = RobotManager(port_list, settings_set)
-    translator = zerorpc.Server(ServerManager(manager))
+    SM_Instance=ServerManager(manager)
+    SM_Instance.scan(1,1)
+    translator = zerorpc.Server(SM_Instance)
     translator.bind("tcp://0.0.0.0:4242")
     translator.run()
 
 
 if __name__ == '__main__':
-    main()
+    main()