Laelaps.WatchDog.WatchDog Class Reference

Laelaps WatchDog Interface Class. More...

Public Member Functions
def	__init__ (self)
	Constructor.
def	attach (self, i2cbus)
	Attach the open I2C object. More...
def	open (self, devName)
	Open the I2C bus device. More...
def	close (self)
	Close the I2C bus device. More...
def	isOpen (self)
	Test if the open/attached I2C bus device is open. More...
def	sync (self)
	Synchronize watchdog state with the subprocessor state.
def	getShadow (self)
	Get the shadowed subprocessor value. More...
def	cmdPetTheDog (self)
	Execute command to pet the watchdog. More...
def	cmdGetFwVersion (self)
	Execute command to get the firmware version. More...
def	cmdSetBatterySoC (self, soc)
	Execute command to set the battery state of charge. More...
def	cmdSetAlarms (self, alarms)
	Execute command to set/clear alarms. More...
def	cmdSetRgbLed (self, red, green, blue)
	Execute command to set the RGB LED. More...
def	cmdResetRgbLed (self)
	Reset the RGB LED to state defaults. More...
def	cmdConfigDPin (self, pin, direction)
	Execute command to configure a digital I/O pin. More...
def	cmdReadDPin (self, pin)
	Execute command to read a digital I/O pin's value. More...
def	cmdWriteDPin (self, pin, val)
	Execute command to wite a value to a digital I/O pin. More...
def	cmdReadAPin (self, pin)
	Execute command to read an analog I/O pin. More...
def	cmdEnableMotorCtlrs (self, enable)
	Execute command to enable/disable power to motor controllers. More...
def	cmdEnableAuxPort5V (self, enable)
	Execute command to enable/disable regulated 5V output to aux. More...
def	cmdEnableAuxPortBatt (self, enable)
	Execute command to enable/disable battery output to aux. More...
def	cmdReadEnables (self)
	Execute command to read enable lines. More...
def	cmdReadVoltages (self)
	Execute command to read sensed voltages. More...
def	printError (self, emsg1, emsg2=None)
	Print error to stderr. More...

Public Attributes
	m_i2c
	m_addr
	m_owner
	m_fw

Detailed Description

Laelaps WatchDog Interface Class.

Definition at line 87 of file WatchDog.py.

Member Function Documentation

def Laelaps.WatchDog.WatchDog.attach	(		self,
			i2cbus
	)

Attach the open I2C object.

Parameters

i2cbus

An rnr.i2c.i2c() constructed and open object.

Definition at line 122 of file WatchDog.py.

References laelaps::LaeI2C.close(), Laelaps.WatchDog.WatchDog.close(), laelaps::LaeKinematics.close(), Laelaps.Imu.Imu.close(), sensor::imu::LaeImu.close(), laelaps::LaeMotorCtlrChipSelect.close(), Laelaps.RoboClaw.RoboClaw.close(), motor::roboclaw::RoboClawComm.close(), Laelaps.WatchDog.WatchDog.m_i2c, laelaps::LaeI2C.m_i2c, and Laelaps.WatchDog.WatchDog.m_owner.

  def attach(self, i2cbus):
    self.close()
    self.m_i2c    = i2cbus
    self.m_owner  = False
 

def Laelaps.WatchDog.WatchDog.close

(

self

)

Close the I2C bus device.

The device must be owned by this class instance.

Definition at line 152 of file WatchDog.py.

References Laelaps.WatchDog.WatchDog.m_i2c, laelaps::LaeI2C.m_i2c, and Laelaps.WatchDog.WatchDog.m_owner.

Referenced by Laelaps.WatchDog.WatchDog.attach(), and Laelaps.WatchDog.WatchDog.open().

  def close(self):
    if self.m_i2c is None:
      return
    elif not self.m_i2c.is_open():
      return
    elif not self.m_owner:
      return
    self.m_i2c.close()
    

def Laelaps.WatchDog.WatchDog.cmdConfigDPin	(		self,
			pin,
			direction
	)

Execute command to configure a digital I/O pin.

Parameters

pin	Digital pin number.
direction	Pin direction. 0 == input, 1 == output.

Returns

{'rc': rc, key: value}

Definition at line 432 of file WatchDog.py.

References laelaps::LaeKinematics.isOpen(), Laelaps.WatchDog.WatchDog.isOpen(), Laelaps.Imu.Imu.isOpen(), laelaps::LaeI2C.isOpen(), laelaps::LaeI2CMux.isOpen(), sensor::imu::LaeImu.isOpen(), laelaps::LaeMotorCtlrChipSelect.isOpen(), Laelaps.RoboClaw.RoboClaw.isOpen(), motor::roboclaw::RoboClawComm.isOpen(), motor::roboclaw::RoboClaw.isOpen(), Laelaps.WatchDog.WatchDog.m_addr, Laelaps.WatchDog.WatchDog.m_fw, and Laelaps.WatchDog.WatchDog.printError().

  def cmdConfigDPin(self, pin, direction):
    cmdId = LaeWdCmdIdConfigDPin

    key = 'digital'
    ret = {'rc': WDRcOk, key: {}}

    if (pin < LaeWdArgDPinNumWMin) or (pin > LaeWdArgDPinNumWMax):
      self.printError("CmdId %d" % (cmdId), "Pin %d invalid" % (pin))
      ret['rc'] = WDRcErr
      return ret
    
    ret[key] = self.m_fw[key][pin]
    
    # check connection
    if not self.isOpen():
      self.printError(_WDErrMsgOpen)
      ret['rc'] = WDRcErr
      return ret

    if direction > 0:
      direction = LaeWdArgDPinDirOut
    else:
      direction = LaeWdArgDPinDirIn

    b1  = chr(pin)
    b2  = chr(direction)
    cmd = [chr(cmdId), b1, b2]

    # send command
    try:
      self.m_i2c.write(self.m_addr, cmd)
    except i2c.I2CException, inst:
      self.printError("CmdId %d" % (cmdId), inst.message)
      ret['rc'] = WDRcErr
    else:
      self.m_fw[key][pin]['dir'] = direction
      ret[key] = self.m_fw[key][pin]

    return ret

def Laelaps.WatchDog.WatchDog.cmdEnableAuxPort5V	(		self,
			enable
	)

Execute command to enable/disable regulated 5V output to aux.

port.

Parameters

enable

Enable (True) or disable (False).

Returns

{'rc': rc, key: value}

Definition at line 668 of file WatchDog.py.

References laelaps::LaeKinematics.isOpen(), Laelaps.WatchDog.WatchDog.isOpen(), Laelaps.Imu.Imu.isOpen(), laelaps::LaeI2C.isOpen(), laelaps::LaeI2CMux.isOpen(), sensor::imu::LaeImu.isOpen(), laelaps::LaeMotorCtlrChipSelect.isOpen(), Laelaps.RoboClaw.RoboClaw.isOpen(), motor::roboclaw::RoboClawComm.isOpen(), motor::roboclaw::RoboClaw.isOpen(), Laelaps.WatchDog.WatchDog.m_addr, Laelaps.WatchDog.WatchDog.m_fw, and Laelaps.WatchDog.WatchDog.printError().

Referenced by Laelaps.WatchDog.WatchDog.sync().

  def cmdEnableAuxPort5V(self, enable):
    cmdId  = LaeWdCmdIdEnableAuxPort

    key     = 'enables'
    subkey  = 'aux_port_5v_en'
    ret     = {'rc': WDRcOk, subkey: self.m_fw[key][subkey]}

    # check connection
    if not self.isOpen():
      self.printError(_WDErrMsgOpen)
      ret['rc'] = WDRcErr
      return ret

    # unknown firmware
    if self.m_fw['version'] == 0:
      return ret
    # always enabled
    elif self.m_fw['version'] == 1:
      self.m_fw[key][subkey] = True
      ret[subkey] = self.m_fw[key][subkey]
      return ret

    if enable:
      val = LaeWdArgDPinValHigh
    else:
      val = LaeWdArgDPinValLow

    b1  = chr(LaeWdArgAuxPort5V)
    b2  = chr(val)
    cmd = [chr(cmdId), b1, b2]

    # send command
    try:
      self.m_i2c.write(self.m_addr, cmd)
    except i2c.I2CException, inst:
      self.printError("CmdId %d" % (cmdId), inst.message)
      ret['rc'] = WDRcErr
    else:
      self.m_fw[key][subkey] = enable
      ret[subkey] = self.m_fw[key][subkey]

    return ret

def Laelaps.WatchDog.WatchDog.cmdEnableAuxPortBatt	(		self,
			enable
	)

Execute command to enable/disable battery output to aux.

port.

Parameters

enable

Enable (True) or disable (False).

Returns

{'rc': rc, key: value}

Definition at line 718 of file WatchDog.py.

References laelaps::LaeKinematics.isOpen(), Laelaps.WatchDog.WatchDog.isOpen(), Laelaps.Imu.Imu.isOpen(), laelaps::LaeI2C.isOpen(), laelaps::LaeI2CMux.isOpen(), sensor::imu::LaeImu.isOpen(), laelaps::LaeMotorCtlrChipSelect.isOpen(), Laelaps.RoboClaw.RoboClaw.isOpen(), motor::roboclaw::RoboClawComm.isOpen(), motor::roboclaw::RoboClaw.isOpen(), Laelaps.WatchDog.WatchDog.m_addr, Laelaps.WatchDog.WatchDog.m_fw, and Laelaps.WatchDog.WatchDog.printError().

Referenced by Laelaps.WatchDog.WatchDog.sync().

  def cmdEnableAuxPortBatt(self, enable):
    cmdId  = LaeWdCmdIdEnableAuxPort

    key     = 'enables'
    subkey  = 'aux_port_batt_en'
    ret     = {'rc': WDRcOk, subkey: self.m_fw[key][subkey]}

    # check connection
    if not self.isOpen():
      self.printError(_WDErrMsgOpen)
      ret['rc'] = WDRcErr
      return ret

    # unknown firmware
    if self.m_fw['version'] == 0:
      return ret
    # always enabled
    elif self.m_fw['version'] == 1:
      self.m_fw[key][subkey] = True
      ret[subkey] = self.m_fw[key][subkey]
      return ret

    if enable:
      val = LaeWdArgDPinValHigh
    else:
      val = LaeWdArgDPinValLow

    b1  = chr(LaeWdArgAuxPortBatt)
    b2  = chr(val)
    cmd = [chr(cmdId), b1, b2]

    # send command
    try:
      self.m_i2c.write(self.m_addr, cmd)
    except i2c.I2CException, inst:
      self.printError("CmdId %d" % (cmdId), inst.message)
      ret['rc'] = WDRcErr
    else:
      self.m_fw[key][subkey] = enable
      ret[subkey] = self.m_fw[key][subkey]

    return ret

def Laelaps.WatchDog.WatchDog.cmdEnableMotorCtlrs	(		self,
			enable
	)

Execute command to enable/disable power to motor controllers.

Parameters

enable

Enable (True) or disable (False).

Returns

{'rc': rc, key: value}

Definition at line 617 of file WatchDog.py.

References laelaps::LaeKinematics.isOpen(), Laelaps.WatchDog.WatchDog.isOpen(), Laelaps.Imu.Imu.isOpen(), laelaps::LaeI2C.isOpen(), laelaps::LaeI2CMux.isOpen(), sensor::imu::LaeImu.isOpen(), laelaps::LaeMotorCtlrChipSelect.isOpen(), Laelaps.RoboClaw.RoboClaw.isOpen(), motor::roboclaw::RoboClawComm.isOpen(), motor::roboclaw::RoboClaw.isOpen(), Laelaps.WatchDog.WatchDog.m_addr, Laelaps.WatchDog.WatchDog.m_fw, and Laelaps.WatchDog.WatchDog.printError().

Referenced by Laelaps.WatchDog.WatchDog.sync().

  def cmdEnableMotorCtlrs(self, enable):
    cmdId  = LaeWdCmdIdEnableMotorCtlrs
    rspLen = LaeWdRspLenEnableMotorCtlrs

    key     = 'enables'
    subkey  = 'motor_ctlr_en'
    ret     = {'rc': WDRcOk, subkey: self.m_fw[key][subkey]}

    # check connection
    if not self.isOpen():
      self.printError(_WDErrMsgOpen)
      ret['rc'] = WDRcErr
      return ret

    # unknown firmware
    if self.m_fw['version'] == 0:
      return ret
    # always enabled
    elif self.m_fw['version'] == 1:
      self.m_fw[key][subkey] = True
      ret[subkey] = self.m_fw[key][subkey]
      return ret

    if enable:
      val = LaeWdArgDPinValHigh
    else:
      val = LaeWdArgDPinValLow

    b1  = chr(val)
    cmd = [chr(cmdId), b1]

    # send command
    try:
      rsp = self.m_i2c.write_read(self.m_addr, cmd, rspLen)
    except i2c.I2CException, inst:
      self.printError("CmdId %d" % (cmdId), inst.message)
      ret['rc'] = WDRcErr
    else:
      if (len(rsp) == rspLen) and (ord(rsp[0]) == LaeWdArgPass):
        self.m_fw[key][subkey] = enable
        ret[subkey] = self.m_fw[key][subkey]

    return ret

def Laelaps.WatchDog.WatchDog.cmdGetFwVersion

(

self

)

Execute command to get the firmware version.

Returns

{'rc': rc, key: value}

Definition at line 243 of file WatchDog.py.

References laelaps::LaeKinematics.isOpen(), Laelaps.WatchDog.WatchDog.isOpen(), Laelaps.Imu.Imu.isOpen(), laelaps::LaeI2C.isOpen(), laelaps::LaeI2CMux.isOpen(), sensor::imu::LaeImu.isOpen(), laelaps::LaeMotorCtlrChipSelect.isOpen(), Laelaps.RoboClaw.RoboClaw.isOpen(), motor::roboclaw::RoboClawComm.isOpen(), motor::roboclaw::RoboClaw.isOpen(), Laelaps.WatchDog.WatchDog.m_addr, Laelaps.WatchDog.WatchDog.m_fw, and Laelaps.WatchDog.WatchDog.printError().

Referenced by Laelaps.WatchDog.WatchDog.sync().

  def cmdGetFwVersion(self):
    cmdId   = LaeWdCmdIdGetVersion
    rspLen  = LaeWdRspLenGetVersion

    key = 'version'
    ret = {'rc': WDRcOk, key: self.m_fw[key]}

    # check connection
    if not self.isOpen():
      self.printError(_WDErrMsgOpen)
      ret['rc'] = WDRcErr
      return ret

    cmd = [chr(cmdId)]

    # send command and receive response
    try:
      rsp = self.m_i2c.write_read(self.m_addr, cmd, rspLen)
    except i2c.I2CException, inst:
      self.printError("CmdId %d" % (cmdId), inst.message)
      ret['rc'] = WDRcErr
    else:
      if len(rsp) == rspLen:
        self.m_fw[key] = ord(rsp[0])
        ret[key] = self.m_fw[key]

    return ret

def Laelaps.WatchDog.WatchDog.cmdPetTheDog

(

self

)

Execute command to pet the watchdog.

Returns

{'rc': rc, key: value}

Definition at line 200 of file WatchDog.py.

References laelaps::LaeKinematics.isOpen(), Laelaps.WatchDog.WatchDog.isOpen(), Laelaps.Imu.Imu.isOpen(), laelaps::LaeI2C.isOpen(), laelaps::LaeI2CMux.isOpen(), sensor::imu::LaeImu.isOpen(), laelaps::LaeMotorCtlrChipSelect.isOpen(), Laelaps.RoboClaw.RoboClaw.isOpen(), motor::roboclaw::RoboClawComm.isOpen(), motor::roboclaw::RoboClaw.isOpen(), Laelaps.WatchDog.WatchDog.m_addr, Laelaps.WatchDog.WatchDog.m_fw, and Laelaps.WatchDog.WatchDog.printError().

Referenced by Laelaps.WatchDog.WatchDog.sync().

  def cmdPetTheDog(self):
    cmdId = LaeWdCmdIdPetDog

    key = 'battery_is_charging'
    ret = {'rc': WDRcOk, key: self.m_fw[key]}

    # check connection
    if not self.isOpen():
      self.printError(_WDErrMsgOpen)
      ret['rc'] = WDRcErr
      return ret

    cmd   = [chr(cmdId)]

    # send command (and receive response)
    if self.m_fw['version'] <= 1:
      try:
        self.m_i2c.write(self.m_addr, cmd)
      except i2c.I2CException, inst:
        self.printError("CmdId %d" % (cmdId), inst.message)
        ret['rc'] = WDRcErr
    else: # versions 2+
      rspLen = LaeWdRspLenPetDog_2
      try:
        rsp = self.m_i2c.write_read(self.m_addr, cmd, rspLen)
      except i2c.I2CException, inst:
        self.printError("CmdId %d" % (cmdId), inst.message)
        ret['rc'] = WDRcErr
      else:
        if len(rsp) == rspLen:
          if rsp[0]:
            self.m_fw[key] = True
          else:
            self.m_fw[key] = False
          ret[key] = self.m_fw[key]

    return ret

def Laelaps.WatchDog.WatchDog.cmdReadAPin	(		self,
			pin
	)

Execute command to read an analog I/O pin.

Parameters

pin	Analog pin number.

Returns

{'rc': rc, key: value}

Definition at line 571 of file WatchDog.py.

References laelaps::LaeKinematics.isOpen(), Laelaps.WatchDog.WatchDog.isOpen(), Laelaps.Imu.Imu.isOpen(), laelaps::LaeI2C.isOpen(), laelaps::LaeI2CMux.isOpen(), sensor::imu::LaeImu.isOpen(), laelaps::LaeMotorCtlrChipSelect.isOpen(), Laelaps.RoboClaw.RoboClaw.isOpen(), motor::roboclaw::RoboClawComm.isOpen(), motor::roboclaw::RoboClaw.isOpen(), Laelaps.WatchDog.WatchDog.m_addr, Laelaps.WatchDog.WatchDog.m_fw, and Laelaps.WatchDog.WatchDog.printError().

  def cmdReadAPin(self, pin):
    cmdId  = LaeWdCmdIdReadAPin
    rspLen = LaeWdRspLenReadAPin

    key = 'analog'
    ret = {'rc': WDRcOk, key: {}}

    if (pin < LaeWdArgAInPinNumMin) or (pin > LaeWdArgAInPinNumMax):
      self.printError("CmdId %d" % (cmdId), "Pin %d invalid" % (pin))
      ret['rc'] = WDRcErr
      return ret
    
    ret[key] = self.m_fw[key][pin]
    
    # check connection
    if not self.isOpen():
      self.printError(_WDErrMsgOpen)
      ret['rc'] = WDRcErr
      return ret

    b1  = chr(pin)
    cmd = [chr(cmdId), b1]

    # send command
    try:
      rsp = self.m_i2c.write_read(self.m_addr, cmd, rspLen)
    except i2c.I2CException, inst:
      self.printError("CmdId %d" % (cmdId), inst.message)
      ret['rc'] = WDRcErr
    else:
      if len(rsp) == rspLen:
        b1 = ord(rsp[1])
        b2 = ord(rsp[2])
        val = b1 << 8 | b2
        self.m_fw[key][pin]['fal'] = val
        ret[key] = self.m_fw[key][pin]

    return ret

def Laelaps.WatchDog.WatchDog.cmdReadDPin	(		self,
			pin
	)

Execute command to read a digital I/O pin's value.

Parameters

pin	Digital pin number.

Returns

{'rc': rc, key: value}

Definition at line 479 of file WatchDog.py.

References laelaps::LaeKinematics.isOpen(), Laelaps.WatchDog.WatchDog.isOpen(), Laelaps.Imu.Imu.isOpen(), laelaps::LaeI2C.isOpen(), laelaps::LaeI2CMux.isOpen(), sensor::imu::LaeImu.isOpen(), laelaps::LaeMotorCtlrChipSelect.isOpen(), Laelaps.RoboClaw.RoboClaw.isOpen(), motor::roboclaw::RoboClawComm.isOpen(), motor::roboclaw::RoboClaw.isOpen(), Laelaps.WatchDog.WatchDog.m_addr, Laelaps.WatchDog.WatchDog.m_fw, and Laelaps.WatchDog.WatchDog.printError().

  def cmdReadDPin(self, pin):
    cmdId  = LaeWdCmdIdReadDPin
    rspLen = LaeWdRspLenReadDPin

    key = 'digital'
    ret = {'rc': WDRcOk, key: {}}

    if (pin < LaeWdArgDPinNumMin) or (pin > LaeWdArgDPinNumMax):
      self.printError("CmdId %d" % (cmdId), "Pin %d invalid" % (pin))
      ret['rc'] = WDRcErr
      return ret
    
    ret[key] = self.m_fw[key][pin]
    
    # check connection
    if not self.isOpen():
      self.printError(_WDErrMsgOpen)
      ret['rc'] = WDRcErr
      return ret

    b1  = chr(pin)
    cmd = [chr(cmdId), b1]

    # send command
    try:
      rsp = self.m_i2c.write_read(self.m_addr, cmd, rspLen)
    except i2c.I2CException, inst:
      self.printError("CmdId %d" % (cmdId), inst.message)
      ret['rc'] = WDRcErr
    else:
      if len(rsp) == rspLen:
        self.m_fw[key][pin]['val'] = ord(rsp[1])
        ret[key] = self.m_fw[key][pin]

    return ret

def Laelaps.WatchDog.WatchDog.cmdReadEnables

(

self

)

Execute command to read enable lines.

Returns

{'rc': rc, key: value}

Definition at line 766 of file WatchDog.py.

References laelaps::LaeKinematics.isOpen(), Laelaps.WatchDog.WatchDog.isOpen(), Laelaps.Imu.Imu.isOpen(), laelaps::LaeI2C.isOpen(), laelaps::LaeI2CMux.isOpen(), sensor::imu::LaeImu.isOpen(), laelaps::LaeMotorCtlrChipSelect.isOpen(), Laelaps.RoboClaw.RoboClaw.isOpen(), motor::roboclaw::RoboClawComm.isOpen(), motor::roboclaw::RoboClaw.isOpen(), Laelaps.WatchDog.WatchDog.m_addr, Laelaps.WatchDog.WatchDog.m_fw, and Laelaps.WatchDog.WatchDog.printError().

  def cmdReadEnables(self):
    cmdId  = LaeWdCmdIdReadEnables
    rspLen = LaeWdRspLenReadEnables

    key = 'enables'
    ret = {'rc': WDRcOk, key: self.m_fw[key]}

    # check connection
    if not self.isOpen():
      self.printError(_WDErrMsgOpen)
      ret['rc'] = WDRcErr
      return ret

    # unknown firmware or unsupported feature
    if self.m_fw['version'] < 2:
      return ret

    cmd = [chr(cmdId)]

    # send command
    try:
      rsp = self.m_i2c.write_read(self.m_addr, cmd, rspLen)
    except i2c.I2CException, inst:
      self.printError("CmdId %d" % (cmdId), inst.message)
      ret['rc'] = WDRcErr
    else:
      if len(rsp) == rspLen:
        val0 = ord(rsp[0])
        val1 = ord(rsp[1])
        val2 = ord(rsp[2])
      if val0:
        self.m_fw[key]['motor_ctlr_en'] = True
      else:
        self.m_fw[key]['motor_ctlr_en'] = False
      if val1:
        self.m_fw[key]['aux_port_batt_en'] = True
      else:
        self.m_fw[key]['aux_port_batt_en'] = False
      if val2:
        self.m_fw[key]['aux_port_5v_en'] = True
      else:
        self.m_fw[key]['aux_port_5v_en'] = False
      ret[key] = self.m_fw[key]

    return ret

def Laelaps.WatchDog.WatchDog.cmdReadVoltages

(

self

)

Execute command to read sensed voltages.

Returns

{'rc': rc, key: value}

Definition at line 817 of file WatchDog.py.

References laelaps::LaeKinematics.isOpen(), Laelaps.WatchDog.WatchDog.isOpen(), Laelaps.Imu.Imu.isOpen(), laelaps::LaeI2C.isOpen(), laelaps::LaeI2CMux.isOpen(), sensor::imu::LaeImu.isOpen(), laelaps::LaeMotorCtlrChipSelect.isOpen(), Laelaps.RoboClaw.RoboClaw.isOpen(), motor::roboclaw::RoboClawComm.isOpen(), motor::roboclaw::RoboClaw.isOpen(), Laelaps.WatchDog.WatchDog.m_addr, Laelaps.WatchDog.WatchDog.m_fw, and Laelaps.WatchDog.WatchDog.printError().

  def cmdReadVoltages(self):
    cmdId  = LaeWdCmdIdReadVolts
    rspLen = LaeWdRspLenReadVolts

    key = 'voltages'
    ret = {'rc': WDRcOk, key: self.m_fw[key]}

    # check connection
    if not self.isOpen():
      self.printError(_WDErrMsgOpen)
      ret['rc'] = WDRcErr
      return ret

    # unknown firmware or unsupported feature
    if self.m_fw['version'] < 2:
      return ret

    cmd = [chr(cmdId)]

    # send command
    try:
      rsp = self.m_i2c.write_read(self.m_addr, cmd, rspLen)
    except i2c.I2CException, inst:
      self.printError("CmdId %d" % (cmdId), inst.message)
      ret['rc'] = WDRcErr
    else:
      if len(rsp) == rspLen:
        val0 = ord(rsp[0])
        val1 = ord(rsp[1])
      self.m_fw[key]['jack'] = val0 * LaeWdargVScale
      self.m_fw[key]['batt'] = val1 * LaeWdargVScale
      ret[key] = self.m_fw[key]

    return ret

def Laelaps.WatchDog.WatchDog.cmdResetRgbLed

(

self

)

Reset the RGB LED to state defaults.

Returns

{'rc': rc, key: value}

Definition at line 398 of file WatchDog.py.

References laelaps::LaeKinematics.isOpen(), Laelaps.WatchDog.WatchDog.isOpen(), Laelaps.Imu.Imu.isOpen(), laelaps::LaeI2C.isOpen(), laelaps::LaeI2CMux.isOpen(), sensor::imu::LaeImu.isOpen(), laelaps::LaeMotorCtlrChipSelect.isOpen(), Laelaps.RoboClaw.RoboClaw.isOpen(), motor::roboclaw::RoboClawComm.isOpen(), motor::roboclaw::RoboClaw.isOpen(), Laelaps.WatchDog.WatchDog.m_addr, Laelaps.WatchDog.WatchDog.m_fw, and Laelaps.WatchDog.WatchDog.printError().

Referenced by Laelaps.WatchDog.WatchDog.sync().

  def cmdResetRgbLed(self):
    cmdId = LaeWdCmdIdResetRgbLed

    key = 'rgb'
    ret = {'rc': WDRcOk, key: self.m_fw[key]}

    # check connection
    if not self.isOpen():
      self.printError(_WDErrMsgOpen)
      ret['rc'] = WDRcErr
      return ret

    cmd   = [chr(cmdId)]

    # send command
    try:
      self.m_i2c.write(self.m_addr, cmd)
    except i2c.I2CException, inst:
      self.printError("CmdId %d" % (cmdId), inst.message)
      ret['rc'] = WDRcErr
    else:
      self.m_fw[key]['override'] = False
      ret[key] = self.m_fw[key]

    return ret

def Laelaps.WatchDog.WatchDog.cmdSetAlarms	(		self,
			alarms
	)

Execute command to set/clear alarms.

Parameters

alarms

Or'ed alarm bits.

Returns

{'rc': rc, key: value}

Definition at line 318 of file WatchDog.py.

References laelaps::LaeKinematics.isOpen(), Laelaps.WatchDog.WatchDog.isOpen(), Laelaps.Imu.Imu.isOpen(), laelaps::LaeI2C.isOpen(), laelaps::LaeI2CMux.isOpen(), sensor::imu::LaeImu.isOpen(), laelaps::LaeMotorCtlrChipSelect.isOpen(), Laelaps.RoboClaw.RoboClaw.isOpen(), motor::roboclaw::RoboClawComm.isOpen(), motor::roboclaw::RoboClaw.isOpen(), Laelaps.WatchDog.WatchDog.m_addr, Laelaps.WatchDog.WatchDog.m_fw, and Laelaps.WatchDog.WatchDog.printError().

Referenced by Laelaps.WatchDog.WatchDog.sync().

  def cmdSetAlarms(self, alarms):
    cmdId = LaeWdCmdIdSetAlarms

    key = 'alarms'
    ret = {'rc': WDRcOk, key: self.m_fw[key]}

    # check connection
    if not self.isOpen():
      self.printError(_WDErrMsgOpen)
      ret['rc'] = WDRcErr
      return ret

    alarms &= LaeWdArgAlarmMask

    b1  = chr(((alarms >> 8) & 0xff))
    b2  = chr(((alarms) & 0xff))
    cmd = [chr(cmdId), b1, b2]

    # send command
    try:
      self.m_i2c.write(self.m_addr, cmd)
    except i2c.I2CException, inst:
      self.printError("CmdId %d" % (cmdId), inst.message)
      ret['rc'] = WDRcErr
    else:
      self.m_fw[key] = alarms
      ret[key] = self.m_fw[key]

    return ret

def Laelaps.WatchDog.WatchDog.cmdSetBatterySoC	(		self,
			soc
	)

Execute command to set the battery state of charge.

Parameters

soc	State of charge [0-100].

Returns

{'rc': rc, key: value}

Definition at line 278 of file WatchDog.py.

References laelaps::LaeKinematics.isOpen(), Laelaps.WatchDog.WatchDog.isOpen(), Laelaps.Imu.Imu.isOpen(), laelaps::LaeI2C.isOpen(), laelaps::LaeI2CMux.isOpen(), sensor::imu::LaeImu.isOpen(), laelaps::LaeMotorCtlrChipSelect.isOpen(), Laelaps.RoboClaw.RoboClaw.isOpen(), motor::roboclaw::RoboClawComm.isOpen(), motor::roboclaw::RoboClaw.isOpen(), Laelaps.WatchDog.WatchDog.m_addr, Laelaps.WatchDog.WatchDog.m_fw, and Laelaps.WatchDog.WatchDog.printError().

Referenced by Laelaps.WatchDog.WatchDog.sync().

  def cmdSetBatterySoC(self, soc):
    cmdId = LaeWdCmdIdSetAlarms

    key = 'battery_soc'
    ret = {'rc': WDRcOk, key: self.m_fw[key]}

    # check connection
    if not self.isOpen():
      self.printError(_WDErrMsgOpen)
      ret['rc'] = WDRcErr
      return ret

    if soc < LaeWdArgBattChargeMin:
      soc = LaeWdArgBattChargeMin
    elif soc > LaeWdArgBattChargeMax:
      soc = LaeWdArgBattChargeMax
    else:
      soc = int(soc)

    cmd = [chr(cmdId), chr(soc)]

    # send command
    try:
      self.m_i2c.write(self.m_addr, cmd)
    except i2c.I2CException, inst:
      self.printError("CmdId %d" % (cmdId), inst.message)
      ret['rc'] = WDRcErr
    else:
      self.m_fw[key] = soc
      ret[key] = self.m_fw[key]

    return ret

def Laelaps.WatchDog.WatchDog.cmdSetRgbLed	(		self,
			red,
			green,
			blue
	)

Execute command to set the RGB LED.

Parameters

red	Red component [0-255]
green	Green component [0-255]
blue	Blue component [0-255]

Returns

{'rc': rc, key: value}

Definition at line 357 of file WatchDog.py.

References laelaps::LaeKinematics.isOpen(), Laelaps.WatchDog.WatchDog.isOpen(), Laelaps.Imu.Imu.isOpen(), laelaps::LaeI2C.isOpen(), laelaps::LaeI2CMux.isOpen(), sensor::imu::LaeImu.isOpen(), laelaps::LaeMotorCtlrChipSelect.isOpen(), Laelaps.RoboClaw.RoboClaw.isOpen(), motor::roboclaw::RoboClawComm.isOpen(), motor::roboclaw::RoboClaw.isOpen(), Laelaps.WatchDog.WatchDog.m_addr, Laelaps.WatchDog.WatchDog.m_fw, and Laelaps.WatchDog.WatchDog.printError().

  def cmdSetRgbLed(self, red, green, blue):
    cmdId = LaeWdCmdIdSetRgbLed

    key = 'rgb'
    ret = {'rc': WDRcOk, key: self.m_fw[key]}

    # check connection
    if not self.isOpen():
      self.printError(_WDErrMsgOpen)
      ret['rc'] = WDRcErr
      return ret

    red   &= 0xff
    green &= 0xff
    blue  &= 0xff

    b1  = chr(red)
    b2  = chr(green)
    b3  = chr(blue)
    cmd = [chr(cmdId), b1, b2, b3]

    # send command
    try:
      self.m_i2c.write(self.m_addr, cmd)
    except i2c.I2CException, inst:
      self.printError("CmdId %d" % (cmdId), inst.message)
      ret['rc'] = WDRcErr
    else:
      self.m_fw[key]['override']  = True
      self.m_fw[key]['red']       = red
      self.m_fw[key]['green']     = green
      self.m_fw[key]['blue']      = blue
      ret[key] = self.m_fw[key]

    return ret

def Laelaps.WatchDog.WatchDog.cmdWriteDPin	(		self,
			pin,
			val
	)

Execute command to wite a value to a digital I/O pin.

Parameters

pin	Digital pin number.
value	Pin value. 0 == low, 1 == high.

Returns

{'rc': rc, key: value}

Definition at line 523 of file WatchDog.py.

References laelaps::LaeKinematics.isOpen(), Laelaps.WatchDog.WatchDog.isOpen(), Laelaps.Imu.Imu.isOpen(), laelaps::LaeI2C.isOpen(), laelaps::LaeI2CMux.isOpen(), sensor::imu::LaeImu.isOpen(), laelaps::LaeMotorCtlrChipSelect.isOpen(), Laelaps.RoboClaw.RoboClaw.isOpen(), motor::roboclaw::RoboClawComm.isOpen(), motor::roboclaw::RoboClaw.isOpen(), Laelaps.WatchDog.WatchDog.m_addr, Laelaps.WatchDog.WatchDog.m_fw, and Laelaps.WatchDog.WatchDog.printError().

  def cmdWriteDPin(self, pin, val):
    cmdId = LaeWdCmdIdWriteDPin

    key = 'digital'
    ret = {'rc': WDRcOk, key: {}}

    if (pin < LaeWdArgDPinNumWMin) or (pin > LaeWdArgDPinNumWMax):
      self.printError("CmdId %d" % (cmdId), "Pin %d invalid" % (pin))
      ret['rc'] = WDRcErr
      return ret
    
    ret[key] = self.m_fw[key][pin]
    
    # check connection
    if not self.isOpen():
      self.printError(_WDErrMsgOpen)
      ret['rc'] = WDRcErr
      return ret

    if val > 0:
      val = LaeWdArgDPinValHigh
    else:
      val = LaeWdArgDPinValLow

    b1  = chr(pin)
    b2  = chr(val)
    cmd = [chr(cmdId), b1, b2]

    # send command
    try:
      self.m_i2c.write(self.m_addr, cmd)
    except i2c.I2CException, inst:
      self.printError("CmdId %d" % (cmdId), inst.message)
      ret['rc'] = WDRcErr
    else:
      self.m_fw[key][pin]['val'] = val
      ret[key] = self.m_fw[key][pin]

    return ret

def Laelaps.WatchDog.WatchDog.getShadow

(

self

)

Get the shadowed subprocessor value.

No I/O is performed.

Returns

Dictionary of shadowed values.

Definition at line 192 of file WatchDog.py.

References Laelaps.WatchDog.WatchDog.m_fw.

  def getShadow(self):
    return self.m_fw

def Laelaps.WatchDog.WatchDog.isOpen

(

self

)

Test if the open/attached I2C bus device is open.

Returns

True or False.

Definition at line 166 of file WatchDog.py.

References Laelaps.WatchDog.WatchDog.m_i2c, and laelaps::LaeI2C.m_i2c.

Referenced by Laelaps.WatchDog.WatchDog.cmdConfigDPin(), Laelaps.WatchDog.WatchDog.cmdEnableAuxPort5V(), Laelaps.WatchDog.WatchDog.cmdEnableAuxPortBatt(), Laelaps.WatchDog.WatchDog.cmdEnableMotorCtlrs(), Laelaps.WatchDog.WatchDog.cmdGetFwVersion(), Laelaps.WatchDog.WatchDog.cmdPetTheDog(), Laelaps.WatchDog.WatchDog.cmdReadAPin(), Laelaps.WatchDog.WatchDog.cmdReadDPin(), Laelaps.WatchDog.WatchDog.cmdReadEnables(), Laelaps.WatchDog.WatchDog.cmdReadVoltages(), Laelaps.WatchDog.WatchDog.cmdResetRgbLed(), Laelaps.WatchDog.WatchDog.cmdSetAlarms(), Laelaps.WatchDog.WatchDog.cmdSetBatterySoC(), Laelaps.WatchDog.WatchDog.cmdSetRgbLed(), and Laelaps.WatchDog.WatchDog.cmdWriteDPin().

  def isOpen(self):
    if self.m_i2c is None:
      return False
    else:
      return self.m_i2c.is_open()

def Laelaps.WatchDog.WatchDog.open	(		self,
			devName
	)

Open the I2C bus device.

Parameters

devName

Device name.

Returns

True on success, False on failure.

Definition at line 134 of file WatchDog.py.

References laelaps::LaeI2C.close(), Laelaps.WatchDog.WatchDog.close(), laelaps::LaeKinematics.close(), Laelaps.Imu.Imu.close(), sensor::imu::LaeImu.close(), laelaps::LaeMotorCtlrChipSelect.close(), Laelaps.RoboClaw.RoboClaw.close(), motor::roboclaw::RoboClawComm.close(), Laelaps.WatchDog.WatchDog.m_i2c, laelaps::LaeI2C.m_i2c, Laelaps.WatchDog.WatchDog.m_owner, and Laelaps.WatchDog.WatchDog.printError().

  def open(self, devName):
    self.close()
    try:
      self.m_i2c = i2c.i2c()
      self.m_i2c.open(devName)
    except i2c.I2CException, inst:
      self.printError("open", inst.message)
      rc = False
    else:
      self.m_owner = True
      rc = True
    return rc
    

def Laelaps.WatchDog.WatchDog.printError	(		self,
			emsg1,
			emsg2 = None
	)

Print error to stderr.

Parameters

emsg1	Error message one (required).
emsg2	Error message two (optional).

Definition at line 858 of file WatchDog.py.

Referenced by Laelaps.WatchDog.WatchDog.cmdConfigDPin(), Laelaps.WatchDog.WatchDog.cmdEnableAuxPort5V(), Laelaps.WatchDog.WatchDog.cmdEnableAuxPortBatt(), Laelaps.WatchDog.WatchDog.cmdEnableMotorCtlrs(), Laelaps.WatchDog.WatchDog.cmdGetFwVersion(), Laelaps.WatchDog.WatchDog.cmdPetTheDog(), Laelaps.WatchDog.WatchDog.cmdReadAPin(), Laelaps.WatchDog.WatchDog.cmdReadDPin(), Laelaps.WatchDog.WatchDog.cmdReadEnables(), Laelaps.WatchDog.WatchDog.cmdReadVoltages(), Laelaps.WatchDog.WatchDog.cmdResetRgbLed(), Laelaps.WatchDog.WatchDog.cmdSetAlarms(), Laelaps.WatchDog.WatchDog.cmdSetBatterySoC(), Laelaps.WatchDog.WatchDog.cmdSetRgbLed(), Laelaps.WatchDog.WatchDog.cmdWriteDPin(), and Laelaps.WatchDog.WatchDog.open().

  def printError(self, emsg1, emsg2=None):
    if emsg2 is None:
      print >>sys.stderr, "Error: WatchDog: {0}".format(emsg1)
    else:
      print >>sys.stderr, "Error: WatchDog: {0}: {1}".format(emsg1, emsg2)

---

The documentation for this class was generated from the following file:

• sw/pyModules/modules/Laelaps/WatchDog.py