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Added api reconnect
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@IliTheButterfly
IliTheButterfly committed May 10, 2024
1 parent c144bad commit 00c09bd
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Showing 2 changed files with 233 additions and 87 deletions.
290 changes: 213 additions & 77 deletions src/rove_control_board/rove_control_board/api.py
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Original file line number Diff line number Diff line change
@@ -1,3 +1,209 @@
# from enum import Enum, Flag
# from typing import NoReturn
# import capra_micro_comm_py as comm
# from rove_control_board.canutils import CanBusCommandManager

# # manager = comm.SerialCommandManager()
# manager = CanBusCommandManager()

# @manager.enum('H')
# class StatusCode(Enum):
# STNotInitialized = 0
# STInitialized = 1

# @manager.enum('H')
# class ErrorCode(Enum):
# ERNone = 0
# ERAdapterNotInit = 1
# ERServoXNACK = 2
# ERServoYNACK = 3
# ERWinchLocked = 4

# @manager.enum("H")
# class ServoControlMode(Enum):
# SCMNone = 0
# SCMPosition = 1
# SCMSpeed = 2

# @manager.enum("H")
# class WinchMode(Enum):
# WMFreeWheel = 0
# WMBrake = 1
# WMReverse = 2
# WMForward = 3

# @manager.struct('hh')
# class Vector2D(comm.BinaryData):
# def __init__(self, x:int=0, y:int=0):
# super().__init__(x=x, y=y)
# self.x:int
# self.y:int

# @manager.struct('BBBx')
# class RGB(comm.BinaryData):
# def __init__(self, r:int=0,g:int=0,b:int=0):
# super().__init__(r=r,g=g,b=b)
# self.r:int
# self.g:int
# self.b:int

# @manager.struct('_B')
# class RGBLed(comm.BinaryData):
# def __init__(self, rgb:RGB=RGB(), index:int=0,):
# super().__init__(rgb=rgb, index=index)
# self.index:int
# self.rgb:RGB

# @manager.struct('_HH')
# class Report(comm.BinaryData):
# def __init__(self, pos:Vector2D=Vector2D(), statusCode:int=0, errorCode:int=0):
# super().__init__(pos=pos, statusCode=statusCode, errorCode=errorCode)
# self.pos:Vector2D
# self.statusCode:int
# self.errorCode:int

# @manager.struct('ff')
# class Bounds(comm.BinaryData):
# def __init__(self, lower:float=0, upper:float=0):
# super().__init__(lower=lower, upper=upper)
# self.lower:float
# self.upper:float

# @manager.command(Vector2D, comm.Bool_)
# def setServoPosition(pos:Vector2D) -> comm.Bool_:
# pass

# @manager.command(comm.Void, Vector2D)
# def getServoPosition() -> Vector2D:
# pass

# @manager.command(comm.Void, comm.Bool_)
# def setServoPositionZero() -> comm.Bool_:
# pass

# @manager.command(Vector2D, comm.Bool_)
# def setServoSpeed(speed:Vector2D) -> comm.Bool_:
# pass

# @manager.command(comm.Void, Vector2D)
# def getServoSpeed() -> Vector2D:
# pass

# @manager.command(comm.Void, comm.Short)
# def getServoPositionX() -> comm.Short:
# pass

# @manager.command(comm.Void, comm.Short)
# def getServoPositionY() -> comm.Short:
# pass

# @manager.command(comm.Void, comm.Short)
# def getServoSpeedX() -> comm.Short:
# pass

# @manager.command(comm.Void, comm.Short)
# def getServoSpeedY() -> comm.Short:
# pass

# @manager.command(comm.Byte, comm.Bool_)
# def setServoXAcc(acc:comm.Byte) -> comm.Bool_:
# pass

# @manager.command(comm.Byte, comm.Bool_)
# def setServoYAcc(acc:comm.Byte) -> comm.Bool_:
# pass

# @manager.command(comm.Void, comm.Byte)
# def getServoXAcc() -> comm.Byte:
# pass

# @manager.command(comm.Void, comm.Byte)
# def getServoYAcc() -> comm.Byte:
# pass

# @manager.command(comm.Bool_, comm.Bool_)
# def setLEDFront(state:comm.Bool_) -> comm.Bool_:
# pass

# @manager.command(comm.Bool_, comm.Bool_)
# def setLEDBack(state:comm.Bool_) -> comm.Bool_:
# pass

# @manager.command(comm.Bool_, comm.Bool_)
# def setLEDStrobe(state:comm.Bool_) -> comm.Bool_:
# pass

# @manager.command(comm.Void, comm.Bool_)
# def getLEDFront() -> comm.Bool_:
# pass

# @manager.command(comm.Void, comm.Bool_)
# def getLEDBack() -> comm.Bool_:
# pass

# @manager.command(comm.Void, comm.Bool_)
# def getLEDStrobe() -> comm.Bool_:
# pass

# @manager.command(comm.Void, Report)
# def getReport() -> Report:
# pass

# @manager.command(comm.Void, comm.UShort)
# def getWinchMode() -> comm.UShort:
# pass

# @manager.command(comm.UShort, comm.Bool_)
# def setWinchMode(winchMode:comm.UShort):
# pass

# @manager.command(comm.Void, comm.Bool_)
# def getWinchLock() -> comm.Bool_:
# pass

# @manager.command(comm.Void, comm.Bool_)
# def setWinchLock(lock:comm.Bool_):
# pass

# @manager.command(comm.Void, comm.UShort)
# def getServoControlMode() -> comm.UShort:
# pass

# @manager.command(comm.UShort, comm.UShort)
# def setServoControlMode(servoControlMode:comm.UShort) -> comm.Bool_:
# pass

# @manager.command(comm.Void, comm.Bool_)
# def getGPIO1() -> comm.Bool_:
# pass

# @manager.command(comm.Bool_, comm.Bool_)
# def setGPIO1(state:comm.Bool_) -> comm.Bool_:
# pass

# @manager.command(comm.Void, comm.Bool_)
# def getGPIO2() -> comm.Bool_:
# pass

# @manager.command(comm.Bool_, comm.Bool_)
# def setGPIO2(state:comm.Bool_) -> comm.Bool_:
# pass

# @manager.command(comm.Void, comm.Bool_)
# def getGPIO3() -> comm.Bool_:
# pass

# @manager.command(comm.Bool_, comm.Bool_)
# def setGPIO3(state:comm.Bool_) -> comm.Bool_:
# pass

# @manager.command(comm.Int, RGB)
# def getRGBLed(index:comm.Int) -> RGB:
# pass

# @manager.command(RGBLed, comm.Bool_)
# def setRGBLed(led:RGBLed) -> comm.Bool_:
# pass
from enum import Enum, Flag
from typing import NoReturn
import capra_micro_comm_py as comm
Expand All @@ -8,29 +214,20 @@

@manager.enum('H')
class StatusCode(Enum):
STNotInitialized = 0
STInitialized = 1
STNone = 0

@manager.enum('H')
class ErrorCode(Enum):
ERNone = 0
ERAdapterNotInit = 1
ERServoXNACK = 2
ERServoYNACK = 3
ERWinchLocked = 4
ERNone = 0b00000000
ERAdapterNotInit = 0b00000001
ERServoXNACK = 0b00000010
ERServoYNACK = 0b00000100

@manager.enum("H")
@manager.enum("I")
class ServoControlMode(Enum):
SCMNone = 0
SCMPosition = 1
SCMSpeed = 2

@manager.enum("H")
class WinchMode(Enum):
WMFreeWheel = 0
WMBrake = 1
WMReverse = 2
WMForward = 3

@manager.struct('hh')
class Vector2D(comm.BinaryData):
Expand All @@ -39,21 +236,14 @@ def __init__(self, x:int=0, y:int=0):
self.x:int
self.y:int

@manager.struct('BBBx')
@manager.struct('BBB')
class RGB(comm.BinaryData):
def __init__(self, r:int=0,g:int=0,b:int=0):
super().__init__(r=r,g=g,b=b)
self.r:int
self.g:int
self.b:int

@manager.struct('_B')
class RGBLed(comm.BinaryData):
def __init__(self, rgb:RGB=RGB(), index:int=0,):
super().__init__(rgb=rgb, index=index)
self.index:int
self.rgb:RGB

@manager.struct('_HH')
class Report(comm.BinaryData):
def __init__(self, pos:Vector2D=Vector2D(), statusCode:int=0, errorCode:int=0):
Expand Down Expand Up @@ -149,58 +339,4 @@ def getLEDStrobe() -> comm.Bool_:
def getReport() -> Report:
pass

@manager.command(comm.Void, comm.UShort)
def getWinchMode() -> comm.UShort:
pass

@manager.command(comm.UShort, comm.Bool_)
def setWinchMode(winchMode:comm.UShort):
pass

@manager.command(comm.Void, comm.Bool_)
def getWinchLock() -> comm.Bool_:
pass

@manager.command(comm.Void, comm.Bool_)
def setWinchLock(lock:comm.Bool_):
pass

@manager.command(comm.Void, comm.UShort)
def getServoControlMode() -> comm.UShort:
pass

@manager.command(comm.UShort, comm.UShort)
def setServoControlMode(servoControlMode:comm.UShort) -> comm.Bool_:
pass

@manager.command(comm.Void, comm.Bool_)
def getGPIO1() -> comm.Bool_:
pass

@manager.command(comm.Bool_, comm.Bool_)
def setGPIO1(state:comm.Bool_) -> comm.Bool_:
pass

@manager.command(comm.Void, comm.Bool_)
def getGPIO2() -> comm.Bool_:
pass

@manager.command(comm.Bool_, comm.Bool_)
def setGPIO2(state:comm.Bool_) -> comm.Bool_:
pass

@manager.command(comm.Void, comm.Bool_)
def getGPIO3() -> comm.Bool_:
pass

@manager.command(comm.Bool_, comm.Bool_)
def setGPIO3(state:comm.Bool_) -> comm.Bool_:
pass

@manager.command(comm.Int, RGB)
def getRGBLed(index:comm.Int) -> RGB:
pass

@manager.command(RGBLed, comm.Bool_)
def setRGBLed(led:RGBLed) -> comm.Bool_:
pass
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